ST » Code » X_NUCLEO_IHM02A1

Library to handle the X_NUCLEO_IHM02A1 Motor Control Expansion Board based on the L6470 component.

Dependencies: X_NUCLEO_COMMON ST_INTERFACES

Dependents: HelloWorld_IHM02A1 ConcorsoFinal HelloWorld_IHM02A1_mbedOS HelloWorld_IHM02A1-Serialinterpreter ... more

Fork of X_NUCLEO_IHM02A1 by ST Expansion SW Team

Motor Control Library

Introduction

Library to handle the X-NUCLEO-IHM02A1 Motor Control Expansion Board based on the the L6470 component.

Daisy-Chain Configuration

The two L6470 components mounted on this board are connected in daisy-chain configuration. This board can be stacked up to four times so that the eight L6470 components will be connected two-by-two in daisy-chain configuration.

Concerning the SSEL pin of the SPI communication, each expansion board must be in one of the following configuration:

SB_23 resistor connected only: SSEL on pin A2;
SB_7 resistor connected only: SSEL on pin D2;
SB_8 resistor connected only: SSEL on pin D10;
SB_9 resistor connected only: SSEL on pin D5.

Arduino Connector Compatibility Warning

X-NUCLEO-IHM02A1 is Arduino compatible with one exception: instead of using D13 pin to drive the SPI clock, it uses D3 pin, hence the default configuration for this library is with the SPI clock on D3 pin.

To be fully Arduino compatible the following patch is required:

to remove the SB34 resistor;
to solder the SB12 resistor.

Alternatively, you can route the Nucleo board’s D13 pin directly to the expansion board’s D3 pin with a wire. In case you patch your expansion board or route the pin, the SPI clock will be driven on D13 pin rather than on D3 pin, and you have also to initialize the sclk PinName variable with D13 rather than D3. This patch is known to be required, for example, on the following boards: NUCLEO-F103RB, NUCLEO-F302RB, NUCLEO-F411RE, and NUCLEO-F429ZI.

If you use D13 pin for the SPI clock, please be aware that on STM32 Nucleo boards you may not drive the LED, otherwise you will get a conflict: the LED on STM32 Nucleo boards is connected to the D13 pin.

Example Applications

HelloWorld_IHM02A1

Components/l6470/l6470_class.h@15:31785d1acd4b, 2016-02-15 (annotated)

Committer:: Davidroid
Date:: Mon Feb 15 15:55:48 2016 +0000
Revision:: 15:31785d1acd4b
Parent:: 14:e614697ebf34
Child:: 17:4b3dc908724f

+ Updated some comments.

Who changed what in which revision?

User	Revision	Line number	New contents of line
Davidroid	0:92706998571a	1	/**
Davidroid	4:381d76f5b0b4	2	******************************************************************************
Davidroid	4:381d76f5b0b4	3	* @file l6470_class.h
Davidroid	12:a942d51c488b	4	* @author Davide Aliprandi, STMicroelectronics
Davidroid	4:381d76f5b0b4	5	* @version V1.0.0
Davidroid	4:381d76f5b0b4	6	* @date November 12th, 2015
Davidroid	4:381d76f5b0b4	7	* @brief This file contains the class of an L6470 Motor Control component.
Davidroid	4:381d76f5b0b4	8	******************************************************************************
Davidroid	4:381d76f5b0b4	9	*
Davidroid	4:381d76f5b0b4	10	* COPYRIGHT(c) 2014 STMicroelectronics
Davidroid	4:381d76f5b0b4	11	*
Davidroid	4:381d76f5b0b4	12	* Redistribution and use in source and binary forms, with or without modification,
Davidroid	4:381d76f5b0b4	13	* are permitted provided that the following conditions are met:
Davidroid	4:381d76f5b0b4	14	* 1. Redistributions of source code must retain the above copyright notice,
Davidroid	4:381d76f5b0b4	15	* this list of conditions and the following disclaimer.
Davidroid	4:381d76f5b0b4	16	* 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid	4:381d76f5b0b4	17	* this list of conditions and the following disclaimer in the documentation
Davidroid	4:381d76f5b0b4	18	* and/or other materials provided with the distribution.
Davidroid	4:381d76f5b0b4	19	* 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid	4:381d76f5b0b4	20	* may be used to endorse or promote products derived from this software
Davidroid	4:381d76f5b0b4	21	* without specific prior written permission.
Davidroid	4:381d76f5b0b4	22	*
Davidroid	4:381d76f5b0b4	23	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid	4:381d76f5b0b4	24	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid	4:381d76f5b0b4	25	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid	4:381d76f5b0b4	26	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid	4:381d76f5b0b4	27	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid	4:381d76f5b0b4	28	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid	4:381d76f5b0b4	29	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid	4:381d76f5b0b4	30	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid	4:381d76f5b0b4	31	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid	4:381d76f5b0b4	32	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid	4:381d76f5b0b4	33	*
Davidroid	4:381d76f5b0b4	34	******************************************************************************
Davidroid	4:381d76f5b0b4	35	*/
Davidroid	0:92706998571a	36
Davidroid	0:92706998571a	37
Davidroid	15:31785d1acd4b	38	/* Generated with STM32CubeTOO -----------------------------------------------*/
Davidroid	0:92706998571a	39
Davidroid	0:92706998571a	40
Davidroid	0:92706998571a	41	/* Revision ------------------------------------------------------------------*/
Davidroid	0:92706998571a	42	/*
Davidroid	0:92706998571a	43	Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
Davidroid	0:92706998571a	44	Branch/Trunk/Tag: trunk
Davidroid	0:92706998571a	45	Based on: X-CUBE-SPN2/trunk/Drivers/BSP/Components/L6470/L6470.h
Davidroid	0:92706998571a	46	Revision: 0
Davidroid	0:92706998571a	47	*/
Davidroid	0:92706998571a	48
Davidroid	0:92706998571a	49
Davidroid	0:92706998571a	50	/* Define to prevent recursive inclusion -------------------------------------*/
Davidroid	0:92706998571a	51
Davidroid	0:92706998571a	52	#ifndef __L6470_CLASS_H
Davidroid	0:92706998571a	53	#define __L6470_CLASS_H
Davidroid	0:92706998571a	54
Davidroid	0:92706998571a	55
Davidroid	0:92706998571a	56	/* Includes ------------------------------------------------------------------*/
Davidroid	0:92706998571a	57
Davidroid	0:92706998571a	58	/* ACTION 1 ------------------------------------------------------------------*
Davidroid	0:92706998571a	59	* Include here platform specific header files. *
Davidroid	14:e614697ebf34	60	----------------------------------------------------------------------------/
Davidroid	0:92706998571a	61	#include "mbed.h"
Davidroid	0:92706998571a	62	#include "DevSPI.h"
Davidroid	0:92706998571a	63	/* ACTION 2 ------------------------------------------------------------------*
Davidroid	0:92706998571a	64	* Include here component specific header files. *
Davidroid	14:e614697ebf34	65	----------------------------------------------------------------------------/
Davidroid	0:92706998571a	66	#include "l6470.h"
Davidroid	0:92706998571a	67	/* ACTION 3 ------------------------------------------------------------------*
Davidroid	0:92706998571a	68	* Include here interface specific header files. *
Davidroid	0:92706998571a	69	* *
Davidroid	0:92706998571a	70	* Example: *
Davidroid	0:92706998571a	71	* #include "../Interfaces/Humidity_class.h" *
Davidroid	0:92706998571a	72	* #include "../Interfaces/Temperature_class.h" *
Davidroid	0:92706998571a	73	----------------------------------------------------------------------------/
Davidroid	0:92706998571a	74	#include "../Interfaces/StepperMotor_class.h"
Davidroid	0:92706998571a	75
Davidroid	0:92706998571a	76
Davidroid	0:92706998571a	77	/* Classes -------------------------------------------------------------------*/
Davidroid	0:92706998571a	78
Davidroid	14:e614697ebf34	79	/**
Davidroid	14:e614697ebf34	80	* @brief Class representing a L6470 component.
Davidroid	0:92706998571a	81	*/
Davidroid	0:92706998571a	82	class L6470 : public StepperMotor
Davidroid	0:92706998571a	83	{
Davidroid	0:92706998571a	84	public:
Davidroid	0:92706998571a	85
Davidroid	1:b78dab6d2c58	86	/* Public Component Related Types */
Davidroid	1:b78dab6d2c58	87
Davidroid	1:b78dab6d2c58	88	/**
Davidroid	1:b78dab6d2c58	89	* @brief Prepared Actions.
Davidroid	1:b78dab6d2c58	90	*/
Davidroid	1:b78dab6d2c58	91	typedef enum
Davidroid	1:b78dab6d2c58	92	{
Davidroid	1:b78dab6d2c58	93	PREPARED_NO_ACTION = 0,
Davidroid	1:b78dab6d2c58	94	PREPARED_GET_POSITION,
Davidroid	1:b78dab6d2c58	95	PREPARED_GET_MARK,
Davidroid	1:b78dab6d2c58	96	PREPARED_GET_SPEED,
Davidroid	1:b78dab6d2c58	97	PREPARED_GET_MAX_SPEED,
Davidroid	1:b78dab6d2c58	98	PREPARED_GET_MIN_SPEED,
Davidroid	1:b78dab6d2c58	99	PREPARED_GET_ACCELERATION,
Davidroid	1:b78dab6d2c58	100	PREPARED_GET_DECELERATION,
Davidroid	1:b78dab6d2c58	101	PREPARED_GET_DIRECTION,
Davidroid	1:b78dab6d2c58	102	PREPARED_SET_MARK
Davidroid	1:b78dab6d2c58	103	} prepared_action_t;
Davidroid	1:b78dab6d2c58	104
Davidroid	1:b78dab6d2c58	105
Davidroid	0:92706998571a	106	/* Constructor and Destructor Methods */
Davidroid	0:92706998571a	107
Davidroid	0:92706998571a	108	/**
Davidroid	0:92706998571a	109	* @brief Constructor.
Davidroid	0:92706998571a	110	* @param flag_irq pin name of the FLAG pin of the component.
Davidroid	1:b78dab6d2c58	111	* @param busy_irq pin name of the BUSY pin of the component.
Davidroid	0:92706998571a	112	* @param standby_reset pin name of the STBY\RST pin of the component.
Davidroid	0:92706998571a	113	* @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
Davidroid	0:92706998571a	114	* @param spi SPI device to be used for communication.
Davidroid	0:92706998571a	115	*/
Davidroid	1:b78dab6d2c58	116	L6470(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI &spi) : StepperMotor(), flag_irq(flag_irq), busy_irq(busy_irq), standby_reset(standby_reset), ssel(ssel), dev_spi(spi)
Davidroid	0:92706998571a	117	{
Davidroid	0:92706998571a	118	/* ACTION 4 ----------------------------------------------------------*
Davidroid	0:92706998571a	119	* Initialize here the component's member variables, one variable per *
Davidroid	0:92706998571a	120	* line. *
Davidroid	0:92706998571a	121	* *
Davidroid	0:92706998571a	122	* Example: *
Davidroid	7:3bb27256c3ed	123	* measure = 0; *
Davidroid	7:3bb27256c3ed	124	* instance_id = number_of_instances++; *
Davidroid	0:92706998571a	125	--------------------------------------------------------------------/
Davidroid	0:92706998571a	126	L6470_Register = &_L6470_Register[0];
Davidroid	0:92706998571a	127	L6470_ApplicationCommand = &_L6470_ApplicationCommand[0];
Davidroid	0:92706998571a	128	L6470_Direction = &_L6470_Direction[0];
Davidroid	0:92706998571a	129	L6470_ACT = &_L6470_ACT[0];
Davidroid	0:92706998571a	130	pL6470_StatusRegister = &L6470_StatusRegister;
Davidroid	1:b78dab6d2c58	131	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	132	L6470_Id = number_of_devices++;
Davidroid	0:92706998571a	133	L6470_DaisyChain_HalfPrepared = ZERO_F;
Davidroid	0:92706998571a	134	memset(L6470_AppCmdPkg, 0, L6470DAISYCHAINSIZE * sizeof(sL6470_AppCmdPkg_t));
Davidroid	0:92706998571a	135	memset(L6470_DaisyChainSpiTxStruct, 0, L6470MAXSPICMDBYTESIZE * L6470DAISYCHAINSIZE * sizeof(uint8_t));
Davidroid	0:92706998571a	136	memset(L6470_DaisyChainSpiRxStruct, 0, L6470MAXSPICMDBYTESIZE * L6470DAISYCHAINSIZE * sizeof(uint8_t));
Davidroid	0:92706998571a	137	}
Davidroid	0:92706998571a	138
Davidroid	0:92706998571a	139	/**
Davidroid	0:92706998571a	140	* @brief Destructor.
Davidroid	0:92706998571a	141	*/
Davidroid	0:92706998571a	142	virtual ~L6470(void) {}
Davidroid	0:92706998571a	143
Davidroid	0:92706998571a	144
Davidroid	0:92706998571a	145	/* Public Component Related Methods */
Davidroid	0:92706998571a	146
Davidroid	0:92706998571a	147	/* ACTION 5 --------------------------------------------------------------*
Davidroid	0:92706998571a	148	* Implement here the component's public methods, as wrappers of the C *
Davidroid	0:92706998571a	149	* component's functions. *
Davidroid	0:92706998571a	150	* They should be: *
Davidroid	0:92706998571a	151	* + Methods with the same name of the C component's virtual table's *
Davidroid	0:92706998571a	152	* functions (1); *
Davidroid	0:92706998571a	153	* + Methods with the same name of the C component's extended virtual *
Davidroid	0:92706998571a	154	* table's functions, if any (2). *
Davidroid	0:92706998571a	155	* *
Davidroid	0:92706998571a	156	* Example: *
Davidroid	14:e614697ebf34	157	* virtual int GetValue(float f) //(1)
Davidroid	0:92706998571a	158	* { *
Davidroid	14:e614697ebf34	159	* return COMPONENT_GetValue(float f);
Davidroid	0:92706998571a	160	* } *
Davidroid	0:92706998571a	161	* *
Davidroid	0:92706998571a	162	* virtual int EnableFeature(void) //(2) *
Davidroid	0:92706998571a	163	* { *
Davidroid	0:92706998571a	164	* return COMPONENT_EnableFeature(); *
Davidroid	0:92706998571a	165	* } *
Davidroid	0:92706998571a	166	------------------------------------------------------------------------/
Davidroid	1:b78dab6d2c58	167	/**
Davidroid	1:b78dab6d2c58	168	* @brief Initializing the component.
Davidroid	1:b78dab6d2c58	169	* @param init Pointer to device specific initalization structure.
Davidroid	1:b78dab6d2c58	170	* @retval "0" in case of success, an error code otherwise.
Davidroid	1:b78dab6d2c58	171	*/
Davidroid	0:92706998571a	172	virtual int Init(void *init)
Davidroid	0:92706998571a	173	{
Davidroid	13:25a579b9b7c3	174	return (int) L6470_Config((void *) init);
Davidroid	0:92706998571a	175	}
Davidroid	0:92706998571a	176
Davidroid	1:b78dab6d2c58	177	/**
Davidroid	1:b78dab6d2c58	178	* @brief Getting the ID of the component.
Davidroid	1:b78dab6d2c58	179	* @param id Pointer to an allocated variable to store the ID into.
Davidroid	1:b78dab6d2c58	180	* @retval "0" in case of success, an error code otherwise.
Davidroid	1:b78dab6d2c58	181	*/
Davidroid	0:92706998571a	182	virtual int ReadID(uint8_t *id)
Davidroid	0:92706998571a	183	{
Davidroid	0:92706998571a	184	return (int) 0;
Davidroid	0:92706998571a	185	}
Davidroid	0:92706998571a	186
Davidroid	1:b78dab6d2c58	187	/**
Davidroid	1:b78dab6d2c58	188	* @brief Getting the status.
Davidroid	1:b78dab6d2c58	189	* @param None.
Davidroid	1:b78dab6d2c58	190	* @retval The status.
Davidroid	1:b78dab6d2c58	191	*/
Davidroid	0:92706998571a	192	virtual unsigned int GetStatus(void)
Davidroid	0:92706998571a	193	{
Davidroid	0:92706998571a	194	return (unsigned int) L6470_GetStatus();
Davidroid	0:92706998571a	195	}
Davidroid	1:b78dab6d2c58	196
Davidroid	1:b78dab6d2c58	197	/**
Davidroid	1:b78dab6d2c58	198	* @brief Getting a parameter.
Davidroid	1:b78dab6d2c58	199	* @param parameter The parameter's identifier (or its register address).
Davidroid	1:b78dab6d2c58	200	* @retval The parameter's value.
Davidroid	1:b78dab6d2c58	201	*/
Davidroid	11:1aca63b2f034	202	virtual float GetParameter(unsigned int parameter)
Davidroid	0:92706998571a	203	{
Davidroid	11:1aca63b2f034	204	return (float) L6470_GetParam((eL6470_RegId_t) parameter);
Davidroid	0:92706998571a	205	}
Davidroid	0:92706998571a	206
Davidroid	1:b78dab6d2c58	207	/**
Davidroid	1:b78dab6d2c58	208	* @brief Getting the position.
Davidroid	1:b78dab6d2c58	209	* @param None.
Davidroid	1:b78dab6d2c58	210	* @retval The position.
Davidroid	1:b78dab6d2c58	211	*/
Davidroid	0:92706998571a	212	virtual signed int GetPosition(void)
Davidroid	0:92706998571a	213	{
Davidroid	1:b78dab6d2c58	214	return (signed int) L6470_AbsPos_2_Position((uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID));
Davidroid	0:92706998571a	215	}
Davidroid	0:92706998571a	216
Davidroid	1:b78dab6d2c58	217	/**
Davidroid	1:b78dab6d2c58	218	* @brief Getting the marked position.
Davidroid	1:b78dab6d2c58	219	* @param None.
Davidroid	1:b78dab6d2c58	220	* @retval The marked position.
Davidroid	1:b78dab6d2c58	221	*/
Davidroid	0:92706998571a	222	virtual signed int GetMark(void)
Davidroid	0:92706998571a	223	{
Davidroid	1:b78dab6d2c58	224	return (signed int) L6470_AbsPos_2_Position((uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_MARK_ID));
Davidroid	0:92706998571a	225	}
Davidroid	0:92706998571a	226
Davidroid	1:b78dab6d2c58	227	/**
Davidroid	1:b78dab6d2c58	228	* @brief Getting the current speed in pps.
Davidroid	1:b78dab6d2c58	229	* @param None.
Davidroid	1:b78dab6d2c58	230	* @retval The current speed in pps.
Davidroid	1:b78dab6d2c58	231	*/
Davidroid	0:92706998571a	232	virtual unsigned int GetSpeed(void)
Davidroid	0:92706998571a	233	{
Davidroid	1:b78dab6d2c58	234	return round(L6470_Speed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_SPEED_ID)));
Davidroid	0:92706998571a	235	}
Davidroid	0:92706998571a	236
Davidroid	1:b78dab6d2c58	237	/**
Davidroid	1:b78dab6d2c58	238	* @brief Getting the maximum speed in pps.
Davidroid	1:b78dab6d2c58	239	* @param None.
Davidroid	1:b78dab6d2c58	240	* @retval The maximum speed in pps.
Davidroid	1:b78dab6d2c58	241	*/
Davidroid	0:92706998571a	242	virtual unsigned int GetMaxSpeed(void)
Davidroid	0:92706998571a	243	{
Davidroid	1:b78dab6d2c58	244	return round(L6470_MaxSpeed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID)));
Davidroid	0:92706998571a	245	}
Davidroid	0:92706998571a	246
Davidroid	1:b78dab6d2c58	247	/**
Davidroid	1:b78dab6d2c58	248	* @brief Getting the minimum speed in pps.
Davidroid	1:b78dab6d2c58	249	* @param None.
Davidroid	1:b78dab6d2c58	250	* @retval The minimum speed in pps.
Davidroid	1:b78dab6d2c58	251	*/
Davidroid	0:92706998571a	252	virtual unsigned int GetMinSpeed(void)
Davidroid	0:92706998571a	253	{
Davidroid	1:b78dab6d2c58	254	return round(L6470_MinSpeed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID)));
Davidroid	0:92706998571a	255	}
Davidroid	0:92706998571a	256
Davidroid	1:b78dab6d2c58	257	/**
Davidroid	1:b78dab6d2c58	258	* @brief Getting the acceleration in pps^2.
Davidroid	1:b78dab6d2c58	259	* @param None.
Davidroid	1:b78dab6d2c58	260	* @retval The acceleration in pps^2.
Davidroid	1:b78dab6d2c58	261	*/
Davidroid	0:92706998571a	262	virtual unsigned int GetAcceleration(void)
Davidroid	0:92706998571a	263	{
Davidroid	1:b78dab6d2c58	264	return round(L6470_Acc_2_Step_s2((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_ACC_ID)));
Davidroid	0:92706998571a	265	}
Davidroid	0:92706998571a	266
Davidroid	1:b78dab6d2c58	267	/**
Davidroid	1:b78dab6d2c58	268	* @brief Getting the deceleration in pps^2.
Davidroid	1:b78dab6d2c58	269	* @param None.
Davidroid	1:b78dab6d2c58	270	* @retval The deceleration in pps^2.
Davidroid	1:b78dab6d2c58	271	*/
Davidroid	0:92706998571a	272	virtual unsigned int GetDeceleration(void)
Davidroid	0:92706998571a	273	{
Davidroid	1:b78dab6d2c58	274	return round(L6470_Dec_2_Step_s2((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_DEC_ID)));
Davidroid	0:92706998571a	275	}
Davidroid	0:92706998571a	276
Davidroid	1:b78dab6d2c58	277	/**
Davidroid	1:b78dab6d2c58	278	* @brief Getting the direction of rotation.
Davidroid	1:b78dab6d2c58	279	* @param None.
Davidroid	1:b78dab6d2c58	280	* @retval The direction of rotation.
Davidroid	1:b78dab6d2c58	281	*/
Davidroid	0:92706998571a	282	virtual direction_t GetDirection(void)
Davidroid	0:92706998571a	283	{
Davidroid	0:92706998571a	284	return (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD);
Davidroid	0:92706998571a	285	}
Davidroid	0:92706998571a	286
Davidroid	1:b78dab6d2c58	287	/**
Davidroid	1:b78dab6d2c58	288	* @brief Setting a parameter.
Davidroid	1:b78dab6d2c58	289	* @param parameter The parameter's identifier (or its register address).
Davidroid	1:b78dab6d2c58	290	* @param value The parameter's value.
Davidroid	1:b78dab6d2c58	291	* @retval None.
Davidroid	1:b78dab6d2c58	292	*/
Davidroid	11:1aca63b2f034	293	virtual void SetParameter(unsigned int parameter, float value)
Davidroid	0:92706998571a	294	{
Davidroid	0:92706998571a	295	L6470_SetParam((eL6470_RegId_t) parameter, (uint32_t) value);
Davidroid	0:92706998571a	296	}
Davidroid	0:92706998571a	297
Davidroid	1:b78dab6d2c58	298	/**
Davidroid	1:b78dab6d2c58	299	* @brief Setting the current position to be the home position.
Davidroid	1:b78dab6d2c58	300	* @param None.
Davidroid	1:b78dab6d2c58	301	* @retval None.
Davidroid	1:b78dab6d2c58	302	*/
Davidroid	0:92706998571a	303	virtual void SetHome(void)
Davidroid	0:92706998571a	304	{
Davidroid	0:92706998571a	305	L6470_ResetPos();
Davidroid	0:92706998571a	306	}
Davidroid	0:92706998571a	307
Davidroid	1:b78dab6d2c58	308	/**
Davidroid	1:b78dab6d2c58	309	* @brief Setting the current position to be the marked position.
Davidroid	1:b78dab6d2c58	310	* @param None.
Davidroid	1:b78dab6d2c58	311	* @retval None.
Davidroid	1:b78dab6d2c58	312	*/
Davidroid	0:92706998571a	313	virtual void SetMark(void)
Davidroid	0:92706998571a	314	{
Davidroid	0:92706998571a	315	L6470_SetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID));
Davidroid	0:92706998571a	316	}
Davidroid	0:92706998571a	317
Davidroid	1:b78dab6d2c58	318	/**
Davidroid	1:b78dab6d2c58	319	* @brief Setting the current position to be the marked position.
Davidroid	1:b78dab6d2c58	320	* @param position The given position.
Davidroid	1:b78dab6d2c58	321	* @retval None.
Davidroid	1:b78dab6d2c58	322	*/
Davidroid	1:b78dab6d2c58	323	virtual void SetMark(signed int position)
Davidroid	1:b78dab6d2c58	324	{
Davidroid	1:b78dab6d2c58	325	L6470_SetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
Davidroid	1:b78dab6d2c58	326	}
Davidroid	1:b78dab6d2c58	327
Davidroid	1:b78dab6d2c58	328	/**
Davidroid	1:b78dab6d2c58	329	* @brief Setting the maximum speed in pps.
Davidroid	1:b78dab6d2c58	330	* @param speed The maximum speed in pps.
Davidroid	1:b78dab6d2c58	331	* @retval None.
Davidroid	1:b78dab6d2c58	332	*/
Davidroid	0:92706998571a	333	virtual void SetMaxSpeed(unsigned int speed)
Davidroid	0:92706998571a	334	{
Davidroid	1:b78dab6d2c58	335	L6470_SetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) L6470_Step_s_2_MaxSpeed((float) speed));
Davidroid	0:92706998571a	336	}
Davidroid	0:92706998571a	337
Davidroid	1:b78dab6d2c58	338	/**
Davidroid	1:b78dab6d2c58	339	* @brief Setting the minimum speed in pps.
Davidroid	1:b78dab6d2c58	340	* @param speed The minimum speed in pps.
Davidroid	1:b78dab6d2c58	341	* @retval None.
Davidroid	1:b78dab6d2c58	342	*/
Davidroid	0:92706998571a	343	virtual void SetMinSpeed(unsigned int speed)
Davidroid	0:92706998571a	344	{
Davidroid	1:b78dab6d2c58	345	L6470_SetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) L6470_Step_s_2_MinSpeed((float) speed));
Davidroid	0:92706998571a	346	}
Davidroid	0:92706998571a	347
Davidroid	1:b78dab6d2c58	348	/**
Davidroid	1:b78dab6d2c58	349	* @brief Setting the acceleration in pps^2.
Davidroid	1:b78dab6d2c58	350	* @param acceleration The acceleration in pps^2.
Davidroid	1:b78dab6d2c58	351	* @retval None.
Davidroid	1:b78dab6d2c58	352	*/
Davidroid	0:92706998571a	353	virtual void SetAcceleration(unsigned int acceleration)
Davidroid	0:92706998571a	354	{
Davidroid	1:b78dab6d2c58	355	L6470_SetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) L6470_Step_s2_2_Acc((float) acceleration));
Davidroid	0:92706998571a	356	}
Davidroid	0:92706998571a	357
Davidroid	1:b78dab6d2c58	358	/**
Davidroid	1:b78dab6d2c58	359	* @brief Setting the deceleration in pps^2.
Davidroid	1:b78dab6d2c58	360	* @param deceleration The deceleration in pps^2.
Davidroid	1:b78dab6d2c58	361	* @retval None.
Davidroid	1:b78dab6d2c58	362	*/
Davidroid	0:92706998571a	363	virtual void SetDeceleration(unsigned int deceleration)
Davidroid	0:92706998571a	364	{
Davidroid	1:b78dab6d2c58	365	L6470_SetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) L6470_Step_s2_2_Dec((float) deceleration));
Davidroid	0:92706998571a	366	}
Davidroid	0:92706998571a	367
Davidroid	1:b78dab6d2c58	368	/**
Davidroid	1:b78dab6d2c58	369	* @brief Going to a specified position through the shortest path.
Davidroid	1:b78dab6d2c58	370	* @param position The desired position.
Davidroid	1:b78dab6d2c58	371	* @retval None.
Davidroid	1:b78dab6d2c58	372	*/
Davidroid	0:92706998571a	373	virtual void GoTo(signed int position)
Davidroid	0:92706998571a	374	{
Davidroid	1:b78dab6d2c58	375	L6470_GoTo((uint32_t) L6470_Position_2_AbsPos((int32_t) position));
Davidroid	0:92706998571a	376	}
Davidroid	0:92706998571a	377
Davidroid	1:b78dab6d2c58	378	/**
Davidroid	1:b78dab6d2c58	379	* @brief Going to a specified position imposing the desired direction.
Davidroid	1:b78dab6d2c58	380	* @param position The desired position.
Davidroid	1:b78dab6d2c58	381	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	382	* @retval None.
Davidroid	1:b78dab6d2c58	383	*/
Davidroid	0:92706998571a	384	virtual void GoTo(signed int position, direction_t direction)
Davidroid	0:92706998571a	385	{
Davidroid	1:b78dab6d2c58	386	L6470_GoToDir((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
Davidroid	0:92706998571a	387	}
Davidroid	0:92706998571a	388
Davidroid	1:b78dab6d2c58	389	/**
Davidroid	1:b78dab6d2c58	390	* @brief Going to the home position.
Davidroid	1:b78dab6d2c58	391	* @param None.
Davidroid	1:b78dab6d2c58	392	* @retval None.
Davidroid	1:b78dab6d2c58	393	*/
Davidroid	0:92706998571a	394	virtual void GoHome(void)
Davidroid	0:92706998571a	395	{
Davidroid	0:92706998571a	396	L6470_GoHome();
Davidroid	0:92706998571a	397	}
Davidroid	0:92706998571a	398
Davidroid	1:b78dab6d2c58	399	/**
Davidroid	1:b78dab6d2c58	400	* @brief Going to the marked position.
Davidroid	1:b78dab6d2c58	401	* @param None.
Davidroid	1:b78dab6d2c58	402	* @retval None.
Davidroid	1:b78dab6d2c58	403	*/
Davidroid	0:92706998571a	404	virtual void GoMark(void)
Davidroid	0:92706998571a	405	{
Davidroid	0:92706998571a	406	L6470_GoMark();
Davidroid	0:92706998571a	407	}
Davidroid	0:92706998571a	408
Davidroid	1:b78dab6d2c58	409	/**
Davidroid	1:b78dab6d2c58	410	* @brief Running at the given speed imposing the desired direction until
Davidroid	1:b78dab6d2c58	411	* an external switch turn-on event occurs.
Davidroid	1:b78dab6d2c58	412	* @param action The identifier of the action about the absolute position.
Davidroid	1:b78dab6d2c58	413	* @param position The desired position.
Davidroid	1:b78dab6d2c58	414	* @param speed The speed value in pps.
Davidroid	1:b78dab6d2c58	415	* @retval None.
Davidroid	1:b78dab6d2c58	416	* @note The identifier of the action about the absolute position can be
Davidroid	1:b78dab6d2c58	417	* one of the following:
Davidroid	1:b78dab6d2c58	418	* + L6470_ACT_RST_ID: the absolute position is reset;
Davidroid	1:b78dab6d2c58	419	* + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
Davidroid	1:b78dab6d2c58	420	*/
Davidroid	1:b78dab6d2c58	421	virtual void GoUntil(eL6470_ActId_t action, direction_t direction, unsigned int speed)
Davidroid	0:92706998571a	422	{
Davidroid	1:b78dab6d2c58	423	L6470_GoUntil((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_Step_s_2_Speed((float) speed));
Davidroid	0:92706998571a	424	}
Davidroid	0:92706998571a	425
Davidroid	1:b78dab6d2c58	426	/**
Davidroid	1:b78dab6d2c58	427	* @brief Running towards a specified direction.
Davidroid	1:b78dab6d2c58	428	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	429	* @retval None.
Davidroid	1:b78dab6d2c58	430	*/
Davidroid	0:92706998571a	431	virtual void Run(direction_t direction)
Davidroid	0:92706998571a	432	{
Davidroid	0:92706998571a	433	L6470_Run((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID));
Davidroid	0:92706998571a	434	}
Davidroid	0:92706998571a	435
Davidroid	1:b78dab6d2c58	436	/**
Davidroid	1:b78dab6d2c58	437	* @brief Running towards a specified direction at the given speed.
Davidroid	1:b78dab6d2c58	438	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	439	* @param speed The speed value in pps.
Davidroid	1:b78dab6d2c58	440	* @retval None.
Davidroid	1:b78dab6d2c58	441	*/
Davidroid	0:92706998571a	442	virtual void Run(direction_t direction, unsigned int speed)
Davidroid	0:92706998571a	443	{
Davidroid	1:b78dab6d2c58	444	L6470_Run((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_Step_s_2_Speed((float) speed));
Davidroid	0:92706998571a	445	}
Davidroid	0:92706998571a	446
Davidroid	1:b78dab6d2c58	447	/**
Davidroid	1:b78dab6d2c58	448	* @brief Moving towards a specified direction for a certain number of steps.
Davidroid	1:b78dab6d2c58	449	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	450	* @param steps The desired number of steps.
Davidroid	1:b78dab6d2c58	451	* @retval None.
Davidroid	1:b78dab6d2c58	452	*/
Davidroid	0:92706998571a	453	virtual void Move(direction_t direction, unsigned int steps)
Davidroid	0:92706998571a	454	{
Davidroid	0:92706998571a	455	L6470_Move((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) steps);
Davidroid	0:92706998571a	456	}
Davidroid	0:92706998571a	457
Davidroid	1:b78dab6d2c58	458	/**
Davidroid	1:b78dab6d2c58	459	* @brief Stopping the motor through an immediate deceleration up to zero speed.
Davidroid	1:b78dab6d2c58	460	* The used deceleration value is the one stored in the "DEC" register.
Davidroid	1:b78dab6d2c58	461	* @param None.
Davidroid	1:b78dab6d2c58	462	* @retval None.
Davidroid	1:b78dab6d2c58	463	*/
Davidroid	0:92706998571a	464	virtual void SoftStop(void)
Davidroid	0:92706998571a	465	{
Davidroid	0:92706998571a	466	L6470_SoftStop();
Davidroid	0:92706998571a	467	}
Davidroid	0:92706998571a	468
Davidroid	1:b78dab6d2c58	469	/**
Davidroid	1:b78dab6d2c58	470	* @brief Stopping the motor through an immediate infinite deceleration.
Davidroid	1:b78dab6d2c58	471	* @param None.
Davidroid	1:b78dab6d2c58	472	* @retval None.
Davidroid	1:b78dab6d2c58	473	*/
Davidroid	0:92706998571a	474	virtual void HardStop(void)
Davidroid	0:92706998571a	475	{
Davidroid	0:92706998571a	476	L6470_HardStop();
Davidroid	0:92706998571a	477	}
Davidroid	0:92706998571a	478
Davidroid	1:b78dab6d2c58	479	/**
Davidroid	1:b78dab6d2c58	480	* @brief Disabling the power bridge after performing a deceleration to zero.
Davidroid	1:b78dab6d2c58	481	* The used deceleration value is the one stored in the "DEC" register.
Davidroid	1:b78dab6d2c58	482	* @param None.
Davidroid	1:b78dab6d2c58	483	* @retval None.
Davidroid	1:b78dab6d2c58	484	*/
Davidroid	1:b78dab6d2c58	485	virtual void SoftHiZ(void)
Davidroid	1:b78dab6d2c58	486	{
Davidroid	1:b78dab6d2c58	487	L6470_SoftHiZ();
Davidroid	1:b78dab6d2c58	488	}
Davidroid	1:b78dab6d2c58	489
Davidroid	1:b78dab6d2c58	490	/**
Davidroid	1:b78dab6d2c58	491	* @brief Disabling the power bridge immediately.
Davidroid	1:b78dab6d2c58	492	* @param None.
Davidroid	1:b78dab6d2c58	493	* @retval None.
Davidroid	1:b78dab6d2c58	494	*/
Davidroid	1:b78dab6d2c58	495	virtual void HardHiZ(void)
Davidroid	1:b78dab6d2c58	496	{
Davidroid	1:b78dab6d2c58	497	L6470_HardHiZ();
Davidroid	1:b78dab6d2c58	498	}
Davidroid	1:b78dab6d2c58	499
Davidroid	1:b78dab6d2c58	500	/**
Davidroid	1:b78dab6d2c58	501	* @brief Waiting while the motor is active.
Davidroid	1:b78dab6d2c58	502	* @param None.
Davidroid	1:b78dab6d2c58	503	* @retval None.
Davidroid	1:b78dab6d2c58	504	*/
Davidroid	0:92706998571a	505	virtual void WaitWhileActive(void)
Davidroid	0:92706998571a	506	{
Davidroid	0:92706998571a	507	while (L6470_CheckStatusRegisterFlag(BUSY_ID) == 0);
Davidroid	0:92706998571a	508	}
Davidroid	0:92706998571a	509
Davidroid	1:b78dab6d2c58	510	/**
Davidroid	1:b78dab6d2c58	511	* @brief Switching to step-clock mode.
Davidroid	1:b78dab6d2c58	512	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	513	* @retval None.
Davidroid	1:b78dab6d2c58	514	*/
Davidroid	0:92706998571a	515	virtual void StepClock(direction_t direction)
Davidroid	0:92706998571a	516	{
Davidroid	0:92706998571a	517	L6470_StepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid	0:92706998571a	518	}
Davidroid	0:92706998571a	519
Davidroid	1:b78dab6d2c58	520	/**
Davidroid	1:b78dab6d2c58	521	* @brief Doing a motion at minimum speed imposing a specified direction
Davidroid	1:b78dab6d2c58	522	* until the SW is released.
Davidroid	1:b78dab6d2c58	523	* @param action The identifier of the action about the absolute position.
Davidroid	1:b78dab6d2c58	524	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	525	* @note The identifier of the action about the absolute position can be
Davidroid	1:b78dab6d2c58	526	* one of the following:
Davidroid	1:b78dab6d2c58	527	* + L6470_ACT_RST_ID: the absolute position is reset;
Davidroid	1:b78dab6d2c58	528	* + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
Davidroid	1:b78dab6d2c58	529	*/
Davidroid	1:b78dab6d2c58	530	virtual void ReleaseSW(eL6470_ActId_t action, direction_t direction)
Davidroid	0:92706998571a	531	{
Davidroid	1:b78dab6d2c58	532	L6470_ReleaseSW((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid	0:92706998571a	533	}
Davidroid	0:92706998571a	534
Davidroid	1:b78dab6d2c58	535	/**
Davidroid	1:b78dab6d2c58	536	* @brief Resetting the device to power-up conditions.
Davidroid	1:b78dab6d2c58	537	* @param None.
Davidroid	1:b78dab6d2c58	538	* @retval None.
Davidroid	1:b78dab6d2c58	539	*/
Davidroid	0:92706998571a	540	virtual void ResetDevice(void)
Davidroid	0:92706998571a	541	{
Davidroid	0:92706998571a	542	L6470_ResetDevice();
Davidroid	0:92706998571a	543	}
Davidroid	0:92706998571a	544
Davidroid	1:b78dab6d2c58	545	/**
Davidroid	1:b78dab6d2c58	546	* @brief Preparing the command to get the status.
Davidroid	1:b78dab6d2c58	547	* @param None.
Davidroid	1:b78dab6d2c58	548	* @retval None.
Davidroid	1:b78dab6d2c58	549	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	550	*/
Davidroid	0:92706998571a	551	virtual void PrepareGetStatus(void)
Davidroid	0:92706998571a	552	{
Davidroid	0:92706998571a	553	L6470_PrepareGetStatus();
Davidroid	1:b78dab6d2c58	554	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	555	}
Davidroid	0:92706998571a	556
Davidroid	1:b78dab6d2c58	557	/**
Davidroid	1:b78dab6d2c58	558	* @brief Preparing the command to get a parameter.
Davidroid	1:b78dab6d2c58	559	* @param parameter The parameter's identifier (or its register address).
Davidroid	1:b78dab6d2c58	560	* @retval None.
Davidroid	1:b78dab6d2c58	561	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	562	*/
Davidroid	0:92706998571a	563	virtual void PrepareGetParameter(unsigned int parameter)
Davidroid	0:92706998571a	564	{
Davidroid	0:92706998571a	565	L6470_PrepareGetParam((eL6470_RegId_t) parameter);
Davidroid	1:b78dab6d2c58	566	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	567	}
Davidroid	0:92706998571a	568
Davidroid	1:b78dab6d2c58	569	/**
Davidroid	1:b78dab6d2c58	570	* @brief Preparing the command to get the position.
Davidroid	1:b78dab6d2c58	571	* @param None.
Davidroid	1:b78dab6d2c58	572	* @retval None.
Davidroid	1:b78dab6d2c58	573	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	574	*/
Davidroid	0:92706998571a	575	virtual void PrepareGetPosition(void)
Davidroid	0:92706998571a	576	{
Davidroid	0:92706998571a	577	L6470_PrepareGetParam((eL6470_RegId_t) L6470_ABS_POS_ID);
Davidroid	1:b78dab6d2c58	578	prepared_action = PREPARED_GET_POSITION;
Davidroid	0:92706998571a	579	}
Davidroid	0:92706998571a	580
Davidroid	1:b78dab6d2c58	581	/**
Davidroid	1:b78dab6d2c58	582	* @brief Preparing the command to get the marked position.
Davidroid	1:b78dab6d2c58	583	* @param None.
Davidroid	1:b78dab6d2c58	584	* @retval None.
Davidroid	1:b78dab6d2c58	585	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	586	*/
Davidroid	0:92706998571a	587	virtual void PrepareGetMark(void)
Davidroid	0:92706998571a	588	{
Davidroid	0:92706998571a	589	L6470_PrepareGetParam((eL6470_RegId_t) L6470_MARK_ID);
Davidroid	1:b78dab6d2c58	590	prepared_action = PREPARED_GET_MARK;
Davidroid	0:92706998571a	591	}
Davidroid	0:92706998571a	592
Davidroid	1:b78dab6d2c58	593	/**
Davidroid	1:b78dab6d2c58	594	* @brief Preparing the command to get the current speed in pps.
Davidroid	1:b78dab6d2c58	595	* @param None.
Davidroid	1:b78dab6d2c58	596	* @retval None.
Davidroid	1:b78dab6d2c58	597	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	598	*/
Davidroid	0:92706998571a	599	virtual void PrepareGetSpeed(void)
Davidroid	0:92706998571a	600	{
Davidroid	1:b78dab6d2c58	601	L6470_PrepareGetParam((eL6470_RegId_t) L6470_SPEED_ID);
Davidroid	1:b78dab6d2c58	602	prepared_action = PREPARED_GET_SPEED;
Davidroid	0:92706998571a	603	}
Davidroid	0:92706998571a	604
Davidroid	1:b78dab6d2c58	605	/**
Davidroid	1:b78dab6d2c58	606	* @brief Preparing the command to get the maximum speed in pps.
Davidroid	1:b78dab6d2c58	607	* @param None.
Davidroid	1:b78dab6d2c58	608	* @retval None.
Davidroid	1:b78dab6d2c58	609	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	610	*/
Davidroid	0:92706998571a	611	virtual void PrepareGetMaxSpeed(void)
Davidroid	0:92706998571a	612	{
Davidroid	0:92706998571a	613	L6470_PrepareGetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID);
Davidroid	1:b78dab6d2c58	614	prepared_action = PREPARED_GET_MAX_SPEED;
Davidroid	0:92706998571a	615	}
Davidroid	0:92706998571a	616
Davidroid	1:b78dab6d2c58	617	/**
Davidroid	1:b78dab6d2c58	618	* @brief Preparing the command to get the minimum speed in pps.
Davidroid	1:b78dab6d2c58	619	* @param None.
Davidroid	1:b78dab6d2c58	620	* @retval None.
Davidroid	1:b78dab6d2c58	621	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	622	*/
Davidroid	0:92706998571a	623	virtual void PrepareGetMinSpeed(void)
Davidroid	0:92706998571a	624	{
Davidroid	0:92706998571a	625	L6470_PrepareGetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID);
Davidroid	1:b78dab6d2c58	626	prepared_action = PREPARED_GET_MIN_SPEED;
Davidroid	0:92706998571a	627	}
Davidroid	0:92706998571a	628
Davidroid	1:b78dab6d2c58	629	/**
Davidroid	1:b78dab6d2c58	630	* @brief Preparing the command to get the acceleration in pps^2.
Davidroid	1:b78dab6d2c58	631	* @param None.
Davidroid	1:b78dab6d2c58	632	* @retval None.
Davidroid	1:b78dab6d2c58	633	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	634	*/
Davidroid	0:92706998571a	635	virtual void PrepareGetAcceleration(void)
Davidroid	0:92706998571a	636	{
Davidroid	0:92706998571a	637	L6470_PrepareGetParam((eL6470_RegId_t) L6470_ACC_ID);
Davidroid	1:b78dab6d2c58	638	prepared_action = PREPARED_GET_ACCELERATION;
Davidroid	0:92706998571a	639	}
Davidroid	0:92706998571a	640
Davidroid	1:b78dab6d2c58	641	/**
Davidroid	1:b78dab6d2c58	642	* @brief Preparing the command to get the deceleration in pps^2.
Davidroid	1:b78dab6d2c58	643	* @param None.
Davidroid	1:b78dab6d2c58	644	* @retval None.
Davidroid	1:b78dab6d2c58	645	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	646	*/
Davidroid	0:92706998571a	647	virtual void PrepareGetDeceleration(void)
Davidroid	0:92706998571a	648	{
Davidroid	0:92706998571a	649	L6470_PrepareGetParam((eL6470_RegId_t) L6470_DEC_ID);
Davidroid	1:b78dab6d2c58	650	prepared_action = PREPARED_GET_DECELERATION;
Davidroid	0:92706998571a	651	}
Davidroid	0:92706998571a	652
Davidroid	1:b78dab6d2c58	653	/**
Davidroid	1:b78dab6d2c58	654	* @brief Preparing the command to get the direction of rotation.
Davidroid	1:b78dab6d2c58	655	* @param None.
Davidroid	1:b78dab6d2c58	656	* @retval None.
Davidroid	1:b78dab6d2c58	657	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	658	*/
Davidroid	1:b78dab6d2c58	659	virtual void PrepareGetDirection(void)
Davidroid	0:92706998571a	660	{
Davidroid	1:b78dab6d2c58	661	if (!L6470_DaisyChain_HalfPrepared)
Davidroid	1:b78dab6d2c58	662	{
Davidroid	1:b78dab6d2c58	663	/* To avoid deleting the previous entered command. */
Davidroid	1:b78dab6d2c58	664	L6470_DaisyChain_HalfPrepared = ONE_F;
Davidroid	1:b78dab6d2c58	665	/* Resetting commands. */
Davidroid	1:b78dab6d2c58	666	L6470_ResetAppCmdPkg(L6470_AppCmdPkg);
Davidroid	1:b78dab6d2c58	667	}
Davidroid	1:b78dab6d2c58	668	prepared_action = PREPARED_GET_DIRECTION;
Davidroid	0:92706998571a	669	}
Davidroid	0:92706998571a	670
Davidroid	1:b78dab6d2c58	671	/**
Davidroid	1:b78dab6d2c58	672	* @brief Preparing the command to set a parameter.
Davidroid	1:b78dab6d2c58	673	* @param parameter The parameter's identifier (or its register address).
Davidroid	1:b78dab6d2c58	674	* @param value The parameter's value.
Davidroid	1:b78dab6d2c58	675	* @retval None.
Davidroid	1:b78dab6d2c58	676	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	677	*/
Davidroid	0:92706998571a	678	virtual void PrepareSetParameter(unsigned int parameter, unsigned int value)
Davidroid	0:92706998571a	679	{
Davidroid	0:92706998571a	680	L6470_PrepareSetParam((eL6470_RegId_t) parameter, (uint32_t) value);
Davidroid	1:b78dab6d2c58	681	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	682	}
Davidroid	0:92706998571a	683
Davidroid	1:b78dab6d2c58	684	/**
Davidroid	1:b78dab6d2c58	685	* @brief Preparing the command to set the current position to be
Davidroid	1:b78dab6d2c58	686	* the home position.
Davidroid	1:b78dab6d2c58	687	* @param None.
Davidroid	1:b78dab6d2c58	688	* @retval None.
Davidroid	1:b78dab6d2c58	689	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	690	*/
Davidroid	0:92706998571a	691	virtual void PrepareSetHome(void)
Davidroid	0:92706998571a	692	{
Davidroid	0:92706998571a	693	L6470_PrepareResetPos();
Davidroid	1:b78dab6d2c58	694	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	695	}
Davidroid	0:92706998571a	696
Davidroid	1:b78dab6d2c58	697	/**
Davidroid	1:b78dab6d2c58	698	* @brief Preparing the command to set the current position to be
Davidroid	1:b78dab6d2c58	699	* the marked position.
Davidroid	1:b78dab6d2c58	700	* @param None.
Davidroid	1:b78dab6d2c58	701	* @retval None.
Davidroid	1:b78dab6d2c58	702	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	703	*/
Davidroid	0:92706998571a	704	virtual void PrepareSetMark(void)
Davidroid	0:92706998571a	705	{
Davidroid	1:b78dab6d2c58	706	/*
Davidroid	1:b78dab6d2c58	707	Set "0" now as marked position. This value will be replaced by the
Davidroid	1:b78dab6d2c58	708	actual position read at the time when the prepared actions will be
Davidroid	1:b78dab6d2c58	709	performed.
Davidroid	1:b78dab6d2c58	710	*/
Davidroid	1:b78dab6d2c58	711	L6470_PrepareSetParam((eL6470_RegId_t) L6470_MARK_ID, 0);
Davidroid	1:b78dab6d2c58	712	prepared_action = PREPARED_SET_MARK;
Davidroid	0:92706998571a	713	}
Davidroid	0:92706998571a	714
Davidroid	1:b78dab6d2c58	715	/**
Davidroid	1:b78dab6d2c58	716	* @brief Preparing the command to set the given position to be
Davidroid	1:b78dab6d2c58	717	* the marked position.
Davidroid	1:b78dab6d2c58	718	* @param position The given position.
Davidroid	1:b78dab6d2c58	719	* @retval None.
Davidroid	1:b78dab6d2c58	720	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	721	*/
Davidroid	1:b78dab6d2c58	722	virtual void PrepareSetMark(signed int position)
Davidroid	1:b78dab6d2c58	723	{
Davidroid	1:b78dab6d2c58	724	L6470_PrepareSetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
Davidroid	1:b78dab6d2c58	725	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	726	}
Davidroid	1:b78dab6d2c58	727
Davidroid	1:b78dab6d2c58	728	/**
Davidroid	1:b78dab6d2c58	729	* @brief Preparing the command to set the current speed in pps.
Davidroid	1:b78dab6d2c58	730	* @param speed The current speed in pps.
Davidroid	1:b78dab6d2c58	731	* @retval None.
Davidroid	1:b78dab6d2c58	732	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	733	*/
Davidroid	1:b78dab6d2c58	734	virtual void PrepareSetSpeed(unsigned int speed)
Davidroid	1:b78dab6d2c58	735	{
Davidroid	1:b78dab6d2c58	736	L6470_PrepareSetParam((eL6470_RegId_t) L6470_SPEED_ID, (uint32_t) L6470_Step_s_2_Speed((float) speed));
Davidroid	1:b78dab6d2c58	737	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	738	}
Davidroid	1:b78dab6d2c58	739
Davidroid	1:b78dab6d2c58	740	/**
Davidroid	1:b78dab6d2c58	741	* @brief Preparing the command to set the maximum speed in pps.
Davidroid	1:b78dab6d2c58	742	* @param speed The maximum speed in pps.
Davidroid	1:b78dab6d2c58	743	* @retval None.
Davidroid	1:b78dab6d2c58	744	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	745	*/
Davidroid	0:92706998571a	746	virtual void PrepareSetMaxSpeed(unsigned int speed)
Davidroid	0:92706998571a	747	{
Davidroid	1:b78dab6d2c58	748	L6470_PrepareSetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) L6470_Step_s_2_MaxSpeed((float) speed));
Davidroid	1:b78dab6d2c58	749	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	750	}
Davidroid	0:92706998571a	751
Davidroid	1:b78dab6d2c58	752	/**
Davidroid	1:b78dab6d2c58	753	* @brief Preparing the command to set the minimum speed in pps.
Davidroid	1:b78dab6d2c58	754	* @param speed The minimum speed in pps.
Davidroid	1:b78dab6d2c58	755	* @retval None.
Davidroid	1:b78dab6d2c58	756	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	757	*/
Davidroid	1:b78dab6d2c58	758	virtual void PrepareSetMinSpeed(unsigned int speed)
Davidroid	1:b78dab6d2c58	759	{
Davidroid	1:b78dab6d2c58	760	L6470_PrepareSetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) L6470_Step_s_2_MinSpeed((float) speed));
Davidroid	1:b78dab6d2c58	761	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	762	}
Davidroid	1:b78dab6d2c58	763
Davidroid	1:b78dab6d2c58	764	/**
Davidroid	1:b78dab6d2c58	765	* @brief Preparing the command to set the acceleration in pps^2.
Davidroid	1:b78dab6d2c58	766	* @param acceleration The acceleration in pps^2.
Davidroid	1:b78dab6d2c58	767	* @retval None.
Davidroid	1:b78dab6d2c58	768	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	769	*/
Davidroid	0:92706998571a	770	virtual void PrepareSetAcceleration(unsigned int acceleration)
Davidroid	0:92706998571a	771	{
Davidroid	1:b78dab6d2c58	772	L6470_PrepareSetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) L6470_Step_s2_2_Acc((float) acceleration));
Davidroid	1:b78dab6d2c58	773	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	774	}
Davidroid	0:92706998571a	775
Davidroid	1:b78dab6d2c58	776	/**
Davidroid	1:b78dab6d2c58	777	* @brief Preparing the command to set the deceleration in pps^2.
Davidroid	1:b78dab6d2c58	778	* @param deceleration The deceleration in pps^2.
Davidroid	1:b78dab6d2c58	779	* @retval None.
Davidroid	1:b78dab6d2c58	780	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	781	*/
Davidroid	1:b78dab6d2c58	782	virtual void PrepareSetDeceleration(unsigned int deceleration)
Davidroid	0:92706998571a	783	{
Davidroid	1:b78dab6d2c58	784	L6470_PrepareSetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) L6470_Step_s2_2_Dec((float) deceleration));
Davidroid	1:b78dab6d2c58	785	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	786	}
Davidroid	0:92706998571a	787
Davidroid	1:b78dab6d2c58	788	/**
Davidroid	1:b78dab6d2c58	789	* @brief Preparing the command to go to a specified position.
Davidroid	1:b78dab6d2c58	790	* @param position The desired position.
Davidroid	1:b78dab6d2c58	791	* @retval None.
Davidroid	1:b78dab6d2c58	792	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	793	*/
Davidroid	1:b78dab6d2c58	794	virtual void PrepareGoTo(signed int position)
Davidroid	1:b78dab6d2c58	795	{
Davidroid	1:b78dab6d2c58	796	L6470_PrepareGoTo((uint32_t) L6470_Position_2_AbsPos((int32_t) position));
Davidroid	1:b78dab6d2c58	797	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	798	}
Davidroid	1:b78dab6d2c58	799
Davidroid	1:b78dab6d2c58	800	/**
Davidroid	1:b78dab6d2c58	801	* @brief Preparing the command to go to a specified position
Davidroid	1:b78dab6d2c58	802	* imposing the desired direction.
Davidroid	1:b78dab6d2c58	803	* @param position The desired position.
Davidroid	1:b78dab6d2c58	804	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	805	* @retval None.
Davidroid	1:b78dab6d2c58	806	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	807	*/
Davidroid	0:92706998571a	808	virtual void PrepareGoTo(signed int position, direction_t direction)
Davidroid	0:92706998571a	809	{
Davidroid	1:b78dab6d2c58	810	L6470_PrepareGoToDir((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
Davidroid	1:b78dab6d2c58	811	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	812	}
Davidroid	0:92706998571a	813
Davidroid	1:b78dab6d2c58	814	/**
Davidroid	1:b78dab6d2c58	815	* @brief Preparing the command to go to the home position.
Davidroid	1:b78dab6d2c58	816	* @param None.
Davidroid	1:b78dab6d2c58	817	* @retval None.
Davidroid	1:b78dab6d2c58	818	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	819	*/
Davidroid	0:92706998571a	820	virtual void PrepareGoHome(void)
Davidroid	0:92706998571a	821	{
Davidroid	0:92706998571a	822	L6470_PrepareGoHome();
Davidroid	1:b78dab6d2c58	823	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	824	}
Davidroid	0:92706998571a	825
Davidroid	1:b78dab6d2c58	826	/**
Davidroid	1:b78dab6d2c58	827	* @brief Preparing the command to go to the marked position.
Davidroid	1:b78dab6d2c58	828	* @param None.
Davidroid	1:b78dab6d2c58	829	* @retval None.
Davidroid	1:b78dab6d2c58	830	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	831	*/
Davidroid	0:92706998571a	832	virtual void PrepareGoMark(void)
Davidroid	0:92706998571a	833	{
Davidroid	0:92706998571a	834	L6470_PrepareGoMark();
Davidroid	1:b78dab6d2c58	835	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	836	}
Davidroid	0:92706998571a	837
Davidroid	1:b78dab6d2c58	838	/**
Davidroid	1:b78dab6d2c58	839	* @brief Preparing the command to run at the given speed imposing the desired
Davidroid	1:b78dab6d2c58	840	* direction until an external switch turn-on event occurs.
Davidroid	1:b78dab6d2c58	841	* @param action The identifier of the action about the absolute position.
Davidroid	1:b78dab6d2c58	842	* @param position The desired position.
Davidroid	1:b78dab6d2c58	843	* @param speed The speed value in pps.
Davidroid	1:b78dab6d2c58	844	* @retval None.
Davidroid	1:b78dab6d2c58	845	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	846	* The identifier of the action about the absolute position can be
Davidroid	1:b78dab6d2c58	847	* one of the following:
Davidroid	1:b78dab6d2c58	848	* + L6470_ACT_RST_ID: the absolute position is reset;
Davidroid	1:b78dab6d2c58	849	* + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
Davidroid	1:b78dab6d2c58	850	*/
Davidroid	0:92706998571a	851	virtual void PrepareGoUntil(eL6470_ActId_t L6470_ActId, direction_t direction, unsigned int speed)
Davidroid	0:92706998571a	852	{
Davidroid	1:b78dab6d2c58	853	L6470_PrepareGoUntil((eL6470_ActId_t) L6470_ActId, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_Step_s_2_Speed((float) speed));
Davidroid	1:b78dab6d2c58	854	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	855	}
Davidroid	0:92706998571a	856
Davidroid	1:b78dab6d2c58	857	/**
Davidroid	1:b78dab6d2c58	858	* @brief Preparing the command to run towards a specified direction
Davidroid	1:b78dab6d2c58	859	* at the maximum speed.
Davidroid	1:b78dab6d2c58	860	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	861	* @retval None.
Davidroid	1:b78dab6d2c58	862	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	863	*/
Davidroid	0:92706998571a	864	virtual void PrepareRun(direction_t direction)
Davidroid	0:92706998571a	865	{
Davidroid	0:92706998571a	866	L6470_PrepareRun((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID));
Davidroid	1:b78dab6d2c58	867	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	868	}
Davidroid	0:92706998571a	869
Davidroid	1:b78dab6d2c58	870	/**
Davidroid	1:b78dab6d2c58	871	* @brief Preparing the command to run towards a specified direction
Davidroid	1:b78dab6d2c58	872	* at the given speed.
Davidroid	1:b78dab6d2c58	873	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	874	* @param speed The speed value in pps.
Davidroid	1:b78dab6d2c58	875	* @retval None.
Davidroid	1:b78dab6d2c58	876	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	877	*/
Davidroid	0:92706998571a	878	virtual void PrepareRun(direction_t direction, unsigned int speed)
Davidroid	0:92706998571a	879	{
Davidroid	1:b78dab6d2c58	880	L6470_PrepareRun((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_Step_s_2_Speed((float) speed));
Davidroid	1:b78dab6d2c58	881	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	882	}
Davidroid	0:92706998571a	883
Davidroid	1:b78dab6d2c58	884	/**
Davidroid	1:b78dab6d2c58	885	* @brief Preparing the command to move towards a specified direction
Davidroid	1:b78dab6d2c58	886	* for a certain number of steps.
Davidroid	1:b78dab6d2c58	887	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	888	* @param steps The desired number of steps.
Davidroid	1:b78dab6d2c58	889	* @retval None.
Davidroid	1:b78dab6d2c58	890	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	891	*/
Davidroid	0:92706998571a	892	virtual void PrepareMove(direction_t direction, unsigned int steps)
Davidroid	0:92706998571a	893	{
Davidroid	0:92706998571a	894	L6470_PrepareMove((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) steps);
Davidroid	1:b78dab6d2c58	895	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	896	}
Davidroid	0:92706998571a	897
Davidroid	1:b78dab6d2c58	898	/**
Davidroid	1:b78dab6d2c58	899	* @brief Preparing the command to stop the motor.
Davidroid	1:b78dab6d2c58	900	* @param None.
Davidroid	1:b78dab6d2c58	901	* @retval None.
Davidroid	1:b78dab6d2c58	902	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	903	*/
Davidroid	0:92706998571a	904	virtual void PrepareSoftStop(void)
Davidroid	0:92706998571a	905	{
Davidroid	0:92706998571a	906	L6470_PrepareSoftStop();
Davidroid	1:b78dab6d2c58	907	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	908	}
Davidroid	0:92706998571a	909
Davidroid	1:b78dab6d2c58	910	/**
Davidroid	1:b78dab6d2c58	911	* @brief Preparing the command to stop the motor and disabling the power bridge.
Davidroid	1:b78dab6d2c58	912	* @param None.
Davidroid	1:b78dab6d2c58	913	* @retval None.
Davidroid	1:b78dab6d2c58	914	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	915	*/
Davidroid	0:92706998571a	916	virtual void PrepareHardStop(void)
Davidroid	0:92706998571a	917	{
Davidroid	0:92706998571a	918	L6470_PrepareHardStop();
Davidroid	1:b78dab6d2c58	919	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	920	}
Davidroid	0:92706998571a	921
Davidroid	1:b78dab6d2c58	922	/**
Davidroid	1:b78dab6d2c58	923	* @brief Preparing the command to disable the power bridge after performing
Davidroid	1:b78dab6d2c58	924	* a deceleration to zero.
Davidroid	1:b78dab6d2c58	925	* The used deceleration value is the one stored in the "DEC" register.
Davidroid	1:b78dab6d2c58	926	* @param None.
Davidroid	1:b78dab6d2c58	927	* @retval None.
Davidroid	1:b78dab6d2c58	928	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	929	*/
Davidroid	0:92706998571a	930	virtual void PrepareSoftHiZ(void)
Davidroid	0:92706998571a	931	{
Davidroid	0:92706998571a	932	L6470_PrepareSoftHiZ();
Davidroid	1:b78dab6d2c58	933	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	934	}
Davidroid	0:92706998571a	935
Davidroid	1:b78dab6d2c58	936	/**
Davidroid	1:b78dab6d2c58	937	* @brief Preparing the command to disable the power bridge immediately.
Davidroid	1:b78dab6d2c58	938	* @param None.
Davidroid	1:b78dab6d2c58	939	* @retval None.
Davidroid	1:b78dab6d2c58	940	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	941	*/
Davidroid	0:92706998571a	942	virtual void PrepareHardHiZ(void)
Davidroid	0:92706998571a	943	{
Davidroid	0:92706998571a	944	L6470_PrepareHardHiZ();
Davidroid	1:b78dab6d2c58	945	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	946	}
Davidroid	1:b78dab6d2c58	947
Davidroid	1:b78dab6d2c58	948	/**
Davidroid	1:b78dab6d2c58	949	* @brief Preparing the command to switch to step-clock mode.
Davidroid	1:b78dab6d2c58	950	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	951	* @retval None.
Davidroid	1:b78dab6d2c58	952	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	953	*/
Davidroid	1:b78dab6d2c58	954	virtual void PrepareStepClock(direction_t direction)
Davidroid	1:b78dab6d2c58	955	{
Davidroid	1:b78dab6d2c58	956	L6470_PrepareStepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid	1:b78dab6d2c58	957	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	958	}
Davidroid	0:92706998571a	959
Davidroid	1:b78dab6d2c58	960	/**
Davidroid	1:b78dab6d2c58	961	* @brief Preparing the command to do a motion at minimum speed
Davidroid	1:b78dab6d2c58	962	* imposing a specified direction until the SW is released.
Davidroid	1:b78dab6d2c58	963	* @param action The identifier of the action about the absolute position.
Davidroid	1:b78dab6d2c58	964	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	965	* @retval None.
Davidroid	1:b78dab6d2c58	966	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	967	* The identifier of the action about the absolute position can be
Davidroid	1:b78dab6d2c58	968	* one of the following:
Davidroid	1:b78dab6d2c58	969	* + L6470_ACT_RST_ID: the absolute position is reset;
Davidroid	1:b78dab6d2c58	970	* + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
Davidroid	1:b78dab6d2c58	971	*/
Davidroid	1:b78dab6d2c58	972	virtual void PrepareReleaseSW(eL6470_ActId_t action, direction_t direction)
Davidroid	0:92706998571a	973	{
Davidroid	1:b78dab6d2c58	974	L6470_PrepareReleaseSW((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid	1:b78dab6d2c58	975	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	976	}
Davidroid	1:b78dab6d2c58	977
Davidroid	1:b78dab6d2c58	978	/**
Davidroid	1:b78dab6d2c58	979	* @brief Preparing the command to reset the device to power-up conditions.
Davidroid	1:b78dab6d2c58	980	* @param None.
Davidroid	1:b78dab6d2c58	981	* @retval None.
Davidroid	1:b78dab6d2c58	982	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	983	*/
Davidroid	1:b78dab6d2c58	984	virtual void PrepareResetDevice(void)
Davidroid	1:b78dab6d2c58	985	{
Davidroid	1:b78dab6d2c58	986	L6470_PrepareResetDevice();
Davidroid	1:b78dab6d2c58	987	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	988	}
Davidroid	0:92706998571a	989
Davidroid	1:b78dab6d2c58	990	/**
Davidroid	1:b78dab6d2c58	991	* @brief Performing all the actions prepared on the components
Davidroid	1:b78dab6d2c58	992	* of the daisy-chain.
Davidroid	1:b78dab6d2c58	993	* @param None.
Davidroid	1:b78dab6d2c58	994	* @retval The raw data returned by the components.
Davidroid	1:b78dab6d2c58	995	*/
Davidroid	1:b78dab6d2c58	996	uint8_t* PerformPreparedActions(void)
Davidroid	0:92706998571a	997	{
Davidroid	1:b78dab6d2c58	998	return L6470_PerformPreparedApplicationCommand();
Davidroid	1:b78dab6d2c58	999	}
Davidroid	1:b78dab6d2c58	1000
Davidroid	1:b78dab6d2c58	1001	/**
Davidroid	1:b78dab6d2c58	1002	* @brief Getting the prepared action.
Davidroid	1:b78dab6d2c58	1003	* @param None
Davidroid	1:b78dab6d2c58	1004	* @retval The prepared action.
Davidroid	1:b78dab6d2c58	1005	*/
Davidroid	1:b78dab6d2c58	1006	prepared_action_t GetPreparedAction(void)
Davidroid	1:b78dab6d2c58	1007	{
Davidroid	1:b78dab6d2c58	1008	return prepared_action;
Davidroid	0:92706998571a	1009	}
Davidroid	0:92706998571a	1010
Davidroid	1:b78dab6d2c58	1011	/**
Davidroid	1:b78dab6d2c58	1012	* @brief Converting the raw data received by the component according to
Davidroid	1:b78dab6d2c58	1013	* the action performed on it.
Davidroid	1:b78dab6d2c58	1014	* @param raw_data The received raw data.
Davidroid	1:b78dab6d2c58	1015	* @retval The result of the action performed.
Davidroid	1:b78dab6d2c58	1016	*/
Davidroid	1:b78dab6d2c58	1017	int32_t GetResult(uint8_t *raw_data)
Davidroid	0:92706998571a	1018	{
Davidroid	1:b78dab6d2c58	1019	switch (prepared_action)
Davidroid	1:b78dab6d2c58	1020	{
Davidroid	1:b78dab6d2c58	1021	case PREPARED_GET_POSITION:
Davidroid	1:b78dab6d2c58	1022	return L6470_AbsPos_2_Position(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_ABS_POS_ID].LengthByte));
Davidroid	1:b78dab6d2c58	1023
Davidroid	1:b78dab6d2c58	1024	case PREPARED_GET_MARK:
Davidroid	1:b78dab6d2c58	1025	return L6470_AbsPos_2_Position(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MARK_ID].LengthByte));
Davidroid	0:92706998571a	1026
Davidroid	1:b78dab6d2c58	1027	case PREPARED_GET_SPEED:
Davidroid	1:b78dab6d2c58	1028	return round(L6470_Speed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_SPEED_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1029
Davidroid	1:b78dab6d2c58	1030	case PREPARED_GET_MAX_SPEED:
Davidroid	1:b78dab6d2c58	1031	return round(L6470_MaxSpeed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MAX_SPEED_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1032
Davidroid	1:b78dab6d2c58	1033	case PREPARED_GET_MIN_SPEED:
Davidroid	1:b78dab6d2c58	1034	return round(L6470_MinSpeed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MIN_SPEED_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1035
Davidroid	1:b78dab6d2c58	1036	case PREPARED_GET_ACCELERATION:
Davidroid	1:b78dab6d2c58	1037	return round(L6470_Acc_2_Step_s2(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_ACC_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1038
Davidroid	1:b78dab6d2c58	1039	case PREPARED_GET_DECELERATION:
Davidroid	1:b78dab6d2c58	1040	return round(L6470_Dec_2_Step_s2(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_DEC_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1041
Davidroid	1:b78dab6d2c58	1042	case PREPARED_GET_DIRECTION:
Davidroid	1:b78dab6d2c58	1043	return (int32_t) (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD);
Davidroid	1:b78dab6d2c58	1044
Davidroid	1:b78dab6d2c58	1045	default:
Davidroid	1:b78dab6d2c58	1046	case PREPARED_NO_ACTION:
Davidroid	1:b78dab6d2c58	1047	return 0;
Davidroid	1:b78dab6d2c58	1048	}
Davidroid	0:92706998571a	1049	}
Davidroid	0:92706998571a	1050
Davidroid	0:92706998571a	1051
Davidroid	0:92706998571a	1052	/* Public Interrupt Related Methods */
Davidroid	0:92706998571a	1053
Davidroid	0:92706998571a	1054	/* ACTION 6 --------------------------------------------------------------*
Davidroid	0:92706998571a	1055	* Implement here interrupt related methods, if any. *
Davidroid	0:92706998571a	1056	* Note that interrupt handling is platform dependent, e.g.: *
Davidroid	0:92706998571a	1057	* + mbed: *
Davidroid	14:e614697ebf34	1058	* InterruptIn feature_irq(pin); //Interrupt object. *
Davidroid	14:e614697ebf34	1059	* feature_irq.fall(callback); //Attach a callback. *
Davidroid	14:e614697ebf34	1060	* feature_irq.mode(PullNone); //Set interrupt mode. *
Davidroid	14:e614697ebf34	1061	* feature_irq.enable_irq(); //Enable interrupt. *
Davidroid	14:e614697ebf34	1062	* feature_irq.disable_irq(); //Disable interrupt. *
Davidroid	0:92706998571a	1063	* + Arduino: *
Davidroid	0:92706998571a	1064	* attachInterrupt(pin, callback, RISING); //Attach a callback. *
Davidroid	0:92706998571a	1065	* detachInterrupt(pin); //Detach a callback. *
Davidroid	0:92706998571a	1066	* *
Davidroid	0:92706998571a	1067	* Example (mbed): *
Davidroid	0:92706998571a	1068	* void AttachFeatureIRQ(void (fptr) (void))
Davidroid	0:92706998571a	1069	* { *
Davidroid	14:e614697ebf34	1070	* feature_irq.fall(fptr); *
Davidroid	0:92706998571a	1071	* } *
Davidroid	0:92706998571a	1072	* *
Davidroid	0:92706998571a	1073	* void EnableFeatureIRQ(void) *
Davidroid	0:92706998571a	1074	* { *
Davidroid	0:92706998571a	1075	* feature_irq.enable_irq(); *
Davidroid	0:92706998571a	1076	* } *
Davidroid	0:92706998571a	1077	* *
Davidroid	0:92706998571a	1078	* void DisableFeatureIRQ(void) *
Davidroid	0:92706998571a	1079	* { *
Davidroid	0:92706998571a	1080	* feature_irq.disable_irq(); *
Davidroid	0:92706998571a	1081	* } *
Davidroid	0:92706998571a	1082	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1083	/**
Davidroid	1:b78dab6d2c58	1084	* @brief Attaching an interrupt handler to the FLAG interrupt.
Davidroid	1:b78dab6d2c58	1085	* @param fptr An interrupt handler.
Davidroid	0:92706998571a	1086	* @retval None.
Davidroid	0:92706998571a	1087	*/
Davidroid	0:92706998571a	1088	void AttachFlagIRQ(void (*fptr)(void))
Davidroid	0:92706998571a	1089	{
Davidroid	11:1aca63b2f034	1090	flag_irq.fall(fptr);
Davidroid	0:92706998571a	1091	}
Davidroid	0:92706998571a	1092
Davidroid	0:92706998571a	1093	/**
Davidroid	1:b78dab6d2c58	1094	* @brief Enabling the FLAG interrupt handling.
Davidroid	0:92706998571a	1095	* @param None.
Davidroid	0:92706998571a	1096	* @retval None.
Davidroid	0:92706998571a	1097	*/
Davidroid	0:92706998571a	1098	void EnableFlagIRQ(void)
Davidroid	0:92706998571a	1099	{
Davidroid	0:92706998571a	1100	flag_irq.enable_irq();
Davidroid	0:92706998571a	1101	}
Davidroid	0:92706998571a	1102
Davidroid	0:92706998571a	1103	/**
Davidroid	1:b78dab6d2c58	1104	* @brief Disabling the FLAG interrupt handling.
Davidroid	0:92706998571a	1105	* @param None.
Davidroid	0:92706998571a	1106	* @retval None.
Davidroid	0:92706998571a	1107	*/
Davidroid	0:92706998571a	1108	void DisableFlagIRQ(void)
Davidroid	0:92706998571a	1109	{
Davidroid	0:92706998571a	1110	flag_irq.disable_irq();
Davidroid	0:92706998571a	1111	}
Davidroid	0:92706998571a	1112
Davidroid	1:b78dab6d2c58	1113	/**
Davidroid	1:b78dab6d2c58	1114	* @brief Attaching an interrupt handler to the BUSY interrupt.
Davidroid	1:b78dab6d2c58	1115	* @param fptr An interrupt handler.
Davidroid	1:b78dab6d2c58	1116	* @retval None.
Davidroid	1:b78dab6d2c58	1117	*/
Davidroid	1:b78dab6d2c58	1118	void AttachBusyIRQ(void (*fptr)(void))
Davidroid	1:b78dab6d2c58	1119	{
Davidroid	11:1aca63b2f034	1120	busy_irq.fall(fptr);
Davidroid	1:b78dab6d2c58	1121	}
Davidroid	1:b78dab6d2c58	1122
Davidroid	1:b78dab6d2c58	1123	/**
Davidroid	1:b78dab6d2c58	1124	* @brief Enabling the BUSY interrupt handling.
Davidroid	1:b78dab6d2c58	1125	* @param None.
Davidroid	1:b78dab6d2c58	1126	* @retval None.
Davidroid	1:b78dab6d2c58	1127	*/
Davidroid	1:b78dab6d2c58	1128	void EnableBusyIRQ(void)
Davidroid	1:b78dab6d2c58	1129	{
Davidroid	1:b78dab6d2c58	1130	busy_irq.enable_irq();
Davidroid	1:b78dab6d2c58	1131	}
Davidroid	1:b78dab6d2c58	1132
Davidroid	1:b78dab6d2c58	1133	/**
Davidroid	1:b78dab6d2c58	1134	* @brief Disabling the BUSY interrupt handling.
Davidroid	1:b78dab6d2c58	1135	* @param None.
Davidroid	1:b78dab6d2c58	1136	* @retval None.
Davidroid	1:b78dab6d2c58	1137	*/
Davidroid	1:b78dab6d2c58	1138	void DisableBusyIRQ(void)
Davidroid	1:b78dab6d2c58	1139	{
Davidroid	1:b78dab6d2c58	1140	busy_irq.disable_irq();
Davidroid	1:b78dab6d2c58	1141	}
Davidroid	1:b78dab6d2c58	1142
Davidroid	0:92706998571a	1143
Davidroid	0:92706998571a	1144	protected:
Davidroid	0:92706998571a	1145
Davidroid	0:92706998571a	1146	/* Protected Component Related Methods */
Davidroid	0:92706998571a	1147
Davidroid	0:92706998571a	1148	/* ACTION 7 --------------------------------------------------------------*
Davidroid	0:92706998571a	1149	* Declare here the component's specific methods. *
Davidroid	0:92706998571a	1150	* They should be: *
Davidroid	0:92706998571a	1151	* + Methods with the same name of the C component's virtual table's *
Davidroid	0:92706998571a	1152	* functions (1); *
Davidroid	0:92706998571a	1153	* + Methods with the same name of the C component's extended virtual *
Davidroid	0:92706998571a	1154	* table's functions, if any (2); *
Davidroid	0:92706998571a	1155	* + Helper methods, if any, like functions declared in the component's *
Davidroid	0:92706998571a	1156	* source files but not pointed by the component's virtual table (3). *
Davidroid	0:92706998571a	1157	* *
Davidroid	0:92706998571a	1158	* Example: *
Davidroid	14:e614697ebf34	1159	* Status_t COMPONENT_GetValue(float f); //(1)
Davidroid	14:e614697ebf34	1160	* Status_t COMPONENT_EnableFeature(void); //(2) *
Davidroid	14:e614697ebf34	1161	* Status_t COMPONENT_ComputeAverage(void); //(3) *
Davidroid	0:92706998571a	1162	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1163	int32_t L6470_AbsPos_2_Position(uint32_t AbsPos);
Davidroid	0:92706998571a	1164	uint32_t L6470_Position_2_AbsPos(int32_t Position);
Davidroid	0:92706998571a	1165	float L6470_Speed_2_Step_s(uint32_t Speed);
Davidroid	0:92706998571a	1166	uint32_t L6470_Step_s_2_Speed(float Step_s);
Davidroid	0:92706998571a	1167	float L6470_Acc_2_Step_s2(uint16_t Acc);
Davidroid	0:92706998571a	1168	uint16_t L6470_Step_s2_2_Acc(float Step_s2);
Davidroid	0:92706998571a	1169	float L6470_Dec_2_Step_s2(uint16_t Dec);
Davidroid	0:92706998571a	1170	uint16_t L6470_Step_s2_2_Dec(float Step_s2);
Davidroid	0:92706998571a	1171	float L6470_MaxSpeed_2_Step_s(uint16_t MaxSpeed);
Davidroid	0:92706998571a	1172	uint16_t L6470_Step_s_2_MaxSpeed(float Step_s);
Davidroid	0:92706998571a	1173	float L6470_MinSpeed_2_Step_s(uint16_t MinSpeed);
Davidroid	0:92706998571a	1174	uint16_t L6470_Step_s_2_MinSpeed(float Step_s);
Davidroid	0:92706998571a	1175	float L6470_FsSpd_2_Step_s(uint16_t FsSpd);
Davidroid	0:92706998571a	1176	uint16_t L6470_Step_s_2_FsSpd(float Step_s);
Davidroid	0:92706998571a	1177	float L6470_IntSpeed_2_Step_s(uint16_t IntSpeed);
Davidroid	0:92706998571a	1178	uint16_t L6470_Step_s_2_IntSpeed(float Step_s);
Davidroid	0:92706998571a	1179	float L6470_StSlp_2_s_Step(uint8_t StSlp);
Davidroid	0:92706998571a	1180	uint8_t L6470_s_Step_2_StSlp(float s_Step);
Davidroid	0:92706998571a	1181	float L6470_FnSlpAcc_2_s_Step(uint8_t FnSlpAcc);
Davidroid	0:92706998571a	1182	uint8_t L6470_s_Step_2_FnSlpAcc(float s_Step);
Davidroid	0:92706998571a	1183	float L6470_FnSlpDec_2_s_Step(uint8_t FnSlpDec);
Davidroid	0:92706998571a	1184	uint8_t L6470_s_Step_2_FnSlpDec(float s_Step);
Davidroid	0:92706998571a	1185	float L6470_OcdTh_2_mA(uint8_t OcdTh);
Davidroid	0:92706998571a	1186	uint8_t L6470_mA_2_OcdTh(float mA);
Davidroid	0:92706998571a	1187	float L6470_StallTh_2_mA(uint8_t StallTh);
Davidroid	0:92706998571a	1188	uint8_t L6470_mA_2_StallTh(float mA);
Davidroid	14:e614697ebf34	1189	Status_t L6470_Config(void *init);
Davidroid	0:92706998571a	1190	void L6470_SetParam(eL6470_RegId_t L6470_RegId, uint32_t Value);
Davidroid	0:92706998571a	1191	uint32_t L6470_GetParam(eL6470_RegId_t L6470_RegId);
Davidroid	0:92706998571a	1192	void L6470_Run(eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	1193	void L6470_StepClock(eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	1194	void L6470_Move(eL6470_DirId_t L6470_DirId, uint32_t N_Step);
Davidroid	0:92706998571a	1195	void L6470_GoTo(uint32_t AbsPos);
Davidroid	0:92706998571a	1196	void L6470_GoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
Davidroid	0:92706998571a	1197	void L6470_GoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	1198	void L6470_ReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	1199	void L6470_GoHome(void);
Davidroid	0:92706998571a	1200	void L6470_GoMark(void);
Davidroid	0:92706998571a	1201	void L6470_ResetPos(void);
Davidroid	0:92706998571a	1202	void L6470_ResetDevice(void);
Davidroid	0:92706998571a	1203	void L6470_SoftStop(void);
Davidroid	0:92706998571a	1204	void L6470_HardStop(void);
Davidroid	0:92706998571a	1205	void L6470_SoftHiZ(void);
Davidroid	0:92706998571a	1206	void L6470_HardHiZ(void);
Davidroid	0:92706998571a	1207	uint16_t L6470_GetStatus(void);
Davidroid	0:92706998571a	1208	void L6470_PrepareSetParam(eL6470_RegId_t L6470_RegId, uint32_t Value);
Davidroid	0:92706998571a	1209	void L6470_PrepareGetParam(eL6470_RegId_t L6470_RegId);
Davidroid	0:92706998571a	1210	void L6470_PrepareRun(eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	1211	void L6470_PrepareStepClock(eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	1212	void L6470_PrepareMove(eL6470_DirId_t L6470_DirId, uint32_t N_Step);
Davidroid	0:92706998571a	1213	void L6470_PrepareGoTo(uint32_t AbsPos);
Davidroid	0:92706998571a	1214	void L6470_PrepareGoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
Davidroid	0:92706998571a	1215	void L6470_PrepareGoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	1216	void L6470_PrepareReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	1217	void L6470_PrepareGoHome(void);
Davidroid	0:92706998571a	1218	void L6470_PrepareGoMark(void);
Davidroid	0:92706998571a	1219	void L6470_PrepareResetPos(void);
Davidroid	0:92706998571a	1220	void L6470_PrepareResetDevice(void);
Davidroid	0:92706998571a	1221	void L6470_PrepareSoftStop(void);
Davidroid	0:92706998571a	1222	void L6470_PrepareHardStop(void);
Davidroid	0:92706998571a	1223	void L6470_PrepareSoftHiZ(void);
Davidroid	0:92706998571a	1224	void L6470_PrepareHardHiZ(void);
Davidroid	0:92706998571a	1225	void L6470_PrepareGetStatus(void);
Davidroid	0:92706998571a	1226	uint8_t* L6470_PerformPreparedApplicationCommand(void);
Davidroid	0:92706998571a	1227	void L6470_DaisyChainCommand(uint8_t* pL6470_DaisyChainSpiTxStruct, uint8_t* pL6470_DaisyChainSpiRxStruct);
Davidroid	0:92706998571a	1228	uint32_t L6470_ExtractReturnedData(uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte);
Davidroid	0:92706998571a	1229	uint8_t L6470_CheckStatusRegisterFlag(uint8_t L6470_StatusRegisterFlagId);
Davidroid	0:92706998571a	1230	uint8_t* L6470_GetRegisterName(uint8_t id);
Davidroid	0:92706998571a	1231	void L6470_ResetAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg);
Davidroid	0:92706998571a	1232	void L6470_FillAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3);
Davidroid	0:92706998571a	1233	void L6470_PrepareAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3);
Davidroid	0:92706998571a	1234	void L6470_PrepareDaisyChainCommand(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, uint8_t* pL6470_DaisyChainSpiTxStruct);
Davidroid	0:92706998571a	1235
Davidroid	1:b78dab6d2c58	1236	/**
Davidroid	1:b78dab6d2c58	1237	* @brief Rounding a floating point number to the nearest unsigned integer number.
Davidroid	1:b78dab6d2c58	1238	* @param f The floating point number.
Davidroid	1:b78dab6d2c58	1239	* @retval The nearest unsigned integer number.
Davidroid	1:b78dab6d2c58	1240	*/
Davidroid	1:b78dab6d2c58	1241	int round(float f)
Davidroid	1:b78dab6d2c58	1242	{
Davidroid	1:b78dab6d2c58	1243	if (f >= 0)
Davidroid	1:b78dab6d2c58	1244	return (int) f + (f - (int) f < 0.5f ? 0 : 1);
Davidroid	1:b78dab6d2c58	1245	else
Davidroid	1:b78dab6d2c58	1246	return (int) f - (f - (int) f < -0.5f ? 1 : 0);
Davidroid	1:b78dab6d2c58	1247	}
Davidroid	1:b78dab6d2c58	1248
Davidroid	0:92706998571a	1249
Davidroid	0:92706998571a	1250	/* Component's I/O Methods */
Davidroid	0:92706998571a	1251
Davidroid	0:92706998571a	1252	/**
Davidroid	0:92706998571a	1253	* @brief Utility function to read data from L6470.
Davidroid	0:92706998571a	1254	* @param[out] pBuffer pointer to the buffer to read data into.
Davidroid	0:92706998571a	1255	* @param[in] NumBytesToRead number of bytes to read.
Davidroid	0:92706998571a	1256	* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
Davidroid	0:92706998571a	1257	*/
Davidroid	14:e614697ebf34	1258	Status_t Read(uint8_t* pBuffer, uint16_t NumBytesToRead)
Davidroid	0:92706998571a	1259	{
Davidroid	0:92706998571a	1260	if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0)
Davidroid	0:92706998571a	1261	return COMPONENT_ERROR;
Davidroid	0:92706998571a	1262	return COMPONENT_OK;
Davidroid	0:92706998571a	1263	}
Davidroid	0:92706998571a	1264
Davidroid	0:92706998571a	1265	/**
Davidroid	0:92706998571a	1266	* @brief Utility function to write data to L6470.
Davidroid	0:92706998571a	1267	* @param[in] pBuffer pointer to the buffer of data to send.
Davidroid	0:92706998571a	1268	* @param[in] NumBytesToWrite number of bytes to write.
Davidroid	0:92706998571a	1269	* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
Davidroid	0:92706998571a	1270	*/
Davidroid	14:e614697ebf34	1271	Status_t Write(uint8_t* pBuffer, uint16_t NumBytesToWrite)
Davidroid	0:92706998571a	1272	{
Davidroid	0:92706998571a	1273	if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0)
Davidroid	0:92706998571a	1274	return COMPONENT_ERROR;
Davidroid	0:92706998571a	1275	return COMPONENT_OK;
Davidroid	0:92706998571a	1276	}
Davidroid	0:92706998571a	1277
Davidroid	0:92706998571a	1278	/**
Davidroid	0:92706998571a	1279	* @brief Utility function to read and write data from/to L6470 at the same time.
Davidroid	0:92706998571a	1280	* @param[out] pBufferToRead pointer to the buffer to read data into.
Davidroid	0:92706998571a	1281	* @param[in] pBufferToWrite pointer to the buffer of data to send.
Davidroid	0:92706998571a	1282	* @param[in] NumBytes number of bytes to read and write.
Davidroid	0:92706998571a	1283	* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
Davidroid	0:92706998571a	1284	*/
Davidroid	14:e614697ebf34	1285	Status_t ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes)
Davidroid	0:92706998571a	1286	{
Davidroid	0:92706998571a	1287	if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0)
Davidroid	0:92706998571a	1288	return COMPONENT_ERROR;
Davidroid	0:92706998571a	1289	return COMPONENT_OK;
Davidroid	0:92706998571a	1290	}
Davidroid	0:92706998571a	1291
Davidroid	0:92706998571a	1292	/* ACTION 8 --------------------------------------------------------------*
Davidroid	0:92706998571a	1293	* Implement here other I/O methods beyond those already implemented *
Davidroid	0:92706998571a	1294	* above, which are declared extern within the component's header file. *
Davidroid	0:92706998571a	1295	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1296	/*
Davidroid	0:92706998571a	1297	* Puts the device in standby mode.
Davidroid	0:92706998571a	1298	*/
Davidroid	0:92706998571a	1299	void L6470_ENABLE(void)
Davidroid	0:92706998571a	1300	{
Davidroid	0:92706998571a	1301	standby_reset = 1;
Davidroid	0:92706998571a	1302	}
Davidroid	0:92706998571a	1303
Davidroid	0:92706998571a	1304	/*
Davidroid	0:92706998571a	1305	* Puts the device in reset mode.
Davidroid	0:92706998571a	1306	*/
Davidroid	0:92706998571a	1307	void L6470_DISABLE(void)
Davidroid	0:92706998571a	1308	{
Davidroid	0:92706998571a	1309	standby_reset = 0;
Davidroid	0:92706998571a	1310	}
Davidroid	0:92706998571a	1311
Davidroid	0:92706998571a	1312	/*
Davidroid	0:92706998571a	1313	* Write and read bytes to/from the component through the SPI at the same time.
Davidroid	0:92706998571a	1314	*/
Davidroid	0:92706998571a	1315	void L6470_SPI_Communication(uint8_t pTxData, uint8_t pRxData, uint16_t Size, uint32_t Timeout)
Davidroid	0:92706998571a	1316	{
Davidroid	0:92706998571a	1317	ReadWrite(pRxData, pTxData, Size);
Davidroid	0:92706998571a	1318	}
Davidroid	0:92706998571a	1319
Davidroid	0:92706998571a	1320
Davidroid	0:92706998571a	1321	/* Component's Instance Variables */
Davidroid	0:92706998571a	1322
Davidroid	0:92706998571a	1323	/* ACTION 9 --------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1324	* Declare here interrupt related variables, if needed. *
Davidroid	1:b78dab6d2c58	1325	* Note that interrupt handling is platform dependent, see *
Davidroid	1:b78dab6d2c58	1326	* "Interrupt Related Methods" above. *
Davidroid	1:b78dab6d2c58	1327	* *
Davidroid	1:b78dab6d2c58	1328	* Example: *
Davidroid	1:b78dab6d2c58	1329	* + mbed: *
Davidroid	1:b78dab6d2c58	1330	* InterruptIn feature_irq; *
Davidroid	0:92706998571a	1331	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1332	/* Flag Interrupt. */
Davidroid	0:92706998571a	1333	InterruptIn flag_irq;
Davidroid	0:92706998571a	1334
Davidroid	1:b78dab6d2c58	1335	/* Busy Interrupt. */
Davidroid	1:b78dab6d2c58	1336	InterruptIn busy_irq;
Davidroid	1:b78dab6d2c58	1337
Davidroid	1:b78dab6d2c58	1338	/* ACTION 10 -------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1339	* Declare here other pin related variables, if needed. *
Davidroid	1:b78dab6d2c58	1340	* *
Davidroid	1:b78dab6d2c58	1341	* Example: *
Davidroid	1:b78dab6d2c58	1342	* + mbed: *
Davidroid	1:b78dab6d2c58	1343	* DigitalOut standby_reset; *
Davidroid	1:b78dab6d2c58	1344	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1345	/* Standby/reset pin. */
Davidroid	0:92706998571a	1346	DigitalOut standby_reset;
Davidroid	0:92706998571a	1347
Davidroid	1:b78dab6d2c58	1348	/* ACTION 11 -------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1349	* Declare here communication related variables, if needed. *
Davidroid	1:b78dab6d2c58	1350	* *
Davidroid	1:b78dab6d2c58	1351	* Example: *
Davidroid	1:b78dab6d2c58	1352	* + mbed: *
Davidroid	1:b78dab6d2c58	1353	* DigitalOut ssel; *
Davidroid	1:b78dab6d2c58	1354	* DevSPI &dev_spi; *
Davidroid	1:b78dab6d2c58	1355	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1356	/* Configuration. */
Davidroid	0:92706998571a	1357	DigitalOut ssel;
Davidroid	0:92706998571a	1358
Davidroid	0:92706998571a	1359	/* IO Device. */
Davidroid	0:92706998571a	1360	DevSPI &dev_spi;
Davidroid	0:92706998571a	1361
Davidroid	1:b78dab6d2c58	1362	/* ACTION 12 -------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1363	* Declare here identity related variables, if needed. *
Davidroid	1:b78dab6d2c58	1364	* Note that there should be only a unique identifier for each component, *
Davidroid	1:b78dab6d2c58	1365	* which should be the "who_am_i" parameter. *
Davidroid	1:b78dab6d2c58	1366	------------------------------------------------------------------------/
Davidroid	1:b78dab6d2c58	1367	/* Identity */
Davidroid	1:b78dab6d2c58	1368	uint8_t who_am_i;
Davidroid	1:b78dab6d2c58	1369
Davidroid	1:b78dab6d2c58	1370	/* ACTION 13 -------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1371	* Declare here the component's static and non-static data, one variable *
Davidroid	1:b78dab6d2c58	1372	* per line. *
Davidroid	0:92706998571a	1373	* *
Davidroid	0:92706998571a	1374	* Example: *
Davidroid	1:b78dab6d2c58	1375	* float measure; *
Davidroid	1:b78dab6d2c58	1376	* int instance_id; *
Davidroid	1:b78dab6d2c58	1377	* static int number_of_instances; *
Davidroid	0:92706998571a	1378	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1379	/* Data. */
Davidroid	0:92706998571a	1380	uint8_t L6470_Id;
Davidroid	0:92706998571a	1381	const sL6470_Register_t *L6470_Register;
Davidroid	0:92706998571a	1382	const sL6470_ApplicationCommand_t *L6470_ApplicationCommand;
Davidroid	0:92706998571a	1383	const sL6470_Direction_t *L6470_Direction;
Davidroid	0:92706998571a	1384	const sL6470_ACT_t *L6470_ACT;
Davidroid	0:92706998571a	1385	sL6470_StatusRegister_t L6470_StatusRegister;
Davidroid	0:92706998571a	1386	sL6470_StatusRegister_t *pL6470_StatusRegister;
Davidroid	0:92706998571a	1387	StepperMotorRegister_t StepperMotorRegister;
Davidroid	1:b78dab6d2c58	1388	prepared_action_t prepared_action;
Davidroid	0:92706998571a	1389
Davidroid	0:92706998571a	1390	/* Static data. */
Davidroid	0:92706998571a	1391	static uint8_t number_of_devices;
Davidroid	0:92706998571a	1392	static const sL6470_Register_t _L6470_Register[L6470REGIDSIZE];
Davidroid	0:92706998571a	1393	static const sL6470_ApplicationCommand_t _L6470_ApplicationCommand[L6470APPCMDIDSIZE];
Davidroid	0:92706998571a	1394	static const sL6470_Direction_t _L6470_Direction[L6470DIRIDSIZE];
Davidroid	0:92706998571a	1395	static const sL6470_ACT_t _L6470_ACT[L6470ACTIDSIZE];
Davidroid	0:92706998571a	1396	static eFlagStatus_t L6470_DaisyChain_HalfPrepared;
Davidroid	0:92706998571a	1397	static sL6470_AppCmdPkg_t L6470_AppCmdPkg[L6470DAISYCHAINSIZE];
Davidroid	0:92706998571a	1398	static uint8_t L6470_DaisyChainSpiTxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
Davidroid	0:92706998571a	1399	static uint8_t L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
Davidroid	0:92706998571a	1400	};
Davidroid	0:92706998571a	1401
Davidroid	14:e614697ebf34	1402	#endif /* __L6470_CLASS_H */
Davidroid	0:92706998571a	1403
Davidroid	14:e614697ebf34	1404	/********************** (C) COPYRIGHT STMicroelectronics *END OF FILE**/

Repository toolbox

Export to desktop IDE

Repository details

Type:	Library
Created:	20 Jan 2016
Imports:	242
Forks:	2
Commits:	25
Dependents:	13
Dependencies:	2
Followers:	410

The code in this repository is Apache licensed.

Components

X-NUCLEO-IHM02A1 Two Axis Stepper Motor Driver