Luca Istorico / X_NUCLEO_IHM02A1

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

Dependencies:   X_NUCLEO_COMMON

Fork of X_NUCLEO_IHM02A1 by ST

Components/l6470/l6470_class.h@0:92706998571a, 2015-11-20 (annotated)

Committer:
Davidroid
Date:
Fri Nov 20 18:07:45 2015 +0000
Revision:
0:92706998571a
Child:
1:b78dab6d2c58
Library to handle the X_NUCLEO_IHM02A1 Motor Control Expansion Board based on the the L6470 component.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Davidroid 0:92706998571a 1 /**
Davidroid 0:92706998571a 2 ******************************************************************************
Davidroid 0:92706998571a 3 * @file L6470.c
Davidroid 0:92706998571a 4 * @date 01/10/2014 12:00:00
Davidroid 0:92706998571a 5 * @brief This file provides set of firmware functions to manage the
Davidroid 0:92706998571a 6 * L6470.
Davidroid 0:92706998571a 7 ******************************************************************************
Davidroid 0:92706998571a 8 *
Davidroid 0:92706998571a 9 * COPYRIGHT(c) 2014 STMicroelectronics
Davidroid 0:92706998571a 10 *
Davidroid 0:92706998571a 11 * Redistribution and use in source and binary forms, with or without modification,
Davidroid 0:92706998571a 12 * are permitted provided that the following conditions are met:
Davidroid 0:92706998571a 13 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 0:92706998571a 14 * this list of conditions and the following disclaimer.
Davidroid 0:92706998571a 15 * 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid 0:92706998571a 16 * this list of conditions and the following disclaimer in the documentation
Davidroid 0:92706998571a 17 * and/or other materials provided with the distribution.
Davidroid 0:92706998571a 18 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid 0:92706998571a 19 * may be used to endorse or promote products derived from this software
Davidroid 0:92706998571a 20 * without specific prior written permission.
Davidroid 0:92706998571a 21 *
Davidroid 0:92706998571a 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 0:92706998571a 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 0:92706998571a 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid 0:92706998571a 25 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid 0:92706998571a 26 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid 0:92706998571a 27 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid 0:92706998571a 28 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid 0:92706998571a 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid 0:92706998571a 30 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid 0:92706998571a 31 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid 0:92706998571a 32 *
Davidroid 0:92706998571a 33 ******************************************************************************
Davidroid 0:92706998571a 34 */
Davidroid 0:92706998571a 35
Davidroid 0:92706998571a 36
Davidroid 0:92706998571a 37 /* Generated with Stm32CubeTOO -----------------------------------------------*/
Davidroid 0:92706998571a 38
Davidroid 0:92706998571a 39
Davidroid 0:92706998571a 40 /* Revision ------------------------------------------------------------------*/
Davidroid 0:92706998571a 41 /*
Davidroid 0:92706998571a 42 Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
Davidroid 0:92706998571a 43 Branch/Trunk/Tag: trunk
Davidroid 0:92706998571a 44 Based on: X-CUBE-SPN2/trunk/Drivers/BSP/Components/L6470/L6470.h
Davidroid 0:92706998571a 45 Revision: 0
Davidroid 0:92706998571a 46 */
Davidroid 0:92706998571a 47
Davidroid 0:92706998571a 48
Davidroid 0:92706998571a 49 /* Define to prevent recursive inclusion -------------------------------------*/
Davidroid 0:92706998571a 50
Davidroid 0:92706998571a 51 #ifndef __L6470_CLASS_H
Davidroid 0:92706998571a 52 #define __L6470_CLASS_H
Davidroid 0:92706998571a 53
Davidroid 0:92706998571a 54
Davidroid 0:92706998571a 55 /* Includes ------------------------------------------------------------------*/
Davidroid 0:92706998571a 56
Davidroid 0:92706998571a 57 /* ACTION 1 ------------------------------------------------------------------*
Davidroid 0:92706998571a 58 * Include here platform specific header files. *
Davidroid 0:92706998571a 59 *----------------------------------------------------------------------------*/
Davidroid 0:92706998571a 60 #include "mbed.h"
Davidroid 0:92706998571a 61 #include "DevSPI.h"
Davidroid 0:92706998571a 62 /* ACTION 2 ------------------------------------------------------------------*
Davidroid 0:92706998571a 63 * Include here component specific header files. *
Davidroid 0:92706998571a 64 *----------------------------------------------------------------------------*/
Davidroid 0:92706998571a 65 #include "l6470.h"
Davidroid 0:92706998571a 66 /* ACTION 3 ------------------------------------------------------------------*
Davidroid 0:92706998571a 67 * Include here interface specific header files. *
Davidroid 0:92706998571a 68 * *
Davidroid 0:92706998571a 69 * Example: *
Davidroid 0:92706998571a 70 * #include "../Interfaces/Humidity_class.h" *
Davidroid 0:92706998571a 71 * #include "../Interfaces/Temperature_class.h" *
Davidroid 0:92706998571a 72 *----------------------------------------------------------------------------*/
Davidroid 0:92706998571a 73 #include "../Interfaces/StepperMotor_class.h"
Davidroid 0:92706998571a 74
Davidroid 0:92706998571a 75
Davidroid 0:92706998571a 76 /* Classes -------------------------------------------------------------------*/
Davidroid 0:92706998571a 77
Davidroid 0:92706998571a 78 /** Class representing a L6470 component.
Davidroid 0:92706998571a 79 */
Davidroid 0:92706998571a 80 class L6470 : public StepperMotor
Davidroid 0:92706998571a 81 {
Davidroid 0:92706998571a 82 public:
Davidroid 0:92706998571a 83
Davidroid 0:92706998571a 84 /*** Constructor and Destructor Methods ***/
Davidroid 0:92706998571a 85
Davidroid 0:92706998571a 86 /**
Davidroid 0:92706998571a 87 * @brief Constructor.
Davidroid 0:92706998571a 88 * @param flag_irq pin name of the FLAG pin of the component.
Davidroid 0:92706998571a 89 * @param standby_reset pin name of the STBY\RST pin of the component.
Davidroid 0:92706998571a 90 * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 91 * @param spi SPI device to be used for communication.
Davidroid 0:92706998571a 92 */
Davidroid 0:92706998571a 93 L6470(PinName flag_irq, PinName standby_reset, PinName ssel, DevSPI &spi) : StepperMotor(), flag_irq(flag_irq), standby_reset(standby_reset), ssel(ssel), dev_spi(spi)
Davidroid 0:92706998571a 94 {
Davidroid 0:92706998571a 95 /* ACTION 4 ----------------------------------------------------------*
Davidroid 0:92706998571a 96 * Initialize here the component's member variables, one variable per *
Davidroid 0:92706998571a 97 * line. *
Davidroid 0:92706998571a 98 * *
Davidroid 0:92706998571a 99 * Example: *
Davidroid 0:92706998571a 100 * T0_out = 0; *
Davidroid 0:92706998571a 101 * T1_out = 0; *
Davidroid 0:92706998571a 102 * T0_degC = 0; *
Davidroid 0:92706998571a 103 * T1_degC = 0; *
Davidroid 0:92706998571a 104 *--------------------------------------------------------------------*/
Davidroid 0:92706998571a 105 L6470_Register = &_L6470_Register[0];
Davidroid 0:92706998571a 106 L6470_ApplicationCommand = &_L6470_ApplicationCommand[0];
Davidroid 0:92706998571a 107 L6470_Direction = &_L6470_Direction[0];
Davidroid 0:92706998571a 108 L6470_ACT = &_L6470_ACT[0];
Davidroid 0:92706998571a 109 pL6470_StatusRegister = &L6470_StatusRegister;
Davidroid 0:92706998571a 110 L6470_Id = number_of_devices++;
Davidroid 0:92706998571a 111 L6470_DaisyChain_HalfPrepared = ZERO_F;
Davidroid 0:92706998571a 112 memset(L6470_AppCmdPkg, 0, L6470DAISYCHAINSIZE * sizeof(sL6470_AppCmdPkg_t));
Davidroid 0:92706998571a 113 memset(L6470_DaisyChainSpiTxStruct, 0, L6470MAXSPICMDBYTESIZE * L6470DAISYCHAINSIZE * sizeof(uint8_t));
Davidroid 0:92706998571a 114 memset(L6470_DaisyChainSpiRxStruct, 0, L6470MAXSPICMDBYTESIZE * L6470DAISYCHAINSIZE * sizeof(uint8_t));
Davidroid 0:92706998571a 115 }
Davidroid 0:92706998571a 116
Davidroid 0:92706998571a 117 /**
Davidroid 0:92706998571a 118 * @brief Destructor.
Davidroid 0:92706998571a 119 */
Davidroid 0:92706998571a 120 virtual ~L6470(void) {}
Davidroid 0:92706998571a 121
Davidroid 0:92706998571a 122
Davidroid 0:92706998571a 123 /*** Public Component Related Methods ***/
Davidroid 0:92706998571a 124
Davidroid 0:92706998571a 125 /* ACTION 5 --------------------------------------------------------------*
Davidroid 0:92706998571a 126 * Implement here the component's public methods, as wrappers of the C *
Davidroid 0:92706998571a 127 * component's functions. *
Davidroid 0:92706998571a 128 * They should be: *
Davidroid 0:92706998571a 129 * + Methods with the same name of the C component's virtual table's *
Davidroid 0:92706998571a 130 * functions (1); *
Davidroid 0:92706998571a 131 * + Methods with the same name of the C component's extended virtual *
Davidroid 0:92706998571a 132 * table's functions, if any (2). *
Davidroid 0:92706998571a 133 * *
Davidroid 0:92706998571a 134 * Example: *
Davidroid 0:92706998571a 135 * virtual int GetValue(float *pData) //(1) *
Davidroid 0:92706998571a 136 * { *
Davidroid 0:92706998571a 137 * return COMPONENT_GetValue(float *pfData); *
Davidroid 0:92706998571a 138 * } *
Davidroid 0:92706998571a 139 * *
Davidroid 0:92706998571a 140 * virtual int EnableFeature(void) //(2) *
Davidroid 0:92706998571a 141 * { *
Davidroid 0:92706998571a 142 * return COMPONENT_EnableFeature(); *
Davidroid 0:92706998571a 143 * } *
Davidroid 0:92706998571a 144 *------------------------------------------------------------------------*/
Davidroid 0:92706998571a 145 virtual int Init(void *init)
Davidroid 0:92706998571a 146 {
Davidroid 0:92706998571a 147 return (int) L6470_Config((MICROSTEPPING_MOTOR_InitTypeDef *) init);
Davidroid 0:92706998571a 148 }
Davidroid 0:92706998571a 149
Davidroid 0:92706998571a 150 virtual int ReadID(uint8_t *id)
Davidroid 0:92706998571a 151 {
Davidroid 0:92706998571a 152 return (int) 0;
Davidroid 0:92706998571a 153 }
Davidroid 0:92706998571a 154
Davidroid 0:92706998571a 155 virtual unsigned int GetStatus(void)
Davidroid 0:92706998571a 156 {
Davidroid 0:92706998571a 157 return (unsigned int) L6470_GetStatus();
Davidroid 0:92706998571a 158 }
Davidroid 0:92706998571a 159
Davidroid 0:92706998571a 160 virtual unsigned int GetParameter(unsigned int parameter)
Davidroid 0:92706998571a 161 {
Davidroid 0:92706998571a 162 return (unsigned int) L6470_GetParam((eL6470_RegId_t) parameter);
Davidroid 0:92706998571a 163 }
Davidroid 0:92706998571a 164
Davidroid 0:92706998571a 165 virtual signed int GetPosition(void)
Davidroid 0:92706998571a 166 {
Davidroid 0:92706998571a 167 return (signed int) L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID);
Davidroid 0:92706998571a 168 }
Davidroid 0:92706998571a 169
Davidroid 0:92706998571a 170 virtual signed int GetMark(void)
Davidroid 0:92706998571a 171 {
Davidroid 0:92706998571a 172 return (signed int) L6470_GetParam((eL6470_RegId_t) L6470_MARK_ID);
Davidroid 0:92706998571a 173 }
Davidroid 0:92706998571a 174
Davidroid 0:92706998571a 175 virtual unsigned int GetSpeed(void)
Davidroid 0:92706998571a 176 {
Davidroid 0:92706998571a 177 return (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_SPEED_ID);
Davidroid 0:92706998571a 178 }
Davidroid 0:92706998571a 179
Davidroid 0:92706998571a 180 virtual unsigned int GetMaxSpeed(void)
Davidroid 0:92706998571a 181 {
Davidroid 0:92706998571a 182 return (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID);
Davidroid 0:92706998571a 183 }
Davidroid 0:92706998571a 184
Davidroid 0:92706998571a 185 virtual unsigned int GetMinSpeed(void)
Davidroid 0:92706998571a 186 {
Davidroid 0:92706998571a 187 return (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID);
Davidroid 0:92706998571a 188 }
Davidroid 0:92706998571a 189
Davidroid 0:92706998571a 190 virtual unsigned int GetAcceleration(void)
Davidroid 0:92706998571a 191 {
Davidroid 0:92706998571a 192 return (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_ACC_ID);
Davidroid 0:92706998571a 193 }
Davidroid 0:92706998571a 194
Davidroid 0:92706998571a 195 virtual unsigned int GetDeceleration(void)
Davidroid 0:92706998571a 196 {
Davidroid 0:92706998571a 197 return (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_DEC_ID);
Davidroid 0:92706998571a 198 }
Davidroid 0:92706998571a 199
Davidroid 0:92706998571a 200 virtual direction_t GetDirection(void)
Davidroid 0:92706998571a 201 {
Davidroid 0:92706998571a 202 return (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD);
Davidroid 0:92706998571a 203 }
Davidroid 0:92706998571a 204
Davidroid 0:92706998571a 205 virtual void SetParameter(unsigned int parameter, unsigned int value)
Davidroid 0:92706998571a 206 {
Davidroid 0:92706998571a 207 L6470_SetParam((eL6470_RegId_t) parameter, (uint32_t) value);
Davidroid 0:92706998571a 208 }
Davidroid 0:92706998571a 209
Davidroid 0:92706998571a 210 virtual void SetHome(void)
Davidroid 0:92706998571a 211 {
Davidroid 0:92706998571a 212 L6470_ResetPos();
Davidroid 0:92706998571a 213 //L6470_SetParam((eL6470_RegId_t) L6470_ABS_POS_ID, (uint32_t) 0);
Davidroid 0:92706998571a 214 }
Davidroid 0:92706998571a 215
Davidroid 0:92706998571a 216 virtual void SetMark(void)
Davidroid 0:92706998571a 217 {
Davidroid 0:92706998571a 218 L6470_SetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID));
Davidroid 0:92706998571a 219 //L6470_SetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) 0);
Davidroid 0:92706998571a 220 }
Davidroid 0:92706998571a 221
Davidroid 0:92706998571a 222 virtual void SetMaxSpeed(unsigned int speed)
Davidroid 0:92706998571a 223 {
Davidroid 0:92706998571a 224 L6470_SetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) speed);
Davidroid 0:92706998571a 225 }
Davidroid 0:92706998571a 226
Davidroid 0:92706998571a 227 virtual void SetMinSpeed(unsigned int speed)
Davidroid 0:92706998571a 228 {
Davidroid 0:92706998571a 229 L6470_SetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) speed);
Davidroid 0:92706998571a 230 }
Davidroid 0:92706998571a 231
Davidroid 0:92706998571a 232 virtual void SetAcceleration(unsigned int acceleration)
Davidroid 0:92706998571a 233 {
Davidroid 0:92706998571a 234 L6470_SetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) acceleration);
Davidroid 0:92706998571a 235 }
Davidroid 0:92706998571a 236
Davidroid 0:92706998571a 237 virtual void SetDeceleration(unsigned int deceleration)
Davidroid 0:92706998571a 238 {
Davidroid 0:92706998571a 239 L6470_SetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) deceleration);
Davidroid 0:92706998571a 240 }
Davidroid 0:92706998571a 241
Davidroid 0:92706998571a 242 virtual void GoTo(signed int position)
Davidroid 0:92706998571a 243 {
Davidroid 0:92706998571a 244 L6470_GoTo((uint32_t) position);
Davidroid 0:92706998571a 245 }
Davidroid 0:92706998571a 246
Davidroid 0:92706998571a 247 virtual void GoTo(signed int position, direction_t direction)
Davidroid 0:92706998571a 248 {
Davidroid 0:92706998571a 249 L6470_GoToDir((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (signed int) position);
Davidroid 0:92706998571a 250 }
Davidroid 0:92706998571a 251
Davidroid 0:92706998571a 252 virtual void GoHome(void)
Davidroid 0:92706998571a 253 {
Davidroid 0:92706998571a 254 L6470_GoHome();
Davidroid 0:92706998571a 255 }
Davidroid 0:92706998571a 256
Davidroid 0:92706998571a 257 virtual void GoMark(void)
Davidroid 0:92706998571a 258 {
Davidroid 0:92706998571a 259 L6470_GoMark();
Davidroid 0:92706998571a 260 }
Davidroid 0:92706998571a 261
Davidroid 0:92706998571a 262 virtual void GoUntil(eL6470_ActId_t L6470_ActId, direction_t direction, unsigned int speed)
Davidroid 0:92706998571a 263 {
Davidroid 0:92706998571a 264 L6470_GoUntil((eL6470_ActId_t) L6470_ActId, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) speed);
Davidroid 0:92706998571a 265 }
Davidroid 0:92706998571a 266
Davidroid 0:92706998571a 267 virtual void Run(direction_t direction)
Davidroid 0:92706998571a 268 {
Davidroid 0:92706998571a 269 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 270 }
Davidroid 0:92706998571a 271
Davidroid 0:92706998571a 272 virtual void Run(direction_t direction, unsigned int speed)
Davidroid 0:92706998571a 273 {
Davidroid 0:92706998571a 274 L6470_Run((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) speed);
Davidroid 0:92706998571a 275 }
Davidroid 0:92706998571a 276
Davidroid 0:92706998571a 277 virtual void Move(direction_t direction, unsigned int steps)
Davidroid 0:92706998571a 278 {
Davidroid 0:92706998571a 279 L6470_Move((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) steps);
Davidroid 0:92706998571a 280 }
Davidroid 0:92706998571a 281
Davidroid 0:92706998571a 282 virtual void SoftStop(void)
Davidroid 0:92706998571a 283 {
Davidroid 0:92706998571a 284 L6470_SoftStop();
Davidroid 0:92706998571a 285 }
Davidroid 0:92706998571a 286
Davidroid 0:92706998571a 287 virtual void HardStop(void)
Davidroid 0:92706998571a 288 {
Davidroid 0:92706998571a 289 L6470_HardStop();
Davidroid 0:92706998571a 290 }
Davidroid 0:92706998571a 291
Davidroid 0:92706998571a 292 virtual void WaitWhileActive(void)
Davidroid 0:92706998571a 293 {
Davidroid 0:92706998571a 294 while (L6470_CheckStatusRegisterFlag(BUSY_ID) == 0);
Davidroid 0:92706998571a 295 }
Davidroid 0:92706998571a 296
Davidroid 0:92706998571a 297 virtual void SoftHiZ(void)
Davidroid 0:92706998571a 298 {
Davidroid 0:92706998571a 299 L6470_SoftHiZ();
Davidroid 0:92706998571a 300 }
Davidroid 0:92706998571a 301
Davidroid 0:92706998571a 302 virtual void HardHiZ(void)
Davidroid 0:92706998571a 303 {
Davidroid 0:92706998571a 304 L6470_HardHiZ();
Davidroid 0:92706998571a 305 }
Davidroid 0:92706998571a 306
Davidroid 0:92706998571a 307 virtual void StepClock(direction_t direction)
Davidroid 0:92706998571a 308 {
Davidroid 0:92706998571a 309 L6470_StepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid 0:92706998571a 310 }
Davidroid 0:92706998571a 311
Davidroid 0:92706998571a 312 virtual void ReleaseSW(eL6470_ActId_t L6470_ActId, direction_t direction)
Davidroid 0:92706998571a 313 {
Davidroid 0:92706998571a 314 L6470_ReleaseSW((eL6470_ActId_t) L6470_ActId, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid 0:92706998571a 315 }
Davidroid 0:92706998571a 316
Davidroid 0:92706998571a 317 virtual void ResetDevice(void)
Davidroid 0:92706998571a 318 {
Davidroid 0:92706998571a 319 L6470_ResetDevice();
Davidroid 0:92706998571a 320 }
Davidroid 0:92706998571a 321
Davidroid 0:92706998571a 322 virtual void PrepareGetStatus(void)
Davidroid 0:92706998571a 323 {
Davidroid 0:92706998571a 324 L6470_PrepareGetStatus();
Davidroid 0:92706998571a 325 }
Davidroid 0:92706998571a 326
Davidroid 0:92706998571a 327 virtual void PrepareGetParameter(unsigned int parameter)
Davidroid 0:92706998571a 328 {
Davidroid 0:92706998571a 329 L6470_PrepareGetParam((eL6470_RegId_t) parameter);
Davidroid 0:92706998571a 330 }
Davidroid 0:92706998571a 331
Davidroid 0:92706998571a 332 virtual void PrepareGetPosition(void)
Davidroid 0:92706998571a 333 {
Davidroid 0:92706998571a 334 L6470_PrepareGetParam((eL6470_RegId_t) L6470_ABS_POS_ID);
Davidroid 0:92706998571a 335 }
Davidroid 0:92706998571a 336
Davidroid 0:92706998571a 337 virtual void PrepareGetMark(void)
Davidroid 0:92706998571a 338 {
Davidroid 0:92706998571a 339 L6470_PrepareGetParam((eL6470_RegId_t) L6470_MARK_ID);
Davidroid 0:92706998571a 340 }
Davidroid 0:92706998571a 341
Davidroid 0:92706998571a 342 virtual void PrepareGetSpeed(void)
Davidroid 0:92706998571a 343 {
Davidroid 0:92706998571a 344 L6470_GetParam((eL6470_RegId_t) L6470_SPEED_ID);
Davidroid 0:92706998571a 345 }
Davidroid 0:92706998571a 346
Davidroid 0:92706998571a 347 virtual void PrepareGetMaxSpeed(void)
Davidroid 0:92706998571a 348 {
Davidroid 0:92706998571a 349 L6470_PrepareGetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID);
Davidroid 0:92706998571a 350 }
Davidroid 0:92706998571a 351
Davidroid 0:92706998571a 352 virtual void PrepareGetMinSpeed(void)
Davidroid 0:92706998571a 353 {
Davidroid 0:92706998571a 354 L6470_PrepareGetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID);
Davidroid 0:92706998571a 355 }
Davidroid 0:92706998571a 356
Davidroid 0:92706998571a 357 virtual void PrepareGetAcceleration(void)
Davidroid 0:92706998571a 358 {
Davidroid 0:92706998571a 359 L6470_PrepareGetParam((eL6470_RegId_t) L6470_ACC_ID);
Davidroid 0:92706998571a 360 }
Davidroid 0:92706998571a 361
Davidroid 0:92706998571a 362 virtual void PrepareGetDeceleration(void)
Davidroid 0:92706998571a 363 {
Davidroid 0:92706998571a 364 L6470_PrepareGetParam((eL6470_RegId_t) L6470_DEC_ID);
Davidroid 0:92706998571a 365 }
Davidroid 0:92706998571a 366
Davidroid 0:92706998571a 367 virtual direction_t PrepareGetDirection(void)
Davidroid 0:92706998571a 368 {
Davidroid 0:92706998571a 369 return (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD);
Davidroid 0:92706998571a 370 }
Davidroid 0:92706998571a 371
Davidroid 0:92706998571a 372 virtual void PrepareSetParameter(unsigned int parameter, unsigned int value)
Davidroid 0:92706998571a 373 {
Davidroid 0:92706998571a 374 L6470_PrepareSetParam((eL6470_RegId_t) parameter, (uint32_t) value);
Davidroid 0:92706998571a 375 }
Davidroid 0:92706998571a 376
Davidroid 0:92706998571a 377 virtual void PrepareSetHome(void)
Davidroid 0:92706998571a 378 {
Davidroid 0:92706998571a 379 L6470_PrepareResetPos();
Davidroid 0:92706998571a 380 //L6470_SetParam((eL6470_RegId_t) L6470_ABS_POS_ID, (uint32_t) 0);
Davidroid 0:92706998571a 381 }
Davidroid 0:92706998571a 382
Davidroid 0:92706998571a 383 virtual void PrepareSetMark(void)
Davidroid 0:92706998571a 384 {
Davidroid 0:92706998571a 385 uint32_t mark = L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID);
Davidroid 0:92706998571a 386 L6470_PrepareSetParam((eL6470_RegId_t) L6470_MARK_ID, mark);
Davidroid 0:92706998571a 387 }
Davidroid 0:92706998571a 388
Davidroid 0:92706998571a 389 virtual void PrepareSetMaxSpeed(unsigned int speed)
Davidroid 0:92706998571a 390 {
Davidroid 0:92706998571a 391 L6470_PrepareSetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) speed);
Davidroid 0:92706998571a 392 }
Davidroid 0:92706998571a 393
Davidroid 0:92706998571a 394 virtual void PrepareSetMinSpeed(unsigned int speed)
Davidroid 0:92706998571a 395 {
Davidroid 0:92706998571a 396 L6470_PrepareSetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) speed);
Davidroid 0:92706998571a 397 }
Davidroid 0:92706998571a 398
Davidroid 0:92706998571a 399 virtual void PrepareSetAcceleration(unsigned int acceleration)
Davidroid 0:92706998571a 400 {
Davidroid 0:92706998571a 401 L6470_PrepareSetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) acceleration);
Davidroid 0:92706998571a 402 }
Davidroid 0:92706998571a 403
Davidroid 0:92706998571a 404 virtual void PrepareSetDeceleration(unsigned int deceleration)
Davidroid 0:92706998571a 405 {
Davidroid 0:92706998571a 406 L6470_PrepareSetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) deceleration);
Davidroid 0:92706998571a 407 }
Davidroid 0:92706998571a 408
Davidroid 0:92706998571a 409 virtual void PrepareGoTo(signed int position)
Davidroid 0:92706998571a 410 {
Davidroid 0:92706998571a 411 L6470_PrepareGoTo((uint32_t) position);
Davidroid 0:92706998571a 412 }
Davidroid 0:92706998571a 413
Davidroid 0:92706998571a 414 virtual void PrepareGoTo(signed int position, direction_t direction)
Davidroid 0:92706998571a 415 {
Davidroid 0:92706998571a 416 L6470_PrepareGoToDir((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (signed int) position);
Davidroid 0:92706998571a 417 }
Davidroid 0:92706998571a 418
Davidroid 0:92706998571a 419 virtual void PrepareGoHome(void)
Davidroid 0:92706998571a 420 {
Davidroid 0:92706998571a 421 L6470_PrepareGoHome();
Davidroid 0:92706998571a 422 }
Davidroid 0:92706998571a 423
Davidroid 0:92706998571a 424 virtual void PrepareGoMark(void)
Davidroid 0:92706998571a 425 {
Davidroid 0:92706998571a 426 L6470_PrepareGoMark();
Davidroid 0:92706998571a 427 }
Davidroid 0:92706998571a 428
Davidroid 0:92706998571a 429 virtual void PrepareGoUntil(eL6470_ActId_t L6470_ActId, direction_t direction, unsigned int speed)
Davidroid 0:92706998571a 430 {
Davidroid 0:92706998571a 431 L6470_PrepareGoUntil((eL6470_ActId_t) L6470_ActId, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) speed);
Davidroid 0:92706998571a 432 }
Davidroid 0:92706998571a 433
Davidroid 0:92706998571a 434 virtual void PrepareRun(direction_t direction)
Davidroid 0:92706998571a 435 {
Davidroid 0:92706998571a 436 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 0:92706998571a 437 }
Davidroid 0:92706998571a 438
Davidroid 0:92706998571a 439 virtual void PrepareRun(direction_t direction, unsigned int speed)
Davidroid 0:92706998571a 440 {
Davidroid 0:92706998571a 441 L6470_PrepareRun((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) speed);
Davidroid 0:92706998571a 442 }
Davidroid 0:92706998571a 443
Davidroid 0:92706998571a 444 virtual void PrepareMove(direction_t direction, unsigned int steps)
Davidroid 0:92706998571a 445 {
Davidroid 0:92706998571a 446 L6470_PrepareMove((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) steps);
Davidroid 0:92706998571a 447 }
Davidroid 0:92706998571a 448
Davidroid 0:92706998571a 449 virtual void PrepareSoftStop(void)
Davidroid 0:92706998571a 450 {
Davidroid 0:92706998571a 451 L6470_PrepareSoftStop();
Davidroid 0:92706998571a 452 }
Davidroid 0:92706998571a 453
Davidroid 0:92706998571a 454 virtual void PrepareHardStop(void)
Davidroid 0:92706998571a 455 {
Davidroid 0:92706998571a 456 L6470_PrepareHardStop();
Davidroid 0:92706998571a 457 }
Davidroid 0:92706998571a 458
Davidroid 0:92706998571a 459 virtual void PrepareSoftHiZ(void)
Davidroid 0:92706998571a 460 {
Davidroid 0:92706998571a 461 L6470_PrepareSoftHiZ();
Davidroid 0:92706998571a 462 }
Davidroid 0:92706998571a 463
Davidroid 0:92706998571a 464 virtual void PrepareHardHiZ(void)
Davidroid 0:92706998571a 465 {
Davidroid 0:92706998571a 466 L6470_PrepareHardHiZ();
Davidroid 0:92706998571a 467 }
Davidroid 0:92706998571a 468
Davidroid 0:92706998571a 469 virtual void PrepareStepClock(direction_t direction)
Davidroid 0:92706998571a 470 {
Davidroid 0:92706998571a 471 L6470_StepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid 0:92706998571a 472 }
Davidroid 0:92706998571a 473
Davidroid 0:92706998571a 474 virtual void PrepareReleaseSW(eL6470_ActId_t L6470_ActId, direction_t direction)
Davidroid 0:92706998571a 475 {
Davidroid 0:92706998571a 476 L6470_ReleaseSW((eL6470_ActId_t) L6470_ActId, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid 0:92706998571a 477 }
Davidroid 0:92706998571a 478
Davidroid 0:92706998571a 479 virtual void PrepareResetDevice(void)
Davidroid 0:92706998571a 480 {
Davidroid 0:92706998571a 481 L6470_ResetDevice();
Davidroid 0:92706998571a 482 }
Davidroid 0:92706998571a 483
Davidroid 0:92706998571a 484 virtual uint8_t* PerformAction(void)
Davidroid 0:92706998571a 485 {
Davidroid 0:92706998571a 486 return (uint8_t*) L6470_PerformPreparedApplicationCommand();
Davidroid 0:92706998571a 487 }
Davidroid 0:92706998571a 488
Davidroid 0:92706998571a 489
Davidroid 0:92706998571a 490 /*** Public Interrupt Related Methods ***/
Davidroid 0:92706998571a 491
Davidroid 0:92706998571a 492 /* ACTION 6 --------------------------------------------------------------*
Davidroid 0:92706998571a 493 * Implement here interrupt related methods, if any. *
Davidroid 0:92706998571a 494 * Note that interrupt handling is platform dependent, e.g.: *
Davidroid 0:92706998571a 495 * + mbed: *
Davidroid 0:92706998571a 496 * InterruptIn feature_irq(pin); //Interrupt object. *
Davidroid 0:92706998571a 497 * feature_irq.rise(callback); //Attach a callback. *
Davidroid 0:92706998571a 498 * feature_irq.mode(PullNone); //Set interrupt mode. *
Davidroid 0:92706998571a 499 * feature_irq.enable_irq(); //Enable interrupt. *
Davidroid 0:92706998571a 500 * feature_irq.disable_irq(); //Disable interrupt. *
Davidroid 0:92706998571a 501 * + Arduino: *
Davidroid 0:92706998571a 502 * attachInterrupt(pin, callback, RISING); //Attach a callback. *
Davidroid 0:92706998571a 503 * detachInterrupt(pin); //Detach a callback. *
Davidroid 0:92706998571a 504 * *
Davidroid 0:92706998571a 505 * Example (mbed): *
Davidroid 0:92706998571a 506 * void AttachFeatureIRQ(void (*fptr) (void)) *
Davidroid 0:92706998571a 507 * { *
Davidroid 0:92706998571a 508 * feature_irq.rise(fptr); *
Davidroid 0:92706998571a 509 * } *
Davidroid 0:92706998571a 510 * *
Davidroid 0:92706998571a 511 * void EnableFeatureIRQ(void) *
Davidroid 0:92706998571a 512 * { *
Davidroid 0:92706998571a 513 * feature_irq.enable_irq(); *
Davidroid 0:92706998571a 514 * } *
Davidroid 0:92706998571a 515 * *
Davidroid 0:92706998571a 516 * void DisableFeatureIRQ(void) *
Davidroid 0:92706998571a 517 * { *
Davidroid 0:92706998571a 518 * feature_irq.disable_irq(); *
Davidroid 0:92706998571a 519 * } *
Davidroid 0:92706998571a 520 *------------------------------------------------------------------------*/
Davidroid 0:92706998571a 521 /**
Davidroid 0:92706998571a 522 * @brief Attaching a FLAG interrupt handler.
Davidroid 0:92706998571a 523 * @param fptr an interrupt handler.
Davidroid 0:92706998571a 524 * @retval None.
Davidroid 0:92706998571a 525 */
Davidroid 0:92706998571a 526 void AttachFlagIRQ(void (*fptr)(void))
Davidroid 0:92706998571a 527 {
Davidroid 0:92706998571a 528 flag_irq.rise(fptr);
Davidroid 0:92706998571a 529 }
Davidroid 0:92706998571a 530
Davidroid 0:92706998571a 531 /**
Davidroid 0:92706998571a 532 * @brief Enabling FLAG interrupt handling.
Davidroid 0:92706998571a 533 * @param None.
Davidroid 0:92706998571a 534 * @retval None.
Davidroid 0:92706998571a 535 */
Davidroid 0:92706998571a 536 void EnableFlagIRQ(void)
Davidroid 0:92706998571a 537 {
Davidroid 0:92706998571a 538 flag_irq.enable_irq();
Davidroid 0:92706998571a 539 }
Davidroid 0:92706998571a 540
Davidroid 0:92706998571a 541 /**
Davidroid 0:92706998571a 542 * @brief Disabling FLAG interrupt handling.
Davidroid 0:92706998571a 543 * @param None.
Davidroid 0:92706998571a 544 * @retval None.
Davidroid 0:92706998571a 545 */
Davidroid 0:92706998571a 546 void DisableFlagIRQ(void)
Davidroid 0:92706998571a 547 {
Davidroid 0:92706998571a 548 flag_irq.disable_irq();
Davidroid 0:92706998571a 549 }
Davidroid 0:92706998571a 550
Davidroid 0:92706998571a 551
Davidroid 0:92706998571a 552 protected:
Davidroid 0:92706998571a 553
Davidroid 0:92706998571a 554 /*** Protected Component Related Methods ***/
Davidroid 0:92706998571a 555
Davidroid 0:92706998571a 556 /* ACTION 7 --------------------------------------------------------------*
Davidroid 0:92706998571a 557 * Declare here the component's specific methods. *
Davidroid 0:92706998571a 558 * They should be: *
Davidroid 0:92706998571a 559 * + Methods with the same name of the C component's virtual table's *
Davidroid 0:92706998571a 560 * functions (1); *
Davidroid 0:92706998571a 561 * + Methods with the same name of the C component's extended virtual *
Davidroid 0:92706998571a 562 * table's functions, if any (2); *
Davidroid 0:92706998571a 563 * + Helper methods, if any, like functions declared in the component's *
Davidroid 0:92706998571a 564 * source files but not pointed by the component's virtual table (3). *
Davidroid 0:92706998571a 565 * *
Davidroid 0:92706998571a 566 * Example: *
Davidroid 0:92706998571a 567 * DrvStatusTypeDef COMPONENT_GetValue(float* pfData); //(1) *
Davidroid 0:92706998571a 568 * DrvStatusTypeDef COMPONENT_EnableFeature(void); //(2) *
Davidroid 0:92706998571a 569 * DrvStatusTypeDef COMPONENT_ComputeAverage(void); //(3) *
Davidroid 0:92706998571a 570 *------------------------------------------------------------------------*/
Davidroid 0:92706998571a 571 int32_t L6470_AbsPos_2_Position(uint32_t AbsPos);
Davidroid 0:92706998571a 572 uint32_t L6470_Position_2_AbsPos(int32_t Position);
Davidroid 0:92706998571a 573 float L6470_Speed_2_Step_s(uint32_t Speed);
Davidroid 0:92706998571a 574 uint32_t L6470_Step_s_2_Speed(float Step_s);
Davidroid 0:92706998571a 575 float L6470_Acc_2_Step_s2(uint16_t Acc);
Davidroid 0:92706998571a 576 uint16_t L6470_Step_s2_2_Acc(float Step_s2);
Davidroid 0:92706998571a 577 float L6470_Dec_2_Step_s2(uint16_t Dec);
Davidroid 0:92706998571a 578 uint16_t L6470_Step_s2_2_Dec(float Step_s2);
Davidroid 0:92706998571a 579 float L6470_MaxSpeed_2_Step_s(uint16_t MaxSpeed);
Davidroid 0:92706998571a 580 uint16_t L6470_Step_s_2_MaxSpeed(float Step_s);
Davidroid 0:92706998571a 581 float L6470_MinSpeed_2_Step_s(uint16_t MinSpeed);
Davidroid 0:92706998571a 582 uint16_t L6470_Step_s_2_MinSpeed(float Step_s);
Davidroid 0:92706998571a 583 float L6470_FsSpd_2_Step_s(uint16_t FsSpd);
Davidroid 0:92706998571a 584 uint16_t L6470_Step_s_2_FsSpd(float Step_s);
Davidroid 0:92706998571a 585 float L6470_IntSpeed_2_Step_s(uint16_t IntSpeed);
Davidroid 0:92706998571a 586 uint16_t L6470_Step_s_2_IntSpeed(float Step_s);
Davidroid 0:92706998571a 587 float L6470_StSlp_2_s_Step(uint8_t StSlp);
Davidroid 0:92706998571a 588 uint8_t L6470_s_Step_2_StSlp(float s_Step);
Davidroid 0:92706998571a 589 float L6470_FnSlpAcc_2_s_Step(uint8_t FnSlpAcc);
Davidroid 0:92706998571a 590 uint8_t L6470_s_Step_2_FnSlpAcc(float s_Step);
Davidroid 0:92706998571a 591 float L6470_FnSlpDec_2_s_Step(uint8_t FnSlpDec);
Davidroid 0:92706998571a 592 uint8_t L6470_s_Step_2_FnSlpDec(float s_Step);
Davidroid 0:92706998571a 593 float L6470_OcdTh_2_mA(uint8_t OcdTh);
Davidroid 0:92706998571a 594 uint8_t L6470_mA_2_OcdTh(float mA);
Davidroid 0:92706998571a 595 float L6470_StallTh_2_mA(uint8_t StallTh);
Davidroid 0:92706998571a 596 uint8_t L6470_mA_2_StallTh(float mA);
Davidroid 0:92706998571a 597 DrvStatusTypeDef L6470_Config(MICROSTEPPING_MOTOR_InitTypeDef *MotorParameterData);
Davidroid 0:92706998571a 598 void L6470_SetParam(eL6470_RegId_t L6470_RegId, uint32_t Value);
Davidroid 0:92706998571a 599 uint32_t L6470_GetParam(eL6470_RegId_t L6470_RegId);
Davidroid 0:92706998571a 600 void L6470_Run(eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid 0:92706998571a 601 void L6470_StepClock(eL6470_DirId_t L6470_DirId);
Davidroid 0:92706998571a 602 void L6470_Move(eL6470_DirId_t L6470_DirId, uint32_t N_Step);
Davidroid 0:92706998571a 603 void L6470_GoTo(uint32_t AbsPos);
Davidroid 0:92706998571a 604 void L6470_GoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
Davidroid 0:92706998571a 605 void L6470_GoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid 0:92706998571a 606 void L6470_ReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
Davidroid 0:92706998571a 607 void L6470_GoHome(void);
Davidroid 0:92706998571a 608 void L6470_GoMark(void);
Davidroid 0:92706998571a 609 void L6470_ResetPos(void);
Davidroid 0:92706998571a 610 void L6470_ResetDevice(void);
Davidroid 0:92706998571a 611 void L6470_SoftStop(void);
Davidroid 0:92706998571a 612 void L6470_HardStop(void);
Davidroid 0:92706998571a 613 void L6470_SoftHiZ(void);
Davidroid 0:92706998571a 614 void L6470_HardHiZ(void);
Davidroid 0:92706998571a 615 uint16_t L6470_GetStatus(void);
Davidroid 0:92706998571a 616 void L6470_PrepareSetParam(eL6470_RegId_t L6470_RegId, uint32_t Value);
Davidroid 0:92706998571a 617 void L6470_PrepareGetParam(eL6470_RegId_t L6470_RegId);
Davidroid 0:92706998571a 618 void L6470_PrepareRun(eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid 0:92706998571a 619 void L6470_PrepareStepClock(eL6470_DirId_t L6470_DirId);
Davidroid 0:92706998571a 620 void L6470_PrepareMove(eL6470_DirId_t L6470_DirId, uint32_t N_Step);
Davidroid 0:92706998571a 621 void L6470_PrepareGoTo(uint32_t AbsPos);
Davidroid 0:92706998571a 622 void L6470_PrepareGoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
Davidroid 0:92706998571a 623 void L6470_PrepareGoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid 0:92706998571a 624 void L6470_PrepareReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
Davidroid 0:92706998571a 625 void L6470_PrepareGoHome(void);
Davidroid 0:92706998571a 626 void L6470_PrepareGoMark(void);
Davidroid 0:92706998571a 627 void L6470_PrepareResetPos(void);
Davidroid 0:92706998571a 628 void L6470_PrepareResetDevice(void);
Davidroid 0:92706998571a 629 void L6470_PrepareSoftStop(void);
Davidroid 0:92706998571a 630 void L6470_PrepareHardStop(void);
Davidroid 0:92706998571a 631 void L6470_PrepareSoftHiZ(void);
Davidroid 0:92706998571a 632 void L6470_PrepareHardHiZ(void);
Davidroid 0:92706998571a 633 void L6470_PrepareGetStatus(void);
Davidroid 0:92706998571a 634 uint8_t* L6470_PerformPreparedApplicationCommand(void);
Davidroid 0:92706998571a 635 void L6470_DaisyChainCommand(uint8_t* pL6470_DaisyChainSpiTxStruct, uint8_t* pL6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 636 uint32_t L6470_ExtractReturnedData(uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte);
Davidroid 0:92706998571a 637 uint8_t L6470_CheckStatusRegisterFlag(uint8_t L6470_StatusRegisterFlagId);
Davidroid 0:92706998571a 638 uint8_t* L6470_GetRegisterName(uint8_t id);
Davidroid 0:92706998571a 639 void L6470_ResetAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg);
Davidroid 0:92706998571a 640 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 641 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 642 void L6470_PrepareDaisyChainCommand(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, uint8_t* pL6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 643
Davidroid 0:92706998571a 644
Davidroid 0:92706998571a 645 /*** Component's I/O Methods ***/
Davidroid 0:92706998571a 646
Davidroid 0:92706998571a 647 /**
Davidroid 0:92706998571a 648 * @brief Utility function to read data from L6470.
Davidroid 0:92706998571a 649 * @param[out] pBuffer pointer to the buffer to read data into.
Davidroid 0:92706998571a 650 * @param[in] NumBytesToRead number of bytes to read.
Davidroid 0:92706998571a 651 * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
Davidroid 0:92706998571a 652 */
Davidroid 0:92706998571a 653 DrvStatusTypeDef Read(uint8_t* pBuffer, uint16_t NumBytesToRead)
Davidroid 0:92706998571a 654 {
Davidroid 0:92706998571a 655 if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0)
Davidroid 0:92706998571a 656 return COMPONENT_ERROR;
Davidroid 0:92706998571a 657 return COMPONENT_OK;
Davidroid 0:92706998571a 658 }
Davidroid 0:92706998571a 659
Davidroid 0:92706998571a 660 /**
Davidroid 0:92706998571a 661 * @brief Utility function to write data to L6470.
Davidroid 0:92706998571a 662 * @param[in] pBuffer pointer to the buffer of data to send.
Davidroid 0:92706998571a 663 * @param[in] NumBytesToWrite number of bytes to write.
Davidroid 0:92706998571a 664 * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
Davidroid 0:92706998571a 665 */
Davidroid 0:92706998571a 666 DrvStatusTypeDef Write(uint8_t* pBuffer, uint16_t NumBytesToWrite)
Davidroid 0:92706998571a 667 {
Davidroid 0:92706998571a 668 if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0)
Davidroid 0:92706998571a 669 return COMPONENT_ERROR;
Davidroid 0:92706998571a 670 return COMPONENT_OK;
Davidroid 0:92706998571a 671 }
Davidroid 0:92706998571a 672
Davidroid 0:92706998571a 673 /**
Davidroid 0:92706998571a 674 * @brief Utility function to read and write data from/to L6470 at the same time.
Davidroid 0:92706998571a 675 * @param[out] pBufferToRead pointer to the buffer to read data into.
Davidroid 0:92706998571a 676 * @param[in] pBufferToWrite pointer to the buffer of data to send.
Davidroid 0:92706998571a 677 * @param[in] NumBytes number of bytes to read and write.
Davidroid 0:92706998571a 678 * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
Davidroid 0:92706998571a 679 */
Davidroid 0:92706998571a 680 DrvStatusTypeDef ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes)
Davidroid 0:92706998571a 681 {
Davidroid 0:92706998571a 682 if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0)
Davidroid 0:92706998571a 683 return COMPONENT_ERROR;
Davidroid 0:92706998571a 684 return COMPONENT_OK;
Davidroid 0:92706998571a 685 }
Davidroid 0:92706998571a 686
Davidroid 0:92706998571a 687 /* ACTION 8 --------------------------------------------------------------*
Davidroid 0:92706998571a 688 * Implement here other I/O methods beyond those already implemented *
Davidroid 0:92706998571a 689 * above, which are declared extern within the component's header file. *
Davidroid 0:92706998571a 690 *------------------------------------------------------------------------*/
Davidroid 0:92706998571a 691 /*
Davidroid 0:92706998571a 692 * Puts the device in standby mode.
Davidroid 0:92706998571a 693 */
Davidroid 0:92706998571a 694 void L6470_ENABLE(void)
Davidroid 0:92706998571a 695 {
Davidroid 0:92706998571a 696 /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
Davidroid 0:92706998571a 697 standby_reset = 1;
Davidroid 0:92706998571a 698 }
Davidroid 0:92706998571a 699
Davidroid 0:92706998571a 700 /*
Davidroid 0:92706998571a 701 * Puts the device in reset mode.
Davidroid 0:92706998571a 702 */
Davidroid 0:92706998571a 703 void L6470_DISABLE(void)
Davidroid 0:92706998571a 704 {
Davidroid 0:92706998571a 705 /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
Davidroid 0:92706998571a 706 standby_reset = 0;
Davidroid 0:92706998571a 707 }
Davidroid 0:92706998571a 708
Davidroid 0:92706998571a 709 /*
Davidroid 0:92706998571a 710 * Write and read bytes to/from the component through the SPI at the same time.
Davidroid 0:92706998571a 711 */
Davidroid 0:92706998571a 712 void L6470_SPI_Communication(uint8_t *pTxData, uint8_t *pRxData, uint16_t Size, uint32_t Timeout)
Davidroid 0:92706998571a 713 {
Davidroid 0:92706998571a 714 /* TO BE IMPLEMENTED BY USING TARGET PLATFORM'S APIs. */
Davidroid 0:92706998571a 715 ReadWrite(pRxData, pTxData, Size);
Davidroid 0:92706998571a 716 }
Davidroid 0:92706998571a 717
Davidroid 0:92706998571a 718
Davidroid 0:92706998571a 719 /*** Component's Instance Variables ***/
Davidroid 0:92706998571a 720
Davidroid 0:92706998571a 721 /* Identity */
Davidroid 0:92706998571a 722 uint8_t who_am_i;
Davidroid 0:92706998571a 723
Davidroid 0:92706998571a 724 /* ACTION 9 --------------------------------------------------------------*
Davidroid 0:92706998571a 725 * There should be only a unique identifier for each component, which *
Davidroid 0:92706998571a 726 * should be the "who_am_i" parameter, hence this parameter is optional. *
Davidroid 0:92706998571a 727 *------------------------------------------------------------------------*/
Davidroid 0:92706998571a 728 /* Type. */
Davidroid 0:92706998571a 729 uint8_t type;
Davidroid 0:92706998571a 730
Davidroid 0:92706998571a 731 /* Flag Interrupt. */
Davidroid 0:92706998571a 732 InterruptIn flag_irq;
Davidroid 0:92706998571a 733
Davidroid 0:92706998571a 734 /* Standby/reset pin. */
Davidroid 0:92706998571a 735 DigitalOut standby_reset;
Davidroid 0:92706998571a 736
Davidroid 0:92706998571a 737 /* Configuration. */
Davidroid 0:92706998571a 738 DigitalOut ssel;
Davidroid 0:92706998571a 739
Davidroid 0:92706998571a 740 /* IO Device. */
Davidroid 0:92706998571a 741 DevSPI &dev_spi;
Davidroid 0:92706998571a 742
Davidroid 0:92706998571a 743 /* Interrupts. */
Davidroid 0:92706998571a 744 /* ACTION 10 -------------------------------------------------------------*
Davidroid 0:92706998571a 745 * Put here interrupt related objects, if needed. *
Davidroid 0:92706998571a 746 * Note that interrupt handling is platform dependent, see *
Davidroid 0:92706998571a 747 * "Interrupt Related Methods" above. *
Davidroid 0:92706998571a 748 * *
Davidroid 0:92706998571a 749 * Example: *
Davidroid 0:92706998571a 750 * + mbed: *
Davidroid 0:92706998571a 751 * InterruptIn feature_int; *
Davidroid 0:92706998571a 752 *------------------------------------------------------------------------*/
Davidroid 0:92706998571a 753
Davidroid 0:92706998571a 754 /* Data. */
Davidroid 0:92706998571a 755 /* ACTION 11 -------------------------------------------------------------*
Davidroid 0:92706998571a 756 * Declare here the component's data, one variable per line. *
Davidroid 0:92706998571a 757 * *
Davidroid 0:92706998571a 758 * Example: *
Davidroid 0:92706998571a 759 * int T0_out; *
Davidroid 0:92706998571a 760 * int T1_out; *
Davidroid 0:92706998571a 761 * float T0_degC; *
Davidroid 0:92706998571a 762 * float T1_degC; *
Davidroid 0:92706998571a 763 *------------------------------------------------------------------------*/
Davidroid 0:92706998571a 764 uint8_t L6470_Id;
Davidroid 0:92706998571a 765 const sL6470_Register_t *L6470_Register;
Davidroid 0:92706998571a 766 const sL6470_ApplicationCommand_t *L6470_ApplicationCommand;
Davidroid 0:92706998571a 767 const sL6470_Direction_t *L6470_Direction;
Davidroid 0:92706998571a 768 const sL6470_ACT_t *L6470_ACT;
Davidroid 0:92706998571a 769 sL6470_StatusRegister_t L6470_StatusRegister;
Davidroid 0:92706998571a 770 sL6470_StatusRegister_t *pL6470_StatusRegister;
Davidroid 0:92706998571a 771 StepperMotorRegister_t StepperMotorRegister;
Davidroid 0:92706998571a 772
Davidroid 0:92706998571a 773 /* Static data. */
Davidroid 0:92706998571a 774 static uint8_t number_of_devices;
Davidroid 0:92706998571a 775 static const sL6470_Register_t _L6470_Register[L6470REGIDSIZE];
Davidroid 0:92706998571a 776 static const sL6470_ApplicationCommand_t _L6470_ApplicationCommand[L6470APPCMDIDSIZE];
Davidroid 0:92706998571a 777 static const sL6470_Direction_t _L6470_Direction[L6470DIRIDSIZE];
Davidroid 0:92706998571a 778 static const sL6470_ACT_t _L6470_ACT[L6470ACTIDSIZE];
Davidroid 0:92706998571a 779 static eFlagStatus_t L6470_DaisyChain_HalfPrepared;
Davidroid 0:92706998571a 780 static sL6470_AppCmdPkg_t L6470_AppCmdPkg[L6470DAISYCHAINSIZE];
Davidroid 0:92706998571a 781 static uint8_t L6470_DaisyChainSpiTxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
Davidroid 0:92706998571a 782 static uint8_t L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
Davidroid 0:92706998571a 783 };
Davidroid 0:92706998571a 784
Davidroid 0:92706998571a 785 #endif // __L6470_CLASS_H
Davidroid 0:92706998571a 786
Davidroid 0:92706998571a 787 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/