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@7:f7e0c3621f77, 2015-11-20 (annotated)
- Committer:
- Davidroid
- Date:
- Fri Nov 20 18:00:03 2015 +0000
- Revision:
- 7:f7e0c3621f77
- Parent:
- 6:a47569fc7534
- Child:
- 8:42e0b00b1e4d
+ FLAG interrupt handling added.; + Doxygen documentation ongoing.
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Davidroid | 0:2887415a46cd | 1 | /** |
| Davidroid | 0:2887415a46cd | 2 | ****************************************************************************** |
| Davidroid | 0:2887415a46cd | 3 | * @file l6474_class.h |
| Davidroid | 0:2887415a46cd | 4 | * @author IPC Rennes |
| Davidroid | 0:2887415a46cd | 5 | * @version V1.5.0 |
| Davidroid | 0:2887415a46cd | 6 | * @date November 12, 2014 |
| Davidroid | 0:2887415a46cd | 7 | * @brief L6474 driver (fully integrated microstepping motor driver) |
| Davidroid | 0:2887415a46cd | 8 | * @note (C) COPYRIGHT 2014 STMicroelectronics |
| Davidroid | 0:2887415a46cd | 9 | ****************************************************************************** |
| Davidroid | 0:2887415a46cd | 10 | * @attention |
| Davidroid | 0:2887415a46cd | 11 | * |
| Davidroid | 0:2887415a46cd | 12 | * <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2> |
| Davidroid | 0:2887415a46cd | 13 | * |
| Davidroid | 0:2887415a46cd | 14 | * Redistribution and use in source and binary forms, with or without modification, |
| Davidroid | 0:2887415a46cd | 15 | * are permitted provided that the following conditions are met: |
| Davidroid | 0:2887415a46cd | 16 | * 1. Redistributions of source code must retain the above copyright notice, |
| Davidroid | 0:2887415a46cd | 17 | * this list of conditions and the following disclaimer. |
| Davidroid | 0:2887415a46cd | 18 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
| Davidroid | 0:2887415a46cd | 19 | * this list of conditions and the following disclaimer in the documentation |
| Davidroid | 0:2887415a46cd | 20 | * and/or other materials provided with the distribution. |
| Davidroid | 0:2887415a46cd | 21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
| Davidroid | 0:2887415a46cd | 22 | * may be used to endorse or promote products derived from this software |
| Davidroid | 0:2887415a46cd | 23 | * without specific prior written permission. |
| Davidroid | 0:2887415a46cd | 24 | * |
| Davidroid | 0:2887415a46cd | 25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| Davidroid | 0:2887415a46cd | 26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| Davidroid | 0:2887415a46cd | 27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
| Davidroid | 0:2887415a46cd | 28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
| Davidroid | 0:2887415a46cd | 29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| Davidroid | 0:2887415a46cd | 30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
| Davidroid | 0:2887415a46cd | 31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| Davidroid | 0:2887415a46cd | 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
| Davidroid | 0:2887415a46cd | 33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
| Davidroid | 0:2887415a46cd | 34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
| Davidroid | 0:2887415a46cd | 35 | * |
| Davidroid | 0:2887415a46cd | 36 | ****************************************************************************** |
| Davidroid | 0:2887415a46cd | 37 | */ |
| Davidroid | 0:2887415a46cd | 38 | |
| Davidroid | 0:2887415a46cd | 39 | |
| Davidroid | 0:2887415a46cd | 40 | /* Generated with Stm32CubeTOO -----------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 41 | |
| Davidroid | 0:2887415a46cd | 42 | |
| Davidroid | 0:2887415a46cd | 43 | /* Revision ------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 44 | /* |
| Davidroid | 0:2887415a46cd | 45 | Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev |
| Davidroid | 0:2887415a46cd | 46 | Branch/Trunk/Tag: trunk |
| Davidroid | 0:2887415a46cd | 47 | Based on: X-CUBE-SPN1/trunk/Drivers/BSP/Components/l6474/l6474.h |
| Davidroid | 0:2887415a46cd | 48 | Revision: 0 |
| Davidroid | 0:2887415a46cd | 49 | */ |
| Davidroid | 0:2887415a46cd | 50 | |
| Davidroid | 0:2887415a46cd | 51 | |
| Davidroid | 0:2887415a46cd | 52 | /* Define to prevent recursive inclusion -------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 53 | |
| Davidroid | 0:2887415a46cd | 54 | #ifndef __L6474_CLASS_H |
| Davidroid | 0:2887415a46cd | 55 | #define __L6474_CLASS_H |
| Davidroid | 0:2887415a46cd | 56 | |
| Davidroid | 0:2887415a46cd | 57 | |
| Davidroid | 0:2887415a46cd | 58 | /* Includes ------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 59 | |
| Davidroid | 0:2887415a46cd | 60 | /* ACTION 1 ------------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 61 | * Include here platform specific header files. * |
| Davidroid | 0:2887415a46cd | 62 | *----------------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 63 | #include "mbed.h" |
| Davidroid | 0:2887415a46cd | 64 | #include "DevSPI.h" |
| Davidroid | 0:2887415a46cd | 65 | /* ACTION 2 ------------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 66 | * Include here component specific header files. * |
| Davidroid | 0:2887415a46cd | 67 | *----------------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 68 | #include "l6474.h" |
| Davidroid | 0:2887415a46cd | 69 | /* ACTION 3 ------------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 70 | * Include here interface specific header files. * |
| Davidroid | 0:2887415a46cd | 71 | * * |
| Davidroid | 0:2887415a46cd | 72 | * Example: * |
| Davidroid | 0:2887415a46cd | 73 | * #include "../Interfaces/Humidity_class.h" * |
| Davidroid | 0:2887415a46cd | 74 | * #include "../Interfaces/Temperature_class.h" * |
| Davidroid | 0:2887415a46cd | 75 | *----------------------------------------------------------------------------*/ |
| Davidroid | 4:83a1eb397a65 | 76 | #include "../Interfaces/StepperMotor_class.h" |
| Davidroid | 0:2887415a46cd | 77 | |
| Davidroid | 0:2887415a46cd | 78 | |
| Davidroid | 0:2887415a46cd | 79 | /* Classes -------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 80 | |
| Davidroid | 0:2887415a46cd | 81 | /** Class representing a L6474 component. |
| Davidroid | 0:2887415a46cd | 82 | */ |
| Davidroid | 4:83a1eb397a65 | 83 | class L6474 : public StepperMotor |
| Davidroid | 0:2887415a46cd | 84 | { |
| Davidroid | 0:2887415a46cd | 85 | public: |
| Davidroid | 0:2887415a46cd | 86 | |
| Davidroid | 0:2887415a46cd | 87 | /*** Constructor and Destructor Methods ***/ |
| Davidroid | 0:2887415a46cd | 88 | |
| Davidroid | 0:2887415a46cd | 89 | /** |
| Davidroid | 0:2887415a46cd | 90 | * @brief Constructor. |
| Davidroid | 7:f7e0c3621f77 | 91 | * @param flag_irq pin name of the FLAG pin of the component. |
| Davidroid | 4:83a1eb397a65 | 92 | * @param standby_reset pin name of the STBY\RST pin of the component. |
| Davidroid | 4:83a1eb397a65 | 93 | * @param direction pin name of the DIR pin of the component. |
| Davidroid | 4:83a1eb397a65 | 94 | * @param pwm pin name of the PWM pin of the component. |
| Davidroid | 4:83a1eb397a65 | 95 | * @param ssel pin name of the SSEL pin of the SPI device to be used for communication. |
| Davidroid | 4:83a1eb397a65 | 96 | * @param spi SPI device to be used for communication. |
| Davidroid | 0:2887415a46cd | 97 | */ |
| Davidroid | 7:f7e0c3621f77 | 98 | L6474(PinName flag_irq, PinName standby_reset, PinName direction, PinName pwm, PinName ssel, DevSPI &spi) : StepperMotor(), flag_irq(flag_irq), standby_reset(standby_reset), direction(direction), pwm(pwm), ssel(ssel), dev_spi(spi) |
| Davidroid | 0:2887415a46cd | 99 | { |
| Davidroid | 0:2887415a46cd | 100 | /* ACTION 4 ----------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 101 | * Initialize here the component's member variables, one variable per * |
| Davidroid | 0:2887415a46cd | 102 | * line. * |
| Davidroid | 0:2887415a46cd | 103 | * * |
| Davidroid | 0:2887415a46cd | 104 | * Example: * |
| Davidroid | 0:2887415a46cd | 105 | * T0_out = 0; * |
| Davidroid | 0:2887415a46cd | 106 | * T1_out = 0; * |
| Davidroid | 0:2887415a46cd | 107 | * T0_degC = 0; * |
| Davidroid | 0:2887415a46cd | 108 | * T1_degC = 0; * |
| Davidroid | 0:2887415a46cd | 109 | *--------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 110 | errorHandlerCallback = 0; |
| Davidroid | 0:2887415a46cd | 111 | deviceInstance = numberOfDevices; |
| Davidroid | 0:2887415a46cd | 112 | numberOfDevices++; |
| Davidroid | 5:d3c78f12a78d | 113 | memset(spiTxBursts, 0, L6474_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t)); |
| Davidroid | 5:d3c78f12a78d | 114 | memset(spiRxBursts, 0, L6474_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t)); |
| Davidroid | 0:2887415a46cd | 115 | } |
| Davidroid | 0:2887415a46cd | 116 | |
| Davidroid | 0:2887415a46cd | 117 | /** |
| Davidroid | 0:2887415a46cd | 118 | * @brief Destructor. |
| Davidroid | 0:2887415a46cd | 119 | */ |
| Davidroid | 0:2887415a46cd | 120 | virtual ~L6474(void) {} |
| Davidroid | 0:2887415a46cd | 121 | |
| Davidroid | 0:2887415a46cd | 122 | |
| Davidroid | 0:2887415a46cd | 123 | /*** Public Component Related Methods ***/ |
| Davidroid | 0:2887415a46cd | 124 | |
| Davidroid | 0:2887415a46cd | 125 | /* ACTION 5 --------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 126 | * Implement here the component's public methods, as wrappers of the C * |
| Davidroid | 0:2887415a46cd | 127 | * component's functions. * |
| Davidroid | 0:2887415a46cd | 128 | * They should be: * |
| Davidroid | 0:2887415a46cd | 129 | * + Methods with the same name of the C component's virtual table's * |
| Davidroid | 0:2887415a46cd | 130 | * functions (1); * |
| Davidroid | 0:2887415a46cd | 131 | * + Methods with the same name of the C component's extended virtual * |
| Davidroid | 0:2887415a46cd | 132 | * table's functions, if any (2). * |
| Davidroid | 0:2887415a46cd | 133 | * * |
| Davidroid | 0:2887415a46cd | 134 | * Example: * |
| Davidroid | 0:2887415a46cd | 135 | * virtual int GetValue(float *pData) //(1) * |
| Davidroid | 0:2887415a46cd | 136 | * { * |
| Davidroid | 0:2887415a46cd | 137 | * return COMPONENT_GetValue(float *pfData); * |
| Davidroid | 0:2887415a46cd | 138 | * } * |
| Davidroid | 0:2887415a46cd | 139 | * * |
| Davidroid | 0:2887415a46cd | 140 | * virtual int EnableFeature(void) //(2) * |
| Davidroid | 0:2887415a46cd | 141 | * { * |
| Davidroid | 0:2887415a46cd | 142 | * return COMPONENT_EnableFeature(); * |
| Davidroid | 0:2887415a46cd | 143 | * } * |
| Davidroid | 0:2887415a46cd | 144 | *------------------------------------------------------------------------*/ |
| Davidroid | 7:f7e0c3621f77 | 145 | /** |
| Davidroid | 7:f7e0c3621f77 | 146 | * @brief Initializing the component. |
| Davidroid | 7:f7e0c3621f77 | 147 | * @param init pointer to device specific initalization structure. |
| Davidroid | 7:f7e0c3621f77 | 148 | * @retval "0" in case of success, an error code otherwise. |
| Davidroid | 7:f7e0c3621f77 | 149 | */ |
| Davidroid | 0:2887415a46cd | 150 | virtual int Init(void *init) |
| Davidroid | 0:2887415a46cd | 151 | { |
| Davidroid | 0:2887415a46cd | 152 | return (int) L6474_Init((MOTOR_InitTypeDef *) init); |
| Davidroid | 0:2887415a46cd | 153 | } |
| Davidroid | 0:2887415a46cd | 154 | |
| Davidroid | 7:f7e0c3621f77 | 155 | /** |
| Davidroid | 7:f7e0c3621f77 | 156 | * @brief Getting the ID of the component. |
| Davidroid | 7:f7e0c3621f77 | 157 | * @param id pointer to an allocated variable to store the ID into. |
| Davidroid | 7:f7e0c3621f77 | 158 | * @retval "0" in case of success, an error code otherwise. |
| Davidroid | 7:f7e0c3621f77 | 159 | */ |
| Davidroid | 0:2887415a46cd | 160 | virtual int ReadID(uint8_t *id) |
| Davidroid | 0:2887415a46cd | 161 | { |
| Davidroid | 0:2887415a46cd | 162 | return (int) L6474_ReadID((uint8_t *) id); |
| Davidroid | 0:2887415a46cd | 163 | } |
| Davidroid | 0:2887415a46cd | 164 | |
| Davidroid | 7:f7e0c3621f77 | 165 | /** |
| Davidroid | 7:f7e0c3621f77 | 166 | * @brief Getting the value of the Status Register. |
| Davidroid | 7:f7e0c3621f77 | 167 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 168 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 169 | * @note The Status Register's flags are cleared, contrary to ReadStatusRegister(). |
| Davidroid | 7:f7e0c3621f77 | 170 | */ |
| Davidroid | 4:83a1eb397a65 | 171 | virtual unsigned int GetStatus(void) |
| Davidroid | 0:2887415a46cd | 172 | { |
| Davidroid | 4:83a1eb397a65 | 173 | return (unsigned int) L6474_CmdGetStatus(); |
| Davidroid | 0:2887415a46cd | 174 | } |
| Davidroid | 0:2887415a46cd | 175 | |
| Davidroid | 7:f7e0c3621f77 | 176 | /** |
| Davidroid | 7:f7e0c3621f77 | 177 | * @brief Getting a parameter. |
| Davidroid | 7:f7e0c3621f77 | 178 | * @param parameter register adress. |
| Davidroid | 7:f7e0c3621f77 | 179 | * @retval a register value. |
| Davidroid | 7:f7e0c3621f77 | 180 | * @note The Status Register's flags are cleared, contrary to ReadStatusRegister(). |
| Davidroid | 7:f7e0c3621f77 | 181 | * parameter can be one of the following: |
| Davidroid | 7:f7e0c3621f77 | 182 | * + L6474_ABS_POS |
| Davidroid | 7:f7e0c3621f77 | 183 | * + L6474_EL_POS |
| Davidroid | 7:f7e0c3621f77 | 184 | * + L6474_MARK |
| Davidroid | 7:f7e0c3621f77 | 185 | * + L6474_RESERVED_REG01 |
| Davidroid | 7:f7e0c3621f77 | 186 | * + L6474_RESERVED_REG02 |
| Davidroid | 7:f7e0c3621f77 | 187 | * + L6474_RESERVED_REG03 |
| Davidroid | 7:f7e0c3621f77 | 188 | * + L6474_RESERVED_REG04 |
| Davidroid | 7:f7e0c3621f77 | 189 | * + L6474_RESERVED_REG05 |
| Davidroid | 7:f7e0c3621f77 | 190 | * + L6474_RESERVED_REG06 |
| Davidroid | 7:f7e0c3621f77 | 191 | * + L6474_TVAL |
| Davidroid | 7:f7e0c3621f77 | 192 | * + L6474_RESERVED_REG07 |
| Davidroid | 7:f7e0c3621f77 | 193 | * + L6474_RESERVED_REG08 |
| Davidroid | 7:f7e0c3621f77 | 194 | * + L6474_RESERVED_REG09 |
| Davidroid | 7:f7e0c3621f77 | 195 | * + L6474_RESERVED_REG10 |
| Davidroid | 7:f7e0c3621f77 | 196 | * + L6474_T_FAST |
| Davidroid | 7:f7e0c3621f77 | 197 | * + L6474_TON_MIN |
| Davidroid | 7:f7e0c3621f77 | 198 | * + L6474_TOFF_MIN |
| Davidroid | 7:f7e0c3621f77 | 199 | * + L6474_RESERVED_REG11 |
| Davidroid | 7:f7e0c3621f77 | 200 | * + L6474_ADC_OUT |
| Davidroid | 7:f7e0c3621f77 | 201 | * + L6474_OCD_TH |
| Davidroid | 7:f7e0c3621f77 | 202 | * + L6474_RESERVED_REG12 |
| Davidroid | 7:f7e0c3621f77 | 203 | * + L6474_STEP_MODE |
| Davidroid | 7:f7e0c3621f77 | 204 | * + L6474_ALARM_EN |
| Davidroid | 7:f7e0c3621f77 | 205 | * + L6474_CONFIG |
| Davidroid | 7:f7e0c3621f77 | 206 | * + L6474_STATUS |
| Davidroid | 7:f7e0c3621f77 | 207 | * + L6474_RESERVED_REG13 |
| Davidroid | 7:f7e0c3621f77 | 208 | * + L6474_RESERVED_REG14 |
| Davidroid | 7:f7e0c3621f77 | 209 | * + L6474_INEXISTENT_REG |
| Davidroid | 7:f7e0c3621f77 | 210 | */ |
| Davidroid | 4:83a1eb397a65 | 211 | virtual unsigned int GetParameter(unsigned int parameter) |
| Davidroid | 0:2887415a46cd | 212 | { |
| Davidroid | 7:f7e0c3621f77 | 213 | return (unsigned int) L6474_CmdGetParam((L6474_Registers_t) parameter); |
| Davidroid | 4:83a1eb397a65 | 214 | } |
| Davidroid | 4:83a1eb397a65 | 215 | |
| Davidroid | 4:83a1eb397a65 | 216 | virtual signed int GetPosition(void) |
| Davidroid | 4:83a1eb397a65 | 217 | { |
| Davidroid | 4:83a1eb397a65 | 218 | return (signed int) L6474_GetPosition(); |
| Davidroid | 0:2887415a46cd | 219 | } |
| Davidroid | 0:2887415a46cd | 220 | |
| Davidroid | 4:83a1eb397a65 | 221 | virtual signed int GetMark(void) |
| Davidroid | 0:2887415a46cd | 222 | { |
| Davidroid | 4:83a1eb397a65 | 223 | return (signed int) L6474_GetMark(); |
| Davidroid | 4:83a1eb397a65 | 224 | } |
| Davidroid | 4:83a1eb397a65 | 225 | |
| Davidroid | 4:83a1eb397a65 | 226 | virtual unsigned int GetSpeed(void) |
| Davidroid | 0:2887415a46cd | 227 | { |
| Davidroid | 4:83a1eb397a65 | 228 | return (unsigned int) L6474_GetCurrentSpeed(); |
| Davidroid | 0:2887415a46cd | 229 | } |
| Davidroid | 0:2887415a46cd | 230 | |
| Davidroid | 4:83a1eb397a65 | 231 | virtual unsigned int GetMaxSpeed(void) |
| Davidroid | 4:83a1eb397a65 | 232 | { |
| Davidroid | 4:83a1eb397a65 | 233 | return (unsigned int) L6474_GetMaxSpeed(); |
| Davidroid | 4:83a1eb397a65 | 234 | } |
| Davidroid | 4:83a1eb397a65 | 235 | |
| Davidroid | 4:83a1eb397a65 | 236 | virtual unsigned int GetMinSpeed(void) |
| Davidroid | 0:2887415a46cd | 237 | { |
| Davidroid | 4:83a1eb397a65 | 238 | return (unsigned int) L6474_GetMinSpeed(); |
| Davidroid | 4:83a1eb397a65 | 239 | } |
| Davidroid | 4:83a1eb397a65 | 240 | |
| Davidroid | 4:83a1eb397a65 | 241 | virtual unsigned int GetAcceleration(void) |
| Davidroid | 4:83a1eb397a65 | 242 | { |
| Davidroid | 4:83a1eb397a65 | 243 | return (unsigned int) L6474_GetAcceleration(); |
| Davidroid | 0:2887415a46cd | 244 | } |
| Davidroid | 0:2887415a46cd | 245 | |
| Davidroid | 4:83a1eb397a65 | 246 | virtual unsigned int GetDeceleration(void) |
| Davidroid | 0:2887415a46cd | 247 | { |
| Davidroid | 4:83a1eb397a65 | 248 | return (unsigned int) L6474_GetDeceleration(); |
| Davidroid | 0:2887415a46cd | 249 | } |
| Davidroid | 0:2887415a46cd | 250 | |
| Davidroid | 5:d3c78f12a78d | 251 | virtual direction_t GetDirection(void) |
| Davidroid | 5:d3c78f12a78d | 252 | { |
| Davidroid | 5:d3c78f12a78d | 253 | return (direction_t) (L6474_GetDirection() == FORWARD ? StepperMotor::FWD : StepperMotor::BWD); |
| Davidroid | 5:d3c78f12a78d | 254 | } |
| Davidroid | 5:d3c78f12a78d | 255 | |
| Davidroid | 7:f7e0c3621f77 | 256 | /** |
| Davidroid | 7:f7e0c3621f77 | 257 | * @brief Setting a parameter. |
| Davidroid | 7:f7e0c3621f77 | 258 | * @param parameter register adress. |
| Davidroid | 7:f7e0c3621f77 | 259 | * @param value value to be set. |
| Davidroid | 7:f7e0c3621f77 | 260 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 261 | * @note parameter can be one of the following: |
| Davidroid | 7:f7e0c3621f77 | 262 | * + L6474_ABS_POS |
| Davidroid | 7:f7e0c3621f77 | 263 | * + L6474_EL_POS |
| Davidroid | 7:f7e0c3621f77 | 264 | * + L6474_MARK |
| Davidroid | 7:f7e0c3621f77 | 265 | * + L6474_RESERVED_REG01 |
| Davidroid | 7:f7e0c3621f77 | 266 | * + L6474_RESERVED_REG02 |
| Davidroid | 7:f7e0c3621f77 | 267 | * + L6474_RESERVED_REG03 |
| Davidroid | 7:f7e0c3621f77 | 268 | * + L6474_RESERVED_REG04 |
| Davidroid | 7:f7e0c3621f77 | 269 | * + L6474_RESERVED_REG05 |
| Davidroid | 7:f7e0c3621f77 | 270 | * + L6474_RESERVED_REG06 |
| Davidroid | 7:f7e0c3621f77 | 271 | * + L6474_TVAL |
| Davidroid | 7:f7e0c3621f77 | 272 | * + L6474_RESERVED_REG07 |
| Davidroid | 7:f7e0c3621f77 | 273 | * + L6474_RESERVED_REG08 |
| Davidroid | 7:f7e0c3621f77 | 274 | * + L6474_RESERVED_REG09 |
| Davidroid | 7:f7e0c3621f77 | 275 | * + L6474_RESERVED_REG10 |
| Davidroid | 7:f7e0c3621f77 | 276 | * + L6474_T_FAST |
| Davidroid | 7:f7e0c3621f77 | 277 | * + L6474_TON_MIN |
| Davidroid | 7:f7e0c3621f77 | 278 | * + L6474_TOFF_MIN |
| Davidroid | 7:f7e0c3621f77 | 279 | * + L6474_RESERVED_REG11 |
| Davidroid | 7:f7e0c3621f77 | 280 | * + L6474_ADC_OUT |
| Davidroid | 7:f7e0c3621f77 | 281 | * + L6474_OCD_TH |
| Davidroid | 7:f7e0c3621f77 | 282 | * + L6474_RESERVED_REG12 |
| Davidroid | 7:f7e0c3621f77 | 283 | * + L6474_STEP_MODE |
| Davidroid | 7:f7e0c3621f77 | 284 | * + L6474_ALARM_EN |
| Davidroid | 7:f7e0c3621f77 | 285 | * + L6474_CONFIG |
| Davidroid | 7:f7e0c3621f77 | 286 | * + L6474_STATUS |
| Davidroid | 7:f7e0c3621f77 | 287 | * + L6474_RESERVED_REG13 |
| Davidroid | 7:f7e0c3621f77 | 288 | * + L6474_RESERVED_REG14 |
| Davidroid | 7:f7e0c3621f77 | 289 | * + L6474_INEXISTENT_REG |
| Davidroid | 7:f7e0c3621f77 | 290 | */ |
| Davidroid | 4:83a1eb397a65 | 291 | virtual void SetParameter(unsigned int parameter, unsigned int value) |
| Davidroid | 0:2887415a46cd | 292 | { |
| Davidroid | 7:f7e0c3621f77 | 293 | L6474_CmdSetParam((L6474_Registers_t) parameter, (unsigned int) value); |
| Davidroid | 0:2887415a46cd | 294 | } |
| Davidroid | 0:2887415a46cd | 295 | |
| Davidroid | 4:83a1eb397a65 | 296 | virtual void SetHome(void) |
| Davidroid | 0:2887415a46cd | 297 | { |
| Davidroid | 4:83a1eb397a65 | 298 | L6474_SetHome(); |
| Davidroid | 4:83a1eb397a65 | 299 | } |
| Davidroid | 4:83a1eb397a65 | 300 | |
| Davidroid | 4:83a1eb397a65 | 301 | virtual void SetMark(void) |
| Davidroid | 4:83a1eb397a65 | 302 | { |
| Davidroid | 4:83a1eb397a65 | 303 | L6474_SetMark(); |
| Davidroid | 0:2887415a46cd | 304 | } |
| Davidroid | 0:2887415a46cd | 305 | |
| Davidroid | 4:83a1eb397a65 | 306 | virtual void SetMaxSpeed(unsigned int speed) |
| Davidroid | 4:83a1eb397a65 | 307 | { |
| Davidroid | 4:83a1eb397a65 | 308 | L6474_SetMaxSpeed((unsigned int) speed); |
| Davidroid | 0:2887415a46cd | 309 | } |
| Davidroid | 0:2887415a46cd | 310 | |
| Davidroid | 4:83a1eb397a65 | 311 | virtual void SetMinSpeed(unsigned int speed) |
| Davidroid | 0:2887415a46cd | 312 | { |
| Davidroid | 4:83a1eb397a65 | 313 | L6474_SetMinSpeed((unsigned int) speed); |
| Davidroid | 0:2887415a46cd | 314 | } |
| Davidroid | 0:2887415a46cd | 315 | |
| Davidroid | 4:83a1eb397a65 | 316 | virtual void SetAcceleration(unsigned int acceleration) |
| Davidroid | 0:2887415a46cd | 317 | { |
| Davidroid | 4:83a1eb397a65 | 318 | L6474_SetAcceleration((unsigned int) acceleration); |
| Davidroid | 0:2887415a46cd | 319 | } |
| Davidroid | 0:2887415a46cd | 320 | |
| Davidroid | 4:83a1eb397a65 | 321 | virtual void SetDeceleration(unsigned int deceleration) |
| Davidroid | 0:2887415a46cd | 322 | { |
| Davidroid | 4:83a1eb397a65 | 323 | L6474_SetDeceleration((unsigned int) deceleration); |
| Davidroid | 4:83a1eb397a65 | 324 | } |
| Davidroid | 4:83a1eb397a65 | 325 | |
| Davidroid | 4:83a1eb397a65 | 326 | virtual void GoTo(signed int position) |
| Davidroid | 4:83a1eb397a65 | 327 | { |
| Davidroid | 4:83a1eb397a65 | 328 | L6474_GoTo((signed int) position); |
| Davidroid | 0:2887415a46cd | 329 | } |
| Davidroid | 0:2887415a46cd | 330 | |
| Davidroid | 0:2887415a46cd | 331 | virtual void GoHome(void) |
| Davidroid | 0:2887415a46cd | 332 | { |
| Davidroid | 0:2887415a46cd | 333 | L6474_GoHome(); |
| Davidroid | 0:2887415a46cd | 334 | } |
| Davidroid | 0:2887415a46cd | 335 | |
| Davidroid | 0:2887415a46cd | 336 | virtual void GoMark(void) |
| Davidroid | 0:2887415a46cd | 337 | { |
| Davidroid | 0:2887415a46cd | 338 | L6474_GoMark(); |
| Davidroid | 0:2887415a46cd | 339 | } |
| Davidroid | 0:2887415a46cd | 340 | |
| Davidroid | 4:83a1eb397a65 | 341 | virtual void Run(direction_t direction) |
| Davidroid | 4:83a1eb397a65 | 342 | { |
| Davidroid | 5:d3c78f12a78d | 343 | L6474_Run((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD)); |
| Davidroid | 4:83a1eb397a65 | 344 | } |
| Davidroid | 4:83a1eb397a65 | 345 | |
| Davidroid | 4:83a1eb397a65 | 346 | virtual void Move(direction_t direction, unsigned int steps) |
| Davidroid | 0:2887415a46cd | 347 | { |
| Davidroid | 5:d3c78f12a78d | 348 | L6474_Move((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), (unsigned int) steps); |
| Davidroid | 4:83a1eb397a65 | 349 | } |
| Davidroid | 4:83a1eb397a65 | 350 | |
| Davidroid | 4:83a1eb397a65 | 351 | virtual void SoftStop(void) |
| Davidroid | 4:83a1eb397a65 | 352 | { |
| Davidroid | 4:83a1eb397a65 | 353 | L6474_SoftStop(); |
| Davidroid | 0:2887415a46cd | 354 | } |
| Davidroid | 0:2887415a46cd | 355 | |
| Davidroid | 0:2887415a46cd | 356 | virtual void HardStop(void) |
| Davidroid | 0:2887415a46cd | 357 | { |
| Davidroid | 0:2887415a46cd | 358 | L6474_HardStop(); |
| Davidroid | 0:2887415a46cd | 359 | } |
| Davidroid | 0:2887415a46cd | 360 | |
| Davidroid | 7:f7e0c3621f77 | 361 | virtual void WaitWhileActive(void) |
| Davidroid | 7:f7e0c3621f77 | 362 | { |
| Davidroid | 7:f7e0c3621f77 | 363 | L6474_WaitWhileActive(); |
| Davidroid | 7:f7e0c3621f77 | 364 | } |
| Davidroid | 7:f7e0c3621f77 | 365 | |
| Davidroid | 7:f7e0c3621f77 | 366 | /** |
| Davidroid | 7:f7e0c3621f77 | 367 | * @brief Getting the device state. |
| Davidroid | 7:f7e0c3621f77 | 368 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 369 | * @retval The device state. |
| Davidroid | 7:f7e0c3621f77 | 370 | * @note The device state can be one of the following: |
| Davidroid | 7:f7e0c3621f77 | 371 | * + ACCELERATING |
| Davidroid | 7:f7e0c3621f77 | 372 | * + DECELERATING |
| Davidroid | 7:f7e0c3621f77 | 373 | * + STEADY |
| Davidroid | 7:f7e0c3621f77 | 374 | * + INACTIVE |
| Davidroid | 7:f7e0c3621f77 | 375 | */ |
| Davidroid | 4:83a1eb397a65 | 376 | virtual motorState_t GetDeviceState(void) |
| Davidroid | 0:2887415a46cd | 377 | { |
| Davidroid | 4:83a1eb397a65 | 378 | return (motorState_t) L6474_GetDeviceState(); |
| Davidroid | 0:2887415a46cd | 379 | } |
| Davidroid | 0:2887415a46cd | 380 | |
| Davidroid | 4:83a1eb397a65 | 381 | virtual uint8_t GetFwVersion(void) |
| Davidroid | 0:2887415a46cd | 382 | { |
| Davidroid | 4:83a1eb397a65 | 383 | return (uint8_t) L6474_GetFwVersion(); |
| Davidroid | 0:2887415a46cd | 384 | } |
| Davidroid | 0:2887415a46cd | 385 | |
| Davidroid | 5:d3c78f12a78d | 386 | virtual void SetDirection(direction_t direction) |
| Davidroid | 5:d3c78f12a78d | 387 | { |
| Davidroid | 5:d3c78f12a78d | 388 | L6474_SetDirection((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD)); |
| Davidroid | 5:d3c78f12a78d | 389 | } |
| Davidroid | 5:d3c78f12a78d | 390 | |
| Davidroid | 0:2887415a46cd | 391 | virtual void CmdDisable(void) |
| Davidroid | 0:2887415a46cd | 392 | { |
| Davidroid | 0:2887415a46cd | 393 | L6474_CmdDisable(); |
| Davidroid | 0:2887415a46cd | 394 | } |
| Davidroid | 0:2887415a46cd | 395 | |
| Davidroid | 0:2887415a46cd | 396 | virtual void CmdEnable(void) |
| Davidroid | 0:2887415a46cd | 397 | { |
| Davidroid | 0:2887415a46cd | 398 | L6474_CmdEnable(); |
| Davidroid | 0:2887415a46cd | 399 | } |
| Davidroid | 0:2887415a46cd | 400 | |
| Davidroid | 7:f7e0c3621f77 | 401 | /** |
| Davidroid | 7:f7e0c3621f77 | 402 | * @brief Reading the Status Register. |
| Davidroid | 7:f7e0c3621f77 | 403 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 404 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 405 | * @note The Status Register's flags are not cleared, contrary to GetStatus(). |
| Davidroid | 7:f7e0c3621f77 | 406 | */ |
| Davidroid | 0:2887415a46cd | 407 | virtual uint16_t ReadStatusRegister(void) |
| Davidroid | 0:2887415a46cd | 408 | { |
| Davidroid | 0:2887415a46cd | 409 | return (uint16_t) L6474_ReadStatusRegister(); |
| Davidroid | 0:2887415a46cd | 410 | } |
| Davidroid | 0:2887415a46cd | 411 | |
| Davidroid | 7:f7e0c3621f77 | 412 | /** |
| Davidroid | 7:f7e0c3621f77 | 413 | * @brief Selecting the Step Mode. |
| Davidroid | 7:f7e0c3621f77 | 414 | * @param step_mode the Step Mode. |
| Davidroid | 7:f7e0c3621f77 | 415 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 416 | * @note step_mode can be one of the following: |
| Davidroid | 7:f7e0c3621f77 | 417 | * + STEP_MODE_FULL |
| Davidroid | 7:f7e0c3621f77 | 418 | * + STEP_MODE_HALF |
| Davidroid | 7:f7e0c3621f77 | 419 | * + STEP_MODE_1_4 |
| Davidroid | 7:f7e0c3621f77 | 420 | * + STEP_MODE_1_8 |
| Davidroid | 7:f7e0c3621f77 | 421 | * + STEP_MODE_1_16 |
| Davidroid | 7:f7e0c3621f77 | 422 | * + STEP_MODE_1_32 |
| Davidroid | 7:f7e0c3621f77 | 423 | * + STEP_MODE_1_64 |
| Davidroid | 7:f7e0c3621f77 | 424 | * + STEP_MODE_1_128 |
| Davidroid | 7:f7e0c3621f77 | 425 | */ |
| Davidroid | 7:f7e0c3621f77 | 426 | virtual void SelectStepMode(motorStepMode_t step_mode) |
| Davidroid | 0:2887415a46cd | 427 | { |
| Davidroid | 7:f7e0c3621f77 | 428 | L6474_SelectStepMode((motorStepMode_t) step_mode); |
| Davidroid | 0:2887415a46cd | 429 | } |
| Davidroid | 0:2887415a46cd | 430 | |
| Davidroid | 7:f7e0c3621f77 | 431 | /** |
| Davidroid | 7:f7e0c3621f77 | 432 | * @brief Attaching an error handler. |
| Davidroid | 7:f7e0c3621f77 | 433 | * @param fptr an error handler. |
| Davidroid | 7:f7e0c3621f77 | 434 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 435 | */ |
| Davidroid | 7:f7e0c3621f77 | 436 | virtual void AttachErrorHandler(void (*fptr)(uint16_t error)) |
| Davidroid | 4:83a1eb397a65 | 437 | { |
| Davidroid | 7:f7e0c3621f77 | 438 | L6474_AttachErrorHandler((void (*)(uint16_t error)) fptr); |
| Davidroid | 4:83a1eb397a65 | 439 | } |
| Davidroid | 4:83a1eb397a65 | 440 | |
| Davidroid | 0:2887415a46cd | 441 | |
| Davidroid | 0:2887415a46cd | 442 | /*** Public Interrupt Related Methods ***/ |
| Davidroid | 0:2887415a46cd | 443 | |
| Davidroid | 0:2887415a46cd | 444 | /* ACTION 6 --------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 445 | * Implement here interrupt related methods, if any. * |
| Davidroid | 0:2887415a46cd | 446 | * Note that interrupt handling is platform dependent, e.g.: * |
| Davidroid | 0:2887415a46cd | 447 | * + mbed: * |
| Davidroid | 7:f7e0c3621f77 | 448 | * InterruptIn feature_irq(pin); //Interrupt object. * |
| Davidroid | 7:f7e0c3621f77 | 449 | * feature_irq.rise(callback); //Attach a callback. * |
| Davidroid | 7:f7e0c3621f77 | 450 | * feature_irq.mode(PullNone); //Set interrupt mode. * |
| Davidroid | 7:f7e0c3621f77 | 451 | * feature_irq.enable_irq(); //Enable interrupt. * |
| Davidroid | 7:f7e0c3621f77 | 452 | * feature_irq.disable_irq(); //Disable interrupt. * |
| Davidroid | 0:2887415a46cd | 453 | * + Arduino: * |
| Davidroid | 0:2887415a46cd | 454 | * attachInterrupt(pin, callback, RISING); //Attach a callback. * |
| Davidroid | 0:2887415a46cd | 455 | * detachInterrupt(pin); //Detach a callback. * |
| Davidroid | 0:2887415a46cd | 456 | * * |
| Davidroid | 0:2887415a46cd | 457 | * Example (mbed): * |
| Davidroid | 7:f7e0c3621f77 | 458 | * void AttachFeatureIRQ(void (*fptr) (void)) * |
| Davidroid | 0:2887415a46cd | 459 | * { * |
| Davidroid | 7:f7e0c3621f77 | 460 | * feature_irq.rise(fptr); * |
| Davidroid | 7:f7e0c3621f77 | 461 | * } * |
| Davidroid | 7:f7e0c3621f77 | 462 | * * |
| Davidroid | 7:f7e0c3621f77 | 463 | * void EnableFeatureIRQ(void) * |
| Davidroid | 7:f7e0c3621f77 | 464 | * { * |
| Davidroid | 7:f7e0c3621f77 | 465 | * feature_irq.enable_irq(); * |
| Davidroid | 0:2887415a46cd | 466 | * } * |
| Davidroid | 0:2887415a46cd | 467 | * * |
| Davidroid | 7:f7e0c3621f77 | 468 | * void DisableFeatureIRQ(void) * |
| Davidroid | 0:2887415a46cd | 469 | * { * |
| Davidroid | 7:f7e0c3621f77 | 470 | * feature_irq.disable_irq(); * |
| Davidroid | 0:2887415a46cd | 471 | * } * |
| Davidroid | 0:2887415a46cd | 472 | *------------------------------------------------------------------------*/ |
| Davidroid | 7:f7e0c3621f77 | 473 | /** |
| Davidroid | 7:f7e0c3621f77 | 474 | * @brief Attaching a FLAG interrupt handler. |
| Davidroid | 7:f7e0c3621f77 | 475 | * @param fptr an interrupt handler. |
| Davidroid | 7:f7e0c3621f77 | 476 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 477 | */ |
| Davidroid | 7:f7e0c3621f77 | 478 | void AttachFlagIRQ(void (*fptr)(void)) |
| Davidroid | 7:f7e0c3621f77 | 479 | { |
| Davidroid | 7:f7e0c3621f77 | 480 | flag_irq.rise(fptr); |
| Davidroid | 7:f7e0c3621f77 | 481 | } |
| Davidroid | 7:f7e0c3621f77 | 482 | |
| Davidroid | 7:f7e0c3621f77 | 483 | /** |
| Davidroid | 7:f7e0c3621f77 | 484 | * @brief Enabling FLAG interrupt handling. |
| Davidroid | 7:f7e0c3621f77 | 485 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 486 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 487 | */ |
| Davidroid | 7:f7e0c3621f77 | 488 | void EnableFlagIRQ(void) |
| Davidroid | 7:f7e0c3621f77 | 489 | { |
| Davidroid | 7:f7e0c3621f77 | 490 | flag_irq.enable_irq(); |
| Davidroid | 7:f7e0c3621f77 | 491 | } |
| Davidroid | 7:f7e0c3621f77 | 492 | |
| Davidroid | 7:f7e0c3621f77 | 493 | /** |
| Davidroid | 7:f7e0c3621f77 | 494 | * @brief Disabling FLAG interrupt handling. |
| Davidroid | 7:f7e0c3621f77 | 495 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 496 | * @retval None. |
| Davidroid | 7:f7e0c3621f77 | 497 | */ |
| Davidroid | 7:f7e0c3621f77 | 498 | void DisableFlagIRQ(void) |
| Davidroid | 7:f7e0c3621f77 | 499 | { |
| Davidroid | 7:f7e0c3621f77 | 500 | flag_irq.disable_irq(); |
| Davidroid | 7:f7e0c3621f77 | 501 | } |
| Davidroid | 0:2887415a46cd | 502 | |
| Davidroid | 0:2887415a46cd | 503 | |
| Davidroid | 0:2887415a46cd | 504 | protected: |
| Davidroid | 0:2887415a46cd | 505 | |
| Davidroid | 0:2887415a46cd | 506 | /*** Protected Component Related Methods ***/ |
| Davidroid | 0:2887415a46cd | 507 | |
| Davidroid | 0:2887415a46cd | 508 | /* ACTION 7 --------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 509 | * Declare here the component's specific methods. * |
| Davidroid | 0:2887415a46cd | 510 | * They should be: * |
| Davidroid | 0:2887415a46cd | 511 | * + Methods with the same name of the C component's virtual table's * |
| Davidroid | 0:2887415a46cd | 512 | * functions (1); * |
| Davidroid | 0:2887415a46cd | 513 | * + Methods with the same name of the C component's extended virtual * |
| Davidroid | 0:2887415a46cd | 514 | * table's functions, if any (2); * |
| Davidroid | 0:2887415a46cd | 515 | * + Helper methods, if any, like functions declared in the component's * |
| Davidroid | 0:2887415a46cd | 516 | * source files but not pointed by the component's virtual table (3). * |
| Davidroid | 0:2887415a46cd | 517 | * * |
| Davidroid | 0:2887415a46cd | 518 | * Example: * |
| Davidroid | 0:2887415a46cd | 519 | * DrvStatusTypeDef COMPONENT_GetValue(float* pfData); //(1) * |
| Davidroid | 0:2887415a46cd | 520 | * DrvStatusTypeDef COMPONENT_EnableFeature(void); //(2) * |
| Davidroid | 0:2887415a46cd | 521 | * DrvStatusTypeDef COMPONENT_ComputeAverage(void); //(3) * |
| Davidroid | 0:2887415a46cd | 522 | *------------------------------------------------------------------------*/ |
| Davidroid | 7:f7e0c3621f77 | 523 | void L6474_AttachErrorHandler(void (*callback)(uint16_t error)); |
| Davidroid | 7:f7e0c3621f77 | 524 | DrvStatusTypeDef L6474_Init(MOTOR_InitTypeDef *init); |
| Davidroid | 7:f7e0c3621f77 | 525 | DrvStatusTypeDef L6474_ReadID(uint8_t *id); |
| Davidroid | 7:f7e0c3621f77 | 526 | uint16_t L6474_GetAcceleration(void); |
| Davidroid | 7:f7e0c3621f77 | 527 | uint16_t L6474_GetCurrentSpeed(void); |
| Davidroid | 7:f7e0c3621f77 | 528 | uint16_t L6474_GetDeceleration(void); |
| Davidroid | 7:f7e0c3621f77 | 529 | motorState_t L6474_GetDeviceState(void); |
| Davidroid | 7:f7e0c3621f77 | 530 | uint8_t L6474_GetFwVersion(void); |
| Davidroid | 7:f7e0c3621f77 | 531 | int32_t L6474_GetMark(void); |
| Davidroid | 7:f7e0c3621f77 | 532 | uint16_t L6474_GetMaxSpeed(void); |
| Davidroid | 7:f7e0c3621f77 | 533 | uint16_t L6474_GetMinSpeed(void); |
| Davidroid | 7:f7e0c3621f77 | 534 | int32_t L6474_GetPosition(void); |
| Davidroid | 7:f7e0c3621f77 | 535 | void L6474_GoHome(void); |
| Davidroid | 7:f7e0c3621f77 | 536 | void L6474_GoMark(void); |
| Davidroid | 7:f7e0c3621f77 | 537 | void L6474_GoTo(int32_t targetPosition); |
| Davidroid | 7:f7e0c3621f77 | 538 | void L6474_HardStop(void); |
| Davidroid | 7:f7e0c3621f77 | 539 | void L6474_Move(motorDir_t direction, uint32_t stepCount); |
| Davidroid | 7:f7e0c3621f77 | 540 | void L6474_Run(motorDir_t direction); |
| Davidroid | 7:f7e0c3621f77 | 541 | bool L6474_SetAcceleration(uint16_t newAcc); |
| Davidroid | 7:f7e0c3621f77 | 542 | bool L6474_SetDeceleration(uint16_t newDec); |
| Davidroid | 7:f7e0c3621f77 | 543 | void L6474_SetHome(void); |
| Davidroid | 7:f7e0c3621f77 | 544 | void L6474_SetMark(void); |
| Davidroid | 7:f7e0c3621f77 | 545 | bool L6474_SetMaxSpeed(uint16_t newMaxSpeed); |
| Davidroid | 7:f7e0c3621f77 | 546 | bool L6474_SetMinSpeed(uint16_t newMinSpeed); |
| Davidroid | 7:f7e0c3621f77 | 547 | bool L6474_SoftStop(void); |
| Davidroid | 7:f7e0c3621f77 | 548 | void L6474_WaitWhileActive(void); |
| Davidroid | 7:f7e0c3621f77 | 549 | void L6474_CmdDisable(void); |
| Davidroid | 7:f7e0c3621f77 | 550 | void L6474_CmdEnable(void); |
| Davidroid | 7:f7e0c3621f77 | 551 | uint32_t L6474_CmdGetParam(L6474_Registers_t parameter); |
| Davidroid | 7:f7e0c3621f77 | 552 | uint16_t L6474_CmdGetStatus(void); |
| Davidroid | 7:f7e0c3621f77 | 553 | void L6474_CmdNop(void); |
| Davidroid | 7:f7e0c3621f77 | 554 | void L6474_CmdSetParam(L6474_Registers_t parameter, uint32_t value); |
| Davidroid | 7:f7e0c3621f77 | 555 | uint16_t L6474_ReadStatusRegister(void); |
| Davidroid | 7:f7e0c3621f77 | 556 | void L6474_SelectStepMode(motorStepMode_t stepMod); |
| Davidroid | 7:f7e0c3621f77 | 557 | motorDir_t L6474_GetDirection(void); |
| Davidroid | 7:f7e0c3621f77 | 558 | void L6474_SetDirection(motorDir_t direction); |
| Davidroid | 0:2887415a46cd | 559 | void L6474_ApplySpeed(uint16_t newSpeed); |
| Davidroid | 0:2887415a46cd | 560 | void L6474_ComputeSpeedProfile(uint32_t nbSteps); |
| Davidroid | 7:f7e0c3621f77 | 561 | int32_t L6474_ConvertPosition(uint32_t abs_position_reg); |
| Davidroid | 0:2887415a46cd | 562 | void L6474_ErrorHandler(uint16_t error); |
| Davidroid | 0:2887415a46cd | 563 | void L6474_SendCommand(uint8_t param); |
| Davidroid | 0:2887415a46cd | 564 | void L6474_SetRegisterToPredefinedValues(void); |
| Davidroid | 7:f7e0c3621f77 | 565 | void L6474_WriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte); |
| Davidroid | 0:2887415a46cd | 566 | void L6474_SetDeviceParamsToPredefinedValues(void); |
| Davidroid | 0:2887415a46cd | 567 | void L6474_StartMovement(void); |
| Davidroid | 7:f7e0c3621f77 | 568 | void L6474_StepClockHandler(void); |
| Davidroid | 0:2887415a46cd | 569 | uint8_t L6474_Tval_Current_to_Par(double Tval); |
| Davidroid | 0:2887415a46cd | 570 | uint8_t L6474_Tmin_Time_to_Par(double Tmin); |
| Davidroid | 0:2887415a46cd | 571 | |
| Davidroid | 0:2887415a46cd | 572 | |
| Davidroid | 0:2887415a46cd | 573 | /*** Component's I/O Methods ***/ |
| Davidroid | 0:2887415a46cd | 574 | |
| Davidroid | 0:2887415a46cd | 575 | /** |
| Davidroid | 0:2887415a46cd | 576 | * @brief Utility function to read data from L6474. |
| Davidroid | 0:2887415a46cd | 577 | * @param[out] pBuffer pointer to the buffer to read data into. |
| Davidroid | 0:2887415a46cd | 578 | * @param[in] NumBytesToRead number of bytes to read. |
| Davidroid | 0:2887415a46cd | 579 | * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise. |
| Davidroid | 0:2887415a46cd | 580 | */ |
| Davidroid | 0:2887415a46cd | 581 | DrvStatusTypeDef Read(uint8_t* pBuffer, uint16_t NumBytesToRead) |
| Davidroid | 0:2887415a46cd | 582 | { |
| Davidroid | 0:2887415a46cd | 583 | if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0) |
| Davidroid | 0:2887415a46cd | 584 | return COMPONENT_ERROR; |
| Davidroid | 0:2887415a46cd | 585 | return COMPONENT_OK; |
| Davidroid | 0:2887415a46cd | 586 | } |
| Davidroid | 0:2887415a46cd | 587 | |
| Davidroid | 0:2887415a46cd | 588 | /** |
| Davidroid | 0:2887415a46cd | 589 | * @brief Utility function to write data to L6474. |
| Davidroid | 0:2887415a46cd | 590 | * @param[in] pBuffer pointer to the buffer of data to send. |
| Davidroid | 0:2887415a46cd | 591 | * @param[in] NumBytesToWrite number of bytes to write. |
| Davidroid | 0:2887415a46cd | 592 | * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise. |
| Davidroid | 0:2887415a46cd | 593 | */ |
| Davidroid | 0:2887415a46cd | 594 | DrvStatusTypeDef Write(uint8_t* pBuffer, uint16_t NumBytesToWrite) |
| Davidroid | 0:2887415a46cd | 595 | { |
| Davidroid | 0:2887415a46cd | 596 | if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0) |
| Davidroid | 0:2887415a46cd | 597 | return COMPONENT_ERROR; |
| Davidroid | 0:2887415a46cd | 598 | return COMPONENT_OK; |
| Davidroid | 0:2887415a46cd | 599 | } |
| Davidroid | 0:2887415a46cd | 600 | |
| Davidroid | 0:2887415a46cd | 601 | /** |
| Davidroid | 0:2887415a46cd | 602 | * @brief Utility function to read and write data from/to L6474 at the same time. |
| Davidroid | 0:2887415a46cd | 603 | * @param[out] pBufferToRead pointer to the buffer to read data into. |
| Davidroid | 0:2887415a46cd | 604 | * @param[in] pBufferToWrite pointer to the buffer of data to send. |
| Davidroid | 0:2887415a46cd | 605 | * @param[in] NumBytes number of bytes to read and write. |
| Davidroid | 0:2887415a46cd | 606 | * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise. |
| Davidroid | 0:2887415a46cd | 607 | */ |
| Davidroid | 0:2887415a46cd | 608 | DrvStatusTypeDef ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes) |
| Davidroid | 0:2887415a46cd | 609 | { |
| Davidroid | 0:2887415a46cd | 610 | if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0) |
| Davidroid | 0:2887415a46cd | 611 | return COMPONENT_ERROR; |
| Davidroid | 0:2887415a46cd | 612 | return COMPONENT_OK; |
| Davidroid | 0:2887415a46cd | 613 | } |
| Davidroid | 0:2887415a46cd | 614 | |
| Davidroid | 0:2887415a46cd | 615 | /* ACTION 8 --------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 616 | * Implement here other I/O methods beyond those already implemented * |
| Davidroid | 0:2887415a46cd | 617 | * above, which are declared extern within the component's header file. * |
| Davidroid | 0:2887415a46cd | 618 | *------------------------------------------------------------------------*/ |
| Davidroid | 7:f7e0c3621f77 | 619 | /** |
| Davidroid | 7:f7e0c3621f77 | 620 | * @brief Making the CPU wait. |
| Davidroid | 7:f7e0c3621f77 | 621 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 622 | * @retval None. |
| Davidroid | 0:2887415a46cd | 623 | */ |
| Davidroid | 0:2887415a46cd | 624 | void L6474_Delay(uint32_t delay) |
| Davidroid | 0:2887415a46cd | 625 | { |
| Davidroid | 0:2887415a46cd | 626 | wait_ms(delay); |
| Davidroid | 0:2887415a46cd | 627 | } |
| Davidroid | 0:2887415a46cd | 628 | |
| Davidroid | 7:f7e0c3621f77 | 629 | /** |
| Davidroid | 7:f7e0c3621f77 | 630 | * @brief Enabling interrupts. |
| Davidroid | 7:f7e0c3621f77 | 631 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 632 | * @retval None. |
| Davidroid | 0:2887415a46cd | 633 | */ |
| Davidroid | 0:2887415a46cd | 634 | void L6474_EnableIrq(void) |
| Davidroid | 0:2887415a46cd | 635 | { |
| Davidroid | 0:2887415a46cd | 636 | __enable_irq(); |
| Davidroid | 0:2887415a46cd | 637 | } |
| Davidroid | 0:2887415a46cd | 638 | |
| Davidroid | 7:f7e0c3621f77 | 639 | /** |
| Davidroid | 7:f7e0c3621f77 | 640 | * @brief Disabling interrupts. |
| Davidroid | 7:f7e0c3621f77 | 641 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 642 | * @retval None. |
| Davidroid | 0:2887415a46cd | 643 | */ |
| Davidroid | 0:2887415a46cd | 644 | void L6474_DisableIrq(void) |
| Davidroid | 0:2887415a46cd | 645 | { |
| Davidroid | 0:2887415a46cd | 646 | __disable_irq(); |
| Davidroid | 0:2887415a46cd | 647 | } |
| Davidroid | 0:2887415a46cd | 648 | |
| Davidroid | 7:f7e0c3621f77 | 649 | /** |
| Davidroid | 7:f7e0c3621f77 | 650 | * @brief Setting the frequency of PWM. |
| Davidroid | 7:f7e0c3621f77 | 651 | * The frequency controls directly the speed of the device. |
| Davidroid | 7:f7e0c3621f77 | 652 | * @param newFreq the frequency of PWM. |
| Davidroid | 7:f7e0c3621f77 | 653 | * @retval None. |
| Davidroid | 0:2887415a46cd | 654 | */ |
| Davidroid | 0:2887415a46cd | 655 | void L6474_PwmSetFreq(uint16_t newFreq) |
| Davidroid | 0:2887415a46cd | 656 | { |
| Davidroid | 0:2887415a46cd | 657 | double period = 1.0f / newFreq; |
| Davidroid | 0:2887415a46cd | 658 | pwm.period(period); |
| Davidroid | 0:2887415a46cd | 659 | pwm.write(0.5f); |
| Davidroid | 1:b38ebb8ea286 | 660 | ticker.attach(this, &L6474::L6474_StepClockHandler, period); |
| Davidroid | 0:2887415a46cd | 661 | } |
| Davidroid | 0:2887415a46cd | 662 | |
| Davidroid | 7:f7e0c3621f77 | 663 | /** |
| Davidroid | 7:f7e0c3621f77 | 664 | * @brief Initialising the PWM. |
| Davidroid | 7:f7e0c3621f77 | 665 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 666 | * @retval None. |
| Davidroid | 0:2887415a46cd | 667 | */ |
| Davidroid | 7:f7e0c3621f77 | 668 | void L6474_PwmInit(void) {} |
| Davidroid | 0:2887415a46cd | 669 | |
| Davidroid | 7:f7e0c3621f77 | 670 | /** |
| Davidroid | 7:f7e0c3621f77 | 671 | * @brief Stopping the PWM. |
| Davidroid | 7:f7e0c3621f77 | 672 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 673 | * @retval None. |
| Davidroid | 0:2887415a46cd | 674 | */ |
| Davidroid | 0:2887415a46cd | 675 | void L6474_PwmStop(void) |
| Davidroid | 0:2887415a46cd | 676 | { |
| Davidroid | 0:2887415a46cd | 677 | pwm.write(0.0f); |
| Davidroid | 0:2887415a46cd | 678 | ticker.detach(); |
| Davidroid | 0:2887415a46cd | 679 | } |
| Davidroid | 0:2887415a46cd | 680 | |
| Davidroid | 7:f7e0c3621f77 | 681 | /** |
| Davidroid | 7:f7e0c3621f77 | 682 | * @brief Putting the device in standby mode. |
| Davidroid | 7:f7e0c3621f77 | 683 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 684 | * @retval None. |
| Davidroid | 0:2887415a46cd | 685 | */ |
| Davidroid | 0:2887415a46cd | 686 | void L6474_ReleaseReset(void) |
| Davidroid | 0:2887415a46cd | 687 | { |
| Davidroid | 4:83a1eb397a65 | 688 | standby_reset = 1; |
| Davidroid | 0:2887415a46cd | 689 | } |
| Davidroid | 0:2887415a46cd | 690 | |
| Davidroid | 7:f7e0c3621f77 | 691 | /** |
| Davidroid | 7:f7e0c3621f77 | 692 | * @brief Putting the device in reset mode. |
| Davidroid | 7:f7e0c3621f77 | 693 | * @param None. |
| Davidroid | 7:f7e0c3621f77 | 694 | * @retval None. |
| Davidroid | 0:2887415a46cd | 695 | */ |
| Davidroid | 0:2887415a46cd | 696 | void L6474_Reset(void) |
| Davidroid | 0:2887415a46cd | 697 | { |
| Davidroid | 4:83a1eb397a65 | 698 | standby_reset = 0; |
| Davidroid | 0:2887415a46cd | 699 | } |
| Davidroid | 0:2887415a46cd | 700 | |
| Davidroid | 7:f7e0c3621f77 | 701 | /** |
| Davidroid | 7:f7e0c3621f77 | 702 | * @brief Setting the direction of rotation. |
| Davidroid | 7:f7e0c3621f77 | 703 | * @param gpioState direction of rotation: "1" for forward, "0" for backward. |
| Davidroid | 7:f7e0c3621f77 | 704 | * @retval None. |
| Davidroid | 0:2887415a46cd | 705 | */ |
| Davidroid | 0:2887415a46cd | 706 | void L6474_SetDirectionGpio(uint8_t gpioState) |
| Davidroid | 0:2887415a46cd | 707 | { |
| Davidroid | 0:2887415a46cd | 708 | direction = gpioState; |
| Davidroid | 0:2887415a46cd | 709 | } |
| Davidroid | 0:2887415a46cd | 710 | |
| Davidroid | 7:f7e0c3621f77 | 711 | /** |
| Davidroid | 7:f7e0c3621f77 | 712 | * @brief Writing and reading bytes to/from the component through the SPI at the same time. |
| Davidroid | 7:f7e0c3621f77 | 713 | * @param[in] pByteToTransmit pointer to the buffer of data to send. |
| Davidroid | 7:f7e0c3621f77 | 714 | * @param[out] pReceivedByte pointer to the buffer to read data into. |
| Davidroid | 7:f7e0c3621f77 | 715 | * @retval "0" in case of success, "1" otherwise. |
| Davidroid | 0:2887415a46cd | 716 | */ |
| Davidroid | 0:2887415a46cd | 717 | uint8_t L6474_SpiWriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte) |
| Davidroid | 0:2887415a46cd | 718 | { |
| Davidroid | 7:f7e0c3621f77 | 719 | return (uint8_t) (ReadWrite(pReceivedByte, pByteToTransmit, numberOfDevices) == COMPONENT_OK ? 0 : 1); |
| Davidroid | 0:2887415a46cd | 720 | } |
| Davidroid | 0:2887415a46cd | 721 | |
| Davidroid | 0:2887415a46cd | 722 | |
| Davidroid | 0:2887415a46cd | 723 | /*** Component's Instance Variables ***/ |
| Davidroid | 0:2887415a46cd | 724 | |
| Davidroid | 0:2887415a46cd | 725 | /* Identity */ |
| Davidroid | 0:2887415a46cd | 726 | uint8_t who_am_i; |
| Davidroid | 0:2887415a46cd | 727 | |
| Davidroid | 0:2887415a46cd | 728 | /* ACTION 9 --------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 729 | * There should be only a unique identifier for each component, which * |
| Davidroid | 0:2887415a46cd | 730 | * should be the "who_am_i" parameter, hence this parameter is optional. * |
| Davidroid | 0:2887415a46cd | 731 | *------------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 732 | /* Type. */ |
| Davidroid | 0:2887415a46cd | 733 | uint8_t type; |
| Davidroid | 0:2887415a46cd | 734 | |
| Davidroid | 7:f7e0c3621f77 | 735 | /* Flag Interrupt. */ |
| Davidroid | 7:f7e0c3621f77 | 736 | InterruptIn flag_irq; |
| Davidroid | 7:f7e0c3621f77 | 737 | |
| Davidroid | 4:83a1eb397a65 | 738 | /* Standby/reset pin. */ |
| Davidroid | 4:83a1eb397a65 | 739 | DigitalOut standby_reset; |
| Davidroid | 0:2887415a46cd | 740 | |
| Davidroid | 0:2887415a46cd | 741 | /* Direction of rotation pin. */ |
| Davidroid | 0:2887415a46cd | 742 | DigitalOut direction; |
| Davidroid | 0:2887415a46cd | 743 | |
| Davidroid | 0:2887415a46cd | 744 | /* Pulse Width Modulation pin. */ |
| Davidroid | 0:2887415a46cd | 745 | PwmOut pwm; |
| Davidroid | 0:2887415a46cd | 746 | |
| Davidroid | 4:83a1eb397a65 | 747 | /* Configuration. */ |
| Davidroid | 4:83a1eb397a65 | 748 | DigitalOut ssel; |
| Davidroid | 0:2887415a46cd | 749 | |
| Davidroid | 0:2887415a46cd | 750 | /* IO Device. */ |
| Davidroid | 0:2887415a46cd | 751 | DevSPI &dev_spi; |
| Davidroid | 0:2887415a46cd | 752 | |
| Davidroid | 4:83a1eb397a65 | 753 | /* Timer to trigger the PWM callback at each PWM pulse. */ |
| Davidroid | 4:83a1eb397a65 | 754 | Ticker ticker; |
| Davidroid | 4:83a1eb397a65 | 755 | |
| Davidroid | 0:2887415a46cd | 756 | /* Interrupts. */ |
| Davidroid | 0:2887415a46cd | 757 | /* ACTION 10 -------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 758 | * Put here interrupt related objects, if needed. * |
| Davidroid | 0:2887415a46cd | 759 | * Note that interrupt handling is platform dependent, see * |
| Davidroid | 0:2887415a46cd | 760 | * "Interrupt Related Methods" above. * |
| Davidroid | 0:2887415a46cd | 761 | * * |
| Davidroid | 0:2887415a46cd | 762 | * Example: * |
| Davidroid | 0:2887415a46cd | 763 | * + mbed: * |
| Davidroid | 0:2887415a46cd | 764 | * InterruptIn feature_int; * |
| Davidroid | 0:2887415a46cd | 765 | *------------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 766 | |
| Davidroid | 0:2887415a46cd | 767 | /* Data. */ |
| Davidroid | 0:2887415a46cd | 768 | /* ACTION 11 -------------------------------------------------------------* |
| Davidroid | 0:2887415a46cd | 769 | * Declare here the component's data, one variable per line. * |
| Davidroid | 0:2887415a46cd | 770 | * * |
| Davidroid | 0:2887415a46cd | 771 | * Example: * |
| Davidroid | 0:2887415a46cd | 772 | * int T0_out; * |
| Davidroid | 0:2887415a46cd | 773 | * int T1_out; * |
| Davidroid | 0:2887415a46cd | 774 | * float T0_degC; * |
| Davidroid | 0:2887415a46cd | 775 | * float T1_degC; * |
| Davidroid | 0:2887415a46cd | 776 | *------------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 777 | void (*errorHandlerCallback)(uint16_t error); |
| Davidroid | 0:2887415a46cd | 778 | deviceParams_t devicePrm; |
| Davidroid | 5:d3c78f12a78d | 779 | uint8_t deviceInstance; |
| Davidroid | 7:f7e0c3621f77 | 780 | |
| Davidroid | 7:f7e0c3621f77 | 781 | /* Static data. */ |
| Davidroid | 0:2887415a46cd | 782 | static uint8_t numberOfDevices; |
| Davidroid | 7:f7e0c3621f77 | 783 | static uint8_t spiTxBursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES]; |
| Davidroid | 7:f7e0c3621f77 | 784 | static uint8_t spiRxBursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES]; |
| Davidroid | 7:f7e0c3621f77 | 785 | |
| Davidroid | 7:f7e0c3621f77 | 786 | |
| Davidroid | 7:f7e0c3621f77 | 787 | public: |
| Davidroid | 7:f7e0c3621f77 | 788 | |
| Davidroid | 7:f7e0c3621f77 | 789 | /* Static data. */ |
| Davidroid | 6:a47569fc7534 | 790 | static bool spiPreemtionByIsr; |
| Davidroid | 6:a47569fc7534 | 791 | static bool isrFlag; |
| Davidroid | 0:2887415a46cd | 792 | }; |
| Davidroid | 0:2887415a46cd | 793 | |
| Davidroid | 0:2887415a46cd | 794 | #endif // __L6474_CLASS_H |
| Davidroid | 0:2887415a46cd | 795 | |
| Davidroid | 0:2887415a46cd | 796 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ |