Personal fork of the library
Fork of X_NUCLEO_IHM01A1 by
Diff: Components/l6474/l6474_class.cpp
- Revision:
- 4:83a1eb397a65
- Parent:
- 1:b38ebb8ea286
- Child:
- 5:d3c78f12a78d
diff -r b38ebb8ea286 -r 83a1eb397a65 Components/l6474/l6474_class.cpp --- a/Components/l6474/l6474_class.cpp Fri Oct 16 13:30:06 2015 +0000 +++ b/Components/l6474/l6474_class.cpp Fri Nov 13 12:56:06 2015 +0000 @@ -259,7 +259,7 @@ **********************************************************/ void L6474::L6474_GoTo(int32_t targetPosition) { - motorDir_t direction; + direction_t direction; int32_t steps; /* Eventually deactivate motor */ @@ -277,12 +277,12 @@ if (steps >= 0) { devicePrm.stepsToTake = steps; - direction = FORWARD; + direction = CW; } else { devicePrm.stepsToTake = -steps; - direction = BACKWARD; + direction = CCW; } if (steps != 0) @@ -323,7 +323,7 @@ * @param[in] stepCount Number of steps to perform * @retval None **********************************************************/ -void L6474::L6474_Move(motorDir_t direction, uint32_t stepCount) +void L6474::L6474_Move(direction_t direction, uint32_t stepCount) { /* Eventually deactivate motor */ if (devicePrm.motionState != INACTIVE) @@ -377,7 +377,7 @@ * @param[in] direction FORWARD or BACKWARD * @retval None **********************************************************/ -void L6474::L6474_Run(motorDir_t direction) +void L6474::L6474_Run(direction_t direction) { /* Eventually deactivate motor */ if (devicePrm.motionState != INACTIVE) @@ -792,18 +792,27 @@ } /******************************************************//** + * @brief Get the direction + * @retval direction clockwise or counter-clockwise + **********************************************************/ +StepperMotor::direction_t L6474::L6474_GetDirection(void) +{ + return (devicePrm.direction == FORWARD ? CW : CCW); +} + +/******************************************************//** * @brief Specifies the direction * @param[in] dir FORWARD or BACKWARD * @note The direction change is only applied if the device * is in INACTIVE state * @retval None **********************************************************/ -void L6474::L6474_SetDirection(motorDir_t dir) +void L6474::L6474_SetDirection(direction_t direction) { if (devicePrm.motionState == INACTIVE) { - devicePrm.direction = dir; - L6474_SetDirectionGpio(dir); + devicePrm.direction = (direction == CW ? FORWARD : BACKWARD); + L6474_SetDirectionGpio(direction == CW ? 1 : 0); } }