Diff: Components/l6474/l6474_class.cpp

Revision:

7:f7e0c3621f77

Parent:

6:a47569fc7534

Child:

13:ba2728afe4c2

--- a/Components/l6474/l6474_class.cpp	Thu Nov 19 10:56:34 2015 +0000
+++ b/Components/l6474/l6474_class.cpp	Fri Nov 20 18:00:03 2015 +0000
@@ -102,21 +102,6 @@
 }
 
 /**********************************************************
- * @brief  Attaches a user callback to the flag Interrupt
- * The call back will be then called each time the status 
- * flag pin will be pulled down due to the occurrence of 
- * a programmed alarms ( OCD, thermal pre-warning or 
- * shutdown, UVLO, wrong command, non-performable command)
- * @param[in] callback Name of the callback to attach 
- * to the Flag Interrupt
- * @retval None
- **********************************************************/
-void L6474::L6474_AttachFlagInterrupt(void (*callback)(void))
-{
-  flagInterruptCallback = (void (*)(void))callback;
-}
-
-/**********************************************************
  * @brief Starts the L6474 library
  * @retval COMPONENT_OK in case of success
  **********************************************************/
@@ -357,28 +342,6 @@
   }  
 }
 
-#if 0
-/**********************************************************
- * @brief Resets all L6474 devices
- * @param None
- * @retval None
- **********************************************************/
-void L6474::L6474_ResetAllDevices(void)
-{
-  uint8_t loop;
-  
-  for (loop = 0; loop < numberOfDevices; loop++)
-  {
-    /* Stop movement and disable power stage*/
-    L6474_HardStop(loop);
-  }
-  L6474_Reset();
-  L6474_Delay(1); // Reset pin must be forced low for at least 10us
-  L6474_ReleaseReset();
-  L6474_Delay(1); 
-}
-#endif
-
 /**********************************************************
  * @brief  Runs the motor. It will accelerate from the min 
  * speed up to the max speed by using the device acceleration.
@@ -551,10 +514,10 @@
 
 /**********************************************************
  * @brief  Issues the GetParam command to the L6474 of the specified device
- * @param[in] param Register adress (L6474_ABS_POS, L6474_MARK,...)
+ * @param[in] parameter Register adress (L6474_ABS_POS, L6474_MARK,...)
  * @retval Register value
  **********************************************************/
-uint32_t L6474::L6474_CmdGetParam(uint32_t param)
+uint32_t L6474::L6474_CmdGetParam(L6474_Registers_t parameter)
 {
   uint32_t i;
   uint32_t spiRxData;
@@ -583,21 +546,21 @@
       spiRxBursts[3][i] = 0;    
     }
 
-    switch (param)
+    switch (parameter)
     {
       case L6474_ABS_POS: ;
       case L6474_MARK:
-        spiTxBursts[0][spiIndex] = ((uint8_t)L6474_GET_PARAM )| (param);
+        spiTxBursts[0][spiIndex] = ((uint8_t)L6474_GET_PARAM )| (parameter);
         maxArgumentNbBytes = 3;
         break;
       case L6474_EL_POS: ;
       case L6474_CONFIG: ;
       case L6474_STATUS:
-        spiTxBursts[1][spiIndex] = ((uint8_t)L6474_GET_PARAM )| (param);
+        spiTxBursts[1][spiIndex] = ((uint8_t)L6474_GET_PARAM )| (parameter);
         maxArgumentNbBytes = 2;
         break;
       default:
-        spiTxBursts[2][spiIndex] = ((uint8_t)L6474_GET_PARAM )| (param);
+        spiTxBursts[2][spiIndex] = ((uint8_t)L6474_GET_PARAM )| (parameter);
         maxArgumentNbBytes = 1;
     }
     
@@ -629,7 +592,7 @@
  * @retval Status Register value
  * @note Once the GetStatus command is performed, the flags of the status register
  * are reset. This is not the case when the status register is read with the
- * GetParam command (via the functions L6474ReadStatusRegister or L6474CmdGetParam).
+ * GetParam command (via the functions L6474ReadStatusRegister or L6474_CmdGetParam).
  **********************************************************/
 uint16_t L6474::L6474_CmdGetStatus(void)
 {
@@ -687,11 +650,11 @@
 
 /**********************************************************
  * @brief  Issues the SetParam command to the L6474 of the specified device
- * @param[in] param Register adress (L6474_ABS_POS, L6474_MARK,...)
+ * @param[in] parameter Register adress (L6474_ABS_POS, L6474_MARK,...)
  * @param[in] value Value to set in the register
  * @retval None
  **********************************************************/
-void L6474::L6474_CmdSetParam(uint32_t param, uint32_t value)
+void L6474::L6474_CmdSetParam(L6474_Registers_t parameter, uint32_t value)
 {
   uint32_t i;
   uint8_t maxArgumentNbBytes = 0;
@@ -715,23 +678,23 @@
       spiTxBursts[3][i] = L6474_NOP;
     }
 
-    switch (param)
+    switch (parameter)
     {
       case L6474_ABS_POS: ;
       case L6474_MARK:
-          spiTxBursts[0][spiIndex] = param;
+          spiTxBursts[0][spiIndex] = parameter;
           spiTxBursts[1][spiIndex] = (uint8_t)(value >> 16);
           spiTxBursts[2][spiIndex] = (uint8_t)(value >> 8);
           maxArgumentNbBytes = 3;
           break;
       case L6474_EL_POS: ;
       case L6474_CONFIG:
-          spiTxBursts[1][spiIndex] = param;
+          spiTxBursts[1][spiIndex] = parameter;
           spiTxBursts[2][spiIndex] = (uint8_t)(value >> 8);
           maxArgumentNbBytes = 2;
           break;
       default:
-          spiTxBursts[2][spiIndex] = param;
+          spiTxBursts[2][spiIndex] = parameter;
           maxArgumentNbBytes = 1;
           break;
     }
@@ -961,29 +924,8 @@
   }
   else   
   {
-    while(1)
-    {
-      /* Infinite loop */
-    }
-  }
-}
-
-/**********************************************************
- * @brief  Handlers of the flag interrupt which calls the user callback (if defined)
- * @param None
- * @retval None
- **********************************************************/
-void L6474::L6474_FlagInterruptHandler(void)
-{
-  if (flagInterruptCallback != 0)
-  {
-    /* Set isr flag */
-    isrFlag = TRUE;
-    
-    flagInterruptCallback();
-    
-    /* Reset isr flag */
-    isrFlag = FALSE;   
+    /* Aborting the program. */
+    exit(EXIT_FAILURE);
   }
 }