Davide Aliprandi
/
X-NUCLEO-IHM05A1
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X-NUCLEO-IHM05A1
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Components/l6208/l6208_class.h@2:2af31245e67e, 2016-04-29 (annotated)
- Committer:
- nucleosam
- Date:
- Fri Apr 29 14:58:30 2016 +0000
- Revision:
- 2:2af31245e67e
- Parent:
- 1:5cc2691ccfff
- Child:
- 3:d566edd8cd34
Removed X-NUCLEO-COMMON, since I2C and SPI are not used.; Private methods became protected, in order to be correctly inherited in case someone decides to make a subclass of this driver.
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucleosam | 1:5cc2691ccfff | 1 | /** |
| nucleosam | 1:5cc2691ccfff | 2 | ****************************************************************************** |
| nucleosam | 1:5cc2691ccfff | 3 | * @file l6208_class.h |
| nucleosam | 1:5cc2691ccfff | 4 | * @author IPC Rennes |
| nucleosam | 1:5cc2691ccfff | 5 | * @version V1.0.0 |
| nucleosam | 1:5cc2691ccfff | 6 | * @date March 18th, 2016 |
| nucleosam | 1:5cc2691ccfff | 7 | * @brief This file contains the class of a L6208 Motor Control component. |
| nucleosam | 1:5cc2691ccfff | 8 | * @note (C) COPYRIGHT 2016 STMicroelectronics |
| nucleosam | 1:5cc2691ccfff | 9 | ****************************************************************************** |
| nucleosam | 1:5cc2691ccfff | 10 | * @attention |
| nucleosam | 1:5cc2691ccfff | 11 | * |
| nucleosam | 1:5cc2691ccfff | 12 | * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2> |
| nucleosam | 1:5cc2691ccfff | 13 | * |
| nucleosam | 1:5cc2691ccfff | 14 | * Redistribution and use in source and binary forms, with or without modification, |
| nucleosam | 1:5cc2691ccfff | 15 | * are permitted provided that the following conditions are met: |
| nucleosam | 1:5cc2691ccfff | 16 | * 1. Redistributions of source code must retain the above copyright notice, |
| nucleosam | 1:5cc2691ccfff | 17 | * this list of conditions and the following disclaimer. |
| nucleosam | 1:5cc2691ccfff | 18 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
| nucleosam | 1:5cc2691ccfff | 19 | * this list of conditions and the following disclaimer in the documentation |
| nucleosam | 1:5cc2691ccfff | 20 | * and/or other materials provided with the distribution. |
| nucleosam | 1:5cc2691ccfff | 21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
| nucleosam | 1:5cc2691ccfff | 22 | * may be used to endorse or promote products derived from this software |
| nucleosam | 1:5cc2691ccfff | 23 | * without specific prior written permission. |
| nucleosam | 1:5cc2691ccfff | 24 | * |
| nucleosam | 1:5cc2691ccfff | 25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| nucleosam | 1:5cc2691ccfff | 26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| nucleosam | 1:5cc2691ccfff | 27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
| nucleosam | 1:5cc2691ccfff | 28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
| nucleosam | 1:5cc2691ccfff | 29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| nucleosam | 1:5cc2691ccfff | 30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
| nucleosam | 1:5cc2691ccfff | 31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| nucleosam | 1:5cc2691ccfff | 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
| nucleosam | 1:5cc2691ccfff | 33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
| nucleosam | 1:5cc2691ccfff | 34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
| nucleosam | 1:5cc2691ccfff | 35 | * |
| nucleosam | 1:5cc2691ccfff | 36 | ****************************************************************************** |
| nucleosam | 1:5cc2691ccfff | 37 | */ |
| nucleosam | 1:5cc2691ccfff | 38 | |
| nucleosam | 1:5cc2691ccfff | 39 | |
| nucleosam | 1:5cc2691ccfff | 40 | /* Define to prevent recursive inclusion -------------------------------------*/ |
| nucleosam | 1:5cc2691ccfff | 41 | |
| nucleosam | 1:5cc2691ccfff | 42 | #ifndef __L6208_CLASS_H |
| nucleosam | 1:5cc2691ccfff | 43 | #define __L6208_CLASS_H |
| nucleosam | 1:5cc2691ccfff | 44 | |
| nucleosam | 1:5cc2691ccfff | 45 | |
| nucleosam | 1:5cc2691ccfff | 46 | /* Includes ------------------------------------------------------------------*/ |
| nucleosam | 1:5cc2691ccfff | 47 | |
| nucleosam | 1:5cc2691ccfff | 48 | /* ACTION 1 ------------------------------------------------------------------* |
| nucleosam | 1:5cc2691ccfff | 49 | * Include here platform specific header files. * |
| nucleosam | 1:5cc2691ccfff | 50 | *----------------------------------------------------------------------------*/ |
| nucleosam | 1:5cc2691ccfff | 51 | #include "mbed.h" |
| nucleosam | 1:5cc2691ccfff | 52 | |
| nucleosam | 1:5cc2691ccfff | 53 | /* ACTION 2 ------------------------------------------------------------------* |
| nucleosam | 1:5cc2691ccfff | 54 | * Include here component specific header files. * |
| nucleosam | 1:5cc2691ccfff | 55 | *----------------------------------------------------------------------------*/ |
| nucleosam | 1:5cc2691ccfff | 56 | #include "l6208.h" |
| nucleosam | 1:5cc2691ccfff | 57 | /* ACTION 3 ------------------------------------------------------------------* |
| nucleosam | 1:5cc2691ccfff | 58 | * Include here interface specific header files. * |
| nucleosam | 1:5cc2691ccfff | 59 | * * |
| nucleosam | 1:5cc2691ccfff | 60 | * Example: * |
| nucleosam | 1:5cc2691ccfff | 61 | * #include "../Interfaces/Humidity_class.h" * |
| nucleosam | 1:5cc2691ccfff | 62 | * #include "../Interfaces/Temperature_class.h" * |
| nucleosam | 1:5cc2691ccfff | 63 | *----------------------------------------------------------------------------*/ |
| nucleosam | 1:5cc2691ccfff | 64 | #include "../Interfaces/StepperMotor_class.h" |
| nucleosam | 1:5cc2691ccfff | 65 | |
| nucleosam | 1:5cc2691ccfff | 66 | |
| nucleosam | 1:5cc2691ccfff | 67 | /* Classes -------------------------------------------------------------------*/ |
| nucleosam | 1:5cc2691ccfff | 68 | |
| nucleosam | 1:5cc2691ccfff | 69 | /** |
| nucleosam | 1:5cc2691ccfff | 70 | * @brief Class representing a L6208 component. |
| nucleosam | 1:5cc2691ccfff | 71 | */ |
| nucleosam | 1:5cc2691ccfff | 72 | class L6208 : public StepperMotor |
| nucleosam | 1:5cc2691ccfff | 73 | { |
| nucleosam | 1:5cc2691ccfff | 74 | public: |
| nucleosam | 1:5cc2691ccfff | 75 | /*** Constructor and Destructor Methods ***/ |
| nucleosam | 1:5cc2691ccfff | 76 | |
| nucleosam | 1:5cc2691ccfff | 77 | /** |
| nucleosam | 1:5cc2691ccfff | 78 | * @brief Constructor. |
| nucleosam | 1:5cc2691ccfff | 79 | * @param flag_and_enable_pin pin name of the EN pin of the component. |
| nucleosam | 1:5cc2691ccfff | 80 | * @param reset_pin pin name of the RESET pin of the component. |
| nucleosam | 1:5cc2691ccfff | 81 | * @param direction_pin pin name of the CW_CCW pin of the component. |
| nucleosam | 1:5cc2691ccfff | 82 | * @param half_full_pin pin name of the HALF_FULL pin of the component. |
| nucleosam | 1:5cc2691ccfff | 83 | * @param control_pin pin name of the CONTROL pin of the component. |
| nucleosam | 1:5cc2691ccfff | 84 | * @param clock_pin pin name of the CLOCK pin of the component. |
| nucleosam | 1:5cc2691ccfff | 85 | * @param vrefA_pwm_pin pin name of the PWM connected to the VREFA pin of the component. |
| nucleosam | 1:5cc2691ccfff | 86 | * @param vrefB_pwm_pin pin name of the PWM connected to the VREFB pin of the component. |
| nucleosam | 1:5cc2691ccfff | 87 | */ |
| nucleosam | 1:5cc2691ccfff | 88 | L6208(PinName flag_and_enable_pin, PinName reset_pin, PinName direction_pin, PinName half_full_pin, PinName control_pin, PinName clock_pin, PinName vrefA_pwm_pin, PinName vrefB_pwm_pin) : StepperMotor(), |
| nucleosam | 1:5cc2691ccfff | 89 | flag_and_enable(flag_and_enable_pin), |
| nucleosam | 1:5cc2691ccfff | 90 | reset(reset_pin), |
| nucleosam | 1:5cc2691ccfff | 91 | direction(direction_pin), |
| nucleosam | 1:5cc2691ccfff | 92 | half_full(half_full_pin), |
| nucleosam | 1:5cc2691ccfff | 93 | control(control_pin), |
| nucleosam | 1:5cc2691ccfff | 94 | clock(clock_pin), |
| nucleosam | 1:5cc2691ccfff | 95 | vrefA_pwm(vrefA_pwm_pin), |
| nucleosam | 1:5cc2691ccfff | 96 | vrefB_pwm(vrefB_pwm_pin) |
| nucleosam | 1:5cc2691ccfff | 97 | { |
| nucleosam | 1:5cc2691ccfff | 98 | /* Checking stackability. */ |
| nucleosam | 2:2af31245e67e | 99 | if (numberOfDevices!=0) |
| nucleosam | 2:2af31245e67e | 100 | error("Instantiation of the L6208 component failed: it can't be stacked on itself.\r\n"); |
| nucleosam | 1:5cc2691ccfff | 101 | |
| nucleosam | 1:5cc2691ccfff | 102 | /* ACTION 4 ----------------------------------------------------------* |
| nucleosam | 1:5cc2691ccfff | 103 | * Initialize here the component's member variables, one variable per * |
| nucleosam | 1:5cc2691ccfff | 104 | * line. * |
| nucleosam | 1:5cc2691ccfff | 105 | * * |
| nucleosam | 1:5cc2691ccfff | 106 | * Example: * |
| nucleosam | 1:5cc2691ccfff | 107 | * measure = 0; * |
| nucleosam | 1:5cc2691ccfff | 108 | * instance_id = number_of_instances++; * |
| nucleosam | 1:5cc2691ccfff | 109 | *--------------------------------------------------------------------*/ |
| nucleosam | 1:5cc2691ccfff | 110 | errorHandlerCallback = 0; |
| nucleosam | 1:5cc2691ccfff | 111 | deviceInstance = numberOfDevices++; |
| nucleosam | 1:5cc2691ccfff | 112 | /* default tick frequency */ |
| nucleosam | 1:5cc2691ccfff | 113 | tickFreq = TIMER_TICK_FREQUENCY; |
| nucleosam | 1:5cc2691ccfff | 114 | /* waveform microstepping PWM period sample array, 90 deg shifted */ |
| nucleosam | 1:5cc2691ccfff | 115 | pMicroTable2 = &(microTable1[16]); |
| nucleosam | 1:5cc2691ccfff | 116 | } |
| nucleosam | 1:5cc2691ccfff | 117 | |
| nucleosam | 1:5cc2691ccfff | 118 | /** |
| nucleosam | 1:5cc2691ccfff | 119 | * @brief Destructor. |
| nucleosam | 1:5cc2691ccfff | 120 | */ |
| nucleosam | 1:5cc2691ccfff | 121 | virtual ~L6208(void) {} |
| nucleosam | 1:5cc2691ccfff | 122 | |
| nucleosam | 1:5cc2691ccfff | 123 | |
| nucleosam | 1:5cc2691ccfff | 124 | /*** Public Component Related Methods ***/ |
| nucleosam | 1:5cc2691ccfff | 125 | |
| nucleosam | 1:5cc2691ccfff | 126 | /* ACTION 5 --------------------------------------------------------------* |
| nucleosam | 1:5cc2691ccfff | 127 | * Implement here the component's public methods, as wrappers of the C * |
| nucleosam | 1:5cc2691ccfff | 128 | * component's functions. * |
| nucleosam | 1:5cc2691ccfff | 129 | * They should be: * |
| nucleosam | 1:5cc2691ccfff | 130 | * + Methods with the same name of the C component's virtual table's * |
| nucleosam | 1:5cc2691ccfff | 131 | * functions (1); * |
| nucleosam | 1:5cc2691ccfff | 132 | * + Methods with the same name of the C component's extended virtual * |
| nucleosam | 1:5cc2691ccfff | 133 | * table's functions, if any (2). * |
| nucleosam | 1:5cc2691ccfff | 134 | * * |
| nucleosam | 1:5cc2691ccfff | 135 | * Example: * |
| nucleosam | 1:5cc2691ccfff | 136 | * virtual int GetValue(float *pData) //(1) * |
| nucleosam | 1:5cc2691ccfff | 137 | * { * |
| nucleosam | 1:5cc2691ccfff | 138 | * return COMPONENT_GetValue(float *pfData); * |
| nucleosam | 1:5cc2691ccfff | 139 | * } * |
| nucleosam | 1:5cc2691ccfff | 140 | * * |
| nucleosam | 1:5cc2691ccfff | 141 | * virtual int EnableFeature(void) //(2) * |
| nucleosam | 1:5cc2691ccfff | 142 | * { * |
| nucleosam | 1:5cc2691ccfff | 143 | * return COMPONENT_EnableFeature(); * |
| nucleosam | 1:5cc2691ccfff | 144 | * } * |
| nucleosam | 1:5cc2691ccfff | 145 | *------------------------------------------------------------------------*/ |
| nucleosam | 1:5cc2691ccfff | 146 | |
| nucleosam | 1:5cc2691ccfff | 147 | /** |
| nucleosam | 1:5cc2691ccfff | 148 | * @brief Public functions inherited from the Component Class |
| nucleosam | 1:5cc2691ccfff | 149 | */ |
| nucleosam | 1:5cc2691ccfff | 150 | |
| nucleosam | 1:5cc2691ccfff | 151 | /** |
| nucleosam | 1:5cc2691ccfff | 152 | * @brief Initialize the component. |
| nucleosam | 1:5cc2691ccfff | 153 | * @param init Pointer to device specific initalization structure. |
| nucleosam | 1:5cc2691ccfff | 154 | * @retval "0" in case of success, an error code otherwise. |
| nucleosam | 1:5cc2691ccfff | 155 | */ |
| nucleosam | 1:5cc2691ccfff | 156 | virtual int Init(void *init = NULL) |
| nucleosam | 1:5cc2691ccfff | 157 | { |
| nucleosam | 1:5cc2691ccfff | 158 | return (int) L6208_Init((void *) init); |
| nucleosam | 1:5cc2691ccfff | 159 | } |
| nucleosam | 1:5cc2691ccfff | 160 | |
| nucleosam | 1:5cc2691ccfff | 161 | /** |
| nucleosam | 1:5cc2691ccfff | 162 | * @brief Getting the ID of the component. |
| nucleosam | 1:5cc2691ccfff | 163 | * @param id Pointer to an allocated variable to store the ID into. |
| nucleosam | 1:5cc2691ccfff | 164 | * @retval "0" in case of success, an error code otherwise. |
| nucleosam | 1:5cc2691ccfff | 165 | */ |
| nucleosam | 1:5cc2691ccfff | 166 | virtual int ReadID(uint8_t *id = NULL) |
| nucleosam | 1:5cc2691ccfff | 167 | { |
| nucleosam | 1:5cc2691ccfff | 168 | return (int) L6208_ReadID((uint8_t *) id); |
| nucleosam | 1:5cc2691ccfff | 169 | } |
| nucleosam | 1:5cc2691ccfff | 170 | |
| nucleosam | 1:5cc2691ccfff | 171 | /** |
| nucleosam | 1:5cc2691ccfff | 172 | * @brief Public functions inherited from the StepperMotor Class |
| nucleosam | 1:5cc2691ccfff | 173 | */ |
| nucleosam | 1:5cc2691ccfff | 174 | |
| nucleosam | 1:5cc2691ccfff | 175 | /** |
| nucleosam | 1:5cc2691ccfff | 176 | * @brief Getting the value of the motor state . |
| nucleosam | 1:5cc2691ccfff | 177 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 178 | * @retval The motor state accoring to motorState_t in motor.h |
| nucleosam | 1:5cc2691ccfff | 179 | */ |
| nucleosam | 1:5cc2691ccfff | 180 | virtual unsigned int GetStatus(void) |
| nucleosam | 1:5cc2691ccfff | 181 | { |
| nucleosam | 1:5cc2691ccfff | 182 | return (unsigned int) L6208_GetMotionState(); |
| nucleosam | 1:5cc2691ccfff | 183 | } |
| nucleosam | 1:5cc2691ccfff | 184 | |
| nucleosam | 1:5cc2691ccfff | 185 | /** |
| nucleosam | 1:5cc2691ccfff | 186 | * @brief Getting the position. |
| nucleosam | 1:5cc2691ccfff | 187 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 188 | * @retval The position. |
| nucleosam | 1:5cc2691ccfff | 189 | */ |
| nucleosam | 1:5cc2691ccfff | 190 | virtual signed int GetPosition(void) |
| nucleosam | 1:5cc2691ccfff | 191 | { |
| nucleosam | 1:5cc2691ccfff | 192 | return (signed int)L6208_GetPosition(); |
| nucleosam | 1:5cc2691ccfff | 193 | } |
| nucleosam | 1:5cc2691ccfff | 194 | |
| nucleosam | 1:5cc2691ccfff | 195 | /** |
| nucleosam | 1:5cc2691ccfff | 196 | * @brief Getting the marked position. |
| nucleosam | 1:5cc2691ccfff | 197 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 198 | * @retval The marked position. |
| nucleosam | 1:5cc2691ccfff | 199 | */ |
| nucleosam | 1:5cc2691ccfff | 200 | virtual signed int GetMark(void) |
| nucleosam | 1:5cc2691ccfff | 201 | { |
| nucleosam | 1:5cc2691ccfff | 202 | return (signed int)L6208_GetMark(); |
| nucleosam | 1:5cc2691ccfff | 203 | } |
| nucleosam | 1:5cc2691ccfff | 204 | |
| nucleosam | 1:5cc2691ccfff | 205 | /** |
| nucleosam | 1:5cc2691ccfff | 206 | * @brief Getting the current speed in pps. |
| nucleosam | 1:5cc2691ccfff | 207 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 208 | * @retval The current speed in pps. |
| nucleosam | 1:5cc2691ccfff | 209 | */ |
| nucleosam | 1:5cc2691ccfff | 210 | virtual unsigned int GetSpeed(void) |
| nucleosam | 1:5cc2691ccfff | 211 | { |
| nucleosam | 1:5cc2691ccfff | 212 | return (unsigned int)L6208_GetCurrentSpeed(); |
| nucleosam | 1:5cc2691ccfff | 213 | } |
| nucleosam | 1:5cc2691ccfff | 214 | |
| nucleosam | 1:5cc2691ccfff | 215 | /** |
| nucleosam | 1:5cc2691ccfff | 216 | * @brief Getting the maximum speed in pps. |
| nucleosam | 1:5cc2691ccfff | 217 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 218 | * @retval The maximum speed in pps. |
| nucleosam | 1:5cc2691ccfff | 219 | */ |
| nucleosam | 1:5cc2691ccfff | 220 | virtual unsigned int GetMaxSpeed(void) |
| nucleosam | 1:5cc2691ccfff | 221 | { |
| nucleosam | 1:5cc2691ccfff | 222 | return (unsigned int)L6208_GetMaxSpeed(); |
| nucleosam | 1:5cc2691ccfff | 223 | } |
| nucleosam | 1:5cc2691ccfff | 224 | |
| nucleosam | 1:5cc2691ccfff | 225 | /** |
| nucleosam | 1:5cc2691ccfff | 226 | * @brief Getting the minimum speed in pps. |
| nucleosam | 1:5cc2691ccfff | 227 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 228 | * @retval The minimum speed in pps. |
| nucleosam | 1:5cc2691ccfff | 229 | */ |
| nucleosam | 1:5cc2691ccfff | 230 | virtual unsigned int GetMinSpeed(void) |
| nucleosam | 1:5cc2691ccfff | 231 | { |
| nucleosam | 1:5cc2691ccfff | 232 | return (unsigned int)L6208_GetMinSpeed(); |
| nucleosam | 1:5cc2691ccfff | 233 | } |
| nucleosam | 1:5cc2691ccfff | 234 | |
| nucleosam | 1:5cc2691ccfff | 235 | /** |
| nucleosam | 1:5cc2691ccfff | 236 | * @brief Getting the acceleration in pps^2. |
| nucleosam | 1:5cc2691ccfff | 237 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 238 | * @retval The acceleration in pps^2. |
| nucleosam | 1:5cc2691ccfff | 239 | */ |
| nucleosam | 1:5cc2691ccfff | 240 | virtual unsigned int GetAcceleration(void) |
| nucleosam | 1:5cc2691ccfff | 241 | { |
| nucleosam | 1:5cc2691ccfff | 242 | return (unsigned int)L6208_GetAcceleration(); |
| nucleosam | 1:5cc2691ccfff | 243 | } |
| nucleosam | 1:5cc2691ccfff | 244 | |
| nucleosam | 1:5cc2691ccfff | 245 | /** |
| nucleosam | 1:5cc2691ccfff | 246 | * @brief Getting the deceleration in pps^2. |
| nucleosam | 1:5cc2691ccfff | 247 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 248 | * @retval The deceleration in pps^2. |
| nucleosam | 1:5cc2691ccfff | 249 | */ |
| nucleosam | 1:5cc2691ccfff | 250 | virtual unsigned int GetDeceleration(void) |
| nucleosam | 1:5cc2691ccfff | 251 | { |
| nucleosam | 1:5cc2691ccfff | 252 | return (unsigned int)L6208_GetDeceleration(); |
| nucleosam | 1:5cc2691ccfff | 253 | } |
| nucleosam | 1:5cc2691ccfff | 254 | |
| nucleosam | 1:5cc2691ccfff | 255 | /** |
| nucleosam | 1:5cc2691ccfff | 256 | * @brief Getting the direction of rotation. |
| nucleosam | 1:5cc2691ccfff | 257 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 258 | * @retval The direction of rotation. |
| nucleosam | 1:5cc2691ccfff | 259 | */ |
| nucleosam | 1:5cc2691ccfff | 260 | virtual direction_t GetDirection(void) |
| nucleosam | 1:5cc2691ccfff | 261 | { |
| nucleosam | 1:5cc2691ccfff | 262 | if (L6208_GetDirection()!=BACKWARD) |
| nucleosam | 1:5cc2691ccfff | 263 | { |
| nucleosam | 1:5cc2691ccfff | 264 | return FWD; |
| nucleosam | 1:5cc2691ccfff | 265 | } |
| nucleosam | 1:5cc2691ccfff | 266 | else |
| nucleosam | 1:5cc2691ccfff | 267 | { |
| nucleosam | 1:5cc2691ccfff | 268 | return BWD; |
| nucleosam | 1:5cc2691ccfff | 269 | } |
| nucleosam | 1:5cc2691ccfff | 270 | } |
| nucleosam | 1:5cc2691ccfff | 271 | |
| nucleosam | 1:5cc2691ccfff | 272 | /** |
| nucleosam | 1:5cc2691ccfff | 273 | * @brief Setting the current position to be the home position. |
| nucleosam | 1:5cc2691ccfff | 274 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 275 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 276 | */ |
| nucleosam | 1:5cc2691ccfff | 277 | virtual void SetHome(void) |
| nucleosam | 1:5cc2691ccfff | 278 | { |
| nucleosam | 1:5cc2691ccfff | 279 | L6208_SetHome(); |
| nucleosam | 1:5cc2691ccfff | 280 | } |
| nucleosam | 1:5cc2691ccfff | 281 | |
| nucleosam | 1:5cc2691ccfff | 282 | /** |
| nucleosam | 1:5cc2691ccfff | 283 | * @brief Setting the current position to be the marked position. |
| nucleosam | 1:5cc2691ccfff | 284 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 285 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 286 | */ |
| nucleosam | 1:5cc2691ccfff | 287 | virtual void SetMark(void) |
| nucleosam | 1:5cc2691ccfff | 288 | { |
| nucleosam | 1:5cc2691ccfff | 289 | L6208_SetMark(); |
| nucleosam | 1:5cc2691ccfff | 290 | } |
| nucleosam | 1:5cc2691ccfff | 291 | |
| nucleosam | 1:5cc2691ccfff | 292 | /** |
| nucleosam | 1:5cc2691ccfff | 293 | * @brief Setting the maximum speed in pps. |
| nucleosam | 1:5cc2691ccfff | 294 | * @param speed The maximum speed in pps. |
| nucleosam | 1:5cc2691ccfff | 295 | * @retval "true" in case of success, "false" otherwise. |
| nucleosam | 1:5cc2691ccfff | 296 | */ |
| nucleosam | 1:5cc2691ccfff | 297 | virtual bool SetMaxSpeed(unsigned int speed) |
| nucleosam | 1:5cc2691ccfff | 298 | { |
| nucleosam | 1:5cc2691ccfff | 299 | if (speed <= 0xFFFF) |
| nucleosam | 1:5cc2691ccfff | 300 | { |
| nucleosam | 1:5cc2691ccfff | 301 | return L6208_SetMaxSpeed((uint16_t) speed); |
| nucleosam | 1:5cc2691ccfff | 302 | } |
| nucleosam | 1:5cc2691ccfff | 303 | else |
| nucleosam | 1:5cc2691ccfff | 304 | { |
| nucleosam | 1:5cc2691ccfff | 305 | return false; |
| nucleosam | 1:5cc2691ccfff | 306 | } |
| nucleosam | 1:5cc2691ccfff | 307 | } |
| nucleosam | 1:5cc2691ccfff | 308 | |
| nucleosam | 1:5cc2691ccfff | 309 | /** |
| nucleosam | 1:5cc2691ccfff | 310 | * @brief Setting the minimum speed in pps. |
| nucleosam | 1:5cc2691ccfff | 311 | * @param speed The minimum speed in pps. |
| nucleosam | 1:5cc2691ccfff | 312 | * @retval "true" in case of success, "false" otherwise. |
| nucleosam | 1:5cc2691ccfff | 313 | */ |
| nucleosam | 1:5cc2691ccfff | 314 | virtual bool SetMinSpeed(unsigned int speed) |
| nucleosam | 1:5cc2691ccfff | 315 | { |
| nucleosam | 1:5cc2691ccfff | 316 | if (speed <= 0xFFFF) |
| nucleosam | 1:5cc2691ccfff | 317 | { |
| nucleosam | 1:5cc2691ccfff | 318 | return L6208_SetMinSpeed((uint16_t) speed); |
| nucleosam | 1:5cc2691ccfff | 319 | } |
| nucleosam | 1:5cc2691ccfff | 320 | else |
| nucleosam | 1:5cc2691ccfff | 321 | { |
| nucleosam | 1:5cc2691ccfff | 322 | return false; |
| nucleosam | 1:5cc2691ccfff | 323 | } |
| nucleosam | 1:5cc2691ccfff | 324 | } |
| nucleosam | 1:5cc2691ccfff | 325 | |
| nucleosam | 1:5cc2691ccfff | 326 | /** |
| nucleosam | 1:5cc2691ccfff | 327 | * @brief Setting the acceleration in pps^2. |
| nucleosam | 1:5cc2691ccfff | 328 | * @param acceleration The acceleration in pps/s^2. |
| nucleosam | 1:5cc2691ccfff | 329 | * @retval "true" in case of success, "false" otherwise. |
| nucleosam | 1:5cc2691ccfff | 330 | */ |
| nucleosam | 1:5cc2691ccfff | 331 | virtual bool SetAcceleration(unsigned int acceleration) |
| nucleosam | 1:5cc2691ccfff | 332 | { |
| nucleosam | 1:5cc2691ccfff | 333 | if (acceleration <= 0xFFFF) |
| nucleosam | 1:5cc2691ccfff | 334 | { |
| nucleosam | 1:5cc2691ccfff | 335 | return L6208_SetAcceleration((uint16_t) acceleration); |
| nucleosam | 1:5cc2691ccfff | 336 | } |
| nucleosam | 1:5cc2691ccfff | 337 | else |
| nucleosam | 1:5cc2691ccfff | 338 | { |
| nucleosam | 1:5cc2691ccfff | 339 | return false; |
| nucleosam | 1:5cc2691ccfff | 340 | } |
| nucleosam | 1:5cc2691ccfff | 341 | } |
| nucleosam | 1:5cc2691ccfff | 342 | |
| nucleosam | 1:5cc2691ccfff | 343 | /** |
| nucleosam | 1:5cc2691ccfff | 344 | * @brief Setting the deceleration in pps^2. |
| nucleosam | 1:5cc2691ccfff | 345 | * @param deceleration The deceleration in pps^2. |
| nucleosam | 1:5cc2691ccfff | 346 | * @retval "true" in case of success, "false" otherwise. |
| nucleosam | 1:5cc2691ccfff | 347 | */ |
| nucleosam | 1:5cc2691ccfff | 348 | virtual bool SetDeceleration(unsigned int deceleration) |
| nucleosam | 1:5cc2691ccfff | 349 | { |
| nucleosam | 1:5cc2691ccfff | 350 | if (deceleration <= 0xFFFF) |
| nucleosam | 1:5cc2691ccfff | 351 | { |
| nucleosam | 1:5cc2691ccfff | 352 | return L6208_SetDeceleration((uint16_t) deceleration); |
| nucleosam | 1:5cc2691ccfff | 353 | } |
| nucleosam | 1:5cc2691ccfff | 354 | else |
| nucleosam | 1:5cc2691ccfff | 355 | { |
| nucleosam | 1:5cc2691ccfff | 356 | return false; |
| nucleosam | 1:5cc2691ccfff | 357 | } |
| nucleosam | 1:5cc2691ccfff | 358 | } |
| nucleosam | 1:5cc2691ccfff | 359 | |
| nucleosam | 1:5cc2691ccfff | 360 | /** |
| nucleosam | 1:5cc2691ccfff | 361 | * @brief Setting the Step Mode. |
| nucleosam | 1:5cc2691ccfff | 362 | * @param step_mode The Step Mode. |
| nucleosam | 1:5cc2691ccfff | 363 | * @retval "true" in case of success, "false" otherwise. |
| nucleosam | 1:5cc2691ccfff | 364 | * @note step_mode can be one of the following: |
| nucleosam | 1:5cc2691ccfff | 365 | * + STEP_MODE_FULL |
| nucleosam | 1:5cc2691ccfff | 366 | * + STEP_MODE_WAVE |
| nucleosam | 1:5cc2691ccfff | 367 | * + STEP_MODE_HALF |
| nucleosam | 1:5cc2691ccfff | 368 | * + STEP_MODE_1_4 |
| nucleosam | 1:5cc2691ccfff | 369 | * + STEP_MODE_1_8 |
| nucleosam | 1:5cc2691ccfff | 370 | * + STEP_MODE_1_16 |
| nucleosam | 1:5cc2691ccfff | 371 | */ |
| nucleosam | 1:5cc2691ccfff | 372 | virtual bool SetStepMode(step_mode_t step_mode) |
| nucleosam | 1:5cc2691ccfff | 373 | { |
| nucleosam | 1:5cc2691ccfff | 374 | return L6208_SetStepMode((motorStepMode_t) step_mode); |
| nucleosam | 1:5cc2691ccfff | 375 | } |
| nucleosam | 1:5cc2691ccfff | 376 | |
| nucleosam | 1:5cc2691ccfff | 377 | /** |
| nucleosam | 1:5cc2691ccfff | 378 | * @brief Going to a specified position. |
| nucleosam | 1:5cc2691ccfff | 379 | * @param position The desired position. |
| nucleosam | 1:5cc2691ccfff | 380 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 381 | */ |
| nucleosam | 1:5cc2691ccfff | 382 | virtual void GoTo(signed int position) |
| nucleosam | 1:5cc2691ccfff | 383 | { |
| nucleosam | 1:5cc2691ccfff | 384 | L6208_GoTo((int32_t)position); |
| nucleosam | 1:5cc2691ccfff | 385 | } |
| nucleosam | 1:5cc2691ccfff | 386 | |
| nucleosam | 1:5cc2691ccfff | 387 | /** |
| nucleosam | 1:5cc2691ccfff | 388 | * @brief Going to the home position. |
| nucleosam | 1:5cc2691ccfff | 389 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 390 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 391 | */ |
| nucleosam | 1:5cc2691ccfff | 392 | virtual void GoHome(void) |
| nucleosam | 1:5cc2691ccfff | 393 | { |
| nucleosam | 1:5cc2691ccfff | 394 | L6208_GoHome(); |
| nucleosam | 1:5cc2691ccfff | 395 | } |
| nucleosam | 1:5cc2691ccfff | 396 | |
| nucleosam | 1:5cc2691ccfff | 397 | /** |
| nucleosam | 1:5cc2691ccfff | 398 | * @brief Going to the marked position. |
| nucleosam | 1:5cc2691ccfff | 399 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 400 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 401 | */ |
| nucleosam | 1:5cc2691ccfff | 402 | virtual void GoMark(void) |
| nucleosam | 1:5cc2691ccfff | 403 | { |
| nucleosam | 1:5cc2691ccfff | 404 | L6208_GoMark(); |
| nucleosam | 1:5cc2691ccfff | 405 | } |
| nucleosam | 1:5cc2691ccfff | 406 | |
| nucleosam | 1:5cc2691ccfff | 407 | /** |
| nucleosam | 1:5cc2691ccfff | 408 | * @brief Running the motor towards a specified direction. |
| nucleosam | 1:5cc2691ccfff | 409 | * @param direction The direction of rotation. |
| nucleosam | 1:5cc2691ccfff | 410 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 411 | */ |
| nucleosam | 1:5cc2691ccfff | 412 | virtual void Run(direction_t direction) |
| nucleosam | 1:5cc2691ccfff | 413 | { |
| nucleosam | 1:5cc2691ccfff | 414 | L6208_Run((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD)); |
| nucleosam | 1:5cc2691ccfff | 415 | } |
| nucleosam | 1:5cc2691ccfff | 416 | |
| nucleosam | 1:5cc2691ccfff | 417 | /** |
| nucleosam | 1:5cc2691ccfff | 418 | * @brief Moving the motor towards a specified direction for a certain number of steps. |
| nucleosam | 1:5cc2691ccfff | 419 | * @param direction The direction of rotation. |
| nucleosam | 1:5cc2691ccfff | 420 | * @param steps The desired number of steps. |
| nucleosam | 1:5cc2691ccfff | 421 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 422 | */ |
| nucleosam | 1:5cc2691ccfff | 423 | virtual void Move(direction_t direction, unsigned int steps) |
| nucleosam | 1:5cc2691ccfff | 424 | { |
| nucleosam | 1:5cc2691ccfff | 425 | L6208_Move((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), (uint32_t)steps); |
| nucleosam | 1:5cc2691ccfff | 426 | } |
| nucleosam | 1:5cc2691ccfff | 427 | |
| nucleosam | 1:5cc2691ccfff | 428 | /** |
| nucleosam | 1:5cc2691ccfff | 429 | * @brief Stopping the motor through an immediate deceleration up to zero speed. |
| nucleosam | 1:5cc2691ccfff | 430 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 431 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 432 | */ |
| nucleosam | 1:5cc2691ccfff | 433 | virtual void SoftStop(void) |
| nucleosam | 1:5cc2691ccfff | 434 | { |
| nucleosam | 1:5cc2691ccfff | 435 | L6208_SoftStop(); |
| nucleosam | 1:5cc2691ccfff | 436 | } |
| nucleosam | 1:5cc2691ccfff | 437 | |
| nucleosam | 1:5cc2691ccfff | 438 | /** |
| nucleosam | 1:5cc2691ccfff | 439 | * @brief Stopping the motor through an immediate infinite deceleration. |
| nucleosam | 1:5cc2691ccfff | 440 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 441 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 442 | */ |
| nucleosam | 1:5cc2691ccfff | 443 | virtual void HardStop(void) |
| nucleosam | 1:5cc2691ccfff | 444 | { |
| nucleosam | 1:5cc2691ccfff | 445 | L6208_HardStop(); |
| nucleosam | 1:5cc2691ccfff | 446 | } |
| nucleosam | 1:5cc2691ccfff | 447 | |
| nucleosam | 1:5cc2691ccfff | 448 | /** |
| nucleosam | 1:5cc2691ccfff | 449 | * @brief Disabling the power bridge after performing a deceleration to zero. |
| nucleosam | 1:5cc2691ccfff | 450 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 451 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 452 | */ |
| nucleosam | 1:5cc2691ccfff | 453 | virtual void SoftHiZ(void) |
| nucleosam | 1:5cc2691ccfff | 454 | { |
| nucleosam | 1:5cc2691ccfff | 455 | motorStopMode_t stopMode = L6208_GetStopMode(); |
| nucleosam | 1:5cc2691ccfff | 456 | if (stopMode==HIZ_MODE) |
| nucleosam | 1:5cc2691ccfff | 457 | { |
| nucleosam | 1:5cc2691ccfff | 458 | L6208_SoftStop(); |
| nucleosam | 1:5cc2691ccfff | 459 | } |
| nucleosam | 1:5cc2691ccfff | 460 | else |
| nucleosam | 1:5cc2691ccfff | 461 | { |
| nucleosam | 1:5cc2691ccfff | 462 | L6208_SetStopMode(HIZ_MODE); |
| nucleosam | 1:5cc2691ccfff | 463 | L6208_SoftStop(); |
| nucleosam | 1:5cc2691ccfff | 464 | L6208_SetStopMode(stopMode); |
| nucleosam | 1:5cc2691ccfff | 465 | } |
| nucleosam | 1:5cc2691ccfff | 466 | } |
| nucleosam | 1:5cc2691ccfff | 467 | |
| nucleosam | 1:5cc2691ccfff | 468 | /** |
| nucleosam | 1:5cc2691ccfff | 469 | * @brief Disabling the power bridge immediately. |
| nucleosam | 1:5cc2691ccfff | 470 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 471 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 472 | */ |
| nucleosam | 1:5cc2691ccfff | 473 | virtual void HardHiZ(void) |
| nucleosam | 1:5cc2691ccfff | 474 | { |
| nucleosam | 1:5cc2691ccfff | 475 | L6208_HardHiZ(); |
| nucleosam | 1:5cc2691ccfff | 476 | } |
| nucleosam | 1:5cc2691ccfff | 477 | |
| nucleosam | 1:5cc2691ccfff | 478 | /** |
| nucleosam | 1:5cc2691ccfff | 479 | * @brief Waiting while the motor is active. |
| nucleosam | 1:5cc2691ccfff | 480 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 481 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 482 | */ |
| nucleosam | 1:5cc2691ccfff | 483 | virtual void WaitWhileActive(void) |
| nucleosam | 1:5cc2691ccfff | 484 | { |
| nucleosam | 1:5cc2691ccfff | 485 | L6208_WaitWhileActive(); |
| nucleosam | 1:5cc2691ccfff | 486 | } |
| nucleosam | 1:5cc2691ccfff | 487 | |
| nucleosam | 1:5cc2691ccfff | 488 | /** |
| nucleosam | 1:5cc2691ccfff | 489 | * @brief Public functions NOT inherited |
| nucleosam | 1:5cc2691ccfff | 490 | */ |
| nucleosam | 1:5cc2691ccfff | 491 | |
| nucleosam | 1:5cc2691ccfff | 492 | /** |
| nucleosam | 1:5cc2691ccfff | 493 | * @brief Attaching an error handler. |
| nucleosam | 1:5cc2691ccfff | 494 | * @param fptr An error handler. |
| nucleosam | 1:5cc2691ccfff | 495 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 496 | */ |
| nucleosam | 1:5cc2691ccfff | 497 | virtual void AttachErrorHandler(void (*fptr)(uint16_t error)) |
| nucleosam | 1:5cc2691ccfff | 498 | { |
| nucleosam | 1:5cc2691ccfff | 499 | L6208_AttachErrorHandler((void (*)(uint16_t error)) fptr); |
| nucleosam | 1:5cc2691ccfff | 500 | } |
| nucleosam | 1:5cc2691ccfff | 501 | |
| nucleosam | 1:5cc2691ccfff | 502 | /** |
| nucleosam | 1:5cc2691ccfff | 503 | * @brief Checks if the device is disabled or/and has an alarm flag set |
| nucleosam | 1:5cc2691ccfff | 504 | * by reading the EN pin position. |
| nucleosam | 1:5cc2691ccfff | 505 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 506 | * @retval One if the EN pin is low (the device is disabled or/and |
| nucleosam | 1:5cc2691ccfff | 507 | * has an alarm flag set), otherwise zero. |
| nucleosam | 1:5cc2691ccfff | 508 | */ |
| nucleosam | 1:5cc2691ccfff | 509 | virtual unsigned int CheckStatusHw(void) |
| nucleosam | 1:5cc2691ccfff | 510 | { |
| nucleosam | 1:5cc2691ccfff | 511 | if (!flag_and_enable.read()) return 0x01; |
| nucleosam | 1:5cc2691ccfff | 512 | else return 0x00; |
| nucleosam | 1:5cc2691ccfff | 513 | } |
| nucleosam | 1:5cc2691ccfff | 514 | |
| nucleosam | 1:5cc2691ccfff | 515 | /** |
| nucleosam | 1:5cc2691ccfff | 516 | * @brief Disabling the device. |
| nucleosam | 1:5cc2691ccfff | 517 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 518 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 519 | */ |
| nucleosam | 1:5cc2691ccfff | 520 | virtual void Disable(void) |
| nucleosam | 1:5cc2691ccfff | 521 | { |
| nucleosam | 1:5cc2691ccfff | 522 | L6208_Disable(); |
| nucleosam | 1:5cc2691ccfff | 523 | } |
| nucleosam | 1:5cc2691ccfff | 524 | |
| nucleosam | 1:5cc2691ccfff | 525 | /** |
| nucleosam | 1:5cc2691ccfff | 526 | * @brief Enabling the device. |
| nucleosam | 1:5cc2691ccfff | 527 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 528 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 529 | */ |
| nucleosam | 1:5cc2691ccfff | 530 | virtual void Enable(void) |
| nucleosam | 1:5cc2691ccfff | 531 | { |
| nucleosam | 1:5cc2691ccfff | 532 | L6208_Enable(); |
| nucleosam | 1:5cc2691ccfff | 533 | } |
| nucleosam | 1:5cc2691ccfff | 534 | |
| nucleosam | 1:5cc2691ccfff | 535 | /** |
| nucleosam | 1:5cc2691ccfff | 536 | * @brief Getting the motor decay mode. |
| nucleosam | 1:5cc2691ccfff | 537 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 538 | * @retval The motor decay mode. |
| nucleosam | 1:5cc2691ccfff | 539 | */ |
| nucleosam | 1:5cc2691ccfff | 540 | virtual motorDecayMode_t GetDecayMode() |
| nucleosam | 1:5cc2691ccfff | 541 | { |
| nucleosam | 1:5cc2691ccfff | 542 | return L6208_GetDecayMode(); |
| nucleosam | 1:5cc2691ccfff | 543 | } |
| nucleosam | 1:5cc2691ccfff | 544 | |
| nucleosam | 1:5cc2691ccfff | 545 | /** |
| nucleosam | 1:5cc2691ccfff | 546 | * @brief Set the frequency of the VREFA and VREFB PWM |
| nucleosam | 1:5cc2691ccfff | 547 | * @param frequency in Hz |
| nucleosam | 1:5cc2691ccfff | 548 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 549 | */ |
| nucleosam | 1:5cc2691ccfff | 550 | virtual uint32_t GetFreqVrefPwm(void) |
| nucleosam | 1:5cc2691ccfff | 551 | { |
| nucleosam | 1:5cc2691ccfff | 552 | return L6208_VrefPwmGetFreq(); |
| nucleosam | 1:5cc2691ccfff | 553 | } |
| nucleosam | 1:5cc2691ccfff | 554 | |
| nucleosam | 1:5cc2691ccfff | 555 | /** |
| nucleosam | 1:5cc2691ccfff | 556 | * @brief Getting the version of the firmware. |
| nucleosam | 1:5cc2691ccfff | 557 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 558 | * @retval The version of the firmware. |
| nucleosam | 1:5cc2691ccfff | 559 | */ |
| nucleosam | 1:5cc2691ccfff | 560 | virtual unsigned int GetFwVersion(void) |
| nucleosam | 1:5cc2691ccfff | 561 | { |
| nucleosam | 1:5cc2691ccfff | 562 | return (unsigned int) L6208_GetFwVersion(); |
| nucleosam | 1:5cc2691ccfff | 563 | } |
| nucleosam | 1:5cc2691ccfff | 564 | |
| nucleosam | 1:5cc2691ccfff | 565 | /** |
| nucleosam | 1:5cc2691ccfff | 566 | * @brief Getting the motor step mode. |
| nucleosam | 1:5cc2691ccfff | 567 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 568 | * @retval The motor step mode. |
| nucleosam | 1:5cc2691ccfff | 569 | */ |
| nucleosam | 1:5cc2691ccfff | 570 | virtual step_mode_t GetStepMode(void) |
| nucleosam | 1:5cc2691ccfff | 571 | { |
| nucleosam | 1:5cc2691ccfff | 572 | return (step_mode_t) L6208_GetStepMode(); |
| nucleosam | 1:5cc2691ccfff | 573 | } |
| nucleosam | 1:5cc2691ccfff | 574 | |
| nucleosam | 1:5cc2691ccfff | 575 | /** |
| nucleosam | 1:5cc2691ccfff | 576 | * @brief Getting the motor stop mode. |
| nucleosam | 1:5cc2691ccfff | 577 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 578 | * @retval The motor stop mode. |
| nucleosam | 1:5cc2691ccfff | 579 | */ |
| nucleosam | 1:5cc2691ccfff | 580 | virtual motorStopMode_t GetStopMode(void) |
| nucleosam | 1:5cc2691ccfff | 581 | { |
| nucleosam | 1:5cc2691ccfff | 582 | return L6208_GetStopMode(); |
| nucleosam | 1:5cc2691ccfff | 583 | } |
| nucleosam | 1:5cc2691ccfff | 584 | |
| nucleosam | 1:5cc2691ccfff | 585 | /** |
| nucleosam | 1:5cc2691ccfff | 586 | * @brief Going to a specified position with a specificied direction. |
| nucleosam | 1:5cc2691ccfff | 587 | * @param direction The desired direction. |
| nucleosam | 1:5cc2691ccfff | 588 | * @param position The desired position. |
| nucleosam | 1:5cc2691ccfff | 589 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 590 | */ |
| nucleosam | 1:5cc2691ccfff | 591 | virtual void GoTo(direction_t direction, signed int position) |
| nucleosam | 1:5cc2691ccfff | 592 | { |
| nucleosam | 1:5cc2691ccfff | 593 | L6208_GoToDir((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD),(int32_t)position); |
| nucleosam | 1:5cc2691ccfff | 594 | } |
| nucleosam | 1:5cc2691ccfff | 595 | |
| nucleosam | 1:5cc2691ccfff | 596 | /** |
| nucleosam | 1:5cc2691ccfff | 597 | * @brief Release the L6208 reset (Reset pin set to high level). |
| nucleosam | 1:5cc2691ccfff | 598 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 599 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 600 | */ |
| nucleosam | 1:5cc2691ccfff | 601 | virtual void ReleaseReset(void) |
| nucleosam | 1:5cc2691ccfff | 602 | { |
| nucleosam | 1:5cc2691ccfff | 603 | L6208_ReleaseReset(); |
| nucleosam | 1:5cc2691ccfff | 604 | } |
| nucleosam | 1:5cc2691ccfff | 605 | |
| nucleosam | 1:5cc2691ccfff | 606 | /** |
| nucleosam | 1:5cc2691ccfff | 607 | * @brief Reset the device with current step mode, resets current speed, |
| nucleosam | 1:5cc2691ccfff | 608 | * positions and microstep variables. |
| nucleosam | 1:5cc2691ccfff | 609 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 610 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 611 | */ |
| nucleosam | 1:5cc2691ccfff | 612 | virtual void Reset(void) |
| nucleosam | 1:5cc2691ccfff | 613 | { |
| nucleosam | 1:5cc2691ccfff | 614 | L6208_Reset(); |
| nucleosam | 1:5cc2691ccfff | 615 | } |
| nucleosam | 1:5cc2691ccfff | 616 | |
| nucleosam | 1:5cc2691ccfff | 617 | /** |
| nucleosam | 1:5cc2691ccfff | 618 | * @brief Reset the L6208 (Reset pin set to low level). |
| nucleosam | 1:5cc2691ccfff | 619 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 620 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 621 | */ |
| nucleosam | 1:5cc2691ccfff | 622 | virtual void ResetDevice(void) |
| nucleosam | 1:5cc2691ccfff | 623 | { |
| nucleosam | 1:5cc2691ccfff | 624 | L6208_ResetDevice(); |
| nucleosam | 1:5cc2691ccfff | 625 | } |
| nucleosam | 1:5cc2691ccfff | 626 | |
| nucleosam | 1:5cc2691ccfff | 627 | /** |
| nucleosam | 1:5cc2691ccfff | 628 | * @brief Set the motor decay mode. |
| nucleosam | 1:5cc2691ccfff | 629 | * @param decayMode The desired decay mode (SLOW_DECAY or FAST_DECAY). |
| nucleosam | 1:5cc2691ccfff | 630 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 631 | */ |
| nucleosam | 1:5cc2691ccfff | 632 | virtual void SetDecayMode(motorDecayMode_t decayMode) |
| nucleosam | 1:5cc2691ccfff | 633 | { |
| nucleosam | 1:5cc2691ccfff | 634 | L6208_SetDecayMode(decayMode); |
| nucleosam | 1:5cc2691ccfff | 635 | } |
| nucleosam | 1:5cc2691ccfff | 636 | |
| nucleosam | 1:5cc2691ccfff | 637 | /** |
| nucleosam | 1:5cc2691ccfff | 638 | * @brief Set the motor direction. |
| nucleosam | 1:5cc2691ccfff | 639 | * @param direction The desired direction. |
| nucleosam | 1:5cc2691ccfff | 640 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 641 | */ |
| nucleosam | 1:5cc2691ccfff | 642 | virtual void SetDirection(direction_t direction) |
| nucleosam | 1:5cc2691ccfff | 643 | { |
| nucleosam | 1:5cc2691ccfff | 644 | L6208_SetDirection((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD)); |
| nucleosam | 1:5cc2691ccfff | 645 | } |
| nucleosam | 1:5cc2691ccfff | 646 | |
| nucleosam | 1:5cc2691ccfff | 647 | /** |
| nucleosam | 1:5cc2691ccfff | 648 | * @brief Set the frequency of the VREFA and VREFB PWM |
| nucleosam | 1:5cc2691ccfff | 649 | * @param frequency in Hz |
| nucleosam | 1:5cc2691ccfff | 650 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 651 | */ |
| nucleosam | 1:5cc2691ccfff | 652 | virtual void SetFreqVrefPwm(uint32_t frequency) |
| nucleosam | 1:5cc2691ccfff | 653 | { |
| nucleosam | 1:5cc2691ccfff | 654 | L6208_VrefPwmSetFreq(frequency); |
| nucleosam | 1:5cc2691ccfff | 655 | } |
| nucleosam | 1:5cc2691ccfff | 656 | |
| nucleosam | 1:5cc2691ccfff | 657 | /** |
| nucleosam | 1:5cc2691ccfff | 658 | * @brief Set the motor stop mode. |
| nucleosam | 1:5cc2691ccfff | 659 | * @param stopMode The desired stop mode (HOLD_MODE or HIZ_MODE). |
| nucleosam | 1:5cc2691ccfff | 660 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 661 | */ |
| nucleosam | 1:5cc2691ccfff | 662 | virtual void SetStopMode(motorStopMode_t stopMode) |
| nucleosam | 1:5cc2691ccfff | 663 | { |
| nucleosam | 1:5cc2691ccfff | 664 | L6208_SetStopMode(stopMode); |
| nucleosam | 1:5cc2691ccfff | 665 | } |
| nucleosam | 1:5cc2691ccfff | 666 | |
| nucleosam | 1:5cc2691ccfff | 667 | /*** Public Interrupt Related Methods ***/ |
| nucleosam | 1:5cc2691ccfff | 668 | |
| nucleosam | 1:5cc2691ccfff | 669 | /* ACTION 6 --------------------------------------------------------------* |
| nucleosam | 1:5cc2691ccfff | 670 | * Implement here interrupt related methods, if any. * |
| nucleosam | 1:5cc2691ccfff | 671 | * Note that interrupt handling is platform dependent, e.g.: * |
| nucleosam | 1:5cc2691ccfff | 672 | * + mbed: * |
| nucleosam | 1:5cc2691ccfff | 673 | * InterruptIn feature_irq(pin); //Interrupt object. * |
| nucleosam | 1:5cc2691ccfff | 674 | * feature_irq.rise(callback); //Attach a callback. * |
| nucleosam | 1:5cc2691ccfff | 675 | * feature_irq.mode(PullNone); //Set interrupt mode. * |
| nucleosam | 1:5cc2691ccfff | 676 | * feature_irq.enable_irq(); //Enable interrupt. * |
| nucleosam | 1:5cc2691ccfff | 677 | * feature_irq.disable_irq(); //Disable interrupt. * |
| nucleosam | 1:5cc2691ccfff | 678 | * + Arduino: * |
| nucleosam | 1:5cc2691ccfff | 679 | * attachInterrupt(pin, callback, RISING); //Attach a callback. * |
| nucleosam | 1:5cc2691ccfff | 680 | * detachInterrupt(pin); //Detach a callback. * |
| nucleosam | 1:5cc2691ccfff | 681 | * * |
| nucleosam | 1:5cc2691ccfff | 682 | * Example (mbed): * |
| nucleosam | 1:5cc2691ccfff | 683 | * void AttachFeatureIRQ(void (*fptr) (void)) * |
| nucleosam | 1:5cc2691ccfff | 684 | * { * |
| nucleosam | 1:5cc2691ccfff | 685 | * feature_irq.rise(fptr); * |
| nucleosam | 1:5cc2691ccfff | 686 | * } * |
| nucleosam | 1:5cc2691ccfff | 687 | * * |
| nucleosam | 1:5cc2691ccfff | 688 | * void EnableFeatureIRQ(void) * |
| nucleosam | 1:5cc2691ccfff | 689 | * { * |
| nucleosam | 1:5cc2691ccfff | 690 | * feature_irq.enable_irq(); * |
| nucleosam | 1:5cc2691ccfff | 691 | * } * |
| nucleosam | 1:5cc2691ccfff | 692 | * * |
| nucleosam | 1:5cc2691ccfff | 693 | * void DisableFeatureIRQ(void) * |
| nucleosam | 1:5cc2691ccfff | 694 | * { * |
| nucleosam | 1:5cc2691ccfff | 695 | * feature_irq.disable_irq(); * |
| nucleosam | 1:5cc2691ccfff | 696 | * } * |
| nucleosam | 1:5cc2691ccfff | 697 | *------------------------------------------------------------------------*/ |
| nucleosam | 1:5cc2691ccfff | 698 | /** |
| nucleosam | 1:5cc2691ccfff | 699 | * @brief Attaching an interrupt handler to the FLAG interrupt. |
| nucleosam | 1:5cc2691ccfff | 700 | * @param fptr An interrupt handler. |
| nucleosam | 1:5cc2691ccfff | 701 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 702 | */ |
| nucleosam | 1:5cc2691ccfff | 703 | |
| nucleosam | 1:5cc2691ccfff | 704 | void AttachFlagIRQ(void (*fptr)(void)) |
| nucleosam | 1:5cc2691ccfff | 705 | { |
| nucleosam | 1:5cc2691ccfff | 706 | flag_and_enable.mode(PullDown); |
| nucleosam | 1:5cc2691ccfff | 707 | flag_and_enable.fall(fptr); |
| nucleosam | 1:5cc2691ccfff | 708 | } |
| nucleosam | 1:5cc2691ccfff | 709 | |
| nucleosam | 1:5cc2691ccfff | 710 | /** |
| nucleosam | 1:5cc2691ccfff | 711 | * @brief Enabling the FLAG interrupt handling. |
| nucleosam | 1:5cc2691ccfff | 712 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 713 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 714 | */ |
| nucleosam | 1:5cc2691ccfff | 715 | void EnableFlagIRQ(void) |
| nucleosam | 1:5cc2691ccfff | 716 | { |
| nucleosam | 1:5cc2691ccfff | 717 | flag_and_enable.enable_irq(); |
| nucleosam | 1:5cc2691ccfff | 718 | } |
| nucleosam | 1:5cc2691ccfff | 719 | |
| nucleosam | 1:5cc2691ccfff | 720 | protected: |
| nucleosam | 1:5cc2691ccfff | 721 | |
| nucleosam | 1:5cc2691ccfff | 722 | /*** Protected Component Related Methods ***/ |
| nucleosam | 1:5cc2691ccfff | 723 | |
| nucleosam | 1:5cc2691ccfff | 724 | /* ACTION 7 --------------------------------------------------------------* |
| nucleosam | 1:5cc2691ccfff | 725 | * Declare here the component's specific methods. * |
| nucleosam | 1:5cc2691ccfff | 726 | * They should be: * |
| nucleosam | 1:5cc2691ccfff | 727 | * + Methods with the same name of the C component's virtual table's * |
| nucleosam | 1:5cc2691ccfff | 728 | * functions (1); * |
| nucleosam | 1:5cc2691ccfff | 729 | * + Methods with the same name of the C component's extended virtual * |
| nucleosam | 1:5cc2691ccfff | 730 | * table's functions, if any (2); * |
| nucleosam | 1:5cc2691ccfff | 731 | * + Helper methods, if any, like functions declared in the component's * |
| nucleosam | 1:5cc2691ccfff | 732 | * source files but not pointed by the component's virtual table (3). * |
| nucleosam | 1:5cc2691ccfff | 733 | * * |
| nucleosam | 1:5cc2691ccfff | 734 | * Example: * |
| nucleosam | 1:5cc2691ccfff | 735 | * Status_t COMPONENT_GetValue(float *f); //(1) * |
| nucleosam | 1:5cc2691ccfff | 736 | * Status_t COMPONENT_EnableFeature(void); //(2) * |
| nucleosam | 1:5cc2691ccfff | 737 | * Status_t COMPONENT_ComputeAverage(void); //(3) * |
| nucleosam | 1:5cc2691ccfff | 738 | *------------------------------------------------------------------------*/ |
| nucleosam | 1:5cc2691ccfff | 739 | Status_t L6208_Init(void *init); |
| nucleosam | 1:5cc2691ccfff | 740 | Status_t L6208_ReadID(uint8_t *id); |
| nucleosam | 1:5cc2691ccfff | 741 | void L6208_AttachErrorHandler(void (*callback)(uint16_t error)); |
| nucleosam | 1:5cc2691ccfff | 742 | void L6208_Disable(void); |
| nucleosam | 1:5cc2691ccfff | 743 | void L6208_ErrorHandler(uint16_t error); |
| nucleosam | 1:5cc2691ccfff | 744 | void L6208_Enable(void); |
| nucleosam | 1:5cc2691ccfff | 745 | uint16_t L6208_GetAcceleration(void); |
| nucleosam | 1:5cc2691ccfff | 746 | uint16_t L6208_GetCurrentSpeed(void); |
| nucleosam | 1:5cc2691ccfff | 747 | uint16_t L6208_GetDeceleration(void); |
| nucleosam | 1:5cc2691ccfff | 748 | motorDecayMode_t L6208_GetDecayMode(void); |
| nucleosam | 1:5cc2691ccfff | 749 | motorDir_t L6208_GetDirection(void); |
| nucleosam | 1:5cc2691ccfff | 750 | uint32_t L6208_GetFwVersion(void); |
| nucleosam | 1:5cc2691ccfff | 751 | int32_t L6208_GetMark(void); |
| nucleosam | 1:5cc2691ccfff | 752 | uint16_t L6208_GetMaxSpeed(void); |
| nucleosam | 1:5cc2691ccfff | 753 | uint16_t L6208_GetMinSpeed(void); |
| nucleosam | 1:5cc2691ccfff | 754 | motorState_t L6208_GetMotionState(void); |
| nucleosam | 1:5cc2691ccfff | 755 | int32_t L6208_GetPosition(void); |
| nucleosam | 1:5cc2691ccfff | 756 | motorStepMode_t L6208_GetStepMode(void); |
| nucleosam | 1:5cc2691ccfff | 757 | motorStopMode_t L6208_GetStopMode(void); |
| nucleosam | 1:5cc2691ccfff | 758 | void L6208_GoHome(void); |
| nucleosam | 1:5cc2691ccfff | 759 | void L6208_GoMark(void); |
| nucleosam | 1:5cc2691ccfff | 760 | void L6208_GoTo(int32_t targetPosition); |
| nucleosam | 1:5cc2691ccfff | 761 | void L6208_GoToDir(motorDir_t direction, int32_t targetPosition); |
| nucleosam | 1:5cc2691ccfff | 762 | void L6208_HardHiZ(void); |
| nucleosam | 1:5cc2691ccfff | 763 | void L6208_HardStop(void); |
| nucleosam | 1:5cc2691ccfff | 764 | void L6208_Move(motorDir_t direction, uint32_t stepCount); |
| nucleosam | 1:5cc2691ccfff | 765 | void L6208_ReleaseReset(void); |
| nucleosam | 1:5cc2691ccfff | 766 | void L6208_Reset(void); |
| nucleosam | 1:5cc2691ccfff | 767 | void L6208_ResetDevice(void); |
| nucleosam | 1:5cc2691ccfff | 768 | void L6208_Run(motorDir_t direction); |
| nucleosam | 1:5cc2691ccfff | 769 | bool L6208_SetAcceleration(uint16_t newAcc); |
| nucleosam | 1:5cc2691ccfff | 770 | void L6208_SetDecayMode(motorDecayMode_t decayMode); |
| nucleosam | 1:5cc2691ccfff | 771 | bool L6208_SetDeceleration(uint16_t newDec); |
| nucleosam | 1:5cc2691ccfff | 772 | void L6208_SetDirection(motorDir_t direction); |
| nucleosam | 1:5cc2691ccfff | 773 | void L6208_SetHome(void); |
| nucleosam | 1:5cc2691ccfff | 774 | void L6208_SetMark(void); |
| nucleosam | 1:5cc2691ccfff | 775 | bool L6208_SetMaxSpeed(uint16_t volatile newSpeed); |
| nucleosam | 1:5cc2691ccfff | 776 | bool L6208_SetMinSpeed(uint16_t volatile newSpeed); |
| nucleosam | 1:5cc2691ccfff | 777 | bool L6208_SetStepMode(motorStepMode_t stepMode); |
| nucleosam | 1:5cc2691ccfff | 778 | void L6208_SetStopMode(motorStopMode_t stopMode); |
| nucleosam | 1:5cc2691ccfff | 779 | bool L6208_SoftStop(void); |
| nucleosam | 1:5cc2691ccfff | 780 | void L6208_TickHandler(void); |
| nucleosam | 1:5cc2691ccfff | 781 | uint32_t L6208_VrefPwmGetFreq(void); |
| nucleosam | 1:5cc2691ccfff | 782 | void L6208_VrefPwmSetFreq(uint32_t newFreq); |
| nucleosam | 1:5cc2691ccfff | 783 | void L6208_WaitWhileActive(void); |
| nucleosam | 1:5cc2691ccfff | 784 | |
| nucleosam | 2:2af31245e67e | 785 | /*** Functions intended to be used only internally ***/ |
| nucleosam | 2:2af31245e67e | 786 | |
| nucleosam | 2:2af31245e67e | 787 | void L6208_ClearSysFlag(uint32_t mask); |
| nucleosam | 2:2af31245e67e | 788 | uint32_t L6208_ComputeNbAccOrDecSteps(uint16_t accOrDecRate); |
| nucleosam | 2:2af31245e67e | 789 | uint16_t L6208_ConvertAcceDecelRateValue(uint16_t newAccOrDecRate); |
| nucleosam | 2:2af31245e67e | 790 | void L6208_DoAccel(void); |
| nucleosam | 2:2af31245e67e | 791 | void L6208_DoDecel(void); |
| nucleosam | 2:2af31245e67e | 792 | void L6208_DoRun(void); |
| nucleosam | 2:2af31245e67e | 793 | uint8_t L6208_GetMicrostepSample2Scale(void); |
| nucleosam | 2:2af31245e67e | 794 | void L6208_Indexmodeinit(void); |
| nucleosam | 2:2af31245e67e | 795 | bool L6208_IsSysFlag(uint32_t mask); |
| nucleosam | 2:2af31245e67e | 796 | void L6208_ResetSteps(void); |
| nucleosam | 2:2af31245e67e | 797 | uint32_t L6208_ScaleWaveformSample(uint8_t sampleIndex); |
| nucleosam | 2:2af31245e67e | 798 | void L6208_ScaleWaveformTable(void); |
| nucleosam | 2:2af31245e67e | 799 | void L6208_SetDeviceParamsToGivenValues(l6208_Init_t* pInitDevicePrm); |
| nucleosam | 2:2af31245e67e | 800 | void L6208_SetDeviceParamsToPredefinedValues(void); |
| nucleosam | 2:2af31245e67e | 801 | void L6208_SetMicrostepSample2Scale(uint8_t value); |
| nucleosam | 2:2af31245e67e | 802 | void L6208_SetMicrostepSample2Update(uint8_t value); |
| nucleosam | 2:2af31245e67e | 803 | void L6208_SetMotionState(motorState_t newMotionState); |
| nucleosam | 2:2af31245e67e | 804 | bool L6208_SetSpeed(uint16_t newSpeed, uint32_t volatile *pSpeed); |
| nucleosam | 2:2af31245e67e | 805 | void L6208_SetSysFlag(uint32_t mask); |
| nucleosam | 2:2af31245e67e | 806 | bool L6208_StartMovement(void); |
| nucleosam | 2:2af31245e67e | 807 | void L6208_UpdateScanWaveformTable(void); |
| nucleosam | 2:2af31245e67e | 808 | void L6208_UstepWaveformHandling(void); |
| nucleosam | 2:2af31245e67e | 809 | bool L6208_VectorCalc(uint8_t newTorque); |
| nucleosam | 2:2af31245e67e | 810 | bool L6208_VrefPwmComputePulseWidth(uint8_t bridgeId, uint16_t value, bool valueIsPwmDutyCycle); |
| nucleosam | 2:2af31245e67e | 811 | void L6208_VrefPwmUpdatePulseWidth(void); |
| nucleosam | 2:2af31245e67e | 812 | |
| nucleosam | 1:5cc2691ccfff | 813 | /*** Component's I/O Methods ***/ |
| nucleosam | 1:5cc2691ccfff | 814 | |
| nucleosam | 1:5cc2691ccfff | 815 | /* ACTION 8 --------------------------------------------------------------* |
| nucleosam | 1:5cc2691ccfff | 816 | * Implement here other I/O methods beyond those already implemented * |
| nucleosam | 1:5cc2691ccfff | 817 | * above, which are declared extern within the component's header file. * |
| nucleosam | 1:5cc2691ccfff | 818 | *------------------------------------------------------------------------*/ |
| nucleosam | 1:5cc2691ccfff | 819 | /** |
| nucleosam | 1:5cc2691ccfff | 820 | * @brief Reset the clock pin. |
| nucleosam | 1:5cc2691ccfff | 821 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 822 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 823 | */ |
| nucleosam | 1:5cc2691ccfff | 824 | void L6208_Board_CLOCK_PIN_Reset(void) |
| nucleosam | 1:5cc2691ccfff | 825 | { |
| nucleosam | 1:5cc2691ccfff | 826 | clock = 0; |
| nucleosam | 1:5cc2691ccfff | 827 | } |
| nucleosam | 1:5cc2691ccfff | 828 | /** |
| nucleosam | 1:5cc2691ccfff | 829 | * @brief Set the clock pin. |
| nucleosam | 1:5cc2691ccfff | 830 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 831 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 832 | */ |
| nucleosam | 1:5cc2691ccfff | 833 | void L6208_Board_CLOCK_PIN_Set(void) |
| nucleosam | 1:5cc2691ccfff | 834 | { |
| nucleosam | 1:5cc2691ccfff | 835 | clock = 1; |
| nucleosam | 1:5cc2691ccfff | 836 | } |
| nucleosam | 1:5cc2691ccfff | 837 | |
| nucleosam | 1:5cc2691ccfff | 838 | /** |
| nucleosam | 1:5cc2691ccfff | 839 | * @brief Set the control pin. |
| nucleosam | 1:5cc2691ccfff | 840 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 841 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 842 | */ |
| nucleosam | 1:5cc2691ccfff | 843 | void L6208_Board_CONTROL_PIN_Set(void) |
| nucleosam | 1:5cc2691ccfff | 844 | { |
| nucleosam | 1:5cc2691ccfff | 845 | control = 1; |
| nucleosam | 1:5cc2691ccfff | 846 | } |
| nucleosam | 1:5cc2691ccfff | 847 | |
| nucleosam | 1:5cc2691ccfff | 848 | /** |
| nucleosam | 1:5cc2691ccfff | 849 | * @brief Reset the control pin. |
| nucleosam | 1:5cc2691ccfff | 850 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 851 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 852 | */ |
| nucleosam | 1:5cc2691ccfff | 853 | void L6208_Board_CONTROL_PIN_Reset(void) |
| nucleosam | 1:5cc2691ccfff | 854 | { |
| nucleosam | 1:5cc2691ccfff | 855 | control = 0; |
| nucleosam | 1:5cc2691ccfff | 856 | } |
| nucleosam | 1:5cc2691ccfff | 857 | |
| nucleosam | 1:5cc2691ccfff | 858 | /** |
| nucleosam | 1:5cc2691ccfff | 859 | * @brief Making the CPU wait. |
| nucleosam | 1:5cc2691ccfff | 860 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 861 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 862 | */ |
| nucleosam | 1:5cc2691ccfff | 863 | void L6208_Board_Delay(uint32_t delay) |
| nucleosam | 1:5cc2691ccfff | 864 | { |
| nucleosam | 1:5cc2691ccfff | 865 | wait_ms(delay); |
| nucleosam | 1:5cc2691ccfff | 866 | } |
| nucleosam | 1:5cc2691ccfff | 867 | |
| nucleosam | 1:5cc2691ccfff | 868 | /** |
| nucleosam | 1:5cc2691ccfff | 869 | * @brief Reset the dir pin. |
| nucleosam | 1:5cc2691ccfff | 870 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 871 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 872 | */ |
| nucleosam | 1:5cc2691ccfff | 873 | void L6208_Board_DIR_PIN_Reset(void) |
| nucleosam | 1:5cc2691ccfff | 874 | { |
| nucleosam | 1:5cc2691ccfff | 875 | direction = 0; |
| nucleosam | 1:5cc2691ccfff | 876 | } |
| nucleosam | 1:5cc2691ccfff | 877 | |
| nucleosam | 1:5cc2691ccfff | 878 | /** |
| nucleosam | 1:5cc2691ccfff | 879 | * @brief Set the dir pin. |
| nucleosam | 1:5cc2691ccfff | 880 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 881 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 882 | */ |
| nucleosam | 1:5cc2691ccfff | 883 | void L6208_Board_DIR_PIN_Set(void) |
| nucleosam | 1:5cc2691ccfff | 884 | { |
| nucleosam | 1:5cc2691ccfff | 885 | direction = 1; |
| nucleosam | 1:5cc2691ccfff | 886 | } |
| nucleosam | 1:5cc2691ccfff | 887 | |
| nucleosam | 1:5cc2691ccfff | 888 | /** |
| nucleosam | 1:5cc2691ccfff | 889 | * @brief Disable the power bridges (leave the output bridges HiZ). |
| nucleosam | 1:5cc2691ccfff | 890 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 891 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 892 | */ |
| nucleosam | 1:5cc2691ccfff | 893 | void L6208_Board_Disable(void) |
| nucleosam | 1:5cc2691ccfff | 894 | { |
| nucleosam | 1:5cc2691ccfff | 895 | flag_and_enable.disable_irq(); |
| nucleosam | 1:5cc2691ccfff | 896 | flag_and_enable.mode(PullDown); |
| nucleosam | 1:5cc2691ccfff | 897 | } |
| nucleosam | 1:5cc2691ccfff | 898 | |
| nucleosam | 1:5cc2691ccfff | 899 | /** |
| nucleosam | 1:5cc2691ccfff | 900 | * @brief Disabling interrupts. |
| nucleosam | 1:5cc2691ccfff | 901 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 902 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 903 | */ |
| nucleosam | 1:5cc2691ccfff | 904 | void L6208_Board_DisableIrq(void) |
| nucleosam | 1:5cc2691ccfff | 905 | { |
| nucleosam | 1:5cc2691ccfff | 906 | __disable_irq(); |
| nucleosam | 1:5cc2691ccfff | 907 | } |
| nucleosam | 1:5cc2691ccfff | 908 | |
| nucleosam | 1:5cc2691ccfff | 909 | /** |
| nucleosam | 1:5cc2691ccfff | 910 | * @brief Enable the power bridges (leave the output bridges HiZ). |
| nucleosam | 1:5cc2691ccfff | 911 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 912 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 913 | */ |
| nucleosam | 1:5cc2691ccfff | 914 | void L6208_Board_Enable(void) |
| nucleosam | 1:5cc2691ccfff | 915 | { |
| nucleosam | 1:5cc2691ccfff | 916 | flag_and_enable.mode(PullUp); |
| nucleosam | 1:5cc2691ccfff | 917 | flag_and_enable.enable_irq(); |
| nucleosam | 1:5cc2691ccfff | 918 | } |
| nucleosam | 1:5cc2691ccfff | 919 | |
| nucleosam | 1:5cc2691ccfff | 920 | /** |
| nucleosam | 1:5cc2691ccfff | 921 | * @brief Enabling interrupts. |
| nucleosam | 1:5cc2691ccfff | 922 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 923 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 924 | */ |
| nucleosam | 1:5cc2691ccfff | 925 | void L6208_Board_EnableIrq(void) |
| nucleosam | 1:5cc2691ccfff | 926 | { |
| nucleosam | 1:5cc2691ccfff | 927 | __enable_irq(); |
| nucleosam | 1:5cc2691ccfff | 928 | } |
| nucleosam | 1:5cc2691ccfff | 929 | |
| nucleosam | 1:5cc2691ccfff | 930 | /** |
| nucleosam | 1:5cc2691ccfff | 931 | * @brief Reset the half full pin. |
| nucleosam | 1:5cc2691ccfff | 932 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 933 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 934 | */ |
| nucleosam | 1:5cc2691ccfff | 935 | void L6208_Board_HALF_FULL_PIN_Reset(void) |
| nucleosam | 1:5cc2691ccfff | 936 | { |
| nucleosam | 1:5cc2691ccfff | 937 | half_full = 0; |
| nucleosam | 1:5cc2691ccfff | 938 | } |
| nucleosam | 1:5cc2691ccfff | 939 | |
| nucleosam | 1:5cc2691ccfff | 940 | /** |
| nucleosam | 1:5cc2691ccfff | 941 | * @brief Set the half full pin. |
| nucleosam | 1:5cc2691ccfff | 942 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 943 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 944 | */ |
| nucleosam | 1:5cc2691ccfff | 945 | void L6208_Board_HALF_FULL_PIN_Set(void) |
| nucleosam | 1:5cc2691ccfff | 946 | { |
| nucleosam | 1:5cc2691ccfff | 947 | half_full = 1; |
| nucleosam | 1:5cc2691ccfff | 948 | } |
| nucleosam | 1:5cc2691ccfff | 949 | |
| nucleosam | 1:5cc2691ccfff | 950 | /** |
| nucleosam | 1:5cc2691ccfff | 951 | * @brief Initialising the the VREFA or VREFB PWM. |
| nucleosam | 1:5cc2691ccfff | 952 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 953 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 954 | */ |
| nucleosam | 1:5cc2691ccfff | 955 | void L6208_Board_VrefPwmInit(uint8_t bridgeId, uint32_t pwmFreq) {} |
| nucleosam | 1:5cc2691ccfff | 956 | |
| nucleosam | 1:5cc2691ccfff | 957 | /** |
| nucleosam | 1:5cc2691ccfff | 958 | * @brief Exit the device from reset mode. |
| nucleosam | 1:5cc2691ccfff | 959 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 960 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 961 | */ |
| nucleosam | 1:5cc2691ccfff | 962 | void L6208_Board_ReleaseReset(void) |
| nucleosam | 1:5cc2691ccfff | 963 | { |
| nucleosam | 1:5cc2691ccfff | 964 | reset = 1; |
| nucleosam | 1:5cc2691ccfff | 965 | } |
| nucleosam | 1:5cc2691ccfff | 966 | |
| nucleosam | 1:5cc2691ccfff | 967 | /** |
| nucleosam | 1:5cc2691ccfff | 968 | * @brief Put the device in reset mode. |
| nucleosam | 1:5cc2691ccfff | 969 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 970 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 971 | */ |
| nucleosam | 1:5cc2691ccfff | 972 | void L6208_Board_Reset(void) |
| nucleosam | 1:5cc2691ccfff | 973 | { |
| nucleosam | 1:5cc2691ccfff | 974 | reset = 0; |
| nucleosam | 1:5cc2691ccfff | 975 | } |
| nucleosam | 1:5cc2691ccfff | 976 | |
| nucleosam | 1:5cc2691ccfff | 977 | /** |
| nucleosam | 1:5cc2691ccfff | 978 | * @brief Get the tick timer frequency in Hz. |
| nucleosam | 1:5cc2691ccfff | 979 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 980 | * @retval The tick timer frequency in Hz. |
| nucleosam | 1:5cc2691ccfff | 981 | */ |
| nucleosam | 1:5cc2691ccfff | 982 | uint32_t L6208_Board_TickGetFreq(void) |
| nucleosam | 1:5cc2691ccfff | 983 | { |
| nucleosam | 1:5cc2691ccfff | 984 | return TIMER_TICK_FREQUENCY; |
| nucleosam | 1:5cc2691ccfff | 985 | } |
| nucleosam | 1:5cc2691ccfff | 986 | |
| nucleosam | 1:5cc2691ccfff | 987 | /** |
| nucleosam | 1:5cc2691ccfff | 988 | * @brief Initialising the tick. |
| nucleosam | 1:5cc2691ccfff | 989 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 990 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 991 | */ |
| nucleosam | 1:5cc2691ccfff | 992 | void L6208_Board_TickInit(void) {} |
| nucleosam | 1:5cc2691ccfff | 993 | |
| nucleosam | 1:5cc2691ccfff | 994 | /** |
| nucleosam | 1:5cc2691ccfff | 995 | * @brief Starting the tick timer, setting its frequency |
| nucleosam | 1:5cc2691ccfff | 996 | * and attaching a tick handler function to it. |
| nucleosam | 1:5cc2691ccfff | 997 | * @param frequency the frequency of the tick. |
| nucleosam | 1:5cc2691ccfff | 998 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 999 | */ |
| nucleosam | 1:5cc2691ccfff | 1000 | void L6208_Board_TickStart(uint16_t frequency) |
| nucleosam | 1:5cc2691ccfff | 1001 | { |
| nucleosam | 1:5cc2691ccfff | 1002 | /* Computing the period of the tick. */ |
| nucleosam | 1:5cc2691ccfff | 1003 | double period = 1.0f / frequency; |
| nucleosam | 1:5cc2691ccfff | 1004 | |
| nucleosam | 1:5cc2691ccfff | 1005 | /* Attaching a tick handler function which updates */ |
| nucleosam | 1:5cc2691ccfff | 1006 | /* the state machine every elapsed period time. */ |
| nucleosam | 1:5cc2691ccfff | 1007 | ticker.attach(this, &L6208::L6208_TickHandler, period); |
| nucleosam | 1:5cc2691ccfff | 1008 | } |
| nucleosam | 1:5cc2691ccfff | 1009 | |
| nucleosam | 1:5cc2691ccfff | 1010 | /** |
| nucleosam | 1:5cc2691ccfff | 1011 | * @brief Stopping the tick. |
| nucleosam | 1:5cc2691ccfff | 1012 | * @param None. |
| nucleosam | 1:5cc2691ccfff | 1013 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 1014 | */ |
| nucleosam | 1:5cc2691ccfff | 1015 | void L6208_Board_TickStop(void) |
| nucleosam | 1:5cc2691ccfff | 1016 | { |
| nucleosam | 1:5cc2691ccfff | 1017 | ticker.detach(); |
| nucleosam | 1:5cc2691ccfff | 1018 | } |
| nucleosam | 1:5cc2691ccfff | 1019 | |
| nucleosam | 1:5cc2691ccfff | 1020 | /** |
| nucleosam | 1:5cc2691ccfff | 1021 | * @brief Set the pulse width of the VREFA PWM. |
| nucleosam | 1:5cc2691ccfff | 1022 | * @param[in] pulseWidthInUs pulse width of the PWM in microsecond. |
| nucleosam | 1:5cc2691ccfff | 1023 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 1024 | */ |
| nucleosam | 1:5cc2691ccfff | 1025 | void L6208_Board_VrefPwmSetPulseWidthA(uint8_t pulseWidthInUs) |
| nucleosam | 1:5cc2691ccfff | 1026 | { |
| nucleosam | 1:5cc2691ccfff | 1027 | vrefA_pwm.pulsewidth_us(pulseWidthInUs); |
| nucleosam | 1:5cc2691ccfff | 1028 | } |
| nucleosam | 1:5cc2691ccfff | 1029 | |
| nucleosam | 1:5cc2691ccfff | 1030 | /** |
| nucleosam | 1:5cc2691ccfff | 1031 | * @brief Set the pulse width of the VREFB PWM. |
| nucleosam | 1:5cc2691ccfff | 1032 | * @param[in] pulseWidthInUs pulse width of the PWM in microsecond. |
| nucleosam | 1:5cc2691ccfff | 1033 | * @retval None. |
| nucleosam | 1:5cc2691ccfff | 1034 | */ |
| nucleosam | 1:5cc2691ccfff | 1035 | void L6208_Board_VrefPwmSetPulseWidthB(uint8_t pulseWidthInUs) |
| nucleosam | 1:5cc2691ccfff | 1036 | { |
| nucleosam | 1:5cc2691ccfff | 1037 | vrefB_pwm.pulsewidth_us(pulseWidthInUs); |
| nucleosam | 1:5cc2691ccfff | 1038 | } |
| nucleosam | 1:5cc2691ccfff | 1039 | |
| nucleosam | 1:5cc2691ccfff | 1040 | /** |
| nucleosam | 1:5cc2691ccfff | 1041 | * @brief Start the timer for the VREFA or VREFB PWM. |
| nucleosam | 1:5cc2691ccfff | 1042 | * @param[in] bridgeId |
| nucleosam | 1:5cc2691ccfff | 1043 | * 0 for BRIDGE_A |
| nucleosam | 1:5cc2691ccfff | 1044 | * 1 for BRIDGE_B |
| nucleosam | 1:5cc2691ccfff | 1045 | * @param[in] pwmPeriod period of the PWM used to generate the reference |
| nucleosam | 1:5cc2691ccfff | 1046 | * voltage for the bridge. |
| nucleosam | 1:5cc2691ccfff | 1047 | * @retval "true" in case of success, "false" otherwise. |
| nucleosam | 1:5cc2691ccfff | 1048 | * @note the unit is 1/256th of a microsecond. The VREFA PWM must be started |
| nucleosam | 1:5cc2691ccfff | 1049 | * before the VREFB PWM. |
| nucleosam | 1:5cc2691ccfff | 1050 | */ |
| nucleosam | 1:5cc2691ccfff | 1051 | bool L6208_Board_VrefPwmStart(uint8_t bridgeId, uint16_t pwmPeriod) |
| nucleosam | 1:5cc2691ccfff | 1052 | { |
| nucleosam | 1:5cc2691ccfff | 1053 | pwmPeriod>>=8; |
| nucleosam | 1:5cc2691ccfff | 1054 | /* Setting the period and the duty-cycle of PWM. */ |
| nucleosam | 1:5cc2691ccfff | 1055 | if (bridgeId == 0) |
| nucleosam | 1:5cc2691ccfff | 1056 | { |
| nucleosam | 1:5cc2691ccfff | 1057 | vrefA_pwm.period_us(pwmPeriod); |
| nucleosam | 1:5cc2691ccfff | 1058 | } |
| nucleosam | 1:5cc2691ccfff | 1059 | else if (bridgeId == 1) |
| nucleosam | 1:5cc2691ccfff | 1060 | { |
| nucleosam | 1:5cc2691ccfff | 1061 | vrefB_pwm.period_us(pwmPeriod); |
| nucleosam | 1:5cc2691ccfff | 1062 | } |
| nucleosam | 1:5cc2691ccfff | 1063 | else return false; |
| nucleosam | 1:5cc2691ccfff | 1064 | return true; |
| nucleosam | 1:5cc2691ccfff | 1065 | } |
| nucleosam | 1:5cc2691ccfff | 1066 | |
| nucleosam | 1:5cc2691ccfff | 1067 | /** |
| nucleosam | 1:5cc2691ccfff | 1068 | * @brief Stop the timer for the VREFA or VREFB PWM. |
| nucleosam | 1:5cc2691ccfff | 1069 | * @param[in] bridgeId |
| nucleosam | 1:5cc2691ccfff | 1070 | * 0 for BRIDGE_A |
| nucleosam | 1:5cc2691ccfff | 1071 | * 1 for BRIDGE_B |
| nucleosam | 1:5cc2691ccfff | 1072 | * @retval "true" in case of success, "false" otherwise. |
| nucleosam | 1:5cc2691ccfff | 1073 | */ |
| nucleosam | 1:5cc2691ccfff | 1074 | bool L6208_Board_VrefPwmStop(uint8_t bridgeId) |
| nucleosam | 1:5cc2691ccfff | 1075 | { |
| nucleosam | 1:5cc2691ccfff | 1076 | if (bridgeId == 0) |
| nucleosam | 1:5cc2691ccfff | 1077 | { |
| nucleosam | 1:5cc2691ccfff | 1078 | vrefA_pwm.period_us(0); |
| nucleosam | 1:5cc2691ccfff | 1079 | } |
| nucleosam | 1:5cc2691ccfff | 1080 | else if (bridgeId == 1) |
| nucleosam | 1:5cc2691ccfff | 1081 | { |
| nucleosam | 1:5cc2691ccfff | 1082 | vrefB_pwm.period_us(0); |
| nucleosam | 1:5cc2691ccfff | 1083 | } |
| nucleosam | 1:5cc2691ccfff | 1084 | else return false; |
| nucleosam | 1:5cc2691ccfff | 1085 | return true; |
| nucleosam | 1:5cc2691ccfff | 1086 | } |
| nucleosam | 1:5cc2691ccfff | 1087 | |
| nucleosam | 1:5cc2691ccfff | 1088 | protected: |
| nucleosam | 1:5cc2691ccfff | 1089 | |
| nucleosam | 1:5cc2691ccfff | 1090 | /*** Component's Instance Variables ***/ |
| nucleosam | 1:5cc2691ccfff | 1091 | |
| nucleosam | 1:5cc2691ccfff | 1092 | /* ACTION 9 --------------------------------------------------------------* |
| nucleosam | 1:5cc2691ccfff | 1093 | * Declare here interrupt related variables, if needed. * |
| nucleosam | 1:5cc2691ccfff | 1094 | * Note that interrupt handling is platform dependent, see * |
| nucleosam | 1:5cc2691ccfff | 1095 | * "Interrupt Related Methods" above. * |
| nucleosam | 1:5cc2691ccfff | 1096 | * * |
| nucleosam | 1:5cc2691ccfff | 1097 | * Example: * |
| nucleosam | 1:5cc2691ccfff | 1098 | * + mbed: * |
| nucleosam | 1:5cc2691ccfff | 1099 | * InterruptIn feature_irq; * |
| nucleosam | 1:5cc2691ccfff | 1100 | *------------------------------------------------------------------------*/ |
| nucleosam | 1:5cc2691ccfff | 1101 | /* Flag Interrupt and chip enable. */ |
| nucleosam | 1:5cc2691ccfff | 1102 | InterruptIn flag_and_enable; |
| nucleosam | 1:5cc2691ccfff | 1103 | |
| nucleosam | 1:5cc2691ccfff | 1104 | /* ACTION 10 -------------------------------------------------------------* |
| nucleosam | 1:5cc2691ccfff | 1105 | * Declare here other pin related variables, if needed. * |
| nucleosam | 1:5cc2691ccfff | 1106 | * * |
| nucleosam | 1:5cc2691ccfff | 1107 | * Example: * |
| nucleosam | 1:5cc2691ccfff | 1108 | * + mbed: * |
| nucleosam | 1:5cc2691ccfff | 1109 | * DigitalOut standby_reset; * |
| nucleosam | 1:5cc2691ccfff | 1110 | *------------------------------------------------------------------------*/ |
| nucleosam | 1:5cc2691ccfff | 1111 | /* RESET pin. */ |
| nucleosam | 1:5cc2691ccfff | 1112 | DigitalOut reset; |
| nucleosam | 1:5cc2691ccfff | 1113 | /* CW_CCW pin. */ |
| nucleosam | 1:5cc2691ccfff | 1114 | DigitalOut direction; |
| nucleosam | 1:5cc2691ccfff | 1115 | /* HALF_FULL pin */ |
| nucleosam | 1:5cc2691ccfff | 1116 | DigitalOut half_full; |
| nucleosam | 1:5cc2691ccfff | 1117 | /* CONTROL pin */ |
| nucleosam | 1:5cc2691ccfff | 1118 | DigitalOut control; |
| nucleosam | 1:5cc2691ccfff | 1119 | /* CLOCK pin */ |
| nucleosam | 1:5cc2691ccfff | 1120 | DigitalOut clock; |
| nucleosam | 1:5cc2691ccfff | 1121 | |
| nucleosam | 1:5cc2691ccfff | 1122 | /* Pulse Width Modulation pin for VREFA pin */ |
| nucleosam | 1:5cc2691ccfff | 1123 | PwmOut vrefA_pwm; |
| nucleosam | 1:5cc2691ccfff | 1124 | /* Pulse Width Modulation pin for VREFA pin */ |
| nucleosam | 1:5cc2691ccfff | 1125 | PwmOut vrefB_pwm; |
| nucleosam | 1:5cc2691ccfff | 1126 | |
| nucleosam | 1:5cc2691ccfff | 1127 | /* Timer for the tick */ |
| nucleosam | 1:5cc2691ccfff | 1128 | Ticker ticker; |
| nucleosam | 1:5cc2691ccfff | 1129 | |
| nucleosam | 1:5cc2691ccfff | 1130 | /* ACTION 11 -------------------------------------------------------------* |
| nucleosam | 1:5cc2691ccfff | 1131 | * Declare here communication related variables, if needed. * |
| nucleosam | 1:5cc2691ccfff | 1132 | * * |
| nucleosam | 1:5cc2691ccfff | 1133 | * Example: * |
| nucleosam | 1:5cc2691ccfff | 1134 | * + mbed: * |
| nucleosam | 1:5cc2691ccfff | 1135 | * DigitalOut ssel; * |
| nucleosam | 1:5cc2691ccfff | 1136 | * DevSPI &dev_spi; * |
| nucleosam | 1:5cc2691ccfff | 1137 | *------------------------------------------------------------------------*/ |
| nucleosam | 1:5cc2691ccfff | 1138 | /* Configuration. */ |
| nucleosam | 1:5cc2691ccfff | 1139 | |
| nucleosam | 1:5cc2691ccfff | 1140 | /* IO Device. */ |
| nucleosam | 1:5cc2691ccfff | 1141 | |
| nucleosam | 1:5cc2691ccfff | 1142 | /* ACTION 12 -------------------------------------------------------------* |
| nucleosam | 1:5cc2691ccfff | 1143 | * Declare here identity related variables, if needed. * |
| nucleosam | 1:5cc2691ccfff | 1144 | * Note that there should be only a unique identifier for each component, * |
| nucleosam | 1:5cc2691ccfff | 1145 | * which should be the "who_am_i" parameter. * |
| nucleosam | 1:5cc2691ccfff | 1146 | *------------------------------------------------------------------------*/ |
| nucleosam | 1:5cc2691ccfff | 1147 | /* Identity */ |
| nucleosam | 1:5cc2691ccfff | 1148 | uint8_t who_am_i; |
| nucleosam | 1:5cc2691ccfff | 1149 | |
| nucleosam | 1:5cc2691ccfff | 1150 | /* ACTION 13 -------------------------------------------------------------* |
| nucleosam | 1:5cc2691ccfff | 1151 | * Declare here the component's static and non-static data, one variable * |
| nucleosam | 1:5cc2691ccfff | 1152 | * per line. * |
| nucleosam | 1:5cc2691ccfff | 1153 | * * |
| nucleosam | 1:5cc2691ccfff | 1154 | * Example: * |
| nucleosam | 1:5cc2691ccfff | 1155 | * float measure; * |
| nucleosam | 1:5cc2691ccfff | 1156 | * int instance_id; * |
| nucleosam | 1:5cc2691ccfff | 1157 | * static int number_of_instances; * |
| nucleosam | 1:5cc2691ccfff | 1158 | *------------------------------------------------------------------------*/ |
| nucleosam | 1:5cc2691ccfff | 1159 | /* Data. */ |
| nucleosam | 1:5cc2691ccfff | 1160 | void (*errorHandlerCallback)(uint16_t error); |
| nucleosam | 1:5cc2691ccfff | 1161 | deviceParams_t devicePrm; |
| nucleosam | 1:5cc2691ccfff | 1162 | uint8_t deviceInstance; |
| nucleosam | 1:5cc2691ccfff | 1163 | uint32_t tickFreq; |
| nucleosam | 1:5cc2691ccfff | 1164 | /// microstepping PWM period and torque scaled waveform samples array |
| nucleosam | 1:5cc2691ccfff | 1165 | uint16_t updatedMicroTable[L6208_USTEPS_PER_QUARTER_PERIOD+1]; |
| nucleosam | 1:5cc2691ccfff | 1166 | /// waveform scanning microstepping PWM period sample arrays for VREFA wave |
| nucleosam | 1:5cc2691ccfff | 1167 | uint16_t microTable1[L6208_USTEPS_PER_QUARTER_PERIOD*3+1]; |
| nucleosam | 1:5cc2691ccfff | 1168 | /// waveform scanning microstepping PWM period sample array for VREFB wave |
| nucleosam | 1:5cc2691ccfff | 1169 | uint16_t *pMicroTable2; |
| nucleosam | 1:5cc2691ccfff | 1170 | |
| nucleosam | 1:5cc2691ccfff | 1171 | /* Static data. */ |
| nucleosam | 1:5cc2691ccfff | 1172 | static uint8_t numberOfDevices; |
| nucleosam | 1:5cc2691ccfff | 1173 | static const uint16_t RefMicroTable[L6208_USTEPS_PER_QUARTER_PERIOD*3]; |
| nucleosam | 1:5cc2691ccfff | 1174 | |
| nucleosam | 1:5cc2691ccfff | 1175 | public: |
| nucleosam | 1:5cc2691ccfff | 1176 | |
| nucleosam | 1:5cc2691ccfff | 1177 | /* Static data. */ |
| nucleosam | 1:5cc2691ccfff | 1178 | |
| nucleosam | 1:5cc2691ccfff | 1179 | }; |
| nucleosam | 1:5cc2691ccfff | 1180 | |
| nucleosam | 1:5cc2691ccfff | 1181 | #endif // __L6208_CLASS_H |
| nucleosam | 1:5cc2691ccfff | 1182 | |
| nucleosam | 1:5cc2691ccfff | 1183 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ |