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@4:83a1eb397a65, 2015-11-13 (annotated)
- Committer:
- Davidroid
- Date:
- Fri Nov 13 12:56:06 2015 +0000
- Revision:
- 4:83a1eb397a65
- Parent:
- 1:b38ebb8ea286
- Child:
- 5:d3c78f12a78d
"StepperMotor" abstract class defined.
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 | 4:83a1eb397a65 | 91 | * @param standby_reset pin name of the STBY\RST pin of the component. |
| Davidroid | 4:83a1eb397a65 | 92 | * @param direction pin name of the DIR pin of the component. |
| Davidroid | 4:83a1eb397a65 | 93 | * @param pwm pin name of the PWM pin of the component. |
| Davidroid | 4:83a1eb397a65 | 94 | * @param ssel pin name of the SSEL pin of the SPI device to be used for communication. |
| Davidroid | 4:83a1eb397a65 | 95 | * @param spi SPI device to be used for communication. |
| Davidroid | 0:2887415a46cd | 96 | */ |
| Davidroid | 4:83a1eb397a65 | 97 | L6474(PinName standby_reset, PinName direction, PinName pwm, PinName ssel, DevSPI &spi) : StepperMotor(), standby_reset(standby_reset), direction(direction), pwm(pwm), ssel(ssel), dev_spi(spi) |
| Davidroid | 0:2887415a46cd | 98 | { |
| Davidroid | 0:2887415a46cd | 99 | /* ACTION 4 ----------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 100 | * Initialize here the component's member variables, one variable per * |
| Davidroid | 0:2887415a46cd | 101 | * line. * |
| Davidroid | 0:2887415a46cd | 102 | * * |
| Davidroid | 0:2887415a46cd | 103 | * Example: * |
| Davidroid | 0:2887415a46cd | 104 | * T0_out = 0; * |
| Davidroid | 0:2887415a46cd | 105 | * T1_out = 0; * |
| Davidroid | 0:2887415a46cd | 106 | * T0_degC = 0; * |
| Davidroid | 0:2887415a46cd | 107 | * T1_degC = 0; * |
| Davidroid | 0:2887415a46cd | 108 | *--------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 109 | flagInterruptCallback = 0; |
| Davidroid | 0:2887415a46cd | 110 | errorHandlerCallback = 0; |
| Davidroid | 0:2887415a46cd | 111 | memset(spiTxBursts, 0, L6474_CMD_ARG_MAX_NB_BYTES); |
| Davidroid | 0:2887415a46cd | 112 | memset(spiRxBursts, 0, L6474_CMD_ARG_MAX_NB_BYTES); |
| Davidroid | 0:2887415a46cd | 113 | spiPreemtionByIsr = 0; |
| Davidroid | 0:2887415a46cd | 114 | isrFlag = 0; |
| Davidroid | 0:2887415a46cd | 115 | //devicePrm = 0; |
| Davidroid | 0:2887415a46cd | 116 | deviceInstance = numberOfDevices; |
| Davidroid | 0:2887415a46cd | 117 | numberOfDevices++; |
| Davidroid | 0:2887415a46cd | 118 | } |
| Davidroid | 0:2887415a46cd | 119 | |
| Davidroid | 0:2887415a46cd | 120 | /** |
| Davidroid | 0:2887415a46cd | 121 | * @brief Destructor. |
| Davidroid | 0:2887415a46cd | 122 | */ |
| Davidroid | 0:2887415a46cd | 123 | virtual ~L6474(void) {} |
| Davidroid | 0:2887415a46cd | 124 | |
| Davidroid | 0:2887415a46cd | 125 | |
| Davidroid | 0:2887415a46cd | 126 | /*** Public Component Related Methods ***/ |
| Davidroid | 0:2887415a46cd | 127 | |
| Davidroid | 0:2887415a46cd | 128 | /* ACTION 5 --------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 129 | * Implement here the component's public methods, as wrappers of the C * |
| Davidroid | 0:2887415a46cd | 130 | * component's functions. * |
| Davidroid | 0:2887415a46cd | 131 | * They should be: * |
| Davidroid | 0:2887415a46cd | 132 | * + Methods with the same name of the C component's virtual table's * |
| Davidroid | 0:2887415a46cd | 133 | * functions (1); * |
| Davidroid | 0:2887415a46cd | 134 | * + Methods with the same name of the C component's extended virtual * |
| Davidroid | 0:2887415a46cd | 135 | * table's functions, if any (2). * |
| Davidroid | 0:2887415a46cd | 136 | * * |
| Davidroid | 0:2887415a46cd | 137 | * Example: * |
| Davidroid | 0:2887415a46cd | 138 | * virtual int GetValue(float *pData) //(1) * |
| Davidroid | 0:2887415a46cd | 139 | * { * |
| Davidroid | 0:2887415a46cd | 140 | * return COMPONENT_GetValue(float *pfData); * |
| Davidroid | 0:2887415a46cd | 141 | * } * |
| Davidroid | 0:2887415a46cd | 142 | * * |
| Davidroid | 0:2887415a46cd | 143 | * virtual int EnableFeature(void) //(2) * |
| Davidroid | 0:2887415a46cd | 144 | * { * |
| Davidroid | 0:2887415a46cd | 145 | * return COMPONENT_EnableFeature(); * |
| Davidroid | 0:2887415a46cd | 146 | * } * |
| Davidroid | 0:2887415a46cd | 147 | *------------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 148 | virtual int Init(void *init) |
| Davidroid | 0:2887415a46cd | 149 | { |
| Davidroid | 0:2887415a46cd | 150 | return (int) L6474_Init((MOTOR_InitTypeDef *) init); |
| Davidroid | 0:2887415a46cd | 151 | } |
| Davidroid | 0:2887415a46cd | 152 | |
| Davidroid | 0:2887415a46cd | 153 | virtual int ReadID(uint8_t *id) |
| Davidroid | 0:2887415a46cd | 154 | { |
| Davidroid | 0:2887415a46cd | 155 | return (int) L6474_ReadID((uint8_t *) id); |
| Davidroid | 0:2887415a46cd | 156 | } |
| Davidroid | 0:2887415a46cd | 157 | |
| Davidroid | 4:83a1eb397a65 | 158 | virtual unsigned int GetStatus(void) |
| Davidroid | 0:2887415a46cd | 159 | { |
| Davidroid | 4:83a1eb397a65 | 160 | return (unsigned int) L6474_CmdGetStatus(); |
| Davidroid | 0:2887415a46cd | 161 | } |
| Davidroid | 0:2887415a46cd | 162 | |
| Davidroid | 4:83a1eb397a65 | 163 | virtual unsigned int GetParameter(unsigned int parameter) |
| Davidroid | 0:2887415a46cd | 164 | { |
| Davidroid | 4:83a1eb397a65 | 165 | return (unsigned int) L6474_CmdGetParam((unsigned int) parameter); |
| Davidroid | 4:83a1eb397a65 | 166 | } |
| Davidroid | 4:83a1eb397a65 | 167 | |
| Davidroid | 4:83a1eb397a65 | 168 | virtual signed int GetPosition(void) |
| Davidroid | 4:83a1eb397a65 | 169 | { |
| Davidroid | 4:83a1eb397a65 | 170 | return (signed int) L6474_GetPosition(); |
| Davidroid | 0:2887415a46cd | 171 | } |
| Davidroid | 0:2887415a46cd | 172 | |
| Davidroid | 4:83a1eb397a65 | 173 | virtual signed int GetMark(void) |
| Davidroid | 0:2887415a46cd | 174 | { |
| Davidroid | 4:83a1eb397a65 | 175 | return (signed int) L6474_GetMark(); |
| Davidroid | 4:83a1eb397a65 | 176 | } |
| Davidroid | 4:83a1eb397a65 | 177 | |
| Davidroid | 4:83a1eb397a65 | 178 | virtual direction_t GetDirection(void) |
| Davidroid | 4:83a1eb397a65 | 179 | { |
| Davidroid | 4:83a1eb397a65 | 180 | return (direction_t) L6474_GetDirection(); |
| Davidroid | 0:2887415a46cd | 181 | } |
| Davidroid | 0:2887415a46cd | 182 | |
| Davidroid | 4:83a1eb397a65 | 183 | virtual unsigned int GetSpeed(void) |
| Davidroid | 0:2887415a46cd | 184 | { |
| Davidroid | 4:83a1eb397a65 | 185 | return (unsigned int) L6474_GetCurrentSpeed(); |
| Davidroid | 0:2887415a46cd | 186 | } |
| Davidroid | 0:2887415a46cd | 187 | |
| Davidroid | 4:83a1eb397a65 | 188 | virtual unsigned int GetMaxSpeed(void) |
| Davidroid | 4:83a1eb397a65 | 189 | { |
| Davidroid | 4:83a1eb397a65 | 190 | return (unsigned int) L6474_GetMaxSpeed(); |
| Davidroid | 4:83a1eb397a65 | 191 | } |
| Davidroid | 4:83a1eb397a65 | 192 | |
| Davidroid | 4:83a1eb397a65 | 193 | virtual unsigned int GetMinSpeed(void) |
| Davidroid | 0:2887415a46cd | 194 | { |
| Davidroid | 4:83a1eb397a65 | 195 | return (unsigned int) L6474_GetMinSpeed(); |
| Davidroid | 4:83a1eb397a65 | 196 | } |
| Davidroid | 4:83a1eb397a65 | 197 | |
| Davidroid | 4:83a1eb397a65 | 198 | virtual unsigned int GetAcceleration(void) |
| Davidroid | 4:83a1eb397a65 | 199 | { |
| Davidroid | 4:83a1eb397a65 | 200 | return (unsigned int) L6474_GetAcceleration(); |
| Davidroid | 0:2887415a46cd | 201 | } |
| Davidroid | 0:2887415a46cd | 202 | |
| Davidroid | 4:83a1eb397a65 | 203 | virtual unsigned int GetDeceleration(void) |
| Davidroid | 0:2887415a46cd | 204 | { |
| Davidroid | 4:83a1eb397a65 | 205 | return (unsigned int) L6474_GetDeceleration(); |
| Davidroid | 0:2887415a46cd | 206 | } |
| Davidroid | 0:2887415a46cd | 207 | |
| Davidroid | 4:83a1eb397a65 | 208 | virtual void SetParameter(unsigned int parameter, unsigned int value) |
| Davidroid | 0:2887415a46cd | 209 | { |
| Davidroid | 4:83a1eb397a65 | 210 | L6474_CmdSetParam((unsigned int) parameter, (unsigned int) value); |
| Davidroid | 0:2887415a46cd | 211 | } |
| Davidroid | 0:2887415a46cd | 212 | |
| Davidroid | 4:83a1eb397a65 | 213 | virtual void SetHome(void) |
| Davidroid | 0:2887415a46cd | 214 | { |
| Davidroid | 4:83a1eb397a65 | 215 | L6474_SetHome(); |
| Davidroid | 4:83a1eb397a65 | 216 | } |
| Davidroid | 4:83a1eb397a65 | 217 | |
| Davidroid | 4:83a1eb397a65 | 218 | virtual void SetMark(void) |
| Davidroid | 4:83a1eb397a65 | 219 | { |
| Davidroid | 4:83a1eb397a65 | 220 | L6474_SetMark(); |
| Davidroid | 0:2887415a46cd | 221 | } |
| Davidroid | 0:2887415a46cd | 222 | |
| Davidroid | 4:83a1eb397a65 | 223 | virtual void SetDirection(direction_t direction) |
| Davidroid | 0:2887415a46cd | 224 | { |
| Davidroid | 4:83a1eb397a65 | 225 | L6474_SetDirection((direction_t) direction); |
| Davidroid | 4:83a1eb397a65 | 226 | } |
| Davidroid | 4:83a1eb397a65 | 227 | |
| Davidroid | 4:83a1eb397a65 | 228 | virtual void SetMaxSpeed(unsigned int speed) |
| Davidroid | 4:83a1eb397a65 | 229 | { |
| Davidroid | 4:83a1eb397a65 | 230 | L6474_SetMaxSpeed((unsigned int) speed); |
| Davidroid | 0:2887415a46cd | 231 | } |
| Davidroid | 0:2887415a46cd | 232 | |
| Davidroid | 4:83a1eb397a65 | 233 | virtual void SetMinSpeed(unsigned int speed) |
| Davidroid | 0:2887415a46cd | 234 | { |
| Davidroid | 4:83a1eb397a65 | 235 | L6474_SetMinSpeed((unsigned int) speed); |
| Davidroid | 0:2887415a46cd | 236 | } |
| Davidroid | 0:2887415a46cd | 237 | |
| Davidroid | 4:83a1eb397a65 | 238 | virtual void SetAcceleration(unsigned int acceleration) |
| Davidroid | 0:2887415a46cd | 239 | { |
| Davidroid | 4:83a1eb397a65 | 240 | L6474_SetAcceleration((unsigned int) acceleration); |
| Davidroid | 0:2887415a46cd | 241 | } |
| Davidroid | 0:2887415a46cd | 242 | |
| Davidroid | 4:83a1eb397a65 | 243 | virtual void SetDeceleration(unsigned int deceleration) |
| Davidroid | 0:2887415a46cd | 244 | { |
| Davidroid | 4:83a1eb397a65 | 245 | L6474_SetDeceleration((unsigned int) deceleration); |
| Davidroid | 4:83a1eb397a65 | 246 | } |
| Davidroid | 4:83a1eb397a65 | 247 | |
| Davidroid | 4:83a1eb397a65 | 248 | virtual void GoTo(signed int position) |
| Davidroid | 4:83a1eb397a65 | 249 | { |
| Davidroid | 4:83a1eb397a65 | 250 | L6474_GoTo((signed int) position); |
| Davidroid | 0:2887415a46cd | 251 | } |
| Davidroid | 0:2887415a46cd | 252 | |
| Davidroid | 0:2887415a46cd | 253 | virtual void GoHome(void) |
| Davidroid | 0:2887415a46cd | 254 | { |
| Davidroid | 0:2887415a46cd | 255 | L6474_GoHome(); |
| Davidroid | 0:2887415a46cd | 256 | } |
| Davidroid | 0:2887415a46cd | 257 | |
| Davidroid | 0:2887415a46cd | 258 | virtual void GoMark(void) |
| Davidroid | 0:2887415a46cd | 259 | { |
| Davidroid | 0:2887415a46cd | 260 | L6474_GoMark(); |
| Davidroid | 0:2887415a46cd | 261 | } |
| Davidroid | 0:2887415a46cd | 262 | |
| Davidroid | 4:83a1eb397a65 | 263 | virtual void Run(direction_t direction) |
| Davidroid | 4:83a1eb397a65 | 264 | { |
| Davidroid | 4:83a1eb397a65 | 265 | L6474_Run((direction_t) direction); |
| Davidroid | 4:83a1eb397a65 | 266 | } |
| Davidroid | 4:83a1eb397a65 | 267 | |
| Davidroid | 4:83a1eb397a65 | 268 | virtual void Move(direction_t direction, unsigned int steps) |
| Davidroid | 0:2887415a46cd | 269 | { |
| Davidroid | 4:83a1eb397a65 | 270 | L6474_Move((direction_t) direction, (unsigned int) steps); |
| Davidroid | 4:83a1eb397a65 | 271 | } |
| Davidroid | 4:83a1eb397a65 | 272 | |
| Davidroid | 4:83a1eb397a65 | 273 | virtual void SoftStop(void) |
| Davidroid | 4:83a1eb397a65 | 274 | { |
| Davidroid | 4:83a1eb397a65 | 275 | L6474_SoftStop(); |
| Davidroid | 0:2887415a46cd | 276 | } |
| Davidroid | 0:2887415a46cd | 277 | |
| Davidroid | 0:2887415a46cd | 278 | virtual void HardStop(void) |
| Davidroid | 0:2887415a46cd | 279 | { |
| Davidroid | 0:2887415a46cd | 280 | L6474_HardStop(); |
| Davidroid | 0:2887415a46cd | 281 | } |
| Davidroid | 0:2887415a46cd | 282 | |
| Davidroid | 4:83a1eb397a65 | 283 | virtual motorState_t GetDeviceState(void) |
| Davidroid | 0:2887415a46cd | 284 | { |
| Davidroid | 4:83a1eb397a65 | 285 | return (motorState_t) L6474_GetDeviceState(); |
| Davidroid | 0:2887415a46cd | 286 | } |
| Davidroid | 0:2887415a46cd | 287 | |
| Davidroid | 4:83a1eb397a65 | 288 | virtual uint8_t GetFwVersion(void) |
| Davidroid | 0:2887415a46cd | 289 | { |
| Davidroid | 4:83a1eb397a65 | 290 | return (uint8_t) L6474_GetFwVersion(); |
| Davidroid | 0:2887415a46cd | 291 | } |
| Davidroid | 0:2887415a46cd | 292 | |
| Davidroid | 0:2887415a46cd | 293 | virtual void StepClockHandler(void) |
| Davidroid | 0:2887415a46cd | 294 | { |
| Davidroid | 0:2887415a46cd | 295 | L6474_StepClockHandler(); |
| Davidroid | 0:2887415a46cd | 296 | } |
| Davidroid | 0:2887415a46cd | 297 | |
| Davidroid | 1:b38ebb8ea286 | 298 | virtual void WaitWhileActive(void) |
| Davidroid | 1:b38ebb8ea286 | 299 | { |
| Davidroid | 1:b38ebb8ea286 | 300 | L6474_WaitWhileActive(); |
| Davidroid | 1:b38ebb8ea286 | 301 | } |
| Davidroid | 1:b38ebb8ea286 | 302 | |
| Davidroid | 0:2887415a46cd | 303 | virtual void CmdDisable(void) |
| Davidroid | 0:2887415a46cd | 304 | { |
| Davidroid | 0:2887415a46cd | 305 | L6474_CmdDisable(); |
| Davidroid | 0:2887415a46cd | 306 | } |
| Davidroid | 0:2887415a46cd | 307 | |
| Davidroid | 0:2887415a46cd | 308 | virtual void CmdEnable(void) |
| Davidroid | 0:2887415a46cd | 309 | { |
| Davidroid | 0:2887415a46cd | 310 | L6474_CmdEnable(); |
| Davidroid | 0:2887415a46cd | 311 | } |
| Davidroid | 0:2887415a46cd | 312 | |
| Davidroid | 0:2887415a46cd | 313 | virtual void CmdNop(void) |
| Davidroid | 0:2887415a46cd | 314 | { |
| Davidroid | 0:2887415a46cd | 315 | L6474_CmdNop(); |
| Davidroid | 0:2887415a46cd | 316 | } |
| Davidroid | 0:2887415a46cd | 317 | |
| Davidroid | 0:2887415a46cd | 318 | virtual uint16_t ReadStatusRegister(void) |
| Davidroid | 0:2887415a46cd | 319 | { |
| Davidroid | 0:2887415a46cd | 320 | return (uint16_t) L6474_ReadStatusRegister(); |
| Davidroid | 0:2887415a46cd | 321 | } |
| Davidroid | 0:2887415a46cd | 322 | |
| Davidroid | 0:2887415a46cd | 323 | virtual void ReleaseReset(void) |
| Davidroid | 0:2887415a46cd | 324 | { |
| Davidroid | 0:2887415a46cd | 325 | L6474_ReleaseReset(); |
| Davidroid | 0:2887415a46cd | 326 | } |
| Davidroid | 0:2887415a46cd | 327 | |
| Davidroid | 0:2887415a46cd | 328 | virtual void Reset(void) |
| Davidroid | 0:2887415a46cd | 329 | { |
| Davidroid | 0:2887415a46cd | 330 | L6474_Reset(); |
| Davidroid | 0:2887415a46cd | 331 | } |
| Davidroid | 0:2887415a46cd | 332 | |
| Davidroid | 0:2887415a46cd | 333 | virtual void SelectStepMode(motorStepMode_t stepMod) |
| Davidroid | 0:2887415a46cd | 334 | { |
| Davidroid | 0:2887415a46cd | 335 | L6474_SelectStepMode((motorStepMode_t) stepMod); |
| Davidroid | 0:2887415a46cd | 336 | } |
| Davidroid | 0:2887415a46cd | 337 | |
| Davidroid | 0:2887415a46cd | 338 | virtual void ErrorHandler(uint16_t error) |
| Davidroid | 0:2887415a46cd | 339 | { |
| Davidroid | 0:2887415a46cd | 340 | L6474_ErrorHandler((uint16_t) error); |
| Davidroid | 0:2887415a46cd | 341 | } |
| Davidroid | 0:2887415a46cd | 342 | |
| Davidroid | 4:83a1eb397a65 | 343 | virtual void AttachErrorHandler(void (*callback)(uint16_t error)) |
| Davidroid | 4:83a1eb397a65 | 344 | { |
| Davidroid | 4:83a1eb397a65 | 345 | L6474_AttachErrorHandler((void (*)(uint16_t error)) callback); |
| Davidroid | 4:83a1eb397a65 | 346 | } |
| Davidroid | 4:83a1eb397a65 | 347 | |
| Davidroid | 4:83a1eb397a65 | 348 | virtual void AttachFlagInterrupt(void (*callback)(void)) |
| Davidroid | 4:83a1eb397a65 | 349 | { |
| Davidroid | 4:83a1eb397a65 | 350 | L6474_AttachFlagInterrupt((void (*)(void)) callback); |
| Davidroid | 4:83a1eb397a65 | 351 | } |
| Davidroid | 4:83a1eb397a65 | 352 | |
| Davidroid | 4:83a1eb397a65 | 353 | virtual void FlagInterruptHandler(void) |
| Davidroid | 4:83a1eb397a65 | 354 | { |
| Davidroid | 4:83a1eb397a65 | 355 | L6474_FlagInterruptHandler(); |
| Davidroid | 4:83a1eb397a65 | 356 | } |
| Davidroid | 4:83a1eb397a65 | 357 | |
| Davidroid | 0:2887415a46cd | 358 | |
| Davidroid | 0:2887415a46cd | 359 | /*** Public Interrupt Related Methods ***/ |
| Davidroid | 0:2887415a46cd | 360 | |
| Davidroid | 0:2887415a46cd | 361 | /* ACTION 6 --------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 362 | * Implement here interrupt related methods, if any. * |
| Davidroid | 0:2887415a46cd | 363 | * Note that interrupt handling is platform dependent, e.g.: * |
| Davidroid | 0:2887415a46cd | 364 | * + mbed: * |
| Davidroid | 0:2887415a46cd | 365 | * InterruptIn feature_int(pin); //Interrupt object. * |
| Davidroid | 0:2887415a46cd | 366 | * feature_int.rise(callback); //Attach a callback. * |
| Davidroid | 0:2887415a46cd | 367 | * feature_int.mode(PullNone); //Set interrupt mode. * |
| Davidroid | 0:2887415a46cd | 368 | * feature_int.enable_irq(); //Enable interrupt. * |
| Davidroid | 0:2887415a46cd | 369 | * feature_int.disable_irq(); //Disable interrupt. * |
| Davidroid | 0:2887415a46cd | 370 | * + Arduino: * |
| Davidroid | 0:2887415a46cd | 371 | * attachInterrupt(pin, callback, RISING); //Attach a callback. * |
| Davidroid | 0:2887415a46cd | 372 | * detachInterrupt(pin); //Detach a callback. * |
| Davidroid | 0:2887415a46cd | 373 | * * |
| Davidroid | 0:2887415a46cd | 374 | * Example (mbed): * |
| Davidroid | 0:2887415a46cd | 375 | * void Attach_Feature_IRQ(void (*fptr) (void)) * |
| Davidroid | 0:2887415a46cd | 376 | * { * |
| Davidroid | 0:2887415a46cd | 377 | * feature_int.rise(fptr); * |
| Davidroid | 0:2887415a46cd | 378 | * } * |
| Davidroid | 0:2887415a46cd | 379 | * * |
| Davidroid | 0:2887415a46cd | 380 | * void Enable_Feature_IRQ(void) * |
| Davidroid | 0:2887415a46cd | 381 | * { * |
| Davidroid | 0:2887415a46cd | 382 | * feature_int.enable_irq(); * |
| Davidroid | 0:2887415a46cd | 383 | * } * |
| Davidroid | 0:2887415a46cd | 384 | * * |
| Davidroid | 0:2887415a46cd | 385 | * void Disable_Feature_IRQ(void) * |
| Davidroid | 0:2887415a46cd | 386 | * { * |
| Davidroid | 0:2887415a46cd | 387 | * feature_int.disable_irq(); * |
| Davidroid | 0:2887415a46cd | 388 | * } * |
| Davidroid | 0:2887415a46cd | 389 | *------------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 390 | |
| Davidroid | 0:2887415a46cd | 391 | |
| Davidroid | 0:2887415a46cd | 392 | protected: |
| Davidroid | 0:2887415a46cd | 393 | |
| Davidroid | 0:2887415a46cd | 394 | /*** Protected Component Related Methods ***/ |
| Davidroid | 0:2887415a46cd | 395 | |
| Davidroid | 0:2887415a46cd | 396 | /* ACTION 7 --------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 397 | * Declare here the component's specific methods. * |
| Davidroid | 0:2887415a46cd | 398 | * They should be: * |
| Davidroid | 0:2887415a46cd | 399 | * + Methods with the same name of the C component's virtual table's * |
| Davidroid | 0:2887415a46cd | 400 | * functions (1); * |
| Davidroid | 0:2887415a46cd | 401 | * + Methods with the same name of the C component's extended virtual * |
| Davidroid | 0:2887415a46cd | 402 | * table's functions, if any (2); * |
| Davidroid | 0:2887415a46cd | 403 | * + Helper methods, if any, like functions declared in the component's * |
| Davidroid | 0:2887415a46cd | 404 | * source files but not pointed by the component's virtual table (3). * |
| Davidroid | 0:2887415a46cd | 405 | * * |
| Davidroid | 0:2887415a46cd | 406 | * Example: * |
| Davidroid | 0:2887415a46cd | 407 | * DrvStatusTypeDef COMPONENT_GetValue(float* pfData); //(1) * |
| Davidroid | 0:2887415a46cd | 408 | * DrvStatusTypeDef COMPONENT_EnableFeature(void); //(2) * |
| Davidroid | 0:2887415a46cd | 409 | * DrvStatusTypeDef COMPONENT_ComputeAverage(void); //(3) * |
| Davidroid | 0:2887415a46cd | 410 | *------------------------------------------------------------------------*/ |
| Davidroid | 1:b38ebb8ea286 | 411 | void L6474_AttachErrorHandler(void (*callback)(uint16_t error)); //Attach a user callback to the error handler |
| Davidroid | 1:b38ebb8ea286 | 412 | void L6474_AttachFlagInterrupt(void (*callback)(void)); //Attach a user callback to the flag Interrupt |
| Davidroid | 1:b38ebb8ea286 | 413 | DrvStatusTypeDef L6474_Init(MOTOR_InitTypeDef *init); //Start the L6474 library |
| Davidroid | 1:b38ebb8ea286 | 414 | DrvStatusTypeDef L6474_ReadID(uint8_t *id); //Read Id to get driver instance |
| Davidroid | 1:b38ebb8ea286 | 415 | uint16_t L6474_GetAcceleration(void); //Return the acceleration in pps^2 |
| Davidroid | 1:b38ebb8ea286 | 416 | uint16_t L6474_GetCurrentSpeed(void); //Return the current speed in pps |
| Davidroid | 1:b38ebb8ea286 | 417 | uint16_t L6474_GetDeceleration(void); //Return the deceleration in pps^2 |
| Davidroid | 1:b38ebb8ea286 | 418 | motorState_t L6474_GetDeviceState(void); //Return the device state |
| Davidroid | 1:b38ebb8ea286 | 419 | uint8_t L6474_GetFwVersion(void); //Return the FW version |
| Davidroid | 1:b38ebb8ea286 | 420 | int32_t L6474_GetMark(void); //Return the mark position |
| Davidroid | 1:b38ebb8ea286 | 421 | uint16_t L6474_GetMaxSpeed(void); //Return the max speed in pps |
| Davidroid | 1:b38ebb8ea286 | 422 | uint16_t L6474_GetMinSpeed(void); //Return the min speed in pps |
| Davidroid | 1:b38ebb8ea286 | 423 | int32_t L6474_GetPosition(void); //Return the ABS_POSITION (32b signed) |
| Davidroid | 1:b38ebb8ea286 | 424 | void L6474_GoHome(void); //Move to the home position |
| Davidroid | 1:b38ebb8ea286 | 425 | void L6474_GoMark(void); //Move to the Mark position |
| Davidroid | 1:b38ebb8ea286 | 426 | void L6474_GoTo(int32_t targetPosition); //Go to the specified position |
| Davidroid | 1:b38ebb8ea286 | 427 | void L6474_HardStop(void); //Stop the motor and disable the power bridge |
| Davidroid | 4:83a1eb397a65 | 428 | void L6474_Move(direction_t direction, uint32_t stepCount); //Move the motor of the specified number of steps |
| Davidroid | 4:83a1eb397a65 | 429 | void L6474_Run(direction_t direction); //Run the motor |
| Davidroid | 1:b38ebb8ea286 | 430 | bool L6474_SetAcceleration(uint16_t newAcc); //Set the acceleration in pps^2 |
| Davidroid | 1:b38ebb8ea286 | 431 | bool L6474_SetDeceleration(uint16_t newDec); //Set the deceleration in pps^2 |
| Davidroid | 1:b38ebb8ea286 | 432 | void L6474_SetHome(void); //Set current position to be the home position |
| Davidroid | 1:b38ebb8ea286 | 433 | void L6474_SetMark(void); //Set current position to be the Markposition |
| Davidroid | 1:b38ebb8ea286 | 434 | bool L6474_SetMaxSpeed(uint16_t newMaxSpeed); //Set the max speed in pps |
| Davidroid | 1:b38ebb8ea286 | 435 | bool L6474_SetMinSpeed(uint16_t newMinSpeed); //Set the min speed in pps |
| Davidroid | 1:b38ebb8ea286 | 436 | bool L6474_SoftStop(void); //Progressively stops the motor |
| Davidroid | 1:b38ebb8ea286 | 437 | void L6474_WaitWhileActive(void); //Wait for the device state becomes Inactive |
| Davidroid | 1:b38ebb8ea286 | 438 | void L6474_CmdDisable(void); //Send the L6474_DISABLE command |
| Davidroid | 1:b38ebb8ea286 | 439 | void L6474_CmdEnable(void); //Send the L6474_ENABLE command |
| Davidroid | 1:b38ebb8ea286 | 440 | uint32_t L6474_CmdGetParam(uint32_t param); //Send the L6474_GET_PARAM command |
| Davidroid | 1:b38ebb8ea286 | 441 | uint16_t L6474_CmdGetStatus(void); //Send the L6474_GET_STATUS command |
| Davidroid | 1:b38ebb8ea286 | 442 | void L6474_CmdNop(void); //Send the L6474_NOP command |
| Davidroid | 1:b38ebb8ea286 | 443 | void L6474_CmdSetParam(uint32_t param, uint32_t value); //Send the L6474_SET_PARAM command |
| Davidroid | 1:b38ebb8ea286 | 444 | uint16_t L6474_ReadStatusRegister(void); //Read the L6474_STATUS register without clearing the flags |
| Davidroid | 1:b38ebb8ea286 | 445 | void L6474_SelectStepMode(motorStepMode_t stepMod); //Step mode selection |
| Davidroid | 4:83a1eb397a65 | 446 | direction_t L6474_GetDirection(void); //Get the direction of rotation |
| Davidroid | 4:83a1eb397a65 | 447 | void L6474_SetDirection(direction_t direction); //Set the direction of rotation |
| Davidroid | 0:2887415a46cd | 448 | void L6474_ApplySpeed(uint16_t newSpeed); |
| Davidroid | 0:2887415a46cd | 449 | void L6474_ComputeSpeedProfile(uint32_t nbSteps); |
| Davidroid | 0:2887415a46cd | 450 | int32_t L6474_ConvertPosition(uint32_t abs_position_reg); |
| Davidroid | 0:2887415a46cd | 451 | void L6474_ErrorHandler(uint16_t error); |
| Davidroid | 0:2887415a46cd | 452 | void L6474_FlagInterruptHandler(void); |
| Davidroid | 0:2887415a46cd | 453 | void L6474_SendCommand(uint8_t param); |
| Davidroid | 0:2887415a46cd | 454 | void L6474_SetRegisterToPredefinedValues(void); |
| Davidroid | 0:2887415a46cd | 455 | void L6474_WriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte); |
| Davidroid | 0:2887415a46cd | 456 | void L6474_SetDeviceParamsToPredefinedValues(void); |
| Davidroid | 0:2887415a46cd | 457 | void L6474_StartMovement(void); |
| Davidroid | 0:2887415a46cd | 458 | void L6474_StepClockHandler(void); |
| Davidroid | 0:2887415a46cd | 459 | uint8_t L6474_Tval_Current_to_Par(double Tval); |
| Davidroid | 0:2887415a46cd | 460 | uint8_t L6474_Tmin_Time_to_Par(double Tmin); |
| Davidroid | 0:2887415a46cd | 461 | |
| Davidroid | 0:2887415a46cd | 462 | |
| Davidroid | 0:2887415a46cd | 463 | /*** Component's I/O Methods ***/ |
| Davidroid | 0:2887415a46cd | 464 | |
| Davidroid | 0:2887415a46cd | 465 | /** |
| Davidroid | 0:2887415a46cd | 466 | * @brief Utility function to read data from L6474. |
| Davidroid | 0:2887415a46cd | 467 | * @param[out] pBuffer pointer to the buffer to read data into. |
| Davidroid | 0:2887415a46cd | 468 | * @param[in] NumBytesToRead number of bytes to read. |
| Davidroid | 0:2887415a46cd | 469 | * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise. |
| Davidroid | 0:2887415a46cd | 470 | */ |
| Davidroid | 0:2887415a46cd | 471 | DrvStatusTypeDef Read(uint8_t* pBuffer, uint16_t NumBytesToRead) |
| Davidroid | 0:2887415a46cd | 472 | { |
| Davidroid | 0:2887415a46cd | 473 | if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0) |
| Davidroid | 0:2887415a46cd | 474 | return COMPONENT_ERROR; |
| Davidroid | 0:2887415a46cd | 475 | return COMPONENT_OK; |
| Davidroid | 0:2887415a46cd | 476 | } |
| Davidroid | 0:2887415a46cd | 477 | |
| Davidroid | 0:2887415a46cd | 478 | /** |
| Davidroid | 0:2887415a46cd | 479 | * @brief Utility function to write data to L6474. |
| Davidroid | 0:2887415a46cd | 480 | * @param[in] pBuffer pointer to the buffer of data to send. |
| Davidroid | 0:2887415a46cd | 481 | * @param[in] NumBytesToWrite number of bytes to write. |
| Davidroid | 0:2887415a46cd | 482 | * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise. |
| Davidroid | 0:2887415a46cd | 483 | */ |
| Davidroid | 0:2887415a46cd | 484 | DrvStatusTypeDef Write(uint8_t* pBuffer, uint16_t NumBytesToWrite) |
| Davidroid | 0:2887415a46cd | 485 | { |
| Davidroid | 0:2887415a46cd | 486 | if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0) |
| Davidroid | 0:2887415a46cd | 487 | return COMPONENT_ERROR; |
| Davidroid | 0:2887415a46cd | 488 | return COMPONENT_OK; |
| Davidroid | 0:2887415a46cd | 489 | } |
| Davidroid | 0:2887415a46cd | 490 | |
| Davidroid | 0:2887415a46cd | 491 | /** |
| Davidroid | 0:2887415a46cd | 492 | * @brief Utility function to read and write data from/to L6474 at the same time. |
| Davidroid | 0:2887415a46cd | 493 | * @param[out] pBufferToRead pointer to the buffer to read data into. |
| Davidroid | 0:2887415a46cd | 494 | * @param[in] pBufferToWrite pointer to the buffer of data to send. |
| Davidroid | 0:2887415a46cd | 495 | * @param[in] NumBytes number of bytes to read and write. |
| Davidroid | 0:2887415a46cd | 496 | * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise. |
| Davidroid | 0:2887415a46cd | 497 | */ |
| Davidroid | 0:2887415a46cd | 498 | DrvStatusTypeDef ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes) |
| Davidroid | 0:2887415a46cd | 499 | { |
| Davidroid | 0:2887415a46cd | 500 | if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0) |
| Davidroid | 0:2887415a46cd | 501 | return COMPONENT_ERROR; |
| Davidroid | 0:2887415a46cd | 502 | return COMPONENT_OK; |
| Davidroid | 0:2887415a46cd | 503 | } |
| Davidroid | 0:2887415a46cd | 504 | |
| Davidroid | 0:2887415a46cd | 505 | /* ACTION 8 --------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 506 | * Implement here other I/O methods beyond those already implemented * |
| Davidroid | 0:2887415a46cd | 507 | * above, which are declared extern within the component's header file. * |
| Davidroid | 0:2887415a46cd | 508 | *------------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 509 | /* |
| Davidroid | 0:2887415a46cd | 510 | * System call to make the CPU wait. |
| Davidroid | 0:2887415a46cd | 511 | */ |
| Davidroid | 0:2887415a46cd | 512 | void L6474_Delay(uint32_t delay) |
| Davidroid | 0:2887415a46cd | 513 | { |
| Davidroid | 0:2887415a46cd | 514 | /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs */ |
| Davidroid | 0:2887415a46cd | 515 | wait_ms(delay); |
| Davidroid | 0:2887415a46cd | 516 | } |
| Davidroid | 0:2887415a46cd | 517 | |
| Davidroid | 0:2887415a46cd | 518 | /* |
| Davidroid | 0:2887415a46cd | 519 | * System call to enable interrupts. |
| Davidroid | 0:2887415a46cd | 520 | */ |
| Davidroid | 0:2887415a46cd | 521 | void L6474_EnableIrq(void) |
| Davidroid | 0:2887415a46cd | 522 | { |
| Davidroid | 0:2887415a46cd | 523 | /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs */ |
| Davidroid | 0:2887415a46cd | 524 | __enable_irq(); |
| Davidroid | 0:2887415a46cd | 525 | } |
| Davidroid | 0:2887415a46cd | 526 | |
| Davidroid | 0:2887415a46cd | 527 | /* |
| Davidroid | 0:2887415a46cd | 528 | * System call to disable interrupts. |
| Davidroid | 0:2887415a46cd | 529 | */ |
| Davidroid | 0:2887415a46cd | 530 | void L6474_DisableIrq(void) |
| Davidroid | 0:2887415a46cd | 531 | { |
| Davidroid | 0:2887415a46cd | 532 | /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs */ |
| Davidroid | 0:2887415a46cd | 533 | __disable_irq(); |
| Davidroid | 0:2887415a46cd | 534 | } |
| Davidroid | 0:2887415a46cd | 535 | |
| Davidroid | 0:2887415a46cd | 536 | /* |
| Davidroid | 0:2887415a46cd | 537 | * Sets the frequency of PWM. |
| Davidroid | 0:2887415a46cd | 538 | * The frequency is directly the current speed of the device. |
| Davidroid | 0:2887415a46cd | 539 | */ |
| Davidroid | 0:2887415a46cd | 540 | void L6474_PwmSetFreq(uint16_t newFreq) |
| Davidroid | 0:2887415a46cd | 541 | { |
| Davidroid | 0:2887415a46cd | 542 | /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs */ |
| Davidroid | 0:2887415a46cd | 543 | double period = 1.0f / newFreq; |
| Davidroid | 0:2887415a46cd | 544 | pwm.period(period); |
| Davidroid | 0:2887415a46cd | 545 | pwm.write(0.5f); |
| Davidroid | 1:b38ebb8ea286 | 546 | ticker.attach(this, &L6474::L6474_StepClockHandler, period); |
| Davidroid | 0:2887415a46cd | 547 | } |
| Davidroid | 0:2887415a46cd | 548 | |
| Davidroid | 0:2887415a46cd | 549 | /* |
| Davidroid | 0:2887415a46cd | 550 | * Initialises the PWM uses by the specified device. |
| Davidroid | 0:2887415a46cd | 551 | * + Device 0 uses PWM1 based on timer 1; |
| Davidroid | 0:2887415a46cd | 552 | * + Device 1 uses PWM2 based on timer 2; |
| Davidroid | 0:2887415a46cd | 553 | * + Device 2 uses PWM3 based on timer 3. |
| Davidroid | 0:2887415a46cd | 554 | */ |
| Davidroid | 0:2887415a46cd | 555 | void L6474_PwmInit(void) |
| Davidroid | 0:2887415a46cd | 556 | { |
| Davidroid | 0:2887415a46cd | 557 | /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs */ |
| Davidroid | 0:2887415a46cd | 558 | } |
| Davidroid | 0:2887415a46cd | 559 | |
| Davidroid | 0:2887415a46cd | 560 | /* |
| Davidroid | 0:2887415a46cd | 561 | * Stops the PWM. |
| Davidroid | 0:2887415a46cd | 562 | */ |
| Davidroid | 0:2887415a46cd | 563 | void L6474_PwmStop(void) |
| Davidroid | 0:2887415a46cd | 564 | { |
| Davidroid | 0:2887415a46cd | 565 | /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs */ |
| Davidroid | 0:2887415a46cd | 566 | pwm.write(0.0f); |
| Davidroid | 0:2887415a46cd | 567 | ticker.detach(); |
| Davidroid | 0:2887415a46cd | 568 | } |
| Davidroid | 0:2887415a46cd | 569 | |
| Davidroid | 0:2887415a46cd | 570 | /* |
| Davidroid | 4:83a1eb397a65 | 571 | * Puts the device in standby mode. |
| Davidroid | 0:2887415a46cd | 572 | */ |
| Davidroid | 0:2887415a46cd | 573 | void L6474_ReleaseReset(void) |
| Davidroid | 0:2887415a46cd | 574 | { |
| Davidroid | 4:83a1eb397a65 | 575 | /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */ |
| Davidroid | 4:83a1eb397a65 | 576 | standby_reset = 1; |
| Davidroid | 0:2887415a46cd | 577 | } |
| Davidroid | 0:2887415a46cd | 578 | |
| Davidroid | 0:2887415a46cd | 579 | /* |
| Davidroid | 4:83a1eb397a65 | 580 | * Puts the device in reset mode. |
| Davidroid | 0:2887415a46cd | 581 | */ |
| Davidroid | 0:2887415a46cd | 582 | void L6474_Reset(void) |
| Davidroid | 0:2887415a46cd | 583 | { |
| Davidroid | 4:83a1eb397a65 | 584 | /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */ |
| Davidroid | 4:83a1eb397a65 | 585 | standby_reset = 0; |
| Davidroid | 0:2887415a46cd | 586 | } |
| Davidroid | 0:2887415a46cd | 587 | |
| Davidroid | 0:2887415a46cd | 588 | /* |
| Davidroid | 0:2887415a46cd | 589 | * Set the direction of rotation. |
| Davidroid | 0:2887415a46cd | 590 | */ |
| Davidroid | 0:2887415a46cd | 591 | void L6474_SetDirectionGpio(uint8_t gpioState) |
| Davidroid | 0:2887415a46cd | 592 | { |
| Davidroid | 0:2887415a46cd | 593 | direction = gpioState; |
| Davidroid | 0:2887415a46cd | 594 | } |
| Davidroid | 0:2887415a46cd | 595 | |
| Davidroid | 0:2887415a46cd | 596 | /* |
| Davidroid | 0:2887415a46cd | 597 | * Write and read bytes to/from the component through the SPI at the same time. |
| Davidroid | 0:2887415a46cd | 598 | */ |
| Davidroid | 0:2887415a46cd | 599 | uint8_t L6474_SpiWriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte) |
| Davidroid | 0:2887415a46cd | 600 | { |
| Davidroid | 0:2887415a46cd | 601 | return (uint8_t) ReadWrite(pReceivedByte, pByteToTransmit, numberOfDevices); |
| Davidroid | 0:2887415a46cd | 602 | } |
| Davidroid | 0:2887415a46cd | 603 | |
| Davidroid | 0:2887415a46cd | 604 | |
| Davidroid | 0:2887415a46cd | 605 | /*** Component's Instance Variables ***/ |
| Davidroid | 0:2887415a46cd | 606 | |
| Davidroid | 0:2887415a46cd | 607 | /* Identity */ |
| Davidroid | 0:2887415a46cd | 608 | uint8_t who_am_i; |
| Davidroid | 0:2887415a46cd | 609 | |
| Davidroid | 0:2887415a46cd | 610 | /* ACTION 9 --------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 611 | * There should be only a unique identifier for each component, which * |
| Davidroid | 0:2887415a46cd | 612 | * should be the "who_am_i" parameter, hence this parameter is optional. * |
| Davidroid | 0:2887415a46cd | 613 | *------------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 614 | /* Type. */ |
| Davidroid | 0:2887415a46cd | 615 | uint8_t type; |
| Davidroid | 0:2887415a46cd | 616 | |
| Davidroid | 4:83a1eb397a65 | 617 | /* Standby/reset pin. */ |
| Davidroid | 4:83a1eb397a65 | 618 | DigitalOut standby_reset; |
| Davidroid | 0:2887415a46cd | 619 | |
| Davidroid | 0:2887415a46cd | 620 | /* Direction of rotation pin. */ |
| Davidroid | 0:2887415a46cd | 621 | DigitalOut direction; |
| Davidroid | 0:2887415a46cd | 622 | |
| Davidroid | 0:2887415a46cd | 623 | /* Pulse Width Modulation pin. */ |
| Davidroid | 0:2887415a46cd | 624 | PwmOut pwm; |
| Davidroid | 0:2887415a46cd | 625 | |
| Davidroid | 4:83a1eb397a65 | 626 | /* Configuration. */ |
| Davidroid | 4:83a1eb397a65 | 627 | DigitalOut ssel; |
| Davidroid | 0:2887415a46cd | 628 | |
| Davidroid | 0:2887415a46cd | 629 | /* IO Device. */ |
| Davidroid | 0:2887415a46cd | 630 | DevSPI &dev_spi; |
| Davidroid | 0:2887415a46cd | 631 | |
| Davidroid | 4:83a1eb397a65 | 632 | /* Timer to trigger the PWM callback at each PWM pulse. */ |
| Davidroid | 4:83a1eb397a65 | 633 | Ticker ticker; |
| Davidroid | 4:83a1eb397a65 | 634 | |
| Davidroid | 0:2887415a46cd | 635 | /* Interrupts. */ |
| Davidroid | 0:2887415a46cd | 636 | /* ACTION 10 -------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 637 | * Put here interrupt related objects, if needed. * |
| Davidroid | 0:2887415a46cd | 638 | * Note that interrupt handling is platform dependent, see * |
| Davidroid | 0:2887415a46cd | 639 | * "Interrupt Related Methods" above. * |
| Davidroid | 0:2887415a46cd | 640 | * * |
| Davidroid | 0:2887415a46cd | 641 | * Example: * |
| Davidroid | 0:2887415a46cd | 642 | * + mbed: * |
| Davidroid | 0:2887415a46cd | 643 | * InterruptIn feature_int; * |
| Davidroid | 0:2887415a46cd | 644 | *------------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 645 | |
| Davidroid | 0:2887415a46cd | 646 | /* Data. */ |
| Davidroid | 0:2887415a46cd | 647 | /* ACTION 11 -------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 648 | * Declare here the component's data, one variable per line. * |
| Davidroid | 0:2887415a46cd | 649 | * * |
| Davidroid | 0:2887415a46cd | 650 | * Example: * |
| Davidroid | 0:2887415a46cd | 651 | * int T0_out; * |
| Davidroid | 0:2887415a46cd | 652 | * int T1_out; * |
| Davidroid | 0:2887415a46cd | 653 | * float T0_degC; * |
| Davidroid | 0:2887415a46cd | 654 | * float T1_degC; * |
| Davidroid | 0:2887415a46cd | 655 | *------------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 656 | void (*flagInterruptCallback)(void); |
| Davidroid | 0:2887415a46cd | 657 | void (*errorHandlerCallback)(uint16_t error); |
| Davidroid | 0:2887415a46cd | 658 | uint8_t spiTxBursts[L6474_CMD_ARG_MAX_NB_BYTES]; |
| Davidroid | 0:2887415a46cd | 659 | uint8_t spiRxBursts[L6474_CMD_ARG_MAX_NB_BYTES]; |
| Davidroid | 0:2887415a46cd | 660 | bool spiPreemtionByIsr; |
| Davidroid | 0:2887415a46cd | 661 | bool isrFlag; |
| Davidroid | 0:2887415a46cd | 662 | deviceParams_t devicePrm; |
| Davidroid | 0:2887415a46cd | 663 | static uint8_t numberOfDevices; |
| Davidroid | 0:2887415a46cd | 664 | uint8_t deviceInstance; |
| Davidroid | 0:2887415a46cd | 665 | }; |
| Davidroid | 0:2887415a46cd | 666 | |
| Davidroid | 0:2887415a46cd | 667 | #endif // __L6474_CLASS_H |
| Davidroid | 0:2887415a46cd | 668 | |
| Davidroid | 0:2887415a46cd | 669 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ |