Diff: Components/l6474/l6474_class.h

Revision:

8:42e0b00b1e4d

Parent:

7:f7e0c3621f77

Child:

9:6f116ce8e314

--- a/Components/l6474/l6474_class.h	Fri Nov 20 18:00:03 2015 +0000
+++ b/Components/l6474/l6474_class.h	Mon Nov 23 11:10:54 2015 +0000
@@ -144,7 +144,7 @@
      *------------------------------------------------------------------------*/
     /**
      * @brief  Initializing the component.
-     * @param  init pointer to device specific initalization structure.
+     * @param  init Pointer to device specific initalization structure.
      * @retval "0" in case of success, an error code otherwise.
      */
     virtual int Init(void *init)
@@ -154,7 +154,7 @@
 
     /**
      * @brief  Getting the ID of the component.
-     * @param  id pointer to an allocated variable to store the ID into.
+     * @param  id Pointer to an allocated variable to store the ID into.
      * @retval "0" in case of success, an error code otherwise.
      */
     virtual int ReadID(uint8_t *id)
@@ -175,8 +175,8 @@
 
    /**
      * @brief  Getting a parameter.
-     * @param  parameter register adress.
-     * @retval a register value.
+     * @param  parameter A parameter's register adress.
+     * @retval The parameter's value.
      * @note   The Status Register's flags are cleared, contrary to ReadStatusRegister().
      *         parameter can be one of the following:
      *           + L6474_ABS_POS
@@ -213,41 +213,81 @@
         return (unsigned int) L6474_CmdGetParam((L6474_Registers_t) parameter);
     }
 
+    /**
+     * @brief  Getting the position.
+     * @param  None.
+     * @retval The position.
+     */
     virtual signed int GetPosition(void)
     {
         return (signed int) L6474_GetPosition();
     }
 
+    /**
+     * @brief  Getting the marked position.
+     * @param  None.
+     * @retval The marked position.
+     */
     virtual signed int GetMark(void)
     {
         return (signed int) L6474_GetMark();
     }
-    
+
+    /**
+     * @brief  Getting the current speed in pps.
+     * @param  None.
+     * @retval The current speed in pps.
+     */
     virtual unsigned int GetSpeed(void)
     {
         return (unsigned int) L6474_GetCurrentSpeed();
     }
 
+    /**
+     * @brief  Getting the maximum speed in pps.
+     * @param  None.
+     * @retval The maximum speed in pps.
+     */
     virtual unsigned int GetMaxSpeed(void)
     {
         return (unsigned int) L6474_GetMaxSpeed();
     }
 
+    /**
+     * @brief  Getting the minimum speed in pps.
+     * @param  None.
+     * @retval The minimum speed in pps.
+     */
     virtual unsigned int GetMinSpeed(void)
     {
         return (unsigned int) L6474_GetMinSpeed();
     }
 
+    /**
+     * @brief  Getting the acceleration in pps^2.
+     * @param  None.
+     * @retval The acceleration in pps^2.
+     */
     virtual unsigned int GetAcceleration(void)
     {
         return (unsigned int) L6474_GetAcceleration();
     }
 
+    /**
+     * @brief  Getting the deceleration in pps^2.
+     * @param  None.
+     * @retval The deceleration in pps^2.
+     */
     virtual unsigned int GetDeceleration(void)
     {
         return (unsigned int) L6474_GetDeceleration();
     }
 
+    /**
+     * @brief  Getting the direction of rotation.
+     * @param  None.
+     * @retval The direction of rotation.
+     */
     virtual direction_t GetDirection(void)
     {
         return (direction_t) (L6474_GetDirection() == FORWARD ? StepperMotor::FWD : StepperMotor::BWD);
@@ -255,8 +295,8 @@
 
    /**
      * @brief  Setting a parameter.
-     * @param  parameter register adress.
-     * @param  value value to be set.
+     * @param  parameter A parameter's register adress.
+     * @param  value The parameter's value.
      * @retval None.
      * @note   parameter can be one of the following:
      *           + L6474_ABS_POS
@@ -293,71 +333,142 @@
         L6474_CmdSetParam((L6474_Registers_t) parameter, (unsigned int) value);
     }
 
+    /**
+     * @brief  Setting the current position to be the home position.
+     * @param  None.
+     * @retval None.
+     */
     virtual void SetHome(void)
     {
         L6474_SetHome();
     }
 
+    /**
+     * @brief  Setting the current position to be the marked position.
+     * @param  None.
+     * @retval None.
+     */
     virtual void SetMark(void)
     {
         L6474_SetMark();
     }
 
+    /**
+     * @brief  Setting the maximum speed in pps.
+     * @param  speed The maximum speed in pps.
+     * @retval None.
+     */
     virtual void SetMaxSpeed(unsigned int speed)
     {
         L6474_SetMaxSpeed((unsigned int) speed);
     }
 
+    /**
+     * @brief  Setting the minimum speed in pps.
+     * @param  speed The minimum speed in pps.
+     * @retval None.
+     */
     virtual void SetMinSpeed(unsigned int speed)
     {
         L6474_SetMinSpeed((unsigned int) speed);
     }
 
+    /**
+     * @brief  Setting the acceleration in pps^2.
+     * @param  acceleration The acceleration in pps^2.
+     * @retval None.
+     */
     virtual void SetAcceleration(unsigned int acceleration)
     {
         L6474_SetAcceleration((unsigned int) acceleration);
     }
 
+    /**
+     * @brief  Setting the deceleration in pps^2.
+     * @param  deceleration The deceleration in pps^2.
+     * @retval None.
+     */
     virtual void SetDeceleration(unsigned int deceleration)
     {
         L6474_SetDeceleration((unsigned int) deceleration);
     }
 
+    /**
+     * @brief  Going to a specified position.
+     * @param  position The desired position.
+     * @retval None.
+     */
     virtual void GoTo(signed int position)
     {
         L6474_GoTo((signed int) position);
     }
 
+    /**
+     * @brief  Going to the home position.
+     * @param  None.
+     * @retval None.
+     */
     virtual void GoHome(void)
     {
         L6474_GoHome();
     }
 
+    /**
+     * @brief  Going to the marked position.
+     * @param  None.
+     * @retval None.
+     */
     virtual void GoMark(void)
     {
         L6474_GoMark();
     }
 
+    /**
+     * @brief  Running the motor towards a specified direction.
+     * @param  direction The direction of rotation.
+     * @retval None.
+     */
     virtual void Run(direction_t direction)
     {
         L6474_Run((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD));
     }
 
+    /**
+     * @brief  Moving the motor towards a specified direction for a certain number of steps.
+     * @param  direction The direction of rotation.
+     * @param  steps The desired number of steps.
+     * @retval None.
+     */
     virtual void Move(direction_t direction, unsigned int steps)
     {
         L6474_Move((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), (unsigned int) steps);
     }
 
+    /**
+     * @brief  Stopping the motor.
+     * @param  None.
+     * @retval None.
+     */
     virtual void SoftStop(void)
     {
         L6474_SoftStop();
     }
 
+    /**
+     * @brief  Stopping the motor and disabling the power bridge.
+     * @param  None.
+     * @retval None.
+     */
     virtual void HardStop(void)
     {
         L6474_HardStop();
     }
 
+    /**
+     * @brief  Waiting while the motor is active.
+     * @param  None.
+     * @retval None.
+     */
     virtual void WaitWhileActive(void)
     {
         L6474_WaitWhileActive();
@@ -378,26 +489,6 @@
         return (motorState_t) L6474_GetDeviceState();
     }
 
-    virtual uint8_t GetFwVersion(void)
-    {
-        return (uint8_t) L6474_GetFwVersion();
-    }
-
-    virtual void SetDirection(direction_t direction)
-    {
-        L6474_SetDirection((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD));
-    }
-
-    virtual void CmdDisable(void)
-    {
-        L6474_CmdDisable();
-    }
-
-    virtual void CmdEnable(void)
-    {
-        L6474_CmdEnable();
-    }
-
     /**
      * @brief  Reading the Status Register.
      * @param  None.
@@ -410,8 +501,8 @@
     }
 
     /**
-     * @brief  Selecting the Step Mode.
-     * @param  step_mode the Step Mode.
+     * @brief  Setting the Step Mode.
+     * @param  step_mode The Step Mode.
      * @retval None.
      * @note   step_mode can be one of the following:
      *           + STEP_MODE_FULL
@@ -423,14 +514,14 @@
      *           + STEP_MODE_1_64
      *           + STEP_MODE_1_128
      */
-    virtual void SelectStepMode(motorStepMode_t step_mode)
+    virtual void SetStepMode(motorStepMode_t step_mode)
     {
         L6474_SelectStepMode((motorStepMode_t) step_mode);
     }
 
     /**
      * @brief  Attaching an error handler.
-     * @param  fptr an error handler.
+     * @param  fptr An error handler.
      * @retval None.
      */
     virtual void AttachErrorHandler(void (*fptr)(uint16_t error))
@@ -438,6 +529,26 @@
         L6474_AttachErrorHandler((void (*)(uint16_t error)) fptr);
     }
 
+   /**
+     * @brief  Enabling the device.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void Enable(void)
+    {
+        L6474_CmdEnable();
+    }
+    
+   /**
+     * @brief  Disabling the device.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void Disable(void)
+    {
+        L6474_CmdDisable();
+    }
+
 
     /*** Public Interrupt Related Methods ***/
 
@@ -471,8 +582,8 @@
      *   }                                                                    *
      *------------------------------------------------------------------------*/
     /**
-     * @brief  Attaching a FLAG interrupt handler.
-     * @param  fptr an interrupt handler.
+     * @brief  Attaching an interrupt handler to the FLAG interrupt.
+     * @param  fptr An interrupt handler.
      * @retval None.
      */
     void AttachFlagIRQ(void (*fptr)(void))
@@ -481,7 +592,7 @@
     }
     
     /**
-     * @brief  Enabling FLAG interrupt handling.
+     * @brief  Enabling the FLAG interrupt handling.
      * @param  None.
      * @retval None.
      */
@@ -491,7 +602,7 @@
     }
     
     /**
-     * @brief  Disabling FLAG interrupt handling.
+     * @brief  Disabling the FLAG interrupt handling.
      * @param  None.
      * @retval None.
      */