Davide Aliprandi
/
X_NUCLEO_IHM14A1
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Diff: Components/STSPIN820/STSPIN820.h
- Revision:
- 1:bc265521eb00
diff -r 77ad55a7f6d2 -r bc265521eb00 Components/STSPIN820/STSPIN820.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/STSPIN820/STSPIN820.h Fri Apr 27 17:02:08 2018 +0000
@@ -0,0 +1,766 @@
+/**
+ ******************************************************************************
+ * @file STSPIN820.h
+ * @author STM
+ * @version V1.0.0
+ * @date August 7th, 2017
+ * @brief STSPIN820 driver (fully integrated microstepping motor driver)
+ * @note (C) COPYRIGHT 2017 STMicroelectronics
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Generated with STM32CubeTOO -----------------------------------------------*/
+
+
+/* Revision ------------------------------------------------------------------*/
+/*
+ Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
+ Branch/Trunk/Tag: trunk
+ Based on: X-CUBE-SPN14/trunk/Drivers/BSP/Components/STSPIN820/STSPIN820.h
+ Revision: 0
+*/
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+
+#ifndef __STSPIN820_CLASS_H
+#define __STSPIN820_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+/* ACTION 1 ------------------------------------------------------------------*
+ * Include here platform specific header files. *
+ *----------------------------------------------------------------------------*/
+#include "mbed.h"
+#include "DevSPI.h"
+/* ACTION 2 ------------------------------------------------------------------*
+ * Include here component specific header files. *
+ *----------------------------------------------------------------------------*/
+#include "STSPIN820_def.h"
+/* ACTION 3 ------------------------------------------------------------------*
+ * Include here interface specific header files. *
+ * *
+ * Example: *
+ * #include "../Interfaces/Humidity.h" *
+ * #include "../Interfaces/Temperature.h" *
+ *----------------------------------------------------------------------------*/
+#include "../Interfaces/Motor.h"
+
+
+/* Classes -------------------------------------------------------------------*/
+
+/**
+ * @brief Class representing a STSPIN820 component.
+ */
+class STSPIN820 : public Motor
+{
+public:
+
+ /*** Constructor and Destructor Methods ***/
+
+ /**
+ * @brief Constructor.
+ * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
+ * @param spi SPI device to be used for communication.
+ */
+ STSPIN820(PinName ssel, DevSPI &spi) : Motor(), ssel(ssel), dev_spi(spi)
+ {
+ /* ACTION 4 ----------------------------------------------------------*
+ * Initialize here the component's member variables, one variable per *
+ * line. *
+ * *
+ * Example: *
+ * measure = 0; *
+ * instance_id = number_of_instances++; *
+ *--------------------------------------------------------------------*/
+ flag_interrupt_callback = 0;
+ error_handler_callback = 0;
+ toggle_odd = 0;
+ device_prm = 0;
+ number_of_devices = 0;
+ device_instance = 0;
+ }
+
+ /**
+ * @brief Destructor.
+ */
+ virtual ~STSPIN820(void) {}
+
+
+ /*** Public Component Related Methods ***/
+
+ /* ACTION 5 --------------------------------------------------------------*
+ * Implement here the component's public methods, as wrappers of the C *
+ * component's functions. *
+ * They should be: *
+ * + Methods with the same name of the C component's virtual table's *
+ * functions (1); *
+ * + Methods with the same name of the C component's extended virtual *
+ * table's functions, if any (2). *
+ * *
+ * Example: *
+ * virtual int get_value(float *p_data) //(1) *
+ * { *
+ * return COMPONENT_get_value(float *pf_data); *
+ * } *
+ * *
+ * virtual int enable_feature(void) //(2) *
+ * { *
+ * return COMPONENT_enable_feature(); *
+ * } *
+ *------------------------------------------------------------------------*/
+ virtual int init(void *init = NULL)
+ {
+ return (int) STSPIN820_Init((void *) init);
+ }
+
+ virtual int read_id(uint8_t *id = NULL)
+ {
+ return (int) STSPIN820_ReadId((uint8_t *) id);
+ }
+
+ virtual void attach_error_handler(void (*callback)(uint16_t error))
+ {
+ STSPIN820_AttachErrorHandler((void (*)(uint16_t error)) callback);
+ }
+
+ virtual void attach_flag_interrupt(void (*callback)(void))
+ {
+ STSPIN820_AttachFlagInterrupt((void (*)(void)) callback);
+ }
+
+ virtual void flag_interrupt_handler(void)
+ {
+ STSPIN820_FlagInterruptHandler();
+ }
+
+ virtual uint16_t get_acceleration(uint8_t deviceId)
+ {
+ return (uint16_t) STSPIN820_GetAcceleration((uint8_t) deviceId);
+ }
+
+ virtual uint16_t get_current_speed(uint8_t deviceId)
+ {
+ return (uint16_t) STSPIN820_GetCurrentSpeed((uint8_t) deviceId);
+ }
+
+ virtual uint16_t get_deceleration(uint8_t deviceId)
+ {
+ return (uint16_t) STSPIN820_GetDeceleration((uint8_t) deviceId);
+ }
+
+ virtual motor_state_t get_device_state(uint8_t deviceId)
+ {
+ return (motor_state_t) STSPIN820_GetDeviceState((uint8_t) deviceId);
+ }
+
+ virtual uint32_t get_fw_version(void)
+ {
+ return (uint32_t) STSPIN820_GetFwVersion();
+ }
+
+ virtual int32_t get_mark(uint8_t deviceId)
+ {
+ return (int32_t) STSPIN820_GetMark((uint8_t) deviceId);
+ }
+
+ virtual uint16_t get_max_speed(uint8_t deviceId)
+ {
+ return (uint16_t) STSPIN820_GetMaxSpeed((uint8_t) deviceId);
+ }
+
+ virtual uint16_t get_min_speed(uint8_t deviceId)
+ {
+ return (uint16_t) STSPIN820_GetMinSpeed((uint8_t) deviceId);
+ }
+
+ virtual int32_t get_position(uint8_t deviceId)
+ {
+ return (int32_t) STSPIN820_GetPosition((uint8_t) deviceId);
+ }
+
+ virtual void go_home(uint8_t deviceId)
+ {
+ STSPIN820_GoHome((uint8_t) deviceId);
+ }
+
+ virtual void go_mark(uint8_t deviceId)
+ {
+ STSPIN820_GoMark((uint8_t) deviceId);
+ }
+
+ virtual void go_to(uint8_t deviceId, int32_t targetPosition)
+ {
+ STSPIN820_GoTo((uint8_t) deviceId, (int32_t) targetPosition);
+ }
+
+ virtual void hard_stop(uint8_t deviceId)
+ {
+ STSPIN820_HardStop((uint8_t) deviceId);
+ }
+
+ virtual void move(uint8_t deviceId, motor_direction_t direction, uint32_t stepCount)
+ {
+ STSPIN820_Move((uint8_t) deviceId, (motor_direction_t) direction, (uint32_t) stepCount);
+ }
+
+ virtual void run(uint8_t deviceId, motor_direction_t direction)
+ {
+ STSPIN820_Run((uint8_t) deviceId, (motor_direction_t) direction);
+ }
+
+ virtual bool set_acceleration(uint8_t deviceId, uint16_t newAcc)
+ {
+ return (bool) STSPIN820_SetAcceleration((uint8_t) deviceId, (uint16_t) newAcc);
+ }
+
+ virtual bool set_deceleration(uint8_t deviceId, uint16_t newDec)
+ {
+ return (bool) STSPIN820_SetDeceleration((uint8_t) deviceId, (uint16_t) newDec);
+ }
+
+ virtual void set_home(uint8_t deviceId)
+ {
+ STSPIN820_SetHome((uint8_t) deviceId);
+ }
+
+ virtual void set_mark(uint8_t deviceId)
+ {
+ STSPIN820_SetMark((uint8_t) deviceId);
+ }
+
+ virtual bool set_max_speed(uint8_t deviceId, uint16_t newMaxSpeed)
+ {
+ return (bool) STSPIN820_SetMaxSpeed((uint8_t) deviceId, (uint16_t) newMaxSpeed);
+ }
+
+ virtual bool set_min_speed(uint8_t deviceId, uint16_t newMinSpeed)
+ {
+ return (bool) STSPIN820_SetMinSpeed((uint8_t) deviceId, (uint16_t) newMinSpeed);
+ }
+
+ virtual bool soft_stop(uint8_t deviceId)
+ {
+ return (bool) STSPIN820_SoftStop((uint8_t) deviceId);
+ }
+
+ virtual void step_clock_handler(uint8_t deviceId)
+ {
+ STSPIN820_StepClockHandler((uint8_t) deviceId);
+ }
+
+ virtual void wait_while_active(uint8_t deviceId)
+ {
+ STSPIN820_WaitWhileActive((uint8_t) deviceId);
+ }
+
+ virtual void cmd_disable(uint8_t deviceId)
+ {
+ STSPIN820_Disable((uint8_t) deviceId);
+ }
+
+ virtual void cmd_enable(uint8_t deviceId)
+ {
+ STSPIN820_Enable((uint8_t) deviceId);
+ }
+
+ virtual bool select_step_mode(uint8_t deviceId, motor_step_mode_t stepMode)
+ {
+ return (bool) STSPIN820_SetStepMode((uint8_t) deviceId, (motor_step_mode_t) stepMode);
+ }
+
+ virtual void set_direction(uint8_t deviceId, motor_direction_t direction)
+ {
+ STSPIN820_SetDirection((uint8_t) deviceId, (motor_direction_t) direction);
+ }
+
+ virtual void cmd_go_to_dir(uint8_t deviceId, motor_direction_t direction, int32_t targetPosition)
+ {
+ STSPIN820_GoToDir((uint8_t) deviceId, (motor_direction_t) direction, (int32_t) targetPosition);
+ }
+
+ virtual uint8_t check_status_hw(void)
+ {
+ return (uint8_t) STSPIN820_CheckStatusHw();
+ }
+
+ virtual void cmd_reset_device(uint8_t deviceId)
+ {
+ STSPIN820_PutDeviceInStandby((uint8_t) deviceId);
+ }
+
+ virtual uint8_t get_nb_devices(void)
+ {
+ return (uint8_t) STSPIN820_GetNbDevices();
+ }
+
+ virtual void error_handler(uint16_t error)
+ {
+ STSPIN820_ErrorHandler((uint16_t) error);
+ }
+
+ virtual uint32_t get_bridge_input_pwm_freq(uint8_t deviceId)
+ {
+ return (uint32_t) STSPIN820_VrefPwmGetFreq((uint8_t) deviceId);
+ }
+
+ virtual void set_bridge_input_pwm_freq(uint8_t deviceId, uint32_t newFreq)
+ {
+ STSPIN820_VrefPwmSetFreq((uint8_t) deviceId, (uint32_t) newFreq);
+ }
+
+ virtual void set_stop_mode(uint8_t deviceId, motor_stop_mode_t stopMode)
+ {
+ STSPIN820_SetStopMode((uint8_t) deviceId, (motor_stop_mode_t) stopMode);
+ }
+
+ virtual motor_stop_mode_t get_stop_mode(uint8_t deviceId)
+ {
+ return (motor_stop_mode_t) STSPIN820_GetStopMode((uint8_t) deviceId);
+ }
+
+ virtual void set_decay_mode(uint8_t deviceId, motor_decay_mode_t decayMode)
+ {
+ STSPIN820_SetDecayMode((uint8_t) deviceId, (motor_decay_mode_t) decayMode);
+ }
+
+ virtual motor_decay_mode_t get_decay_mode(uint8_t deviceId)
+ {
+ return (motor_decay_mode_t) STSPIN820_GetDecayMode((uint8_t) deviceId);
+ }
+
+ virtual motor_step_mode_t get_step_mode(uint8_t deviceId)
+ {
+ return (motor_step_mode_t) STSPIN820_GetStepMode((uint8_t) deviceId);
+ }
+
+ virtual motor_direction_t get_direction(uint8_t deviceId)
+ {
+ return (motor_direction_t) STSPIN820_GetDirection((uint8_t) deviceId);
+ }
+
+ virtual void exit_device_from_reset(uint8_t deviceId)
+ {
+ STSPIN820_ExitDeviceFromStandby((uint8_t) deviceId);
+ }
+
+ virtual void set_torque(uint8_t deviceId, motor_torque_mode_t torqueMode, uint8_t torqueValue)
+ {
+ STSPIN820_SetTorque((uint8_t) deviceId, (motor_torque_mode_t) torqueMode, (uint8_t) torqueValue);
+ }
+
+ virtual uint8_t get_torque(uint8_t deviceId, motor_torque_mode_t torqueMode)
+ {
+ return (uint8_t) STSPIN820_GetTorque((uint8_t) deviceId, (motor_torque_mode_t) torqueMode);
+ }
+
+ virtual bool set_nb_devices(uint8_t deviceId)
+ {
+ return (bool) STSPIN820_SetNbDevices((uint8_t) deviceId);
+ }
+
+ virtual void set_torque_boost_enable(uint8_t deviceId, bool enable)
+ {
+ STSPIN820_SetTorqueBoostEnable((uint8_t) deviceId, (bool) enable);
+ }
+
+ virtual bool get_torque_boost_enable(uint8_t deviceId)
+ {
+ return (bool) STSPIN820_GetTorqueBoostEnable((uint8_t) deviceId);
+ }
+
+ virtual void set_torque_boost_threshold(uint8_t deviceId, uint16_t speedThreshold)
+ {
+ STSPIN820_SetTorqueBoostThreshold((uint8_t) deviceId, (uint16_t) speedThreshold);
+ }
+
+ virtual uint16_t get_torque_boost_threshold(uint8_t deviceId)
+ {
+ return (uint16_t) STSPIN820_GetTorqueBoostThreshold((uint8_t) deviceId);
+ }
+
+
+ /*** Public Interrupt Related Methods ***/
+
+ /* ACTION 6 --------------------------------------------------------------*
+ * Implement here interrupt related methods, if any. *
+ * Note that interrupt handling is platform dependent, e.g.: *
+ * + mbed: *
+ * InterruptIn feature_irq(pin); //Interrupt object. *
+ * feature_irq.rise(callback); //Attach a callback. *
+ * feature_irq.mode(PullNone); //Set interrupt mode. *
+ * feature_irq.enable_irq(); //Enable interrupt. *
+ * feature_irq.disable_irq(); //Disable interrupt. *
+ * + Arduino: *
+ * attachInterrupt(pin, callback, RISING); //Attach a callback. *
+ * detachInterrupt(pin); //Detach a callback. *
+ * *
+ * Example (mbed): *
+ * void attach_feature_irq(void (*fptr) (void)) *
+ * { *
+ * feature_irq.rise(fptr); *
+ * } *
+ * *
+ * void enable_feature_irq(void) *
+ * { *
+ * feature_irq.enable_irq(); *
+ * } *
+ * *
+ * void disable_feature_irq(void) *
+ * { *
+ * feature_irq.disable_irq(); *
+ * } *
+ *------------------------------------------------------------------------*/
+
+
+protected:
+
+ /*** Protected Component Related Methods ***/
+
+ /* ACTION 7 --------------------------------------------------------------*
+ * Declare here the component's specific methods. *
+ * They should be: *
+ * + Methods with the same name of the C component's virtual table's *
+ * functions (1); *
+ * + Methods with the same name of the C component's extended virtual *
+ * table's functions, if any (2); *
+ * + Helper methods, if any, like functions declared in the component's *
+ * source files but not pointed by the component's virtual table (3). *
+ * *
+ * Example: *
+ * status_t COMPONENT_get_value(float *f); //(1) *
+ * status_t COMPONENT_enable_feature(void); //(2) *
+ * status_t COMPONENT_compute_average(void); //(3) *
+ *------------------------------------------------------------------------*/
+ void STSPIN820_ApplySpeed(uint8_t pwmId, uint16_t newSpeed);
+ void STSPIN820_ApplyTorque(uint8_t deviceId, motor_torque_mode_t torqueMode);
+ void STSPIN820_ComputeSpeedProfile(uint8_t deviceId, uint32_t nbSteps);
+ void STSPIN820_FlagInterruptHandler(void);
+ void STSPIN820_SetDeviceParamsOtherValues(void);
+ void STSPIN820_SetDeviceParamsToGivenValues(STSPIN820_init_t* initDevicePrm);
+ void STSPIN820_SetDeviceParamsToPredefinedValues(void);
+ void STSPIN820_StartMovement(uint8_t deviceId);
+ void STSPIN820_StepClockHandler(uint8_t deviceId);
+ MOTOR_vt_t* STSPIN820_GetMotorHandle(void); //Return handle of the motor driver handle
+ void STSPIN820_Init(void* pInit); //Start the STSPIN820 library
+ uint16_t STSPIN820_ReadId(void); //Read Id to get driver instance
+ void STSPIN820_AttachErrorHandler(void (*callback)(uint16_t)); //Attach a user callback to the error handler
+ void STSPIN820_AttachFlagInterrupt(void (*callback)(void)); //Attach a user callback to the flag Interrupt
+ uint8_t STSPIN820_CheckStatusHw(void); //Check if STSPIN820 has a fault by reading EN pin position
+ void STSPIN820_Disable(uint8_t deviceId); //Disable the power stage of the specified device
+ void STSPIN820_Enable(uint8_t deviceId); //Enable the power stage of the specified device
+ void STSPIN820_ErrorHandler(uint16_t error); //Error handler which calls the user callback
+ void STSPIN820_ExitDeviceFromStandby(uint8_t deviceId); //Exit STSPIN820 device from standby
+ uint16_t STSPIN820_GetAcceleration(uint8_t deviceId); //Return the acceleration in pps^2
+ uint16_t STSPIN820_GetCurrentSpeed(uint8_t deviceId); //Return the current speed in pps
+ motor_decay_mode_t STSPIN820_GetDecayMode(uint8_t deviceId); //Return the device decay mode
+ uint16_t STSPIN820_GetDeceleration(uint8_t deviceId); //Return the deceleration in pps^2
+ motor_state_t STSPIN820_GetDeviceState(uint8_t deviceId); //Return the device state
+ motor_direction_t STSPIN820_GetDirection(uint8_t deviceId); //Get the motor current direction
+ uint32_t STSPIN820_GetFwVersion(void); //Return the FW version
+ int32_t STSPIN820_GetMark(uint8_t deviceId); //Return the mark position
+ uint16_t STSPIN820_GetMaxSpeed(uint8_t deviceId); //Return the max speed in pps
+ uint16_t STSPIN820_GetMinSpeed(uint8_t deviceId); //Return the min speed in pps
+ uint8_t STSPIN820_GetNbDevices(void); //Return the nupber of devices
+ int32_t STSPIN820_GetPosition(uint8_t deviceId); //Return the ABS_POSITION (32b signed)
+ motor_step_mode_t STSPIN820_GetStepMode(uint8_t deviceId); //Get the motor step mode
+ motor_stop_mode_t STSPIN820_GetStopMode(uint8_t deviceId); //Get the selected mode to stop the motor
+ uint8_t STSPIN820_GetTorque(uint8_t deviceId, motor_torque_mode_t torqueMode);
+ bool STSPIN820_GetTorqueBoostEnable(uint8_t deviceId); //Get the torque boost feature status
+ uint16_t STSPIN820_GetTorqueBoostThreshold(uint8_t deviceId); //Get the torque boost threshold
+ void STSPIN820_GoHome(uint8_t deviceId); //Move to the home position
+ void STSPIN820_GoMark(uint8_t deviceId); //Move to the Mark position
+ void STSPIN820_GoTo(uint8_t deviceId, int32_t targetPosition); //Go to the specified position
+ void STSPIN820_GoToDir(uint8_t deviceId, motor_direction_t direction, int32_t targetPosition); //Go to the specified position using the specified direction
+ void STSPIN820_HardStop(uint8_t deviceId); //Stop the motor and keep holding torque
+ void STSPIN820_HardHiZ(uint8_t deviceId); //Stop the motor and disable the power bridge
+ void STSPIN820_Move(uint8_t deviceId, motor_direction_t direction, uint32_t stepCount); //Move the motor of the specified number of steps
+ void STSPIN820_PutDeviceInStandby(uint8_t deviceId); //Put STSPIN820 device in standby (low power consumption)
+ void STSPIN820_Run(uint8_t deviceId, motor_direction_t direction); //Run the motor
+ bool STSPIN820_SetAcceleration(uint8_t deviceId,uint16_t newAcc); //Set the acceleration in pps^2
+ bool STSPIN820_SetDeceleration(uint8_t deviceId,uint16_t newDec); //Set the deceleration in pps^2
+ void STSPIN820_SetDecayMode(uint8_t deviceId, motor_decay_mode_t decay); //Set the STSPIN820 decay mode pin
+ void STSPIN820_SetDirection(uint8_t deviceId, motor_direction_t direction); //Set the STSPIN820 direction pin
+ void STSPIN820_SetHome(uint8_t deviceId); //Set current position to be the home position
+ void STSPIN820_SetMark(uint8_t deviceId); //Set current position to be the Markposition
+ bool STSPIN820_SetMaxSpeed(uint8_t deviceId,uint16_t newMaxSpeed);//Set the max speed in pps
+ bool STSPIN820_SetMinSpeed(uint8_t deviceId,uint16_t newMinSpeed);//Set the min speed in pps
+ bool STSPIN820_SetNbDevices(uint8_t nbDevices);
+ bool STSPIN820_SetStepMode(uint8_t deviceId, motor_step_mode_t stepMode); // Step mode selection
+ void STSPIN820_SetStopMode(uint8_t deviceId, motor_stop_mode_t stopMode); //Select the mode to stop the motor
+ void STSPIN820_SetTorque(uint8_t deviceId, motor_torque_mode_t torqueMode, uint8_t torqueValue);
+ void STSPIN820_SetTorqueBoostEnable(uint8_t deviceId, bool enable); // Enable or disable the torque boost feature
+ void STSPIN820_SetTorqueBoostThreshold(uint8_t deviceId, uint16_t speedThreshold); //Set the torque boost threshold
+ bool STSPIN820_SoftStop(uint8_t deviceId); //Progressively stop the motor by using the device deceleration and set deceleration torque
+ uint32_t STSPIN820_VrefPwmGetFreq(uint8_t deviceId); //Get the frequency of REF PWM of the specified device
+ void STSPIN820_VrefPwmSetFreq(uint8_t deviceId, uint32_t newFreq);//Set the frequency of REF PWM of the specified device
+ void STSPIN820_WaitWhileActive(uint8_t deviceId); //Wait for the device state becomes Inactive
+
+
+ /*** Component's I/O Methods ***/
+
+ /**
+ * @brief Utility function to read data from STSPIN820.
+ * @param[out] pBuffer pointer to the buffer to read data into.
+ * @param[in] NumBytesToRead number of bytes to read.
+ * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
+ */
+ status_t read(uint8_t* pBuffer, uint16_t NumBytesToRead)
+ {
+ if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0)
+ return COMPONENT_ERROR;
+ return COMPONENT_OK;
+ }
+
+ /**
+ * @brief Utility function to write data to STSPIN820.
+ * @param[in] pBuffer pointer to the buffer of data to send.
+ * @param[in] NumBytesToWrite number of bytes to write.
+ * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
+ */
+ status_t write(uint8_t* pBuffer, uint16_t NumBytesToWrite)
+ {
+ if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0)
+ return COMPONENT_ERROR;
+ return COMPONENT_OK;
+ }
+
+ /**
+ * @brief Utility function to read and write data from/to STSPIN820 at the same time.
+ * @param[out] pBufferToRead pointer to the buffer to read data into.
+ * @param[in] pBufferToWrite pointer to the buffer of data to send.
+ * @param[in] NumBytes number of bytes to read and write.
+ * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
+ */
+ status_t read_write(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes)
+ {
+ if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0)
+ return COMPONENT_ERROR;
+ return COMPONENT_OK;
+ }
+
+ /* ACTION 8 --------------------------------------------------------------*
+ * Implement here other I/O methods beyond those already implemented *
+ * above, which are declared extern within the component's header file. *
+ *------------------------------------------------------------------------*/
+ void STSPIN820_Board_Delay(uint32_t delay)
+ {
+ /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
+ }
+
+ void STSPIN820_Board_Disable(void)
+ {
+ /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
+ }
+
+ void STSPIN820_Board_DisableIrq(void)
+ {
+ /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
+ }
+
+ uint32_t STSPIN820_Board_EN_AND_FAULT_PIN_GetState(void)
+ {
+ /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
+ return (uint32_t) 0;
+ }
+
+ void STSPIN820_Board_Enable(void)
+ {
+ /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
+ }
+
+ void STSPIN820_Board_EnableIrq(void)
+ {
+ /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
+ }
+
+ void STSPIN820_Board_GpioInit(void)
+ {
+ /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
+ }
+
+ void STSPIN820_Board_PwmRefInit(void)
+ {
+ /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
+ }
+
+ void STSPIN820_Board_PwmRefSetFreqAndDutyCycle(uint32_t newFreq, uint8_t dutyCycle)
+ {
+ /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
+ }
+
+ void STSPIN820_Board_PwmRefStart(void)
+ {
+ /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
+ }
+
+ void STSPIN820_Board_PwmRefStop(void)
+ {
+ /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
+ }
+
+ void STSPIN820_Board_ReleaseReset(void)
+ {
+ /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
+ }
+
+ void STSPIN820_Board_Reset(void)
+ {
+ /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
+ }
+
+ void STSPIN820_Board_SetDecayGpio(uint8_t gpioState)
+ {
+ /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
+ }
+
+ uint8_t STSPIN820_Board_GetDecayGpio(void)
+ {
+ /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
+ return (uint8_t) 0;
+ }
+
+ void STSPIN820_Board_SetDirectionGpio(uint8_t gpioState)
+ {
+ /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
+ }
+
+ void STSPIN820_Board_SetFullStep(void)
+ {
+ /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
+ }
+
+ bool STSPIN820_Board_SetModePins(uint8_t modePin1Level, uint8_t modePin2Level, uint8_t modePin3Level)
+ {
+ /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
+ return (bool) 0;
+ }
+
+ void STSPIN820_Board_TimStckCompareInit(void)
+ {
+ /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
+ }
+
+ void STSPIN820_Board_TimStckDeInit(void)
+ {
+ /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
+ }
+
+ void STSPIN820_Board_TimStckInit(void)
+ {
+ /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
+ }
+
+ void STSPIN820_Board_TimStckSetFreq(uint16_t newFreq)
+ {
+ /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
+ }
+
+ void STSPIN820_Board_TimStckStart(void)
+ {
+ /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
+ }
+
+ uint8_t STSPIN820_Board_TimStckStop(uint8_t *pToggleOdd)
+ {
+ /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
+ return (uint8_t) 0;
+ }
+
+ void STSPIN820_Board_UnsetFullStep(void)
+ {
+ /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
+ }
+
+
+ /*** Component's Instance Variables ***/
+
+ /* ACTION 9 --------------------------------------------------------------*
+ * Declare here interrupt related variables, if needed. *
+ * Note that interrupt handling is platform dependent, see *
+ * "Interrupt Related Methods" above. *
+ * *
+ * Example: *
+ * + mbed: *
+ * InterruptIn feature_irq; *
+ *------------------------------------------------------------------------*/
+
+ /* ACTION 10 -------------------------------------------------------------*
+ * Declare here other pin related variables, if needed. *
+ * *
+ * Example: *
+ * + mbed: *
+ * DigitalOut standby_reset; *
+ *------------------------------------------------------------------------*/
+
+ /* ACTION 11 -------------------------------------------------------------*
+ * Declare here communication related variables, if needed. *
+ * *
+ * Example: *
+ * + mbed: *
+ * DigitalOut ssel; *
+ * DevSPI &dev_spi; *
+ *------------------------------------------------------------------------*/
+ /* Configuration. */
+ DigitalOut ssel;
+
+ /* IO Device. */
+ DevSPI &dev_spi;
+
+ /* ACTION 12 -------------------------------------------------------------*
+ * Declare here identity related variables, if needed. *
+ * Note that there should be only a unique identifier for each component, *
+ * which should be the "who_am_i" parameter. *
+ *------------------------------------------------------------------------*/
+ /* Identity */
+ uint8_t who_am_i;
+
+ /* ACTION 13 -------------------------------------------------------------*
+ * Declare here the component's static and non-static data, one variable *
+ * per line. *
+ * *
+ * Example: *
+ * float measure; *
+ * int instance_id; *
+ * static int number_of_instances; *
+ *------------------------------------------------------------------------*/
+ void (*flag_interrupt_callback)(void);
+ void (*error_handler_callback)(uint16_t error);
+ uint8_t toggle_odd;
+ device_params_t device_prm;
+ uint8_t number_of_devices;
+ uint8_t device_instance;
+};
+
+#endif /* __STSPIN820_CLASS_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/