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@11:b4d365138c21, 2015-11-27 (annotated)
- Committer:
- Davidroid
- Date:
- Fri Nov 27 10:00:22 2015 +0000
- Revision:
- 11:b4d365138c21
- Parent:
- 10:c3824af0caf4
- Child:
- 12:9f4b9540ff3e
+ Initialization of the component updated to FULL STEP mode.
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Davidroid | 0:2887415a46cd | 1 | /** |
| Davidroid | 10:c3824af0caf4 | 2 | ****************************************************************************** |
| Davidroid | 10:c3824af0caf4 | 3 | * @file l6474_class.h |
| Davidroid | 10:c3824af0caf4 | 4 | * @author Davide Aliprandi, STMicrolectronics |
| Davidroid | 10:c3824af0caf4 | 5 | * @version V1.0.0 |
| Davidroid | 10:c3824af0caf4 | 6 | * @date October 14th, 2015 |
| Davidroid | 10:c3824af0caf4 | 7 | * @brief This file contains the class of an L6474 Motor Control component. |
| Davidroid | 10:c3824af0caf4 | 8 | ****************************************************************************** |
| Davidroid | 10:c3824af0caf4 | 9 | * @attention |
| Davidroid | 10:c3824af0caf4 | 10 | * |
| Davidroid | 10:c3824af0caf4 | 11 | * <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2> |
| Davidroid | 10:c3824af0caf4 | 12 | * |
| Davidroid | 10:c3824af0caf4 | 13 | * Redistribution and use in source and binary forms, with or without modification, |
| Davidroid | 10:c3824af0caf4 | 14 | * are permitted provided that the following conditions are met: |
| Davidroid | 10:c3824af0caf4 | 15 | * 1. Redistributions of source code must retain the above copyright notice, |
| Davidroid | 10:c3824af0caf4 | 16 | * this list of conditions and the following disclaimer. |
| Davidroid | 10:c3824af0caf4 | 17 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
| Davidroid | 10:c3824af0caf4 | 18 | * this list of conditions and the following disclaimer in the documentation |
| Davidroid | 10:c3824af0caf4 | 19 | * and/or other materials provided with the distribution. |
| Davidroid | 10:c3824af0caf4 | 20 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
| Davidroid | 10:c3824af0caf4 | 21 | * may be used to endorse or promote products derived from this software |
| Davidroid | 10:c3824af0caf4 | 22 | * without specific prior written permission. |
| Davidroid | 10:c3824af0caf4 | 23 | * |
| Davidroid | 10:c3824af0caf4 | 24 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| Davidroid | 10:c3824af0caf4 | 25 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| Davidroid | 10:c3824af0caf4 | 26 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
| Davidroid | 10:c3824af0caf4 | 27 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
| Davidroid | 10:c3824af0caf4 | 28 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| Davidroid | 10:c3824af0caf4 | 29 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
| Davidroid | 10:c3824af0caf4 | 30 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| Davidroid | 10:c3824af0caf4 | 31 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
| Davidroid | 10:c3824af0caf4 | 32 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
| Davidroid | 10:c3824af0caf4 | 33 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
| Davidroid | 10:c3824af0caf4 | 34 | * |
| Davidroid | 10:c3824af0caf4 | 35 | ****************************************************************************** |
| Davidroid | 10:c3824af0caf4 | 36 | */ |
| Davidroid | 0:2887415a46cd | 37 | |
| Davidroid | 0:2887415a46cd | 38 | |
| Davidroid | 0:2887415a46cd | 39 | /* Generated with Stm32CubeTOO -----------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 40 | |
| Davidroid | 0:2887415a46cd | 41 | |
| Davidroid | 0:2887415a46cd | 42 | /* Revision ------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 43 | /* |
| Davidroid | 0:2887415a46cd | 44 | Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev |
| Davidroid | 0:2887415a46cd | 45 | Branch/Trunk/Tag: trunk |
| Davidroid | 0:2887415a46cd | 46 | Based on: X-CUBE-SPN1/trunk/Drivers/BSP/Components/l6474/l6474.h |
| Davidroid | 0:2887415a46cd | 47 | Revision: 0 |
| Davidroid | 0:2887415a46cd | 48 | */ |
| Davidroid | 0:2887415a46cd | 49 | |
| Davidroid | 0:2887415a46cd | 50 | |
| Davidroid | 0:2887415a46cd | 51 | /* Define to prevent recursive inclusion -------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 52 | |
| Davidroid | 0:2887415a46cd | 53 | #ifndef __L6474_CLASS_H |
| Davidroid | 0:2887415a46cd | 54 | #define __L6474_CLASS_H |
| Davidroid | 0:2887415a46cd | 55 | |
| Davidroid | 0:2887415a46cd | 56 | |
| Davidroid | 0:2887415a46cd | 57 | /* Includes ------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 58 | |
| Davidroid | 0:2887415a46cd | 59 | /* ACTION 1 ------------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 60 | * Include here platform specific header files. * |
| Davidroid | 0:2887415a46cd | 61 | *----------------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 62 | #include "mbed.h" |
| Davidroid | 0:2887415a46cd | 63 | #include "DevSPI.h" |
| Davidroid | 0:2887415a46cd | 64 | /* ACTION 2 ------------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 65 | * Include here component specific header files. * |
| Davidroid | 0:2887415a46cd | 66 | *----------------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 67 | #include "l6474.h" |
| Davidroid | 0:2887415a46cd | 68 | /* ACTION 3 ------------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 69 | * Include here interface specific header files. * |
| Davidroid | 0:2887415a46cd | 70 | * * |
| Davidroid | 0:2887415a46cd | 71 | * Example: * |
| Davidroid | 0:2887415a46cd | 72 | * #include "../Interfaces/Humidity_class.h" * |
| Davidroid | 0:2887415a46cd | 73 | * #include "../Interfaces/Temperature_class.h" * |
| Davidroid | 0:2887415a46cd | 74 | *----------------------------------------------------------------------------*/ |
| Davidroid | 4:83a1eb397a65 | 75 | #include "../Interfaces/StepperMotor_class.h" |
| Davidroid | 0:2887415a46cd | 76 | |
| Davidroid | 0:2887415a46cd | 77 | |
| Davidroid | 0:2887415a46cd | 78 | /* Classes -------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 79 | |
| Davidroid | 10:c3824af0caf4 | 80 | /** |
| Davidroid | 10:c3824af0caf4 | 81 | * @brief Class representing an L6474 component. |
| Davidroid | 0:2887415a46cd | 82 | */ |
| Davidroid | 4:83a1eb397a65 | 83 | class L6474 : public StepperMotor |
| Davidroid | 0:2887415a46cd | 84 | { |
| Davidroid | 0:2887415a46cd | 85 | public: |
| Davidroid | 0:2887415a46cd | 86 | |
| Davidroid | 0:2887415a46cd | 87 | /*** Constructor and Destructor Methods ***/ |
| Davidroid | 0:2887415a46cd | 88 | |
| Davidroid | 0:2887415a46cd | 89 | /** |
| Davidroid | 0:2887415a46cd | 90 | * @brief Constructor. |
| Davidroid | 7:f7e0c3621f77 | 91 | * @param flag_irq pin name of the FLAG pin of the component. |
| Davidroid | 4:83a1eb397a65 | 92 | * @param standby_reset pin name of the STBY\RST pin of the component. |
| Davidroid | 4:83a1eb397a65 | 93 | * @param direction pin name of the DIR pin of the component. |
| Davidroid | 4:83a1eb397a65 | 94 | * @param pwm pin name of the PWM pin of the component. |
| Davidroid | 4:83a1eb397a65 | 95 | * @param ssel pin name of the SSEL pin of the SPI device to be used for communication. |
| Davidroid | 4:83a1eb397a65 | 96 | * @param spi SPI device to be used for communication. |
| Davidroid | 0:2887415a46cd | 97 | */ |
| Davidroid | 7:f7e0c3621f77 | 98 | L6474(PinName flag_irq, PinName standby_reset, PinName direction, PinName pwm, PinName ssel, DevSPI &spi) : StepperMotor(), flag_irq(flag_irq), standby_reset(standby_reset), direction(direction), pwm(pwm), ssel(ssel), dev_spi(spi) |
| Davidroid | 0:2887415a46cd | 99 | { |
| Davidroid | 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 | 11:b4d365138c21 | 146 | * @brief Initializing the component in FULL STEP mode. |
| 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 | 11:b4d365138c21 | 152 | DrvStatusTypeDef ret = L6474_Init((MOTOR_InitTypeDef *) init); |
| Davidroid | 11:b4d365138c21 | 153 | if (ret != COMPONENT_OK) |
| Davidroid | 11:b4d365138c21 | 154 | return (int) ret; |
| Davidroid | 11:b4d365138c21 | 155 | L6474_SelectStepMode(STEP_MODE_FULL); |
| Davidroid | 11:b4d365138c21 | 156 | return (int) COMPONENT_OK; |
| Davidroid | 0:2887415a46cd | 157 | } |
| Davidroid | 0:2887415a46cd | 158 | |
| Davidroid | 7:f7e0c3621f77 | 159 | /** |
| Davidroid | 7:f7e0c3621f77 | 160 | * @brief Getting the ID of the component. |
| Davidroid | 8:42e0b00b1e4d | 161 | * @param id Pointer to an allocated variable to store the ID into. |
| Davidroid | 7:f7e0c3621f77 | 162 | * @retval "0" in case of success, an error code otherwise. |
| Davidroid | 7:f7e0c3621f77 | 163 | */ |
| Davidroid | 0:2887415a46cd | 164 | virtual int ReadID(uint8_t *id) |
| Davidroid | 0:2887415a46cd | 165 | { |
| Davidroid | 0:2887415a46cd | 166 | return (int) L6474_ReadID((uint8_t *) id); |
| Davidroid | 0:2887415a46cd | 167 | } |
| Davidroid | 0:2887415a46cd | 168 | |
| Davidroid | 7:f7e0c3621f77 | 169 | /** |
| Davidroid | 7:f7e0c3621f77 | 170 | * @brief Getting the value of the Status Register. |
| Davidroid | 7:f7e0c3621f77 | 171 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 172 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 173 | * @note The Status Register's flags are cleared, contrary to ReadStatusRegister(). |
| Davidroid | 7:f7e0c3621f77 | 174 | */ |
| Davidroid | 4:83a1eb397a65 | 175 | virtual unsigned int GetStatus(void) |
| Davidroid | 0:2887415a46cd | 176 | { |
| Davidroid | 4:83a1eb397a65 | 177 | return (unsigned int) L6474_CmdGetStatus(); |
| Davidroid | 0:2887415a46cd | 178 | } |
| Davidroid | 0:2887415a46cd | 179 | |
| Davidroid | 7:f7e0c3621f77 | 180 | /** |
| Davidroid | 7:f7e0c3621f77 | 181 | * @brief Getting a parameter. |
| Davidroid | 8:42e0b00b1e4d | 182 | * @param parameter A parameter's register adress. |
| Davidroid | 8:42e0b00b1e4d | 183 | * @retval The parameter's value. |
| Davidroid | 7:f7e0c3621f77 | 184 | * @note The Status Register's flags are cleared, contrary to ReadStatusRegister(). |
| Davidroid | 7:f7e0c3621f77 | 185 | * parameter can be one of the following: |
| Davidroid | 7:f7e0c3621f77 | 186 | * + L6474_ABS_POS |
| Davidroid | 7:f7e0c3621f77 | 187 | * + L6474_EL_POS |
| Davidroid | 7:f7e0c3621f77 | 188 | * + L6474_MARK |
| Davidroid | 7:f7e0c3621f77 | 189 | * + L6474_RESERVED_REG01 |
| Davidroid | 7:f7e0c3621f77 | 190 | * + L6474_RESERVED_REG02 |
| Davidroid | 7:f7e0c3621f77 | 191 | * + L6474_RESERVED_REG03 |
| Davidroid | 7:f7e0c3621f77 | 192 | * + L6474_RESERVED_REG04 |
| Davidroid | 7:f7e0c3621f77 | 193 | * + L6474_RESERVED_REG05 |
| Davidroid | 7:f7e0c3621f77 | 194 | * + L6474_RESERVED_REG06 |
| Davidroid | 7:f7e0c3621f77 | 195 | * + L6474_TVAL |
| Davidroid | 7:f7e0c3621f77 | 196 | * + L6474_RESERVED_REG07 |
| Davidroid | 7:f7e0c3621f77 | 197 | * + L6474_RESERVED_REG08 |
| Davidroid | 7:f7e0c3621f77 | 198 | * + L6474_RESERVED_REG09 |
| Davidroid | 7:f7e0c3621f77 | 199 | * + L6474_RESERVED_REG10 |
| Davidroid | 7:f7e0c3621f77 | 200 | * + L6474_T_FAST |
| Davidroid | 7:f7e0c3621f77 | 201 | * + L6474_TON_MIN |
| Davidroid | 7:f7e0c3621f77 | 202 | * + L6474_TOFF_MIN |
| Davidroid | 7:f7e0c3621f77 | 203 | * + L6474_RESERVED_REG11 |
| Davidroid | 7:f7e0c3621f77 | 204 | * + L6474_ADC_OUT |
| Davidroid | 7:f7e0c3621f77 | 205 | * + L6474_OCD_TH |
| Davidroid | 7:f7e0c3621f77 | 206 | * + L6474_RESERVED_REG12 |
| Davidroid | 7:f7e0c3621f77 | 207 | * + L6474_STEP_MODE |
| Davidroid | 7:f7e0c3621f77 | 208 | * + L6474_ALARM_EN |
| Davidroid | 7:f7e0c3621f77 | 209 | * + L6474_CONFIG |
| Davidroid | 7:f7e0c3621f77 | 210 | * + L6474_STATUS |
| Davidroid | 7:f7e0c3621f77 | 211 | * + L6474_RESERVED_REG13 |
| Davidroid | 7:f7e0c3621f77 | 212 | * + L6474_RESERVED_REG14 |
| Davidroid | 7:f7e0c3621f77 | 213 | * + L6474_INEXISTENT_REG |
| Davidroid | 7:f7e0c3621f77 | 214 | */ |
| Davidroid | 4:83a1eb397a65 | 215 | virtual unsigned int GetParameter(unsigned int parameter) |
| Davidroid | 0:2887415a46cd | 216 | { |
| Davidroid | 7:f7e0c3621f77 | 217 | return (unsigned int) L6474_CmdGetParam((L6474_Registers_t) parameter); |
| Davidroid | 4:83a1eb397a65 | 218 | } |
| Davidroid | 4:83a1eb397a65 | 219 | |
| Davidroid | 8:42e0b00b1e4d | 220 | /** |
| Davidroid | 8:42e0b00b1e4d | 221 | * @brief Getting the position. |
| Davidroid | 8:42e0b00b1e4d | 222 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 223 | * @retval The position. |
| Davidroid | 8:42e0b00b1e4d | 224 | */ |
| Davidroid | 4:83a1eb397a65 | 225 | virtual signed int GetPosition(void) |
| Davidroid | 4:83a1eb397a65 | 226 | { |
| Davidroid | 4:83a1eb397a65 | 227 | return (signed int) L6474_GetPosition(); |
| Davidroid | 0:2887415a46cd | 228 | } |
| Davidroid | 0:2887415a46cd | 229 | |
| Davidroid | 8:42e0b00b1e4d | 230 | /** |
| Davidroid | 8:42e0b00b1e4d | 231 | * @brief Getting the marked position. |
| Davidroid | 8:42e0b00b1e4d | 232 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 233 | * @retval The marked position. |
| Davidroid | 8:42e0b00b1e4d | 234 | */ |
| Davidroid | 4:83a1eb397a65 | 235 | virtual signed int GetMark(void) |
| Davidroid | 0:2887415a46cd | 236 | { |
| Davidroid | 4:83a1eb397a65 | 237 | return (signed int) L6474_GetMark(); |
| Davidroid | 4:83a1eb397a65 | 238 | } |
| Davidroid | 8:42e0b00b1e4d | 239 | |
| Davidroid | 8:42e0b00b1e4d | 240 | /** |
| Davidroid | 8:42e0b00b1e4d | 241 | * @brief Getting the current speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 242 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 243 | * @retval The current speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 244 | */ |
| Davidroid | 4:83a1eb397a65 | 245 | virtual unsigned int GetSpeed(void) |
| Davidroid | 0:2887415a46cd | 246 | { |
| Davidroid | 4:83a1eb397a65 | 247 | return (unsigned int) L6474_GetCurrentSpeed(); |
| Davidroid | 0:2887415a46cd | 248 | } |
| Davidroid | 0:2887415a46cd | 249 | |
| Davidroid | 8:42e0b00b1e4d | 250 | /** |
| Davidroid | 8:42e0b00b1e4d | 251 | * @brief Getting the maximum speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 252 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 253 | * @retval The maximum speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 254 | */ |
| Davidroid | 4:83a1eb397a65 | 255 | virtual unsigned int GetMaxSpeed(void) |
| Davidroid | 4:83a1eb397a65 | 256 | { |
| Davidroid | 4:83a1eb397a65 | 257 | return (unsigned int) L6474_GetMaxSpeed(); |
| Davidroid | 4:83a1eb397a65 | 258 | } |
| Davidroid | 4:83a1eb397a65 | 259 | |
| Davidroid | 8:42e0b00b1e4d | 260 | /** |
| Davidroid | 8:42e0b00b1e4d | 261 | * @brief Getting the minimum speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 262 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 263 | * @retval The minimum speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 264 | */ |
| Davidroid | 4:83a1eb397a65 | 265 | virtual unsigned int GetMinSpeed(void) |
| Davidroid | 0:2887415a46cd | 266 | { |
| Davidroid | 4:83a1eb397a65 | 267 | return (unsigned int) L6474_GetMinSpeed(); |
| Davidroid | 4:83a1eb397a65 | 268 | } |
| Davidroid | 4:83a1eb397a65 | 269 | |
| Davidroid | 8:42e0b00b1e4d | 270 | /** |
| Davidroid | 8:42e0b00b1e4d | 271 | * @brief Getting the acceleration in pps^2. |
| Davidroid | 8:42e0b00b1e4d | 272 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 273 | * @retval The acceleration in pps^2. |
| Davidroid | 8:42e0b00b1e4d | 274 | */ |
| Davidroid | 4:83a1eb397a65 | 275 | virtual unsigned int GetAcceleration(void) |
| Davidroid | 4:83a1eb397a65 | 276 | { |
| Davidroid | 4:83a1eb397a65 | 277 | return (unsigned int) L6474_GetAcceleration(); |
| Davidroid | 0:2887415a46cd | 278 | } |
| Davidroid | 0:2887415a46cd | 279 | |
| Davidroid | 8:42e0b00b1e4d | 280 | /** |
| Davidroid | 8:42e0b00b1e4d | 281 | * @brief Getting the deceleration in pps^2. |
| Davidroid | 8:42e0b00b1e4d | 282 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 283 | * @retval The deceleration in pps^2. |
| Davidroid | 8:42e0b00b1e4d | 284 | */ |
| Davidroid | 4:83a1eb397a65 | 285 | virtual unsigned int GetDeceleration(void) |
| Davidroid | 0:2887415a46cd | 286 | { |
| Davidroid | 4:83a1eb397a65 | 287 | return (unsigned int) L6474_GetDeceleration(); |
| Davidroid | 0:2887415a46cd | 288 | } |
| Davidroid | 0:2887415a46cd | 289 | |
| Davidroid | 8:42e0b00b1e4d | 290 | /** |
| Davidroid | 8:42e0b00b1e4d | 291 | * @brief Getting the direction of rotation. |
| Davidroid | 8:42e0b00b1e4d | 292 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 293 | * @retval The direction of rotation. |
| Davidroid | 8:42e0b00b1e4d | 294 | */ |
| Davidroid | 5:d3c78f12a78d | 295 | virtual direction_t GetDirection(void) |
| Davidroid | 5:d3c78f12a78d | 296 | { |
| Davidroid | 5:d3c78f12a78d | 297 | return (direction_t) (L6474_GetDirection() == FORWARD ? StepperMotor::FWD : StepperMotor::BWD); |
| Davidroid | 5:d3c78f12a78d | 298 | } |
| Davidroid | 5:d3c78f12a78d | 299 | |
| Davidroid | 7:f7e0c3621f77 | 300 | /** |
| Davidroid | 7:f7e0c3621f77 | 301 | * @brief Setting a parameter. |
| Davidroid | 8:42e0b00b1e4d | 302 | * @param parameter A parameter's register adress. |
| Davidroid | 8:42e0b00b1e4d | 303 | * @param value The parameter's value. |
| Davidroid | 7:f7e0c3621f77 | 304 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 305 | * @note parameter can be one of the following: |
| Davidroid | 7:f7e0c3621f77 | 306 | * + L6474_ABS_POS |
| Davidroid | 7:f7e0c3621f77 | 307 | * + L6474_EL_POS |
| Davidroid | 7:f7e0c3621f77 | 308 | * + L6474_MARK |
| Davidroid | 7:f7e0c3621f77 | 309 | * + L6474_RESERVED_REG01 |
| Davidroid | 7:f7e0c3621f77 | 310 | * + L6474_RESERVED_REG02 |
| Davidroid | 7:f7e0c3621f77 | 311 | * + L6474_RESERVED_REG03 |
| Davidroid | 7:f7e0c3621f77 | 312 | * + L6474_RESERVED_REG04 |
| Davidroid | 7:f7e0c3621f77 | 313 | * + L6474_RESERVED_REG05 |
| Davidroid | 7:f7e0c3621f77 | 314 | * + L6474_RESERVED_REG06 |
| Davidroid | 7:f7e0c3621f77 | 315 | * + L6474_TVAL |
| Davidroid | 7:f7e0c3621f77 | 316 | * + L6474_RESERVED_REG07 |
| Davidroid | 7:f7e0c3621f77 | 317 | * + L6474_RESERVED_REG08 |
| Davidroid | 7:f7e0c3621f77 | 318 | * + L6474_RESERVED_REG09 |
| Davidroid | 7:f7e0c3621f77 | 319 | * + L6474_RESERVED_REG10 |
| Davidroid | 7:f7e0c3621f77 | 320 | * + L6474_T_FAST |
| Davidroid | 7:f7e0c3621f77 | 321 | * + L6474_TON_MIN |
| Davidroid | 7:f7e0c3621f77 | 322 | * + L6474_TOFF_MIN |
| Davidroid | 7:f7e0c3621f77 | 323 | * + L6474_RESERVED_REG11 |
| Davidroid | 7:f7e0c3621f77 | 324 | * + L6474_ADC_OUT |
| Davidroid | 7:f7e0c3621f77 | 325 | * + L6474_OCD_TH |
| Davidroid | 7:f7e0c3621f77 | 326 | * + L6474_RESERVED_REG12 |
| Davidroid | 7:f7e0c3621f77 | 327 | * + L6474_STEP_MODE |
| Davidroid | 7:f7e0c3621f77 | 328 | * + L6474_ALARM_EN |
| Davidroid | 7:f7e0c3621f77 | 329 | * + L6474_CONFIG |
| Davidroid | 7:f7e0c3621f77 | 330 | * + L6474_STATUS |
| Davidroid | 7:f7e0c3621f77 | 331 | * + L6474_RESERVED_REG13 |
| Davidroid | 7:f7e0c3621f77 | 332 | * + L6474_RESERVED_REG14 |
| Davidroid | 7:f7e0c3621f77 | 333 | * + L6474_INEXISTENT_REG |
| Davidroid | 7:f7e0c3621f77 | 334 | */ |
| Davidroid | 4:83a1eb397a65 | 335 | virtual void SetParameter(unsigned int parameter, unsigned int value) |
| Davidroid | 0:2887415a46cd | 336 | { |
| Davidroid | 7:f7e0c3621f77 | 337 | L6474_CmdSetParam((L6474_Registers_t) parameter, (unsigned int) value); |
| Davidroid | 0:2887415a46cd | 338 | } |
| Davidroid | 0:2887415a46cd | 339 | |
| Davidroid | 8:42e0b00b1e4d | 340 | /** |
| Davidroid | 8:42e0b00b1e4d | 341 | * @brief Setting the current position to be the home position. |
| Davidroid | 8:42e0b00b1e4d | 342 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 343 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 344 | */ |
| Davidroid | 4:83a1eb397a65 | 345 | virtual void SetHome(void) |
| Davidroid | 0:2887415a46cd | 346 | { |
| Davidroid | 4:83a1eb397a65 | 347 | L6474_SetHome(); |
| Davidroid | 4:83a1eb397a65 | 348 | } |
| Davidroid | 4:83a1eb397a65 | 349 | |
| Davidroid | 8:42e0b00b1e4d | 350 | /** |
| Davidroid | 8:42e0b00b1e4d | 351 | * @brief Setting the current position to be the marked position. |
| Davidroid | 8:42e0b00b1e4d | 352 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 353 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 354 | */ |
| Davidroid | 4:83a1eb397a65 | 355 | virtual void SetMark(void) |
| Davidroid | 4:83a1eb397a65 | 356 | { |
| Davidroid | 4:83a1eb397a65 | 357 | L6474_SetMark(); |
| Davidroid | 0:2887415a46cd | 358 | } |
| Davidroid | 0:2887415a46cd | 359 | |
| Davidroid | 8:42e0b00b1e4d | 360 | /** |
| Davidroid | 8:42e0b00b1e4d | 361 | * @brief Setting the maximum speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 362 | * @param speed The maximum speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 363 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 364 | */ |
| Davidroid | 4:83a1eb397a65 | 365 | virtual void SetMaxSpeed(unsigned int speed) |
| Davidroid | 4:83a1eb397a65 | 366 | { |
| Davidroid | 4:83a1eb397a65 | 367 | L6474_SetMaxSpeed((unsigned int) speed); |
| Davidroid | 0:2887415a46cd | 368 | } |
| Davidroid | 0:2887415a46cd | 369 | |
| Davidroid | 8:42e0b00b1e4d | 370 | /** |
| Davidroid | 8:42e0b00b1e4d | 371 | * @brief Setting the minimum speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 372 | * @param speed The minimum speed in pps. |
| Davidroid | 8:42e0b00b1e4d | 373 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 374 | */ |
| Davidroid | 4:83a1eb397a65 | 375 | virtual void SetMinSpeed(unsigned int speed) |
| Davidroid | 0:2887415a46cd | 376 | { |
| Davidroid | 4:83a1eb397a65 | 377 | L6474_SetMinSpeed((unsigned int) speed); |
| Davidroid | 0:2887415a46cd | 378 | } |
| Davidroid | 0:2887415a46cd | 379 | |
| Davidroid | 8:42e0b00b1e4d | 380 | /** |
| Davidroid | 8:42e0b00b1e4d | 381 | * @brief Setting the acceleration in pps^2. |
| Davidroid | 8:42e0b00b1e4d | 382 | * @param acceleration The acceleration in pps^2. |
| Davidroid | 8:42e0b00b1e4d | 383 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 384 | */ |
| Davidroid | 4:83a1eb397a65 | 385 | virtual void SetAcceleration(unsigned int acceleration) |
| Davidroid | 0:2887415a46cd | 386 | { |
| Davidroid | 4:83a1eb397a65 | 387 | L6474_SetAcceleration((unsigned int) acceleration); |
| Davidroid | 0:2887415a46cd | 388 | } |
| Davidroid | 0:2887415a46cd | 389 | |
| Davidroid | 8:42e0b00b1e4d | 390 | /** |
| Davidroid | 8:42e0b00b1e4d | 391 | * @brief Setting the deceleration in pps^2. |
| Davidroid | 8:42e0b00b1e4d | 392 | * @param deceleration The deceleration in pps^2. |
| Davidroid | 8:42e0b00b1e4d | 393 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 394 | */ |
| Davidroid | 4:83a1eb397a65 | 395 | virtual void SetDeceleration(unsigned int deceleration) |
| Davidroid | 0:2887415a46cd | 396 | { |
| Davidroid | 4:83a1eb397a65 | 397 | L6474_SetDeceleration((unsigned int) deceleration); |
| Davidroid | 4:83a1eb397a65 | 398 | } |
| Davidroid | 4:83a1eb397a65 | 399 | |
| Davidroid | 8:42e0b00b1e4d | 400 | /** |
| Davidroid | 8:42e0b00b1e4d | 401 | * @brief Going to a specified position. |
| Davidroid | 8:42e0b00b1e4d | 402 | * @param position The desired position. |
| Davidroid | 8:42e0b00b1e4d | 403 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 404 | */ |
| Davidroid | 4:83a1eb397a65 | 405 | virtual void GoTo(signed int position) |
| Davidroid | 4:83a1eb397a65 | 406 | { |
| Davidroid | 4:83a1eb397a65 | 407 | L6474_GoTo((signed int) position); |
| Davidroid | 0:2887415a46cd | 408 | } |
| Davidroid | 0:2887415a46cd | 409 | |
| Davidroid | 8:42e0b00b1e4d | 410 | /** |
| Davidroid | 8:42e0b00b1e4d | 411 | * @brief Going to the home position. |
| Davidroid | 8:42e0b00b1e4d | 412 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 413 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 414 | */ |
| Davidroid | 0:2887415a46cd | 415 | virtual void GoHome(void) |
| Davidroid | 0:2887415a46cd | 416 | { |
| Davidroid | 0:2887415a46cd | 417 | L6474_GoHome(); |
| Davidroid | 0:2887415a46cd | 418 | } |
| Davidroid | 0:2887415a46cd | 419 | |
| Davidroid | 8:42e0b00b1e4d | 420 | /** |
| Davidroid | 8:42e0b00b1e4d | 421 | * @brief Going to the marked position. |
| Davidroid | 8:42e0b00b1e4d | 422 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 423 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 424 | */ |
| Davidroid | 0:2887415a46cd | 425 | virtual void GoMark(void) |
| Davidroid | 0:2887415a46cd | 426 | { |
| Davidroid | 0:2887415a46cd | 427 | L6474_GoMark(); |
| Davidroid | 0:2887415a46cd | 428 | } |
| Davidroid | 0:2887415a46cd | 429 | |
| Davidroid | 8:42e0b00b1e4d | 430 | /** |
| Davidroid | 8:42e0b00b1e4d | 431 | * @brief Running the motor towards a specified direction. |
| Davidroid | 8:42e0b00b1e4d | 432 | * @param direction The direction of rotation. |
| Davidroid | 8:42e0b00b1e4d | 433 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 434 | */ |
| Davidroid | 4:83a1eb397a65 | 435 | virtual void Run(direction_t direction) |
| Davidroid | 4:83a1eb397a65 | 436 | { |
| Davidroid | 5:d3c78f12a78d | 437 | L6474_Run((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD)); |
| Davidroid | 4:83a1eb397a65 | 438 | } |
| Davidroid | 4:83a1eb397a65 | 439 | |
| Davidroid | 8:42e0b00b1e4d | 440 | /** |
| Davidroid | 8:42e0b00b1e4d | 441 | * @brief Moving the motor towards a specified direction for a certain number of steps. |
| Davidroid | 8:42e0b00b1e4d | 442 | * @param direction The direction of rotation. |
| Davidroid | 8:42e0b00b1e4d | 443 | * @param steps The desired number of steps. |
| Davidroid | 8:42e0b00b1e4d | 444 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 445 | */ |
| Davidroid | 4:83a1eb397a65 | 446 | virtual void Move(direction_t direction, unsigned int steps) |
| Davidroid | 0:2887415a46cd | 447 | { |
| Davidroid | 5:d3c78f12a78d | 448 | L6474_Move((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), (unsigned int) steps); |
| Davidroid | 4:83a1eb397a65 | 449 | } |
| Davidroid | 4:83a1eb397a65 | 450 | |
| Davidroid | 8:42e0b00b1e4d | 451 | /** |
| Davidroid | 8:42e0b00b1e4d | 452 | * @brief Stopping the motor. |
| Davidroid | 8:42e0b00b1e4d | 453 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 454 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 455 | */ |
| Davidroid | 4:83a1eb397a65 | 456 | virtual void SoftStop(void) |
| Davidroid | 4:83a1eb397a65 | 457 | { |
| Davidroid | 4:83a1eb397a65 | 458 | L6474_SoftStop(); |
| Davidroid | 0:2887415a46cd | 459 | } |
| Davidroid | 0:2887415a46cd | 460 | |
| Davidroid | 8:42e0b00b1e4d | 461 | /** |
| Davidroid | 8:42e0b00b1e4d | 462 | * @brief Stopping the motor and disabling the power bridge. |
| Davidroid | 8:42e0b00b1e4d | 463 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 464 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 465 | */ |
| Davidroid | 0:2887415a46cd | 466 | virtual void HardStop(void) |
| Davidroid | 0:2887415a46cd | 467 | { |
| Davidroid | 0:2887415a46cd | 468 | L6474_HardStop(); |
| Davidroid | 0:2887415a46cd | 469 | } |
| Davidroid | 0:2887415a46cd | 470 | |
| Davidroid | 8:42e0b00b1e4d | 471 | /** |
| Davidroid | 8:42e0b00b1e4d | 472 | * @brief Waiting while the motor is active. |
| Davidroid | 8:42e0b00b1e4d | 473 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 474 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 475 | */ |
| Davidroid | 7:f7e0c3621f77 | 476 | virtual void WaitWhileActive(void) |
| Davidroid | 7:f7e0c3621f77 | 477 | { |
| Davidroid | 7:f7e0c3621f77 | 478 | L6474_WaitWhileActive(); |
| Davidroid | 7:f7e0c3621f77 | 479 | } |
| Davidroid | 7:f7e0c3621f77 | 480 | |
| Davidroid | 7:f7e0c3621f77 | 481 | /** |
| Davidroid | 7:f7e0c3621f77 | 482 | * @brief Getting the device state. |
| Davidroid | 7:f7e0c3621f77 | 483 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 484 | * @retval The device state. |
| Davidroid | 7:f7e0c3621f77 | 485 | * @note The device state can be one of the following: |
| Davidroid | 7:f7e0c3621f77 | 486 | * + ACCELERATING |
| Davidroid | 7:f7e0c3621f77 | 487 | * + DECELERATING |
| Davidroid | 7:f7e0c3621f77 | 488 | * + STEADY |
| Davidroid | 7:f7e0c3621f77 | 489 | * + INACTIVE |
| Davidroid | 7:f7e0c3621f77 | 490 | */ |
| Davidroid | 4:83a1eb397a65 | 491 | virtual motorState_t GetDeviceState(void) |
| Davidroid | 0:2887415a46cd | 492 | { |
| Davidroid | 4:83a1eb397a65 | 493 | return (motorState_t) L6474_GetDeviceState(); |
| Davidroid | 0:2887415a46cd | 494 | } |
| Davidroid | 0:2887415a46cd | 495 | |
| Davidroid | 7:f7e0c3621f77 | 496 | /** |
| Davidroid | 7:f7e0c3621f77 | 497 | * @brief Reading the Status Register. |
| Davidroid | 7:f7e0c3621f77 | 498 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 499 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 500 | * @note The Status Register's flags are not cleared, contrary to GetStatus(). |
| Davidroid | 7:f7e0c3621f77 | 501 | */ |
| Davidroid | 0:2887415a46cd | 502 | virtual uint16_t ReadStatusRegister(void) |
| Davidroid | 0:2887415a46cd | 503 | { |
| Davidroid | 0:2887415a46cd | 504 | return (uint16_t) L6474_ReadStatusRegister(); |
| Davidroid | 0:2887415a46cd | 505 | } |
| Davidroid | 0:2887415a46cd | 506 | |
| Davidroid | 7:f7e0c3621f77 | 507 | /** |
| Davidroid | 8:42e0b00b1e4d | 508 | * @brief Setting the Step Mode. |
| Davidroid | 8:42e0b00b1e4d | 509 | * @param step_mode The Step Mode. |
| Davidroid | 7:f7e0c3621f77 | 510 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 511 | * @note step_mode can be one of the following: |
| Davidroid | 7:f7e0c3621f77 | 512 | * + STEP_MODE_FULL |
| Davidroid | 7:f7e0c3621f77 | 513 | * + STEP_MODE_HALF |
| Davidroid | 7:f7e0c3621f77 | 514 | * + STEP_MODE_1_4 |
| Davidroid | 7:f7e0c3621f77 | 515 | * + STEP_MODE_1_8 |
| Davidroid | 7:f7e0c3621f77 | 516 | * + STEP_MODE_1_16 |
| Davidroid | 7:f7e0c3621f77 | 517 | * + STEP_MODE_1_32 |
| Davidroid | 7:f7e0c3621f77 | 518 | * + STEP_MODE_1_64 |
| Davidroid | 7:f7e0c3621f77 | 519 | * + STEP_MODE_1_128 |
| Davidroid | 7:f7e0c3621f77 | 520 | */ |
| Davidroid | 8:42e0b00b1e4d | 521 | virtual void SetStepMode(motorStepMode_t step_mode) |
| Davidroid | 0:2887415a46cd | 522 | { |
| Davidroid | 7:f7e0c3621f77 | 523 | L6474_SelectStepMode((motorStepMode_t) step_mode); |
| Davidroid | 0:2887415a46cd | 524 | } |
| Davidroid | 0:2887415a46cd | 525 | |
| Davidroid | 7:f7e0c3621f77 | 526 | /** |
| Davidroid | 7:f7e0c3621f77 | 527 | * @brief Attaching an error handler. |
| Davidroid | 8:42e0b00b1e4d | 528 | * @param fptr An error handler. |
| Davidroid | 7:f7e0c3621f77 | 529 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 530 | */ |
| Davidroid | 7:f7e0c3621f77 | 531 | virtual void AttachErrorHandler(void (*fptr)(uint16_t error)) |
| Davidroid | 4:83a1eb397a65 | 532 | { |
| Davidroid | 7:f7e0c3621f77 | 533 | L6474_AttachErrorHandler((void (*)(uint16_t error)) fptr); |
| Davidroid | 4:83a1eb397a65 | 534 | } |
| Davidroid | 4:83a1eb397a65 | 535 | |
| Davidroid | 9:6f116ce8e314 | 536 | /** |
| Davidroid | 8:42e0b00b1e4d | 537 | * @brief Enabling the device. |
| Davidroid | 8:42e0b00b1e4d | 538 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 539 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 540 | */ |
| Davidroid | 8:42e0b00b1e4d | 541 | virtual void Enable(void) |
| Davidroid | 8:42e0b00b1e4d | 542 | { |
| Davidroid | 8:42e0b00b1e4d | 543 | L6474_CmdEnable(); |
| Davidroid | 8:42e0b00b1e4d | 544 | } |
| Davidroid | 8:42e0b00b1e4d | 545 | |
| Davidroid | 9:6f116ce8e314 | 546 | /** |
| Davidroid | 8:42e0b00b1e4d | 547 | * @brief Disabling the device. |
| Davidroid | 8:42e0b00b1e4d | 548 | * @param None. |
| Davidroid | 8:42e0b00b1e4d | 549 | * @retval None. |
| Davidroid | 8:42e0b00b1e4d | 550 | */ |
| Davidroid | 8:42e0b00b1e4d | 551 | virtual void Disable(void) |
| Davidroid | 8:42e0b00b1e4d | 552 | { |
| Davidroid | 8:42e0b00b1e4d | 553 | L6474_CmdDisable(); |
| Davidroid | 8:42e0b00b1e4d | 554 | } |
| Davidroid | 8:42e0b00b1e4d | 555 | |
| Davidroid | 9:6f116ce8e314 | 556 | /** |
| Davidroid | 9:6f116ce8e314 | 557 | * @brief Getting the version of the firmware. |
| Davidroid | 9:6f116ce8e314 | 558 | * @param None. |
| Davidroid | 9:6f116ce8e314 | 559 | * @retval The version of the firmware. |
| Davidroid | 9:6f116ce8e314 | 560 | */ |
| Davidroid | 9:6f116ce8e314 | 561 | virtual uint8_t GetFwVersion(void) |
| Davidroid | 9:6f116ce8e314 | 562 | { |
| Davidroid | 9:6f116ce8e314 | 563 | return (uint8_t) L6474_GetFwVersion(); |
| Davidroid | 9:6f116ce8e314 | 564 | } |
| Davidroid | 9:6f116ce8e314 | 565 | |
| Davidroid | 0:2887415a46cd | 566 | |
| Davidroid | 0:2887415a46cd | 567 | /*** Public Interrupt Related Methods ***/ |
| Davidroid | 0:2887415a46cd | 568 | |
| Davidroid | 0:2887415a46cd | 569 | /* ACTION 6 --------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 570 | * Implement here interrupt related methods, if any. * |
| Davidroid | 0:2887415a46cd | 571 | * Note that interrupt handling is platform dependent, e.g.: * |
| Davidroid | 0:2887415a46cd | 572 | * + mbed: * |
| Davidroid | 7:f7e0c3621f77 | 573 | * InterruptIn feature_irq(pin); //Interrupt object. * |
| Davidroid | 7:f7e0c3621f77 | 574 | * feature_irq.rise(callback); //Attach a callback. * |
| Davidroid | 7:f7e0c3621f77 | 575 | * feature_irq.mode(PullNone); //Set interrupt mode. * |
| Davidroid | 7:f7e0c3621f77 | 576 | * feature_irq.enable_irq(); //Enable interrupt. * |
| Davidroid | 7:f7e0c3621f77 | 577 | * feature_irq.disable_irq(); //Disable interrupt. * |
| Davidroid | 0:2887415a46cd | 578 | * + Arduino: * |
| Davidroid | 0:2887415a46cd | 579 | * attachInterrupt(pin, callback, RISING); //Attach a callback. * |
| Davidroid | 0:2887415a46cd | 580 | * detachInterrupt(pin); //Detach a callback. * |
| Davidroid | 0:2887415a46cd | 581 | * * |
| Davidroid | 0:2887415a46cd | 582 | * Example (mbed): * |
| Davidroid | 7:f7e0c3621f77 | 583 | * void AttachFeatureIRQ(void (*fptr) (void)) * |
| Davidroid | 0:2887415a46cd | 584 | * { * |
| Davidroid | 7:f7e0c3621f77 | 585 | * feature_irq.rise(fptr); * |
| Davidroid | 7:f7e0c3621f77 | 586 | * } * |
| Davidroid | 7:f7e0c3621f77 | 587 | * * |
| Davidroid | 7:f7e0c3621f77 | 588 | * void EnableFeatureIRQ(void) * |
| Davidroid | 7:f7e0c3621f77 | 589 | * { * |
| Davidroid | 7:f7e0c3621f77 | 590 | * feature_irq.enable_irq(); * |
| Davidroid | 0:2887415a46cd | 591 | * } * |
| Davidroid | 0:2887415a46cd | 592 | * * |
| Davidroid | 7:f7e0c3621f77 | 593 | * void DisableFeatureIRQ(void) * |
| Davidroid | 0:2887415a46cd | 594 | * { * |
| Davidroid | 7:f7e0c3621f77 | 595 | * feature_irq.disable_irq(); * |
| Davidroid | 0:2887415a46cd | 596 | * } * |
| Davidroid | 0:2887415a46cd | 597 | *------------------------------------------------------------------------*/ |
| Davidroid | 7:f7e0c3621f77 | 598 | /** |
| Davidroid | 8:42e0b00b1e4d | 599 | * @brief Attaching an interrupt handler to the FLAG interrupt. |
| Davidroid | 8:42e0b00b1e4d | 600 | * @param fptr An interrupt handler. |
| Davidroid | 7:f7e0c3621f77 | 601 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 602 | */ |
| Davidroid | 7:f7e0c3621f77 | 603 | void AttachFlagIRQ(void (*fptr)(void)) |
| Davidroid | 7:f7e0c3621f77 | 604 | { |
| Davidroid | 7:f7e0c3621f77 | 605 | flag_irq.rise(fptr); |
| Davidroid | 7:f7e0c3621f77 | 606 | } |
| Davidroid | 7:f7e0c3621f77 | 607 | |
| Davidroid | 7:f7e0c3621f77 | 608 | /** |
| Davidroid | 8:42e0b00b1e4d | 609 | * @brief Enabling the FLAG interrupt handling. |
| Davidroid | 7:f7e0c3621f77 | 610 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 611 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 612 | */ |
| Davidroid | 7:f7e0c3621f77 | 613 | void EnableFlagIRQ(void) |
| Davidroid | 7:f7e0c3621f77 | 614 | { |
| Davidroid | 7:f7e0c3621f77 | 615 | flag_irq.enable_irq(); |
| Davidroid | 7:f7e0c3621f77 | 616 | } |
| Davidroid | 7:f7e0c3621f77 | 617 | |
| Davidroid | 7:f7e0c3621f77 | 618 | /** |
| Davidroid | 8:42e0b00b1e4d | 619 | * @brief Disabling the FLAG interrupt handling. |
| Davidroid | 7:f7e0c3621f77 | 620 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 621 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 622 | */ |
| Davidroid | 7:f7e0c3621f77 | 623 | void DisableFlagIRQ(void) |
| Davidroid | 7:f7e0c3621f77 | 624 | { |
| Davidroid | 7:f7e0c3621f77 | 625 | flag_irq.disable_irq(); |
| Davidroid | 7:f7e0c3621f77 | 626 | } |
| Davidroid | 0:2887415a46cd | 627 | |
| Davidroid | 0:2887415a46cd | 628 | |
| Davidroid | 0:2887415a46cd | 629 | protected: |
| Davidroid | 0:2887415a46cd | 630 | |
| Davidroid | 0:2887415a46cd | 631 | /*** Protected Component Related Methods ***/ |
| Davidroid | 0:2887415a46cd | 632 | |
| Davidroid | 0:2887415a46cd | 633 | /* ACTION 7 --------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 634 | * Declare here the component's specific methods. * |
| Davidroid | 0:2887415a46cd | 635 | * They should be: * |
| Davidroid | 0:2887415a46cd | 636 | * + Methods with the same name of the C component's virtual table's * |
| Davidroid | 0:2887415a46cd | 637 | * functions (1); * |
| Davidroid | 0:2887415a46cd | 638 | * + Methods with the same name of the C component's extended virtual * |
| Davidroid | 0:2887415a46cd | 639 | * table's functions, if any (2); * |
| Davidroid | 0:2887415a46cd | 640 | * + Helper methods, if any, like functions declared in the component's * |
| Davidroid | 0:2887415a46cd | 641 | * source files but not pointed by the component's virtual table (3). * |
| Davidroid | 0:2887415a46cd | 642 | * * |
| Davidroid | 0:2887415a46cd | 643 | * Example: * |
| Davidroid | 0:2887415a46cd | 644 | * DrvStatusTypeDef COMPONENT_GetValue(float* pfData); //(1) * |
| Davidroid | 0:2887415a46cd | 645 | * DrvStatusTypeDef COMPONENT_EnableFeature(void); //(2) * |
| Davidroid | 0:2887415a46cd | 646 | * DrvStatusTypeDef COMPONENT_ComputeAverage(void); //(3) * |
| Davidroid | 0:2887415a46cd | 647 | *------------------------------------------------------------------------*/ |
| Davidroid | 7:f7e0c3621f77 | 648 | void L6474_AttachErrorHandler(void (*callback)(uint16_t error)); |
| Davidroid | 7:f7e0c3621f77 | 649 | DrvStatusTypeDef L6474_Init(MOTOR_InitTypeDef *init); |
| Davidroid | 7:f7e0c3621f77 | 650 | DrvStatusTypeDef L6474_ReadID(uint8_t *id); |
| Davidroid | 7:f7e0c3621f77 | 651 | uint16_t L6474_GetAcceleration(void); |
| Davidroid | 7:f7e0c3621f77 | 652 | uint16_t L6474_GetCurrentSpeed(void); |
| Davidroid | 7:f7e0c3621f77 | 653 | uint16_t L6474_GetDeceleration(void); |
| Davidroid | 7:f7e0c3621f77 | 654 | motorState_t L6474_GetDeviceState(void); |
| Davidroid | 7:f7e0c3621f77 | 655 | uint8_t L6474_GetFwVersion(void); |
| Davidroid | 7:f7e0c3621f77 | 656 | int32_t L6474_GetMark(void); |
| Davidroid | 7:f7e0c3621f77 | 657 | uint16_t L6474_GetMaxSpeed(void); |
| Davidroid | 7:f7e0c3621f77 | 658 | uint16_t L6474_GetMinSpeed(void); |
| Davidroid | 7:f7e0c3621f77 | 659 | int32_t L6474_GetPosition(void); |
| Davidroid | 7:f7e0c3621f77 | 660 | void L6474_GoHome(void); |
| Davidroid | 7:f7e0c3621f77 | 661 | void L6474_GoMark(void); |
| Davidroid | 7:f7e0c3621f77 | 662 | void L6474_GoTo(int32_t targetPosition); |
| Davidroid | 7:f7e0c3621f77 | 663 | void L6474_HardStop(void); |
| Davidroid | 7:f7e0c3621f77 | 664 | void L6474_Move(motorDir_t direction, uint32_t stepCount); |
| Davidroid | 7:f7e0c3621f77 | 665 | void L6474_Run(motorDir_t direction); |
| Davidroid | 7:f7e0c3621f77 | 666 | bool L6474_SetAcceleration(uint16_t newAcc); |
| Davidroid | 7:f7e0c3621f77 | 667 | bool L6474_SetDeceleration(uint16_t newDec); |
| Davidroid | 7:f7e0c3621f77 | 668 | void L6474_SetHome(void); |
| Davidroid | 7:f7e0c3621f77 | 669 | void L6474_SetMark(void); |
| Davidroid | 7:f7e0c3621f77 | 670 | bool L6474_SetMaxSpeed(uint16_t newMaxSpeed); |
| Davidroid | 7:f7e0c3621f77 | 671 | bool L6474_SetMinSpeed(uint16_t newMinSpeed); |
| Davidroid | 7:f7e0c3621f77 | 672 | bool L6474_SoftStop(void); |
| Davidroid | 7:f7e0c3621f77 | 673 | void L6474_WaitWhileActive(void); |
| Davidroid | 7:f7e0c3621f77 | 674 | void L6474_CmdDisable(void); |
| Davidroid | 7:f7e0c3621f77 | 675 | void L6474_CmdEnable(void); |
| Davidroid | 7:f7e0c3621f77 | 676 | uint32_t L6474_CmdGetParam(L6474_Registers_t parameter); |
| Davidroid | 7:f7e0c3621f77 | 677 | uint16_t L6474_CmdGetStatus(void); |
| Davidroid | 7:f7e0c3621f77 | 678 | void L6474_CmdNop(void); |
| Davidroid | 7:f7e0c3621f77 | 679 | void L6474_CmdSetParam(L6474_Registers_t parameter, uint32_t value); |
| Davidroid | 7:f7e0c3621f77 | 680 | uint16_t L6474_ReadStatusRegister(void); |
| Davidroid | 7:f7e0c3621f77 | 681 | void L6474_SelectStepMode(motorStepMode_t stepMod); |
| Davidroid | 7:f7e0c3621f77 | 682 | motorDir_t L6474_GetDirection(void); |
| Davidroid | 7:f7e0c3621f77 | 683 | void L6474_SetDirection(motorDir_t direction); |
| Davidroid | 0:2887415a46cd | 684 | void L6474_ApplySpeed(uint16_t newSpeed); |
| Davidroid | 0:2887415a46cd | 685 | void L6474_ComputeSpeedProfile(uint32_t nbSteps); |
| Davidroid | 7:f7e0c3621f77 | 686 | int32_t L6474_ConvertPosition(uint32_t abs_position_reg); |
| Davidroid | 0:2887415a46cd | 687 | void L6474_ErrorHandler(uint16_t error); |
| Davidroid | 0:2887415a46cd | 688 | void L6474_SendCommand(uint8_t param); |
| Davidroid | 0:2887415a46cd | 689 | void L6474_SetRegisterToPredefinedValues(void); |
| Davidroid | 7:f7e0c3621f77 | 690 | void L6474_WriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte); |
| Davidroid | 0:2887415a46cd | 691 | void L6474_SetDeviceParamsToPredefinedValues(void); |
| Davidroid | 0:2887415a46cd | 692 | void L6474_StartMovement(void); |
| Davidroid | 7:f7e0c3621f77 | 693 | void L6474_StepClockHandler(void); |
| Davidroid | 0:2887415a46cd | 694 | uint8_t L6474_Tval_Current_to_Par(double Tval); |
| Davidroid | 0:2887415a46cd | 695 | uint8_t L6474_Tmin_Time_to_Par(double Tmin); |
| Davidroid | 0:2887415a46cd | 696 | |
| Davidroid | 0:2887415a46cd | 697 | |
| Davidroid | 0:2887415a46cd | 698 | /*** Component's I/O Methods ***/ |
| Davidroid | 0:2887415a46cd | 699 | |
| Davidroid | 0:2887415a46cd | 700 | /** |
| Davidroid | 0:2887415a46cd | 701 | * @brief Utility function to read data from L6474. |
| Davidroid | 0:2887415a46cd | 702 | * @param[out] pBuffer pointer to the buffer to read data into. |
| Davidroid | 0:2887415a46cd | 703 | * @param[in] NumBytesToRead number of bytes to read. |
| Davidroid | 0:2887415a46cd | 704 | * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise. |
| Davidroid | 0:2887415a46cd | 705 | */ |
| Davidroid | 0:2887415a46cd | 706 | DrvStatusTypeDef Read(uint8_t* pBuffer, uint16_t NumBytesToRead) |
| Davidroid | 0:2887415a46cd | 707 | { |
| Davidroid | 0:2887415a46cd | 708 | if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0) |
| Davidroid | 0:2887415a46cd | 709 | return COMPONENT_ERROR; |
| Davidroid | 0:2887415a46cd | 710 | return COMPONENT_OK; |
| Davidroid | 0:2887415a46cd | 711 | } |
| Davidroid | 0:2887415a46cd | 712 | |
| Davidroid | 0:2887415a46cd | 713 | /** |
| Davidroid | 0:2887415a46cd | 714 | * @brief Utility function to write data to L6474. |
| Davidroid | 0:2887415a46cd | 715 | * @param[in] pBuffer pointer to the buffer of data to send. |
| Davidroid | 0:2887415a46cd | 716 | * @param[in] NumBytesToWrite number of bytes to write. |
| Davidroid | 0:2887415a46cd | 717 | * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise. |
| Davidroid | 0:2887415a46cd | 718 | */ |
| Davidroid | 0:2887415a46cd | 719 | DrvStatusTypeDef Write(uint8_t* pBuffer, uint16_t NumBytesToWrite) |
| Davidroid | 0:2887415a46cd | 720 | { |
| Davidroid | 0:2887415a46cd | 721 | if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0) |
| Davidroid | 0:2887415a46cd | 722 | return COMPONENT_ERROR; |
| Davidroid | 0:2887415a46cd | 723 | return COMPONENT_OK; |
| Davidroid | 0:2887415a46cd | 724 | } |
| Davidroid | 0:2887415a46cd | 725 | |
| Davidroid | 0:2887415a46cd | 726 | /** |
| Davidroid | 0:2887415a46cd | 727 | * @brief Utility function to read and write data from/to L6474 at the same time. |
| Davidroid | 0:2887415a46cd | 728 | * @param[out] pBufferToRead pointer to the buffer to read data into. |
| Davidroid | 0:2887415a46cd | 729 | * @param[in] pBufferToWrite pointer to the buffer of data to send. |
| Davidroid | 0:2887415a46cd | 730 | * @param[in] NumBytes number of bytes to read and write. |
| Davidroid | 0:2887415a46cd | 731 | * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise. |
| Davidroid | 0:2887415a46cd | 732 | */ |
| Davidroid | 0:2887415a46cd | 733 | DrvStatusTypeDef ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes) |
| Davidroid | 0:2887415a46cd | 734 | { |
| Davidroid | 0:2887415a46cd | 735 | if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0) |
| Davidroid | 0:2887415a46cd | 736 | return COMPONENT_ERROR; |
| Davidroid | 0:2887415a46cd | 737 | return COMPONENT_OK; |
| Davidroid | 0:2887415a46cd | 738 | } |
| Davidroid | 0:2887415a46cd | 739 | |
| Davidroid | 0:2887415a46cd | 740 | /* ACTION 8 --------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 741 | * Implement here other I/O methods beyond those already implemented * |
| Davidroid | 0:2887415a46cd | 742 | * above, which are declared extern within the component's header file. * |
| Davidroid | 0:2887415a46cd | 743 | *------------------------------------------------------------------------*/ |
| Davidroid | 7:f7e0c3621f77 | 744 | /** |
| Davidroid | 7:f7e0c3621f77 | 745 | * @brief Making the CPU wait. |
| Davidroid | 7:f7e0c3621f77 | 746 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 747 | * @retval None. |
| Davidroid | 0:2887415a46cd | 748 | */ |
| Davidroid | 0:2887415a46cd | 749 | void L6474_Delay(uint32_t delay) |
| Davidroid | 0:2887415a46cd | 750 | { |
| Davidroid | 0:2887415a46cd | 751 | wait_ms(delay); |
| Davidroid | 0:2887415a46cd | 752 | } |
| Davidroid | 0:2887415a46cd | 753 | |
| Davidroid | 7:f7e0c3621f77 | 754 | /** |
| Davidroid | 7:f7e0c3621f77 | 755 | * @brief Enabling interrupts. |
| Davidroid | 7:f7e0c3621f77 | 756 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 757 | * @retval None. |
| Davidroid | 0:2887415a46cd | 758 | */ |
| Davidroid | 0:2887415a46cd | 759 | void L6474_EnableIrq(void) |
| Davidroid | 0:2887415a46cd | 760 | { |
| Davidroid | 0:2887415a46cd | 761 | __enable_irq(); |
| Davidroid | 0:2887415a46cd | 762 | } |
| Davidroid | 0:2887415a46cd | 763 | |
| Davidroid | 7:f7e0c3621f77 | 764 | /** |
| Davidroid | 7:f7e0c3621f77 | 765 | * @brief Disabling interrupts. |
| Davidroid | 7:f7e0c3621f77 | 766 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 767 | * @retval None. |
| Davidroid | 0:2887415a46cd | 768 | */ |
| Davidroid | 0:2887415a46cd | 769 | void L6474_DisableIrq(void) |
| Davidroid | 0:2887415a46cd | 770 | { |
| Davidroid | 0:2887415a46cd | 771 | __disable_irq(); |
| Davidroid | 0:2887415a46cd | 772 | } |
| Davidroid | 0:2887415a46cd | 773 | |
| Davidroid | 7:f7e0c3621f77 | 774 | /** |
| Davidroid | 7:f7e0c3621f77 | 775 | * @brief Setting the frequency of PWM. |
| Davidroid | 7:f7e0c3621f77 | 776 | * The frequency controls directly the speed of the device. |
| Davidroid | 7:f7e0c3621f77 | 777 | * @param newFreq the frequency of PWM. |
| Davidroid | 7:f7e0c3621f77 | 778 | * @retval None. |
| Davidroid | 0:2887415a46cd | 779 | */ |
| Davidroid | 0:2887415a46cd | 780 | void L6474_PwmSetFreq(uint16_t newFreq) |
| Davidroid | 0:2887415a46cd | 781 | { |
| Davidroid | 0:2887415a46cd | 782 | double period = 1.0f / newFreq; |
| Davidroid | 0:2887415a46cd | 783 | pwm.period(period); |
| Davidroid | 0:2887415a46cd | 784 | pwm.write(0.5f); |
| Davidroid | 1:b38ebb8ea286 | 785 | ticker.attach(this, &L6474::L6474_StepClockHandler, period); |
| Davidroid | 0:2887415a46cd | 786 | } |
| Davidroid | 0:2887415a46cd | 787 | |
| Davidroid | 7:f7e0c3621f77 | 788 | /** |
| Davidroid | 7:f7e0c3621f77 | 789 | * @brief Initialising the PWM. |
| Davidroid | 7:f7e0c3621f77 | 790 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 791 | * @retval None. |
| Davidroid | 0:2887415a46cd | 792 | */ |
| Davidroid | 7:f7e0c3621f77 | 793 | void L6474_PwmInit(void) {} |
| Davidroid | 0:2887415a46cd | 794 | |
| Davidroid | 7:f7e0c3621f77 | 795 | /** |
| Davidroid | 7:f7e0c3621f77 | 796 | * @brief Stopping the PWM. |
| Davidroid | 7:f7e0c3621f77 | 797 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 798 | * @retval None. |
| Davidroid | 0:2887415a46cd | 799 | */ |
| Davidroid | 0:2887415a46cd | 800 | void L6474_PwmStop(void) |
| Davidroid | 0:2887415a46cd | 801 | { |
| Davidroid | 0:2887415a46cd | 802 | pwm.write(0.0f); |
| Davidroid | 0:2887415a46cd | 803 | ticker.detach(); |
| Davidroid | 0:2887415a46cd | 804 | } |
| Davidroid | 0:2887415a46cd | 805 | |
| Davidroid | 7:f7e0c3621f77 | 806 | /** |
| Davidroid | 7:f7e0c3621f77 | 807 | * @brief Putting the device in standby mode. |
| Davidroid | 7:f7e0c3621f77 | 808 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 809 | * @retval None. |
| Davidroid | 0:2887415a46cd | 810 | */ |
| Davidroid | 0:2887415a46cd | 811 | void L6474_ReleaseReset(void) |
| Davidroid | 0:2887415a46cd | 812 | { |
| Davidroid | 4:83a1eb397a65 | 813 | standby_reset = 1; |
| Davidroid | 0:2887415a46cd | 814 | } |
| Davidroid | 0:2887415a46cd | 815 | |
| Davidroid | 7:f7e0c3621f77 | 816 | /** |
| Davidroid | 7:f7e0c3621f77 | 817 | * @brief Putting the device in reset mode. |
| Davidroid | 7:f7e0c3621f77 | 818 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 819 | * @retval None. |
| Davidroid | 0:2887415a46cd | 820 | */ |
| Davidroid | 0:2887415a46cd | 821 | void L6474_Reset(void) |
| Davidroid | 0:2887415a46cd | 822 | { |
| Davidroid | 4:83a1eb397a65 | 823 | standby_reset = 0; |
| Davidroid | 0:2887415a46cd | 824 | } |
| Davidroid | 0:2887415a46cd | 825 | |
| Davidroid | 7:f7e0c3621f77 | 826 | /** |
| Davidroid | 7:f7e0c3621f77 | 827 | * @brief Setting the direction of rotation. |
| Davidroid | 7:f7e0c3621f77 | 828 | * @param gpioState direction of rotation: "1" for forward, "0" for backward. |
| Davidroid | 7:f7e0c3621f77 | 829 | * @retval None. |
| Davidroid | 0:2887415a46cd | 830 | */ |
| Davidroid | 0:2887415a46cd | 831 | void L6474_SetDirectionGpio(uint8_t gpioState) |
| Davidroid | 0:2887415a46cd | 832 | { |
| Davidroid | 0:2887415a46cd | 833 | direction = gpioState; |
| Davidroid | 0:2887415a46cd | 834 | } |
| Davidroid | 0:2887415a46cd | 835 | |
| Davidroid | 7:f7e0c3621f77 | 836 | /** |
| Davidroid | 7:f7e0c3621f77 | 837 | * @brief Writing and reading bytes to/from the component through the SPI at the same time. |
| Davidroid | 7:f7e0c3621f77 | 838 | * @param[in] pByteToTransmit pointer to the buffer of data to send. |
| Davidroid | 7:f7e0c3621f77 | 839 | * @param[out] pReceivedByte pointer to the buffer to read data into. |
| Davidroid | 7:f7e0c3621f77 | 840 | * @retval "0" in case of success, "1" otherwise. |
| Davidroid | 0:2887415a46cd | 841 | */ |
| Davidroid | 0:2887415a46cd | 842 | uint8_t L6474_SpiWriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte) |
| Davidroid | 0:2887415a46cd | 843 | { |
| Davidroid | 7:f7e0c3621f77 | 844 | return (uint8_t) (ReadWrite(pReceivedByte, pByteToTransmit, numberOfDevices) == COMPONENT_OK ? 0 : 1); |
| Davidroid | 0:2887415a46cd | 845 | } |
| Davidroid | 0:2887415a46cd | 846 | |
| Davidroid | 0:2887415a46cd | 847 | |
| Davidroid | 0:2887415a46cd | 848 | /*** Component's Instance Variables ***/ |
| Davidroid | 0:2887415a46cd | 849 | |
| Davidroid | 0:2887415a46cd | 850 | /* ACTION 9 --------------------------------------------------------------* |
| Davidroid | 10:c3824af0caf4 | 851 | * Declare here interrupt related variables, if needed. * |
| Davidroid | 10:c3824af0caf4 | 852 | * Note that interrupt handling is platform dependent, see * |
| Davidroid | 10:c3824af0caf4 | 853 | * "Interrupt Related Methods" above. * |
| Davidroid | 10:c3824af0caf4 | 854 | * * |
| Davidroid | 10:c3824af0caf4 | 855 | * Example: * |
| Davidroid | 10:c3824af0caf4 | 856 | * + mbed: * |
| Davidroid | 10:c3824af0caf4 | 857 | * InterruptIn feature_irq; * |
| Davidroid | 0:2887415a46cd | 858 | *------------------------------------------------------------------------*/ |
| Davidroid | 7:f7e0c3621f77 | 859 | /* Flag Interrupt. */ |
| Davidroid | 7:f7e0c3621f77 | 860 | InterruptIn flag_irq; |
| Davidroid | 10:c3824af0caf4 | 861 | |
| Davidroid | 10:c3824af0caf4 | 862 | /* ACTION 10 -------------------------------------------------------------* |
| Davidroid | 10:c3824af0caf4 | 863 | * Declare here other pin related variables, if needed. * |
| Davidroid | 10:c3824af0caf4 | 864 | * * |
| Davidroid | 10:c3824af0caf4 | 865 | * Example: * |
| Davidroid | 10:c3824af0caf4 | 866 | * + mbed: * |
| Davidroid | 10:c3824af0caf4 | 867 | * DigitalOut standby_reset; * |
| Davidroid | 10:c3824af0caf4 | 868 | *------------------------------------------------------------------------*/ |
| Davidroid | 4:83a1eb397a65 | 869 | /* Standby/reset pin. */ |
| Davidroid | 4:83a1eb397a65 | 870 | DigitalOut standby_reset; |
| Davidroid | 0:2887415a46cd | 871 | |
| Davidroid | 0:2887415a46cd | 872 | /* Direction of rotation pin. */ |
| Davidroid | 0:2887415a46cd | 873 | DigitalOut direction; |
| Davidroid | 0:2887415a46cd | 874 | |
| Davidroid | 0:2887415a46cd | 875 | /* Pulse Width Modulation pin. */ |
| Davidroid | 0:2887415a46cd | 876 | PwmOut pwm; |
| Davidroid | 0:2887415a46cd | 877 | |
| Davidroid | 10:c3824af0caf4 | 878 | /* Timer to trigger the PWM callback at each PWM pulse. */ |
| Davidroid | 10:c3824af0caf4 | 879 | Ticker ticker; |
| Davidroid | 10:c3824af0caf4 | 880 | |
| Davidroid | 10:c3824af0caf4 | 881 | /* ACTION 11 -------------------------------------------------------------* |
| Davidroid | 10:c3824af0caf4 | 882 | * Declare here communication related variables, if needed. * |
| Davidroid | 10:c3824af0caf4 | 883 | * * |
| Davidroid | 10:c3824af0caf4 | 884 | * Example: * |
| Davidroid | 10:c3824af0caf4 | 885 | * + mbed: * |
| Davidroid | 10:c3824af0caf4 | 886 | * DigitalOut ssel; * |
| Davidroid | 10:c3824af0caf4 | 887 | * DevSPI &dev_spi; * |
| Davidroid | 10:c3824af0caf4 | 888 | *------------------------------------------------------------------------*/ |
| Davidroid | 4:83a1eb397a65 | 889 | /* Configuration. */ |
| Davidroid | 4:83a1eb397a65 | 890 | DigitalOut ssel; |
| Davidroid | 0:2887415a46cd | 891 | |
| Davidroid | 0:2887415a46cd | 892 | /* IO Device. */ |
| Davidroid | 0:2887415a46cd | 893 | DevSPI &dev_spi; |
| Davidroid | 0:2887415a46cd | 894 | |
| Davidroid | 10:c3824af0caf4 | 895 | /* ACTION 12 -------------------------------------------------------------* |
| Davidroid | 10:c3824af0caf4 | 896 | * Declare here identity related variables, if needed. * |
| Davidroid | 10:c3824af0caf4 | 897 | * Note that there should be only a unique identifier for each component, * |
| Davidroid | 10:c3824af0caf4 | 898 | * which should be the "who_am_i" parameter. * |
| Davidroid | 10:c3824af0caf4 | 899 | *------------------------------------------------------------------------*/ |
| Davidroid | 10:c3824af0caf4 | 900 | /* Identity */ |
| Davidroid | 10:c3824af0caf4 | 901 | uint8_t who_am_i; |
| Davidroid | 4:83a1eb397a65 | 902 | |
| Davidroid | 10:c3824af0caf4 | 903 | /* ACTION 13 -------------------------------------------------------------* |
| Davidroid | 10:c3824af0caf4 | 904 | * Declare here the component's static and non-static data, one variable * |
| Davidroid | 10:c3824af0caf4 | 905 | * per line. * |
| Davidroid | 0:2887415a46cd | 906 | * * |
| Davidroid | 0:2887415a46cd | 907 | * Example: * |
| Davidroid | 10:c3824af0caf4 | 908 | * float measure; * |
| Davidroid | 10:c3824af0caf4 | 909 | * int instance_id; * |
| Davidroid | 10:c3824af0caf4 | 910 | * static int number_of_instances; * |
| Davidroid | 0:2887415a46cd | 911 | *------------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 912 | /* Data. */ |
| Davidroid | 0:2887415a46cd | 913 | void (*errorHandlerCallback)(uint16_t error); |
| Davidroid | 0:2887415a46cd | 914 | deviceParams_t devicePrm; |
| Davidroid | 5:d3c78f12a78d | 915 | uint8_t deviceInstance; |
| Davidroid | 7:f7e0c3621f77 | 916 | |
| Davidroid | 7:f7e0c3621f77 | 917 | /* Static data. */ |
| Davidroid | 0:2887415a46cd | 918 | static uint8_t numberOfDevices; |
| Davidroid | 7:f7e0c3621f77 | 919 | static uint8_t spiTxBursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES]; |
| Davidroid | 7:f7e0c3621f77 | 920 | static uint8_t spiRxBursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES]; |
| Davidroid | 7:f7e0c3621f77 | 921 | |
| Davidroid | 7:f7e0c3621f77 | 922 | |
| Davidroid | 7:f7e0c3621f77 | 923 | public: |
| Davidroid | 7:f7e0c3621f77 | 924 | |
| Davidroid | 7:f7e0c3621f77 | 925 | /* Static data. */ |
| Davidroid | 6:a47569fc7534 | 926 | static bool spiPreemtionByIsr; |
| Davidroid | 6:a47569fc7534 | 927 | static bool isrFlag; |
| Davidroid | 0:2887415a46cd | 928 | }; |
| Davidroid | 0:2887415a46cd | 929 | |
| Davidroid | 0:2887415a46cd | 930 | #endif // __L6474_CLASS_H |
| Davidroid | 0:2887415a46cd | 931 | |
| Davidroid | 0:2887415a46cd | 932 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ |