Pecunia_Insper
Funcionando: FDC eixo x y z
Dependencies: ST_INTERFACES X_NUCLEO_COMMON
Fork of
X_NUCLEO_IHM01A1
by 
ST
Revision 1:b38ebb8ea286, committed 2015-10-16
- Comitter:
- Davidroid
- Date:
- Fri Oct 16 13:30:06 2015 +0000
- Parent:
- 0:2887415a46cd
- Child:
- 2:de6d31fa3709
- Child:
- 4:83a1eb397a65
- Commit message:
- + Removed Timer Serivce Routine's flag and restored direct callback.; + Restored "L6474_WaitWhileActive()" function.;
Changed in this revision
--- a/Components/Common/motor.h Wed Oct 14 15:12:18 2015 +0000
+++ b/Components/Common/motor.h Fri Oct 16 13:30:06 2015 +0000
@@ -72,7 +72,7 @@
#define TRUE (1)
#endif
- /**
+/**
* @}
*/
@@ -80,11 +80,6 @@
* @{
*/
- /** @defgroup Motor_Boolean_Type
- * @{
- */
-///bool Type
-//typedef uint8_t bool;
/**
* @}
*/
@@ -97,6 +92,7 @@
BACKWARD = 0,
FORWARD = 1
} motorDir_t;
+
/**
* @}
*/
@@ -298,6 +294,8 @@
bool (*SoftStop)(void *handle);
/// Function pointer to StepClockHandler
void (*StepClockHandler)(void *handle);
+ /// Function pointer to WaitWhileActive
+ void (*WaitWhileActive)(void *handle);
/// Function pointer to CmdDisable
void (*CmdDisable)(void *handle);
/// Function pointer to CmdEnable
--- a/Components/Interfaces/Motor_class.h Wed Oct 14 15:12:18 2015 +0000
+++ b/Components/Interfaces/Motor_class.h Fri Oct 16 13:30:06 2015 +0000
@@ -78,41 +78,42 @@
* Example: *
* virtual int GetValue(float *pfData) = 0; *
*------------------------------------------------------------------------*/
- virtual uint16_t GetAcceleration (void) = 0;
- virtual uint16_t GetCurrentSpeed (void) = 0;
- virtual uint16_t GetDeceleration (void) = 0;
- virtual motorState_t GetDeviceState (void) = 0;
- virtual uint8_t GetFwVersion (void) = 0;
- virtual int32_t GetMark (void) = 0;
- virtual uint16_t GetMaxSpeed (void) = 0;
- virtual uint16_t GetMinSpeed (void) = 0;
- virtual int32_t GetPosition (void) = 0;
- virtual void GoHome (void) = 0;
- virtual void GoMark (void) = 0;
- virtual void GoTo (int32_t targetPosition) = 0;
- virtual void HardStop (void) = 0;
- virtual void Move (motorDir_t direction, uint32_t stepCount) = 0;
- virtual void Run (motorDir_t direction) = 0;
- virtual bool SetAcceleration (uint16_t newAcc) = 0;
- virtual bool SetDeceleration (uint16_t newDec) = 0;
- virtual void SetHome (void) = 0;
- virtual void SetMark (void) = 0;
- virtual bool SetMaxSpeed (uint16_t newMaxSpeed) = 0;
- virtual bool SetMinSpeed (uint16_t newMinSpeed) = 0;
- virtual bool SoftStop (void) = 0;
- virtual void StepClockHandler (void) = 0;
- virtual void CmdDisable (void) = 0;
- virtual void CmdEnable (void) = 0;
- virtual uint32_t CmdGetParam (uint32_t param) = 0;
- virtual uint16_t CmdGetStatus (void) = 0;
- virtual void CmdNop (void) = 0;
- virtual void CmdSetParam (uint32_t param, uint32_t value) = 0;
- virtual uint16_t ReadStatusRegister (void) = 0;
- virtual void ReleaseReset (void) = 0;
- virtual void Reset (void) = 0;
- virtual void SelectStepMode (motorStepMode_t stepMod) = 0;
- virtual void SetDirection (motorDir_t direction) = 0;
- virtual void ErrorHandler (uint16_t error) = 0;
+ virtual uint16_t GetAcceleration(void) = 0;
+ virtual uint16_t GetCurrentSpeed(void) = 0;
+ virtual uint16_t GetDeceleration(void) = 0;
+ virtual motorState_t GetDeviceState(void) = 0;
+ virtual uint8_t GetFwVersion(void) = 0;
+ virtual int32_t GetMark(void) = 0;
+ virtual uint16_t GetMaxSpeed(void) = 0;
+ virtual uint16_t GetMinSpeed(void) = 0;
+ virtual int32_t GetPosition(void) = 0;
+ virtual void GoHome(void) = 0;
+ virtual void GoMark(void) = 0;
+ virtual void GoTo(int32_t targetPosition) = 0;
+ virtual void HardStop(void) = 0;
+ virtual void Move(motorDir_t direction, uint32_t stepCount) = 0;
+ virtual void Run(motorDir_t direction) = 0;
+ virtual bool SetAcceleration(uint16_t newAcc) = 0;
+ virtual bool SetDeceleration(uint16_t newDec) = 0;
+ virtual void SetHome(void) = 0;
+ virtual void SetMark(void) = 0;
+ virtual bool SetMaxSpeed(uint16_t newMaxSpeed) = 0;
+ virtual bool SetMinSpeed(uint16_t newMinSpeed) = 0;
+ virtual bool SoftStop(void) = 0;
+ virtual void StepClockHandler(void) = 0;
+ virtual void WaitWhileActive(void) = 0;
+ virtual void CmdDisable(void) = 0;
+ virtual void CmdEnable(void) = 0;
+ virtual uint32_t CmdGetParam(uint32_t param) = 0;
+ virtual uint16_t CmdGetStatus(void) = 0;
+ virtual void CmdNop(void) = 0;
+ virtual void CmdSetParam(uint32_t param, uint32_t value) = 0;
+ virtual uint16_t ReadStatusRegister(void) = 0;
+ virtual void ReleaseReset(void) = 0;
+ virtual void Reset(void) = 0;
+ virtual void SelectStepMode(motorStepMode_t stepMod) = 0;
+ virtual void SetDirection(motorDir_t direction) = 0;
+ virtual void ErrorHandler(uint16_t error) = 0;
};
#endif /* __MOTOR_CLASS_H */
--- a/Components/l6474/l6474.h Wed Oct 14 15:12:18 2015 +0000
+++ b/Components/l6474/l6474.h Fri Oct 16 13:30:06 2015 +0000
@@ -455,30 +455,24 @@
} L6474_DrvDataTypeDef;
-/* Functions -----------------------------------------------------------------*/
+/* Exported functions --------------------------------------------------------*/
-/** @addtogroup BSP
- * @{
- */
-
-/** @addtogroup Components
- * @{
- */
+/** @defgroup L6474_Exported_Functions
+ * @{
+ */
-/** @addtogroup L6474
- * @{
- */
-
-/** @defgroup L6474_IO_Functions L6474_IO_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.: *
+ * Declare here extern I/O and interrupt related functions you might need, *
+ * and implemented then in a glue logic file on the target environment, for *
+ * example within the "x_nucleo_<board>.c" file., e.g.: *
+ * extern DrvStatusTypeDef COMPONENT_IO_Init (void *handle); *
* extern DrvStatusTypeDef COMPONENT_IO_Read (handle, buf, regadd, bytes); *
* extern DrvStatusTypeDef COMPONENT_IO_Write(handle, buf, regadd, bytes); *
+ * extern void COMPONENT_IO_ITConfig(void); *
*----------------------------------------------------------------------------*/
+/** @defgroup MotorControl_Board_Linked_Functions
+ * @{
+ */
///Delay of the requested number of milliseconds
extern void L6474_Delay(void *handle, uint32_t delay);
///Enable Irq
--- a/Components/l6474/l6474_class.cpp Wed Oct 14 15:12:18 2015 +0000
+++ b/Components/l6474/l6474_class.cpp Fri Oct 16 13:30:06 2015 +0000
@@ -45,7 +45,7 @@
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.c
- Revision: 0
+ Revision: :0
*/
@@ -54,8 +54,8 @@
#include "l6474_class.h"
#include "l6474.h"
-
-/* Private constants ---------------------------------------------------------*/
+
+/* Private constants ---------------------------------------------------------*/
/// Error while initialising the SPI
#define L6474_ERROR_0 (0x8000)
@@ -78,7 +78,7 @@
uint8_t L6474::numberOfDevices = 0;
-/* Private function prototypes -----------------------------------------------*/
+/* Methods -------------------------------------------------------------------*/
/******************************************************//**
* @brief Attaches a user callback to the error Handler.
@@ -144,7 +144,7 @@
**********************************************************/
DrvStatusTypeDef L6474::L6474_ReadID(uint8_t *id)
{
- *id = type;
+ *id = deviceInstance;
return COMPONENT_OK;
}
@@ -514,6 +514,16 @@
}
/******************************************************//**
+ * @brief Locks until the device state becomes Inactive
+ * @retval None
+ **********************************************************/
+void L6474::L6474_WaitWhileActive(void)
+{
+ /* Wait while motor is running */
+ while (L6474_GetDeviceState() != INACTIVE);
+}
+
+/******************************************************//**
* @brief Issue the Disable command to the L6474 of the specified device
* @retval None
**********************************************************/
--- a/Components/l6474/l6474_class.h Wed Oct 14 15:12:18 2015 +0000
+++ b/Components/l6474/l6474_class.h Fri Oct 16 13:30:06 2015 +0000
@@ -76,11 +76,6 @@
#include "../Interfaces/Motor_class.h"
-/* Functions -----------------------------------------------------------------*/
-
-extern void PWMCallback(void);
-
-
/* Classes -------------------------------------------------------------------*/
/** Class representing a L6474 component.
@@ -290,6 +285,11 @@
L6474_StepClockHandler();
}
+ virtual void WaitWhileActive(void)
+ {
+ L6474_WaitWhileActive();
+ }
+
virtual void CmdDisable(void)
{
L6474_CmdDisable();
@@ -403,41 +403,42 @@
* DrvStatusTypeDef COMPONENT_EnableFeature(void); //(2) *
* DrvStatusTypeDef COMPONENT_ComputeAverage(void); //(3) *
*------------------------------------------------------------------------*/
- void L6474_AttachErrorHandler(void (*callback)(uint16_t error)); //Attach a user callback to the error handler
- void L6474_AttachFlagInterrupt(void (*callback)(void)); //Attach a user callback to the flag Interrupt
- DrvStatusTypeDef L6474_Init(MOTOR_InitTypeDef *init); //Start the L6474 library
- DrvStatusTypeDef L6474_ReadID(uint8_t *id); //Read Id to get driver instance
- uint16_t L6474_GetAcceleration(void); //Return the acceleration in pps^2
- uint16_t L6474_GetCurrentSpeed(void); //Return the current speed in pps
- uint16_t L6474_GetDeceleration(void); //Return the deceleration in pps^2
- motorState_t L6474_GetDeviceState(void); //Return the device state
- uint8_t L6474_GetFwVersion(void); //Return the FW version
- int32_t L6474_GetMark(void); //Return the mark position
- uint16_t L6474_GetMaxSpeed(void); //Return the max speed in pps
- uint16_t L6474_GetMinSpeed(void); //Return the min speed in pps
- int32_t L6474_GetPosition(void); //Return the ABS_POSITION (32b signed)
- void L6474_GoHome(void); //Move to the home position
- void L6474_GoMark(void); //Move to the Mark position
- void L6474_GoTo(int32_t targetPosition); //Go to the specified position
- void L6474_HardStop(void); //Stop the motor and disable the power bridge
- void L6474_Move(motorDir_t direction, uint32_t stepCount); //Move the motor of the specified number of steps
- void L6474_Run(motorDir_t direction); //Run the motor
- bool L6474_SetAcceleration(uint16_t newAcc); //Set the acceleration in pps^2
- bool L6474_SetDeceleration(uint16_t newDec); //Set the deceleration in pps^2
- void L6474_SetHome(void); //Set current position to be the home position
- void L6474_SetMark(void); //Set current position to be the Markposition
- bool L6474_SetMaxSpeed(uint16_t newMaxSpeed); //Set the max speed in pps
- bool L6474_SetMinSpeed(uint16_t newMinSpeed); //Set the min speed in pps
- bool L6474_SoftStop(void); //Progressively stops the motor
- void L6474_CmdDisable(void); //Send the L6474_DISABLE command
- void L6474_CmdEnable(void); //Send the L6474_ENABLE command
- uint32_t L6474_CmdGetParam(uint32_t param); //Send the L6474_GET_PARAM command
- uint16_t L6474_CmdGetStatus(void); //Send the L6474_GET_STATUS command
- void L6474_CmdNop(void); //Send the L6474_NOP command
- void L6474_CmdSetParam(uint32_t param, uint32_t value); //Send the L6474_SET_PARAM command
- uint16_t L6474_ReadStatusRegister(void); //Read the L6474_STATUS register without clearing the flags
- void L6474_SelectStepMode(motorStepMode_t stepMod); //Step mode selection
- void L6474_SetDirection(motorDir_t direction); //Set the L6474 direction pin
+ void L6474_AttachErrorHandler(void (*callback)(uint16_t error)); //Attach a user callback to the error handler
+ void L6474_AttachFlagInterrupt(void (*callback)(void)); //Attach a user callback to the flag Interrupt
+ DrvStatusTypeDef L6474_Init(MOTOR_InitTypeDef *init); //Start the L6474 library
+ DrvStatusTypeDef L6474_ReadID(uint8_t *id); //Read Id to get driver instance
+ uint16_t L6474_GetAcceleration(void); //Return the acceleration in pps^2
+ uint16_t L6474_GetCurrentSpeed(void); //Return the current speed in pps
+ uint16_t L6474_GetDeceleration(void); //Return the deceleration in pps^2
+ motorState_t L6474_GetDeviceState(void); //Return the device state
+ uint8_t L6474_GetFwVersion(void); //Return the FW version
+ int32_t L6474_GetMark(void); //Return the mark position
+ uint16_t L6474_GetMaxSpeed(void); //Return the max speed in pps
+ uint16_t L6474_GetMinSpeed(void); //Return the min speed in pps
+ int32_t L6474_GetPosition(void); //Return the ABS_POSITION (32b signed)
+ void L6474_GoHome(void); //Move to the home position
+ void L6474_GoMark(void); //Move to the Mark position
+ void L6474_GoTo(int32_t targetPosition); //Go to the specified position
+ void L6474_HardStop(void); //Stop the motor and disable the power bridge
+ void L6474_Move(motorDir_t direction, uint32_t stepCount); //Move the motor of the specified number of steps
+ void L6474_Run(motorDir_t direction); //Run the motor
+ bool L6474_SetAcceleration(uint16_t newAcc); //Set the acceleration in pps^2
+ bool L6474_SetDeceleration(uint16_t newDec); //Set the deceleration in pps^2
+ void L6474_SetHome(void); //Set current position to be the home position
+ void L6474_SetMark(void); //Set current position to be the Markposition
+ bool L6474_SetMaxSpeed(uint16_t newMaxSpeed); //Set the max speed in pps
+ bool L6474_SetMinSpeed(uint16_t newMinSpeed); //Set the min speed in pps
+ bool L6474_SoftStop(void); //Progressively stops the motor
+ void L6474_WaitWhileActive(void); //Wait for the device state becomes Inactive
+ void L6474_CmdDisable(void); //Send the L6474_DISABLE command
+ void L6474_CmdEnable(void); //Send the L6474_ENABLE command
+ uint32_t L6474_CmdGetParam(uint32_t param); //Send the L6474_GET_PARAM command
+ uint16_t L6474_CmdGetStatus(void); //Send the L6474_GET_STATUS command
+ void L6474_CmdNop(void); //Send the L6474_NOP command
+ void L6474_CmdSetParam(uint32_t param, uint32_t value); //Send the L6474_SET_PARAM command
+ uint16_t L6474_ReadStatusRegister(void); //Read the L6474_STATUS register without clearing the flags
+ void L6474_SelectStepMode(motorStepMode_t stepMod); //Step mode selection
+ void L6474_SetDirection(motorDir_t direction); //Set the L6474 direction pin
void L6474_ApplySpeed(uint16_t newSpeed);
void L6474_ComputeSpeedProfile(uint32_t nbSteps);
int32_t L6474_ConvertPosition(uint32_t abs_position_reg);
@@ -536,7 +537,7 @@
double period = 1.0f / newFreq;
pwm.period(period);
pwm.write(0.5f);
- ticker.attach(&PWMCallback, period);
+ ticker.attach(this, &L6474::L6474_StepClockHandler, period);
}
/*
--- a/X_NUCLEO_COMMON.lib Wed Oct 14 15:12:18 2015 +0000 +++ b/X_NUCLEO_COMMON.lib Fri Oct 16 13:30:06 2015 +0000 @@ -1,1 +1,1 @@ -http://developer.mbed.org/teams/ST/code/X_NUCLEO_COMMON/#1f35e8bf427b +http://developer.mbed.org/teams/ST/code/X_NUCLEO_COMMON/#da29b5403ca1