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@18:ddf3d5dc8137, 2016-04-08 (annotated)

Committer:: Davidroid
Date:: Fri Apr 08 13:02:16 2016 +0000
Revision:: 18:ddf3d5dc8137
Parent:: 17:4b3dc908724f
Child:: 19:b684efb6ba93

+ Some comments 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	12:a942d51c488b	4	* @author Davide Aliprandi, STMicroelectronics
Davidroid	4:381d76f5b0b4	5	* @version V1.0.0
Davidroid	4:381d76f5b0b4	6	* @date November 12th, 2015
Davidroid	4:381d76f5b0b4	7	* @brief This file contains the class of an L6470 Motor Control component.
Davidroid	4:381d76f5b0b4	8	******************************************************************************
Davidroid	4:381d76f5b0b4	9	*
Davidroid	4:381d76f5b0b4	10	* COPYRIGHT(c) 2014 STMicroelectronics
Davidroid	4:381d76f5b0b4	11	*
Davidroid	4:381d76f5b0b4	12	* Redistribution and use in source and binary forms, with or without modification,
Davidroid	4:381d76f5b0b4	13	* are permitted provided that the following conditions are met:
Davidroid	4:381d76f5b0b4	14	* 1. Redistributions of source code must retain the above copyright notice,
Davidroid	4:381d76f5b0b4	15	* this list of conditions and the following disclaimer.
Davidroid	4:381d76f5b0b4	16	* 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid	4:381d76f5b0b4	17	* this list of conditions and the following disclaimer in the documentation
Davidroid	4:381d76f5b0b4	18	* and/or other materials provided with the distribution.
Davidroid	4:381d76f5b0b4	19	* 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid	4:381d76f5b0b4	20	* may be used to endorse or promote products derived from this software
Davidroid	4:381d76f5b0b4	21	* without specific prior written permission.
Davidroid	4:381d76f5b0b4	22	*
Davidroid	4:381d76f5b0b4	23	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid	4:381d76f5b0b4	24	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid	4:381d76f5b0b4	25	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid	4:381d76f5b0b4	26	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid	4:381d76f5b0b4	27	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid	4:381d76f5b0b4	28	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid	4:381d76f5b0b4	29	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid	4:381d76f5b0b4	30	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid	4:381d76f5b0b4	31	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid	4:381d76f5b0b4	32	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid	4:381d76f5b0b4	33	*
Davidroid	4:381d76f5b0b4	34	******************************************************************************
Davidroid	4:381d76f5b0b4	35	*/
Davidroid	0:92706998571a	36
Davidroid	0:92706998571a	37
Davidroid	15:31785d1acd4b	38	/* Generated with STM32CubeTOO -----------------------------------------------*/
Davidroid	0:92706998571a	39
Davidroid	0:92706998571a	40
Davidroid	0:92706998571a	41	/* Revision ------------------------------------------------------------------*/
Davidroid	0:92706998571a	42	/*
Davidroid	0:92706998571a	43	Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
Davidroid	0:92706998571a	44	Branch/Trunk/Tag: trunk
Davidroid	0:92706998571a	45	Based on: X-CUBE-SPN2/trunk/Drivers/BSP/Components/L6470/L6470.h
Davidroid	0:92706998571a	46	Revision: 0
Davidroid	0:92706998571a	47	*/
Davidroid	0:92706998571a	48
Davidroid	0:92706998571a	49
Davidroid	0:92706998571a	50	/* Define to prevent recursive inclusion -------------------------------------*/
Davidroid	0:92706998571a	51
Davidroid	0:92706998571a	52	#ifndef __L6470_CLASS_H
Davidroid	0:92706998571a	53	#define __L6470_CLASS_H
Davidroid	0:92706998571a	54
Davidroid	0:92706998571a	55
Davidroid	0:92706998571a	56	/* Includes ------------------------------------------------------------------*/
Davidroid	0:92706998571a	57
Davidroid	0:92706998571a	58	/* ACTION 1 ------------------------------------------------------------------*
Davidroid	0:92706998571a	59	* Include here platform specific header files. *
Davidroid	14:e614697ebf34	60	----------------------------------------------------------------------------/
Davidroid	0:92706998571a	61	#include "mbed.h"
Davidroid	0:92706998571a	62	#include "DevSPI.h"
Davidroid	0:92706998571a	63	/* ACTION 2 ------------------------------------------------------------------*
Davidroid	0:92706998571a	64	* Include here component specific header files. *
Davidroid	14:e614697ebf34	65	----------------------------------------------------------------------------/
Davidroid	0:92706998571a	66	#include "l6470.h"
Davidroid	0:92706998571a	67	/* ACTION 3 ------------------------------------------------------------------*
Davidroid	0:92706998571a	68	* Include here interface specific header files. *
Davidroid	0:92706998571a	69	* *
Davidroid	0:92706998571a	70	* Example: *
Davidroid	0:92706998571a	71	* #include "../Interfaces/Humidity_class.h" *
Davidroid	0:92706998571a	72	* #include "../Interfaces/Temperature_class.h" *
Davidroid	0:92706998571a	73	----------------------------------------------------------------------------/
Davidroid	0:92706998571a	74	#include "../Interfaces/StepperMotor_class.h"
Davidroid	0:92706998571a	75
Davidroid	0:92706998571a	76
Davidroid	0:92706998571a	77	/* Classes -------------------------------------------------------------------*/
Davidroid	0:92706998571a	78
Davidroid	14:e614697ebf34	79	/**
Davidroid	14:e614697ebf34	80	* @brief Class representing a L6470 component.
Davidroid	0:92706998571a	81	*/
Davidroid	0:92706998571a	82	class L6470 : public StepperMotor
Davidroid	0:92706998571a	83	{
Davidroid	0:92706998571a	84	public:
Davidroid	0:92706998571a	85
Davidroid	1:b78dab6d2c58	86	/* Public Component Related Types */
Davidroid	1:b78dab6d2c58	87
Davidroid	1:b78dab6d2c58	88	/**
Davidroid	1:b78dab6d2c58	89	* @brief Prepared Actions.
Davidroid	1:b78dab6d2c58	90	*/
Davidroid	1:b78dab6d2c58	91	typedef enum
Davidroid	1:b78dab6d2c58	92	{
Davidroid	1:b78dab6d2c58	93	PREPARED_NO_ACTION = 0,
Davidroid	1:b78dab6d2c58	94	PREPARED_GET_POSITION,
Davidroid	1:b78dab6d2c58	95	PREPARED_GET_MARK,
Davidroid	1:b78dab6d2c58	96	PREPARED_GET_SPEED,
Davidroid	1:b78dab6d2c58	97	PREPARED_GET_MAX_SPEED,
Davidroid	1:b78dab6d2c58	98	PREPARED_GET_MIN_SPEED,
Davidroid	1:b78dab6d2c58	99	PREPARED_GET_ACCELERATION,
Davidroid	1:b78dab6d2c58	100	PREPARED_GET_DECELERATION,
Davidroid	1:b78dab6d2c58	101	PREPARED_GET_DIRECTION,
Davidroid	1:b78dab6d2c58	102	PREPARED_SET_MARK
Davidroid	1:b78dab6d2c58	103	} prepared_action_t;
Davidroid	1:b78dab6d2c58	104
Davidroid	1:b78dab6d2c58	105
Davidroid	0:92706998571a	106	/* Constructor and Destructor Methods */
Davidroid	0:92706998571a	107
Davidroid	0:92706998571a	108	/**
Davidroid	0:92706998571a	109	* @brief Constructor.
Davidroid	0:92706998571a	110	* @param flag_irq pin name of the FLAG pin of the component.
Davidroid	1:b78dab6d2c58	111	* @param busy_irq pin name of the BUSY pin of the component.
Davidroid	0:92706998571a	112	* @param standby_reset pin name of the STBY\RST pin of the component.
Davidroid	0:92706998571a	113	* @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
Davidroid	0:92706998571a	114	* @param spi SPI device to be used for communication.
Davidroid	0:92706998571a	115	*/
Davidroid	1:b78dab6d2c58	116	L6470(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI &spi) : StepperMotor(), flag_irq(flag_irq), busy_irq(busy_irq), standby_reset(standby_reset), ssel(ssel), dev_spi(spi)
Davidroid	0:92706998571a	117	{
Davidroid	0:92706998571a	118	/* ACTION 4 ----------------------------------------------------------*
Davidroid	0:92706998571a	119	* Initialize here the component's member variables, one variable per *
Davidroid	0:92706998571a	120	* line. *
Davidroid	0:92706998571a	121	* *
Davidroid	0:92706998571a	122	* Example: *
Davidroid	7:3bb27256c3ed	123	* measure = 0; *
Davidroid	7:3bb27256c3ed	124	* instance_id = number_of_instances++; *
Davidroid	0:92706998571a	125	--------------------------------------------------------------------/
Davidroid	0:92706998571a	126	L6470_Register = &_L6470_Register[0];
Davidroid	0:92706998571a	127	L6470_ApplicationCommand = &_L6470_ApplicationCommand[0];
Davidroid	0:92706998571a	128	L6470_Direction = &_L6470_Direction[0];
Davidroid	0:92706998571a	129	L6470_ACT = &_L6470_ACT[0];
Davidroid	0:92706998571a	130	pL6470_StatusRegister = &L6470_StatusRegister;
Davidroid	1:b78dab6d2c58	131	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	132	L6470_Id = number_of_devices++;
Davidroid	0:92706998571a	133	L6470_DaisyChain_HalfPrepared = ZERO_F;
Davidroid	0:92706998571a	134	memset(L6470_AppCmdPkg, 0, L6470DAISYCHAINSIZE * sizeof(sL6470_AppCmdPkg_t));
Davidroid	0:92706998571a	135	memset(L6470_DaisyChainSpiTxStruct, 0, L6470MAXSPICMDBYTESIZE * L6470DAISYCHAINSIZE * sizeof(uint8_t));
Davidroid	0:92706998571a	136	memset(L6470_DaisyChainSpiRxStruct, 0, L6470MAXSPICMDBYTESIZE * L6470DAISYCHAINSIZE * sizeof(uint8_t));
Davidroid	0:92706998571a	137	}
Davidroid	0:92706998571a	138
Davidroid	0:92706998571a	139	/**
Davidroid	0:92706998571a	140	* @brief Destructor.
Davidroid	0:92706998571a	141	*/
Davidroid	0:92706998571a	142	virtual ~L6470(void) {}
Davidroid	0:92706998571a	143
Davidroid	0:92706998571a	144
Davidroid	0:92706998571a	145	/* Public Component Related Methods */
Davidroid	0:92706998571a	146
Davidroid	0:92706998571a	147	/* ACTION 5 --------------------------------------------------------------*
Davidroid	0:92706998571a	148	* Implement here the component's public methods, as wrappers of the C *
Davidroid	0:92706998571a	149	* component's functions. *
Davidroid	0:92706998571a	150	* They should be: *
Davidroid	0:92706998571a	151	* + Methods with the same name of the C component's virtual table's *
Davidroid	0:92706998571a	152	* functions (1); *
Davidroid	0:92706998571a	153	* + Methods with the same name of the C component's extended virtual *
Davidroid	0:92706998571a	154	* table's functions, if any (2). *
Davidroid	0:92706998571a	155	* *
Davidroid	0:92706998571a	156	* Example: *
Davidroid	14:e614697ebf34	157	* virtual int GetValue(float f) //(1)
Davidroid	0:92706998571a	158	* { *
Davidroid	14:e614697ebf34	159	* return COMPONENT_GetValue(float f);
Davidroid	0:92706998571a	160	* } *
Davidroid	0:92706998571a	161	* *
Davidroid	0:92706998571a	162	* virtual int EnableFeature(void) //(2) *
Davidroid	0:92706998571a	163	* { *
Davidroid	0:92706998571a	164	* return COMPONENT_EnableFeature(); *
Davidroid	0:92706998571a	165	* } *
Davidroid	0:92706998571a	166	------------------------------------------------------------------------/
Davidroid	1:b78dab6d2c58	167	/**
Davidroid	1:b78dab6d2c58	168	* @brief Initializing the component.
Davidroid	1:b78dab6d2c58	169	* @param init Pointer to device specific initalization structure.
Davidroid	1:b78dab6d2c58	170	* @retval "0" in case of success, an error code otherwise.
Davidroid	1:b78dab6d2c58	171	*/
Davidroid	0:92706998571a	172	virtual int Init(void *init)
Davidroid	0:92706998571a	173	{
Davidroid	13:25a579b9b7c3	174	return (int) L6470_Config((void *) init);
Davidroid	0:92706998571a	175	}
Davidroid	0:92706998571a	176
Davidroid	1:b78dab6d2c58	177	/**
Davidroid	1:b78dab6d2c58	178	* @brief Getting the ID of the component.
Davidroid	1:b78dab6d2c58	179	* @param id Pointer to an allocated variable to store the ID into.
Davidroid	1:b78dab6d2c58	180	* @retval "0" in case of success, an error code otherwise.
Davidroid	1:b78dab6d2c58	181	*/
Davidroid	0:92706998571a	182	virtual int ReadID(uint8_t *id)
Davidroid	0:92706998571a	183	{
Davidroid	0:92706998571a	184	return (int) 0;
Davidroid	0:92706998571a	185	}
Davidroid	0:92706998571a	186
Davidroid	1:b78dab6d2c58	187	/**
Davidroid	1:b78dab6d2c58	188	* @brief Getting the status.
Davidroid	1:b78dab6d2c58	189	* @param None.
Davidroid	1:b78dab6d2c58	190	* @retval The status.
Davidroid	1:b78dab6d2c58	191	*/
Davidroid	0:92706998571a	192	virtual unsigned int GetStatus(void)
Davidroid	0:92706998571a	193	{
Davidroid	0:92706998571a	194	return (unsigned int) L6470_GetStatus();
Davidroid	0:92706998571a	195	}
Davidroid	1:b78dab6d2c58	196
Davidroid	18:ddf3d5dc8137	197	/**
Davidroid	1:b78dab6d2c58	198	* @brief Getting a parameter.
Davidroid	17:4b3dc908724f	199	* @param parameter A parameter's register address.
Davidroid	1:b78dab6d2c58	200	* @retval The parameter's value.
Davidroid	17:4b3dc908724f	201	* @note The parameter can be one of the following:
Davidroid	17:4b3dc908724f	202	* + L6470_ABS_POS_ID
Davidroid	17:4b3dc908724f	203	* + L6470_EL_POS_ID
Davidroid	17:4b3dc908724f	204	* + L6470_MARK_ID
Davidroid	17:4b3dc908724f	205	* + L6470_SPEED_ID
Davidroid	17:4b3dc908724f	206	* + L6470_ACC_ID
Davidroid	17:4b3dc908724f	207	* + L6470_DEC_ID
Davidroid	17:4b3dc908724f	208	* + L6470_MAX_SPEED_ID
Davidroid	17:4b3dc908724f	209	* + L6470_MIN_SPEED_ID
Davidroid	17:4b3dc908724f	210	* + L6470_FS_SPD_ID
Davidroid	17:4b3dc908724f	211	* + L6470_KVAL_HOLD_ID
Davidroid	17:4b3dc908724f	212	* + L6470_KVAL_RUN_ID
Davidroid	17:4b3dc908724f	213	* + L6470_KVAL_ACC_ID
Davidroid	17:4b3dc908724f	214	* + L6470_KVAL_DEC_ID
Davidroid	17:4b3dc908724f	215	* + L6470_INT_SPEED_ID
Davidroid	17:4b3dc908724f	216	* + L6470_ST_SLP_ID
Davidroid	17:4b3dc908724f	217	* + L6470_FN_SLP_ACC_ID
Davidroid	17:4b3dc908724f	218	* + L6470_FN_SLP_DEC_ID
Davidroid	17:4b3dc908724f	219	* + L6470_K_THERM_ID
Davidroid	17:4b3dc908724f	220	* + L6470_ADC_OUT_ID
Davidroid	17:4b3dc908724f	221	* + L6470_OCD_TH_ID
Davidroid	17:4b3dc908724f	222	* + L6470_STALL_TH_ID
Davidroid	17:4b3dc908724f	223	* + L6470_STEP_MODE_ID
Davidroid	17:4b3dc908724f	224	* + L6470_ALARM_EN_ID
Davidroid	17:4b3dc908724f	225	* + L6470_CONFIG_ID
Davidroid	17:4b3dc908724f	226	* + L6470_STATUS_ID
Davidroid	1:b78dab6d2c58	227	*/
Davidroid	17:4b3dc908724f	228	virtual unsigned int GetParameter(unsigned int parameter)
Davidroid	0:92706998571a	229	{
Davidroid	17:4b3dc908724f	230	return (unsigned int) L6470_GetParam((eL6470_RegId_t) parameter);
Davidroid	0:92706998571a	231	}
Davidroid	0:92706998571a	232
Davidroid	1:b78dab6d2c58	233	/**
Davidroid	1:b78dab6d2c58	234	* @brief Getting the position.
Davidroid	1:b78dab6d2c58	235	* @param None.
Davidroid	1:b78dab6d2c58	236	* @retval The position.
Davidroid	1:b78dab6d2c58	237	*/
Davidroid	0:92706998571a	238	virtual signed int GetPosition(void)
Davidroid	0:92706998571a	239	{
Davidroid	1:b78dab6d2c58	240	return (signed int) L6470_AbsPos_2_Position((uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID));
Davidroid	0:92706998571a	241	}
Davidroid	0:92706998571a	242
Davidroid	1:b78dab6d2c58	243	/**
Davidroid	1:b78dab6d2c58	244	* @brief Getting the marked position.
Davidroid	1:b78dab6d2c58	245	* @param None.
Davidroid	1:b78dab6d2c58	246	* @retval The marked position.
Davidroid	1:b78dab6d2c58	247	*/
Davidroid	0:92706998571a	248	virtual signed int GetMark(void)
Davidroid	0:92706998571a	249	{
Davidroid	1:b78dab6d2c58	250	return (signed int) L6470_AbsPos_2_Position((uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_MARK_ID));
Davidroid	0:92706998571a	251	}
Davidroid	0:92706998571a	252
Davidroid	1:b78dab6d2c58	253	/**
Davidroid	1:b78dab6d2c58	254	* @brief Getting the current speed in pps.
Davidroid	1:b78dab6d2c58	255	* @param None.
Davidroid	1:b78dab6d2c58	256	* @retval The current speed in pps.
Davidroid	1:b78dab6d2c58	257	*/
Davidroid	0:92706998571a	258	virtual unsigned int GetSpeed(void)
Davidroid	0:92706998571a	259	{
Davidroid	1:b78dab6d2c58	260	return round(L6470_Speed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_SPEED_ID)));
Davidroid	0:92706998571a	261	}
Davidroid	0:92706998571a	262
Davidroid	1:b78dab6d2c58	263	/**
Davidroid	1:b78dab6d2c58	264	* @brief Getting the maximum speed in pps.
Davidroid	1:b78dab6d2c58	265	* @param None.
Davidroid	1:b78dab6d2c58	266	* @retval The maximum speed in pps.
Davidroid	1:b78dab6d2c58	267	*/
Davidroid	0:92706998571a	268	virtual unsigned int GetMaxSpeed(void)
Davidroid	0:92706998571a	269	{
Davidroid	1:b78dab6d2c58	270	return round(L6470_MaxSpeed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID)));
Davidroid	0:92706998571a	271	}
Davidroid	0:92706998571a	272
Davidroid	1:b78dab6d2c58	273	/**
Davidroid	1:b78dab6d2c58	274	* @brief Getting the minimum speed in pps.
Davidroid	1:b78dab6d2c58	275	* @param None.
Davidroid	1:b78dab6d2c58	276	* @retval The minimum speed in pps.
Davidroid	1:b78dab6d2c58	277	*/
Davidroid	0:92706998571a	278	virtual unsigned int GetMinSpeed(void)
Davidroid	0:92706998571a	279	{
Davidroid	1:b78dab6d2c58	280	return round(L6470_MinSpeed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID)));
Davidroid	0:92706998571a	281	}
Davidroid	0:92706998571a	282
Davidroid	1:b78dab6d2c58	283	/**
Davidroid	1:b78dab6d2c58	284	* @brief Getting the acceleration in pps^2.
Davidroid	1:b78dab6d2c58	285	* @param None.
Davidroid	1:b78dab6d2c58	286	* @retval The acceleration in pps^2.
Davidroid	1:b78dab6d2c58	287	*/
Davidroid	0:92706998571a	288	virtual unsigned int GetAcceleration(void)
Davidroid	0:92706998571a	289	{
Davidroid	1:b78dab6d2c58	290	return round(L6470_Acc_2_Step_s2((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_ACC_ID)));
Davidroid	0:92706998571a	291	}
Davidroid	0:92706998571a	292
Davidroid	1:b78dab6d2c58	293	/**
Davidroid	1:b78dab6d2c58	294	* @brief Getting the deceleration in pps^2.
Davidroid	1:b78dab6d2c58	295	* @param None.
Davidroid	1:b78dab6d2c58	296	* @retval The deceleration in pps^2.
Davidroid	1:b78dab6d2c58	297	*/
Davidroid	0:92706998571a	298	virtual unsigned int GetDeceleration(void)
Davidroid	0:92706998571a	299	{
Davidroid	1:b78dab6d2c58	300	return round(L6470_Dec_2_Step_s2((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_DEC_ID)));
Davidroid	0:92706998571a	301	}
Davidroid	0:92706998571a	302
Davidroid	1:b78dab6d2c58	303	/**
Davidroid	1:b78dab6d2c58	304	* @brief Getting the direction of rotation.
Davidroid	1:b78dab6d2c58	305	* @param None.
Davidroid	1:b78dab6d2c58	306	* @retval The direction of rotation.
Davidroid	1:b78dab6d2c58	307	*/
Davidroid	0:92706998571a	308	virtual direction_t GetDirection(void)
Davidroid	0:92706998571a	309	{
Davidroid	0:92706998571a	310	return (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD);
Davidroid	0:92706998571a	311	}
Davidroid	0:92706998571a	312
Davidroid	18:ddf3d5dc8137	313	/**
Davidroid	17:4b3dc908724f	314	* @brief Setting a parameter.
Davidroid	17:4b3dc908724f	315	* @param parameter A parameter's register address.
Davidroid	17:4b3dc908724f	316	* @param value The parameter's value.
Davidroid	17:4b3dc908724f	317	* @retval None.
Davidroid	17:4b3dc908724f	318	* @note The parameter can be one of the following:
Davidroid	17:4b3dc908724f	319	* + L6470_ABS_POS_ID
Davidroid	17:4b3dc908724f	320	* + L6470_EL_POS_ID
Davidroid	17:4b3dc908724f	321	* + L6470_MARK_ID
Davidroid	17:4b3dc908724f	322	* + L6470_SPEED_ID
Davidroid	17:4b3dc908724f	323	* + L6470_ACC_ID
Davidroid	17:4b3dc908724f	324	* + L6470_DEC_ID
Davidroid	17:4b3dc908724f	325	* + L6470_MAX_SPEED_ID
Davidroid	17:4b3dc908724f	326	* + L6470_MIN_SPEED_ID
Davidroid	17:4b3dc908724f	327	* + L6470_FS_SPD_ID
Davidroid	17:4b3dc908724f	328	* + L6470_KVAL_HOLD_ID
Davidroid	17:4b3dc908724f	329	* + L6470_KVAL_RUN_ID
Davidroid	17:4b3dc908724f	330	* + L6470_KVAL_ACC_ID
Davidroid	17:4b3dc908724f	331	* + L6470_KVAL_DEC_ID
Davidroid	17:4b3dc908724f	332	* + L6470_INT_SPEED_ID
Davidroid	17:4b3dc908724f	333	* + L6470_ST_SLP_ID
Davidroid	17:4b3dc908724f	334	* + L6470_FN_SLP_ACC_ID
Davidroid	17:4b3dc908724f	335	* + L6470_FN_SLP_DEC_ID
Davidroid	17:4b3dc908724f	336	* + L6470_K_THERM_ID
Davidroid	17:4b3dc908724f	337	* + L6470_ADC_OUT_ID
Davidroid	17:4b3dc908724f	338	* + L6470_OCD_TH_ID
Davidroid	17:4b3dc908724f	339	* + L6470_STALL_TH_ID
Davidroid	17:4b3dc908724f	340	* + L6470_STEP_MODE_ID
Davidroid	17:4b3dc908724f	341	* + L6470_ALARM_EN_ID
Davidroid	17:4b3dc908724f	342	* + L6470_CONFIG_ID
Davidroid	17:4b3dc908724f	343	* + L6470_STATUS_ID
Davidroid	17:4b3dc908724f	344	* @warning Some registers can only be written in particular conditions (see L6470's datasheet).
Davidroid	17:4b3dc908724f	345	* Any attempt to write one of those registers when the conditions are not satisfied
Davidroid	17:4b3dc908724f	346	* causes the command to be ignored and the NOTPERF_CMD flag to rise at the end of the
Davidroid	17:4b3dc908724f	347	* last argument byte. Any attempt to set an inexistent register (wrong address value)
Davidroid	17:4b3dc908724f	348	* causes the command to be ignored and the WRONG_CMD flag to rise.
Davidroid	17:4b3dc908724f	349	* For example, setting some parameters requires first to disable the power bridge;
Davidroid	17:4b3dc908724f	350	* this can be done through the SoftHiZ() method.
Davidroid	17:4b3dc908724f	351	* They are the following:
Davidroid	17:4b3dc908724f	352	* + L6470_ABS_POS_ID
Davidroid	17:4b3dc908724f	353	* + L6470_EL_POS_ID
Davidroid	17:4b3dc908724f	354	* + L6470_SPEED_ID
Davidroid	17:4b3dc908724f	355	* + L6470_ACC_ID
Davidroid	17:4b3dc908724f	356	* + L6470_DEC_ID
Davidroid	17:4b3dc908724f	357	* + L6470_MAX_SPEED_ID
Davidroid	17:4b3dc908724f	358	* + L6470_MIN_SPEED_ID
Davidroid	17:4b3dc908724f	359	* + L6470_INT_SPEED_ID
Davidroid	17:4b3dc908724f	360	* + L6470_ST_SLP_ID
Davidroid	17:4b3dc908724f	361	* + L6470_FN_SLP_ACC_ID
Davidroid	17:4b3dc908724f	362	* + L6470_FN_SLP_DEC_ID
Davidroid	17:4b3dc908724f	363	* + L6470_ADC_OUT_ID
Davidroid	17:4b3dc908724f	364	* + L6470_STEP_MODE_ID
Davidroid	17:4b3dc908724f	365	* + L6470_CONFIG_ID
Davidroid	17:4b3dc908724f	366	* + L6470_STATUS_ID
Davidroid	1:b78dab6d2c58	367	*/
Davidroid	17:4b3dc908724f	368	virtual void SetParameter(unsigned int parameter, unsigned int value)
Davidroid	0:92706998571a	369	{
Davidroid	0:92706998571a	370	L6470_SetParam((eL6470_RegId_t) parameter, (uint32_t) value);
Davidroid	0:92706998571a	371	}
Davidroid	0:92706998571a	372
Davidroid	1:b78dab6d2c58	373	/**
Davidroid	1:b78dab6d2c58	374	* @brief Setting the current position to be the home position.
Davidroid	1:b78dab6d2c58	375	* @param None.
Davidroid	1:b78dab6d2c58	376	* @retval None.
Davidroid	1:b78dab6d2c58	377	*/
Davidroid	0:92706998571a	378	virtual void SetHome(void)
Davidroid	0:92706998571a	379	{
Davidroid	0:92706998571a	380	L6470_ResetPos();
Davidroid	0:92706998571a	381	}
Davidroid	0:92706998571a	382
Davidroid	1:b78dab6d2c58	383	/**
Davidroid	1:b78dab6d2c58	384	* @brief Setting the current position to be the marked position.
Davidroid	1:b78dab6d2c58	385	* @param None.
Davidroid	1:b78dab6d2c58	386	* @retval None.
Davidroid	1:b78dab6d2c58	387	*/
Davidroid	0:92706998571a	388	virtual void SetMark(void)
Davidroid	0:92706998571a	389	{
Davidroid	0:92706998571a	390	L6470_SetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID));
Davidroid	0:92706998571a	391	}
Davidroid	0:92706998571a	392
Davidroid	1:b78dab6d2c58	393	/**
Davidroid	1:b78dab6d2c58	394	* @brief Setting the current position to be the marked position.
Davidroid	1:b78dab6d2c58	395	* @param position The given position.
Davidroid	1:b78dab6d2c58	396	* @retval None.
Davidroid	1:b78dab6d2c58	397	*/
Davidroid	1:b78dab6d2c58	398	virtual void SetMark(signed int position)
Davidroid	1:b78dab6d2c58	399	{
Davidroid	1:b78dab6d2c58	400	L6470_SetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
Davidroid	1:b78dab6d2c58	401	}
Davidroid	1:b78dab6d2c58	402
Davidroid	1:b78dab6d2c58	403	/**
Davidroid	1:b78dab6d2c58	404	* @brief Setting the maximum speed in pps.
Davidroid	1:b78dab6d2c58	405	* @param speed The maximum speed in pps.
Davidroid	17:4b3dc908724f	406	* @retval "true" in case of success, "false" otherwise.
Davidroid	1:b78dab6d2c58	407	*/
Davidroid	17:4b3dc908724f	408	virtual bool SetMaxSpeed(unsigned int speed)
Davidroid	0:92706998571a	409	{
Davidroid	1:b78dab6d2c58	410	L6470_SetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) L6470_Step_s_2_MaxSpeed((float) speed));
Davidroid	17:4b3dc908724f	411	return true;
Davidroid	0:92706998571a	412	}
Davidroid	0:92706998571a	413
Davidroid	1:b78dab6d2c58	414	/**
Davidroid	1:b78dab6d2c58	415	* @brief Setting the minimum speed in pps.
Davidroid	1:b78dab6d2c58	416	* @param speed The minimum speed in pps.
Davidroid	17:4b3dc908724f	417	* @retval "true" in case of success, "false" otherwise.
Davidroid	1:b78dab6d2c58	418	*/
Davidroid	17:4b3dc908724f	419	virtual bool SetMinSpeed(unsigned int speed)
Davidroid	0:92706998571a	420	{
Davidroid	1:b78dab6d2c58	421	L6470_SetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) L6470_Step_s_2_MinSpeed((float) speed));
Davidroid	17:4b3dc908724f	422	return true;
Davidroid	0:92706998571a	423	}
Davidroid	0:92706998571a	424
Davidroid	1:b78dab6d2c58	425	/**
Davidroid	1:b78dab6d2c58	426	* @brief Setting the acceleration in pps^2.
Davidroid	1:b78dab6d2c58	427	* @param acceleration The acceleration in pps^2.
Davidroid	17:4b3dc908724f	428	* @retval "true" in case of success, "false" otherwise.
Davidroid	1:b78dab6d2c58	429	*/
Davidroid	17:4b3dc908724f	430	virtual bool SetAcceleration(unsigned int acceleration)
Davidroid	0:92706998571a	431	{
Davidroid	1:b78dab6d2c58	432	L6470_SetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) L6470_Step_s2_2_Acc((float) acceleration));
Davidroid	17:4b3dc908724f	433	return true;
Davidroid	0:92706998571a	434	}
Davidroid	0:92706998571a	435
Davidroid	1:b78dab6d2c58	436	/**
Davidroid	1:b78dab6d2c58	437	* @brief Setting the deceleration in pps^2.
Davidroid	1:b78dab6d2c58	438	* @param deceleration The deceleration in pps^2.
Davidroid	17:4b3dc908724f	439	* @retval "true" in case of success, "false" otherwise.
Davidroid	1:b78dab6d2c58	440	*/
Davidroid	17:4b3dc908724f	441	virtual bool SetDeceleration(unsigned int deceleration)
Davidroid	0:92706998571a	442	{
Davidroid	1:b78dab6d2c58	443	L6470_SetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) L6470_Step_s2_2_Dec((float) deceleration));
Davidroid	17:4b3dc908724f	444	return true;
Davidroid	17:4b3dc908724f	445	}
Davidroid	17:4b3dc908724f	446
Davidroid	17:4b3dc908724f	447	/**
Davidroid	17:4b3dc908724f	448	* @brief Setting the Step Mode.
Davidroid	17:4b3dc908724f	449	* @param step_mode The Step Mode.
Davidroid	17:4b3dc908724f	450	* @retval "true" in case of success, "false" otherwise.
Davidroid	17:4b3dc908724f	451	* @warning Setting the step mode implies first disabling the power bridge through
Davidroid	17:4b3dc908724f	452	* the SoftHiZ() method.
Davidroid	17:4b3dc908724f	453	* @warning Every time step mode is changed, the values of the home
Davidroid	17:4b3dc908724f	454	* and mark positions lose meaning and are reset.
Davidroid	17:4b3dc908724f	455	*/
Davidroid	17:4b3dc908724f	456	virtual bool SetStepMode(step_mode_t step_mode)
Davidroid	17:4b3dc908724f	457	{
Davidroid	17:4b3dc908724f	458	if ((eMotorStepMode_t) step_mode > MICROSTEP_1_128)
Davidroid	17:4b3dc908724f	459	return false;
Davidroid	17:4b3dc908724f	460
Davidroid	17:4b3dc908724f	461	SoftHiZ();
Davidroid	17:4b3dc908724f	462	L6470_SetParam((eL6470_RegId_t) L6470_STEP_MODE_ID, (eMotorStepMode_t) step_mode);
Davidroid	17:4b3dc908724f	463	return true;
Davidroid	0:92706998571a	464	}
Davidroid	0:92706998571a	465
Davidroid	1:b78dab6d2c58	466	/**
Davidroid	1:b78dab6d2c58	467	* @brief Going to a specified position through the shortest path.
Davidroid	1:b78dab6d2c58	468	* @param position The desired position.
Davidroid	1:b78dab6d2c58	469	* @retval None.
Davidroid	1:b78dab6d2c58	470	*/
Davidroid	0:92706998571a	471	virtual void GoTo(signed int position)
Davidroid	0:92706998571a	472	{
Davidroid	1:b78dab6d2c58	473	L6470_GoTo((uint32_t) L6470_Position_2_AbsPos((int32_t) position));
Davidroid	0:92706998571a	474	}
Davidroid	0:92706998571a	475
Davidroid	1:b78dab6d2c58	476	/**
Davidroid	1:b78dab6d2c58	477	* @brief Going to a specified position imposing the desired direction.
Davidroid	1:b78dab6d2c58	478	* @param position The desired position.
Davidroid	1:b78dab6d2c58	479	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	480	* @retval None.
Davidroid	1:b78dab6d2c58	481	*/
Davidroid	0:92706998571a	482	virtual void GoTo(signed int position, direction_t direction)
Davidroid	0:92706998571a	483	{
Davidroid	1:b78dab6d2c58	484	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	485	}
Davidroid	0:92706998571a	486
Davidroid	1:b78dab6d2c58	487	/**
Davidroid	1:b78dab6d2c58	488	* @brief Going to the home position.
Davidroid	1:b78dab6d2c58	489	* @param None.
Davidroid	1:b78dab6d2c58	490	* @retval None.
Davidroid	1:b78dab6d2c58	491	*/
Davidroid	0:92706998571a	492	virtual void GoHome(void)
Davidroid	0:92706998571a	493	{
Davidroid	0:92706998571a	494	L6470_GoHome();
Davidroid	0:92706998571a	495	}
Davidroid	0:92706998571a	496
Davidroid	1:b78dab6d2c58	497	/**
Davidroid	1:b78dab6d2c58	498	* @brief Going to the marked position.
Davidroid	1:b78dab6d2c58	499	* @param None.
Davidroid	1:b78dab6d2c58	500	* @retval None.
Davidroid	1:b78dab6d2c58	501	*/
Davidroid	0:92706998571a	502	virtual void GoMark(void)
Davidroid	0:92706998571a	503	{
Davidroid	0:92706998571a	504	L6470_GoMark();
Davidroid	0:92706998571a	505	}
Davidroid	0:92706998571a	506
Davidroid	1:b78dab6d2c58	507	/**
Davidroid	1:b78dab6d2c58	508	* @brief Running at the given speed imposing the desired direction until
Davidroid	1:b78dab6d2c58	509	* an external switch turn-on event occurs.
Davidroid	1:b78dab6d2c58	510	* @param action The identifier of the action about the absolute position.
Davidroid	1:b78dab6d2c58	511	* @param position The desired position.
Davidroid	1:b78dab6d2c58	512	* @param speed The speed value in pps.
Davidroid	1:b78dab6d2c58	513	* @retval None.
Davidroid	1:b78dab6d2c58	514	* @note The identifier of the action about the absolute position can be
Davidroid	1:b78dab6d2c58	515	* one of the following:
Davidroid	1:b78dab6d2c58	516	* + L6470_ACT_RST_ID: the absolute position is reset;
Davidroid	1:b78dab6d2c58	517	* + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
Davidroid	1:b78dab6d2c58	518	*/
Davidroid	1:b78dab6d2c58	519	virtual void GoUntil(eL6470_ActId_t action, direction_t direction, unsigned int speed)
Davidroid	0:92706998571a	520	{
Davidroid	1:b78dab6d2c58	521	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	522	}
Davidroid	0:92706998571a	523
Davidroid	1:b78dab6d2c58	524	/**
Davidroid	1:b78dab6d2c58	525	* @brief Running towards a specified direction.
Davidroid	1:b78dab6d2c58	526	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	527	* @retval None.
Davidroid	1:b78dab6d2c58	528	*/
Davidroid	0:92706998571a	529	virtual void Run(direction_t direction)
Davidroid	0:92706998571a	530	{
Davidroid	0:92706998571a	531	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	532	}
Davidroid	0:92706998571a	533
Davidroid	1:b78dab6d2c58	534	/**
Davidroid	1:b78dab6d2c58	535	* @brief Running towards a specified direction at the given speed.
Davidroid	1:b78dab6d2c58	536	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	537	* @param speed The speed value in pps.
Davidroid	1:b78dab6d2c58	538	* @retval None.
Davidroid	1:b78dab6d2c58	539	*/
Davidroid	0:92706998571a	540	virtual void Run(direction_t direction, unsigned int speed)
Davidroid	0:92706998571a	541	{
Davidroid	1:b78dab6d2c58	542	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	543	}
Davidroid	0:92706998571a	544
Davidroid	1:b78dab6d2c58	545	/**
Davidroid	1:b78dab6d2c58	546	* @brief Moving towards a specified direction for a certain number of steps.
Davidroid	1:b78dab6d2c58	547	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	548	* @param steps The desired number of steps.
Davidroid	1:b78dab6d2c58	549	* @retval None.
Davidroid	1:b78dab6d2c58	550	*/
Davidroid	0:92706998571a	551	virtual void Move(direction_t direction, unsigned int steps)
Davidroid	0:92706998571a	552	{
Davidroid	0:92706998571a	553	L6470_Move((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) steps);
Davidroid	0:92706998571a	554	}
Davidroid	0:92706998571a	555
Davidroid	1:b78dab6d2c58	556	/**
Davidroid	1:b78dab6d2c58	557	* @brief Stopping the motor through an immediate deceleration up to zero speed.
Davidroid	1:b78dab6d2c58	558	* The used deceleration value is the one stored in the "DEC" register.
Davidroid	1:b78dab6d2c58	559	* @param None.
Davidroid	1:b78dab6d2c58	560	* @retval None.
Davidroid	1:b78dab6d2c58	561	*/
Davidroid	0:92706998571a	562	virtual void SoftStop(void)
Davidroid	0:92706998571a	563	{
Davidroid	0:92706998571a	564	L6470_SoftStop();
Davidroid	0:92706998571a	565	}
Davidroid	0:92706998571a	566
Davidroid	1:b78dab6d2c58	567	/**
Davidroid	1:b78dab6d2c58	568	* @brief Stopping the motor through an immediate infinite deceleration.
Davidroid	1:b78dab6d2c58	569	* @param None.
Davidroid	1:b78dab6d2c58	570	* @retval None.
Davidroid	1:b78dab6d2c58	571	*/
Davidroid	0:92706998571a	572	virtual void HardStop(void)
Davidroid	0:92706998571a	573	{
Davidroid	0:92706998571a	574	L6470_HardStop();
Davidroid	0:92706998571a	575	}
Davidroid	0:92706998571a	576
Davidroid	1:b78dab6d2c58	577	/**
Davidroid	1:b78dab6d2c58	578	* @brief Disabling the power bridge after performing a deceleration to zero.
Davidroid	1:b78dab6d2c58	579	* The used deceleration value is the one stored in the "DEC" register.
Davidroid	1:b78dab6d2c58	580	* @param None.
Davidroid	1:b78dab6d2c58	581	* @retval None.
Davidroid	1:b78dab6d2c58	582	*/
Davidroid	1:b78dab6d2c58	583	virtual void SoftHiZ(void)
Davidroid	1:b78dab6d2c58	584	{
Davidroid	1:b78dab6d2c58	585	L6470_SoftHiZ();
Davidroid	1:b78dab6d2c58	586	}
Davidroid	1:b78dab6d2c58	587
Davidroid	1:b78dab6d2c58	588	/**
Davidroid	1:b78dab6d2c58	589	* @brief Disabling the power bridge immediately.
Davidroid	1:b78dab6d2c58	590	* @param None.
Davidroid	1:b78dab6d2c58	591	* @retval None.
Davidroid	1:b78dab6d2c58	592	*/
Davidroid	1:b78dab6d2c58	593	virtual void HardHiZ(void)
Davidroid	1:b78dab6d2c58	594	{
Davidroid	1:b78dab6d2c58	595	L6470_HardHiZ();
Davidroid	1:b78dab6d2c58	596	}
Davidroid	1:b78dab6d2c58	597
Davidroid	1:b78dab6d2c58	598	/**
Davidroid	1:b78dab6d2c58	599	* @brief Waiting while the motor is active.
Davidroid	1:b78dab6d2c58	600	* @param None.
Davidroid	1:b78dab6d2c58	601	* @retval None.
Davidroid	1:b78dab6d2c58	602	*/
Davidroid	0:92706998571a	603	virtual void WaitWhileActive(void)
Davidroid	0:92706998571a	604	{
Davidroid	0:92706998571a	605	while (L6470_CheckStatusRegisterFlag(BUSY_ID) == 0);
Davidroid	0:92706998571a	606	}
Davidroid	0:92706998571a	607
Davidroid	1:b78dab6d2c58	608	/**
Davidroid	17:4b3dc908724f	609	* @brief Switching to step-clock mode.
Davidroid	17:4b3dc908724f	610	* @param direction The direction of rotation.
Davidroid	17:4b3dc908724f	611	* @retval None.
Davidroid	17:4b3dc908724f	612	* @warning Setting the step-clock mode implies first disabling the power bridge through
Davidroid	17:4b3dc908724f	613	* the SoftHiZ() method.
Davidroid	17:4b3dc908724f	614	*/
Davidroid	0:92706998571a	615	virtual void StepClock(direction_t direction)
Davidroid	0:92706998571a	616	{
Davidroid	17:4b3dc908724f	617	SoftHiZ();
Davidroid	0:92706998571a	618	L6470_StepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid	0:92706998571a	619	}
Davidroid	0:92706998571a	620
Davidroid	1:b78dab6d2c58	621	/**
Davidroid	1:b78dab6d2c58	622	* @brief Doing a motion at minimum speed imposing a specified direction
Davidroid	1:b78dab6d2c58	623	* until the SW is released.
Davidroid	1:b78dab6d2c58	624	* @param action The identifier of the action about the absolute position.
Davidroid	1:b78dab6d2c58	625	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	626	* @note The identifier of the action about the absolute position can be
Davidroid	1:b78dab6d2c58	627	* one of the following:
Davidroid	1:b78dab6d2c58	628	* + L6470_ACT_RST_ID: the absolute position is reset;
Davidroid	1:b78dab6d2c58	629	* + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
Davidroid	1:b78dab6d2c58	630	*/
Davidroid	1:b78dab6d2c58	631	virtual void ReleaseSW(eL6470_ActId_t action, direction_t direction)
Davidroid	0:92706998571a	632	{
Davidroid	1:b78dab6d2c58	633	L6470_ReleaseSW((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid	0:92706998571a	634	}
Davidroid	0:92706998571a	635
Davidroid	1:b78dab6d2c58	636	/**
Davidroid	1:b78dab6d2c58	637	* @brief Resetting the device to power-up conditions.
Davidroid	1:b78dab6d2c58	638	* @param None.
Davidroid	1:b78dab6d2c58	639	* @retval None.
Davidroid	1:b78dab6d2c58	640	*/
Davidroid	0:92706998571a	641	virtual void ResetDevice(void)
Davidroid	0:92706998571a	642	{
Davidroid	0:92706998571a	643	L6470_ResetDevice();
Davidroid	0:92706998571a	644	}
Davidroid	0:92706998571a	645
Davidroid	1:b78dab6d2c58	646	/**
Davidroid	1:b78dab6d2c58	647	* @brief Preparing the command to get the status.
Davidroid	1:b78dab6d2c58	648	* @param None.
Davidroid	1:b78dab6d2c58	649	* @retval None.
Davidroid	1:b78dab6d2c58	650	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	651	*/
Davidroid	0:92706998571a	652	virtual void PrepareGetStatus(void)
Davidroid	0:92706998571a	653	{
Davidroid	0:92706998571a	654	L6470_PrepareGetStatus();
Davidroid	1:b78dab6d2c58	655	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	656	}
Davidroid	0:92706998571a	657
Davidroid	18:ddf3d5dc8137	658	/**
Davidroid	1:b78dab6d2c58	659	* @brief Preparing the command to get a parameter.
Davidroid	17:4b3dc908724f	660	* @param parameter A parameter's register address.
Davidroid	1:b78dab6d2c58	661	* @retval None.
Davidroid	1:b78dab6d2c58	662	* @note The command will be sent by issuing "PerformAction()".
Davidroid	17:4b3dc908724f	663	* The parameter can be one of the following:
Davidroid	17:4b3dc908724f	664	* + L6470_ABS_POS_ID
Davidroid	17:4b3dc908724f	665	* + L6470_EL_POS_ID
Davidroid	17:4b3dc908724f	666	* + L6470_MARK_ID
Davidroid	17:4b3dc908724f	667	* + L6470_SPEED_ID
Davidroid	17:4b3dc908724f	668	* + L6470_ACC_ID
Davidroid	17:4b3dc908724f	669	* + L6470_DEC_ID
Davidroid	17:4b3dc908724f	670	* + L6470_MAX_SPEED_ID
Davidroid	17:4b3dc908724f	671	* + L6470_MIN_SPEED_ID
Davidroid	17:4b3dc908724f	672	* + L6470_FS_SPD_ID
Davidroid	17:4b3dc908724f	673	* + L6470_KVAL_HOLD_ID
Davidroid	17:4b3dc908724f	674	* + L6470_KVAL_RUN_ID
Davidroid	17:4b3dc908724f	675	* + L6470_KVAL_ACC_ID
Davidroid	17:4b3dc908724f	676	* + L6470_KVAL_DEC_ID
Davidroid	17:4b3dc908724f	677	* + L6470_INT_SPEED_ID
Davidroid	17:4b3dc908724f	678	* + L6470_ST_SLP_ID
Davidroid	17:4b3dc908724f	679	* + L6470_FN_SLP_ACC_ID
Davidroid	17:4b3dc908724f	680	* + L6470_FN_SLP_DEC_ID
Davidroid	17:4b3dc908724f	681	* + L6470_K_THERM_ID
Davidroid	17:4b3dc908724f	682	* + L6470_ADC_OUT_ID
Davidroid	17:4b3dc908724f	683	* + L6470_OCD_TH_ID
Davidroid	17:4b3dc908724f	684	* + L6470_STALL_TH_ID
Davidroid	17:4b3dc908724f	685	* + L6470_STEP_MODE_ID
Davidroid	17:4b3dc908724f	686	* + L6470_ALARM_EN_ID
Davidroid	17:4b3dc908724f	687	* + L6470_CONFIG_ID
Davidroid	17:4b3dc908724f	688	* + L6470_STATUS_ID
Davidroid	1:b78dab6d2c58	689	*/
Davidroid	0:92706998571a	690	virtual void PrepareGetParameter(unsigned int parameter)
Davidroid	0:92706998571a	691	{
Davidroid	0:92706998571a	692	L6470_PrepareGetParam((eL6470_RegId_t) parameter);
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 get the position.
Davidroid	1:b78dab6d2c58	698	* @param None.
Davidroid	1:b78dab6d2c58	699	* @retval None.
Davidroid	1:b78dab6d2c58	700	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	701	*/
Davidroid	0:92706998571a	702	virtual void PrepareGetPosition(void)
Davidroid	0:92706998571a	703	{
Davidroid	0:92706998571a	704	L6470_PrepareGetParam((eL6470_RegId_t) L6470_ABS_POS_ID);
Davidroid	1:b78dab6d2c58	705	prepared_action = PREPARED_GET_POSITION;
Davidroid	0:92706998571a	706	}
Davidroid	0:92706998571a	707
Davidroid	1:b78dab6d2c58	708	/**
Davidroid	1:b78dab6d2c58	709	* @brief Preparing the command to get the marked position.
Davidroid	1:b78dab6d2c58	710	* @param None.
Davidroid	1:b78dab6d2c58	711	* @retval None.
Davidroid	1:b78dab6d2c58	712	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	713	*/
Davidroid	0:92706998571a	714	virtual void PrepareGetMark(void)
Davidroid	0:92706998571a	715	{
Davidroid	0:92706998571a	716	L6470_PrepareGetParam((eL6470_RegId_t) L6470_MARK_ID);
Davidroid	1:b78dab6d2c58	717	prepared_action = PREPARED_GET_MARK;
Davidroid	0:92706998571a	718	}
Davidroid	0:92706998571a	719
Davidroid	1:b78dab6d2c58	720	/**
Davidroid	1:b78dab6d2c58	721	* @brief Preparing the command to get the current speed in pps.
Davidroid	1:b78dab6d2c58	722	* @param None.
Davidroid	1:b78dab6d2c58	723	* @retval None.
Davidroid	1:b78dab6d2c58	724	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	725	*/
Davidroid	0:92706998571a	726	virtual void PrepareGetSpeed(void)
Davidroid	0:92706998571a	727	{
Davidroid	1:b78dab6d2c58	728	L6470_PrepareGetParam((eL6470_RegId_t) L6470_SPEED_ID);
Davidroid	1:b78dab6d2c58	729	prepared_action = PREPARED_GET_SPEED;
Davidroid	0:92706998571a	730	}
Davidroid	0:92706998571a	731
Davidroid	1:b78dab6d2c58	732	/**
Davidroid	1:b78dab6d2c58	733	* @brief Preparing the command to get the maximum speed in pps.
Davidroid	1:b78dab6d2c58	734	* @param None.
Davidroid	1:b78dab6d2c58	735	* @retval None.
Davidroid	1:b78dab6d2c58	736	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	737	*/
Davidroid	0:92706998571a	738	virtual void PrepareGetMaxSpeed(void)
Davidroid	0:92706998571a	739	{
Davidroid	0:92706998571a	740	L6470_PrepareGetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID);
Davidroid	1:b78dab6d2c58	741	prepared_action = PREPARED_GET_MAX_SPEED;
Davidroid	0:92706998571a	742	}
Davidroid	0:92706998571a	743
Davidroid	1:b78dab6d2c58	744	/**
Davidroid	1:b78dab6d2c58	745	* @brief Preparing the command to get the minimum speed in pps.
Davidroid	1:b78dab6d2c58	746	* @param None.
Davidroid	1:b78dab6d2c58	747	* @retval None.
Davidroid	1:b78dab6d2c58	748	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	749	*/
Davidroid	0:92706998571a	750	virtual void PrepareGetMinSpeed(void)
Davidroid	0:92706998571a	751	{
Davidroid	0:92706998571a	752	L6470_PrepareGetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID);
Davidroid	1:b78dab6d2c58	753	prepared_action = PREPARED_GET_MIN_SPEED;
Davidroid	0:92706998571a	754	}
Davidroid	0:92706998571a	755
Davidroid	1:b78dab6d2c58	756	/**
Davidroid	1:b78dab6d2c58	757	* @brief Preparing the command to get the acceleration in pps^2.
Davidroid	1:b78dab6d2c58	758	* @param None.
Davidroid	1:b78dab6d2c58	759	* @retval None.
Davidroid	1:b78dab6d2c58	760	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	761	*/
Davidroid	0:92706998571a	762	virtual void PrepareGetAcceleration(void)
Davidroid	0:92706998571a	763	{
Davidroid	0:92706998571a	764	L6470_PrepareGetParam((eL6470_RegId_t) L6470_ACC_ID);
Davidroid	1:b78dab6d2c58	765	prepared_action = PREPARED_GET_ACCELERATION;
Davidroid	0:92706998571a	766	}
Davidroid	0:92706998571a	767
Davidroid	1:b78dab6d2c58	768	/**
Davidroid	1:b78dab6d2c58	769	* @brief Preparing the command to get the deceleration in pps^2.
Davidroid	1:b78dab6d2c58	770	* @param None.
Davidroid	1:b78dab6d2c58	771	* @retval None.
Davidroid	1:b78dab6d2c58	772	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	773	*/
Davidroid	0:92706998571a	774	virtual void PrepareGetDeceleration(void)
Davidroid	0:92706998571a	775	{
Davidroid	0:92706998571a	776	L6470_PrepareGetParam((eL6470_RegId_t) L6470_DEC_ID);
Davidroid	1:b78dab6d2c58	777	prepared_action = PREPARED_GET_DECELERATION;
Davidroid	0:92706998571a	778	}
Davidroid	0:92706998571a	779
Davidroid	1:b78dab6d2c58	780	/**
Davidroid	1:b78dab6d2c58	781	* @brief Preparing the command to get the direction of rotation.
Davidroid	1:b78dab6d2c58	782	* @param None.
Davidroid	1:b78dab6d2c58	783	* @retval None.
Davidroid	1:b78dab6d2c58	784	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	785	*/
Davidroid	1:b78dab6d2c58	786	virtual void PrepareGetDirection(void)
Davidroid	0:92706998571a	787	{
Davidroid	1:b78dab6d2c58	788	if (!L6470_DaisyChain_HalfPrepared)
Davidroid	1:b78dab6d2c58	789	{
Davidroid	1:b78dab6d2c58	790	/* To avoid deleting the previous entered command. */
Davidroid	1:b78dab6d2c58	791	L6470_DaisyChain_HalfPrepared = ONE_F;
Davidroid	1:b78dab6d2c58	792	/* Resetting commands. */
Davidroid	1:b78dab6d2c58	793	L6470_ResetAppCmdPkg(L6470_AppCmdPkg);
Davidroid	1:b78dab6d2c58	794	}
Davidroid	1:b78dab6d2c58	795	prepared_action = PREPARED_GET_DIRECTION;
Davidroid	0:92706998571a	796	}
Davidroid	0:92706998571a	797
Davidroid	18:ddf3d5dc8137	798	/**
Davidroid	1:b78dab6d2c58	799	* @brief Preparing the command to set a parameter.
Davidroid	17:4b3dc908724f	800	* @param parameter A parameter's register address.
Davidroid	1:b78dab6d2c58	801	* @param value The parameter's value.
Davidroid	1:b78dab6d2c58	802	* @retval None.
Davidroid	1:b78dab6d2c58	803	* @note The command will be sent by issuing "PerformAction()".
Davidroid	17:4b3dc908724f	804	* The parameter can be one of the following:
Davidroid	17:4b3dc908724f	805	* + L6470_ABS_POS_ID
Davidroid	17:4b3dc908724f	806	* + L6470_EL_POS_ID
Davidroid	17:4b3dc908724f	807	* + L6470_MARK_ID
Davidroid	17:4b3dc908724f	808	* + L6470_SPEED_ID
Davidroid	17:4b3dc908724f	809	* + L6470_ACC_ID
Davidroid	17:4b3dc908724f	810	* + L6470_DEC_ID
Davidroid	17:4b3dc908724f	811	* + L6470_MAX_SPEED_ID
Davidroid	17:4b3dc908724f	812	* + L6470_MIN_SPEED_ID
Davidroid	17:4b3dc908724f	813	* + L6470_FS_SPD_ID
Davidroid	17:4b3dc908724f	814	* + L6470_KVAL_HOLD_ID
Davidroid	17:4b3dc908724f	815	* + L6470_KVAL_RUN_ID
Davidroid	17:4b3dc908724f	816	* + L6470_KVAL_ACC_ID
Davidroid	17:4b3dc908724f	817	* + L6470_KVAL_DEC_ID
Davidroid	17:4b3dc908724f	818	* + L6470_INT_SPEED_ID
Davidroid	17:4b3dc908724f	819	* + L6470_ST_SLP_ID
Davidroid	17:4b3dc908724f	820	* + L6470_FN_SLP_ACC_ID
Davidroid	17:4b3dc908724f	821	* + L6470_FN_SLP_DEC_ID
Davidroid	17:4b3dc908724f	822	* + L6470_K_THERM_ID
Davidroid	17:4b3dc908724f	823	* + L6470_ADC_OUT_ID
Davidroid	17:4b3dc908724f	824	* + L6470_OCD_TH_ID
Davidroid	17:4b3dc908724f	825	* + L6470_STALL_TH_ID
Davidroid	17:4b3dc908724f	826	* + L6470_STEP_MODE_ID
Davidroid	17:4b3dc908724f	827	* + L6470_ALARM_EN_ID
Davidroid	17:4b3dc908724f	828	* + L6470_CONFIG_ID
Davidroid	17:4b3dc908724f	829	* + L6470_STATUS_ID
Davidroid	17:4b3dc908724f	830	* @warning Some registers can only be written in particular conditions (see L6470's datasheet).
Davidroid	17:4b3dc908724f	831	* Any attempt to write one of those registers when the conditions are not satisfied
Davidroid	17:4b3dc908724f	832	* causes the command to be ignored and the NOTPERF_CMD flag to rise at the end of the
Davidroid	17:4b3dc908724f	833	* last argument byte. Any attempt to set an inexistent register (wrong address value)
Davidroid	17:4b3dc908724f	834	* causes the command to be ignored and the WRONG_CMD flag to rise.
Davidroid	17:4b3dc908724f	835	* For example, setting some parameters requires first to disable the power bridge;
Davidroid	17:4b3dc908724f	836	* this can be done through the SoftHiZ() method.
Davidroid	17:4b3dc908724f	837	* They are the following:
Davidroid	17:4b3dc908724f	838	* + L6470_ABS_POS_ID
Davidroid	17:4b3dc908724f	839	* + L6470_EL_POS_ID
Davidroid	17:4b3dc908724f	840	* + L6470_SPEED_ID
Davidroid	17:4b3dc908724f	841	* + L6470_ACC_ID
Davidroid	17:4b3dc908724f	842	* + L6470_DEC_ID
Davidroid	17:4b3dc908724f	843	* + L6470_MAX_SPEED_ID
Davidroid	17:4b3dc908724f	844	* + L6470_MIN_SPEED_ID
Davidroid	17:4b3dc908724f	845	* + L6470_INT_SPEED_ID
Davidroid	17:4b3dc908724f	846	* + L6470_ST_SLP_ID
Davidroid	17:4b3dc908724f	847	* + L6470_FN_SLP_ACC_ID
Davidroid	17:4b3dc908724f	848	* + L6470_FN_SLP_DEC_ID
Davidroid	17:4b3dc908724f	849	* + L6470_ADC_OUT_ID
Davidroid	17:4b3dc908724f	850	* + L6470_STEP_MODE_ID
Davidroid	17:4b3dc908724f	851	* + L6470_CONFIG_ID
Davidroid	17:4b3dc908724f	852	* + L6470_STATUS_ID
Davidroid	1:b78dab6d2c58	853	*/
Davidroid	0:92706998571a	854	virtual void PrepareSetParameter(unsigned int parameter, unsigned int value)
Davidroid	0:92706998571a	855	{
Davidroid	0:92706998571a	856	L6470_PrepareSetParam((eL6470_RegId_t) parameter, (uint32_t) value);
Davidroid	1:b78dab6d2c58	857	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	858	}
Davidroid	0:92706998571a	859
Davidroid	1:b78dab6d2c58	860	/**
Davidroid	1:b78dab6d2c58	861	* @brief Preparing the command to set the current position to be
Davidroid	1:b78dab6d2c58	862	* the home position.
Davidroid	1:b78dab6d2c58	863	* @param None.
Davidroid	1:b78dab6d2c58	864	* @retval None.
Davidroid	1:b78dab6d2c58	865	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	866	*/
Davidroid	0:92706998571a	867	virtual void PrepareSetHome(void)
Davidroid	0:92706998571a	868	{
Davidroid	0:92706998571a	869	L6470_PrepareResetPos();
Davidroid	1:b78dab6d2c58	870	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	871	}
Davidroid	0:92706998571a	872
Davidroid	1:b78dab6d2c58	873	/**
Davidroid	1:b78dab6d2c58	874	* @brief Preparing the command to set the current position to be
Davidroid	1:b78dab6d2c58	875	* the marked position.
Davidroid	1:b78dab6d2c58	876	* @param None.
Davidroid	1:b78dab6d2c58	877	* @retval None.
Davidroid	1:b78dab6d2c58	878	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	879	*/
Davidroid	0:92706998571a	880	virtual void PrepareSetMark(void)
Davidroid	0:92706998571a	881	{
Davidroid	1:b78dab6d2c58	882	/*
Davidroid	1:b78dab6d2c58	883	Set "0" now as marked position. This value will be replaced by the
Davidroid	1:b78dab6d2c58	884	actual position read at the time when the prepared actions will be
Davidroid	1:b78dab6d2c58	885	performed.
Davidroid	1:b78dab6d2c58	886	*/
Davidroid	1:b78dab6d2c58	887	L6470_PrepareSetParam((eL6470_RegId_t) L6470_MARK_ID, 0);
Davidroid	1:b78dab6d2c58	888	prepared_action = PREPARED_SET_MARK;
Davidroid	0:92706998571a	889	}
Davidroid	0:92706998571a	890
Davidroid	1:b78dab6d2c58	891	/**
Davidroid	1:b78dab6d2c58	892	* @brief Preparing the command to set the given position to be
Davidroid	1:b78dab6d2c58	893	* the marked position.
Davidroid	1:b78dab6d2c58	894	* @param position The given position.
Davidroid	1:b78dab6d2c58	895	* @retval None.
Davidroid	1:b78dab6d2c58	896	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	897	*/
Davidroid	1:b78dab6d2c58	898	virtual void PrepareSetMark(signed int position)
Davidroid	1:b78dab6d2c58	899	{
Davidroid	1:b78dab6d2c58	900	L6470_PrepareSetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
Davidroid	1:b78dab6d2c58	901	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	902	}
Davidroid	1:b78dab6d2c58	903
Davidroid	1:b78dab6d2c58	904	/**
Davidroid	1:b78dab6d2c58	905	* @brief Preparing the command to set the current speed in pps.
Davidroid	1:b78dab6d2c58	906	* @param speed The current speed in pps.
Davidroid	1:b78dab6d2c58	907	* @retval None.
Davidroid	1:b78dab6d2c58	908	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	909	*/
Davidroid	1:b78dab6d2c58	910	virtual void PrepareSetSpeed(unsigned int speed)
Davidroid	1:b78dab6d2c58	911	{
Davidroid	1:b78dab6d2c58	912	L6470_PrepareSetParam((eL6470_RegId_t) L6470_SPEED_ID, (uint32_t) L6470_Step_s_2_Speed((float) speed));
Davidroid	1:b78dab6d2c58	913	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	914	}
Davidroid	1:b78dab6d2c58	915
Davidroid	1:b78dab6d2c58	916	/**
Davidroid	1:b78dab6d2c58	917	* @brief Preparing the command to set the maximum speed in pps.
Davidroid	1:b78dab6d2c58	918	* @param speed The maximum speed in pps.
Davidroid	1:b78dab6d2c58	919	* @retval None.
Davidroid	1:b78dab6d2c58	920	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	921	*/
Davidroid	0:92706998571a	922	virtual void PrepareSetMaxSpeed(unsigned int speed)
Davidroid	0:92706998571a	923	{
Davidroid	1:b78dab6d2c58	924	L6470_PrepareSetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) L6470_Step_s_2_MaxSpeed((float) speed));
Davidroid	1:b78dab6d2c58	925	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	926	}
Davidroid	0:92706998571a	927
Davidroid	1:b78dab6d2c58	928	/**
Davidroid	1:b78dab6d2c58	929	* @brief Preparing the command to set the minimum speed in pps.
Davidroid	1:b78dab6d2c58	930	* @param speed The minimum speed in pps.
Davidroid	1:b78dab6d2c58	931	* @retval None.
Davidroid	1:b78dab6d2c58	932	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	933	*/
Davidroid	1:b78dab6d2c58	934	virtual void PrepareSetMinSpeed(unsigned int speed)
Davidroid	1:b78dab6d2c58	935	{
Davidroid	1:b78dab6d2c58	936	L6470_PrepareSetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) L6470_Step_s_2_MinSpeed((float) speed));
Davidroid	1:b78dab6d2c58	937	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	938	}
Davidroid	1:b78dab6d2c58	939
Davidroid	1:b78dab6d2c58	940	/**
Davidroid	1:b78dab6d2c58	941	* @brief Preparing the command to set the acceleration in pps^2.
Davidroid	1:b78dab6d2c58	942	* @param acceleration The acceleration in pps^2.
Davidroid	1:b78dab6d2c58	943	* @retval None.
Davidroid	1:b78dab6d2c58	944	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	945	*/
Davidroid	0:92706998571a	946	virtual void PrepareSetAcceleration(unsigned int acceleration)
Davidroid	0:92706998571a	947	{
Davidroid	1:b78dab6d2c58	948	L6470_PrepareSetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) L6470_Step_s2_2_Acc((float) acceleration));
Davidroid	1:b78dab6d2c58	949	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	950	}
Davidroid	0:92706998571a	951
Davidroid	1:b78dab6d2c58	952	/**
Davidroid	1:b78dab6d2c58	953	* @brief Preparing the command to set the deceleration in pps^2.
Davidroid	1:b78dab6d2c58	954	* @param deceleration The deceleration in pps^2.
Davidroid	1:b78dab6d2c58	955	* @retval None.
Davidroid	1:b78dab6d2c58	956	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	957	*/
Davidroid	1:b78dab6d2c58	958	virtual void PrepareSetDeceleration(unsigned int deceleration)
Davidroid	0:92706998571a	959	{
Davidroid	1:b78dab6d2c58	960	L6470_PrepareSetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) L6470_Step_s2_2_Dec((float) deceleration));
Davidroid	1:b78dab6d2c58	961	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	962	}
Davidroid	0:92706998571a	963
Davidroid	1:b78dab6d2c58	964	/**
Davidroid	1:b78dab6d2c58	965	* @brief Preparing the command to go to a specified position.
Davidroid	1:b78dab6d2c58	966	* @param position The desired position.
Davidroid	1:b78dab6d2c58	967	* @retval None.
Davidroid	1:b78dab6d2c58	968	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	969	*/
Davidroid	1:b78dab6d2c58	970	virtual void PrepareGoTo(signed int position)
Davidroid	1:b78dab6d2c58	971	{
Davidroid	1:b78dab6d2c58	972	L6470_PrepareGoTo((uint32_t) L6470_Position_2_AbsPos((int32_t) position));
Davidroid	1:b78dab6d2c58	973	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	974	}
Davidroid	1:b78dab6d2c58	975
Davidroid	1:b78dab6d2c58	976	/**
Davidroid	1:b78dab6d2c58	977	* @brief Preparing the command to go to a specified position
Davidroid	1:b78dab6d2c58	978	* imposing the desired direction.
Davidroid	1:b78dab6d2c58	979	* @param position The desired position.
Davidroid	1:b78dab6d2c58	980	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	981	* @retval None.
Davidroid	1:b78dab6d2c58	982	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	983	*/
Davidroid	0:92706998571a	984	virtual void PrepareGoTo(signed int position, direction_t direction)
Davidroid	0:92706998571a	985	{
Davidroid	1:b78dab6d2c58	986	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	987	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	988	}
Davidroid	0:92706998571a	989
Davidroid	1:b78dab6d2c58	990	/**
Davidroid	1:b78dab6d2c58	991	* @brief Preparing the command to go to the home position.
Davidroid	1:b78dab6d2c58	992	* @param None.
Davidroid	1:b78dab6d2c58	993	* @retval None.
Davidroid	1:b78dab6d2c58	994	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	995	*/
Davidroid	0:92706998571a	996	virtual void PrepareGoHome(void)
Davidroid	0:92706998571a	997	{
Davidroid	0:92706998571a	998	L6470_PrepareGoHome();
Davidroid	1:b78dab6d2c58	999	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	1000	}
Davidroid	0:92706998571a	1001
Davidroid	1:b78dab6d2c58	1002	/**
Davidroid	1:b78dab6d2c58	1003	* @brief Preparing the command to go to the marked position.
Davidroid	1:b78dab6d2c58	1004	* @param None.
Davidroid	1:b78dab6d2c58	1005	* @retval None.
Davidroid	1:b78dab6d2c58	1006	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	1007	*/
Davidroid	0:92706998571a	1008	virtual void PrepareGoMark(void)
Davidroid	0:92706998571a	1009	{
Davidroid	0:92706998571a	1010	L6470_PrepareGoMark();
Davidroid	1:b78dab6d2c58	1011	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	1012	}
Davidroid	0:92706998571a	1013
Davidroid	1:b78dab6d2c58	1014	/**
Davidroid	1:b78dab6d2c58	1015	* @brief Preparing the command to run at the given speed imposing the desired
Davidroid	1:b78dab6d2c58	1016	* direction until an external switch turn-on event occurs.
Davidroid	1:b78dab6d2c58	1017	* @param action The identifier of the action about the absolute position.
Davidroid	1:b78dab6d2c58	1018	* @param position The desired position.
Davidroid	1:b78dab6d2c58	1019	* @param speed The speed value in pps.
Davidroid	1:b78dab6d2c58	1020	* @retval None.
Davidroid	1:b78dab6d2c58	1021	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	1022	* The identifier of the action about the absolute position can be
Davidroid	1:b78dab6d2c58	1023	* one of the following:
Davidroid	1:b78dab6d2c58	1024	* + L6470_ACT_RST_ID: the absolute position is reset;
Davidroid	1:b78dab6d2c58	1025	* + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
Davidroid	1:b78dab6d2c58	1026	*/
Davidroid	0:92706998571a	1027	virtual void PrepareGoUntil(eL6470_ActId_t L6470_ActId, direction_t direction, unsigned int speed)
Davidroid	0:92706998571a	1028	{
Davidroid	1:b78dab6d2c58	1029	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	1030	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	1031	}
Davidroid	0:92706998571a	1032
Davidroid	1:b78dab6d2c58	1033	/**
Davidroid	1:b78dab6d2c58	1034	* @brief Preparing the command to run towards a specified direction
Davidroid	1:b78dab6d2c58	1035	* at the maximum speed.
Davidroid	1:b78dab6d2c58	1036	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	1037	* @retval None.
Davidroid	1:b78dab6d2c58	1038	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	1039	*/
Davidroid	0:92706998571a	1040	virtual void PrepareRun(direction_t direction)
Davidroid	0:92706998571a	1041	{
Davidroid	0:92706998571a	1042	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	1043	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	1044	}
Davidroid	0:92706998571a	1045
Davidroid	1:b78dab6d2c58	1046	/**
Davidroid	1:b78dab6d2c58	1047	* @brief Preparing the command to run towards a specified direction
Davidroid	1:b78dab6d2c58	1048	* at the given speed.
Davidroid	1:b78dab6d2c58	1049	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	1050	* @param speed The speed value in pps.
Davidroid	1:b78dab6d2c58	1051	* @retval None.
Davidroid	1:b78dab6d2c58	1052	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	1053	*/
Davidroid	0:92706998571a	1054	virtual void PrepareRun(direction_t direction, unsigned int speed)
Davidroid	0:92706998571a	1055	{
Davidroid	1:b78dab6d2c58	1056	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	1057	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	1058	}
Davidroid	0:92706998571a	1059
Davidroid	1:b78dab6d2c58	1060	/**
Davidroid	1:b78dab6d2c58	1061	* @brief Preparing the command to move towards a specified direction
Davidroid	1:b78dab6d2c58	1062	* for a certain number of steps.
Davidroid	1:b78dab6d2c58	1063	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	1064	* @param steps The desired number of steps.
Davidroid	1:b78dab6d2c58	1065	* @retval None.
Davidroid	1:b78dab6d2c58	1066	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	1067	*/
Davidroid	0:92706998571a	1068	virtual void PrepareMove(direction_t direction, unsigned int steps)
Davidroid	0:92706998571a	1069	{
Davidroid	0:92706998571a	1070	L6470_PrepareMove((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) steps);
Davidroid	1:b78dab6d2c58	1071	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	1072	}
Davidroid	0:92706998571a	1073
Davidroid	1:b78dab6d2c58	1074	/**
Davidroid	1:b78dab6d2c58	1075	* @brief Preparing the command to stop the motor.
Davidroid	1:b78dab6d2c58	1076	* @param None.
Davidroid	1:b78dab6d2c58	1077	* @retval None.
Davidroid	1:b78dab6d2c58	1078	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	1079	*/
Davidroid	0:92706998571a	1080	virtual void PrepareSoftStop(void)
Davidroid	0:92706998571a	1081	{
Davidroid	0:92706998571a	1082	L6470_PrepareSoftStop();
Davidroid	1:b78dab6d2c58	1083	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	1084	}
Davidroid	0:92706998571a	1085
Davidroid	1:b78dab6d2c58	1086	/**
Davidroid	1:b78dab6d2c58	1087	* @brief Preparing the command to stop the motor and disabling the power bridge.
Davidroid	1:b78dab6d2c58	1088	* @param None.
Davidroid	1:b78dab6d2c58	1089	* @retval None.
Davidroid	1:b78dab6d2c58	1090	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	1091	*/
Davidroid	0:92706998571a	1092	virtual void PrepareHardStop(void)
Davidroid	0:92706998571a	1093	{
Davidroid	0:92706998571a	1094	L6470_PrepareHardStop();
Davidroid	1:b78dab6d2c58	1095	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	1096	}
Davidroid	0:92706998571a	1097
Davidroid	1:b78dab6d2c58	1098	/**
Davidroid	1:b78dab6d2c58	1099	* @brief Preparing the command to disable the power bridge after performing
Davidroid	1:b78dab6d2c58	1100	* a deceleration to zero.
Davidroid	1:b78dab6d2c58	1101	* The used deceleration value is the one stored in the "DEC" register.
Davidroid	1:b78dab6d2c58	1102	* @param None.
Davidroid	1:b78dab6d2c58	1103	* @retval None.
Davidroid	1:b78dab6d2c58	1104	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	1105	*/
Davidroid	0:92706998571a	1106	virtual void PrepareSoftHiZ(void)
Davidroid	0:92706998571a	1107	{
Davidroid	0:92706998571a	1108	L6470_PrepareSoftHiZ();
Davidroid	1:b78dab6d2c58	1109	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	1110	}
Davidroid	0:92706998571a	1111
Davidroid	1:b78dab6d2c58	1112	/**
Davidroid	1:b78dab6d2c58	1113	* @brief Preparing the command to disable the power bridge immediately.
Davidroid	1:b78dab6d2c58	1114	* @param None.
Davidroid	1:b78dab6d2c58	1115	* @retval None.
Davidroid	1:b78dab6d2c58	1116	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	1117	*/
Davidroid	0:92706998571a	1118	virtual void PrepareHardHiZ(void)
Davidroid	0:92706998571a	1119	{
Davidroid	0:92706998571a	1120	L6470_PrepareHardHiZ();
Davidroid	1:b78dab6d2c58	1121	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	1122	}
Davidroid	1:b78dab6d2c58	1123
Davidroid	1:b78dab6d2c58	1124	/**
Davidroid	18:ddf3d5dc8137	1125	* @brief Preparing the command to switch to step-clock mode.
Davidroid	18:ddf3d5dc8137	1126	* @param direction The direction of rotation.
Davidroid	18:ddf3d5dc8137	1127	* @retval None.
Davidroid	18:ddf3d5dc8137	1128	* @warning Setting the step-clock mode requires an explicit action by the user to first
Davidroid	18:ddf3d5dc8137	1129	* disable the power bridge through the SoftHiZ() method.
Davidroid	18:ddf3d5dc8137	1130	* @note The command will be sent by issuing "PerformAction()".
Davidroid	18:ddf3d5dc8137	1131	*/
Davidroid	1:b78dab6d2c58	1132	virtual void PrepareStepClock(direction_t direction)
Davidroid	1:b78dab6d2c58	1133	{
Davidroid	1:b78dab6d2c58	1134	L6470_PrepareStepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid	1:b78dab6d2c58	1135	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	1136	}
Davidroid	0:92706998571a	1137
Davidroid	1:b78dab6d2c58	1138	/**
Davidroid	1:b78dab6d2c58	1139	* @brief Preparing the command to do a motion at minimum speed
Davidroid	1:b78dab6d2c58	1140	* imposing a specified direction until the SW is released.
Davidroid	1:b78dab6d2c58	1141	* @param action The identifier of the action about the absolute position.
Davidroid	1:b78dab6d2c58	1142	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	1143	* @retval None.
Davidroid	1:b78dab6d2c58	1144	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	1145	* The identifier of the action about the absolute position can be
Davidroid	1:b78dab6d2c58	1146	* one of the following:
Davidroid	1:b78dab6d2c58	1147	* + L6470_ACT_RST_ID: the absolute position is reset;
Davidroid	1:b78dab6d2c58	1148	* + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
Davidroid	1:b78dab6d2c58	1149	*/
Davidroid	1:b78dab6d2c58	1150	virtual void PrepareReleaseSW(eL6470_ActId_t action, direction_t direction)
Davidroid	0:92706998571a	1151	{
Davidroid	1:b78dab6d2c58	1152	L6470_PrepareReleaseSW((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid	1:b78dab6d2c58	1153	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	1154	}
Davidroid	1:b78dab6d2c58	1155
Davidroid	1:b78dab6d2c58	1156	/**
Davidroid	1:b78dab6d2c58	1157	* @brief Preparing the command to reset the device to power-up conditions.
Davidroid	1:b78dab6d2c58	1158	* @param None.
Davidroid	1:b78dab6d2c58	1159	* @retval None.
Davidroid	1:b78dab6d2c58	1160	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	1161	*/
Davidroid	1:b78dab6d2c58	1162	virtual void PrepareResetDevice(void)
Davidroid	1:b78dab6d2c58	1163	{
Davidroid	1:b78dab6d2c58	1164	L6470_PrepareResetDevice();
Davidroid	1:b78dab6d2c58	1165	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	1166	}
Davidroid	0:92706998571a	1167
Davidroid	1:b78dab6d2c58	1168	/**
Davidroid	1:b78dab6d2c58	1169	* @brief Performing all the actions prepared on the components
Davidroid	1:b78dab6d2c58	1170	* of the daisy-chain.
Davidroid	1:b78dab6d2c58	1171	* @param None.
Davidroid	1:b78dab6d2c58	1172	* @retval The raw data returned by the components.
Davidroid	1:b78dab6d2c58	1173	*/
Davidroid	1:b78dab6d2c58	1174	uint8_t* PerformPreparedActions(void)
Davidroid	0:92706998571a	1175	{
Davidroid	1:b78dab6d2c58	1176	return L6470_PerformPreparedApplicationCommand();
Davidroid	1:b78dab6d2c58	1177	}
Davidroid	1:b78dab6d2c58	1178
Davidroid	1:b78dab6d2c58	1179	/**
Davidroid	1:b78dab6d2c58	1180	* @brief Getting the prepared action.
Davidroid	1:b78dab6d2c58	1181	* @param None
Davidroid	1:b78dab6d2c58	1182	* @retval The prepared action.
Davidroid	1:b78dab6d2c58	1183	*/
Davidroid	1:b78dab6d2c58	1184	prepared_action_t GetPreparedAction(void)
Davidroid	1:b78dab6d2c58	1185	{
Davidroid	1:b78dab6d2c58	1186	return prepared_action;
Davidroid	0:92706998571a	1187	}
Davidroid	0:92706998571a	1188
Davidroid	1:b78dab6d2c58	1189	/**
Davidroid	1:b78dab6d2c58	1190	* @brief Converting the raw data received by the component according to
Davidroid	1:b78dab6d2c58	1191	* the action performed on it.
Davidroid	1:b78dab6d2c58	1192	* @param raw_data The received raw data.
Davidroid	1:b78dab6d2c58	1193	* @retval The result of the action performed.
Davidroid	1:b78dab6d2c58	1194	*/
Davidroid	1:b78dab6d2c58	1195	int32_t GetResult(uint8_t *raw_data)
Davidroid	0:92706998571a	1196	{
Davidroid	1:b78dab6d2c58	1197	switch (prepared_action)
Davidroid	1:b78dab6d2c58	1198	{
Davidroid	1:b78dab6d2c58	1199	case PREPARED_GET_POSITION:
Davidroid	1:b78dab6d2c58	1200	return L6470_AbsPos_2_Position(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_ABS_POS_ID].LengthByte));
Davidroid	1:b78dab6d2c58	1201
Davidroid	1:b78dab6d2c58	1202	case PREPARED_GET_MARK:
Davidroid	1:b78dab6d2c58	1203	return L6470_AbsPos_2_Position(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MARK_ID].LengthByte));
Davidroid	0:92706998571a	1204
Davidroid	1:b78dab6d2c58	1205	case PREPARED_GET_SPEED:
Davidroid	1:b78dab6d2c58	1206	return round(L6470_Speed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_SPEED_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1207
Davidroid	1:b78dab6d2c58	1208	case PREPARED_GET_MAX_SPEED:
Davidroid	1:b78dab6d2c58	1209	return round(L6470_MaxSpeed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MAX_SPEED_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1210
Davidroid	1:b78dab6d2c58	1211	case PREPARED_GET_MIN_SPEED:
Davidroid	1:b78dab6d2c58	1212	return round(L6470_MinSpeed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MIN_SPEED_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1213
Davidroid	1:b78dab6d2c58	1214	case PREPARED_GET_ACCELERATION:
Davidroid	1:b78dab6d2c58	1215	return round(L6470_Acc_2_Step_s2(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_ACC_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1216
Davidroid	1:b78dab6d2c58	1217	case PREPARED_GET_DECELERATION:
Davidroid	1:b78dab6d2c58	1218	return round(L6470_Dec_2_Step_s2(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_DEC_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1219
Davidroid	1:b78dab6d2c58	1220	case PREPARED_GET_DIRECTION:
Davidroid	1:b78dab6d2c58	1221	return (int32_t) (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD);
Davidroid	1:b78dab6d2c58	1222
Davidroid	1:b78dab6d2c58	1223	default:
Davidroid	1:b78dab6d2c58	1224	case PREPARED_NO_ACTION:
Davidroid	1:b78dab6d2c58	1225	return 0;
Davidroid	1:b78dab6d2c58	1226	}
Davidroid	0:92706998571a	1227	}
Davidroid	0:92706998571a	1228
Davidroid	0:92706998571a	1229
Davidroid	0:92706998571a	1230	/* Public Interrupt Related Methods */
Davidroid	0:92706998571a	1231
Davidroid	0:92706998571a	1232	/* ACTION 6 --------------------------------------------------------------*
Davidroid	0:92706998571a	1233	* Implement here interrupt related methods, if any. *
Davidroid	0:92706998571a	1234	* Note that interrupt handling is platform dependent, e.g.: *
Davidroid	0:92706998571a	1235	* + mbed: *
Davidroid	14:e614697ebf34	1236	* InterruptIn feature_irq(pin); //Interrupt object. *
Davidroid	14:e614697ebf34	1237	* feature_irq.fall(callback); //Attach a callback. *
Davidroid	14:e614697ebf34	1238	* feature_irq.mode(PullNone); //Set interrupt mode. *
Davidroid	14:e614697ebf34	1239	* feature_irq.enable_irq(); //Enable interrupt. *
Davidroid	14:e614697ebf34	1240	* feature_irq.disable_irq(); //Disable interrupt. *
Davidroid	0:92706998571a	1241	* + Arduino: *
Davidroid	0:92706998571a	1242	* attachInterrupt(pin, callback, RISING); //Attach a callback. *
Davidroid	0:92706998571a	1243	* detachInterrupt(pin); //Detach a callback. *
Davidroid	0:92706998571a	1244	* *
Davidroid	0:92706998571a	1245	* Example (mbed): *
Davidroid	0:92706998571a	1246	* void AttachFeatureIRQ(void (fptr) (void))
Davidroid	0:92706998571a	1247	* { *
Davidroid	14:e614697ebf34	1248	* feature_irq.fall(fptr); *
Davidroid	0:92706998571a	1249	* } *
Davidroid	0:92706998571a	1250	* *
Davidroid	0:92706998571a	1251	* void EnableFeatureIRQ(void) *
Davidroid	0:92706998571a	1252	* { *
Davidroid	0:92706998571a	1253	* feature_irq.enable_irq(); *
Davidroid	0:92706998571a	1254	* } *
Davidroid	0:92706998571a	1255	* *
Davidroid	0:92706998571a	1256	* void DisableFeatureIRQ(void) *
Davidroid	0:92706998571a	1257	* { *
Davidroid	0:92706998571a	1258	* feature_irq.disable_irq(); *
Davidroid	0:92706998571a	1259	* } *
Davidroid	0:92706998571a	1260	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1261	/**
Davidroid	1:b78dab6d2c58	1262	* @brief Attaching an interrupt handler to the FLAG interrupt.
Davidroid	1:b78dab6d2c58	1263	* @param fptr An interrupt handler.
Davidroid	0:92706998571a	1264	* @retval None.
Davidroid	0:92706998571a	1265	*/
Davidroid	0:92706998571a	1266	void AttachFlagIRQ(void (*fptr)(void))
Davidroid	0:92706998571a	1267	{
Davidroid	11:1aca63b2f034	1268	flag_irq.fall(fptr);
Davidroid	0:92706998571a	1269	}
Davidroid	0:92706998571a	1270
Davidroid	0:92706998571a	1271	/**
Davidroid	1:b78dab6d2c58	1272	* @brief Enabling the FLAG interrupt handling.
Davidroid	0:92706998571a	1273	* @param None.
Davidroid	0:92706998571a	1274	* @retval None.
Davidroid	0:92706998571a	1275	*/
Davidroid	0:92706998571a	1276	void EnableFlagIRQ(void)
Davidroid	0:92706998571a	1277	{
Davidroid	0:92706998571a	1278	flag_irq.enable_irq();
Davidroid	0:92706998571a	1279	}
Davidroid	0:92706998571a	1280
Davidroid	0:92706998571a	1281	/**
Davidroid	1:b78dab6d2c58	1282	* @brief Disabling the FLAG interrupt handling.
Davidroid	0:92706998571a	1283	* @param None.
Davidroid	0:92706998571a	1284	* @retval None.
Davidroid	0:92706998571a	1285	*/
Davidroid	0:92706998571a	1286	void DisableFlagIRQ(void)
Davidroid	0:92706998571a	1287	{
Davidroid	0:92706998571a	1288	flag_irq.disable_irq();
Davidroid	0:92706998571a	1289	}
Davidroid	0:92706998571a	1290
Davidroid	1:b78dab6d2c58	1291	/**
Davidroid	1:b78dab6d2c58	1292	* @brief Attaching an interrupt handler to the BUSY interrupt.
Davidroid	1:b78dab6d2c58	1293	* @param fptr An interrupt handler.
Davidroid	1:b78dab6d2c58	1294	* @retval None.
Davidroid	1:b78dab6d2c58	1295	*/
Davidroid	1:b78dab6d2c58	1296	void AttachBusyIRQ(void (*fptr)(void))
Davidroid	1:b78dab6d2c58	1297	{
Davidroid	11:1aca63b2f034	1298	busy_irq.fall(fptr);
Davidroid	1:b78dab6d2c58	1299	}
Davidroid	1:b78dab6d2c58	1300
Davidroid	1:b78dab6d2c58	1301	/**
Davidroid	1:b78dab6d2c58	1302	* @brief Enabling the BUSY interrupt handling.
Davidroid	1:b78dab6d2c58	1303	* @param None.
Davidroid	1:b78dab6d2c58	1304	* @retval None.
Davidroid	1:b78dab6d2c58	1305	*/
Davidroid	1:b78dab6d2c58	1306	void EnableBusyIRQ(void)
Davidroid	1:b78dab6d2c58	1307	{
Davidroid	1:b78dab6d2c58	1308	busy_irq.enable_irq();
Davidroid	1:b78dab6d2c58	1309	}
Davidroid	1:b78dab6d2c58	1310
Davidroid	1:b78dab6d2c58	1311	/**
Davidroid	1:b78dab6d2c58	1312	* @brief Disabling the BUSY interrupt handling.
Davidroid	1:b78dab6d2c58	1313	* @param None.
Davidroid	1:b78dab6d2c58	1314	* @retval None.
Davidroid	1:b78dab6d2c58	1315	*/
Davidroid	1:b78dab6d2c58	1316	void DisableBusyIRQ(void)
Davidroid	1:b78dab6d2c58	1317	{
Davidroid	1:b78dab6d2c58	1318	busy_irq.disable_irq();
Davidroid	1:b78dab6d2c58	1319	}
Davidroid	1:b78dab6d2c58	1320
Davidroid	0:92706998571a	1321
Davidroid	0:92706998571a	1322	protected:
Davidroid	0:92706998571a	1323
Davidroid	0:92706998571a	1324	/* Protected Component Related Methods */
Davidroid	0:92706998571a	1325
Davidroid	0:92706998571a	1326	/* ACTION 7 --------------------------------------------------------------*
Davidroid	0:92706998571a	1327	* Declare here the component's specific methods. *
Davidroid	0:92706998571a	1328	* They should be: *
Davidroid	0:92706998571a	1329	* + Methods with the same name of the C component's virtual table's *
Davidroid	0:92706998571a	1330	* functions (1); *
Davidroid	0:92706998571a	1331	* + Methods with the same name of the C component's extended virtual *
Davidroid	0:92706998571a	1332	* table's functions, if any (2); *
Davidroid	0:92706998571a	1333	* + Helper methods, if any, like functions declared in the component's *
Davidroid	0:92706998571a	1334	* source files but not pointed by the component's virtual table (3). *
Davidroid	0:92706998571a	1335	* *
Davidroid	0:92706998571a	1336	* Example: *
Davidroid	14:e614697ebf34	1337	* Status_t COMPONENT_GetValue(float f); //(1)
Davidroid	14:e614697ebf34	1338	* Status_t COMPONENT_EnableFeature(void); //(2) *
Davidroid	14:e614697ebf34	1339	* Status_t COMPONENT_ComputeAverage(void); //(3) *
Davidroid	0:92706998571a	1340	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1341	int32_t L6470_AbsPos_2_Position(uint32_t AbsPos);
Davidroid	0:92706998571a	1342	uint32_t L6470_Position_2_AbsPos(int32_t Position);
Davidroid	0:92706998571a	1343	float L6470_Speed_2_Step_s(uint32_t Speed);
Davidroid	0:92706998571a	1344	uint32_t L6470_Step_s_2_Speed(float Step_s);
Davidroid	0:92706998571a	1345	float L6470_Acc_2_Step_s2(uint16_t Acc);
Davidroid	0:92706998571a	1346	uint16_t L6470_Step_s2_2_Acc(float Step_s2);
Davidroid	0:92706998571a	1347	float L6470_Dec_2_Step_s2(uint16_t Dec);
Davidroid	0:92706998571a	1348	uint16_t L6470_Step_s2_2_Dec(float Step_s2);
Davidroid	0:92706998571a	1349	float L6470_MaxSpeed_2_Step_s(uint16_t MaxSpeed);
Davidroid	0:92706998571a	1350	uint16_t L6470_Step_s_2_MaxSpeed(float Step_s);
Davidroid	0:92706998571a	1351	float L6470_MinSpeed_2_Step_s(uint16_t MinSpeed);
Davidroid	0:92706998571a	1352	uint16_t L6470_Step_s_2_MinSpeed(float Step_s);
Davidroid	0:92706998571a	1353	float L6470_FsSpd_2_Step_s(uint16_t FsSpd);
Davidroid	0:92706998571a	1354	uint16_t L6470_Step_s_2_FsSpd(float Step_s);
Davidroid	0:92706998571a	1355	float L6470_IntSpeed_2_Step_s(uint16_t IntSpeed);
Davidroid	0:92706998571a	1356	uint16_t L6470_Step_s_2_IntSpeed(float Step_s);
Davidroid	0:92706998571a	1357	float L6470_StSlp_2_s_Step(uint8_t StSlp);
Davidroid	0:92706998571a	1358	uint8_t L6470_s_Step_2_StSlp(float s_Step);
Davidroid	0:92706998571a	1359	float L6470_FnSlpAcc_2_s_Step(uint8_t FnSlpAcc);
Davidroid	0:92706998571a	1360	uint8_t L6470_s_Step_2_FnSlpAcc(float s_Step);
Davidroid	0:92706998571a	1361	float L6470_FnSlpDec_2_s_Step(uint8_t FnSlpDec);
Davidroid	0:92706998571a	1362	uint8_t L6470_s_Step_2_FnSlpDec(float s_Step);
Davidroid	0:92706998571a	1363	float L6470_OcdTh_2_mA(uint8_t OcdTh);
Davidroid	0:92706998571a	1364	uint8_t L6470_mA_2_OcdTh(float mA);
Davidroid	0:92706998571a	1365	float L6470_StallTh_2_mA(uint8_t StallTh);
Davidroid	0:92706998571a	1366	uint8_t L6470_mA_2_StallTh(float mA);
Davidroid	14:e614697ebf34	1367	Status_t L6470_Config(void *init);
Davidroid	0:92706998571a	1368	void L6470_SetParam(eL6470_RegId_t L6470_RegId, uint32_t Value);
Davidroid	0:92706998571a	1369	uint32_t L6470_GetParam(eL6470_RegId_t L6470_RegId);
Davidroid	0:92706998571a	1370	void L6470_Run(eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	1371	void L6470_StepClock(eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	1372	void L6470_Move(eL6470_DirId_t L6470_DirId, uint32_t N_Step);
Davidroid	0:92706998571a	1373	void L6470_GoTo(uint32_t AbsPos);
Davidroid	0:92706998571a	1374	void L6470_GoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
Davidroid	0:92706998571a	1375	void L6470_GoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	1376	void L6470_ReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	1377	void L6470_GoHome(void);
Davidroid	0:92706998571a	1378	void L6470_GoMark(void);
Davidroid	0:92706998571a	1379	void L6470_ResetPos(void);
Davidroid	0:92706998571a	1380	void L6470_ResetDevice(void);
Davidroid	0:92706998571a	1381	void L6470_SoftStop(void);
Davidroid	0:92706998571a	1382	void L6470_HardStop(void);
Davidroid	0:92706998571a	1383	void L6470_SoftHiZ(void);
Davidroid	0:92706998571a	1384	void L6470_HardHiZ(void);
Davidroid	0:92706998571a	1385	uint16_t L6470_GetStatus(void);
Davidroid	0:92706998571a	1386	void L6470_PrepareSetParam(eL6470_RegId_t L6470_RegId, uint32_t Value);
Davidroid	0:92706998571a	1387	void L6470_PrepareGetParam(eL6470_RegId_t L6470_RegId);
Davidroid	0:92706998571a	1388	void L6470_PrepareRun(eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	1389	void L6470_PrepareStepClock(eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	1390	void L6470_PrepareMove(eL6470_DirId_t L6470_DirId, uint32_t N_Step);
Davidroid	0:92706998571a	1391	void L6470_PrepareGoTo(uint32_t AbsPos);
Davidroid	0:92706998571a	1392	void L6470_PrepareGoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
Davidroid	0:92706998571a	1393	void L6470_PrepareGoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	1394	void L6470_PrepareReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	1395	void L6470_PrepareGoHome(void);
Davidroid	0:92706998571a	1396	void L6470_PrepareGoMark(void);
Davidroid	0:92706998571a	1397	void L6470_PrepareResetPos(void);
Davidroid	0:92706998571a	1398	void L6470_PrepareResetDevice(void);
Davidroid	0:92706998571a	1399	void L6470_PrepareSoftStop(void);
Davidroid	0:92706998571a	1400	void L6470_PrepareHardStop(void);
Davidroid	0:92706998571a	1401	void L6470_PrepareSoftHiZ(void);
Davidroid	0:92706998571a	1402	void L6470_PrepareHardHiZ(void);
Davidroid	0:92706998571a	1403	void L6470_PrepareGetStatus(void);
Davidroid	0:92706998571a	1404	uint8_t* L6470_PerformPreparedApplicationCommand(void);
Davidroid	0:92706998571a	1405	void L6470_DaisyChainCommand(uint8_t* pL6470_DaisyChainSpiTxStruct, uint8_t* pL6470_DaisyChainSpiRxStruct);
Davidroid	0:92706998571a	1406	uint32_t L6470_ExtractReturnedData(uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte);
Davidroid	0:92706998571a	1407	uint8_t L6470_CheckStatusRegisterFlag(uint8_t L6470_StatusRegisterFlagId);
Davidroid	0:92706998571a	1408	uint8_t* L6470_GetRegisterName(uint8_t id);
Davidroid	0:92706998571a	1409	void L6470_ResetAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg);
Davidroid	0:92706998571a	1410	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	1411	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	1412	void L6470_PrepareDaisyChainCommand(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, uint8_t* pL6470_DaisyChainSpiTxStruct);
Davidroid	0:92706998571a	1413
Davidroid	1:b78dab6d2c58	1414	/**
Davidroid	1:b78dab6d2c58	1415	* @brief Rounding a floating point number to the nearest unsigned integer number.
Davidroid	1:b78dab6d2c58	1416	* @param f The floating point number.
Davidroid	1:b78dab6d2c58	1417	* @retval The nearest unsigned integer number.
Davidroid	1:b78dab6d2c58	1418	*/
Davidroid	1:b78dab6d2c58	1419	int round(float f)
Davidroid	1:b78dab6d2c58	1420	{
Davidroid	1:b78dab6d2c58	1421	if (f >= 0)
Davidroid	1:b78dab6d2c58	1422	return (int) f + (f - (int) f < 0.5f ? 0 : 1);
Davidroid	1:b78dab6d2c58	1423	else
Davidroid	1:b78dab6d2c58	1424	return (int) f - (f - (int) f < -0.5f ? 1 : 0);
Davidroid	1:b78dab6d2c58	1425	}
Davidroid	1:b78dab6d2c58	1426
Davidroid	0:92706998571a	1427
Davidroid	0:92706998571a	1428	/* Component's I/O Methods */
Davidroid	0:92706998571a	1429
Davidroid	0:92706998571a	1430	/**
Davidroid	0:92706998571a	1431	* @brief Utility function to read data from L6470.
Davidroid	0:92706998571a	1432	* @param[out] pBuffer pointer to the buffer to read data into.
Davidroid	0:92706998571a	1433	* @param[in] NumBytesToRead number of bytes to read.
Davidroid	0:92706998571a	1434	* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
Davidroid	0:92706998571a	1435	*/
Davidroid	14:e614697ebf34	1436	Status_t Read(uint8_t* pBuffer, uint16_t NumBytesToRead)
Davidroid	0:92706998571a	1437	{
Davidroid	0:92706998571a	1438	if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0)
Davidroid	0:92706998571a	1439	return COMPONENT_ERROR;
Davidroid	0:92706998571a	1440	return COMPONENT_OK;
Davidroid	0:92706998571a	1441	}
Davidroid	0:92706998571a	1442
Davidroid	0:92706998571a	1443	/**
Davidroid	0:92706998571a	1444	* @brief Utility function to write data to L6470.
Davidroid	0:92706998571a	1445	* @param[in] pBuffer pointer to the buffer of data to send.
Davidroid	0:92706998571a	1446	* @param[in] NumBytesToWrite number of bytes to write.
Davidroid	0:92706998571a	1447	* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
Davidroid	0:92706998571a	1448	*/
Davidroid	14:e614697ebf34	1449	Status_t Write(uint8_t* pBuffer, uint16_t NumBytesToWrite)
Davidroid	0:92706998571a	1450	{
Davidroid	0:92706998571a	1451	if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0)
Davidroid	0:92706998571a	1452	return COMPONENT_ERROR;
Davidroid	0:92706998571a	1453	return COMPONENT_OK;
Davidroid	0:92706998571a	1454	}
Davidroid	0:92706998571a	1455
Davidroid	0:92706998571a	1456	/**
Davidroid	0:92706998571a	1457	* @brief Utility function to read and write data from/to L6470 at the same time.
Davidroid	0:92706998571a	1458	* @param[out] pBufferToRead pointer to the buffer to read data into.
Davidroid	0:92706998571a	1459	* @param[in] pBufferToWrite pointer to the buffer of data to send.
Davidroid	0:92706998571a	1460	* @param[in] NumBytes number of bytes to read and write.
Davidroid	0:92706998571a	1461	* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
Davidroid	0:92706998571a	1462	*/
Davidroid	14:e614697ebf34	1463	Status_t ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes)
Davidroid	0:92706998571a	1464	{
Davidroid	0:92706998571a	1465	if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0)
Davidroid	0:92706998571a	1466	return COMPONENT_ERROR;
Davidroid	0:92706998571a	1467	return COMPONENT_OK;
Davidroid	0:92706998571a	1468	}
Davidroid	0:92706998571a	1469
Davidroid	0:92706998571a	1470	/* ACTION 8 --------------------------------------------------------------*
Davidroid	0:92706998571a	1471	* Implement here other I/O methods beyond those already implemented *
Davidroid	0:92706998571a	1472	* above, which are declared extern within the component's header file. *
Davidroid	0:92706998571a	1473	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1474	/*
Davidroid	0:92706998571a	1475	* Puts the device in standby mode.
Davidroid	0:92706998571a	1476	*/
Davidroid	0:92706998571a	1477	void L6470_ENABLE(void)
Davidroid	0:92706998571a	1478	{
Davidroid	0:92706998571a	1479	standby_reset = 1;
Davidroid	0:92706998571a	1480	}
Davidroid	0:92706998571a	1481
Davidroid	0:92706998571a	1482	/*
Davidroid	0:92706998571a	1483	* Puts the device in reset mode.
Davidroid	0:92706998571a	1484	*/
Davidroid	0:92706998571a	1485	void L6470_DISABLE(void)
Davidroid	0:92706998571a	1486	{
Davidroid	0:92706998571a	1487	standby_reset = 0;
Davidroid	0:92706998571a	1488	}
Davidroid	0:92706998571a	1489
Davidroid	0:92706998571a	1490	/*
Davidroid	0:92706998571a	1491	* Write and read bytes to/from the component through the SPI at the same time.
Davidroid	0:92706998571a	1492	*/
Davidroid	0:92706998571a	1493	void L6470_SPI_Communication(uint8_t pTxData, uint8_t pRxData, uint16_t Size, uint32_t Timeout)
Davidroid	0:92706998571a	1494	{
Davidroid	0:92706998571a	1495	ReadWrite(pRxData, pTxData, Size);
Davidroid	0:92706998571a	1496	}
Davidroid	0:92706998571a	1497
Davidroid	0:92706998571a	1498
Davidroid	0:92706998571a	1499	/* Component's Instance Variables */
Davidroid	0:92706998571a	1500
Davidroid	0:92706998571a	1501	/* ACTION 9 --------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1502	* Declare here interrupt related variables, if needed. *
Davidroid	1:b78dab6d2c58	1503	* Note that interrupt handling is platform dependent, see *
Davidroid	1:b78dab6d2c58	1504	* "Interrupt Related Methods" above. *
Davidroid	1:b78dab6d2c58	1505	* *
Davidroid	1:b78dab6d2c58	1506	* Example: *
Davidroid	1:b78dab6d2c58	1507	* + mbed: *
Davidroid	1:b78dab6d2c58	1508	* InterruptIn feature_irq; *
Davidroid	0:92706998571a	1509	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1510	/* Flag Interrupt. */
Davidroid	0:92706998571a	1511	InterruptIn flag_irq;
Davidroid	0:92706998571a	1512
Davidroid	1:b78dab6d2c58	1513	/* Busy Interrupt. */
Davidroid	1:b78dab6d2c58	1514	InterruptIn busy_irq;
Davidroid	1:b78dab6d2c58	1515
Davidroid	1:b78dab6d2c58	1516	/* ACTION 10 -------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1517	* Declare here other pin related variables, if needed. *
Davidroid	1:b78dab6d2c58	1518	* *
Davidroid	1:b78dab6d2c58	1519	* Example: *
Davidroid	1:b78dab6d2c58	1520	* + mbed: *
Davidroid	1:b78dab6d2c58	1521	* DigitalOut standby_reset; *
Davidroid	1:b78dab6d2c58	1522	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1523	/* Standby/reset pin. */
Davidroid	0:92706998571a	1524	DigitalOut standby_reset;
Davidroid	0:92706998571a	1525
Davidroid	1:b78dab6d2c58	1526	/* ACTION 11 -------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1527	* Declare here communication related variables, if needed. *
Davidroid	1:b78dab6d2c58	1528	* *
Davidroid	1:b78dab6d2c58	1529	* Example: *
Davidroid	1:b78dab6d2c58	1530	* + mbed: *
Davidroid	1:b78dab6d2c58	1531	* DigitalOut ssel; *
Davidroid	1:b78dab6d2c58	1532	* DevSPI &dev_spi; *
Davidroid	1:b78dab6d2c58	1533	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1534	/* Configuration. */
Davidroid	0:92706998571a	1535	DigitalOut ssel;
Davidroid	0:92706998571a	1536
Davidroid	0:92706998571a	1537	/* IO Device. */
Davidroid	0:92706998571a	1538	DevSPI &dev_spi;
Davidroid	0:92706998571a	1539
Davidroid	1:b78dab6d2c58	1540	/* ACTION 12 -------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1541	* Declare here identity related variables, if needed. *
Davidroid	1:b78dab6d2c58	1542	* Note that there should be only a unique identifier for each component, *
Davidroid	1:b78dab6d2c58	1543	* which should be the "who_am_i" parameter. *
Davidroid	1:b78dab6d2c58	1544	------------------------------------------------------------------------/
Davidroid	1:b78dab6d2c58	1545	/* Identity */
Davidroid	1:b78dab6d2c58	1546	uint8_t who_am_i;
Davidroid	1:b78dab6d2c58	1547
Davidroid	1:b78dab6d2c58	1548	/* ACTION 13 -------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1549	* Declare here the component's static and non-static data, one variable *
Davidroid	1:b78dab6d2c58	1550	* per line. *
Davidroid	0:92706998571a	1551	* *
Davidroid	0:92706998571a	1552	* Example: *
Davidroid	1:b78dab6d2c58	1553	* float measure; *
Davidroid	1:b78dab6d2c58	1554	* int instance_id; *
Davidroid	1:b78dab6d2c58	1555	* static int number_of_instances; *
Davidroid	0:92706998571a	1556	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1557	/* Data. */
Davidroid	0:92706998571a	1558	uint8_t L6470_Id;
Davidroid	0:92706998571a	1559	const sL6470_Register_t *L6470_Register;
Davidroid	0:92706998571a	1560	const sL6470_ApplicationCommand_t *L6470_ApplicationCommand;
Davidroid	0:92706998571a	1561	const sL6470_Direction_t *L6470_Direction;
Davidroid	0:92706998571a	1562	const sL6470_ACT_t *L6470_ACT;
Davidroid	0:92706998571a	1563	sL6470_StatusRegister_t L6470_StatusRegister;
Davidroid	0:92706998571a	1564	sL6470_StatusRegister_t *pL6470_StatusRegister;
Davidroid	0:92706998571a	1565	StepperMotorRegister_t StepperMotorRegister;
Davidroid	1:b78dab6d2c58	1566	prepared_action_t prepared_action;
Davidroid	0:92706998571a	1567
Davidroid	0:92706998571a	1568	/* Static data. */
Davidroid	0:92706998571a	1569	static uint8_t number_of_devices;
Davidroid	0:92706998571a	1570	static const sL6470_Register_t _L6470_Register[L6470REGIDSIZE];
Davidroid	0:92706998571a	1571	static const sL6470_ApplicationCommand_t _L6470_ApplicationCommand[L6470APPCMDIDSIZE];
Davidroid	0:92706998571a	1572	static const sL6470_Direction_t _L6470_Direction[L6470DIRIDSIZE];
Davidroid	0:92706998571a	1573	static const sL6470_ACT_t _L6470_ACT[L6470ACTIDSIZE];
Davidroid	0:92706998571a	1574	static eFlagStatus_t L6470_DaisyChain_HalfPrepared;
Davidroid	0:92706998571a	1575	static sL6470_AppCmdPkg_t L6470_AppCmdPkg[L6470DAISYCHAINSIZE];
Davidroid	0:92706998571a	1576	static uint8_t L6470_DaisyChainSpiTxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
Davidroid	0:92706998571a	1577	static uint8_t L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
Davidroid	0:92706998571a	1578	};
Davidroid	0:92706998571a	1579
Davidroid	14:e614697ebf34	1580	#endif /* __L6470_CLASS_H */
Davidroid	0:92706998571a	1581
Davidroid	14:e614697ebf34	1582	/********************** (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