Arkadi Rafalovich
Personal fork of the library for direct control instead of library control
Dependents: Thesis_Rotating_Platform
Fork of
X_NUCLEO_IHM01A1
by 
Arkadi Rafalovich
Components/l6474/l6474_class.h@23:58264db10a17, 2016-02-15 (annotated)
- Committer:
- Davidroid
- Date:
- Mon Feb 15 15:54:56 2016 +0000
- Revision:
- 23:58264db10a17
- Parent:
- 22:ed3a6990a6eb
- Child:
- 26:e2049a15fb15
+ Updated some comments.
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Davidroid | 0:2887415a46cd | 1 | /** |
| Davidroid | 10:c3824af0caf4 | 2 | ****************************************************************************** |
| Davidroid | 10:c3824af0caf4 | 3 | * @file l6474_class.h |
| Davidroid | 20:a8e81b65f0af | 4 | * @author Davide Aliprandi, STMicroelectronics |
| Davidroid | 10:c3824af0caf4 | 5 | * @version V1.0.0 |
| Davidroid | 10:c3824af0caf4 | 6 | * @date October 14th, 2015 |
| Davidroid | 10:c3824af0caf4 | 7 | * @brief This file contains the class of an L6474 Motor Control component. |
| Davidroid | 10:c3824af0caf4 | 8 | ****************************************************************************** |
| Davidroid | 10:c3824af0caf4 | 9 | * @attention |
| Davidroid | 10:c3824af0caf4 | 10 | * |
| Davidroid | 10:c3824af0caf4 | 11 | * <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2> |
| Davidroid | 10:c3824af0caf4 | 12 | * |
| Davidroid | 10:c3824af0caf4 | 13 | * Redistribution and use in source and binary forms, with or without modification, |
| Davidroid | 10:c3824af0caf4 | 14 | * are permitted provided that the following conditions are met: |
| Davidroid | 10:c3824af0caf4 | 15 | * 1. Redistributions of source code must retain the above copyright notice, |
| Davidroid | 10:c3824af0caf4 | 16 | * this list of conditions and the following disclaimer. |
| Davidroid | 10:c3824af0caf4 | 17 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
| Davidroid | 10:c3824af0caf4 | 18 | * this list of conditions and the following disclaimer in the documentation |
| Davidroid | 10:c3824af0caf4 | 19 | * and/or other materials provided with the distribution. |
| Davidroid | 10:c3824af0caf4 | 20 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
| Davidroid | 10:c3824af0caf4 | 21 | * may be used to endorse or promote products derived from this software |
| Davidroid | 10:c3824af0caf4 | 22 | * without specific prior written permission. |
| Davidroid | 10:c3824af0caf4 | 23 | * |
| Davidroid | 10:c3824af0caf4 | 24 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| Davidroid | 10:c3824af0caf4 | 25 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| Davidroid | 10:c3824af0caf4 | 26 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
| Davidroid | 10:c3824af0caf4 | 27 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
| Davidroid | 10:c3824af0caf4 | 28 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| Davidroid | 10:c3824af0caf4 | 29 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
| Davidroid | 10:c3824af0caf4 | 30 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| Davidroid | 10:c3824af0caf4 | 31 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
| Davidroid | 10:c3824af0caf4 | 32 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
| Davidroid | 10:c3824af0caf4 | 33 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
| Davidroid | 10:c3824af0caf4 | 34 | * |
| Davidroid | 10:c3824af0caf4 | 35 | ****************************************************************************** |
| Davidroid | 10:c3824af0caf4 | 36 | */ |
| Davidroid | 0:2887415a46cd | 37 | |
| Davidroid | 0:2887415a46cd | 38 | |
| Davidroid | 23:58264db10a17 | 39 | /* Generated with STM32CubeTOO -----------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 40 | |
| Davidroid | 0:2887415a46cd | 41 | |
| Davidroid | 0:2887415a46cd | 42 | /* Revision ------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 43 | /* |
| Davidroid | 0:2887415a46cd | 44 | Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev |
| Davidroid | 0:2887415a46cd | 45 | Branch/Trunk/Tag: trunk |
| Davidroid | 0:2887415a46cd | 46 | Based on: X-CUBE-SPN1/trunk/Drivers/BSP/Components/l6474/l6474.h |
| Davidroid | 0:2887415a46cd | 47 | Revision: 0 |
| Davidroid | 0:2887415a46cd | 48 | */ |
| Davidroid | 0:2887415a46cd | 49 | |
| Davidroid | 0:2887415a46cd | 50 | |
| Davidroid | 0:2887415a46cd | 51 | /* Define to prevent recursive inclusion -------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 52 | |
| Davidroid | 0:2887415a46cd | 53 | #ifndef __L6474_CLASS_H |
| Davidroid | 0:2887415a46cd | 54 | #define __L6474_CLASS_H |
| Davidroid | 0:2887415a46cd | 55 | |
| Davidroid | 0:2887415a46cd | 56 | |
| Davidroid | 0:2887415a46cd | 57 | /* Includes ------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 58 | |
| Davidroid | 0:2887415a46cd | 59 | /* ACTION 1 ------------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 60 | * Include here platform specific header files. * |
| Davidroid | 0:2887415a46cd | 61 | *----------------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 62 | #include "mbed.h" |
| Davidroid | 0:2887415a46cd | 63 | #include "DevSPI.h" |
| Davidroid | 0:2887415a46cd | 64 | /* ACTION 2 ------------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 65 | * Include here component specific header files. * |
| Davidroid | 0:2887415a46cd | 66 | *----------------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 67 | #include "l6474.h" |
| Davidroid | 0:2887415a46cd | 68 | /* ACTION 3 ------------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 69 | * Include here interface specific header files. * |
| Davidroid | 0:2887415a46cd | 70 | * * |
| Davidroid | 0:2887415a46cd | 71 | * Example: * |
| Davidroid | 0:2887415a46cd | 72 | * #include "../Interfaces/Humidity_class.h" * |
| Davidroid | 0:2887415a46cd | 73 | * #include "../Interfaces/Temperature_class.h" * |
| Davidroid | 0:2887415a46cd | 74 | *----------------------------------------------------------------------------*/ |
| Davidroid | 4:83a1eb397a65 | 75 | #include "../Interfaces/StepperMotor_class.h" |
| Davidroid | 0:2887415a46cd | 76 | |
| Davidroid | 0:2887415a46cd | 77 | |
| Davidroid | 0:2887415a46cd | 78 | /* Classes -------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 79 | |
| Davidroid | 10:c3824af0caf4 | 80 | /** |
| Davidroid | 10:c3824af0caf4 | 81 | * @brief Class representing an L6474 component. |
| Davidroid | 0:2887415a46cd | 82 | */ |
| Davidroid | 4:83a1eb397a65 | 83 | class L6474 : public StepperMotor |
| Davidroid | 0:2887415a46cd | 84 | { |
| Davidroid | 0:2887415a46cd | 85 | public: |
| Davidroid | 0:2887415a46cd | 86 | |
| Davidroid | 0:2887415a46cd | 87 | /*** Constructor and Destructor Methods ***/ |
| Davidroid | 0:2887415a46cd | 88 | |
| Davidroid | 0:2887415a46cd | 89 | /** |
| Davidroid | 0:2887415a46cd | 90 | * @brief Constructor. |
| Davidroid | 7:f7e0c3621f77 | 91 | * @param flag_irq pin name of the FLAG pin of the component. |
| Davidroid | 4:83a1eb397a65 | 92 | * @param standby_reset pin name of the STBY\RST pin of the component. |
| Davidroid | 4:83a1eb397a65 | 93 | * @param direction pin name of the DIR pin of the component. |
| Davidroid | 4:83a1eb397a65 | 94 | * @param pwm pin name of the PWM pin of the component. |
| Davidroid | 4:83a1eb397a65 | 95 | * @param ssel pin name of the SSEL pin of the SPI device to be used for communication. |
| Davidroid | 4:83a1eb397a65 | 96 | * @param spi SPI device to be used for communication. |
| Davidroid | 0:2887415a46cd | 97 | */ |
| Davidroid | 7:f7e0c3621f77 | 98 | L6474(PinName flag_irq, PinName standby_reset, PinName direction, PinName pwm, PinName ssel, DevSPI &spi) : StepperMotor(), flag_irq(flag_irq), standby_reset(standby_reset), direction(direction), pwm(pwm), ssel(ssel), dev_spi(spi) |
| Davidroid | 0:2887415a46cd | 99 | { |
| Davidroid | 17:35b9ca8c4bd6 | 100 | /* Checking stackability. */ |
| Davidroid | 18:2d6ab2b93685 | 101 | if (!(number_of_devices < MAX_NUMBER_OF_DEVICES)) |
| Davidroid | 17:35b9ca8c4bd6 | 102 | error("Instantiation of the L6474 component failed: it can be stacked up to %d times.\r\n", MAX_NUMBER_OF_DEVICES); |
| Davidroid | 17:35b9ca8c4bd6 | 103 | |
| Davidroid | 0:2887415a46cd | 104 | /* ACTION 4 ----------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 105 | * Initialize here the component's member variables, one variable per * |
| Davidroid | 0:2887415a46cd | 106 | * line. * |
| Davidroid | 0:2887415a46cd | 107 | * * |
| Davidroid | 0:2887415a46cd | 108 | * Example: * |
| Davidroid | 15:40470df81d9a | 109 | * measure = 0; * |
| Davidroid | 15:40470df81d9a | 110 | * instance_id = number_of_instances++; * |
| Davidroid | 0:2887415a46cd | 111 | *--------------------------------------------------------------------*/ |
| Davidroid | 18:2d6ab2b93685 | 112 | error_handler_callback = 0; |
| Davidroid | 18:2d6ab2b93685 | 113 | device_instance = number_of_devices++; |
| Davidroid | 18:2d6ab2b93685 | 114 | memset(spi_tx_bursts, 0, L6474_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t)); |
| Davidroid | 18:2d6ab2b93685 | 115 | memset(spi_rx_bursts, 0, L6474_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t)); |
| Davidroid | 0:2887415a46cd | 116 | } |
| Davidroid | 0:2887415a46cd | 117 | |
| Davidroid | 0:2887415a46cd | 118 | /** |
| Davidroid | 0:2887415a46cd | 119 | * @brief Destructor. |
| Davidroid | 0:2887415a46cd | 120 | */ |
| Davidroid | 0:2887415a46cd | 121 | virtual ~L6474(void) {} |
| Davidroid | 0:2887415a46cd | 122 | |
| Davidroid | 0:2887415a46cd | 123 | |
| Davidroid | 0:2887415a46cd | 124 | /*** Public Component Related Methods ***/ |
| Davidroid | 0:2887415a46cd | 125 | |
| Davidroid | 0:2887415a46cd | 126 | /* ACTION 5 --------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 127 | * Implement here the component's public methods, as wrappers of the C * |
| Davidroid | 0:2887415a46cd | 128 | * component's functions. * |
| Davidroid | 0:2887415a46cd | 129 | * They should be: * |
| Davidroid | 0:2887415a46cd | 130 | * + Methods with the same name of the C component's virtual table's * |
| Davidroid | 0:2887415a46cd | 131 | * functions (1); * |
| Davidroid | 0:2887415a46cd | 132 | * + Methods with the same name of the C component's extended virtual * |
| Davidroid | 0:2887415a46cd | 133 | * table's functions, if any (2). * |
| Davidroid | 0:2887415a46cd | 134 | * * |
| Davidroid | 0:2887415a46cd | 135 | * Example: * |
| Davidroid | 0:2887415a46cd | 136 | * virtual int GetValue(float *pData) //(1) * |
| Davidroid | 0:2887415a46cd | 137 | * { * |
| Davidroid | 0:2887415a46cd | 138 | * return COMPONENT_GetValue(float *pfData); * |
| Davidroid | 0:2887415a46cd | 139 | * } * |
| Davidroid | 0:2887415a46cd | 140 | * * |
| Davidroid | 0:2887415a46cd | 141 | * virtual int EnableFeature(void) //(2) * |
| Davidroid | 0:2887415a46cd | 142 | * { * |
| Davidroid | 0:2887415a46cd | 143 | * return COMPONENT_EnableFeature(); * |
| Davidroid | 0:2887415a46cd | 144 | * } * |
| Davidroid | 0:2887415a46cd | 145 | *------------------------------------------------------------------------*/ |
| Davidroid | 7:f7e0c3621f77 | 146 | /** |
| Davidroid | 12:9f4b9540ff3e | 147 | * @brief Initializing the component in 1/16 Microstepping mode. |
| Davidroid | 8:42e0b00b1e4d | 148 | * @param init Pointer to device specific initalization structure. |
| Davidroid | 7:f7e0c3621f77 | 149 | * @retval "0" in case of success, an error code otherwise. |
| Davidroid | 7:f7e0c3621f77 | 150 | */ |
| Davidroid | 16:bec7dd79f328 | 151 | virtual int Init(void *init = NULL) |
| Davidroid | 0:2887415a46cd | 152 | { |
| Davidroid | 21:83138e702683 | 153 | return (int) L6474_Init((void *) init); |
| Davidroid | 0:2887415a46cd | 154 | } |
| Davidroid | 0:2887415a46cd | 155 | |
| Davidroid | 7:f7e0c3621f77 | 156 | /** |
| Davidroid | 7:f7e0c3621f77 | 157 | * @brief Getting the ID of the component. |
| Davidroid | 8:42e0b00b1e4d | 158 | * @param id Pointer to an allocated variable to store the ID into. |
| Davidroid | 7:f7e0c3621f77 | 159 | * @retval "0" in case of success, an error code otherwise. |
| Davidroid | 7:f7e0c3621f77 | 160 | */ |
| Davidroid | 17:35b9ca8c4bd6 | 161 | virtual int ReadID(uint8_t *id = NULL) |
| Davidroid | 0:2887415a46cd | 162 | { |
| Davidroid | 0:2887415a46cd | 163 | return (int) L6474_ReadID((uint8_t *) id); |
| Davidroid | 0:2887415a46cd | 164 | } |
| Davidroid | 0:2887415a46cd | 165 | |
| Davidroid | 7:f7e0c3621f77 | 166 | /** |
| Davidroid | 7:f7e0c3621f77 | 167 | * @brief Getting the value of the Status Register. |
| Davidroid | 7:f7e0c3621f77 | 168 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 169 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 170 | * @note The Status Register's flags are cleared, contrary to ReadStatusRegister(). |
| Davidroid | 7:f7e0c3621f77 | 171 | */ |
| Davidroid | 4:83a1eb397a65 | 172 | virtual unsigned int GetStatus(void) |
| Davidroid | 0:2887415a46cd | 173 | { |
| Davidroid | 4:83a1eb397a65 | 174 | return (unsigned int) L6474_CmdGetStatus(); |
| Davidroid | 0:2887415a46cd | 175 | } |
| Davidroid | 0:2887415a46cd | 176 | |
| Davidroid | 7:f7e0c3621f77 | 177 | /** |
| Davidroid | 7:f7e0c3621f77 | 178 | * @brief Getting a parameter. |
| Davidroid | 8:42e0b00b1e4d | 179 | * @param parameter A parameter's register adress. |
| Davidroid | 8:42e0b00b1e4d | 180 | * @retval The parameter's value. |
| Davidroid | 7:f7e0c3621f77 | 181 | * @note The Status Register's flags are cleared, contrary to ReadStatusRegister(). |
| Davidroid | 7:f7e0c3621f77 | 182 | * parameter can be one of the following: |
| Davidroid | 7:f7e0c3621f77 | 183 | * + L6474_ABS_POS |
| Davidroid | 7:f7e0c3621f77 | 184 | * + L6474_EL_POS |
| Davidroid | 7:f7e0c3621f77 | 185 | * + L6474_MARK |
| Davidroid | 7:f7e0c3621f77 | 186 | * + L6474_RESERVED_REG01 |
| Davidroid | 7:f7e0c3621f77 | 187 | * + L6474_RESERVED_REG02 |
| Davidroid | 7:f7e0c3621f77 | 188 | * + L6474_RESERVED_REG03 |
| Davidroid | 7:f7e0c3621f77 | 189 | * + L6474_RESERVED_REG04 |
| Davidroid | 7:f7e0c3621f77 | 190 | * + L6474_RESERVED_REG05 |
| Davidroid | 7:f7e0c3621f77 | 191 | * + L6474_RESERVED_REG06 |
| Davidroid | 18:2d6ab2b93685 | 192 | * + L6474_TVAL : value in mA |
| Davidroid | 7:f7e0c3621f77 | 193 | * + L6474_RESERVED_REG07 |
| Davidroid | 7:f7e0c3621f77 | 194 | * + L6474_RESERVED_REG08 |
| Davidroid | 7:f7e0c3621f77 | 195 | * + L6474_RESERVED_REG09 |
| Davidroid | 7:f7e0c3621f77 | 196 | * + L6474_RESERVED_REG10 |
| Davidroid | 7:f7e0c3621f77 | 197 | * + L6474_T_FAST |
| Davidroid | 18:2d6ab2b93685 | 198 | * + L6474_TON_MIN : value in us |
| Davidroid | 18:2d6ab2b93685 | 199 | * + L6474_TOFF_MIN : value in us |
| Davidroid | 7:f7e0c3621f77 | 200 | * + L6474_RESERVED_REG11 |
| Davidroid | 7:f7e0c3621f77 | 201 | * + L6474_ADC_OUT |
| Davidroid | 7:f7e0c3621f77 | 202 | * + L6474_OCD_TH |
| Davidroid | 7:f7e0c3621f77 | 203 | * + L6474_RESERVED_REG12 |
| Davidroid | 7:f7e0c3621f77 | 204 | * + L6474_STEP_MODE |
| Davidroid | 7:f7e0c3621f77 | 205 | * + L6474_ALARM_EN |
| Davidroid | 7:f7e0c3621f77 | 206 | * + L6474_CONFIG |
| Davidroid | 7:f7e0c3621f77 | 207 | * + L6474_STATUS |
| Davidroid | 7:f7e0c3621f77 | 208 | * + L6474_RESERVED_REG13 |
| Davidroid | 7:f7e0c3621f77 | 209 | * + L6474_RESERVED_REG14 |
| Davidroid | 7:f7e0c3621f77 | 210 | * + L6474_INEXISTENT_REG |
| Davidroid | 7:f7e0c3621f77 | 211 | */ |
| Davidroid | 18:2d6ab2b93685 | 212 | virtual float GetParameter(unsigned int parameter) |
| Davidroid | 0:2887415a46cd | 213 | { |
| Davidroid | 18:2d6ab2b93685 | 214 | unsigned int register_value = (unsigned int) L6474_CmdGetParam((L6474_Registers_t) parameter); |
| Davidroid | 18:2d6ab2b93685 | 215 | float value; |
| Davidroid | 18:2d6ab2b93685 | 216 | |
| Davidroid | 18:2d6ab2b93685 | 217 | switch ((L6474_Registers_t) parameter) |
| Davidroid | 18:2d6ab2b93685 | 218 | { |
| Davidroid | 18:2d6ab2b93685 | 219 | case L6474_TVAL: |
| Davidroid | 18:2d6ab2b93685 | 220 | value = L6474_Par_to_Tval_Current((float) register_value); |
| Davidroid | 18:2d6ab2b93685 | 221 | break; |
| Davidroid | 18:2d6ab2b93685 | 222 | case L6474_TON_MIN: |
| Davidroid | 18:2d6ab2b93685 | 223 | case L6474_TOFF_MIN: |
| Davidroid | 18:2d6ab2b93685 | 224 | value = L6474_Par_to_Tmin_Time((float) register_value); |
| Davidroid | 18:2d6ab2b93685 | 225 | break; |
| Davidroid | 18:2d6ab2b93685 | 226 | default: |
| Davidroid | 18:2d6ab2b93685 | 227 | value = (float) register_value; |
| Davidroid | 18:2d6ab2b93685 | 228 | break; |
| Davidroid | 18:2d6ab2b93685 | 229 | } |
| Davidroid | 18:2d6ab2b93685 | 230 | |
| Davidroid | 18:2d6ab2b93685 | 231 | return value; |
| Davidroid | 4:83a1eb397a65 | 232 | } |
| Davidroid | 4:83a1eb397a65 | 233 | |
| Davidroid | 8:42e0b00b1e4d | 234 | /** |
| Davidroid | 8:42e0b00b1e4d | 235 | * @brief Getting the position. |
| Davidroid | 8:42e0b00b1e4d | 236 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 237 | * @retval The position. |
| Davidroid | 8:42e0b00b1e4d | 238 | */ |
| Davidroid | 4:83a1eb397a65 | 239 | virtual signed int GetPosition(void) |
| Davidroid | 4:83a1eb397a65 | 240 | { |
| Davidroid | 4:83a1eb397a65 | 241 | return (signed int) L6474_GetPosition(); |
| Davidroid | 0:2887415a46cd | 242 | } |
| Davidroid | 0:2887415a46cd | 243 | |
| Davidroid | 8:42e0b00b1e4d | 244 | /** |
| Davidroid | 8:42e0b00b1e4d | 245 | * @brief Getting the marked position. |
| Davidroid | 8:42e0b00b1e4d | 246 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 247 | * @retval The marked position. |
| Davidroid | 8:42e0b00b1e4d | 248 | */ |
| Davidroid | 4:83a1eb397a65 | 249 | virtual signed int GetMark(void) |
| Davidroid | 0:2887415a46cd | 250 | { |
| Davidroid | 4:83a1eb397a65 | 251 | return (signed int) L6474_GetMark(); |
| Davidroid | 4:83a1eb397a65 | 252 | } |
| Davidroid | 8:42e0b00b1e4d | 253 | |
| Davidroid | 8:42e0b00b1e4d | 254 | /** |
| Davidroid | 8:42e0b00b1e4d | 255 | * @brief Getting the current speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 256 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 257 | * @retval The current speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 258 | */ |
| Davidroid | 4:83a1eb397a65 | 259 | virtual unsigned int GetSpeed(void) |
| Davidroid | 0:2887415a46cd | 260 | { |
| Davidroid | 4:83a1eb397a65 | 261 | return (unsigned int) L6474_GetCurrentSpeed(); |
| Davidroid | 0:2887415a46cd | 262 | } |
| Davidroid | 0:2887415a46cd | 263 | |
| Davidroid | 8:42e0b00b1e4d | 264 | /** |
| Davidroid | 8:42e0b00b1e4d | 265 | * @brief Getting the maximum speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 266 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 267 | * @retval The maximum speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 268 | */ |
| Davidroid | 4:83a1eb397a65 | 269 | virtual unsigned int GetMaxSpeed(void) |
| Davidroid | 4:83a1eb397a65 | 270 | { |
| Davidroid | 4:83a1eb397a65 | 271 | return (unsigned int) L6474_GetMaxSpeed(); |
| Davidroid | 4:83a1eb397a65 | 272 | } |
| Davidroid | 4:83a1eb397a65 | 273 | |
| Davidroid | 8:42e0b00b1e4d | 274 | /** |
| Davidroid | 8:42e0b00b1e4d | 275 | * @brief Getting the minimum speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 276 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 277 | * @retval The minimum speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 278 | */ |
| Davidroid | 4:83a1eb397a65 | 279 | virtual unsigned int GetMinSpeed(void) |
| Davidroid | 0:2887415a46cd | 280 | { |
| Davidroid | 4:83a1eb397a65 | 281 | return (unsigned int) L6474_GetMinSpeed(); |
| Davidroid | 4:83a1eb397a65 | 282 | } |
| Davidroid | 4:83a1eb397a65 | 283 | |
| Davidroid | 8:42e0b00b1e4d | 284 | /** |
| Davidroid | 8:42e0b00b1e4d | 285 | * @brief Getting the acceleration in pps^2. |
| Davidroid | 8:42e0b00b1e4d | 286 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 287 | * @retval The acceleration in pps^2. |
| Davidroid | 8:42e0b00b1e4d | 288 | */ |
| Davidroid | 4:83a1eb397a65 | 289 | virtual unsigned int GetAcceleration(void) |
| Davidroid | 4:83a1eb397a65 | 290 | { |
| Davidroid | 4:83a1eb397a65 | 291 | return (unsigned int) L6474_GetAcceleration(); |
| Davidroid | 0:2887415a46cd | 292 | } |
| Davidroid | 0:2887415a46cd | 293 | |
| Davidroid | 8:42e0b00b1e4d | 294 | /** |
| Davidroid | 8:42e0b00b1e4d | 295 | * @brief Getting the deceleration in pps^2. |
| Davidroid | 8:42e0b00b1e4d | 296 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 297 | * @retval The deceleration in pps^2. |
| Davidroid | 8:42e0b00b1e4d | 298 | */ |
| Davidroid | 4:83a1eb397a65 | 299 | virtual unsigned int GetDeceleration(void) |
| Davidroid | 0:2887415a46cd | 300 | { |
| Davidroid | 4:83a1eb397a65 | 301 | return (unsigned int) L6474_GetDeceleration(); |
| Davidroid | 0:2887415a46cd | 302 | } |
| Davidroid | 0:2887415a46cd | 303 | |
| Davidroid | 8:42e0b00b1e4d | 304 | /** |
| Davidroid | 8:42e0b00b1e4d | 305 | * @brief Getting the direction of rotation. |
| Davidroid | 8:42e0b00b1e4d | 306 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 307 | * @retval The direction of rotation. |
| Davidroid | 8:42e0b00b1e4d | 308 | */ |
| Davidroid | 5:d3c78f12a78d | 309 | virtual direction_t GetDirection(void) |
| Davidroid | 5:d3c78f12a78d | 310 | { |
| Davidroid | 5:d3c78f12a78d | 311 | return (direction_t) (L6474_GetDirection() == FORWARD ? StepperMotor::FWD : StepperMotor::BWD); |
| Davidroid | 5:d3c78f12a78d | 312 | } |
| Davidroid | 5:d3c78f12a78d | 313 | |
| Davidroid | 7:f7e0c3621f77 | 314 | /** |
| Davidroid | 7:f7e0c3621f77 | 315 | * @brief Setting a parameter. |
| Davidroid | 8:42e0b00b1e4d | 316 | * @param parameter A parameter's register adress. |
| Davidroid | 8:42e0b00b1e4d | 317 | * @param value The parameter's value. |
| Davidroid | 7:f7e0c3621f77 | 318 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 319 | * @note parameter can be one of the following: |
| Davidroid | 7:f7e0c3621f77 | 320 | * + L6474_ABS_POS |
| Davidroid | 7:f7e0c3621f77 | 321 | * + L6474_EL_POS |
| Davidroid | 7:f7e0c3621f77 | 322 | * + L6474_MARK |
| Davidroid | 7:f7e0c3621f77 | 323 | * + L6474_RESERVED_REG01 |
| Davidroid | 7:f7e0c3621f77 | 324 | * + L6474_RESERVED_REG02 |
| Davidroid | 7:f7e0c3621f77 | 325 | * + L6474_RESERVED_REG03 |
| Davidroid | 7:f7e0c3621f77 | 326 | * + L6474_RESERVED_REG04 |
| Davidroid | 7:f7e0c3621f77 | 327 | * + L6474_RESERVED_REG05 |
| Davidroid | 7:f7e0c3621f77 | 328 | * + L6474_RESERVED_REG06 |
| Davidroid | 18:2d6ab2b93685 | 329 | * + L6474_TVAL : value in mA |
| Davidroid | 7:f7e0c3621f77 | 330 | * + L6474_RESERVED_REG07 |
| Davidroid | 7:f7e0c3621f77 | 331 | * + L6474_RESERVED_REG08 |
| Davidroid | 7:f7e0c3621f77 | 332 | * + L6474_RESERVED_REG09 |
| Davidroid | 7:f7e0c3621f77 | 333 | * + L6474_RESERVED_REG10 |
| Davidroid | 7:f7e0c3621f77 | 334 | * + L6474_T_FAST |
| Davidroid | 18:2d6ab2b93685 | 335 | * + L6474_TON_MIN : value in us |
| Davidroid | 18:2d6ab2b93685 | 336 | * + L6474_TOFF_MIN : value in us |
| Davidroid | 7:f7e0c3621f77 | 337 | * + L6474_RESERVED_REG11 |
| Davidroid | 7:f7e0c3621f77 | 338 | * + L6474_ADC_OUT |
| Davidroid | 7:f7e0c3621f77 | 339 | * + L6474_OCD_TH |
| Davidroid | 7:f7e0c3621f77 | 340 | * + L6474_RESERVED_REG12 |
| Davidroid | 7:f7e0c3621f77 | 341 | * + L6474_STEP_MODE |
| Davidroid | 7:f7e0c3621f77 | 342 | * + L6474_ALARM_EN |
| Davidroid | 7:f7e0c3621f77 | 343 | * + L6474_CONFIG |
| Davidroid | 7:f7e0c3621f77 | 344 | * + L6474_STATUS |
| Davidroid | 7:f7e0c3621f77 | 345 | * + L6474_RESERVED_REG13 |
| Davidroid | 7:f7e0c3621f77 | 346 | * + L6474_RESERVED_REG14 |
| Davidroid | 7:f7e0c3621f77 | 347 | * + L6474_INEXISTENT_REG |
| Davidroid | 7:f7e0c3621f77 | 348 | */ |
| Davidroid | 18:2d6ab2b93685 | 349 | virtual void SetParameter(unsigned int parameter, float value) |
| Davidroid | 0:2887415a46cd | 350 | { |
| Davidroid | 18:2d6ab2b93685 | 351 | float register_value; |
| Davidroid | 18:2d6ab2b93685 | 352 | |
| Davidroid | 18:2d6ab2b93685 | 353 | switch ((L6474_Registers_t) parameter) |
| Davidroid | 18:2d6ab2b93685 | 354 | { |
| Davidroid | 18:2d6ab2b93685 | 355 | case L6474_TVAL: |
| Davidroid | 18:2d6ab2b93685 | 356 | register_value = L6474_Tval_Current_to_Par(value); |
| Davidroid | 18:2d6ab2b93685 | 357 | break; |
| Davidroid | 18:2d6ab2b93685 | 358 | case L6474_TON_MIN: |
| Davidroid | 18:2d6ab2b93685 | 359 | case L6474_TOFF_MIN: |
| Davidroid | 18:2d6ab2b93685 | 360 | register_value = L6474_Tmin_Time_to_Par(value); |
| Davidroid | 18:2d6ab2b93685 | 361 | break; |
| Davidroid | 18:2d6ab2b93685 | 362 | default: |
| Davidroid | 18:2d6ab2b93685 | 363 | register_value = value; |
| Davidroid | 18:2d6ab2b93685 | 364 | break; |
| Davidroid | 18:2d6ab2b93685 | 365 | } |
| Davidroid | 18:2d6ab2b93685 | 366 | |
| Davidroid | 18:2d6ab2b93685 | 367 | L6474_CmdSetParam((L6474_Registers_t) parameter, (unsigned int) register_value); |
| Davidroid | 0:2887415a46cd | 368 | } |
| Davidroid | 0:2887415a46cd | 369 | |
| Davidroid | 8:42e0b00b1e4d | 370 | /** |
| Davidroid | 8:42e0b00b1e4d | 371 | * @brief Setting the current position to be the home position. |
| Davidroid | 8:42e0b00b1e4d | 372 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 373 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 374 | */ |
| Davidroid | 4:83a1eb397a65 | 375 | virtual void SetHome(void) |
| Davidroid | 0:2887415a46cd | 376 | { |
| Davidroid | 4:83a1eb397a65 | 377 | L6474_SetHome(); |
| Davidroid | 4:83a1eb397a65 | 378 | } |
| Davidroid | 4:83a1eb397a65 | 379 | |
| Davidroid | 8:42e0b00b1e4d | 380 | /** |
| Davidroid | 8:42e0b00b1e4d | 381 | * @brief Setting the current position to be the marked position. |
| Davidroid | 8:42e0b00b1e4d | 382 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 383 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 384 | */ |
| Davidroid | 4:83a1eb397a65 | 385 | virtual void SetMark(void) |
| Davidroid | 4:83a1eb397a65 | 386 | { |
| Davidroid | 4:83a1eb397a65 | 387 | L6474_SetMark(); |
| Davidroid | 0:2887415a46cd | 388 | } |
| Davidroid | 0:2887415a46cd | 389 | |
| Davidroid | 8:42e0b00b1e4d | 390 | /** |
| Davidroid | 8:42e0b00b1e4d | 391 | * @brief Setting the maximum speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 392 | * @param speed The maximum speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 393 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 394 | */ |
| Davidroid | 4:83a1eb397a65 | 395 | virtual void SetMaxSpeed(unsigned int speed) |
| Davidroid | 4:83a1eb397a65 | 396 | { |
| Davidroid | 4:83a1eb397a65 | 397 | L6474_SetMaxSpeed((unsigned int) speed); |
| Davidroid | 0:2887415a46cd | 398 | } |
| Davidroid | 0:2887415a46cd | 399 | |
| Davidroid | 8:42e0b00b1e4d | 400 | /** |
| Davidroid | 8:42e0b00b1e4d | 401 | * @brief Setting the minimum speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 402 | * @param speed The minimum speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 403 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 404 | */ |
| Davidroid | 4:83a1eb397a65 | 405 | virtual void SetMinSpeed(unsigned int speed) |
| Davidroid | 0:2887415a46cd | 406 | { |
| Davidroid | 4:83a1eb397a65 | 407 | L6474_SetMinSpeed((unsigned int) speed); |
| Davidroid | 0:2887415a46cd | 408 | } |
| Davidroid | 0:2887415a46cd | 409 | |
| Davidroid | 8:42e0b00b1e4d | 410 | /** |
| Davidroid | 8:42e0b00b1e4d | 411 | * @brief Setting the acceleration in pps^2. |
| Davidroid | 8:42e0b00b1e4d | 412 | * @param acceleration The acceleration in pps^2. |
| Davidroid | 8:42e0b00b1e4d | 413 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 414 | */ |
| Davidroid | 4:83a1eb397a65 | 415 | virtual void SetAcceleration(unsigned int acceleration) |
| Davidroid | 0:2887415a46cd | 416 | { |
| Davidroid | 4:83a1eb397a65 | 417 | L6474_SetAcceleration((unsigned int) acceleration); |
| Davidroid | 0:2887415a46cd | 418 | } |
| Davidroid | 0:2887415a46cd | 419 | |
| Davidroid | 8:42e0b00b1e4d | 420 | /** |
| Davidroid | 8:42e0b00b1e4d | 421 | * @brief Setting the deceleration in pps^2. |
| Davidroid | 8:42e0b00b1e4d | 422 | * @param deceleration The deceleration in pps^2. |
| Davidroid | 8:42e0b00b1e4d | 423 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 424 | */ |
| Davidroid | 4:83a1eb397a65 | 425 | virtual void SetDeceleration(unsigned int deceleration) |
| Davidroid | 0:2887415a46cd | 426 | { |
| Davidroid | 4:83a1eb397a65 | 427 | L6474_SetDeceleration((unsigned int) deceleration); |
| Davidroid | 4:83a1eb397a65 | 428 | } |
| Davidroid | 4:83a1eb397a65 | 429 | |
| Davidroid | 8:42e0b00b1e4d | 430 | /** |
| Davidroid | 8:42e0b00b1e4d | 431 | * @brief Going to a specified position. |
| Davidroid | 8:42e0b00b1e4d | 432 | * @param position The desired position. |
| Davidroid | 8:42e0b00b1e4d | 433 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 434 | */ |
| Davidroid | 4:83a1eb397a65 | 435 | virtual void GoTo(signed int position) |
| Davidroid | 4:83a1eb397a65 | 436 | { |
| Davidroid | 4:83a1eb397a65 | 437 | L6474_GoTo((signed int) position); |
| Davidroid | 0:2887415a46cd | 438 | } |
| Davidroid | 0:2887415a46cd | 439 | |
| Davidroid | 8:42e0b00b1e4d | 440 | /** |
| Davidroid | 8:42e0b00b1e4d | 441 | * @brief Going to the home position. |
| Davidroid | 8:42e0b00b1e4d | 442 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 443 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 444 | */ |
| Davidroid | 0:2887415a46cd | 445 | virtual void GoHome(void) |
| Davidroid | 0:2887415a46cd | 446 | { |
| Davidroid | 0:2887415a46cd | 447 | L6474_GoHome(); |
| Davidroid | 0:2887415a46cd | 448 | } |
| Davidroid | 0:2887415a46cd | 449 | |
| Davidroid | 8:42e0b00b1e4d | 450 | /** |
| Davidroid | 8:42e0b00b1e4d | 451 | * @brief Going to the marked position. |
| Davidroid | 8:42e0b00b1e4d | 452 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 453 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 454 | */ |
| Davidroid | 0:2887415a46cd | 455 | virtual void GoMark(void) |
| Davidroid | 0:2887415a46cd | 456 | { |
| Davidroid | 0:2887415a46cd | 457 | L6474_GoMark(); |
| Davidroid | 0:2887415a46cd | 458 | } |
| Davidroid | 0:2887415a46cd | 459 | |
| Davidroid | 8:42e0b00b1e4d | 460 | /** |
| Davidroid | 8:42e0b00b1e4d | 461 | * @brief Running the motor towards a specified direction. |
| Davidroid | 8:42e0b00b1e4d | 462 | * @param direction The direction of rotation. |
| Davidroid | 8:42e0b00b1e4d | 463 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 464 | */ |
| Davidroid | 4:83a1eb397a65 | 465 | virtual void Run(direction_t direction) |
| Davidroid | 4:83a1eb397a65 | 466 | { |
| Davidroid | 5:d3c78f12a78d | 467 | L6474_Run((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD)); |
| Davidroid | 4:83a1eb397a65 | 468 | } |
| Davidroid | 4:83a1eb397a65 | 469 | |
| Davidroid | 8:42e0b00b1e4d | 470 | /** |
| Davidroid | 8:42e0b00b1e4d | 471 | * @brief Moving the motor towards a specified direction for a certain number of steps. |
| Davidroid | 8:42e0b00b1e4d | 472 | * @param direction The direction of rotation. |
| Davidroid | 8:42e0b00b1e4d | 473 | * @param steps The desired number of steps. |
| Davidroid | 8:42e0b00b1e4d | 474 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 475 | */ |
| Davidroid | 4:83a1eb397a65 | 476 | virtual void Move(direction_t direction, unsigned int steps) |
| Davidroid | 0:2887415a46cd | 477 | { |
| Davidroid | 5:d3c78f12a78d | 478 | L6474_Move((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), (unsigned int) steps); |
| Davidroid | 4:83a1eb397a65 | 479 | } |
| Davidroid | 4:83a1eb397a65 | 480 | |
| Davidroid | 8:42e0b00b1e4d | 481 | /** |
| Davidroid | 13:ba2728afe4c2 | 482 | * @brief Stopping the motor through an immediate deceleration up to zero speed. |
| Davidroid | 8:42e0b00b1e4d | 483 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 484 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 485 | */ |
| Davidroid | 4:83a1eb397a65 | 486 | virtual void SoftStop(void) |
| Davidroid | 4:83a1eb397a65 | 487 | { |
| Davidroid | 4:83a1eb397a65 | 488 | L6474_SoftStop(); |
| Davidroid | 0:2887415a46cd | 489 | } |
| Davidroid | 0:2887415a46cd | 490 | |
| Davidroid | 8:42e0b00b1e4d | 491 | /** |
| Davidroid | 13:ba2728afe4c2 | 492 | * @brief Stopping the motor through an immediate infinite deceleration. |
| Davidroid | 8:42e0b00b1e4d | 493 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 494 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 495 | */ |
| Davidroid | 0:2887415a46cd | 496 | virtual void HardStop(void) |
| Davidroid | 0:2887415a46cd | 497 | { |
| Davidroid | 0:2887415a46cd | 498 | L6474_HardStop(); |
| Davidroid | 0:2887415a46cd | 499 | } |
| Davidroid | 0:2887415a46cd | 500 | |
| Davidroid | 8:42e0b00b1e4d | 501 | /** |
| Davidroid | 13:ba2728afe4c2 | 502 | * @brief Disabling the power bridge after performing a deceleration to zero. |
| Davidroid | 13:ba2728afe4c2 | 503 | * @param None. |
| Davidroid | 13:ba2728afe4c2 | 504 | * @retval None. |
| Davidroid | 13:ba2728afe4c2 | 505 | */ |
| Davidroid | 13:ba2728afe4c2 | 506 | virtual void SoftHiZ(void) |
| Davidroid | 13:ba2728afe4c2 | 507 | { |
| Davidroid | 13:ba2728afe4c2 | 508 | L6474_SoftStop(); |
| Davidroid | 13:ba2728afe4c2 | 509 | L6474_CmdDisable(); |
| Davidroid | 13:ba2728afe4c2 | 510 | } |
| Davidroid | 13:ba2728afe4c2 | 511 | |
| Davidroid | 13:ba2728afe4c2 | 512 | /** |
| Davidroid | 13:ba2728afe4c2 | 513 | * @brief Disabling the power bridge immediately. |
| Davidroid | 13:ba2728afe4c2 | 514 | * @param None. |
| Davidroid | 13:ba2728afe4c2 | 515 | * @retval None. |
| Davidroid | 13:ba2728afe4c2 | 516 | */ |
| Davidroid | 13:ba2728afe4c2 | 517 | virtual void HardHiZ(void) |
| Davidroid | 13:ba2728afe4c2 | 518 | { |
| Davidroid | 13:ba2728afe4c2 | 519 | L6474_HardStop(); |
| Davidroid | 13:ba2728afe4c2 | 520 | L6474_CmdDisable(); |
| Davidroid | 13:ba2728afe4c2 | 521 | } |
| Davidroid | 13:ba2728afe4c2 | 522 | |
| Davidroid | 13:ba2728afe4c2 | 523 | /** |
| Davidroid | 8:42e0b00b1e4d | 524 | * @brief Waiting while the motor is active. |
| Davidroid | 8:42e0b00b1e4d | 525 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 526 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 527 | */ |
| Davidroid | 7:f7e0c3621f77 | 528 | virtual void WaitWhileActive(void) |
| Davidroid | 7:f7e0c3621f77 | 529 | { |
| Davidroid | 7:f7e0c3621f77 | 530 | L6474_WaitWhileActive(); |
| Davidroid | 7:f7e0c3621f77 | 531 | } |
| Davidroid | 7:f7e0c3621f77 | 532 | |
| Davidroid | 7:f7e0c3621f77 | 533 | /** |
| Davidroid | 7:f7e0c3621f77 | 534 | * @brief Getting the device state. |
| Davidroid | 7:f7e0c3621f77 | 535 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 536 | * @retval The device state. |
| Davidroid | 7:f7e0c3621f77 | 537 | * @note The device state can be one of the following: |
| Davidroid | 7:f7e0c3621f77 | 538 | * + ACCELERATING |
| Davidroid | 7:f7e0c3621f77 | 539 | * + DECELERATING |
| Davidroid | 7:f7e0c3621f77 | 540 | * + STEADY |
| Davidroid | 7:f7e0c3621f77 | 541 | * + INACTIVE |
| Davidroid | 7:f7e0c3621f77 | 542 | */ |
| Davidroid | 4:83a1eb397a65 | 543 | virtual motorState_t GetDeviceState(void) |
| Davidroid | 0:2887415a46cd | 544 | { |
| Davidroid | 4:83a1eb397a65 | 545 | return (motorState_t) L6474_GetDeviceState(); |
| Davidroid | 0:2887415a46cd | 546 | } |
| Davidroid | 0:2887415a46cd | 547 | |
| Davidroid | 7:f7e0c3621f77 | 548 | /** |
| Davidroid | 7:f7e0c3621f77 | 549 | * @brief Reading the Status Register. |
| Davidroid | 7:f7e0c3621f77 | 550 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 551 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 552 | * @note The Status Register's flags are not cleared, contrary to GetStatus(). |
| Davidroid | 7:f7e0c3621f77 | 553 | */ |
| Davidroid | 0:2887415a46cd | 554 | virtual uint16_t ReadStatusRegister(void) |
| Davidroid | 0:2887415a46cd | 555 | { |
| Davidroid | 0:2887415a46cd | 556 | return (uint16_t) L6474_ReadStatusRegister(); |
| Davidroid | 0:2887415a46cd | 557 | } |
| Davidroid | 0:2887415a46cd | 558 | |
| Davidroid | 7:f7e0c3621f77 | 559 | /** |
| Davidroid | 8:42e0b00b1e4d | 560 | * @brief Setting the Step Mode. |
| Davidroid | 8:42e0b00b1e4d | 561 | * @param step_mode The Step Mode. |
| Davidroid | 7:f7e0c3621f77 | 562 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 563 | * @note step_mode can be one of the following: |
| Davidroid | 7:f7e0c3621f77 | 564 | * + STEP_MODE_FULL |
| Davidroid | 7:f7e0c3621f77 | 565 | * + STEP_MODE_HALF |
| Davidroid | 7:f7e0c3621f77 | 566 | * + STEP_MODE_1_4 |
| Davidroid | 7:f7e0c3621f77 | 567 | * + STEP_MODE_1_8 |
| Davidroid | 7:f7e0c3621f77 | 568 | * + STEP_MODE_1_16 |
| Davidroid | 7:f7e0c3621f77 | 569 | * + STEP_MODE_1_32 |
| Davidroid | 7:f7e0c3621f77 | 570 | * + STEP_MODE_1_64 |
| Davidroid | 7:f7e0c3621f77 | 571 | * + STEP_MODE_1_128 |
| Davidroid | 7:f7e0c3621f77 | 572 | */ |
| Davidroid | 8:42e0b00b1e4d | 573 | virtual void SetStepMode(motorStepMode_t step_mode) |
| Davidroid | 0:2887415a46cd | 574 | { |
| Davidroid | 7:f7e0c3621f77 | 575 | L6474_SelectStepMode((motorStepMode_t) step_mode); |
| Davidroid | 0:2887415a46cd | 576 | } |
| Davidroid | 0:2887415a46cd | 577 | |
| Davidroid | 7:f7e0c3621f77 | 578 | /** |
| Davidroid | 7:f7e0c3621f77 | 579 | * @brief Attaching an error handler. |
| Davidroid | 8:42e0b00b1e4d | 580 | * @param fptr An error handler. |
| Davidroid | 7:f7e0c3621f77 | 581 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 582 | */ |
| Davidroid | 7:f7e0c3621f77 | 583 | virtual void AttachErrorHandler(void (*fptr)(uint16_t error)) |
| Davidroid | 4:83a1eb397a65 | 584 | { |
| Davidroid | 7:f7e0c3621f77 | 585 | L6474_AttachErrorHandler((void (*)(uint16_t error)) fptr); |
| Davidroid | 4:83a1eb397a65 | 586 | } |
| Davidroid | 4:83a1eb397a65 | 587 | |
| Davidroid | 9:6f116ce8e314 | 588 | /** |
| Davidroid | 8:42e0b00b1e4d | 589 | * @brief Enabling the device. |
| Davidroid | 8:42e0b00b1e4d | 590 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 591 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 592 | */ |
| Davidroid | 8:42e0b00b1e4d | 593 | virtual void Enable(void) |
| Davidroid | 8:42e0b00b1e4d | 594 | { |
| Davidroid | 8:42e0b00b1e4d | 595 | L6474_CmdEnable(); |
| Davidroid | 8:42e0b00b1e4d | 596 | } |
| Davidroid | 8:42e0b00b1e4d | 597 | |
| Davidroid | 9:6f116ce8e314 | 598 | /** |
| Davidroid | 8:42e0b00b1e4d | 599 | * @brief Disabling the device. |
| Davidroid | 8:42e0b00b1e4d | 600 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 601 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 602 | */ |
| Davidroid | 8:42e0b00b1e4d | 603 | virtual void Disable(void) |
| Davidroid | 8:42e0b00b1e4d | 604 | { |
| Davidroid | 8:42e0b00b1e4d | 605 | L6474_CmdDisable(); |
| Davidroid | 8:42e0b00b1e4d | 606 | } |
| Davidroid | 8:42e0b00b1e4d | 607 | |
| Davidroid | 9:6f116ce8e314 | 608 | /** |
| Davidroid | 9:6f116ce8e314 | 609 | * @brief Getting the version of the firmware. |
| Davidroid | 9:6f116ce8e314 | 610 | * @param None. |
| Davidroid | 9:6f116ce8e314 | 611 | * @retval The version of the firmware. |
| Davidroid | 9:6f116ce8e314 | 612 | */ |
| Davidroid | 9:6f116ce8e314 | 613 | virtual uint8_t GetFwVersion(void) |
| Davidroid | 9:6f116ce8e314 | 614 | { |
| Davidroid | 9:6f116ce8e314 | 615 | return (uint8_t) L6474_GetFwVersion(); |
| Davidroid | 9:6f116ce8e314 | 616 | } |
| Davidroid | 9:6f116ce8e314 | 617 | |
| Davidroid | 0:2887415a46cd | 618 | |
| Davidroid | 0:2887415a46cd | 619 | /*** Public Interrupt Related Methods ***/ |
| Davidroid | 0:2887415a46cd | 620 | |
| Davidroid | 0:2887415a46cd | 621 | /* ACTION 6 --------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 622 | * Implement here interrupt related methods, if any. * |
| Davidroid | 0:2887415a46cd | 623 | * Note that interrupt handling is platform dependent, e.g.: * |
| Davidroid | 0:2887415a46cd | 624 | * + mbed: * |
| Davidroid | 7:f7e0c3621f77 | 625 | * InterruptIn feature_irq(pin); //Interrupt object. * |
| Davidroid | 7:f7e0c3621f77 | 626 | * feature_irq.rise(callback); //Attach a callback. * |
| Davidroid | 7:f7e0c3621f77 | 627 | * feature_irq.mode(PullNone); //Set interrupt mode. * |
| Davidroid | 7:f7e0c3621f77 | 628 | * feature_irq.enable_irq(); //Enable interrupt. * |
| Davidroid | 7:f7e0c3621f77 | 629 | * feature_irq.disable_irq(); //Disable interrupt. * |
| Davidroid | 0:2887415a46cd | 630 | * + Arduino: * |
| Davidroid | 0:2887415a46cd | 631 | * attachInterrupt(pin, callback, RISING); //Attach a callback. * |
| Davidroid | 0:2887415a46cd | 632 | * detachInterrupt(pin); //Detach a callback. * |
| Davidroid | 0:2887415a46cd | 633 | * * |
| Davidroid | 0:2887415a46cd | 634 | * Example (mbed): * |
| Davidroid | 7:f7e0c3621f77 | 635 | * void AttachFeatureIRQ(void (*fptr) (void)) * |
| Davidroid | 0:2887415a46cd | 636 | * { * |
| Davidroid | 7:f7e0c3621f77 | 637 | * feature_irq.rise(fptr); * |
| Davidroid | 7:f7e0c3621f77 | 638 | * } * |
| Davidroid | 7:f7e0c3621f77 | 639 | * * |
| Davidroid | 7:f7e0c3621f77 | 640 | * void EnableFeatureIRQ(void) * |
| Davidroid | 7:f7e0c3621f77 | 641 | * { * |
| Davidroid | 7:f7e0c3621f77 | 642 | * feature_irq.enable_irq(); * |
| Davidroid | 0:2887415a46cd | 643 | * } * |
| Davidroid | 0:2887415a46cd | 644 | * * |
| Davidroid | 7:f7e0c3621f77 | 645 | * void DisableFeatureIRQ(void) * |
| Davidroid | 0:2887415a46cd | 646 | * { * |
| Davidroid | 7:f7e0c3621f77 | 647 | * feature_irq.disable_irq(); * |
| Davidroid | 0:2887415a46cd | 648 | * } * |
| Davidroid | 0:2887415a46cd | 649 | *------------------------------------------------------------------------*/ |
| Davidroid | 7:f7e0c3621f77 | 650 | /** |
| Davidroid | 8:42e0b00b1e4d | 651 | * @brief Attaching an interrupt handler to the FLAG interrupt. |
| Davidroid | 8:42e0b00b1e4d | 652 | * @param fptr An interrupt handler. |
| Davidroid | 7:f7e0c3621f77 | 653 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 654 | */ |
| Davidroid | 7:f7e0c3621f77 | 655 | void AttachFlagIRQ(void (*fptr)(void)) |
| Davidroid | 7:f7e0c3621f77 | 656 | { |
| Davidroid | 18:2d6ab2b93685 | 657 | flag_irq.fall(fptr); |
| Davidroid | 7:f7e0c3621f77 | 658 | } |
| Davidroid | 7:f7e0c3621f77 | 659 | |
| Davidroid | 7:f7e0c3621f77 | 660 | /** |
| Davidroid | 8:42e0b00b1e4d | 661 | * @brief Enabling the FLAG interrupt handling. |
| Davidroid | 7:f7e0c3621f77 | 662 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 663 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 664 | */ |
| Davidroid | 7:f7e0c3621f77 | 665 | void EnableFlagIRQ(void) |
| Davidroid | 7:f7e0c3621f77 | 666 | { |
| Davidroid | 7:f7e0c3621f77 | 667 | flag_irq.enable_irq(); |
| Davidroid | 7:f7e0c3621f77 | 668 | } |
| Davidroid | 7:f7e0c3621f77 | 669 | |
| Davidroid | 7:f7e0c3621f77 | 670 | /** |
| Davidroid | 8:42e0b00b1e4d | 671 | * @brief Disabling the FLAG interrupt handling. |
| Davidroid | 7:f7e0c3621f77 | 672 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 673 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 674 | */ |
| Davidroid | 7:f7e0c3621f77 | 675 | void DisableFlagIRQ(void) |
| Davidroid | 7:f7e0c3621f77 | 676 | { |
| Davidroid | 7:f7e0c3621f77 | 677 | flag_irq.disable_irq(); |
| Davidroid | 7:f7e0c3621f77 | 678 | } |
| Davidroid | 0:2887415a46cd | 679 | |
| Davidroid | 0:2887415a46cd | 680 | |
| Davidroid | 0:2887415a46cd | 681 | protected: |
| Davidroid | 0:2887415a46cd | 682 | |
| Davidroid | 0:2887415a46cd | 683 | /*** Protected Component Related Methods ***/ |
| Davidroid | 0:2887415a46cd | 684 | |
| Davidroid | 0:2887415a46cd | 685 | /* ACTION 7 --------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 686 | * Declare here the component's specific methods. * |
| Davidroid | 0:2887415a46cd | 687 | * They should be: * |
| Davidroid | 0:2887415a46cd | 688 | * + Methods with the same name of the C component's virtual table's * |
| Davidroid | 0:2887415a46cd | 689 | * functions (1); * |
| Davidroid | 0:2887415a46cd | 690 | * + Methods with the same name of the C component's extended virtual * |
| Davidroid | 0:2887415a46cd | 691 | * table's functions, if any (2); * |
| Davidroid | 0:2887415a46cd | 692 | * + Helper methods, if any, like functions declared in the component's * |
| Davidroid | 0:2887415a46cd | 693 | * source files but not pointed by the component's virtual table (3). * |
| Davidroid | 0:2887415a46cd | 694 | * * |
| Davidroid | 0:2887415a46cd | 695 | * Example: * |
| Davidroid | 22:ed3a6990a6eb | 696 | * Status_t COMPONENT_GetValue(float *f); //(1) * |
| Davidroid | 22:ed3a6990a6eb | 697 | * Status_t COMPONENT_EnableFeature(void); //(2) * |
| Davidroid | 22:ed3a6990a6eb | 698 | * Status_t COMPONENT_ComputeAverage(void); //(3) * |
| Davidroid | 0:2887415a46cd | 699 | *------------------------------------------------------------------------*/ |
| Davidroid | 7:f7e0c3621f77 | 700 | void L6474_AttachErrorHandler(void (*callback)(uint16_t error)); |
| Davidroid | 22:ed3a6990a6eb | 701 | Status_t L6474_Init(void *init); |
| Davidroid | 22:ed3a6990a6eb | 702 | Status_t L6474_ReadID(uint8_t *id); |
| Davidroid | 7:f7e0c3621f77 | 703 | uint16_t L6474_GetAcceleration(void); |
| Davidroid | 7:f7e0c3621f77 | 704 | uint16_t L6474_GetCurrentSpeed(void); |
| Davidroid | 7:f7e0c3621f77 | 705 | uint16_t L6474_GetDeceleration(void); |
| Davidroid | 7:f7e0c3621f77 | 706 | motorState_t L6474_GetDeviceState(void); |
| Davidroid | 7:f7e0c3621f77 | 707 | uint8_t L6474_GetFwVersion(void); |
| Davidroid | 7:f7e0c3621f77 | 708 | int32_t L6474_GetMark(void); |
| Davidroid | 7:f7e0c3621f77 | 709 | uint16_t L6474_GetMaxSpeed(void); |
| Davidroid | 7:f7e0c3621f77 | 710 | uint16_t L6474_GetMinSpeed(void); |
| Davidroid | 7:f7e0c3621f77 | 711 | int32_t L6474_GetPosition(void); |
| Davidroid | 7:f7e0c3621f77 | 712 | void L6474_GoHome(void); |
| Davidroid | 7:f7e0c3621f77 | 713 | void L6474_GoMark(void); |
| Davidroid | 7:f7e0c3621f77 | 714 | void L6474_GoTo(int32_t targetPosition); |
| Davidroid | 7:f7e0c3621f77 | 715 | void L6474_HardStop(void); |
| Davidroid | 7:f7e0c3621f77 | 716 | void L6474_Move(motorDir_t direction, uint32_t stepCount); |
| Davidroid | 7:f7e0c3621f77 | 717 | void L6474_Run(motorDir_t direction); |
| Davidroid | 7:f7e0c3621f77 | 718 | bool L6474_SetAcceleration(uint16_t newAcc); |
| Davidroid | 7:f7e0c3621f77 | 719 | bool L6474_SetDeceleration(uint16_t newDec); |
| Davidroid | 7:f7e0c3621f77 | 720 | void L6474_SetHome(void); |
| Davidroid | 7:f7e0c3621f77 | 721 | void L6474_SetMark(void); |
| Davidroid | 7:f7e0c3621f77 | 722 | bool L6474_SetMaxSpeed(uint16_t newMaxSpeed); |
| Davidroid | 7:f7e0c3621f77 | 723 | bool L6474_SetMinSpeed(uint16_t newMinSpeed); |
| Davidroid | 7:f7e0c3621f77 | 724 | bool L6474_SoftStop(void); |
| Davidroid | 7:f7e0c3621f77 | 725 | void L6474_WaitWhileActive(void); |
| Davidroid | 7:f7e0c3621f77 | 726 | void L6474_CmdDisable(void); |
| Davidroid | 7:f7e0c3621f77 | 727 | void L6474_CmdEnable(void); |
| Davidroid | 7:f7e0c3621f77 | 728 | uint32_t L6474_CmdGetParam(L6474_Registers_t parameter); |
| Davidroid | 7:f7e0c3621f77 | 729 | uint16_t L6474_CmdGetStatus(void); |
| Davidroid | 7:f7e0c3621f77 | 730 | void L6474_CmdNop(void); |
| Davidroid | 7:f7e0c3621f77 | 731 | void L6474_CmdSetParam(L6474_Registers_t parameter, uint32_t value); |
| Davidroid | 7:f7e0c3621f77 | 732 | uint16_t L6474_ReadStatusRegister(void); |
| Davidroid | 7:f7e0c3621f77 | 733 | void L6474_SelectStepMode(motorStepMode_t stepMod); |
| Davidroid | 7:f7e0c3621f77 | 734 | motorDir_t L6474_GetDirection(void); |
| Davidroid | 7:f7e0c3621f77 | 735 | void L6474_SetDirection(motorDir_t direction); |
| Davidroid | 0:2887415a46cd | 736 | void L6474_ApplySpeed(uint16_t newSpeed); |
| Davidroid | 0:2887415a46cd | 737 | void L6474_ComputeSpeedProfile(uint32_t nbSteps); |
| Davidroid | 7:f7e0c3621f77 | 738 | int32_t L6474_ConvertPosition(uint32_t abs_position_reg); |
| Davidroid | 0:2887415a46cd | 739 | void L6474_ErrorHandler(uint16_t error); |
| Davidroid | 0:2887415a46cd | 740 | void L6474_SendCommand(uint8_t param); |
| Davidroid | 0:2887415a46cd | 741 | void L6474_SetRegisterToPredefinedValues(void); |
| Davidroid | 22:ed3a6990a6eb | 742 | void L6474_SetRegisterToInitializationValues(L6474_Init_t *init); |
| Davidroid | 7:f7e0c3621f77 | 743 | void L6474_WriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte); |
| Davidroid | 0:2887415a46cd | 744 | void L6474_SetDeviceParamsToPredefinedValues(void); |
| Davidroid | 0:2887415a46cd | 745 | void L6474_StartMovement(void); |
| Davidroid | 7:f7e0c3621f77 | 746 | void L6474_StepClockHandler(void); |
| Davidroid | 18:2d6ab2b93685 | 747 | float L6474_Tval_Current_to_Par(float current_mA); |
| Davidroid | 18:2d6ab2b93685 | 748 | float L6474_Par_to_Tval_Current(float Tval); |
| Davidroid | 18:2d6ab2b93685 | 749 | float L6474_Tmin_Time_to_Par(float ton_min_us); |
| Davidroid | 18:2d6ab2b93685 | 750 | float L6474_Par_to_Tmin_Time(float Tmin); |
| Davidroid | 0:2887415a46cd | 751 | |
| Davidroid | 0:2887415a46cd | 752 | |
| Davidroid | 0:2887415a46cd | 753 | /*** Component's I/O Methods ***/ |
| Davidroid | 0:2887415a46cd | 754 | |
| Davidroid | 0:2887415a46cd | 755 | /** |
| Davidroid | 0:2887415a46cd | 756 | * @brief Utility function to read data from L6474. |
| Davidroid | 0:2887415a46cd | 757 | * @param[out] pBuffer pointer to the buffer to read data into. |
| Davidroid | 0:2887415a46cd | 758 | * @param[in] NumBytesToRead number of bytes to read. |
| Davidroid | 0:2887415a46cd | 759 | * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise. |
| Davidroid | 0:2887415a46cd | 760 | */ |
| Davidroid | 22:ed3a6990a6eb | 761 | Status_t Read(uint8_t* pBuffer, uint16_t NumBytesToRead) |
| Davidroid | 0:2887415a46cd | 762 | { |
| Davidroid | 0:2887415a46cd | 763 | if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0) |
| Davidroid | 0:2887415a46cd | 764 | return COMPONENT_ERROR; |
| Davidroid | 0:2887415a46cd | 765 | return COMPONENT_OK; |
| Davidroid | 0:2887415a46cd | 766 | } |
| Davidroid | 0:2887415a46cd | 767 | |
| Davidroid | 0:2887415a46cd | 768 | /** |
| Davidroid | 0:2887415a46cd | 769 | * @brief Utility function to write data to L6474. |
| Davidroid | 0:2887415a46cd | 770 | * @param[in] pBuffer pointer to the buffer of data to send. |
| Davidroid | 0:2887415a46cd | 771 | * @param[in] NumBytesToWrite number of bytes to write. |
| Davidroid | 0:2887415a46cd | 772 | * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise. |
| Davidroid | 0:2887415a46cd | 773 | */ |
| Davidroid | 22:ed3a6990a6eb | 774 | Status_t Write(uint8_t* pBuffer, uint16_t NumBytesToWrite) |
| Davidroid | 0:2887415a46cd | 775 | { |
| Davidroid | 0:2887415a46cd | 776 | if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0) |
| Davidroid | 0:2887415a46cd | 777 | return COMPONENT_ERROR; |
| Davidroid | 0:2887415a46cd | 778 | return COMPONENT_OK; |
| Davidroid | 0:2887415a46cd | 779 | } |
| Davidroid | 0:2887415a46cd | 780 | |
| Davidroid | 0:2887415a46cd | 781 | /** |
| Davidroid | 0:2887415a46cd | 782 | * @brief Utility function to read and write data from/to L6474 at the same time. |
| Davidroid | 0:2887415a46cd | 783 | * @param[out] pBufferToRead pointer to the buffer to read data into. |
| Davidroid | 0:2887415a46cd | 784 | * @param[in] pBufferToWrite pointer to the buffer of data to send. |
| Davidroid | 0:2887415a46cd | 785 | * @param[in] NumBytes number of bytes to read and write. |
| Davidroid | 0:2887415a46cd | 786 | * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise. |
| Davidroid | 0:2887415a46cd | 787 | */ |
| Davidroid | 22:ed3a6990a6eb | 788 | Status_t ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes) |
| Davidroid | 0:2887415a46cd | 789 | { |
| Davidroid | 0:2887415a46cd | 790 | if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0) |
| Davidroid | 0:2887415a46cd | 791 | return COMPONENT_ERROR; |
| Davidroid | 0:2887415a46cd | 792 | return COMPONENT_OK; |
| Davidroid | 0:2887415a46cd | 793 | } |
| Davidroid | 0:2887415a46cd | 794 | |
| Davidroid | 0:2887415a46cd | 795 | /* ACTION 8 --------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 796 | * Implement here other I/O methods beyond those already implemented * |
| Davidroid | 0:2887415a46cd | 797 | * above, which are declared extern within the component's header file. * |
| Davidroid | 0:2887415a46cd | 798 | *------------------------------------------------------------------------*/ |
| Davidroid | 7:f7e0c3621f77 | 799 | /** |
| Davidroid | 7:f7e0c3621f77 | 800 | * @brief Making the CPU wait. |
| Davidroid | 7:f7e0c3621f77 | 801 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 802 | * @retval None. |
| Davidroid | 0:2887415a46cd | 803 | */ |
| Davidroid | 0:2887415a46cd | 804 | void L6474_Delay(uint32_t delay) |
| Davidroid | 0:2887415a46cd | 805 | { |
| Davidroid | 0:2887415a46cd | 806 | wait_ms(delay); |
| Davidroid | 0:2887415a46cd | 807 | } |
| Davidroid | 0:2887415a46cd | 808 | |
| Davidroid | 7:f7e0c3621f77 | 809 | /** |
| Davidroid | 7:f7e0c3621f77 | 810 | * @brief Enabling interrupts. |
| Davidroid | 7:f7e0c3621f77 | 811 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 812 | * @retval None. |
| Davidroid | 0:2887415a46cd | 813 | */ |
| Davidroid | 0:2887415a46cd | 814 | void L6474_EnableIrq(void) |
| Davidroid | 0:2887415a46cd | 815 | { |
| Davidroid | 0:2887415a46cd | 816 | __enable_irq(); |
| Davidroid | 0:2887415a46cd | 817 | } |
| Davidroid | 0:2887415a46cd | 818 | |
| Davidroid | 7:f7e0c3621f77 | 819 | /** |
| Davidroid | 7:f7e0c3621f77 | 820 | * @brief Disabling interrupts. |
| Davidroid | 7:f7e0c3621f77 | 821 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 822 | * @retval None. |
| Davidroid | 0:2887415a46cd | 823 | */ |
| Davidroid | 0:2887415a46cd | 824 | void L6474_DisableIrq(void) |
| Davidroid | 0:2887415a46cd | 825 | { |
| Davidroid | 0:2887415a46cd | 826 | __disable_irq(); |
| Davidroid | 0:2887415a46cd | 827 | } |
| Davidroid | 0:2887415a46cd | 828 | |
| Davidroid | 7:f7e0c3621f77 | 829 | /** |
| Davidroid | 7:f7e0c3621f77 | 830 | * @brief Initialising the PWM. |
| Davidroid | 7:f7e0c3621f77 | 831 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 832 | * @retval None. |
| Davidroid | 0:2887415a46cd | 833 | */ |
| Davidroid | 7:f7e0c3621f77 | 834 | void L6474_PwmInit(void) {} |
| Davidroid | 0:2887415a46cd | 835 | |
| Davidroid | 7:f7e0c3621f77 | 836 | /** |
| Davidroid | 20:a8e81b65f0af | 837 | * @brief Setting the frequency of PWM. |
| Davidroid | 20:a8e81b65f0af | 838 | * The frequency controls directly the speed of the device. |
| Davidroid | 20:a8e81b65f0af | 839 | * @param frequency the frequency of PWM. |
| Davidroid | 20:a8e81b65f0af | 840 | * @retval None. |
| Davidroid | 20:a8e81b65f0af | 841 | */ |
| Davidroid | 20:a8e81b65f0af | 842 | void L6474_PwmSetFreq(uint16_t frequency) |
| Davidroid | 20:a8e81b65f0af | 843 | { |
| Davidroid | 20:a8e81b65f0af | 844 | /* Computing the period of PWM. */ |
| Davidroid | 20:a8e81b65f0af | 845 | double period = 1.0f / frequency; |
| Davidroid | 20:a8e81b65f0af | 846 | |
| Davidroid | 20:a8e81b65f0af | 847 | /* Setting the period and the duty-cycle of PWM. */ |
| Davidroid | 20:a8e81b65f0af | 848 | pwm.period(period); |
| Davidroid | 20:a8e81b65f0af | 849 | pwm.write(0.5f); |
| Davidroid | 20:a8e81b65f0af | 850 | |
| Davidroid | 20:a8e81b65f0af | 851 | /* Setting a callback with the same period of PWM's, to update the state machine. */ |
| Davidroid | 20:a8e81b65f0af | 852 | ticker.attach(this, &L6474::L6474_StepClockHandler, period); |
| Davidroid | 20:a8e81b65f0af | 853 | } |
| Davidroid | 20:a8e81b65f0af | 854 | |
| Davidroid | 20:a8e81b65f0af | 855 | /** |
| Davidroid | 7:f7e0c3621f77 | 856 | * @brief Stopping the PWM. |
| Davidroid | 7:f7e0c3621f77 | 857 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 858 | * @retval None. |
| Davidroid | 0:2887415a46cd | 859 | */ |
| Davidroid | 0:2887415a46cd | 860 | void L6474_PwmStop(void) |
| Davidroid | 0:2887415a46cd | 861 | { |
| Davidroid | 0:2887415a46cd | 862 | pwm.write(0.0f); |
| Davidroid | 0:2887415a46cd | 863 | ticker.detach(); |
| Davidroid | 0:2887415a46cd | 864 | } |
| Davidroid | 0:2887415a46cd | 865 | |
| Davidroid | 7:f7e0c3621f77 | 866 | /** |
| Davidroid | 7:f7e0c3621f77 | 867 | * @brief Putting the device in standby mode. |
| Davidroid | 7:f7e0c3621f77 | 868 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 869 | * @retval None. |
| Davidroid | 0:2887415a46cd | 870 | */ |
| Davidroid | 0:2887415a46cd | 871 | void L6474_ReleaseReset(void) |
| Davidroid | 0:2887415a46cd | 872 | { |
| Davidroid | 4:83a1eb397a65 | 873 | standby_reset = 1; |
| Davidroid | 0:2887415a46cd | 874 | } |
| Davidroid | 0:2887415a46cd | 875 | |
| Davidroid | 7:f7e0c3621f77 | 876 | /** |
| Davidroid | 7:f7e0c3621f77 | 877 | * @brief Putting the device in reset mode. |
| Davidroid | 7:f7e0c3621f77 | 878 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 879 | * @retval None. |
| Davidroid | 0:2887415a46cd | 880 | */ |
| Davidroid | 0:2887415a46cd | 881 | void L6474_Reset(void) |
| Davidroid | 0:2887415a46cd | 882 | { |
| Davidroid | 4:83a1eb397a65 | 883 | standby_reset = 0; |
| Davidroid | 0:2887415a46cd | 884 | } |
| Davidroid | 0:2887415a46cd | 885 | |
| Davidroid | 7:f7e0c3621f77 | 886 | /** |
| Davidroid | 7:f7e0c3621f77 | 887 | * @brief Setting the direction of rotation. |
| Davidroid | 7:f7e0c3621f77 | 888 | * @param gpioState direction of rotation: "1" for forward, "0" for backward. |
| Davidroid | 7:f7e0c3621f77 | 889 | * @retval None. |
| Davidroid | 0:2887415a46cd | 890 | */ |
| Davidroid | 0:2887415a46cd | 891 | void L6474_SetDirectionGpio(uint8_t gpioState) |
| Davidroid | 0:2887415a46cd | 892 | { |
| Davidroid | 0:2887415a46cd | 893 | direction = gpioState; |
| Davidroid | 0:2887415a46cd | 894 | } |
| Davidroid | 0:2887415a46cd | 895 | |
| Davidroid | 7:f7e0c3621f77 | 896 | /** |
| Davidroid | 7:f7e0c3621f77 | 897 | * @brief Writing and reading bytes to/from the component through the SPI at the same time. |
| Davidroid | 7:f7e0c3621f77 | 898 | * @param[in] pByteToTransmit pointer to the buffer of data to send. |
| Davidroid | 7:f7e0c3621f77 | 899 | * @param[out] pReceivedByte pointer to the buffer to read data into. |
| Davidroid | 7:f7e0c3621f77 | 900 | * @retval "0" in case of success, "1" otherwise. |
| Davidroid | 0:2887415a46cd | 901 | */ |
| Davidroid | 0:2887415a46cd | 902 | uint8_t L6474_SpiWriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte) |
| Davidroid | 0:2887415a46cd | 903 | { |
| Davidroid | 18:2d6ab2b93685 | 904 | return (uint8_t) (ReadWrite(pReceivedByte, pByteToTransmit, number_of_devices) == COMPONENT_OK ? 0 : 1); |
| Davidroid | 0:2887415a46cd | 905 | } |
| Davidroid | 0:2887415a46cd | 906 | |
| Davidroid | 0:2887415a46cd | 907 | |
| Davidroid | 0:2887415a46cd | 908 | /*** Component's Instance Variables ***/ |
| Davidroid | 0:2887415a46cd | 909 | |
| Davidroid | 0:2887415a46cd | 910 | /* ACTION 9 --------------------------------------------------------------* |
| Davidroid | 10:c3824af0caf4 | 911 | * Declare here interrupt related variables, if needed. * |
| Davidroid | 10:c3824af0caf4 | 912 | * Note that interrupt handling is platform dependent, see * |
| Davidroid | 10:c3824af0caf4 | 913 | * "Interrupt Related Methods" above. * |
| Davidroid | 10:c3824af0caf4 | 914 | * * |
| Davidroid | 10:c3824af0caf4 | 915 | * Example: * |
| Davidroid | 10:c3824af0caf4 | 916 | * + mbed: * |
| Davidroid | 10:c3824af0caf4 | 917 | * InterruptIn feature_irq; * |
| Davidroid | 0:2887415a46cd | 918 | *------------------------------------------------------------------------*/ |
| Davidroid | 7:f7e0c3621f77 | 919 | /* Flag Interrupt. */ |
| Davidroid | 7:f7e0c3621f77 | 920 | InterruptIn flag_irq; |
| Davidroid | 10:c3824af0caf4 | 921 | |
| Davidroid | 10:c3824af0caf4 | 922 | /* ACTION 10 -------------------------------------------------------------* |
| Davidroid | 10:c3824af0caf4 | 923 | * Declare here other pin related variables, if needed. * |
| Davidroid | 10:c3824af0caf4 | 924 | * * |
| Davidroid | 10:c3824af0caf4 | 925 | * Example: * |
| Davidroid | 10:c3824af0caf4 | 926 | * + mbed: * |
| Davidroid | 10:c3824af0caf4 | 927 | * DigitalOut standby_reset; * |
| Davidroid | 10:c3824af0caf4 | 928 | *------------------------------------------------------------------------*/ |
| Davidroid | 4:83a1eb397a65 | 929 | /* Standby/reset pin. */ |
| Davidroid | 4:83a1eb397a65 | 930 | DigitalOut standby_reset; |
| Davidroid | 0:2887415a46cd | 931 | |
| Davidroid | 0:2887415a46cd | 932 | /* Direction of rotation pin. */ |
| Davidroid | 0:2887415a46cd | 933 | DigitalOut direction; |
| Davidroid | 0:2887415a46cd | 934 | |
| Davidroid | 0:2887415a46cd | 935 | /* Pulse Width Modulation pin. */ |
| Davidroid | 0:2887415a46cd | 936 | PwmOut pwm; |
| Davidroid | 0:2887415a46cd | 937 | |
| Davidroid | 10:c3824af0caf4 | 938 | /* Timer to trigger the PWM callback at each PWM pulse. */ |
| Davidroid | 10:c3824af0caf4 | 939 | Ticker ticker; |
| Davidroid | 10:c3824af0caf4 | 940 | |
| Davidroid | 10:c3824af0caf4 | 941 | /* ACTION 11 -------------------------------------------------------------* |
| Davidroid | 10:c3824af0caf4 | 942 | * Declare here communication related variables, if needed. * |
| Davidroid | 10:c3824af0caf4 | 943 | * * |
| Davidroid | 10:c3824af0caf4 | 944 | * Example: * |
| Davidroid | 10:c3824af0caf4 | 945 | * + mbed: * |
| Davidroid | 10:c3824af0caf4 | 946 | * DigitalOut ssel; * |
| Davidroid | 10:c3824af0caf4 | 947 | * DevSPI &dev_spi; * |
| Davidroid | 10:c3824af0caf4 | 948 | *------------------------------------------------------------------------*/ |
| Davidroid | 4:83a1eb397a65 | 949 | /* Configuration. */ |
| Davidroid | 4:83a1eb397a65 | 950 | DigitalOut ssel; |
| Davidroid | 0:2887415a46cd | 951 | |
| Davidroid | 0:2887415a46cd | 952 | /* IO Device. */ |
| Davidroid | 0:2887415a46cd | 953 | DevSPI &dev_spi; |
| Davidroid | 0:2887415a46cd | 954 | |
| Davidroid | 10:c3824af0caf4 | 955 | /* ACTION 12 -------------------------------------------------------------* |
| Davidroid | 10:c3824af0caf4 | 956 | * Declare here identity related variables, if needed. * |
| Davidroid | 10:c3824af0caf4 | 957 | * Note that there should be only a unique identifier for each component, * |
| Davidroid | 10:c3824af0caf4 | 958 | * which should be the "who_am_i" parameter. * |
| Davidroid | 10:c3824af0caf4 | 959 | *------------------------------------------------------------------------*/ |
| Davidroid | 10:c3824af0caf4 | 960 | /* Identity */ |
| Davidroid | 10:c3824af0caf4 | 961 | uint8_t who_am_i; |
| Davidroid | 4:83a1eb397a65 | 962 | |
| Davidroid | 10:c3824af0caf4 | 963 | /* ACTION 13 -------------------------------------------------------------* |
| Davidroid | 10:c3824af0caf4 | 964 | * Declare here the component's static and non-static data, one variable * |
| Davidroid | 10:c3824af0caf4 | 965 | * per line. * |
| Davidroid | 0:2887415a46cd | 966 | * * |
| Davidroid | 0:2887415a46cd | 967 | * Example: * |
| Davidroid | 10:c3824af0caf4 | 968 | * float measure; * |
| Davidroid | 10:c3824af0caf4 | 969 | * int instance_id; * |
| Davidroid | 10:c3824af0caf4 | 970 | * static int number_of_instances; * |
| Davidroid | 0:2887415a46cd | 971 | *------------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 972 | /* Data. */ |
| Davidroid | 18:2d6ab2b93685 | 973 | void (*error_handler_callback)(uint16_t error); |
| Davidroid | 18:2d6ab2b93685 | 974 | deviceParams_t device_prm; |
| Davidroid | 18:2d6ab2b93685 | 975 | uint8_t device_instance; |
| Davidroid | 7:f7e0c3621f77 | 976 | |
| Davidroid | 7:f7e0c3621f77 | 977 | /* Static data. */ |
| Davidroid | 18:2d6ab2b93685 | 978 | static uint8_t number_of_devices; |
| Davidroid | 18:2d6ab2b93685 | 979 | static uint8_t spi_tx_bursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES]; |
| Davidroid | 18:2d6ab2b93685 | 980 | static uint8_t spi_rx_bursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES]; |
| Davidroid | 7:f7e0c3621f77 | 981 | |
| Davidroid | 7:f7e0c3621f77 | 982 | |
| Davidroid | 7:f7e0c3621f77 | 983 | public: |
| Davidroid | 7:f7e0c3621f77 | 984 | |
| Davidroid | 7:f7e0c3621f77 | 985 | /* Static data. */ |
| Davidroid | 18:2d6ab2b93685 | 986 | static bool spi_preemtion_by_isr; |
| Davidroid | 18:2d6ab2b93685 | 987 | static bool isr_flag; |
| Davidroid | 0:2887415a46cd | 988 | }; |
| Davidroid | 0:2887415a46cd | 989 | |
| Davidroid | 0:2887415a46cd | 990 | #endif // __L6474_CLASS_H |
| Davidroid | 0:2887415a46cd | 991 | |
| Davidroid | 0:2887415a46cd | 992 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ |