ching-yang Trui / X_NUCLEO_IHM02A1

motor board library

Dependencies:   ST_INTERFACES X_NUCLEO_COMMON

Dependents:   selfbalansingcar

Fork of X_NUCLEO_IHM02A1 by ST

Components/l6470/L6470.cpp@22:ba7f4131a5e0, 2017-03-10 (annotated)

Committer:
davide.aliprandi@st.com
Date:
Fri Mar 10 11:09:21 2017 +0100
Revision:
22:ba7f4131a5e0
Aligning to ARM mbed coding style.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
davide.aliprandi@st.com 22:ba7f4131a5e0 1 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 2 ******************************************************************************
davide.aliprandi@st.com 22:ba7f4131a5e0 3 * @file l6470_class.cpp
davide.aliprandi@st.com 22:ba7f4131a5e0 4 * @date 01/10/2014 12:00:00
davide.aliprandi@st.com 22:ba7f4131a5e0 5 * @brief This file provides set of firmware functions to manage the
davide.aliprandi@st.com 22:ba7f4131a5e0 6 * L6470.
davide.aliprandi@st.com 22:ba7f4131a5e0 7 ******************************************************************************
davide.aliprandi@st.com 22:ba7f4131a5e0 8 *
davide.aliprandi@st.com 22:ba7f4131a5e0 9 * COPYRIGHT(c) 2014 STMicroelectronics
davide.aliprandi@st.com 22:ba7f4131a5e0 10 *
davide.aliprandi@st.com 22:ba7f4131a5e0 11 * Redistribution and use in source and binary forms, with or without modification,
davide.aliprandi@st.com 22:ba7f4131a5e0 12 * are permitted provided that the following conditions are met:
davide.aliprandi@st.com 22:ba7f4131a5e0 13 * 1. Redistributions of source code must retain the above copyright notice,
davide.aliprandi@st.com 22:ba7f4131a5e0 14 * this list of conditions and the following disclaimer.
davide.aliprandi@st.com 22:ba7f4131a5e0 15 * 2. Redistributions in binary form must reproduce the above copyright notice,
davide.aliprandi@st.com 22:ba7f4131a5e0 16 * this list of conditions and the following disclaimer in the documentation
davide.aliprandi@st.com 22:ba7f4131a5e0 17 * and/or other materials provided with the distribution.
davide.aliprandi@st.com 22:ba7f4131a5e0 18 * 3. Neither the name of STMicroelectronics nor the names of its contributors
davide.aliprandi@st.com 22:ba7f4131a5e0 19 * may be used to endorse or promote products derived from this software
davide.aliprandi@st.com 22:ba7f4131a5e0 20 * without specific prior written permission.
davide.aliprandi@st.com 22:ba7f4131a5e0 21 *
davide.aliprandi@st.com 22:ba7f4131a5e0 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
davide.aliprandi@st.com 22:ba7f4131a5e0 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
davide.aliprandi@st.com 22:ba7f4131a5e0 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
davide.aliprandi@st.com 22:ba7f4131a5e0 25 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
davide.aliprandi@st.com 22:ba7f4131a5e0 26 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
davide.aliprandi@st.com 22:ba7f4131a5e0 27 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
davide.aliprandi@st.com 22:ba7f4131a5e0 28 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
davide.aliprandi@st.com 22:ba7f4131a5e0 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
davide.aliprandi@st.com 22:ba7f4131a5e0 30 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
davide.aliprandi@st.com 22:ba7f4131a5e0 31 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
davide.aliprandi@st.com 22:ba7f4131a5e0 32 *
davide.aliprandi@st.com 22:ba7f4131a5e0 33 ******************************************************************************
davide.aliprandi@st.com 22:ba7f4131a5e0 34 */
davide.aliprandi@st.com 22:ba7f4131a5e0 35
davide.aliprandi@st.com 22:ba7f4131a5e0 36
davide.aliprandi@st.com 22:ba7f4131a5e0 37 /* Generated with STM32CubeTOO -----------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 38
davide.aliprandi@st.com 22:ba7f4131a5e0 39
davide.aliprandi@st.com 22:ba7f4131a5e0 40 /* Revision ------------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 41 /*
davide.aliprandi@st.com 22:ba7f4131a5e0 42 Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
davide.aliprandi@st.com 22:ba7f4131a5e0 43 Branch/Trunk/Tag: trunk
davide.aliprandi@st.com 22:ba7f4131a5e0 44 Based on: X-CUBE-SPN2/trunk/Drivers/BSP/Components/L6470/L6470.c
davide.aliprandi@st.com 22:ba7f4131a5e0 45 Revision: 0
davide.aliprandi@st.com 22:ba7f4131a5e0 46 */
davide.aliprandi@st.com 22:ba7f4131a5e0 47
davide.aliprandi@st.com 22:ba7f4131a5e0 48
davide.aliprandi@st.com 22:ba7f4131a5e0 49 /* Includes ------------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 50
davide.aliprandi@st.com 22:ba7f4131a5e0 51 #include "l6470.h"
davide.aliprandi@st.com 22:ba7f4131a5e0 52
davide.aliprandi@st.com 22:ba7f4131a5e0 53
davide.aliprandi@st.com 22:ba7f4131a5e0 54 /* Variables -----------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 55
davide.aliprandi@st.com 22:ba7f4131a5e0 56 /* Number of instantiated devices on an expansion board. */
davide.aliprandi@st.com 22:ba7f4131a5e0 57 uint8_t L6470::number_of_devices = 0;
davide.aliprandi@st.com 22:ba7f4131a5e0 58
davide.aliprandi@st.com 22:ba7f4131a5e0 59 /* SPI Transmission for Daisy-Chain Configuration. */
davide.aliprandi@st.com 22:ba7f4131a5e0 60 eFlagStatus_t L6470::L6470_DaisyChain_HalfPrepared;
davide.aliprandi@st.com 22:ba7f4131a5e0 61 sL6470_AppCmdPkg_t L6470::L6470_AppCmdPkg[L6470DAISYCHAINSIZE];
davide.aliprandi@st.com 22:ba7f4131a5e0 62 uint8_t L6470::L6470_DaisyChainSpiTxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
davide.aliprandi@st.com 22:ba7f4131a5e0 63 uint8_t L6470::L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
davide.aliprandi@st.com 22:ba7f4131a5e0 64
davide.aliprandi@st.com 22:ba7f4131a5e0 65 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 66 * @brief Array whose elements are a structure in which store information about
davide.aliprandi@st.com 22:ba7f4131a5e0 67 * the L6470 Registers (the address, the names, the length in bits, the
davide.aliprandi@st.com 22:ba7f4131a5e0 68 * reset value)
davide.aliprandi@st.com 22:ba7f4131a5e0 69 */
davide.aliprandi@st.com 22:ba7f4131a5e0 70 const sL6470_Register_t L6470::_L6470_Register[L6470REGIDSIZE] = {
davide.aliprandi@st.com 22:ba7f4131a5e0 71 {0x01 , "ABS_POS", 22, 3, 0x000000}, //!< Current position
davide.aliprandi@st.com 22:ba7f4131a5e0 72 {0x02 , "EL_POS", 9, 2, 0x000}, //!< Electrical position
davide.aliprandi@st.com 22:ba7f4131a5e0 73 {0x03 , "MARK", 22, 3, 0x000000}, //!< Mark position
davide.aliprandi@st.com 22:ba7f4131a5e0 74 {0x04 , "SPEED", 20, 3, 0x0000}, //!< Current speed
davide.aliprandi@st.com 22:ba7f4131a5e0 75 {0x05 , "ACC", 12, 2, 0x08A}, //!< Acceleration
davide.aliprandi@st.com 22:ba7f4131a5e0 76 {0x06 , "DEC", 12, 2, 0x08A}, //!< Deceleration
davide.aliprandi@st.com 22:ba7f4131a5e0 77 {0x07 , "MAX_SPEED", 10, 2, 0x041}, //!< Maximum speed
davide.aliprandi@st.com 22:ba7f4131a5e0 78 {0x08 , "MIN_SPEED", 13, 2, 0x000}, //!< Minimum speed
davide.aliprandi@st.com 22:ba7f4131a5e0 79 {0x15 , "FS_SPD", 10, 2, 0x027}, //!< Full-step speed
davide.aliprandi@st.com 22:ba7f4131a5e0 80 {0x09 , "KVAL_HOLD", 8, 1, 0x29}, //!< Holding KVAL
davide.aliprandi@st.com 22:ba7f4131a5e0 81 {0x0A , "KVAL_RUN", 8, 1, 0x29}, //!< Constant speed KVAL
davide.aliprandi@st.com 22:ba7f4131a5e0 82 {0x0B , "KVAL_ACC", 8, 1, 0x29}, //!< Acceleration starting KVAL
davide.aliprandi@st.com 22:ba7f4131a5e0 83 {0x0C , "KVAL_DEC", 8, 1, 0x29}, //!< Deceleration starting KVAL
davide.aliprandi@st.com 22:ba7f4131a5e0 84 {0x0D , "INT_SPEED", 14, 2, 0x0408}, //!< Intersect speed
davide.aliprandi@st.com 22:ba7f4131a5e0 85 {0x0E , "ST_SLP", 8, 1, 0x19}, //!< Start slope
davide.aliprandi@st.com 22:ba7f4131a5e0 86 {0x0F , "FN_SLP_ACC", 8, 1, 0x29}, //!< Acceleration final slope
davide.aliprandi@st.com 22:ba7f4131a5e0 87 {0x10 , "FN_SLP_DEC", 8, 1, 0x29}, //!< Deceleration final slope
davide.aliprandi@st.com 22:ba7f4131a5e0 88 {0x11 , "K_THERM", 4, 1, 0x0}, //!< Thermal compensation factor
davide.aliprandi@st.com 22:ba7f4131a5e0 89 {0x12 , "ADC_OUT", 5, 1, 0x00}, //!< ADC output, (the reset value is according to startup conditions)
davide.aliprandi@st.com 22:ba7f4131a5e0 90 {0x13 , "OCD_TH", 4, 1, 0x8}, //!< OCD threshold
davide.aliprandi@st.com 22:ba7f4131a5e0 91 {0x14 , "STALL_TH", 7, 1, 0x40}, //!< STALL threshold
davide.aliprandi@st.com 22:ba7f4131a5e0 92 {0x16 , "STEP_MODE", 8, 1, 0x7}, //!< Step mode
davide.aliprandi@st.com 22:ba7f4131a5e0 93 {0x17 , "ALARM_EN", 8, 1, 0xFF}, //!< Alarm enable
davide.aliprandi@st.com 22:ba7f4131a5e0 94 {0x18 , "CONFIG", 16, 2, 0x2E88}, //!< IC configuration
davide.aliprandi@st.com 22:ba7f4131a5e0 95 {0x19 , "STATUS", 16, 2, 0x0000} //!< Status, (the reset value is according to startup conditions)
davide.aliprandi@st.com 22:ba7f4131a5e0 96 };
davide.aliprandi@st.com 22:ba7f4131a5e0 97
davide.aliprandi@st.com 22:ba7f4131a5e0 98 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 99 * @brief Array whose elements are a structure in which store information about
davide.aliprandi@st.com 22:ba7f4131a5e0 100 * the L6470 Application Commands (the mnemonic name, the number of
davide.aliprandi@st.com 22:ba7f4131a5e0 101 * needed parameters, the related funtion to call)
davide.aliprandi@st.com 22:ba7f4131a5e0 102 */
davide.aliprandi@st.com 22:ba7f4131a5e0 103 const sL6470_ApplicationCommand_t L6470::_L6470_ApplicationCommand[L6470APPCMDIDSIZE] = {
davide.aliprandi@st.com 22:ba7f4131a5e0 104 {"NOP", 0x00, 0},
davide.aliprandi@st.com 22:ba7f4131a5e0 105 {"SETPARAM", 0x00, 2},
davide.aliprandi@st.com 22:ba7f4131a5e0 106 {"GETPARAM", 0x20, 1},
davide.aliprandi@st.com 22:ba7f4131a5e0 107 {"RUN", 0x50, 2},
davide.aliprandi@st.com 22:ba7f4131a5e0 108 {"STEPCLOCK", 0x58, 1},
davide.aliprandi@st.com 22:ba7f4131a5e0 109 {"MOVE", 0x40, 2},
davide.aliprandi@st.com 22:ba7f4131a5e0 110 {"GOTO", 0x60, 1},
davide.aliprandi@st.com 22:ba7f4131a5e0 111 {"GOTO_DIR", 0x68, 2},
davide.aliprandi@st.com 22:ba7f4131a5e0 112 {"GOUNTIL", 0x82, 3},
davide.aliprandi@st.com 22:ba7f4131a5e0 113 {"RELEASESW", 0x92, 2},
davide.aliprandi@st.com 22:ba7f4131a5e0 114 {"GOHOME", 0x70, 0},
davide.aliprandi@st.com 22:ba7f4131a5e0 115 {"GOMARK", 0x78, 0},
davide.aliprandi@st.com 22:ba7f4131a5e0 116 {"RESETPOS", 0xD8, 0},
davide.aliprandi@st.com 22:ba7f4131a5e0 117 {"RESETDEVICE", 0xC0, 0},
davide.aliprandi@st.com 22:ba7f4131a5e0 118 {"SOFTSTOP", 0xB0, 0},
davide.aliprandi@st.com 22:ba7f4131a5e0 119 {"HARDSTOP", 0xB8, 0},
davide.aliprandi@st.com 22:ba7f4131a5e0 120 {"SOFTHIZ", 0xA0, 0},
davide.aliprandi@st.com 22:ba7f4131a5e0 121 {"HARDHIZ", 0xA8, 0},
davide.aliprandi@st.com 22:ba7f4131a5e0 122 {"GETSTATUS", 0xD0, 0}
davide.aliprandi@st.com 22:ba7f4131a5e0 123 };
davide.aliprandi@st.com 22:ba7f4131a5e0 124
davide.aliprandi@st.com 22:ba7f4131a5e0 125 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 126 * @brief The mnemonic names for the L6470 direction
davide.aliprandi@st.com 22:ba7f4131a5e0 127 */
davide.aliprandi@st.com 22:ba7f4131a5e0 128 const sL6470_Direction_t L6470::_L6470_Direction[L6470DIRIDSIZE] = {
davide.aliprandi@st.com 22:ba7f4131a5e0 129 {"REV", 0x00}, //!< Reverse direction
davide.aliprandi@st.com 22:ba7f4131a5e0 130 {"FWD", 0x01} //!< Forward direction
davide.aliprandi@st.com 22:ba7f4131a5e0 131 };
davide.aliprandi@st.com 22:ba7f4131a5e0 132
davide.aliprandi@st.com 22:ba7f4131a5e0 133 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 134 * @brief Action taken about ABS_POS register
davide.aliprandi@st.com 22:ba7f4131a5e0 135 */
davide.aliprandi@st.com 22:ba7f4131a5e0 136 const sL6470_ACT_t L6470::_L6470_ACT[L6470ACTIDSIZE] = {
davide.aliprandi@st.com 22:ba7f4131a5e0 137 {"RST", 0x00}, //!< ABS_POS register is reset
davide.aliprandi@st.com 22:ba7f4131a5e0 138 {"CPY", 0x01} //!< ABS_POS register value is copied into the MARK register
davide.aliprandi@st.com 22:ba7f4131a5e0 139 };
davide.aliprandi@st.com 22:ba7f4131a5e0 140
davide.aliprandi@st.com 22:ba7f4131a5e0 141 /* End of L6470_Private_Constants */
davide.aliprandi@st.com 22:ba7f4131a5e0 142
davide.aliprandi@st.com 22:ba7f4131a5e0 143 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 144 * @defgroup L6470_Private_Variables
davide.aliprandi@st.com 22:ba7f4131a5e0 145 * @brief L6470 Private Variables.
davide.aliprandi@st.com 22:ba7f4131a5e0 146 * @{
davide.aliprandi@st.com 22:ba7f4131a5e0 147 */
davide.aliprandi@st.com 22:ba7f4131a5e0 148
davide.aliprandi@st.com 22:ba7f4131a5e0 149 /* End of L6470_Private_Variables */
davide.aliprandi@st.com 22:ba7f4131a5e0 150
davide.aliprandi@st.com 22:ba7f4131a5e0 151
davide.aliprandi@st.com 22:ba7f4131a5e0 152 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 153 * @addtogroup L6470_Private_Functions
davide.aliprandi@st.com 22:ba7f4131a5e0 154 * @{
davide.aliprandi@st.com 22:ba7f4131a5e0 155 */
davide.aliprandi@st.com 22:ba7f4131a5e0 156
davide.aliprandi@st.com 22:ba7f4131a5e0 157
davide.aliprandi@st.com 22:ba7f4131a5e0 158 /* Methods -------------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 159
davide.aliprandi@st.com 22:ba7f4131a5e0 160 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 161 * @brief Reset the structure used to store the identifier of the L6470
davide.aliprandi@st.com 22:ba7f4131a5e0 162 * application command and its the needed parameters.
davide.aliprandi@st.com 22:ba7f4131a5e0 163 * @param pL6470_AppCmdPkg The structure to be reset.
davide.aliprandi@st.com 22:ba7f4131a5e0 164 */
davide.aliprandi@st.com 22:ba7f4131a5e0 165 void L6470::L6470_ResetAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg)
davide.aliprandi@st.com 22:ba7f4131a5e0 166 {
davide.aliprandi@st.com 22:ba7f4131a5e0 167 uint8_t id;
davide.aliprandi@st.com 22:ba7f4131a5e0 168
davide.aliprandi@st.com 22:ba7f4131a5e0 169 for(id=0; id<L6470DAISYCHAINSIZE; id++)
davide.aliprandi@st.com 22:ba7f4131a5e0 170 {
davide.aliprandi@st.com 22:ba7f4131a5e0 171 (pL6470_AppCmdPkg+id)->L6470_AppCmdId=(eL6470_AppCmdId_t)0;
davide.aliprandi@st.com 22:ba7f4131a5e0 172 (pL6470_AppCmdPkg+id)->p1=0;
davide.aliprandi@st.com 22:ba7f4131a5e0 173 (pL6470_AppCmdPkg+id)->p2=0;
davide.aliprandi@st.com 22:ba7f4131a5e0 174 (pL6470_AppCmdPkg+id)->p3=0;
davide.aliprandi@st.com 22:ba7f4131a5e0 175 }
davide.aliprandi@st.com 22:ba7f4131a5e0 176 }
davide.aliprandi@st.com 22:ba7f4131a5e0 177
davide.aliprandi@st.com 22:ba7f4131a5e0 178 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 179 * @brief Fill the structure used to store the identifier of the L6470
davide.aliprandi@st.com 22:ba7f4131a5e0 180 * application command and its the needed parameters.
davide.aliprandi@st.com 22:ba7f4131a5e0 181 * @param L6470_Id The identifier of the L6470 target inside the daisy chain.
davide.aliprandi@st.com 22:ba7f4131a5e0 182 * @param pL6470_AppCmdPkg The structure to be filled.
davide.aliprandi@st.com 22:ba7f4131a5e0 183 * @param L6470_AppCmdId The identifier of the L6470 application command to be sent.
davide.aliprandi@st.com 22:ba7f4131a5e0 184 * @param p1 The 1st parameter (if it is not needed it will be not considered).
davide.aliprandi@st.com 22:ba7f4131a5e0 185 * @param p2 The 2nd parameter (if it is not needed it will be not considered).
davide.aliprandi@st.com 22:ba7f4131a5e0 186 * @param p3 The 3rd parameter (if it is not needed it will be not considered).
davide.aliprandi@st.com 22:ba7f4131a5e0 187 */
davide.aliprandi@st.com 22:ba7f4131a5e0 188 void L6470::L6470_FillAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3)
davide.aliprandi@st.com 22:ba7f4131a5e0 189 {
davide.aliprandi@st.com 22:ba7f4131a5e0 190 (pL6470_AppCmdPkg+L6470_Id)->L6470_AppCmdId = L6470_AppCmdId;
davide.aliprandi@st.com 22:ba7f4131a5e0 191 (pL6470_AppCmdPkg+L6470_Id)->p1 = p1;
davide.aliprandi@st.com 22:ba7f4131a5e0 192 (pL6470_AppCmdPkg+L6470_Id)->p2 = p2;
davide.aliprandi@st.com 22:ba7f4131a5e0 193 (pL6470_AppCmdPkg+L6470_Id)->p3 = p3;
davide.aliprandi@st.com 22:ba7f4131a5e0 194 }
davide.aliprandi@st.com 22:ba7f4131a5e0 195
davide.aliprandi@st.com 22:ba7f4131a5e0 196 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 197 * @brief This function will fill the column of the L6470_AppCmdPkg related
davide.aliprandi@st.com 22:ba7f4131a5e0 198 * the L6470 to be addressed inside the daisy chain.
davide.aliprandi@st.com 22:ba7f4131a5e0 199 *
davide.aliprandi@st.com 22:ba7f4131a5e0 200 * @param L6470_Id The identifier of the L6470 target inside the daisy chain.
davide.aliprandi@st.com 22:ba7f4131a5e0 201 * @param pL6470_AppCmdPkg Pointer to the sL6470_AppCmdPkg_t to be filled.
davide.aliprandi@st.com 22:ba7f4131a5e0 202 * @param L6470_AppCmdId The identifier of the L6470 application command to be sent.
davide.aliprandi@st.com 22:ba7f4131a5e0 203 * @param p1 The 1st parameter (if it is not needed it will be not considered).
davide.aliprandi@st.com 22:ba7f4131a5e0 204 * @param p2 The 2nd parameter (if it is not needed it will be not considered).
davide.aliprandi@st.com 22:ba7f4131a5e0 205 * @param p3 The 3rd parameter (if it is not needed it will be not considered).
davide.aliprandi@st.com 22:ba7f4131a5e0 206 */
davide.aliprandi@st.com 22:ba7f4131a5e0 207 void L6470::L6470_PrepareAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3)
davide.aliprandi@st.com 22:ba7f4131a5e0 208 {
davide.aliprandi@st.com 22:ba7f4131a5e0 209 if(!L6470_DaisyChain_HalfPrepared)
davide.aliprandi@st.com 22:ba7f4131a5e0 210 {
davide.aliprandi@st.com 22:ba7f4131a5e0 211 L6470_DaisyChain_HalfPrepared = ONE_F; /* To avoid to delete the previous entered command */
davide.aliprandi@st.com 22:ba7f4131a5e0 212 L6470_ResetAppCmdPkg(pL6470_AppCmdPkg);
davide.aliprandi@st.com 22:ba7f4131a5e0 213 }
davide.aliprandi@st.com 22:ba7f4131a5e0 214
davide.aliprandi@st.com 22:ba7f4131a5e0 215 L6470_FillAppCmdPkg(pL6470_AppCmdPkg, L6470_AppCmdId, p1, p2, p3);
davide.aliprandi@st.com 22:ba7f4131a5e0 216 }
davide.aliprandi@st.com 22:ba7f4131a5e0 217
davide.aliprandi@st.com 22:ba7f4131a5e0 218 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 219 * @brief This function will translate the data inside the L6470_AppCmdPkg into
davide.aliprandi@st.com 22:ba7f4131a5e0 220 * the right data to be sent via SPI to the L6470 daisy chain.
davide.aliprandi@st.com 22:ba7f4131a5e0 221 *
davide.aliprandi@st.com 22:ba7f4131a5e0 222 * @param pL6470_AppCmdPkg Pointer to the sL6470_AppCmdPkg_t to be filled.
davide.aliprandi@st.com 22:ba7f4131a5e0 223 * @param pL6470_DaisyChainSpiTxStruct Pointer to the structure used by SPI to send the commands.
davide.aliprandi@st.com 22:ba7f4131a5e0 224 */
davide.aliprandi@st.com 22:ba7f4131a5e0 225 void L6470::L6470_PrepareDaisyChainCommand(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, uint8_t* pL6470_DaisyChainSpiTxStruct)
davide.aliprandi@st.com 22:ba7f4131a5e0 226 {
davide.aliprandi@st.com 22:ba7f4131a5e0 227 uint8_t PkgId;
davide.aliprandi@st.com 22:ba7f4131a5e0 228 uint8_t PARAMLengthBytes; /* The number of bytes related to the numeric value for the addressed register */
davide.aliprandi@st.com 22:ba7f4131a5e0 229 uint8_t spibyte;
davide.aliprandi@st.com 22:ba7f4131a5e0 230
davide.aliprandi@st.com 22:ba7f4131a5e0 231 /* Reset the structure used to send the command to the L6470 Daisy Chain through the SPI */
davide.aliprandi@st.com 22:ba7f4131a5e0 232 uint8_t i = 0;
davide.aliprandi@st.com 22:ba7f4131a5e0 233 for(spibyte=0;spibyte<L6470MAXSPICMDBYTESIZE;spibyte++)
davide.aliprandi@st.com 22:ba7f4131a5e0 234 for(PkgId=0; PkgId<L6470DAISYCHAINSIZE; PkgId++)
davide.aliprandi@st.com 22:ba7f4131a5e0 235 *(pL6470_DaisyChainSpiTxStruct+(i++)) = 0x00;
davide.aliprandi@st.com 22:ba7f4131a5e0 236
davide.aliprandi@st.com 22:ba7f4131a5e0 237 for(PkgId=0; PkgId<L6470DAISYCHAINSIZE; PkgId++)
davide.aliprandi@st.com 22:ba7f4131a5e0 238 {
davide.aliprandi@st.com 22:ba7f4131a5e0 239 /* Build the 1st bytes to transmit with the binary code of the command */
davide.aliprandi@st.com 22:ba7f4131a5e0 240 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) = (L6470_ApplicationCommand[(pL6470_AppCmdPkg+PkgId)->L6470_AppCmdId].BinaryCode);
davide.aliprandi@st.com 22:ba7f4131a5e0 241
davide.aliprandi@st.com 22:ba7f4131a5e0 242 /* Perform the related L6470_AppCmdId */
davide.aliprandi@st.com 22:ba7f4131a5e0 243 switch((pL6470_AppCmdPkg+PkgId)->L6470_AppCmdId)
davide.aliprandi@st.com 22:ba7f4131a5e0 244 {
davide.aliprandi@st.com 22:ba7f4131a5e0 245 case L6470_NOP_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 246 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 247 case L6470_SETPARAM_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 248 /* Build the 1st bytes to transmit (PARAM) */
davide.aliprandi@st.com 22:ba7f4131a5e0 249 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].Address);
davide.aliprandi@st.com 22:ba7f4131a5e0 250
davide.aliprandi@st.com 22:ba7f4131a5e0 251 /* The length, in byte, of this register (PARAM) is... */
davide.aliprandi@st.com 22:ba7f4131a5e0 252 PARAMLengthBytes = L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].LengthByte;
davide.aliprandi@st.com 22:ba7f4131a5e0 253
davide.aliprandi@st.com 22:ba7f4131a5e0 254 /* Build the others bytes to transmit (VALUE) */
davide.aliprandi@st.com 22:ba7f4131a5e0 255 for (spibyte=1; spibyte<(PARAMLengthBytes+1); spibyte++)
davide.aliprandi@st.com 22:ba7f4131a5e0 256 {
davide.aliprandi@st.com 22:ba7f4131a5e0 257 *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(PARAMLengthBytes-spibyte)));
davide.aliprandi@st.com 22:ba7f4131a5e0 258 }
davide.aliprandi@st.com 22:ba7f4131a5e0 259 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 260 case L6470_GETPARAM_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 261 /* Build the 1st bytes to transmit (PARAM) */
davide.aliprandi@st.com 22:ba7f4131a5e0 262 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].Address);
davide.aliprandi@st.com 22:ba7f4131a5e0 263 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 264 case L6470_RUN_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 265 /* Build the 1st bytes to transmit (DIR) */
davide.aliprandi@st.com 22:ba7f4131a5e0 266 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
davide.aliprandi@st.com 22:ba7f4131a5e0 267
davide.aliprandi@st.com 22:ba7f4131a5e0 268 /* Build the others bytes to transmit (SPD) */
davide.aliprandi@st.com 22:ba7f4131a5e0 269 for (spibyte=1; spibyte<(3+1); spibyte++)
davide.aliprandi@st.com 22:ba7f4131a5e0 270 {
davide.aliprandi@st.com 22:ba7f4131a5e0 271 *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte)));
davide.aliprandi@st.com 22:ba7f4131a5e0 272 }
davide.aliprandi@st.com 22:ba7f4131a5e0 273 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 274 case L6470_STEPCLOCK_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 275 /* Build the 1st bytes to transmit (DIR) */
davide.aliprandi@st.com 22:ba7f4131a5e0 276 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
davide.aliprandi@st.com 22:ba7f4131a5e0 277 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 278 case L6470_MOVE_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 279 /* Build the 1st bytes to transmit (DIR) */
davide.aliprandi@st.com 22:ba7f4131a5e0 280 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
davide.aliprandi@st.com 22:ba7f4131a5e0 281
davide.aliprandi@st.com 22:ba7f4131a5e0 282 /* Build the others bytes to transmit (N_STEP) */
davide.aliprandi@st.com 22:ba7f4131a5e0 283 for (spibyte=1; spibyte<(3+1); spibyte++)
davide.aliprandi@st.com 22:ba7f4131a5e0 284 {
davide.aliprandi@st.com 22:ba7f4131a5e0 285 *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte)));
davide.aliprandi@st.com 22:ba7f4131a5e0 286 }
davide.aliprandi@st.com 22:ba7f4131a5e0 287 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 288 case L6470_GOTO_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 289 /* Build the others bytes to transmit (ABS_POS) */
davide.aliprandi@st.com 22:ba7f4131a5e0 290 for (spibyte=1; spibyte<(3+1); spibyte++)
davide.aliprandi@st.com 22:ba7f4131a5e0 291 {
davide.aliprandi@st.com 22:ba7f4131a5e0 292 *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p1) >> (8*(3-spibyte)));
davide.aliprandi@st.com 22:ba7f4131a5e0 293 }
davide.aliprandi@st.com 22:ba7f4131a5e0 294 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 295 case L6470_GOTODIR_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 296 /* Build the 1st bytes to transmit (DIR) */
davide.aliprandi@st.com 22:ba7f4131a5e0 297 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
davide.aliprandi@st.com 22:ba7f4131a5e0 298
davide.aliprandi@st.com 22:ba7f4131a5e0 299 /* Build the others bytes to transmit (ABS_POS) */
davide.aliprandi@st.com 22:ba7f4131a5e0 300 for (spibyte=1; spibyte<(3+1); spibyte++)
davide.aliprandi@st.com 22:ba7f4131a5e0 301 {
davide.aliprandi@st.com 22:ba7f4131a5e0 302 *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte)));
davide.aliprandi@st.com 22:ba7f4131a5e0 303 }
davide.aliprandi@st.com 22:ba7f4131a5e0 304 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 305 case L6470_GOUNTIL_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 306 /* Build the 1st bytes to transmit (ACT) */
davide.aliprandi@st.com 22:ba7f4131a5e0 307 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= ((L6470_ACT[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode)<<3);
davide.aliprandi@st.com 22:ba7f4131a5e0 308 /* Build the 1st bytes to transmit (DIR) */
davide.aliprandi@st.com 22:ba7f4131a5e0 309 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p2)].BinaryCode);
davide.aliprandi@st.com 22:ba7f4131a5e0 310
davide.aliprandi@st.com 22:ba7f4131a5e0 311 /* Build the others bytes to transmit (SPD) */
davide.aliprandi@st.com 22:ba7f4131a5e0 312 for (spibyte=1; spibyte<(3+1); spibyte++)
davide.aliprandi@st.com 22:ba7f4131a5e0 313 {
davide.aliprandi@st.com 22:ba7f4131a5e0 314 *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p3) >> (8*(3-spibyte)));
davide.aliprandi@st.com 22:ba7f4131a5e0 315 }
davide.aliprandi@st.com 22:ba7f4131a5e0 316 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 317 case L6470_RELEASESW_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 318 /* Build the 1st bytes to transmit (ACT) */
davide.aliprandi@st.com 22:ba7f4131a5e0 319 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= ((L6470_ACT[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode)<<3);
davide.aliprandi@st.com 22:ba7f4131a5e0 320 /* Build the 1st bytes to transmit (DIR) */
davide.aliprandi@st.com 22:ba7f4131a5e0 321 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p2)].BinaryCode);
davide.aliprandi@st.com 22:ba7f4131a5e0 322 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 323 case L6470_GOHOME_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 324 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 325 case L6470_GOMARK_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 326 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 327 case L6470_RESETPOS_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 328 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 329 case L6470_RESETDEVICE_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 330 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 331 case L6470_SOFTSTOP_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 332 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 333 case L6470_HARDSTOP_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 334 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 335 case L6470_SOFTHIZ_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 336 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 337 case L6470_HARDHIZ_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 338 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 339 case L6470_GETSTATUS_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 340 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 341 }
davide.aliprandi@st.com 22:ba7f4131a5e0 342 }
davide.aliprandi@st.com 22:ba7f4131a5e0 343 }
davide.aliprandi@st.com 22:ba7f4131a5e0 344
davide.aliprandi@st.com 22:ba7f4131a5e0 345 /* End of L6470_Private_Functions */
davide.aliprandi@st.com 22:ba7f4131a5e0 346
davide.aliprandi@st.com 22:ba7f4131a5e0 347 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 348 * @addtogroup L6470_Exported_Functions
davide.aliprandi@st.com 22:ba7f4131a5e0 349 * @{
davide.aliprandi@st.com 22:ba7f4131a5e0 350 */
davide.aliprandi@st.com 22:ba7f4131a5e0 351
davide.aliprandi@st.com 22:ba7f4131a5e0 352 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 353 * @addtogroup L6470_Conversion_Functions
davide.aliprandi@st.com 22:ba7f4131a5e0 354 * @brief The following functions act just on one driver inside the L6470
davide.aliprandi@st.com 22:ba7f4131a5e0 355 * daisy chain. The command is immediately sent.
davide.aliprandi@st.com 22:ba7f4131a5e0 356 * @{
davide.aliprandi@st.com 22:ba7f4131a5e0 357 */
davide.aliprandi@st.com 22:ba7f4131a5e0 358
davide.aliprandi@st.com 22:ba7f4131a5e0 359 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 360 * @brief Convert the absolute position as 2's complement format into the signed number.
davide.aliprandi@st.com 22:ba7f4131a5e0 361 *
davide.aliprandi@st.com 22:ba7f4131a5e0 362 * @param AbsPos The absolute position in the range from [-(2^21)] to [+(2^21)-1].
davide.aliprandi@st.com 22:ba7f4131a5e0 363 * @retval Position The position as signed number.
davide.aliprandi@st.com 22:ba7f4131a5e0 364 */
davide.aliprandi@st.com 22:ba7f4131a5e0 365 int32_t L6470::L6470_AbsPos_2_Position(uint32_t AbsPos)
davide.aliprandi@st.com 22:ba7f4131a5e0 366 {
davide.aliprandi@st.com 22:ba7f4131a5e0 367 if (AbsPos > L6470_MAX_POSITION)
davide.aliprandi@st.com 22:ba7f4131a5e0 368 return (AbsPos - (L6470_POSITION_RANGE + 1));
davide.aliprandi@st.com 22:ba7f4131a5e0 369 else
davide.aliprandi@st.com 22:ba7f4131a5e0 370 return AbsPos;
davide.aliprandi@st.com 22:ba7f4131a5e0 371 }
davide.aliprandi@st.com 22:ba7f4131a5e0 372
davide.aliprandi@st.com 22:ba7f4131a5e0 373 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 374 * @brief Convert the position as signed number into absolute position as 2's complement format.
davide.aliprandi@st.com 22:ba7f4131a5e0 375 *
davide.aliprandi@st.com 22:ba7f4131a5e0 376 * @param Position The position as signed number.
davide.aliprandi@st.com 22:ba7f4131a5e0 377 * @retval AbsPos The absolute position in the range from [-(2^21)] to [+(2^21)-1].
davide.aliprandi@st.com 22:ba7f4131a5e0 378 */
davide.aliprandi@st.com 22:ba7f4131a5e0 379 uint32_t L6470::L6470_Position_2_AbsPos(int32_t Position)
davide.aliprandi@st.com 22:ba7f4131a5e0 380 {
davide.aliprandi@st.com 22:ba7f4131a5e0 381 if ((Position >= 0) && (Position <= L6470_MAX_POSITION))
davide.aliprandi@st.com 22:ba7f4131a5e0 382 return Position;
davide.aliprandi@st.com 22:ba7f4131a5e0 383 else
davide.aliprandi@st.com 22:ba7f4131a5e0 384 {
davide.aliprandi@st.com 22:ba7f4131a5e0 385 if ((Position >= L6470_MIN_POSITION) && (Position < 0))
davide.aliprandi@st.com 22:ba7f4131a5e0 386 return (Position + (L6470_POSITION_RANGE + 1));
davide.aliprandi@st.com 22:ba7f4131a5e0 387 else
davide.aliprandi@st.com 22:ba7f4131a5e0 388 return (L6470_POSITION_RANGE + 1); // OVF
davide.aliprandi@st.com 22:ba7f4131a5e0 389 }
davide.aliprandi@st.com 22:ba7f4131a5e0 390 }
davide.aliprandi@st.com 22:ba7f4131a5e0 391
davide.aliprandi@st.com 22:ba7f4131a5e0 392 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 393 * @brief Convert the SPEED register value into step/s.
davide.aliprandi@st.com 22:ba7f4131a5e0 394 *
davide.aliprandi@st.com 22:ba7f4131a5e0 395 * @param Speed The SPEED register value.
davide.aliprandi@st.com 22:ba7f4131a5e0 396 * @retval step/s The speed as step/s.
davide.aliprandi@st.com 22:ba7f4131a5e0 397 */
davide.aliprandi@st.com 22:ba7f4131a5e0 398 float L6470::L6470_Speed_2_Step_s(uint32_t Speed)
davide.aliprandi@st.com 22:ba7f4131a5e0 399 {
davide.aliprandi@st.com 22:ba7f4131a5e0 400 return (Speed * ((float)14.9012e-3));
davide.aliprandi@st.com 22:ba7f4131a5e0 401 }
davide.aliprandi@st.com 22:ba7f4131a5e0 402
davide.aliprandi@st.com 22:ba7f4131a5e0 403 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 404 * @brief Convert the speed as step/s into a right value for SPEED register.
davide.aliprandi@st.com 22:ba7f4131a5e0 405 *
davide.aliprandi@st.com 22:ba7f4131a5e0 406 * @param step/s The speed as step/s.
davide.aliprandi@st.com 22:ba7f4131a5e0 407 * @retval Speed The SPEED register value.
davide.aliprandi@st.com 22:ba7f4131a5e0 408 */
davide.aliprandi@st.com 22:ba7f4131a5e0 409 uint32_t L6470::L6470_Step_s_2_Speed(float Step_s)
davide.aliprandi@st.com 22:ba7f4131a5e0 410 {
davide.aliprandi@st.com 22:ba7f4131a5e0 411 if (Step_s <= (L6470_MAX_SPEED * ((float)14.9012e-3)))
davide.aliprandi@st.com 22:ba7f4131a5e0 412 return (uint32_t)(Step_s / ((float)14.9012e-3));
davide.aliprandi@st.com 22:ba7f4131a5e0 413 else
davide.aliprandi@st.com 22:ba7f4131a5e0 414 return 0; // Warning
davide.aliprandi@st.com 22:ba7f4131a5e0 415 }
davide.aliprandi@st.com 22:ba7f4131a5e0 416
davide.aliprandi@st.com 22:ba7f4131a5e0 417 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 418 * @brief Convert the ACC register value into step/(s^2).
davide.aliprandi@st.com 22:ba7f4131a5e0 419 *
davide.aliprandi@st.com 22:ba7f4131a5e0 420 * @param Acc The ACC register value.
davide.aliprandi@st.com 22:ba7f4131a5e0 421 * @retval step/(s^2) The acceleration as step/(s^2).
davide.aliprandi@st.com 22:ba7f4131a5e0 422 */
davide.aliprandi@st.com 22:ba7f4131a5e0 423 float L6470::L6470_Acc_2_Step_s2(uint16_t Acc)
davide.aliprandi@st.com 22:ba7f4131a5e0 424 {
davide.aliprandi@st.com 22:ba7f4131a5e0 425 if (Acc <= L6470_MAX_ACC)
davide.aliprandi@st.com 22:ba7f4131a5e0 426 return (Acc * ((float)1.4552e1));
davide.aliprandi@st.com 22:ba7f4131a5e0 427 else
davide.aliprandi@st.com 22:ba7f4131a5e0 428 return 0; // Warning
davide.aliprandi@st.com 22:ba7f4131a5e0 429 }
davide.aliprandi@st.com 22:ba7f4131a5e0 430
davide.aliprandi@st.com 22:ba7f4131a5e0 431 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 432 * @brief Convert the acceleartion as step/(s^2) into a right value for ACC register.
davide.aliprandi@st.com 22:ba7f4131a5e0 433 *
davide.aliprandi@st.com 22:ba7f4131a5e0 434 * @param step/(s^2) The acceleration as step/(s^2).
davide.aliprandi@st.com 22:ba7f4131a5e0 435 * @retval Acc The ACC register value.
davide.aliprandi@st.com 22:ba7f4131a5e0 436 */
davide.aliprandi@st.com 22:ba7f4131a5e0 437 uint16_t L6470::L6470_Step_s2_2_Acc(float Step_s2)
davide.aliprandi@st.com 22:ba7f4131a5e0 438 {
davide.aliprandi@st.com 22:ba7f4131a5e0 439 if (Step_s2 <= (L6470_MAX_ACC * ((float)1.4552e1)))
davide.aliprandi@st.com 22:ba7f4131a5e0 440 return (uint16_t)(Step_s2 / ((float)1.4552e1));
davide.aliprandi@st.com 22:ba7f4131a5e0 441 else
davide.aliprandi@st.com 22:ba7f4131a5e0 442 return 0; // Warning
davide.aliprandi@st.com 22:ba7f4131a5e0 443 }
davide.aliprandi@st.com 22:ba7f4131a5e0 444
davide.aliprandi@st.com 22:ba7f4131a5e0 445 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 446 * @brief Convert the DEC register value into step/(s^2).
davide.aliprandi@st.com 22:ba7f4131a5e0 447 *
davide.aliprandi@st.com 22:ba7f4131a5e0 448 * @param Dec The DEC register value.
davide.aliprandi@st.com 22:ba7f4131a5e0 449 * @retval step/(s^2) The deceleration as step/(s^2).
davide.aliprandi@st.com 22:ba7f4131a5e0 450 */
davide.aliprandi@st.com 22:ba7f4131a5e0 451 float L6470::L6470_Dec_2_Step_s2(uint16_t Dec)
davide.aliprandi@st.com 22:ba7f4131a5e0 452 {
davide.aliprandi@st.com 22:ba7f4131a5e0 453 if (Dec <= L6470_MAX_DEC)
davide.aliprandi@st.com 22:ba7f4131a5e0 454 return (Dec * ((float)1.4552e1));
davide.aliprandi@st.com 22:ba7f4131a5e0 455 else
davide.aliprandi@st.com 22:ba7f4131a5e0 456 return 0; // Warning
davide.aliprandi@st.com 22:ba7f4131a5e0 457 }
davide.aliprandi@st.com 22:ba7f4131a5e0 458
davide.aliprandi@st.com 22:ba7f4131a5e0 459 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 460 * @brief Convert the deceleration as step/(s^2) into a right value for DEC register.
davide.aliprandi@st.com 22:ba7f4131a5e0 461 *
davide.aliprandi@st.com 22:ba7f4131a5e0 462 * @param step/(s^2) The deceleration as step/(s^2).
davide.aliprandi@st.com 22:ba7f4131a5e0 463 * @retval Dec The DEC register value.
davide.aliprandi@st.com 22:ba7f4131a5e0 464 */
davide.aliprandi@st.com 22:ba7f4131a5e0 465 uint16_t L6470::L6470_Step_s2_2_Dec(float Step_s2)
davide.aliprandi@st.com 22:ba7f4131a5e0 466 {
davide.aliprandi@st.com 22:ba7f4131a5e0 467 if (Step_s2 <= (L6470_MAX_DEC * ((float)1.4552e1)))
davide.aliprandi@st.com 22:ba7f4131a5e0 468 return (uint16_t)(Step_s2 / ((float)1.4552e1));
davide.aliprandi@st.com 22:ba7f4131a5e0 469 else
davide.aliprandi@st.com 22:ba7f4131a5e0 470 return 0; // Warning
davide.aliprandi@st.com 22:ba7f4131a5e0 471 }
davide.aliprandi@st.com 22:ba7f4131a5e0 472
davide.aliprandi@st.com 22:ba7f4131a5e0 473 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 474 * @brief Convert the MAX_SPEED register value into step/s.
davide.aliprandi@st.com 22:ba7f4131a5e0 475 *
davide.aliprandi@st.com 22:ba7f4131a5e0 476 * @param MaxSpeed The MAX_SPEED register value.
davide.aliprandi@st.com 22:ba7f4131a5e0 477 * @retval step/s The max speed as step/s.
davide.aliprandi@st.com 22:ba7f4131a5e0 478 */
davide.aliprandi@st.com 22:ba7f4131a5e0 479 float L6470::L6470_MaxSpeed_2_Step_s(uint16_t MaxSpeed)
davide.aliprandi@st.com 22:ba7f4131a5e0 480 {
davide.aliprandi@st.com 22:ba7f4131a5e0 481 if (MaxSpeed <= L6470_MAX_MAX_SPEED)
davide.aliprandi@st.com 22:ba7f4131a5e0 482 return (MaxSpeed * ((float)15.2588));
davide.aliprandi@st.com 22:ba7f4131a5e0 483 else
davide.aliprandi@st.com 22:ba7f4131a5e0 484 return 0; // Warning
davide.aliprandi@st.com 22:ba7f4131a5e0 485 }
davide.aliprandi@st.com 22:ba7f4131a5e0 486
davide.aliprandi@st.com 22:ba7f4131a5e0 487 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 488 * @brief Convert the max speed as step/s into a right value for MAX_SPEED register.
davide.aliprandi@st.com 22:ba7f4131a5e0 489 *
davide.aliprandi@st.com 22:ba7f4131a5e0 490 * @param step/s The max speed as step/s.
davide.aliprandi@st.com 22:ba7f4131a5e0 491 * @retval MaxSpeed The MAX_SPEED register value.
davide.aliprandi@st.com 22:ba7f4131a5e0 492 */
davide.aliprandi@st.com 22:ba7f4131a5e0 493 uint16_t L6470::L6470_Step_s_2_MaxSpeed(float Step_s)
davide.aliprandi@st.com 22:ba7f4131a5e0 494 {
davide.aliprandi@st.com 22:ba7f4131a5e0 495 if (Step_s <= (L6470_MAX_MAX_SPEED * ((float)15.2588)))
davide.aliprandi@st.com 22:ba7f4131a5e0 496 return (uint16_t)(Step_s / ((float)15.2588));
davide.aliprandi@st.com 22:ba7f4131a5e0 497 else
davide.aliprandi@st.com 22:ba7f4131a5e0 498 return 0; // Warning
davide.aliprandi@st.com 22:ba7f4131a5e0 499 }
davide.aliprandi@st.com 22:ba7f4131a5e0 500
davide.aliprandi@st.com 22:ba7f4131a5e0 501 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 502 * @brief Convert the MIN_SPEED register value into step/s.
davide.aliprandi@st.com 22:ba7f4131a5e0 503 *
davide.aliprandi@st.com 22:ba7f4131a5e0 504 * @param MinSpeed The MIN_SPEED register value.
davide.aliprandi@st.com 22:ba7f4131a5e0 505 * @retval step/s The min speed as step/s.
davide.aliprandi@st.com 22:ba7f4131a5e0 506 */
davide.aliprandi@st.com 22:ba7f4131a5e0 507 float L6470::L6470_MinSpeed_2_Step_s(uint16_t MinSpeed)
davide.aliprandi@st.com 22:ba7f4131a5e0 508 {
davide.aliprandi@st.com 22:ba7f4131a5e0 509 if (MinSpeed <= L6470_MAX_MIN_SPEED)
davide.aliprandi@st.com 22:ba7f4131a5e0 510 return (MinSpeed * ((float)238.4186e-3));
davide.aliprandi@st.com 22:ba7f4131a5e0 511 else
davide.aliprandi@st.com 22:ba7f4131a5e0 512 return 0; // Warning
davide.aliprandi@st.com 22:ba7f4131a5e0 513 }
davide.aliprandi@st.com 22:ba7f4131a5e0 514
davide.aliprandi@st.com 22:ba7f4131a5e0 515 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 516 * @brief Convert the min speed as step/s into a right value for MIN_SPEED register.
davide.aliprandi@st.com 22:ba7f4131a5e0 517 *
davide.aliprandi@st.com 22:ba7f4131a5e0 518 * @param step/s The min speed as step/s.
davide.aliprandi@st.com 22:ba7f4131a5e0 519 * @retval MinSpeed The MIN_SPEED register value.
davide.aliprandi@st.com 22:ba7f4131a5e0 520 */
davide.aliprandi@st.com 22:ba7f4131a5e0 521 uint16_t L6470::L6470_Step_s_2_MinSpeed(float Step_s)
davide.aliprandi@st.com 22:ba7f4131a5e0 522 {
davide.aliprandi@st.com 22:ba7f4131a5e0 523 if (Step_s <= (L6470_MAX_MIN_SPEED * ((float)238.4186e-3)))
davide.aliprandi@st.com 22:ba7f4131a5e0 524 return (uint16_t)(Step_s / ((float)238.4186e-3));
davide.aliprandi@st.com 22:ba7f4131a5e0 525 else
davide.aliprandi@st.com 22:ba7f4131a5e0 526 return 0; // Warning
davide.aliprandi@st.com 22:ba7f4131a5e0 527 }
davide.aliprandi@st.com 22:ba7f4131a5e0 528
davide.aliprandi@st.com 22:ba7f4131a5e0 529 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 530 * @brief Convert the FS_SPD register value into step/s.
davide.aliprandi@st.com 22:ba7f4131a5e0 531 *
davide.aliprandi@st.com 22:ba7f4131a5e0 532 * @param FsSpd The FS_SPD register value.
davide.aliprandi@st.com 22:ba7f4131a5e0 533 * @retval step/s The full-step speed as step/s.
davide.aliprandi@st.com 22:ba7f4131a5e0 534 */
davide.aliprandi@st.com 22:ba7f4131a5e0 535 float L6470::L6470_FsSpd_2_Step_s(uint16_t FsSpd)
davide.aliprandi@st.com 22:ba7f4131a5e0 536 {
davide.aliprandi@st.com 22:ba7f4131a5e0 537 if (FsSpd <= L6470_MAX_FS_SPD)
davide.aliprandi@st.com 22:ba7f4131a5e0 538 return ((FsSpd+0.5) * ((float)15.25));
davide.aliprandi@st.com 22:ba7f4131a5e0 539 else
davide.aliprandi@st.com 22:ba7f4131a5e0 540 return 0; // Warning
davide.aliprandi@st.com 22:ba7f4131a5e0 541 }
davide.aliprandi@st.com 22:ba7f4131a5e0 542
davide.aliprandi@st.com 22:ba7f4131a5e0 543 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 544 * @brief Convert the full-step speed as step/s into a right value for FS_SPD register.
davide.aliprandi@st.com 22:ba7f4131a5e0 545 *
davide.aliprandi@st.com 22:ba7f4131a5e0 546 * @param step/s The full-step speed as step/s.
davide.aliprandi@st.com 22:ba7f4131a5e0 547 * @retval FsSpd The FS_SPD register value.
davide.aliprandi@st.com 22:ba7f4131a5e0 548 */
davide.aliprandi@st.com 22:ba7f4131a5e0 549 uint16_t L6470::L6470_Step_s_2_FsSpd(float Step_s)
davide.aliprandi@st.com 22:ba7f4131a5e0 550 {
davide.aliprandi@st.com 22:ba7f4131a5e0 551 if (Step_s <= ((L6470_MAX_FS_SPD+0.5) * ((float)15.25)))
davide.aliprandi@st.com 22:ba7f4131a5e0 552 return (uint16_t)((float)(Step_s / ((float)15.25)) - (float)0.5);
davide.aliprandi@st.com 22:ba7f4131a5e0 553 else
davide.aliprandi@st.com 22:ba7f4131a5e0 554 return 0; // Warning
davide.aliprandi@st.com 22:ba7f4131a5e0 555 }
davide.aliprandi@st.com 22:ba7f4131a5e0 556
davide.aliprandi@st.com 22:ba7f4131a5e0 557 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 558 * @brief Convert the INT_SPEED register value into step/s.
davide.aliprandi@st.com 22:ba7f4131a5e0 559 *
davide.aliprandi@st.com 22:ba7f4131a5e0 560 * @param IntSpeed The INT_SPEED register value.
davide.aliprandi@st.com 22:ba7f4131a5e0 561 * @retval step/s The intersect speed as step/s.
davide.aliprandi@st.com 22:ba7f4131a5e0 562 */
davide.aliprandi@st.com 22:ba7f4131a5e0 563 float L6470::L6470_IntSpeed_2_Step_s(uint16_t IntSpeed)
davide.aliprandi@st.com 22:ba7f4131a5e0 564 {
davide.aliprandi@st.com 22:ba7f4131a5e0 565 if (IntSpeed <= L6470_MAX_INT_SPEED)
davide.aliprandi@st.com 22:ba7f4131a5e0 566 return (IntSpeed * ((float)59.6046e-3));
davide.aliprandi@st.com 22:ba7f4131a5e0 567 else
davide.aliprandi@st.com 22:ba7f4131a5e0 568 return 0; // Warning
davide.aliprandi@st.com 22:ba7f4131a5e0 569 }
davide.aliprandi@st.com 22:ba7f4131a5e0 570
davide.aliprandi@st.com 22:ba7f4131a5e0 571 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 572 * @brief Convert the intersect speed as step/s into a right value for INT_SPEED register.
davide.aliprandi@st.com 22:ba7f4131a5e0 573 *
davide.aliprandi@st.com 22:ba7f4131a5e0 574 * @param step/s The full-step speed as step/s.
davide.aliprandi@st.com 22:ba7f4131a5e0 575 * @retval FsSpd The FS_SPD register value.
davide.aliprandi@st.com 22:ba7f4131a5e0 576 */
davide.aliprandi@st.com 22:ba7f4131a5e0 577 uint16_t L6470::L6470_Step_s_2_IntSpeed(float Step_s)
davide.aliprandi@st.com 22:ba7f4131a5e0 578 {
davide.aliprandi@st.com 22:ba7f4131a5e0 579 if (Step_s <= (L6470_MAX_INT_SPEED * ((float)59.6046e-3)))
davide.aliprandi@st.com 22:ba7f4131a5e0 580 return (uint16_t)(Step_s / ((float)59.6046e-3));
davide.aliprandi@st.com 22:ba7f4131a5e0 581 else
davide.aliprandi@st.com 22:ba7f4131a5e0 582 return 0; // Warning
davide.aliprandi@st.com 22:ba7f4131a5e0 583 }
davide.aliprandi@st.com 22:ba7f4131a5e0 584
davide.aliprandi@st.com 22:ba7f4131a5e0 585 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 586 * @brief Convert the ST_SLP register value into s/step.
davide.aliprandi@st.com 22:ba7f4131a5e0 587 *
davide.aliprandi@st.com 22:ba7f4131a5e0 588 * @param StartSlope The ST_SLP register value.
davide.aliprandi@st.com 22:ba7f4131a5e0 589 * @retval s/step The start slope as s/step.
davide.aliprandi@st.com 22:ba7f4131a5e0 590 */
davide.aliprandi@st.com 22:ba7f4131a5e0 591 float L6470::L6470_StSlp_2_s_Step(uint8_t StSlp)
davide.aliprandi@st.com 22:ba7f4131a5e0 592 {
davide.aliprandi@st.com 22:ba7f4131a5e0 593 // if (StSlp <= L6470_MAX_ST_SLP)
davide.aliprandi@st.com 22:ba7f4131a5e0 594 return (StSlp * ((float)1.5686e-5));
davide.aliprandi@st.com 22:ba7f4131a5e0 595 // else
davide.aliprandi@st.com 22:ba7f4131a5e0 596 // return 0; // Warning
davide.aliprandi@st.com 22:ba7f4131a5e0 597 }
davide.aliprandi@st.com 22:ba7f4131a5e0 598
davide.aliprandi@st.com 22:ba7f4131a5e0 599 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 600 * @brief Convert the intersect speed as step/s into a right value for INT_SPEED register.
davide.aliprandi@st.com 22:ba7f4131a5e0 601 *
davide.aliprandi@st.com 22:ba7f4131a5e0 602 * @param step/s The full-step speed as step/s.
davide.aliprandi@st.com 22:ba7f4131a5e0 603 * @retval FsSpd The FS_SPD register value.
davide.aliprandi@st.com 22:ba7f4131a5e0 604 */
davide.aliprandi@st.com 22:ba7f4131a5e0 605 uint8_t L6470::L6470_s_Step_2_StSlp(float s_Step)
davide.aliprandi@st.com 22:ba7f4131a5e0 606 {
davide.aliprandi@st.com 22:ba7f4131a5e0 607 if (s_Step <= (L6470_MAX_ST_SLP * ((float)1.5686e-5)))
davide.aliprandi@st.com 22:ba7f4131a5e0 608 return (uint8_t)(s_Step / ((float)1.5686e-5));
davide.aliprandi@st.com 22:ba7f4131a5e0 609 else
davide.aliprandi@st.com 22:ba7f4131a5e0 610 return 0; // Warning
davide.aliprandi@st.com 22:ba7f4131a5e0 611 }
davide.aliprandi@st.com 22:ba7f4131a5e0 612
davide.aliprandi@st.com 22:ba7f4131a5e0 613 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 614 * @brief Convert the INT_SPEED register value into step/s.
davide.aliprandi@st.com 22:ba7f4131a5e0 615 *
davide.aliprandi@st.com 22:ba7f4131a5e0 616 * @param IntSpeed The INT_SPEED register value.
davide.aliprandi@st.com 22:ba7f4131a5e0 617 * @retval step/s The intersect speed as step/s.
davide.aliprandi@st.com 22:ba7f4131a5e0 618 */
davide.aliprandi@st.com 22:ba7f4131a5e0 619 float L6470::L6470_FnSlpAcc_2_s_Step(uint8_t FnSlpAcc)
davide.aliprandi@st.com 22:ba7f4131a5e0 620 {
davide.aliprandi@st.com 22:ba7f4131a5e0 621 // if (FnSlpAcc <= L6470_MAX_FN_SLP_ACC)
davide.aliprandi@st.com 22:ba7f4131a5e0 622 return (FnSlpAcc * ((float)1.5686e-5));
davide.aliprandi@st.com 22:ba7f4131a5e0 623 // else
davide.aliprandi@st.com 22:ba7f4131a5e0 624 // return 0; // Warning
davide.aliprandi@st.com 22:ba7f4131a5e0 625 }
davide.aliprandi@st.com 22:ba7f4131a5e0 626
davide.aliprandi@st.com 22:ba7f4131a5e0 627 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 628 * @brief Convert the intersect speed as step/s into a right value for INT_SPEED register.
davide.aliprandi@st.com 22:ba7f4131a5e0 629 *
davide.aliprandi@st.com 22:ba7f4131a5e0 630 * @param step/s The full-step speed as step/s.
davide.aliprandi@st.com 22:ba7f4131a5e0 631 * @retval FsSpd The FS_SPD register value.
davide.aliprandi@st.com 22:ba7f4131a5e0 632 */
davide.aliprandi@st.com 22:ba7f4131a5e0 633 uint8_t L6470::L6470_s_Step_2_FnSlpAcc(float s_Step)
davide.aliprandi@st.com 22:ba7f4131a5e0 634 {
davide.aliprandi@st.com 22:ba7f4131a5e0 635 if (s_Step <= (L6470_MAX_FN_SLP_ACC * ((float)1.5686e-5)))
davide.aliprandi@st.com 22:ba7f4131a5e0 636 return (uint8_t)(s_Step / ((float)1.5686e-5));
davide.aliprandi@st.com 22:ba7f4131a5e0 637 else
davide.aliprandi@st.com 22:ba7f4131a5e0 638 return 0; // Warning
davide.aliprandi@st.com 22:ba7f4131a5e0 639 }
davide.aliprandi@st.com 22:ba7f4131a5e0 640
davide.aliprandi@st.com 22:ba7f4131a5e0 641 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 642 * @brief Convert the INT_SPEED register value into step/s.
davide.aliprandi@st.com 22:ba7f4131a5e0 643 *
davide.aliprandi@st.com 22:ba7f4131a5e0 644 * @param IntSpeed The INT_SPEED register value.
davide.aliprandi@st.com 22:ba7f4131a5e0 645 * @retval step/s The intersect speed as step/s.
davide.aliprandi@st.com 22:ba7f4131a5e0 646 */
davide.aliprandi@st.com 22:ba7f4131a5e0 647 float L6470::L6470_FnSlpDec_2_s_Step(uint8_t FnSlpDec)
davide.aliprandi@st.com 22:ba7f4131a5e0 648 {
davide.aliprandi@st.com 22:ba7f4131a5e0 649 // if (FnSlpDec <= L6470_MAX_FN_SLP_DEC)
davide.aliprandi@st.com 22:ba7f4131a5e0 650 return (FnSlpDec * ((float)1.5686e-5));
davide.aliprandi@st.com 22:ba7f4131a5e0 651 // else
davide.aliprandi@st.com 22:ba7f4131a5e0 652 // return 0; // Warning
davide.aliprandi@st.com 22:ba7f4131a5e0 653 }
davide.aliprandi@st.com 22:ba7f4131a5e0 654
davide.aliprandi@st.com 22:ba7f4131a5e0 655 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 656 * @brief Convert the intersect speed as step/s into a right value for INT_SPEED register.
davide.aliprandi@st.com 22:ba7f4131a5e0 657 *
davide.aliprandi@st.com 22:ba7f4131a5e0 658 * @param step/s The full-step speed as step/s.
davide.aliprandi@st.com 22:ba7f4131a5e0 659 * @retval FsSpd The FS_SPD register value.
davide.aliprandi@st.com 22:ba7f4131a5e0 660 */
davide.aliprandi@st.com 22:ba7f4131a5e0 661 uint8_t L6470::L6470_s_Step_2_FnSlpDec(float s_Step)
davide.aliprandi@st.com 22:ba7f4131a5e0 662 {
davide.aliprandi@st.com 22:ba7f4131a5e0 663 if (s_Step <= (L6470_MAX_FN_SLP_DEC * ((float)1.5686e-5)))
davide.aliprandi@st.com 22:ba7f4131a5e0 664 return (uint8_t)(s_Step / ((float)1.5686e-5));
davide.aliprandi@st.com 22:ba7f4131a5e0 665 else
davide.aliprandi@st.com 22:ba7f4131a5e0 666 return 0; // Warning
davide.aliprandi@st.com 22:ba7f4131a5e0 667 }
davide.aliprandi@st.com 22:ba7f4131a5e0 668
davide.aliprandi@st.com 22:ba7f4131a5e0 669 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 670 * @brief Convert the OCD_TH register value into mA.
davide.aliprandi@st.com 22:ba7f4131a5e0 671 *
davide.aliprandi@st.com 22:ba7f4131a5e0 672 * @param OcdTh The OCD_TH register value.
davide.aliprandi@st.com 22:ba7f4131a5e0 673 * @retval mA The overcurrent threshold as mA.
davide.aliprandi@st.com 22:ba7f4131a5e0 674 */
davide.aliprandi@st.com 22:ba7f4131a5e0 675 float L6470::L6470_OcdTh_2_mA(uint8_t OcdTh)
davide.aliprandi@st.com 22:ba7f4131a5e0 676 {
davide.aliprandi@st.com 22:ba7f4131a5e0 677 if (OcdTh <= L6470_MAX_OCD_TH)
davide.aliprandi@st.com 22:ba7f4131a5e0 678 return ((OcdTh+1) * ((float)375));
davide.aliprandi@st.com 22:ba7f4131a5e0 679 else
davide.aliprandi@st.com 22:ba7f4131a5e0 680 return 0; // Warning
davide.aliprandi@st.com 22:ba7f4131a5e0 681 }
davide.aliprandi@st.com 22:ba7f4131a5e0 682
davide.aliprandi@st.com 22:ba7f4131a5e0 683 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 684 * @brief Convert the overcurrent threshold as mA into a right value for OCD_TH register.
davide.aliprandi@st.com 22:ba7f4131a5e0 685 *
davide.aliprandi@st.com 22:ba7f4131a5e0 686 * @param mA The overcurrent threshold as mA.
davide.aliprandi@st.com 22:ba7f4131a5e0 687 * @retval OcdTh The OCD_TH register value.
davide.aliprandi@st.com 22:ba7f4131a5e0 688 */
davide.aliprandi@st.com 22:ba7f4131a5e0 689 uint8_t L6470::L6470_mA_2_OcdTh(float mA)
davide.aliprandi@st.com 22:ba7f4131a5e0 690 {
davide.aliprandi@st.com 22:ba7f4131a5e0 691 float result, decimal;
davide.aliprandi@st.com 22:ba7f4131a5e0 692
davide.aliprandi@st.com 22:ba7f4131a5e0 693 if (mA <= ((L6470_MAX_OCD_TH+1) * ((float)375)))
davide.aliprandi@st.com 22:ba7f4131a5e0 694 {
davide.aliprandi@st.com 22:ba7f4131a5e0 695 result = (mA / ((float)375));
davide.aliprandi@st.com 22:ba7f4131a5e0 696 decimal = result - (uint8_t)result;
davide.aliprandi@st.com 22:ba7f4131a5e0 697
davide.aliprandi@st.com 22:ba7f4131a5e0 698 if (decimal < (float)0.5)
davide.aliprandi@st.com 22:ba7f4131a5e0 699 return ((uint8_t)result - 1);
davide.aliprandi@st.com 22:ba7f4131a5e0 700 else
davide.aliprandi@st.com 22:ba7f4131a5e0 701 return ((uint8_t)result);
davide.aliprandi@st.com 22:ba7f4131a5e0 702 }
davide.aliprandi@st.com 22:ba7f4131a5e0 703 else
davide.aliprandi@st.com 22:ba7f4131a5e0 704 return 0; // Warning
davide.aliprandi@st.com 22:ba7f4131a5e0 705 }
davide.aliprandi@st.com 22:ba7f4131a5e0 706
davide.aliprandi@st.com 22:ba7f4131a5e0 707 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 708 * @brief Convert the STALL_TH register value into mA.
davide.aliprandi@st.com 22:ba7f4131a5e0 709 *
davide.aliprandi@st.com 22:ba7f4131a5e0 710 * @param StallTh The STALL_TH register value.
davide.aliprandi@st.com 22:ba7f4131a5e0 711 * @retval mA The stall detection threshold as mA.
davide.aliprandi@st.com 22:ba7f4131a5e0 712 */
davide.aliprandi@st.com 22:ba7f4131a5e0 713 float L6470::L6470_StallTh_2_mA(uint8_t StallTh)
davide.aliprandi@st.com 22:ba7f4131a5e0 714 {
davide.aliprandi@st.com 22:ba7f4131a5e0 715 if (StallTh <= L6470_MAX_STALL_TH)
davide.aliprandi@st.com 22:ba7f4131a5e0 716 return ((StallTh+1) * ((float)31.25));
davide.aliprandi@st.com 22:ba7f4131a5e0 717 else
davide.aliprandi@st.com 22:ba7f4131a5e0 718 return 0; // Warning
davide.aliprandi@st.com 22:ba7f4131a5e0 719 }
davide.aliprandi@st.com 22:ba7f4131a5e0 720
davide.aliprandi@st.com 22:ba7f4131a5e0 721 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 722 * @brief Convert the stall detection threshold as mA into a right value for STALL_TH register.
davide.aliprandi@st.com 22:ba7f4131a5e0 723 *
davide.aliprandi@st.com 22:ba7f4131a5e0 724 * @param mA The stall detection threshold as mA.
davide.aliprandi@st.com 22:ba7f4131a5e0 725 * @retval StallTh The STALL_TH register value.
davide.aliprandi@st.com 22:ba7f4131a5e0 726 */
davide.aliprandi@st.com 22:ba7f4131a5e0 727 uint8_t L6470::L6470_mA_2_StallTh(float mA)
davide.aliprandi@st.com 22:ba7f4131a5e0 728 {
davide.aliprandi@st.com 22:ba7f4131a5e0 729 float result, decimal;
davide.aliprandi@st.com 22:ba7f4131a5e0 730
davide.aliprandi@st.com 22:ba7f4131a5e0 731 if (mA <= ((L6470_MAX_STALL_TH+1) * ((float)31.25)))
davide.aliprandi@st.com 22:ba7f4131a5e0 732 {
davide.aliprandi@st.com 22:ba7f4131a5e0 733 result = (mA / ((float)31.25));
davide.aliprandi@st.com 22:ba7f4131a5e0 734 decimal = result - (uint8_t)result;
davide.aliprandi@st.com 22:ba7f4131a5e0 735
davide.aliprandi@st.com 22:ba7f4131a5e0 736 if (decimal < (float)0.5)
davide.aliprandi@st.com 22:ba7f4131a5e0 737 return ((uint8_t)result - 1);
davide.aliprandi@st.com 22:ba7f4131a5e0 738 else
davide.aliprandi@st.com 22:ba7f4131a5e0 739 return ((uint8_t)result);
davide.aliprandi@st.com 22:ba7f4131a5e0 740 }
davide.aliprandi@st.com 22:ba7f4131a5e0 741 else
davide.aliprandi@st.com 22:ba7f4131a5e0 742 return 0; // Warning
davide.aliprandi@st.com 22:ba7f4131a5e0 743 }
davide.aliprandi@st.com 22:ba7f4131a5e0 744
davide.aliprandi@st.com 22:ba7f4131a5e0 745 /* End of L6470_Conversion_Functions */
davide.aliprandi@st.com 22:ba7f4131a5e0 746
davide.aliprandi@st.com 22:ba7f4131a5e0 747 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 748 * @addtogroup L6470_AppCMDs
davide.aliprandi@st.com 22:ba7f4131a5e0 749 * @{
davide.aliprandi@st.com 22:ba7f4131a5e0 750 */
davide.aliprandi@st.com 22:ba7f4131a5e0 751
davide.aliprandi@st.com 22:ba7f4131a5e0 752 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 753 * @brief SetParam command sets the register value equal to a new value.
davide.aliprandi@st.com 22:ba7f4131a5e0 754 *
davide.aliprandi@st.com 22:ba7f4131a5e0 755 * @param L6470_RegId The identifier of the L6470 register to be addressed.
davide.aliprandi@st.com 22:ba7f4131a5e0 756 * @param Value The new value.
davide.aliprandi@st.com 22:ba7f4131a5e0 757 */
davide.aliprandi@st.com 22:ba7f4131a5e0 758 void L6470::L6470_SetParam(eL6470_RegId_t L6470_RegId, uint32_t Value)
davide.aliprandi@st.com 22:ba7f4131a5e0 759 {
davide.aliprandi@st.com 22:ba7f4131a5e0 760 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SETPARAM_ID, L6470_RegId, Value, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 761 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 762 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 763 }
davide.aliprandi@st.com 22:ba7f4131a5e0 764
davide.aliprandi@st.com 22:ba7f4131a5e0 765 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 766 * @brief GetParam command reads the register value.
davide.aliprandi@st.com 22:ba7f4131a5e0 767 *
davide.aliprandi@st.com 22:ba7f4131a5e0 768 * @param L6470_RegId The identifier of the L6470 register to be addressed.
davide.aliprandi@st.com 22:ba7f4131a5e0 769 *
davide.aliprandi@st.com 22:ba7f4131a5e0 770 * @retval ReceivedValue The register value.
davide.aliprandi@st.com 22:ba7f4131a5e0 771 */
davide.aliprandi@st.com 22:ba7f4131a5e0 772 uint32_t L6470::L6470_GetParam(eL6470_RegId_t L6470_RegId)
davide.aliprandi@st.com 22:ba7f4131a5e0 773 {
davide.aliprandi@st.com 22:ba7f4131a5e0 774 uint8_t ValueLengthByte;
davide.aliprandi@st.com 22:ba7f4131a5e0 775 uint32_t ReceivedValue;
davide.aliprandi@st.com 22:ba7f4131a5e0 776
davide.aliprandi@st.com 22:ba7f4131a5e0 777 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETPARAM_ID, L6470_RegId, 0, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 778 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 779 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 780
davide.aliprandi@st.com 22:ba7f4131a5e0 781 ValueLengthByte = L6470_Register[L6470_RegId].LengthByte;
davide.aliprandi@st.com 22:ba7f4131a5e0 782
davide.aliprandi@st.com 22:ba7f4131a5e0 783 ReceivedValue = L6470_ExtractReturnedData((uint8_t*)L6470_DaisyChainSpiRxStruct, ValueLengthByte);
davide.aliprandi@st.com 22:ba7f4131a5e0 784
davide.aliprandi@st.com 22:ba7f4131a5e0 785 return ReceivedValue;
davide.aliprandi@st.com 22:ba7f4131a5e0 786 }
davide.aliprandi@st.com 22:ba7f4131a5e0 787
davide.aliprandi@st.com 22:ba7f4131a5e0 788 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 789 * @brief Run command produces a motion at fixed speed.
davide.aliprandi@st.com 22:ba7f4131a5e0 790 *
davide.aliprandi@st.com 22:ba7f4131a5e0 791 * @param L6470_DirId The identifier of the L6470 motion direction.
davide.aliprandi@st.com 22:ba7f4131a5e0 792 * @param Speed The speed value as (([step/s] * 250e-9) / 2^-28)
davide.aliprandi@st.com 22:ba7f4131a5e0 793 */
davide.aliprandi@st.com 22:ba7f4131a5e0 794 void L6470::L6470_Run(eL6470_DirId_t L6470_DirId, uint32_t Speed)
davide.aliprandi@st.com 22:ba7f4131a5e0 795 {
davide.aliprandi@st.com 22:ba7f4131a5e0 796 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RUN_ID, L6470_DirId, Speed, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 797 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 798 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 799 }
davide.aliprandi@st.com 22:ba7f4131a5e0 800
davide.aliprandi@st.com 22:ba7f4131a5e0 801 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 802 * @brief StepClock command switches the device in Step-clock mode.
davide.aliprandi@st.com 22:ba7f4131a5e0 803 *
davide.aliprandi@st.com 22:ba7f4131a5e0 804 * @param L6470_DirId The identifier of the L6470 motion direction.
davide.aliprandi@st.com 22:ba7f4131a5e0 805 */
davide.aliprandi@st.com 22:ba7f4131a5e0 806 void L6470::L6470_StepClock(eL6470_DirId_t L6470_DirId)
davide.aliprandi@st.com 22:ba7f4131a5e0 807 {
davide.aliprandi@st.com 22:ba7f4131a5e0 808 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_STEPCLOCK_ID, L6470_DirId, 0, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 809 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 810 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 811 }
davide.aliprandi@st.com 22:ba7f4131a5e0 812
davide.aliprandi@st.com 22:ba7f4131a5e0 813 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 814 * @brief Move command produces a motion of N_STEP microsteps.
davide.aliprandi@st.com 22:ba7f4131a5e0 815 *
davide.aliprandi@st.com 22:ba7f4131a5e0 816 * @param L6470_DirId The identifier of the L6470 motion direction.
davide.aliprandi@st.com 22:ba7f4131a5e0 817 * @param N_Step The number of microsteps.
davide.aliprandi@st.com 22:ba7f4131a5e0 818 */
davide.aliprandi@st.com 22:ba7f4131a5e0 819 void L6470::L6470_Move(eL6470_DirId_t L6470_DirId, uint32_t N_Step)
davide.aliprandi@st.com 22:ba7f4131a5e0 820 {
davide.aliprandi@st.com 22:ba7f4131a5e0 821 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_MOVE_ID, L6470_DirId, N_Step, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 822 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 823 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 824 }
davide.aliprandi@st.com 22:ba7f4131a5e0 825
davide.aliprandi@st.com 22:ba7f4131a5e0 826 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 827 * @brief GoTo command produces a motion to ABS_POS absolute position through the shortest path.
davide.aliprandi@st.com 22:ba7f4131a5e0 828 *
davide.aliprandi@st.com 22:ba7f4131a5e0 829 * @param AbsPos The target absolute position.
davide.aliprandi@st.com 22:ba7f4131a5e0 830 */
davide.aliprandi@st.com 22:ba7f4131a5e0 831 void L6470::L6470_GoTo(uint32_t AbsPos)
davide.aliprandi@st.com 22:ba7f4131a5e0 832 {
davide.aliprandi@st.com 22:ba7f4131a5e0 833 if (AbsPos <= L6470_POSITION_RANGE)
davide.aliprandi@st.com 22:ba7f4131a5e0 834 {
davide.aliprandi@st.com 22:ba7f4131a5e0 835 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTO_ID, AbsPos, 0, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 836 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 837 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 838 }
davide.aliprandi@st.com 22:ba7f4131a5e0 839 }
davide.aliprandi@st.com 22:ba7f4131a5e0 840
davide.aliprandi@st.com 22:ba7f4131a5e0 841 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 842 * @brief GoTo_DIR command produces a motion to ABS_POS absolute position imposing a direction.
davide.aliprandi@st.com 22:ba7f4131a5e0 843 *
davide.aliprandi@st.com 22:ba7f4131a5e0 844 * @param L6470_DirId The identifier of the L6470 motion direction.
davide.aliprandi@st.com 22:ba7f4131a5e0 845 * @param AbsPos The target absolute position.
davide.aliprandi@st.com 22:ba7f4131a5e0 846 */
davide.aliprandi@st.com 22:ba7f4131a5e0 847 void L6470::L6470_GoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos)
davide.aliprandi@st.com 22:ba7f4131a5e0 848 {
davide.aliprandi@st.com 22:ba7f4131a5e0 849 if (AbsPos <= L6470_POSITION_RANGE)
davide.aliprandi@st.com 22:ba7f4131a5e0 850 {
davide.aliprandi@st.com 22:ba7f4131a5e0 851 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTODIR_ID, L6470_DirId, AbsPos, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 852 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 853 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 854 }
davide.aliprandi@st.com 22:ba7f4131a5e0 855 }
davide.aliprandi@st.com 22:ba7f4131a5e0 856
davide.aliprandi@st.com 22:ba7f4131a5e0 857 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 858 * @brief GoUntil command produces a motion at fixed speed imposing a direction
davide.aliprandi@st.com 22:ba7f4131a5e0 859 * until an external switch turn-on event occurs.
davide.aliprandi@st.com 22:ba7f4131a5e0 860 *
davide.aliprandi@st.com 22:ba7f4131a5e0 861 * @param L6470_ActId The identifier of the L6470 action about the absolute position.
davide.aliprandi@st.com 22:ba7f4131a5e0 862 * @param L6470_DirId The identifier of the L6470 motion direction.
davide.aliprandi@st.com 22:ba7f4131a5e0 863 * @param Speed The speed value as (([step/s] * 250e-9) / 2^-28)
davide.aliprandi@st.com 22:ba7f4131a5e0 864 */
davide.aliprandi@st.com 22:ba7f4131a5e0 865 void L6470::L6470_GoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed)
davide.aliprandi@st.com 22:ba7f4131a5e0 866 {
davide.aliprandi@st.com 22:ba7f4131a5e0 867 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOUNTIL_ID, L6470_ActId, L6470_DirId, Speed);
davide.aliprandi@st.com 22:ba7f4131a5e0 868 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 869 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 870 }
davide.aliprandi@st.com 22:ba7f4131a5e0 871
davide.aliprandi@st.com 22:ba7f4131a5e0 872 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 873 * @brief ReleaseSW command produces a motion at minimum speed imposing a direction
davide.aliprandi@st.com 22:ba7f4131a5e0 874 * until SW is released.
davide.aliprandi@st.com 22:ba7f4131a5e0 875 *
davide.aliprandi@st.com 22:ba7f4131a5e0 876 * @param L6470_ActId The identifier of the L6470 action about the absolute position.
davide.aliprandi@st.com 22:ba7f4131a5e0 877 * @param L6470_DirId The identifier of the L6470 motion direction.
davide.aliprandi@st.com 22:ba7f4131a5e0 878 */
davide.aliprandi@st.com 22:ba7f4131a5e0 879 void L6470::L6470_ReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId)
davide.aliprandi@st.com 22:ba7f4131a5e0 880 {
davide.aliprandi@st.com 22:ba7f4131a5e0 881 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RELEASESW_ID, L6470_ActId, L6470_DirId, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 882 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 883 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 884 }
davide.aliprandi@st.com 22:ba7f4131a5e0 885
davide.aliprandi@st.com 22:ba7f4131a5e0 886 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 887 * @brief GoHome command produces a motion to the HOME position (zero position)
davide.aliprandi@st.com 22:ba7f4131a5e0 888 * via the shortest path.
davide.aliprandi@st.com 22:ba7f4131a5e0 889 *
davide.aliprandi@st.com 22:ba7f4131a5e0 890 */
davide.aliprandi@st.com 22:ba7f4131a5e0 891 void L6470::L6470_GoHome(void)
davide.aliprandi@st.com 22:ba7f4131a5e0 892 {
davide.aliprandi@st.com 22:ba7f4131a5e0 893 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOHOME_ID, 0, 0, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 894 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 895 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 896 }
davide.aliprandi@st.com 22:ba7f4131a5e0 897
davide.aliprandi@st.com 22:ba7f4131a5e0 898 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 899 * @brief GoMark command produces a motion to the MARK position performing the
davide.aliprandi@st.com 22:ba7f4131a5e0 900 * minimum path.
davide.aliprandi@st.com 22:ba7f4131a5e0 901 *
davide.aliprandi@st.com 22:ba7f4131a5e0 902 */
davide.aliprandi@st.com 22:ba7f4131a5e0 903 void L6470::L6470_GoMark(void)
davide.aliprandi@st.com 22:ba7f4131a5e0 904 {
davide.aliprandi@st.com 22:ba7f4131a5e0 905 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOMARK_ID, 0, 0, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 906 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 907 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 908 }
davide.aliprandi@st.com 22:ba7f4131a5e0 909
davide.aliprandi@st.com 22:ba7f4131a5e0 910 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 911 * @brief ResetPos command resets the ABS_POS register to zero.
davide.aliprandi@st.com 22:ba7f4131a5e0 912 *
davide.aliprandi@st.com 22:ba7f4131a5e0 913 */
davide.aliprandi@st.com 22:ba7f4131a5e0 914 void L6470::L6470_ResetPos(void)
davide.aliprandi@st.com 22:ba7f4131a5e0 915 {
davide.aliprandi@st.com 22:ba7f4131a5e0 916 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETPOS_ID, 0, 0, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 917 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 918 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 919 }
davide.aliprandi@st.com 22:ba7f4131a5e0 920
davide.aliprandi@st.com 22:ba7f4131a5e0 921 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 922 * @brief ResetDevice command resets the device to power-up conditions.
davide.aliprandi@st.com 22:ba7f4131a5e0 923 *
davide.aliprandi@st.com 22:ba7f4131a5e0 924 */
davide.aliprandi@st.com 22:ba7f4131a5e0 925 void L6470::L6470_ResetDevice(void)
davide.aliprandi@st.com 22:ba7f4131a5e0 926 {
davide.aliprandi@st.com 22:ba7f4131a5e0 927 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETDEVICE_ID, 0, 0, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 928 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 929 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 930 }
davide.aliprandi@st.com 22:ba7f4131a5e0 931
davide.aliprandi@st.com 22:ba7f4131a5e0 932 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 933 * @brief SoftStop command causes an immediate deceleration to zero speed and
davide.aliprandi@st.com 22:ba7f4131a5e0 934 * a consequent motor stop; the deceleration value used is the one stored
davide.aliprandi@st.com 22:ba7f4131a5e0 935 * in the DEC register.
davide.aliprandi@st.com 22:ba7f4131a5e0 936 *
davide.aliprandi@st.com 22:ba7f4131a5e0 937 */
davide.aliprandi@st.com 22:ba7f4131a5e0 938 void L6470::L6470_SoftStop(void)
davide.aliprandi@st.com 22:ba7f4131a5e0 939 {
davide.aliprandi@st.com 22:ba7f4131a5e0 940 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTSTOP_ID, 0, 0, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 941 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 942 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 943 }
davide.aliprandi@st.com 22:ba7f4131a5e0 944
davide.aliprandi@st.com 22:ba7f4131a5e0 945 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 946 * @brief HardStop command causes an immediate motor stop with infinite deceleration.
davide.aliprandi@st.com 22:ba7f4131a5e0 947 *
davide.aliprandi@st.com 22:ba7f4131a5e0 948 */
davide.aliprandi@st.com 22:ba7f4131a5e0 949 void L6470::L6470_HardStop(void)
davide.aliprandi@st.com 22:ba7f4131a5e0 950 {
davide.aliprandi@st.com 22:ba7f4131a5e0 951 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDSTOP_ID, 0, 0, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 952 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 953 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 954 }
davide.aliprandi@st.com 22:ba7f4131a5e0 955
davide.aliprandi@st.com 22:ba7f4131a5e0 956 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 957 * @brief SoftHiZ command disables the power bridges (high impedance state)
davide.aliprandi@st.com 22:ba7f4131a5e0 958 * after a deceleration to zero; the deceleration value used is the one
davide.aliprandi@st.com 22:ba7f4131a5e0 959 * stored in the DEC register.
davide.aliprandi@st.com 22:ba7f4131a5e0 960 *
davide.aliprandi@st.com 22:ba7f4131a5e0 961 */
davide.aliprandi@st.com 22:ba7f4131a5e0 962 void L6470::L6470_SoftHiZ(void)
davide.aliprandi@st.com 22:ba7f4131a5e0 963 {
davide.aliprandi@st.com 22:ba7f4131a5e0 964 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTHIZ_ID, 0, 0, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 965 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 966 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 967 }
davide.aliprandi@st.com 22:ba7f4131a5e0 968
davide.aliprandi@st.com 22:ba7f4131a5e0 969 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 970 * @brief HardHiZ command immediately disables the power bridges (high impedance state).
davide.aliprandi@st.com 22:ba7f4131a5e0 971 *
davide.aliprandi@st.com 22:ba7f4131a5e0 972 */
davide.aliprandi@st.com 22:ba7f4131a5e0 973 void L6470::L6470_HardHiZ(void)
davide.aliprandi@st.com 22:ba7f4131a5e0 974 {
davide.aliprandi@st.com 22:ba7f4131a5e0 975 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDHIZ_ID, 0, 0, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 976 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 977 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 978 }
davide.aliprandi@st.com 22:ba7f4131a5e0 979
davide.aliprandi@st.com 22:ba7f4131a5e0 980 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 981 * @brief GetStatus command returns the STATUS register value.
davide.aliprandi@st.com 22:ba7f4131a5e0 982 *
davide.aliprandi@st.com 22:ba7f4131a5e0 983 *
davide.aliprandi@st.com 22:ba7f4131a5e0 984 * @retval ReceivedValue The register value.
davide.aliprandi@st.com 22:ba7f4131a5e0 985 */
davide.aliprandi@st.com 22:ba7f4131a5e0 986 uint16_t L6470::L6470_GetStatus(void)
davide.aliprandi@st.com 22:ba7f4131a5e0 987 {
davide.aliprandi@st.com 22:ba7f4131a5e0 988 uint16_t ReceivedValue;
davide.aliprandi@st.com 22:ba7f4131a5e0 989
davide.aliprandi@st.com 22:ba7f4131a5e0 990 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETSTATUS_ID, 0, 0, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 991 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 992 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 993
davide.aliprandi@st.com 22:ba7f4131a5e0 994 ReceivedValue = (uint16_t)L6470_ExtractReturnedData((uint8_t*)L6470_DaisyChainSpiRxStruct, 2);
davide.aliprandi@st.com 22:ba7f4131a5e0 995
davide.aliprandi@st.com 22:ba7f4131a5e0 996 return ReceivedValue;
davide.aliprandi@st.com 22:ba7f4131a5e0 997 }
davide.aliprandi@st.com 22:ba7f4131a5e0 998
davide.aliprandi@st.com 22:ba7f4131a5e0 999 /* End of L6470_AppCMDs */
davide.aliprandi@st.com 22:ba7f4131a5e0 1000
davide.aliprandi@st.com 22:ba7f4131a5e0 1001 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 1002 * @addtogroup L6470_AppCMDs_ToBePrepared
davide.aliprandi@st.com 22:ba7f4131a5e0 1003 * @{
davide.aliprandi@st.com 22:ba7f4131a5e0 1004 */
davide.aliprandi@st.com 22:ba7f4131a5e0 1005
davide.aliprandi@st.com 22:ba7f4131a5e0 1006 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 1007 * @brief Prepare to send @ref L6470_SetParam command.
davide.aliprandi@st.com 22:ba7f4131a5e0 1008 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1009 * @param L6470_RegId The identifier of the L6470 register to be addressed.
davide.aliprandi@st.com 22:ba7f4131a5e0 1010 * @param Value The new value.
davide.aliprandi@st.com 22:ba7f4131a5e0 1011 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1012 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
davide.aliprandi@st.com 22:ba7f4131a5e0 1013 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
davide.aliprandi@st.com 22:ba7f4131a5e0 1014 */
davide.aliprandi@st.com 22:ba7f4131a5e0 1015 void L6470::L6470_PrepareSetParam(eL6470_RegId_t L6470_RegId, uint32_t Value)
davide.aliprandi@st.com 22:ba7f4131a5e0 1016 {
davide.aliprandi@st.com 22:ba7f4131a5e0 1017 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SETPARAM_ID, L6470_RegId, Value, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 1018 }
davide.aliprandi@st.com 22:ba7f4131a5e0 1019
davide.aliprandi@st.com 22:ba7f4131a5e0 1020 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 1021 * @brief Prepare to send @ref L6470_GetParam command.
davide.aliprandi@st.com 22:ba7f4131a5e0 1022 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1023 * @param L6470_Id The L6470 identifier inside the daisy chain.
davide.aliprandi@st.com 22:ba7f4131a5e0 1024 * @param L6470_RegId The identifier of the L6470 register to be addressed.
davide.aliprandi@st.com 22:ba7f4131a5e0 1025 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1026 * @retval ReceivedValue The register value.
davide.aliprandi@st.com 22:ba7f4131a5e0 1027 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1028 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
davide.aliprandi@st.com 22:ba7f4131a5e0 1029 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
davide.aliprandi@st.com 22:ba7f4131a5e0 1030 */
davide.aliprandi@st.com 22:ba7f4131a5e0 1031 void L6470::L6470_PrepareGetParam(eL6470_RegId_t L6470_RegId)
davide.aliprandi@st.com 22:ba7f4131a5e0 1032 {
davide.aliprandi@st.com 22:ba7f4131a5e0 1033 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETPARAM_ID, L6470_RegId, 0, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 1034 }
davide.aliprandi@st.com 22:ba7f4131a5e0 1035
davide.aliprandi@st.com 22:ba7f4131a5e0 1036 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 1037 * @brief Prepare to send @ref L6470_Run command.
davide.aliprandi@st.com 22:ba7f4131a5e0 1038 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1039 * @param L6470_DirId The identifier of the L6470 motion direction.
davide.aliprandi@st.com 22:ba7f4131a5e0 1040 * @param Speed The speed value as (([step/s] * 250e-9) / 2^-28)
davide.aliprandi@st.com 22:ba7f4131a5e0 1041 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1042 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
davide.aliprandi@st.com 22:ba7f4131a5e0 1043 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
davide.aliprandi@st.com 22:ba7f4131a5e0 1044 */
davide.aliprandi@st.com 22:ba7f4131a5e0 1045 void L6470::L6470_PrepareRun(eL6470_DirId_t L6470_DirId, uint32_t Speed)
davide.aliprandi@st.com 22:ba7f4131a5e0 1046 {
davide.aliprandi@st.com 22:ba7f4131a5e0 1047 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RUN_ID, L6470_DirId, Speed, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 1048 }
davide.aliprandi@st.com 22:ba7f4131a5e0 1049
davide.aliprandi@st.com 22:ba7f4131a5e0 1050 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 1051 * @brief Prepare to send @ref L6470_StepClock command.
davide.aliprandi@st.com 22:ba7f4131a5e0 1052 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1053 * @param L6470_DirId The identifier of the L6470 motion direction.
davide.aliprandi@st.com 22:ba7f4131a5e0 1054 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1055 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
davide.aliprandi@st.com 22:ba7f4131a5e0 1056 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
davide.aliprandi@st.com 22:ba7f4131a5e0 1057 */
davide.aliprandi@st.com 22:ba7f4131a5e0 1058 void L6470::L6470_PrepareStepClock(eL6470_DirId_t L6470_DirId)
davide.aliprandi@st.com 22:ba7f4131a5e0 1059 {
davide.aliprandi@st.com 22:ba7f4131a5e0 1060 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_STEPCLOCK_ID, L6470_DirId, 0, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 1061 }
davide.aliprandi@st.com 22:ba7f4131a5e0 1062
davide.aliprandi@st.com 22:ba7f4131a5e0 1063 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 1064 * @brief Prepare to send @ref L6470_Move command.
davide.aliprandi@st.com 22:ba7f4131a5e0 1065 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1066 * @param L6470_DirId The identifier of the L6470 motion direction.
davide.aliprandi@st.com 22:ba7f4131a5e0 1067 * @param N_Step The number of microsteps.
davide.aliprandi@st.com 22:ba7f4131a5e0 1068 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1069 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
davide.aliprandi@st.com 22:ba7f4131a5e0 1070 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
davide.aliprandi@st.com 22:ba7f4131a5e0 1071 */
davide.aliprandi@st.com 22:ba7f4131a5e0 1072 void L6470::L6470_PrepareMove(eL6470_DirId_t L6470_DirId, uint32_t N_Step)
davide.aliprandi@st.com 22:ba7f4131a5e0 1073 {
davide.aliprandi@st.com 22:ba7f4131a5e0 1074 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_MOVE_ID, L6470_DirId, N_Step, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 1075 }
davide.aliprandi@st.com 22:ba7f4131a5e0 1076
davide.aliprandi@st.com 22:ba7f4131a5e0 1077 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 1078 * @brief Prepare to send @ref L6470_GoTo command.
davide.aliprandi@st.com 22:ba7f4131a5e0 1079 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1080 * @param AbsPos The target absolute position.
davide.aliprandi@st.com 22:ba7f4131a5e0 1081 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1082 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
davide.aliprandi@st.com 22:ba7f4131a5e0 1083 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
davide.aliprandi@st.com 22:ba7f4131a5e0 1084 */
davide.aliprandi@st.com 22:ba7f4131a5e0 1085 void L6470::L6470_PrepareGoTo(uint32_t AbsPos)
davide.aliprandi@st.com 22:ba7f4131a5e0 1086 {
davide.aliprandi@st.com 22:ba7f4131a5e0 1087 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTO_ID, AbsPos, 0, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 1088 }
davide.aliprandi@st.com 22:ba7f4131a5e0 1089
davide.aliprandi@st.com 22:ba7f4131a5e0 1090 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 1091 * @brief Prepare to send @ref L6470_GoToDIR command.
davide.aliprandi@st.com 22:ba7f4131a5e0 1092 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1093 * @param L6470_DirId The identifier of the L6470 motion direction.
davide.aliprandi@st.com 22:ba7f4131a5e0 1094 * @param AbsPos The target absolute position.
davide.aliprandi@st.com 22:ba7f4131a5e0 1095 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1096 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
davide.aliprandi@st.com 22:ba7f4131a5e0 1097 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
davide.aliprandi@st.com 22:ba7f4131a5e0 1098 */
davide.aliprandi@st.com 22:ba7f4131a5e0 1099 void L6470::L6470_PrepareGoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos)
davide.aliprandi@st.com 22:ba7f4131a5e0 1100 {
davide.aliprandi@st.com 22:ba7f4131a5e0 1101 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTODIR_ID, L6470_DirId, AbsPos, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 1102 }
davide.aliprandi@st.com 22:ba7f4131a5e0 1103
davide.aliprandi@st.com 22:ba7f4131a5e0 1104 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 1105 * @brief Prepare to send @ref L6470_GoUntil command.
davide.aliprandi@st.com 22:ba7f4131a5e0 1106 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1107 * @param L6470_ActId The identifier of the L6470 action about the absolute position.
davide.aliprandi@st.com 22:ba7f4131a5e0 1108 * @param L6470_DirId The identifier of the L6470 motion direction.
davide.aliprandi@st.com 22:ba7f4131a5e0 1109 * @param Speed The speed value as (([step/s] * 250e-9) / 2^-28)
davide.aliprandi@st.com 22:ba7f4131a5e0 1110 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1111 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
davide.aliprandi@st.com 22:ba7f4131a5e0 1112 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
davide.aliprandi@st.com 22:ba7f4131a5e0 1113 */
davide.aliprandi@st.com 22:ba7f4131a5e0 1114 void L6470::L6470_PrepareGoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed)
davide.aliprandi@st.com 22:ba7f4131a5e0 1115 {
davide.aliprandi@st.com 22:ba7f4131a5e0 1116 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOUNTIL_ID, L6470_ActId, L6470_DirId, Speed);
davide.aliprandi@st.com 22:ba7f4131a5e0 1117 }
davide.aliprandi@st.com 22:ba7f4131a5e0 1118
davide.aliprandi@st.com 22:ba7f4131a5e0 1119 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 1120 * @brief Prepare to send @ref L6470_ReleaseSW.
davide.aliprandi@st.com 22:ba7f4131a5e0 1121 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1122 * @param L6470_ActId The identifier of the L6470 action about the absolute position.
davide.aliprandi@st.com 22:ba7f4131a5e0 1123 * @param L6470_DirId The identifier of the L6470 motion direction.
davide.aliprandi@st.com 22:ba7f4131a5e0 1124 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1125 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
davide.aliprandi@st.com 22:ba7f4131a5e0 1126 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
davide.aliprandi@st.com 22:ba7f4131a5e0 1127 */
davide.aliprandi@st.com 22:ba7f4131a5e0 1128 void L6470::L6470_PrepareReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId)
davide.aliprandi@st.com 22:ba7f4131a5e0 1129 {
davide.aliprandi@st.com 22:ba7f4131a5e0 1130 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RELEASESW_ID, L6470_ActId, L6470_DirId, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 1131 }
davide.aliprandi@st.com 22:ba7f4131a5e0 1132
davide.aliprandi@st.com 22:ba7f4131a5e0 1133 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 1134 * @brief Prepare to send @ref L6470_GoHome command.
davide.aliprandi@st.com 22:ba7f4131a5e0 1135 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1136 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1137 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
davide.aliprandi@st.com 22:ba7f4131a5e0 1138 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
davide.aliprandi@st.com 22:ba7f4131a5e0 1139 */
davide.aliprandi@st.com 22:ba7f4131a5e0 1140 void L6470::L6470_PrepareGoHome(void)
davide.aliprandi@st.com 22:ba7f4131a5e0 1141 {
davide.aliprandi@st.com 22:ba7f4131a5e0 1142 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOHOME_ID, 0, 0, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 1143 }
davide.aliprandi@st.com 22:ba7f4131a5e0 1144
davide.aliprandi@st.com 22:ba7f4131a5e0 1145 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 1146 * @brief Prepare to send @ref L6470_GoMark command.
davide.aliprandi@st.com 22:ba7f4131a5e0 1147 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1148 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1149 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
davide.aliprandi@st.com 22:ba7f4131a5e0 1150 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
davide.aliprandi@st.com 22:ba7f4131a5e0 1151 */
davide.aliprandi@st.com 22:ba7f4131a5e0 1152 void L6470::L6470_PrepareGoMark(void)
davide.aliprandi@st.com 22:ba7f4131a5e0 1153 {
davide.aliprandi@st.com 22:ba7f4131a5e0 1154 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOMARK_ID, 0, 0, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 1155 }
davide.aliprandi@st.com 22:ba7f4131a5e0 1156
davide.aliprandi@st.com 22:ba7f4131a5e0 1157 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 1158 * @brief Prepare to send @ref L6470_ResetPos command.
davide.aliprandi@st.com 22:ba7f4131a5e0 1159 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1160 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1161 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
davide.aliprandi@st.com 22:ba7f4131a5e0 1162 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
davide.aliprandi@st.com 22:ba7f4131a5e0 1163 */
davide.aliprandi@st.com 22:ba7f4131a5e0 1164 void L6470::L6470_PrepareResetPos(void)
davide.aliprandi@st.com 22:ba7f4131a5e0 1165 {
davide.aliprandi@st.com 22:ba7f4131a5e0 1166 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETPOS_ID, 0, 0, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 1167 }
davide.aliprandi@st.com 22:ba7f4131a5e0 1168
davide.aliprandi@st.com 22:ba7f4131a5e0 1169 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 1170 * @brief Prepare to send @ref L6470_ResetDevice command.
davide.aliprandi@st.com 22:ba7f4131a5e0 1171 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1172 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1173 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
davide.aliprandi@st.com 22:ba7f4131a5e0 1174 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
davide.aliprandi@st.com 22:ba7f4131a5e0 1175 */
davide.aliprandi@st.com 22:ba7f4131a5e0 1176 void L6470::L6470_PrepareResetDevice(void)
davide.aliprandi@st.com 22:ba7f4131a5e0 1177 {
davide.aliprandi@st.com 22:ba7f4131a5e0 1178 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETDEVICE_ID, 0, 0, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 1179 }
davide.aliprandi@st.com 22:ba7f4131a5e0 1180
davide.aliprandi@st.com 22:ba7f4131a5e0 1181 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 1182 * @brief Prepare to send @ref L6470_SoftStop command.
davide.aliprandi@st.com 22:ba7f4131a5e0 1183 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1184 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1185 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
davide.aliprandi@st.com 22:ba7f4131a5e0 1186 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
davide.aliprandi@st.com 22:ba7f4131a5e0 1187 */
davide.aliprandi@st.com 22:ba7f4131a5e0 1188 void L6470::L6470_PrepareSoftStop(void)
davide.aliprandi@st.com 22:ba7f4131a5e0 1189 {
davide.aliprandi@st.com 22:ba7f4131a5e0 1190 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTSTOP_ID, 0, 0, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 1191 }
davide.aliprandi@st.com 22:ba7f4131a5e0 1192
davide.aliprandi@st.com 22:ba7f4131a5e0 1193 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 1194 * @brief Prepare to send @ref L6470_HardStop command.
davide.aliprandi@st.com 22:ba7f4131a5e0 1195 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1196 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1197 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
davide.aliprandi@st.com 22:ba7f4131a5e0 1198 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
davide.aliprandi@st.com 22:ba7f4131a5e0 1199 */
davide.aliprandi@st.com 22:ba7f4131a5e0 1200 void L6470::L6470_PrepareHardStop(void)
davide.aliprandi@st.com 22:ba7f4131a5e0 1201 {
davide.aliprandi@st.com 22:ba7f4131a5e0 1202 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDSTOP_ID, 0, 0, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 1203 }
davide.aliprandi@st.com 22:ba7f4131a5e0 1204
davide.aliprandi@st.com 22:ba7f4131a5e0 1205 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 1206 * @brief Prepare to send @ref L6470_SoftHiZ command.
davide.aliprandi@st.com 22:ba7f4131a5e0 1207 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1208 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1209 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
davide.aliprandi@st.com 22:ba7f4131a5e0 1210 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
davide.aliprandi@st.com 22:ba7f4131a5e0 1211 */
davide.aliprandi@st.com 22:ba7f4131a5e0 1212 void L6470::L6470_PrepareSoftHiZ(void)
davide.aliprandi@st.com 22:ba7f4131a5e0 1213 {
davide.aliprandi@st.com 22:ba7f4131a5e0 1214 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTHIZ_ID, 0, 0, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 1215 }
davide.aliprandi@st.com 22:ba7f4131a5e0 1216
davide.aliprandi@st.com 22:ba7f4131a5e0 1217 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 1218 * @brief Prepare to send @ref L6470_HardHiZ command.
davide.aliprandi@st.com 22:ba7f4131a5e0 1219 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1220 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1221 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
davide.aliprandi@st.com 22:ba7f4131a5e0 1222 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
davide.aliprandi@st.com 22:ba7f4131a5e0 1223 */
davide.aliprandi@st.com 22:ba7f4131a5e0 1224 void L6470::L6470_PrepareHardHiZ(void)
davide.aliprandi@st.com 22:ba7f4131a5e0 1225 {
davide.aliprandi@st.com 22:ba7f4131a5e0 1226 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDHIZ_ID, 0, 0, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 1227 }
davide.aliprandi@st.com 22:ba7f4131a5e0 1228
davide.aliprandi@st.com 22:ba7f4131a5e0 1229 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 1230 * @brief Prepare to send @ref L6470_GetStatus command.
davide.aliprandi@st.com 22:ba7f4131a5e0 1231 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1232 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1233 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
davide.aliprandi@st.com 22:ba7f4131a5e0 1234 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
davide.aliprandi@st.com 22:ba7f4131a5e0 1235 */
davide.aliprandi@st.com 22:ba7f4131a5e0 1236 void L6470::L6470_PrepareGetStatus(void)
davide.aliprandi@st.com 22:ba7f4131a5e0 1237 {
davide.aliprandi@st.com 22:ba7f4131a5e0 1238 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETSTATUS_ID, 0, 0, 0);
davide.aliprandi@st.com 22:ba7f4131a5e0 1239 }
davide.aliprandi@st.com 22:ba7f4131a5e0 1240
davide.aliprandi@st.com 22:ba7f4131a5e0 1241 /* End of L6470_AppCMDs_ToBePrepared */
davide.aliprandi@st.com 22:ba7f4131a5e0 1242
davide.aliprandi@st.com 22:ba7f4131a5e0 1243 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 1244 * @brief Send via SPI the command stored inside the L6470_AppCmdPkg to the
davide.aliprandi@st.com 22:ba7f4131a5e0 1245 * L6470 daisy chain.
davide.aliprandi@st.com 22:ba7f4131a5e0 1246 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1247 * @retval (uint8_t*)data->L6470_DaisyChainSpiRxStruct The pointer to the structure
davide.aliprandi@st.com 22:ba7f4131a5e0 1248 * containing returned values from each L6470 of the daisy chain for each
davide.aliprandi@st.com 22:ba7f4131a5e0 1249 * sent SPI data.
davide.aliprandi@st.com 22:ba7f4131a5e0 1250 */
davide.aliprandi@st.com 22:ba7f4131a5e0 1251 uint8_t* L6470::L6470_PerformPreparedApplicationCommand(void)
davide.aliprandi@st.com 22:ba7f4131a5e0 1252 {
davide.aliprandi@st.com 22:ba7f4131a5e0 1253 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 1254 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 1255
davide.aliprandi@st.com 22:ba7f4131a5e0 1256 return (uint8_t*)(L6470_DaisyChainSpiRxStruct);
davide.aliprandi@st.com 22:ba7f4131a5e0 1257 }
davide.aliprandi@st.com 22:ba7f4131a5e0 1258
davide.aliprandi@st.com 22:ba7f4131a5e0 1259 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 1260 * @brief Send command to the L6470 daisy chain via SPI
davide.aliprandi@st.com 22:ba7f4131a5e0 1261 * @param pL6470_DaisyChainSpiTxStruct Pointer to the matrix array of bytes to be sent to the daisy chain L6470
davide.aliprandi@st.com 22:ba7f4131a5e0 1262 * @param pL6470_DaisyChainSpiRxStruct Pointer to the matrix array of bytes to be received from the daisy chain L6470
davide.aliprandi@st.com 22:ba7f4131a5e0 1263 */
davide.aliprandi@st.com 22:ba7f4131a5e0 1264 void L6470::L6470_DaisyChainCommand(uint8_t* pL6470_DaisyChainSpiTxStruct, uint8_t* pL6470_DaisyChainSpiRxStruct)
davide.aliprandi@st.com 22:ba7f4131a5e0 1265 {
davide.aliprandi@st.com 22:ba7f4131a5e0 1266 uint8_t spibyte;
davide.aliprandi@st.com 22:ba7f4131a5e0 1267
davide.aliprandi@st.com 22:ba7f4131a5e0 1268 L6470_DaisyChain_HalfPrepared = ZERO_F;
davide.aliprandi@st.com 22:ba7f4131a5e0 1269
davide.aliprandi@st.com 22:ba7f4131a5e0 1270 /* Send all command bytes via SPI */
davide.aliprandi@st.com 22:ba7f4131a5e0 1271 for(spibyte=0; spibyte < L6470MAXSPICMDBYTESIZE; spibyte++)
davide.aliprandi@st.com 22:ba7f4131a5e0 1272 {
davide.aliprandi@st.com 22:ba7f4131a5e0 1273 /* Send the command via SPI */
davide.aliprandi@st.com 22:ba7f4131a5e0 1274 L6470_SPI_Communication((pL6470_DaisyChainSpiTxStruct+(spibyte * L6470DAISYCHAINSIZE)), (pL6470_DaisyChainSpiRxStruct+(spibyte * L6470DAISYCHAINSIZE)), L6470DAISYCHAINSIZE, 10);
davide.aliprandi@st.com 22:ba7f4131a5e0 1275
davide.aliprandi@st.com 22:ba7f4131a5e0 1276 //_DELAY(TDISCS);
davide.aliprandi@st.com 22:ba7f4131a5e0 1277 uint8_t delay_cnt;
davide.aliprandi@st.com 22:ba7f4131a5e0 1278 for (delay_cnt=0; delay_cnt<20; delay_cnt++) __NOP(); //!<Simply deselect time delay for SPI nCS
davide.aliprandi@st.com 22:ba7f4131a5e0 1279 }
davide.aliprandi@st.com 22:ba7f4131a5e0 1280 }
davide.aliprandi@st.com 22:ba7f4131a5e0 1281
davide.aliprandi@st.com 22:ba7f4131a5e0 1282 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 1283 * @brief Extracts the data returned by the L6470 from the matrix that
davide.aliprandi@st.com 22:ba7f4131a5e0 1284 * contains the received SPI data.
davide.aliprandi@st.com 22:ba7f4131a5e0 1285 * @param L6470_Id The identifier of the L6470 target inside the daisy chain.
davide.aliprandi@st.com 22:ba7f4131a5e0 1286 * @param pL6470_DaisyChainSpiRxStruct uint8_t-pointer to the matrix that
davide.aliprandi@st.com 22:ba7f4131a5e0 1287 * contains the received data by SPI from the L6470 daisy chain.
davide.aliprandi@st.com 22:ba7f4131a5e0 1288 * @param LengthByte The number of bytes about the received value.
davide.aliprandi@st.com 22:ba7f4131a5e0 1289 */
davide.aliprandi@st.com 22:ba7f4131a5e0 1290 uint32_t L6470::L6470_ExtractReturnedData(uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte)
davide.aliprandi@st.com 22:ba7f4131a5e0 1291 {
davide.aliprandi@st.com 22:ba7f4131a5e0 1292 uint32_t value;
davide.aliprandi@st.com 22:ba7f4131a5e0 1293 uint8_t i;
davide.aliprandi@st.com 22:ba7f4131a5e0 1294
davide.aliprandi@st.com 22:ba7f4131a5e0 1295 value = 0x000000;
davide.aliprandi@st.com 22:ba7f4131a5e0 1296 for (i=1; i<=(L6470MAXSPICMDBYTESIZE-1); i++)
davide.aliprandi@st.com 22:ba7f4131a5e0 1297 {
davide.aliprandi@st.com 22:ba7f4131a5e0 1298 value |= (*(pL6470_DaisyChainSpiRxStruct+(i*L6470DAISYCHAINSIZE)+L6470_Id))<<((LengthByte-i)*8);
davide.aliprandi@st.com 22:ba7f4131a5e0 1299 }
davide.aliprandi@st.com 22:ba7f4131a5e0 1300
davide.aliprandi@st.com 22:ba7f4131a5e0 1301 return value;
davide.aliprandi@st.com 22:ba7f4131a5e0 1302 }
davide.aliprandi@st.com 22:ba7f4131a5e0 1303
davide.aliprandi@st.com 22:ba7f4131a5e0 1304 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 1305 * @brief Check the state of a flag inside the L6470 STATUS register.
davide.aliprandi@st.com 22:ba7f4131a5e0 1306 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1307 * @param L6470_Id The identifier of the L6470 target inside the daisy chain.
davide.aliprandi@st.com 22:ba7f4131a5e0 1308 * @param L6470_StatusRegisterFlagId The identifier of the L6470 STATUS flag to be checked.
davide.aliprandi@st.com 22:ba7f4131a5e0 1309 *
davide.aliprandi@st.com 22:ba7f4131a5e0 1310 * @retval state The flag state.
davide.aliprandi@st.com 22:ba7f4131a5e0 1311 */
davide.aliprandi@st.com 22:ba7f4131a5e0 1312
davide.aliprandi@st.com 22:ba7f4131a5e0 1313 uint8_t L6470::L6470_CheckStatusRegisterFlag(uint8_t L6470_StatusRegisterFlagId)
davide.aliprandi@st.com 22:ba7f4131a5e0 1314 {
davide.aliprandi@st.com 22:ba7f4131a5e0 1315 uint8_t state = 0;
davide.aliprandi@st.com 22:ba7f4131a5e0 1316
davide.aliprandi@st.com 22:ba7f4131a5e0 1317 *((uint16_t*)pL6470_StatusRegister) = L6470_GetParam(L6470_STATUS_ID);
davide.aliprandi@st.com 22:ba7f4131a5e0 1318
davide.aliprandi@st.com 22:ba7f4131a5e0 1319 switch(L6470_StatusRegisterFlagId)
davide.aliprandi@st.com 22:ba7f4131a5e0 1320 {
davide.aliprandi@st.com 22:ba7f4131a5e0 1321 case HiZ_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 1322 state = pL6470_StatusRegister->HiZ;
davide.aliprandi@st.com 22:ba7f4131a5e0 1323 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 1324 case BUSY_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 1325 state = pL6470_StatusRegister->BUSY;
davide.aliprandi@st.com 22:ba7f4131a5e0 1326 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 1327 case SW_F_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 1328 state = pL6470_StatusRegister->SW_F;
davide.aliprandi@st.com 22:ba7f4131a5e0 1329 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 1330 case SW_EVN_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 1331 state = pL6470_StatusRegister->SW_EVN;
davide.aliprandi@st.com 22:ba7f4131a5e0 1332 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 1333 case DIR_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 1334 state = pL6470_StatusRegister->DIR;
davide.aliprandi@st.com 22:ba7f4131a5e0 1335 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 1336 case MOT_STATUS_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 1337 state = pL6470_StatusRegister->MOT_STATUS;
davide.aliprandi@st.com 22:ba7f4131a5e0 1338 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 1339 case NOTPERF_CMD_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 1340 state = pL6470_StatusRegister->NOTPERF_CMD;
davide.aliprandi@st.com 22:ba7f4131a5e0 1341 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 1342 case WRONG_CMD_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 1343 state = pL6470_StatusRegister->WRONG_CMD;
davide.aliprandi@st.com 22:ba7f4131a5e0 1344 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 1345 case UVLO_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 1346 state = pL6470_StatusRegister->UVLO;
davide.aliprandi@st.com 22:ba7f4131a5e0 1347 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 1348 case TH_WRN_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 1349 state = pL6470_StatusRegister->TH_WRN;
davide.aliprandi@st.com 22:ba7f4131a5e0 1350 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 1351 case TH_SD_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 1352 state = pL6470_StatusRegister->TH_SD;
davide.aliprandi@st.com 22:ba7f4131a5e0 1353 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 1354 case OCD_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 1355 state = pL6470_StatusRegister->OCD;
davide.aliprandi@st.com 22:ba7f4131a5e0 1356 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 1357 case STEP_LOSS_A_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 1358 state = pL6470_StatusRegister->STEP_LOSS_A;
davide.aliprandi@st.com 22:ba7f4131a5e0 1359 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 1360 case STEP_LOSS_B_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 1361 state = pL6470_StatusRegister->STEP_LOSS_B;
davide.aliprandi@st.com 22:ba7f4131a5e0 1362 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 1363 case SCK_MOD_ID:
davide.aliprandi@st.com 22:ba7f4131a5e0 1364 state = pL6470_StatusRegister->SCK_MOD;
davide.aliprandi@st.com 22:ba7f4131a5e0 1365 break;
davide.aliprandi@st.com 22:ba7f4131a5e0 1366 }
davide.aliprandi@st.com 22:ba7f4131a5e0 1367
davide.aliprandi@st.com 22:ba7f4131a5e0 1368 return state;
davide.aliprandi@st.com 22:ba7f4131a5e0 1369 }
davide.aliprandi@st.com 22:ba7f4131a5e0 1370
davide.aliprandi@st.com 22:ba7f4131a5e0 1371 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 1372 * @brief Return the mnemonic name for the L6470 register.
davide.aliprandi@st.com 22:ba7f4131a5e0 1373 * @param id The identifier of the L6470 register.
davide.aliprandi@st.com 22:ba7f4131a5e0 1374 */
davide.aliprandi@st.com 22:ba7f4131a5e0 1375 uint8_t *L6470::L6470_GetRegisterName(uint8_t id)
davide.aliprandi@st.com 22:ba7f4131a5e0 1376 {
davide.aliprandi@st.com 22:ba7f4131a5e0 1377 if (id < L6470REGIDSIZE)
davide.aliprandi@st.com 22:ba7f4131a5e0 1378 {
davide.aliprandi@st.com 22:ba7f4131a5e0 1379 return (uint8_t*)L6470_Register[id].Name;
davide.aliprandi@st.com 22:ba7f4131a5e0 1380 }
davide.aliprandi@st.com 22:ba7f4131a5e0 1381 else
davide.aliprandi@st.com 22:ba7f4131a5e0 1382 {
davide.aliprandi@st.com 22:ba7f4131a5e0 1383 return NULL;
davide.aliprandi@st.com 22:ba7f4131a5e0 1384 }
davide.aliprandi@st.com 22:ba7f4131a5e0 1385 }
davide.aliprandi@st.com 22:ba7f4131a5e0 1386
davide.aliprandi@st.com 22:ba7f4131a5e0 1387 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 1388 * @brief Configures the L6470 registers.
davide.aliprandi@st.com 22:ba7f4131a5e0 1389 * @param init The pointer to the initialization structure.
davide.aliprandi@st.com 22:ba7f4131a5e0 1390 */
davide.aliprandi@st.com 22:ba7f4131a5e0 1391 status_t L6470::L6470_Config(void *init)
davide.aliprandi@st.com 22:ba7f4131a5e0 1392 {
davide.aliprandi@st.com 22:ba7f4131a5e0 1393 /* Disable the L6470. */
davide.aliprandi@st.com 22:ba7f4131a5e0 1394 L6470_DISABLE();
davide.aliprandi@st.com 22:ba7f4131a5e0 1395
davide.aliprandi@st.com 22:ba7f4131a5e0 1396 /* Enable the L6470. */
davide.aliprandi@st.com 22:ba7f4131a5e0 1397 L6470_ENABLE();
davide.aliprandi@st.com 22:ba7f4131a5e0 1398
davide.aliprandi@st.com 22:ba7f4131a5e0 1399 /* Reset devices. */
davide.aliprandi@st.com 22:ba7f4131a5e0 1400 ResetDevice();
davide.aliprandi@st.com 22:ba7f4131a5e0 1401
davide.aliprandi@st.com 22:ba7f4131a5e0 1402 /* Reset Status Register flags. */
davide.aliprandi@st.com 22:ba7f4131a5e0 1403 GetStatus();
davide.aliprandi@st.com 22:ba7f4131a5e0 1404
davide.aliprandi@st.com 22:ba7f4131a5e0 1405 /* Prepare the 'Register' field of StepperMotorDriverHandle */
davide.aliprandi@st.com 22:ba7f4131a5e0 1406 L6470_init_t *MotorParameterData = (L6470_init_t *) init;
davide.aliprandi@st.com 22:ba7f4131a5e0 1407 StepperMotorRegister.ACC = L6470_Step_s2_2_Acc(MotorParameterData->acc);
davide.aliprandi@st.com 22:ba7f4131a5e0 1408 StepperMotorRegister.DEC = L6470_Step_s2_2_Dec(MotorParameterData->dec);
davide.aliprandi@st.com 22:ba7f4131a5e0 1409 StepperMotorRegister.MAX_SPEED = L6470_Step_s_2_MaxSpeed(MotorParameterData->maxspeed);
davide.aliprandi@st.com 22:ba7f4131a5e0 1410 StepperMotorRegister.MIN_SPEED = L6470_Step_s_2_MinSpeed(MotorParameterData->minspeed);
davide.aliprandi@st.com 22:ba7f4131a5e0 1411 StepperMotorRegister.FS_SPD = L6470_Step_s_2_FsSpd(MotorParameterData->fsspd);
davide.aliprandi@st.com 22:ba7f4131a5e0 1412 StepperMotorRegister.KVAL_HOLD = (uint8_t)((float)((float)(MotorParameterData->kvalhold * 256) / (MotorParameterData->motorvoltage)));
davide.aliprandi@st.com 22:ba7f4131a5e0 1413 StepperMotorRegister.KVAL_RUN = (uint8_t)((float)((float)(MotorParameterData->kvalrun * 256) / (MotorParameterData->motorvoltage)));
davide.aliprandi@st.com 22:ba7f4131a5e0 1414 StepperMotorRegister.KVAL_ACC = (uint8_t)((float)((float)(MotorParameterData->kvalacc * 256) / (MotorParameterData->motorvoltage)));
davide.aliprandi@st.com 22:ba7f4131a5e0 1415 StepperMotorRegister.KVAL_DEC = (uint8_t)((float)((float)(MotorParameterData->kvaldec * 256) / (MotorParameterData->motorvoltage)));
davide.aliprandi@st.com 22:ba7f4131a5e0 1416 StepperMotorRegister.INT_SPEED = L6470_Step_s_2_IntSpeed(MotorParameterData->intspeed);
davide.aliprandi@st.com 22:ba7f4131a5e0 1417 StepperMotorRegister.ST_SLP = L6470_s_Step_2_StSlp(MotorParameterData->stslp);
davide.aliprandi@st.com 22:ba7f4131a5e0 1418 StepperMotorRegister.FN_SLP_ACC = L6470_s_Step_2_FnSlpAcc(MotorParameterData->fnslpacc);
davide.aliprandi@st.com 22:ba7f4131a5e0 1419 StepperMotorRegister.FN_SLP_DEC = L6470_s_Step_2_FnSlpDec(MotorParameterData->fnslpdec);
davide.aliprandi@st.com 22:ba7f4131a5e0 1420 StepperMotorRegister.K_THERM = MotorParameterData->kterm;
davide.aliprandi@st.com 22:ba7f4131a5e0 1421 StepperMotorRegister.OCD_TH = L6470_mA_2_OcdTh(MotorParameterData->ocdth);
davide.aliprandi@st.com 22:ba7f4131a5e0 1422 StepperMotorRegister.STALL_TH = L6470_mA_2_StallTh(MotorParameterData->stallth);
davide.aliprandi@st.com 22:ba7f4131a5e0 1423 StepperMotorRegister.ALARM_EN = MotorParameterData->alarmen;
davide.aliprandi@st.com 22:ba7f4131a5e0 1424 StepperMotorRegister.CONFIG = MotorParameterData->config;
davide.aliprandi@st.com 22:ba7f4131a5e0 1425 StepperMotorRegister.STEP_MODE = MotorParameterData->step_sel;
davide.aliprandi@st.com 22:ba7f4131a5e0 1426
davide.aliprandi@st.com 22:ba7f4131a5e0 1427 /* Write the L6470 registers with the prepared data */
davide.aliprandi@st.com 22:ba7f4131a5e0 1428 L6470_SetParam(L6470_ACC_ID, StepperMotorRegister.ACC);
davide.aliprandi@st.com 22:ba7f4131a5e0 1429 L6470_SetParam(L6470_DEC_ID, StepperMotorRegister.DEC);
davide.aliprandi@st.com 22:ba7f4131a5e0 1430 L6470_SetParam(L6470_MAX_SPEED_ID, StepperMotorRegister.MAX_SPEED);
davide.aliprandi@st.com 22:ba7f4131a5e0 1431 L6470_SetParam(L6470_MIN_SPEED_ID, StepperMotorRegister.MIN_SPEED);
davide.aliprandi@st.com 22:ba7f4131a5e0 1432 L6470_SetParam(L6470_FS_SPD_ID, StepperMotorRegister.FS_SPD);
davide.aliprandi@st.com 22:ba7f4131a5e0 1433 L6470_SetParam(L6470_KVAL_HOLD_ID, StepperMotorRegister.KVAL_HOLD);
davide.aliprandi@st.com 22:ba7f4131a5e0 1434 L6470_SetParam(L6470_KVAL_RUN_ID, StepperMotorRegister.KVAL_RUN);
davide.aliprandi@st.com 22:ba7f4131a5e0 1435 L6470_SetParam(L6470_KVAL_ACC_ID, StepperMotorRegister.KVAL_ACC);
davide.aliprandi@st.com 22:ba7f4131a5e0 1436 L6470_SetParam(L6470_KVAL_DEC_ID, StepperMotorRegister.KVAL_DEC);
davide.aliprandi@st.com 22:ba7f4131a5e0 1437 L6470_SetParam(L6470_INT_SPEED_ID, StepperMotorRegister.INT_SPEED);
davide.aliprandi@st.com 22:ba7f4131a5e0 1438 L6470_SetParam(L6470_ST_SLP_ID, StepperMotorRegister.ST_SLP);
davide.aliprandi@st.com 22:ba7f4131a5e0 1439 L6470_SetParam(L6470_FN_SLP_ACC_ID, StepperMotorRegister.FN_SLP_ACC);
davide.aliprandi@st.com 22:ba7f4131a5e0 1440 L6470_SetParam(L6470_FN_SLP_DEC_ID, StepperMotorRegister.FN_SLP_DEC);
davide.aliprandi@st.com 22:ba7f4131a5e0 1441 L6470_SetParam(L6470_K_THERM_ID, StepperMotorRegister.K_THERM);
davide.aliprandi@st.com 22:ba7f4131a5e0 1442 L6470_SetParam(L6470_OCD_TH_ID, StepperMotorRegister.OCD_TH);
davide.aliprandi@st.com 22:ba7f4131a5e0 1443 L6470_SetParam(L6470_STALL_TH_ID, StepperMotorRegister.STALL_TH);
davide.aliprandi@st.com 22:ba7f4131a5e0 1444 L6470_SetParam(L6470_ALARM_EN_ID, StepperMotorRegister.ALARM_EN);
davide.aliprandi@st.com 22:ba7f4131a5e0 1445 L6470_SetParam(L6470_CONFIG_ID, StepperMotorRegister.CONFIG);
davide.aliprandi@st.com 22:ba7f4131a5e0 1446 if (!SetStepMode((StepperMotor::step_mode_t) StepperMotorRegister.STEP_MODE))
davide.aliprandi@st.com 22:ba7f4131a5e0 1447 return COMPONENT_ERROR;
davide.aliprandi@st.com 22:ba7f4131a5e0 1448
davide.aliprandi@st.com 22:ba7f4131a5e0 1449 return COMPONENT_OK;
davide.aliprandi@st.com 22:ba7f4131a5e0 1450 }
davide.aliprandi@st.com 22:ba7f4131a5e0 1451
davide.aliprandi@st.com 22:ba7f4131a5e0 1452 /* End of L6470_Exported_Functions */
davide.aliprandi@st.com 22:ba7f4131a5e0 1453
davide.aliprandi@st.com 22:ba7f4131a5e0 1454 /* End of L6470 */
davide.aliprandi@st.com 22:ba7f4131a5e0 1455
davide.aliprandi@st.com 22:ba7f4131a5e0 1456 /* End of Components */
davide.aliprandi@st.com 22:ba7f4131a5e0 1457
davide.aliprandi@st.com 22:ba7f4131a5e0 1458 /* End of BSP */
davide.aliprandi@st.com 22:ba7f4131a5e0 1459
davide.aliprandi@st.com 22:ba7f4131a5e0 1460 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/