Motor Control Library

Diff: Components/l6474/l6474_class.h

Revision:

5:d3c78f12a78d

Parent:

4:83a1eb397a65

Child:

6:a47569fc7534

--- a/Components/l6474/l6474_class.h	Fri Nov 13 12:56:06 2015 +0000
+++ b/Components/l6474/l6474_class.h	Wed Nov 18 18:41:55 2015 +0000
@@ -108,13 +108,13 @@
          *--------------------------------------------------------------------*/
         flagInterruptCallback = 0;
         errorHandlerCallback = 0;
-        memset(spiTxBursts, 0, L6474_CMD_ARG_MAX_NB_BYTES);
-        memset(spiRxBursts, 0, L6474_CMD_ARG_MAX_NB_BYTES);
         spiPreemtionByIsr = 0;
         isrFlag = 0;
         //devicePrm = 0;
         deviceInstance = numberOfDevices;
         numberOfDevices++;
+        memset(spiTxBursts, 0, L6474_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t));
+        memset(spiRxBursts, 0, L6474_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t));
     }
     
     /**
@@ -175,11 +175,6 @@
         return (signed int) L6474_GetMark();
     }
     
-    virtual direction_t GetDirection(void)
-    {
-        return (direction_t) L6474_GetDirection();
-    }
-
     virtual unsigned int GetSpeed(void)
     {
         return (unsigned int) L6474_GetCurrentSpeed();
@@ -205,6 +200,11 @@
         return (unsigned int) L6474_GetDeceleration();
     }
 
+    virtual direction_t GetDirection(void)
+    {
+        return (direction_t) (L6474_GetDirection() == FORWARD ? StepperMotor::FWD : StepperMotor::BWD);
+    }
+
     virtual void SetParameter(unsigned int parameter, unsigned int value)
     {
         L6474_CmdSetParam((unsigned int) parameter, (unsigned int) value);
@@ -220,11 +220,6 @@
         L6474_SetMark();
     }
 
-    virtual void SetDirection(direction_t direction)
-    {
-        L6474_SetDirection((direction_t) direction);
-    }
-
     virtual void SetMaxSpeed(unsigned int speed)
     {
         L6474_SetMaxSpeed((unsigned int) speed);
@@ -262,12 +257,12 @@
 
     virtual void Run(direction_t direction)
     {
-        L6474_Run((direction_t) direction);
+        L6474_Run((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD));
     }
 
     virtual void Move(direction_t direction, unsigned int steps)
     {
-        L6474_Move((direction_t) direction, (unsigned int) steps);
+        L6474_Move((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), (unsigned int) steps);
     }
 
     virtual void SoftStop(void)
@@ -290,6 +285,11 @@
         return (uint8_t) L6474_GetFwVersion();
     }
 
+    virtual void SetDirection(direction_t direction)
+    {
+        L6474_SetDirection((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD));
+    }
+
     virtual void StepClockHandler(void)
     {
         L6474_StepClockHandler();
@@ -425,8 +425,8 @@
     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(direction_t direction, uint32_t stepCount);       //Move the motor of the specified number of steps
-    void L6474_Run(direction_t direction);                            //Run the motor 
+    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
@@ -443,8 +443,8 @@
     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
-    direction_t L6474_GetDirection(void);                             //Get the direction of rotation
-    void L6474_SetDirection(direction_t direction);                   //Set the direction of rotation
+    motorDir_t L6474_GetDirection(void);                             //Get the direction of rotation
+    void L6474_SetDirection(motorDir_t direction);                   //Set the direction of rotation
     void L6474_ApplySpeed(uint16_t newSpeed);
     void L6474_ComputeSpeedProfile(uint32_t nbSteps);
     int32_t L6474_ConvertPosition(uint32_t abs_position_reg); 
@@ -511,7 +511,7 @@
      */
     void L6474_Delay(uint32_t delay)
     {
-        /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs */
+        /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs.*/
         wait_ms(delay);
     }
 
@@ -520,7 +520,7 @@
      */
     void L6474_EnableIrq(void)
     {
-        /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs */
+        /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs.*/
         __enable_irq();
     }
 
@@ -529,7 +529,7 @@
      */
     void L6474_DisableIrq(void)
     {
-        /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs */
+        /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs.*/
         __disable_irq();
     }
 
@@ -539,7 +539,7 @@
      */
     void L6474_PwmSetFreq(uint16_t newFreq)
     {
-        /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs */
+        /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs.*/
         double period = 1.0f / newFreq;
         pwm.period(period);
         pwm.write(0.5f);
@@ -554,7 +554,7 @@
      */
     void L6474_PwmInit(void)
     {
-        /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs */
+        /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs.*/
     }
 
     /*
@@ -562,7 +562,7 @@
      */
     void L6474_PwmStop(void)
     {
-        /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs */
+        /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs.*/
         pwm.write(0.0f);
         ticker.detach();
     }
@@ -655,13 +655,13 @@
      *------------------------------------------------------------------------*/
     void (*flagInterruptCallback)(void);
     void (*errorHandlerCallback)(uint16_t error);
-    uint8_t spiTxBursts[L6474_CMD_ARG_MAX_NB_BYTES];
-    uint8_t spiRxBursts[L6474_CMD_ARG_MAX_NB_BYTES];
     bool spiPreemtionByIsr;
     bool isrFlag;
     deviceParams_t devicePrm;
+    uint8_t deviceInstance;
     static uint8_t numberOfDevices;
-    uint8_t deviceInstance;
+    static uint8_t spiTxBursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
+    static uint8_t spiRxBursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
 };
 
 #endif // __L6474_CLASS_H