ching-yang Trui
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X_NUCLEO_IHM02A1
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Dependencies: ST_INTERFACES X_NUCLEO_COMMON
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Diff: Components/l6470/l6470_class.cpp
- Revision:
- 22:ba7f4131a5e0
- Parent:
- 21:1b7f3e002688
- Child:
- 23:cf489f2ab072
--- a/Components/l6470/l6470_class.cpp Wed Mar 01 17:52:33 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,1460 +0,0 @@
-/**
- ******************************************************************************
- * @file l6470_class.cpp
- * @date 01/10/2014 12:00:00
- * @brief This file provides set of firmware functions to manage the
- * L6470.
- ******************************************************************************
- *
- * COPYRIGHT(c) 2014 STMicroelectronics
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- * 3. Neither the name of STMicroelectronics nor the names of its contributors
- * may be used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
-
-
-/* Generated with STM32CubeTOO -----------------------------------------------*/
-
-
-/* Revision ------------------------------------------------------------------*/
-/*
- Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
- Branch/Trunk/Tag: trunk
- Based on: X-CUBE-SPN2/trunk/Drivers/BSP/Components/L6470/L6470.c
- Revision: 0
-*/
-
-
-/* Includes ------------------------------------------------------------------*/
-
-#include "l6470_class.h"
-
-
-/* Variables -----------------------------------------------------------------*/
-
-/* Number of instantiated devices on an expansion board. */
-uint8_t L6470::number_of_devices = 0;
-
-/* SPI Transmission for Daisy-Chain Configuration. */
-eFlagStatus_t L6470::L6470_DaisyChain_HalfPrepared;
-sL6470_AppCmdPkg_t L6470::L6470_AppCmdPkg[L6470DAISYCHAINSIZE];
-uint8_t L6470::L6470_DaisyChainSpiTxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
-uint8_t L6470::L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
-
-/**
- * @brief Array whose elements are a structure in which store information about
- * the L6470 Registers (the address, the names, the length in bits, the
- * reset value)
- */
-const sL6470_Register_t L6470::_L6470_Register[L6470REGIDSIZE] = {
- {0x01 , "ABS_POS", 22, 3, 0x000000}, //!< Current position
- {0x02 , "EL_POS", 9, 2, 0x000}, //!< Electrical position
- {0x03 , "MARK", 22, 3, 0x000000}, //!< Mark position
- {0x04 , "SPEED", 20, 3, 0x0000}, //!< Current speed
- {0x05 , "ACC", 12, 2, 0x08A}, //!< Acceleration
- {0x06 , "DEC", 12, 2, 0x08A}, //!< Deceleration
- {0x07 , "MAX_SPEED", 10, 2, 0x041}, //!< Maximum speed
- {0x08 , "MIN_SPEED", 13, 2, 0x000}, //!< Minimum speed
- {0x15 , "FS_SPD", 10, 2, 0x027}, //!< Full-step speed
- {0x09 , "KVAL_HOLD", 8, 1, 0x29}, //!< Holding KVAL
- {0x0A , "KVAL_RUN", 8, 1, 0x29}, //!< Constant speed KVAL
- {0x0B , "KVAL_ACC", 8, 1, 0x29}, //!< Acceleration starting KVAL
- {0x0C , "KVAL_DEC", 8, 1, 0x29}, //!< Deceleration starting KVAL
- {0x0D , "INT_SPEED", 14, 2, 0x0408}, //!< Intersect speed
- {0x0E , "ST_SLP", 8, 1, 0x19}, //!< Start slope
- {0x0F , "FN_SLP_ACC", 8, 1, 0x29}, //!< Acceleration final slope
- {0x10 , "FN_SLP_DEC", 8, 1, 0x29}, //!< Deceleration final slope
- {0x11 , "K_THERM", 4, 1, 0x0}, //!< Thermal compensation factor
- {0x12 , "ADC_OUT", 5, 1, 0x00}, //!< ADC output, (the reset value is according to startup conditions)
- {0x13 , "OCD_TH", 4, 1, 0x8}, //!< OCD threshold
- {0x14 , "STALL_TH", 7, 1, 0x40}, //!< STALL threshold
- {0x16 , "STEP_MODE", 8, 1, 0x7}, //!< Step mode
- {0x17 , "ALARM_EN", 8, 1, 0xFF}, //!< Alarm enable
- {0x18 , "CONFIG", 16, 2, 0x2E88}, //!< IC configuration
- {0x19 , "STATUS", 16, 2, 0x0000} //!< Status, (the reset value is according to startup conditions)
-};
-
-/**
- * @brief Array whose elements are a structure in which store information about
- * the L6470 Application Commands (the mnemonic name, the number of
- * needed parameters, the related funtion to call)
- */
-const sL6470_ApplicationCommand_t L6470::_L6470_ApplicationCommand[L6470APPCMDIDSIZE] = {
- {"NOP", 0x00, 0},
- {"SETPARAM", 0x00, 2},
- {"GETPARAM", 0x20, 1},
- {"RUN", 0x50, 2},
- {"STEPCLOCK", 0x58, 1},
- {"MOVE", 0x40, 2},
- {"GOTO", 0x60, 1},
- {"GOTO_DIR", 0x68, 2},
- {"GOUNTIL", 0x82, 3},
- {"RELEASESW", 0x92, 2},
- {"GOHOME", 0x70, 0},
- {"GOMARK", 0x78, 0},
- {"RESETPOS", 0xD8, 0},
- {"RESETDEVICE", 0xC0, 0},
- {"SOFTSTOP", 0xB0, 0},
- {"HARDSTOP", 0xB8, 0},
- {"SOFTHIZ", 0xA0, 0},
- {"HARDHIZ", 0xA8, 0},
- {"GETSTATUS", 0xD0, 0}
-};
-
-/**
- * @brief The mnemonic names for the L6470 direction
- */
-const sL6470_Direction_t L6470::_L6470_Direction[L6470DIRIDSIZE] = {
- {"REV", 0x00}, //!< Reverse direction
- {"FWD", 0x01} //!< Forward direction
-};
-
-/**
- * @brief Action taken about ABS_POS register
- */
-const sL6470_ACT_t L6470::_L6470_ACT[L6470ACTIDSIZE] = {
- {"RST", 0x00}, //!< ABS_POS register is reset
- {"CPY", 0x01} //!< ABS_POS register value is copied into the MARK register
-};
-
-/* End of L6470_Private_Constants */
-
-/**
- * @defgroup L6470_Private_Variables
- * @brief L6470 Private Variables.
- * @{
- */
-
-/* End of L6470_Private_Variables */
-
-
-/**
- * @addtogroup L6470_Private_Functions
- * @{
- */
-
-
-/* Methods -------------------------------------------------------------------*/
-
-/**
- * @brief Reset the structure used to store the identifier of the L6470
- * application command and its the needed parameters.
- * @param pL6470_AppCmdPkg The structure to be reset.
- */
-void L6470::L6470_ResetAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg)
-{
- uint8_t id;
-
- for(id=0; id<L6470DAISYCHAINSIZE; id++)
- {
- (pL6470_AppCmdPkg+id)->L6470_AppCmdId=(eL6470_AppCmdId_t)0;
- (pL6470_AppCmdPkg+id)->p1=0;
- (pL6470_AppCmdPkg+id)->p2=0;
- (pL6470_AppCmdPkg+id)->p3=0;
- }
-}
-
-/**
- * @brief Fill the structure used to store the identifier of the L6470
- * application command and its the needed parameters.
- * @param L6470_Id The identifier of the L6470 target inside the daisy chain.
- * @param pL6470_AppCmdPkg The structure to be filled.
- * @param L6470_AppCmdId The identifier of the L6470 application command to be sent.
- * @param p1 The 1st parameter (if it is not needed it will be not considered).
- * @param p2 The 2nd parameter (if it is not needed it will be not considered).
- * @param p3 The 3rd parameter (if it is not needed it will be not considered).
- */
-void L6470::L6470_FillAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3)
-{
- (pL6470_AppCmdPkg+L6470_Id)->L6470_AppCmdId = L6470_AppCmdId;
- (pL6470_AppCmdPkg+L6470_Id)->p1 = p1;
- (pL6470_AppCmdPkg+L6470_Id)->p2 = p2;
- (pL6470_AppCmdPkg+L6470_Id)->p3 = p3;
-}
-
-/**
- * @brief This function will fill the column of the L6470_AppCmdPkg related
- * the L6470 to be addressed inside the daisy chain.
- *
- * @param L6470_Id The identifier of the L6470 target inside the daisy chain.
- * @param pL6470_AppCmdPkg Pointer to the sL6470_AppCmdPkg_t to be filled.
- * @param L6470_AppCmdId The identifier of the L6470 application command to be sent.
- * @param p1 The 1st parameter (if it is not needed it will be not considered).
- * @param p2 The 2nd parameter (if it is not needed it will be not considered).
- * @param p3 The 3rd parameter (if it is not needed it will be not considered).
- */
-void L6470::L6470_PrepareAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3)
-{
- if(!L6470_DaisyChain_HalfPrepared)
- {
- L6470_DaisyChain_HalfPrepared = ONE_F; /* To avoid to delete the previous entered command */
- L6470_ResetAppCmdPkg(pL6470_AppCmdPkg);
- }
-
- L6470_FillAppCmdPkg(pL6470_AppCmdPkg, L6470_AppCmdId, p1, p2, p3);
-}
-
-/**
- * @brief This function will translate the data inside the L6470_AppCmdPkg into
- * the right data to be sent via SPI to the L6470 daisy chain.
- *
- * @param pL6470_AppCmdPkg Pointer to the sL6470_AppCmdPkg_t to be filled.
- * @param pL6470_DaisyChainSpiTxStruct Pointer to the structure used by SPI to send the commands.
- */
-void L6470::L6470_PrepareDaisyChainCommand(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, uint8_t* pL6470_DaisyChainSpiTxStruct)
-{
- uint8_t PkgId;
- uint8_t PARAMLengthBytes; /* The number of bytes related to the numeric value for the addressed register */
- uint8_t spibyte;
-
- /* Reset the structure used to send the command to the L6470 Daisy Chain through the SPI */
- uint8_t i = 0;
- for(spibyte=0;spibyte<L6470MAXSPICMDBYTESIZE;spibyte++)
- for(PkgId=0; PkgId<L6470DAISYCHAINSIZE; PkgId++)
- *(pL6470_DaisyChainSpiTxStruct+(i++)) = 0x00;
-
- for(PkgId=0; PkgId<L6470DAISYCHAINSIZE; PkgId++)
- {
- /* Build the 1st bytes to transmit with the binary code of the command */
- *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) = (L6470_ApplicationCommand[(pL6470_AppCmdPkg+PkgId)->L6470_AppCmdId].BinaryCode);
-
- /* Perform the related L6470_AppCmdId */
- switch((pL6470_AppCmdPkg+PkgId)->L6470_AppCmdId)
- {
- case L6470_NOP_ID:
- break;
- case L6470_SETPARAM_ID:
- /* Build the 1st bytes to transmit (PARAM) */
- *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].Address);
-
- /* The length, in byte, of this register (PARAM) is... */
- PARAMLengthBytes = L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].LengthByte;
-
- /* Build the others bytes to transmit (VALUE) */
- for (spibyte=1; spibyte<(PARAMLengthBytes+1); spibyte++)
- {
- *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(PARAMLengthBytes-spibyte)));
- }
- break;
- case L6470_GETPARAM_ID:
- /* Build the 1st bytes to transmit (PARAM) */
- *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].Address);
- break;
- case L6470_RUN_ID:
- /* Build the 1st bytes to transmit (DIR) */
- *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
-
- /* Build the others bytes to transmit (SPD) */
- for (spibyte=1; spibyte<(3+1); spibyte++)
- {
- *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte)));
- }
- break;
- case L6470_STEPCLOCK_ID:
- /* Build the 1st bytes to transmit (DIR) */
- *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
- break;
- case L6470_MOVE_ID:
- /* Build the 1st bytes to transmit (DIR) */
- *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
-
- /* Build the others bytes to transmit (N_STEP) */
- for (spibyte=1; spibyte<(3+1); spibyte++)
- {
- *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte)));
- }
- break;
- case L6470_GOTO_ID:
- /* Build the others bytes to transmit (ABS_POS) */
- for (spibyte=1; spibyte<(3+1); spibyte++)
- {
- *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p1) >> (8*(3-spibyte)));
- }
- break;
- case L6470_GOTODIR_ID:
- /* Build the 1st bytes to transmit (DIR) */
- *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
-
- /* Build the others bytes to transmit (ABS_POS) */
- for (spibyte=1; spibyte<(3+1); spibyte++)
- {
- *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte)));
- }
- break;
- case L6470_GOUNTIL_ID:
- /* Build the 1st bytes to transmit (ACT) */
- *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= ((L6470_ACT[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode)<<3);
- /* Build the 1st bytes to transmit (DIR) */
- *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p2)].BinaryCode);
-
- /* Build the others bytes to transmit (SPD) */
- for (spibyte=1; spibyte<(3+1); spibyte++)
- {
- *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p3) >> (8*(3-spibyte)));
- }
- break;
- case L6470_RELEASESW_ID:
- /* Build the 1st bytes to transmit (ACT) */
- *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= ((L6470_ACT[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode)<<3);
- /* Build the 1st bytes to transmit (DIR) */
- *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p2)].BinaryCode);
- break;
- case L6470_GOHOME_ID:
- break;
- case L6470_GOMARK_ID:
- break;
- case L6470_RESETPOS_ID:
- break;
- case L6470_RESETDEVICE_ID:
- break;
- case L6470_SOFTSTOP_ID:
- break;
- case L6470_HARDSTOP_ID:
- break;
- case L6470_SOFTHIZ_ID:
- break;
- case L6470_HARDHIZ_ID:
- break;
- case L6470_GETSTATUS_ID:
- break;
- }
- }
-}
-
-/* End of L6470_Private_Functions */
-
-/**
- * @addtogroup L6470_Exported_Functions
- * @{
- */
-
-/**
- * @addtogroup L6470_Conversion_Functions
- * @brief The following functions act just on one driver inside the L6470
- * daisy chain. The command is immediately sent.
- * @{
- */
-
- /**
- * @brief Convert the absolute position as 2's complement format into the signed number.
- *
- * @param AbsPos The absolute position in the range from [-(2^21)] to [+(2^21)-1].
- * @retval Position The position as signed number.
- */
-int32_t L6470::L6470_AbsPos_2_Position(uint32_t AbsPos)
-{
- if (AbsPos > L6470_MAX_POSITION)
- return (AbsPos - (L6470_POSITION_RANGE + 1));
- else
- return AbsPos;
-}
-
-/**
- * @brief Convert the position as signed number into absolute position as 2's complement format.
- *
- * @param Position The position as signed number.
- * @retval AbsPos The absolute position in the range from [-(2^21)] to [+(2^21)-1].
- */
-uint32_t L6470::L6470_Position_2_AbsPos(int32_t Position)
-{
- if ((Position >= 0) && (Position <= L6470_MAX_POSITION))
- return Position;
- else
- {
- if ((Position >= L6470_MIN_POSITION) && (Position < 0))
- return (Position + (L6470_POSITION_RANGE + 1));
- else
- return (L6470_POSITION_RANGE + 1); // OVF
- }
-}
-
-/**
- * @brief Convert the SPEED register value into step/s.
- *
- * @param Speed The SPEED register value.
- * @retval step/s The speed as step/s.
- */
-float L6470::L6470_Speed_2_Step_s(uint32_t Speed)
-{
- return (Speed * ((float)14.9012e-3));
-}
-
-/**
- * @brief Convert the speed as step/s into a right value for SPEED register.
- *
- * @param step/s The speed as step/s.
- * @retval Speed The SPEED register value.
- */
-uint32_t L6470::L6470_Step_s_2_Speed(float Step_s)
-{
- if (Step_s <= (L6470_MAX_SPEED * ((float)14.9012e-3)))
- return (uint32_t)(Step_s / ((float)14.9012e-3));
- else
- return 0; // Warning
-}
-
-/**
- * @brief Convert the ACC register value into step/(s^2).
- *
- * @param Acc The ACC register value.
- * @retval step/(s^2) The acceleration as step/(s^2).
- */
-float L6470::L6470_Acc_2_Step_s2(uint16_t Acc)
-{
- if (Acc <= L6470_MAX_ACC)
- return (Acc * ((float)1.4552e1));
- else
- return 0; // Warning
-}
-
-/**
- * @brief Convert the acceleartion as step/(s^2) into a right value for ACC register.
- *
- * @param step/(s^2) The acceleration as step/(s^2).
- * @retval Acc The ACC register value.
- */
-uint16_t L6470::L6470_Step_s2_2_Acc(float Step_s2)
-{
- if (Step_s2 <= (L6470_MAX_ACC * ((float)1.4552e1)))
- return (uint16_t)(Step_s2 / ((float)1.4552e1));
- else
- return 0; // Warning
-}
-
-/**
- * @brief Convert the DEC register value into step/(s^2).
- *
- * @param Dec The DEC register value.
- * @retval step/(s^2) The deceleration as step/(s^2).
- */
-float L6470::L6470_Dec_2_Step_s2(uint16_t Dec)
-{
- if (Dec <= L6470_MAX_DEC)
- return (Dec * ((float)1.4552e1));
- else
- return 0; // Warning
-}
-
-/**
- * @brief Convert the deceleration as step/(s^2) into a right value for DEC register.
- *
- * @param step/(s^2) The deceleration as step/(s^2).
- * @retval Dec The DEC register value.
- */
-uint16_t L6470::L6470_Step_s2_2_Dec(float Step_s2)
-{
- if (Step_s2 <= (L6470_MAX_DEC * ((float)1.4552e1)))
- return (uint16_t)(Step_s2 / ((float)1.4552e1));
- else
- return 0; // Warning
-}
-
-/**
- * @brief Convert the MAX_SPEED register value into step/s.
- *
- * @param MaxSpeed The MAX_SPEED register value.
- * @retval step/s The max speed as step/s.
- */
-float L6470::L6470_MaxSpeed_2_Step_s(uint16_t MaxSpeed)
-{
- if (MaxSpeed <= L6470_MAX_MAX_SPEED)
- return (MaxSpeed * ((float)15.2588));
- else
- return 0; // Warning
-}
-
-/**
- * @brief Convert the max speed as step/s into a right value for MAX_SPEED register.
- *
- * @param step/s The max speed as step/s.
- * @retval MaxSpeed The MAX_SPEED register value.
- */
-uint16_t L6470::L6470_Step_s_2_MaxSpeed(float Step_s)
-{
- if (Step_s <= (L6470_MAX_MAX_SPEED * ((float)15.2588)))
- return (uint16_t)(Step_s / ((float)15.2588));
- else
- return 0; // Warning
-}
-
-/**
- * @brief Convert the MIN_SPEED register value into step/s.
- *
- * @param MinSpeed The MIN_SPEED register value.
- * @retval step/s The min speed as step/s.
- */
-float L6470::L6470_MinSpeed_2_Step_s(uint16_t MinSpeed)
-{
- if (MinSpeed <= L6470_MAX_MIN_SPEED)
- return (MinSpeed * ((float)238.4186e-3));
- else
- return 0; // Warning
-}
-
-/**
- * @brief Convert the min speed as step/s into a right value for MIN_SPEED register.
- *
- * @param step/s The min speed as step/s.
- * @retval MinSpeed The MIN_SPEED register value.
- */
-uint16_t L6470::L6470_Step_s_2_MinSpeed(float Step_s)
-{
- if (Step_s <= (L6470_MAX_MIN_SPEED * ((float)238.4186e-3)))
- return (uint16_t)(Step_s / ((float)238.4186e-3));
- else
- return 0; // Warning
-}
-
-/**
- * @brief Convert the FS_SPD register value into step/s.
- *
- * @param FsSpd The FS_SPD register value.
- * @retval step/s The full-step speed as step/s.
- */
-float L6470::L6470_FsSpd_2_Step_s(uint16_t FsSpd)
-{
- if (FsSpd <= L6470_MAX_FS_SPD)
- return ((FsSpd+0.5) * ((float)15.25));
- else
- return 0; // Warning
-}
-
-/**
- * @brief Convert the full-step speed as step/s into a right value for FS_SPD register.
- *
- * @param step/s The full-step speed as step/s.
- * @retval FsSpd The FS_SPD register value.
- */
-uint16_t L6470::L6470_Step_s_2_FsSpd(float Step_s)
-{
- if (Step_s <= ((L6470_MAX_FS_SPD+0.5) * ((float)15.25)))
- return (uint16_t)((float)(Step_s / ((float)15.25)) - (float)0.5);
- else
- return 0; // Warning
-}
-
-/**
- * @brief Convert the INT_SPEED register value into step/s.
- *
- * @param IntSpeed The INT_SPEED register value.
- * @retval step/s The intersect speed as step/s.
- */
-float L6470::L6470_IntSpeed_2_Step_s(uint16_t IntSpeed)
-{
- if (IntSpeed <= L6470_MAX_INT_SPEED)
- return (IntSpeed * ((float)59.6046e-3));
- else
- return 0; // Warning
-}
-
-/**
- * @brief Convert the intersect speed as step/s into a right value for INT_SPEED register.
- *
- * @param step/s The full-step speed as step/s.
- * @retval FsSpd The FS_SPD register value.
- */
-uint16_t L6470::L6470_Step_s_2_IntSpeed(float Step_s)
-{
- if (Step_s <= (L6470_MAX_INT_SPEED * ((float)59.6046e-3)))
- return (uint16_t)(Step_s / ((float)59.6046e-3));
- else
- return 0; // Warning
-}
-
-/**
- * @brief Convert the ST_SLP register value into s/step.
- *
- * @param StartSlope The ST_SLP register value.
- * @retval s/step The start slope as s/step.
- */
-float L6470::L6470_StSlp_2_s_Step(uint8_t StSlp)
-{
-// if (StSlp <= L6470_MAX_ST_SLP)
- return (StSlp * ((float)1.5686e-5));
-// else
-// return 0; // Warning
-}
-
-/**
- * @brief Convert the intersect speed as step/s into a right value for INT_SPEED register.
- *
- * @param step/s The full-step speed as step/s.
- * @retval FsSpd The FS_SPD register value.
- */
-uint8_t L6470::L6470_s_Step_2_StSlp(float s_Step)
-{
- if (s_Step <= (L6470_MAX_ST_SLP * ((float)1.5686e-5)))
- return (uint8_t)(s_Step / ((float)1.5686e-5));
- else
- return 0; // Warning
-}
-
-/**
- * @brief Convert the INT_SPEED register value into step/s.
- *
- * @param IntSpeed The INT_SPEED register value.
- * @retval step/s The intersect speed as step/s.
- */
-float L6470::L6470_FnSlpAcc_2_s_Step(uint8_t FnSlpAcc)
-{
-// if (FnSlpAcc <= L6470_MAX_FN_SLP_ACC)
- return (FnSlpAcc * ((float)1.5686e-5));
-// else
-// return 0; // Warning
-}
-
-/**
- * @brief Convert the intersect speed as step/s into a right value for INT_SPEED register.
- *
- * @param step/s The full-step speed as step/s.
- * @retval FsSpd The FS_SPD register value.
- */
-uint8_t L6470::L6470_s_Step_2_FnSlpAcc(float s_Step)
-{
- if (s_Step <= (L6470_MAX_FN_SLP_ACC * ((float)1.5686e-5)))
- return (uint8_t)(s_Step / ((float)1.5686e-5));
- else
- return 0; // Warning
-}
-
-/**
- * @brief Convert the INT_SPEED register value into step/s.
- *
- * @param IntSpeed The INT_SPEED register value.
- * @retval step/s The intersect speed as step/s.
- */
-float L6470::L6470_FnSlpDec_2_s_Step(uint8_t FnSlpDec)
-{
-// if (FnSlpDec <= L6470_MAX_FN_SLP_DEC)
- return (FnSlpDec * ((float)1.5686e-5));
-// else
-// return 0; // Warning
-}
-
-/**
- * @brief Convert the intersect speed as step/s into a right value for INT_SPEED register.
- *
- * @param step/s The full-step speed as step/s.
- * @retval FsSpd The FS_SPD register value.
- */
-uint8_t L6470::L6470_s_Step_2_FnSlpDec(float s_Step)
-{
- if (s_Step <= (L6470_MAX_FN_SLP_DEC * ((float)1.5686e-5)))
- return (uint8_t)(s_Step / ((float)1.5686e-5));
- else
- return 0; // Warning
-}
-
-/**
- * @brief Convert the OCD_TH register value into mA.
- *
- * @param OcdTh The OCD_TH register value.
- * @retval mA The overcurrent threshold as mA.
- */
-float L6470::L6470_OcdTh_2_mA(uint8_t OcdTh)
-{
- if (OcdTh <= L6470_MAX_OCD_TH)
- return ((OcdTh+1) * ((float)375));
- else
- return 0; // Warning
-}
-
-/**
- * @brief Convert the overcurrent threshold as mA into a right value for OCD_TH register.
- *
- * @param mA The overcurrent threshold as mA.
- * @retval OcdTh The OCD_TH register value.
- */
-uint8_t L6470::L6470_mA_2_OcdTh(float mA)
-{
- float result, decimal;
-
- if (mA <= ((L6470_MAX_OCD_TH+1) * ((float)375)))
- {
- result = (mA / ((float)375));
- decimal = result - (uint8_t)result;
-
- if (decimal < (float)0.5)
- return ((uint8_t)result - 1);
- else
- return ((uint8_t)result);
- }
- else
- return 0; // Warning
-}
-
-/**
- * @brief Convert the STALL_TH register value into mA.
- *
- * @param StallTh The STALL_TH register value.
- * @retval mA The stall detection threshold as mA.
- */
-float L6470::L6470_StallTh_2_mA(uint8_t StallTh)
-{
- if (StallTh <= L6470_MAX_STALL_TH)
- return ((StallTh+1) * ((float)31.25));
- else
- return 0; // Warning
-}
-
-/**
- * @brief Convert the stall detection threshold as mA into a right value for STALL_TH register.
- *
- * @param mA The stall detection threshold as mA.
- * @retval StallTh The STALL_TH register value.
- */
-uint8_t L6470::L6470_mA_2_StallTh(float mA)
-{
- float result, decimal;
-
- if (mA <= ((L6470_MAX_STALL_TH+1) * ((float)31.25)))
- {
- result = (mA / ((float)31.25));
- decimal = result - (uint8_t)result;
-
- if (decimal < (float)0.5)
- return ((uint8_t)result - 1);
- else
- return ((uint8_t)result);
- }
- else
- return 0; // Warning
-}
-
-/* End of L6470_Conversion_Functions */
-
-/**
- * @addtogroup L6470_AppCMDs
- * @{
- */
-
-/**
- * @brief SetParam command sets the register value equal to a new value.
- *
- * @param L6470_RegId The identifier of the L6470 register to be addressed.
- * @param Value The new value.
- */
-void L6470::L6470_SetParam(eL6470_RegId_t L6470_RegId, uint32_t Value)
-{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SETPARAM_ID, L6470_RegId, Value, 0);
- L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
- L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-}
-
-/**
- * @brief GetParam command reads the register value.
- *
- * @param L6470_RegId The identifier of the L6470 register to be addressed.
- *
- * @retval ReceivedValue The register value.
- */
-uint32_t L6470::L6470_GetParam(eL6470_RegId_t L6470_RegId)
-{
- uint8_t ValueLengthByte;
- uint32_t ReceivedValue;
-
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETPARAM_ID, L6470_RegId, 0, 0);
- L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
- L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-
- ValueLengthByte = L6470_Register[L6470_RegId].LengthByte;
-
- ReceivedValue = L6470_ExtractReturnedData((uint8_t*)L6470_DaisyChainSpiRxStruct, ValueLengthByte);
-
- return ReceivedValue;
-}
-
-/**
- * @brief Run command produces a motion at fixed speed.
- *
- * @param L6470_DirId The identifier of the L6470 motion direction.
- * @param Speed The speed value as (([step/s] * 250e-9) / 2^-28)
- */
-void L6470::L6470_Run(eL6470_DirId_t L6470_DirId, uint32_t Speed)
-{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RUN_ID, L6470_DirId, Speed, 0);
- L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
- L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-}
-
-/**
- * @brief StepClock command switches the device in Step-clock mode.
- *
- * @param L6470_DirId The identifier of the L6470 motion direction.
- */
-void L6470::L6470_StepClock(eL6470_DirId_t L6470_DirId)
-{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_STEPCLOCK_ID, L6470_DirId, 0, 0);
- L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
- L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-}
-
-/**
- * @brief Move command produces a motion of N_STEP microsteps.
- *
- * @param L6470_DirId The identifier of the L6470 motion direction.
- * @param N_Step The number of microsteps.
- */
-void L6470::L6470_Move(eL6470_DirId_t L6470_DirId, uint32_t N_Step)
-{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_MOVE_ID, L6470_DirId, N_Step, 0);
- L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
- L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-}
-
-/**
- * @brief GoTo command produces a motion to ABS_POS absolute position through the shortest path.
- *
- * @param AbsPos The target absolute position.
- */
-void L6470::L6470_GoTo(uint32_t AbsPos)
-{
- if (AbsPos <= L6470_POSITION_RANGE)
- {
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTO_ID, AbsPos, 0, 0);
- L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
- L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
- }
-}
-
-/**
- * @brief GoTo_DIR command produces a motion to ABS_POS absolute position imposing a direction.
- *
- * @param L6470_DirId The identifier of the L6470 motion direction.
- * @param AbsPos The target absolute position.
- */
-void L6470::L6470_GoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos)
-{
- if (AbsPos <= L6470_POSITION_RANGE)
- {
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTODIR_ID, L6470_DirId, AbsPos, 0);
- L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
- L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
- }
-}
-
-/**
- * @brief GoUntil command produces a motion at fixed speed imposing a direction
- * until an external switch turn-on event occurs.
- *
- * @param L6470_ActId The identifier of the L6470 action about the absolute position.
- * @param L6470_DirId The identifier of the L6470 motion direction.
- * @param Speed The speed value as (([step/s] * 250e-9) / 2^-28)
- */
-void L6470::L6470_GoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed)
-{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOUNTIL_ID, L6470_ActId, L6470_DirId, Speed);
- L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
- L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-}
-
-/**
- * @brief ReleaseSW command produces a motion at minimum speed imposing a direction
- * until SW is released.
- *
- * @param L6470_ActId The identifier of the L6470 action about the absolute position.
- * @param L6470_DirId The identifier of the L6470 motion direction.
- */
-void L6470::L6470_ReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId)
-{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RELEASESW_ID, L6470_ActId, L6470_DirId, 0);
- L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
- L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-}
-
-/**
- * @brief GoHome command produces a motion to the HOME position (zero position)
- * via the shortest path.
- *
- */
-void L6470::L6470_GoHome(void)
-{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOHOME_ID, 0, 0, 0);
- L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
- L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-}
-
-/**
- * @brief GoMark command produces a motion to the MARK position performing the
- * minimum path.
- *
- */
-void L6470::L6470_GoMark(void)
-{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOMARK_ID, 0, 0, 0);
- L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
- L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-}
-
-/**
- * @brief ResetPos command resets the ABS_POS register to zero.
- *
- */
-void L6470::L6470_ResetPos(void)
-{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETPOS_ID, 0, 0, 0);
- L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
- L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-}
-
-/**
- * @brief ResetDevice command resets the device to power-up conditions.
- *
- */
-void L6470::L6470_ResetDevice(void)
-{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETDEVICE_ID, 0, 0, 0);
- L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
- L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-}
-
-/**
- * @brief SoftStop command causes an immediate deceleration to zero speed and
- * a consequent motor stop; the deceleration value used is the one stored
- * in the DEC register.
- *
- */
-void L6470::L6470_SoftStop(void)
-{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTSTOP_ID, 0, 0, 0);
- L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
- L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-}
-
-/**
- * @brief HardStop command causes an immediate motor stop with infinite deceleration.
- *
- */
-void L6470::L6470_HardStop(void)
-{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDSTOP_ID, 0, 0, 0);
- L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
- L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-}
-
-/**
- * @brief SoftHiZ command disables the power bridges (high impedance state)
- * after a deceleration to zero; the deceleration value used is the one
- * stored in the DEC register.
- *
- */
-void L6470::L6470_SoftHiZ(void)
-{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTHIZ_ID, 0, 0, 0);
- L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
- L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-}
-
-/**
- * @brief HardHiZ command immediately disables the power bridges (high impedance state).
- *
- */
-void L6470::L6470_HardHiZ(void)
-{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDHIZ_ID, 0, 0, 0);
- L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
- L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-}
-
-/**
- * @brief GetStatus command returns the STATUS register value.
- *
- *
- * @retval ReceivedValue The register value.
- */
-uint16_t L6470::L6470_GetStatus(void)
-{
- uint16_t ReceivedValue;
-
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETSTATUS_ID, 0, 0, 0);
- L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
- L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-
- ReceivedValue = (uint16_t)L6470_ExtractReturnedData((uint8_t*)L6470_DaisyChainSpiRxStruct, 2);
-
- return ReceivedValue;
-}
-
-/* End of L6470_AppCMDs */
-
-/**
- * @addtogroup L6470_AppCMDs_ToBePrepared
- * @{
- */
-
-/**
- * @brief Prepare to send @ref L6470_SetParam command.
- *
- * @param L6470_RegId The identifier of the L6470 register to be addressed.
- * @param Value The new value.
- *
- * @note This function will properly fill the right column of the L6470_AppCmdPkg.
- * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
- */
-void L6470::L6470_PrepareSetParam(eL6470_RegId_t L6470_RegId, uint32_t Value)
-{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SETPARAM_ID, L6470_RegId, Value, 0);
-}
-
-/**
- * @brief Prepare to send @ref L6470_GetParam command.
- *
- * @param L6470_Id The L6470 identifier inside the daisy chain.
- * @param L6470_RegId The identifier of the L6470 register to be addressed.
- *
- * @retval ReceivedValue The register value.
- *
- * @note This function will properly fill the right column of the L6470_AppCmdPkg.
- * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
- */
-void L6470::L6470_PrepareGetParam(eL6470_RegId_t L6470_RegId)
-{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETPARAM_ID, L6470_RegId, 0, 0);
-}
-
-/**
- * @brief Prepare to send @ref L6470_Run command.
- *
- * @param L6470_DirId The identifier of the L6470 motion direction.
- * @param Speed The speed value as (([step/s] * 250e-9) / 2^-28)
- *
- * @note This function will properly fill the right column of the L6470_AppCmdPkg.
- * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
- */
-void L6470::L6470_PrepareRun(eL6470_DirId_t L6470_DirId, uint32_t Speed)
-{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RUN_ID, L6470_DirId, Speed, 0);
-}
-
-/**
- * @brief Prepare to send @ref L6470_StepClock command.
- *
- * @param L6470_DirId The identifier of the L6470 motion direction.
- *
- * @note This function will properly fill the right column of the L6470_AppCmdPkg.
- * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
- */
-void L6470::L6470_PrepareStepClock(eL6470_DirId_t L6470_DirId)
-{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_STEPCLOCK_ID, L6470_DirId, 0, 0);
-}
-
-/**
- * @brief Prepare to send @ref L6470_Move command.
- *
- * @param L6470_DirId The identifier of the L6470 motion direction.
- * @param N_Step The number of microsteps.
- *
- * @note This function will properly fill the right column of the L6470_AppCmdPkg.
- * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
- */
-void L6470::L6470_PrepareMove(eL6470_DirId_t L6470_DirId, uint32_t N_Step)
-{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_MOVE_ID, L6470_DirId, N_Step, 0);
-}
-
-/**
- * @brief Prepare to send @ref L6470_GoTo command.
- *
- * @param AbsPos The target absolute position.
- *
- * @note This function will properly fill the right column of the L6470_AppCmdPkg.
- * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
- */
-void L6470::L6470_PrepareGoTo(uint32_t AbsPos)
-{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTO_ID, AbsPos, 0, 0);
-}
-
-/**
- * @brief Prepare to send @ref L6470_GoToDIR command.
- *
- * @param L6470_DirId The identifier of the L6470 motion direction.
- * @param AbsPos The target absolute position.
- *
- * @note This function will properly fill the right column of the L6470_AppCmdPkg.
- * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
- */
-void L6470::L6470_PrepareGoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos)
-{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTODIR_ID, L6470_DirId, AbsPos, 0);
-}
-
-/**
- * @brief Prepare to send @ref L6470_GoUntil command.
- *
- * @param L6470_ActId The identifier of the L6470 action about the absolute position.
- * @param L6470_DirId The identifier of the L6470 motion direction.
- * @param Speed The speed value as (([step/s] * 250e-9) / 2^-28)
- *
- * @note This function will properly fill the right column of the L6470_AppCmdPkg.
- * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
- */
-void L6470::L6470_PrepareGoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed)
-{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOUNTIL_ID, L6470_ActId, L6470_DirId, Speed);
-}
-
-/**
- * @brief Prepare to send @ref L6470_ReleaseSW.
- *
- * @param L6470_ActId The identifier of the L6470 action about the absolute position.
- * @param L6470_DirId The identifier of the L6470 motion direction.
- *
- * @note This function will properly fill the right column of the L6470_AppCmdPkg.
- * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
- */
-void L6470::L6470_PrepareReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId)
-{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RELEASESW_ID, L6470_ActId, L6470_DirId, 0);
-}
-
-/**
- * @brief Prepare to send @ref L6470_GoHome command.
- *
- *
- * @note This function will properly fill the right column of the L6470_AppCmdPkg.
- * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
- */
-void L6470::L6470_PrepareGoHome(void)
-{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOHOME_ID, 0, 0, 0);
-}
-
-/**
- * @brief Prepare to send @ref L6470_GoMark command.
- *
- *
- * @note This function will properly fill the right column of the L6470_AppCmdPkg.
- * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
- */
-void L6470::L6470_PrepareGoMark(void)
-{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOMARK_ID, 0, 0, 0);
-}
-
-/**
- * @brief Prepare to send @ref L6470_ResetPos command.
- *
- *
- * @note This function will properly fill the right column of the L6470_AppCmdPkg.
- * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
- */
-void L6470::L6470_PrepareResetPos(void)
-{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETPOS_ID, 0, 0, 0);
-}
-
-/**
- * @brief Prepare to send @ref L6470_ResetDevice command.
- *
- *
- * @note This function will properly fill the right column of the L6470_AppCmdPkg.
- * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
- */
-void L6470::L6470_PrepareResetDevice(void)
-{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETDEVICE_ID, 0, 0, 0);
-}
-
-/**
- * @brief Prepare to send @ref L6470_SoftStop command.
- *
- *
- * @note This function will properly fill the right column of the L6470_AppCmdPkg.
- * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
- */
-void L6470::L6470_PrepareSoftStop(void)
-{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTSTOP_ID, 0, 0, 0);
-}
-
-/**
- * @brief Prepare to send @ref L6470_HardStop command.
- *
- *
- * @note This function will properly fill the right column of the L6470_AppCmdPkg.
- * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
- */
-void L6470::L6470_PrepareHardStop(void)
-{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDSTOP_ID, 0, 0, 0);
-}
-
-/**
- * @brief Prepare to send @ref L6470_SoftHiZ command.
- *
- *
- * @note This function will properly fill the right column of the L6470_AppCmdPkg.
- * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
- */
-void L6470::L6470_PrepareSoftHiZ(void)
-{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTHIZ_ID, 0, 0, 0);
-}
-
-/**
- * @brief Prepare to send @ref L6470_HardHiZ command.
- *
- *
- * @note This function will properly fill the right column of the L6470_AppCmdPkg.
- * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
- */
-void L6470::L6470_PrepareHardHiZ(void)
-{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDHIZ_ID, 0, 0, 0);
-}
-
-/**
- * @brief Prepare to send @ref L6470_GetStatus command.
- *
- *
- * @note This function will properly fill the right column of the L6470_AppCmdPkg.
- * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
- */
-void L6470::L6470_PrepareGetStatus(void)
-{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETSTATUS_ID, 0, 0, 0);
-}
-
-/* End of L6470_AppCMDs_ToBePrepared */
-
-/**
- * @brief Send via SPI the command stored inside the L6470_AppCmdPkg to the
- * L6470 daisy chain.
- *
- * @retval (uint8_t*)data->L6470_DaisyChainSpiRxStruct The pointer to the structure
- * containing returned values from each L6470 of the daisy chain for each
- * sent SPI data.
- */
-uint8_t* L6470::L6470_PerformPreparedApplicationCommand(void)
-{
- L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
- L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
-
- return (uint8_t*)(L6470_DaisyChainSpiRxStruct);
-}
-
-/**
- * @brief Send command to the L6470 daisy chain via SPI
- * @param pL6470_DaisyChainSpiTxStruct Pointer to the matrix array of bytes to be sent to the daisy chain L6470
- * @param pL6470_DaisyChainSpiRxStruct Pointer to the matrix array of bytes to be received from the daisy chain L6470
- */
-void L6470::L6470_DaisyChainCommand(uint8_t* pL6470_DaisyChainSpiTxStruct, uint8_t* pL6470_DaisyChainSpiRxStruct)
-{
- uint8_t spibyte;
-
- L6470_DaisyChain_HalfPrepared = ZERO_F;
-
- /* Send all command bytes via SPI */
- for(spibyte=0; spibyte < L6470MAXSPICMDBYTESIZE; spibyte++)
- {
- /* Send the command via SPI */
- L6470_SPI_Communication((pL6470_DaisyChainSpiTxStruct+(spibyte * L6470DAISYCHAINSIZE)), (pL6470_DaisyChainSpiRxStruct+(spibyte * L6470DAISYCHAINSIZE)), L6470DAISYCHAINSIZE, 10);
-
- //_DELAY(TDISCS);
- uint8_t delay_cnt;
- for (delay_cnt=0; delay_cnt<20; delay_cnt++) __NOP(); //!<Simply deselect time delay for SPI nCS
- }
-}
-
-/**
- * @brief Extracts the data returned by the L6470 from the matrix that
- * contains the received SPI data.
- * @param L6470_Id The identifier of the L6470 target inside the daisy chain.
- * @param pL6470_DaisyChainSpiRxStruct uint8_t-pointer to the matrix that
- * contains the received data by SPI from the L6470 daisy chain.
- * @param LengthByte The number of bytes about the received value.
- */
-uint32_t L6470::L6470_ExtractReturnedData(uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte)
-{
- uint32_t value;
- uint8_t i;
-
- value = 0x000000;
- for (i=1; i<=(L6470MAXSPICMDBYTESIZE-1); i++)
- {
- value |= (*(pL6470_DaisyChainSpiRxStruct+(i*L6470DAISYCHAINSIZE)+L6470_Id))<<((LengthByte-i)*8);
- }
-
- return value;
-}
-
-/**
- * @brief Check the state of a flag inside the L6470 STATUS register.
- *
- * @param L6470_Id The identifier of the L6470 target inside the daisy chain.
- * @param L6470_StatusRegisterFlagId The identifier of the L6470 STATUS flag to be checked.
- *
- * @retval state The flag state.
- */
-
-uint8_t L6470::L6470_CheckStatusRegisterFlag(uint8_t L6470_StatusRegisterFlagId)
-{
- uint8_t state = 0;
-
- *((uint16_t*)pL6470_StatusRegister) = L6470_GetParam(L6470_STATUS_ID);
-
- switch(L6470_StatusRegisterFlagId)
- {
- case HiZ_ID:
- state = pL6470_StatusRegister->HiZ;
- break;
- case BUSY_ID:
- state = pL6470_StatusRegister->BUSY;
- break;
- case SW_F_ID:
- state = pL6470_StatusRegister->SW_F;
- break;
- case SW_EVN_ID:
- state = pL6470_StatusRegister->SW_EVN;
- break;
- case DIR_ID:
- state = pL6470_StatusRegister->DIR;
- break;
- case MOT_STATUS_ID:
- state = pL6470_StatusRegister->MOT_STATUS;
- break;
- case NOTPERF_CMD_ID:
- state = pL6470_StatusRegister->NOTPERF_CMD;
- break;
- case WRONG_CMD_ID:
- state = pL6470_StatusRegister->WRONG_CMD;
- break;
- case UVLO_ID:
- state = pL6470_StatusRegister->UVLO;
- break;
- case TH_WRN_ID:
- state = pL6470_StatusRegister->TH_WRN;
- break;
- case TH_SD_ID:
- state = pL6470_StatusRegister->TH_SD;
- break;
- case OCD_ID:
- state = pL6470_StatusRegister->OCD;
- break;
- case STEP_LOSS_A_ID:
- state = pL6470_StatusRegister->STEP_LOSS_A;
- break;
- case STEP_LOSS_B_ID:
- state = pL6470_StatusRegister->STEP_LOSS_B;
- break;
- case SCK_MOD_ID:
- state = pL6470_StatusRegister->SCK_MOD;
- break;
- }
-
- return state;
-}
-
-/**
- * @brief Return the mnemonic name for the L6470 register.
- * @param id The identifier of the L6470 register.
- */
-uint8_t *L6470::L6470_GetRegisterName(uint8_t id)
-{
- if (id < L6470REGIDSIZE)
- {
- return (uint8_t*)L6470_Register[id].Name;
- }
- else
- {
- return NULL;
- }
-}
-
-/**
- * @brief Configures the L6470 registers.
- * @param init The pointer to the initialization structure.
- */
-Status_t L6470::L6470_Config(void *init)
-{
- /* Disable the L6470. */
- L6470_DISABLE();
-
- /* Enable the L6470. */
- L6470_ENABLE();
-
- /* Reset devices. */
- ResetDevice();
-
- /* Reset Status Register flags. */
- GetStatus();
-
- /* Prepare the 'Register' field of StepperMotorDriverHandle */
- L6470_Init_t *MotorParameterData = (L6470_Init_t *) init;
- StepperMotorRegister.ACC = L6470_Step_s2_2_Acc(MotorParameterData->acc);
- StepperMotorRegister.DEC = L6470_Step_s2_2_Dec(MotorParameterData->dec);
- StepperMotorRegister.MAX_SPEED = L6470_Step_s_2_MaxSpeed(MotorParameterData->maxspeed);
- StepperMotorRegister.MIN_SPEED = L6470_Step_s_2_MinSpeed(MotorParameterData->minspeed);
- StepperMotorRegister.FS_SPD = L6470_Step_s_2_FsSpd(MotorParameterData->fsspd);
- StepperMotorRegister.KVAL_HOLD = (uint8_t)((float)((float)(MotorParameterData->kvalhold * 256) / (MotorParameterData->motorvoltage)));
- StepperMotorRegister.KVAL_RUN = (uint8_t)((float)((float)(MotorParameterData->kvalrun * 256) / (MotorParameterData->motorvoltage)));
- StepperMotorRegister.KVAL_ACC = (uint8_t)((float)((float)(MotorParameterData->kvalacc * 256) / (MotorParameterData->motorvoltage)));
- StepperMotorRegister.KVAL_DEC = (uint8_t)((float)((float)(MotorParameterData->kvaldec * 256) / (MotorParameterData->motorvoltage)));
- StepperMotorRegister.INT_SPEED = L6470_Step_s_2_IntSpeed(MotorParameterData->intspeed);
- StepperMotorRegister.ST_SLP = L6470_s_Step_2_StSlp(MotorParameterData->stslp);
- StepperMotorRegister.FN_SLP_ACC = L6470_s_Step_2_FnSlpAcc(MotorParameterData->fnslpacc);
- StepperMotorRegister.FN_SLP_DEC = L6470_s_Step_2_FnSlpDec(MotorParameterData->fnslpdec);
- StepperMotorRegister.K_THERM = MotorParameterData->kterm;
- StepperMotorRegister.OCD_TH = L6470_mA_2_OcdTh(MotorParameterData->ocdth);
- StepperMotorRegister.STALL_TH = L6470_mA_2_StallTh(MotorParameterData->stallth);
- StepperMotorRegister.ALARM_EN = MotorParameterData->alarmen;
- StepperMotorRegister.CONFIG = MotorParameterData->config;
- StepperMotorRegister.STEP_MODE = MotorParameterData->step_sel;
-
- /* Write the L6470 registers with the prepared data */
- L6470_SetParam(L6470_ACC_ID, StepperMotorRegister.ACC);
- L6470_SetParam(L6470_DEC_ID, StepperMotorRegister.DEC);
- L6470_SetParam(L6470_MAX_SPEED_ID, StepperMotorRegister.MAX_SPEED);
- L6470_SetParam(L6470_MIN_SPEED_ID, StepperMotorRegister.MIN_SPEED);
- L6470_SetParam(L6470_FS_SPD_ID, StepperMotorRegister.FS_SPD);
- L6470_SetParam(L6470_KVAL_HOLD_ID, StepperMotorRegister.KVAL_HOLD);
- L6470_SetParam(L6470_KVAL_RUN_ID, StepperMotorRegister.KVAL_RUN);
- L6470_SetParam(L6470_KVAL_ACC_ID, StepperMotorRegister.KVAL_ACC);
- L6470_SetParam(L6470_KVAL_DEC_ID, StepperMotorRegister.KVAL_DEC);
- L6470_SetParam(L6470_INT_SPEED_ID, StepperMotorRegister.INT_SPEED);
- L6470_SetParam(L6470_ST_SLP_ID, StepperMotorRegister.ST_SLP);
- L6470_SetParam(L6470_FN_SLP_ACC_ID, StepperMotorRegister.FN_SLP_ACC);
- L6470_SetParam(L6470_FN_SLP_DEC_ID, StepperMotorRegister.FN_SLP_DEC);
- L6470_SetParam(L6470_K_THERM_ID, StepperMotorRegister.K_THERM);
- L6470_SetParam(L6470_OCD_TH_ID, StepperMotorRegister.OCD_TH);
- L6470_SetParam(L6470_STALL_TH_ID, StepperMotorRegister.STALL_TH);
- L6470_SetParam(L6470_ALARM_EN_ID, StepperMotorRegister.ALARM_EN);
- L6470_SetParam(L6470_CONFIG_ID, StepperMotorRegister.CONFIG);
- if (!SetStepMode((StepperMotor::step_mode_t) StepperMotorRegister.STEP_MODE))
- return COMPONENT_ERROR;
-
- return COMPONENT_OK;
-}
-
-/* End of L6470_Exported_Functions */
-
-/* End of L6470 */
-
-/* End of Components */
-
-/* End of BSP */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/