Diff: Components/l6470/l6470.h

Revision:

14:e614697ebf34

Parent:

11:1aca63b2f034

Child:

16:0d5be428b264

--- a/Components/l6470/l6470.h	Tue Jan 19 16:07:00 2016 +0000
+++ b/Components/l6470/l6470.h	Tue Feb 09 16:01:30 2016 +0000
@@ -1,39 +1,41 @@
 /**
-  ******************************************************************************
-  * @file       L6470.h
-  * @date       01/10/2014 12:00:00
-  * @brief      This file contains definitions, exported variables and function
-  *             prototypes related to 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.
-  *
-  ******************************************************************************
-  */
+ ******************************************************************************
+ * @file       L6470.h
+ * @date       01/10/2014 12:00:00
+ * @brief      This file contains definitions, exported variables and function
+ *             prototypes related to 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.
+ *
+ ******************************************************************************
+ */
+
 
 /* Define to prevent recursive inclusion -------------------------------------*/
+
 #ifndef __L6470_H
 #define __L6470_H
 
@@ -41,9 +43,86 @@
  extern "C" {
 #endif
 
+
 /* Includes ------------------------------------------------------------------*/
+
 #include "microstepping_motor.h"
 
+
+/* Definitions ---------------------------------------------------------------*/
+
+/** @addtogroup BSP
+ * @{
+ */
+
+/** @addtogroup Components
+ * @{
+ */  
+  
+/** @addtogroup L6470
+ * @{
+ */
+  
+/** @defgroup L6470_Exported_Defines L6470_Exported_Defines
+ * @{
+ */  
+
+/**
+  * @defgroup   L6470_Exported_Constants
+  * @brief      L6470 Exported Constants.
+  * @{
+  */
+
+/**
+  * @defgroup   L6470_Register_Max_Values
+  * @brief      Maximum values for L6470 registers.
+  * @{
+  */
+
+#define L6470_MAX_POSITION          (0x1FFFFF)          //!< Max position
+#define L6470_MIN_POSITION          (-(0x200000))       //!< Min position
+#define L6470_POSITION_RANGE        ((uint32_t)(L6470_MAX_POSITION - L6470_MIN_POSITION))   //!< Position range
+#define L6470_MAX_SPEED             (0xFFFFF)           //!< max value of SPEED
+#define L6470_MAX_ACC               (0xFFF)             //!< max value of ACC
+#define L6470_MAX_DEC               (0xFFF)             //!< max value of DEC
+#define L6470_MAX_MAX_SPEED         (0x3FF)             //!< max value of MAX_SPEED
+#define L6470_MAX_MIN_SPEED         (0xFFF)             //!< max value of MIN_SPEED
+#define L6470_MAX_FS_SPD            (0x3FF)             //!< max value of FS_SPD
+#define L6470_MAX_INT_SPEED         (0x3FFF)            //!< max value of INT_SPEED
+#define L6470_MAX_ST_SLP            (0xFF)              //!< max value of ST_SLP
+#define L6470_MAX_FN_SLP_ACC        (0xFF)              //!< max value of FN_SLP_ACC
+#define L6470_MAX_FN_SLP_DEC        (0xFF)              //!< max value of FN_SLP_DEC
+#define L6470_MAX_OCD_TH            (0xF)               //!< max value of OCD_TH
+#define L6470_MAX_STALL_TH          (0x7F)              //!< max value of STALL_TH
+
+/**
+  * @}
+  */ /* End of L6470_Register_Max_Values */
+
+#define L6470REGIDSIZE          25                  //!< Max number of identifiers of L6470 Registers
+#define L6470APPCMDIDSIZE       19                  //!< Max number of identifiers of L6470 Application Commands
+#define L6470DIRIDSIZE           2                  //!< Max number of identifiers of L6470 directions
+#define L6470ACTIDSIZE           2                  //!< Max number of identifiers of actions to perform about ABS_POS register
+#define L6470MAXSPICMDBYTESIZE   4                  //!< Max number of byte to send via SPI to perform an application command
+#define L6470DAISYCHAINSIZE      2                  //!< Max number of identifiers of L6470 in daisy chain configuration
+
+#define L6470_MAX_SPEED_VALUE   ((float)15610)      //!< max value for the speed in step/s
+#define L6470_MAX_ACC_VALUE     ((float)59590)      //!< max value for the acceleration in step/s^2
+#define L6470_MAX_DEC_VALUE     ((float)59590)      //!< max value for the acceleration in step/s^2
+#define L6470_MAX_DEC_VALUE     ((float)59590)      //!< max value for the acceleration in step/s^2
+
+#define OCD_TH_STEP             ((float)375)      //!< Minimum step for OCD_TH register in mAmpere
+#define STALL_TH_STEP           ((float)31.25)    //!< Minimum step for STALL_TH register in mAmpere
+
+#define L6470_ACC_CONV          ((float)0.068719)   //!< Conversion factor for acceleration value from step/s^2 to the right value
+#define L6470_DEC_CONV          ((float)0.068719)   //!< Conversion factor for deceleration value from step/s^2 to the right value
+#define L6470_MAXSPEED_CONV     ((float)0.065536)   //!< Conversion factor for max speed value from step/s to the right value
+#define L6470_MINSPEED_CONV     ((float)4.194304)   //!< Conversion factor for min speed value from step/s to the right value
+#define L6470_SPEED_CONV        ((float)67.108864)  //!< Conversion factor for speed value from step/s to the right value
+
+
+/* Types ---------------------------------------------------------------------*/
+
 /**
   * @addtogroup BSP
   * @{
@@ -119,63 +198,20 @@
   * @}
   */ /* End of L6470_Exported_Types */
 
-/**
-  * @defgroup   L6470_Exported_Constants
-  * @brief      L6470 Exported Constants.
-  * @{
-  */
-
-/**
-  * @defgroup   L6470_Register_Max_Values
-  * @brief      Maximum values for L6470 registers.
-  * @{
-  */
-
-#define L6470_MAX_POSITION          (0x1FFFFF)          //!< Max position
-#define L6470_MIN_POSITION          (-(0x200000))       //!< Min position
-#define L6470_POSITION_RANGE        ((uint32_t)(L6470_MAX_POSITION - L6470_MIN_POSITION))   //!< Position range
-#define L6470_MAX_SPEED             (0xFFFFF)           //!< max value of SPEED
-#define L6470_MAX_ACC               (0xFFF)             //!< max value of ACC
-#define L6470_MAX_DEC               (0xFFF)             //!< max value of DEC
-#define L6470_MAX_MAX_SPEED         (0x3FF)             //!< max value of MAX_SPEED
-#define L6470_MAX_MIN_SPEED         (0xFFF)             //!< max value of MIN_SPEED
-#define L6470_MAX_FS_SPD            (0x3FF)             //!< max value of FS_SPD
-#define L6470_MAX_INT_SPEED         (0x3FFF)            //!< max value of INT_SPEED
-#define L6470_MAX_ST_SLP            (0xFF)              //!< max value of ST_SLP
-#define L6470_MAX_FN_SLP_ACC        (0xFF)              //!< max value of FN_SLP_ACC
-#define L6470_MAX_FN_SLP_DEC        (0xFF)              //!< max value of FN_SLP_DEC
-#define L6470_MAX_OCD_TH            (0xF)               //!< max value of OCD_TH
-#define L6470_MAX_STALL_TH          (0x7F)              //!< max value of STALL_TH
-
-/**
-  * @}
-  */ /* End of L6470_Register_Max_Values */
-
-#define L6470REGIDSIZE          25                  //!< Max number of identifiers of L6470 Registers
-#define L6470APPCMDIDSIZE       19                  //!< Max number of identifiers of L6470 Application Commands
-#define L6470DIRIDSIZE           2                  //!< Max number of identifiers of L6470 directions
-#define L6470ACTIDSIZE           2                  //!< Max number of identifiers of actions to perform about ABS_POS register
-#define L6470MAXSPICMDBYTESIZE   4                  //!< Max number of byte to send via SPI to perform an application command
-#define L6470DAISYCHAINSIZE      2                  //!< Max number of identifiers of L6470 in daisy chain configuration
-
-#define L6470_MAX_SPEED_VALUE   ((float)15610)      //!< max value for the speed in step/s
-#define L6470_MAX_ACC_VALUE     ((float)59590)      //!< max value for the acceleration in step/s^2
-#define L6470_MAX_DEC_VALUE     ((float)59590)      //!< max value for the acceleration in step/s^2
-#define L6470_MAX_DEC_VALUE     ((float)59590)      //!< max value for the acceleration in step/s^2
-
-#define OCD_TH_STEP             ((float)375)      //!< Minimum step for OCD_TH register in mAmpere
-#define STALL_TH_STEP           ((float)31.25)    //!< Minimum step for STALL_TH register in mAmpere
-
-#define L6470_ACC_CONV          ((float)0.068719)   //!< Conversion factor for acceleration value from step/s^2 to the right value
-#define L6470_DEC_CONV          ((float)0.068719)   //!< Conversion factor for deceleration value from step/s^2 to the right value
-#define L6470_MAXSPEED_CONV     ((float)0.065536)   //!< Conversion factor for max speed value from step/s to the right value
-#define L6470_MINSPEED_CONV     ((float)4.194304)   //!< Conversion factor for min speed value from step/s to the right value
-#define L6470_SPEED_CONV        ((float)67.108864)  //!< Conversion factor for speed value from step/s to the right value
-
-
 /** 
-  * @brief  L6470 driver initialization structure definition.
-  */ 
+ * @brief  L6470 driver initialization structure definition.
+ */
+/* ACTION --------------------------------------------------------------------*
+ * Declare here the component's initialization structure, if any, one         *
+ * variable per line without initialization.                                  *
+ *                                                                            *
+ * Example:                                                                   *
+ *   typedef struct                                                           *
+ *   {                                                                        *
+ *     int frequency;                                                         *
+ *     int update_mode;                                                       *
+ *   } COMPONENT_Init_t;                                                      *
+ *----------------------------------------------------------------------------*/
 typedef struct
 {
   float     motorvoltage;           //!< motor supply voltage in V
@@ -202,11 +238,11 @@
   uint8_t   step_sel;               //!< step mode selection
   uint8_t   alarmen;                //!< alarm conditions enable
   uint16_t  config;                 //!< ic configuration
-} L6470_InitTypeDef;
+} L6470_Init_t;
 
 /** 
-  * @brief L6470 driver data structure definition.
-  */ 
+ * @brief  L6470 driver data structure definition.
+ */ 
 /* ACTION --------------------------------------------------------------------*
  * Declare here the structure of component's data, if any, one variable per   *
  * line without initialization.                                               *
@@ -218,8 +254,8 @@
  *       int T1_out;                                                          *
  *       float T0_degC;                                                       *
  *       float T1_degC;                                                       *
- *   } COMPONENT_DrvDataTypeDef;                                              *
- * ---------------------------------------------------------------------------*/
+ *   } COMPONENT_Data_t;                                                      *
+ *----------------------------------------------------------------------------*/
 typedef struct
 {
   uint8_t L6470_Id;                                                                  //!< The L6470 identifier inside the daisy chain
@@ -233,7 +269,7 @@
   eFlagStatus_t L6470_DaisyChain_HalfPrepared; /* = ZERO_F; */                       //!< Boolean variable used when more than one L6470 into the daisy chain is going to be addressed for commanding
   sL6470_StatusRegister_t L6470_StatusRegister;                                      //!< To store the received L6470_StatusRegister
   sL6470_StatusRegister_t *pL6470_StatusRegister; /* = &L6470_StatusRegister; */     //!< Pointer to the L6470_StatusRegister variable
-} L6470_DrvDataTypeDef;
+} L6470_Data_t;
 
 
 /* Functions -----------------------------------------------------------------*/
@@ -250,15 +286,19 @@
  * @{
  */
 
-/** @defgroup L6470_IO_Functions L6470_IO_Functions
+/** @defgroup L6470_Imported_Functions L6470_Imported_Functions
  * @{
  */
+
 /* ACTION --------------------------------------------------------------------*
- * Declare here extern I/O functions you need and implemented them in a glue  *
- * logic file on the target environment, for example within the expansion     *
- * board "*.c" file. E.g.:                                                    *
- *   extern DrvStatusTypeDef COMPONENT_IO_Read (handle, buf, regadd, bytes);  *
- *   extern DrvStatusTypeDef COMPONENT_IO_Write(handle, buf, regadd, bytes);  *
+ * Declare here extern platform-dependent APIs you might need (e.g.: I/O and  *
+ * interrupt related functions), and implement them in a glue-logic file on   *
+ * the target environment, for example within the "x_nucleo_board.c" file.    *
+ * E.g.:                                                                      *
+ *   extern Status_t COMPONENT_IO_Init (void *handle);                        *
+ *   extern Status_t COMPONENT_IO_Read (handle, buf, regadd, bytes);          *
+ *   extern Status_t COMPONENT_IO_Write(handle, buf, regadd, bytes);          *
+ *   extern void     COMPONENT_IO_ITConfig(void);                             *
  *----------------------------------------------------------------------------*/
 extern void L6470_DISABLE(void);
 extern void L6470_ENABLE(void);
@@ -266,22 +306,6 @@
 extern void L6470_nCS_HIGH(void);
 extern void L6470_SPI_Communication(uint8_t *pTxData, uint8_t *pRxData, uint16_t Size, uint32_t Timeout);
 
-/**
-  * @}
-  */ /* End of L6470_Exported_Variables */
-
-/**
-  * @}
-  */ /* End of L6470 */
-
-/**
-  * @}
-  */ /* End of Components */
-
-/**
-  * @}
-  */ /* End of BSP */
-
 #ifdef __cplusplus
 }
 #endif