Pecunia_Insper
Funcionando: FDC eixo x y z
Dependencies: ST_INTERFACES X_NUCLEO_COMMON
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X_NUCLEO_IHM01A1
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ST
Components/L6474/L6474.h
- Committer:
- cauecitrini
- Date:
- 2018-05-15
- Revision:
- 37:c929bb291aac
- Parent:
- 35:974ca699c792
File content as of revision 37:c929bb291aac:
/**
******************************************************************************
* @file L6474.h
* @author Davide Aliprandi, STMicroelectronics
* @version V1.0.0
* @date October 14th, 2015
* @brief This file contains the class of an L6474 Motor Control component.
******************************************************************************
* @attention
*
* <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
*
* 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-SPN1/trunk/Drivers/BSP/Components/l6474/l6474.h
Revision: 0
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __L6474_CLASS_H
#define __L6474_CLASS_H
/* Includes ------------------------------------------------------------------*/
/* ACTION 1 ------------------------------------------------------------------*
* Include here platform specific header files. *
*----------------------------------------------------------------------------*/
#include "mbed.h"
#include "DevSPI.h"
/* ACTION 2 ------------------------------------------------------------------*
* Include here component specific header files. *
*----------------------------------------------------------------------------*/
#include "L6474_def.h"
/* ACTION 3 ------------------------------------------------------------------*
* Include here interface specific header files. *
* *
* Example: *
* #include "HumiditySensor.h" *
* #include "TemperatureSensor.h" *
*----------------------------------------------------------------------------*/
#include "StepperMotor.h"
/* Classes -------------------------------------------------------------------*/
/**
* @brief Class representing an L6474 component.
*/
class L6474 : public StepperMotor
{
public:
/*** Constructor and Destructor Methods ***/
/**
* @brief Constructor.
* @param flag_irq pin name of the FLAG pin of the component.
* @param standby_reset pin name of the STBY\RST pin of the component.
* @param direction pin name of the DIR pin of the component.
* @param pwm pin name of the PWM pin of the component.
* @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.
*/
L6474(PinName flag_irq, PinName standby_reset, PinName direction, PinName pwm, PinName ssel, DevSPI &spi) : StepperMotor(), flag_irq(flag_irq), standby_reset(standby_reset), direction(direction), pwm(pwm), ssel(ssel), dev_spi(spi)
{
/* Checking stackability. */
if (!(number_of_devices < MAX_NUMBER_OF_DEVICES)) {
error("Instantiation of the L6474 component failed: it can be stacked up to %d times.\r\n", MAX_NUMBER_OF_DEVICES);
}
/* ACTION 4 ----------------------------------------------------------*
* Initialize here the component's member variables, one variable per *
* line. *
* *
* Example: *
* measure = 0; *
* instance_id = number_of_instances++; *
*--------------------------------------------------------------------*/
error_handler_callback = 0;
device_instance = number_of_devices++;
memset(spi_tx_bursts, 0, L6474_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t));
memset(spi_rx_bursts, 0, L6474_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t));
}
/**
* @brief Destructor.
*/
virtual ~L6474(void) {}
/*** Public Component Related Methods ***/
/* ACTION 5 --------------------------------------------------------------*
* Implement here the component's public methods, as wrappers of the C *
* component's functions. *
* They should be: *
* + Methods with the same name of the C component's virtual table's *
* functions (1); *
* + Methods with the same name of the C component's extended virtual *
* table's functions, if any (2). *
* *
* Example: *
* virtual int get_value(float *p_data) //(1) *
* { *
* return COMPONENT_get_value(float *pf_data); *
* } *
* *
* virtual int enable_feature(void) //(2) *
* { *
* return COMPONENT_enable_feature(); *
* } *
*------------------------------------------------------------------------*/
/**
* @brief Initializing the component in 1/16 Microstepping mode.
* @param init Pointer to device specific initalization structure.
* @retval "0" in case of success, an error code otherwise.
*/
virtual int init(void *init = NULL)
{
return (int) L6474_Init((void *) init);
}
/**
* @brief Getting the ID of the component.
* @param id Pointer to an allocated variable to store the ID into.
* @retval "0" in case of success, an error code otherwise.
*/
virtual int read_id(uint8_t *id = NULL)
{
return (int) L6474_ReadID((uint8_t *) id);
}
/**
* @brief Getting the value of the Status Register.
* @param None.
* @retval None.
* @note The Status Register's flags are cleared, contrary to the
* read_status_register() method.
*/
virtual unsigned int get_status(void)
{
return (unsigned int) L6474_CmdGetStatus();
}
/**
* @brief Getting a parameter.
* @param parameter A parameter's register address.
* @retval The parameter's value.
* @note The Status Register's flags are cleared, contrary to the
* read_status_register() method.
* The parameter can be one of the following:
* + L6474_ABS_POS
* + L6474_EL_POS
* + L6474_MARK
* + L6474_RESERVED_REG01
* + L6474_RESERVED_REG02
* + L6474_RESERVED_REG03
* + L6474_RESERVED_REG04
* + L6474_RESERVED_REG05
* + L6474_RESERVED_REG06
* + L6474_TVAL : value in mA
* + L6474_RESERVED_REG07
* + L6474_RESERVED_REG08
* + L6474_RESERVED_REG09
* + L6474_RESERVED_REG10
* + L6474_T_FAST
* + L6474_TON_MIN : value in us
* + L6474_TOFF_MIN : value in us
* + L6474_RESERVED_REG11
* + L6474_ADC_OUT
* + L6474_OCD_TH
* + L6474_RESERVED_REG12
* + L6474_STEP_MODE
* + L6474_ALARM_EN
* + L6474_CONFIG
* + L6474_STATUS
* + L6474_RESERVED_REG13
* + L6474_RESERVED_REG14
* + L6474_INEXISTENT_REG
*/
virtual float get_parameter(unsigned int parameter)
{
unsigned int register_value = (unsigned int) L6474_CmdGetParam((L6474_Registers_t) parameter);
float value;
switch ((L6474_Registers_t) parameter) {
case L6474_TVAL:
value = L6474_Par_to_Tval_Current((float) register_value);
break;
case L6474_TON_MIN:
case L6474_TOFF_MIN:
value = L6474_Par_to_Tmin_Time((float) register_value);
break;
default:
value = (float) register_value;
break;
}
return value;
}
/**
* @brief Getting the position.
* @param None.
* @retval The position.
*/
virtual signed int get_position(void)
{
return (signed int) L6474_GetPosition();
}
/**
* @brief Getting the marked position.
* @param None.
* @retval The marked position.
*/
virtual signed int get_mark(void)
{
return (signed int) L6474_GetMark();
}
/**
* @brief Getting the current speed in pps.
* @param None.
* @retval The current speed in pps.
*/
virtual unsigned int get_speed(void)
{
return (unsigned int) L6474_GetCurrentSpeed();
}
/**
* @brief Getting the maximum speed in pps.
* @param None.
* @retval The maximum speed in pps.
*/
virtual unsigned int get_max_speed(void)
{
return (unsigned int) L6474_GetMaxSpeed();
}
/**
* @brief Getting the minimum speed in pps.
* @param None.
* @retval The minimum speed in pps.
*/
virtual unsigned int get_min_speed(void)
{
return (unsigned int) L6474_GetMinSpeed();
}
/**
* @brief Getting the acceleration in pps^2.
* @param None.
* @retval The acceleration in pps^2.
*/
virtual unsigned int get_acceleration(void)
{
return (unsigned int) L6474_GetAcceleration();
}
/**
* @brief Getting the deceleration in pps^2.
* @param None.
* @retval The deceleration in pps^2.
*/
virtual unsigned int get_deceleration(void)
{
return (unsigned int) L6474_GetDeceleration();
}
/**
* @brief Getting the direction of rotation.
* @param None.
* @retval The direction of rotation.
*/
virtual direction_t get_direction(void)
{
return (direction_t) (L6474_GetDirection() == FORWARD ? StepperMotor::FWD : StepperMotor::BWD);
}
/**
* @brief Setting a parameter.
* @param parameter A parameter's register address.
* @param value The parameter's value.
* @retval None.
* @note The parameter can be one of the following:
* + L6474_ABS_POS
* + L6474_EL_POS
* + L6474_MARK
* + L6474_RESERVED_REG01
* + L6474_RESERVED_REG02
* + L6474_RESERVED_REG03
* + L6474_RESERVED_REG04
* + L6474_RESERVED_REG05
* + L6474_RESERVED_REG06
* + L6474_TVAL : value in mA
* + L6474_RESERVED_REG07
* + L6474_RESERVED_REG08
* + L6474_RESERVED_REG09
* + L6474_RESERVED_REG10
* + L6474_T_FAST
* + L6474_TON_MIN : value in us
* + L6474_TOFF_MIN : value in us
* + L6474_RESERVED_REG11
* + L6474_ADC_OUT
* + L6474_OCD_TH
* + L6474_RESERVED_REG12
* + L6474_STEP_MODE
* + L6474_ALARM_EN
* + L6474_CONFIG
* + L6474_STATUS
* + L6474_RESERVED_REG13
* + L6474_RESERVED_REG14
* + L6474_INEXISTENT_REG
* @warning Some registers can only be written in particular conditions (see L6474's datasheet).
* Any attempt to write one of those registers when the conditions are not satisfied
* causes the command to be ignored and the NOTPERF_CMD flag to rise at the end of the
* last argument byte. Any attempt to set an inexistent register (wrong address value)
* causes the command to be ignored and the WRONG_CMD flag to rise.
* For example, setting some parameters requires first to disable the power bridge;
* this can be done through the soft_hiz() method.
* They are the following:
* + L6474_EL_POS
* + L6474_T_FAST
* + L6474_TON_MIN : value in us
* + L6474_TOFF_MIN : value in us
* + L6474_ADC_OUT
* + L6474_STEP_MODE
* + L6474_CONFIG
* + L6474_STATUS
*/
virtual void set_parameter(unsigned int parameter, float value)
{
float register_value;
switch ((L6474_Registers_t) parameter) {
case L6474_TVAL:
register_value = L6474_Tval_Current_to_Par(value);
break;
case L6474_TON_MIN:
case L6474_TOFF_MIN:
register_value = L6474_Tmin_Time_to_Par(value);
break;
default:
register_value = value;
break;
}
L6474_CmdSetParam((L6474_Registers_t) parameter, (unsigned int) register_value);
}
/**
* @brief Setting the current position to be the home position.
* @param None.
* @retval None.
*/
virtual void set_home(void)
{
L6474_SetHome();
}
/**
* @brief Setting the current position to be the marked position.
* @param None.
* @retval None.
*/
virtual void set_mark(void)
{
L6474_SetMark();
}
/**
* @brief Setting the maximum speed in pps.
* @param speed The maximum speed in pps.
* @retval "true" in case of success, "false" otherwise.
*/
virtual bool set_max_speed(unsigned int speed)
{
L6474_SetMaxSpeed((unsigned int) speed);
return true;
}
/**
* @brief Setting the minimum speed in pps.
* @param speed The minimum speed in pps.
* @retval "true" in case of success, "false" otherwise.
*/
virtual bool set_min_speed(unsigned int speed)
{
L6474_SetMinSpeed((unsigned int) speed);
return true;
}
/**
* @brief Setting the acceleration in pps^2.
* @param acceleration The acceleration in pps^2.
* @retval "true" in case of success, "false" otherwise.
*/
virtual bool set_acceleration(unsigned int acceleration)
{
L6474_SetAcceleration((unsigned int) acceleration);
return true;
}
/**
* @brief Setting the deceleration in pps^2.
* @param deceleration The deceleration in pps^2.
* @retval "true" in case of success, "false" otherwise.
*/
virtual bool set_deceleration(unsigned int deceleration)
{
L6474_SetDeceleration((unsigned int) deceleration);
return true;
}
/**
* @brief Going to a specified position.
* @param position The desired position.
* @retval None.
*/
virtual void go_to(signed int position)
{
L6474_GoTo((signed int) position);
}
/**
* @brief Going to the home position.
* @param None.
* @retval None.
*/
virtual void go_home(void)
{
L6474_GoHome();
}
/**
* @brief Going to the marked position.
* @param None.
* @retval None.
*/
virtual void go_mark(void)
{
L6474_GoMark();
}
/**
* @brief Running the motor towards a specified direction.
* @param direction The direction of rotation.
* @retval None.
*/
virtual void run(direction_t direction)
{
L6474_Run((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD));
}
/**
* @brief Moving the motor towards a specified direction for a certain number of steps.
* @param direction The direction of rotation.
* @param steps The desired number of steps.
* @retval None.
*/
virtual void move(direction_t direction, unsigned int steps)
{
L6474_Move((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), (unsigned int) steps);
}
/**
* @brief Stopping the motor through an immediate deceleration up to zero speed.
* @param None.
* @retval None.
*/
virtual void soft_stop(void)
{
L6474_SoftStop();
}
/**
* @brief Stopping the motor through an immediate infinite deceleration.
* @param None.
* @retval None.
*/
virtual void hard_stop(void)
{
L6474_HardStop();
}
/**
* @brief Disabling the power bridge after performing a deceleration to zero.
* @param None.
* @retval None.
*/
virtual void soft_hiz(void)
{
L6474_SoftStop();
L6474_CmdDisable();
}
/**
* @brief Disabling the power bridge immediately.
* @param None.
* @retval None.
*/
virtual void hard_hiz(void)
{
L6474_HardStop();
L6474_CmdDisable();
}
/**
* @brief Waiting while the motor is active.
* @param None.
* @retval None.
*/
virtual void wait_while_active(void)
{
L6474_WaitWhileActive();
}
/**
* @brief Getting the device state.
* @param None.
* @retval The device state.
* @note The device state can be one of the following:
* + ACCELERATING
* + DECELERATING
* + STEADY
* + INACTIVE
*/
virtual motorState_t get_device_state(void)
{
return (motorState_t) L6474_GetDeviceState();
}
/**
* @brief Reading the Status Register.
* @param None.
* @retval None.
* @note The Status Register's flags are not cleared, contrary to the
* GetStatus() method.
*/
virtual uint16_t read_status_register(void)
{
return (uint16_t) L6474_ReadStatusRegister();
}
/**
* @brief Setting the Step Mode.
* @param step_mode The Step Mode.
* @retval "true" in case of success, "false" otherwise.
* @warning Setting the step mode implies first disabling the power bridge through
* the soft_hiz() method.
* @warning Every time step mode is changed, the values of the home
* and mark positions lose meaning and are reset.
*/
virtual bool set_step_mode(step_mode_t step_mode)
{
if ((motorStepMode_t) step_mode > STEP_MODE_1_16) {
return false;
}
soft_hiz();
L6474_SelectStepMode((motorStepMode_t) step_mode);
return true;
}
/**
* @brief Attaching an error handler.
* @param fptr An error handler.
* @retval None.
*/
virtual void attach_error_handler(void (*fptr)(uint16_t error))
{
L6474_AttachErrorHandler((void (*)(uint16_t error)) fptr);
}
/**
* @brief Enabling the device.
* @param None.
* @retval None.
*/
virtual void enable(void)
{
L6474_CmdEnable();
}
/**
* @brief Disabling the device.
* @param None.
* @retval None.
*/
virtual void disable(void)
{
L6474_CmdDisable();
}
/**
* @brief Getting the version of the firmware.
* @param None.
* @retval The version of the firmware.
*/
virtual uint8_t get_fw_version(void)
{
return (uint8_t) L6474_GetFwVersion();
}
/*** Public Interrupt Related Methods ***/
/* ACTION 6 --------------------------------------------------------------*
* Implement here interrupt related methods, if any. *
* Note that interrupt handling is platform dependent, e.g.: *
* + mbed: *
* InterruptIn feature_irq(pin); //Interrupt object. *
* feature_irq.rise(callback); //Attach a callback. *
* feature_irq.mode(PullNone); //Set interrupt mode. *
* feature_irq.enable_irq(); //Enable interrupt. *
* feature_irq.disable_irq(); //Disable interrupt. *
* + Arduino: *
* attachInterrupt(pin, callback, RISING); //Attach a callback. *
* detachInterrupt(pin); //Detach a callback. *
* *
* Example (mbed): *
* void attach_feature_irq(void (*fptr) (void)) *
* { *
* feature_irq.rise(fptr); *
* } *
* *
* void enable_feature_irq(void) *
* { *
* feature_irq.enable_irq(); *
* } *
* *
* void disable_feature_irq(void) *
* { *
* feature_irq.disable_irq(); *
* } *
*------------------------------------------------------------------------*/
/**
* @brief Attaching an interrupt handler to the FLAG interrupt.
* @param fptr An interrupt handler.
* @retval None.
*/
void attach_flag_irq(void (*fptr)(void))
{
flag_irq.fall(fptr);
}
/**
* @brief Enabling the FLAG interrupt handling.
* @param None.
* @retval None.
*/
void enable_flag_irq(void)
{
flag_irq.enable_irq();
}
/**
* @brief Disabling the FLAG interrupt handling.
* @param None.
* @retval None.
*/
void disable_flag_irq(void)
{
flag_irq.disable_irq();
}
protected:
/*** Protected Component Related Methods ***/
/* ACTION 7 --------------------------------------------------------------*
* Declare here the component's specific methods. *
* They should be: *
* + Methods with the same name of the C component's virtual table's *
* functions (1); *
* + Methods with the same name of the C component's extended virtual *
* table's functions, if any (2); *
* + Helper methods, if any, like functions declared in the component's *
* source files but not pointed by the component's virtual table (3). *
* *
* Example: *
* status_t COMPONENT_get_value(float *f); //(1) *
* status_t COMPONENT_enable_feature(void); //(2) *
* status_t COMPONENT_compute_average(void); //(3) *
*------------------------------------------------------------------------*/
void L6474_AttachErrorHandler(void (*callback)(uint16_t error));
status_t L6474_Init(void *init);
status_t L6474_ReadID(uint8_t *id);
uint16_t L6474_GetAcceleration(void);
uint16_t L6474_GetCurrentSpeed(void);
uint16_t L6474_GetDeceleration(void);
motorState_t L6474_GetDeviceState(void);
uint8_t L6474_GetFwVersion(void);
int32_t L6474_GetMark(void);
uint16_t L6474_GetMaxSpeed(void);
uint16_t L6474_GetMinSpeed(void);
int32_t L6474_GetPosition(void);
void L6474_GoHome(void);
void L6474_GoMark(void);
void L6474_GoTo(int32_t targetPosition);
void L6474_HardStop(void);
void L6474_Move(motorDir_t direction, uint32_t stepCount);
void L6474_Run(motorDir_t direction);
bool L6474_SetAcceleration(uint16_t newAcc);
bool L6474_SetDeceleration(uint16_t newDec);
void L6474_SetHome(void);
void L6474_SetMark(void);
bool L6474_SetMaxSpeed(uint16_t newMaxSpeed);
bool L6474_SetMinSpeed(uint16_t newMinSpeed);
bool L6474_SoftStop(void);
void L6474_WaitWhileActive(void);
void L6474_CmdDisable(void);
void L6474_CmdEnable(void);
uint32_t L6474_CmdGetParam(L6474_Registers_t parameter);
uint16_t L6474_CmdGetStatus(void);
void L6474_CmdNop(void);
void L6474_CmdSetParam(L6474_Registers_t parameter, uint32_t value);
uint16_t L6474_ReadStatusRegister(void);
void L6474_SelectStepMode(motorStepMode_t stepMod);
motorDir_t L6474_GetDirection(void);
void L6474_SetDirection(motorDir_t direction);
void L6474_ApplySpeed(uint16_t newSpeed);
void L6474_ComputeSpeedProfile(uint32_t nbSteps);
int32_t L6474_ConvertPosition(uint32_t abs_position_reg);
void L6474_ErrorHandler(uint16_t error);
void L6474_SendCommand(uint8_t param);
void L6474_SetRegisterToPredefinedValues(void);
void L6474_SetRegisterToInitializationValues(L6474_init_t *init);
void L6474_WriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte);
void L6474_SetDeviceParamsToPredefinedValues(void);
void L6474_StartMovement(void);
void L6474_StepClockHandler(void);
float L6474_Tval_Current_to_Par(float current_mA);
float L6474_Par_to_Tval_Current(float Tval);
float L6474_Tmin_Time_to_Par(float ton_min_us);
float L6474_Par_to_Tmin_Time(float Tmin);
/*** Component's I/O Methods ***/
/**
* @brief Utility function to read data from L6474.
* @param[out] pBuffer pointer to the buffer to read data into.
* @param[in] NumBytesToRead number of bytes to read.
* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
*/
status_t Read(uint8_t* pBuffer, uint16_t NumBytesToRead)
{
if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0) {
return COMPONENT_ERROR;
}
return COMPONENT_OK;
}
/**
* @brief Utility function to write data to L6474.
* @param[in] pBuffer pointer to the buffer of data to send.
* @param[in] NumBytesToWrite number of bytes to write.
* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
*/
status_t Write(uint8_t* pBuffer, uint16_t NumBytesToWrite)
{
if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0) {
return COMPONENT_ERROR;
}
return COMPONENT_OK;
}
/**
* @brief Utility function to read and write data from/to L6474 at the same time.
* @param[out] pBufferToRead pointer to the buffer to read data into.
* @param[in] pBufferToWrite pointer to the buffer of data to send.
* @param[in] NumBytes number of bytes to read and write.
* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
*/
status_t ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes)
{
if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0) {
return COMPONENT_ERROR;
}
return COMPONENT_OK;
}
/* ACTION 8 --------------------------------------------------------------*
* Implement here other I/O methods beyond those already implemented *
* above, which are declared extern within the component's header file. *
*------------------------------------------------------------------------*/
/**
* @brief Making the CPU wait.
* @param None.
* @retval None.
*/
void L6474_Delay(uint32_t delay)
{
wait_ms(delay);
}
/**
* @brief Enabling interrupts.
* @param None.
* @retval None.
*/
void L6474_EnableIrq(void)
{
__enable_irq();
}
/**
* @brief Disabling interrupts.
* @param None.
* @retval None.
*/
void L6474_DisableIrq(void)
{
__disable_irq();
}
/**
* @brief Initialising the PWM.
* @param None.
* @retval None.
*/
void L6474_PwmInit(void) {}
/**
* @brief Setting the frequency of PWM.
* The frequency controls directly the speed of the device.
* @param frequency the frequency of PWM.
* @retval None.
*/
void L6474_PwmSetFreq(uint16_t frequency)
{
/* Computing the period of PWM. */
double period = 1.0f / frequency;
/* Setting the period and the duty-cycle of PWM. */
pwm.period(period);
pwm.write(0.5f);
/* Setting a callback with the same period of PWM's, to update the state machine. */
ticker.attach(Callback<void()>(this, &L6474::L6474_StepClockHandler), period);
}
/**
* @brief Stopping the PWM.
* @param None.
* @retval None.
*/
void L6474_PwmStop(void)
{
pwm.write(0.0f);
ticker.detach();
}
/**
* @brief Putting the device in standby mode.
* @param None.
* @retval None.
*/
void L6474_ReleaseReset(void)
{
standby_reset = 1;
}
/**
* @brief Putting the device in reset mode.
* @param None.
* @retval None.
*/
void L6474_Reset(void)
{
standby_reset = 0;
}
/**
* @brief Setting the direction of rotation.
* @param gpioState direction of rotation: "1" for forward, "0" for backward.
* @retval None.
*/
void L6474_SetDirectionGpio(uint8_t gpioState)
{
direction = gpioState;
}
/**
* @brief Writing and reading bytes to/from the component through the SPI at the same time.
* @param[in] pByteToTransmit pointer to the buffer of data to send.
* @param[out] pReceivedByte pointer to the buffer to read data into.
* @retval "0" in case of success, "1" otherwise.
*/
uint8_t L6474_SpiWriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte)
{
return (uint8_t) (ReadWrite(pReceivedByte, pByteToTransmit, number_of_devices) == COMPONENT_OK ? 0 : 1);
}
/*** Component's Instance Variables ***/
/* ACTION 9 --------------------------------------------------------------*
* Declare here interrupt related variables, if needed. *
* Note that interrupt handling is platform dependent, see *
* "Interrupt Related Methods" above. *
* *
* Example: *
* + mbed: *
* InterruptIn feature_irq; *
*------------------------------------------------------------------------*/
/* Flag Interrupt. */
InterruptIn flag_irq;
/* ACTION 10 -------------------------------------------------------------*
* Declare here other pin related variables, if needed. *
* *
* Example: *
* + mbed: *
* DigitalOut standby_reset; *
*------------------------------------------------------------------------*/
/* Standby/reset pin. */
DigitalOut standby_reset;
/* Direction of rotation pin. */
DigitalOut direction;
/* Pulse Width Modulation pin. */
PwmOut pwm;
/* Timer to trigger the PWM callback at each PWM pulse. */
Ticker ticker;
/* ACTION 11 -------------------------------------------------------------*
* Declare here communication related variables, if needed. *
* *
* Example: *
* + mbed: *
* DigitalOut ssel; *
* DevSPI &dev_spi; *
*------------------------------------------------------------------------*/
/* Configuration. */
DigitalOut ssel;
/* IO Device. */
DevSPI &dev_spi;
/* ACTION 12 -------------------------------------------------------------*
* Declare here identity related variables, if needed. *
* Note that there should be only a unique identifier for each component, *
* which should be the "who_am_i" parameter. *
*------------------------------------------------------------------------*/
/* Identity */
uint8_t who_am_i;
/* ACTION 13 -------------------------------------------------------------*
* Declare here the component's static and non-static data, one variable *
* per line. *
* *
* Example: *
* float measure; *
* int instance_id; *
* static int number_of_instances; *
*------------------------------------------------------------------------*/
/* Data. */
void (*error_handler_callback)(uint16_t error);
deviceParams_t device_prm;
uint8_t device_instance;
/* Static data. */
static uint8_t number_of_devices;
static uint8_t spi_tx_bursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
static uint8_t spi_rx_bursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
public:
/* Static data. */
static bool spi_preemtion_by_isr;
static bool isr_flag;
};
#endif // __L6474_CLASS_H
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/