ching-yang Trui
motor board library
Dependencies: ST_INTERFACES X_NUCLEO_COMMON
Fork of
X_NUCLEO_IHM02A1
by 
ST
Revision 11:1aca63b2f034, committed 2016-01-14
- Comitter:
- Davidroid
- Date:
- Thu Jan 14 10:00:31 2016 +0000
- Parent:
- 10:aa68441705b2
- Child:
- 12:a942d51c488b
- Commit message:
- + <INTERFACE>_InitTypeDef moved to <COMPONENT>_InitTypeDef.
Changed in this revision
--- a/BSP/x_nucleo_ihm02a1_class.cpp Mon Jan 04 16:10:54 2016 +0000
+++ b/BSP/x_nucleo_ihm02a1_class.cpp Thu Jan 14 10:00:31 2016 +0000
@@ -70,7 +70,7 @@
* @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
* @param spi SPI device to be used for communication.
*/
-X_NUCLEO_IHM02A1::X_NUCLEO_IHM02A1(MICROSTEPPING_MOTOR_InitTypeDef *init_0, MICROSTEPPING_MOTOR_InitTypeDef *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi) : dev_spi(spi)
+X_NUCLEO_IHM02A1::X_NUCLEO_IHM02A1(L6470_InitTypeDef *init_0, L6470_InitTypeDef *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi) : dev_spi(spi)
{
/* Checking stackability. */
if (!(number_of_boards < EXPBRD_MOUNTED_NR_MAX))
@@ -111,7 +111,7 @@
* @param miso pin name of the MISO pin of the SPI device to be used for communication.
* @param sclk pin name of the SCLK pin of the SPI device to be used for communication.
*/
-X_NUCLEO_IHM02A1::X_NUCLEO_IHM02A1(MICROSTEPPING_MOTOR_InitTypeDef *init_0, MICROSTEPPING_MOTOR_InitTypeDef *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk)
+X_NUCLEO_IHM02A1::X_NUCLEO_IHM02A1(L6470_InitTypeDef *init_0, L6470_InitTypeDef *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk)
{
/* Checking stackability. */
if (!(number_of_boards < EXPBRD_MOUNTED_NR_MAX))
--- a/BSP/x_nucleo_ihm02a1_class.h Mon Jan 04 16:10:54 2016 +0000
+++ b/BSP/x_nucleo_ihm02a1_class.h Thu Jan 14 10:00:31 2016 +0000
@@ -86,7 +86,7 @@
* @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
* @param spi SPI device to be used for communication.
*/
- X_NUCLEO_IHM02A1(MICROSTEPPING_MOTOR_InitTypeDef *init_0, MICROSTEPPING_MOTOR_InitTypeDef *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi);
+ X_NUCLEO_IHM02A1(L6470_InitTypeDef *init_0, L6470_InitTypeDef *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi);
/**
* @brief Constructor.
@@ -100,7 +100,7 @@
* @param miso pin name of the MISO pin of the SPI device to be used for communication.
* @param sclk pin name of the SCLK pin of the SPI device to be used for communication.
*/
- X_NUCLEO_IHM02A1(MICROSTEPPING_MOTOR_InitTypeDef *init_0, MICROSTEPPING_MOTOR_InitTypeDef *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk);
+ X_NUCLEO_IHM02A1(L6470_InitTypeDef *init_0, L6470_InitTypeDef *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk);
/**
* @brief Destructor.
@@ -198,7 +198,7 @@
L6470 *components[L6470DAISYCHAINSIZE];
/* Components' initialization. */
- MICROSTEPPING_MOTOR_InitTypeDef *init_components[L6470DAISYCHAINSIZE];
+ L6470_InitTypeDef *init_components[L6470DAISYCHAINSIZE];
/* Results of prepared actions. */
uint32_t results[L6470DAISYCHAINSIZE];
--- a/Components/Common/microstepping_motor.h Mon Jan 04 16:10:54 2016 +0000
+++ b/Components/Common/microstepping_motor.h Thu Jan 14 10:00:31 2016 +0000
@@ -274,37 +274,6 @@
} sL6470_StatusRegister_t;
/**
- * @brief Motor Parameter Data
- */
-typedef struct
-{
- float motorvoltage; //!< motor supply voltage in V
- float fullstepsperrevolution; //!< min number of steps per revolution for the motor
- float phasecurrent; //!< max motor phase voltage in A
- float phasevoltage; //!< max motor phase voltage in V
- float speed; //!< motor initial speed [step/s]
- float acc; //!< motor acceleration [step/s^2] (comment for infinite acceleration mode)
- float dec; //!< motor deceleration [step/s^2] (comment for infinite deceleration mode)
- float maxspeed; //!< motor maximum speed [step/s]
- float minspeed; //!< motor minimum speed [step/s]
- float fsspd; //!< motor full-step speed threshold [step/s]
- float kvalhold; //!< holding kval [V]
- float kvalrun; //!< constant speed kval [V]
- float kvalacc; //!< acceleration starting kval [V]
- float kvaldec; //!< deceleration starting kval [V]
- float intspeed; //!< intersect speed for bemf compensation curve slope changing [step/s]
- float stslp; //!< start slope [s/step]
- float fnslpacc; //!< acceleration final slope [s/step]
- float fnslpdec; //!< deceleration final slope [s/step]
- uint8_t kterm; //!< thermal compensation factor (range [0, 15])
- float ocdth; //!< ocd threshold [ma] (range [375 ma, 6000 ma])
- float stallth; //!< stall threshold [ma] (range [31.25 ma, 4000 ma])
- uint8_t step_sel; //!< step mode selection
- uint8_t alarmen; //!< alarm conditions enable
- uint16_t config; //!< ic configuration
-} MICROSTEPPING_MOTOR_InitTypeDef;
-
-/**
* @brief Stepper Motor Registers
*/
typedef struct
@@ -350,11 +319,11 @@
* specified exactly in the given way. *
* *
* Example: *
- * DrvStatusTypeDef (*Init)(void *handle, INTERFACE_InitTypeDef *init); *
+ * DrvStatusTypeDef (*Init)(void *handle, void *init); *
* DrvStatusTypeDef (*ReadID)(void *handle, uint8_t *id); *
*------------------------------------------------------------------------*/
/* Generic */
- DrvStatusTypeDef (*Init)(void *handle, MICROSTEPPING_MOTOR_InitTypeDef *init);
+ DrvStatusTypeDef (*Init)(void *handle, void *init);
DrvStatusTypeDef (*ReadID)(void *handle, uint8_t *id);
/* ACTION ----------------------------------------------------------------*
@@ -466,7 +435,6 @@
typedef struct __StepperMotorDriver_HandleTypeDef
{
uint8_t DaisyChainPosition;
- void (*Config)(MICROSTEPPING_MOTOR_InitTypeDef*);
MICROSTEPPING_MOTOR_DrvVTableTypeDef *Command;
} StepperMotorDriverHandle_t;
@@ -476,7 +444,6 @@
typedef struct __StepperMotorBoard_HandleTypeDef
{
uint8_t StackedPosition;
- void (*Config)(MICROSTEPPING_MOTOR_InitTypeDef*);
MICROSTEPPING_MOTOR_EB_DrvVTableTypeDef *Command;
StepperMotorDriverHandle_t *StepperMotorDriverHandle[2];
uint8_t (*Select)(uint8_t);
--- a/Components/Interfaces/StepperMotor_class.h Mon Jan 04 16:10:54 2016 +0000
+++ b/Components/Interfaces/StepperMotor_class.h Thu Jan 14 10:00:31 2016 +0000
@@ -76,7 +76,7 @@
* @param parameter The parameter's identifier (or its register address).
* @retval The parameter's value.
*/
- virtual unsigned int GetParameter(unsigned int parameter) = 0;
+ virtual float GetParameter(unsigned int parameter) = 0;
/**
* @brief Getting the position.
@@ -140,7 +140,7 @@
* @param value The parameter's value.
* @retval None.
*/
- virtual void SetParameter(unsigned int parameter, unsigned int value) = 0;
+ virtual void SetParameter(unsigned int parameter, float value) = 0;
/**
* @brief Setting the current position to be the home position.
--- a/Components/l6470/l6470.h Mon Jan 04 16:10:54 2016 +0000
+++ b/Components/l6470/l6470.h Thu Jan 14 10:00:31 2016 +0000
@@ -174,7 +174,38 @@
/**
- * @brief L6470 driver data structure definition.
+ * @brief L6470 driver initialization structure definition.
+ */
+typedef struct
+{
+ float motorvoltage; //!< motor supply voltage in V
+ float fullstepsperrevolution; //!< min number of steps per revolution for the motor
+ float phasecurrent; //!< max motor phase voltage in A
+ float phasevoltage; //!< max motor phase voltage in V
+ float speed; //!< motor initial speed [step/s]
+ float acc; //!< motor acceleration [step/s^2] (comment for infinite acceleration mode)
+ float dec; //!< motor deceleration [step/s^2] (comment for infinite deceleration mode)
+ float maxspeed; //!< motor maximum speed [step/s]
+ float minspeed; //!< motor minimum speed [step/s]
+ float fsspd; //!< motor full-step speed threshold [step/s]
+ float kvalhold; //!< holding kval [V]
+ float kvalrun; //!< constant speed kval [V]
+ float kvalacc; //!< acceleration starting kval [V]
+ float kvaldec; //!< deceleration starting kval [V]
+ float intspeed; //!< intersect speed for bemf compensation curve slope changing [step/s]
+ float stslp; //!< start slope [s/step]
+ float fnslpacc; //!< acceleration final slope [s/step]
+ float fnslpdec; //!< deceleration final slope [s/step]
+ uint8_t kterm; //!< thermal compensation factor (range [0, 15])
+ float ocdth; //!< ocd threshold [ma] (range [375 ma, 6000 ma])
+ float stallth; //!< stall threshold [ma] (range [31.25 ma, 4000 ma])
+ uint8_t step_sel; //!< step mode selection
+ uint8_t alarmen; //!< alarm conditions enable
+ uint16_t config; //!< ic configuration
+} L6470_InitTypeDef;
+
+/**
+ * @brief L6470 driver data structure definition.
*/
/* ACTION --------------------------------------------------------------------*
* Declare here the structure of component's data, if any, one variable per *
--- a/Components/l6470/l6470_class.cpp Mon Jan 04 16:10:54 2016 +0000
+++ b/Components/l6470/l6470_class.cpp Thu Jan 14 10:00:31 2016 +0000
@@ -1446,7 +1446,7 @@
* @param StepperMotorDriverHandle_t* The pointer to the stepper motor driver handle structure.
* @param MotorParameterData_t* The pointer to the related parameter data structure.
*/
-DrvStatusTypeDef L6470::L6470_Config(MICROSTEPPING_MOTOR_InitTypeDef *MotorParameterData)
+DrvStatusTypeDef L6470::L6470_Config(L6470_InitTypeDef *MotorParameterData)
{
/* Disable the L6470. */
L6470_DISABLE();
--- a/Components/l6470/l6470_class.h Mon Jan 04 16:10:54 2016 +0000
+++ b/Components/l6470/l6470_class.h Thu Jan 14 10:00:31 2016 +0000
@@ -170,7 +170,7 @@
*/
virtual int Init(void *init)
{
- return (int) L6470_Config((MICROSTEPPING_MOTOR_InitTypeDef *) init);
+ return (int) L6470_Config((L6470_InitTypeDef *) init);
}
/**
@@ -198,9 +198,9 @@
* @param parameter The parameter's identifier (or its register address).
* @retval The parameter's value.
*/
- virtual unsigned int GetParameter(unsigned int parameter)
+ virtual float GetParameter(unsigned int parameter)
{
- return (unsigned int) L6470_GetParam((eL6470_RegId_t) parameter);
+ return (float) L6470_GetParam((eL6470_RegId_t) parameter);
}
/**
@@ -289,7 +289,7 @@
* @param value The parameter's value.
* @retval None.
*/
- virtual void SetParameter(unsigned int parameter, unsigned int value)
+ virtual void SetParameter(unsigned int parameter, float value)
{
L6470_SetParam((eL6470_RegId_t) parameter, (uint32_t) value);
}
@@ -1086,7 +1086,7 @@
*/
void AttachFlagIRQ(void (*fptr)(void))
{
- flag_irq.rise(fptr);
+ flag_irq.fall(fptr);
}
/**
@@ -1116,7 +1116,7 @@
*/
void AttachBusyIRQ(void (*fptr)(void))
{
- busy_irq.rise(fptr);
+ busy_irq.fall(fptr);
}
/**
@@ -1185,7 +1185,7 @@
uint8_t L6470_mA_2_OcdTh(float mA);
float L6470_StallTh_2_mA(uint8_t StallTh);
uint8_t L6470_mA_2_StallTh(float mA);
- DrvStatusTypeDef L6470_Config(MICROSTEPPING_MOTOR_InitTypeDef *MotorParameterData);
+ DrvStatusTypeDef L6470_Config(L6470_InitTypeDef *MotorParameterData);
void L6470_SetParam(eL6470_RegId_t L6470_RegId, uint32_t Value);
uint32_t L6470_GetParam(eL6470_RegId_t L6470_RegId);
void L6470_Run(eL6470_DirId_t L6470_DirId, uint32_t Speed);