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Components/powerstep01/powerstep01_class.h@1:8ce2a5d6fbf8, 2016-04-07 (annotated)

Committer:: nucleosam
Date:: Thu Apr 07 16:11:47 2016 +0000
Revision:: 1:8ce2a5d6fbf8
Parent:: 0:00a3c3f5a8f0
Child:: 2:06f3a5360a45

StepperMotor class modification and induced changes

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User	Revision	Line number	New contents of line
nucleosam	0:00a3c3f5a8f0	1	/**
nucleosam	0:00a3c3f5a8f0	2	******************************************************************************
nucleosam	0:00a3c3f5a8f0	3	* @file powerstep01_class.h
nucleosam	0:00a3c3f5a8f0	4	* @author IPC Rennes
nucleosam	0:00a3c3f5a8f0	5	* @version V1.0.0
nucleosam	0:00a3c3f5a8f0	6	* @date March 18th, 2016
nucleosam	0:00a3c3f5a8f0	7	* @brief This file contains the class of a Powerstep01 Motor Control component.
nucleosam	0:00a3c3f5a8f0	8	* @note (C) COPYRIGHT 2016 STMicroelectronics
nucleosam	0:00a3c3f5a8f0	9	******************************************************************************
nucleosam	0:00a3c3f5a8f0	10	* @attention
nucleosam	0:00a3c3f5a8f0	11	*
nucleosam	0:00a3c3f5a8f0	12	* <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
nucleosam	0:00a3c3f5a8f0	13	*
nucleosam	0:00a3c3f5a8f0	14	* Redistribution and use in source and binary forms, with or without modification,
nucleosam	0:00a3c3f5a8f0	15	* are permitted provided that the following conditions are met:
nucleosam	0:00a3c3f5a8f0	16	* 1. Redistributions of source code must retain the above copyright notice,
nucleosam	0:00a3c3f5a8f0	17	* this list of conditions and the following disclaimer.
nucleosam	0:00a3c3f5a8f0	18	* 2. Redistributions in binary form must reproduce the above copyright notice,
nucleosam	0:00a3c3f5a8f0	19	* this list of conditions and the following disclaimer in the documentation
nucleosam	0:00a3c3f5a8f0	20	* and/or other materials provided with the distribution.
nucleosam	0:00a3c3f5a8f0	21	* 3. Neither the name of STMicroelectronics nor the names of its contributors
nucleosam	0:00a3c3f5a8f0	22	* may be used to endorse or promote products derived from this software
nucleosam	0:00a3c3f5a8f0	23	* without specific prior written permission.
nucleosam	0:00a3c3f5a8f0	24	*
nucleosam	0:00a3c3f5a8f0	25	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
nucleosam	0:00a3c3f5a8f0	26	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
nucleosam	0:00a3c3f5a8f0	27	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
nucleosam	0:00a3c3f5a8f0	28	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
nucleosam	0:00a3c3f5a8f0	29	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
nucleosam	0:00a3c3f5a8f0	30	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
nucleosam	0:00a3c3f5a8f0	31	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
nucleosam	0:00a3c3f5a8f0	32	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
nucleosam	0:00a3c3f5a8f0	33	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
nucleosam	0:00a3c3f5a8f0	34	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
nucleosam	0:00a3c3f5a8f0	35	*
nucleosam	0:00a3c3f5a8f0	36	******************************************************************************
nucleosam	0:00a3c3f5a8f0	37	*/
nucleosam	0:00a3c3f5a8f0	38
nucleosam	0:00a3c3f5a8f0	39
nucleosam	0:00a3c3f5a8f0	40	/* Define to prevent recursive inclusion -------------------------------------*/
nucleosam	0:00a3c3f5a8f0	41
nucleosam	0:00a3c3f5a8f0	42	#ifndef __POWERSTEP01_CLASS_H
nucleosam	0:00a3c3f5a8f0	43	#define __POWERSTEP01_CLASS_H
nucleosam	0:00a3c3f5a8f0	44
nucleosam	0:00a3c3f5a8f0	45
nucleosam	0:00a3c3f5a8f0	46	/* Includes ------------------------------------------------------------------*/
nucleosam	0:00a3c3f5a8f0	47
nucleosam	0:00a3c3f5a8f0	48	/* ACTION 1 ------------------------------------------------------------------*
nucleosam	0:00a3c3f5a8f0	49	* Include here platform specific header files. *
nucleosam	0:00a3c3f5a8f0	50	----------------------------------------------------------------------------/
nucleosam	0:00a3c3f5a8f0	51	#include "mbed.h"
nucleosam	0:00a3c3f5a8f0	52	#include "DevSPI.h"
nucleosam	0:00a3c3f5a8f0	53	/* ACTION 2 ------------------------------------------------------------------*
nucleosam	0:00a3c3f5a8f0	54	* Include here component specific header files. *
nucleosam	0:00a3c3f5a8f0	55	----------------------------------------------------------------------------/
nucleosam	0:00a3c3f5a8f0	56	#include "powerstep01.h"
nucleosam	0:00a3c3f5a8f0	57	/* ACTION 3 ------------------------------------------------------------------*
nucleosam	0:00a3c3f5a8f0	58	* Include here interface specific header files. *
nucleosam	0:00a3c3f5a8f0	59	* *
nucleosam	0:00a3c3f5a8f0	60	* Example: *
nucleosam	0:00a3c3f5a8f0	61	* #include "../Interfaces/Humidity_class.h" *
nucleosam	0:00a3c3f5a8f0	62	* #include "../Interfaces/Temperature_class.h" *
nucleosam	0:00a3c3f5a8f0	63	----------------------------------------------------------------------------/
nucleosam	0:00a3c3f5a8f0	64	#include "../Interfaces/StepperMotor_class.h"
nucleosam	0:00a3c3f5a8f0	65
nucleosam	0:00a3c3f5a8f0	66
nucleosam	0:00a3c3f5a8f0	67	/* Classes -------------------------------------------------------------------*/
nucleosam	0:00a3c3f5a8f0	68
nucleosam	0:00a3c3f5a8f0	69	/**
nucleosam	0:00a3c3f5a8f0	70	* @brief Class representing a Powerstep01 component.
nucleosam	0:00a3c3f5a8f0	71	*/
nucleosam	0:00a3c3f5a8f0	72	class POWERSTEP01 : public StepperMotor
nucleosam	0:00a3c3f5a8f0	73	{
nucleosam	0:00a3c3f5a8f0	74	public:
nucleosam	0:00a3c3f5a8f0	75
nucleosam	0:00a3c3f5a8f0	76	/* Constructor and Destructor Methods */
nucleosam	0:00a3c3f5a8f0	77
nucleosam	0:00a3c3f5a8f0	78	/**
nucleosam	0:00a3c3f5a8f0	79	* @brief Constructor.
nucleosam	0:00a3c3f5a8f0	80	* @param flag_irq pin name of the FLAG pin of the component.
nucleosam	0:00a3c3f5a8f0	81	* @param busy_irq pin name of the BUSY pin of the component.
nucleosam	0:00a3c3f5a8f0	82	* @param standby_reset pin name of the STBY\RST pin of the component.
nucleosam	0:00a3c3f5a8f0	83	* @param pwm pin name of the PWM pin of the component.
nucleosam	0:00a3c3f5a8f0	84	* @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
nucleosam	0:00a3c3f5a8f0	85	* @param spi SPI device to be used for communication.
nucleosam	0:00a3c3f5a8f0	86	*/
nucleosam	0:00a3c3f5a8f0	87	POWERSTEP01(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName pwm, PinName ssel, DevSPI &spi) : StepperMotor(), flag_irq(flag_irq), busy_irq(busy_irq), standby_reset(standby_reset), pwm(pwm), ssel(ssel), dev_spi(spi)
nucleosam	0:00a3c3f5a8f0	88	{
nucleosam	0:00a3c3f5a8f0	89	/* Checking stackability. */
nucleosam	0:00a3c3f5a8f0	90	if (!(numberOfDevices < MAX_NUMBER_OF_DEVICES))
nucleosam	0:00a3c3f5a8f0	91	error("Instantiation of the powerstep01 component failed: it can be stacked up to %d times.\r\n", MAX_NUMBER_OF_DEVICES);
nucleosam	0:00a3c3f5a8f0	92
nucleosam	0:00a3c3f5a8f0	93	/* ACTION 4 ----------------------------------------------------------*
nucleosam	0:00a3c3f5a8f0	94	* Initialize here the component's member variables, one variable per *
nucleosam	0:00a3c3f5a8f0	95	* line. *
nucleosam	0:00a3c3f5a8f0	96	* *
nucleosam	0:00a3c3f5a8f0	97	* Example: *
nucleosam	0:00a3c3f5a8f0	98	* measure = 0; *
nucleosam	0:00a3c3f5a8f0	99	* instance_id = number_of_instances++; *
nucleosam	0:00a3c3f5a8f0	100	--------------------------------------------------------------------/
nucleosam	0:00a3c3f5a8f0	101	errorHandlerCallback = 0;
nucleosam	0:00a3c3f5a8f0	102	deviceInstance = numberOfDevices++;
nucleosam	0:00a3c3f5a8f0	103	memset(spiTxBursts, 0, POWERSTEP01_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t));
nucleosam	0:00a3c3f5a8f0	104	memset(spiRxBursts, 0, POWERSTEP01_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t));
nucleosam	0:00a3c3f5a8f0	105	}
nucleosam	0:00a3c3f5a8f0	106
nucleosam	0:00a3c3f5a8f0	107	/**
nucleosam	0:00a3c3f5a8f0	108	* @brief Destructor.
nucleosam	0:00a3c3f5a8f0	109	*/
nucleosam	0:00a3c3f5a8f0	110	virtual ~POWERSTEP01(void) {}
nucleosam	0:00a3c3f5a8f0	111
nucleosam	0:00a3c3f5a8f0	112
nucleosam	0:00a3c3f5a8f0	113	/* Public Component Related Methods */
nucleosam	0:00a3c3f5a8f0	114
nucleosam	0:00a3c3f5a8f0	115	/* ACTION 5 --------------------------------------------------------------*
nucleosam	0:00a3c3f5a8f0	116	* Implement here the component's public methods, as wrappers of the C *
nucleosam	0:00a3c3f5a8f0	117	* component's functions. *
nucleosam	0:00a3c3f5a8f0	118	* They should be: *
nucleosam	0:00a3c3f5a8f0	119	* + Methods with the same name of the C component's virtual table's *
nucleosam	0:00a3c3f5a8f0	120	* functions (1); *
nucleosam	0:00a3c3f5a8f0	121	* + Methods with the same name of the C component's extended virtual *
nucleosam	0:00a3c3f5a8f0	122	* table's functions, if any (2). *
nucleosam	0:00a3c3f5a8f0	123	* *
nucleosam	0:00a3c3f5a8f0	124	* Example: *
nucleosam	0:00a3c3f5a8f0	125	* virtual int GetValue(float pData) //(1)
nucleosam	0:00a3c3f5a8f0	126	* { *
nucleosam	0:00a3c3f5a8f0	127	* return COMPONENT_GetValue(float pfData);
nucleosam	0:00a3c3f5a8f0	128	* } *
nucleosam	0:00a3c3f5a8f0	129	* *
nucleosam	0:00a3c3f5a8f0	130	* virtual int EnableFeature(void) //(2) *
nucleosam	0:00a3c3f5a8f0	131	* { *
nucleosam	0:00a3c3f5a8f0	132	* return COMPONENT_EnableFeature(); *
nucleosam	0:00a3c3f5a8f0	133	* } *
nucleosam	0:00a3c3f5a8f0	134	------------------------------------------------------------------------/
nucleosam	0:00a3c3f5a8f0	135
nucleosam	0:00a3c3f5a8f0	136	/**
nucleosam	0:00a3c3f5a8f0	137	* @brief Public functions inherited from the Component Class
nucleosam	0:00a3c3f5a8f0	138	*/
nucleosam	0:00a3c3f5a8f0	139
nucleosam	0:00a3c3f5a8f0	140	/**
nucleosam	0:00a3c3f5a8f0	141	* @brief Initialize the component.
nucleosam	0:00a3c3f5a8f0	142	* @param init Pointer to device specific initalization structure.
nucleosam	0:00a3c3f5a8f0	143	* @retval "0" in case of success, an error code otherwise.
nucleosam	0:00a3c3f5a8f0	144	*/
nucleosam	0:00a3c3f5a8f0	145	virtual int Init(void *init = NULL)
nucleosam	0:00a3c3f5a8f0	146	{
nucleosam	0:00a3c3f5a8f0	147	return (int) Powerstep01_Init((void *) init);
nucleosam	0:00a3c3f5a8f0	148	}
nucleosam	0:00a3c3f5a8f0	149
nucleosam	0:00a3c3f5a8f0	150	/**
nucleosam	0:00a3c3f5a8f0	151	* @brief Getting the ID of the component.
nucleosam	0:00a3c3f5a8f0	152	* @param id Pointer to an allocated variable to store the ID into.
nucleosam	0:00a3c3f5a8f0	153	* @retval "0" in case of success, an error code otherwise.
nucleosam	0:00a3c3f5a8f0	154	*/
nucleosam	0:00a3c3f5a8f0	155	virtual int ReadID(uint8_t *id = NULL)
nucleosam	0:00a3c3f5a8f0	156	{
nucleosam	0:00a3c3f5a8f0	157	return (int) Powerstep01_ReadID((uint8_t *) id);
nucleosam	0:00a3c3f5a8f0	158	}
nucleosam	0:00a3c3f5a8f0	159
nucleosam	0:00a3c3f5a8f0	160	/**
nucleosam	0:00a3c3f5a8f0	161	* @brief Public functions inherited from the StepperMotor Class
nucleosam	0:00a3c3f5a8f0	162	*/
nucleosam	0:00a3c3f5a8f0	163
nucleosam	0:00a3c3f5a8f0	164	/**
nucleosam	0:00a3c3f5a8f0	165	* @brief Getting the value of the Status Register.
nucleosam	0:00a3c3f5a8f0	166	* @param None.
nucleosam	0:00a3c3f5a8f0	167	* @retval None.
nucleosam	0:00a3c3f5a8f0	168	* @note The Status Register's flags are cleared, contrary to ReadStatusRegister().
nucleosam	0:00a3c3f5a8f0	169	*/
nucleosam	0:00a3c3f5a8f0	170	virtual unsigned int GetStatus(void)
nucleosam	0:00a3c3f5a8f0	171	{
nucleosam	0:00a3c3f5a8f0	172	return (unsigned int) Powerstep01_CmdGetStatus();
nucleosam	0:00a3c3f5a8f0	173	}
nucleosam	0:00a3c3f5a8f0	174
nucleosam	0:00a3c3f5a8f0	175	/**
nucleosam	0:00a3c3f5a8f0	176	* @brief Getting the position.
nucleosam	0:00a3c3f5a8f0	177	* @param None.
nucleosam	0:00a3c3f5a8f0	178	* @retval The position.
nucleosam	0:00a3c3f5a8f0	179	*/
nucleosam	0:00a3c3f5a8f0	180	virtual signed int GetPosition(void)
nucleosam	0:00a3c3f5a8f0	181	{
nucleosam	0:00a3c3f5a8f0	182	return (signed int)Powerstep01_GetPosition();
nucleosam	0:00a3c3f5a8f0	183	}
nucleosam	0:00a3c3f5a8f0	184
nucleosam	0:00a3c3f5a8f0	185	/**
nucleosam	0:00a3c3f5a8f0	186	* @brief Getting the marked position.
nucleosam	0:00a3c3f5a8f0	187	* @param None.
nucleosam	0:00a3c3f5a8f0	188	* @retval The marked position.
nucleosam	0:00a3c3f5a8f0	189	*/
nucleosam	0:00a3c3f5a8f0	190	virtual signed int GetMark(void)
nucleosam	0:00a3c3f5a8f0	191	{
nucleosam	0:00a3c3f5a8f0	192	return (signed int)Powerstep01_GetMark();
nucleosam	0:00a3c3f5a8f0	193	}
nucleosam	0:00a3c3f5a8f0	194
nucleosam	0:00a3c3f5a8f0	195	/**
nucleosam	0:00a3c3f5a8f0	196	* @brief Getting the current speed in pps.
nucleosam	0:00a3c3f5a8f0	197	* @param None.
nucleosam	0:00a3c3f5a8f0	198	* @retval The current speed in pps.
nucleosam	0:00a3c3f5a8f0	199	*/
nucleosam	0:00a3c3f5a8f0	200	virtual unsigned int GetSpeed(void)
nucleosam	0:00a3c3f5a8f0	201	{
nucleosam	0:00a3c3f5a8f0	202	return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_SPEED));
nucleosam	0:00a3c3f5a8f0	203	}
nucleosam	0:00a3c3f5a8f0	204
nucleosam	0:00a3c3f5a8f0	205	/**
nucleosam	0:00a3c3f5a8f0	206	* @brief Getting the maximum speed in pps.
nucleosam	0:00a3c3f5a8f0	207	* @param None.
nucleosam	0:00a3c3f5a8f0	208	* @retval The maximum speed in pps.
nucleosam	0:00a3c3f5a8f0	209	*/
nucleosam	0:00a3c3f5a8f0	210	virtual unsigned int GetMaxSpeed(void)
nucleosam	0:00a3c3f5a8f0	211	{
nucleosam	0:00a3c3f5a8f0	212	return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_MAX_SPEED));
nucleosam	0:00a3c3f5a8f0	213	}
nucleosam	0:00a3c3f5a8f0	214
nucleosam	0:00a3c3f5a8f0	215	/**
nucleosam	0:00a3c3f5a8f0	216	* @brief Getting the minimum speed in pps.
nucleosam	0:00a3c3f5a8f0	217	* @param None.
nucleosam	0:00a3c3f5a8f0	218	* @retval The minimum speed in pps.
nucleosam	0:00a3c3f5a8f0	219	*/
nucleosam	0:00a3c3f5a8f0	220	virtual unsigned int GetMinSpeed(void)
nucleosam	0:00a3c3f5a8f0	221	{
nucleosam	0:00a3c3f5a8f0	222	return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_MIN_SPEED));
nucleosam	0:00a3c3f5a8f0	223	}
nucleosam	0:00a3c3f5a8f0	224
nucleosam	0:00a3c3f5a8f0	225	/**
nucleosam	0:00a3c3f5a8f0	226	* @brief Getting the acceleration in pps^2.
nucleosam	0:00a3c3f5a8f0	227	* @param None.
nucleosam	0:00a3c3f5a8f0	228	* @retval The acceleration in pps^2.
nucleosam	0:00a3c3f5a8f0	229	*/
nucleosam	0:00a3c3f5a8f0	230	virtual unsigned int GetAcceleration(void)
nucleosam	0:00a3c3f5a8f0	231	{
nucleosam	0:00a3c3f5a8f0	232	return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_ACC));
nucleosam	0:00a3c3f5a8f0	233	}
nucleosam	0:00a3c3f5a8f0	234
nucleosam	0:00a3c3f5a8f0	235	/**
nucleosam	0:00a3c3f5a8f0	236	* @brief Getting the deceleration in pps^2.
nucleosam	0:00a3c3f5a8f0	237	* @param None.
nucleosam	0:00a3c3f5a8f0	238	* @retval The deceleration in pps^2.
nucleosam	0:00a3c3f5a8f0	239	*/
nucleosam	0:00a3c3f5a8f0	240	virtual unsigned int GetDeceleration(void)
nucleosam	0:00a3c3f5a8f0	241	{
nucleosam	0:00a3c3f5a8f0	242	return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_DEC));
nucleosam	0:00a3c3f5a8f0	243	}
nucleosam	0:00a3c3f5a8f0	244
nucleosam	0:00a3c3f5a8f0	245	/**
nucleosam	0:00a3c3f5a8f0	246	* @brief Getting the direction of rotation.
nucleosam	0:00a3c3f5a8f0	247	* @param None.
nucleosam	0:00a3c3f5a8f0	248	* @retval The direction of rotation.
nucleosam	0:00a3c3f5a8f0	249	*/
nucleosam	0:00a3c3f5a8f0	250	virtual direction_t GetDirection(void)
nucleosam	0:00a3c3f5a8f0	251	{
nucleosam	0:00a3c3f5a8f0	252	if ((POWERSTEP01_STATUS_DIR&Powerstep01_ReadStatusRegister())!=0)
nucleosam	0:00a3c3f5a8f0	253	{
nucleosam	0:00a3c3f5a8f0	254	return FWD;
nucleosam	0:00a3c3f5a8f0	255	}
nucleosam	0:00a3c3f5a8f0	256	else
nucleosam	0:00a3c3f5a8f0	257	{
nucleosam	0:00a3c3f5a8f0	258	return BWD;
nucleosam	0:00a3c3f5a8f0	259	}
nucleosam	0:00a3c3f5a8f0	260	}
nucleosam	0:00a3c3f5a8f0	261
nucleosam	0:00a3c3f5a8f0	262	/**
nucleosam	0:00a3c3f5a8f0	263	* @brief Setting the current position to be the home position.
nucleosam	0:00a3c3f5a8f0	264	* @param None.
nucleosam	0:00a3c3f5a8f0	265	* @retval None.
nucleosam	0:00a3c3f5a8f0	266	*/
nucleosam	0:00a3c3f5a8f0	267	virtual void SetHome(void)
nucleosam	0:00a3c3f5a8f0	268	{
nucleosam	0:00a3c3f5a8f0	269	Powerstep01_SetHome();
nucleosam	0:00a3c3f5a8f0	270	}
nucleosam	0:00a3c3f5a8f0	271
nucleosam	0:00a3c3f5a8f0	272	/**
nucleosam	0:00a3c3f5a8f0	273	* @brief Setting the current position to be the marked position.
nucleosam	0:00a3c3f5a8f0	274	* @param None.
nucleosam	0:00a3c3f5a8f0	275	* @retval None.
nucleosam	0:00a3c3f5a8f0	276	*/
nucleosam	0:00a3c3f5a8f0	277	virtual void SetMark(void)
nucleosam	0:00a3c3f5a8f0	278	{
nucleosam	0:00a3c3f5a8f0	279	Powerstep01_SetMark();
nucleosam	0:00a3c3f5a8f0	280	}
nucleosam	0:00a3c3f5a8f0	281
nucleosam	0:00a3c3f5a8f0	282	/**
nucleosam	0:00a3c3f5a8f0	283	* @brief Setting the maximum speed in steps/s.
nucleosam	0:00a3c3f5a8f0	284	* @param speed The maximum speed in steps/s.
nucleosam	0:00a3c3f5a8f0	285	* @retval TRUE if value is valid, FALSE otherwise.
nucleosam	0:00a3c3f5a8f0	286	*/
nucleosam	0:00a3c3f5a8f0	287	virtual bool SetMaxSpeed(unsigned int speed)
nucleosam	0:00a3c3f5a8f0	288	{
nucleosam	0:00a3c3f5a8f0	289	return Powerstep01_SetAnalogValue(POWERSTEP01_MAX_SPEED, (float)speed);
nucleosam	0:00a3c3f5a8f0	290	}
nucleosam	0:00a3c3f5a8f0	291
nucleosam	0:00a3c3f5a8f0	292	/**
nucleosam	0:00a3c3f5a8f0	293	* @brief Setting the minimum speed in steps/s.
nucleosam	0:00a3c3f5a8f0	294	* @param speed The minimum speed in steps/s.
nucleosam	0:00a3c3f5a8f0	295	* @retval TRUE if value is valid, FALSE otherwise.
nucleosam	0:00a3c3f5a8f0	296	*/
nucleosam	0:00a3c3f5a8f0	297	virtual bool SetMinSpeed(unsigned int speed)
nucleosam	0:00a3c3f5a8f0	298	{
nucleosam	0:00a3c3f5a8f0	299	return Powerstep01_SetAnalogValue(POWERSTEP01_MIN_SPEED, (float)speed);
nucleosam	0:00a3c3f5a8f0	300	}
nucleosam	0:00a3c3f5a8f0	301
nucleosam	0:00a3c3f5a8f0	302	/**
nucleosam	0:00a3c3f5a8f0	303	* @brief Setting the acceleration in steps/s^2.
nucleosam	0:00a3c3f5a8f0	304	* @param acceleration The acceleration in steps/s^2.
nucleosam	0:00a3c3f5a8f0	305	* @retval None.
nucleosam	0:00a3c3f5a8f0	306	*/
nucleosam	0:00a3c3f5a8f0	307	virtual bool SetAcceleration(unsigned int acceleration)
nucleosam	0:00a3c3f5a8f0	308	{
nucleosam	0:00a3c3f5a8f0	309	return Powerstep01_SetAnalogValue(POWERSTEP01_ACC, (float)acceleration);
nucleosam	0:00a3c3f5a8f0	310	}
nucleosam	0:00a3c3f5a8f0	311
nucleosam	0:00a3c3f5a8f0	312	/**
nucleosam	0:00a3c3f5a8f0	313	* @brief Setting the deceleration in steps/s^2.
nucleosam	0:00a3c3f5a8f0	314	* @param deceleration The deceleration in steps/s^2.
nucleosam	0:00a3c3f5a8f0	315	* @retval None.
nucleosam	0:00a3c3f5a8f0	316	*/
nucleosam	0:00a3c3f5a8f0	317	virtual bool SetDeceleration(unsigned int deceleration)
nucleosam	0:00a3c3f5a8f0	318	{
nucleosam	0:00a3c3f5a8f0	319	return Powerstep01_SetAnalogValue(POWERSTEP01_DEC, (float)deceleration);
nucleosam	0:00a3c3f5a8f0	320	}
nucleosam	0:00a3c3f5a8f0	321
nucleosam	0:00a3c3f5a8f0	322	/**
nucleosam	0:00a3c3f5a8f0	323	* @brief Setting the Step Mode.
nucleosam	0:00a3c3f5a8f0	324	* @param step_mode The Step Mode.
nucleosam	0:00a3c3f5a8f0	325	* @retval None.
nucleosam	0:00a3c3f5a8f0	326	* @note step_mode can be one of the following:
nucleosam	0:00a3c3f5a8f0	327	* + STEP_MODE_FULL
nucleosam	0:00a3c3f5a8f0	328	* + STEP_MODE_HALF
nucleosam	0:00a3c3f5a8f0	329	* + STEP_MODE_1_4
nucleosam	0:00a3c3f5a8f0	330	* + STEP_MODE_1_8
nucleosam	0:00a3c3f5a8f0	331	* + STEP_MODE_1_16
nucleosam	0:00a3c3f5a8f0	332	* + STEP_MODE_1_32
nucleosam	0:00a3c3f5a8f0	333	* + STEP_MODE_1_64
nucleosam	0:00a3c3f5a8f0	334	* + STEP_MODE_1_128
nucleosam	0:00a3c3f5a8f0	335	*/
nucleosam	1:8ce2a5d6fbf8	336	virtual bool SetStepMode(step_mode_t step_mode)
nucleosam	0:00a3c3f5a8f0	337	{
nucleosam	1:8ce2a5d6fbf8	338	return Powerstep01_SelectStepMode((motorStepMode_t) step_mode);
nucleosam	0:00a3c3f5a8f0	339	}
nucleosam	0:00a3c3f5a8f0	340
nucleosam	0:00a3c3f5a8f0	341	/**
nucleosam	0:00a3c3f5a8f0	342	* @brief Going to a specified position.
nucleosam	0:00a3c3f5a8f0	343	* @param position The desired position.
nucleosam	0:00a3c3f5a8f0	344	* @retval None.
nucleosam	0:00a3c3f5a8f0	345	*/
nucleosam	0:00a3c3f5a8f0	346	virtual void GoTo(signed int position)
nucleosam	0:00a3c3f5a8f0	347	{
nucleosam	0:00a3c3f5a8f0	348	Powerstep01_CmdGoTo((int32_t)position);
nucleosam	0:00a3c3f5a8f0	349	}
nucleosam	0:00a3c3f5a8f0	350
nucleosam	0:00a3c3f5a8f0	351	virtual void GoTo(direction_t direction, signed int position)
nucleosam	0:00a3c3f5a8f0	352	{
nucleosam	0:00a3c3f5a8f0	353	Powerstep01_CmdGoToDir((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD),(int32_t)position);
nucleosam	0:00a3c3f5a8f0	354	}
nucleosam	0:00a3c3f5a8f0	355
nucleosam	0:00a3c3f5a8f0	356	/**
nucleosam	0:00a3c3f5a8f0	357	* @brief Going to the home position.
nucleosam	0:00a3c3f5a8f0	358	* @param None.
nucleosam	0:00a3c3f5a8f0	359	* @retval None.
nucleosam	0:00a3c3f5a8f0	360	*/
nucleosam	0:00a3c3f5a8f0	361	virtual void GoHome(void)
nucleosam	0:00a3c3f5a8f0	362	{
nucleosam	0:00a3c3f5a8f0	363	Powerstep01_CmdGoHome();
nucleosam	0:00a3c3f5a8f0	364	}
nucleosam	0:00a3c3f5a8f0	365
nucleosam	0:00a3c3f5a8f0	366	/**
nucleosam	0:00a3c3f5a8f0	367	* @brief Going to the marked position.
nucleosam	0:00a3c3f5a8f0	368	* @param None.
nucleosam	0:00a3c3f5a8f0	369	* @retval None.
nucleosam	0:00a3c3f5a8f0	370	*/
nucleosam	0:00a3c3f5a8f0	371	virtual void GoMark(void)
nucleosam	0:00a3c3f5a8f0	372	{
nucleosam	0:00a3c3f5a8f0	373	Powerstep01_CmdGoMark();
nucleosam	0:00a3c3f5a8f0	374	}
nucleosam	0:00a3c3f5a8f0	375
nucleosam	0:00a3c3f5a8f0	376	/**
nucleosam	0:00a3c3f5a8f0	377	* @brief Running the motor towards a specified direction.
nucleosam	0:00a3c3f5a8f0	378	* @param direction The direction of rotation.
nucleosam	0:00a3c3f5a8f0	379	* @retval None.
nucleosam	0:00a3c3f5a8f0	380	*/
nucleosam	0:00a3c3f5a8f0	381	virtual void Run(direction_t direction)
nucleosam	0:00a3c3f5a8f0	382	{
nucleosam	0:00a3c3f5a8f0	383	Powerstep01_CmdRun((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), Powerstep01_CmdGetParam((powerstep01_Registers_t) POWERSTEP01_MAX_SPEED));
nucleosam	0:00a3c3f5a8f0	384	}
nucleosam	0:00a3c3f5a8f0	385
nucleosam	0:00a3c3f5a8f0	386	/**
nucleosam	0:00a3c3f5a8f0	387	* @brief Moving the motor towards a specified direction for a certain number of steps.
nucleosam	0:00a3c3f5a8f0	388	* @param direction The direction of rotation.
nucleosam	0:00a3c3f5a8f0	389	* @param steps The desired number of steps.
nucleosam	0:00a3c3f5a8f0	390	* @retval None.
nucleosam	0:00a3c3f5a8f0	391	*/
nucleosam	0:00a3c3f5a8f0	392	virtual void Move(direction_t direction, unsigned int steps)
nucleosam	0:00a3c3f5a8f0	393	{
nucleosam	0:00a3c3f5a8f0	394	Powerstep01_CmdMove((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), (uint32_t)steps);
nucleosam	0:00a3c3f5a8f0	395	}
nucleosam	0:00a3c3f5a8f0	396
nucleosam	0:00a3c3f5a8f0	397	/**
nucleosam	0:00a3c3f5a8f0	398	* @brief Stopping the motor through an immediate deceleration up to zero speed.
nucleosam	0:00a3c3f5a8f0	399	* @param None.
nucleosam	0:00a3c3f5a8f0	400	* @retval None.
nucleosam	0:00a3c3f5a8f0	401	*/
nucleosam	0:00a3c3f5a8f0	402	virtual void SoftStop(void)
nucleosam	0:00a3c3f5a8f0	403	{
nucleosam	0:00a3c3f5a8f0	404	Powerstep01_CmdSoftStop();
nucleosam	0:00a3c3f5a8f0	405	}
nucleosam	0:00a3c3f5a8f0	406
nucleosam	0:00a3c3f5a8f0	407	/**
nucleosam	0:00a3c3f5a8f0	408	* @brief Stopping the motor through an immediate infinite deceleration.
nucleosam	0:00a3c3f5a8f0	409	* @param None.
nucleosam	0:00a3c3f5a8f0	410	* @retval None.
nucleosam	0:00a3c3f5a8f0	411	*/
nucleosam	0:00a3c3f5a8f0	412	virtual void HardStop(void)
nucleosam	0:00a3c3f5a8f0	413	{
nucleosam	0:00a3c3f5a8f0	414	Powerstep01_CmdHardStop();
nucleosam	0:00a3c3f5a8f0	415	}
nucleosam	0:00a3c3f5a8f0	416
nucleosam	0:00a3c3f5a8f0	417	/**
nucleosam	0:00a3c3f5a8f0	418	* @brief Disabling the power bridge after performing a deceleration to zero.
nucleosam	0:00a3c3f5a8f0	419	* @param None.
nucleosam	0:00a3c3f5a8f0	420	* @retval None.
nucleosam	0:00a3c3f5a8f0	421	*/
nucleosam	0:00a3c3f5a8f0	422	virtual void SoftHiZ(void)
nucleosam	0:00a3c3f5a8f0	423	{
nucleosam	0:00a3c3f5a8f0	424	Powerstep01_CmdSoftHiZ();
nucleosam	0:00a3c3f5a8f0	425	}
nucleosam	0:00a3c3f5a8f0	426
nucleosam	0:00a3c3f5a8f0	427	/**
nucleosam	0:00a3c3f5a8f0	428	* @brief Disabling the power bridge immediately.
nucleosam	0:00a3c3f5a8f0	429	* @param None.
nucleosam	0:00a3c3f5a8f0	430	* @retval None.
nucleosam	0:00a3c3f5a8f0	431	*/
nucleosam	0:00a3c3f5a8f0	432	virtual void HardHiZ(void)
nucleosam	0:00a3c3f5a8f0	433	{
nucleosam	0:00a3c3f5a8f0	434	Powerstep01_CmdHardHiZ();
nucleosam	0:00a3c3f5a8f0	435	}
nucleosam	0:00a3c3f5a8f0	436
nucleosam	0:00a3c3f5a8f0	437	/**
nucleosam	0:00a3c3f5a8f0	438	* @brief Waiting while the motor is active.
nucleosam	0:00a3c3f5a8f0	439	* @param None.
nucleosam	0:00a3c3f5a8f0	440	* @retval None.
nucleosam	0:00a3c3f5a8f0	441	*/
nucleosam	0:00a3c3f5a8f0	442	virtual void WaitWhileActive(void)
nucleosam	0:00a3c3f5a8f0	443	{
nucleosam	0:00a3c3f5a8f0	444	Powerstep01_WaitWhileActive();
nucleosam	0:00a3c3f5a8f0	445	}
nucleosam	0:00a3c3f5a8f0	446
nucleosam	0:00a3c3f5a8f0	447	/**
nucleosam	0:00a3c3f5a8f0	448	* @brief Public functions NOT inherited
nucleosam	0:00a3c3f5a8f0	449	*/
nucleosam	1:8ce2a5d6fbf8	450
nucleosam	1:8ce2a5d6fbf8	451	/**
nucleosam	1:8ce2a5d6fbf8	452	* @brief Attaching an error handler.
nucleosam	1:8ce2a5d6fbf8	453	* @param fptr An error handler.
nucleosam	1:8ce2a5d6fbf8	454	* @retval None.
nucleosam	1:8ce2a5d6fbf8	455	*/
nucleosam	1:8ce2a5d6fbf8	456	virtual void AttachErrorHandler(void (*fptr)(uint16_t error))
nucleosam	1:8ce2a5d6fbf8	457	{
nucleosam	1:8ce2a5d6fbf8	458	Powerstep01_AttachErrorHandler((void (*)(uint16_t error)) fptr);
nucleosam	1:8ce2a5d6fbf8	459	}
nucleosam	1:8ce2a5d6fbf8	460
nucleosam	0:00a3c3f5a8f0	461	/**
nucleosam	0:00a3c3f5a8f0	462	* @brief Checks if the device is busy by reading the busy pin position.
nucleosam	0:00a3c3f5a8f0	463	* @param None.
nucleosam	0:00a3c3f5a8f0	464	* @retval One if the device his busy (low logic level on busy output),
nucleosam	0:00a3c3f5a8f0	465	* otherwise zero
nucleosam	0:00a3c3f5a8f0	466	*/
nucleosam	0:00a3c3f5a8f0	467	virtual int CheckBusyHw(void)
nucleosam	0:00a3c3f5a8f0	468	{
nucleosam	0:00a3c3f5a8f0	469	if (busy_irq!=0) return 0x01;
nucleosam	0:00a3c3f5a8f0	470	else return 0x00;
nucleosam	0:00a3c3f5a8f0	471	}
nucleosam	0:00a3c3f5a8f0	472
nucleosam	0:00a3c3f5a8f0	473	/**
nucleosam	0:00a3c3f5a8f0	474	* @brief Checks if the device has an alarm flag set by reading the flag pin position.
nucleosam	0:00a3c3f5a8f0	475	* @param None.
nucleosam	0:00a3c3f5a8f0	476	* @retval One if the device has an alarm flag set (low logic level on flag output),
nucleosam	0:00a3c3f5a8f0	477	* otherwise zero
nucleosam	0:00a3c3f5a8f0	478	*/
nucleosam	0:00a3c3f5a8f0	479	virtual unsigned int CheckStatusHw(void)
nucleosam	0:00a3c3f5a8f0	480	{
nucleosam	0:00a3c3f5a8f0	481	if (flag_irq!=0) return 0x01;
nucleosam	0:00a3c3f5a8f0	482	else return 0x00;
nucleosam	0:00a3c3f5a8f0	483	}
nucleosam	0:00a3c3f5a8f0	484
nucleosam	0:00a3c3f5a8f0	485	/**
nucleosam	0:00a3c3f5a8f0	486	* @brief Fetch and clear status flags of all devices
nucleosam	0:00a3c3f5a8f0	487	* by issuing a GET_STATUS command simultaneously
nucleosam	0:00a3c3f5a8f0	488	* to all devices.
nucleosam	0:00a3c3f5a8f0	489	* Then, the fetched status of each device can be retrieved
nucleosam	0:00a3c3f5a8f0	490	* by using the Powerstep01_GetFetchedStatus function
nucleosam	0:00a3c3f5a8f0	491	* provided there is no other calls to functions which
nucleosam	0:00a3c3f5a8f0	492	* use the SPI in between.
nucleosam	0:00a3c3f5a8f0	493	* @retval None
nucleosam	0:00a3c3f5a8f0	494	*/
nucleosam	0:00a3c3f5a8f0	495	virtual void FetchAndClearAllStatus(void)
nucleosam	0:00a3c3f5a8f0	496	{
nucleosam	0:00a3c3f5a8f0	497	Powerstep01_FetchAndClearAllStatus();
nucleosam	0:00a3c3f5a8f0	498	}
nucleosam	0:00a3c3f5a8f0	499
nucleosam	0:00a3c3f5a8f0	500	/**
nucleosam	1:8ce2a5d6fbf8	501	* @brief Getting a parameter float value.
nucleosam	1:8ce2a5d6fbf8	502	* @param parameter A parameter's register adress.
nucleosam	1:8ce2a5d6fbf8	503	* @retval The parameter's float value.
nucleosam	1:8ce2a5d6fbf8	504	* parameter can be one of the following:
nucleosam	1:8ce2a5d6fbf8	505	* + POWERSTEP01_ABS_POS
nucleosam	1:8ce2a5d6fbf8	506	* + POWERSTEP01_MARK
nucleosam	1:8ce2a5d6fbf8	507	* + POWERSTEP01_ACC
nucleosam	1:8ce2a5d6fbf8	508	* + POWERSTEP01_DEC
nucleosam	1:8ce2a5d6fbf8	509	* + POWERSTEP01_SPEED
nucleosam	1:8ce2a5d6fbf8	510	* + POWERSTEP01_MAX_SPEED
nucleosam	1:8ce2a5d6fbf8	511	* + POWERSTEP01_MIN_SPEED
nucleosam	1:8ce2a5d6fbf8	512	* + POWERSTEP01_FS_SPD
nucleosam	1:8ce2a5d6fbf8	513	* (voltage mode) + POWERSTEP01_INT_SPD
nucleosam	1:8ce2a5d6fbf8	514	* (voltage mode) + POWERSTEP01_K_THERM
nucleosam	1:8ce2a5d6fbf8	515	* + POWERSTEP01_OCD_TH
nucleosam	1:8ce2a5d6fbf8	516	* (voltage mode) + POWERSTEP01_STALL_TH
nucleosam	1:8ce2a5d6fbf8	517	* (voltage mode) + POWERSTEP01_KVAL_HOLD : value in %
nucleosam	1:8ce2a5d6fbf8	518	* (current mode) + POWERSTEP01_TVAL_HOLD : value in mV
nucleosam	1:8ce2a5d6fbf8	519	* (voltage mode) + POWERSTEP01_KVAL_RUN : value in %
nucleosam	1:8ce2a5d6fbf8	520	* (current mode) + POWERSTEP01_TVAL_RUN : value in mV
nucleosam	1:8ce2a5d6fbf8	521	* (voltage mode) + POWERSTEP01_KVAL_ACC : value in %
nucleosam	1:8ce2a5d6fbf8	522	* (current mode) + POWERSTEP01_TVAL_ACC : value in mV
nucleosam	1:8ce2a5d6fbf8	523	* (voltage mode) + POWERSTEP01_KVAL_DEC : value in %
nucleosam	1:8ce2a5d6fbf8	524	* (current mode) + POWERSTEP01_TVAL_DEC : value in mV
nucleosam	1:8ce2a5d6fbf8	525	* (voltage mode) + POWERSTEP01_ST_SLP
nucleosam	1:8ce2a5d6fbf8	526	* (voltage mode) + POWERSTEP01_FN_SLP_ACC
nucleosam	1:8ce2a5d6fbf8	527	* (voltage mode) + POWERSTEP01_FN_SLP_DEC
nucleosam	1:8ce2a5d6fbf8	528	*/
nucleosam	1:8ce2a5d6fbf8	529	virtual float GetAnalogValue(unsigned int parameter)
nucleosam	1:8ce2a5d6fbf8	530	{
nucleosam	1:8ce2a5d6fbf8	531	return Powerstep01_GetAnalogValue((powerstep01_Registers_t)parameter);
nucleosam	1:8ce2a5d6fbf8	532	}
nucleosam	1:8ce2a5d6fbf8	533
nucleosam	1:8ce2a5d6fbf8	534	/**
nucleosam	0:00a3c3f5a8f0	535	* @brief Get the value of the STATUS register which was
nucleosam	0:00a3c3f5a8f0	536	* fetched by using Powerstep01_FetchAndClearAllStatus.
nucleosam	0:00a3c3f5a8f0	537	* The fetched values are available as long as there
nucleosam	0:00a3c3f5a8f0	538	* no other calls to functions which use the SPI.
nucleosam	0:00a3c3f5a8f0	539	* @retval Last fetched value of the STATUS register.
nucleosam	0:00a3c3f5a8f0	540	*/
nucleosam	0:00a3c3f5a8f0	541	virtual uint16_t GetFetchedStatus(void)
nucleosam	0:00a3c3f5a8f0	542	{
nucleosam	0:00a3c3f5a8f0	543	return Powerstep01_GetFetchedStatus();
nucleosam	0:00a3c3f5a8f0	544	}
nucleosam	1:8ce2a5d6fbf8	545
nucleosam	1:8ce2a5d6fbf8	546	/**
nucleosam	1:8ce2a5d6fbf8	547	* @brief Getting the version of the firmware.
nucleosam	1:8ce2a5d6fbf8	548	* @param None.
nucleosam	1:8ce2a5d6fbf8	549	* @retval The version of the firmware.
nucleosam	1:8ce2a5d6fbf8	550	*/
nucleosam	1:8ce2a5d6fbf8	551	virtual unsigned int GetFwVersion(void)
nucleosam	1:8ce2a5d6fbf8	552	{
nucleosam	1:8ce2a5d6fbf8	553	return (unsigned int) Powerstep01_GetFwVersion();
nucleosam	1:8ce2a5d6fbf8	554	}
nucleosam	1:8ce2a5d6fbf8	555
nucleosam	1:8ce2a5d6fbf8	556	/**
nucleosam	1:8ce2a5d6fbf8	557	* @brief Getting a parameter register value.
nucleosam	1:8ce2a5d6fbf8	558	* @param parameter A parameter's register adress.
nucleosam	1:8ce2a5d6fbf8	559	* @retval The parameter's register value.
nucleosam	1:8ce2a5d6fbf8	560	* parameter can be one of the following:
nucleosam	1:8ce2a5d6fbf8	561	* + POWERSTEP01_ABS_POS
nucleosam	1:8ce2a5d6fbf8	562	* + POWERSTEP01_EL_POS
nucleosam	1:8ce2a5d6fbf8	563	* + POWERSTEP01_MARK
nucleosam	1:8ce2a5d6fbf8	564	* + POWERSTEP01_SPEED
nucleosam	1:8ce2a5d6fbf8	565	* + POWERSTEP01_ACC
nucleosam	1:8ce2a5d6fbf8	566	* + POWERSTEP01_DEC
nucleosam	1:8ce2a5d6fbf8	567	* + POWERSTEP01_MAX_SPEED
nucleosam	1:8ce2a5d6fbf8	568	* + POWERSTEP01_MIN_SPEED
nucleosam	1:8ce2a5d6fbf8	569	* (voltage mode) + POWERSTEP01_KVAL_HOLD : value in %
nucleosam	1:8ce2a5d6fbf8	570	* (current mode) + POWERSTEP01_TVAL_HOLD : value in mV
nucleosam	1:8ce2a5d6fbf8	571	* (voltage mode) + POWERSTEP01_KVAL_RUN : value in %
nucleosam	1:8ce2a5d6fbf8	572	* (current mode) + POWERSTEP01_TVAL_RUN : value in mV
nucleosam	1:8ce2a5d6fbf8	573	* (voltage mode) + POWERSTEP01_KVAL_ACC : value in %
nucleosam	1:8ce2a5d6fbf8	574	* (current mode) + POWERSTEP01_TVAL_ACC : value in mV
nucleosam	1:8ce2a5d6fbf8	575	* (voltage mode) + POWERSTEP01_KVAL_DEC : value in %
nucleosam	1:8ce2a5d6fbf8	576	* (current mode) + POWERSTEP01_TVAL_DEC : value in mV
nucleosam	1:8ce2a5d6fbf8	577	* (voltage mode) + POWERSTEP01_INT_SPD
nucleosam	1:8ce2a5d6fbf8	578	* (voltage mode) + POWERSTEP01_ST_SLP
nucleosam	1:8ce2a5d6fbf8	579	* (current mode) + POWERSTEP01_T_FAST
nucleosam	1:8ce2a5d6fbf8	580	* (voltage mode) + POWERSTEP01_FN_SLP_ACC
nucleosam	1:8ce2a5d6fbf8	581	* (current mode) + POWERSTEP01_TON_MIN
nucleosam	1:8ce2a5d6fbf8	582	* (voltage mode) + POWERSTEP01_FN_SLP_DEC
nucleosam	1:8ce2a5d6fbf8	583	* (current mode) + POWERSTEP01_TOFF_MIN
nucleosam	1:8ce2a5d6fbf8	584	* (voltage mode) + POWERSTEP01_K_THERM
nucleosam	1:8ce2a5d6fbf8	585	* + POWERSTEP01_ADC_OUT
nucleosam	1:8ce2a5d6fbf8	586	* + POWERSTEP01_OCD_TH
nucleosam	1:8ce2a5d6fbf8	587	* (voltage mode) + POWERSTEP01_STALL_TH
nucleosam	1:8ce2a5d6fbf8	588	* + POWERSTEP01_FS_SPD
nucleosam	1:8ce2a5d6fbf8	589	* + POWERSTEP01_STEP_MODE
nucleosam	1:8ce2a5d6fbf8	590	* + POWERSTEP01_ALARM_EN
nucleosam	1:8ce2a5d6fbf8	591	* + POWERSTEP01_GATECFG1
nucleosam	1:8ce2a5d6fbf8	592	* + POWERSTEP01_GATECFG2
nucleosam	1:8ce2a5d6fbf8	593	* + POWERSTEP01_CONFIG
nucleosam	1:8ce2a5d6fbf8	594	* + POWERSTEP01_STATUS
nucleosam	1:8ce2a5d6fbf8	595	*/
nucleosam	1:8ce2a5d6fbf8	596	virtual unsigned int GetRawParameter(unsigned int parameter)
nucleosam	1:8ce2a5d6fbf8	597	{
nucleosam	1:8ce2a5d6fbf8	598	return (unsigned int) Powerstep01_CmdGetParam((powerstep01_Registers_t)parameter);
nucleosam	1:8ce2a5d6fbf8	599	}
nucleosam	0:00a3c3f5a8f0	600
nucleosam	0:00a3c3f5a8f0	601	/**
nucleosam	0:00a3c3f5a8f0	602	* @brief Issues PowerStep01 Go Until command.
nucleosam	0:00a3c3f5a8f0	603	* @param action type of action to undertake when the SW
nucleosam	0:00a3c3f5a8f0	604	* input is forced high (ACTION_RESET or ACTION_COPY).
nucleosam	0:00a3c3f5a8f0	605	* @param direction The direction of rotation.
nucleosam	0:00a3c3f5a8f0	606	* @param speed in steps/s.
nucleosam	0:00a3c3f5a8f0	607	* @retval One if the device has an alarm flag set (low logic level on flag output),
nucleosam	0:00a3c3f5a8f0	608	* otherwise zero
nucleosam	0:00a3c3f5a8f0	609	*/
nucleosam	0:00a3c3f5a8f0	610	virtual void GoUntil(motorAction_t action, direction_t direction, float speed)
nucleosam	0:00a3c3f5a8f0	611	{
nucleosam	0:00a3c3f5a8f0	612	Powerstep01_CmdGoUntil(action,
nucleosam	0:00a3c3f5a8f0	613	(motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD),
nucleosam	0:00a3c3f5a8f0	614	Speed_Steps_s_to_RegVal(speed));
nucleosam	0:00a3c3f5a8f0	615	}
nucleosam	0:00a3c3f5a8f0	616
nucleosam	0:00a3c3f5a8f0	617	/**
nucleosam	0:00a3c3f5a8f0	618	* @brief Checks if the device is busy
nucleosam	0:00a3c3f5a8f0	619	* by reading the Busy flag bit ot its status Register
nucleosam	0:00a3c3f5a8f0	620	* This operation clears the status register
nucleosam	0:00a3c3f5a8f0	621	* @retval true if device is busy, false zero
nucleosam	0:00a3c3f5a8f0	622	*/
nucleosam	0:00a3c3f5a8f0	623	virtual bool IsDeviceBusy(void)
nucleosam	0:00a3c3f5a8f0	624	{
nucleosam	0:00a3c3f5a8f0	625	return Powerstep01_IsDeviceBusy();
nucleosam	0:00a3c3f5a8f0	626	}
nucleosam	0:00a3c3f5a8f0	627
nucleosam	0:00a3c3f5a8f0	628	/**
nucleosam	0:00a3c3f5a8f0	629	* @brief Put commands in queue before synchronous sending
nucleosam	0:00a3c3f5a8f0	630	* done by calling SendQueuedCommands.
nucleosam	0:00a3c3f5a8f0	631	* Any call to functions that use the SPI between the calls of
nucleosam	0:00a3c3f5a8f0	632	* QueueCommands and SendQueuedCommands
nucleosam	0:00a3c3f5a8f0	633	* will corrupt the queue.
nucleosam	0:00a3c3f5a8f0	634	* A command for each device of the daisy chain must be
nucleosam	0:00a3c3f5a8f0	635	* specified before calling SendQueuedCommands.
nucleosam	0:00a3c3f5a8f0	636	* @param command Command to queue (all Powerstep01 commmands
nucleosam	0:00a3c3f5a8f0	637	* except POWERSTEP01_SET_PARAM, POWERSTEP01_GET_PARAM,
nucleosam	0:00a3c3f5a8f0	638	* POWERSTEP01_GET_STATUS).
nucleosam	0:00a3c3f5a8f0	639	* @param value argument of the command to queue.
nucleosam	0:00a3c3f5a8f0	640	* @retval None.
nucleosam	0:00a3c3f5a8f0	641	*/
nucleosam	0:00a3c3f5a8f0	642	virtual void QueueCommands(uint8_t command, int32_t value)
nucleosam	0:00a3c3f5a8f0	643	{
nucleosam	0:00a3c3f5a8f0	644	Powerstep01_QueueCommands(command, value);
nucleosam	0:00a3c3f5a8f0	645	}
nucleosam	0:00a3c3f5a8f0	646
nucleosam	0:00a3c3f5a8f0	647	/**
nucleosam	0:00a3c3f5a8f0	648	* @brief Reading the Status Register.
nucleosam	0:00a3c3f5a8f0	649	* @param None.
nucleosam	0:00a3c3f5a8f0	650	* @retval None.
nucleosam	0:00a3c3f5a8f0	651	* @note The Status Register's flags are not cleared, contrary to GetStatus().
nucleosam	0:00a3c3f5a8f0	652	*/
nucleosam	0:00a3c3f5a8f0	653	virtual uint16_t ReadStatusRegister(void)
nucleosam	0:00a3c3f5a8f0	654	{
nucleosam	0:00a3c3f5a8f0	655	return Powerstep01_ReadStatusRegister();
nucleosam	0:00a3c3f5a8f0	656	}
nucleosam	0:00a3c3f5a8f0	657
nucleosam	0:00a3c3f5a8f0	658	/**
nucleosam	0:00a3c3f5a8f0	659	* @brief Issues PowerStep01 Release SW command.
nucleosam	0:00a3c3f5a8f0	660	* @param action type of action to undertake when the SW
nucleosam	0:00a3c3f5a8f0	661	* input is forced high (ACTION_RESET or ACTION_COPY).
nucleosam	0:00a3c3f5a8f0	662	* @param direction The direction of rotation.
nucleosam	0:00a3c3f5a8f0	663	* @param speed in steps/s.
nucleosam	0:00a3c3f5a8f0	664	* @retval One if the device has an alarm flag set (low logic level on flag output),
nucleosam	0:00a3c3f5a8f0	665	* otherwise zero
nucleosam	0:00a3c3f5a8f0	666	*/
nucleosam	0:00a3c3f5a8f0	667	virtual void ReleaseSw(motorAction_t action, direction_t direction)
nucleosam	0:00a3c3f5a8f0	668	{
nucleosam	0:00a3c3f5a8f0	669	Powerstep01_CmdReleaseSw(action,
nucleosam	0:00a3c3f5a8f0	670	(motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD));
nucleosam	0:00a3c3f5a8f0	671	}
nucleosam	0:00a3c3f5a8f0	672
nucleosam	0:00a3c3f5a8f0	673	/**
nucleosam	0:00a3c3f5a8f0	674	* @brief Issues PowerStep01 Reset Device command.
nucleosam	0:00a3c3f5a8f0	675	* @param None.
nucleosam	0:00a3c3f5a8f0	676	* @retval None.
nucleosam	0:00a3c3f5a8f0	677	*/
nucleosam	0:00a3c3f5a8f0	678	virtual void ResetCommand(void)
nucleosam	0:00a3c3f5a8f0	679	{
nucleosam	0:00a3c3f5a8f0	680	Powerstep01_CmdResetDevice();
nucleosam	0:00a3c3f5a8f0	681	}
nucleosam	0:00a3c3f5a8f0	682
nucleosam	0:00a3c3f5a8f0	683	/**
nucleosam	0:00a3c3f5a8f0	684	* @brief Issues PowerStep01 ResetPos command.
nucleosam	0:00a3c3f5a8f0	685	* @param None.
nucleosam	0:00a3c3f5a8f0	686	* @retval None.
nucleosam	0:00a3c3f5a8f0	687	* @note Same effect as SetHome().
nucleosam	0:00a3c3f5a8f0	688	*/
nucleosam	0:00a3c3f5a8f0	689	virtual void ResetPosition(void)
nucleosam	0:00a3c3f5a8f0	690	{
nucleosam	0:00a3c3f5a8f0	691	Powerstep01_CmdResetPos();
nucleosam	0:00a3c3f5a8f0	692	}
nucleosam	1:8ce2a5d6fbf8	693
nucleosam	1:8ce2a5d6fbf8	694	/**
nucleosam	1:8ce2a5d6fbf8	695	* @brief Running the motor towards a specified direction.
nucleosam	1:8ce2a5d6fbf8	696	* @param direction The direction of rotation.
nucleosam	1:8ce2a5d6fbf8	697	* @param speed in steps/s.
nucleosam	1:8ce2a5d6fbf8	698	* @retval None.
nucleosam	1:8ce2a5d6fbf8	699	*/
nucleosam	1:8ce2a5d6fbf8	700	virtual void Run(direction_t direction, float speed)
nucleosam	1:8ce2a5d6fbf8	701	{
nucleosam	1:8ce2a5d6fbf8	702	Powerstep01_CmdRun((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), Speed_Steps_s_to_RegVal(speed));
nucleosam	1:8ce2a5d6fbf8	703	}
nucleosam	1:8ce2a5d6fbf8	704
nucleosam	0:00a3c3f5a8f0	705	/**
nucleosam	0:00a3c3f5a8f0	706	* @brief Sends commands stored previously in the queue by QueueCommands.
nucleosam	0:00a3c3f5a8f0	707	* @param None.
nucleosam	0:00a3c3f5a8f0	708	* @retval None.
nucleosam	0:00a3c3f5a8f0	709	*/
nucleosam	0:00a3c3f5a8f0	710	virtual void SendQueuedCommands(void)
nucleosam	0:00a3c3f5a8f0	711	{
nucleosam	0:00a3c3f5a8f0	712	Powerstep01_SendQueuedCommands();
nucleosam	0:00a3c3f5a8f0	713	}
nucleosam	0:00a3c3f5a8f0	714
nucleosam	0:00a3c3f5a8f0	715	/**
nucleosam	1:8ce2a5d6fbf8	716	* @brief Setting a parameter with an input float value.
nucleosam	1:8ce2a5d6fbf8	717	* @param param Register adress.
nucleosam	1:8ce2a5d6fbf8	718	* @param value Float value to convert and set into the register.
nucleosam	1:8ce2a5d6fbf8	719	* @retval TRUE if param and value are valid, FALSE otherwise
nucleosam	1:8ce2a5d6fbf8	720	* @note parameter can be one of the following:
nucleosam	1:8ce2a5d6fbf8	721	* + POWERSTEP01_EL_POS
nucleosam	1:8ce2a5d6fbf8	722	* + POWERSTEP01_ABS_POS
nucleosam	1:8ce2a5d6fbf8	723	* + POWERSTEP01_MARK
nucleosam	1:8ce2a5d6fbf8	724	* + POWERSTEP01_ACC
nucleosam	1:8ce2a5d6fbf8	725	* + POWERSTEP01_DEC
nucleosam	1:8ce2a5d6fbf8	726	* + POWERSTEP01_MAX_SPEED
nucleosam	1:8ce2a5d6fbf8	727	* + POWERSTEP01_MIN_SPEED
nucleosam	1:8ce2a5d6fbf8	728	* + POWERSTEP01_FS_SPD
nucleosam	1:8ce2a5d6fbf8	729	* + POWERSTEP01_INT_SPD
nucleosam	1:8ce2a5d6fbf8	730	* + POWERSTEP01_K_THERM
nucleosam	1:8ce2a5d6fbf8	731	* + POWERSTEP01_OCD_TH
nucleosam	1:8ce2a5d6fbf8	732	* + POWERSTEP01_STALL_TH
nucleosam	1:8ce2a5d6fbf8	733	* + POWERSTEP01_KVAL_HOLD
nucleosam	1:8ce2a5d6fbf8	734	* + POWERSTEP01_KVAL_RUN
nucleosam	1:8ce2a5d6fbf8	735	* + POWERSTEP01_KVAL_ACC
nucleosam	1:8ce2a5d6fbf8	736	* + POWERSTEP01_KVAL_DEC
nucleosam	1:8ce2a5d6fbf8	737	* + POWERSTEP01_ST_SLP
nucleosam	1:8ce2a5d6fbf8	738	* + POWERSTEP01_FN_SLP_ACC
nucleosam	1:8ce2a5d6fbf8	739	* + POWERSTEP01_FN_SLP_DEC
nucleosam	1:8ce2a5d6fbf8	740	* + POWERSTEP01_TVAL_HOLD
nucleosam	1:8ce2a5d6fbf8	741	* + POWERSTEP01_TVAL_RUN
nucleosam	1:8ce2a5d6fbf8	742	* + POWERSTEP01_TVAL_ACC
nucleosam	1:8ce2a5d6fbf8	743	* + POWERSTEP01_TVAL_DEC
nucleosam	1:8ce2a5d6fbf8	744	* + POWERSTEP01_TON_MIN
nucleosam	1:8ce2a5d6fbf8	745	* + POWERSTEP01_TOFF_MIN
nucleosam	1:8ce2a5d6fbf8	746	*/
nucleosam	1:8ce2a5d6fbf8	747	virtual bool SetAnalogValue(unsigned int param, float value)
nucleosam	1:8ce2a5d6fbf8	748	{
nucleosam	1:8ce2a5d6fbf8	749	return Powerstep01_SetAnalogValue((powerstep01_Registers_t)param, value);
nucleosam	1:8ce2a5d6fbf8	750	}
nucleosam	1:8ce2a5d6fbf8	751
nucleosam	1:8ce2a5d6fbf8	752	/**
nucleosam	1:8ce2a5d6fbf8	753	* @brief Setting a parameter.
nucleosam	1:8ce2a5d6fbf8	754	* @param parameter A parameter's register adress.
nucleosam	1:8ce2a5d6fbf8	755	* @param value The parameter's value.
nucleosam	1:8ce2a5d6fbf8	756	* @retval None.
nucleosam	1:8ce2a5d6fbf8	757	* parameter can be one of the following:
nucleosam	1:8ce2a5d6fbf8	758	* + POWERSTEP01_ABS_POS
nucleosam	1:8ce2a5d6fbf8	759	* + POWERSTEP01_EL_POS
nucleosam	1:8ce2a5d6fbf8	760	* + POWERSTEP01_MARK
nucleosam	1:8ce2a5d6fbf8	761	* + POWERSTEP01_ACC
nucleosam	1:8ce2a5d6fbf8	762	* + POWERSTEP01_DEC
nucleosam	1:8ce2a5d6fbf8	763	* + POWERSTEP01_MAX_SPEED
nucleosam	1:8ce2a5d6fbf8	764	* + POWERSTEP01_MIN_SPEED
nucleosam	1:8ce2a5d6fbf8	765	* (voltage mode) + POWERSTEP01_KVAL_HOLD : value in %
nucleosam	1:8ce2a5d6fbf8	766	* (current mode) + POWERSTEP01_TVAL_HOLD : value in mV
nucleosam	1:8ce2a5d6fbf8	767	* (voltage mode) + POWERSTEP01_KVAL_RUN : value in %
nucleosam	1:8ce2a5d6fbf8	768	* (current mode) + POWERSTEP01_TVAL_RUN : value in mV
nucleosam	1:8ce2a5d6fbf8	769	* (voltage mode) + POWERSTEP01_KVAL_ACC : value in %
nucleosam	1:8ce2a5d6fbf8	770	* (current mode) + POWERSTEP01_TVAL_ACC : value in mV
nucleosam	1:8ce2a5d6fbf8	771	* (voltage mode) + POWERSTEP01_KVAL_DEC : value in %
nucleosam	1:8ce2a5d6fbf8	772	* (current mode) + POWERSTEP01_TVAL_DEC : value in mV
nucleosam	1:8ce2a5d6fbf8	773	* (voltage mode) + POWERSTEP01_INT_SPD
nucleosam	1:8ce2a5d6fbf8	774	* (voltage mode) + POWERSTEP01_ST_SLP
nucleosam	1:8ce2a5d6fbf8	775	* (current mode) + POWERSTEP01_T_FAST
nucleosam	1:8ce2a5d6fbf8	776	* (voltage mode) + POWERSTEP01_FN_SLP_ACC
nucleosam	1:8ce2a5d6fbf8	777	* (current mode) + POWERSTEP01_TON_MIN
nucleosam	1:8ce2a5d6fbf8	778	* (voltage mode) + POWERSTEP01_FN_SLP_DEC
nucleosam	1:8ce2a5d6fbf8	779	* (current mode) + POWERSTEP01_TOFF_MIN
nucleosam	1:8ce2a5d6fbf8	780	* (voltage mode) + POWERSTEP01_K_THERM
nucleosam	1:8ce2a5d6fbf8	781	* + POWERSTEP01_ADC_OUT
nucleosam	1:8ce2a5d6fbf8	782	* + POWERSTEP01_OCD_TH
nucleosam	1:8ce2a5d6fbf8	783	* (voltage mode) + POWERSTEP01_STALL_TH
nucleosam	1:8ce2a5d6fbf8	784	* + POWERSTEP01_FS_SPD
nucleosam	1:8ce2a5d6fbf8	785	* + POWERSTEP01_STEP_MODE
nucleosam	1:8ce2a5d6fbf8	786	* + POWERSTEP01_ALARM_EN
nucleosam	1:8ce2a5d6fbf8	787	* + POWERSTEP01_GATECFG1
nucleosam	1:8ce2a5d6fbf8	788	* + POWERSTEP01_GATECFG2
nucleosam	1:8ce2a5d6fbf8	789	* + POWERSTEP01_CONFIG
nucleosam	1:8ce2a5d6fbf8	790	*/
nucleosam	1:8ce2a5d6fbf8	791	virtual void SetRawParameter(unsigned int parameter, unsigned int value)
nucleosam	1:8ce2a5d6fbf8	792	{
nucleosam	1:8ce2a5d6fbf8	793	Powerstep01_CmdSetParam((powerstep01_Registers_t)parameter, (uint32_t)value);
nucleosam	1:8ce2a5d6fbf8	794	}
nucleosam	1:8ce2a5d6fbf8	795
nucleosam	1:8ce2a5d6fbf8	796	/**
nucleosam	0:00a3c3f5a8f0	797	* @brief Enable the step clock mode.
nucleosam	0:00a3c3f5a8f0	798	* @param frequency the frequency of PWM.
nucleosam	0:00a3c3f5a8f0	799	* @retval None.
nucleosam	0:00a3c3f5a8f0	800	*/
nucleosam	0:00a3c3f5a8f0	801	virtual void StepClockModeEnable(direction_t direction)
nucleosam	0:00a3c3f5a8f0	802	{
nucleosam	0:00a3c3f5a8f0	803	Powerstep01_CmdStepClock((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD));
nucleosam	0:00a3c3f5a8f0	804	}
nucleosam	0:00a3c3f5a8f0	805
nucleosam	0:00a3c3f5a8f0	806	/**
nucleosam	0:00a3c3f5a8f0	807	* @brief Setting the frequency of PWM.
nucleosam	0:00a3c3f5a8f0	808	* The frequency controls directly the speed of the device.
nucleosam	0:00a3c3f5a8f0	809	* @param frequency the frequency of PWM.
nucleosam	0:00a3c3f5a8f0	810	* @retval None.
nucleosam	0:00a3c3f5a8f0	811	*/
nucleosam	0:00a3c3f5a8f0	812	virtual void StepClockStart(uint16_t frequency)
nucleosam	0:00a3c3f5a8f0	813	{
nucleosam	0:00a3c3f5a8f0	814	/* Computing the period of PWM. */
nucleosam	0:00a3c3f5a8f0	815	double period = 1.0f / frequency;
nucleosam	0:00a3c3f5a8f0	816
nucleosam	0:00a3c3f5a8f0	817	/* Setting the period and the duty-cycle of PWM. */
nucleosam	0:00a3c3f5a8f0	818	pwm.period(period);
nucleosam	0:00a3c3f5a8f0	819	pwm.write(0.5f);
nucleosam	0:00a3c3f5a8f0	820	}
nucleosam	0:00a3c3f5a8f0	821
nucleosam	0:00a3c3f5a8f0	822	/**
nucleosam	0:00a3c3f5a8f0	823	* @brief Stopping the PWM.
nucleosam	0:00a3c3f5a8f0	824	* @param None.
nucleosam	0:00a3c3f5a8f0	825	* @retval None.
nucleosam	0:00a3c3f5a8f0	826	*/
nucleosam	0:00a3c3f5a8f0	827	virtual void StepClockStop(void)
nucleosam	0:00a3c3f5a8f0	828	{
nucleosam	0:00a3c3f5a8f0	829	pwm.write(0.0f);
nucleosam	0:00a3c3f5a8f0	830	}
nucleosam	0:00a3c3f5a8f0	831
nucleosam	0:00a3c3f5a8f0	832	/**
nucleosam	0:00a3c3f5a8f0	833	* @brief Public static functions
nucleosam	0:00a3c3f5a8f0	834	*/
nucleosam	0:00a3c3f5a8f0	835
nucleosam	0:00a3c3f5a8f0	836	static uint8_t GetNbDevices(void)
nucleosam	0:00a3c3f5a8f0	837	{
nucleosam	0:00a3c3f5a8f0	838	return numberOfDevices;
nucleosam	0:00a3c3f5a8f0	839	}
nucleosam	0:00a3c3f5a8f0	840
nucleosam	0:00a3c3f5a8f0	841	/**
nucleosam	0:00a3c3f5a8f0	842	* @brief To and from register parameter conversion functions
nucleosam	0:00a3c3f5a8f0	843	*/
nucleosam	0:00a3c3f5a8f0	844
nucleosam	0:00a3c3f5a8f0	845	/**********************************************************
nucleosam	0:00a3c3f5a8f0	846	* @brief Convert the float formatted acceleration or
nucleosam	0:00a3c3f5a8f0	847	* deceleration into respectively an ACC or DEC register value
nucleosam	0:00a3c3f5a8f0	848	* @param[in] steps_s2 the acceleration or deceleration as
nucleosam	0:00a3c3f5a8f0	849	* steps/s^2, range 14.55 to 59590 steps/s^2
nucleosam	0:00a3c3f5a8f0	850	* @retval The acceleration or deceleration as steps/tick^2
nucleosam	0:00a3c3f5a8f0	851	**********************************************************/
nucleosam	0:00a3c3f5a8f0	852	static uint16_t AccDec_Steps_s2_to_RegVal(float steps_s2)
nucleosam	0:00a3c3f5a8f0	853	{
nucleosam	0:00a3c3f5a8f0	854	return ((uint16_t)(((float)(steps_s2)*0.068719476736f)+0.5f));
nucleosam	0:00a3c3f5a8f0	855	}
nucleosam	0:00a3c3f5a8f0	856
nucleosam	0:00a3c3f5a8f0	857	/**********************************************************
nucleosam	0:00a3c3f5a8f0	858	* @brief Convert the ACC or DEC register value into step/s^2
nucleosam	0:00a3c3f5a8f0	859	* @param[in] regVal The ACC or DEC register value
nucleosam	0:00a3c3f5a8f0	860	* @retval The speed as steps/s
nucleosam	0:00a3c3f5a8f0	861	**********************************************************/
nucleosam	0:00a3c3f5a8f0	862	static float AccDec_RegVal_to_Steps_s2(uint32_t regVal)
nucleosam	0:00a3c3f5a8f0	863	{
nucleosam	0:00a3c3f5a8f0	864	return (((float)(regVal))*14.5519152283f);
nucleosam	0:00a3c3f5a8f0	865	}
nucleosam	0:00a3c3f5a8f0	866
nucleosam	0:00a3c3f5a8f0	867	/**********************************************************
nucleosam	0:00a3c3f5a8f0	868	* @brief Converts BEMF compensation slope to values for ST_SLP,
nucleosam	0:00a3c3f5a8f0	869	* FN_SLP_ACC or FN_SLP_DEC register
nucleosam	0:00a3c3f5a8f0	870	* @param[in] percentage BEMF compensation slope percentage,
nucleosam	0:00a3c3f5a8f0	871	* range 0 to 0.4% (0.004) s/step
nucleosam	0:00a3c3f5a8f0	872	* @retval value for ST_SLP, FN_SLP_ACC or FN_SLP_DEC register
nucleosam	0:00a3c3f5a8f0	873	**********************************************************/
nucleosam	0:00a3c3f5a8f0	874	static uint8_t BEMFslope_Perc_to_RegVal(float percentage)
nucleosam	0:00a3c3f5a8f0	875	{
nucleosam	0:00a3c3f5a8f0	876	return ((uint8_t)(((float)(percentage)*637.5f)+0.5f));
nucleosam	0:00a3c3f5a8f0	877	}
nucleosam	0:00a3c3f5a8f0	878
nucleosam	0:00a3c3f5a8f0	879	/**********************************************************
nucleosam	0:00a3c3f5a8f0	880	* @brief Converts values from ST_SLP, FN_SLP_ACC or
nucleosam	0:00a3c3f5a8f0	881	* FN_SLP_DEC register to BEMF compensation slope percentage
nucleosam	0:00a3c3f5a8f0	882	* @param[in] regVal The ST_SLP, FN_SLP_ACC or FN_SLP_DEC
nucleosam	0:00a3c3f5a8f0	883	* register value
nucleosam	0:00a3c3f5a8f0	884	* @retval BEMF compensation slope percentage
nucleosam	0:00a3c3f5a8f0	885	**********************************************************/
nucleosam	0:00a3c3f5a8f0	886	static float BEMFslope_RegVal_to_Perc(uint32_t regVal)
nucleosam	0:00a3c3f5a8f0	887	{
nucleosam	0:00a3c3f5a8f0	888	return (((float)(regVal))*0.00156862745098f);
nucleosam	0:00a3c3f5a8f0	889	}
nucleosam	0:00a3c3f5a8f0	890
nucleosam	0:00a3c3f5a8f0	891	/**********************************************************
nucleosam	0:00a3c3f5a8f0	892	* @brief Convert the float formatted speed into a FS_SPD
nucleosam	0:00a3c3f5a8f0	893	* register value
nucleosam	0:00a3c3f5a8f0	894	* @param[in] steps_s the speed as steps/s, range 15.25 to 15610 steps/s
nucleosam	0:00a3c3f5a8f0	895	* @retval The speed as steps/tick
nucleosam	0:00a3c3f5a8f0	896	**********************************************************/
nucleosam	0:00a3c3f5a8f0	897	static uint16_t FSSpd_Steps_s_to_RegVal(float steps_s)
nucleosam	0:00a3c3f5a8f0	898	{
nucleosam	0:00a3c3f5a8f0	899	return ((uint16_t)((float)(steps_s)*0.065536f));
nucleosam	0:00a3c3f5a8f0	900	}
nucleosam	0:00a3c3f5a8f0	901
nucleosam	0:00a3c3f5a8f0	902	/**********************************************************
nucleosam	0:00a3c3f5a8f0	903	* @brief Convert the FS_SPD register value into step/s
nucleosam	0:00a3c3f5a8f0	904	* @param[in] regVal The FS_SPD register value
nucleosam	0:00a3c3f5a8f0	905	* @retval The full Step speed as steps/s
nucleosam	0:00a3c3f5a8f0	906	**********************************************************/
nucleosam	0:00a3c3f5a8f0	907	static float FSSpd_RegVal_to_Steps_s(uint32_t regVal)
nucleosam	0:00a3c3f5a8f0	908	{
nucleosam	0:00a3c3f5a8f0	909	return (((float)regVal+0.999f)*15.258789f);
nucleosam	0:00a3c3f5a8f0	910	}
nucleosam	0:00a3c3f5a8f0	911
nucleosam	0:00a3c3f5a8f0	912	/**********************************************************
nucleosam	0:00a3c3f5a8f0	913	* @brief Convert the float formatted speed into a INT_SPEED
nucleosam	0:00a3c3f5a8f0	914	* register value
nucleosam	0:00a3c3f5a8f0	915	* @param[in] steps_s the speed as steps/s, range 0 to 976.5 steps/s
nucleosam	0:00a3c3f5a8f0	916	* @retval The intersect speed as steps/tick
nucleosam	0:00a3c3f5a8f0	917	**********************************************************/
nucleosam	0:00a3c3f5a8f0	918	static uint16_t IntSpd_Steps_s_to_RegVal(float steps_s)
nucleosam	0:00a3c3f5a8f0	919	{
nucleosam	0:00a3c3f5a8f0	920	return ((uint16_t)(((float)(steps_s)*16.777216f)+0.5f));
nucleosam	0:00a3c3f5a8f0	921	}
nucleosam	0:00a3c3f5a8f0	922
nucleosam	0:00a3c3f5a8f0	923	/**********************************************************
nucleosam	0:00a3c3f5a8f0	924	* @brief Convert the INT_SPEED register value into step/s
nucleosam	0:00a3c3f5a8f0	925	* @param[in] regVal The INT_SPEED register value
nucleosam	0:00a3c3f5a8f0	926	* @retval The speed as steps/s
nucleosam	0:00a3c3f5a8f0	927	**********************************************************/
nucleosam	0:00a3c3f5a8f0	928	static float IntSpd_RegVal_to_Steps_s(uint32_t regVal)
nucleosam	0:00a3c3f5a8f0	929	{
nucleosam	0:00a3c3f5a8f0	930	return (((float)(regVal))*0.0596045f);
nucleosam	0:00a3c3f5a8f0	931	}
nucleosam	0:00a3c3f5a8f0	932
nucleosam	0:00a3c3f5a8f0	933	/**********************************************************
nucleosam	0:00a3c3f5a8f0	934	* @brief Convert the float formatted thermal compensation
nucleosam	0:00a3c3f5a8f0	935	* factor into a K_THEM register value
nucleosam	0:00a3c3f5a8f0	936	* @param[in] compFactor the float formatted thermal
nucleosam	0:00a3c3f5a8f0	937	* compensation factor, range 1 to 1.46875
nucleosam	0:00a3c3f5a8f0	938	* @retval value for K_THERM register
nucleosam	0:00a3c3f5a8f0	939	**********************************************************/
nucleosam	0:00a3c3f5a8f0	940	static uint8_t KTherm_Comp_to_RegVal(float compFactor)
nucleosam	0:00a3c3f5a8f0	941	{
nucleosam	0:00a3c3f5a8f0	942	return ((uint8_t)((((float)(compFactor)-1.0f)*32.0f)+0.5f));
nucleosam	0:00a3c3f5a8f0	943	}
nucleosam	0:00a3c3f5a8f0	944
nucleosam	0:00a3c3f5a8f0	945	/**********************************************************
nucleosam	0:00a3c3f5a8f0	946	* @brief Convert the K_THERM register value into a float
nucleosam	0:00a3c3f5a8f0	947	* formatted thermal compensation factor
nucleosam	0:00a3c3f5a8f0	948	* @param[in] regVal The K_THERM register value
nucleosam	0:00a3c3f5a8f0	949	* @retval The float formatted thermal compensation factor
nucleosam	0:00a3c3f5a8f0	950	**********************************************************/
nucleosam	0:00a3c3f5a8f0	951	static float KTherm_RegVal_to_Comp(uint32_t regVal)
nucleosam	0:00a3c3f5a8f0	952	{
nucleosam	0:00a3c3f5a8f0	953	return (((float)(regVal))*0.03125f+1);
nucleosam	0:00a3c3f5a8f0	954	}
nucleosam	0:00a3c3f5a8f0	955
nucleosam	0:00a3c3f5a8f0	956	/**********************************************************
nucleosam	0:00a3c3f5a8f0	957	* @brief Converts voltage in percentage to values for KVAL_RUN,
nucleosam	0:00a3c3f5a8f0	958	* KVAL_HOLD, KVAL_ACC or KVAL_DEC register
nucleosam	0:00a3c3f5a8f0	959	* @param[in] percentage percentage of the power supply voltage
nucleosam	0:00a3c3f5a8f0	960	* applied to the motor windings, range 0.4% to 99.6%
nucleosam	0:00a3c3f5a8f0	961	* @retval value for KVAL_RUN, KVAL_HOLD, KVAL_ACC or
nucleosam	0:00a3c3f5a8f0	962	* KVAL_DEC register
nucleosam	0:00a3c3f5a8f0	963	* @note The voltage applied is sinusoidal
nucleosam	0:00a3c3f5a8f0	964	**********************************************************/
nucleosam	0:00a3c3f5a8f0	965	static uint8_t Kval_Perc_to_RegVal(float percentage)
nucleosam	0:00a3c3f5a8f0	966	{
nucleosam	0:00a3c3f5a8f0	967	return ((uint8_t)(((float)(percentage)*2.56f)+0.5f));
nucleosam	0:00a3c3f5a8f0	968	}
nucleosam	0:00a3c3f5a8f0	969
nucleosam	0:00a3c3f5a8f0	970	/**********************************************************
nucleosam	0:00a3c3f5a8f0	971	* @brief Converts values from KVAL_RUN, KVAL_HOLD, KVAL_ACC
nucleosam	0:00a3c3f5a8f0	972	* or KVAL_DEC register to percentage
nucleosam	0:00a3c3f5a8f0	973	* @param[in] regVal The KVAL_RUN, KVAL_HOLD, KVAL_ACC
nucleosam	0:00a3c3f5a8f0	974	* or KVAL_DEC register value
nucleosam	0:00a3c3f5a8f0	975	* @retval percentage of the power supply voltage applied to
nucleosam	0:00a3c3f5a8f0	976	* the motor windings
nucleosam	0:00a3c3f5a8f0	977	* @note The voltage applied is sinusoidal
nucleosam	0:00a3c3f5a8f0	978	**********************************************************/
nucleosam	0:00a3c3f5a8f0	979	static float Kval_RegVal_to_Perc(uint32_t regVal)
nucleosam	0:00a3c3f5a8f0	980	{
nucleosam	0:00a3c3f5a8f0	981	return (((float)(regVal))*0.390625f);
nucleosam	0:00a3c3f5a8f0	982	}
nucleosam	0:00a3c3f5a8f0	983
nucleosam	0:00a3c3f5a8f0	984	/**********************************************************
nucleosam	0:00a3c3f5a8f0	985	* @brief Convert the float formatted speed into a MAX_SPEED
nucleosam	0:00a3c3f5a8f0	986	* register value
nucleosam	0:00a3c3f5a8f0	987	* @param[in] steps_s the speed as steps/s, range 15.25 to 15610 steps/s
nucleosam	0:00a3c3f5a8f0	988	* @retval The speed as steps/tick
nucleosam	0:00a3c3f5a8f0	989	**********************************************************/
nucleosam	0:00a3c3f5a8f0	990	static uint16_t MaxSpd_Steps_s_to_RegVal(float steps_s)
nucleosam	0:00a3c3f5a8f0	991	{
nucleosam	0:00a3c3f5a8f0	992	return ((uint16_t)(((float)(steps_s)*0.065536f)+0.5f));
nucleosam	0:00a3c3f5a8f0	993	}
nucleosam	0:00a3c3f5a8f0	994
nucleosam	0:00a3c3f5a8f0	995	/**********************************************************
nucleosam	0:00a3c3f5a8f0	996	* @brief Convert the MAX_SPEED register value into step/s
nucleosam	0:00a3c3f5a8f0	997	* @param[in] regVal The MAX_SPEED register value
nucleosam	0:00a3c3f5a8f0	998	* @retval The speed as steps/s
nucleosam	0:00a3c3f5a8f0	999	**********************************************************/
nucleosam	0:00a3c3f5a8f0	1000	static float MaxSpd_RegVal_to_Steps_s(uint32_t regVal)
nucleosam	0:00a3c3f5a8f0	1001	{
nucleosam	0:00a3c3f5a8f0	1002	return (((float)(regVal))*15.258789f);
nucleosam	0:00a3c3f5a8f0	1003	}
nucleosam	0:00a3c3f5a8f0	1004
nucleosam	0:00a3c3f5a8f0	1005	/**********************************************************
nucleosam	0:00a3c3f5a8f0	1006	* @brief Convert the float formatted speed into a MIN_SPEED
nucleosam	0:00a3c3f5a8f0	1007	* register value
nucleosam	0:00a3c3f5a8f0	1008	* @param[in] steps_s the speed as steps/s, range 0 to 976.3 steps/s
nucleosam	0:00a3c3f5a8f0	1009	* @retval The speed as steps/tick
nucleosam	0:00a3c3f5a8f0	1010	**********************************************************/
nucleosam	0:00a3c3f5a8f0	1011	static uint16_t MinSpd_Steps_s_to_RegVal(float steps_s)
nucleosam	0:00a3c3f5a8f0	1012	{
nucleosam	0:00a3c3f5a8f0	1013	return ((uint16_t)(((float)(steps_s)*4.194304f)+0.5f));
nucleosam	0:00a3c3f5a8f0	1014	}
nucleosam	0:00a3c3f5a8f0	1015
nucleosam	0:00a3c3f5a8f0	1016	/**********************************************************
nucleosam	0:00a3c3f5a8f0	1017	* @brief Convert the MIN_SPEED register value into step/s
nucleosam	0:00a3c3f5a8f0	1018	* @param[in] regVal The MIN_SPEED register value
nucleosam	0:00a3c3f5a8f0	1019	* @retval The speed as steps/s
nucleosam	0:00a3c3f5a8f0	1020	**********************************************************/
nucleosam	0:00a3c3f5a8f0	1021	static float MinSpd_RegVal_to_Steps_s(uint32_t regVal)
nucleosam	0:00a3c3f5a8f0	1022	{
nucleosam	0:00a3c3f5a8f0	1023	return (((float)(regVal))*0.238418579f);
nucleosam	0:00a3c3f5a8f0	1024	}
nucleosam	0:00a3c3f5a8f0	1025
nucleosam	0:00a3c3f5a8f0	1026	/**********************************************************
nucleosam	0:00a3c3f5a8f0	1027	* @brief Convert the float formatted speed into a SPEED
nucleosam	0:00a3c3f5a8f0	1028	* register value
nucleosam	0:00a3c3f5a8f0	1029	* @param[in] steps_s the speed as steps/s, range 0 to 15625 steps/s
nucleosam	0:00a3c3f5a8f0	1030	* @retval The speed as steps/tick
nucleosam	0:00a3c3f5a8f0	1031	**********************************************************/
nucleosam	0:00a3c3f5a8f0	1032	static uint32_t Speed_Steps_s_to_RegVal(float steps_s)
nucleosam	0:00a3c3f5a8f0	1033	{
nucleosam	0:00a3c3f5a8f0	1034	return ((uint32_t)(((float)(steps_s)*67.108864f)+0.5f));
nucleosam	0:00a3c3f5a8f0	1035	}
nucleosam	0:00a3c3f5a8f0	1036
nucleosam	0:00a3c3f5a8f0	1037	/**********************************************************
nucleosam	0:00a3c3f5a8f0	1038	* @brief Convert the SPEED register value into step/s
nucleosam	0:00a3c3f5a8f0	1039	* @param[in] regVal The SPEED register value
nucleosam	0:00a3c3f5a8f0	1040	* @retval The speed as steps/s
nucleosam	0:00a3c3f5a8f0	1041	**********************************************************/
nucleosam	0:00a3c3f5a8f0	1042	static float Speed_RegVal_to_Steps_s(uint32_t regVal)
nucleosam	0:00a3c3f5a8f0	1043	{
nucleosam	0:00a3c3f5a8f0	1044	return (((float)(regVal))*0.01490116119f);
nucleosam	0:00a3c3f5a8f0	1045	}
nucleosam	0:00a3c3f5a8f0	1046
nucleosam	0:00a3c3f5a8f0	1047	/**********************************************************
nucleosam	0:00a3c3f5a8f0	1048	* @brief Converts STALL or OCD Threshold voltage in mV to
nucleosam	0:00a3c3f5a8f0	1049	* values for STALL_TH or OCD_TH register
nucleosam	0:00a3c3f5a8f0	1050	* @param[in] mV voltage in mV, range 31.25mV to 1000mV
nucleosam	0:00a3c3f5a8f0	1051	* @retval value for STALL_TH or OCD_TH register
nucleosam	0:00a3c3f5a8f0	1052	**********************************************************/
nucleosam	0:00a3c3f5a8f0	1053	static uint8_t StallOcd_Th_to_RegVal(float mV)
nucleosam	0:00a3c3f5a8f0	1054	{
nucleosam	0:00a3c3f5a8f0	1055	return ((uint8_t)((((float)(mV)-31.25f)*0.032f)+0.5f));
nucleosam	0:00a3c3f5a8f0	1056	}
nucleosam	0:00a3c3f5a8f0	1057
nucleosam	0:00a3c3f5a8f0	1058	/**********************************************************
nucleosam	0:00a3c3f5a8f0	1059	* @brief Converts values from STALL_TH or OCD_TH register
nucleosam	0:00a3c3f5a8f0	1060	* to mV
nucleosam	0:00a3c3f5a8f0	1061	* @param[in] regVal The STALL_TH or OCD_TH register value
nucleosam	0:00a3c3f5a8f0	1062	* @retval voltage in mV
nucleosam	0:00a3c3f5a8f0	1063	**********************************************************/
nucleosam	0:00a3c3f5a8f0	1064	static float StallOcd_RegVal_to_Th(uint32_t regVal)
nucleosam	0:00a3c3f5a8f0	1065	{
nucleosam	0:00a3c3f5a8f0	1066	return (((float)(regVal+1))*31.25f);
nucleosam	0:00a3c3f5a8f0	1067	}
nucleosam	0:00a3c3f5a8f0	1068
nucleosam	0:00a3c3f5a8f0	1069	/**********************************************************
nucleosam	0:00a3c3f5a8f0	1070	* @brief Converts voltage in mV to values for TVAL_RUN,
nucleosam	0:00a3c3f5a8f0	1071	* TVAL_HOLD, TVAL_ACC or TVAL_DEC register
nucleosam	0:00a3c3f5a8f0	1072	* @param[in] voltage_mV voltage in mV, range 7.8mV to 1000mV
nucleosam	0:00a3c3f5a8f0	1073	* @retval value for TVAL_RUN, TVAL_HOLD, TVAL_ACC or
nucleosam	0:00a3c3f5a8f0	1074	* TVAL_DEC register
nucleosam	0:00a3c3f5a8f0	1075	* @note The voltage corresponds to a peak output current
nucleosam	0:00a3c3f5a8f0	1076	* accross the external sense power resistor
nucleosam	0:00a3c3f5a8f0	1077	**********************************************************/
nucleosam	0:00a3c3f5a8f0	1078	static uint8_t Tval_Current_to_RegVal(float voltage_mV)
nucleosam	0:00a3c3f5a8f0	1079	{
nucleosam	0:00a3c3f5a8f0	1080	return ((uint8_t)((((float)(voltage_mV)-7.8125f)*0.128f)+0.5f));
nucleosam	0:00a3c3f5a8f0	1081	}
nucleosam	0:00a3c3f5a8f0	1082
nucleosam	0:00a3c3f5a8f0	1083	/**********************************************************
nucleosam	0:00a3c3f5a8f0	1084	* @brief Converts values from TVAL_RUN, TVAL_HOLD, TVAL_ACC
nucleosam	0:00a3c3f5a8f0	1085	* or TVAL_DEC register to mV
nucleosam	0:00a3c3f5a8f0	1086	* @param[in] regVal The TVAL_RUN, TVAL_HOLD, TVAL_ACC
nucleosam	0:00a3c3f5a8f0	1087	* or TVAL_DEC register value
nucleosam	0:00a3c3f5a8f0	1088	* @retval voltage in mV
nucleosam	0:00a3c3f5a8f0	1089	* @note The voltage corresponds to a peak output current
nucleosam	0:00a3c3f5a8f0	1090	* accross the external sense power resistor
nucleosam	0:00a3c3f5a8f0	1091	**********************************************************/
nucleosam	0:00a3c3f5a8f0	1092	static float Tval_RegVal_to_Current(uint32_t regVal)
nucleosam	0:00a3c3f5a8f0	1093	{
nucleosam	0:00a3c3f5a8f0	1094	return (((float)(regVal+1))*7.8125f);
nucleosam	0:00a3c3f5a8f0	1095	}
nucleosam	0:00a3c3f5a8f0	1096
nucleosam	0:00a3c3f5a8f0	1097	/**********************************************************
nucleosam	0:00a3c3f5a8f0	1098	* @brief Convert time in us to values for TON_MIN register
nucleosam	0:00a3c3f5a8f0	1099	* @param[in] tmin_us time in us, range 0.5us to 64us
nucleosam	0:00a3c3f5a8f0	1100	* @retval value for TON_MIN register
nucleosam	0:00a3c3f5a8f0	1101	**********************************************************/
nucleosam	0:00a3c3f5a8f0	1102	static uint8_t Tmin_Time_to_RegVal(float tmin_us)
nucleosam	0:00a3c3f5a8f0	1103	{
nucleosam	0:00a3c3f5a8f0	1104	return ((uint8_t)((((float)(tmin_us)-0.5f)*2.0f)+0.5f));
nucleosam	0:00a3c3f5a8f0	1105	}
nucleosam	0:00a3c3f5a8f0	1106
nucleosam	0:00a3c3f5a8f0	1107	/**********************************************************
nucleosam	0:00a3c3f5a8f0	1108	* @brief Convert values for TON_MIN or TOFF_MIN register to time in us
nucleosam	0:00a3c3f5a8f0	1109	* @param[in] regVal The TON_MIN or TOFF_MIN register value
nucleosam	0:00a3c3f5a8f0	1110	* @retval time in us
nucleosam	0:00a3c3f5a8f0	1111	**********************************************************/
nucleosam	0:00a3c3f5a8f0	1112	static float Tmin_RegVal_to_Time(uint32_t regVal)
nucleosam	0:00a3c3f5a8f0	1113	{
nucleosam	0:00a3c3f5a8f0	1114	return (((float)(regVal+1))*0.5f);
nucleosam	0:00a3c3f5a8f0	1115	}
nucleosam	0:00a3c3f5a8f0	1116
nucleosam	0:00a3c3f5a8f0	1117	/* Public Interrupt Related Methods */
nucleosam	0:00a3c3f5a8f0	1118
nucleosam	0:00a3c3f5a8f0	1119	/* ACTION 6 --------------------------------------------------------------*
nucleosam	0:00a3c3f5a8f0	1120	* Implement here interrupt related methods, if any. *
nucleosam	0:00a3c3f5a8f0	1121	* Note that interrupt handling is platform dependent, e.g.: *
nucleosam	0:00a3c3f5a8f0	1122	* + mbed: *
nucleosam	0:00a3c3f5a8f0	1123	* InterruptIn feature_irq(pin); //Interrupt object. *
nucleosam	0:00a3c3f5a8f0	1124	* feature_irq.rise(callback); //Attach a callback. *
nucleosam	0:00a3c3f5a8f0	1125	* feature_irq.mode(PullNone); //Set interrupt mode. *
nucleosam	0:00a3c3f5a8f0	1126	* feature_irq.enable_irq(); //Enable interrupt. *
nucleosam	0:00a3c3f5a8f0	1127	* feature_irq.disable_irq(); //Disable interrupt. *
nucleosam	0:00a3c3f5a8f0	1128	* + Arduino: *
nucleosam	0:00a3c3f5a8f0	1129	* attachInterrupt(pin, callback, RISING); //Attach a callback. *
nucleosam	0:00a3c3f5a8f0	1130	* detachInterrupt(pin); //Detach a callback. *
nucleosam	0:00a3c3f5a8f0	1131	* *
nucleosam	0:00a3c3f5a8f0	1132	* Example (mbed): *
nucleosam	0:00a3c3f5a8f0	1133	* void AttachFeatureIRQ(void (fptr) (void))
nucleosam	0:00a3c3f5a8f0	1134	* { *
nucleosam	0:00a3c3f5a8f0	1135	* feature_irq.rise(fptr); *
nucleosam	0:00a3c3f5a8f0	1136	* } *
nucleosam	0:00a3c3f5a8f0	1137	* *
nucleosam	0:00a3c3f5a8f0	1138	* void EnableFeatureIRQ(void) *
nucleosam	0:00a3c3f5a8f0	1139	* { *
nucleosam	0:00a3c3f5a8f0	1140	* feature_irq.enable_irq(); *
nucleosam	0:00a3c3f5a8f0	1141	* } *
nucleosam	0:00a3c3f5a8f0	1142	* *
nucleosam	0:00a3c3f5a8f0	1143	* void DisableFeatureIRQ(void) *
nucleosam	0:00a3c3f5a8f0	1144	* { *
nucleosam	0:00a3c3f5a8f0	1145	* feature_irq.disable_irq(); *
nucleosam	0:00a3c3f5a8f0	1146	* } *
nucleosam	0:00a3c3f5a8f0	1147	------------------------------------------------------------------------/
nucleosam	0:00a3c3f5a8f0	1148	/**
nucleosam	0:00a3c3f5a8f0	1149	* @brief Attaching an interrupt handler to the FLAG interrupt.
nucleosam	0:00a3c3f5a8f0	1150	* @param fptr An interrupt handler.
nucleosam	0:00a3c3f5a8f0	1151	* @retval None.
nucleosam	0:00a3c3f5a8f0	1152	*/
nucleosam	0:00a3c3f5a8f0	1153	void AttachFlagIRQ(void (*fptr)(void))
nucleosam	0:00a3c3f5a8f0	1154	{
nucleosam	0:00a3c3f5a8f0	1155	flag_irq.fall(fptr);
nucleosam	0:00a3c3f5a8f0	1156	}
nucleosam	0:00a3c3f5a8f0	1157
nucleosam	0:00a3c3f5a8f0	1158	/**
nucleosam	0:00a3c3f5a8f0	1159	* @brief Enabling the FLAG interrupt handling.
nucleosam	0:00a3c3f5a8f0	1160	* @param None.
nucleosam	0:00a3c3f5a8f0	1161	* @retval None.
nucleosam	0:00a3c3f5a8f0	1162	*/
nucleosam	0:00a3c3f5a8f0	1163	void EnableFlagIRQ(void)
nucleosam	0:00a3c3f5a8f0	1164	{
nucleosam	0:00a3c3f5a8f0	1165	flag_irq.enable_irq();
nucleosam	0:00a3c3f5a8f0	1166	}
nucleosam	0:00a3c3f5a8f0	1167
nucleosam	0:00a3c3f5a8f0	1168	/**
nucleosam	0:00a3c3f5a8f0	1169	* @brief Disabling the FLAG interrupt handling.
nucleosam	0:00a3c3f5a8f0	1170	* @param None.
nucleosam	0:00a3c3f5a8f0	1171	* @retval None.
nucleosam	0:00a3c3f5a8f0	1172	*/
nucleosam	0:00a3c3f5a8f0	1173	void DisableFlagIRQ(void)
nucleosam	0:00a3c3f5a8f0	1174	{
nucleosam	0:00a3c3f5a8f0	1175	flag_irq.disable_irq();
nucleosam	0:00a3c3f5a8f0	1176	}
nucleosam	0:00a3c3f5a8f0	1177
nucleosam	0:00a3c3f5a8f0	1178	/**
nucleosam	0:00a3c3f5a8f0	1179	* @brief Attaching an interrupt handler to the BUSY interrupt.
nucleosam	0:00a3c3f5a8f0	1180	* @param fptr An interrupt handler.
nucleosam	0:00a3c3f5a8f0	1181	* @retval None.
nucleosam	0:00a3c3f5a8f0	1182	*/
nucleosam	0:00a3c3f5a8f0	1183	void AttachBusyIRQ(void (*fptr)(void))
nucleosam	0:00a3c3f5a8f0	1184	{
nucleosam	0:00a3c3f5a8f0	1185	busy_irq.fall(fptr);
nucleosam	0:00a3c3f5a8f0	1186	}
nucleosam	0:00a3c3f5a8f0	1187
nucleosam	0:00a3c3f5a8f0	1188	/**
nucleosam	0:00a3c3f5a8f0	1189	* @brief Enabling the BUSY interrupt handling.
nucleosam	0:00a3c3f5a8f0	1190	* @param None.
nucleosam	0:00a3c3f5a8f0	1191	* @retval None.
nucleosam	0:00a3c3f5a8f0	1192	*/
nucleosam	0:00a3c3f5a8f0	1193	void EnableBusyIRQ(void)
nucleosam	0:00a3c3f5a8f0	1194	{
nucleosam	0:00a3c3f5a8f0	1195	busy_irq.enable_irq();
nucleosam	0:00a3c3f5a8f0	1196	}
nucleosam	0:00a3c3f5a8f0	1197
nucleosam	0:00a3c3f5a8f0	1198	/**
nucleosam	0:00a3c3f5a8f0	1199	* @brief Disabling the BUSY interrupt handling.
nucleosam	0:00a3c3f5a8f0	1200	* @param None.
nucleosam	0:00a3c3f5a8f0	1201	* @retval None.
nucleosam	0:00a3c3f5a8f0	1202	*/
nucleosam	0:00a3c3f5a8f0	1203	void DisableBusyIRQ(void)
nucleosam	0:00a3c3f5a8f0	1204	{
nucleosam	0:00a3c3f5a8f0	1205	busy_irq.disable_irq();
nucleosam	0:00a3c3f5a8f0	1206	}
nucleosam	0:00a3c3f5a8f0	1207
nucleosam	0:00a3c3f5a8f0	1208	protected:
nucleosam	0:00a3c3f5a8f0	1209
nucleosam	0:00a3c3f5a8f0	1210	/* Protected Component Related Methods */
nucleosam	0:00a3c3f5a8f0	1211
nucleosam	0:00a3c3f5a8f0	1212	/* ACTION 7 --------------------------------------------------------------*
nucleosam	0:00a3c3f5a8f0	1213	* Declare here the component's specific methods. *
nucleosam	0:00a3c3f5a8f0	1214	* They should be: *
nucleosam	0:00a3c3f5a8f0	1215	* + Methods with the same name of the C component's virtual table's *
nucleosam	0:00a3c3f5a8f0	1216	* functions (1); *
nucleosam	0:00a3c3f5a8f0	1217	* + Methods with the same name of the C component's extended virtual *
nucleosam	0:00a3c3f5a8f0	1218	* table's functions, if any (2); *
nucleosam	0:00a3c3f5a8f0	1219	* + Helper methods, if any, like functions declared in the component's *
nucleosam	0:00a3c3f5a8f0	1220	* source files but not pointed by the component's virtual table (3). *
nucleosam	0:00a3c3f5a8f0	1221	* *
nucleosam	0:00a3c3f5a8f0	1222	* Example: *
nucleosam	0:00a3c3f5a8f0	1223	* Status_t COMPONENT_GetValue(float f); //(1)
nucleosam	0:00a3c3f5a8f0	1224	* Status_t COMPONENT_EnableFeature(void); //(2) *
nucleosam	0:00a3c3f5a8f0	1225	* Status_t COMPONENT_ComputeAverage(void); //(3) *
nucleosam	0:00a3c3f5a8f0	1226	------------------------------------------------------------------------/
nucleosam	0:00a3c3f5a8f0	1227	Status_t Powerstep01_Init(void *init);
nucleosam	0:00a3c3f5a8f0	1228	Status_t Powerstep01_ReadID(uint8_t *id);
nucleosam	0:00a3c3f5a8f0	1229	void Powerstep01_AttachErrorHandler(void (*callback)(uint16_t error));
nucleosam	0:00a3c3f5a8f0	1230	uint8_t Powerstep01_CheckBusyHw(void);
nucleosam	0:00a3c3f5a8f0	1231	uint8_t Powerstep01_CheckStatusHw(void);
nucleosam	0:00a3c3f5a8f0	1232	uint16_t Powerstep01_CmdGetStatus(void);
nucleosam	0:00a3c3f5a8f0	1233	void Powerstep01_CmdGoHome(void);
nucleosam	0:00a3c3f5a8f0	1234	void Powerstep01_CmdGoMark(void);
nucleosam	0:00a3c3f5a8f0	1235	void Powerstep01_CmdGoTo(int32_t targetPosition);
nucleosam	0:00a3c3f5a8f0	1236	void Powerstep01_CmdGoToDir(motorDir_t direction, int32_t targetPosition);
nucleosam	0:00a3c3f5a8f0	1237	void Powerstep01_CmdGoUntil(motorAction_t action, motorDir_t direction, uint32_t speed);
nucleosam	0:00a3c3f5a8f0	1238	void Powerstep01_CmdHardHiZ(void);
nucleosam	0:00a3c3f5a8f0	1239	void Powerstep01_CmdHardStop(void);
nucleosam	0:00a3c3f5a8f0	1240	void Powerstep01_CmdMove(motorDir_t direction, uint32_t stepCount);
nucleosam	0:00a3c3f5a8f0	1241	void Powerstep01_CmdNop(void);
nucleosam	0:00a3c3f5a8f0	1242	void Powerstep01_CmdReleaseSw(motorAction_t action, motorDir_t direction);
nucleosam	0:00a3c3f5a8f0	1243	void Powerstep01_CmdResetDevice(void);
nucleosam	0:00a3c3f5a8f0	1244	void Powerstep01_CmdResetPos(void);
nucleosam	0:00a3c3f5a8f0	1245	void Powerstep01_CmdRun(motorDir_t direction, uint32_t speed);
nucleosam	0:00a3c3f5a8f0	1246	void Powerstep01_CmdSoftHiZ(void);
nucleosam	0:00a3c3f5a8f0	1247	void Powerstep01_CmdSoftStop(void);
nucleosam	0:00a3c3f5a8f0	1248	void Powerstep01_CmdStepClock(motorDir_t direction);
nucleosam	0:00a3c3f5a8f0	1249	void Powerstep01_ErrorHandler(uint16_t error);
nucleosam	0:00a3c3f5a8f0	1250	void Powerstep01_FetchAndClearAllStatus(void);
nucleosam	0:00a3c3f5a8f0	1251	uint16_t Powerstep01_GetFetchedStatus(void);
nucleosam	1:8ce2a5d6fbf8	1252	uint32_t Powerstep01_GetFwVersion(void);
nucleosam	0:00a3c3f5a8f0	1253	int32_t Powerstep01_GetMark(void);
nucleosam	0:00a3c3f5a8f0	1254	int32_t Powerstep01_GetPosition(void);
nucleosam	0:00a3c3f5a8f0	1255	bool Powerstep01_IsDeviceBusy(void);
nucleosam	0:00a3c3f5a8f0	1256	uint16_t Powerstep01_ReadStatusRegister(void);
nucleosam	1:8ce2a5d6fbf8	1257	bool Powerstep01_SelectStepMode(motorStepMode_t stepMode);
nucleosam	0:00a3c3f5a8f0	1258	void Powerstep01_SetHome(void);
nucleosam	0:00a3c3f5a8f0	1259	void Powerstep01_SetMark(void);
nucleosam	0:00a3c3f5a8f0	1260	void Powerstep01_WaitForAllDevicesNotBusy(void);
nucleosam	0:00a3c3f5a8f0	1261	void Powerstep01_WaitWhileActive(void);
nucleosam	0:00a3c3f5a8f0	1262
nucleosam	0:00a3c3f5a8f0	1263	/**
nucleosam	0:00a3c3f5a8f0	1264	* @brief To and from register parameter conversion functions
nucleosam	0:00a3c3f5a8f0	1265	*/
nucleosam	0:00a3c3f5a8f0	1266	int32_t Powerstep01_ConvertPosition(uint32_t abs_position_reg);
nucleosam	0:00a3c3f5a8f0	1267
nucleosam	0:00a3c3f5a8f0	1268	/**
nucleosam	0:00a3c3f5a8f0	1269	* @brief Functions to initialize the registers
nucleosam	0:00a3c3f5a8f0	1270	*/
nucleosam	0:00a3c3f5a8f0	1271	void Powerstep01_SetDeviceParamsToGivenValues(powerstep01_Init_u_t *initPrm);
nucleosam	0:00a3c3f5a8f0	1272	void Powerstep01_SetRegisterToPredefinedValues(void);
nucleosam	0:00a3c3f5a8f0	1273
nucleosam	0:00a3c3f5a8f0	1274	/**
nucleosam	0:00a3c3f5a8f0	1275	* @brief Functions to get and set parameters using digital or analog values
nucleosam	0:00a3c3f5a8f0	1276	*/
nucleosam	0:00a3c3f5a8f0	1277	uint32_t Powerstep01_CmdGetParam(powerstep01_Registers_t param);
nucleosam	0:00a3c3f5a8f0	1278	void Powerstep01_CmdSetParam(powerstep01_Registers_t param, uint32_t value);
nucleosam	0:00a3c3f5a8f0	1279	float Powerstep01_GetAnalogValue(powerstep01_Registers_t param);
nucleosam	0:00a3c3f5a8f0	1280	void Powerstep01_QueueCommands(uint8_t command, int32_t value);
nucleosam	0:00a3c3f5a8f0	1281	void Powerstep01_SendCommand(uint8_t command, uint32_t value);
nucleosam	0:00a3c3f5a8f0	1282	void Powerstep01_SendQueuedCommands(void);
nucleosam	0:00a3c3f5a8f0	1283	bool Powerstep01_SetAnalogValue(powerstep01_Registers_t param, float value);
nucleosam	0:00a3c3f5a8f0	1284	void Powerstep01_WriteBytes(uint8_t pByteToTransmit, uint8_t pReceivedByte);
nucleosam	0:00a3c3f5a8f0	1285
nucleosam	0:00a3c3f5a8f0	1286	/**
nucleosam	0:00a3c3f5a8f0	1287	* @brief Rounding a floating point number to the nearest unsigned integer number.
nucleosam	0:00a3c3f5a8f0	1288	* @param f The floating point number.
nucleosam	0:00a3c3f5a8f0	1289	* @retval The nearest unsigned integer number.
nucleosam	0:00a3c3f5a8f0	1290	*/
nucleosam	0:00a3c3f5a8f0	1291	int round(float f)
nucleosam	0:00a3c3f5a8f0	1292	{
nucleosam	0:00a3c3f5a8f0	1293	if (f >= 0)
nucleosam	0:00a3c3f5a8f0	1294	return (int) f + (f - (int) f < 0.5f ? 0 : 1);
nucleosam	0:00a3c3f5a8f0	1295	else
nucleosam	0:00a3c3f5a8f0	1296	return (int) f - (f - (int) f < -0.5f ? 1 : 0);
nucleosam	0:00a3c3f5a8f0	1297	}
nucleosam	0:00a3c3f5a8f0	1298
nucleosam	0:00a3c3f5a8f0	1299	/* Component's I/O Methods */
nucleosam	0:00a3c3f5a8f0	1300
nucleosam	0:00a3c3f5a8f0	1301	/**
nucleosam	0:00a3c3f5a8f0	1302	* @brief Utility function to read data from Powerstep01.
nucleosam	0:00a3c3f5a8f0	1303	* @param[out] pBuffer pointer to the buffer to read data into.
nucleosam	0:00a3c3f5a8f0	1304	* @param NumBytesToRead number of bytes to read.
nucleosam	0:00a3c3f5a8f0	1305	* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
nucleosam	0:00a3c3f5a8f0	1306	*/
nucleosam	0:00a3c3f5a8f0	1307	Status_t Read(uint8_t* pBuffer, uint16_t NumBytesToRead)
nucleosam	0:00a3c3f5a8f0	1308	{
nucleosam	0:00a3c3f5a8f0	1309	if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0)
nucleosam	0:00a3c3f5a8f0	1310	return COMPONENT_ERROR;
nucleosam	0:00a3c3f5a8f0	1311	return COMPONENT_OK;
nucleosam	0:00a3c3f5a8f0	1312	}
nucleosam	0:00a3c3f5a8f0	1313
nucleosam	0:00a3c3f5a8f0	1314	/**
nucleosam	0:00a3c3f5a8f0	1315	* @brief Utility function to write data to Powerstep01.
nucleosam	0:00a3c3f5a8f0	1316	* @param pBuffer pointer to the buffer of data to send.
nucleosam	0:00a3c3f5a8f0	1317	* @param NumBytesToWrite number of bytes to write.
nucleosam	0:00a3c3f5a8f0	1318	* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
nucleosam	0:00a3c3f5a8f0	1319	*/
nucleosam	0:00a3c3f5a8f0	1320	Status_t Write(uint8_t* pBuffer, uint16_t NumBytesToWrite)
nucleosam	0:00a3c3f5a8f0	1321	{
nucleosam	0:00a3c3f5a8f0	1322	if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0)
nucleosam	0:00a3c3f5a8f0	1323	return COMPONENT_ERROR;
nucleosam	0:00a3c3f5a8f0	1324	return COMPONENT_OK;
nucleosam	0:00a3c3f5a8f0	1325	}
nucleosam	0:00a3c3f5a8f0	1326
nucleosam	0:00a3c3f5a8f0	1327	/**
nucleosam	0:00a3c3f5a8f0	1328	* @brief Utility function to read and write data from/to Powerstep01 at the same time.
nucleosam	0:00a3c3f5a8f0	1329	* @param[out] pBufferToRead pointer to the buffer to read data into.
nucleosam	0:00a3c3f5a8f0	1330	* @param pBufferToWrite pointer to the buffer of data to send.
nucleosam	0:00a3c3f5a8f0	1331	* @param NumBytes number of bytes to read and write.
nucleosam	0:00a3c3f5a8f0	1332	* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
nucleosam	0:00a3c3f5a8f0	1333	*/
nucleosam	0:00a3c3f5a8f0	1334	Status_t ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes)
nucleosam	0:00a3c3f5a8f0	1335	{
nucleosam	0:00a3c3f5a8f0	1336	if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0)
nucleosam	0:00a3c3f5a8f0	1337	return COMPONENT_ERROR;
nucleosam	0:00a3c3f5a8f0	1338	return COMPONENT_OK;
nucleosam	0:00a3c3f5a8f0	1339	}
nucleosam	0:00a3c3f5a8f0	1340
nucleosam	0:00a3c3f5a8f0	1341	/* ACTION 8 --------------------------------------------------------------*
nucleosam	0:00a3c3f5a8f0	1342	* Implement here other I/O methods beyond those already implemented *
nucleosam	0:00a3c3f5a8f0	1343	* above, which are declared extern within the component's header file. *
nucleosam	0:00a3c3f5a8f0	1344	------------------------------------------------------------------------/
nucleosam	0:00a3c3f5a8f0	1345	/**
nucleosam	0:00a3c3f5a8f0	1346	* @brief Making the CPU wait.
nucleosam	0:00a3c3f5a8f0	1347	* @param None.
nucleosam	0:00a3c3f5a8f0	1348	* @retval None.
nucleosam	0:00a3c3f5a8f0	1349	*/
nucleosam	0:00a3c3f5a8f0	1350	void Powerstep01_Board_Delay(uint32_t delay)
nucleosam	0:00a3c3f5a8f0	1351	{
nucleosam	0:00a3c3f5a8f0	1352	wait_ms(delay);
nucleosam	0:00a3c3f5a8f0	1353	}
nucleosam	0:00a3c3f5a8f0	1354
nucleosam	0:00a3c3f5a8f0	1355	/**
nucleosam	0:00a3c3f5a8f0	1356	* @brief Enabling interrupts.
nucleosam	0:00a3c3f5a8f0	1357	* @param None.
nucleosam	0:00a3c3f5a8f0	1358	* @retval None.
nucleosam	0:00a3c3f5a8f0	1359	*/
nucleosam	0:00a3c3f5a8f0	1360	void Powerstep01_Board_EnableIrq(void)
nucleosam	0:00a3c3f5a8f0	1361	{
nucleosam	0:00a3c3f5a8f0	1362	__enable_irq();
nucleosam	0:00a3c3f5a8f0	1363	}
nucleosam	0:00a3c3f5a8f0	1364
nucleosam	0:00a3c3f5a8f0	1365	/**
nucleosam	0:00a3c3f5a8f0	1366	* @brief Disabling interrupts.
nucleosam	0:00a3c3f5a8f0	1367	* @param None.
nucleosam	0:00a3c3f5a8f0	1368	* @retval None.
nucleosam	0:00a3c3f5a8f0	1369	*/
nucleosam	0:00a3c3f5a8f0	1370	void Powerstep01_Board_DisableIrq(void)
nucleosam	0:00a3c3f5a8f0	1371	{
nucleosam	0:00a3c3f5a8f0	1372	__disable_irq();
nucleosam	0:00a3c3f5a8f0	1373	}
nucleosam	0:00a3c3f5a8f0	1374
nucleosam	0:00a3c3f5a8f0	1375	/**
nucleosam	0:00a3c3f5a8f0	1376	* @brief Initialising the PWM.
nucleosam	0:00a3c3f5a8f0	1377	* @param None.
nucleosam	0:00a3c3f5a8f0	1378	* @retval None.
nucleosam	0:00a3c3f5a8f0	1379	*/
nucleosam	0:00a3c3f5a8f0	1380	void Powerstep01_Board_StepClockInit(void) {}
nucleosam	0:00a3c3f5a8f0	1381
nucleosam	0:00a3c3f5a8f0	1382	/**
nucleosam	0:00a3c3f5a8f0	1383	* @brief Exit the device from reset mode.
nucleosam	0:00a3c3f5a8f0	1384	* @param None.
nucleosam	0:00a3c3f5a8f0	1385	* @retval None.
nucleosam	0:00a3c3f5a8f0	1386	*/
nucleosam	0:00a3c3f5a8f0	1387	void Powerstep01_Board_ReleaseReset(void)
nucleosam	0:00a3c3f5a8f0	1388	{
nucleosam	0:00a3c3f5a8f0	1389	standby_reset = 1;
nucleosam	0:00a3c3f5a8f0	1390	}
nucleosam	0:00a3c3f5a8f0	1391
nucleosam	0:00a3c3f5a8f0	1392	/**
nucleosam	0:00a3c3f5a8f0	1393	* @brief Put the device in reset mode.
nucleosam	0:00a3c3f5a8f0	1394	* @param None.
nucleosam	0:00a3c3f5a8f0	1395	* @retval None.
nucleosam	0:00a3c3f5a8f0	1396	*/
nucleosam	0:00a3c3f5a8f0	1397	void Powerstep01_Board_Reset(void)
nucleosam	0:00a3c3f5a8f0	1398	{
nucleosam	0:00a3c3f5a8f0	1399	standby_reset = 0;
nucleosam	0:00a3c3f5a8f0	1400	}
nucleosam	0:00a3c3f5a8f0	1401
nucleosam	0:00a3c3f5a8f0	1402	/**
nucleosam	0:00a3c3f5a8f0	1403	* @brief Writing and reading bytes to/from the component through the SPI at the same time.
nucleosam	0:00a3c3f5a8f0	1404	* @param pByteToTransmit pointer to the buffer of data to send.
nucleosam	0:00a3c3f5a8f0	1405	* @param[out] pReceivedByte pointer to the buffer to read data into.
nucleosam	0:00a3c3f5a8f0	1406	* @retval "0" in case of success, "1" otherwise.
nucleosam	0:00a3c3f5a8f0	1407	*/
nucleosam	0:00a3c3f5a8f0	1408	uint8_t Powerstep01_Board_SpiWriteBytes(uint8_t pByteToTransmit, uint8_t pReceivedByte)
nucleosam	0:00a3c3f5a8f0	1409	{
nucleosam	0:00a3c3f5a8f0	1410	return (uint8_t) (ReadWrite(pReceivedByte, pByteToTransmit, numberOfDevices) == COMPONENT_OK ? 0 : 1);
nucleosam	0:00a3c3f5a8f0	1411	}
nucleosam	0:00a3c3f5a8f0	1412
nucleosam	0:00a3c3f5a8f0	1413
nucleosam	0:00a3c3f5a8f0	1414	/* Component's Instance Variables */
nucleosam	0:00a3c3f5a8f0	1415
nucleosam	0:00a3c3f5a8f0	1416	/* ACTION 9 --------------------------------------------------------------*
nucleosam	0:00a3c3f5a8f0	1417	* Declare here interrupt related variables, if needed. *
nucleosam	0:00a3c3f5a8f0	1418	* Note that interrupt handling is platform dependent, see *
nucleosam	0:00a3c3f5a8f0	1419	* "Interrupt Related Methods" above. *
nucleosam	0:00a3c3f5a8f0	1420	* *
nucleosam	0:00a3c3f5a8f0	1421	* Example: *
nucleosam	0:00a3c3f5a8f0	1422	* + mbed: *
nucleosam	0:00a3c3f5a8f0	1423	* InterruptIn feature_irq; *
nucleosam	0:00a3c3f5a8f0	1424	------------------------------------------------------------------------/
nucleosam	0:00a3c3f5a8f0	1425	/* Flag Interrupt. */
nucleosam	0:00a3c3f5a8f0	1426	InterruptIn flag_irq;
nucleosam	0:00a3c3f5a8f0	1427
nucleosam	0:00a3c3f5a8f0	1428	/* Busy Interrupt. */
nucleosam	0:00a3c3f5a8f0	1429	InterruptIn busy_irq;
nucleosam	0:00a3c3f5a8f0	1430
nucleosam	0:00a3c3f5a8f0	1431	/* ACTION 10 -------------------------------------------------------------*
nucleosam	0:00a3c3f5a8f0	1432	* Declare here other pin related variables, if needed. *
nucleosam	0:00a3c3f5a8f0	1433	* *
nucleosam	0:00a3c3f5a8f0	1434	* Example: *
nucleosam	0:00a3c3f5a8f0	1435	* + mbed: *
nucleosam	0:00a3c3f5a8f0	1436	* DigitalOut standby_reset; *
nucleosam	0:00a3c3f5a8f0	1437	------------------------------------------------------------------------/
nucleosam	0:00a3c3f5a8f0	1438	/* Standby/reset pin. */
nucleosam	0:00a3c3f5a8f0	1439	DigitalOut standby_reset;
nucleosam	0:00a3c3f5a8f0	1440
nucleosam	0:00a3c3f5a8f0	1441	/* Pulse Width Modulation pin. */
nucleosam	0:00a3c3f5a8f0	1442	PwmOut pwm;
nucleosam	0:00a3c3f5a8f0	1443
nucleosam	0:00a3c3f5a8f0	1444	/* ACTION 11 -------------------------------------------------------------*
nucleosam	0:00a3c3f5a8f0	1445	* Declare here communication related variables, if needed. *
nucleosam	0:00a3c3f5a8f0	1446	* *
nucleosam	0:00a3c3f5a8f0	1447	* Example: *
nucleosam	0:00a3c3f5a8f0	1448	* + mbed: *
nucleosam	0:00a3c3f5a8f0	1449	* DigitalOut ssel; *
nucleosam	0:00a3c3f5a8f0	1450	* DevSPI &dev_spi; *
nucleosam	0:00a3c3f5a8f0	1451	------------------------------------------------------------------------/
nucleosam	0:00a3c3f5a8f0	1452	/* Configuration. */
nucleosam	0:00a3c3f5a8f0	1453	DigitalOut ssel;
nucleosam	0:00a3c3f5a8f0	1454
nucleosam	0:00a3c3f5a8f0	1455	/* IO Device. */
nucleosam	0:00a3c3f5a8f0	1456	DevSPI &dev_spi;
nucleosam	0:00a3c3f5a8f0	1457
nucleosam	0:00a3c3f5a8f0	1458	/* ACTION 12 -------------------------------------------------------------*
nucleosam	0:00a3c3f5a8f0	1459	* Declare here identity related variables, if needed. *
nucleosam	0:00a3c3f5a8f0	1460	* Note that there should be only a unique identifier for each component, *
nucleosam	0:00a3c3f5a8f0	1461	* which should be the "who_am_i" parameter. *
nucleosam	0:00a3c3f5a8f0	1462	------------------------------------------------------------------------/
nucleosam	0:00a3c3f5a8f0	1463	/* Identity */
nucleosam	0:00a3c3f5a8f0	1464	uint8_t who_am_i;
nucleosam	0:00a3c3f5a8f0	1465
nucleosam	0:00a3c3f5a8f0	1466	/* ACTION 13 -------------------------------------------------------------*
nucleosam	0:00a3c3f5a8f0	1467	* Declare here the component's static and non-static data, one variable *
nucleosam	0:00a3c3f5a8f0	1468	* per line. *
nucleosam	0:00a3c3f5a8f0	1469	* *
nucleosam	0:00a3c3f5a8f0	1470	* Example: *
nucleosam	0:00a3c3f5a8f0	1471	* float measure; *
nucleosam	0:00a3c3f5a8f0	1472	* int instance_id; *
nucleosam	0:00a3c3f5a8f0	1473	* static int number_of_instances; *
nucleosam	0:00a3c3f5a8f0	1474	------------------------------------------------------------------------/
nucleosam	0:00a3c3f5a8f0	1475	/* Data. */
nucleosam	0:00a3c3f5a8f0	1476	void (*errorHandlerCallback)(uint16_t error);
nucleosam	0:00a3c3f5a8f0	1477	uint8_t deviceInstance;
nucleosam	0:00a3c3f5a8f0	1478
nucleosam	0:00a3c3f5a8f0	1479	/* Static data. */
nucleosam	0:00a3c3f5a8f0	1480	static uint8_t numberOfDevices;
nucleosam	0:00a3c3f5a8f0	1481	static uint8_t spiTxBursts[POWERSTEP01_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
nucleosam	0:00a3c3f5a8f0	1482	static uint8_t spiRxBursts[POWERSTEP01_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
nucleosam	0:00a3c3f5a8f0	1483
nucleosam	0:00a3c3f5a8f0	1484
nucleosam	0:00a3c3f5a8f0	1485	public:
nucleosam	0:00a3c3f5a8f0	1486
nucleosam	0:00a3c3f5a8f0	1487	/* Static data. */
nucleosam	0:00a3c3f5a8f0	1488	static bool spiPreemptionByIsr;
nucleosam	0:00a3c3f5a8f0	1489	static bool isrFlag;
nucleosam	0:00a3c3f5a8f0	1490
nucleosam	0:00a3c3f5a8f0	1491	};
nucleosam	0:00a3c3f5a8f0	1492
nucleosam	0:00a3c3f5a8f0	1493	#endif // __POWERSTEP01_CLASS_H
nucleosam	0:00a3c3f5a8f0	1494
nucleosam	0:00a3c3f5a8f0	1495	/********************** (C) COPYRIGHT STMicroelectronics *END OF FILE**/

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Type:	Library
Created:	29 Sep 2016
Imports:	0
Forks:	0
Commits:	5
Dependents:	0
Dependencies:	2
Followers:	1

This repository is Public (Unlisted).

The code in this repository is Apache licensed.

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Components/powerstep01/powerstep01_class.h@1:8ce2a5d6fbf8, 2016-04-07 (annotated)

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Components/powerstep01/powerstep01_class.h@1:8ce2a5d6fbf8, 2016-04-07 (annotated)

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