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@4:381d76f5b0b4, 2015-11-26 (annotated)

Committer:: Davidroid
Date:: Thu Nov 26 16:24:17 2015 +0000
Revision:: 4:381d76f5b0b4
Parent:: 2:3ed992ffeada
Child:: 7:3bb27256c3ed

+ Updated with the new structure of the Stm32CubeTOO tool.

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	4:381d76f5b0b4	4	* @author Davide Aliprandi, STMicrolectronics
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	0:92706998571a	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	0:92706998571a	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	0:92706998571a	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	0:92706998571a	79	/** Class representing a L6470 component.
Davidroid	0:92706998571a	80	*/
Davidroid	0:92706998571a	81	class L6470 : public StepperMotor
Davidroid	0:92706998571a	82	{
Davidroid	0:92706998571a	83	public:
Davidroid	0:92706998571a	84
Davidroid	1:b78dab6d2c58	85	/* Public Component Related Types */
Davidroid	1:b78dab6d2c58	86
Davidroid	1:b78dab6d2c58	87	/**
Davidroid	1:b78dab6d2c58	88	* @brief Prepared Actions.
Davidroid	1:b78dab6d2c58	89	*/
Davidroid	1:b78dab6d2c58	90	typedef enum
Davidroid	1:b78dab6d2c58	91	{
Davidroid	1:b78dab6d2c58	92	PREPARED_NO_ACTION = 0,
Davidroid	1:b78dab6d2c58	93	PREPARED_GET_POSITION,
Davidroid	1:b78dab6d2c58	94	PREPARED_GET_MARK,
Davidroid	1:b78dab6d2c58	95	PREPARED_GET_SPEED,
Davidroid	1:b78dab6d2c58	96	PREPARED_GET_MAX_SPEED,
Davidroid	1:b78dab6d2c58	97	PREPARED_GET_MIN_SPEED,
Davidroid	1:b78dab6d2c58	98	PREPARED_GET_ACCELERATION,
Davidroid	1:b78dab6d2c58	99	PREPARED_GET_DECELERATION,
Davidroid	1:b78dab6d2c58	100	PREPARED_GET_DIRECTION,
Davidroid	1:b78dab6d2c58	101	PREPARED_SET_MARK
Davidroid	1:b78dab6d2c58	102	} prepared_action_t;
Davidroid	1:b78dab6d2c58	103
Davidroid	1:b78dab6d2c58	104
Davidroid	0:92706998571a	105	/* Constructor and Destructor Methods */
Davidroid	0:92706998571a	106
Davidroid	0:92706998571a	107	/**
Davidroid	0:92706998571a	108	* @brief Constructor.
Davidroid	0:92706998571a	109	* @param flag_irq pin name of the FLAG pin of the component.
Davidroid	1:b78dab6d2c58	110	* @param busy_irq pin name of the BUSY pin of the component.
Davidroid	0:92706998571a	111	* @param standby_reset pin name of the STBY\RST pin of the component.
Davidroid	0:92706998571a	112	* @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
Davidroid	0:92706998571a	113	* @param spi SPI device to be used for communication.
Davidroid	0:92706998571a	114	*/
Davidroid	1:b78dab6d2c58	115	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	116	{
Davidroid	0:92706998571a	117	/* ACTION 4 ----------------------------------------------------------*
Davidroid	0:92706998571a	118	* Initialize here the component's member variables, one variable per *
Davidroid	0:92706998571a	119	* line. *
Davidroid	0:92706998571a	120	* *
Davidroid	0:92706998571a	121	* Example: *
Davidroid	0:92706998571a	122	* T0_out = 0; *
Davidroid	0:92706998571a	123	* T1_out = 0; *
Davidroid	0:92706998571a	124	* T0_degC = 0; *
Davidroid	0:92706998571a	125	* T1_degC = 0; *
Davidroid	0:92706998571a	126	--------------------------------------------------------------------/
Davidroid	0:92706998571a	127	L6470_Register = &_L6470_Register[0];
Davidroid	0:92706998571a	128	L6470_ApplicationCommand = &_L6470_ApplicationCommand[0];
Davidroid	0:92706998571a	129	L6470_Direction = &_L6470_Direction[0];
Davidroid	0:92706998571a	130	L6470_ACT = &_L6470_ACT[0];
Davidroid	0:92706998571a	131	pL6470_StatusRegister = &L6470_StatusRegister;
Davidroid	1:b78dab6d2c58	132	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	133	L6470_Id = number_of_devices++;
Davidroid	0:92706998571a	134	L6470_DaisyChain_HalfPrepared = ZERO_F;
Davidroid	0:92706998571a	135	memset(L6470_AppCmdPkg, 0, L6470DAISYCHAINSIZE * sizeof(sL6470_AppCmdPkg_t));
Davidroid	0:92706998571a	136	memset(L6470_DaisyChainSpiTxStruct, 0, L6470MAXSPICMDBYTESIZE * L6470DAISYCHAINSIZE * sizeof(uint8_t));
Davidroid	0:92706998571a	137	memset(L6470_DaisyChainSpiRxStruct, 0, L6470MAXSPICMDBYTESIZE * L6470DAISYCHAINSIZE * sizeof(uint8_t));
Davidroid	0:92706998571a	138	}
Davidroid	0:92706998571a	139
Davidroid	0:92706998571a	140	/**
Davidroid	0:92706998571a	141	* @brief Destructor.
Davidroid	0:92706998571a	142	*/
Davidroid	0:92706998571a	143	virtual ~L6470(void) {}
Davidroid	0:92706998571a	144
Davidroid	0:92706998571a	145
Davidroid	0:92706998571a	146	/* Public Component Related Methods */
Davidroid	0:92706998571a	147
Davidroid	0:92706998571a	148	/* ACTION 5 --------------------------------------------------------------*
Davidroid	0:92706998571a	149	* Implement here the component's public methods, as wrappers of the C *
Davidroid	0:92706998571a	150	* component's functions. *
Davidroid	0:92706998571a	151	* They should be: *
Davidroid	0:92706998571a	152	* + Methods with the same name of the C component's virtual table's *
Davidroid	0:92706998571a	153	* functions (1); *
Davidroid	0:92706998571a	154	* + Methods with the same name of the C component's extended virtual *
Davidroid	0:92706998571a	155	* table's functions, if any (2). *
Davidroid	0:92706998571a	156	* *
Davidroid	0:92706998571a	157	* Example: *
Davidroid	0:92706998571a	158	* virtual int GetValue(float pData) //(1)
Davidroid	0:92706998571a	159	* { *
Davidroid	0:92706998571a	160	* return COMPONENT_GetValue(float pfData);
Davidroid	0:92706998571a	161	* } *
Davidroid	0:92706998571a	162	* *
Davidroid	0:92706998571a	163	* virtual int EnableFeature(void) //(2) *
Davidroid	0:92706998571a	164	* { *
Davidroid	0:92706998571a	165	* return COMPONENT_EnableFeature(); *
Davidroid	0:92706998571a	166	* } *
Davidroid	0:92706998571a	167	------------------------------------------------------------------------/
Davidroid	1:b78dab6d2c58	168	/**
Davidroid	1:b78dab6d2c58	169	* @brief Initializing the component.
Davidroid	1:b78dab6d2c58	170	* @param init Pointer to device specific initalization structure.
Davidroid	1:b78dab6d2c58	171	* @retval "0" in case of success, an error code otherwise.
Davidroid	1:b78dab6d2c58	172	*/
Davidroid	0:92706998571a	173	virtual int Init(void *init)
Davidroid	0:92706998571a	174	{
Davidroid	0:92706998571a	175	return (int) L6470_Config((MICROSTEPPING_MOTOR_InitTypeDef *) init);
Davidroid	0:92706998571a	176	}
Davidroid	0:92706998571a	177
Davidroid	1:b78dab6d2c58	178	/**
Davidroid	1:b78dab6d2c58	179	* @brief Getting the ID of the component.
Davidroid	1:b78dab6d2c58	180	* @param id Pointer to an allocated variable to store the ID into.
Davidroid	1:b78dab6d2c58	181	* @retval "0" in case of success, an error code otherwise.
Davidroid	1:b78dab6d2c58	182	*/
Davidroid	0:92706998571a	183	virtual int ReadID(uint8_t *id)
Davidroid	0:92706998571a	184	{
Davidroid	0:92706998571a	185	return (int) 0;
Davidroid	0:92706998571a	186	}
Davidroid	0:92706998571a	187
Davidroid	1:b78dab6d2c58	188	/**
Davidroid	1:b78dab6d2c58	189	* @brief Getting the status.
Davidroid	1:b78dab6d2c58	190	* @param None.
Davidroid	1:b78dab6d2c58	191	* @retval The status.
Davidroid	1:b78dab6d2c58	192	*/
Davidroid	0:92706998571a	193	virtual unsigned int GetStatus(void)
Davidroid	0:92706998571a	194	{
Davidroid	0:92706998571a	195	return (unsigned int) L6470_GetStatus();
Davidroid	0:92706998571a	196	}
Davidroid	1:b78dab6d2c58	197
Davidroid	1:b78dab6d2c58	198	/**
Davidroid	1:b78dab6d2c58	199	* @brief Getting a parameter.
Davidroid	1:b78dab6d2c58	200	* @param parameter The parameter's identifier (or its register address).
Davidroid	1:b78dab6d2c58	201	* @retval The parameter's value.
Davidroid	1:b78dab6d2c58	202	*/
Davidroid	0:92706998571a	203	virtual unsigned int GetParameter(unsigned int parameter)
Davidroid	0:92706998571a	204	{
Davidroid	0:92706998571a	205	return (unsigned int) L6470_GetParam((eL6470_RegId_t) parameter);
Davidroid	0:92706998571a	206	}
Davidroid	0:92706998571a	207
Davidroid	1:b78dab6d2c58	208	/**
Davidroid	1:b78dab6d2c58	209	* @brief Getting the position.
Davidroid	1:b78dab6d2c58	210	* @param None.
Davidroid	1:b78dab6d2c58	211	* @retval The position.
Davidroid	1:b78dab6d2c58	212	*/
Davidroid	0:92706998571a	213	virtual signed int GetPosition(void)
Davidroid	0:92706998571a	214	{
Davidroid	1:b78dab6d2c58	215	return (signed int) L6470_AbsPos_2_Position((uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID));
Davidroid	0:92706998571a	216	}
Davidroid	0:92706998571a	217
Davidroid	1:b78dab6d2c58	218	/**
Davidroid	1:b78dab6d2c58	219	* @brief Getting the marked position.
Davidroid	1:b78dab6d2c58	220	* @param None.
Davidroid	1:b78dab6d2c58	221	* @retval The marked position.
Davidroid	1:b78dab6d2c58	222	*/
Davidroid	0:92706998571a	223	virtual signed int GetMark(void)
Davidroid	0:92706998571a	224	{
Davidroid	1:b78dab6d2c58	225	return (signed int) L6470_AbsPos_2_Position((uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_MARK_ID));
Davidroid	0:92706998571a	226	}
Davidroid	0:92706998571a	227
Davidroid	1:b78dab6d2c58	228	/**
Davidroid	1:b78dab6d2c58	229	* @brief Getting the current speed in pps.
Davidroid	1:b78dab6d2c58	230	* @param None.
Davidroid	1:b78dab6d2c58	231	* @retval The current speed in pps.
Davidroid	1:b78dab6d2c58	232	*/
Davidroid	0:92706998571a	233	virtual unsigned int GetSpeed(void)
Davidroid	0:92706998571a	234	{
Davidroid	1:b78dab6d2c58	235	return round(L6470_Speed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_SPEED_ID)));
Davidroid	0:92706998571a	236	}
Davidroid	0:92706998571a	237
Davidroid	1:b78dab6d2c58	238	/**
Davidroid	1:b78dab6d2c58	239	* @brief Getting the maximum speed in pps.
Davidroid	1:b78dab6d2c58	240	* @param None.
Davidroid	1:b78dab6d2c58	241	* @retval The maximum speed in pps.
Davidroid	1:b78dab6d2c58	242	*/
Davidroid	0:92706998571a	243	virtual unsigned int GetMaxSpeed(void)
Davidroid	0:92706998571a	244	{
Davidroid	1:b78dab6d2c58	245	return round(L6470_MaxSpeed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID)));
Davidroid	0:92706998571a	246	}
Davidroid	0:92706998571a	247
Davidroid	1:b78dab6d2c58	248	/**
Davidroid	1:b78dab6d2c58	249	* @brief Getting the minimum speed in pps.
Davidroid	1:b78dab6d2c58	250	* @param None.
Davidroid	1:b78dab6d2c58	251	* @retval The minimum speed in pps.
Davidroid	1:b78dab6d2c58	252	*/
Davidroid	0:92706998571a	253	virtual unsigned int GetMinSpeed(void)
Davidroid	0:92706998571a	254	{
Davidroid	1:b78dab6d2c58	255	return round(L6470_MinSpeed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID)));
Davidroid	0:92706998571a	256	}
Davidroid	0:92706998571a	257
Davidroid	1:b78dab6d2c58	258	/**
Davidroid	1:b78dab6d2c58	259	* @brief Getting the acceleration in pps^2.
Davidroid	1:b78dab6d2c58	260	* @param None.
Davidroid	1:b78dab6d2c58	261	* @retval The acceleration in pps^2.
Davidroid	1:b78dab6d2c58	262	*/
Davidroid	0:92706998571a	263	virtual unsigned int GetAcceleration(void)
Davidroid	0:92706998571a	264	{
Davidroid	1:b78dab6d2c58	265	return round(L6470_Acc_2_Step_s2((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_ACC_ID)));
Davidroid	0:92706998571a	266	}
Davidroid	0:92706998571a	267
Davidroid	1:b78dab6d2c58	268	/**
Davidroid	1:b78dab6d2c58	269	* @brief Getting the deceleration in pps^2.
Davidroid	1:b78dab6d2c58	270	* @param None.
Davidroid	1:b78dab6d2c58	271	* @retval The deceleration in pps^2.
Davidroid	1:b78dab6d2c58	272	*/
Davidroid	0:92706998571a	273	virtual unsigned int GetDeceleration(void)
Davidroid	0:92706998571a	274	{
Davidroid	1:b78dab6d2c58	275	return round(L6470_Dec_2_Step_s2((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_DEC_ID)));
Davidroid	0:92706998571a	276	}
Davidroid	0:92706998571a	277
Davidroid	1:b78dab6d2c58	278	/**
Davidroid	1:b78dab6d2c58	279	* @brief Getting the direction of rotation.
Davidroid	1:b78dab6d2c58	280	* @param None.
Davidroid	1:b78dab6d2c58	281	* @retval The direction of rotation.
Davidroid	1:b78dab6d2c58	282	*/
Davidroid	0:92706998571a	283	virtual direction_t GetDirection(void)
Davidroid	0:92706998571a	284	{
Davidroid	0:92706998571a	285	return (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD);
Davidroid	0:92706998571a	286	}
Davidroid	0:92706998571a	287
Davidroid	1:b78dab6d2c58	288	/**
Davidroid	1:b78dab6d2c58	289	* @brief Setting a parameter.
Davidroid	1:b78dab6d2c58	290	* @param parameter The parameter's identifier (or its register address).
Davidroid	1:b78dab6d2c58	291	* @param value The parameter's value.
Davidroid	1:b78dab6d2c58	292	* @retval None.
Davidroid	1:b78dab6d2c58	293	*/
Davidroid	0:92706998571a	294	virtual void SetParameter(unsigned int parameter, unsigned int value)
Davidroid	0:92706998571a	295	{
Davidroid	0:92706998571a	296	L6470_SetParam((eL6470_RegId_t) parameter, (uint32_t) value);
Davidroid	0:92706998571a	297	}
Davidroid	0:92706998571a	298
Davidroid	1:b78dab6d2c58	299	/**
Davidroid	1:b78dab6d2c58	300	* @brief Setting the current position to be the home position.
Davidroid	1:b78dab6d2c58	301	* @param None.
Davidroid	1:b78dab6d2c58	302	* @retval None.
Davidroid	1:b78dab6d2c58	303	*/
Davidroid	0:92706998571a	304	virtual void SetHome(void)
Davidroid	0:92706998571a	305	{
Davidroid	0:92706998571a	306	L6470_ResetPos();
Davidroid	0:92706998571a	307	}
Davidroid	0:92706998571a	308
Davidroid	1:b78dab6d2c58	309	/**
Davidroid	1:b78dab6d2c58	310	* @brief Setting the current position to be the marked position.
Davidroid	1:b78dab6d2c58	311	* @param None.
Davidroid	1:b78dab6d2c58	312	* @retval None.
Davidroid	1:b78dab6d2c58	313	*/
Davidroid	0:92706998571a	314	virtual void SetMark(void)
Davidroid	0:92706998571a	315	{
Davidroid	0:92706998571a	316	L6470_SetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID));
Davidroid	0:92706998571a	317	}
Davidroid	0:92706998571a	318
Davidroid	1:b78dab6d2c58	319	/**
Davidroid	1:b78dab6d2c58	320	* @brief Setting the current position to be the marked position.
Davidroid	1:b78dab6d2c58	321	* @param position The given position.
Davidroid	1:b78dab6d2c58	322	* @retval None.
Davidroid	1:b78dab6d2c58	323	*/
Davidroid	1:b78dab6d2c58	324	virtual void SetMark(signed int position)
Davidroid	1:b78dab6d2c58	325	{
Davidroid	1:b78dab6d2c58	326	L6470_SetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
Davidroid	1:b78dab6d2c58	327	}
Davidroid	1:b78dab6d2c58	328
Davidroid	1:b78dab6d2c58	329	/**
Davidroid	1:b78dab6d2c58	330	* @brief Setting the maximum speed in pps.
Davidroid	1:b78dab6d2c58	331	* @param speed The maximum speed in pps.
Davidroid	1:b78dab6d2c58	332	* @retval None.
Davidroid	1:b78dab6d2c58	333	*/
Davidroid	0:92706998571a	334	virtual void SetMaxSpeed(unsigned int speed)
Davidroid	0:92706998571a	335	{
Davidroid	1:b78dab6d2c58	336	L6470_SetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) L6470_Step_s_2_MaxSpeed((float) speed));
Davidroid	0:92706998571a	337	}
Davidroid	0:92706998571a	338
Davidroid	1:b78dab6d2c58	339	/**
Davidroid	1:b78dab6d2c58	340	* @brief Setting the minimum speed in pps.
Davidroid	1:b78dab6d2c58	341	* @param speed The minimum speed in pps.
Davidroid	1:b78dab6d2c58	342	* @retval None.
Davidroid	1:b78dab6d2c58	343	*/
Davidroid	0:92706998571a	344	virtual void SetMinSpeed(unsigned int speed)
Davidroid	0:92706998571a	345	{
Davidroid	1:b78dab6d2c58	346	L6470_SetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) L6470_Step_s_2_MinSpeed((float) speed));
Davidroid	0:92706998571a	347	}
Davidroid	0:92706998571a	348
Davidroid	1:b78dab6d2c58	349	/**
Davidroid	1:b78dab6d2c58	350	* @brief Setting the acceleration in pps^2.
Davidroid	1:b78dab6d2c58	351	* @param acceleration The acceleration in pps^2.
Davidroid	1:b78dab6d2c58	352	* @retval None.
Davidroid	1:b78dab6d2c58	353	*/
Davidroid	0:92706998571a	354	virtual void SetAcceleration(unsigned int acceleration)
Davidroid	0:92706998571a	355	{
Davidroid	1:b78dab6d2c58	356	L6470_SetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) L6470_Step_s2_2_Acc((float) acceleration));
Davidroid	0:92706998571a	357	}
Davidroid	0:92706998571a	358
Davidroid	1:b78dab6d2c58	359	/**
Davidroid	1:b78dab6d2c58	360	* @brief Setting the deceleration in pps^2.
Davidroid	1:b78dab6d2c58	361	* @param deceleration The deceleration in pps^2.
Davidroid	1:b78dab6d2c58	362	* @retval None.
Davidroid	1:b78dab6d2c58	363	*/
Davidroid	0:92706998571a	364	virtual void SetDeceleration(unsigned int deceleration)
Davidroid	0:92706998571a	365	{
Davidroid	1:b78dab6d2c58	366	L6470_SetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) L6470_Step_s2_2_Dec((float) deceleration));
Davidroid	0:92706998571a	367	}
Davidroid	0:92706998571a	368
Davidroid	1:b78dab6d2c58	369	/**
Davidroid	1:b78dab6d2c58	370	* @brief Going to a specified position through the shortest path.
Davidroid	1:b78dab6d2c58	371	* @param position The desired position.
Davidroid	1:b78dab6d2c58	372	* @retval None.
Davidroid	1:b78dab6d2c58	373	*/
Davidroid	0:92706998571a	374	virtual void GoTo(signed int position)
Davidroid	0:92706998571a	375	{
Davidroid	1:b78dab6d2c58	376	L6470_GoTo((uint32_t) L6470_Position_2_AbsPos((int32_t) position));
Davidroid	0:92706998571a	377	}
Davidroid	0:92706998571a	378
Davidroid	1:b78dab6d2c58	379	/**
Davidroid	1:b78dab6d2c58	380	* @brief Going to a specified position imposing the desired direction.
Davidroid	1:b78dab6d2c58	381	* @param position The desired position.
Davidroid	1:b78dab6d2c58	382	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	383	* @retval None.
Davidroid	1:b78dab6d2c58	384	*/
Davidroid	0:92706998571a	385	virtual void GoTo(signed int position, direction_t direction)
Davidroid	0:92706998571a	386	{
Davidroid	1:b78dab6d2c58	387	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	388	}
Davidroid	0:92706998571a	389
Davidroid	1:b78dab6d2c58	390	/**
Davidroid	1:b78dab6d2c58	391	* @brief Going to the home position.
Davidroid	1:b78dab6d2c58	392	* @param None.
Davidroid	1:b78dab6d2c58	393	* @retval None.
Davidroid	1:b78dab6d2c58	394	*/
Davidroid	0:92706998571a	395	virtual void GoHome(void)
Davidroid	0:92706998571a	396	{
Davidroid	0:92706998571a	397	L6470_GoHome();
Davidroid	0:92706998571a	398	}
Davidroid	0:92706998571a	399
Davidroid	1:b78dab6d2c58	400	/**
Davidroid	1:b78dab6d2c58	401	* @brief Going to the marked position.
Davidroid	1:b78dab6d2c58	402	* @param None.
Davidroid	1:b78dab6d2c58	403	* @retval None.
Davidroid	1:b78dab6d2c58	404	*/
Davidroid	0:92706998571a	405	virtual void GoMark(void)
Davidroid	0:92706998571a	406	{
Davidroid	0:92706998571a	407	L6470_GoMark();
Davidroid	0:92706998571a	408	}
Davidroid	0:92706998571a	409
Davidroid	1:b78dab6d2c58	410	/**
Davidroid	1:b78dab6d2c58	411	* @brief Running at the given speed imposing the desired direction until
Davidroid	1:b78dab6d2c58	412	* an external switch turn-on event occurs.
Davidroid	1:b78dab6d2c58	413	* @param action The identifier of the action about the absolute position.
Davidroid	1:b78dab6d2c58	414	* @param position The desired position.
Davidroid	1:b78dab6d2c58	415	* @param speed The speed value in pps.
Davidroid	1:b78dab6d2c58	416	* @retval None.
Davidroid	1:b78dab6d2c58	417	* @note The identifier of the action about the absolute position can be
Davidroid	1:b78dab6d2c58	418	* one of the following:
Davidroid	1:b78dab6d2c58	419	* + L6470_ACT_RST_ID: the absolute position is reset;
Davidroid	1:b78dab6d2c58	420	* + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
Davidroid	1:b78dab6d2c58	421	*/
Davidroid	1:b78dab6d2c58	422	virtual void GoUntil(eL6470_ActId_t action, direction_t direction, unsigned int speed)
Davidroid	0:92706998571a	423	{
Davidroid	1:b78dab6d2c58	424	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	425	}
Davidroid	0:92706998571a	426
Davidroid	1:b78dab6d2c58	427	/**
Davidroid	1:b78dab6d2c58	428	* @brief Running towards a specified direction.
Davidroid	1:b78dab6d2c58	429	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	430	* @retval None.
Davidroid	1:b78dab6d2c58	431	*/
Davidroid	0:92706998571a	432	virtual void Run(direction_t direction)
Davidroid	0:92706998571a	433	{
Davidroid	0:92706998571a	434	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	435	}
Davidroid	0:92706998571a	436
Davidroid	1:b78dab6d2c58	437	/**
Davidroid	1:b78dab6d2c58	438	* @brief Running towards a specified direction at the given speed.
Davidroid	1:b78dab6d2c58	439	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	440	* @param speed The speed value in pps.
Davidroid	1:b78dab6d2c58	441	* @retval None.
Davidroid	1:b78dab6d2c58	442	*/
Davidroid	0:92706998571a	443	virtual void Run(direction_t direction, unsigned int speed)
Davidroid	0:92706998571a	444	{
Davidroid	1:b78dab6d2c58	445	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	446	}
Davidroid	0:92706998571a	447
Davidroid	1:b78dab6d2c58	448	/**
Davidroid	1:b78dab6d2c58	449	* @brief Moving towards a specified direction for a certain number of steps.
Davidroid	1:b78dab6d2c58	450	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	451	* @param steps The desired number of steps.
Davidroid	1:b78dab6d2c58	452	* @retval None.
Davidroid	1:b78dab6d2c58	453	*/
Davidroid	0:92706998571a	454	virtual void Move(direction_t direction, unsigned int steps)
Davidroid	0:92706998571a	455	{
Davidroid	0:92706998571a	456	L6470_Move((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) steps);
Davidroid	0:92706998571a	457	}
Davidroid	0:92706998571a	458
Davidroid	1:b78dab6d2c58	459	/**
Davidroid	1:b78dab6d2c58	460	* @brief Stopping the motor through an immediate deceleration up to zero speed.
Davidroid	1:b78dab6d2c58	461	* The used deceleration value is the one stored in the "DEC" register.
Davidroid	1:b78dab6d2c58	462	* @param None.
Davidroid	1:b78dab6d2c58	463	* @retval None.
Davidroid	1:b78dab6d2c58	464	*/
Davidroid	0:92706998571a	465	virtual void SoftStop(void)
Davidroid	0:92706998571a	466	{
Davidroid	0:92706998571a	467	L6470_SoftStop();
Davidroid	0:92706998571a	468	}
Davidroid	0:92706998571a	469
Davidroid	1:b78dab6d2c58	470	/**
Davidroid	1:b78dab6d2c58	471	* @brief Stopping the motor through an immediate infinite deceleration.
Davidroid	1:b78dab6d2c58	472	* @param None.
Davidroid	1:b78dab6d2c58	473	* @retval None.
Davidroid	1:b78dab6d2c58	474	*/
Davidroid	0:92706998571a	475	virtual void HardStop(void)
Davidroid	0:92706998571a	476	{
Davidroid	0:92706998571a	477	L6470_HardStop();
Davidroid	0:92706998571a	478	}
Davidroid	0:92706998571a	479
Davidroid	1:b78dab6d2c58	480	/**
Davidroid	1:b78dab6d2c58	481	* @brief Disabling the power bridge after performing a deceleration to zero.
Davidroid	1:b78dab6d2c58	482	* The used deceleration value is the one stored in the "DEC" register.
Davidroid	1:b78dab6d2c58	483	* @param None.
Davidroid	1:b78dab6d2c58	484	* @retval None.
Davidroid	1:b78dab6d2c58	485	*/
Davidroid	1:b78dab6d2c58	486	virtual void SoftHiZ(void)
Davidroid	1:b78dab6d2c58	487	{
Davidroid	1:b78dab6d2c58	488	L6470_SoftHiZ();
Davidroid	1:b78dab6d2c58	489	}
Davidroid	1:b78dab6d2c58	490
Davidroid	1:b78dab6d2c58	491	/**
Davidroid	1:b78dab6d2c58	492	* @brief Disabling the power bridge immediately.
Davidroid	1:b78dab6d2c58	493	* @param None.
Davidroid	1:b78dab6d2c58	494	* @retval None.
Davidroid	1:b78dab6d2c58	495	*/
Davidroid	1:b78dab6d2c58	496	virtual void HardHiZ(void)
Davidroid	1:b78dab6d2c58	497	{
Davidroid	1:b78dab6d2c58	498	L6470_HardHiZ();
Davidroid	1:b78dab6d2c58	499	}
Davidroid	1:b78dab6d2c58	500
Davidroid	1:b78dab6d2c58	501	/**
Davidroid	1:b78dab6d2c58	502	* @brief Waiting while the motor is active.
Davidroid	1:b78dab6d2c58	503	* @param None.
Davidroid	1:b78dab6d2c58	504	* @retval None.
Davidroid	1:b78dab6d2c58	505	*/
Davidroid	0:92706998571a	506	virtual void WaitWhileActive(void)
Davidroid	0:92706998571a	507	{
Davidroid	0:92706998571a	508	while (L6470_CheckStatusRegisterFlag(BUSY_ID) == 0);
Davidroid	0:92706998571a	509	}
Davidroid	0:92706998571a	510
Davidroid	1:b78dab6d2c58	511	/**
Davidroid	1:b78dab6d2c58	512	* @brief Switching to step-clock mode.
Davidroid	1:b78dab6d2c58	513	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	514	* @retval None.
Davidroid	1:b78dab6d2c58	515	*/
Davidroid	0:92706998571a	516	virtual void StepClock(direction_t direction)
Davidroid	0:92706998571a	517	{
Davidroid	0:92706998571a	518	L6470_StepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid	0:92706998571a	519	}
Davidroid	0:92706998571a	520
Davidroid	1:b78dab6d2c58	521	/**
Davidroid	1:b78dab6d2c58	522	* @brief Doing a motion at minimum speed imposing a specified direction
Davidroid	1:b78dab6d2c58	523	* until the SW is released.
Davidroid	1:b78dab6d2c58	524	* @param action The identifier of the action about the absolute position.
Davidroid	1:b78dab6d2c58	525	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	526	* @note The identifier of the action about the absolute position can be
Davidroid	1:b78dab6d2c58	527	* one of the following:
Davidroid	1:b78dab6d2c58	528	* + L6470_ACT_RST_ID: the absolute position is reset;
Davidroid	1:b78dab6d2c58	529	* + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
Davidroid	1:b78dab6d2c58	530	*/
Davidroid	1:b78dab6d2c58	531	virtual void ReleaseSW(eL6470_ActId_t action, direction_t direction)
Davidroid	0:92706998571a	532	{
Davidroid	1:b78dab6d2c58	533	L6470_ReleaseSW((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid	0:92706998571a	534	}
Davidroid	0:92706998571a	535
Davidroid	1:b78dab6d2c58	536	/**
Davidroid	1:b78dab6d2c58	537	* @brief Resetting the device to power-up conditions.
Davidroid	1:b78dab6d2c58	538	* @param None.
Davidroid	1:b78dab6d2c58	539	* @retval None.
Davidroid	1:b78dab6d2c58	540	*/
Davidroid	0:92706998571a	541	virtual void ResetDevice(void)
Davidroid	0:92706998571a	542	{
Davidroid	0:92706998571a	543	L6470_ResetDevice();
Davidroid	0:92706998571a	544	}
Davidroid	0:92706998571a	545
Davidroid	1:b78dab6d2c58	546	/**
Davidroid	1:b78dab6d2c58	547	* @brief Preparing the command to get the status.
Davidroid	1:b78dab6d2c58	548	* @param None.
Davidroid	1:b78dab6d2c58	549	* @retval None.
Davidroid	1:b78dab6d2c58	550	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	551	*/
Davidroid	0:92706998571a	552	virtual void PrepareGetStatus(void)
Davidroid	0:92706998571a	553	{
Davidroid	0:92706998571a	554	L6470_PrepareGetStatus();
Davidroid	1:b78dab6d2c58	555	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	556	}
Davidroid	0:92706998571a	557
Davidroid	1:b78dab6d2c58	558	/**
Davidroid	1:b78dab6d2c58	559	* @brief Preparing the command to get a parameter.
Davidroid	1:b78dab6d2c58	560	* @param parameter The parameter's identifier (or its register address).
Davidroid	1:b78dab6d2c58	561	* @retval None.
Davidroid	1:b78dab6d2c58	562	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	563	*/
Davidroid	0:92706998571a	564	virtual void PrepareGetParameter(unsigned int parameter)
Davidroid	0:92706998571a	565	{
Davidroid	0:92706998571a	566	L6470_PrepareGetParam((eL6470_RegId_t) parameter);
Davidroid	1:b78dab6d2c58	567	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	568	}
Davidroid	0:92706998571a	569
Davidroid	1:b78dab6d2c58	570	/**
Davidroid	1:b78dab6d2c58	571	* @brief Preparing the command to get the position.
Davidroid	1:b78dab6d2c58	572	* @param None.
Davidroid	1:b78dab6d2c58	573	* @retval None.
Davidroid	1:b78dab6d2c58	574	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	575	*/
Davidroid	0:92706998571a	576	virtual void PrepareGetPosition(void)
Davidroid	0:92706998571a	577	{
Davidroid	0:92706998571a	578	L6470_PrepareGetParam((eL6470_RegId_t) L6470_ABS_POS_ID);
Davidroid	1:b78dab6d2c58	579	prepared_action = PREPARED_GET_POSITION;
Davidroid	0:92706998571a	580	}
Davidroid	0:92706998571a	581
Davidroid	1:b78dab6d2c58	582	/**
Davidroid	1:b78dab6d2c58	583	* @brief Preparing the command to get the marked position.
Davidroid	1:b78dab6d2c58	584	* @param None.
Davidroid	1:b78dab6d2c58	585	* @retval None.
Davidroid	1:b78dab6d2c58	586	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	587	*/
Davidroid	0:92706998571a	588	virtual void PrepareGetMark(void)
Davidroid	0:92706998571a	589	{
Davidroid	0:92706998571a	590	L6470_PrepareGetParam((eL6470_RegId_t) L6470_MARK_ID);
Davidroid	1:b78dab6d2c58	591	prepared_action = PREPARED_GET_MARK;
Davidroid	0:92706998571a	592	}
Davidroid	0:92706998571a	593
Davidroid	1:b78dab6d2c58	594	/**
Davidroid	1:b78dab6d2c58	595	* @brief Preparing the command to get the current speed in pps.
Davidroid	1:b78dab6d2c58	596	* @param None.
Davidroid	1:b78dab6d2c58	597	* @retval None.
Davidroid	1:b78dab6d2c58	598	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	599	*/
Davidroid	0:92706998571a	600	virtual void PrepareGetSpeed(void)
Davidroid	0:92706998571a	601	{
Davidroid	1:b78dab6d2c58	602	L6470_PrepareGetParam((eL6470_RegId_t) L6470_SPEED_ID);
Davidroid	1:b78dab6d2c58	603	prepared_action = PREPARED_GET_SPEED;
Davidroid	0:92706998571a	604	}
Davidroid	0:92706998571a	605
Davidroid	1:b78dab6d2c58	606	/**
Davidroid	1:b78dab6d2c58	607	* @brief Preparing the command to get the maximum speed in pps.
Davidroid	1:b78dab6d2c58	608	* @param None.
Davidroid	1:b78dab6d2c58	609	* @retval None.
Davidroid	1:b78dab6d2c58	610	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	611	*/
Davidroid	0:92706998571a	612	virtual void PrepareGetMaxSpeed(void)
Davidroid	0:92706998571a	613	{
Davidroid	0:92706998571a	614	L6470_PrepareGetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID);
Davidroid	1:b78dab6d2c58	615	prepared_action = PREPARED_GET_MAX_SPEED;
Davidroid	0:92706998571a	616	}
Davidroid	0:92706998571a	617
Davidroid	1:b78dab6d2c58	618	/**
Davidroid	1:b78dab6d2c58	619	* @brief Preparing the command to get the minimum speed in pps.
Davidroid	1:b78dab6d2c58	620	* @param None.
Davidroid	1:b78dab6d2c58	621	* @retval None.
Davidroid	1:b78dab6d2c58	622	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	623	*/
Davidroid	0:92706998571a	624	virtual void PrepareGetMinSpeed(void)
Davidroid	0:92706998571a	625	{
Davidroid	0:92706998571a	626	L6470_PrepareGetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID);
Davidroid	1:b78dab6d2c58	627	prepared_action = PREPARED_GET_MIN_SPEED;
Davidroid	0:92706998571a	628	}
Davidroid	0:92706998571a	629
Davidroid	1:b78dab6d2c58	630	/**
Davidroid	1:b78dab6d2c58	631	* @brief Preparing the command to get the acceleration in pps^2.
Davidroid	1:b78dab6d2c58	632	* @param None.
Davidroid	1:b78dab6d2c58	633	* @retval None.
Davidroid	1:b78dab6d2c58	634	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	635	*/
Davidroid	0:92706998571a	636	virtual void PrepareGetAcceleration(void)
Davidroid	0:92706998571a	637	{
Davidroid	0:92706998571a	638	L6470_PrepareGetParam((eL6470_RegId_t) L6470_ACC_ID);
Davidroid	1:b78dab6d2c58	639	prepared_action = PREPARED_GET_ACCELERATION;
Davidroid	0:92706998571a	640	}
Davidroid	0:92706998571a	641
Davidroid	1:b78dab6d2c58	642	/**
Davidroid	1:b78dab6d2c58	643	* @brief Preparing the command to get the deceleration in pps^2.
Davidroid	1:b78dab6d2c58	644	* @param None.
Davidroid	1:b78dab6d2c58	645	* @retval None.
Davidroid	1:b78dab6d2c58	646	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	647	*/
Davidroid	0:92706998571a	648	virtual void PrepareGetDeceleration(void)
Davidroid	0:92706998571a	649	{
Davidroid	0:92706998571a	650	L6470_PrepareGetParam((eL6470_RegId_t) L6470_DEC_ID);
Davidroid	1:b78dab6d2c58	651	prepared_action = PREPARED_GET_DECELERATION;
Davidroid	0:92706998571a	652	}
Davidroid	0:92706998571a	653
Davidroid	1:b78dab6d2c58	654	/**
Davidroid	1:b78dab6d2c58	655	* @brief Preparing the command to get the direction of rotation.
Davidroid	1:b78dab6d2c58	656	* @param None.
Davidroid	1:b78dab6d2c58	657	* @retval None.
Davidroid	1:b78dab6d2c58	658	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	659	*/
Davidroid	1:b78dab6d2c58	660	virtual void PrepareGetDirection(void)
Davidroid	0:92706998571a	661	{
Davidroid	1:b78dab6d2c58	662	if (!L6470_DaisyChain_HalfPrepared)
Davidroid	1:b78dab6d2c58	663	{
Davidroid	1:b78dab6d2c58	664	/* To avoid deleting the previous entered command. */
Davidroid	1:b78dab6d2c58	665	L6470_DaisyChain_HalfPrepared = ONE_F;
Davidroid	1:b78dab6d2c58	666	/* Resetting commands. */
Davidroid	1:b78dab6d2c58	667	L6470_ResetAppCmdPkg(L6470_AppCmdPkg);
Davidroid	1:b78dab6d2c58	668	}
Davidroid	1:b78dab6d2c58	669	prepared_action = PREPARED_GET_DIRECTION;
Davidroid	0:92706998571a	670	}
Davidroid	0:92706998571a	671
Davidroid	1:b78dab6d2c58	672	/**
Davidroid	1:b78dab6d2c58	673	* @brief Preparing the command to set a parameter.
Davidroid	1:b78dab6d2c58	674	* @param parameter The parameter's identifier (or its register address).
Davidroid	1:b78dab6d2c58	675	* @param value The parameter's value.
Davidroid	1:b78dab6d2c58	676	* @retval None.
Davidroid	1:b78dab6d2c58	677	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	678	*/
Davidroid	0:92706998571a	679	virtual void PrepareSetParameter(unsigned int parameter, unsigned int value)
Davidroid	0:92706998571a	680	{
Davidroid	0:92706998571a	681	L6470_PrepareSetParam((eL6470_RegId_t) parameter, (uint32_t) value);
Davidroid	1:b78dab6d2c58	682	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	683	}
Davidroid	0:92706998571a	684
Davidroid	1:b78dab6d2c58	685	/**
Davidroid	1:b78dab6d2c58	686	* @brief Preparing the command to set the current position to be
Davidroid	1:b78dab6d2c58	687	* the home position.
Davidroid	1:b78dab6d2c58	688	* @param None.
Davidroid	1:b78dab6d2c58	689	* @retval None.
Davidroid	1:b78dab6d2c58	690	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	691	*/
Davidroid	0:92706998571a	692	virtual void PrepareSetHome(void)
Davidroid	0:92706998571a	693	{
Davidroid	0:92706998571a	694	L6470_PrepareResetPos();
Davidroid	1:b78dab6d2c58	695	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	696	}
Davidroid	0:92706998571a	697
Davidroid	1:b78dab6d2c58	698	/**
Davidroid	1:b78dab6d2c58	699	* @brief Preparing the command to set the current position to be
Davidroid	1:b78dab6d2c58	700	* the marked position.
Davidroid	1:b78dab6d2c58	701	* @param None.
Davidroid	1:b78dab6d2c58	702	* @retval None.
Davidroid	1:b78dab6d2c58	703	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	704	*/
Davidroid	0:92706998571a	705	virtual void PrepareSetMark(void)
Davidroid	0:92706998571a	706	{
Davidroid	1:b78dab6d2c58	707	/*
Davidroid	1:b78dab6d2c58	708	Set "0" now as marked position. This value will be replaced by the
Davidroid	1:b78dab6d2c58	709	actual position read at the time when the prepared actions will be
Davidroid	1:b78dab6d2c58	710	performed.
Davidroid	1:b78dab6d2c58	711	*/
Davidroid	1:b78dab6d2c58	712	L6470_PrepareSetParam((eL6470_RegId_t) L6470_MARK_ID, 0);
Davidroid	1:b78dab6d2c58	713	prepared_action = PREPARED_SET_MARK;
Davidroid	0:92706998571a	714	}
Davidroid	0:92706998571a	715
Davidroid	1:b78dab6d2c58	716	/**
Davidroid	1:b78dab6d2c58	717	* @brief Preparing the command to set the given position to be
Davidroid	1:b78dab6d2c58	718	* the marked position.
Davidroid	1:b78dab6d2c58	719	* @param position The given position.
Davidroid	1:b78dab6d2c58	720	* @retval None.
Davidroid	1:b78dab6d2c58	721	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	722	*/
Davidroid	1:b78dab6d2c58	723	virtual void PrepareSetMark(signed int position)
Davidroid	1:b78dab6d2c58	724	{
Davidroid	1:b78dab6d2c58	725	L6470_PrepareSetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
Davidroid	1:b78dab6d2c58	726	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	727	}
Davidroid	1:b78dab6d2c58	728
Davidroid	1:b78dab6d2c58	729	/**
Davidroid	1:b78dab6d2c58	730	* @brief Preparing the command to set the current speed in pps.
Davidroid	1:b78dab6d2c58	731	* @param speed The current speed in pps.
Davidroid	1:b78dab6d2c58	732	* @retval None.
Davidroid	1:b78dab6d2c58	733	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	734	*/
Davidroid	1:b78dab6d2c58	735	virtual void PrepareSetSpeed(unsigned int speed)
Davidroid	1:b78dab6d2c58	736	{
Davidroid	1:b78dab6d2c58	737	L6470_PrepareSetParam((eL6470_RegId_t) L6470_SPEED_ID, (uint32_t) L6470_Step_s_2_Speed((float) speed));
Davidroid	1:b78dab6d2c58	738	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	739	}
Davidroid	1:b78dab6d2c58	740
Davidroid	1:b78dab6d2c58	741	/**
Davidroid	1:b78dab6d2c58	742	* @brief Preparing the command to set the maximum speed in pps.
Davidroid	1:b78dab6d2c58	743	* @param speed The maximum speed in pps.
Davidroid	1:b78dab6d2c58	744	* @retval None.
Davidroid	1:b78dab6d2c58	745	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	746	*/
Davidroid	0:92706998571a	747	virtual void PrepareSetMaxSpeed(unsigned int speed)
Davidroid	0:92706998571a	748	{
Davidroid	1:b78dab6d2c58	749	L6470_PrepareSetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) L6470_Step_s_2_MaxSpeed((float) speed));
Davidroid	1:b78dab6d2c58	750	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	751	}
Davidroid	0:92706998571a	752
Davidroid	1:b78dab6d2c58	753	/**
Davidroid	1:b78dab6d2c58	754	* @brief Preparing the command to set the minimum speed in pps.
Davidroid	1:b78dab6d2c58	755	* @param speed The minimum speed in pps.
Davidroid	1:b78dab6d2c58	756	* @retval None.
Davidroid	1:b78dab6d2c58	757	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	758	*/
Davidroid	1:b78dab6d2c58	759	virtual void PrepareSetMinSpeed(unsigned int speed)
Davidroid	1:b78dab6d2c58	760	{
Davidroid	1:b78dab6d2c58	761	L6470_PrepareSetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) L6470_Step_s_2_MinSpeed((float) speed));
Davidroid	1:b78dab6d2c58	762	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	763	}
Davidroid	1:b78dab6d2c58	764
Davidroid	1:b78dab6d2c58	765	/**
Davidroid	1:b78dab6d2c58	766	* @brief Preparing the command to set the acceleration in pps^2.
Davidroid	1:b78dab6d2c58	767	* @param acceleration The acceleration in pps^2.
Davidroid	1:b78dab6d2c58	768	* @retval None.
Davidroid	1:b78dab6d2c58	769	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	770	*/
Davidroid	0:92706998571a	771	virtual void PrepareSetAcceleration(unsigned int acceleration)
Davidroid	0:92706998571a	772	{
Davidroid	1:b78dab6d2c58	773	L6470_PrepareSetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) L6470_Step_s2_2_Acc((float) acceleration));
Davidroid	1:b78dab6d2c58	774	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	775	}
Davidroid	0:92706998571a	776
Davidroid	1:b78dab6d2c58	777	/**
Davidroid	1:b78dab6d2c58	778	* @brief Preparing the command to set the deceleration in pps^2.
Davidroid	1:b78dab6d2c58	779	* @param deceleration The deceleration in pps^2.
Davidroid	1:b78dab6d2c58	780	* @retval None.
Davidroid	1:b78dab6d2c58	781	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	782	*/
Davidroid	1:b78dab6d2c58	783	virtual void PrepareSetDeceleration(unsigned int deceleration)
Davidroid	0:92706998571a	784	{
Davidroid	1:b78dab6d2c58	785	L6470_PrepareSetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) L6470_Step_s2_2_Dec((float) deceleration));
Davidroid	1:b78dab6d2c58	786	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	787	}
Davidroid	0:92706998571a	788
Davidroid	1:b78dab6d2c58	789	/**
Davidroid	1:b78dab6d2c58	790	* @brief Preparing the command to go to a specified position.
Davidroid	1:b78dab6d2c58	791	* @param position The desired position.
Davidroid	1:b78dab6d2c58	792	* @retval None.
Davidroid	1:b78dab6d2c58	793	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	794	*/
Davidroid	1:b78dab6d2c58	795	virtual void PrepareGoTo(signed int position)
Davidroid	1:b78dab6d2c58	796	{
Davidroid	1:b78dab6d2c58	797	L6470_PrepareGoTo((uint32_t) L6470_Position_2_AbsPos((int32_t) position));
Davidroid	1:b78dab6d2c58	798	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	799	}
Davidroid	1:b78dab6d2c58	800
Davidroid	1:b78dab6d2c58	801	/**
Davidroid	1:b78dab6d2c58	802	* @brief Preparing the command to go to a specified position
Davidroid	1:b78dab6d2c58	803	* imposing the desired direction.
Davidroid	1:b78dab6d2c58	804	* @param position The desired position.
Davidroid	1:b78dab6d2c58	805	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	806	* @retval None.
Davidroid	1:b78dab6d2c58	807	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	808	*/
Davidroid	0:92706998571a	809	virtual void PrepareGoTo(signed int position, direction_t direction)
Davidroid	0:92706998571a	810	{
Davidroid	1:b78dab6d2c58	811	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	812	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	813	}
Davidroid	0:92706998571a	814
Davidroid	1:b78dab6d2c58	815	/**
Davidroid	1:b78dab6d2c58	816	* @brief Preparing the command to go to the home position.
Davidroid	1:b78dab6d2c58	817	* @param None.
Davidroid	1:b78dab6d2c58	818	* @retval None.
Davidroid	1:b78dab6d2c58	819	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	820	*/
Davidroid	0:92706998571a	821	virtual void PrepareGoHome(void)
Davidroid	0:92706998571a	822	{
Davidroid	0:92706998571a	823	L6470_PrepareGoHome();
Davidroid	1:b78dab6d2c58	824	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	825	}
Davidroid	0:92706998571a	826
Davidroid	1:b78dab6d2c58	827	/**
Davidroid	1:b78dab6d2c58	828	* @brief Preparing the command to go to the marked position.
Davidroid	1:b78dab6d2c58	829	* @param None.
Davidroid	1:b78dab6d2c58	830	* @retval None.
Davidroid	1:b78dab6d2c58	831	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	832	*/
Davidroid	0:92706998571a	833	virtual void PrepareGoMark(void)
Davidroid	0:92706998571a	834	{
Davidroid	0:92706998571a	835	L6470_PrepareGoMark();
Davidroid	1:b78dab6d2c58	836	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	837	}
Davidroid	0:92706998571a	838
Davidroid	1:b78dab6d2c58	839	/**
Davidroid	1:b78dab6d2c58	840	* @brief Preparing the command to run at the given speed imposing the desired
Davidroid	1:b78dab6d2c58	841	* direction until an external switch turn-on event occurs.
Davidroid	1:b78dab6d2c58	842	* @param action The identifier of the action about the absolute position.
Davidroid	1:b78dab6d2c58	843	* @param position The desired position.
Davidroid	1:b78dab6d2c58	844	* @param speed The speed value in pps.
Davidroid	1:b78dab6d2c58	845	* @retval None.
Davidroid	1:b78dab6d2c58	846	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	847	* The identifier of the action about the absolute position can be
Davidroid	1:b78dab6d2c58	848	* one of the following:
Davidroid	1:b78dab6d2c58	849	* + L6470_ACT_RST_ID: the absolute position is reset;
Davidroid	1:b78dab6d2c58	850	* + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
Davidroid	1:b78dab6d2c58	851	*/
Davidroid	0:92706998571a	852	virtual void PrepareGoUntil(eL6470_ActId_t L6470_ActId, direction_t direction, unsigned int speed)
Davidroid	0:92706998571a	853	{
Davidroid	1:b78dab6d2c58	854	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	855	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	856	}
Davidroid	0:92706998571a	857
Davidroid	1:b78dab6d2c58	858	/**
Davidroid	1:b78dab6d2c58	859	* @brief Preparing the command to run towards a specified direction
Davidroid	1:b78dab6d2c58	860	* at the maximum speed.
Davidroid	1:b78dab6d2c58	861	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	862	* @retval None.
Davidroid	1:b78dab6d2c58	863	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	864	*/
Davidroid	0:92706998571a	865	virtual void PrepareRun(direction_t direction)
Davidroid	0:92706998571a	866	{
Davidroid	0:92706998571a	867	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	868	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	869	}
Davidroid	0:92706998571a	870
Davidroid	1:b78dab6d2c58	871	/**
Davidroid	1:b78dab6d2c58	872	* @brief Preparing the command to run towards a specified direction
Davidroid	1:b78dab6d2c58	873	* at the given speed.
Davidroid	1:b78dab6d2c58	874	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	875	* @param speed The speed value in pps.
Davidroid	1:b78dab6d2c58	876	* @retval None.
Davidroid	1:b78dab6d2c58	877	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	878	*/
Davidroid	0:92706998571a	879	virtual void PrepareRun(direction_t direction, unsigned int speed)
Davidroid	0:92706998571a	880	{
Davidroid	1:b78dab6d2c58	881	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	882	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	883	}
Davidroid	0:92706998571a	884
Davidroid	1:b78dab6d2c58	885	/**
Davidroid	1:b78dab6d2c58	886	* @brief Preparing the command to move towards a specified direction
Davidroid	1:b78dab6d2c58	887	* for a certain number of steps.
Davidroid	1:b78dab6d2c58	888	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	889	* @param steps The desired number of steps.
Davidroid	1:b78dab6d2c58	890	* @retval None.
Davidroid	1:b78dab6d2c58	891	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	892	*/
Davidroid	0:92706998571a	893	virtual void PrepareMove(direction_t direction, unsigned int steps)
Davidroid	0:92706998571a	894	{
Davidroid	0:92706998571a	895	L6470_PrepareMove((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) steps);
Davidroid	1:b78dab6d2c58	896	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	897	}
Davidroid	0:92706998571a	898
Davidroid	1:b78dab6d2c58	899	/**
Davidroid	1:b78dab6d2c58	900	* @brief Preparing the command to stop the motor.
Davidroid	1:b78dab6d2c58	901	* @param None.
Davidroid	1:b78dab6d2c58	902	* @retval None.
Davidroid	1:b78dab6d2c58	903	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	904	*/
Davidroid	0:92706998571a	905	virtual void PrepareSoftStop(void)
Davidroid	0:92706998571a	906	{
Davidroid	0:92706998571a	907	L6470_PrepareSoftStop();
Davidroid	1:b78dab6d2c58	908	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	909	}
Davidroid	0:92706998571a	910
Davidroid	1:b78dab6d2c58	911	/**
Davidroid	1:b78dab6d2c58	912	* @brief Preparing the command to stop the motor and disabling the power bridge.
Davidroid	1:b78dab6d2c58	913	* @param None.
Davidroid	1:b78dab6d2c58	914	* @retval None.
Davidroid	1:b78dab6d2c58	915	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	916	*/
Davidroid	0:92706998571a	917	virtual void PrepareHardStop(void)
Davidroid	0:92706998571a	918	{
Davidroid	0:92706998571a	919	L6470_PrepareHardStop();
Davidroid	1:b78dab6d2c58	920	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	921	}
Davidroid	0:92706998571a	922
Davidroid	1:b78dab6d2c58	923	/**
Davidroid	1:b78dab6d2c58	924	* @brief Preparing the command to disable the power bridge after performing
Davidroid	1:b78dab6d2c58	925	* a deceleration to zero.
Davidroid	1:b78dab6d2c58	926	* The used deceleration value is the one stored in the "DEC" register.
Davidroid	1:b78dab6d2c58	927	* @param None.
Davidroid	1:b78dab6d2c58	928	* @retval None.
Davidroid	1:b78dab6d2c58	929	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	930	*/
Davidroid	0:92706998571a	931	virtual void PrepareSoftHiZ(void)
Davidroid	0:92706998571a	932	{
Davidroid	0:92706998571a	933	L6470_PrepareSoftHiZ();
Davidroid	1:b78dab6d2c58	934	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	935	}
Davidroid	0:92706998571a	936
Davidroid	1:b78dab6d2c58	937	/**
Davidroid	1:b78dab6d2c58	938	* @brief Preparing the command to disable the power bridge immediately.
Davidroid	1:b78dab6d2c58	939	* @param None.
Davidroid	1:b78dab6d2c58	940	* @retval None.
Davidroid	1:b78dab6d2c58	941	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	942	*/
Davidroid	0:92706998571a	943	virtual void PrepareHardHiZ(void)
Davidroid	0:92706998571a	944	{
Davidroid	0:92706998571a	945	L6470_PrepareHardHiZ();
Davidroid	1:b78dab6d2c58	946	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	947	}
Davidroid	1:b78dab6d2c58	948
Davidroid	1:b78dab6d2c58	949	/**
Davidroid	1:b78dab6d2c58	950	* @brief Preparing the command to switch to step-clock mode.
Davidroid	1:b78dab6d2c58	951	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	952	* @retval None.
Davidroid	1:b78dab6d2c58	953	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	954	*/
Davidroid	1:b78dab6d2c58	955	virtual void PrepareStepClock(direction_t direction)
Davidroid	1:b78dab6d2c58	956	{
Davidroid	1:b78dab6d2c58	957	L6470_PrepareStepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid	1:b78dab6d2c58	958	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	959	}
Davidroid	0:92706998571a	960
Davidroid	1:b78dab6d2c58	961	/**
Davidroid	1:b78dab6d2c58	962	* @brief Preparing the command to do a motion at minimum speed
Davidroid	1:b78dab6d2c58	963	* imposing a specified direction until the SW is released.
Davidroid	1:b78dab6d2c58	964	* @param action The identifier of the action about the absolute position.
Davidroid	1:b78dab6d2c58	965	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	966	* @retval None.
Davidroid	1:b78dab6d2c58	967	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	968	* The identifier of the action about the absolute position can be
Davidroid	1:b78dab6d2c58	969	* one of the following:
Davidroid	1:b78dab6d2c58	970	* + L6470_ACT_RST_ID: the absolute position is reset;
Davidroid	1:b78dab6d2c58	971	* + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
Davidroid	1:b78dab6d2c58	972	*/
Davidroid	1:b78dab6d2c58	973	virtual void PrepareReleaseSW(eL6470_ActId_t action, direction_t direction)
Davidroid	0:92706998571a	974	{
Davidroid	1:b78dab6d2c58	975	L6470_PrepareReleaseSW((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid	1:b78dab6d2c58	976	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	977	}
Davidroid	1:b78dab6d2c58	978
Davidroid	1:b78dab6d2c58	979	/**
Davidroid	1:b78dab6d2c58	980	* @brief Preparing the command to reset the device to power-up conditions.
Davidroid	1:b78dab6d2c58	981	* @param None.
Davidroid	1:b78dab6d2c58	982	* @retval None.
Davidroid	1:b78dab6d2c58	983	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	984	*/
Davidroid	1:b78dab6d2c58	985	virtual void PrepareResetDevice(void)
Davidroid	1:b78dab6d2c58	986	{
Davidroid	1:b78dab6d2c58	987	L6470_PrepareResetDevice();
Davidroid	1:b78dab6d2c58	988	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	989	}
Davidroid	0:92706998571a	990
Davidroid	1:b78dab6d2c58	991	/**
Davidroid	1:b78dab6d2c58	992	* @brief Performing all the actions prepared on the components
Davidroid	1:b78dab6d2c58	993	* of the daisy-chain.
Davidroid	1:b78dab6d2c58	994	* @param None.
Davidroid	1:b78dab6d2c58	995	* @retval The raw data returned by the components.
Davidroid	1:b78dab6d2c58	996	*/
Davidroid	1:b78dab6d2c58	997	uint8_t* PerformPreparedActions(void)
Davidroid	0:92706998571a	998	{
Davidroid	1:b78dab6d2c58	999	return L6470_PerformPreparedApplicationCommand();
Davidroid	1:b78dab6d2c58	1000	}
Davidroid	1:b78dab6d2c58	1001
Davidroid	1:b78dab6d2c58	1002	/**
Davidroid	1:b78dab6d2c58	1003	* @brief Getting the prepared action.
Davidroid	1:b78dab6d2c58	1004	* @param None
Davidroid	1:b78dab6d2c58	1005	* @retval The prepared action.
Davidroid	1:b78dab6d2c58	1006	*/
Davidroid	1:b78dab6d2c58	1007	prepared_action_t GetPreparedAction(void)
Davidroid	1:b78dab6d2c58	1008	{
Davidroid	1:b78dab6d2c58	1009	return prepared_action;
Davidroid	0:92706998571a	1010	}
Davidroid	0:92706998571a	1011
Davidroid	1:b78dab6d2c58	1012	/**
Davidroid	1:b78dab6d2c58	1013	* @brief Converting the raw data received by the component according to
Davidroid	1:b78dab6d2c58	1014	* the action performed on it.
Davidroid	1:b78dab6d2c58	1015	* @param raw_data The received raw data.
Davidroid	1:b78dab6d2c58	1016	* @retval The result of the action performed.
Davidroid	1:b78dab6d2c58	1017	*/
Davidroid	1:b78dab6d2c58	1018	int32_t GetResult(uint8_t *raw_data)
Davidroid	0:92706998571a	1019	{
Davidroid	1:b78dab6d2c58	1020	switch (prepared_action)
Davidroid	1:b78dab6d2c58	1021	{
Davidroid	1:b78dab6d2c58	1022	case PREPARED_GET_POSITION:
Davidroid	1:b78dab6d2c58	1023	return L6470_AbsPos_2_Position(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_ABS_POS_ID].LengthByte));
Davidroid	1:b78dab6d2c58	1024
Davidroid	1:b78dab6d2c58	1025	case PREPARED_GET_MARK:
Davidroid	1:b78dab6d2c58	1026	return L6470_AbsPos_2_Position(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MARK_ID].LengthByte));
Davidroid	0:92706998571a	1027
Davidroid	1:b78dab6d2c58	1028	case PREPARED_GET_SPEED:
Davidroid	1:b78dab6d2c58	1029	return round(L6470_Speed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_SPEED_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1030
Davidroid	1:b78dab6d2c58	1031	case PREPARED_GET_MAX_SPEED:
Davidroid	1:b78dab6d2c58	1032	return round(L6470_MaxSpeed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MAX_SPEED_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1033
Davidroid	1:b78dab6d2c58	1034	case PREPARED_GET_MIN_SPEED:
Davidroid	1:b78dab6d2c58	1035	return round(L6470_MinSpeed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MIN_SPEED_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1036
Davidroid	1:b78dab6d2c58	1037	case PREPARED_GET_ACCELERATION:
Davidroid	1:b78dab6d2c58	1038	return round(L6470_Acc_2_Step_s2(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_ACC_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1039
Davidroid	1:b78dab6d2c58	1040	case PREPARED_GET_DECELERATION:
Davidroid	1:b78dab6d2c58	1041	return round(L6470_Dec_2_Step_s2(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_DEC_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1042
Davidroid	1:b78dab6d2c58	1043	case PREPARED_GET_DIRECTION:
Davidroid	1:b78dab6d2c58	1044	return (int32_t) (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD);
Davidroid	1:b78dab6d2c58	1045
Davidroid	1:b78dab6d2c58	1046	default:
Davidroid	1:b78dab6d2c58	1047	case PREPARED_NO_ACTION:
Davidroid	1:b78dab6d2c58	1048	return 0;
Davidroid	1:b78dab6d2c58	1049	}
Davidroid	0:92706998571a	1050	}
Davidroid	0:92706998571a	1051
Davidroid	0:92706998571a	1052
Davidroid	0:92706998571a	1053	/* Public Interrupt Related Methods */
Davidroid	0:92706998571a	1054
Davidroid	0:92706998571a	1055	/* ACTION 6 --------------------------------------------------------------*
Davidroid	0:92706998571a	1056	* Implement here interrupt related methods, if any. *
Davidroid	0:92706998571a	1057	* Note that interrupt handling is platform dependent, e.g.: *
Davidroid	0:92706998571a	1058	* + mbed: *
Davidroid	0:92706998571a	1059	* InterruptIn feature_irq(pin); //Interrupt object. *
Davidroid	0:92706998571a	1060	* feature_irq.rise(callback); //Attach a callback. *
Davidroid	0:92706998571a	1061	* feature_irq.mode(PullNone); //Set interrupt mode. *
Davidroid	0:92706998571a	1062	* feature_irq.enable_irq(); //Enable interrupt. *
Davidroid	0:92706998571a	1063	* feature_irq.disable_irq(); //Disable interrupt. *
Davidroid	0:92706998571a	1064	* + Arduino: *
Davidroid	0:92706998571a	1065	* attachInterrupt(pin, callback, RISING); //Attach a callback. *
Davidroid	0:92706998571a	1066	* detachInterrupt(pin); //Detach a callback. *
Davidroid	0:92706998571a	1067	* *
Davidroid	0:92706998571a	1068	* Example (mbed): *
Davidroid	0:92706998571a	1069	* void AttachFeatureIRQ(void (fptr) (void))
Davidroid	0:92706998571a	1070	* { *
Davidroid	0:92706998571a	1071	* feature_irq.rise(fptr); *
Davidroid	0:92706998571a	1072	* } *
Davidroid	0:92706998571a	1073	* *
Davidroid	0:92706998571a	1074	* void EnableFeatureIRQ(void) *
Davidroid	0:92706998571a	1075	* { *
Davidroid	0:92706998571a	1076	* feature_irq.enable_irq(); *
Davidroid	0:92706998571a	1077	* } *
Davidroid	0:92706998571a	1078	* *
Davidroid	0:92706998571a	1079	* void DisableFeatureIRQ(void) *
Davidroid	0:92706998571a	1080	* { *
Davidroid	0:92706998571a	1081	* feature_irq.disable_irq(); *
Davidroid	0:92706998571a	1082	* } *
Davidroid	0:92706998571a	1083	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1084	/**
Davidroid	1:b78dab6d2c58	1085	* @brief Attaching an interrupt handler to the FLAG interrupt.
Davidroid	1:b78dab6d2c58	1086	* @param fptr An interrupt handler.
Davidroid	0:92706998571a	1087	* @retval None.
Davidroid	0:92706998571a	1088	*/
Davidroid	0:92706998571a	1089	void AttachFlagIRQ(void (*fptr)(void))
Davidroid	0:92706998571a	1090	{
Davidroid	0:92706998571a	1091	flag_irq.rise(fptr);
Davidroid	0:92706998571a	1092	}
Davidroid	0:92706998571a	1093
Davidroid	0:92706998571a	1094	/**
Davidroid	1:b78dab6d2c58	1095	* @brief Enabling the FLAG interrupt handling.
Davidroid	0:92706998571a	1096	* @param None.
Davidroid	0:92706998571a	1097	* @retval None.
Davidroid	0:92706998571a	1098	*/
Davidroid	0:92706998571a	1099	void EnableFlagIRQ(void)
Davidroid	0:92706998571a	1100	{
Davidroid	0:92706998571a	1101	flag_irq.enable_irq();
Davidroid	0:92706998571a	1102	}
Davidroid	0:92706998571a	1103
Davidroid	0:92706998571a	1104	/**
Davidroid	1:b78dab6d2c58	1105	* @brief Disabling the FLAG interrupt handling.
Davidroid	0:92706998571a	1106	* @param None.
Davidroid	0:92706998571a	1107	* @retval None.
Davidroid	0:92706998571a	1108	*/
Davidroid	0:92706998571a	1109	void DisableFlagIRQ(void)
Davidroid	0:92706998571a	1110	{
Davidroid	0:92706998571a	1111	flag_irq.disable_irq();
Davidroid	0:92706998571a	1112	}
Davidroid	0:92706998571a	1113
Davidroid	1:b78dab6d2c58	1114	/**
Davidroid	1:b78dab6d2c58	1115	* @brief Attaching an interrupt handler to the BUSY interrupt.
Davidroid	1:b78dab6d2c58	1116	* @param fptr An interrupt handler.
Davidroid	1:b78dab6d2c58	1117	* @retval None.
Davidroid	1:b78dab6d2c58	1118	*/
Davidroid	1:b78dab6d2c58	1119	void AttachBusyIRQ(void (*fptr)(void))
Davidroid	1:b78dab6d2c58	1120	{
Davidroid	1:b78dab6d2c58	1121	busy_irq.rise(fptr);
Davidroid	1:b78dab6d2c58	1122	}
Davidroid	1:b78dab6d2c58	1123
Davidroid	1:b78dab6d2c58	1124	/**
Davidroid	1:b78dab6d2c58	1125	* @brief Enabling the BUSY interrupt handling.
Davidroid	1:b78dab6d2c58	1126	* @param None.
Davidroid	1:b78dab6d2c58	1127	* @retval None.
Davidroid	1:b78dab6d2c58	1128	*/
Davidroid	1:b78dab6d2c58	1129	void EnableBusyIRQ(void)
Davidroid	1:b78dab6d2c58	1130	{
Davidroid	1:b78dab6d2c58	1131	busy_irq.enable_irq();
Davidroid	1:b78dab6d2c58	1132	}
Davidroid	1:b78dab6d2c58	1133
Davidroid	1:b78dab6d2c58	1134	/**
Davidroid	1:b78dab6d2c58	1135	* @brief Disabling the BUSY interrupt handling.
Davidroid	1:b78dab6d2c58	1136	* @param None.
Davidroid	1:b78dab6d2c58	1137	* @retval None.
Davidroid	1:b78dab6d2c58	1138	*/
Davidroid	1:b78dab6d2c58	1139	void DisableBusyIRQ(void)
Davidroid	1:b78dab6d2c58	1140	{
Davidroid	1:b78dab6d2c58	1141	busy_irq.disable_irq();
Davidroid	1:b78dab6d2c58	1142	}
Davidroid	1:b78dab6d2c58	1143
Davidroid	0:92706998571a	1144
Davidroid	0:92706998571a	1145	protected:
Davidroid	0:92706998571a	1146
Davidroid	0:92706998571a	1147	/* Protected Component Related Methods */
Davidroid	0:92706998571a	1148
Davidroid	0:92706998571a	1149	/* ACTION 7 --------------------------------------------------------------*
Davidroid	0:92706998571a	1150	* Declare here the component's specific methods. *
Davidroid	0:92706998571a	1151	* They should be: *
Davidroid	0:92706998571a	1152	* + Methods with the same name of the C component's virtual table's *
Davidroid	0:92706998571a	1153	* functions (1); *
Davidroid	0:92706998571a	1154	* + Methods with the same name of the C component's extended virtual *
Davidroid	0:92706998571a	1155	* table's functions, if any (2); *
Davidroid	0:92706998571a	1156	* + Helper methods, if any, like functions declared in the component's *
Davidroid	0:92706998571a	1157	* source files but not pointed by the component's virtual table (3). *
Davidroid	0:92706998571a	1158	* *
Davidroid	0:92706998571a	1159	* Example: *
Davidroid	0:92706998571a	1160	* DrvStatusTypeDef COMPONENT_GetValue(float* pfData); //(1) *
Davidroid	0:92706998571a	1161	* DrvStatusTypeDef COMPONENT_EnableFeature(void); //(2) *
Davidroid	0:92706998571a	1162	* DrvStatusTypeDef COMPONENT_ComputeAverage(void); //(3) *
Davidroid	0:92706998571a	1163	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1164	int32_t L6470_AbsPos_2_Position(uint32_t AbsPos);
Davidroid	0:92706998571a	1165	uint32_t L6470_Position_2_AbsPos(int32_t Position);
Davidroid	0:92706998571a	1166	float L6470_Speed_2_Step_s(uint32_t Speed);
Davidroid	0:92706998571a	1167	uint32_t L6470_Step_s_2_Speed(float Step_s);
Davidroid	0:92706998571a	1168	float L6470_Acc_2_Step_s2(uint16_t Acc);
Davidroid	0:92706998571a	1169	uint16_t L6470_Step_s2_2_Acc(float Step_s2);
Davidroid	0:92706998571a	1170	float L6470_Dec_2_Step_s2(uint16_t Dec);
Davidroid	0:92706998571a	1171	uint16_t L6470_Step_s2_2_Dec(float Step_s2);
Davidroid	0:92706998571a	1172	float L6470_MaxSpeed_2_Step_s(uint16_t MaxSpeed);
Davidroid	0:92706998571a	1173	uint16_t L6470_Step_s_2_MaxSpeed(float Step_s);
Davidroid	0:92706998571a	1174	float L6470_MinSpeed_2_Step_s(uint16_t MinSpeed);
Davidroid	0:92706998571a	1175	uint16_t L6470_Step_s_2_MinSpeed(float Step_s);
Davidroid	0:92706998571a	1176	float L6470_FsSpd_2_Step_s(uint16_t FsSpd);
Davidroid	0:92706998571a	1177	uint16_t L6470_Step_s_2_FsSpd(float Step_s);
Davidroid	0:92706998571a	1178	float L6470_IntSpeed_2_Step_s(uint16_t IntSpeed);
Davidroid	0:92706998571a	1179	uint16_t L6470_Step_s_2_IntSpeed(float Step_s);
Davidroid	0:92706998571a	1180	float L6470_StSlp_2_s_Step(uint8_t StSlp);
Davidroid	0:92706998571a	1181	uint8_t L6470_s_Step_2_StSlp(float s_Step);
Davidroid	0:92706998571a	1182	float L6470_FnSlpAcc_2_s_Step(uint8_t FnSlpAcc);
Davidroid	0:92706998571a	1183	uint8_t L6470_s_Step_2_FnSlpAcc(float s_Step);
Davidroid	0:92706998571a	1184	float L6470_FnSlpDec_2_s_Step(uint8_t FnSlpDec);
Davidroid	0:92706998571a	1185	uint8_t L6470_s_Step_2_FnSlpDec(float s_Step);
Davidroid	0:92706998571a	1186	float L6470_OcdTh_2_mA(uint8_t OcdTh);
Davidroid	0:92706998571a	1187	uint8_t L6470_mA_2_OcdTh(float mA);
Davidroid	0:92706998571a	1188	float L6470_StallTh_2_mA(uint8_t StallTh);
Davidroid	0:92706998571a	1189	uint8_t L6470_mA_2_StallTh(float mA);
Davidroid	0:92706998571a	1190	DrvStatusTypeDef L6470_Config(MICROSTEPPING_MOTOR_InitTypeDef *MotorParameterData);
Davidroid	0:92706998571a	1191	void L6470_SetParam(eL6470_RegId_t L6470_RegId, uint32_t Value);
Davidroid	0:92706998571a	1192	uint32_t L6470_GetParam(eL6470_RegId_t L6470_RegId);
Davidroid	0:92706998571a	1193	void L6470_Run(eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	1194	void L6470_StepClock(eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	1195	void L6470_Move(eL6470_DirId_t L6470_DirId, uint32_t N_Step);
Davidroid	0:92706998571a	1196	void L6470_GoTo(uint32_t AbsPos);
Davidroid	0:92706998571a	1197	void L6470_GoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
Davidroid	0:92706998571a	1198	void L6470_GoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	1199	void L6470_ReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	1200	void L6470_GoHome(void);
Davidroid	0:92706998571a	1201	void L6470_GoMark(void);
Davidroid	0:92706998571a	1202	void L6470_ResetPos(void);
Davidroid	0:92706998571a	1203	void L6470_ResetDevice(void);
Davidroid	0:92706998571a	1204	void L6470_SoftStop(void);
Davidroid	0:92706998571a	1205	void L6470_HardStop(void);
Davidroid	0:92706998571a	1206	void L6470_SoftHiZ(void);
Davidroid	0:92706998571a	1207	void L6470_HardHiZ(void);
Davidroid	0:92706998571a	1208	uint16_t L6470_GetStatus(void);
Davidroid	0:92706998571a	1209	void L6470_PrepareSetParam(eL6470_RegId_t L6470_RegId, uint32_t Value);
Davidroid	0:92706998571a	1210	void L6470_PrepareGetParam(eL6470_RegId_t L6470_RegId);
Davidroid	0:92706998571a	1211	void L6470_PrepareRun(eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	1212	void L6470_PrepareStepClock(eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	1213	void L6470_PrepareMove(eL6470_DirId_t L6470_DirId, uint32_t N_Step);
Davidroid	0:92706998571a	1214	void L6470_PrepareGoTo(uint32_t AbsPos);
Davidroid	0:92706998571a	1215	void L6470_PrepareGoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
Davidroid	0:92706998571a	1216	void L6470_PrepareGoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	1217	void L6470_PrepareReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	1218	void L6470_PrepareGoHome(void);
Davidroid	0:92706998571a	1219	void L6470_PrepareGoMark(void);
Davidroid	0:92706998571a	1220	void L6470_PrepareResetPos(void);
Davidroid	0:92706998571a	1221	void L6470_PrepareResetDevice(void);
Davidroid	0:92706998571a	1222	void L6470_PrepareSoftStop(void);
Davidroid	0:92706998571a	1223	void L6470_PrepareHardStop(void);
Davidroid	0:92706998571a	1224	void L6470_PrepareSoftHiZ(void);
Davidroid	0:92706998571a	1225	void L6470_PrepareHardHiZ(void);
Davidroid	0:92706998571a	1226	void L6470_PrepareGetStatus(void);
Davidroid	0:92706998571a	1227	uint8_t* L6470_PerformPreparedApplicationCommand(void);
Davidroid	0:92706998571a	1228	void L6470_DaisyChainCommand(uint8_t* pL6470_DaisyChainSpiTxStruct, uint8_t* pL6470_DaisyChainSpiRxStruct);
Davidroid	0:92706998571a	1229	uint32_t L6470_ExtractReturnedData(uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte);
Davidroid	0:92706998571a	1230	uint8_t L6470_CheckStatusRegisterFlag(uint8_t L6470_StatusRegisterFlagId);
Davidroid	0:92706998571a	1231	uint8_t* L6470_GetRegisterName(uint8_t id);
Davidroid	0:92706998571a	1232	void L6470_ResetAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg);
Davidroid	0:92706998571a	1233	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	1234	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	1235	void L6470_PrepareDaisyChainCommand(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, uint8_t* pL6470_DaisyChainSpiTxStruct);
Davidroid	0:92706998571a	1236
Davidroid	1:b78dab6d2c58	1237	/**
Davidroid	1:b78dab6d2c58	1238	* @brief Rounding a floating point number to the nearest unsigned integer number.
Davidroid	1:b78dab6d2c58	1239	* @param f The floating point number.
Davidroid	1:b78dab6d2c58	1240	* @retval The nearest unsigned integer number.
Davidroid	1:b78dab6d2c58	1241	*/
Davidroid	1:b78dab6d2c58	1242	int round(float f)
Davidroid	1:b78dab6d2c58	1243	{
Davidroid	1:b78dab6d2c58	1244	if (f >= 0)
Davidroid	1:b78dab6d2c58	1245	return (int) f + (f - (int) f < 0.5f ? 0 : 1);
Davidroid	1:b78dab6d2c58	1246	else
Davidroid	1:b78dab6d2c58	1247	return (int) f - (f - (int) f < -0.5f ? 1 : 0);
Davidroid	1:b78dab6d2c58	1248	}
Davidroid	1:b78dab6d2c58	1249
Davidroid	0:92706998571a	1250
Davidroid	0:92706998571a	1251	/* Component's I/O Methods */
Davidroid	0:92706998571a	1252
Davidroid	0:92706998571a	1253	/**
Davidroid	0:92706998571a	1254	* @brief Utility function to read data from L6470.
Davidroid	0:92706998571a	1255	* @param[out] pBuffer pointer to the buffer to read data into.
Davidroid	0:92706998571a	1256	* @param[in] NumBytesToRead number of bytes to read.
Davidroid	0:92706998571a	1257	* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
Davidroid	0:92706998571a	1258	*/
Davidroid	0:92706998571a	1259	DrvStatusTypeDef Read(uint8_t* pBuffer, uint16_t NumBytesToRead)
Davidroid	0:92706998571a	1260	{
Davidroid	0:92706998571a	1261	if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0)
Davidroid	0:92706998571a	1262	return COMPONENT_ERROR;
Davidroid	0:92706998571a	1263	return COMPONENT_OK;
Davidroid	0:92706998571a	1264	}
Davidroid	0:92706998571a	1265
Davidroid	0:92706998571a	1266	/**
Davidroid	0:92706998571a	1267	* @brief Utility function to write data to L6470.
Davidroid	0:92706998571a	1268	* @param[in] pBuffer pointer to the buffer of data to send.
Davidroid	0:92706998571a	1269	* @param[in] NumBytesToWrite number of bytes to write.
Davidroid	0:92706998571a	1270	* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
Davidroid	0:92706998571a	1271	*/
Davidroid	0:92706998571a	1272	DrvStatusTypeDef Write(uint8_t* pBuffer, uint16_t NumBytesToWrite)
Davidroid	0:92706998571a	1273	{
Davidroid	0:92706998571a	1274	if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0)
Davidroid	0:92706998571a	1275	return COMPONENT_ERROR;
Davidroid	0:92706998571a	1276	return COMPONENT_OK;
Davidroid	0:92706998571a	1277	}
Davidroid	0:92706998571a	1278
Davidroid	0:92706998571a	1279	/**
Davidroid	0:92706998571a	1280	* @brief Utility function to read and write data from/to L6470 at the same time.
Davidroid	0:92706998571a	1281	* @param[out] pBufferToRead pointer to the buffer to read data into.
Davidroid	0:92706998571a	1282	* @param[in] pBufferToWrite pointer to the buffer of data to send.
Davidroid	0:92706998571a	1283	* @param[in] NumBytes number of bytes to read and write.
Davidroid	0:92706998571a	1284	* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
Davidroid	0:92706998571a	1285	*/
Davidroid	0:92706998571a	1286	DrvStatusTypeDef ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes)
Davidroid	0:92706998571a	1287	{
Davidroid	0:92706998571a	1288	if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0)
Davidroid	0:92706998571a	1289	return COMPONENT_ERROR;
Davidroid	0:92706998571a	1290	return COMPONENT_OK;
Davidroid	0:92706998571a	1291	}
Davidroid	0:92706998571a	1292
Davidroid	0:92706998571a	1293	/* ACTION 8 --------------------------------------------------------------*
Davidroid	0:92706998571a	1294	* Implement here other I/O methods beyond those already implemented *
Davidroid	0:92706998571a	1295	* above, which are declared extern within the component's header file. *
Davidroid	0:92706998571a	1296	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1297	/*
Davidroid	0:92706998571a	1298	* Puts the device in standby mode.
Davidroid	0:92706998571a	1299	*/
Davidroid	0:92706998571a	1300	void L6470_ENABLE(void)
Davidroid	0:92706998571a	1301	{
Davidroid	0:92706998571a	1302	/* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
Davidroid	0:92706998571a	1303	standby_reset = 1;
Davidroid	0:92706998571a	1304	}
Davidroid	0:92706998571a	1305
Davidroid	0:92706998571a	1306	/*
Davidroid	0:92706998571a	1307	* Puts the device in reset mode.
Davidroid	0:92706998571a	1308	*/
Davidroid	0:92706998571a	1309	void L6470_DISABLE(void)
Davidroid	0:92706998571a	1310	{
Davidroid	0:92706998571a	1311	/* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
Davidroid	0:92706998571a	1312	standby_reset = 0;
Davidroid	0:92706998571a	1313	}
Davidroid	0:92706998571a	1314
Davidroid	0:92706998571a	1315	/*
Davidroid	0:92706998571a	1316	* Write and read bytes to/from the component through the SPI at the same time.
Davidroid	0:92706998571a	1317	*/
Davidroid	0:92706998571a	1318	void L6470_SPI_Communication(uint8_t pTxData, uint8_t pRxData, uint16_t Size, uint32_t Timeout)
Davidroid	0:92706998571a	1319	{
Davidroid	0:92706998571a	1320	/* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
Davidroid	0:92706998571a	1321	ReadWrite(pRxData, pTxData, Size);
Davidroid	0:92706998571a	1322	}
Davidroid	0:92706998571a	1323
Davidroid	0:92706998571a	1324
Davidroid	0:92706998571a	1325	/* Component's Instance Variables */
Davidroid	0:92706998571a	1326
Davidroid	0:92706998571a	1327	/* ACTION 9 --------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1328	* Declare here interrupt related variables, if needed. *
Davidroid	1:b78dab6d2c58	1329	* Note that interrupt handling is platform dependent, see *
Davidroid	1:b78dab6d2c58	1330	* "Interrupt Related Methods" above. *
Davidroid	1:b78dab6d2c58	1331	* *
Davidroid	1:b78dab6d2c58	1332	* Example: *
Davidroid	1:b78dab6d2c58	1333	* + mbed: *
Davidroid	1:b78dab6d2c58	1334	* InterruptIn feature_irq; *
Davidroid	0:92706998571a	1335	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1336	/* Flag Interrupt. */
Davidroid	0:92706998571a	1337	InterruptIn flag_irq;
Davidroid	0:92706998571a	1338
Davidroid	1:b78dab6d2c58	1339	/* Busy Interrupt. */
Davidroid	1:b78dab6d2c58	1340	InterruptIn busy_irq;
Davidroid	1:b78dab6d2c58	1341
Davidroid	1:b78dab6d2c58	1342	/* ACTION 10 -------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1343	* Declare here other pin related variables, if needed. *
Davidroid	1:b78dab6d2c58	1344	* *
Davidroid	1:b78dab6d2c58	1345	* Example: *
Davidroid	1:b78dab6d2c58	1346	* + mbed: *
Davidroid	1:b78dab6d2c58	1347	* DigitalOut standby_reset; *
Davidroid	1:b78dab6d2c58	1348	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1349	/* Standby/reset pin. */
Davidroid	0:92706998571a	1350	DigitalOut standby_reset;
Davidroid	0:92706998571a	1351
Davidroid	1:b78dab6d2c58	1352	/* ACTION 11 -------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1353	* Declare here communication related variables, if needed. *
Davidroid	1:b78dab6d2c58	1354	* *
Davidroid	1:b78dab6d2c58	1355	* Example: *
Davidroid	1:b78dab6d2c58	1356	* + mbed: *
Davidroid	1:b78dab6d2c58	1357	* DigitalOut ssel; *
Davidroid	1:b78dab6d2c58	1358	* DevSPI &dev_spi; *
Davidroid	1:b78dab6d2c58	1359	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1360	/* Configuration. */
Davidroid	0:92706998571a	1361	DigitalOut ssel;
Davidroid	0:92706998571a	1362
Davidroid	0:92706998571a	1363	/* IO Device. */
Davidroid	0:92706998571a	1364	DevSPI &dev_spi;
Davidroid	0:92706998571a	1365
Davidroid	1:b78dab6d2c58	1366	/* ACTION 12 -------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1367	* Declare here identity related variables, if needed. *
Davidroid	1:b78dab6d2c58	1368	* Note that there should be only a unique identifier for each component, *
Davidroid	1:b78dab6d2c58	1369	* which should be the "who_am_i" parameter. *
Davidroid	1:b78dab6d2c58	1370	------------------------------------------------------------------------/
Davidroid	1:b78dab6d2c58	1371	/* Identity */
Davidroid	1:b78dab6d2c58	1372	uint8_t who_am_i;
Davidroid	1:b78dab6d2c58	1373
Davidroid	1:b78dab6d2c58	1374	/* ACTION 13 -------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1375	* Declare here the component's static and non-static data, one variable *
Davidroid	1:b78dab6d2c58	1376	* per line. *
Davidroid	0:92706998571a	1377	* *
Davidroid	0:92706998571a	1378	* Example: *
Davidroid	1:b78dab6d2c58	1379	* float measure; *
Davidroid	1:b78dab6d2c58	1380	* int instance_id; *
Davidroid	1:b78dab6d2c58	1381	* static int number_of_instances; *
Davidroid	0:92706998571a	1382	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1383	/* Data. */
Davidroid	0:92706998571a	1384	uint8_t L6470_Id;
Davidroid	0:92706998571a	1385	const sL6470_Register_t *L6470_Register;
Davidroid	0:92706998571a	1386	const sL6470_ApplicationCommand_t *L6470_ApplicationCommand;
Davidroid	0:92706998571a	1387	const sL6470_Direction_t *L6470_Direction;
Davidroid	0:92706998571a	1388	const sL6470_ACT_t *L6470_ACT;
Davidroid	0:92706998571a	1389	sL6470_StatusRegister_t L6470_StatusRegister;
Davidroid	0:92706998571a	1390	sL6470_StatusRegister_t *pL6470_StatusRegister;
Davidroid	0:92706998571a	1391	StepperMotorRegister_t StepperMotorRegister;
Davidroid	1:b78dab6d2c58	1392	prepared_action_t prepared_action;
Davidroid	0:92706998571a	1393
Davidroid	0:92706998571a	1394	/* Static data. */
Davidroid	0:92706998571a	1395	static uint8_t number_of_devices;
Davidroid	0:92706998571a	1396	static const sL6470_Register_t _L6470_Register[L6470REGIDSIZE];
Davidroid	0:92706998571a	1397	static const sL6470_ApplicationCommand_t _L6470_ApplicationCommand[L6470APPCMDIDSIZE];
Davidroid	0:92706998571a	1398	static const sL6470_Direction_t _L6470_Direction[L6470DIRIDSIZE];
Davidroid	0:92706998571a	1399	static const sL6470_ACT_t _L6470_ACT[L6470ACTIDSIZE];
Davidroid	0:92706998571a	1400	static eFlagStatus_t L6470_DaisyChain_HalfPrepared;
Davidroid	0:92706998571a	1401	static sL6470_AppCmdPkg_t L6470_AppCmdPkg[L6470DAISYCHAINSIZE];
Davidroid	0:92706998571a	1402	static uint8_t L6470_DaisyChainSpiTxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
Davidroid	0:92706998571a	1403	static uint8_t L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
Davidroid	0:92706998571a	1404	};
Davidroid	0:92706998571a	1405
Davidroid	0:92706998571a	1406	#endif // __L6470_CLASS_H
Davidroid	0:92706998571a	1407
Davidroid	0:92706998571a	1408	/********************** (C) COPYRIGHT STMicroelectronics *END OF FILE**/

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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