X_NUCLEO_IHM02A1 - Library to handle the X_NUCLEO_IHM02A1 Motor Cont…

Users » Isto » Code » X_NUCLEO_IHM02A1

Library to handle the X_NUCLEO_IHM02A1 Motor Control Expansion Board based on the L6470 component.

Components/l6470/l6470_class.h@4:381d76f5b0b4, 2015-11-26 (annotated)

Committer:: Davidroid
Date:: Thu Nov 26 16:24:17 2015 +0000
Revision:: 4:381d76f5b0b4
Parent:: 2:3ed992ffeada
Child:: 7:3bb27256c3ed

+ Updated with the new structure of the Stm32CubeTOO tool.

Who changed what in which revision?

User	Revision	Line number	New contents of line
Davidroid	0:92706998571a	1	/**
Davidroid	4:381d76f5b0b4	2	******************************************************************************
Davidroid	4:381d76f5b0b4	3	* @file l6470_class.h
Davidroid	4:381d76f5b0b4	4	* @author Davide Aliprandi, STMicrolectronics
Davidroid	4:381d76f5b0b4	5	* @version V1.0.0
Davidroid	4:381d76f5b0b4	6	* @date November 12th, 2015
Davidroid	4:381d76f5b0b4	7	* @brief This file contains the class of an L6470 Motor Control component.
Davidroid	4:381d76f5b0b4	8	******************************************************************************
Davidroid	4:381d76f5b0b4	9	*
Davidroid	4:381d76f5b0b4	10	* COPYRIGHT(c) 2014 STMicroelectronics
Davidroid	4:381d76f5b0b4	11	*
Davidroid	4:381d76f5b0b4	12	* Redistribution and use in source and binary forms, with or without modification,
Davidroid	4:381d76f5b0b4	13	* are permitted provided that the following conditions are met:
Davidroid	4:381d76f5b0b4	14	* 1. Redistributions of source code must retain the above copyright notice,
Davidroid	4:381d76f5b0b4	15	* this list of conditions and the following disclaimer.
Davidroid	4:381d76f5b0b4	16	* 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid	4:381d76f5b0b4	17	* this list of conditions and the following disclaimer in the documentation
Davidroid	4:381d76f5b0b4	18	* and/or other materials provided with the distribution.
Davidroid	4:381d76f5b0b4	19	* 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid	4:381d76f5b0b4	20	* may be used to endorse or promote products derived from this software
Davidroid	4:381d76f5b0b4	21	* without specific prior written permission.
Davidroid	4:381d76f5b0b4	22	*
Davidroid	4:381d76f5b0b4	23	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid	4:381d76f5b0b4	24	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid	4:381d76f5b0b4	25	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid	4:381d76f5b0b4	26	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid	4:381d76f5b0b4	27	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid	4:381d76f5b0b4	28	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid	4:381d76f5b0b4	29	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid	4:381d76f5b0b4	30	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid	4:381d76f5b0b4	31	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid	4:381d76f5b0b4	32	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid	4:381d76f5b0b4	33	*
Davidroid	4:381d76f5b0b4	34	******************************************************************************
Davidroid	4:381d76f5b0b4	35	*/
Davidroid	0:92706998571a	36
Davidroid	0:92706998571a	37
Davidroid	0:92706998571a	38	/* Generated with Stm32CubeTOO -----------------------------------------------*/
Davidroid	0:92706998571a	39
Davidroid	0:92706998571a	40
Davidroid	0:92706998571a	41	/* Revision ------------------------------------------------------------------*/
Davidroid	0:92706998571a	42	/*
Davidroid	0:92706998571a	43	Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
Davidroid	0:92706998571a	44	Branch/Trunk/Tag: trunk
Davidroid	0:92706998571a	45	Based on: X-CUBE-SPN2/trunk/Drivers/BSP/Components/L6470/L6470.h
Davidroid	0:92706998571a	46	Revision: 0
Davidroid	0:92706998571a	47	*/
Davidroid	0:92706998571a	48
Davidroid	0:92706998571a	49
Davidroid	0:92706998571a	50	/* Define to prevent recursive inclusion -------------------------------------*/
Davidroid	0:92706998571a	51
Davidroid	0:92706998571a	52	#ifndef __L6470_CLASS_H
Davidroid	0:92706998571a	53	#define __L6470_CLASS_H
Davidroid	0:92706998571a	54
Davidroid	0:92706998571a	55
Davidroid	0:92706998571a	56	/* Includes ------------------------------------------------------------------*/
Davidroid	0:92706998571a	57
Davidroid	0:92706998571a	58	/* ACTION 1 ------------------------------------------------------------------*
Davidroid	0:92706998571a	59	* Include here platform specific header files. *
Davidroid	0:92706998571a	60	----------------------------------------------------------------------------/
Davidroid	0:92706998571a	61	#include "mbed.h"
Davidroid	0:92706998571a	62	#include "DevSPI.h"
Davidroid	0:92706998571a	63	/* ACTION 2 ------------------------------------------------------------------*
Davidroid	0:92706998571a	64	* Include here component specific header files. *
Davidroid	0:92706998571a	65	----------------------------------------------------------------------------/
Davidroid	0:92706998571a	66	#include "l6470.h"
Davidroid	0:92706998571a	67	/* ACTION 3 ------------------------------------------------------------------*
Davidroid	0:92706998571a	68	* Include here interface specific header files. *
Davidroid	0:92706998571a	69	* *
Davidroid	0:92706998571a	70	* Example: *
Davidroid	0:92706998571a	71	* #include "../Interfaces/Humidity_class.h" *
Davidroid	0:92706998571a	72	* #include "../Interfaces/Temperature_class.h" *
Davidroid	0:92706998571a	73	----------------------------------------------------------------------------/
Davidroid	0:92706998571a	74	#include "../Interfaces/StepperMotor_class.h"
Davidroid	0:92706998571a	75
Davidroid	0:92706998571a	76
Davidroid	0:92706998571a	77	/* Classes -------------------------------------------------------------------*/
Davidroid	0:92706998571a	78
Davidroid	0:92706998571a	79	/** Class representing a L6470 component.
Davidroid	0:92706998571a	80	*/
Davidroid	0:92706998571a	81	class L6470 : public StepperMotor
Davidroid	0:92706998571a	82	{
Davidroid	0:92706998571a	83	public:
Davidroid	0:92706998571a	84
Davidroid	1:b78dab6d2c58	85	/* Public Component Related Types */
Davidroid	1:b78dab6d2c58	86
Davidroid	1:b78dab6d2c58	87	/**
Davidroid	1:b78dab6d2c58	88	* @brief Prepared Actions.
Davidroid	1:b78dab6d2c58	89	*/
Davidroid	1:b78dab6d2c58	90	typedef enum
Davidroid	1:b78dab6d2c58	91	{
Davidroid	1:b78dab6d2c58	92	PREPARED_NO_ACTION = 0,
Davidroid	1:b78dab6d2c58	93	PREPARED_GET_POSITION,
Davidroid	1:b78dab6d2c58	94	PREPARED_GET_MARK,
Davidroid	1:b78dab6d2c58	95	PREPARED_GET_SPEED,
Davidroid	1:b78dab6d2c58	96	PREPARED_GET_MAX_SPEED,
Davidroid	1:b78dab6d2c58	97	PREPARED_GET_MIN_SPEED,
Davidroid	1:b78dab6d2c58	98	PREPARED_GET_ACCELERATION,
Davidroid	1:b78dab6d2c58	99	PREPARED_GET_DECELERATION,
Davidroid	1:b78dab6d2c58	100	PREPARED_GET_DIRECTION,
Davidroid	1:b78dab6d2c58	101	PREPARED_SET_MARK
Davidroid	1:b78dab6d2c58	102	} prepared_action_t;
Davidroid	1:b78dab6d2c58	103
Davidroid	1:b78dab6d2c58	104
Davidroid	0:92706998571a	105	/* Constructor and Destructor Methods */
Davidroid	0:92706998571a	106
Davidroid	0:92706998571a	107	/**
Davidroid	0:92706998571a	108	* @brief Constructor.
Davidroid	0:92706998571a	109	* @param flag_irq pin name of the FLAG pin of the component.
Davidroid	1:b78dab6d2c58	110	* @param busy_irq pin name of the BUSY pin of the component.
Davidroid	0:92706998571a	111	* @param standby_reset pin name of the STBY\RST pin of the component.
Davidroid	0:92706998571a	112	* @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
Davidroid	0:92706998571a	113	* @param spi SPI device to be used for communication.
Davidroid	0:92706998571a	114	*/
Davidroid	1:b78dab6d2c58	115	L6470(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI &spi) : StepperMotor(), flag_irq(flag_irq), busy_irq(busy_irq), standby_reset(standby_reset), ssel(ssel), dev_spi(spi)
Davidroid	0:92706998571a	116	{
Davidroid	0:92706998571a	117	/* ACTION 4 ----------------------------------------------------------*
Davidroid	0:92706998571a	118	* Initialize here the component's member variables, one variable per *
Davidroid	0:92706998571a	119	* line. *
Davidroid	0:92706998571a	120	* *
Davidroid	0:92706998571a	121	* Example: *
Davidroid	0:92706998571a	122	* T0_out = 0; *
Davidroid	0:92706998571a	123	* T1_out = 0; *
Davidroid	0:92706998571a	124	* T0_degC = 0; *
Davidroid	0:92706998571a	125	* T1_degC = 0; *
Davidroid	0:92706998571a	126	--------------------------------------------------------------------/
Davidroid	0:92706998571a	127	L6470_Register = &_L6470_Register[0];
Davidroid	0:92706998571a	128	L6470_ApplicationCommand = &_L6470_ApplicationCommand[0];
Davidroid	0:92706998571a	129	L6470_Direction = &_L6470_Direction[0];
Davidroid	0:92706998571a	130	L6470_ACT = &_L6470_ACT[0];
Davidroid	0:92706998571a	131	pL6470_StatusRegister = &L6470_StatusRegister;
Davidroid	1:b78dab6d2c58	132	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	133	L6470_Id = number_of_devices++;
Davidroid	0:92706998571a	134	L6470_DaisyChain_HalfPrepared = ZERO_F;
Davidroid	0:92706998571a	135	memset(L6470_AppCmdPkg, 0, L6470DAISYCHAINSIZE * sizeof(sL6470_AppCmdPkg_t));
Davidroid	0:92706998571a	136	memset(L6470_DaisyChainSpiTxStruct, 0, L6470MAXSPICMDBYTESIZE * L6470DAISYCHAINSIZE * sizeof(uint8_t));
Davidroid	0:92706998571a	137	memset(L6470_DaisyChainSpiRxStruct, 0, L6470MAXSPICMDBYTESIZE * L6470DAISYCHAINSIZE * sizeof(uint8_t));
Davidroid	0:92706998571a	138	}
Davidroid	0:92706998571a	139
Davidroid	0:92706998571a	140	/**
Davidroid	0:92706998571a	141	* @brief Destructor.
Davidroid	0:92706998571a	142	*/
Davidroid	0:92706998571a	143	virtual ~L6470(void) {}
Davidroid	0:92706998571a	144
Davidroid	0:92706998571a	145
Davidroid	0:92706998571a	146	/* Public Component Related Methods */
Davidroid	0:92706998571a	147
Davidroid	0:92706998571a	148	/* ACTION 5 --------------------------------------------------------------*
Davidroid	0:92706998571a	149	* Implement here the component's public methods, as wrappers of the C *
Davidroid	0:92706998571a	150	* component's functions. *
Davidroid	0:92706998571a	151	* They should be: *
Davidroid	0:92706998571a	152	* + Methods with the same name of the C component's virtual table's *
Davidroid	0:92706998571a	153	* functions (1); *
Davidroid	0:92706998571a	154	* + Methods with the same name of the C component's extended virtual *
Davidroid	0:92706998571a	155	* table's functions, if any (2). *
Davidroid	0:92706998571a	156	* *
Davidroid	0:92706998571a	157	* Example: *
Davidroid	0:92706998571a	158	* virtual int GetValue(float pData) //(1)
Davidroid	0:92706998571a	159	* { *
Davidroid	0:92706998571a	160	* return COMPONENT_GetValue(float pfData);
Davidroid	0:92706998571a	161	* } *
Davidroid	0:92706998571a	162	* *
Davidroid	0:92706998571a	163	* virtual int EnableFeature(void) //(2) *
Davidroid	0:92706998571a	164	* { *
Davidroid	0:92706998571a	165	* return COMPONENT_EnableFeature(); *
Davidroid	0:92706998571a	166	* } *
Davidroid	0:92706998571a	167	------------------------------------------------------------------------/
Davidroid	1:b78dab6d2c58	168	/**
Davidroid	1:b78dab6d2c58	169	* @brief Initializing the component.
Davidroid	1:b78dab6d2c58	170	* @param init Pointer to device specific initalization structure.
Davidroid	1:b78dab6d2c58	171	* @retval "0" in case of success, an error code otherwise.
Davidroid	1:b78dab6d2c58	172	*/
Davidroid	0:92706998571a	173	virtual int Init(void *init)
Davidroid	0:92706998571a	174	{
Davidroid	0:92706998571a	175	return (int) L6470_Config((MICROSTEPPING_MOTOR_InitTypeDef *) init);
Davidroid	0:92706998571a	176	}
Davidroid	0:92706998571a	177
Davidroid	1:b78dab6d2c58	178	/**
Davidroid	1:b78dab6d2c58	179	* @brief Getting the ID of the component.
Davidroid	1:b78dab6d2c58	180	* @param id Pointer to an allocated variable to store the ID into.
Davidroid	1:b78dab6d2c58	181	* @retval "0" in case of success, an error code otherwise.
Davidroid	1:b78dab6d2c58	182	*/
Davidroid	0:92706998571a	183	virtual int ReadID(uint8_t *id)
Davidroid	0:92706998571a	184	{
Davidroid	0:92706998571a	185	return (int) 0;
Davidroid	0:92706998571a	186	}
Davidroid	0:92706998571a	187
Davidroid	1:b78dab6d2c58	188	/**
Davidroid	1:b78dab6d2c58	189	* @brief Getting the status.
Davidroid	1:b78dab6d2c58	190	* @param None.
Davidroid	1:b78dab6d2c58	191	* @retval The status.
Davidroid	1:b78dab6d2c58	192	*/
Davidroid	0:92706998571a	193	virtual unsigned int GetStatus(void)
Davidroid	0:92706998571a	194	{
Davidroid	0:92706998571a	195	return (unsigned int) L6470_GetStatus();
Davidroid	0:92706998571a	196	}
Davidroid	1:b78dab6d2c58	197
Davidroid	1:b78dab6d2c58	198	/**
Davidroid	1:b78dab6d2c58	199	* @brief Getting a parameter.
Davidroid	1:b78dab6d2c58	200	* @param parameter The parameter's identifier (or its register address).
Davidroid	1:b78dab6d2c58	201	* @retval The parameter's value.
Davidroid	1:b78dab6d2c58	202	*/
Davidroid	0:92706998571a	203	virtual unsigned int GetParameter(unsigned int parameter)
Davidroid	0:92706998571a	204	{
Davidroid	0:92706998571a	205	return (unsigned int) L6470_GetParam((eL6470_RegId_t) parameter);
Davidroid	0:92706998571a	206	}
Davidroid	0:92706998571a	207
Davidroid	1:b78dab6d2c58	208	/**
Davidroid	1:b78dab6d2c58	209	* @brief Getting the position.
Davidroid	1:b78dab6d2c58	210	* @param None.
Davidroid	1:b78dab6d2c58	211	* @retval The position.
Davidroid	1:b78dab6d2c58	212	*/
Davidroid	0:92706998571a	213	virtual signed int GetPosition(void)
Davidroid	0:92706998571a	214	{
Davidroid	1:b78dab6d2c58	215	return (signed int) L6470_AbsPos_2_Position((uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID));
Davidroid	0:92706998571a	216	}
Davidroid	0:92706998571a	217
Davidroid	1:b78dab6d2c58	218	/**
Davidroid	1:b78dab6d2c58	219	* @brief Getting the marked position.
Davidroid	1:b78dab6d2c58	220	* @param None.
Davidroid	1:b78dab6d2c58	221	* @retval The marked position.
Davidroid	1:b78dab6d2c58	222	*/
Davidroid	0:92706998571a	223	virtual signed int GetMark(void)
Davidroid	0:92706998571a	224	{
Davidroid	1:b78dab6d2c58	225	return (signed int) L6470_AbsPos_2_Position((uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_MARK_ID));
Davidroid	0:92706998571a	226	}
Davidroid	0:92706998571a	227
Davidroid	1:b78dab6d2c58	228	/**
Davidroid	1:b78dab6d2c58	229	* @brief Getting the current speed in pps.
Davidroid	1:b78dab6d2c58	230	* @param None.
Davidroid	1:b78dab6d2c58	231	* @retval The current speed in pps.
Davidroid	1:b78dab6d2c58	232	*/
Davidroid	0:92706998571a	233	virtual unsigned int GetSpeed(void)
Davidroid	0:92706998571a	234	{
Davidroid	1:b78dab6d2c58	235	return round(L6470_Speed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_SPEED_ID)));
Davidroid	0:92706998571a	236	}
Davidroid	0:92706998571a	237
Davidroid	1:b78dab6d2c58	238	/**
Davidroid	1:b78dab6d2c58	239	* @brief Getting the maximum speed in pps.
Davidroid	1:b78dab6d2c58	240	* @param None.
Davidroid	1:b78dab6d2c58	241	* @retval The maximum speed in pps.
Davidroid	1:b78dab6d2c58	242	*/
Davidroid	0:92706998571a	243	virtual unsigned int GetMaxSpeed(void)
Davidroid	0:92706998571a	244	{
Davidroid	1:b78dab6d2c58	245	return round(L6470_MaxSpeed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID)));
Davidroid	0:92706998571a	246	}
Davidroid	0:92706998571a	247
Davidroid	1:b78dab6d2c58	248	/**
Davidroid	1:b78dab6d2c58	249	* @brief Getting the minimum speed in pps.
Davidroid	1:b78dab6d2c58	250	* @param None.
Davidroid	1:b78dab6d2c58	251	* @retval The minimum speed in pps.
Davidroid	1:b78dab6d2c58	252	*/
Davidroid	0:92706998571a	253	virtual unsigned int GetMinSpeed(void)
Davidroid	0:92706998571a	254	{
Davidroid	1:b78dab6d2c58	255	return round(L6470_MinSpeed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID)));
Davidroid	0:92706998571a	256	}
Davidroid	0:92706998571a	257
Davidroid	1:b78dab6d2c58	258	/**
Davidroid	1:b78dab6d2c58	259	* @brief Getting the acceleration in pps^2.
Davidroid	1:b78dab6d2c58	260	* @param None.
Davidroid	1:b78dab6d2c58	261	* @retval The acceleration in pps^2.
Davidroid	1:b78dab6d2c58	262	*/
Davidroid	0:92706998571a	263	virtual unsigned int GetAcceleration(void)
Davidroid	0:92706998571a	264	{
Davidroid	1:b78dab6d2c58	265	return round(L6470_Acc_2_Step_s2((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_ACC_ID)));
Davidroid	0:92706998571a	266	}
Davidroid	0:92706998571a	267
Davidroid	1:b78dab6d2c58	268	/**
Davidroid	1:b78dab6d2c58	269	* @brief Getting the deceleration in pps^2.
Davidroid	1:b78dab6d2c58	270	* @param None.
Davidroid	1:b78dab6d2c58	271	* @retval The deceleration in pps^2.
Davidroid	1:b78dab6d2c58	272	*/
Davidroid	0:92706998571a	273	virtual unsigned int GetDeceleration(void)
Davidroid	0:92706998571a	274	{
Davidroid	1:b78dab6d2c58	275	return round(L6470_Dec_2_Step_s2((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_DEC_ID)));
Davidroid	0:92706998571a	276	}
Davidroid	0:92706998571a	277
Davidroid	1:b78dab6d2c58	278	/**
Davidroid	1:b78dab6d2c58	279	* @brief Getting the direction of rotation.
Davidroid	1:b78dab6d2c58	280	* @param None.
Davidroid	1:b78dab6d2c58	281	* @retval The direction of rotation.
Davidroid	1:b78dab6d2c58	282	*/
Davidroid	0:92706998571a	283	virtual direction_t GetDirection(void)
Davidroid	0:92706998571a	284	{
Davidroid	0:92706998571a	285	return (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD);
Davidroid	0:92706998571a	286	}
Davidroid	0:92706998571a	287
Davidroid	1:b78dab6d2c58	288	/**
Davidroid	1:b78dab6d2c58	289	* @brief Setting a parameter.
Davidroid	1:b78dab6d2c58	290	* @param parameter The parameter's identifier (or its register address).
Davidroid	1:b78dab6d2c58	291	* @param value The parameter's value.
Davidroid	1:b78dab6d2c58	292	* @retval None.
Davidroid	1:b78dab6d2c58	293	*/
Davidroid	0:92706998571a	294	virtual void SetParameter(unsigned int parameter, unsigned int value)
Davidroid	0:92706998571a	295	{
Davidroid	0:92706998571a	296	L6470_SetParam((eL6470_RegId_t) parameter, (uint32_t) value);
Davidroid	0:92706998571a	297	}
Davidroid	0:92706998571a	298
Davidroid	1:b78dab6d2c58	299	/**
Davidroid	1:b78dab6d2c58	300	* @brief Setting the current position to be the home position.
Davidroid	1:b78dab6d2c58	301	* @param None.
Davidroid	1:b78dab6d2c58	302	* @retval None.
Davidroid	1:b78dab6d2c58	303	*/
Davidroid	0:92706998571a	304	virtual void SetHome(void)
Davidroid	0:92706998571a	305	{
Davidroid	0:92706998571a	306	L6470_ResetPos();
Davidroid	0:92706998571a	307	}
Davidroid	0:92706998571a	308
Davidroid	1:b78dab6d2c58	309	/**
Davidroid	1:b78dab6d2c58	310	* @brief Setting the current position to be the marked position.
Davidroid	1:b78dab6d2c58	311	* @param None.
Davidroid	1:b78dab6d2c58	312	* @retval None.
Davidroid	1:b78dab6d2c58	313	*/
Davidroid	0:92706998571a	314	virtual void SetMark(void)
Davidroid	0:92706998571a	315	{
Davidroid	0:92706998571a	316	L6470_SetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID));
Davidroid	0:92706998571a	317	}
Davidroid	0:92706998571a	318
Davidroid	1:b78dab6d2c58	319	/**
Davidroid	1:b78dab6d2c58	320	* @brief Setting the current position to be the marked position.
Davidroid	1:b78dab6d2c58	321	* @param position The given position.
Davidroid	1:b78dab6d2c58	322	* @retval None.
Davidroid	1:b78dab6d2c58	323	*/
Davidroid	1:b78dab6d2c58	324	virtual void SetMark(signed int position)
Davidroid	1:b78dab6d2c58	325	{
Davidroid	1:b78dab6d2c58	326	L6470_SetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
Davidroid	1:b78dab6d2c58	327	}
Davidroid	1:b78dab6d2c58	328
Davidroid	1:b78dab6d2c58	329	/**
Davidroid	1:b78dab6d2c58	330	* @brief Setting the maximum speed in pps.
Davidroid	1:b78dab6d2c58	331	* @param speed The maximum speed in pps.
Davidroid	1:b78dab6d2c58	332	* @retval None.
Davidroid	1:b78dab6d2c58	333	*/
Davidroid	0:92706998571a	334	virtual void SetMaxSpeed(unsigned int speed)
Davidroid	0:92706998571a	335	{
Davidroid	1:b78dab6d2c58	336	L6470_SetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) L6470_Step_s_2_MaxSpeed((float) speed));
Davidroid	0:92706998571a	337	}
Davidroid	0:92706998571a	338
Davidroid	1:b78dab6d2c58	339	/**
Davidroid	1:b78dab6d2c58	340	* @brief Setting the minimum speed in pps.
Davidroid	1:b78dab6d2c58	341	* @param speed The minimum speed in pps.
Davidroid	1:b78dab6d2c58	342	* @retval None.
Davidroid	1:b78dab6d2c58	343	*/
Davidroid	0:92706998571a	344	virtual void SetMinSpeed(unsigned int speed)
Davidroid	0:92706998571a	345	{
Davidroid	1:b78dab6d2c58	346	L6470_SetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) L6470_Step_s_2_MinSpeed((float) speed));
Davidroid	0:92706998571a	347	}
Davidroid	0:92706998571a	348
Davidroid	1:b78dab6d2c58	349	/**
Davidroid	1:b78dab6d2c58	350	* @brief Setting the acceleration in pps^2.
Davidroid	1:b78dab6d2c58	351	* @param acceleration The acceleration in pps^2.
Davidroid	1:b78dab6d2c58	352	* @retval None.
Davidroid	1:b78dab6d2c58	353	*/
Davidroid	0:92706998571a	354	virtual void SetAcceleration(unsigned int acceleration)
Davidroid	0:92706998571a	355	{
Davidroid	1:b78dab6d2c58	356	L6470_SetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) L6470_Step_s2_2_Acc((float) acceleration));
Davidroid	0:92706998571a	357	}
Davidroid	0:92706998571a	358
Davidroid	1:b78dab6d2c58	359	/**
Davidroid	1:b78dab6d2c58	360	* @brief Setting the deceleration in pps^2.
Davidroid	1:b78dab6d2c58	361	* @param deceleration The deceleration in pps^2.
Davidroid	1:b78dab6d2c58	362	* @retval None.
Davidroid	1:b78dab6d2c58	363	*/
Davidroid	0:92706998571a	364	virtual void SetDeceleration(unsigned int deceleration)
Davidroid	0:92706998571a	365	{
Davidroid	1:b78dab6d2c58	366	L6470_SetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) L6470_Step_s2_2_Dec((float) deceleration));
Davidroid	0:92706998571a	367	}
Davidroid	0:92706998571a	368
Davidroid	1:b78dab6d2c58	369	/**
Davidroid	1:b78dab6d2c58	370	* @brief Going to a specified position through the shortest path.
Davidroid	1:b78dab6d2c58	371	* @param position The desired position.
Davidroid	1:b78dab6d2c58	372	* @retval None.
Davidroid	1:b78dab6d2c58	373	*/
Davidroid	0:92706998571a	374	virtual void GoTo(signed int position)
Davidroid	0:92706998571a	375	{
Davidroid	1:b78dab6d2c58	376	L6470_GoTo((uint32_t) L6470_Position_2_AbsPos((int32_t) position));
Davidroid	0:92706998571a	377	}
Davidroid	0:92706998571a	378
Davidroid	1:b78dab6d2c58	379	/**
Davidroid	1:b78dab6d2c58	380	* @brief Going to a specified position imposing the desired direction.
Davidroid	1:b78dab6d2c58	381	* @param position The desired position.
Davidroid	1:b78dab6d2c58	382	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	383	* @retval None.
Davidroid	1:b78dab6d2c58	384	*/
Davidroid	0:92706998571a	385	virtual void GoTo(signed int position, direction_t direction)
Davidroid	0:92706998571a	386	{
Davidroid	1:b78dab6d2c58	387	L6470_GoToDir((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
Davidroid	0:92706998571a	388	}
Davidroid	0:92706998571a	389
Davidroid	1:b78dab6d2c58	390	/**
Davidroid	1:b78dab6d2c58	391	* @brief Going to the home position.
Davidroid	1:b78dab6d2c58	392	* @param None.
Davidroid	1:b78dab6d2c58	393	* @retval None.
Davidroid	1:b78dab6d2c58	394	*/
Davidroid	0:92706998571a	395	virtual void GoHome(void)
Davidroid	0:92706998571a	396	{
Davidroid	0:92706998571a	397	L6470_GoHome();
Davidroid	0:92706998571a	398	}
Davidroid	0:92706998571a	399
Davidroid	1:b78dab6d2c58	400	/**
Davidroid	1:b78dab6d2c58	401	* @brief Going to the marked position.
Davidroid	1:b78dab6d2c58	402	* @param None.
Davidroid	1:b78dab6d2c58	403	* @retval None.
Davidroid	1:b78dab6d2c58	404	*/
Davidroid	0:92706998571a	405	virtual void GoMark(void)
Davidroid	0:92706998571a	406	{
Davidroid	0:92706998571a	407	L6470_GoMark();
Davidroid	0:92706998571a	408	}
Davidroid	0:92706998571a	409
Davidroid	1:b78dab6d2c58	410	/**
Davidroid	1:b78dab6d2c58	411	* @brief Running at the given speed imposing the desired direction until
Davidroid	1:b78dab6d2c58	412	* an external switch turn-on event occurs.
Davidroid	1:b78dab6d2c58	413	* @param action The identifier of the action about the absolute position.
Davidroid	1:b78dab6d2c58	414	* @param position The desired position.
Davidroid	1:b78dab6d2c58	415	* @param speed The speed value in pps.
Davidroid	1:b78dab6d2c58	416	* @retval None.
Davidroid	1:b78dab6d2c58	417	* @note The identifier of the action about the absolute position can be
Davidroid	1:b78dab6d2c58	418	* one of the following:
Davidroid	1:b78dab6d2c58	419	* + L6470_ACT_RST_ID: the absolute position is reset;
Davidroid	1:b78dab6d2c58	420	* + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
Davidroid	1:b78dab6d2c58	421	*/
Davidroid	1:b78dab6d2c58	422	virtual void GoUntil(eL6470_ActId_t action, direction_t direction, unsigned int speed)
Davidroid	0:92706998571a	423	{
Davidroid	1:b78dab6d2c58	424	L6470_GoUntil((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_Step_s_2_Speed((float) speed));
Davidroid	0:92706998571a	425	}
Davidroid	0:92706998571a	426
Davidroid	1:b78dab6d2c58	427	/**
Davidroid	1:b78dab6d2c58	428	* @brief Running towards a specified direction.
Davidroid	1:b78dab6d2c58	429	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	430	* @retval None.
Davidroid	1:b78dab6d2c58	431	*/
Davidroid	0:92706998571a	432	virtual void Run(direction_t direction)
Davidroid	0:92706998571a	433	{
Davidroid	0:92706998571a	434	L6470_Run((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID));
Davidroid	0:92706998571a	435	}
Davidroid	0:92706998571a	436
Davidroid	1:b78dab6d2c58	437	/**
Davidroid	1:b78dab6d2c58	438	* @brief Running towards a specified direction at the given speed.
Davidroid	1:b78dab6d2c58	439	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	440	* @param speed The speed value in pps.
Davidroid	1:b78dab6d2c58	441	* @retval None.
Davidroid	1:b78dab6d2c58	442	*/
Davidroid	0:92706998571a	443	virtual void Run(direction_t direction, unsigned int speed)
Davidroid	0:92706998571a	444	{
Davidroid	1:b78dab6d2c58	445	L6470_Run((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_Step_s_2_Speed((float) speed));
Davidroid	0:92706998571a	446	}
Davidroid	0:92706998571a	447
Davidroid	1:b78dab6d2c58	448	/**
Davidroid	1:b78dab6d2c58	449	* @brief Moving towards a specified direction for a certain number of steps.
Davidroid	1:b78dab6d2c58	450	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	451	* @param steps The desired number of steps.
Davidroid	1:b78dab6d2c58	452	* @retval None.
Davidroid	1:b78dab6d2c58	453	*/
Davidroid	0:92706998571a	454	virtual void Move(direction_t direction, unsigned int steps)
Davidroid	0:92706998571a	455	{
Davidroid	0:92706998571a	456	L6470_Move((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) steps);
Davidroid	0:92706998571a	457	}
Davidroid	0:92706998571a	458
Davidroid	1:b78dab6d2c58	459	/**
Davidroid	1:b78dab6d2c58	460	* @brief Stopping the motor through an immediate deceleration up to zero speed.
Davidroid	1:b78dab6d2c58	461	* The used deceleration value is the one stored in the "DEC" register.
Davidroid	1:b78dab6d2c58	462	* @param None.
Davidroid	1:b78dab6d2c58	463	* @retval None.
Davidroid	1:b78dab6d2c58	464	*/
Davidroid	0:92706998571a	465	virtual void SoftStop(void)
Davidroid	0:92706998571a	466	{
Davidroid	0:92706998571a	467	L6470_SoftStop();
Davidroid	0:92706998571a	468	}
Davidroid	0:92706998571a	469
Davidroid	1:b78dab6d2c58	470	/**
Davidroid	1:b78dab6d2c58	471	* @brief Stopping the motor through an immediate infinite deceleration.
Davidroid	1:b78dab6d2c58	472	* @param None.
Davidroid	1:b78dab6d2c58	473	* @retval None.
Davidroid	1:b78dab6d2c58	474	*/
Davidroid	0:92706998571a	475	virtual void HardStop(void)
Davidroid	0:92706998571a	476	{
Davidroid	0:92706998571a	477	L6470_HardStop();
Davidroid	0:92706998571a	478	}
Davidroid	0:92706998571a	479
Davidroid	1:b78dab6d2c58	480	/**
Davidroid	1:b78dab6d2c58	481	* @brief Disabling the power bridge after performing a deceleration to zero.
Davidroid	1:b78dab6d2c58	482	* The used deceleration value is the one stored in the "DEC" register.
Davidroid	1:b78dab6d2c58	483	* @param None.
Davidroid	1:b78dab6d2c58	484	* @retval None.
Davidroid	1:b78dab6d2c58	485	*/
Davidroid	1:b78dab6d2c58	486	virtual void SoftHiZ(void)
Davidroid	1:b78dab6d2c58	487	{
Davidroid	1:b78dab6d2c58	488	L6470_SoftHiZ();
Davidroid	1:b78dab6d2c58	489	}
Davidroid	1:b78dab6d2c58	490
Davidroid	1:b78dab6d2c58	491	/**
Davidroid	1:b78dab6d2c58	492	* @brief Disabling the power bridge immediately.
Davidroid	1:b78dab6d2c58	493	* @param None.
Davidroid	1:b78dab6d2c58	494	* @retval None.
Davidroid	1:b78dab6d2c58	495	*/
Davidroid	1:b78dab6d2c58	496	virtual void HardHiZ(void)
Davidroid	1:b78dab6d2c58	497	{
Davidroid	1:b78dab6d2c58	498	L6470_HardHiZ();
Davidroid	1:b78dab6d2c58	499	}
Davidroid	1:b78dab6d2c58	500
Davidroid	1:b78dab6d2c58	501	/**
Davidroid	1:b78dab6d2c58	502	* @brief Waiting while the motor is active.
Davidroid	1:b78dab6d2c58	503	* @param None.
Davidroid	1:b78dab6d2c58	504	* @retval None.
Davidroid	1:b78dab6d2c58	505	*/
Davidroid	0:92706998571a	506	virtual void WaitWhileActive(void)
Davidroid	0:92706998571a	507	{
Davidroid	0:92706998571a	508	while (L6470_CheckStatusRegisterFlag(BUSY_ID) == 0);
Davidroid	0:92706998571a	509	}
Davidroid	0:92706998571a	510
Davidroid	1:b78dab6d2c58	511	/**
Davidroid	1:b78dab6d2c58	512	* @brief Switching to step-clock mode.
Davidroid	1:b78dab6d2c58	513	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	514	* @retval None.
Davidroid	1:b78dab6d2c58	515	*/
Davidroid	0:92706998571a	516	virtual void StepClock(direction_t direction)
Davidroid	0:92706998571a	517	{
Davidroid	0:92706998571a	518	L6470_StepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid	0:92706998571a	519	}
Davidroid	0:92706998571a	520
Davidroid	1:b78dab6d2c58	521	/**
Davidroid	1:b78dab6d2c58	522	* @brief Doing a motion at minimum speed imposing a specified direction
Davidroid	1:b78dab6d2c58	523	* until the SW is released.
Davidroid	1:b78dab6d2c58	524	* @param action The identifier of the action about the absolute position.
Davidroid	1:b78dab6d2c58	525	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	526	* @note The identifier of the action about the absolute position can be
Davidroid	1:b78dab6d2c58	527	* one of the following:
Davidroid	1:b78dab6d2c58	528	* + L6470_ACT_RST_ID: the absolute position is reset;
Davidroid	1:b78dab6d2c58	529	* + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
Davidroid	1:b78dab6d2c58	530	*/
Davidroid	1:b78dab6d2c58	531	virtual void ReleaseSW(eL6470_ActId_t action, direction_t direction)
Davidroid	0:92706998571a	532	{
Davidroid	1:b78dab6d2c58	533	L6470_ReleaseSW((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid	0:92706998571a	534	}
Davidroid	0:92706998571a	535
Davidroid	1:b78dab6d2c58	536	/**
Davidroid	1:b78dab6d2c58	537	* @brief Resetting the device to power-up conditions.
Davidroid	1:b78dab6d2c58	538	* @param None.
Davidroid	1:b78dab6d2c58	539	* @retval None.
Davidroid	1:b78dab6d2c58	540	*/
Davidroid	0:92706998571a	541	virtual void ResetDevice(void)
Davidroid	0:92706998571a	542	{
Davidroid	0:92706998571a	543	L6470_ResetDevice();
Davidroid	0:92706998571a	544	}
Davidroid	0:92706998571a	545
Davidroid	1:b78dab6d2c58	546	/**
Davidroid	1:b78dab6d2c58	547	* @brief Preparing the command to get the status.
Davidroid	1:b78dab6d2c58	548	* @param None.
Davidroid	1:b78dab6d2c58	549	* @retval None.
Davidroid	1:b78dab6d2c58	550	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	551	*/
Davidroid	0:92706998571a	552	virtual void PrepareGetStatus(void)
Davidroid	0:92706998571a	553	{
Davidroid	0:92706998571a	554	L6470_PrepareGetStatus();
Davidroid	1:b78dab6d2c58	555	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	556	}
Davidroid	0:92706998571a	557
Davidroid	1:b78dab6d2c58	558	/**
Davidroid	1:b78dab6d2c58	559	* @brief Preparing the command to get a parameter.
Davidroid	1:b78dab6d2c58	560	* @param parameter The parameter's identifier (or its register address).
Davidroid	1:b78dab6d2c58	561	* @retval None.
Davidroid	1:b78dab6d2c58	562	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	563	*/
Davidroid	0:92706998571a	564	virtual void PrepareGetParameter(unsigned int parameter)
Davidroid	0:92706998571a	565	{
Davidroid	0:92706998571a	566	L6470_PrepareGetParam((eL6470_RegId_t) parameter);
Davidroid	1:b78dab6d2c58	567	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	568	}
Davidroid	0:92706998571a	569
Davidroid	1:b78dab6d2c58	570	/**
Davidroid	1:b78dab6d2c58	571	* @brief Preparing the command to get the position.
Davidroid	1:b78dab6d2c58	572	* @param None.
Davidroid	1:b78dab6d2c58	573	* @retval None.
Davidroid	1:b78dab6d2c58	574	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	575	*/
Davidroid	0:92706998571a	576	virtual void PrepareGetPosition(void)
Davidroid	0:92706998571a	577	{
Davidroid	0:92706998571a	578	L6470_PrepareGetParam((eL6470_RegId_t) L6470_ABS_POS_ID);
Davidroid	1:b78dab6d2c58	579	prepared_action = PREPARED_GET_POSITION;
Davidroid	0:92706998571a	580	}
Davidroid	0:92706998571a	581
Davidroid	1:b78dab6d2c58	582	/**
Davidroid	1:b78dab6d2c58	583	* @brief Preparing the command to get the marked position.
Davidroid	1:b78dab6d2c58	584	* @param None.
Davidroid	1:b78dab6d2c58	585	* @retval None.
Davidroid	1:b78dab6d2c58	586	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	587	*/
Davidroid	0:92706998571a	588	virtual void PrepareGetMark(void)
Davidroid	0:92706998571a	589	{
Davidroid	0:92706998571a	590	L6470_PrepareGetParam((eL6470_RegId_t) L6470_MARK_ID);
Davidroid	1:b78dab6d2c58	591	prepared_action = PREPARED_GET_MARK;
Davidroid	0:92706998571a	592	}
Davidroid	0:92706998571a	593
Davidroid	1:b78dab6d2c58	594	/**
Davidroid	1:b78dab6d2c58	595	* @brief Preparing the command to get the current speed in pps.
Davidroid	1:b78dab6d2c58	596	* @param None.
Davidroid	1:b78dab6d2c58	597	* @retval None.
Davidroid	1:b78dab6d2c58	598	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	599	*/
Davidroid	0:92706998571a	600	virtual void PrepareGetSpeed(void)
Davidroid	0:92706998571a	601	{
Davidroid	1:b78dab6d2c58	602	L6470_PrepareGetParam((eL6470_RegId_t) L6470_SPEED_ID);
Davidroid	1:b78dab6d2c58	603	prepared_action = PREPARED_GET_SPEED;
Davidroid	0:92706998571a	604	}
Davidroid	0:92706998571a	605
Davidroid	1:b78dab6d2c58	606	/**
Davidroid	1:b78dab6d2c58	607	* @brief Preparing the command to get the maximum speed in pps.
Davidroid	1:b78dab6d2c58	608	* @param None.
Davidroid	1:b78dab6d2c58	609	* @retval None.
Davidroid	1:b78dab6d2c58	610	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	611	*/
Davidroid	0:92706998571a	612	virtual void PrepareGetMaxSpeed(void)
Davidroid	0:92706998571a	613	{
Davidroid	0:92706998571a	614	L6470_PrepareGetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID);
Davidroid	1:b78dab6d2c58	615	prepared_action = PREPARED_GET_MAX_SPEED;
Davidroid	0:92706998571a	616	}
Davidroid	0:92706998571a	617
Davidroid	1:b78dab6d2c58	618	/**
Davidroid	1:b78dab6d2c58	619	* @brief Preparing the command to get the minimum speed in pps.
Davidroid	1:b78dab6d2c58	620	* @param None.
Davidroid	1:b78dab6d2c58	621	* @retval None.
Davidroid	1:b78dab6d2c58	622	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	623	*/
Davidroid	0:92706998571a	624	virtual void PrepareGetMinSpeed(void)
Davidroid	0:92706998571a	625	{
Davidroid	0:92706998571a	626	L6470_PrepareGetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID);
Davidroid	1:b78dab6d2c58	627	prepared_action = PREPARED_GET_MIN_SPEED;
Davidroid	0:92706998571a	628	}
Davidroid	0:92706998571a	629
Davidroid	1:b78dab6d2c58	630	/**
Davidroid	1:b78dab6d2c58	631	* @brief Preparing the command to get the acceleration in pps^2.
Davidroid	1:b78dab6d2c58	632	* @param None.
Davidroid	1:b78dab6d2c58	633	* @retval None.
Davidroid	1:b78dab6d2c58	634	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	635	*/
Davidroid	0:92706998571a	636	virtual void PrepareGetAcceleration(void)
Davidroid	0:92706998571a	637	{
Davidroid	0:92706998571a	638	L6470_PrepareGetParam((eL6470_RegId_t) L6470_ACC_ID);
Davidroid	1:b78dab6d2c58	639	prepared_action = PREPARED_GET_ACCELERATION;
Davidroid	0:92706998571a	640	}
Davidroid	0:92706998571a	641
Davidroid	1:b78dab6d2c58	642	/**
Davidroid	1:b78dab6d2c58	643	* @brief Preparing the command to get the deceleration in pps^2.
Davidroid	1:b78dab6d2c58	644	* @param None.
Davidroid	1:b78dab6d2c58	645	* @retval None.
Davidroid	1:b78dab6d2c58	646	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	647	*/
Davidroid	0:92706998571a	648	virtual void PrepareGetDeceleration(void)
Davidroid	0:92706998571a	649	{
Davidroid	0:92706998571a	650	L6470_PrepareGetParam((eL6470_RegId_t) L6470_DEC_ID);
Davidroid	1:b78dab6d2c58	651	prepared_action = PREPARED_GET_DECELERATION;
Davidroid	0:92706998571a	652	}
Davidroid	0:92706998571a	653
Davidroid	1:b78dab6d2c58	654	/**
Davidroid	1:b78dab6d2c58	655	* @brief Preparing the command to get the direction of rotation.
Davidroid	1:b78dab6d2c58	656	* @param None.
Davidroid	1:b78dab6d2c58	657	* @retval None.
Davidroid	1:b78dab6d2c58	658	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	659	*/
Davidroid	1:b78dab6d2c58	660	virtual void PrepareGetDirection(void)
Davidroid	0:92706998571a	661	{
Davidroid	1:b78dab6d2c58	662	if (!L6470_DaisyChain_HalfPrepared)
Davidroid	1:b78dab6d2c58	663	{
Davidroid	1:b78dab6d2c58	664	/* To avoid deleting the previous entered command. */
Davidroid	1:b78dab6d2c58	665	L6470_DaisyChain_HalfPrepared = ONE_F;
Davidroid	1:b78dab6d2c58	666	/* Resetting commands. */
Davidroid	1:b78dab6d2c58	667	L6470_ResetAppCmdPkg(L6470_AppCmdPkg);
Davidroid	1:b78dab6d2c58	668	}
Davidroid	1:b78dab6d2c58	669	prepared_action = PREPARED_GET_DIRECTION;
Davidroid	0:92706998571a	670	}
Davidroid	0:92706998571a	671
Davidroid	1:b78dab6d2c58	672	/**
Davidroid	1:b78dab6d2c58	673	* @brief Preparing the command to set a parameter.
Davidroid	1:b78dab6d2c58	674	* @param parameter The parameter's identifier (or its register address).
Davidroid	1:b78dab6d2c58	675	* @param value The parameter's value.
Davidroid	1:b78dab6d2c58	676	* @retval None.
Davidroid	1:b78dab6d2c58	677	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	678	*/
Davidroid	0:92706998571a	679	virtual void PrepareSetParameter(unsigned int parameter, unsigned int value)
Davidroid	0:92706998571a	680	{
Davidroid	0:92706998571a	681	L6470_PrepareSetParam((eL6470_RegId_t) parameter, (uint32_t) value);
Davidroid	1:b78dab6d2c58	682	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	683	}
Davidroid	0:92706998571a	684
Davidroid	1:b78dab6d2c58	685	/**
Davidroid	1:b78dab6d2c58	686	* @brief Preparing the command to set the current position to be
Davidroid	1:b78dab6d2c58	687	* the home position.
Davidroid	1:b78dab6d2c58	688	* @param None.
Davidroid	1:b78dab6d2c58	689	* @retval None.
Davidroid	1:b78dab6d2c58	690	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	691	*/
Davidroid	0:92706998571a	692	virtual void PrepareSetHome(void)
Davidroid	0:92706998571a	693	{
Davidroid	0:92706998571a	694	L6470_PrepareResetPos();
Davidroid	1:b78dab6d2c58	695	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	696	}
Davidroid	0:92706998571a	697
Davidroid	1:b78dab6d2c58	698	/**
Davidroid	1:b78dab6d2c58	699	* @brief Preparing the command to set the current position to be
Davidroid	1:b78dab6d2c58	700	* the marked position.
Davidroid	1:b78dab6d2c58	701	* @param None.
Davidroid	1:b78dab6d2c58	702	* @retval None.
Davidroid	1:b78dab6d2c58	703	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	704	*/
Davidroid	0:92706998571a	705	virtual void PrepareSetMark(void)
Davidroid	0:92706998571a	706	{
Davidroid	1:b78dab6d2c58	707	/*
Davidroid	1:b78dab6d2c58	708	Set "0" now as marked position. This value will be replaced by the
Davidroid	1:b78dab6d2c58	709	actual position read at the time when the prepared actions will be
Davidroid	1:b78dab6d2c58	710	performed.
Davidroid	1:b78dab6d2c58	711	*/
Davidroid	1:b78dab6d2c58	712	L6470_PrepareSetParam((eL6470_RegId_t) L6470_MARK_ID, 0);
Davidroid	1:b78dab6d2c58	713	prepared_action = PREPARED_SET_MARK;
Davidroid	0:92706998571a	714	}
Davidroid	0:92706998571a	715
Davidroid	1:b78dab6d2c58	716	/**
Davidroid	1:b78dab6d2c58	717	* @brief Preparing the command to set the given position to be
Davidroid	1:b78dab6d2c58	718	* the marked position.
Davidroid	1:b78dab6d2c58	719	* @param position The given position.
Davidroid	1:b78dab6d2c58	720	* @retval None.
Davidroid	1:b78dab6d2c58	721	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	722	*/
Davidroid	1:b78dab6d2c58	723	virtual void PrepareSetMark(signed int position)
Davidroid	1:b78dab6d2c58	724	{
Davidroid	1:b78dab6d2c58	725	L6470_PrepareSetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
Davidroid	1:b78dab6d2c58	726	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	727	}
Davidroid	1:b78dab6d2c58	728
Davidroid	1:b78dab6d2c58	729	/**
Davidroid	1:b78dab6d2c58	730	* @brief Preparing the command to set the current speed in pps.
Davidroid	1:b78dab6d2c58	731	* @param speed The current speed in pps.
Davidroid	1:b78dab6d2c58	732	* @retval None.
Davidroid	1:b78dab6d2c58	733	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	734	*/
Davidroid	1:b78dab6d2c58	735	virtual void PrepareSetSpeed(unsigned int speed)
Davidroid	1:b78dab6d2c58	736	{
Davidroid	1:b78dab6d2c58	737	L6470_PrepareSetParam((eL6470_RegId_t) L6470_SPEED_ID, (uint32_t) L6470_Step_s_2_Speed((float) speed));
Davidroid	1:b78dab6d2c58	738	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	739	}
Davidroid	1:b78dab6d2c58	740
Davidroid	1:b78dab6d2c58	741	/**
Davidroid	1:b78dab6d2c58	742	* @brief Preparing the command to set the maximum speed in pps.
Davidroid	1:b78dab6d2c58	743	* @param speed The maximum speed in pps.
Davidroid	1:b78dab6d2c58	744	* @retval None.
Davidroid	1:b78dab6d2c58	745	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	746	*/
Davidroid	0:92706998571a	747	virtual void PrepareSetMaxSpeed(unsigned int speed)
Davidroid	0:92706998571a	748	{
Davidroid	1:b78dab6d2c58	749	L6470_PrepareSetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) L6470_Step_s_2_MaxSpeed((float) speed));
Davidroid	1:b78dab6d2c58	750	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	751	}
Davidroid	0:92706998571a	752
Davidroid	1:b78dab6d2c58	753	/**
Davidroid	1:b78dab6d2c58	754	* @brief Preparing the command to set the minimum speed in pps.
Davidroid	1:b78dab6d2c58	755	* @param speed The minimum speed in pps.
Davidroid	1:b78dab6d2c58	756	* @retval None.
Davidroid	1:b78dab6d2c58	757	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	758	*/
Davidroid	1:b78dab6d2c58	759	virtual void PrepareSetMinSpeed(unsigned int speed)
Davidroid	1:b78dab6d2c58	760	{
Davidroid	1:b78dab6d2c58	761	L6470_PrepareSetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) L6470_Step_s_2_MinSpeed((float) speed));
Davidroid	1:b78dab6d2c58	762	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	763	}
Davidroid	1:b78dab6d2c58	764
Davidroid	1:b78dab6d2c58	765	/**
Davidroid	1:b78dab6d2c58	766	* @brief Preparing the command to set the acceleration in pps^2.
Davidroid	1:b78dab6d2c58	767	* @param acceleration The acceleration in pps^2.
Davidroid	1:b78dab6d2c58	768	* @retval None.
Davidroid	1:b78dab6d2c58	769	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	770	*/
Davidroid	0:92706998571a	771	virtual void PrepareSetAcceleration(unsigned int acceleration)
Davidroid	0:92706998571a	772	{
Davidroid	1:b78dab6d2c58	773	L6470_PrepareSetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) L6470_Step_s2_2_Acc((float) acceleration));
Davidroid	1:b78dab6d2c58	774	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	775	}
Davidroid	0:92706998571a	776
Davidroid	1:b78dab6d2c58	777	/**
Davidroid	1:b78dab6d2c58	778	* @brief Preparing the command to set the deceleration in pps^2.
Davidroid	1:b78dab6d2c58	779	* @param deceleration The deceleration in pps^2.
Davidroid	1:b78dab6d2c58	780	* @retval None.
Davidroid	1:b78dab6d2c58	781	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	782	*/
Davidroid	1:b78dab6d2c58	783	virtual void PrepareSetDeceleration(unsigned int deceleration)
Davidroid	0:92706998571a	784	{
Davidroid	1:b78dab6d2c58	785	L6470_PrepareSetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) L6470_Step_s2_2_Dec((float) deceleration));
Davidroid	1:b78dab6d2c58	786	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	787	}
Davidroid	0:92706998571a	788
Davidroid	1:b78dab6d2c58	789	/**
Davidroid	1:b78dab6d2c58	790	* @brief Preparing the command to go to a specified position.
Davidroid	1:b78dab6d2c58	791	* @param position The desired position.
Davidroid	1:b78dab6d2c58	792	* @retval None.
Davidroid	1:b78dab6d2c58	793	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	794	*/
Davidroid	1:b78dab6d2c58	795	virtual void PrepareGoTo(signed int position)
Davidroid	1:b78dab6d2c58	796	{
Davidroid	1:b78dab6d2c58	797	L6470_PrepareGoTo((uint32_t) L6470_Position_2_AbsPos((int32_t) position));
Davidroid	1:b78dab6d2c58	798	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	799	}
Davidroid	1:b78dab6d2c58	800
Davidroid	1:b78dab6d2c58	801	/**
Davidroid	1:b78dab6d2c58	802	* @brief Preparing the command to go to a specified position
Davidroid	1:b78dab6d2c58	803	* imposing the desired direction.
Davidroid	1:b78dab6d2c58	804	* @param position The desired position.
Davidroid	1:b78dab6d2c58	805	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	806	* @retval None.
Davidroid	1:b78dab6d2c58	807	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	808	*/
Davidroid	0:92706998571a	809	virtual void PrepareGoTo(signed int position, direction_t direction)
Davidroid	0:92706998571a	810	{
Davidroid	1:b78dab6d2c58	811	L6470_PrepareGoToDir((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
Davidroid	1:b78dab6d2c58	812	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	813	}
Davidroid	0:92706998571a	814
Davidroid	1:b78dab6d2c58	815	/**
Davidroid	1:b78dab6d2c58	816	* @brief Preparing the command to go to the home position.
Davidroid	1:b78dab6d2c58	817	* @param None.
Davidroid	1:b78dab6d2c58	818	* @retval None.
Davidroid	1:b78dab6d2c58	819	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	820	*/
Davidroid	0:92706998571a	821	virtual void PrepareGoHome(void)
Davidroid	0:92706998571a	822	{
Davidroid	0:92706998571a	823	L6470_PrepareGoHome();
Davidroid	1:b78dab6d2c58	824	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	825	}
Davidroid	0:92706998571a	826
Davidroid	1:b78dab6d2c58	827	/**
Davidroid	1:b78dab6d2c58	828	* @brief Preparing the command to go to the marked position.
Davidroid	1:b78dab6d2c58	829	* @param None.
Davidroid	1:b78dab6d2c58	830	* @retval None.
Davidroid	1:b78dab6d2c58	831	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	832	*/
Davidroid	0:92706998571a	833	virtual void PrepareGoMark(void)
Davidroid	0:92706998571a	834	{
Davidroid	0:92706998571a	835	L6470_PrepareGoMark();
Davidroid	1:b78dab6d2c58	836	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	837	}
Davidroid	0:92706998571a	838
Davidroid	1:b78dab6d2c58	839	/**
Davidroid	1:b78dab6d2c58	840	* @brief Preparing the command to run at the given speed imposing the desired
Davidroid	1:b78dab6d2c58	841	* direction until an external switch turn-on event occurs.
Davidroid	1:b78dab6d2c58	842	* @param action The identifier of the action about the absolute position.
Davidroid	1:b78dab6d2c58	843	* @param position The desired position.
Davidroid	1:b78dab6d2c58	844	* @param speed The speed value in pps.
Davidroid	1:b78dab6d2c58	845	* @retval None.
Davidroid	1:b78dab6d2c58	846	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	847	* The identifier of the action about the absolute position can be
Davidroid	1:b78dab6d2c58	848	* one of the following:
Davidroid	1:b78dab6d2c58	849	* + L6470_ACT_RST_ID: the absolute position is reset;
Davidroid	1:b78dab6d2c58	850	* + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
Davidroid	1:b78dab6d2c58	851	*/
Davidroid	0:92706998571a	852	virtual void PrepareGoUntil(eL6470_ActId_t L6470_ActId, direction_t direction, unsigned int speed)
Davidroid	0:92706998571a	853	{
Davidroid	1:b78dab6d2c58	854	L6470_PrepareGoUntil((eL6470_ActId_t) L6470_ActId, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_Step_s_2_Speed((float) speed));
Davidroid	1:b78dab6d2c58	855	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	856	}
Davidroid	0:92706998571a	857
Davidroid	1:b78dab6d2c58	858	/**
Davidroid	1:b78dab6d2c58	859	* @brief Preparing the command to run towards a specified direction
Davidroid	1:b78dab6d2c58	860	* at the maximum speed.
Davidroid	1:b78dab6d2c58	861	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	862	* @retval None.
Davidroid	1:b78dab6d2c58	863	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	864	*/
Davidroid	0:92706998571a	865	virtual void PrepareRun(direction_t direction)
Davidroid	0:92706998571a	866	{
Davidroid	0:92706998571a	867	L6470_PrepareRun((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID));
Davidroid	1:b78dab6d2c58	868	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	869	}
Davidroid	0:92706998571a	870
Davidroid	1:b78dab6d2c58	871	/**
Davidroid	1:b78dab6d2c58	872	* @brief Preparing the command to run towards a specified direction
Davidroid	1:b78dab6d2c58	873	* at the given speed.
Davidroid	1:b78dab6d2c58	874	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	875	* @param speed The speed value in pps.
Davidroid	1:b78dab6d2c58	876	* @retval None.
Davidroid	1:b78dab6d2c58	877	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	878	*/
Davidroid	0:92706998571a	879	virtual void PrepareRun(direction_t direction, unsigned int speed)
Davidroid	0:92706998571a	880	{
Davidroid	1:b78dab6d2c58	881	L6470_PrepareRun((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_Step_s_2_Speed((float) speed));
Davidroid	1:b78dab6d2c58	882	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	883	}
Davidroid	0:92706998571a	884
Davidroid	1:b78dab6d2c58	885	/**
Davidroid	1:b78dab6d2c58	886	* @brief Preparing the command to move towards a specified direction
Davidroid	1:b78dab6d2c58	887	* for a certain number of steps.
Davidroid	1:b78dab6d2c58	888	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	889	* @param steps The desired number of steps.
Davidroid	1:b78dab6d2c58	890	* @retval None.
Davidroid	1:b78dab6d2c58	891	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	892	*/
Davidroid	0:92706998571a	893	virtual void PrepareMove(direction_t direction, unsigned int steps)
Davidroid	0:92706998571a	894	{
Davidroid	0:92706998571a	895	L6470_PrepareMove((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) steps);
Davidroid	1:b78dab6d2c58	896	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	897	}
Davidroid	0:92706998571a	898
Davidroid	1:b78dab6d2c58	899	/**
Davidroid	1:b78dab6d2c58	900	* @brief Preparing the command to stop the motor.
Davidroid	1:b78dab6d2c58	901	* @param None.
Davidroid	1:b78dab6d2c58	902	* @retval None.
Davidroid	1:b78dab6d2c58	903	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	904	*/
Davidroid	0:92706998571a	905	virtual void PrepareSoftStop(void)
Davidroid	0:92706998571a	906	{
Davidroid	0:92706998571a	907	L6470_PrepareSoftStop();
Davidroid	1:b78dab6d2c58	908	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	909	}
Davidroid	0:92706998571a	910
Davidroid	1:b78dab6d2c58	911	/**
Davidroid	1:b78dab6d2c58	912	* @brief Preparing the command to stop the motor and disabling the power bridge.
Davidroid	1:b78dab6d2c58	913	* @param None.
Davidroid	1:b78dab6d2c58	914	* @retval None.
Davidroid	1:b78dab6d2c58	915	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	916	*/
Davidroid	0:92706998571a	917	virtual void PrepareHardStop(void)
Davidroid	0:92706998571a	918	{
Davidroid	0:92706998571a	919	L6470_PrepareHardStop();
Davidroid	1:b78dab6d2c58	920	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	921	}
Davidroid	0:92706998571a	922
Davidroid	1:b78dab6d2c58	923	/**
Davidroid	1:b78dab6d2c58	924	* @brief Preparing the command to disable the power bridge after performing
Davidroid	1:b78dab6d2c58	925	* a deceleration to zero.
Davidroid	1:b78dab6d2c58	926	* The used deceleration value is the one stored in the "DEC" register.
Davidroid	1:b78dab6d2c58	927	* @param None.
Davidroid	1:b78dab6d2c58	928	* @retval None.
Davidroid	1:b78dab6d2c58	929	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	930	*/
Davidroid	0:92706998571a	931	virtual void PrepareSoftHiZ(void)
Davidroid	0:92706998571a	932	{
Davidroid	0:92706998571a	933	L6470_PrepareSoftHiZ();
Davidroid	1:b78dab6d2c58	934	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	935	}
Davidroid	0:92706998571a	936
Davidroid	1:b78dab6d2c58	937	/**
Davidroid	1:b78dab6d2c58	938	* @brief Preparing the command to disable the power bridge immediately.
Davidroid	1:b78dab6d2c58	939	* @param None.
Davidroid	1:b78dab6d2c58	940	* @retval None.
Davidroid	1:b78dab6d2c58	941	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	942	*/
Davidroid	0:92706998571a	943	virtual void PrepareHardHiZ(void)
Davidroid	0:92706998571a	944	{
Davidroid	0:92706998571a	945	L6470_PrepareHardHiZ();
Davidroid	1:b78dab6d2c58	946	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	947	}
Davidroid	1:b78dab6d2c58	948
Davidroid	1:b78dab6d2c58	949	/**
Davidroid	1:b78dab6d2c58	950	* @brief Preparing the command to switch to step-clock mode.
Davidroid	1:b78dab6d2c58	951	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	952	* @retval None.
Davidroid	1:b78dab6d2c58	953	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	954	*/
Davidroid	1:b78dab6d2c58	955	virtual void PrepareStepClock(direction_t direction)
Davidroid	1:b78dab6d2c58	956	{
Davidroid	1:b78dab6d2c58	957	L6470_PrepareStepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid	1:b78dab6d2c58	958	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	959	}
Davidroid	0:92706998571a	960
Davidroid	1:b78dab6d2c58	961	/**
Davidroid	1:b78dab6d2c58	962	* @brief Preparing the command to do a motion at minimum speed
Davidroid	1:b78dab6d2c58	963	* imposing a specified direction until the SW is released.
Davidroid	1:b78dab6d2c58	964	* @param action The identifier of the action about the absolute position.
Davidroid	1:b78dab6d2c58	965	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	966	* @retval None.
Davidroid	1:b78dab6d2c58	967	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	968	* The identifier of the action about the absolute position can be
Davidroid	1:b78dab6d2c58	969	* one of the following:
Davidroid	1:b78dab6d2c58	970	* + L6470_ACT_RST_ID: the absolute position is reset;
Davidroid	1:b78dab6d2c58	971	* + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
Davidroid	1:b78dab6d2c58	972	*/
Davidroid	1:b78dab6d2c58	973	virtual void PrepareReleaseSW(eL6470_ActId_t action, direction_t direction)
Davidroid	0:92706998571a	974	{
Davidroid	1:b78dab6d2c58	975	L6470_PrepareReleaseSW((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid	1:b78dab6d2c58	976	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	977	}
Davidroid	1:b78dab6d2c58	978
Davidroid	1:b78dab6d2c58	979	/**
Davidroid	1:b78dab6d2c58	980	* @brief Preparing the command to reset the device to power-up conditions.
Davidroid	1:b78dab6d2c58	981	* @param None.
Davidroid	1:b78dab6d2c58	982	* @retval None.
Davidroid	1:b78dab6d2c58	983	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	984	*/
Davidroid	1:b78dab6d2c58	985	virtual void PrepareResetDevice(void)
Davidroid	1:b78dab6d2c58	986	{
Davidroid	1:b78dab6d2c58	987	L6470_PrepareResetDevice();
Davidroid	1:b78dab6d2c58	988	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	989	}
Davidroid	0:92706998571a	990
Davidroid	1:b78dab6d2c58	991	/**
Davidroid	1:b78dab6d2c58	992	* @brief Performing all the actions prepared on the components
Davidroid	1:b78dab6d2c58	993	* of the daisy-chain.
Davidroid	1:b78dab6d2c58	994	* @param None.
Davidroid	1:b78dab6d2c58	995	* @retval The raw data returned by the components.
Davidroid	1:b78dab6d2c58	996	*/
Davidroid	1:b78dab6d2c58	997	uint8_t* PerformPreparedActions(void)
Davidroid	0:92706998571a	998	{
Davidroid	1:b78dab6d2c58	999	return L6470_PerformPreparedApplicationCommand();
Davidroid	1:b78dab6d2c58	1000	}
Davidroid	1:b78dab6d2c58	1001
Davidroid	1:b78dab6d2c58	1002	/**
Davidroid	1:b78dab6d2c58	1003	* @brief Getting the prepared action.
Davidroid	1:b78dab6d2c58	1004	* @param None
Davidroid	1:b78dab6d2c58	1005	* @retval The prepared action.
Davidroid	1:b78dab6d2c58	1006	*/
Davidroid	1:b78dab6d2c58	1007	prepared_action_t GetPreparedAction(void)
Davidroid	1:b78dab6d2c58	1008	{
Davidroid	1:b78dab6d2c58	1009	return prepared_action;
Davidroid	0:92706998571a	1010	}
Davidroid	0:92706998571a	1011
Davidroid	1:b78dab6d2c58	1012	/**
Davidroid	1:b78dab6d2c58	1013	* @brief Converting the raw data received by the component according to
Davidroid	1:b78dab6d2c58	1014	* the action performed on it.
Davidroid	1:b78dab6d2c58	1015	* @param raw_data The received raw data.
Davidroid	1:b78dab6d2c58	1016	* @retval The result of the action performed.
Davidroid	1:b78dab6d2c58	1017	*/
Davidroid	1:b78dab6d2c58	1018	int32_t GetResult(uint8_t *raw_data)
Davidroid	0:92706998571a	1019	{
Davidroid	1:b78dab6d2c58	1020	switch (prepared_action)
Davidroid	1:b78dab6d2c58	1021	{
Davidroid	1:b78dab6d2c58	1022	case PREPARED_GET_POSITION:
Davidroid	1:b78dab6d2c58	1023	return L6470_AbsPos_2_Position(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_ABS_POS_ID].LengthByte));
Davidroid	1:b78dab6d2c58	1024
Davidroid	1:b78dab6d2c58	1025	case PREPARED_GET_MARK:
Davidroid	1:b78dab6d2c58	1026	return L6470_AbsPos_2_Position(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MARK_ID].LengthByte));
Davidroid	0:92706998571a	1027
Davidroid	1:b78dab6d2c58	1028	case PREPARED_GET_SPEED:
Davidroid	1:b78dab6d2c58	1029	return round(L6470_Speed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_SPEED_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1030
Davidroid	1:b78dab6d2c58	1031	case PREPARED_GET_MAX_SPEED:
Davidroid	1:b78dab6d2c58	1032	return round(L6470_MaxSpeed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MAX_SPEED_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1033
Davidroid	1:b78dab6d2c58	1034	case PREPARED_GET_MIN_SPEED:
Davidroid	1:b78dab6d2c58	1035	return round(L6470_MinSpeed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MIN_SPEED_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1036
Davidroid	1:b78dab6d2c58	1037	case PREPARED_GET_ACCELERATION:
Davidroid	1:b78dab6d2c58	1038	return round(L6470_Acc_2_Step_s2(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_ACC_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1039
Davidroid	1:b78dab6d2c58	1040	case PREPARED_GET_DECELERATION:
Davidroid	1:b78dab6d2c58	1041	return round(L6470_Dec_2_Step_s2(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_DEC_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1042
Davidroid	1:b78dab6d2c58	1043	case PREPARED_GET_DIRECTION:
Davidroid	1:b78dab6d2c58	1044	return (int32_t) (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD);
Davidroid	1:b78dab6d2c58	1045
Davidroid	1:b78dab6d2c58	1046	default:
Davidroid	1:b78dab6d2c58	1047	case PREPARED_NO_ACTION:
Davidroid	1:b78dab6d2c58	1048	return 0;
Davidroid	1:b78dab6d2c58	1049	}
Davidroid	0:92706998571a	1050	}
Davidroid	0:92706998571a	1051
Davidroid	0:92706998571a	1052
Davidroid	0:92706998571a	1053	/* Public Interrupt Related Methods */
Davidroid	0:92706998571a	1054
Davidroid	0:92706998571a	1055	/* ACTION 6 --------------------------------------------------------------*
Davidroid	0:92706998571a	1056	* Implement here interrupt related methods, if any. *
Davidroid	0:92706998571a	1057	* Note that interrupt handling is platform dependent, e.g.: *
Davidroid	0:92706998571a	1058	* + mbed: *
Davidroid	0:92706998571a	1059	* InterruptIn feature_irq(pin); //Interrupt object. *
Davidroid	0:92706998571a	1060	* feature_irq.rise(callback); //Attach a callback. *
Davidroid	0:92706998571a	1061	* feature_irq.mode(PullNone); //Set interrupt mode. *
Davidroid	0:92706998571a	1062	* feature_irq.enable_irq(); //Enable interrupt. *
Davidroid	0:92706998571a	1063	* feature_irq.disable_irq(); //Disable interrupt. *
Davidroid	0:92706998571a	1064	* + Arduino: *
Davidroid	0:92706998571a	1065	* attachInterrupt(pin, callback, RISING); //Attach a callback. *
Davidroid	0:92706998571a	1066	* detachInterrupt(pin); //Detach a callback. *
Davidroid	0:92706998571a	1067	* *
Davidroid	0:92706998571a	1068	* Example (mbed): *
Davidroid	0:92706998571a	1069	* void AttachFeatureIRQ(void (fptr) (void))
Davidroid	0:92706998571a	1070	* { *
Davidroid	0:92706998571a	1071	* feature_irq.rise(fptr); *
Davidroid	0:92706998571a	1072	* } *
Davidroid	0:92706998571a	1073	* *
Davidroid	0:92706998571a	1074	* void EnableFeatureIRQ(void) *
Davidroid	0:92706998571a	1075	* { *
Davidroid	0:92706998571a	1076	* feature_irq.enable_irq(); *
Davidroid	0:92706998571a	1077	* } *
Davidroid	0:92706998571a	1078	* *
Davidroid	0:92706998571a	1079	* void DisableFeatureIRQ(void) *
Davidroid	0:92706998571a	1080	* { *
Davidroid	0:92706998571a	1081	* feature_irq.disable_irq(); *
Davidroid	0:92706998571a	1082	* } *
Davidroid	0:92706998571a	1083	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1084	/**
Davidroid	1:b78dab6d2c58	1085	* @brief Attaching an interrupt handler to the FLAG interrupt.
Davidroid	1:b78dab6d2c58	1086	* @param fptr An interrupt handler.
Davidroid	0:92706998571a	1087	* @retval None.
Davidroid	0:92706998571a	1088	*/
Davidroid	0:92706998571a	1089	void AttachFlagIRQ(void (*fptr)(void))
Davidroid	0:92706998571a	1090	{
Davidroid	0:92706998571a	1091	flag_irq.rise(fptr);
Davidroid	0:92706998571a	1092	}
Davidroid	0:92706998571a	1093
Davidroid	0:92706998571a	1094	/**
Davidroid	1:b78dab6d2c58	1095	* @brief Enabling the FLAG interrupt handling.
Davidroid	0:92706998571a	1096	* @param None.
Davidroid	0:92706998571a	1097	* @retval None.
Davidroid	0:92706998571a	1098	*/
Davidroid	0:92706998571a	1099	void EnableFlagIRQ(void)
Davidroid	0:92706998571a	1100	{
Davidroid	0:92706998571a	1101	flag_irq.enable_irq();
Davidroid	0:92706998571a	1102	}
Davidroid	0:92706998571a	1103
Davidroid	0:92706998571a	1104	/**
Davidroid	1:b78dab6d2c58	1105	* @brief Disabling the FLAG interrupt handling.
Davidroid	0:92706998571a	1106	* @param None.
Davidroid	0:92706998571a	1107	* @retval None.
Davidroid	0:92706998571a	1108	*/
Davidroid	0:92706998571a	1109	void DisableFlagIRQ(void)
Davidroid	0:92706998571a	1110	{
Davidroid	0:92706998571a	1111	flag_irq.disable_irq();
Davidroid	0:92706998571a	1112	}
Davidroid	0:92706998571a	1113
Davidroid	1:b78dab6d2c58	1114	/**
Davidroid	1:b78dab6d2c58	1115	* @brief Attaching an interrupt handler to the BUSY interrupt.
Davidroid	1:b78dab6d2c58	1116	* @param fptr An interrupt handler.
Davidroid	1:b78dab6d2c58	1117	* @retval None.
Davidroid	1:b78dab6d2c58	1118	*/
Davidroid	1:b78dab6d2c58	1119	void AttachBusyIRQ(void (*fptr)(void))
Davidroid	1:b78dab6d2c58	1120	{
Davidroid	1:b78dab6d2c58	1121	busy_irq.rise(fptr);
Davidroid	1:b78dab6d2c58	1122	}
Davidroid	1:b78dab6d2c58	1123
Davidroid	1:b78dab6d2c58	1124	/**
Davidroid	1:b78dab6d2c58	1125	* @brief Enabling the BUSY interrupt handling.
Davidroid	1:b78dab6d2c58	1126	* @param None.
Davidroid	1:b78dab6d2c58	1127	* @retval None.
Davidroid	1:b78dab6d2c58	1128	*/
Davidroid	1:b78dab6d2c58	1129	void EnableBusyIRQ(void)
Davidroid	1:b78dab6d2c58	1130	{
Davidroid	1:b78dab6d2c58	1131	busy_irq.enable_irq();
Davidroid	1:b78dab6d2c58	1132	}
Davidroid	1:b78dab6d2c58	1133
Davidroid	1:b78dab6d2c58	1134	/**
Davidroid	1:b78dab6d2c58	1135	* @brief Disabling the BUSY interrupt handling.
Davidroid	1:b78dab6d2c58	1136	* @param None.
Davidroid	1:b78dab6d2c58	1137	* @retval None.
Davidroid	1:b78dab6d2c58	1138	*/
Davidroid	1:b78dab6d2c58	1139	void DisableBusyIRQ(void)
Davidroid	1:b78dab6d2c58	1140	{
Davidroid	1:b78dab6d2c58	1141	busy_irq.disable_irq();
Davidroid	1:b78dab6d2c58	1142	}
Davidroid	1:b78dab6d2c58	1143
Davidroid	0:92706998571a	1144
Davidroid	0:92706998571a	1145	protected:
Davidroid	0:92706998571a	1146
Davidroid	0:92706998571a	1147	/* Protected Component Related Methods */
Davidroid	0:92706998571a	1148
Davidroid	0:92706998571a	1149	/* ACTION 7 --------------------------------------------------------------*
Davidroid	0:92706998571a	1150	* Declare here the component's specific methods. *
Davidroid	0:92706998571a	1151	* They should be: *
Davidroid	0:92706998571a	1152	* + Methods with the same name of the C component's virtual table's *
Davidroid	0:92706998571a	1153	* functions (1); *
Davidroid	0:92706998571a	1154	* + Methods with the same name of the C component's extended virtual *
Davidroid	0:92706998571a	1155	* table's functions, if any (2); *
Davidroid	0:92706998571a	1156	* + Helper methods, if any, like functions declared in the component's *
Davidroid	0:92706998571a	1157	* source files but not pointed by the component's virtual table (3). *
Davidroid	0:92706998571a	1158	* *
Davidroid	0:92706998571a	1159	* Example: *
Davidroid	0:92706998571a	1160	* DrvStatusTypeDef COMPONENT_GetValue(float* pfData); //(1) *
Davidroid	0:92706998571a	1161	* DrvStatusTypeDef COMPONENT_EnableFeature(void); //(2) *
Davidroid	0:92706998571a	1162	* DrvStatusTypeDef COMPONENT_ComputeAverage(void); //(3) *
Davidroid	0:92706998571a	1163	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1164	int32_t L6470_AbsPos_2_Position(uint32_t AbsPos);
Davidroid	0:92706998571a	1165	uint32_t L6470_Position_2_AbsPos(int32_t Position);
Davidroid	0:92706998571a	1166	float L6470_Speed_2_Step_s(uint32_t Speed);
Davidroid	0:92706998571a	1167	uint32_t L6470_Step_s_2_Speed(float Step_s);
Davidroid	0:92706998571a	1168	float L6470_Acc_2_Step_s2(uint16_t Acc);
Davidroid	0:92706998571a	1169	uint16_t L6470_Step_s2_2_Acc(float Step_s2);
Davidroid	0:92706998571a	1170	float L6470_Dec_2_Step_s2(uint16_t Dec);
Davidroid	0:92706998571a	1171	uint16_t L6470_Step_s2_2_Dec(float Step_s2);
Davidroid	0:92706998571a	1172	float L6470_MaxSpeed_2_Step_s(uint16_t MaxSpeed);
Davidroid	0:92706998571a	1173	uint16_t L6470_Step_s_2_MaxSpeed(float Step_s);
Davidroid	0:92706998571a	1174	float L6470_MinSpeed_2_Step_s(uint16_t MinSpeed);
Davidroid	0:92706998571a	1175	uint16_t L6470_Step_s_2_MinSpeed(float Step_s);
Davidroid	0:92706998571a	1176	float L6470_FsSpd_2_Step_s(uint16_t FsSpd);
Davidroid	0:92706998571a	1177	uint16_t L6470_Step_s_2_FsSpd(float Step_s);
Davidroid	0:92706998571a	1178	float L6470_IntSpeed_2_Step_s(uint16_t IntSpeed);
Davidroid	0:92706998571a	1179	uint16_t L6470_Step_s_2_IntSpeed(float Step_s);
Davidroid	0:92706998571a	1180	float L6470_StSlp_2_s_Step(uint8_t StSlp);
Davidroid	0:92706998571a	1181	uint8_t L6470_s_Step_2_StSlp(float s_Step);
Davidroid	0:92706998571a	1182	float L6470_FnSlpAcc_2_s_Step(uint8_t FnSlpAcc);
Davidroid	0:92706998571a	1183	uint8_t L6470_s_Step_2_FnSlpAcc(float s_Step);
Davidroid	0:92706998571a	1184	float L6470_FnSlpDec_2_s_Step(uint8_t FnSlpDec);
Davidroid	0:92706998571a	1185	uint8_t L6470_s_Step_2_FnSlpDec(float s_Step);
Davidroid	0:92706998571a	1186	float L6470_OcdTh_2_mA(uint8_t OcdTh);
Davidroid	0:92706998571a	1187	uint8_t L6470_mA_2_OcdTh(float mA);
Davidroid	0:92706998571a	1188	float L6470_StallTh_2_mA(uint8_t StallTh);
Davidroid	0:92706998571a	1189	uint8_t L6470_mA_2_StallTh(float mA);
Davidroid	0:92706998571a	1190	DrvStatusTypeDef L6470_Config(MICROSTEPPING_MOTOR_InitTypeDef *MotorParameterData);
Davidroid	0:92706998571a	1191	void L6470_SetParam(eL6470_RegId_t L6470_RegId, uint32_t Value);
Davidroid	0:92706998571a	1192	uint32_t L6470_GetParam(eL6470_RegId_t L6470_RegId);
Davidroid	0:92706998571a	1193	void L6470_Run(eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	1194	void L6470_StepClock(eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	1195	void L6470_Move(eL6470_DirId_t L6470_DirId, uint32_t N_Step);
Davidroid	0:92706998571a	1196	void L6470_GoTo(uint32_t AbsPos);
Davidroid	0:92706998571a	1197	void L6470_GoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
Davidroid	0:92706998571a	1198	void L6470_GoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	1199	void L6470_ReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	1200	void L6470_GoHome(void);
Davidroid	0:92706998571a	1201	void L6470_GoMark(void);
Davidroid	0:92706998571a	1202	void L6470_ResetPos(void);
Davidroid	0:92706998571a	1203	void L6470_ResetDevice(void);
Davidroid	0:92706998571a	1204	void L6470_SoftStop(void);
Davidroid	0:92706998571a	1205	void L6470_HardStop(void);
Davidroid	0:92706998571a	1206	void L6470_SoftHiZ(void);
Davidroid	0:92706998571a	1207	void L6470_HardHiZ(void);
Davidroid	0:92706998571a	1208	uint16_t L6470_GetStatus(void);
Davidroid	0:92706998571a	1209	void L6470_PrepareSetParam(eL6470_RegId_t L6470_RegId, uint32_t Value);
Davidroid	0:92706998571a	1210	void L6470_PrepareGetParam(eL6470_RegId_t L6470_RegId);
Davidroid	0:92706998571a	1211	void L6470_PrepareRun(eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	1212	void L6470_PrepareStepClock(eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	1213	void L6470_PrepareMove(eL6470_DirId_t L6470_DirId, uint32_t N_Step);
Davidroid	0:92706998571a	1214	void L6470_PrepareGoTo(uint32_t AbsPos);
Davidroid	0:92706998571a	1215	void L6470_PrepareGoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
Davidroid	0:92706998571a	1216	void L6470_PrepareGoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	1217	void L6470_PrepareReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	1218	void L6470_PrepareGoHome(void);
Davidroid	0:92706998571a	1219	void L6470_PrepareGoMark(void);
Davidroid	0:92706998571a	1220	void L6470_PrepareResetPos(void);
Davidroid	0:92706998571a	1221	void L6470_PrepareResetDevice(void);
Davidroid	0:92706998571a	1222	void L6470_PrepareSoftStop(void);
Davidroid	0:92706998571a	1223	void L6470_PrepareHardStop(void);
Davidroid	0:92706998571a	1224	void L6470_PrepareSoftHiZ(void);
Davidroid	0:92706998571a	1225	void L6470_PrepareHardHiZ(void);
Davidroid	0:92706998571a	1226	void L6470_PrepareGetStatus(void);
Davidroid	0:92706998571a	1227	uint8_t* L6470_PerformPreparedApplicationCommand(void);
Davidroid	0:92706998571a	1228	void L6470_DaisyChainCommand(uint8_t* pL6470_DaisyChainSpiTxStruct, uint8_t* pL6470_DaisyChainSpiRxStruct);
Davidroid	0:92706998571a	1229	uint32_t L6470_ExtractReturnedData(uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte);
Davidroid	0:92706998571a	1230	uint8_t L6470_CheckStatusRegisterFlag(uint8_t L6470_StatusRegisterFlagId);
Davidroid	0:92706998571a	1231	uint8_t* L6470_GetRegisterName(uint8_t id);
Davidroid	0:92706998571a	1232	void L6470_ResetAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg);
Davidroid	0:92706998571a	1233	void L6470_FillAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3);
Davidroid	0:92706998571a	1234	void L6470_PrepareAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3);
Davidroid	0:92706998571a	1235	void L6470_PrepareDaisyChainCommand(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, uint8_t* pL6470_DaisyChainSpiTxStruct);
Davidroid	0:92706998571a	1236
Davidroid	1:b78dab6d2c58	1237	/**
Davidroid	1:b78dab6d2c58	1238	* @brief Rounding a floating point number to the nearest unsigned integer number.
Davidroid	1:b78dab6d2c58	1239	* @param f The floating point number.
Davidroid	1:b78dab6d2c58	1240	* @retval The nearest unsigned integer number.
Davidroid	1:b78dab6d2c58	1241	*/
Davidroid	1:b78dab6d2c58	1242	int round(float f)
Davidroid	1:b78dab6d2c58	1243	{
Davidroid	1:b78dab6d2c58	1244	if (f >= 0)
Davidroid	1:b78dab6d2c58	1245	return (int) f + (f - (int) f < 0.5f ? 0 : 1);
Davidroid	1:b78dab6d2c58	1246	else
Davidroid	1:b78dab6d2c58	1247	return (int) f - (f - (int) f < -0.5f ? 1 : 0);
Davidroid	1:b78dab6d2c58	1248	}
Davidroid	1:b78dab6d2c58	1249
Davidroid	0:92706998571a	1250
Davidroid	0:92706998571a	1251	/* Component's I/O Methods */
Davidroid	0:92706998571a	1252
Davidroid	0:92706998571a	1253	/**
Davidroid	0:92706998571a	1254	* @brief Utility function to read data from L6470.
Davidroid	0:92706998571a	1255	* @param[out] pBuffer pointer to the buffer to read data into.
Davidroid	0:92706998571a	1256	* @param[in] NumBytesToRead number of bytes to read.
Davidroid	0:92706998571a	1257	* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
Davidroid	0:92706998571a	1258	*/
Davidroid	0:92706998571a	1259	DrvStatusTypeDef Read(uint8_t* pBuffer, uint16_t NumBytesToRead)
Davidroid	0:92706998571a	1260	{
Davidroid	0:92706998571a	1261	if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0)
Davidroid	0:92706998571a	1262	return COMPONENT_ERROR;
Davidroid	0:92706998571a	1263	return COMPONENT_OK;
Davidroid	0:92706998571a	1264	}
Davidroid	0:92706998571a	1265
Davidroid	0:92706998571a	1266	/**
Davidroid	0:92706998571a	1267	* @brief Utility function to write data to L6470.
Davidroid	0:92706998571a	1268	* @param[in] pBuffer pointer to the buffer of data to send.
Davidroid	0:92706998571a	1269	* @param[in] NumBytesToWrite number of bytes to write.
Davidroid	0:92706998571a	1270	* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
Davidroid	0:92706998571a	1271	*/
Davidroid	0:92706998571a	1272	DrvStatusTypeDef Write(uint8_t* pBuffer, uint16_t NumBytesToWrite)
Davidroid	0:92706998571a	1273	{
Davidroid	0:92706998571a	1274	if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0)
Davidroid	0:92706998571a	1275	return COMPONENT_ERROR;
Davidroid	0:92706998571a	1276	return COMPONENT_OK;
Davidroid	0:92706998571a	1277	}
Davidroid	0:92706998571a	1278
Davidroid	0:92706998571a	1279	/**
Davidroid	0:92706998571a	1280	* @brief Utility function to read and write data from/to L6470 at the same time.
Davidroid	0:92706998571a	1281	* @param[out] pBufferToRead pointer to the buffer to read data into.
Davidroid	0:92706998571a	1282	* @param[in] pBufferToWrite pointer to the buffer of data to send.
Davidroid	0:92706998571a	1283	* @param[in] NumBytes number of bytes to read and write.
Davidroid	0:92706998571a	1284	* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
Davidroid	0:92706998571a	1285	*/
Davidroid	0:92706998571a	1286	DrvStatusTypeDef ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes)
Davidroid	0:92706998571a	1287	{
Davidroid	0:92706998571a	1288	if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0)
Davidroid	0:92706998571a	1289	return COMPONENT_ERROR;
Davidroid	0:92706998571a	1290	return COMPONENT_OK;
Davidroid	0:92706998571a	1291	}
Davidroid	0:92706998571a	1292
Davidroid	0:92706998571a	1293	/* ACTION 8 --------------------------------------------------------------*
Davidroid	0:92706998571a	1294	* Implement here other I/O methods beyond those already implemented *
Davidroid	0:92706998571a	1295	* above, which are declared extern within the component's header file. *
Davidroid	0:92706998571a	1296	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1297	/*
Davidroid	0:92706998571a	1298	* Puts the device in standby mode.
Davidroid	0:92706998571a	1299	*/
Davidroid	0:92706998571a	1300	void L6470_ENABLE(void)
Davidroid	0:92706998571a	1301	{
Davidroid	0:92706998571a	1302	/* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
Davidroid	0:92706998571a	1303	standby_reset = 1;
Davidroid	0:92706998571a	1304	}
Davidroid	0:92706998571a	1305
Davidroid	0:92706998571a	1306	/*
Davidroid	0:92706998571a	1307	* Puts the device in reset mode.
Davidroid	0:92706998571a	1308	*/
Davidroid	0:92706998571a	1309	void L6470_DISABLE(void)
Davidroid	0:92706998571a	1310	{
Davidroid	0:92706998571a	1311	/* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
Davidroid	0:92706998571a	1312	standby_reset = 0;
Davidroid	0:92706998571a	1313	}
Davidroid	0:92706998571a	1314
Davidroid	0:92706998571a	1315	/*
Davidroid	0:92706998571a	1316	* Write and read bytes to/from the component through the SPI at the same time.
Davidroid	0:92706998571a	1317	*/
Davidroid	0:92706998571a	1318	void L6470_SPI_Communication(uint8_t pTxData, uint8_t pRxData, uint16_t Size, uint32_t Timeout)
Davidroid	0:92706998571a	1319	{
Davidroid	0:92706998571a	1320	/* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
Davidroid	0:92706998571a	1321	ReadWrite(pRxData, pTxData, Size);
Davidroid	0:92706998571a	1322	}
Davidroid	0:92706998571a	1323
Davidroid	0:92706998571a	1324
Davidroid	0:92706998571a	1325	/* Component's Instance Variables */
Davidroid	0:92706998571a	1326
Davidroid	0:92706998571a	1327	/* ACTION 9 --------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1328	* Declare here interrupt related variables, if needed. *
Davidroid	1:b78dab6d2c58	1329	* Note that interrupt handling is platform dependent, see *
Davidroid	1:b78dab6d2c58	1330	* "Interrupt Related Methods" above. *
Davidroid	1:b78dab6d2c58	1331	* *
Davidroid	1:b78dab6d2c58	1332	* Example: *
Davidroid	1:b78dab6d2c58	1333	* + mbed: *
Davidroid	1:b78dab6d2c58	1334	* InterruptIn feature_irq; *
Davidroid	0:92706998571a	1335	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1336	/* Flag Interrupt. */
Davidroid	0:92706998571a	1337	InterruptIn flag_irq;
Davidroid	0:92706998571a	1338
Davidroid	1:b78dab6d2c58	1339	/* Busy Interrupt. */
Davidroid	1:b78dab6d2c58	1340	InterruptIn busy_irq;
Davidroid	1:b78dab6d2c58	1341
Davidroid	1:b78dab6d2c58	1342	/* ACTION 10 -------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1343	* Declare here other pin related variables, if needed. *
Davidroid	1:b78dab6d2c58	1344	* *
Davidroid	1:b78dab6d2c58	1345	* Example: *
Davidroid	1:b78dab6d2c58	1346	* + mbed: *
Davidroid	1:b78dab6d2c58	1347	* DigitalOut standby_reset; *
Davidroid	1:b78dab6d2c58	1348	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1349	/* Standby/reset pin. */
Davidroid	0:92706998571a	1350	DigitalOut standby_reset;
Davidroid	0:92706998571a	1351
Davidroid	1:b78dab6d2c58	1352	/* ACTION 11 -------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1353	* Declare here communication related variables, if needed. *
Davidroid	1:b78dab6d2c58	1354	* *
Davidroid	1:b78dab6d2c58	1355	* Example: *
Davidroid	1:b78dab6d2c58	1356	* + mbed: *
Davidroid	1:b78dab6d2c58	1357	* DigitalOut ssel; *
Davidroid	1:b78dab6d2c58	1358	* DevSPI &dev_spi; *
Davidroid	1:b78dab6d2c58	1359	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1360	/* Configuration. */
Davidroid	0:92706998571a	1361	DigitalOut ssel;
Davidroid	0:92706998571a	1362
Davidroid	0:92706998571a	1363	/* IO Device. */
Davidroid	0:92706998571a	1364	DevSPI &dev_spi;
Davidroid	0:92706998571a	1365
Davidroid	1:b78dab6d2c58	1366	/* ACTION 12 -------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1367	* Declare here identity related variables, if needed. *
Davidroid	1:b78dab6d2c58	1368	* Note that there should be only a unique identifier for each component, *
Davidroid	1:b78dab6d2c58	1369	* which should be the "who_am_i" parameter. *
Davidroid	1:b78dab6d2c58	1370	------------------------------------------------------------------------/
Davidroid	1:b78dab6d2c58	1371	/* Identity */
Davidroid	1:b78dab6d2c58	1372	uint8_t who_am_i;
Davidroid	1:b78dab6d2c58	1373
Davidroid	1:b78dab6d2c58	1374	/* ACTION 13 -------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1375	* Declare here the component's static and non-static data, one variable *
Davidroid	1:b78dab6d2c58	1376	* per line. *
Davidroid	0:92706998571a	1377	* *
Davidroid	0:92706998571a	1378	* Example: *
Davidroid	1:b78dab6d2c58	1379	* float measure; *
Davidroid	1:b78dab6d2c58	1380	* int instance_id; *
Davidroid	1:b78dab6d2c58	1381	* static int number_of_instances; *
Davidroid	0:92706998571a	1382	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1383	/* Data. */
Davidroid	0:92706998571a	1384	uint8_t L6470_Id;
Davidroid	0:92706998571a	1385	const sL6470_Register_t *L6470_Register;
Davidroid	0:92706998571a	1386	const sL6470_ApplicationCommand_t *L6470_ApplicationCommand;
Davidroid	0:92706998571a	1387	const sL6470_Direction_t *L6470_Direction;
Davidroid	0:92706998571a	1388	const sL6470_ACT_t *L6470_ACT;
Davidroid	0:92706998571a	1389	sL6470_StatusRegister_t L6470_StatusRegister;
Davidroid	0:92706998571a	1390	sL6470_StatusRegister_t *pL6470_StatusRegister;
Davidroid	0:92706998571a	1391	StepperMotorRegister_t StepperMotorRegister;
Davidroid	1:b78dab6d2c58	1392	prepared_action_t prepared_action;
Davidroid	0:92706998571a	1393
Davidroid	0:92706998571a	1394	/* Static data. */
Davidroid	0:92706998571a	1395	static uint8_t number_of_devices;
Davidroid	0:92706998571a	1396	static const sL6470_Register_t _L6470_Register[L6470REGIDSIZE];
Davidroid	0:92706998571a	1397	static const sL6470_ApplicationCommand_t _L6470_ApplicationCommand[L6470APPCMDIDSIZE];
Davidroid	0:92706998571a	1398	static const sL6470_Direction_t _L6470_Direction[L6470DIRIDSIZE];
Davidroid	0:92706998571a	1399	static const sL6470_ACT_t _L6470_ACT[L6470ACTIDSIZE];
Davidroid	0:92706998571a	1400	static eFlagStatus_t L6470_DaisyChain_HalfPrepared;
Davidroid	0:92706998571a	1401	static sL6470_AppCmdPkg_t L6470_AppCmdPkg[L6470DAISYCHAINSIZE];
Davidroid	0:92706998571a	1402	static uint8_t L6470_DaisyChainSpiTxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
Davidroid	0:92706998571a	1403	static uint8_t L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
Davidroid	0:92706998571a	1404	};
Davidroid	0:92706998571a	1405
Davidroid	0:92706998571a	1406	#endif // __L6470_CLASS_H
Davidroid	0:92706998571a	1407
Davidroid	0:92706998571a	1408	/********************** (C) COPYRIGHT STMicroelectronics *END OF FILE**/

Repository toolbox

Export to desktop IDE

Repository details

Type:	Library
Created:	26 Jul 2016
Imports:	2
Forks:	0
Commits:	21
Dependents:	0
Dependencies:	1
Followers:	1

This repository is Public (Unlisted).

The code in this repository is Apache licensed.

Components/l6470/l6470_class.h@4:381d76f5b0b4, 2015-11-26 (annotated)

Who changed what in which revision?

Repository toolbox

Repository details

Important Information for this Arm website

Access Warning