X_NUCLEO_IHM02A1 - Library to handle the X_NUCLEO_IHM02A1 Motor Cont…

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

Components/l6470/l6470_class.h@20:9821a6a2ca62, 2016-07-27 (annotated)

Committer:: Isto
Date:: Wed Jul 27 09:15:53 2016 +0000
Revision:: 20:9821a6a2ca62
Parent:: 19:591ef53bc983

+ fix

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	12:a942d51c488b	4	* @author Davide Aliprandi, STMicroelectronics
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	15:31785d1acd4b	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	14:e614697ebf34	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	14:e614697ebf34	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	14:e614697ebf34	79	/**
Davidroid	14:e614697ebf34	80	* @brief Class representing a L6470 component.
Davidroid	0:92706998571a	81	*/
Davidroid	0:92706998571a	82	class L6470 : public StepperMotor
Davidroid	0:92706998571a	83	{
Davidroid	0:92706998571a	84	public:
Davidroid	0:92706998571a	85
Davidroid	1:b78dab6d2c58	86	/* Public Component Related Types */
Davidroid	1:b78dab6d2c58	87
Davidroid	1:b78dab6d2c58	88	/**
Davidroid	1:b78dab6d2c58	89	* @brief Prepared Actions.
Davidroid	1:b78dab6d2c58	90	*/
Davidroid	1:b78dab6d2c58	91	typedef enum
Davidroid	1:b78dab6d2c58	92	{
Davidroid	1:b78dab6d2c58	93	PREPARED_NO_ACTION = 0,
Davidroid	1:b78dab6d2c58	94	PREPARED_GET_POSITION,
Davidroid	1:b78dab6d2c58	95	PREPARED_GET_MARK,
Davidroid	1:b78dab6d2c58	96	PREPARED_GET_SPEED,
Davidroid	1:b78dab6d2c58	97	PREPARED_GET_MAX_SPEED,
Davidroid	1:b78dab6d2c58	98	PREPARED_GET_MIN_SPEED,
Davidroid	1:b78dab6d2c58	99	PREPARED_GET_ACCELERATION,
Davidroid	1:b78dab6d2c58	100	PREPARED_GET_DECELERATION,
Davidroid	1:b78dab6d2c58	101	PREPARED_GET_DIRECTION,
Davidroid	1:b78dab6d2c58	102	PREPARED_SET_MARK
Davidroid	1:b78dab6d2c58	103	} prepared_action_t;
Davidroid	1:b78dab6d2c58	104
Davidroid	1:b78dab6d2c58	105
Davidroid	0:92706998571a	106	/* Constructor and Destructor Methods */
Davidroid	0:92706998571a	107
Davidroid	0:92706998571a	108	/**
Davidroid	0:92706998571a	109	* @brief Constructor.
Davidroid	0:92706998571a	110	* @param flag_irq pin name of the FLAG pin of the component.
Davidroid	1:b78dab6d2c58	111	* @param busy_irq pin name of the BUSY pin of the component.
Davidroid	0:92706998571a	112	* @param standby_reset pin name of the STBY\RST pin of the component.
Davidroid	0:92706998571a	113	* @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
Davidroid	0:92706998571a	114	* @param spi SPI device to be used for communication.
Davidroid	0:92706998571a	115	*/
Isto	20:9821a6a2ca62	116	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	117	{
Davidroid	0:92706998571a	118	/* ACTION 4 ----------------------------------------------------------*
Davidroid	0:92706998571a	119	* Initialize here the component's member variables, one variable per *
Davidroid	0:92706998571a	120	* line. *
Davidroid	0:92706998571a	121	* *
Davidroid	0:92706998571a	122	* Example: *
Davidroid	7:3bb27256c3ed	123	* measure = 0; *
Davidroid	7:3bb27256c3ed	124	* instance_id = number_of_instances++; *
Davidroid	0:92706998571a	125	--------------------------------------------------------------------/
Davidroid	0:92706998571a	126	L6470_Register = &_L6470_Register[0];
Davidroid	0:92706998571a	127	L6470_ApplicationCommand = &_L6470_ApplicationCommand[0];
Davidroid	0:92706998571a	128	L6470_Direction = &_L6470_Direction[0];
Davidroid	0:92706998571a	129	L6470_ACT = &_L6470_ACT[0];
Davidroid	0:92706998571a	130	pL6470_StatusRegister = &L6470_StatusRegister;
Davidroid	1:b78dab6d2c58	131	prepared_action = PREPARED_NO_ACTION;
Isto	20:9821a6a2ca62	132	L6470_Id = (number_of_devices++)%(L6470DAISYCHAINSIZE);
Davidroid	0:92706998571a	133	L6470_DaisyChain_HalfPrepared = ZERO_F;
Davidroid	0:92706998571a	134	memset(L6470_AppCmdPkg, 0, L6470DAISYCHAINSIZE * sizeof(sL6470_AppCmdPkg_t));
Davidroid	0:92706998571a	135	memset(L6470_DaisyChainSpiTxStruct, 0, L6470MAXSPICMDBYTESIZE * L6470DAISYCHAINSIZE * sizeof(uint8_t));
Davidroid	0:92706998571a	136	memset(L6470_DaisyChainSpiRxStruct, 0, L6470MAXSPICMDBYTESIZE * L6470DAISYCHAINSIZE * sizeof(uint8_t));
Davidroid	0:92706998571a	137	}
Davidroid	0:92706998571a	138
Davidroid	0:92706998571a	139	/**
Davidroid	0:92706998571a	140	* @brief Destructor.
Davidroid	0:92706998571a	141	*/
Davidroid	0:92706998571a	142	virtual ~L6470(void) {}
Davidroid	0:92706998571a	143
Davidroid	0:92706998571a	144
Davidroid	0:92706998571a	145	/* Public Component Related Methods */
Davidroid	0:92706998571a	146
Davidroid	0:92706998571a	147	/* ACTION 5 --------------------------------------------------------------*
Davidroid	0:92706998571a	148	* Implement here the component's public methods, as wrappers of the C *
Davidroid	0:92706998571a	149	* component's functions. *
Davidroid	0:92706998571a	150	* They should be: *
Davidroid	0:92706998571a	151	* + Methods with the same name of the C component's virtual table's *
Davidroid	0:92706998571a	152	* functions (1); *
Davidroid	0:92706998571a	153	* + Methods with the same name of the C component's extended virtual *
Davidroid	0:92706998571a	154	* table's functions, if any (2). *
Davidroid	0:92706998571a	155	* *
Davidroid	0:92706998571a	156	* Example: *
Davidroid	14:e614697ebf34	157	* virtual int GetValue(float f) //(1)
Davidroid	0:92706998571a	158	* { *
Davidroid	14:e614697ebf34	159	* return COMPONENT_GetValue(float f);
Davidroid	0:92706998571a	160	* } *
Davidroid	0:92706998571a	161	* *
Davidroid	0:92706998571a	162	* virtual int EnableFeature(void) //(2) *
Davidroid	0:92706998571a	163	* { *
Davidroid	0:92706998571a	164	* return COMPONENT_EnableFeature(); *
Davidroid	0:92706998571a	165	* } *
Davidroid	0:92706998571a	166	------------------------------------------------------------------------/
Davidroid	1:b78dab6d2c58	167	/**
Davidroid	1:b78dab6d2c58	168	* @brief Initializing the component.
Davidroid	1:b78dab6d2c58	169	* @param init Pointer to device specific initalization structure.
Davidroid	1:b78dab6d2c58	170	* @retval "0" in case of success, an error code otherwise.
Davidroid	1:b78dab6d2c58	171	*/
Davidroid	0:92706998571a	172	virtual int Init(void *init)
Davidroid	0:92706998571a	173	{
Davidroid	13:25a579b9b7c3	174	return (int) L6470_Config((void *) init);
Davidroid	0:92706998571a	175	}
Davidroid	0:92706998571a	176
Davidroid	1:b78dab6d2c58	177	/**
Davidroid	1:b78dab6d2c58	178	* @brief Getting the ID of the component.
Davidroid	1:b78dab6d2c58	179	* @param id Pointer to an allocated variable to store the ID into.
Davidroid	1:b78dab6d2c58	180	* @retval "0" in case of success, an error code otherwise.
Davidroid	1:b78dab6d2c58	181	*/
Davidroid	0:92706998571a	182	virtual int ReadID(uint8_t *id)
Davidroid	0:92706998571a	183	{
Davidroid	0:92706998571a	184	return (int) 0;
Davidroid	0:92706998571a	185	}
Davidroid	0:92706998571a	186
Davidroid	1:b78dab6d2c58	187	/**
Davidroid	1:b78dab6d2c58	188	* @brief Getting the status.
Davidroid	1:b78dab6d2c58	189	* @param None.
Davidroid	1:b78dab6d2c58	190	* @retval The status.
Davidroid	1:b78dab6d2c58	191	*/
Davidroid	0:92706998571a	192	virtual unsigned int GetStatus(void)
Davidroid	0:92706998571a	193	{
Davidroid	0:92706998571a	194	return (unsigned int) L6470_GetStatus();
Davidroid	0:92706998571a	195	}
Davidroid	1:b78dab6d2c58	196
Davidroid	18:ddf3d5dc8137	197	/**
Davidroid	1:b78dab6d2c58	198	* @brief Getting a parameter.
Davidroid	17:4b3dc908724f	199	* @param parameter A parameter's register address.
Davidroid	1:b78dab6d2c58	200	* @retval The parameter's value.
Davidroid	17:4b3dc908724f	201	* @note The parameter can be one of the following:
Davidroid	17:4b3dc908724f	202	* + L6470_ABS_POS_ID
Davidroid	17:4b3dc908724f	203	* + L6470_EL_POS_ID
Davidroid	17:4b3dc908724f	204	* + L6470_MARK_ID
Davidroid	17:4b3dc908724f	205	* + L6470_SPEED_ID
Davidroid	17:4b3dc908724f	206	* + L6470_ACC_ID
Davidroid	17:4b3dc908724f	207	* + L6470_DEC_ID
Davidroid	17:4b3dc908724f	208	* + L6470_MAX_SPEED_ID
Davidroid	17:4b3dc908724f	209	* + L6470_MIN_SPEED_ID
Davidroid	17:4b3dc908724f	210	* + L6470_FS_SPD_ID
Davidroid	17:4b3dc908724f	211	* + L6470_KVAL_HOLD_ID
Davidroid	17:4b3dc908724f	212	* + L6470_KVAL_RUN_ID
Davidroid	17:4b3dc908724f	213	* + L6470_KVAL_ACC_ID
Davidroid	17:4b3dc908724f	214	* + L6470_KVAL_DEC_ID
Davidroid	17:4b3dc908724f	215	* + L6470_INT_SPEED_ID
Davidroid	17:4b3dc908724f	216	* + L6470_ST_SLP_ID
Davidroid	17:4b3dc908724f	217	* + L6470_FN_SLP_ACC_ID
Davidroid	17:4b3dc908724f	218	* + L6470_FN_SLP_DEC_ID
Davidroid	17:4b3dc908724f	219	* + L6470_K_THERM_ID
Davidroid	17:4b3dc908724f	220	* + L6470_ADC_OUT_ID
Davidroid	17:4b3dc908724f	221	* + L6470_OCD_TH_ID
Davidroid	17:4b3dc908724f	222	* + L6470_STALL_TH_ID
Davidroid	17:4b3dc908724f	223	* + L6470_STEP_MODE_ID
Davidroid	17:4b3dc908724f	224	* + L6470_ALARM_EN_ID
Davidroid	17:4b3dc908724f	225	* + L6470_CONFIG_ID
Davidroid	17:4b3dc908724f	226	* + L6470_STATUS_ID
Davidroid	1:b78dab6d2c58	227	*/
Davidroid	17:4b3dc908724f	228	virtual unsigned int GetParameter(unsigned int parameter)
Davidroid	0:92706998571a	229	{
Davidroid	17:4b3dc908724f	230	return (unsigned int) L6470_GetParam((eL6470_RegId_t) parameter);
Davidroid	0:92706998571a	231	}
Davidroid	0:92706998571a	232
Davidroid	1:b78dab6d2c58	233	/**
Davidroid	1:b78dab6d2c58	234	* @brief Getting the position.
Davidroid	1:b78dab6d2c58	235	* @param None.
Davidroid	1:b78dab6d2c58	236	* @retval The position.
Davidroid	1:b78dab6d2c58	237	*/
Davidroid	0:92706998571a	238	virtual signed int GetPosition(void)
Davidroid	0:92706998571a	239	{
Davidroid	1:b78dab6d2c58	240	return (signed int) L6470_AbsPos_2_Position((uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID));
Davidroid	0:92706998571a	241	}
Davidroid	0:92706998571a	242
Davidroid	1:b78dab6d2c58	243	/**
Davidroid	1:b78dab6d2c58	244	* @brief Getting the marked position.
Davidroid	1:b78dab6d2c58	245	* @param None.
Davidroid	1:b78dab6d2c58	246	* @retval The marked position.
Davidroid	1:b78dab6d2c58	247	*/
Davidroid	0:92706998571a	248	virtual signed int GetMark(void)
Davidroid	0:92706998571a	249	{
Davidroid	1:b78dab6d2c58	250	return (signed int) L6470_AbsPos_2_Position((uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_MARK_ID));
Davidroid	0:92706998571a	251	}
Davidroid	0:92706998571a	252
Davidroid	1:b78dab6d2c58	253	/**
Davidroid	1:b78dab6d2c58	254	* @brief Getting the current speed in pps.
Davidroid	1:b78dab6d2c58	255	* @param None.
Davidroid	1:b78dab6d2c58	256	* @retval The current speed in pps.
Davidroid	1:b78dab6d2c58	257	*/
Davidroid	0:92706998571a	258	virtual unsigned int GetSpeed(void)
Davidroid	0:92706998571a	259	{
Davidroid	1:b78dab6d2c58	260	return round(L6470_Speed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_SPEED_ID)));
Davidroid	0:92706998571a	261	}
Davidroid	0:92706998571a	262
Davidroid	1:b78dab6d2c58	263	/**
Davidroid	1:b78dab6d2c58	264	* @brief Getting the maximum speed in pps.
Davidroid	1:b78dab6d2c58	265	* @param None.
Davidroid	1:b78dab6d2c58	266	* @retval The maximum speed in pps.
Davidroid	1:b78dab6d2c58	267	*/
Davidroid	0:92706998571a	268	virtual unsigned int GetMaxSpeed(void)
Davidroid	0:92706998571a	269	{
Davidroid	1:b78dab6d2c58	270	return round(L6470_MaxSpeed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID)));
Davidroid	0:92706998571a	271	}
Davidroid	0:92706998571a	272
Davidroid	1:b78dab6d2c58	273	/**
Davidroid	1:b78dab6d2c58	274	* @brief Getting the minimum speed in pps.
Davidroid	1:b78dab6d2c58	275	* @param None.
Davidroid	1:b78dab6d2c58	276	* @retval The minimum speed in pps.
Davidroid	1:b78dab6d2c58	277	*/
Davidroid	0:92706998571a	278	virtual unsigned int GetMinSpeed(void)
Davidroid	0:92706998571a	279	{
Davidroid	1:b78dab6d2c58	280	return round(L6470_MinSpeed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID)));
Davidroid	0:92706998571a	281	}
Davidroid	0:92706998571a	282
Davidroid	1:b78dab6d2c58	283	/**
Davidroid	1:b78dab6d2c58	284	* @brief Getting the acceleration in pps^2.
Davidroid	1:b78dab6d2c58	285	* @param None.
Davidroid	1:b78dab6d2c58	286	* @retval The acceleration in pps^2.
Davidroid	1:b78dab6d2c58	287	*/
Davidroid	0:92706998571a	288	virtual unsigned int GetAcceleration(void)
Davidroid	0:92706998571a	289	{
Davidroid	1:b78dab6d2c58	290	return round(L6470_Acc_2_Step_s2((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_ACC_ID)));
Davidroid	0:92706998571a	291	}
Davidroid	0:92706998571a	292
Davidroid	1:b78dab6d2c58	293	/**
Davidroid	1:b78dab6d2c58	294	* @brief Getting the deceleration in pps^2.
Davidroid	1:b78dab6d2c58	295	* @param None.
Davidroid	1:b78dab6d2c58	296	* @retval The deceleration in pps^2.
Davidroid	1:b78dab6d2c58	297	*/
Davidroid	0:92706998571a	298	virtual unsigned int GetDeceleration(void)
Davidroid	0:92706998571a	299	{
Davidroid	1:b78dab6d2c58	300	return round(L6470_Dec_2_Step_s2((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_DEC_ID)));
Davidroid	0:92706998571a	301	}
Davidroid	0:92706998571a	302
Davidroid	1:b78dab6d2c58	303	/**
Davidroid	1:b78dab6d2c58	304	* @brief Getting the direction of rotation.
Davidroid	1:b78dab6d2c58	305	* @param None.
Davidroid	1:b78dab6d2c58	306	* @retval The direction of rotation.
Davidroid	1:b78dab6d2c58	307	*/
Davidroid	0:92706998571a	308	virtual direction_t GetDirection(void)
Davidroid	0:92706998571a	309	{
Davidroid	0:92706998571a	310	return (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD);
Davidroid	0:92706998571a	311	}
Davidroid	0:92706998571a	312
Davidroid	18:ddf3d5dc8137	313	/**
Davidroid	17:4b3dc908724f	314	* @brief Setting a parameter.
Davidroid	17:4b3dc908724f	315	* @param parameter A parameter's register address.
Davidroid	17:4b3dc908724f	316	* @param value The parameter's value.
Davidroid	17:4b3dc908724f	317	* @retval None.
Davidroid	17:4b3dc908724f	318	* @note The parameter can be one of the following:
Davidroid	17:4b3dc908724f	319	* + L6470_ABS_POS_ID
Davidroid	17:4b3dc908724f	320	* + L6470_EL_POS_ID
Davidroid	17:4b3dc908724f	321	* + L6470_MARK_ID
Davidroid	17:4b3dc908724f	322	* + L6470_SPEED_ID
Davidroid	17:4b3dc908724f	323	* + L6470_ACC_ID
Davidroid	17:4b3dc908724f	324	* + L6470_DEC_ID
Davidroid	17:4b3dc908724f	325	* + L6470_MAX_SPEED_ID
Davidroid	17:4b3dc908724f	326	* + L6470_MIN_SPEED_ID
Davidroid	17:4b3dc908724f	327	* + L6470_FS_SPD_ID
Davidroid	17:4b3dc908724f	328	* + L6470_KVAL_HOLD_ID
Davidroid	17:4b3dc908724f	329	* + L6470_KVAL_RUN_ID
Davidroid	17:4b3dc908724f	330	* + L6470_KVAL_ACC_ID
Davidroid	17:4b3dc908724f	331	* + L6470_KVAL_DEC_ID
Davidroid	17:4b3dc908724f	332	* + L6470_INT_SPEED_ID
Davidroid	17:4b3dc908724f	333	* + L6470_ST_SLP_ID
Davidroid	17:4b3dc908724f	334	* + L6470_FN_SLP_ACC_ID
Davidroid	17:4b3dc908724f	335	* + L6470_FN_SLP_DEC_ID
Davidroid	17:4b3dc908724f	336	* + L6470_K_THERM_ID
Davidroid	17:4b3dc908724f	337	* + L6470_ADC_OUT_ID
Davidroid	17:4b3dc908724f	338	* + L6470_OCD_TH_ID
Davidroid	17:4b3dc908724f	339	* + L6470_STALL_TH_ID
Davidroid	17:4b3dc908724f	340	* + L6470_STEP_MODE_ID
Davidroid	17:4b3dc908724f	341	* + L6470_ALARM_EN_ID
Davidroid	17:4b3dc908724f	342	* + L6470_CONFIG_ID
Davidroid	17:4b3dc908724f	343	* + L6470_STATUS_ID
Davidroid	17:4b3dc908724f	344	* @warning Some registers can only be written in particular conditions (see L6470's datasheet).
Davidroid	17:4b3dc908724f	345	* Any attempt to write one of those registers when the conditions are not satisfied
Davidroid	17:4b3dc908724f	346	* causes the command to be ignored and the NOTPERF_CMD flag to rise at the end of the
Davidroid	17:4b3dc908724f	347	* last argument byte. Any attempt to set an inexistent register (wrong address value)
Davidroid	17:4b3dc908724f	348	* causes the command to be ignored and the WRONG_CMD flag to rise.
Davidroid	17:4b3dc908724f	349	* For example, setting some parameters requires first to disable the power bridge;
Davidroid	17:4b3dc908724f	350	* this can be done through the SoftHiZ() method.
Davidroid	17:4b3dc908724f	351	* They are the following:
Davidroid	17:4b3dc908724f	352	* + L6470_ABS_POS_ID
Davidroid	17:4b3dc908724f	353	* + L6470_EL_POS_ID
Davidroid	17:4b3dc908724f	354	* + L6470_SPEED_ID
Davidroid	17:4b3dc908724f	355	* + L6470_ACC_ID
Davidroid	17:4b3dc908724f	356	* + L6470_DEC_ID
Davidroid	17:4b3dc908724f	357	* + L6470_MAX_SPEED_ID
Davidroid	17:4b3dc908724f	358	* + L6470_MIN_SPEED_ID
Davidroid	17:4b3dc908724f	359	* + L6470_INT_SPEED_ID
Davidroid	17:4b3dc908724f	360	* + L6470_ST_SLP_ID
Davidroid	17:4b3dc908724f	361	* + L6470_FN_SLP_ACC_ID
Davidroid	17:4b3dc908724f	362	* + L6470_FN_SLP_DEC_ID
Davidroid	17:4b3dc908724f	363	* + L6470_ADC_OUT_ID
Davidroid	17:4b3dc908724f	364	* + L6470_STEP_MODE_ID
Davidroid	17:4b3dc908724f	365	* + L6470_CONFIG_ID
Davidroid	17:4b3dc908724f	366	* + L6470_STATUS_ID
Davidroid	1:b78dab6d2c58	367	*/
Davidroid	17:4b3dc908724f	368	virtual void SetParameter(unsigned int parameter, unsigned int value)
Davidroid	0:92706998571a	369	{
Davidroid	0:92706998571a	370	L6470_SetParam((eL6470_RegId_t) parameter, (uint32_t) value);
Davidroid	0:92706998571a	371	}
Davidroid	0:92706998571a	372
Davidroid	1:b78dab6d2c58	373	/**
Davidroid	1:b78dab6d2c58	374	* @brief Setting the current position to be the home position.
Davidroid	1:b78dab6d2c58	375	* @param None.
Davidroid	1:b78dab6d2c58	376	* @retval None.
Davidroid	1:b78dab6d2c58	377	*/
Davidroid	0:92706998571a	378	virtual void SetHome(void)
Davidroid	0:92706998571a	379	{
Davidroid	0:92706998571a	380	L6470_ResetPos();
Davidroid	0:92706998571a	381	}
Davidroid	0:92706998571a	382
Davidroid	1:b78dab6d2c58	383	/**
Davidroid	1:b78dab6d2c58	384	* @brief Setting the current position to be the marked position.
Davidroid	1:b78dab6d2c58	385	* @param None.
Davidroid	1:b78dab6d2c58	386	* @retval None.
Davidroid	1:b78dab6d2c58	387	*/
Davidroid	0:92706998571a	388	virtual void SetMark(void)
Davidroid	0:92706998571a	389	{
Davidroid	0:92706998571a	390	L6470_SetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID));
Davidroid	0:92706998571a	391	}
Davidroid	0:92706998571a	392
Davidroid	1:b78dab6d2c58	393	/**
Davidroid	1:b78dab6d2c58	394	* @brief Setting the current position to be the marked position.
Davidroid	1:b78dab6d2c58	395	* @param position The given position.
Davidroid	1:b78dab6d2c58	396	* @retval None.
Davidroid	1:b78dab6d2c58	397	*/
Davidroid	1:b78dab6d2c58	398	virtual void SetMark(signed int position)
Davidroid	1:b78dab6d2c58	399	{
Davidroid	1:b78dab6d2c58	400	L6470_SetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
Davidroid	1:b78dab6d2c58	401	}
Davidroid	1:b78dab6d2c58	402
Davidroid	1:b78dab6d2c58	403	/**
Davidroid	1:b78dab6d2c58	404	* @brief Setting the maximum speed in pps.
Davidroid	1:b78dab6d2c58	405	* @param speed The maximum speed in pps.
Davidroid	17:4b3dc908724f	406	* @retval "true" in case of success, "false" otherwise.
Davidroid	1:b78dab6d2c58	407	*/
Davidroid	17:4b3dc908724f	408	virtual bool SetMaxSpeed(unsigned int speed)
Davidroid	0:92706998571a	409	{
Davidroid	1:b78dab6d2c58	410	L6470_SetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) L6470_Step_s_2_MaxSpeed((float) speed));
Davidroid	17:4b3dc908724f	411	return true;
Davidroid	0:92706998571a	412	}
Davidroid	0:92706998571a	413
Davidroid	1:b78dab6d2c58	414	/**
Davidroid	1:b78dab6d2c58	415	* @brief Setting the minimum speed in pps.
Davidroid	1:b78dab6d2c58	416	* @param speed The minimum speed in pps.
Davidroid	17:4b3dc908724f	417	* @retval "true" in case of success, "false" otherwise.
Davidroid	1:b78dab6d2c58	418	*/
Davidroid	17:4b3dc908724f	419	virtual bool SetMinSpeed(unsigned int speed)
Davidroid	0:92706998571a	420	{
Davidroid	1:b78dab6d2c58	421	L6470_SetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) L6470_Step_s_2_MinSpeed((float) speed));
Davidroid	17:4b3dc908724f	422	return true;
Davidroid	0:92706998571a	423	}
Davidroid	0:92706998571a	424
Davidroid	1:b78dab6d2c58	425	/**
Davidroid	1:b78dab6d2c58	426	* @brief Setting the acceleration in pps^2.
Davidroid	1:b78dab6d2c58	427	* @param acceleration The acceleration in pps^2.
Davidroid	17:4b3dc908724f	428	* @retval "true" in case of success, "false" otherwise.
Davidroid	1:b78dab6d2c58	429	*/
Davidroid	17:4b3dc908724f	430	virtual bool SetAcceleration(unsigned int acceleration)
Davidroid	0:92706998571a	431	{
Davidroid	1:b78dab6d2c58	432	L6470_SetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) L6470_Step_s2_2_Acc((float) acceleration));
Davidroid	17:4b3dc908724f	433	return true;
Davidroid	0:92706998571a	434	}
Davidroid	0:92706998571a	435
Davidroid	1:b78dab6d2c58	436	/**
Davidroid	1:b78dab6d2c58	437	* @brief Setting the deceleration in pps^2.
Davidroid	1:b78dab6d2c58	438	* @param deceleration The deceleration in pps^2.
Davidroid	17:4b3dc908724f	439	* @retval "true" in case of success, "false" otherwise.
Davidroid	1:b78dab6d2c58	440	*/
Davidroid	17:4b3dc908724f	441	virtual bool SetDeceleration(unsigned int deceleration)
Davidroid	0:92706998571a	442	{
Davidroid	1:b78dab6d2c58	443	L6470_SetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) L6470_Step_s2_2_Dec((float) deceleration));
Davidroid	17:4b3dc908724f	444	return true;
Davidroid	17:4b3dc908724f	445	}
Davidroid	17:4b3dc908724f	446
Davidroid	17:4b3dc908724f	447	/**
Davidroid	17:4b3dc908724f	448	* @brief Setting the Step Mode.
Davidroid	17:4b3dc908724f	449	* @param step_mode The Step Mode.
Davidroid	17:4b3dc908724f	450	* @retval "true" in case of success, "false" otherwise.
Davidroid	17:4b3dc908724f	451	* @warning Setting the step mode implies first disabling the power bridge through
Davidroid	17:4b3dc908724f	452	* the SoftHiZ() method.
Davidroid	17:4b3dc908724f	453	* @warning Every time step mode is changed, the values of the home
Davidroid	17:4b3dc908724f	454	* and mark positions lose meaning and are reset.
Davidroid	17:4b3dc908724f	455	*/
Davidroid	17:4b3dc908724f	456	virtual bool SetStepMode(step_mode_t step_mode)
Davidroid	17:4b3dc908724f	457	{
Davidroid	17:4b3dc908724f	458	if ((eMotorStepMode_t) step_mode > MICROSTEP_1_128)
Davidroid	17:4b3dc908724f	459	return false;
Davidroid	17:4b3dc908724f	460
Davidroid	17:4b3dc908724f	461	SoftHiZ();
Davidroid	17:4b3dc908724f	462	L6470_SetParam((eL6470_RegId_t) L6470_STEP_MODE_ID, (eMotorStepMode_t) step_mode);
Davidroid	17:4b3dc908724f	463	return true;
Davidroid	0:92706998571a	464	}
Davidroid	0:92706998571a	465
Davidroid	1:b78dab6d2c58	466	/**
Davidroid	1:b78dab6d2c58	467	* @brief Going to a specified position through the shortest path.
Davidroid	1:b78dab6d2c58	468	* @param position The desired position.
Davidroid	1:b78dab6d2c58	469	* @retval None.
Davidroid	1:b78dab6d2c58	470	*/
Davidroid	0:92706998571a	471	virtual void GoTo(signed int position)
Davidroid	0:92706998571a	472	{
Davidroid	1:b78dab6d2c58	473	L6470_GoTo((uint32_t) L6470_Position_2_AbsPos((int32_t) position));
Davidroid	0:92706998571a	474	}
Davidroid	0:92706998571a	475
Davidroid	1:b78dab6d2c58	476	/**
Davidroid	1:b78dab6d2c58	477	* @brief Going to a specified position imposing the desired direction.
Davidroid	1:b78dab6d2c58	478	* @param position The desired position.
Davidroid	1:b78dab6d2c58	479	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	480	* @retval None.
Davidroid	1:b78dab6d2c58	481	*/
Davidroid	0:92706998571a	482	virtual void GoTo(signed int position, direction_t direction)
Davidroid	0:92706998571a	483	{
Davidroid	1:b78dab6d2c58	484	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	485	}
Davidroid	0:92706998571a	486
Davidroid	1:b78dab6d2c58	487	/**
Davidroid	1:b78dab6d2c58	488	* @brief Going to the home position.
Davidroid	1:b78dab6d2c58	489	* @param None.
Davidroid	1:b78dab6d2c58	490	* @retval None.
Davidroid	1:b78dab6d2c58	491	*/
Davidroid	0:92706998571a	492	virtual void GoHome(void)
Davidroid	0:92706998571a	493	{
Davidroid	0:92706998571a	494	L6470_GoHome();
Davidroid	0:92706998571a	495	}
Davidroid	0:92706998571a	496
Davidroid	1:b78dab6d2c58	497	/**
Davidroid	1:b78dab6d2c58	498	* @brief Going to the marked position.
Davidroid	1:b78dab6d2c58	499	* @param None.
Davidroid	1:b78dab6d2c58	500	* @retval None.
Davidroid	1:b78dab6d2c58	501	*/
Davidroid	0:92706998571a	502	virtual void GoMark(void)
Davidroid	0:92706998571a	503	{
Davidroid	0:92706998571a	504	L6470_GoMark();
Davidroid	0:92706998571a	505	}
Davidroid	0:92706998571a	506
Davidroid	1:b78dab6d2c58	507	/**
Davidroid	1:b78dab6d2c58	508	* @brief Running at the given speed imposing the desired direction until
Davidroid	1:b78dab6d2c58	509	* an external switch turn-on event occurs.
Davidroid	1:b78dab6d2c58	510	* @param action The identifier of the action about the absolute position.
Davidroid	1:b78dab6d2c58	511	* @param position The desired position.
Davidroid	1:b78dab6d2c58	512	* @param speed The speed value in pps.
Davidroid	1:b78dab6d2c58	513	* @retval None.
Davidroid	1:b78dab6d2c58	514	* @note The identifier of the action about the absolute position can be
Davidroid	1:b78dab6d2c58	515	* one of the following:
Davidroid	1:b78dab6d2c58	516	* + L6470_ACT_RST_ID: the absolute position is reset;
Davidroid	1:b78dab6d2c58	517	* + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
Davidroid	1:b78dab6d2c58	518	*/
Davidroid	1:b78dab6d2c58	519	virtual void GoUntil(eL6470_ActId_t action, direction_t direction, unsigned int speed)
Davidroid	0:92706998571a	520	{
Davidroid	1:b78dab6d2c58	521	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	522	}
Davidroid	0:92706998571a	523
Davidroid	1:b78dab6d2c58	524	/**
Davidroid	1:b78dab6d2c58	525	* @brief Running towards a specified direction.
Davidroid	1:b78dab6d2c58	526	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	527	* @retval None.
Davidroid	1:b78dab6d2c58	528	*/
Davidroid	0:92706998571a	529	virtual void Run(direction_t direction)
Davidroid	0:92706998571a	530	{
Davidroid	0:92706998571a	531	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	532	}
Davidroid	0:92706998571a	533
Davidroid	1:b78dab6d2c58	534	/**
Davidroid	1:b78dab6d2c58	535	* @brief Running towards a specified direction at the given speed.
Davidroid	1:b78dab6d2c58	536	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	537	* @param speed The speed value in pps.
Davidroid	1:b78dab6d2c58	538	* @retval None.
Davidroid	1:b78dab6d2c58	539	*/
Davidroid	0:92706998571a	540	virtual void Run(direction_t direction, unsigned int speed)
Davidroid	0:92706998571a	541	{
Davidroid	1:b78dab6d2c58	542	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	543	}
Davidroid	0:92706998571a	544
Davidroid	1:b78dab6d2c58	545	/**
Davidroid	1:b78dab6d2c58	546	* @brief Moving towards a specified direction for a certain number of steps.
Davidroid	1:b78dab6d2c58	547	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	548	* @param steps The desired number of steps.
Davidroid	1:b78dab6d2c58	549	* @retval None.
Davidroid	1:b78dab6d2c58	550	*/
Davidroid	0:92706998571a	551	virtual void Move(direction_t direction, unsigned int steps)
Davidroid	0:92706998571a	552	{
Davidroid	0:92706998571a	553	L6470_Move((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) steps);
Davidroid	0:92706998571a	554	}
Davidroid	0:92706998571a	555
Davidroid	1:b78dab6d2c58	556	/**
Davidroid	1:b78dab6d2c58	557	* @brief Stopping the motor through an immediate deceleration up to zero speed.
Davidroid	1:b78dab6d2c58	558	* The used deceleration value is the one stored in the "DEC" register.
Davidroid	1:b78dab6d2c58	559	* @param None.
Davidroid	1:b78dab6d2c58	560	* @retval None.
Davidroid	1:b78dab6d2c58	561	*/
Davidroid	0:92706998571a	562	virtual void SoftStop(void)
Davidroid	0:92706998571a	563	{
Davidroid	0:92706998571a	564	L6470_SoftStop();
Davidroid	0:92706998571a	565	}
Davidroid	0:92706998571a	566
Davidroid	1:b78dab6d2c58	567	/**
Davidroid	1:b78dab6d2c58	568	* @brief Stopping the motor through an immediate infinite deceleration.
Davidroid	1:b78dab6d2c58	569	* @param None.
Davidroid	1:b78dab6d2c58	570	* @retval None.
Davidroid	1:b78dab6d2c58	571	*/
Davidroid	0:92706998571a	572	virtual void HardStop(void)
Davidroid	0:92706998571a	573	{
Davidroid	0:92706998571a	574	L6470_HardStop();
Davidroid	0:92706998571a	575	}
Davidroid	0:92706998571a	576
Davidroid	1:b78dab6d2c58	577	/**
Davidroid	1:b78dab6d2c58	578	* @brief Disabling the power bridge after performing a deceleration to zero.
Davidroid	1:b78dab6d2c58	579	* The used deceleration value is the one stored in the "DEC" register.
Davidroid	1:b78dab6d2c58	580	* @param None.
Davidroid	1:b78dab6d2c58	581	* @retval None.
Davidroid	1:b78dab6d2c58	582	*/
Davidroid	1:b78dab6d2c58	583	virtual void SoftHiZ(void)
Davidroid	1:b78dab6d2c58	584	{
Davidroid	1:b78dab6d2c58	585	L6470_SoftHiZ();
Davidroid	1:b78dab6d2c58	586	}
Davidroid	1:b78dab6d2c58	587
Davidroid	1:b78dab6d2c58	588	/**
Davidroid	1:b78dab6d2c58	589	* @brief Disabling the power bridge immediately.
Davidroid	1:b78dab6d2c58	590	* @param None.
Davidroid	1:b78dab6d2c58	591	* @retval None.
Davidroid	1:b78dab6d2c58	592	*/
Davidroid	1:b78dab6d2c58	593	virtual void HardHiZ(void)
Davidroid	1:b78dab6d2c58	594	{
Davidroid	1:b78dab6d2c58	595	L6470_HardHiZ();
Davidroid	1:b78dab6d2c58	596	}
Davidroid	1:b78dab6d2c58	597
Davidroid	1:b78dab6d2c58	598	/**
Davidroid	1:b78dab6d2c58	599	* @brief Waiting while the motor is active.
Davidroid	1:b78dab6d2c58	600	* @param None.
Davidroid	1:b78dab6d2c58	601	* @retval None.
Davidroid	1:b78dab6d2c58	602	*/
Davidroid	0:92706998571a	603	virtual void WaitWhileActive(void)
Davidroid	0:92706998571a	604	{
Davidroid	0:92706998571a	605	while (L6470_CheckStatusRegisterFlag(BUSY_ID) == 0);
Davidroid	0:92706998571a	606	}
Davidroid	0:92706998571a	607
Davidroid	1:b78dab6d2c58	608	/**
Davidroid	17:4b3dc908724f	609	* @brief Switching to step-clock mode.
Davidroid	17:4b3dc908724f	610	* @param direction The direction of rotation.
Davidroid	17:4b3dc908724f	611	* @retval None.
Davidroid	17:4b3dc908724f	612	* @warning Setting the step-clock mode implies first disabling the power bridge through
Davidroid	17:4b3dc908724f	613	* the SoftHiZ() method.
Davidroid	17:4b3dc908724f	614	*/
Davidroid	0:92706998571a	615	virtual void StepClock(direction_t direction)
Davidroid	0:92706998571a	616	{
Davidroid	17:4b3dc908724f	617	SoftHiZ();
Davidroid	0:92706998571a	618	L6470_StepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid	0:92706998571a	619	}
Davidroid	0:92706998571a	620
Davidroid	1:b78dab6d2c58	621	/**
Davidroid	1:b78dab6d2c58	622	* @brief Doing a motion at minimum speed imposing a specified direction
Davidroid	1:b78dab6d2c58	623	* until the SW is released.
Davidroid	1:b78dab6d2c58	624	* @param action The identifier of the action about the absolute position.
Davidroid	1:b78dab6d2c58	625	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	626	* @note The identifier of the action about the absolute position can be
Davidroid	1:b78dab6d2c58	627	* one of the following:
Davidroid	1:b78dab6d2c58	628	* + L6470_ACT_RST_ID: the absolute position is reset;
Davidroid	1:b78dab6d2c58	629	* + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
Davidroid	1:b78dab6d2c58	630	*/
Davidroid	1:b78dab6d2c58	631	virtual void ReleaseSW(eL6470_ActId_t action, direction_t direction)
Davidroid	0:92706998571a	632	{
Davidroid	1:b78dab6d2c58	633	L6470_ReleaseSW((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid	0:92706998571a	634	}
Davidroid	0:92706998571a	635
Davidroid	1:b78dab6d2c58	636	/**
Davidroid	1:b78dab6d2c58	637	* @brief Resetting the device to power-up conditions.
Davidroid	1:b78dab6d2c58	638	* @param None.
Davidroid	1:b78dab6d2c58	639	* @retval None.
Davidroid	1:b78dab6d2c58	640	*/
Davidroid	0:92706998571a	641	virtual void ResetDevice(void)
Davidroid	0:92706998571a	642	{
Davidroid	0:92706998571a	643	L6470_ResetDevice();
Davidroid	0:92706998571a	644	}
Davidroid	0:92706998571a	645
Davidroid	1:b78dab6d2c58	646	/**
Davidroid	1:b78dab6d2c58	647	* @brief Preparing the command to get the status.
Davidroid	1:b78dab6d2c58	648	* @param None.
Davidroid	1:b78dab6d2c58	649	* @retval None.
Davidroid	1:b78dab6d2c58	650	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	651	*/
Davidroid	0:92706998571a	652	virtual void PrepareGetStatus(void)
Davidroid	0:92706998571a	653	{
Davidroid	0:92706998571a	654	L6470_PrepareGetStatus();
Davidroid	1:b78dab6d2c58	655	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	656	}
Davidroid	0:92706998571a	657
Davidroid	18:ddf3d5dc8137	658	/**
Davidroid	1:b78dab6d2c58	659	* @brief Preparing the command to get a parameter.
Davidroid	17:4b3dc908724f	660	* @param parameter A parameter's register address.
Davidroid	1:b78dab6d2c58	661	* @retval None.
Davidroid	1:b78dab6d2c58	662	* @note The command will be sent by issuing "PerformAction()".
Davidroid	17:4b3dc908724f	663	* The parameter can be one of the following:
Davidroid	17:4b3dc908724f	664	* + L6470_ABS_POS_ID
Davidroid	17:4b3dc908724f	665	* + L6470_EL_POS_ID
Davidroid	17:4b3dc908724f	666	* + L6470_MARK_ID
Davidroid	17:4b3dc908724f	667	* + L6470_SPEED_ID
Davidroid	17:4b3dc908724f	668	* + L6470_ACC_ID
Davidroid	17:4b3dc908724f	669	* + L6470_DEC_ID
Davidroid	17:4b3dc908724f	670	* + L6470_MAX_SPEED_ID
Davidroid	17:4b3dc908724f	671	* + L6470_MIN_SPEED_ID
Davidroid	17:4b3dc908724f	672	* + L6470_FS_SPD_ID
Davidroid	17:4b3dc908724f	673	* + L6470_KVAL_HOLD_ID
Davidroid	17:4b3dc908724f	674	* + L6470_KVAL_RUN_ID
Davidroid	17:4b3dc908724f	675	* + L6470_KVAL_ACC_ID
Davidroid	17:4b3dc908724f	676	* + L6470_KVAL_DEC_ID
Davidroid	17:4b3dc908724f	677	* + L6470_INT_SPEED_ID
Davidroid	17:4b3dc908724f	678	* + L6470_ST_SLP_ID
Davidroid	17:4b3dc908724f	679	* + L6470_FN_SLP_ACC_ID
Davidroid	17:4b3dc908724f	680	* + L6470_FN_SLP_DEC_ID
Davidroid	17:4b3dc908724f	681	* + L6470_K_THERM_ID
Davidroid	17:4b3dc908724f	682	* + L6470_ADC_OUT_ID
Davidroid	17:4b3dc908724f	683	* + L6470_OCD_TH_ID
Davidroid	17:4b3dc908724f	684	* + L6470_STALL_TH_ID
Davidroid	17:4b3dc908724f	685	* + L6470_STEP_MODE_ID
Davidroid	17:4b3dc908724f	686	* + L6470_ALARM_EN_ID
Davidroid	17:4b3dc908724f	687	* + L6470_CONFIG_ID
Davidroid	17:4b3dc908724f	688	* + L6470_STATUS_ID
Davidroid	1:b78dab6d2c58	689	*/
Davidroid	0:92706998571a	690	virtual void PrepareGetParameter(unsigned int parameter)
Davidroid	0:92706998571a	691	{
Davidroid	0:92706998571a	692	L6470_PrepareGetParam((eL6470_RegId_t) parameter);
Davidroid	1:b78dab6d2c58	693	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	694	}
Davidroid	0:92706998571a	695
Davidroid	1:b78dab6d2c58	696	/**
Davidroid	1:b78dab6d2c58	697	* @brief Preparing the command to get the position.
Davidroid	1:b78dab6d2c58	698	* @param None.
Davidroid	1:b78dab6d2c58	699	* @retval None.
Davidroid	1:b78dab6d2c58	700	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	701	*/
Davidroid	0:92706998571a	702	virtual void PrepareGetPosition(void)
Davidroid	0:92706998571a	703	{
Davidroid	0:92706998571a	704	L6470_PrepareGetParam((eL6470_RegId_t) L6470_ABS_POS_ID);
Davidroid	1:b78dab6d2c58	705	prepared_action = PREPARED_GET_POSITION;
Davidroid	0:92706998571a	706	}
Davidroid	0:92706998571a	707
Davidroid	1:b78dab6d2c58	708	/**
Davidroid	1:b78dab6d2c58	709	* @brief Preparing the command to get the marked position.
Davidroid	1:b78dab6d2c58	710	* @param None.
Davidroid	1:b78dab6d2c58	711	* @retval None.
Davidroid	1:b78dab6d2c58	712	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	713	*/
Davidroid	0:92706998571a	714	virtual void PrepareGetMark(void)
Davidroid	0:92706998571a	715	{
Davidroid	0:92706998571a	716	L6470_PrepareGetParam((eL6470_RegId_t) L6470_MARK_ID);
Davidroid	1:b78dab6d2c58	717	prepared_action = PREPARED_GET_MARK;
Davidroid	0:92706998571a	718	}
Davidroid	0:92706998571a	719
Davidroid	1:b78dab6d2c58	720	/**
Davidroid	1:b78dab6d2c58	721	* @brief Preparing the command to get the current speed in pps.
Davidroid	1:b78dab6d2c58	722	* @param None.
Davidroid	1:b78dab6d2c58	723	* @retval None.
Davidroid	1:b78dab6d2c58	724	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	725	*/
Davidroid	0:92706998571a	726	virtual void PrepareGetSpeed(void)
Davidroid	0:92706998571a	727	{
Davidroid	1:b78dab6d2c58	728	L6470_PrepareGetParam((eL6470_RegId_t) L6470_SPEED_ID);
Davidroid	1:b78dab6d2c58	729	prepared_action = PREPARED_GET_SPEED;
Davidroid	0:92706998571a	730	}
Davidroid	0:92706998571a	731
Davidroid	1:b78dab6d2c58	732	/**
Davidroid	1:b78dab6d2c58	733	* @brief Preparing the command to get the maximum speed in pps.
Davidroid	1:b78dab6d2c58	734	* @param None.
Davidroid	1:b78dab6d2c58	735	* @retval None.
Davidroid	1:b78dab6d2c58	736	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	737	*/
Davidroid	0:92706998571a	738	virtual void PrepareGetMaxSpeed(void)
Davidroid	0:92706998571a	739	{
Davidroid	0:92706998571a	740	L6470_PrepareGetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID);
Davidroid	1:b78dab6d2c58	741	prepared_action = PREPARED_GET_MAX_SPEED;
Davidroid	0:92706998571a	742	}
Davidroid	0:92706998571a	743
Davidroid	1:b78dab6d2c58	744	/**
Davidroid	1:b78dab6d2c58	745	* @brief Preparing the command to get the minimum speed in pps.
Davidroid	1:b78dab6d2c58	746	* @param None.
Davidroid	1:b78dab6d2c58	747	* @retval None.
Davidroid	1:b78dab6d2c58	748	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	749	*/
Davidroid	0:92706998571a	750	virtual void PrepareGetMinSpeed(void)
Davidroid	0:92706998571a	751	{
Davidroid	0:92706998571a	752	L6470_PrepareGetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID);
Davidroid	1:b78dab6d2c58	753	prepared_action = PREPARED_GET_MIN_SPEED;
Davidroid	0:92706998571a	754	}
Davidroid	0:92706998571a	755
Davidroid	1:b78dab6d2c58	756	/**
Davidroid	1:b78dab6d2c58	757	* @brief Preparing the command to get the acceleration in pps^2.
Davidroid	1:b78dab6d2c58	758	* @param None.
Davidroid	1:b78dab6d2c58	759	* @retval None.
Davidroid	1:b78dab6d2c58	760	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	761	*/
Davidroid	0:92706998571a	762	virtual void PrepareGetAcceleration(void)
Davidroid	0:92706998571a	763	{
Davidroid	0:92706998571a	764	L6470_PrepareGetParam((eL6470_RegId_t) L6470_ACC_ID);
Davidroid	1:b78dab6d2c58	765	prepared_action = PREPARED_GET_ACCELERATION;
Davidroid	0:92706998571a	766	}
Davidroid	0:92706998571a	767
Davidroid	1:b78dab6d2c58	768	/**
Davidroid	1:b78dab6d2c58	769	* @brief Preparing the command to get the deceleration in pps^2.
Davidroid	1:b78dab6d2c58	770	* @param None.
Davidroid	1:b78dab6d2c58	771	* @retval None.
Davidroid	1:b78dab6d2c58	772	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	773	*/
Davidroid	0:92706998571a	774	virtual void PrepareGetDeceleration(void)
Davidroid	0:92706998571a	775	{
Davidroid	0:92706998571a	776	L6470_PrepareGetParam((eL6470_RegId_t) L6470_DEC_ID);
Davidroid	1:b78dab6d2c58	777	prepared_action = PREPARED_GET_DECELERATION;
Davidroid	0:92706998571a	778	}
Davidroid	0:92706998571a	779
Davidroid	1:b78dab6d2c58	780	/**
Davidroid	1:b78dab6d2c58	781	* @brief Preparing the command to get the direction of rotation.
Davidroid	1:b78dab6d2c58	782	* @param None.
Davidroid	1:b78dab6d2c58	783	* @retval None.
Davidroid	1:b78dab6d2c58	784	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	785	*/
Davidroid	1:b78dab6d2c58	786	virtual void PrepareGetDirection(void)
Davidroid	0:92706998571a	787	{
Davidroid	1:b78dab6d2c58	788	if (!L6470_DaisyChain_HalfPrepared)
Davidroid	1:b78dab6d2c58	789	{
Davidroid	1:b78dab6d2c58	790	/* To avoid deleting the previous entered command. */
Davidroid	1:b78dab6d2c58	791	L6470_DaisyChain_HalfPrepared = ONE_F;
Davidroid	1:b78dab6d2c58	792	/* Resetting commands. */
Davidroid	1:b78dab6d2c58	793	L6470_ResetAppCmdPkg(L6470_AppCmdPkg);
Davidroid	1:b78dab6d2c58	794	}
Davidroid	1:b78dab6d2c58	795	prepared_action = PREPARED_GET_DIRECTION;
Davidroid	0:92706998571a	796	}
Davidroid	0:92706998571a	797
Davidroid	18:ddf3d5dc8137	798	/**
Davidroid	1:b78dab6d2c58	799	* @brief Preparing the command to set a parameter.
Davidroid	17:4b3dc908724f	800	* @param parameter A parameter's register address.
Davidroid	1:b78dab6d2c58	801	* @param value The parameter's value.
Davidroid	1:b78dab6d2c58	802	* @retval None.
Davidroid	1:b78dab6d2c58	803	* @note The command will be sent by issuing "PerformAction()".
Davidroid	17:4b3dc908724f	804	* The parameter can be one of the following:
Davidroid	17:4b3dc908724f	805	* + L6470_ABS_POS_ID
Davidroid	17:4b3dc908724f	806	* + L6470_EL_POS_ID
Davidroid	17:4b3dc908724f	807	* + L6470_MARK_ID
Davidroid	17:4b3dc908724f	808	* + L6470_SPEED_ID
Davidroid	17:4b3dc908724f	809	* + L6470_ACC_ID
Davidroid	17:4b3dc908724f	810	* + L6470_DEC_ID
Davidroid	17:4b3dc908724f	811	* + L6470_MAX_SPEED_ID
Davidroid	17:4b3dc908724f	812	* + L6470_MIN_SPEED_ID
Davidroid	17:4b3dc908724f	813	* + L6470_FS_SPD_ID
Davidroid	17:4b3dc908724f	814	* + L6470_KVAL_HOLD_ID
Davidroid	17:4b3dc908724f	815	* + L6470_KVAL_RUN_ID
Davidroid	17:4b3dc908724f	816	* + L6470_KVAL_ACC_ID
Davidroid	17:4b3dc908724f	817	* + L6470_KVAL_DEC_ID
Davidroid	17:4b3dc908724f	818	* + L6470_INT_SPEED_ID
Davidroid	17:4b3dc908724f	819	* + L6470_ST_SLP_ID
Davidroid	17:4b3dc908724f	820	* + L6470_FN_SLP_ACC_ID
Davidroid	17:4b3dc908724f	821	* + L6470_FN_SLP_DEC_ID
Davidroid	17:4b3dc908724f	822	* + L6470_K_THERM_ID
Davidroid	17:4b3dc908724f	823	* + L6470_ADC_OUT_ID
Davidroid	17:4b3dc908724f	824	* + L6470_OCD_TH_ID
Davidroid	17:4b3dc908724f	825	* + L6470_STALL_TH_ID
Davidroid	17:4b3dc908724f	826	* + L6470_STEP_MODE_ID
Davidroid	17:4b3dc908724f	827	* + L6470_ALARM_EN_ID
Davidroid	17:4b3dc908724f	828	* + L6470_CONFIG_ID
Davidroid	17:4b3dc908724f	829	* + L6470_STATUS_ID
Davidroid	17:4b3dc908724f	830	* @warning Some registers can only be written in particular conditions (see L6470's datasheet).
Davidroid	17:4b3dc908724f	831	* Any attempt to write one of those registers when the conditions are not satisfied
Davidroid	17:4b3dc908724f	832	* causes the command to be ignored and the NOTPERF_CMD flag to rise at the end of the
Davidroid	17:4b3dc908724f	833	* last argument byte. Any attempt to set an inexistent register (wrong address value)
Davidroid	17:4b3dc908724f	834	* causes the command to be ignored and the WRONG_CMD flag to rise.
Davidroid	17:4b3dc908724f	835	* For example, setting some parameters requires first to disable the power bridge;
Davidroid	17:4b3dc908724f	836	* this can be done through the SoftHiZ() method.
Davidroid	17:4b3dc908724f	837	* They are the following:
Davidroid	17:4b3dc908724f	838	* + L6470_ABS_POS_ID
Davidroid	17:4b3dc908724f	839	* + L6470_EL_POS_ID
Davidroid	17:4b3dc908724f	840	* + L6470_SPEED_ID
Davidroid	17:4b3dc908724f	841	* + L6470_ACC_ID
Davidroid	17:4b3dc908724f	842	* + L6470_DEC_ID
Davidroid	17:4b3dc908724f	843	* + L6470_MAX_SPEED_ID
Davidroid	17:4b3dc908724f	844	* + L6470_MIN_SPEED_ID
Davidroid	17:4b3dc908724f	845	* + L6470_INT_SPEED_ID
Davidroid	17:4b3dc908724f	846	* + L6470_ST_SLP_ID
Davidroid	17:4b3dc908724f	847	* + L6470_FN_SLP_ACC_ID
Davidroid	17:4b3dc908724f	848	* + L6470_FN_SLP_DEC_ID
Davidroid	17:4b3dc908724f	849	* + L6470_ADC_OUT_ID
Davidroid	17:4b3dc908724f	850	* + L6470_STEP_MODE_ID
Davidroid	17:4b3dc908724f	851	* + L6470_CONFIG_ID
Davidroid	17:4b3dc908724f	852	* + L6470_STATUS_ID
Davidroid	1:b78dab6d2c58	853	*/
Davidroid	0:92706998571a	854	virtual void PrepareSetParameter(unsigned int parameter, unsigned int value)
Davidroid	0:92706998571a	855	{
Davidroid	0:92706998571a	856	L6470_PrepareSetParam((eL6470_RegId_t) parameter, (uint32_t) value);
Davidroid	1:b78dab6d2c58	857	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	858	}
Davidroid	0:92706998571a	859
Davidroid	1:b78dab6d2c58	860	/**
Davidroid	1:b78dab6d2c58	861	* @brief Preparing the command to set the current position to be
Davidroid	1:b78dab6d2c58	862	* the home position.
Davidroid	1:b78dab6d2c58	863	* @param None.
Davidroid	1:b78dab6d2c58	864	* @retval None.
Davidroid	1:b78dab6d2c58	865	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	866	*/
Davidroid	0:92706998571a	867	virtual void PrepareSetHome(void)
Davidroid	0:92706998571a	868	{
Davidroid	0:92706998571a	869	L6470_PrepareResetPos();
Davidroid	1:b78dab6d2c58	870	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	871	}
Davidroid	0:92706998571a	872
Davidroid	1:b78dab6d2c58	873	/**
Davidroid	1:b78dab6d2c58	874	* @brief Preparing the command to set the current position to be
Davidroid	1:b78dab6d2c58	875	* the marked position.
Davidroid	1:b78dab6d2c58	876	* @param None.
Davidroid	1:b78dab6d2c58	877	* @retval None.
Davidroid	1:b78dab6d2c58	878	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	879	*/
Davidroid	0:92706998571a	880	virtual void PrepareSetMark(void)
Davidroid	0:92706998571a	881	{
Davidroid	1:b78dab6d2c58	882	/*
Davidroid	1:b78dab6d2c58	883	Set "0" now as marked position. This value will be replaced by the
Davidroid	1:b78dab6d2c58	884	actual position read at the time when the prepared actions will be
Davidroid	1:b78dab6d2c58	885	performed.
Davidroid	1:b78dab6d2c58	886	*/
Davidroid	1:b78dab6d2c58	887	L6470_PrepareSetParam((eL6470_RegId_t) L6470_MARK_ID, 0);
Davidroid	1:b78dab6d2c58	888	prepared_action = PREPARED_SET_MARK;
Davidroid	0:92706998571a	889	}
Davidroid	0:92706998571a	890
Davidroid	1:b78dab6d2c58	891	/**
Davidroid	1:b78dab6d2c58	892	* @brief Preparing the command to set the given position to be
Davidroid	1:b78dab6d2c58	893	* the marked position.
Davidroid	1:b78dab6d2c58	894	* @param position The given position.
Davidroid	1:b78dab6d2c58	895	* @retval None.
Davidroid	1:b78dab6d2c58	896	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	897	*/
Davidroid	1:b78dab6d2c58	898	virtual void PrepareSetMark(signed int position)
Davidroid	1:b78dab6d2c58	899	{
Davidroid	1:b78dab6d2c58	900	L6470_PrepareSetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
Davidroid	1:b78dab6d2c58	901	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	902	}
Davidroid	1:b78dab6d2c58	903
Davidroid	1:b78dab6d2c58	904	/**
Davidroid	1:b78dab6d2c58	905	* @brief Preparing the command to set the current speed in pps.
Davidroid	1:b78dab6d2c58	906	* @param speed The current speed in pps.
Davidroid	1:b78dab6d2c58	907	* @retval None.
Davidroid	1:b78dab6d2c58	908	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	909	*/
Davidroid	1:b78dab6d2c58	910	virtual void PrepareSetSpeed(unsigned int speed)
Davidroid	1:b78dab6d2c58	911	{
Davidroid	1:b78dab6d2c58	912	L6470_PrepareSetParam((eL6470_RegId_t) L6470_SPEED_ID, (uint32_t) L6470_Step_s_2_Speed((float) speed));
Davidroid	1:b78dab6d2c58	913	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	914	}
Davidroid	1:b78dab6d2c58	915
Davidroid	1:b78dab6d2c58	916	/**
Davidroid	1:b78dab6d2c58	917	* @brief Preparing the command to set the maximum speed in pps.
Davidroid	1:b78dab6d2c58	918	* @param speed The maximum speed in pps.
Davidroid	1:b78dab6d2c58	919	* @retval None.
Davidroid	1:b78dab6d2c58	920	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	921	*/
Davidroid	0:92706998571a	922	virtual void PrepareSetMaxSpeed(unsigned int speed)
Davidroid	0:92706998571a	923	{
Davidroid	1:b78dab6d2c58	924	L6470_PrepareSetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) L6470_Step_s_2_MaxSpeed((float) speed));
Davidroid	1:b78dab6d2c58	925	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	926	}
Davidroid	0:92706998571a	927
Davidroid	1:b78dab6d2c58	928	/**
Davidroid	1:b78dab6d2c58	929	* @brief Preparing the command to set the minimum speed in pps.
Davidroid	1:b78dab6d2c58	930	* @param speed The minimum speed in pps.
Davidroid	1:b78dab6d2c58	931	* @retval None.
Davidroid	1:b78dab6d2c58	932	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	933	*/
Davidroid	1:b78dab6d2c58	934	virtual void PrepareSetMinSpeed(unsigned int speed)
Davidroid	1:b78dab6d2c58	935	{
Davidroid	1:b78dab6d2c58	936	L6470_PrepareSetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) L6470_Step_s_2_MinSpeed((float) speed));
Davidroid	1:b78dab6d2c58	937	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	938	}
Davidroid	1:b78dab6d2c58	939
Davidroid	1:b78dab6d2c58	940	/**
Davidroid	1:b78dab6d2c58	941	* @brief Preparing the command to set the acceleration in pps^2.
Davidroid	1:b78dab6d2c58	942	* @param acceleration The acceleration in pps^2.
Davidroid	1:b78dab6d2c58	943	* @retval None.
Davidroid	1:b78dab6d2c58	944	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	945	*/
Davidroid	0:92706998571a	946	virtual void PrepareSetAcceleration(unsigned int acceleration)
Davidroid	0:92706998571a	947	{
Davidroid	1:b78dab6d2c58	948	L6470_PrepareSetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) L6470_Step_s2_2_Acc((float) acceleration));
Davidroid	1:b78dab6d2c58	949	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	950	}
Davidroid	0:92706998571a	951
Davidroid	1:b78dab6d2c58	952	/**
Davidroid	1:b78dab6d2c58	953	* @brief Preparing the command to set the deceleration in pps^2.
Davidroid	1:b78dab6d2c58	954	* @param deceleration The deceleration in pps^2.
Davidroid	1:b78dab6d2c58	955	* @retval None.
Davidroid	1:b78dab6d2c58	956	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	957	*/
Davidroid	1:b78dab6d2c58	958	virtual void PrepareSetDeceleration(unsigned int deceleration)
Davidroid	0:92706998571a	959	{
Davidroid	1:b78dab6d2c58	960	L6470_PrepareSetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) L6470_Step_s2_2_Dec((float) deceleration));
Davidroid	1:b78dab6d2c58	961	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	962	}
Davidroid	0:92706998571a	963
Davidroid	1:b78dab6d2c58	964	/**
Davidroid	1:b78dab6d2c58	965	* @brief Preparing the command to go to a specified position.
Davidroid	1:b78dab6d2c58	966	* @param position The desired position.
Davidroid	1:b78dab6d2c58	967	* @retval None.
Davidroid	1:b78dab6d2c58	968	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	969	*/
Davidroid	1:b78dab6d2c58	970	virtual void PrepareGoTo(signed int position)
Davidroid	1:b78dab6d2c58	971	{
Davidroid	1:b78dab6d2c58	972	L6470_PrepareGoTo((uint32_t) L6470_Position_2_AbsPos((int32_t) position));
Davidroid	1:b78dab6d2c58	973	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	974	}
Davidroid	1:b78dab6d2c58	975
Davidroid	1:b78dab6d2c58	976	/**
Davidroid	1:b78dab6d2c58	977	* @brief Preparing the command to go to a specified position
Davidroid	1:b78dab6d2c58	978	* imposing the desired direction.
Davidroid	1:b78dab6d2c58	979	* @param position The desired position.
Davidroid	1:b78dab6d2c58	980	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	981	* @retval None.
Davidroid	1:b78dab6d2c58	982	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	983	*/
Davidroid	0:92706998571a	984	virtual void PrepareGoTo(signed int position, direction_t direction)
Davidroid	0:92706998571a	985	{
Davidroid	1:b78dab6d2c58	986	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	987	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	988	}
Davidroid	0:92706998571a	989
Davidroid	1:b78dab6d2c58	990	/**
Davidroid	1:b78dab6d2c58	991	* @brief Preparing the command to go to the home position.
Davidroid	1:b78dab6d2c58	992	* @param None.
Davidroid	1:b78dab6d2c58	993	* @retval None.
Davidroid	1:b78dab6d2c58	994	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	995	*/
Davidroid	0:92706998571a	996	virtual void PrepareGoHome(void)
Davidroid	0:92706998571a	997	{
Davidroid	0:92706998571a	998	L6470_PrepareGoHome();
Davidroid	1:b78dab6d2c58	999	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	1000	}
Davidroid	0:92706998571a	1001
Davidroid	1:b78dab6d2c58	1002	/**
Davidroid	1:b78dab6d2c58	1003	* @brief Preparing the command to go to the marked position.
Davidroid	1:b78dab6d2c58	1004	* @param None.
Davidroid	1:b78dab6d2c58	1005	* @retval None.
Davidroid	1:b78dab6d2c58	1006	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	1007	*/
Davidroid	0:92706998571a	1008	virtual void PrepareGoMark(void)
Davidroid	0:92706998571a	1009	{
Davidroid	0:92706998571a	1010	L6470_PrepareGoMark();
Davidroid	1:b78dab6d2c58	1011	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	1012	}
Davidroid	0:92706998571a	1013
Davidroid	1:b78dab6d2c58	1014	/**
Davidroid	1:b78dab6d2c58	1015	* @brief Preparing the command to run at the given speed imposing the desired
Davidroid	1:b78dab6d2c58	1016	* direction until an external switch turn-on event occurs.
Davidroid	1:b78dab6d2c58	1017	* @param action The identifier of the action about the absolute position.
Davidroid	1:b78dab6d2c58	1018	* @param position The desired position.
Davidroid	1:b78dab6d2c58	1019	* @param speed The speed value in pps.
Davidroid	1:b78dab6d2c58	1020	* @retval None.
Davidroid	1:b78dab6d2c58	1021	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	1022	* The identifier of the action about the absolute position can be
Davidroid	1:b78dab6d2c58	1023	* one of the following:
Davidroid	1:b78dab6d2c58	1024	* + L6470_ACT_RST_ID: the absolute position is reset;
Davidroid	1:b78dab6d2c58	1025	* + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
Davidroid	1:b78dab6d2c58	1026	*/
Davidroid	0:92706998571a	1027	virtual void PrepareGoUntil(eL6470_ActId_t L6470_ActId, direction_t direction, unsigned int speed)
Davidroid	0:92706998571a	1028	{
Davidroid	1:b78dab6d2c58	1029	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	1030	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	1031	}
Davidroid	0:92706998571a	1032
Davidroid	1:b78dab6d2c58	1033	/**
Davidroid	1:b78dab6d2c58	1034	* @brief Preparing the command to run towards a specified direction
Davidroid	1:b78dab6d2c58	1035	* at the maximum speed.
Davidroid	1:b78dab6d2c58	1036	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	1037	* @retval None.
Davidroid	1:b78dab6d2c58	1038	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	1039	*/
Davidroid	0:92706998571a	1040	virtual void PrepareRun(direction_t direction)
Davidroid	0:92706998571a	1041	{
Davidroid	0:92706998571a	1042	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	1043	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	1044	}
Davidroid	0:92706998571a	1045
Davidroid	1:b78dab6d2c58	1046	/**
Davidroid	1:b78dab6d2c58	1047	* @brief Preparing the command to run towards a specified direction
Davidroid	1:b78dab6d2c58	1048	* at the given speed.
Davidroid	1:b78dab6d2c58	1049	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	1050	* @param speed The speed value in pps.
Davidroid	1:b78dab6d2c58	1051	* @retval None.
Davidroid	1:b78dab6d2c58	1052	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	1053	*/
Davidroid	0:92706998571a	1054	virtual void PrepareRun(direction_t direction, unsigned int speed)
Davidroid	0:92706998571a	1055	{
Davidroid	1:b78dab6d2c58	1056	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	1057	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	1058	}
Davidroid	0:92706998571a	1059
Davidroid	1:b78dab6d2c58	1060	/**
Davidroid	1:b78dab6d2c58	1061	* @brief Preparing the command to move towards a specified direction
Davidroid	1:b78dab6d2c58	1062	* for a certain number of steps.
Davidroid	1:b78dab6d2c58	1063	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	1064	* @param steps The desired number of steps.
Davidroid	1:b78dab6d2c58	1065	* @retval None.
Davidroid	1:b78dab6d2c58	1066	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	1067	*/
Davidroid	0:92706998571a	1068	virtual void PrepareMove(direction_t direction, unsigned int steps)
Davidroid	0:92706998571a	1069	{
Davidroid	0:92706998571a	1070	L6470_PrepareMove((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) steps);
Davidroid	1:b78dab6d2c58	1071	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	1072	}
Davidroid	0:92706998571a	1073
Davidroid	1:b78dab6d2c58	1074	/**
Davidroid	1:b78dab6d2c58	1075	* @brief Preparing the command to stop the motor.
Davidroid	1:b78dab6d2c58	1076	* @param None.
Davidroid	1:b78dab6d2c58	1077	* @retval None.
Davidroid	1:b78dab6d2c58	1078	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	1079	*/
Davidroid	0:92706998571a	1080	virtual void PrepareSoftStop(void)
Davidroid	0:92706998571a	1081	{
Davidroid	0:92706998571a	1082	L6470_PrepareSoftStop();
Davidroid	1:b78dab6d2c58	1083	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	1084	}
Davidroid	0:92706998571a	1085
Davidroid	1:b78dab6d2c58	1086	/**
Davidroid	1:b78dab6d2c58	1087	* @brief Preparing the command to stop the motor and disabling the power bridge.
Davidroid	1:b78dab6d2c58	1088	* @param None.
Davidroid	1:b78dab6d2c58	1089	* @retval None.
Davidroid	1:b78dab6d2c58	1090	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	1091	*/
Davidroid	0:92706998571a	1092	virtual void PrepareHardStop(void)
Davidroid	0:92706998571a	1093	{
Davidroid	0:92706998571a	1094	L6470_PrepareHardStop();
Davidroid	1:b78dab6d2c58	1095	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	1096	}
Davidroid	0:92706998571a	1097
Davidroid	1:b78dab6d2c58	1098	/**
Davidroid	1:b78dab6d2c58	1099	* @brief Preparing the command to disable the power bridge after performing
Davidroid	1:b78dab6d2c58	1100	* a deceleration to zero.
Davidroid	1:b78dab6d2c58	1101	* The used deceleration value is the one stored in the "DEC" register.
Davidroid	1:b78dab6d2c58	1102	* @param None.
Davidroid	1:b78dab6d2c58	1103	* @retval None.
Davidroid	1:b78dab6d2c58	1104	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	1105	*/
Davidroid	0:92706998571a	1106	virtual void PrepareSoftHiZ(void)
Davidroid	0:92706998571a	1107	{
Davidroid	0:92706998571a	1108	L6470_PrepareSoftHiZ();
Davidroid	1:b78dab6d2c58	1109	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	1110	}
Davidroid	0:92706998571a	1111
Davidroid	1:b78dab6d2c58	1112	/**
Davidroid	1:b78dab6d2c58	1113	* @brief Preparing the command to disable the power bridge immediately.
Davidroid	1:b78dab6d2c58	1114	* @param None.
Davidroid	1:b78dab6d2c58	1115	* @retval None.
Davidroid	1:b78dab6d2c58	1116	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	1117	*/
Davidroid	0:92706998571a	1118	virtual void PrepareHardHiZ(void)
Davidroid	0:92706998571a	1119	{
Davidroid	0:92706998571a	1120	L6470_PrepareHardHiZ();
Davidroid	1:b78dab6d2c58	1121	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	1122	}
Davidroid	1:b78dab6d2c58	1123
Davidroid	1:b78dab6d2c58	1124	/**
Davidroid	18:ddf3d5dc8137	1125	* @brief Preparing the command to switch to step-clock mode.
Davidroid	18:ddf3d5dc8137	1126	* @param direction The direction of rotation.
Davidroid	18:ddf3d5dc8137	1127	* @retval None.
Davidroid	18:ddf3d5dc8137	1128	* @warning Setting the step-clock mode requires an explicit action by the user to first
Davidroid	18:ddf3d5dc8137	1129	* disable the power bridge through the SoftHiZ() method.
Davidroid	18:ddf3d5dc8137	1130	* @note The command will be sent by issuing "PerformAction()".
Davidroid	18:ddf3d5dc8137	1131	*/
Davidroid	1:b78dab6d2c58	1132	virtual void PrepareStepClock(direction_t direction)
Davidroid	1:b78dab6d2c58	1133	{
Davidroid	1:b78dab6d2c58	1134	L6470_PrepareStepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid	1:b78dab6d2c58	1135	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	1136	}
Davidroid	0:92706998571a	1137
Davidroid	1:b78dab6d2c58	1138	/**
Davidroid	1:b78dab6d2c58	1139	* @brief Preparing the command to do a motion at minimum speed
Davidroid	1:b78dab6d2c58	1140	* imposing a specified direction until the SW is released.
Davidroid	1:b78dab6d2c58	1141	* @param action The identifier of the action about the absolute position.
Davidroid	1:b78dab6d2c58	1142	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	1143	* @retval None.
Davidroid	1:b78dab6d2c58	1144	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	1145	* The identifier of the action about the absolute position can be
Davidroid	1:b78dab6d2c58	1146	* one of the following:
Davidroid	1:b78dab6d2c58	1147	* + L6470_ACT_RST_ID: the absolute position is reset;
Davidroid	1:b78dab6d2c58	1148	* + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
Davidroid	1:b78dab6d2c58	1149	*/
Davidroid	1:b78dab6d2c58	1150	virtual void PrepareReleaseSW(eL6470_ActId_t action, direction_t direction)
Davidroid	0:92706998571a	1151	{
Davidroid	1:b78dab6d2c58	1152	L6470_PrepareReleaseSW((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid	1:b78dab6d2c58	1153	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	1154	}
Davidroid	1:b78dab6d2c58	1155
Davidroid	1:b78dab6d2c58	1156	/**
Davidroid	1:b78dab6d2c58	1157	* @brief Preparing the command to reset the device to power-up conditions.
Davidroid	1:b78dab6d2c58	1158	* @param None.
Davidroid	1:b78dab6d2c58	1159	* @retval None.
Davidroid	1:b78dab6d2c58	1160	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	1161	*/
Davidroid	1:b78dab6d2c58	1162	virtual void PrepareResetDevice(void)
Davidroid	1:b78dab6d2c58	1163	{
Davidroid	1:b78dab6d2c58	1164	L6470_PrepareResetDevice();
Davidroid	1:b78dab6d2c58	1165	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	1166	}
Davidroid	0:92706998571a	1167
Davidroid	1:b78dab6d2c58	1168	/**
Davidroid	1:b78dab6d2c58	1169	* @brief Performing all the actions prepared on the components
Davidroid	1:b78dab6d2c58	1170	* of the daisy-chain.
Davidroid	1:b78dab6d2c58	1171	* @param None.
Davidroid	1:b78dab6d2c58	1172	* @retval The raw data returned by the components.
Davidroid	1:b78dab6d2c58	1173	*/
Davidroid	1:b78dab6d2c58	1174	uint8_t* PerformPreparedActions(void)
Davidroid	0:92706998571a	1175	{
Davidroid	1:b78dab6d2c58	1176	return L6470_PerformPreparedApplicationCommand();
Davidroid	1:b78dab6d2c58	1177	}
Davidroid	1:b78dab6d2c58	1178
Davidroid	1:b78dab6d2c58	1179	/**
Davidroid	1:b78dab6d2c58	1180	* @brief Getting the prepared action.
Davidroid	1:b78dab6d2c58	1181	* @param None
Davidroid	1:b78dab6d2c58	1182	* @retval The prepared action.
Davidroid	1:b78dab6d2c58	1183	*/
Davidroid	1:b78dab6d2c58	1184	prepared_action_t GetPreparedAction(void)
Davidroid	1:b78dab6d2c58	1185	{
Davidroid	1:b78dab6d2c58	1186	return prepared_action;
Davidroid	0:92706998571a	1187	}
Davidroid	0:92706998571a	1188
Davidroid	1:b78dab6d2c58	1189	/**
Davidroid	1:b78dab6d2c58	1190	* @brief Converting the raw data received by the component according to
Davidroid	1:b78dab6d2c58	1191	* the action performed on it.
Davidroid	1:b78dab6d2c58	1192	* @param raw_data The received raw data.
Davidroid	1:b78dab6d2c58	1193	* @retval The result of the action performed.
Davidroid	1:b78dab6d2c58	1194	*/
Davidroid	1:b78dab6d2c58	1195	int32_t GetResult(uint8_t *raw_data)
Davidroid	0:92706998571a	1196	{
Davidroid	1:b78dab6d2c58	1197	switch (prepared_action)
Davidroid	1:b78dab6d2c58	1198	{
Davidroid	1:b78dab6d2c58	1199	case PREPARED_GET_POSITION:
Davidroid	1:b78dab6d2c58	1200	return L6470_AbsPos_2_Position(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_ABS_POS_ID].LengthByte));
Davidroid	1:b78dab6d2c58	1201
Davidroid	1:b78dab6d2c58	1202	case PREPARED_GET_MARK:
Davidroid	1:b78dab6d2c58	1203	return L6470_AbsPos_2_Position(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MARK_ID].LengthByte));
Davidroid	0:92706998571a	1204
Davidroid	1:b78dab6d2c58	1205	case PREPARED_GET_SPEED:
Davidroid	1:b78dab6d2c58	1206	return round(L6470_Speed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_SPEED_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1207
Davidroid	1:b78dab6d2c58	1208	case PREPARED_GET_MAX_SPEED:
Davidroid	1:b78dab6d2c58	1209	return round(L6470_MaxSpeed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MAX_SPEED_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1210
Davidroid	1:b78dab6d2c58	1211	case PREPARED_GET_MIN_SPEED:
Davidroid	1:b78dab6d2c58	1212	return round(L6470_MinSpeed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MIN_SPEED_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1213
Davidroid	1:b78dab6d2c58	1214	case PREPARED_GET_ACCELERATION:
Davidroid	1:b78dab6d2c58	1215	return round(L6470_Acc_2_Step_s2(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_ACC_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1216
Davidroid	1:b78dab6d2c58	1217	case PREPARED_GET_DECELERATION:
Davidroid	1:b78dab6d2c58	1218	return round(L6470_Dec_2_Step_s2(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_DEC_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1219
Davidroid	1:b78dab6d2c58	1220	case PREPARED_GET_DIRECTION:
Davidroid	1:b78dab6d2c58	1221	return (int32_t) (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD);
Davidroid	1:b78dab6d2c58	1222
Davidroid	1:b78dab6d2c58	1223	default:
Davidroid	1:b78dab6d2c58	1224	case PREPARED_NO_ACTION:
Davidroid	1:b78dab6d2c58	1225	return 0;
Davidroid	1:b78dab6d2c58	1226	}
Davidroid	0:92706998571a	1227	}
Davidroid	0:92706998571a	1228
Davidroid	0:92706998571a	1229
Davidroid	0:92706998571a	1230	/* Public Interrupt Related Methods */
Davidroid	0:92706998571a	1231
Davidroid	0:92706998571a	1232	/* ACTION 6 --------------------------------------------------------------*
Davidroid	0:92706998571a	1233	* Implement here interrupt related methods, if any. *
Davidroid	0:92706998571a	1234	* Note that interrupt handling is platform dependent, e.g.: *
Davidroid	0:92706998571a	1235	* + mbed: *
Davidroid	14:e614697ebf34	1236	* InterruptIn feature_irq(pin); //Interrupt object. *
Davidroid	14:e614697ebf34	1237	* feature_irq.fall(callback); //Attach a callback. *
Davidroid	14:e614697ebf34	1238	* feature_irq.mode(PullNone); //Set interrupt mode. *
Davidroid	14:e614697ebf34	1239	* feature_irq.enable_irq(); //Enable interrupt. *
Davidroid	14:e614697ebf34	1240	* feature_irq.disable_irq(); //Disable interrupt. *
Davidroid	0:92706998571a	1241	* + Arduino: *
Davidroid	0:92706998571a	1242	* attachInterrupt(pin, callback, RISING); //Attach a callback. *
Davidroid	0:92706998571a	1243	* detachInterrupt(pin); //Detach a callback. *
Davidroid	0:92706998571a	1244	* *
Davidroid	0:92706998571a	1245	* Example (mbed): *
Davidroid	0:92706998571a	1246	* void AttachFeatureIRQ(void (fptr) (void))
Davidroid	0:92706998571a	1247	* { *
Davidroid	14:e614697ebf34	1248	* feature_irq.fall(fptr); *
Davidroid	0:92706998571a	1249	* } *
Davidroid	0:92706998571a	1250	* *
Davidroid	0:92706998571a	1251	* void EnableFeatureIRQ(void) *
Davidroid	0:92706998571a	1252	* { *
Davidroid	0:92706998571a	1253	* feature_irq.enable_irq(); *
Davidroid	0:92706998571a	1254	* } *
Davidroid	0:92706998571a	1255	* *
Davidroid	0:92706998571a	1256	* void DisableFeatureIRQ(void) *
Davidroid	0:92706998571a	1257	* { *
Davidroid	0:92706998571a	1258	* feature_irq.disable_irq(); *
Davidroid	0:92706998571a	1259	* } *
Davidroid	0:92706998571a	1260	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1261	/**
Davidroid	1:b78dab6d2c58	1262	* @brief Attaching an interrupt handler to the FLAG interrupt.
Davidroid	1:b78dab6d2c58	1263	* @param fptr An interrupt handler.
Davidroid	0:92706998571a	1264	* @retval None.
Davidroid	0:92706998571a	1265	*/
Davidroid	0:92706998571a	1266	void AttachFlagIRQ(void (*fptr)(void))
Davidroid	0:92706998571a	1267	{
Davidroid	11:1aca63b2f034	1268	flag_irq.fall(fptr);
Davidroid	0:92706998571a	1269	}
Davidroid	0:92706998571a	1270
Davidroid	0:92706998571a	1271	/**
Davidroid	1:b78dab6d2c58	1272	* @brief Enabling the FLAG interrupt handling.
Davidroid	0:92706998571a	1273	* @param None.
Davidroid	0:92706998571a	1274	* @retval None.
Davidroid	0:92706998571a	1275	*/
Davidroid	0:92706998571a	1276	void EnableFlagIRQ(void)
Davidroid	0:92706998571a	1277	{
Davidroid	0:92706998571a	1278	flag_irq.enable_irq();
Davidroid	0:92706998571a	1279	}
Davidroid	0:92706998571a	1280
Davidroid	0:92706998571a	1281	/**
Davidroid	1:b78dab6d2c58	1282	* @brief Disabling the FLAG interrupt handling.
Davidroid	0:92706998571a	1283	* @param None.
Davidroid	0:92706998571a	1284	* @retval None.
Davidroid	0:92706998571a	1285	*/
Davidroid	0:92706998571a	1286	void DisableFlagIRQ(void)
Davidroid	0:92706998571a	1287	{
Davidroid	0:92706998571a	1288	flag_irq.disable_irq();
Davidroid	0:92706998571a	1289	}
Davidroid	0:92706998571a	1290
Davidroid	1:b78dab6d2c58	1291	/**
Davidroid	1:b78dab6d2c58	1292	* @brief Attaching an interrupt handler to the BUSY interrupt.
Davidroid	1:b78dab6d2c58	1293	* @param fptr An interrupt handler.
Davidroid	1:b78dab6d2c58	1294	* @retval None.
Davidroid	1:b78dab6d2c58	1295	*/
Davidroid	1:b78dab6d2c58	1296	void AttachBusyIRQ(void (*fptr)(void))
Davidroid	1:b78dab6d2c58	1297	{
Davidroid	11:1aca63b2f034	1298	busy_irq.fall(fptr);
Davidroid	1:b78dab6d2c58	1299	}
Davidroid	1:b78dab6d2c58	1300
Davidroid	1:b78dab6d2c58	1301	/**
Davidroid	1:b78dab6d2c58	1302	* @brief Enabling the BUSY interrupt handling.
Davidroid	1:b78dab6d2c58	1303	* @param None.
Davidroid	1:b78dab6d2c58	1304	* @retval None.
Davidroid	1:b78dab6d2c58	1305	*/
Davidroid	1:b78dab6d2c58	1306	void EnableBusyIRQ(void)
Davidroid	1:b78dab6d2c58	1307	{
Davidroid	1:b78dab6d2c58	1308	busy_irq.enable_irq();
Davidroid	1:b78dab6d2c58	1309	}
Davidroid	1:b78dab6d2c58	1310
Davidroid	1:b78dab6d2c58	1311	/**
Davidroid	1:b78dab6d2c58	1312	* @brief Disabling the BUSY interrupt handling.
Davidroid	1:b78dab6d2c58	1313	* @param None.
Davidroid	1:b78dab6d2c58	1314	* @retval None.
Davidroid	1:b78dab6d2c58	1315	*/
Davidroid	1:b78dab6d2c58	1316	void DisableBusyIRQ(void)
Davidroid	1:b78dab6d2c58	1317	{
Davidroid	1:b78dab6d2c58	1318	busy_irq.disable_irq();
Davidroid	1:b78dab6d2c58	1319	}
Davidroid	1:b78dab6d2c58	1320
Davidroid	0:92706998571a	1321
Davidroid	0:92706998571a	1322	protected:
Davidroid	0:92706998571a	1323
Davidroid	0:92706998571a	1324	/* Protected Component Related Methods */
Davidroid	0:92706998571a	1325
Davidroid	0:92706998571a	1326	/* ACTION 7 --------------------------------------------------------------*
Davidroid	0:92706998571a	1327	* Declare here the component's specific methods. *
Davidroid	0:92706998571a	1328	* They should be: *
Davidroid	0:92706998571a	1329	* + Methods with the same name of the C component's virtual table's *
Davidroid	0:92706998571a	1330	* functions (1); *
Davidroid	0:92706998571a	1331	* + Methods with the same name of the C component's extended virtual *
Davidroid	0:92706998571a	1332	* table's functions, if any (2); *
Davidroid	0:92706998571a	1333	* + Helper methods, if any, like functions declared in the component's *
Davidroid	0:92706998571a	1334	* source files but not pointed by the component's virtual table (3). *
Davidroid	0:92706998571a	1335	* *
Davidroid	0:92706998571a	1336	* Example: *
Davidroid	14:e614697ebf34	1337	* Status_t COMPONENT_GetValue(float f); //(1)
Davidroid	14:e614697ebf34	1338	* Status_t COMPONENT_EnableFeature(void); //(2) *
Davidroid	14:e614697ebf34	1339	* Status_t COMPONENT_ComputeAverage(void); //(3) *
Davidroid	0:92706998571a	1340	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1341	int32_t L6470_AbsPos_2_Position(uint32_t AbsPos);
Davidroid	0:92706998571a	1342	uint32_t L6470_Position_2_AbsPos(int32_t Position);
Davidroid	0:92706998571a	1343	float L6470_Speed_2_Step_s(uint32_t Speed);
Davidroid	0:92706998571a	1344	uint32_t L6470_Step_s_2_Speed(float Step_s);
Davidroid	0:92706998571a	1345	float L6470_Acc_2_Step_s2(uint16_t Acc);
Davidroid	0:92706998571a	1346	uint16_t L6470_Step_s2_2_Acc(float Step_s2);
Davidroid	0:92706998571a	1347	float L6470_Dec_2_Step_s2(uint16_t Dec);
Davidroid	0:92706998571a	1348	uint16_t L6470_Step_s2_2_Dec(float Step_s2);
Davidroid	0:92706998571a	1349	float L6470_MaxSpeed_2_Step_s(uint16_t MaxSpeed);
Davidroid	0:92706998571a	1350	uint16_t L6470_Step_s_2_MaxSpeed(float Step_s);
Davidroid	0:92706998571a	1351	float L6470_MinSpeed_2_Step_s(uint16_t MinSpeed);
Davidroid	0:92706998571a	1352	uint16_t L6470_Step_s_2_MinSpeed(float Step_s);
Davidroid	0:92706998571a	1353	float L6470_FsSpd_2_Step_s(uint16_t FsSpd);
Davidroid	0:92706998571a	1354	uint16_t L6470_Step_s_2_FsSpd(float Step_s);
Davidroid	0:92706998571a	1355	float L6470_IntSpeed_2_Step_s(uint16_t IntSpeed);
Davidroid	0:92706998571a	1356	uint16_t L6470_Step_s_2_IntSpeed(float Step_s);
Davidroid	0:92706998571a	1357	float L6470_StSlp_2_s_Step(uint8_t StSlp);
Davidroid	0:92706998571a	1358	uint8_t L6470_s_Step_2_StSlp(float s_Step);
Davidroid	0:92706998571a	1359	float L6470_FnSlpAcc_2_s_Step(uint8_t FnSlpAcc);
Davidroid	0:92706998571a	1360	uint8_t L6470_s_Step_2_FnSlpAcc(float s_Step);
Davidroid	0:92706998571a	1361	float L6470_FnSlpDec_2_s_Step(uint8_t FnSlpDec);
Davidroid	0:92706998571a	1362	uint8_t L6470_s_Step_2_FnSlpDec(float s_Step);
Davidroid	0:92706998571a	1363	float L6470_OcdTh_2_mA(uint8_t OcdTh);
Davidroid	0:92706998571a	1364	uint8_t L6470_mA_2_OcdTh(float mA);
Davidroid	0:92706998571a	1365	float L6470_StallTh_2_mA(uint8_t StallTh);
Davidroid	0:92706998571a	1366	uint8_t L6470_mA_2_StallTh(float mA);
Davidroid	14:e614697ebf34	1367	Status_t L6470_Config(void *init);
Davidroid	0:92706998571a	1368	void L6470_SetParam(eL6470_RegId_t L6470_RegId, uint32_t Value);
Davidroid	0:92706998571a	1369	uint32_t L6470_GetParam(eL6470_RegId_t L6470_RegId);
Davidroid	0:92706998571a	1370	void L6470_Run(eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	1371	void L6470_StepClock(eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	1372	void L6470_Move(eL6470_DirId_t L6470_DirId, uint32_t N_Step);
Davidroid	0:92706998571a	1373	void L6470_GoTo(uint32_t AbsPos);
Davidroid	0:92706998571a	1374	void L6470_GoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
Davidroid	0:92706998571a	1375	void L6470_GoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	1376	void L6470_ReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	1377	void L6470_GoHome(void);
Davidroid	0:92706998571a	1378	void L6470_GoMark(void);
Davidroid	0:92706998571a	1379	void L6470_ResetPos(void);
Davidroid	0:92706998571a	1380	void L6470_ResetDevice(void);
Davidroid	0:92706998571a	1381	void L6470_SoftStop(void);
Davidroid	0:92706998571a	1382	void L6470_HardStop(void);
Davidroid	0:92706998571a	1383	void L6470_SoftHiZ(void);
Davidroid	0:92706998571a	1384	void L6470_HardHiZ(void);
Davidroid	0:92706998571a	1385	uint16_t L6470_GetStatus(void);
Davidroid	0:92706998571a	1386	void L6470_PrepareSetParam(eL6470_RegId_t L6470_RegId, uint32_t Value);
Davidroid	0:92706998571a	1387	void L6470_PrepareGetParam(eL6470_RegId_t L6470_RegId);
Davidroid	0:92706998571a	1388	void L6470_PrepareRun(eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	1389	void L6470_PrepareStepClock(eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	1390	void L6470_PrepareMove(eL6470_DirId_t L6470_DirId, uint32_t N_Step);
Davidroid	0:92706998571a	1391	void L6470_PrepareGoTo(uint32_t AbsPos);
Davidroid	0:92706998571a	1392	void L6470_PrepareGoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
Davidroid	0:92706998571a	1393	void L6470_PrepareGoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	1394	void L6470_PrepareReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	1395	void L6470_PrepareGoHome(void);
Davidroid	0:92706998571a	1396	void L6470_PrepareGoMark(void);
Davidroid	0:92706998571a	1397	void L6470_PrepareResetPos(void);
Davidroid	0:92706998571a	1398	void L6470_PrepareResetDevice(void);
Davidroid	0:92706998571a	1399	void L6470_PrepareSoftStop(void);
Davidroid	0:92706998571a	1400	void L6470_PrepareHardStop(void);
Davidroid	0:92706998571a	1401	void L6470_PrepareSoftHiZ(void);
Davidroid	0:92706998571a	1402	void L6470_PrepareHardHiZ(void);
Davidroid	0:92706998571a	1403	void L6470_PrepareGetStatus(void);
Davidroid	0:92706998571a	1404	uint8_t* L6470_PerformPreparedApplicationCommand(void);
Davidroid	0:92706998571a	1405	void L6470_DaisyChainCommand(uint8_t* pL6470_DaisyChainSpiTxStruct, uint8_t* pL6470_DaisyChainSpiRxStruct);
Davidroid	0:92706998571a	1406	uint32_t L6470_ExtractReturnedData(uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte);
Davidroid	0:92706998571a	1407	uint8_t L6470_CheckStatusRegisterFlag(uint8_t L6470_StatusRegisterFlagId);
Davidroid	0:92706998571a	1408	uint8_t* L6470_GetRegisterName(uint8_t id);
Davidroid	0:92706998571a	1409	void L6470_ResetAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg);
Davidroid	0:92706998571a	1410	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	1411	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	1412	void L6470_PrepareDaisyChainCommand(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, uint8_t* pL6470_DaisyChainSpiTxStruct);
Davidroid	0:92706998571a	1413
Davidroid	1:b78dab6d2c58	1414	/**
Davidroid	1:b78dab6d2c58	1415	* @brief Rounding a floating point number to the nearest unsigned integer number.
Davidroid	1:b78dab6d2c58	1416	* @param f The floating point number.
Davidroid	1:b78dab6d2c58	1417	* @retval The nearest unsigned integer number.
Davidroid	1:b78dab6d2c58	1418	*/
Davidroid	1:b78dab6d2c58	1419	int round(float f)
Davidroid	1:b78dab6d2c58	1420	{
Davidroid	1:b78dab6d2c58	1421	if (f >= 0)
Davidroid	1:b78dab6d2c58	1422	return (int) f + (f - (int) f < 0.5f ? 0 : 1);
Davidroid	1:b78dab6d2c58	1423	else
Davidroid	1:b78dab6d2c58	1424	return (int) f - (f - (int) f < -0.5f ? 1 : 0);
Davidroid	1:b78dab6d2c58	1425	}
Davidroid	1:b78dab6d2c58	1426
Davidroid	0:92706998571a	1427
Davidroid	0:92706998571a	1428	/* Component's I/O Methods */
Davidroid	0:92706998571a	1429
Davidroid	0:92706998571a	1430	/**
Davidroid	0:92706998571a	1431	* @brief Utility function to read data from L6470.
Davidroid	0:92706998571a	1432	* @param[out] pBuffer pointer to the buffer to read data into.
Davidroid	0:92706998571a	1433	* @param[in] NumBytesToRead number of bytes to read.
Davidroid	0:92706998571a	1434	* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
Davidroid	0:92706998571a	1435	*/
Davidroid	14:e614697ebf34	1436	Status_t Read(uint8_t* pBuffer, uint16_t NumBytesToRead)
Davidroid	0:92706998571a	1437	{
Davidroid	0:92706998571a	1438	if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0)
Davidroid	0:92706998571a	1439	return COMPONENT_ERROR;
Davidroid	0:92706998571a	1440	return COMPONENT_OK;
Davidroid	0:92706998571a	1441	}
Davidroid	0:92706998571a	1442
Davidroid	0:92706998571a	1443	/**
Davidroid	0:92706998571a	1444	* @brief Utility function to write data to L6470.
Davidroid	0:92706998571a	1445	* @param[in] pBuffer pointer to the buffer of data to send.
Davidroid	0:92706998571a	1446	* @param[in] NumBytesToWrite number of bytes to write.
Davidroid	0:92706998571a	1447	* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
Davidroid	0:92706998571a	1448	*/
Davidroid	14:e614697ebf34	1449	Status_t Write(uint8_t* pBuffer, uint16_t NumBytesToWrite)
Davidroid	0:92706998571a	1450	{
Davidroid	0:92706998571a	1451	if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0)
Davidroid	0:92706998571a	1452	return COMPONENT_ERROR;
Davidroid	0:92706998571a	1453	return COMPONENT_OK;
Davidroid	0:92706998571a	1454	}
Davidroid	0:92706998571a	1455
Davidroid	0:92706998571a	1456	/**
Davidroid	0:92706998571a	1457	* @brief Utility function to read and write data from/to L6470 at the same time.
Davidroid	0:92706998571a	1458	* @param[out] pBufferToRead pointer to the buffer to read data into.
Davidroid	0:92706998571a	1459	* @param[in] pBufferToWrite pointer to the buffer of data to send.
Davidroid	0:92706998571a	1460	* @param[in] NumBytes number of bytes to read and write.
Davidroid	0:92706998571a	1461	* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
Davidroid	0:92706998571a	1462	*/
Davidroid	14:e614697ebf34	1463	Status_t ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes)
Davidroid	0:92706998571a	1464	{
Davidroid	0:92706998571a	1465	if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0)
Davidroid	0:92706998571a	1466	return COMPONENT_ERROR;
Davidroid	0:92706998571a	1467	return COMPONENT_OK;
Davidroid	0:92706998571a	1468	}
Davidroid	0:92706998571a	1469
Davidroid	0:92706998571a	1470	/* ACTION 8 --------------------------------------------------------------*
Davidroid	0:92706998571a	1471	* Implement here other I/O methods beyond those already implemented *
Davidroid	0:92706998571a	1472	* above, which are declared extern within the component's header file. *
Davidroid	0:92706998571a	1473	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1474	/*
Davidroid	0:92706998571a	1475	* Puts the device in standby mode.
Davidroid	0:92706998571a	1476	*/
Davidroid	0:92706998571a	1477	void L6470_ENABLE(void)
Davidroid	0:92706998571a	1478	{
Davidroid	0:92706998571a	1479	standby_reset = 1;
Davidroid	0:92706998571a	1480	}
Davidroid	0:92706998571a	1481
Davidroid	0:92706998571a	1482	/*
Davidroid	0:92706998571a	1483	* Puts the device in reset mode.
Davidroid	0:92706998571a	1484	*/
Davidroid	0:92706998571a	1485	void L6470_DISABLE(void)
Davidroid	0:92706998571a	1486	{
Davidroid	0:92706998571a	1487	standby_reset = 0;
Davidroid	0:92706998571a	1488	}
Davidroid	0:92706998571a	1489
Davidroid	0:92706998571a	1490	/*
Davidroid	0:92706998571a	1491	* Write and read bytes to/from the component through the SPI at the same time.
Davidroid	0:92706998571a	1492	*/
Davidroid	0:92706998571a	1493	void L6470_SPI_Communication(uint8_t pTxData, uint8_t pRxData, uint16_t Size, uint32_t Timeout)
Davidroid	0:92706998571a	1494	{
Davidroid	0:92706998571a	1495	ReadWrite(pRxData, pTxData, Size);
Davidroid	0:92706998571a	1496	}
Davidroid	0:92706998571a	1497
Davidroid	0:92706998571a	1498
Davidroid	0:92706998571a	1499	/* Component's Instance Variables */
Davidroid	0:92706998571a	1500
Davidroid	0:92706998571a	1501	/* ACTION 9 --------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1502	* Declare here interrupt related variables, if needed. *
Davidroid	1:b78dab6d2c58	1503	* Note that interrupt handling is platform dependent, see *
Davidroid	1:b78dab6d2c58	1504	* "Interrupt Related Methods" above. *
Davidroid	1:b78dab6d2c58	1505	* *
Davidroid	1:b78dab6d2c58	1506	* Example: *
Davidroid	1:b78dab6d2c58	1507	* + mbed: *
Davidroid	1:b78dab6d2c58	1508	* InterruptIn feature_irq; *
Davidroid	0:92706998571a	1509	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1510	/* Flag Interrupt. */
Davidroid	0:92706998571a	1511	InterruptIn flag_irq;
Davidroid	0:92706998571a	1512
Davidroid	1:b78dab6d2c58	1513	/* Busy Interrupt. */
Davidroid	1:b78dab6d2c58	1514	InterruptIn busy_irq;
Davidroid	1:b78dab6d2c58	1515
Davidroid	1:b78dab6d2c58	1516	/* ACTION 10 -------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1517	* Declare here other pin related variables, if needed. *
Davidroid	1:b78dab6d2c58	1518	* *
Davidroid	1:b78dab6d2c58	1519	* Example: *
Davidroid	1:b78dab6d2c58	1520	* + mbed: *
Davidroid	1:b78dab6d2c58	1521	* DigitalOut standby_reset; *
Davidroid	1:b78dab6d2c58	1522	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1523	/* Standby/reset pin. */
Davidroid	0:92706998571a	1524	DigitalOut standby_reset;
Davidroid	0:92706998571a	1525
Davidroid	1:b78dab6d2c58	1526	/* ACTION 11 -------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1527	* Declare here communication related variables, if needed. *
Davidroid	1:b78dab6d2c58	1528	* *
Davidroid	1:b78dab6d2c58	1529	* Example: *
Davidroid	1:b78dab6d2c58	1530	* + mbed: *
Davidroid	1:b78dab6d2c58	1531	* DigitalOut ssel; *
Davidroid	1:b78dab6d2c58	1532	* DevSPI &dev_spi; *
Davidroid	1:b78dab6d2c58	1533	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1534	/* Configuration. */
Davidroid	0:92706998571a	1535	DigitalOut ssel;
Davidroid	0:92706998571a	1536
Davidroid	0:92706998571a	1537	/* IO Device. */
Davidroid	0:92706998571a	1538	DevSPI &dev_spi;
Davidroid	0:92706998571a	1539
Davidroid	1:b78dab6d2c58	1540	/* ACTION 12 -------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1541	* Declare here identity related variables, if needed. *
Davidroid	1:b78dab6d2c58	1542	* Note that there should be only a unique identifier for each component, *
Davidroid	1:b78dab6d2c58	1543	* which should be the "who_am_i" parameter. *
Davidroid	1:b78dab6d2c58	1544	------------------------------------------------------------------------/
Davidroid	1:b78dab6d2c58	1545	/* Identity */
Davidroid	1:b78dab6d2c58	1546	uint8_t who_am_i;
Davidroid	1:b78dab6d2c58	1547
Davidroid	1:b78dab6d2c58	1548	/* ACTION 13 -------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1549	* Declare here the component's static and non-static data, one variable *
Davidroid	1:b78dab6d2c58	1550	* per line. *
Davidroid	0:92706998571a	1551	* *
Davidroid	0:92706998571a	1552	* Example: *
Davidroid	1:b78dab6d2c58	1553	* float measure; *
Davidroid	1:b78dab6d2c58	1554	* int instance_id; *
Davidroid	1:b78dab6d2c58	1555	* static int number_of_instances; *
Davidroid	0:92706998571a	1556	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1557	/* Data. */
Davidroid	0:92706998571a	1558	uint8_t L6470_Id;
Davidroid	0:92706998571a	1559	const sL6470_Register_t *L6470_Register;
Davidroid	0:92706998571a	1560	const sL6470_ApplicationCommand_t *L6470_ApplicationCommand;
Davidroid	0:92706998571a	1561	const sL6470_Direction_t *L6470_Direction;
Davidroid	0:92706998571a	1562	const sL6470_ACT_t *L6470_ACT;
Davidroid	0:92706998571a	1563	sL6470_StatusRegister_t L6470_StatusRegister;
Davidroid	0:92706998571a	1564	sL6470_StatusRegister_t *pL6470_StatusRegister;
Davidroid	0:92706998571a	1565	StepperMotorRegister_t StepperMotorRegister;
Davidroid	1:b78dab6d2c58	1566	prepared_action_t prepared_action;
Davidroid	0:92706998571a	1567
Davidroid	0:92706998571a	1568	/* Static data. */
Davidroid	0:92706998571a	1569	static uint8_t number_of_devices;
Davidroid	0:92706998571a	1570	static const sL6470_Register_t _L6470_Register[L6470REGIDSIZE];
Davidroid	0:92706998571a	1571	static const sL6470_ApplicationCommand_t _L6470_ApplicationCommand[L6470APPCMDIDSIZE];
Davidroid	0:92706998571a	1572	static const sL6470_Direction_t _L6470_Direction[L6470DIRIDSIZE];
Davidroid	0:92706998571a	1573	static const sL6470_ACT_t _L6470_ACT[L6470ACTIDSIZE];
Davidroid	0:92706998571a	1574	static eFlagStatus_t L6470_DaisyChain_HalfPrepared;
Davidroid	0:92706998571a	1575	static sL6470_AppCmdPkg_t L6470_AppCmdPkg[L6470DAISYCHAINSIZE];
Davidroid	0:92706998571a	1576	static uint8_t L6470_DaisyChainSpiTxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
Davidroid	0:92706998571a	1577	static uint8_t L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
Davidroid	0:92706998571a	1578	};
Davidroid	0:92706998571a	1579
Davidroid	14:e614697ebf34	1580	#endif /* __L6470_CLASS_H */
Davidroid	0:92706998571a	1581
Davidroid	14:e614697ebf34	1582	/********************** (C) COPYRIGHT STMicroelectronics *END OF FILE**/

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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@20:9821a6a2ca62, 2016-07-27 (annotated)

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