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
Revision 26:e2049a15fb15, committed 2017-05-24
- Comitter:
- Arkadi
- Date:
- Wed May 24 13:49:40 2017 +0000
- Parent:
- 25:9933118b7fc7
- Commit message:
- Disabled PWM & direction control in library
Changed in this revision
diff -r 9933118b7fc7 -r e2049a15fb15 Components/l6474/l6474_class.h
--- a/Components/l6474/l6474_class.h Wed May 24 10:01:11 2017 +0000
+++ b/Components/l6474/l6474_class.h Wed May 24 13:49:40 2017 +0000
@@ -95,7 +95,7 @@
* @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
* @param spi SPI device to be used for communication.
*/
- 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)
+ L6474(PinName flag_irq, PinName standby_reset, PinName ssel, DevSPI &spi) : StepperMotor(), flag_irq(flag_irq), standby_reset(standby_reset), ssel(ssel), dev_spi(spi)
{
/* Checking stackability. */
if (!(number_of_devices < MAX_NUMBER_OF_DEVICES))
@@ -842,14 +842,14 @@
void L6474_PwmSetFreq(uint16_t frequency)
{
/* Computing the period of PWM. */
- double period = 1.0f / frequency;
-
- /* Setting the period and the duty-cycle of PWM. */
- pwm.period(period);
- pwm.write(0.5f);
+ //double period = 1.0f / frequency;
+ //
+ ///* Setting the period and the duty-cycle of PWM. */
+ //pwm.period(period);
+ //pwm.write(0.5f);
- /* Setting a callback with the same period of PWM's, to update the state machine. */
- ticker.attach(this, &L6474::L6474_StepClockHandler, period);
+ ///* Setting a callback with the same period of PWM's, to update the state machine. */
+ //ticker.attach(this, &L6474::L6474_StepClockHandler, period);
}
/**
@@ -859,8 +859,8 @@
*/
void L6474_PwmStop(void)
{
- pwm.write(0.0f);
- ticker.detach();
+ //pwm.write(0.0f);
+ //ticker.detach();
}
/**
@@ -890,7 +890,6 @@
*/
void L6474_SetDirectionGpio(uint8_t gpioState)
{
- direction = gpioState;
}
/**
@@ -929,14 +928,8 @@
/* Standby/reset pin. */
DigitalOut standby_reset;
- /* Direction of rotation pin. */
- DigitalOut direction;
-
- /* Pulse Width Modulation pin. */
- PwmOut pwm;
-
/* Timer to trigger the PWM callback at each PWM pulse. */
- Ticker ticker;
+ //Ticker ticker;
/* ACTION 11 -------------------------------------------------------------*
* Declare here communication related variables, if needed. *
diff -r 9933118b7fc7 -r e2049a15fb15 Components/l6474/l6474_class_copy.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/l6474/l6474_class_copy.h Wed May 24 13:49:40 2017 +0000
@@ -0,0 +1,992 @@
+/**
+ ******************************************************************************
+ * @file l6474_class.h
+ * @author Davide Aliprandi, STMicroelectronics
+ * @version V1.0.0
+ * @date October 14th, 2015
+ * @brief This file contains the class of an L6474 Motor Control component.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Generated with STM32CubeTOO -----------------------------------------------*/
+
+
+/* Revision ------------------------------------------------------------------*/
+/*
+ Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
+ Branch/Trunk/Tag: trunk
+ Based on: X-CUBE-SPN1/trunk/Drivers/BSP/Components/l6474/l6474.h
+ Revision: 0
+*/
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+
+#ifndef __L6474_CLASS_H
+#define __L6474_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+/* ACTION 1 ------------------------------------------------------------------*
+ * Include here platform specific header files. *
+ *----------------------------------------------------------------------------*/
+#include "mbed.h"
+#include "DevSPI.h"
+/* ACTION 2 ------------------------------------------------------------------*
+ * Include here component specific header files. *
+ *----------------------------------------------------------------------------*/
+#include "l6474.h"
+/* ACTION 3 ------------------------------------------------------------------*
+ * Include here interface specific header files. *
+ * *
+ * Example: *
+ * #include "../Interfaces/Humidity_class.h" *
+ * #include "../Interfaces/Temperature_class.h" *
+ *----------------------------------------------------------------------------*/
+#include "../Interfaces/StepperMotor_class.h"
+
+
+/* Classes -------------------------------------------------------------------*/
+
+/**
+ * @brief Class representing an L6474 component.
+ */
+class L6474 : public StepperMotor
+{
+public:
+
+ /*** Constructor and Destructor Methods ***/
+
+ /**
+ * @brief Constructor.
+ * @param flag_irq pin name of the FLAG pin of the component.
+ * @param standby_reset pin name of the STBY\RST pin of the component.
+ * @param direction pin name of the DIR pin of the component.
+ * @param pwm pin name of the PWM pin of the component.
+ * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
+ * @param spi SPI device to be used for communication.
+ */
+ 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)
+ {
+ /* Checking stackability. */
+ if (!(number_of_devices < MAX_NUMBER_OF_DEVICES))
+ error("Instantiation of the L6474 component failed: it can be stacked up to %d times.\r\n", MAX_NUMBER_OF_DEVICES);
+
+ /* ACTION 4 ----------------------------------------------------------*
+ * Initialize here the component's member variables, one variable per *
+ * line. *
+ * *
+ * Example: *
+ * measure = 0; *
+ * instance_id = number_of_instances++; *
+ *--------------------------------------------------------------------*/
+ error_handler_callback = 0;
+ device_instance = number_of_devices++;
+ memset(spi_tx_bursts, 0, L6474_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t));
+ memset(spi_rx_bursts, 0, L6474_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t));
+ }
+
+ /**
+ * @brief Destructor.
+ */
+ virtual ~L6474(void) {}
+
+
+ /*** Public Component Related Methods ***/
+
+ /* ACTION 5 --------------------------------------------------------------*
+ * Implement here the component's public methods, as wrappers of the C *
+ * component's functions. *
+ * They should be: *
+ * + Methods with the same name of the C component's virtual table's *
+ * functions (1); *
+ * + Methods with the same name of the C component's extended virtual *
+ * table's functions, if any (2). *
+ * *
+ * Example: *
+ * virtual int GetValue(float *pData) //(1) *
+ * { *
+ * return COMPONENT_GetValue(float *pfData); *
+ * } *
+ * *
+ * virtual int EnableFeature(void) //(2) *
+ * { *
+ * return COMPONENT_EnableFeature(); *
+ * } *
+ *------------------------------------------------------------------------*/
+ /**
+ * @brief Initializing the component in 1/16 Microstepping mode.
+ * @param init Pointer to device specific initalization structure.
+ * @retval "0" in case of success, an error code otherwise.
+ */
+ virtual int Init(void *init = NULL)
+ {
+ return (int) L6474_Init((void *) init);
+ }
+
+ /**
+ * @brief Getting the ID of the component.
+ * @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 = NULL)
+ {
+ return (int) L6474_ReadID((uint8_t *) id);
+ }
+
+ /**
+ * @brief Getting the value of the Status Register.
+ * @param None.
+ * @retval None.
+ * @note The Status Register's flags are cleared, contrary to ReadStatusRegister().
+ */
+ virtual unsigned int GetStatus(void)
+ {
+ return (unsigned int) L6474_CmdGetStatus();
+ }
+
+ /**
+ * @brief Getting a parameter.
+ * @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
+ * + L6474_EL_POS
+ * + L6474_MARK
+ * + L6474_RESERVED_REG01
+ * + L6474_RESERVED_REG02
+ * + L6474_RESERVED_REG03
+ * + L6474_RESERVED_REG04
+ * + L6474_RESERVED_REG05
+ * + L6474_RESERVED_REG06
+ * + L6474_TVAL : value in mA
+ * + L6474_RESERVED_REG07
+ * + L6474_RESERVED_REG08
+ * + L6474_RESERVED_REG09
+ * + L6474_RESERVED_REG10
+ * + L6474_T_FAST
+ * + L6474_TON_MIN : value in us
+ * + L6474_TOFF_MIN : value in us
+ * + L6474_RESERVED_REG11
+ * + L6474_ADC_OUT
+ * + L6474_OCD_TH
+ * + L6474_RESERVED_REG12
+ * + L6474_STEP_MODE
+ * + L6474_ALARM_EN
+ * + L6474_CONFIG
+ * + L6474_STATUS
+ * + L6474_RESERVED_REG13
+ * + L6474_RESERVED_REG14
+ * + L6474_INEXISTENT_REG
+ */
+ virtual float GetParameter(unsigned int parameter)
+ {
+ unsigned int register_value = (unsigned int) L6474_CmdGetParam((L6474_Registers_t) parameter);
+ float value;
+
+ switch ((L6474_Registers_t) parameter)
+ {
+ case L6474_TVAL:
+ value = L6474_Par_to_Tval_Current((float) register_value);
+ break;
+ case L6474_TON_MIN:
+ case L6474_TOFF_MIN:
+ value = L6474_Par_to_Tmin_Time((float) register_value);
+ break;
+ default:
+ value = (float) register_value;
+ break;
+ }
+
+ return value;
+ }
+
+ /**
+ * @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);
+ }
+
+ /**
+ * @brief Setting a parameter.
+ * @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
+ * + L6474_EL_POS
+ * + L6474_MARK
+ * + L6474_RESERVED_REG01
+ * + L6474_RESERVED_REG02
+ * + L6474_RESERVED_REG03
+ * + L6474_RESERVED_REG04
+ * + L6474_RESERVED_REG05
+ * + L6474_RESERVED_REG06
+ * + L6474_TVAL : value in mA
+ * + L6474_RESERVED_REG07
+ * + L6474_RESERVED_REG08
+ * + L6474_RESERVED_REG09
+ * + L6474_RESERVED_REG10
+ * + L6474_T_FAST
+ * + L6474_TON_MIN : value in us
+ * + L6474_TOFF_MIN : value in us
+ * + L6474_RESERVED_REG11
+ * + L6474_ADC_OUT
+ * + L6474_OCD_TH
+ * + L6474_RESERVED_REG12
+ * + L6474_STEP_MODE
+ * + L6474_ALARM_EN
+ * + L6474_CONFIG
+ * + L6474_STATUS
+ * + L6474_RESERVED_REG13
+ * + L6474_RESERVED_REG14
+ * + L6474_INEXISTENT_REG
+ */
+ virtual void SetParameter(unsigned int parameter, float value)
+ {
+ float register_value;
+
+ switch ((L6474_Registers_t) parameter)
+ {
+ case L6474_TVAL:
+ register_value = L6474_Tval_Current_to_Par(value);
+ break;
+ case L6474_TON_MIN:
+ case L6474_TOFF_MIN:
+ register_value = L6474_Tmin_Time_to_Par(value);
+ break;
+ default:
+ register_value = value;
+ break;
+ }
+
+ L6474_CmdSetParam((L6474_Registers_t) parameter, (unsigned int) register_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 through an immediate deceleration up to zero speed.
+ * @param None.
+ * @retval None.
+ */
+ virtual void SoftStop(void)
+ {
+ L6474_SoftStop();
+ }
+
+ /**
+ * @brief Stopping the motor through an immediate infinite deceleration.
+ * @param None.
+ * @retval None.
+ */
+ virtual void HardStop(void)
+ {
+ L6474_HardStop();
+ }
+
+ /**
+ * @brief Disabling the power bridge after performing a deceleration to zero.
+ * @param None.
+ * @retval None.
+ */
+ virtual void SoftHiZ(void)
+ {
+ L6474_SoftStop();
+ L6474_CmdDisable();
+ }
+
+ /**
+ * @brief Disabling the power bridge immediately.
+ * @param None.
+ * @retval None.
+ */
+ virtual void HardHiZ(void)
+ {
+ L6474_HardStop();
+ L6474_CmdDisable();
+ }
+
+ /**
+ * @brief Waiting while the motor is active.
+ * @param None.
+ * @retval None.
+ */
+ virtual void WaitWhileActive(void)
+ {
+ L6474_WaitWhileActive();
+ }
+
+ /**
+ * @brief Getting the device state.
+ * @param None.
+ * @retval The device state.
+ * @note The device state can be one of the following:
+ * + ACCELERATING
+ * + DECELERATING
+ * + STEADY
+ * + INACTIVE
+ */
+ virtual motorState_t GetDeviceState(void)
+ {
+ return (motorState_t) L6474_GetDeviceState();
+ }
+
+ /**
+ * @brief Reading the Status Register.
+ * @param None.
+ * @retval None.
+ * @note The Status Register's flags are not cleared, contrary to GetStatus().
+ */
+ virtual uint16_t ReadStatusRegister(void)
+ {
+ return (uint16_t) L6474_ReadStatusRegister();
+ }
+
+ /**
+ * @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
+ * + STEP_MODE_HALF
+ * + STEP_MODE_1_4
+ * + STEP_MODE_1_8
+ * + STEP_MODE_1_16
+ * + STEP_MODE_1_32
+ * + STEP_MODE_1_64
+ * + STEP_MODE_1_128
+ */
+ virtual void SetStepMode(motorStepMode_t step_mode)
+ {
+ L6474_SelectStepMode((motorStepMode_t) step_mode);
+ }
+
+ /**
+ * @brief Attaching an error handler.
+ * @param fptr An error handler.
+ * @retval None.
+ */
+ virtual void AttachErrorHandler(void (*fptr)(uint16_t error))
+ {
+ 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();
+ }
+
+ /**
+ * @brief Getting the version of the firmware.
+ * @param None.
+ * @retval The version of the firmware.
+ */
+ virtual uint8_t GetFwVersion(void)
+ {
+ return (uint8_t) L6474_GetFwVersion();
+ }
+
+
+ /*** Public Interrupt Related Methods ***/
+
+ /* ACTION 6 --------------------------------------------------------------*
+ * Implement here interrupt related methods, if any. *
+ * Note that interrupt handling is platform dependent, e.g.: *
+ * + mbed: *
+ * InterruptIn feature_irq(pin); //Interrupt object. *
+ * feature_irq.rise(callback); //Attach a callback. *
+ * feature_irq.mode(PullNone); //Set interrupt mode. *
+ * feature_irq.enable_irq(); //Enable interrupt. *
+ * feature_irq.disable_irq(); //Disable interrupt. *
+ * + Arduino: *
+ * attachInterrupt(pin, callback, RISING); //Attach a callback. *
+ * detachInterrupt(pin); //Detach a callback. *
+ * *
+ * Example (mbed): *
+ * void AttachFeatureIRQ(void (*fptr) (void)) *
+ * { *
+ * feature_irq.rise(fptr); *
+ * } *
+ * *
+ * void EnableFeatureIRQ(void) *
+ * { *
+ * feature_irq.enable_irq(); *
+ * } *
+ * *
+ * void DisableFeatureIRQ(void) *
+ * { *
+ * feature_irq.disable_irq(); *
+ * } *
+ *------------------------------------------------------------------------*/
+ /**
+ * @brief Attaching an interrupt handler to the FLAG interrupt.
+ * @param fptr An interrupt handler.
+ * @retval None.
+ */
+ void AttachFlagIRQ(void (*fptr)(void))
+ {
+ flag_irq.fall(fptr);
+ }
+
+ /**
+ * @brief Enabling the FLAG interrupt handling.
+ * @param None.
+ * @retval None.
+ */
+ void EnableFlagIRQ(void)
+ {
+ flag_irq.enable_irq();
+ }
+
+ /**
+ * @brief Disabling the FLAG interrupt handling.
+ * @param None.
+ * @retval None.
+ */
+ void DisableFlagIRQ(void)
+ {
+ flag_irq.disable_irq();
+ }
+
+
+protected:
+
+ /*** Protected Component Related Methods ***/
+
+ /* ACTION 7 --------------------------------------------------------------*
+ * Declare here the component's specific methods. *
+ * They should be: *
+ * + Methods with the same name of the C component's virtual table's *
+ * functions (1); *
+ * + Methods with the same name of the C component's extended virtual *
+ * table's functions, if any (2); *
+ * + Helper methods, if any, like functions declared in the component's *
+ * source files but not pointed by the component's virtual table (3). *
+ * *
+ * Example: *
+ * Status_t COMPONENT_GetValue(float *f); //(1) *
+ * Status_t COMPONENT_EnableFeature(void); //(2) *
+ * Status_t COMPONENT_ComputeAverage(void); //(3) *
+ *------------------------------------------------------------------------*/
+ void L6474_AttachErrorHandler(void (*callback)(uint16_t error));
+ Status_t L6474_Init(void *init);
+ Status_t L6474_ReadID(uint8_t *id);
+ uint16_t L6474_GetAcceleration(void);
+ uint16_t L6474_GetCurrentSpeed(void);
+ uint16_t L6474_GetDeceleration(void);
+ motorState_t L6474_GetDeviceState(void);
+ uint8_t L6474_GetFwVersion(void);
+ int32_t L6474_GetMark(void);
+ uint16_t L6474_GetMaxSpeed(void);
+ uint16_t L6474_GetMinSpeed(void);
+ int32_t L6474_GetPosition(void);
+ void L6474_GoHome(void);
+ void L6474_GoMark(void);
+ void L6474_GoTo(int32_t targetPosition);
+ void L6474_HardStop(void);
+ void L6474_Move(motorDir_t direction, uint32_t stepCount);
+ void L6474_Run(motorDir_t direction);
+ bool L6474_SetAcceleration(uint16_t newAcc);
+ bool L6474_SetDeceleration(uint16_t newDec);
+ void L6474_SetHome(void);
+ void L6474_SetMark(void);
+ bool L6474_SetMaxSpeed(uint16_t newMaxSpeed);
+ bool L6474_SetMinSpeed(uint16_t newMinSpeed);
+ bool L6474_SoftStop(void);
+ void L6474_WaitWhileActive(void);
+ void L6474_CmdDisable(void);
+ void L6474_CmdEnable(void);
+ uint32_t L6474_CmdGetParam(L6474_Registers_t parameter);
+ uint16_t L6474_CmdGetStatus(void);
+ void L6474_CmdNop(void);
+ void L6474_CmdSetParam(L6474_Registers_t parameter, uint32_t value);
+ uint16_t L6474_ReadStatusRegister(void);
+ void L6474_SelectStepMode(motorStepMode_t stepMod);
+ motorDir_t L6474_GetDirection(void);
+ void L6474_SetDirection(motorDir_t direction);
+ void L6474_ApplySpeed(uint16_t newSpeed);
+ void L6474_ComputeSpeedProfile(uint32_t nbSteps);
+ int32_t L6474_ConvertPosition(uint32_t abs_position_reg);
+ void L6474_ErrorHandler(uint16_t error);
+ void L6474_SendCommand(uint8_t param);
+ void L6474_SetRegisterToPredefinedValues(void);
+ void L6474_SetRegisterToInitializationValues(L6474_Init_t *init);
+ void L6474_WriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte);
+ void L6474_SetDeviceParamsToPredefinedValues(void);
+ void L6474_StartMovement(void);
+ void L6474_StepClockHandler(void);
+ float L6474_Tval_Current_to_Par(float current_mA);
+ float L6474_Par_to_Tval_Current(float Tval);
+ float L6474_Tmin_Time_to_Par(float ton_min_us);
+ float L6474_Par_to_Tmin_Time(float Tmin);
+
+
+ /*** Component's I/O Methods ***/
+
+ /**
+ * @brief Utility function to read data from L6474.
+ * @param[out] pBuffer pointer to the buffer to read data into.
+ * @param[in] NumBytesToRead number of bytes to read.
+ * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
+ */
+ Status_t Read(uint8_t* pBuffer, uint16_t NumBytesToRead)
+ {
+ if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0)
+ return COMPONENT_ERROR;
+ return COMPONENT_OK;
+ }
+
+ /**
+ * @brief Utility function to write data to L6474.
+ * @param[in] pBuffer pointer to the buffer of data to send.
+ * @param[in] NumBytesToWrite number of bytes to write.
+ * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
+ */
+ Status_t Write(uint8_t* pBuffer, uint16_t NumBytesToWrite)
+ {
+ if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0)
+ return COMPONENT_ERROR;
+ return COMPONENT_OK;
+ }
+
+ /**
+ * @brief Utility function to read and write data from/to L6474 at the same time.
+ * @param[out] pBufferToRead pointer to the buffer to read data into.
+ * @param[in] pBufferToWrite pointer to the buffer of data to send.
+ * @param[in] NumBytes number of bytes to read and write.
+ * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
+ */
+ Status_t ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes)
+ {
+ if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0)
+ return COMPONENT_ERROR;
+ return COMPONENT_OK;
+ }
+
+ /* ACTION 8 --------------------------------------------------------------*
+ * Implement here other I/O methods beyond those already implemented *
+ * above, which are declared extern within the component's header file. *
+ *------------------------------------------------------------------------*/
+ /**
+ * @brief Making the CPU wait.
+ * @param None.
+ * @retval None.
+ */
+ void L6474_Delay(uint32_t delay)
+ {
+ wait_ms(delay);
+ }
+
+ /**
+ * @brief Enabling interrupts.
+ * @param None.
+ * @retval None.
+ */
+ void L6474_EnableIrq(void)
+ {
+ __enable_irq();
+ }
+
+ /**
+ * @brief Disabling interrupts.
+ * @param None.
+ * @retval None.
+ */
+ void L6474_DisableIrq(void)
+ {
+ __disable_irq();
+ }
+
+ /**
+ * @brief Initialising the PWM.
+ * @param None.
+ * @retval None.
+ */
+ void L6474_PwmInit(void) {}
+
+ /**
+ * @brief Setting the frequency of PWM.
+ * The frequency controls directly the speed of the device.
+ * @param frequency the frequency of PWM.
+ * @retval None.
+ */
+ void L6474_PwmSetFreq(uint16_t frequency)
+ {
+ /* Computing the period of PWM. */
+ //double period = 1.0f / frequency;
+ //
+ ///* Setting the period and the duty-cycle of PWM. */
+ //pwm.period(period);
+ //pwm.write(0.5f);
+
+ ///* Setting a callback with the same period of PWM's, to update the state machine. */
+ //ticker.attach(this, &L6474::L6474_StepClockHandler, period);
+ }
+
+ /**
+ * @brief Stopping the PWM.
+ * @param None.
+ * @retval None.
+ */
+ void L6474_PwmStop(void)
+ {
+ //pwm.write(0.0f);
+ //ticker.detach();
+ }
+
+ /**
+ * @brief Putting the device in standby mode.
+ * @param None.
+ * @retval None.
+ */
+ void L6474_ReleaseReset(void)
+ {
+ standby_reset = 1;
+ }
+
+ /**
+ * @brief Putting the device in reset mode.
+ * @param None.
+ * @retval None.
+ */
+ void L6474_Reset(void)
+ {
+ standby_reset = 0;
+ }
+
+ /**
+ * @brief Setting the direction of rotation.
+ * @param gpioState direction of rotation: "1" for forward, "0" for backward.
+ * @retval None.
+ */
+ void L6474_SetDirectionGpio(uint8_t gpioState)
+ {
+ direction = gpioState;
+ }
+
+ /**
+ * @brief Writing and reading bytes to/from the component through the SPI at the same time.
+ * @param[in] pByteToTransmit pointer to the buffer of data to send.
+ * @param[out] pReceivedByte pointer to the buffer to read data into.
+ * @retval "0" in case of success, "1" otherwise.
+ */
+ uint8_t L6474_SpiWriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte)
+ {
+ return (uint8_t) (ReadWrite(pReceivedByte, pByteToTransmit, number_of_devices) == COMPONENT_OK ? 0 : 1);
+ }
+
+
+ /*** Component's Instance Variables ***/
+
+ /* ACTION 9 --------------------------------------------------------------*
+ * Declare here interrupt related variables, if needed. *
+ * Note that interrupt handling is platform dependent, see *
+ * "Interrupt Related Methods" above. *
+ * *
+ * Example: *
+ * + mbed: *
+ * InterruptIn feature_irq; *
+ *------------------------------------------------------------------------*/
+ /* Flag Interrupt. */
+ InterruptIn flag_irq;
+
+ /* ACTION 10 -------------------------------------------------------------*
+ * Declare here other pin related variables, if needed. *
+ * *
+ * Example: *
+ * + mbed: *
+ * DigitalOut standby_reset; *
+ *------------------------------------------------------------------------*/
+ /* Standby/reset pin. */
+ DigitalOut standby_reset;
+
+ /* Direction of rotation pin. */
+ DigitalOut direction;
+
+ /* Pulse Width Modulation pin. */
+ PwmOut pwm;
+
+ /* Timer to trigger the PWM callback at each PWM pulse. */
+ //Ticker ticker;
+
+ /* ACTION 11 -------------------------------------------------------------*
+ * Declare here communication related variables, if needed. *
+ * *
+ * Example: *
+ * + mbed: *
+ * DigitalOut ssel; *
+ * DevSPI &dev_spi; *
+ *------------------------------------------------------------------------*/
+ /* Configuration. */
+ DigitalOut ssel;
+
+ /* IO Device. */
+ DevSPI &dev_spi;
+
+ /* ACTION 12 -------------------------------------------------------------*
+ * Declare here identity related variables, if needed. *
+ * Note that there should be only a unique identifier for each component, *
+ * which should be the "who_am_i" parameter. *
+ *------------------------------------------------------------------------*/
+ /* Identity */
+ uint8_t who_am_i;
+
+ /* ACTION 13 -------------------------------------------------------------*
+ * Declare here the component's static and non-static data, one variable *
+ * per line. *
+ * *
+ * Example: *
+ * float measure; *
+ * int instance_id; *
+ * static int number_of_instances; *
+ *------------------------------------------------------------------------*/
+ /* Data. */
+ void (*error_handler_callback)(uint16_t error);
+ deviceParams_t device_prm;
+ uint8_t device_instance;
+
+ /* Static data. */
+ static uint8_t number_of_devices;
+ static uint8_t spi_tx_bursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
+ static uint8_t spi_rx_bursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
+
+
+public:
+
+ /* Static data. */
+ static bool spi_preemtion_by_isr;
+ static bool isr_flag;
+};
+
+#endif // __L6474_CLASS_H
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/