Diff: Components/l6474/l6474_class.h

Revision:

1:b38ebb8ea286

Parent:

0:2887415a46cd

Child:

4:83a1eb397a65

--- a/Components/l6474/l6474_class.h	Wed Oct 14 15:12:18 2015 +0000
+++ b/Components/l6474/l6474_class.h	Fri Oct 16 13:30:06 2015 +0000
@@ -76,11 +76,6 @@
 #include "../Interfaces/Motor_class.h"
 
 
-/* Functions -----------------------------------------------------------------*/
-
-extern void PWMCallback(void);
-
-
 /* Classes -------------------------------------------------------------------*/
 
 /** Class representing a L6474 component.
@@ -290,6 +285,11 @@
         L6474_StepClockHandler();
     }
 
+    virtual void WaitWhileActive(void)
+    {
+        L6474_WaitWhileActive();
+    }
+
     virtual void CmdDisable(void)
     {
         L6474_CmdDisable();
@@ -403,41 +403,42 @@
      *   DrvStatusTypeDef COMPONENT_EnableFeature(void);     //(2)            *
      *   DrvStatusTypeDef COMPONENT_ComputeAverage(void);    //(3)            *
      *------------------------------------------------------------------------*/
-    void L6474_AttachErrorHandler(void (*callback)(uint16_t error));   //Attach a user callback to the error handler
-    void L6474_AttachFlagInterrupt(void (*callback)(void));            //Attach a user callback to the flag Interrupt
-    DrvStatusTypeDef L6474_Init(MOTOR_InitTypeDef *init);              //Start the L6474 library
-    DrvStatusTypeDef L6474_ReadID(uint8_t *id);                        //Read Id to get driver instance
-    uint16_t L6474_GetAcceleration(void);                              //Return the acceleration in pps^2
-    uint16_t L6474_GetCurrentSpeed(void);                              //Return the current speed in pps
-    uint16_t L6474_GetDeceleration(void);                              //Return the deceleration in pps^2
-    motorState_t L6474_GetDeviceState(void);                           //Return the device state
-    uint8_t L6474_GetFwVersion(void);                                  //Return the FW version
-    int32_t L6474_GetMark(void);                                       //Return the mark position 
-    uint16_t L6474_GetMaxSpeed(void);                                  //Return the max speed in pps
-    uint16_t L6474_GetMinSpeed(void);                                  //Return the min speed in pps
-    int32_t L6474_GetPosition(void);                                   //Return the ABS_POSITION (32b signed)
-    void L6474_GoHome(void);                                           //Move to the home position
-    void L6474_GoMark(void);                                           //Move to the Mark position
-    void L6474_GoTo(int32_t targetPosition);                           //Go to the specified position
-    void L6474_HardStop(void);                                         //Stop the motor and disable the power bridge
-    void L6474_Move(motorDir_t direction, uint32_t stepCount);         //Move the motor of the specified number of steps
-    void L6474_Run(motorDir_t direction);                              //Run the motor 
-    bool L6474_SetAcceleration(uint16_t newAcc);                       //Set the acceleration in pps^2
-    bool L6474_SetDeceleration(uint16_t newDec);                       //Set the deceleration in pps^2
-    void L6474_SetHome(void);                                          //Set current position to be the home position
-    void L6474_SetMark(void);                                          //Set current position to be the Markposition
-    bool L6474_SetMaxSpeed(uint16_t newMaxSpeed);                      //Set the max speed in pps
-    bool L6474_SetMinSpeed(uint16_t newMinSpeed);                      //Set the min speed in pps   
-    bool L6474_SoftStop(void);                                         //Progressively stops the motor 
-    void L6474_CmdDisable(void);                                       //Send the L6474_DISABLE command
-    void L6474_CmdEnable(void);                                        //Send the L6474_ENABLE command
-    uint32_t L6474_CmdGetParam(uint32_t param);                        //Send the L6474_GET_PARAM command
-    uint16_t L6474_CmdGetStatus(void);                                 //Send the L6474_GET_STATUS command
-    void L6474_CmdNop(void);                                           //Send the L6474_NOP command
-    void L6474_CmdSetParam(uint32_t param, uint32_t value);            //Send the L6474_SET_PARAM command
-    uint16_t L6474_ReadStatusRegister(void);                           //Read the L6474_STATUS register without clearing the flags
-    void L6474_SelectStepMode(motorStepMode_t stepMod);                //Step mode selection
-    void L6474_SetDirection(motorDir_t direction);                     //Set the L6474 direction pin
+    void L6474_AttachErrorHandler(void (*callback)(uint16_t error)); //Attach a user callback to the error handler
+    void L6474_AttachFlagInterrupt(void (*callback)(void));          //Attach a user callback to the flag Interrupt
+    DrvStatusTypeDef L6474_Init(MOTOR_InitTypeDef *init);            //Start the L6474 library
+    DrvStatusTypeDef L6474_ReadID(uint8_t *id);                      //Read Id to get driver instance
+    uint16_t L6474_GetAcceleration(void);                            //Return the acceleration in pps^2
+    uint16_t L6474_GetCurrentSpeed(void);                            //Return the current speed in pps
+    uint16_t L6474_GetDeceleration(void);                            //Return the deceleration in pps^2
+    motorState_t L6474_GetDeviceState(void);                         //Return the device state
+    uint8_t L6474_GetFwVersion(void);                                //Return the FW version
+    int32_t L6474_GetMark(void);                                     //Return the mark position 
+    uint16_t L6474_GetMaxSpeed(void);                                //Return the max speed in pps
+    uint16_t L6474_GetMinSpeed(void);                                //Return the min speed in pps
+    int32_t L6474_GetPosition(void);                                 //Return the ABS_POSITION (32b signed)
+    void L6474_GoHome(void);                                         //Move to the home position
+    void L6474_GoMark(void);                                         //Move to the Mark position
+    void L6474_GoTo(int32_t targetPosition);                         //Go to the specified position
+    void L6474_HardStop(void);                                       //Stop the motor and disable the power bridge
+    void L6474_Move(motorDir_t direction, uint32_t stepCount);       //Move the motor of the specified number of steps
+    void L6474_Run(motorDir_t direction);                            //Run the motor 
+    bool L6474_SetAcceleration(uint16_t newAcc);                     //Set the acceleration in pps^2
+    bool L6474_SetDeceleration(uint16_t newDec);                     //Set the deceleration in pps^2
+    void L6474_SetHome(void);                                        //Set current position to be the home position
+    void L6474_SetMark(void);                                        //Set current position to be the Markposition
+    bool L6474_SetMaxSpeed(uint16_t newMaxSpeed);                    //Set the max speed in pps
+    bool L6474_SetMinSpeed(uint16_t newMinSpeed);                    //Set the min speed in pps   
+    bool L6474_SoftStop(void);                                       //Progressively stops the motor 
+    void L6474_WaitWhileActive(void);                                //Wait for the device state becomes Inactive
+    void L6474_CmdDisable(void);                                     //Send the L6474_DISABLE command
+    void L6474_CmdEnable(void);                                      //Send the L6474_ENABLE command
+    uint32_t L6474_CmdGetParam(uint32_t param);                      //Send the L6474_GET_PARAM command
+    uint16_t L6474_CmdGetStatus(void);                               //Send the L6474_GET_STATUS command
+    void L6474_CmdNop(void);                                         //Send the L6474_NOP command
+    void L6474_CmdSetParam(uint32_t param, uint32_t value);          //Send the L6474_SET_PARAM command
+    uint16_t L6474_ReadStatusRegister(void);                         //Read the L6474_STATUS register without clearing the flags
+    void L6474_SelectStepMode(motorStepMode_t stepMod);              //Step mode selection
+    void L6474_SetDirection(motorDir_t direction);                   //Set the L6474 direction pin
     void L6474_ApplySpeed(uint16_t newSpeed);
     void L6474_ComputeSpeedProfile(uint32_t nbSteps);
     int32_t L6474_ConvertPosition(uint32_t abs_position_reg); 
@@ -536,7 +537,7 @@
         double period = 1.0f / newFreq;
         pwm.period(period);
         pwm.write(0.5f);
-        ticker.attach(&PWMCallback, period);
+        ticker.attach(this, &L6474::L6474_StepClockHandler, period);
     }
 
     /*