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@9:6f116ce8e314, 2015-11-25 (annotated)
- Committer:
- Davidroid
- Date:
- Wed Nov 25 12:08:01 2015 +0000
- Revision:
- 9:6f116ce8e314
- Parent:
- 8:42e0b00b1e4d
- Child:
- 10:c3824af0caf4
+ Minor changes to align to the StepperMotor interface.
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Davidroid | 0:2887415a46cd | 1 | /** |
| Davidroid | 0:2887415a46cd | 2 | ****************************************************************************** |
| Davidroid | 0:2887415a46cd | 3 | * @file l6474_class.h |
| Davidroid | 0:2887415a46cd | 4 | * @author IPC Rennes |
| Davidroid | 0:2887415a46cd | 5 | * @version V1.5.0 |
| Davidroid | 0:2887415a46cd | 6 | * @date November 12, 2014 |
| Davidroid | 0:2887415a46cd | 7 | * @brief L6474 driver (fully integrated microstepping motor driver) |
| Davidroid | 0:2887415a46cd | 8 | * @note (C) COPYRIGHT 2014 STMicroelectronics |
| Davidroid | 0:2887415a46cd | 9 | ****************************************************************************** |
| Davidroid | 0:2887415a46cd | 10 | * @attention |
| Davidroid | 0:2887415a46cd | 11 | * |
| Davidroid | 0:2887415a46cd | 12 | * <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2> |
| Davidroid | 0:2887415a46cd | 13 | * |
| Davidroid | 0:2887415a46cd | 14 | * Redistribution and use in source and binary forms, with or without modification, |
| Davidroid | 0:2887415a46cd | 15 | * are permitted provided that the following conditions are met: |
| Davidroid | 0:2887415a46cd | 16 | * 1. Redistributions of source code must retain the above copyright notice, |
| Davidroid | 0:2887415a46cd | 17 | * this list of conditions and the following disclaimer. |
| Davidroid | 0:2887415a46cd | 18 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
| Davidroid | 0:2887415a46cd | 19 | * this list of conditions and the following disclaimer in the documentation |
| Davidroid | 0:2887415a46cd | 20 | * and/or other materials provided with the distribution. |
| Davidroid | 0:2887415a46cd | 21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
| Davidroid | 0:2887415a46cd | 22 | * may be used to endorse or promote products derived from this software |
| Davidroid | 0:2887415a46cd | 23 | * without specific prior written permission. |
| Davidroid | 0:2887415a46cd | 24 | * |
| Davidroid | 0:2887415a46cd | 25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| Davidroid | 0:2887415a46cd | 26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| Davidroid | 0:2887415a46cd | 27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
| Davidroid | 0:2887415a46cd | 28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
| Davidroid | 0:2887415a46cd | 29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| Davidroid | 0:2887415a46cd | 30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
| Davidroid | 0:2887415a46cd | 31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| Davidroid | 0:2887415a46cd | 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
| Davidroid | 0:2887415a46cd | 33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
| Davidroid | 0:2887415a46cd | 34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
| Davidroid | 0:2887415a46cd | 35 | * |
| Davidroid | 0:2887415a46cd | 36 | ****************************************************************************** |
| Davidroid | 0:2887415a46cd | 37 | */ |
| Davidroid | 0:2887415a46cd | 38 | |
| Davidroid | 0:2887415a46cd | 39 | |
| Davidroid | 0:2887415a46cd | 40 | /* Generated with Stm32CubeTOO -----------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 41 | |
| Davidroid | 0:2887415a46cd | 42 | |
| Davidroid | 0:2887415a46cd | 43 | /* Revision ------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 44 | /* |
| Davidroid | 0:2887415a46cd | 45 | Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev |
| Davidroid | 0:2887415a46cd | 46 | Branch/Trunk/Tag: trunk |
| Davidroid | 0:2887415a46cd | 47 | Based on: X-CUBE-SPN1/trunk/Drivers/BSP/Components/l6474/l6474.h |
| Davidroid | 0:2887415a46cd | 48 | Revision: 0 |
| Davidroid | 0:2887415a46cd | 49 | */ |
| Davidroid | 0:2887415a46cd | 50 | |
| Davidroid | 0:2887415a46cd | 51 | |
| Davidroid | 0:2887415a46cd | 52 | /* Define to prevent recursive inclusion -------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 53 | |
| Davidroid | 0:2887415a46cd | 54 | #ifndef __L6474_CLASS_H |
| Davidroid | 0:2887415a46cd | 55 | #define __L6474_CLASS_H |
| Davidroid | 0:2887415a46cd | 56 | |
| Davidroid | 0:2887415a46cd | 57 | |
| Davidroid | 0:2887415a46cd | 58 | /* Includes ------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 59 | |
| Davidroid | 0:2887415a46cd | 60 | /* ACTION 1 ------------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 61 | * Include here platform specific header files. * |
| Davidroid | 0:2887415a46cd | 62 | *----------------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 63 | #include "mbed.h" |
| Davidroid | 0:2887415a46cd | 64 | #include "DevSPI.h" |
| Davidroid | 0:2887415a46cd | 65 | /* ACTION 2 ------------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 66 | * Include here component specific header files. * |
| Davidroid | 0:2887415a46cd | 67 | *----------------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 68 | #include "l6474.h" |
| Davidroid | 0:2887415a46cd | 69 | /* ACTION 3 ------------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 70 | * Include here interface specific header files. * |
| Davidroid | 0:2887415a46cd | 71 | * * |
| Davidroid | 0:2887415a46cd | 72 | * Example: * |
| Davidroid | 0:2887415a46cd | 73 | * #include "../Interfaces/Humidity_class.h" * |
| Davidroid | 0:2887415a46cd | 74 | * #include "../Interfaces/Temperature_class.h" * |
| Davidroid | 0:2887415a46cd | 75 | *----------------------------------------------------------------------------*/ |
| Davidroid | 4:83a1eb397a65 | 76 | #include "../Interfaces/StepperMotor_class.h" |
| Davidroid | 0:2887415a46cd | 77 | |
| Davidroid | 0:2887415a46cd | 78 | |
| Davidroid | 0:2887415a46cd | 79 | /* Classes -------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 80 | |
| Davidroid | 0:2887415a46cd | 81 | /** Class representing a 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 | 0:2887415a46cd | 100 | /* ACTION 4 ----------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 101 | * Initialize here the component's member variables, one variable per * |
| Davidroid | 0:2887415a46cd | 102 | * line. * |
| Davidroid | 0:2887415a46cd | 103 | * * |
| Davidroid | 0:2887415a46cd | 104 | * Example: * |
| Davidroid | 0:2887415a46cd | 105 | * T0_out = 0; * |
| Davidroid | 0:2887415a46cd | 106 | * T1_out = 0; * |
| Davidroid | 0:2887415a46cd | 107 | * T0_degC = 0; * |
| Davidroid | 0:2887415a46cd | 108 | * T1_degC = 0; * |
| Davidroid | 0:2887415a46cd | 109 | *--------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 110 | errorHandlerCallback = 0; |
| Davidroid | 0:2887415a46cd | 111 | deviceInstance = numberOfDevices; |
| Davidroid | 0:2887415a46cd | 112 | numberOfDevices++; |
| Davidroid | 5:d3c78f12a78d | 113 | memset(spiTxBursts, 0, L6474_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t)); |
| Davidroid | 5:d3c78f12a78d | 114 | memset(spiRxBursts, 0, L6474_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t)); |
| Davidroid | 0:2887415a46cd | 115 | } |
| Davidroid | 0:2887415a46cd | 116 | |
| Davidroid | 0:2887415a46cd | 117 | /** |
| Davidroid | 0:2887415a46cd | 118 | * @brief Destructor. |
| Davidroid | 0:2887415a46cd | 119 | */ |
| Davidroid | 0:2887415a46cd | 120 | virtual ~L6474(void) {} |
| Davidroid | 0:2887415a46cd | 121 | |
| Davidroid | 0:2887415a46cd | 122 | |
| Davidroid | 0:2887415a46cd | 123 | /*** Public Component Related Methods ***/ |
| Davidroid | 0:2887415a46cd | 124 | |
| Davidroid | 0:2887415a46cd | 125 | /* ACTION 5 --------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 126 | * Implement here the component's public methods, as wrappers of the C * |
| Davidroid | 0:2887415a46cd | 127 | * component's functions. * |
| Davidroid | 0:2887415a46cd | 128 | * They should be: * |
| Davidroid | 0:2887415a46cd | 129 | * + Methods with the same name of the C component's virtual table's * |
| Davidroid | 0:2887415a46cd | 130 | * functions (1); * |
| Davidroid | 0:2887415a46cd | 131 | * + Methods with the same name of the C component's extended virtual * |
| Davidroid | 0:2887415a46cd | 132 | * table's functions, if any (2). * |
| Davidroid | 0:2887415a46cd | 133 | * * |
| Davidroid | 0:2887415a46cd | 134 | * Example: * |
| Davidroid | 0:2887415a46cd | 135 | * virtual int GetValue(float *pData) //(1) * |
| Davidroid | 0:2887415a46cd | 136 | * { * |
| Davidroid | 0:2887415a46cd | 137 | * return COMPONENT_GetValue(float *pfData); * |
| Davidroid | 0:2887415a46cd | 138 | * } * |
| Davidroid | 0:2887415a46cd | 139 | * * |
| Davidroid | 0:2887415a46cd | 140 | * virtual int EnableFeature(void) //(2) * |
| Davidroid | 0:2887415a46cd | 141 | * { * |
| Davidroid | 0:2887415a46cd | 142 | * return COMPONENT_EnableFeature(); * |
| Davidroid | 0:2887415a46cd | 143 | * } * |
| Davidroid | 0:2887415a46cd | 144 | *------------------------------------------------------------------------*/ |
| Davidroid | 7:f7e0c3621f77 | 145 | /** |
| Davidroid | 7:f7e0c3621f77 | 146 | * @brief Initializing the component. |
| Davidroid | 8:42e0b00b1e4d | 147 | * @param init Pointer to device specific initalization structure. |
| Davidroid | 7:f7e0c3621f77 | 148 | * @retval "0" in case of success, an error code otherwise. |
| Davidroid | 7:f7e0c3621f77 | 149 | */ |
| Davidroid | 0:2887415a46cd | 150 | virtual int Init(void *init) |
| Davidroid | 0:2887415a46cd | 151 | { |
| Davidroid | 0:2887415a46cd | 152 | return (int) L6474_Init((MOTOR_InitTypeDef *) init); |
| Davidroid | 0:2887415a46cd | 153 | } |
| Davidroid | 0:2887415a46cd | 154 | |
| Davidroid | 7:f7e0c3621f77 | 155 | /** |
| Davidroid | 7:f7e0c3621f77 | 156 | * @brief Getting the ID of the component. |
| Davidroid | 8:42e0b00b1e4d | 157 | * @param id Pointer to an allocated variable to store the ID into. |
| Davidroid | 7:f7e0c3621f77 | 158 | * @retval "0" in case of success, an error code otherwise. |
| Davidroid | 7:f7e0c3621f77 | 159 | */ |
| Davidroid | 0:2887415a46cd | 160 | virtual int ReadID(uint8_t *id) |
| Davidroid | 0:2887415a46cd | 161 | { |
| Davidroid | 0:2887415a46cd | 162 | return (int) L6474_ReadID((uint8_t *) id); |
| Davidroid | 0:2887415a46cd | 163 | } |
| Davidroid | 0:2887415a46cd | 164 | |
| Davidroid | 7:f7e0c3621f77 | 165 | /** |
| Davidroid | 7:f7e0c3621f77 | 166 | * @brief Getting the value of the Status Register. |
| Davidroid | 7:f7e0c3621f77 | 167 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 168 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 169 | * @note The Status Register's flags are cleared, contrary to ReadStatusRegister(). |
| Davidroid | 7:f7e0c3621f77 | 170 | */ |
| Davidroid | 4:83a1eb397a65 | 171 | virtual unsigned int GetStatus(void) |
| Davidroid | 0:2887415a46cd | 172 | { |
| Davidroid | 4:83a1eb397a65 | 173 | return (unsigned int) L6474_CmdGetStatus(); |
| Davidroid | 0:2887415a46cd | 174 | } |
| Davidroid | 0:2887415a46cd | 175 | |
| Davidroid | 7:f7e0c3621f77 | 176 | /** |
| Davidroid | 7:f7e0c3621f77 | 177 | * @brief Getting a parameter. |
| Davidroid | 8:42e0b00b1e4d | 178 | * @param parameter A parameter's register adress. |
| Davidroid | 8:42e0b00b1e4d | 179 | * @retval The parameter's value. |
| Davidroid | 7:f7e0c3621f77 | 180 | * @note The Status Register's flags are cleared, contrary to ReadStatusRegister(). |
| Davidroid | 7:f7e0c3621f77 | 181 | * parameter can be one of the following: |
| Davidroid | 7:f7e0c3621f77 | 182 | * + L6474_ABS_POS |
| Davidroid | 7:f7e0c3621f77 | 183 | * + L6474_EL_POS |
| Davidroid | 7:f7e0c3621f77 | 184 | * + L6474_MARK |
| Davidroid | 7:f7e0c3621f77 | 185 | * + L6474_RESERVED_REG01 |
| Davidroid | 7:f7e0c3621f77 | 186 | * + L6474_RESERVED_REG02 |
| Davidroid | 7:f7e0c3621f77 | 187 | * + L6474_RESERVED_REG03 |
| Davidroid | 7:f7e0c3621f77 | 188 | * + L6474_RESERVED_REG04 |
| Davidroid | 7:f7e0c3621f77 | 189 | * + L6474_RESERVED_REG05 |
| Davidroid | 7:f7e0c3621f77 | 190 | * + L6474_RESERVED_REG06 |
| Davidroid | 7:f7e0c3621f77 | 191 | * + L6474_TVAL |
| Davidroid | 7:f7e0c3621f77 | 192 | * + L6474_RESERVED_REG07 |
| Davidroid | 7:f7e0c3621f77 | 193 | * + L6474_RESERVED_REG08 |
| Davidroid | 7:f7e0c3621f77 | 194 | * + L6474_RESERVED_REG09 |
| Davidroid | 7:f7e0c3621f77 | 195 | * + L6474_RESERVED_REG10 |
| Davidroid | 7:f7e0c3621f77 | 196 | * + L6474_T_FAST |
| Davidroid | 7:f7e0c3621f77 | 197 | * + L6474_TON_MIN |
| Davidroid | 7:f7e0c3621f77 | 198 | * + L6474_TOFF_MIN |
| Davidroid | 7:f7e0c3621f77 | 199 | * + L6474_RESERVED_REG11 |
| Davidroid | 7:f7e0c3621f77 | 200 | * + L6474_ADC_OUT |
| Davidroid | 7:f7e0c3621f77 | 201 | * + L6474_OCD_TH |
| Davidroid | 7:f7e0c3621f77 | 202 | * + L6474_RESERVED_REG12 |
| Davidroid | 7:f7e0c3621f77 | 203 | * + L6474_STEP_MODE |
| Davidroid | 7:f7e0c3621f77 | 204 | * + L6474_ALARM_EN |
| Davidroid | 7:f7e0c3621f77 | 205 | * + L6474_CONFIG |
| Davidroid | 7:f7e0c3621f77 | 206 | * + L6474_STATUS |
| Davidroid | 7:f7e0c3621f77 | 207 | * + L6474_RESERVED_REG13 |
| Davidroid | 7:f7e0c3621f77 | 208 | * + L6474_RESERVED_REG14 |
| Davidroid | 7:f7e0c3621f77 | 209 | * + L6474_INEXISTENT_REG |
| Davidroid | 7:f7e0c3621f77 | 210 | */ |
| Davidroid | 4:83a1eb397a65 | 211 | virtual unsigned int GetParameter(unsigned int parameter) |
| Davidroid | 0:2887415a46cd | 212 | { |
| Davidroid | 7:f7e0c3621f77 | 213 | return (unsigned int) L6474_CmdGetParam((L6474_Registers_t) parameter); |
| Davidroid | 4:83a1eb397a65 | 214 | } |
| Davidroid | 4:83a1eb397a65 | 215 | |
| Davidroid | 8:42e0b00b1e4d | 216 | /** |
| Davidroid | 8:42e0b00b1e4d | 217 | * @brief Getting the position. |
| Davidroid | 8:42e0b00b1e4d | 218 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 219 | * @retval The position. |
| Davidroid | 8:42e0b00b1e4d | 220 | */ |
| Davidroid | 4:83a1eb397a65 | 221 | virtual signed int GetPosition(void) |
| Davidroid | 4:83a1eb397a65 | 222 | { |
| Davidroid | 4:83a1eb397a65 | 223 | return (signed int) L6474_GetPosition(); |
| Davidroid | 0:2887415a46cd | 224 | } |
| Davidroid | 0:2887415a46cd | 225 | |
| Davidroid | 8:42e0b00b1e4d | 226 | /** |
| Davidroid | 8:42e0b00b1e4d | 227 | * @brief Getting the marked position. |
| Davidroid | 8:42e0b00b1e4d | 228 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 229 | * @retval The marked position. |
| Davidroid | 8:42e0b00b1e4d | 230 | */ |
| Davidroid | 4:83a1eb397a65 | 231 | virtual signed int GetMark(void) |
| Davidroid | 0:2887415a46cd | 232 | { |
| Davidroid | 4:83a1eb397a65 | 233 | return (signed int) L6474_GetMark(); |
| Davidroid | 4:83a1eb397a65 | 234 | } |
| Davidroid | 8:42e0b00b1e4d | 235 | |
| Davidroid | 8:42e0b00b1e4d | 236 | /** |
| Davidroid | 8:42e0b00b1e4d | 237 | * @brief Getting the current speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 238 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 239 | * @retval The current speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 240 | */ |
| Davidroid | 4:83a1eb397a65 | 241 | virtual unsigned int GetSpeed(void) |
| Davidroid | 0:2887415a46cd | 242 | { |
| Davidroid | 4:83a1eb397a65 | 243 | return (unsigned int) L6474_GetCurrentSpeed(); |
| Davidroid | 0:2887415a46cd | 244 | } |
| Davidroid | 0:2887415a46cd | 245 | |
| Davidroid | 8:42e0b00b1e4d | 246 | /** |
| Davidroid | 8:42e0b00b1e4d | 247 | * @brief Getting the maximum speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 248 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 249 | * @retval The maximum speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 250 | */ |
| Davidroid | 4:83a1eb397a65 | 251 | virtual unsigned int GetMaxSpeed(void) |
| Davidroid | 4:83a1eb397a65 | 252 | { |
| Davidroid | 4:83a1eb397a65 | 253 | return (unsigned int) L6474_GetMaxSpeed(); |
| Davidroid | 4:83a1eb397a65 | 254 | } |
| Davidroid | 4:83a1eb397a65 | 255 | |
| Davidroid | 8:42e0b00b1e4d | 256 | /** |
| Davidroid | 8:42e0b00b1e4d | 257 | * @brief Getting the minimum speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 258 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 259 | * @retval The minimum speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 260 | */ |
| Davidroid | 4:83a1eb397a65 | 261 | virtual unsigned int GetMinSpeed(void) |
| Davidroid | 0:2887415a46cd | 262 | { |
| Davidroid | 4:83a1eb397a65 | 263 | return (unsigned int) L6474_GetMinSpeed(); |
| Davidroid | 4:83a1eb397a65 | 264 | } |
| Davidroid | 4:83a1eb397a65 | 265 | |
| Davidroid | 8:42e0b00b1e4d | 266 | /** |
| Davidroid | 8:42e0b00b1e4d | 267 | * @brief Getting the acceleration in pps^2. |
| Davidroid | 8:42e0b00b1e4d | 268 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 269 | * @retval The acceleration in pps^2. |
| Davidroid | 8:42e0b00b1e4d | 270 | */ |
| Davidroid | 4:83a1eb397a65 | 271 | virtual unsigned int GetAcceleration(void) |
| Davidroid | 4:83a1eb397a65 | 272 | { |
| Davidroid | 4:83a1eb397a65 | 273 | return (unsigned int) L6474_GetAcceleration(); |
| Davidroid | 0:2887415a46cd | 274 | } |
| Davidroid | 0:2887415a46cd | 275 | |
| Davidroid | 8:42e0b00b1e4d | 276 | /** |
| Davidroid | 8:42e0b00b1e4d | 277 | * @brief Getting the deceleration in pps^2. |
| Davidroid | 8:42e0b00b1e4d | 278 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 279 | * @retval The deceleration in pps^2. |
| Davidroid | 8:42e0b00b1e4d | 280 | */ |
| Davidroid | 4:83a1eb397a65 | 281 | virtual unsigned int GetDeceleration(void) |
| Davidroid | 0:2887415a46cd | 282 | { |
| Davidroid | 4:83a1eb397a65 | 283 | return (unsigned int) L6474_GetDeceleration(); |
| Davidroid | 0:2887415a46cd | 284 | } |
| Davidroid | 0:2887415a46cd | 285 | |
| Davidroid | 8:42e0b00b1e4d | 286 | /** |
| Davidroid | 8:42e0b00b1e4d | 287 | * @brief Getting the direction of rotation. |
| Davidroid | 8:42e0b00b1e4d | 288 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 289 | * @retval The direction of rotation. |
| Davidroid | 8:42e0b00b1e4d | 290 | */ |
| Davidroid | 5:d3c78f12a78d | 291 | virtual direction_t GetDirection(void) |
| Davidroid | 5:d3c78f12a78d | 292 | { |
| Davidroid | 5:d3c78f12a78d | 293 | return (direction_t) (L6474_GetDirection() == FORWARD ? StepperMotor::FWD : StepperMotor::BWD); |
| Davidroid | 5:d3c78f12a78d | 294 | } |
| Davidroid | 5:d3c78f12a78d | 295 | |
| Davidroid | 7:f7e0c3621f77 | 296 | /** |
| Davidroid | 7:f7e0c3621f77 | 297 | * @brief Setting a parameter. |
| Davidroid | 8:42e0b00b1e4d | 298 | * @param parameter A parameter's register adress. |
| Davidroid | 8:42e0b00b1e4d | 299 | * @param value The parameter's value. |
| Davidroid | 7:f7e0c3621f77 | 300 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 301 | * @note parameter can be one of the following: |
| Davidroid | 7:f7e0c3621f77 | 302 | * + L6474_ABS_POS |
| Davidroid | 7:f7e0c3621f77 | 303 | * + L6474_EL_POS |
| Davidroid | 7:f7e0c3621f77 | 304 | * + L6474_MARK |
| Davidroid | 7:f7e0c3621f77 | 305 | * + L6474_RESERVED_REG01 |
| Davidroid | 7:f7e0c3621f77 | 306 | * + L6474_RESERVED_REG02 |
| Davidroid | 7:f7e0c3621f77 | 307 | * + L6474_RESERVED_REG03 |
| Davidroid | 7:f7e0c3621f77 | 308 | * + L6474_RESERVED_REG04 |
| Davidroid | 7:f7e0c3621f77 | 309 | * + L6474_RESERVED_REG05 |
| Davidroid | 7:f7e0c3621f77 | 310 | * + L6474_RESERVED_REG06 |
| Davidroid | 7:f7e0c3621f77 | 311 | * + L6474_TVAL |
| Davidroid | 7:f7e0c3621f77 | 312 | * + L6474_RESERVED_REG07 |
| Davidroid | 7:f7e0c3621f77 | 313 | * + L6474_RESERVED_REG08 |
| Davidroid | 7:f7e0c3621f77 | 314 | * + L6474_RESERVED_REG09 |
| Davidroid | 7:f7e0c3621f77 | 315 | * + L6474_RESERVED_REG10 |
| Davidroid | 7:f7e0c3621f77 | 316 | * + L6474_T_FAST |
| Davidroid | 7:f7e0c3621f77 | 317 | * + L6474_TON_MIN |
| Davidroid | 7:f7e0c3621f77 | 318 | * + L6474_TOFF_MIN |
| Davidroid | 7:f7e0c3621f77 | 319 | * + L6474_RESERVED_REG11 |
| Davidroid | 7:f7e0c3621f77 | 320 | * + L6474_ADC_OUT |
| Davidroid | 7:f7e0c3621f77 | 321 | * + L6474_OCD_TH |
| Davidroid | 7:f7e0c3621f77 | 322 | * + L6474_RESERVED_REG12 |
| Davidroid | 7:f7e0c3621f77 | 323 | * + L6474_STEP_MODE |
| Davidroid | 7:f7e0c3621f77 | 324 | * + L6474_ALARM_EN |
| Davidroid | 7:f7e0c3621f77 | 325 | * + L6474_CONFIG |
| Davidroid | 7:f7e0c3621f77 | 326 | * + L6474_STATUS |
| Davidroid | 7:f7e0c3621f77 | 327 | * + L6474_RESERVED_REG13 |
| Davidroid | 7:f7e0c3621f77 | 328 | * + L6474_RESERVED_REG14 |
| Davidroid | 7:f7e0c3621f77 | 329 | * + L6474_INEXISTENT_REG |
| Davidroid | 7:f7e0c3621f77 | 330 | */ |
| Davidroid | 4:83a1eb397a65 | 331 | virtual void SetParameter(unsigned int parameter, unsigned int value) |
| Davidroid | 0:2887415a46cd | 332 | { |
| Davidroid | 7:f7e0c3621f77 | 333 | L6474_CmdSetParam((L6474_Registers_t) parameter, (unsigned int) value); |
| Davidroid | 0:2887415a46cd | 334 | } |
| Davidroid | 0:2887415a46cd | 335 | |
| Davidroid | 8:42e0b00b1e4d | 336 | /** |
| Davidroid | 8:42e0b00b1e4d | 337 | * @brief Setting the current position to be the home position. |
| Davidroid | 8:42e0b00b1e4d | 338 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 339 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 340 | */ |
| Davidroid | 4:83a1eb397a65 | 341 | virtual void SetHome(void) |
| Davidroid | 0:2887415a46cd | 342 | { |
| Davidroid | 4:83a1eb397a65 | 343 | L6474_SetHome(); |
| Davidroid | 4:83a1eb397a65 | 344 | } |
| Davidroid | 4:83a1eb397a65 | 345 | |
| Davidroid | 8:42e0b00b1e4d | 346 | /** |
| Davidroid | 8:42e0b00b1e4d | 347 | * @brief Setting the current position to be the marked position. |
| Davidroid | 8:42e0b00b1e4d | 348 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 349 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 350 | */ |
| Davidroid | 4:83a1eb397a65 | 351 | virtual void SetMark(void) |
| Davidroid | 4:83a1eb397a65 | 352 | { |
| Davidroid | 4:83a1eb397a65 | 353 | L6474_SetMark(); |
| Davidroid | 0:2887415a46cd | 354 | } |
| Davidroid | 0:2887415a46cd | 355 | |
| Davidroid | 8:42e0b00b1e4d | 356 | /** |
| Davidroid | 8:42e0b00b1e4d | 357 | * @brief Setting the maximum speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 358 | * @param speed The maximum speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 359 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 360 | */ |
| Davidroid | 4:83a1eb397a65 | 361 | virtual void SetMaxSpeed(unsigned int speed) |
| Davidroid | 4:83a1eb397a65 | 362 | { |
| Davidroid | 4:83a1eb397a65 | 363 | L6474_SetMaxSpeed((unsigned int) speed); |
| Davidroid | 0:2887415a46cd | 364 | } |
| Davidroid | 0:2887415a46cd | 365 | |
| Davidroid | 8:42e0b00b1e4d | 366 | /** |
| Davidroid | 8:42e0b00b1e4d | 367 | * @brief Setting the minimum speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 368 | * @param speed The minimum speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 369 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 370 | */ |
| Davidroid | 4:83a1eb397a65 | 371 | virtual void SetMinSpeed(unsigned int speed) |
| Davidroid | 0:2887415a46cd | 372 | { |
| Davidroid | 4:83a1eb397a65 | 373 | L6474_SetMinSpeed((unsigned int) speed); |
| Davidroid | 0:2887415a46cd | 374 | } |
| Davidroid | 0:2887415a46cd | 375 | |
| Davidroid | 8:42e0b00b1e4d | 376 | /** |
| Davidroid | 8:42e0b00b1e4d | 377 | * @brief Setting the acceleration in pps^2. |
| Davidroid | 8:42e0b00b1e4d | 378 | * @param acceleration The acceleration in pps^2. |
| Davidroid | 8:42e0b00b1e4d | 379 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 380 | */ |
| Davidroid | 4:83a1eb397a65 | 381 | virtual void SetAcceleration(unsigned int acceleration) |
| Davidroid | 0:2887415a46cd | 382 | { |
| Davidroid | 4:83a1eb397a65 | 383 | L6474_SetAcceleration((unsigned int) acceleration); |
| Davidroid | 0:2887415a46cd | 384 | } |
| Davidroid | 0:2887415a46cd | 385 | |
| Davidroid | 8:42e0b00b1e4d | 386 | /** |
| Davidroid | 8:42e0b00b1e4d | 387 | * @brief Setting the deceleration in pps^2. |
| Davidroid | 8:42e0b00b1e4d | 388 | * @param deceleration The deceleration in pps^2. |
| Davidroid | 8:42e0b00b1e4d | 389 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 390 | */ |
| Davidroid | 4:83a1eb397a65 | 391 | virtual void SetDeceleration(unsigned int deceleration) |
| Davidroid | 0:2887415a46cd | 392 | { |
| Davidroid | 4:83a1eb397a65 | 393 | L6474_SetDeceleration((unsigned int) deceleration); |
| Davidroid | 4:83a1eb397a65 | 394 | } |
| Davidroid | 4:83a1eb397a65 | 395 | |
| Davidroid | 8:42e0b00b1e4d | 396 | /** |
| Davidroid | 8:42e0b00b1e4d | 397 | * @brief Going to a specified position. |
| Davidroid | 8:42e0b00b1e4d | 398 | * @param position The desired position. |
| Davidroid | 8:42e0b00b1e4d | 399 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 400 | */ |
| Davidroid | 4:83a1eb397a65 | 401 | virtual void GoTo(signed int position) |
| Davidroid | 4:83a1eb397a65 | 402 | { |
| Davidroid | 4:83a1eb397a65 | 403 | L6474_GoTo((signed int) position); |
| Davidroid | 0:2887415a46cd | 404 | } |
| Davidroid | 0:2887415a46cd | 405 | |
| Davidroid | 8:42e0b00b1e4d | 406 | /** |
| Davidroid | 8:42e0b00b1e4d | 407 | * @brief Going to the home position. |
| Davidroid | 8:42e0b00b1e4d | 408 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 409 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 410 | */ |
| Davidroid | 0:2887415a46cd | 411 | virtual void GoHome(void) |
| Davidroid | 0:2887415a46cd | 412 | { |
| Davidroid | 0:2887415a46cd | 413 | L6474_GoHome(); |
| Davidroid | 0:2887415a46cd | 414 | } |
| Davidroid | 0:2887415a46cd | 415 | |
| Davidroid | 8:42e0b00b1e4d | 416 | /** |
| Davidroid | 8:42e0b00b1e4d | 417 | * @brief Going to the marked position. |
| Davidroid | 8:42e0b00b1e4d | 418 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 419 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 420 | */ |
| Davidroid | 0:2887415a46cd | 421 | virtual void GoMark(void) |
| Davidroid | 0:2887415a46cd | 422 | { |
| Davidroid | 0:2887415a46cd | 423 | L6474_GoMark(); |
| Davidroid | 0:2887415a46cd | 424 | } |
| Davidroid | 0:2887415a46cd | 425 | |
| Davidroid | 8:42e0b00b1e4d | 426 | /** |
| Davidroid | 8:42e0b00b1e4d | 427 | * @brief Running the motor towards a specified direction. |
| Davidroid | 8:42e0b00b1e4d | 428 | * @param direction The direction of rotation. |
| Davidroid | 8:42e0b00b1e4d | 429 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 430 | */ |
| Davidroid | 4:83a1eb397a65 | 431 | virtual void Run(direction_t direction) |
| Davidroid | 4:83a1eb397a65 | 432 | { |
| Davidroid | 5:d3c78f12a78d | 433 | L6474_Run((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD)); |
| Davidroid | 4:83a1eb397a65 | 434 | } |
| Davidroid | 4:83a1eb397a65 | 435 | |
| Davidroid | 8:42e0b00b1e4d | 436 | /** |
| Davidroid | 8:42e0b00b1e4d | 437 | * @brief Moving the motor towards a specified direction for a certain number of steps. |
| Davidroid | 8:42e0b00b1e4d | 438 | * @param direction The direction of rotation. |
| Davidroid | 8:42e0b00b1e4d | 439 | * @param steps The desired number of steps. |
| Davidroid | 8:42e0b00b1e4d | 440 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 441 | */ |
| Davidroid | 4:83a1eb397a65 | 442 | virtual void Move(direction_t direction, unsigned int steps) |
| Davidroid | 0:2887415a46cd | 443 | { |
| Davidroid | 5:d3c78f12a78d | 444 | L6474_Move((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), (unsigned int) steps); |
| Davidroid | 4:83a1eb397a65 | 445 | } |
| Davidroid | 4:83a1eb397a65 | 446 | |
| Davidroid | 8:42e0b00b1e4d | 447 | /** |
| Davidroid | 8:42e0b00b1e4d | 448 | * @brief Stopping the motor. |
| Davidroid | 8:42e0b00b1e4d | 449 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 450 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 451 | */ |
| Davidroid | 4:83a1eb397a65 | 452 | virtual void SoftStop(void) |
| Davidroid | 4:83a1eb397a65 | 453 | { |
| Davidroid | 4:83a1eb397a65 | 454 | L6474_SoftStop(); |
| Davidroid | 0:2887415a46cd | 455 | } |
| Davidroid | 0:2887415a46cd | 456 | |
| Davidroid | 8:42e0b00b1e4d | 457 | /** |
| Davidroid | 8:42e0b00b1e4d | 458 | * @brief Stopping the motor and disabling the power bridge. |
| Davidroid | 8:42e0b00b1e4d | 459 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 460 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 461 | */ |
| Davidroid | 0:2887415a46cd | 462 | virtual void HardStop(void) |
| Davidroid | 0:2887415a46cd | 463 | { |
| Davidroid | 0:2887415a46cd | 464 | L6474_HardStop(); |
| Davidroid | 0:2887415a46cd | 465 | } |
| Davidroid | 0:2887415a46cd | 466 | |
| Davidroid | 8:42e0b00b1e4d | 467 | /** |
| Davidroid | 8:42e0b00b1e4d | 468 | * @brief Waiting while the motor is active. |
| Davidroid | 8:42e0b00b1e4d | 469 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 470 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 471 | */ |
| Davidroid | 7:f7e0c3621f77 | 472 | virtual void WaitWhileActive(void) |
| Davidroid | 7:f7e0c3621f77 | 473 | { |
| Davidroid | 7:f7e0c3621f77 | 474 | L6474_WaitWhileActive(); |
| Davidroid | 7:f7e0c3621f77 | 475 | } |
| Davidroid | 7:f7e0c3621f77 | 476 | |
| Davidroid | 7:f7e0c3621f77 | 477 | /** |
| Davidroid | 7:f7e0c3621f77 | 478 | * @brief Getting the device state. |
| Davidroid | 7:f7e0c3621f77 | 479 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 480 | * @retval The device state. |
| Davidroid | 7:f7e0c3621f77 | 481 | * @note The device state can be one of the following: |
| Davidroid | 7:f7e0c3621f77 | 482 | * + ACCELERATING |
| Davidroid | 7:f7e0c3621f77 | 483 | * + DECELERATING |
| Davidroid | 7:f7e0c3621f77 | 484 | * + STEADY |
| Davidroid | 7:f7e0c3621f77 | 485 | * + INACTIVE |
| Davidroid | 7:f7e0c3621f77 | 486 | */ |
| Davidroid | 4:83a1eb397a65 | 487 | virtual motorState_t GetDeviceState(void) |
| Davidroid | 0:2887415a46cd | 488 | { |
| Davidroid | 4:83a1eb397a65 | 489 | return (motorState_t) L6474_GetDeviceState(); |
| Davidroid | 0:2887415a46cd | 490 | } |
| Davidroid | 0:2887415a46cd | 491 | |
| Davidroid | 7:f7e0c3621f77 | 492 | /** |
| Davidroid | 7:f7e0c3621f77 | 493 | * @brief Reading the Status Register. |
| Davidroid | 7:f7e0c3621f77 | 494 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 495 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 496 | * @note The Status Register's flags are not cleared, contrary to GetStatus(). |
| Davidroid | 7:f7e0c3621f77 | 497 | */ |
| Davidroid | 0:2887415a46cd | 498 | virtual uint16_t ReadStatusRegister(void) |
| Davidroid | 0:2887415a46cd | 499 | { |
| Davidroid | 0:2887415a46cd | 500 | return (uint16_t) L6474_ReadStatusRegister(); |
| Davidroid | 0:2887415a46cd | 501 | } |
| Davidroid | 0:2887415a46cd | 502 | |
| Davidroid | 7:f7e0c3621f77 | 503 | /** |
| Davidroid | 8:42e0b00b1e4d | 504 | * @brief Setting the Step Mode. |
| Davidroid | 8:42e0b00b1e4d | 505 | * @param step_mode The Step Mode. |
| Davidroid | 7:f7e0c3621f77 | 506 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 507 | * @note step_mode can be one of the following: |
| Davidroid | 7:f7e0c3621f77 | 508 | * + STEP_MODE_FULL |
| Davidroid | 7:f7e0c3621f77 | 509 | * + STEP_MODE_HALF |
| Davidroid | 7:f7e0c3621f77 | 510 | * + STEP_MODE_1_4 |
| Davidroid | 7:f7e0c3621f77 | 511 | * + STEP_MODE_1_8 |
| Davidroid | 7:f7e0c3621f77 | 512 | * + STEP_MODE_1_16 |
| Davidroid | 7:f7e0c3621f77 | 513 | * + STEP_MODE_1_32 |
| Davidroid | 7:f7e0c3621f77 | 514 | * + STEP_MODE_1_64 |
| Davidroid | 7:f7e0c3621f77 | 515 | * + STEP_MODE_1_128 |
| Davidroid | 7:f7e0c3621f77 | 516 | */ |
| Davidroid | 8:42e0b00b1e4d | 517 | virtual void SetStepMode(motorStepMode_t step_mode) |
| Davidroid | 0:2887415a46cd | 518 | { |
| Davidroid | 7:f7e0c3621f77 | 519 | L6474_SelectStepMode((motorStepMode_t) step_mode); |
| Davidroid | 0:2887415a46cd | 520 | } |
| Davidroid | 0:2887415a46cd | 521 | |
| Davidroid | 7:f7e0c3621f77 | 522 | /** |
| Davidroid | 7:f7e0c3621f77 | 523 | * @brief Attaching an error handler. |
| Davidroid | 8:42e0b00b1e4d | 524 | * @param fptr An error handler. |
| Davidroid | 7:f7e0c3621f77 | 525 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 526 | */ |
| Davidroid | 7:f7e0c3621f77 | 527 | virtual void AttachErrorHandler(void (*fptr)(uint16_t error)) |
| Davidroid | 4:83a1eb397a65 | 528 | { |
| Davidroid | 7:f7e0c3621f77 | 529 | L6474_AttachErrorHandler((void (*)(uint16_t error)) fptr); |
| Davidroid | 4:83a1eb397a65 | 530 | } |
| Davidroid | 4:83a1eb397a65 | 531 | |
| Davidroid | 9:6f116ce8e314 | 532 | /** |
| Davidroid | 8:42e0b00b1e4d | 533 | * @brief Enabling the device. |
| Davidroid | 8:42e0b00b1e4d | 534 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 535 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 536 | */ |
| Davidroid | 8:42e0b00b1e4d | 537 | virtual void Enable(void) |
| Davidroid | 8:42e0b00b1e4d | 538 | { |
| Davidroid | 8:42e0b00b1e4d | 539 | L6474_CmdEnable(); |
| Davidroid | 8:42e0b00b1e4d | 540 | } |
| Davidroid | 8:42e0b00b1e4d | 541 | |
| Davidroid | 9:6f116ce8e314 | 542 | /** |
| Davidroid | 8:42e0b00b1e4d | 543 | * @brief Disabling the device. |
| Davidroid | 8:42e0b00b1e4d | 544 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 545 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 546 | */ |
| Davidroid | 8:42e0b00b1e4d | 547 | virtual void Disable(void) |
| Davidroid | 8:42e0b00b1e4d | 548 | { |
| Davidroid | 8:42e0b00b1e4d | 549 | L6474_CmdDisable(); |
| Davidroid | 8:42e0b00b1e4d | 550 | } |
| Davidroid | 8:42e0b00b1e4d | 551 | |
| Davidroid | 9:6f116ce8e314 | 552 | /** |
| Davidroid | 9:6f116ce8e314 | 553 | * @brief Getting the version of the firmware. |
| Davidroid | 9:6f116ce8e314 | 554 | * @param None. |
| Davidroid | 9:6f116ce8e314 | 555 | * @retval The version of the firmware. |
| Davidroid | 9:6f116ce8e314 | 556 | */ |
| Davidroid | 9:6f116ce8e314 | 557 | virtual uint8_t GetFwVersion(void) |
| Davidroid | 9:6f116ce8e314 | 558 | { |
| Davidroid | 9:6f116ce8e314 | 559 | return (uint8_t) L6474_GetFwVersion(); |
| Davidroid | 9:6f116ce8e314 | 560 | } |
| Davidroid | 9:6f116ce8e314 | 561 | |
| Davidroid | 0:2887415a46cd | 562 | |
| Davidroid | 0:2887415a46cd | 563 | /*** Public Interrupt Related Methods ***/ |
| Davidroid | 0:2887415a46cd | 564 | |
| Davidroid | 0:2887415a46cd | 565 | /* ACTION 6 --------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 566 | * Implement here interrupt related methods, if any. * |
| Davidroid | 0:2887415a46cd | 567 | * Note that interrupt handling is platform dependent, e.g.: * |
| Davidroid | 0:2887415a46cd | 568 | * + mbed: * |
| Davidroid | 7:f7e0c3621f77 | 569 | * InterruptIn feature_irq(pin); //Interrupt object. * |
| Davidroid | 7:f7e0c3621f77 | 570 | * feature_irq.rise(callback); //Attach a callback. * |
| Davidroid | 7:f7e0c3621f77 | 571 | * feature_irq.mode(PullNone); //Set interrupt mode. * |
| Davidroid | 7:f7e0c3621f77 | 572 | * feature_irq.enable_irq(); //Enable interrupt. * |
| Davidroid | 7:f7e0c3621f77 | 573 | * feature_irq.disable_irq(); //Disable interrupt. * |
| Davidroid | 0:2887415a46cd | 574 | * + Arduino: * |
| Davidroid | 0:2887415a46cd | 575 | * attachInterrupt(pin, callback, RISING); //Attach a callback. * |
| Davidroid | 0:2887415a46cd | 576 | * detachInterrupt(pin); //Detach a callback. * |
| Davidroid | 0:2887415a46cd | 577 | * * |
| Davidroid | 0:2887415a46cd | 578 | * Example (mbed): * |
| Davidroid | 7:f7e0c3621f77 | 579 | * void AttachFeatureIRQ(void (*fptr) (void)) * |
| Davidroid | 0:2887415a46cd | 580 | * { * |
| Davidroid | 7:f7e0c3621f77 | 581 | * feature_irq.rise(fptr); * |
| Davidroid | 7:f7e0c3621f77 | 582 | * } * |
| Davidroid | 7:f7e0c3621f77 | 583 | * * |
| Davidroid | 7:f7e0c3621f77 | 584 | * void EnableFeatureIRQ(void) * |
| Davidroid | 7:f7e0c3621f77 | 585 | * { * |
| Davidroid | 7:f7e0c3621f77 | 586 | * feature_irq.enable_irq(); * |
| Davidroid | 0:2887415a46cd | 587 | * } * |
| Davidroid | 0:2887415a46cd | 588 | * * |
| Davidroid | 7:f7e0c3621f77 | 589 | * void DisableFeatureIRQ(void) * |
| Davidroid | 0:2887415a46cd | 590 | * { * |
| Davidroid | 7:f7e0c3621f77 | 591 | * feature_irq.disable_irq(); * |
| Davidroid | 0:2887415a46cd | 592 | * } * |
| Davidroid | 0:2887415a46cd | 593 | *------------------------------------------------------------------------*/ |
| Davidroid | 7:f7e0c3621f77 | 594 | /** |
| Davidroid | 8:42e0b00b1e4d | 595 | * @brief Attaching an interrupt handler to the FLAG interrupt. |
| Davidroid | 8:42e0b00b1e4d | 596 | * @param fptr An interrupt handler. |
| Davidroid | 7:f7e0c3621f77 | 597 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 598 | */ |
| Davidroid | 7:f7e0c3621f77 | 599 | void AttachFlagIRQ(void (*fptr)(void)) |
| Davidroid | 7:f7e0c3621f77 | 600 | { |
| Davidroid | 7:f7e0c3621f77 | 601 | flag_irq.rise(fptr); |
| Davidroid | 7:f7e0c3621f77 | 602 | } |
| Davidroid | 7:f7e0c3621f77 | 603 | |
| Davidroid | 7:f7e0c3621f77 | 604 | /** |
| Davidroid | 8:42e0b00b1e4d | 605 | * @brief Enabling the FLAG interrupt handling. |
| Davidroid | 7:f7e0c3621f77 | 606 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 607 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 608 | */ |
| Davidroid | 7:f7e0c3621f77 | 609 | void EnableFlagIRQ(void) |
| Davidroid | 7:f7e0c3621f77 | 610 | { |
| Davidroid | 7:f7e0c3621f77 | 611 | flag_irq.enable_irq(); |
| Davidroid | 7:f7e0c3621f77 | 612 | } |
| Davidroid | 7:f7e0c3621f77 | 613 | |
| Davidroid | 7:f7e0c3621f77 | 614 | /** |
| Davidroid | 8:42e0b00b1e4d | 615 | * @brief Disabling the FLAG interrupt handling. |
| Davidroid | 7:f7e0c3621f77 | 616 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 617 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 618 | */ |
| Davidroid | 7:f7e0c3621f77 | 619 | void DisableFlagIRQ(void) |
| Davidroid | 7:f7e0c3621f77 | 620 | { |
| Davidroid | 7:f7e0c3621f77 | 621 | flag_irq.disable_irq(); |
| Davidroid | 7:f7e0c3621f77 | 622 | } |
| Davidroid | 0:2887415a46cd | 623 | |
| Davidroid | 0:2887415a46cd | 624 | |
| Davidroid | 0:2887415a46cd | 625 | protected: |
| Davidroid | 0:2887415a46cd | 626 | |
| Davidroid | 0:2887415a46cd | 627 | /*** Protected Component Related Methods ***/ |
| Davidroid | 0:2887415a46cd | 628 | |
| Davidroid | 0:2887415a46cd | 629 | /* ACTION 7 --------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 630 | * Declare here the component's specific methods. * |
| Davidroid | 0:2887415a46cd | 631 | * They should be: * |
| Davidroid | 0:2887415a46cd | 632 | * + Methods with the same name of the C component's virtual table's * |
| Davidroid | 0:2887415a46cd | 633 | * functions (1); * |
| Davidroid | 0:2887415a46cd | 634 | * + Methods with the same name of the C component's extended virtual * |
| Davidroid | 0:2887415a46cd | 635 | * table's functions, if any (2); * |
| Davidroid | 0:2887415a46cd | 636 | * + Helper methods, if any, like functions declared in the component's * |
| Davidroid | 0:2887415a46cd | 637 | * source files but not pointed by the component's virtual table (3). * |
| Davidroid | 0:2887415a46cd | 638 | * * |
| Davidroid | 0:2887415a46cd | 639 | * Example: * |
| Davidroid | 0:2887415a46cd | 640 | * DrvStatusTypeDef COMPONENT_GetValue(float* pfData); //(1) * |
| Davidroid | 0:2887415a46cd | 641 | * DrvStatusTypeDef COMPONENT_EnableFeature(void); //(2) * |
| Davidroid | 0:2887415a46cd | 642 | * DrvStatusTypeDef COMPONENT_ComputeAverage(void); //(3) * |
| Davidroid | 0:2887415a46cd | 643 | *------------------------------------------------------------------------*/ |
| Davidroid | 7:f7e0c3621f77 | 644 | void L6474_AttachErrorHandler(void (*callback)(uint16_t error)); |
| Davidroid | 7:f7e0c3621f77 | 645 | DrvStatusTypeDef L6474_Init(MOTOR_InitTypeDef *init); |
| Davidroid | 7:f7e0c3621f77 | 646 | DrvStatusTypeDef L6474_ReadID(uint8_t *id); |
| Davidroid | 7:f7e0c3621f77 | 647 | uint16_t L6474_GetAcceleration(void); |
| Davidroid | 7:f7e0c3621f77 | 648 | uint16_t L6474_GetCurrentSpeed(void); |
| Davidroid | 7:f7e0c3621f77 | 649 | uint16_t L6474_GetDeceleration(void); |
| Davidroid | 7:f7e0c3621f77 | 650 | motorState_t L6474_GetDeviceState(void); |
| Davidroid | 7:f7e0c3621f77 | 651 | uint8_t L6474_GetFwVersion(void); |
| Davidroid | 7:f7e0c3621f77 | 652 | int32_t L6474_GetMark(void); |
| Davidroid | 7:f7e0c3621f77 | 653 | uint16_t L6474_GetMaxSpeed(void); |
| Davidroid | 7:f7e0c3621f77 | 654 | uint16_t L6474_GetMinSpeed(void); |
| Davidroid | 7:f7e0c3621f77 | 655 | int32_t L6474_GetPosition(void); |
| Davidroid | 7:f7e0c3621f77 | 656 | void L6474_GoHome(void); |
| Davidroid | 7:f7e0c3621f77 | 657 | void L6474_GoMark(void); |
| Davidroid | 7:f7e0c3621f77 | 658 | void L6474_GoTo(int32_t targetPosition); |
| Davidroid | 7:f7e0c3621f77 | 659 | void L6474_HardStop(void); |
| Davidroid | 7:f7e0c3621f77 | 660 | void L6474_Move(motorDir_t direction, uint32_t stepCount); |
| Davidroid | 7:f7e0c3621f77 | 661 | void L6474_Run(motorDir_t direction); |
| Davidroid | 7:f7e0c3621f77 | 662 | bool L6474_SetAcceleration(uint16_t newAcc); |
| Davidroid | 7:f7e0c3621f77 | 663 | bool L6474_SetDeceleration(uint16_t newDec); |
| Davidroid | 7:f7e0c3621f77 | 664 | void L6474_SetHome(void); |
| Davidroid | 7:f7e0c3621f77 | 665 | void L6474_SetMark(void); |
| Davidroid | 7:f7e0c3621f77 | 666 | bool L6474_SetMaxSpeed(uint16_t newMaxSpeed); |
| Davidroid | 7:f7e0c3621f77 | 667 | bool L6474_SetMinSpeed(uint16_t newMinSpeed); |
| Davidroid | 7:f7e0c3621f77 | 668 | bool L6474_SoftStop(void); |
| Davidroid | 7:f7e0c3621f77 | 669 | void L6474_WaitWhileActive(void); |
| Davidroid | 7:f7e0c3621f77 | 670 | void L6474_CmdDisable(void); |
| Davidroid | 7:f7e0c3621f77 | 671 | void L6474_CmdEnable(void); |
| Davidroid | 7:f7e0c3621f77 | 672 | uint32_t L6474_CmdGetParam(L6474_Registers_t parameter); |
| Davidroid | 7:f7e0c3621f77 | 673 | uint16_t L6474_CmdGetStatus(void); |
| Davidroid | 7:f7e0c3621f77 | 674 | void L6474_CmdNop(void); |
| Davidroid | 7:f7e0c3621f77 | 675 | void L6474_CmdSetParam(L6474_Registers_t parameter, uint32_t value); |
| Davidroid | 7:f7e0c3621f77 | 676 | uint16_t L6474_ReadStatusRegister(void); |
| Davidroid | 7:f7e0c3621f77 | 677 | void L6474_SelectStepMode(motorStepMode_t stepMod); |
| Davidroid | 7:f7e0c3621f77 | 678 | motorDir_t L6474_GetDirection(void); |
| Davidroid | 7:f7e0c3621f77 | 679 | void L6474_SetDirection(motorDir_t direction); |
| Davidroid | 0:2887415a46cd | 680 | void L6474_ApplySpeed(uint16_t newSpeed); |
| Davidroid | 0:2887415a46cd | 681 | void L6474_ComputeSpeedProfile(uint32_t nbSteps); |
| Davidroid | 7:f7e0c3621f77 | 682 | int32_t L6474_ConvertPosition(uint32_t abs_position_reg); |
| Davidroid | 0:2887415a46cd | 683 | void L6474_ErrorHandler(uint16_t error); |
| Davidroid | 0:2887415a46cd | 684 | void L6474_SendCommand(uint8_t param); |
| Davidroid | 0:2887415a46cd | 685 | void L6474_SetRegisterToPredefinedValues(void); |
| Davidroid | 7:f7e0c3621f77 | 686 | void L6474_WriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte); |
| Davidroid | 0:2887415a46cd | 687 | void L6474_SetDeviceParamsToPredefinedValues(void); |
| Davidroid | 0:2887415a46cd | 688 | void L6474_StartMovement(void); |
| Davidroid | 7:f7e0c3621f77 | 689 | void L6474_StepClockHandler(void); |
| Davidroid | 0:2887415a46cd | 690 | uint8_t L6474_Tval_Current_to_Par(double Tval); |
| Davidroid | 0:2887415a46cd | 691 | uint8_t L6474_Tmin_Time_to_Par(double Tmin); |
| Davidroid | 0:2887415a46cd | 692 | |
| Davidroid | 0:2887415a46cd | 693 | |
| Davidroid | 0:2887415a46cd | 694 | /*** Component's I/O Methods ***/ |
| Davidroid | 0:2887415a46cd | 695 | |
| Davidroid | 0:2887415a46cd | 696 | /** |
| Davidroid | 0:2887415a46cd | 697 | * @brief Utility function to read data from L6474. |
| Davidroid | 0:2887415a46cd | 698 | * @param[out] pBuffer pointer to the buffer to read data into. |
| Davidroid | 0:2887415a46cd | 699 | * @param[in] NumBytesToRead number of bytes to read. |
| Davidroid | 0:2887415a46cd | 700 | * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise. |
| Davidroid | 0:2887415a46cd | 701 | */ |
| Davidroid | 0:2887415a46cd | 702 | DrvStatusTypeDef Read(uint8_t* pBuffer, uint16_t NumBytesToRead) |
| Davidroid | 0:2887415a46cd | 703 | { |
| Davidroid | 0:2887415a46cd | 704 | if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0) |
| Davidroid | 0:2887415a46cd | 705 | return COMPONENT_ERROR; |
| Davidroid | 0:2887415a46cd | 706 | return COMPONENT_OK; |
| Davidroid | 0:2887415a46cd | 707 | } |
| Davidroid | 0:2887415a46cd | 708 | |
| Davidroid | 0:2887415a46cd | 709 | /** |
| Davidroid | 0:2887415a46cd | 710 | * @brief Utility function to write data to L6474. |
| Davidroid | 0:2887415a46cd | 711 | * @param[in] pBuffer pointer to the buffer of data to send. |
| Davidroid | 0:2887415a46cd | 712 | * @param[in] NumBytesToWrite number of bytes to write. |
| Davidroid | 0:2887415a46cd | 713 | * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise. |
| Davidroid | 0:2887415a46cd | 714 | */ |
| Davidroid | 0:2887415a46cd | 715 | DrvStatusTypeDef Write(uint8_t* pBuffer, uint16_t NumBytesToWrite) |
| Davidroid | 0:2887415a46cd | 716 | { |
| Davidroid | 0:2887415a46cd | 717 | if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0) |
| Davidroid | 0:2887415a46cd | 718 | return COMPONENT_ERROR; |
| Davidroid | 0:2887415a46cd | 719 | return COMPONENT_OK; |
| Davidroid | 0:2887415a46cd | 720 | } |
| Davidroid | 0:2887415a46cd | 721 | |
| Davidroid | 0:2887415a46cd | 722 | /** |
| Davidroid | 0:2887415a46cd | 723 | * @brief Utility function to read and write data from/to L6474 at the same time. |
| Davidroid | 0:2887415a46cd | 724 | * @param[out] pBufferToRead pointer to the buffer to read data into. |
| Davidroid | 0:2887415a46cd | 725 | * @param[in] pBufferToWrite pointer to the buffer of data to send. |
| Davidroid | 0:2887415a46cd | 726 | * @param[in] NumBytes number of bytes to read and write. |
| Davidroid | 0:2887415a46cd | 727 | * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise. |
| Davidroid | 0:2887415a46cd | 728 | */ |
| Davidroid | 0:2887415a46cd | 729 | DrvStatusTypeDef ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes) |
| Davidroid | 0:2887415a46cd | 730 | { |
| Davidroid | 0:2887415a46cd | 731 | if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0) |
| Davidroid | 0:2887415a46cd | 732 | return COMPONENT_ERROR; |
| Davidroid | 0:2887415a46cd | 733 | return COMPONENT_OK; |
| Davidroid | 0:2887415a46cd | 734 | } |
| Davidroid | 0:2887415a46cd | 735 | |
| Davidroid | 0:2887415a46cd | 736 | /* ACTION 8 --------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 737 | * Implement here other I/O methods beyond those already implemented * |
| Davidroid | 0:2887415a46cd | 738 | * above, which are declared extern within the component's header file. * |
| Davidroid | 0:2887415a46cd | 739 | *------------------------------------------------------------------------*/ |
| Davidroid | 7:f7e0c3621f77 | 740 | /** |
| Davidroid | 7:f7e0c3621f77 | 741 | * @brief Making the CPU wait. |
| Davidroid | 7:f7e0c3621f77 | 742 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 743 | * @retval None. |
| Davidroid | 0:2887415a46cd | 744 | */ |
| Davidroid | 0:2887415a46cd | 745 | void L6474_Delay(uint32_t delay) |
| Davidroid | 0:2887415a46cd | 746 | { |
| Davidroid | 0:2887415a46cd | 747 | wait_ms(delay); |
| Davidroid | 0:2887415a46cd | 748 | } |
| Davidroid | 0:2887415a46cd | 749 | |
| Davidroid | 7:f7e0c3621f77 | 750 | /** |
| Davidroid | 7:f7e0c3621f77 | 751 | * @brief Enabling interrupts. |
| Davidroid | 7:f7e0c3621f77 | 752 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 753 | * @retval None. |
| Davidroid | 0:2887415a46cd | 754 | */ |
| Davidroid | 0:2887415a46cd | 755 | void L6474_EnableIrq(void) |
| Davidroid | 0:2887415a46cd | 756 | { |
| Davidroid | 0:2887415a46cd | 757 | __enable_irq(); |
| Davidroid | 0:2887415a46cd | 758 | } |
| Davidroid | 0:2887415a46cd | 759 | |
| Davidroid | 7:f7e0c3621f77 | 760 | /** |
| Davidroid | 7:f7e0c3621f77 | 761 | * @brief Disabling interrupts. |
| Davidroid | 7:f7e0c3621f77 | 762 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 763 | * @retval None. |
| Davidroid | 0:2887415a46cd | 764 | */ |
| Davidroid | 0:2887415a46cd | 765 | void L6474_DisableIrq(void) |
| Davidroid | 0:2887415a46cd | 766 | { |
| Davidroid | 0:2887415a46cd | 767 | __disable_irq(); |
| Davidroid | 0:2887415a46cd | 768 | } |
| Davidroid | 0:2887415a46cd | 769 | |
| Davidroid | 7:f7e0c3621f77 | 770 | /** |
| Davidroid | 7:f7e0c3621f77 | 771 | * @brief Setting the frequency of PWM. |
| Davidroid | 7:f7e0c3621f77 | 772 | * The frequency controls directly the speed of the device. |
| Davidroid | 7:f7e0c3621f77 | 773 | * @param newFreq the frequency of PWM. |
| Davidroid | 7:f7e0c3621f77 | 774 | * @retval None. |
| Davidroid | 0:2887415a46cd | 775 | */ |
| Davidroid | 0:2887415a46cd | 776 | void L6474_PwmSetFreq(uint16_t newFreq) |
| Davidroid | 0:2887415a46cd | 777 | { |
| Davidroid | 0:2887415a46cd | 778 | double period = 1.0f / newFreq; |
| Davidroid | 0:2887415a46cd | 779 | pwm.period(period); |
| Davidroid | 0:2887415a46cd | 780 | pwm.write(0.5f); |
| Davidroid | 1:b38ebb8ea286 | 781 | ticker.attach(this, &L6474::L6474_StepClockHandler, period); |
| Davidroid | 0:2887415a46cd | 782 | } |
| Davidroid | 0:2887415a46cd | 783 | |
| Davidroid | 7:f7e0c3621f77 | 784 | /** |
| Davidroid | 7:f7e0c3621f77 | 785 | * @brief Initialising the PWM. |
| Davidroid | 7:f7e0c3621f77 | 786 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 787 | * @retval None. |
| Davidroid | 0:2887415a46cd | 788 | */ |
| Davidroid | 7:f7e0c3621f77 | 789 | void L6474_PwmInit(void) {} |
| Davidroid | 0:2887415a46cd | 790 | |
| Davidroid | 7:f7e0c3621f77 | 791 | /** |
| Davidroid | 7:f7e0c3621f77 | 792 | * @brief Stopping the PWM. |
| Davidroid | 7:f7e0c3621f77 | 793 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 794 | * @retval None. |
| Davidroid | 0:2887415a46cd | 795 | */ |
| Davidroid | 0:2887415a46cd | 796 | void L6474_PwmStop(void) |
| Davidroid | 0:2887415a46cd | 797 | { |
| Davidroid | 0:2887415a46cd | 798 | pwm.write(0.0f); |
| Davidroid | 0:2887415a46cd | 799 | ticker.detach(); |
| Davidroid | 0:2887415a46cd | 800 | } |
| Davidroid | 0:2887415a46cd | 801 | |
| Davidroid | 7:f7e0c3621f77 | 802 | /** |
| Davidroid | 7:f7e0c3621f77 | 803 | * @brief Putting the device in standby mode. |
| Davidroid | 7:f7e0c3621f77 | 804 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 805 | * @retval None. |
| Davidroid | 0:2887415a46cd | 806 | */ |
| Davidroid | 0:2887415a46cd | 807 | void L6474_ReleaseReset(void) |
| Davidroid | 0:2887415a46cd | 808 | { |
| Davidroid | 4:83a1eb397a65 | 809 | standby_reset = 1; |
| Davidroid | 0:2887415a46cd | 810 | } |
| Davidroid | 0:2887415a46cd | 811 | |
| Davidroid | 7:f7e0c3621f77 | 812 | /** |
| Davidroid | 7:f7e0c3621f77 | 813 | * @brief Putting the device in reset mode. |
| Davidroid | 7:f7e0c3621f77 | 814 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 815 | * @retval None. |
| Davidroid | 0:2887415a46cd | 816 | */ |
| Davidroid | 0:2887415a46cd | 817 | void L6474_Reset(void) |
| Davidroid | 0:2887415a46cd | 818 | { |
| Davidroid | 4:83a1eb397a65 | 819 | standby_reset = 0; |
| Davidroid | 0:2887415a46cd | 820 | } |
| Davidroid | 0:2887415a46cd | 821 | |
| Davidroid | 7:f7e0c3621f77 | 822 | /** |
| Davidroid | 7:f7e0c3621f77 | 823 | * @brief Setting the direction of rotation. |
| Davidroid | 7:f7e0c3621f77 | 824 | * @param gpioState direction of rotation: "1" for forward, "0" for backward. |
| Davidroid | 7:f7e0c3621f77 | 825 | * @retval None. |
| Davidroid | 0:2887415a46cd | 826 | */ |
| Davidroid | 0:2887415a46cd | 827 | void L6474_SetDirectionGpio(uint8_t gpioState) |
| Davidroid | 0:2887415a46cd | 828 | { |
| Davidroid | 0:2887415a46cd | 829 | direction = gpioState; |
| Davidroid | 0:2887415a46cd | 830 | } |
| Davidroid | 0:2887415a46cd | 831 | |
| Davidroid | 7:f7e0c3621f77 | 832 | /** |
| Davidroid | 7:f7e0c3621f77 | 833 | * @brief Writing and reading bytes to/from the component through the SPI at the same time. |
| Davidroid | 7:f7e0c3621f77 | 834 | * @param[in] pByteToTransmit pointer to the buffer of data to send. |
| Davidroid | 7:f7e0c3621f77 | 835 | * @param[out] pReceivedByte pointer to the buffer to read data into. |
| Davidroid | 7:f7e0c3621f77 | 836 | * @retval "0" in case of success, "1" otherwise. |
| Davidroid | 0:2887415a46cd | 837 | */ |
| Davidroid | 0:2887415a46cd | 838 | uint8_t L6474_SpiWriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte) |
| Davidroid | 0:2887415a46cd | 839 | { |
| Davidroid | 7:f7e0c3621f77 | 840 | return (uint8_t) (ReadWrite(pReceivedByte, pByteToTransmit, numberOfDevices) == COMPONENT_OK ? 0 : 1); |
| Davidroid | 0:2887415a46cd | 841 | } |
| Davidroid | 0:2887415a46cd | 842 | |
| Davidroid | 0:2887415a46cd | 843 | |
| Davidroid | 0:2887415a46cd | 844 | /*** Component's Instance Variables ***/ |
| Davidroid | 0:2887415a46cd | 845 | |
| Davidroid | 0:2887415a46cd | 846 | /* Identity */ |
| Davidroid | 0:2887415a46cd | 847 | uint8_t who_am_i; |
| Davidroid | 0:2887415a46cd | 848 | |
| Davidroid | 0:2887415a46cd | 849 | /* ACTION 9 --------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 850 | * There should be only a unique identifier for each component, which * |
| Davidroid | 0:2887415a46cd | 851 | * should be the "who_am_i" parameter, hence this parameter is optional. * |
| Davidroid | 0:2887415a46cd | 852 | *------------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 853 | /* Type. */ |
| Davidroid | 0:2887415a46cd | 854 | uint8_t type; |
| Davidroid | 0:2887415a46cd | 855 | |
| Davidroid | 7:f7e0c3621f77 | 856 | /* Flag Interrupt. */ |
| Davidroid | 7:f7e0c3621f77 | 857 | InterruptIn flag_irq; |
| Davidroid | 7:f7e0c3621f77 | 858 | |
| Davidroid | 4:83a1eb397a65 | 859 | /* Standby/reset pin. */ |
| Davidroid | 4:83a1eb397a65 | 860 | DigitalOut standby_reset; |
| Davidroid | 0:2887415a46cd | 861 | |
| Davidroid | 0:2887415a46cd | 862 | /* Direction of rotation pin. */ |
| Davidroid | 0:2887415a46cd | 863 | DigitalOut direction; |
| Davidroid | 0:2887415a46cd | 864 | |
| Davidroid | 0:2887415a46cd | 865 | /* Pulse Width Modulation pin. */ |
| Davidroid | 0:2887415a46cd | 866 | PwmOut pwm; |
| Davidroid | 0:2887415a46cd | 867 | |
| Davidroid | 4:83a1eb397a65 | 868 | /* Configuration. */ |
| Davidroid | 4:83a1eb397a65 | 869 | DigitalOut ssel; |
| Davidroid | 0:2887415a46cd | 870 | |
| Davidroid | 0:2887415a46cd | 871 | /* IO Device. */ |
| Davidroid | 0:2887415a46cd | 872 | DevSPI &dev_spi; |
| Davidroid | 0:2887415a46cd | 873 | |
| Davidroid | 4:83a1eb397a65 | 874 | /* Timer to trigger the PWM callback at each PWM pulse. */ |
| Davidroid | 4:83a1eb397a65 | 875 | Ticker ticker; |
| Davidroid | 4:83a1eb397a65 | 876 | |
| Davidroid | 0:2887415a46cd | 877 | /* Interrupts. */ |
| Davidroid | 0:2887415a46cd | 878 | /* ACTION 10 -------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 879 | * Put here interrupt related objects, if needed. * |
| Davidroid | 0:2887415a46cd | 880 | * Note that interrupt handling is platform dependent, see * |
| Davidroid | 0:2887415a46cd | 881 | * "Interrupt Related Methods" above. * |
| Davidroid | 0:2887415a46cd | 882 | * * |
| Davidroid | 0:2887415a46cd | 883 | * Example: * |
| Davidroid | 0:2887415a46cd | 884 | * + mbed: * |
| Davidroid | 0:2887415a46cd | 885 | * InterruptIn feature_int; * |
| Davidroid | 0:2887415a46cd | 886 | *------------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 887 | |
| Davidroid | 0:2887415a46cd | 888 | /* Data. */ |
| Davidroid | 0:2887415a46cd | 889 | /* ACTION 11 -------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 890 | * Declare here the component's data, one variable per line. * |
| Davidroid | 0:2887415a46cd | 891 | * * |
| Davidroid | 0:2887415a46cd | 892 | * Example: * |
| Davidroid | 0:2887415a46cd | 893 | * int T0_out; * |
| Davidroid | 0:2887415a46cd | 894 | * int T1_out; * |
| Davidroid | 0:2887415a46cd | 895 | * float T0_degC; * |
| Davidroid | 0:2887415a46cd | 896 | * float T1_degC; * |
| Davidroid | 0:2887415a46cd | 897 | *------------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 898 | void (*errorHandlerCallback)(uint16_t error); |
| Davidroid | 0:2887415a46cd | 899 | deviceParams_t devicePrm; |
| Davidroid | 5:d3c78f12a78d | 900 | uint8_t deviceInstance; |
| Davidroid | 7:f7e0c3621f77 | 901 | |
| Davidroid | 7:f7e0c3621f77 | 902 | /* Static data. */ |
| Davidroid | 0:2887415a46cd | 903 | static uint8_t numberOfDevices; |
| Davidroid | 7:f7e0c3621f77 | 904 | static uint8_t spiTxBursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES]; |
| Davidroid | 7:f7e0c3621f77 | 905 | static uint8_t spiRxBursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES]; |
| Davidroid | 7:f7e0c3621f77 | 906 | |
| Davidroid | 7:f7e0c3621f77 | 907 | |
| Davidroid | 7:f7e0c3621f77 | 908 | public: |
| Davidroid | 7:f7e0c3621f77 | 909 | |
| Davidroid | 7:f7e0c3621f77 | 910 | /* Static data. */ |
| Davidroid | 6:a47569fc7534 | 911 | static bool spiPreemtionByIsr; |
| Davidroid | 6:a47569fc7534 | 912 | static bool isrFlag; |
| Davidroid | 0:2887415a46cd | 913 | }; |
| Davidroid | 0:2887415a46cd | 914 | |
| Davidroid | 0:2887415a46cd | 915 | #endif // __L6474_CLASS_H |
| Davidroid | 0:2887415a46cd | 916 | |
| Davidroid | 0:2887415a46cd | 917 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ |