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@8:a9513361a2ec, 2015-12-10 (annotated)

Committer:: Davidroid
Date:: Thu Dec 10 15:42:20 2015 +0000
Revision:: 8:a9513361a2ec
Parent:: 7:3bb27256c3ed
Child:: 11:1aca63b2f034

+ Comments related to the component updated.

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

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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