X_NUCLEO_IHM02A1 - Library to handle the X_NUCLEO_IHM02A1 Motor Cont…

Users » Isto » Code » X_NUCLEO_IHM02A1

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

Components/l6470/l6470_class.h@12:a942d51c488b, 2016-01-15 (annotated)

Committer:: Davidroid
Date:: Fri Jan 15 17:05:43 2016 +0000
Revision:: 12:a942d51c488b
Parent:: 11:1aca63b2f034
Child:: 13:25a579b9b7c3

+ Typos corrected.

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	0:92706998571a	38	/* Generated with Stm32CubeTOO -----------------------------------------------*/
Davidroid	0:92706998571a	39
Davidroid	0:92706998571a	40
Davidroid	0:92706998571a	41	/* Revision ------------------------------------------------------------------*/
Davidroid	0:92706998571a	42	/*
Davidroid	0:92706998571a	43	Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
Davidroid	0:92706998571a	44	Branch/Trunk/Tag: trunk
Davidroid	0:92706998571a	45	Based on: X-CUBE-SPN2/trunk/Drivers/BSP/Components/L6470/L6470.h
Davidroid	0:92706998571a	46	Revision: 0
Davidroid	0:92706998571a	47	*/
Davidroid	0:92706998571a	48
Davidroid	0:92706998571a	49
Davidroid	0:92706998571a	50	/* Define to prevent recursive inclusion -------------------------------------*/
Davidroid	0:92706998571a	51
Davidroid	0:92706998571a	52	#ifndef __L6470_CLASS_H
Davidroid	0:92706998571a	53	#define __L6470_CLASS_H
Davidroid	0:92706998571a	54
Davidroid	0:92706998571a	55
Davidroid	0:92706998571a	56	/* Includes ------------------------------------------------------------------*/
Davidroid	0:92706998571a	57
Davidroid	0:92706998571a	58	/* ACTION 1 ------------------------------------------------------------------*
Davidroid	0:92706998571a	59	* Include here platform specific header files. *
Davidroid	0:92706998571a	60	----------------------------------------------------------------------------/
Davidroid	0:92706998571a	61	#include "mbed.h"
Davidroid	0:92706998571a	62	#include "DevSPI.h"
Davidroid	0:92706998571a	63	/* ACTION 2 ------------------------------------------------------------------*
Davidroid	0:92706998571a	64	* Include here component specific header files. *
Davidroid	0:92706998571a	65	----------------------------------------------------------------------------/
Davidroid	0:92706998571a	66	#include "l6470.h"
Davidroid	0:92706998571a	67	/* ACTION 3 ------------------------------------------------------------------*
Davidroid	0:92706998571a	68	* Include here interface specific header files. *
Davidroid	0:92706998571a	69	* *
Davidroid	0:92706998571a	70	* Example: *
Davidroid	0:92706998571a	71	* #include "../Interfaces/Humidity_class.h" *
Davidroid	0:92706998571a	72	* #include "../Interfaces/Temperature_class.h" *
Davidroid	0:92706998571a	73	----------------------------------------------------------------------------/
Davidroid	0:92706998571a	74	#include "../Interfaces/StepperMotor_class.h"
Davidroid	0:92706998571a	75
Davidroid	0:92706998571a	76
Davidroid	0:92706998571a	77	/* Classes -------------------------------------------------------------------*/
Davidroid	0:92706998571a	78
Davidroid	0:92706998571a	79	/** Class representing a L6470 component.
Davidroid	0:92706998571a	80	*/
Davidroid	0:92706998571a	81	class L6470 : public StepperMotor
Davidroid	0:92706998571a	82	{
Davidroid	0:92706998571a	83	public:
Davidroid	0:92706998571a	84
Davidroid	1:b78dab6d2c58	85	/* Public Component Related Types */
Davidroid	1:b78dab6d2c58	86
Davidroid	1:b78dab6d2c58	87	/**
Davidroid	1:b78dab6d2c58	88	* @brief Prepared Actions.
Davidroid	1:b78dab6d2c58	89	*/
Davidroid	1:b78dab6d2c58	90	typedef enum
Davidroid	1:b78dab6d2c58	91	{
Davidroid	1:b78dab6d2c58	92	PREPARED_NO_ACTION = 0,
Davidroid	1:b78dab6d2c58	93	PREPARED_GET_POSITION,
Davidroid	1:b78dab6d2c58	94	PREPARED_GET_MARK,
Davidroid	1:b78dab6d2c58	95	PREPARED_GET_SPEED,
Davidroid	1:b78dab6d2c58	96	PREPARED_GET_MAX_SPEED,
Davidroid	1:b78dab6d2c58	97	PREPARED_GET_MIN_SPEED,
Davidroid	1:b78dab6d2c58	98	PREPARED_GET_ACCELERATION,
Davidroid	1:b78dab6d2c58	99	PREPARED_GET_DECELERATION,
Davidroid	1:b78dab6d2c58	100	PREPARED_GET_DIRECTION,
Davidroid	1:b78dab6d2c58	101	PREPARED_SET_MARK
Davidroid	1:b78dab6d2c58	102	} prepared_action_t;
Davidroid	1:b78dab6d2c58	103
Davidroid	1:b78dab6d2c58	104
Davidroid	0:92706998571a	105	/* Constructor and Destructor Methods */
Davidroid	0:92706998571a	106
Davidroid	0:92706998571a	107	/**
Davidroid	0:92706998571a	108	* @brief Constructor.
Davidroid	0:92706998571a	109	* @param flag_irq pin name of the FLAG pin of the component.
Davidroid	1:b78dab6d2c58	110	* @param busy_irq pin name of the BUSY pin of the component.
Davidroid	0:92706998571a	111	* @param standby_reset pin name of the STBY\RST pin of the component.
Davidroid	0:92706998571a	112	* @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
Davidroid	0:92706998571a	113	* @param spi SPI device to be used for communication.
Davidroid	0:92706998571a	114	*/
Davidroid	1:b78dab6d2c58	115	L6470(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI &spi) : StepperMotor(), flag_irq(flag_irq), busy_irq(busy_irq), standby_reset(standby_reset), ssel(ssel), dev_spi(spi)
Davidroid	0:92706998571a	116	{
Davidroid	0:92706998571a	117	/* ACTION 4 ----------------------------------------------------------*
Davidroid	0:92706998571a	118	* Initialize here the component's member variables, one variable per *
Davidroid	0:92706998571a	119	* line. *
Davidroid	0:92706998571a	120	* *
Davidroid	0:92706998571a	121	* Example: *
Davidroid	7:3bb27256c3ed	122	* measure = 0; *
Davidroid	7:3bb27256c3ed	123	* instance_id = number_of_instances++; *
Davidroid	0:92706998571a	124	--------------------------------------------------------------------/
Davidroid	0:92706998571a	125	L6470_Register = &_L6470_Register[0];
Davidroid	0:92706998571a	126	L6470_ApplicationCommand = &_L6470_ApplicationCommand[0];
Davidroid	0:92706998571a	127	L6470_Direction = &_L6470_Direction[0];
Davidroid	0:92706998571a	128	L6470_ACT = &_L6470_ACT[0];
Davidroid	0:92706998571a	129	pL6470_StatusRegister = &L6470_StatusRegister;
Davidroid	1:b78dab6d2c58	130	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	131	L6470_Id = number_of_devices++;
Davidroid	0:92706998571a	132	L6470_DaisyChain_HalfPrepared = ZERO_F;
Davidroid	0:92706998571a	133	memset(L6470_AppCmdPkg, 0, L6470DAISYCHAINSIZE * sizeof(sL6470_AppCmdPkg_t));
Davidroid	0:92706998571a	134	memset(L6470_DaisyChainSpiTxStruct, 0, L6470MAXSPICMDBYTESIZE * L6470DAISYCHAINSIZE * sizeof(uint8_t));
Davidroid	0:92706998571a	135	memset(L6470_DaisyChainSpiRxStruct, 0, L6470MAXSPICMDBYTESIZE * L6470DAISYCHAINSIZE * sizeof(uint8_t));
Davidroid	0:92706998571a	136	}
Davidroid	0:92706998571a	137
Davidroid	0:92706998571a	138	/**
Davidroid	0:92706998571a	139	* @brief Destructor.
Davidroid	0:92706998571a	140	*/
Davidroid	0:92706998571a	141	virtual ~L6470(void) {}
Davidroid	0:92706998571a	142
Davidroid	0:92706998571a	143
Davidroid	0:92706998571a	144	/* Public Component Related Methods */
Davidroid	0:92706998571a	145
Davidroid	0:92706998571a	146	/* ACTION 5 --------------------------------------------------------------*
Davidroid	0:92706998571a	147	* Implement here the component's public methods, as wrappers of the C *
Davidroid	0:92706998571a	148	* component's functions. *
Davidroid	0:92706998571a	149	* They should be: *
Davidroid	0:92706998571a	150	* + Methods with the same name of the C component's virtual table's *
Davidroid	0:92706998571a	151	* functions (1); *
Davidroid	0:92706998571a	152	* + Methods with the same name of the C component's extended virtual *
Davidroid	0:92706998571a	153	* table's functions, if any (2). *
Davidroid	0:92706998571a	154	* *
Davidroid	0:92706998571a	155	* Example: *
Davidroid	0:92706998571a	156	* virtual int GetValue(float pData) //(1)
Davidroid	0:92706998571a	157	* { *
Davidroid	0:92706998571a	158	* return COMPONENT_GetValue(float pfData);
Davidroid	0:92706998571a	159	* } *
Davidroid	0:92706998571a	160	* *
Davidroid	0:92706998571a	161	* virtual int EnableFeature(void) //(2) *
Davidroid	0:92706998571a	162	* { *
Davidroid	0:92706998571a	163	* return COMPONENT_EnableFeature(); *
Davidroid	0:92706998571a	164	* } *
Davidroid	0:92706998571a	165	------------------------------------------------------------------------/
Davidroid	1:b78dab6d2c58	166	/**
Davidroid	1:b78dab6d2c58	167	* @brief Initializing the component.
Davidroid	1:b78dab6d2c58	168	* @param init Pointer to device specific initalization structure.
Davidroid	1:b78dab6d2c58	169	* @retval "0" in case of success, an error code otherwise.
Davidroid	1:b78dab6d2c58	170	*/
Davidroid	0:92706998571a	171	virtual int Init(void *init)
Davidroid	0:92706998571a	172	{
Davidroid	11:1aca63b2f034	173	return (int) L6470_Config((L6470_InitTypeDef *) init);
Davidroid	0:92706998571a	174	}
Davidroid	0:92706998571a	175
Davidroid	1:b78dab6d2c58	176	/**
Davidroid	1:b78dab6d2c58	177	* @brief Getting the ID of the component.
Davidroid	1:b78dab6d2c58	178	* @param id Pointer to an allocated variable to store the ID into.
Davidroid	1:b78dab6d2c58	179	* @retval "0" in case of success, an error code otherwise.
Davidroid	1:b78dab6d2c58	180	*/
Davidroid	0:92706998571a	181	virtual int ReadID(uint8_t *id)
Davidroid	0:92706998571a	182	{
Davidroid	0:92706998571a	183	return (int) 0;
Davidroid	0:92706998571a	184	}
Davidroid	0:92706998571a	185
Davidroid	1:b78dab6d2c58	186	/**
Davidroid	1:b78dab6d2c58	187	* @brief Getting the status.
Davidroid	1:b78dab6d2c58	188	* @param None.
Davidroid	1:b78dab6d2c58	189	* @retval The status.
Davidroid	1:b78dab6d2c58	190	*/
Davidroid	0:92706998571a	191	virtual unsigned int GetStatus(void)
Davidroid	0:92706998571a	192	{
Davidroid	0:92706998571a	193	return (unsigned int) L6470_GetStatus();
Davidroid	0:92706998571a	194	}
Davidroid	1:b78dab6d2c58	195
Davidroid	1:b78dab6d2c58	196	/**
Davidroid	1:b78dab6d2c58	197	* @brief Getting a parameter.
Davidroid	1:b78dab6d2c58	198	* @param parameter The parameter's identifier (or its register address).
Davidroid	1:b78dab6d2c58	199	* @retval The parameter's value.
Davidroid	1:b78dab6d2c58	200	*/
Davidroid	11:1aca63b2f034	201	virtual float GetParameter(unsigned int parameter)
Davidroid	0:92706998571a	202	{
Davidroid	11:1aca63b2f034	203	return (float) L6470_GetParam((eL6470_RegId_t) parameter);
Davidroid	0:92706998571a	204	}
Davidroid	0:92706998571a	205
Davidroid	1:b78dab6d2c58	206	/**
Davidroid	1:b78dab6d2c58	207	* @brief Getting the position.
Davidroid	1:b78dab6d2c58	208	* @param None.
Davidroid	1:b78dab6d2c58	209	* @retval The position.
Davidroid	1:b78dab6d2c58	210	*/
Davidroid	0:92706998571a	211	virtual signed int GetPosition(void)
Davidroid	0:92706998571a	212	{
Davidroid	1:b78dab6d2c58	213	return (signed int) L6470_AbsPos_2_Position((uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID));
Davidroid	0:92706998571a	214	}
Davidroid	0:92706998571a	215
Davidroid	1:b78dab6d2c58	216	/**
Davidroid	1:b78dab6d2c58	217	* @brief Getting the marked position.
Davidroid	1:b78dab6d2c58	218	* @param None.
Davidroid	1:b78dab6d2c58	219	* @retval The marked position.
Davidroid	1:b78dab6d2c58	220	*/
Davidroid	0:92706998571a	221	virtual signed int GetMark(void)
Davidroid	0:92706998571a	222	{
Davidroid	1:b78dab6d2c58	223	return (signed int) L6470_AbsPos_2_Position((uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_MARK_ID));
Davidroid	0:92706998571a	224	}
Davidroid	0:92706998571a	225
Davidroid	1:b78dab6d2c58	226	/**
Davidroid	1:b78dab6d2c58	227	* @brief Getting the current speed in pps.
Davidroid	1:b78dab6d2c58	228	* @param None.
Davidroid	1:b78dab6d2c58	229	* @retval The current speed in pps.
Davidroid	1:b78dab6d2c58	230	*/
Davidroid	0:92706998571a	231	virtual unsigned int GetSpeed(void)
Davidroid	0:92706998571a	232	{
Davidroid	1:b78dab6d2c58	233	return round(L6470_Speed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_SPEED_ID)));
Davidroid	0:92706998571a	234	}
Davidroid	0:92706998571a	235
Davidroid	1:b78dab6d2c58	236	/**
Davidroid	1:b78dab6d2c58	237	* @brief Getting the maximum speed in pps.
Davidroid	1:b78dab6d2c58	238	* @param None.
Davidroid	1:b78dab6d2c58	239	* @retval The maximum speed in pps.
Davidroid	1:b78dab6d2c58	240	*/
Davidroid	0:92706998571a	241	virtual unsigned int GetMaxSpeed(void)
Davidroid	0:92706998571a	242	{
Davidroid	1:b78dab6d2c58	243	return round(L6470_MaxSpeed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID)));
Davidroid	0:92706998571a	244	}
Davidroid	0:92706998571a	245
Davidroid	1:b78dab6d2c58	246	/**
Davidroid	1:b78dab6d2c58	247	* @brief Getting the minimum speed in pps.
Davidroid	1:b78dab6d2c58	248	* @param None.
Davidroid	1:b78dab6d2c58	249	* @retval The minimum speed in pps.
Davidroid	1:b78dab6d2c58	250	*/
Davidroid	0:92706998571a	251	virtual unsigned int GetMinSpeed(void)
Davidroid	0:92706998571a	252	{
Davidroid	1:b78dab6d2c58	253	return round(L6470_MinSpeed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID)));
Davidroid	0:92706998571a	254	}
Davidroid	0:92706998571a	255
Davidroid	1:b78dab6d2c58	256	/**
Davidroid	1:b78dab6d2c58	257	* @brief Getting the acceleration in pps^2.
Davidroid	1:b78dab6d2c58	258	* @param None.
Davidroid	1:b78dab6d2c58	259	* @retval The acceleration in pps^2.
Davidroid	1:b78dab6d2c58	260	*/
Davidroid	0:92706998571a	261	virtual unsigned int GetAcceleration(void)
Davidroid	0:92706998571a	262	{
Davidroid	1:b78dab6d2c58	263	return round(L6470_Acc_2_Step_s2((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_ACC_ID)));
Davidroid	0:92706998571a	264	}
Davidroid	0:92706998571a	265
Davidroid	1:b78dab6d2c58	266	/**
Davidroid	1:b78dab6d2c58	267	* @brief Getting the deceleration in pps^2.
Davidroid	1:b78dab6d2c58	268	* @param None.
Davidroid	1:b78dab6d2c58	269	* @retval The deceleration in pps^2.
Davidroid	1:b78dab6d2c58	270	*/
Davidroid	0:92706998571a	271	virtual unsigned int GetDeceleration(void)
Davidroid	0:92706998571a	272	{
Davidroid	1:b78dab6d2c58	273	return round(L6470_Dec_2_Step_s2((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_DEC_ID)));
Davidroid	0:92706998571a	274	}
Davidroid	0:92706998571a	275
Davidroid	1:b78dab6d2c58	276	/**
Davidroid	1:b78dab6d2c58	277	* @brief Getting the direction of rotation.
Davidroid	1:b78dab6d2c58	278	* @param None.
Davidroid	1:b78dab6d2c58	279	* @retval The direction of rotation.
Davidroid	1:b78dab6d2c58	280	*/
Davidroid	0:92706998571a	281	virtual direction_t GetDirection(void)
Davidroid	0:92706998571a	282	{
Davidroid	0:92706998571a	283	return (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD);
Davidroid	0:92706998571a	284	}
Davidroid	0:92706998571a	285
Davidroid	1:b78dab6d2c58	286	/**
Davidroid	1:b78dab6d2c58	287	* @brief Setting a parameter.
Davidroid	1:b78dab6d2c58	288	* @param parameter The parameter's identifier (or its register address).
Davidroid	1:b78dab6d2c58	289	* @param value The parameter's value.
Davidroid	1:b78dab6d2c58	290	* @retval None.
Davidroid	1:b78dab6d2c58	291	*/
Davidroid	11:1aca63b2f034	292	virtual void SetParameter(unsigned int parameter, float value)
Davidroid	0:92706998571a	293	{
Davidroid	0:92706998571a	294	L6470_SetParam((eL6470_RegId_t) parameter, (uint32_t) value);
Davidroid	0:92706998571a	295	}
Davidroid	0:92706998571a	296
Davidroid	1:b78dab6d2c58	297	/**
Davidroid	1:b78dab6d2c58	298	* @brief Setting the current position to be the home position.
Davidroid	1:b78dab6d2c58	299	* @param None.
Davidroid	1:b78dab6d2c58	300	* @retval None.
Davidroid	1:b78dab6d2c58	301	*/
Davidroid	0:92706998571a	302	virtual void SetHome(void)
Davidroid	0:92706998571a	303	{
Davidroid	0:92706998571a	304	L6470_ResetPos();
Davidroid	0:92706998571a	305	}
Davidroid	0:92706998571a	306
Davidroid	1:b78dab6d2c58	307	/**
Davidroid	1:b78dab6d2c58	308	* @brief Setting the current position to be the marked position.
Davidroid	1:b78dab6d2c58	309	* @param None.
Davidroid	1:b78dab6d2c58	310	* @retval None.
Davidroid	1:b78dab6d2c58	311	*/
Davidroid	0:92706998571a	312	virtual void SetMark(void)
Davidroid	0:92706998571a	313	{
Davidroid	0:92706998571a	314	L6470_SetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID));
Davidroid	0:92706998571a	315	}
Davidroid	0:92706998571a	316
Davidroid	1:b78dab6d2c58	317	/**
Davidroid	1:b78dab6d2c58	318	* @brief Setting the current position to be the marked position.
Davidroid	1:b78dab6d2c58	319	* @param position The given position.
Davidroid	1:b78dab6d2c58	320	* @retval None.
Davidroid	1:b78dab6d2c58	321	*/
Davidroid	1:b78dab6d2c58	322	virtual void SetMark(signed int position)
Davidroid	1:b78dab6d2c58	323	{
Davidroid	1:b78dab6d2c58	324	L6470_SetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
Davidroid	1:b78dab6d2c58	325	}
Davidroid	1:b78dab6d2c58	326
Davidroid	1:b78dab6d2c58	327	/**
Davidroid	1:b78dab6d2c58	328	* @brief Setting the maximum speed in pps.
Davidroid	1:b78dab6d2c58	329	* @param speed The maximum speed in pps.
Davidroid	1:b78dab6d2c58	330	* @retval None.
Davidroid	1:b78dab6d2c58	331	*/
Davidroid	0:92706998571a	332	virtual void SetMaxSpeed(unsigned int speed)
Davidroid	0:92706998571a	333	{
Davidroid	1:b78dab6d2c58	334	L6470_SetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) L6470_Step_s_2_MaxSpeed((float) speed));
Davidroid	0:92706998571a	335	}
Davidroid	0:92706998571a	336
Davidroid	1:b78dab6d2c58	337	/**
Davidroid	1:b78dab6d2c58	338	* @brief Setting the minimum speed in pps.
Davidroid	1:b78dab6d2c58	339	* @param speed The minimum speed in pps.
Davidroid	1:b78dab6d2c58	340	* @retval None.
Davidroid	1:b78dab6d2c58	341	*/
Davidroid	0:92706998571a	342	virtual void SetMinSpeed(unsigned int speed)
Davidroid	0:92706998571a	343	{
Davidroid	1:b78dab6d2c58	344	L6470_SetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) L6470_Step_s_2_MinSpeed((float) speed));
Davidroid	0:92706998571a	345	}
Davidroid	0:92706998571a	346
Davidroid	1:b78dab6d2c58	347	/**
Davidroid	1:b78dab6d2c58	348	* @brief Setting the acceleration in pps^2.
Davidroid	1:b78dab6d2c58	349	* @param acceleration The acceleration in pps^2.
Davidroid	1:b78dab6d2c58	350	* @retval None.
Davidroid	1:b78dab6d2c58	351	*/
Davidroid	0:92706998571a	352	virtual void SetAcceleration(unsigned int acceleration)
Davidroid	0:92706998571a	353	{
Davidroid	1:b78dab6d2c58	354	L6470_SetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) L6470_Step_s2_2_Acc((float) acceleration));
Davidroid	0:92706998571a	355	}
Davidroid	0:92706998571a	356
Davidroid	1:b78dab6d2c58	357	/**
Davidroid	1:b78dab6d2c58	358	* @brief Setting the deceleration in pps^2.
Davidroid	1:b78dab6d2c58	359	* @param deceleration The deceleration in pps^2.
Davidroid	1:b78dab6d2c58	360	* @retval None.
Davidroid	1:b78dab6d2c58	361	*/
Davidroid	0:92706998571a	362	virtual void SetDeceleration(unsigned int deceleration)
Davidroid	0:92706998571a	363	{
Davidroid	1:b78dab6d2c58	364	L6470_SetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) L6470_Step_s2_2_Dec((float) deceleration));
Davidroid	0:92706998571a	365	}
Davidroid	0:92706998571a	366
Davidroid	1:b78dab6d2c58	367	/**
Davidroid	1:b78dab6d2c58	368	* @brief Going to a specified position through the shortest path.
Davidroid	1:b78dab6d2c58	369	* @param position The desired position.
Davidroid	1:b78dab6d2c58	370	* @retval None.
Davidroid	1:b78dab6d2c58	371	*/
Davidroid	0:92706998571a	372	virtual void GoTo(signed int position)
Davidroid	0:92706998571a	373	{
Davidroid	1:b78dab6d2c58	374	L6470_GoTo((uint32_t) L6470_Position_2_AbsPos((int32_t) position));
Davidroid	0:92706998571a	375	}
Davidroid	0:92706998571a	376
Davidroid	1:b78dab6d2c58	377	/**
Davidroid	1:b78dab6d2c58	378	* @brief Going to a specified position imposing the desired direction.
Davidroid	1:b78dab6d2c58	379	* @param position The desired position.
Davidroid	1:b78dab6d2c58	380	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	381	* @retval None.
Davidroid	1:b78dab6d2c58	382	*/
Davidroid	0:92706998571a	383	virtual void GoTo(signed int position, direction_t direction)
Davidroid	0:92706998571a	384	{
Davidroid	1:b78dab6d2c58	385	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	386	}
Davidroid	0:92706998571a	387
Davidroid	1:b78dab6d2c58	388	/**
Davidroid	1:b78dab6d2c58	389	* @brief Going to the home position.
Davidroid	1:b78dab6d2c58	390	* @param None.
Davidroid	1:b78dab6d2c58	391	* @retval None.
Davidroid	1:b78dab6d2c58	392	*/
Davidroid	0:92706998571a	393	virtual void GoHome(void)
Davidroid	0:92706998571a	394	{
Davidroid	0:92706998571a	395	L6470_GoHome();
Davidroid	0:92706998571a	396	}
Davidroid	0:92706998571a	397
Davidroid	1:b78dab6d2c58	398	/**
Davidroid	1:b78dab6d2c58	399	* @brief Going to the marked position.
Davidroid	1:b78dab6d2c58	400	* @param None.
Davidroid	1:b78dab6d2c58	401	* @retval None.
Davidroid	1:b78dab6d2c58	402	*/
Davidroid	0:92706998571a	403	virtual void GoMark(void)
Davidroid	0:92706998571a	404	{
Davidroid	0:92706998571a	405	L6470_GoMark();
Davidroid	0:92706998571a	406	}
Davidroid	0:92706998571a	407
Davidroid	1:b78dab6d2c58	408	/**
Davidroid	1:b78dab6d2c58	409	* @brief Running at the given speed imposing the desired direction until
Davidroid	1:b78dab6d2c58	410	* an external switch turn-on event occurs.
Davidroid	1:b78dab6d2c58	411	* @param action The identifier of the action about the absolute position.
Davidroid	1:b78dab6d2c58	412	* @param position The desired position.
Davidroid	1:b78dab6d2c58	413	* @param speed The speed value in pps.
Davidroid	1:b78dab6d2c58	414	* @retval None.
Davidroid	1:b78dab6d2c58	415	* @note The identifier of the action about the absolute position can be
Davidroid	1:b78dab6d2c58	416	* one of the following:
Davidroid	1:b78dab6d2c58	417	* + L6470_ACT_RST_ID: the absolute position is reset;
Davidroid	1:b78dab6d2c58	418	* + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
Davidroid	1:b78dab6d2c58	419	*/
Davidroid	1:b78dab6d2c58	420	virtual void GoUntil(eL6470_ActId_t action, direction_t direction, unsigned int speed)
Davidroid	0:92706998571a	421	{
Davidroid	1:b78dab6d2c58	422	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	423	}
Davidroid	0:92706998571a	424
Davidroid	1:b78dab6d2c58	425	/**
Davidroid	1:b78dab6d2c58	426	* @brief Running towards a specified direction.
Davidroid	1:b78dab6d2c58	427	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	428	* @retval None.
Davidroid	1:b78dab6d2c58	429	*/
Davidroid	0:92706998571a	430	virtual void Run(direction_t direction)
Davidroid	0:92706998571a	431	{
Davidroid	0:92706998571a	432	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	433	}
Davidroid	0:92706998571a	434
Davidroid	1:b78dab6d2c58	435	/**
Davidroid	1:b78dab6d2c58	436	* @brief Running towards a specified direction at the given speed.
Davidroid	1:b78dab6d2c58	437	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	438	* @param speed The speed value in pps.
Davidroid	1:b78dab6d2c58	439	* @retval None.
Davidroid	1:b78dab6d2c58	440	*/
Davidroid	0:92706998571a	441	virtual void Run(direction_t direction, unsigned int speed)
Davidroid	0:92706998571a	442	{
Davidroid	1:b78dab6d2c58	443	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	444	}
Davidroid	0:92706998571a	445
Davidroid	1:b78dab6d2c58	446	/**
Davidroid	1:b78dab6d2c58	447	* @brief Moving towards a specified direction for a certain number of steps.
Davidroid	1:b78dab6d2c58	448	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	449	* @param steps The desired number of steps.
Davidroid	1:b78dab6d2c58	450	* @retval None.
Davidroid	1:b78dab6d2c58	451	*/
Davidroid	0:92706998571a	452	virtual void Move(direction_t direction, unsigned int steps)
Davidroid	0:92706998571a	453	{
Davidroid	0:92706998571a	454	L6470_Move((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) steps);
Davidroid	0:92706998571a	455	}
Davidroid	0:92706998571a	456
Davidroid	1:b78dab6d2c58	457	/**
Davidroid	1:b78dab6d2c58	458	* @brief Stopping the motor through an immediate deceleration up to zero speed.
Davidroid	1:b78dab6d2c58	459	* The used deceleration value is the one stored in the "DEC" register.
Davidroid	1:b78dab6d2c58	460	* @param None.
Davidroid	1:b78dab6d2c58	461	* @retval None.
Davidroid	1:b78dab6d2c58	462	*/
Davidroid	0:92706998571a	463	virtual void SoftStop(void)
Davidroid	0:92706998571a	464	{
Davidroid	0:92706998571a	465	L6470_SoftStop();
Davidroid	0:92706998571a	466	}
Davidroid	0:92706998571a	467
Davidroid	1:b78dab6d2c58	468	/**
Davidroid	1:b78dab6d2c58	469	* @brief Stopping the motor through an immediate infinite deceleration.
Davidroid	1:b78dab6d2c58	470	* @param None.
Davidroid	1:b78dab6d2c58	471	* @retval None.
Davidroid	1:b78dab6d2c58	472	*/
Davidroid	0:92706998571a	473	virtual void HardStop(void)
Davidroid	0:92706998571a	474	{
Davidroid	0:92706998571a	475	L6470_HardStop();
Davidroid	0:92706998571a	476	}
Davidroid	0:92706998571a	477
Davidroid	1:b78dab6d2c58	478	/**
Davidroid	1:b78dab6d2c58	479	* @brief Disabling the power bridge after performing a deceleration to zero.
Davidroid	1:b78dab6d2c58	480	* The used deceleration value is the one stored in the "DEC" register.
Davidroid	1:b78dab6d2c58	481	* @param None.
Davidroid	1:b78dab6d2c58	482	* @retval None.
Davidroid	1:b78dab6d2c58	483	*/
Davidroid	1:b78dab6d2c58	484	virtual void SoftHiZ(void)
Davidroid	1:b78dab6d2c58	485	{
Davidroid	1:b78dab6d2c58	486	L6470_SoftHiZ();
Davidroid	1:b78dab6d2c58	487	}
Davidroid	1:b78dab6d2c58	488
Davidroid	1:b78dab6d2c58	489	/**
Davidroid	1:b78dab6d2c58	490	* @brief Disabling the power bridge immediately.
Davidroid	1:b78dab6d2c58	491	* @param None.
Davidroid	1:b78dab6d2c58	492	* @retval None.
Davidroid	1:b78dab6d2c58	493	*/
Davidroid	1:b78dab6d2c58	494	virtual void HardHiZ(void)
Davidroid	1:b78dab6d2c58	495	{
Davidroid	1:b78dab6d2c58	496	L6470_HardHiZ();
Davidroid	1:b78dab6d2c58	497	}
Davidroid	1:b78dab6d2c58	498
Davidroid	1:b78dab6d2c58	499	/**
Davidroid	1:b78dab6d2c58	500	* @brief Waiting while the motor is active.
Davidroid	1:b78dab6d2c58	501	* @param None.
Davidroid	1:b78dab6d2c58	502	* @retval None.
Davidroid	1:b78dab6d2c58	503	*/
Davidroid	0:92706998571a	504	virtual void WaitWhileActive(void)
Davidroid	0:92706998571a	505	{
Davidroid	0:92706998571a	506	while (L6470_CheckStatusRegisterFlag(BUSY_ID) == 0);
Davidroid	0:92706998571a	507	}
Davidroid	0:92706998571a	508
Davidroid	1:b78dab6d2c58	509	/**
Davidroid	1:b78dab6d2c58	510	* @brief Switching to step-clock mode.
Davidroid	1:b78dab6d2c58	511	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	512	* @retval None.
Davidroid	1:b78dab6d2c58	513	*/
Davidroid	0:92706998571a	514	virtual void StepClock(direction_t direction)
Davidroid	0:92706998571a	515	{
Davidroid	0:92706998571a	516	L6470_StepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid	0:92706998571a	517	}
Davidroid	0:92706998571a	518
Davidroid	1:b78dab6d2c58	519	/**
Davidroid	1:b78dab6d2c58	520	* @brief Doing a motion at minimum speed imposing a specified direction
Davidroid	1:b78dab6d2c58	521	* until the SW is released.
Davidroid	1:b78dab6d2c58	522	* @param action The identifier of the action about the absolute position.
Davidroid	1:b78dab6d2c58	523	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	524	* @note The identifier of the action about the absolute position can be
Davidroid	1:b78dab6d2c58	525	* one of the following:
Davidroid	1:b78dab6d2c58	526	* + L6470_ACT_RST_ID: the absolute position is reset;
Davidroid	1:b78dab6d2c58	527	* + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
Davidroid	1:b78dab6d2c58	528	*/
Davidroid	1:b78dab6d2c58	529	virtual void ReleaseSW(eL6470_ActId_t action, direction_t direction)
Davidroid	0:92706998571a	530	{
Davidroid	1:b78dab6d2c58	531	L6470_ReleaseSW((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid	0:92706998571a	532	}
Davidroid	0:92706998571a	533
Davidroid	1:b78dab6d2c58	534	/**
Davidroid	1:b78dab6d2c58	535	* @brief Resetting the device to power-up conditions.
Davidroid	1:b78dab6d2c58	536	* @param None.
Davidroid	1:b78dab6d2c58	537	* @retval None.
Davidroid	1:b78dab6d2c58	538	*/
Davidroid	0:92706998571a	539	virtual void ResetDevice(void)
Davidroid	0:92706998571a	540	{
Davidroid	0:92706998571a	541	L6470_ResetDevice();
Davidroid	0:92706998571a	542	}
Davidroid	0:92706998571a	543
Davidroid	1:b78dab6d2c58	544	/**
Davidroid	1:b78dab6d2c58	545	* @brief Preparing the command to get the status.
Davidroid	1:b78dab6d2c58	546	* @param None.
Davidroid	1:b78dab6d2c58	547	* @retval None.
Davidroid	1:b78dab6d2c58	548	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	549	*/
Davidroid	0:92706998571a	550	virtual void PrepareGetStatus(void)
Davidroid	0:92706998571a	551	{
Davidroid	0:92706998571a	552	L6470_PrepareGetStatus();
Davidroid	1:b78dab6d2c58	553	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	554	}
Davidroid	0:92706998571a	555
Davidroid	1:b78dab6d2c58	556	/**
Davidroid	1:b78dab6d2c58	557	* @brief Preparing the command to get a parameter.
Davidroid	1:b78dab6d2c58	558	* @param parameter The parameter's identifier (or its register address).
Davidroid	1:b78dab6d2c58	559	* @retval None.
Davidroid	1:b78dab6d2c58	560	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	561	*/
Davidroid	0:92706998571a	562	virtual void PrepareGetParameter(unsigned int parameter)
Davidroid	0:92706998571a	563	{
Davidroid	0:92706998571a	564	L6470_PrepareGetParam((eL6470_RegId_t) parameter);
Davidroid	1:b78dab6d2c58	565	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	566	}
Davidroid	0:92706998571a	567
Davidroid	1:b78dab6d2c58	568	/**
Davidroid	1:b78dab6d2c58	569	* @brief Preparing the command to get the position.
Davidroid	1:b78dab6d2c58	570	* @param None.
Davidroid	1:b78dab6d2c58	571	* @retval None.
Davidroid	1:b78dab6d2c58	572	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	573	*/
Davidroid	0:92706998571a	574	virtual void PrepareGetPosition(void)
Davidroid	0:92706998571a	575	{
Davidroid	0:92706998571a	576	L6470_PrepareGetParam((eL6470_RegId_t) L6470_ABS_POS_ID);
Davidroid	1:b78dab6d2c58	577	prepared_action = PREPARED_GET_POSITION;
Davidroid	0:92706998571a	578	}
Davidroid	0:92706998571a	579
Davidroid	1:b78dab6d2c58	580	/**
Davidroid	1:b78dab6d2c58	581	* @brief Preparing the command to get the marked position.
Davidroid	1:b78dab6d2c58	582	* @param None.
Davidroid	1:b78dab6d2c58	583	* @retval None.
Davidroid	1:b78dab6d2c58	584	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	585	*/
Davidroid	0:92706998571a	586	virtual void PrepareGetMark(void)
Davidroid	0:92706998571a	587	{
Davidroid	0:92706998571a	588	L6470_PrepareGetParam((eL6470_RegId_t) L6470_MARK_ID);
Davidroid	1:b78dab6d2c58	589	prepared_action = PREPARED_GET_MARK;
Davidroid	0:92706998571a	590	}
Davidroid	0:92706998571a	591
Davidroid	1:b78dab6d2c58	592	/**
Davidroid	1:b78dab6d2c58	593	* @brief Preparing the command to get the current speed in pps.
Davidroid	1:b78dab6d2c58	594	* @param None.
Davidroid	1:b78dab6d2c58	595	* @retval None.
Davidroid	1:b78dab6d2c58	596	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	597	*/
Davidroid	0:92706998571a	598	virtual void PrepareGetSpeed(void)
Davidroid	0:92706998571a	599	{
Davidroid	1:b78dab6d2c58	600	L6470_PrepareGetParam((eL6470_RegId_t) L6470_SPEED_ID);
Davidroid	1:b78dab6d2c58	601	prepared_action = PREPARED_GET_SPEED;
Davidroid	0:92706998571a	602	}
Davidroid	0:92706998571a	603
Davidroid	1:b78dab6d2c58	604	/**
Davidroid	1:b78dab6d2c58	605	* @brief Preparing the command to get the maximum speed in pps.
Davidroid	1:b78dab6d2c58	606	* @param None.
Davidroid	1:b78dab6d2c58	607	* @retval None.
Davidroid	1:b78dab6d2c58	608	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	609	*/
Davidroid	0:92706998571a	610	virtual void PrepareGetMaxSpeed(void)
Davidroid	0:92706998571a	611	{
Davidroid	0:92706998571a	612	L6470_PrepareGetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID);
Davidroid	1:b78dab6d2c58	613	prepared_action = PREPARED_GET_MAX_SPEED;
Davidroid	0:92706998571a	614	}
Davidroid	0:92706998571a	615
Davidroid	1:b78dab6d2c58	616	/**
Davidroid	1:b78dab6d2c58	617	* @brief Preparing the command to get the minimum speed in pps.
Davidroid	1:b78dab6d2c58	618	* @param None.
Davidroid	1:b78dab6d2c58	619	* @retval None.
Davidroid	1:b78dab6d2c58	620	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	621	*/
Davidroid	0:92706998571a	622	virtual void PrepareGetMinSpeed(void)
Davidroid	0:92706998571a	623	{
Davidroid	0:92706998571a	624	L6470_PrepareGetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID);
Davidroid	1:b78dab6d2c58	625	prepared_action = PREPARED_GET_MIN_SPEED;
Davidroid	0:92706998571a	626	}
Davidroid	0:92706998571a	627
Davidroid	1:b78dab6d2c58	628	/**
Davidroid	1:b78dab6d2c58	629	* @brief Preparing the command to get the acceleration in pps^2.
Davidroid	1:b78dab6d2c58	630	* @param None.
Davidroid	1:b78dab6d2c58	631	* @retval None.
Davidroid	1:b78dab6d2c58	632	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	633	*/
Davidroid	0:92706998571a	634	virtual void PrepareGetAcceleration(void)
Davidroid	0:92706998571a	635	{
Davidroid	0:92706998571a	636	L6470_PrepareGetParam((eL6470_RegId_t) L6470_ACC_ID);
Davidroid	1:b78dab6d2c58	637	prepared_action = PREPARED_GET_ACCELERATION;
Davidroid	0:92706998571a	638	}
Davidroid	0:92706998571a	639
Davidroid	1:b78dab6d2c58	640	/**
Davidroid	1:b78dab6d2c58	641	* @brief Preparing the command to get the deceleration in pps^2.
Davidroid	1:b78dab6d2c58	642	* @param None.
Davidroid	1:b78dab6d2c58	643	* @retval None.
Davidroid	1:b78dab6d2c58	644	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	645	*/
Davidroid	0:92706998571a	646	virtual void PrepareGetDeceleration(void)
Davidroid	0:92706998571a	647	{
Davidroid	0:92706998571a	648	L6470_PrepareGetParam((eL6470_RegId_t) L6470_DEC_ID);
Davidroid	1:b78dab6d2c58	649	prepared_action = PREPARED_GET_DECELERATION;
Davidroid	0:92706998571a	650	}
Davidroid	0:92706998571a	651
Davidroid	1:b78dab6d2c58	652	/**
Davidroid	1:b78dab6d2c58	653	* @brief Preparing the command to get the direction of rotation.
Davidroid	1:b78dab6d2c58	654	* @param None.
Davidroid	1:b78dab6d2c58	655	* @retval None.
Davidroid	1:b78dab6d2c58	656	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	657	*/
Davidroid	1:b78dab6d2c58	658	virtual void PrepareGetDirection(void)
Davidroid	0:92706998571a	659	{
Davidroid	1:b78dab6d2c58	660	if (!L6470_DaisyChain_HalfPrepared)
Davidroid	1:b78dab6d2c58	661	{
Davidroid	1:b78dab6d2c58	662	/* To avoid deleting the previous entered command. */
Davidroid	1:b78dab6d2c58	663	L6470_DaisyChain_HalfPrepared = ONE_F;
Davidroid	1:b78dab6d2c58	664	/* Resetting commands. */
Davidroid	1:b78dab6d2c58	665	L6470_ResetAppCmdPkg(L6470_AppCmdPkg);
Davidroid	1:b78dab6d2c58	666	}
Davidroid	1:b78dab6d2c58	667	prepared_action = PREPARED_GET_DIRECTION;
Davidroid	0:92706998571a	668	}
Davidroid	0:92706998571a	669
Davidroid	1:b78dab6d2c58	670	/**
Davidroid	1:b78dab6d2c58	671	* @brief Preparing the command to set a parameter.
Davidroid	1:b78dab6d2c58	672	* @param parameter The parameter's identifier (or its register address).
Davidroid	1:b78dab6d2c58	673	* @param value The parameter's value.
Davidroid	1:b78dab6d2c58	674	* @retval None.
Davidroid	1:b78dab6d2c58	675	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	676	*/
Davidroid	0:92706998571a	677	virtual void PrepareSetParameter(unsigned int parameter, unsigned int value)
Davidroid	0:92706998571a	678	{
Davidroid	0:92706998571a	679	L6470_PrepareSetParam((eL6470_RegId_t) parameter, (uint32_t) value);
Davidroid	1:b78dab6d2c58	680	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	681	}
Davidroid	0:92706998571a	682
Davidroid	1:b78dab6d2c58	683	/**
Davidroid	1:b78dab6d2c58	684	* @brief Preparing the command to set the current position to be
Davidroid	1:b78dab6d2c58	685	* the home position.
Davidroid	1:b78dab6d2c58	686	* @param None.
Davidroid	1:b78dab6d2c58	687	* @retval None.
Davidroid	1:b78dab6d2c58	688	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	689	*/
Davidroid	0:92706998571a	690	virtual void PrepareSetHome(void)
Davidroid	0:92706998571a	691	{
Davidroid	0:92706998571a	692	L6470_PrepareResetPos();
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 set the current position to be
Davidroid	1:b78dab6d2c58	698	* the marked position.
Davidroid	1:b78dab6d2c58	699	* @param None.
Davidroid	1:b78dab6d2c58	700	* @retval None.
Davidroid	1:b78dab6d2c58	701	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	702	*/
Davidroid	0:92706998571a	703	virtual void PrepareSetMark(void)
Davidroid	0:92706998571a	704	{
Davidroid	1:b78dab6d2c58	705	/*
Davidroid	1:b78dab6d2c58	706	Set "0" now as marked position. This value will be replaced by the
Davidroid	1:b78dab6d2c58	707	actual position read at the time when the prepared actions will be
Davidroid	1:b78dab6d2c58	708	performed.
Davidroid	1:b78dab6d2c58	709	*/
Davidroid	1:b78dab6d2c58	710	L6470_PrepareSetParam((eL6470_RegId_t) L6470_MARK_ID, 0);
Davidroid	1:b78dab6d2c58	711	prepared_action = PREPARED_SET_MARK;
Davidroid	0:92706998571a	712	}
Davidroid	0:92706998571a	713
Davidroid	1:b78dab6d2c58	714	/**
Davidroid	1:b78dab6d2c58	715	* @brief Preparing the command to set the given position to be
Davidroid	1:b78dab6d2c58	716	* the marked position.
Davidroid	1:b78dab6d2c58	717	* @param position The given position.
Davidroid	1:b78dab6d2c58	718	* @retval None.
Davidroid	1:b78dab6d2c58	719	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	720	*/
Davidroid	1:b78dab6d2c58	721	virtual void PrepareSetMark(signed int position)
Davidroid	1:b78dab6d2c58	722	{
Davidroid	1:b78dab6d2c58	723	L6470_PrepareSetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
Davidroid	1:b78dab6d2c58	724	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	725	}
Davidroid	1:b78dab6d2c58	726
Davidroid	1:b78dab6d2c58	727	/**
Davidroid	1:b78dab6d2c58	728	* @brief Preparing the command to set the current speed in pps.
Davidroid	1:b78dab6d2c58	729	* @param speed The current speed in pps.
Davidroid	1:b78dab6d2c58	730	* @retval None.
Davidroid	1:b78dab6d2c58	731	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	732	*/
Davidroid	1:b78dab6d2c58	733	virtual void PrepareSetSpeed(unsigned int speed)
Davidroid	1:b78dab6d2c58	734	{
Davidroid	1:b78dab6d2c58	735	L6470_PrepareSetParam((eL6470_RegId_t) L6470_SPEED_ID, (uint32_t) L6470_Step_s_2_Speed((float) speed));
Davidroid	1:b78dab6d2c58	736	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	737	}
Davidroid	1:b78dab6d2c58	738
Davidroid	1:b78dab6d2c58	739	/**
Davidroid	1:b78dab6d2c58	740	* @brief Preparing the command to set the maximum speed in pps.
Davidroid	1:b78dab6d2c58	741	* @param speed The maximum speed in pps.
Davidroid	1:b78dab6d2c58	742	* @retval None.
Davidroid	1:b78dab6d2c58	743	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	744	*/
Davidroid	0:92706998571a	745	virtual void PrepareSetMaxSpeed(unsigned int speed)
Davidroid	0:92706998571a	746	{
Davidroid	1:b78dab6d2c58	747	L6470_PrepareSetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) L6470_Step_s_2_MaxSpeed((float) speed));
Davidroid	1:b78dab6d2c58	748	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	749	}
Davidroid	0:92706998571a	750
Davidroid	1:b78dab6d2c58	751	/**
Davidroid	1:b78dab6d2c58	752	* @brief Preparing the command to set the minimum speed in pps.
Davidroid	1:b78dab6d2c58	753	* @param speed The minimum speed in pps.
Davidroid	1:b78dab6d2c58	754	* @retval None.
Davidroid	1:b78dab6d2c58	755	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	756	*/
Davidroid	1:b78dab6d2c58	757	virtual void PrepareSetMinSpeed(unsigned int speed)
Davidroid	1:b78dab6d2c58	758	{
Davidroid	1:b78dab6d2c58	759	L6470_PrepareSetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) L6470_Step_s_2_MinSpeed((float) speed));
Davidroid	1:b78dab6d2c58	760	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	761	}
Davidroid	1:b78dab6d2c58	762
Davidroid	1:b78dab6d2c58	763	/**
Davidroid	1:b78dab6d2c58	764	* @brief Preparing the command to set the acceleration in pps^2.
Davidroid	1:b78dab6d2c58	765	* @param acceleration The acceleration in pps^2.
Davidroid	1:b78dab6d2c58	766	* @retval None.
Davidroid	1:b78dab6d2c58	767	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	768	*/
Davidroid	0:92706998571a	769	virtual void PrepareSetAcceleration(unsigned int acceleration)
Davidroid	0:92706998571a	770	{
Davidroid	1:b78dab6d2c58	771	L6470_PrepareSetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) L6470_Step_s2_2_Acc((float) acceleration));
Davidroid	1:b78dab6d2c58	772	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	773	}
Davidroid	0:92706998571a	774
Davidroid	1:b78dab6d2c58	775	/**
Davidroid	1:b78dab6d2c58	776	* @brief Preparing the command to set the deceleration in pps^2.
Davidroid	1:b78dab6d2c58	777	* @param deceleration The deceleration in pps^2.
Davidroid	1:b78dab6d2c58	778	* @retval None.
Davidroid	1:b78dab6d2c58	779	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	780	*/
Davidroid	1:b78dab6d2c58	781	virtual void PrepareSetDeceleration(unsigned int deceleration)
Davidroid	0:92706998571a	782	{
Davidroid	1:b78dab6d2c58	783	L6470_PrepareSetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) L6470_Step_s2_2_Dec((float) deceleration));
Davidroid	1:b78dab6d2c58	784	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	785	}
Davidroid	0:92706998571a	786
Davidroid	1:b78dab6d2c58	787	/**
Davidroid	1:b78dab6d2c58	788	* @brief Preparing the command to go to a specified position.
Davidroid	1:b78dab6d2c58	789	* @param position The desired position.
Davidroid	1:b78dab6d2c58	790	* @retval None.
Davidroid	1:b78dab6d2c58	791	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	792	*/
Davidroid	1:b78dab6d2c58	793	virtual void PrepareGoTo(signed int position)
Davidroid	1:b78dab6d2c58	794	{
Davidroid	1:b78dab6d2c58	795	L6470_PrepareGoTo((uint32_t) L6470_Position_2_AbsPos((int32_t) position));
Davidroid	1:b78dab6d2c58	796	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	797	}
Davidroid	1:b78dab6d2c58	798
Davidroid	1:b78dab6d2c58	799	/**
Davidroid	1:b78dab6d2c58	800	* @brief Preparing the command to go to a specified position
Davidroid	1:b78dab6d2c58	801	* imposing the desired direction.
Davidroid	1:b78dab6d2c58	802	* @param position The desired position.
Davidroid	1:b78dab6d2c58	803	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	804	* @retval None.
Davidroid	1:b78dab6d2c58	805	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	806	*/
Davidroid	0:92706998571a	807	virtual void PrepareGoTo(signed int position, direction_t direction)
Davidroid	0:92706998571a	808	{
Davidroid	1:b78dab6d2c58	809	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	810	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	811	}
Davidroid	0:92706998571a	812
Davidroid	1:b78dab6d2c58	813	/**
Davidroid	1:b78dab6d2c58	814	* @brief Preparing the command to go to the home position.
Davidroid	1:b78dab6d2c58	815	* @param None.
Davidroid	1:b78dab6d2c58	816	* @retval None.
Davidroid	1:b78dab6d2c58	817	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	818	*/
Davidroid	0:92706998571a	819	virtual void PrepareGoHome(void)
Davidroid	0:92706998571a	820	{
Davidroid	0:92706998571a	821	L6470_PrepareGoHome();
Davidroid	1:b78dab6d2c58	822	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	823	}
Davidroid	0:92706998571a	824
Davidroid	1:b78dab6d2c58	825	/**
Davidroid	1:b78dab6d2c58	826	* @brief Preparing the command to go to the marked position.
Davidroid	1:b78dab6d2c58	827	* @param None.
Davidroid	1:b78dab6d2c58	828	* @retval None.
Davidroid	1:b78dab6d2c58	829	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	830	*/
Davidroid	0:92706998571a	831	virtual void PrepareGoMark(void)
Davidroid	0:92706998571a	832	{
Davidroid	0:92706998571a	833	L6470_PrepareGoMark();
Davidroid	1:b78dab6d2c58	834	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	835	}
Davidroid	0:92706998571a	836
Davidroid	1:b78dab6d2c58	837	/**
Davidroid	1:b78dab6d2c58	838	* @brief Preparing the command to run at the given speed imposing the desired
Davidroid	1:b78dab6d2c58	839	* direction until an external switch turn-on event occurs.
Davidroid	1:b78dab6d2c58	840	* @param action The identifier of the action about the absolute position.
Davidroid	1:b78dab6d2c58	841	* @param position The desired position.
Davidroid	1:b78dab6d2c58	842	* @param speed The speed value in pps.
Davidroid	1:b78dab6d2c58	843	* @retval None.
Davidroid	1:b78dab6d2c58	844	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	845	* The identifier of the action about the absolute position can be
Davidroid	1:b78dab6d2c58	846	* one of the following:
Davidroid	1:b78dab6d2c58	847	* + L6470_ACT_RST_ID: the absolute position is reset;
Davidroid	1:b78dab6d2c58	848	* + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
Davidroid	1:b78dab6d2c58	849	*/
Davidroid	0:92706998571a	850	virtual void PrepareGoUntil(eL6470_ActId_t L6470_ActId, direction_t direction, unsigned int speed)
Davidroid	0:92706998571a	851	{
Davidroid	1:b78dab6d2c58	852	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	853	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	854	}
Davidroid	0:92706998571a	855
Davidroid	1:b78dab6d2c58	856	/**
Davidroid	1:b78dab6d2c58	857	* @brief Preparing the command to run towards a specified direction
Davidroid	1:b78dab6d2c58	858	* at the maximum speed.
Davidroid	1:b78dab6d2c58	859	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	860	* @retval None.
Davidroid	1:b78dab6d2c58	861	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	862	*/
Davidroid	0:92706998571a	863	virtual void PrepareRun(direction_t direction)
Davidroid	0:92706998571a	864	{
Davidroid	0:92706998571a	865	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	866	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	867	}
Davidroid	0:92706998571a	868
Davidroid	1:b78dab6d2c58	869	/**
Davidroid	1:b78dab6d2c58	870	* @brief Preparing the command to run towards a specified direction
Davidroid	1:b78dab6d2c58	871	* at the given speed.
Davidroid	1:b78dab6d2c58	872	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	873	* @param speed The speed value in pps.
Davidroid	1:b78dab6d2c58	874	* @retval None.
Davidroid	1:b78dab6d2c58	875	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	876	*/
Davidroid	0:92706998571a	877	virtual void PrepareRun(direction_t direction, unsigned int speed)
Davidroid	0:92706998571a	878	{
Davidroid	1:b78dab6d2c58	879	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	880	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	881	}
Davidroid	0:92706998571a	882
Davidroid	1:b78dab6d2c58	883	/**
Davidroid	1:b78dab6d2c58	884	* @brief Preparing the command to move towards a specified direction
Davidroid	1:b78dab6d2c58	885	* for a certain number of steps.
Davidroid	1:b78dab6d2c58	886	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	887	* @param steps The desired number of steps.
Davidroid	1:b78dab6d2c58	888	* @retval None.
Davidroid	1:b78dab6d2c58	889	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	890	*/
Davidroid	0:92706998571a	891	virtual void PrepareMove(direction_t direction, unsigned int steps)
Davidroid	0:92706998571a	892	{
Davidroid	0:92706998571a	893	L6470_PrepareMove((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) steps);
Davidroid	1:b78dab6d2c58	894	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	895	}
Davidroid	0:92706998571a	896
Davidroid	1:b78dab6d2c58	897	/**
Davidroid	1:b78dab6d2c58	898	* @brief Preparing the command to stop the motor.
Davidroid	1:b78dab6d2c58	899	* @param None.
Davidroid	1:b78dab6d2c58	900	* @retval None.
Davidroid	1:b78dab6d2c58	901	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	902	*/
Davidroid	0:92706998571a	903	virtual void PrepareSoftStop(void)
Davidroid	0:92706998571a	904	{
Davidroid	0:92706998571a	905	L6470_PrepareSoftStop();
Davidroid	1:b78dab6d2c58	906	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	907	}
Davidroid	0:92706998571a	908
Davidroid	1:b78dab6d2c58	909	/**
Davidroid	1:b78dab6d2c58	910	* @brief Preparing the command to stop the motor and disabling the power bridge.
Davidroid	1:b78dab6d2c58	911	* @param None.
Davidroid	1:b78dab6d2c58	912	* @retval None.
Davidroid	1:b78dab6d2c58	913	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	914	*/
Davidroid	0:92706998571a	915	virtual void PrepareHardStop(void)
Davidroid	0:92706998571a	916	{
Davidroid	0:92706998571a	917	L6470_PrepareHardStop();
Davidroid	1:b78dab6d2c58	918	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	919	}
Davidroid	0:92706998571a	920
Davidroid	1:b78dab6d2c58	921	/**
Davidroid	1:b78dab6d2c58	922	* @brief Preparing the command to disable the power bridge after performing
Davidroid	1:b78dab6d2c58	923	* a deceleration to zero.
Davidroid	1:b78dab6d2c58	924	* The used deceleration value is the one stored in the "DEC" register.
Davidroid	1:b78dab6d2c58	925	* @param None.
Davidroid	1:b78dab6d2c58	926	* @retval None.
Davidroid	1:b78dab6d2c58	927	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	928	*/
Davidroid	0:92706998571a	929	virtual void PrepareSoftHiZ(void)
Davidroid	0:92706998571a	930	{
Davidroid	0:92706998571a	931	L6470_PrepareSoftHiZ();
Davidroid	1:b78dab6d2c58	932	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	933	}
Davidroid	0:92706998571a	934
Davidroid	1:b78dab6d2c58	935	/**
Davidroid	1:b78dab6d2c58	936	* @brief Preparing the command to disable the power bridge immediately.
Davidroid	1:b78dab6d2c58	937	* @param None.
Davidroid	1:b78dab6d2c58	938	* @retval None.
Davidroid	1:b78dab6d2c58	939	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	940	*/
Davidroid	0:92706998571a	941	virtual void PrepareHardHiZ(void)
Davidroid	0:92706998571a	942	{
Davidroid	0:92706998571a	943	L6470_PrepareHardHiZ();
Davidroid	1:b78dab6d2c58	944	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	945	}
Davidroid	1:b78dab6d2c58	946
Davidroid	1:b78dab6d2c58	947	/**
Davidroid	1:b78dab6d2c58	948	* @brief Preparing the command to switch to step-clock mode.
Davidroid	1:b78dab6d2c58	949	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	950	* @retval None.
Davidroid	1:b78dab6d2c58	951	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	952	*/
Davidroid	1:b78dab6d2c58	953	virtual void PrepareStepClock(direction_t direction)
Davidroid	1:b78dab6d2c58	954	{
Davidroid	1:b78dab6d2c58	955	L6470_PrepareStepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid	1:b78dab6d2c58	956	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	957	}
Davidroid	0:92706998571a	958
Davidroid	1:b78dab6d2c58	959	/**
Davidroid	1:b78dab6d2c58	960	* @brief Preparing the command to do a motion at minimum speed
Davidroid	1:b78dab6d2c58	961	* imposing a specified direction until the SW is released.
Davidroid	1:b78dab6d2c58	962	* @param action The identifier of the action about the absolute position.
Davidroid	1:b78dab6d2c58	963	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	964	* @retval None.
Davidroid	1:b78dab6d2c58	965	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	966	* The identifier of the action about the absolute position can be
Davidroid	1:b78dab6d2c58	967	* one of the following:
Davidroid	1:b78dab6d2c58	968	* + L6470_ACT_RST_ID: the absolute position is reset;
Davidroid	1:b78dab6d2c58	969	* + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
Davidroid	1:b78dab6d2c58	970	*/
Davidroid	1:b78dab6d2c58	971	virtual void PrepareReleaseSW(eL6470_ActId_t action, direction_t direction)
Davidroid	0:92706998571a	972	{
Davidroid	1:b78dab6d2c58	973	L6470_PrepareReleaseSW((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid	1:b78dab6d2c58	974	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	975	}
Davidroid	1:b78dab6d2c58	976
Davidroid	1:b78dab6d2c58	977	/**
Davidroid	1:b78dab6d2c58	978	* @brief Preparing the command to reset the device to power-up conditions.
Davidroid	1:b78dab6d2c58	979	* @param None.
Davidroid	1:b78dab6d2c58	980	* @retval None.
Davidroid	1:b78dab6d2c58	981	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	982	*/
Davidroid	1:b78dab6d2c58	983	virtual void PrepareResetDevice(void)
Davidroid	1:b78dab6d2c58	984	{
Davidroid	1:b78dab6d2c58	985	L6470_PrepareResetDevice();
Davidroid	1:b78dab6d2c58	986	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	987	}
Davidroid	0:92706998571a	988
Davidroid	1:b78dab6d2c58	989	/**
Davidroid	1:b78dab6d2c58	990	* @brief Performing all the actions prepared on the components
Davidroid	1:b78dab6d2c58	991	* of the daisy-chain.
Davidroid	1:b78dab6d2c58	992	* @param None.
Davidroid	1:b78dab6d2c58	993	* @retval The raw data returned by the components.
Davidroid	1:b78dab6d2c58	994	*/
Davidroid	1:b78dab6d2c58	995	uint8_t* PerformPreparedActions(void)
Davidroid	0:92706998571a	996	{
Davidroid	1:b78dab6d2c58	997	return L6470_PerformPreparedApplicationCommand();
Davidroid	1:b78dab6d2c58	998	}
Davidroid	1:b78dab6d2c58	999
Davidroid	1:b78dab6d2c58	1000	/**
Davidroid	1:b78dab6d2c58	1001	* @brief Getting the prepared action.
Davidroid	1:b78dab6d2c58	1002	* @param None
Davidroid	1:b78dab6d2c58	1003	* @retval The prepared action.
Davidroid	1:b78dab6d2c58	1004	*/
Davidroid	1:b78dab6d2c58	1005	prepared_action_t GetPreparedAction(void)
Davidroid	1:b78dab6d2c58	1006	{
Davidroid	1:b78dab6d2c58	1007	return prepared_action;
Davidroid	0:92706998571a	1008	}
Davidroid	0:92706998571a	1009
Davidroid	1:b78dab6d2c58	1010	/**
Davidroid	1:b78dab6d2c58	1011	* @brief Converting the raw data received by the component according to
Davidroid	1:b78dab6d2c58	1012	* the action performed on it.
Davidroid	1:b78dab6d2c58	1013	* @param raw_data The received raw data.
Davidroid	1:b78dab6d2c58	1014	* @retval The result of the action performed.
Davidroid	1:b78dab6d2c58	1015	*/
Davidroid	1:b78dab6d2c58	1016	int32_t GetResult(uint8_t *raw_data)
Davidroid	0:92706998571a	1017	{
Davidroid	1:b78dab6d2c58	1018	switch (prepared_action)
Davidroid	1:b78dab6d2c58	1019	{
Davidroid	1:b78dab6d2c58	1020	case PREPARED_GET_POSITION:
Davidroid	1:b78dab6d2c58	1021	return L6470_AbsPos_2_Position(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_ABS_POS_ID].LengthByte));
Davidroid	1:b78dab6d2c58	1022
Davidroid	1:b78dab6d2c58	1023	case PREPARED_GET_MARK:
Davidroid	1:b78dab6d2c58	1024	return L6470_AbsPos_2_Position(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MARK_ID].LengthByte));
Davidroid	0:92706998571a	1025
Davidroid	1:b78dab6d2c58	1026	case PREPARED_GET_SPEED:
Davidroid	1:b78dab6d2c58	1027	return round(L6470_Speed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_SPEED_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1028
Davidroid	1:b78dab6d2c58	1029	case PREPARED_GET_MAX_SPEED:
Davidroid	1:b78dab6d2c58	1030	return round(L6470_MaxSpeed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MAX_SPEED_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1031
Davidroid	1:b78dab6d2c58	1032	case PREPARED_GET_MIN_SPEED:
Davidroid	1:b78dab6d2c58	1033	return round(L6470_MinSpeed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MIN_SPEED_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1034
Davidroid	1:b78dab6d2c58	1035	case PREPARED_GET_ACCELERATION:
Davidroid	1:b78dab6d2c58	1036	return round(L6470_Acc_2_Step_s2(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_ACC_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1037
Davidroid	1:b78dab6d2c58	1038	case PREPARED_GET_DECELERATION:
Davidroid	1:b78dab6d2c58	1039	return round(L6470_Dec_2_Step_s2(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_DEC_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1040
Davidroid	1:b78dab6d2c58	1041	case PREPARED_GET_DIRECTION:
Davidroid	1:b78dab6d2c58	1042	return (int32_t) (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD);
Davidroid	1:b78dab6d2c58	1043
Davidroid	1:b78dab6d2c58	1044	default:
Davidroid	1:b78dab6d2c58	1045	case PREPARED_NO_ACTION:
Davidroid	1:b78dab6d2c58	1046	return 0;
Davidroid	1:b78dab6d2c58	1047	}
Davidroid	0:92706998571a	1048	}
Davidroid	0:92706998571a	1049
Davidroid	0:92706998571a	1050
Davidroid	0:92706998571a	1051	/* Public Interrupt Related Methods */
Davidroid	0:92706998571a	1052
Davidroid	0:92706998571a	1053	/* ACTION 6 --------------------------------------------------------------*
Davidroid	0:92706998571a	1054	* Implement here interrupt related methods, if any. *
Davidroid	0:92706998571a	1055	* Note that interrupt handling is platform dependent, e.g.: *
Davidroid	0:92706998571a	1056	* + mbed: *
Davidroid	0:92706998571a	1057	* InterruptIn feature_irq(pin); //Interrupt object. *
Davidroid	0:92706998571a	1058	* feature_irq.rise(callback); //Attach a callback. *
Davidroid	0:92706998571a	1059	* feature_irq.mode(PullNone); //Set interrupt mode. *
Davidroid	0:92706998571a	1060	* feature_irq.enable_irq(); //Enable interrupt. *
Davidroid	0:92706998571a	1061	* feature_irq.disable_irq(); //Disable interrupt. *
Davidroid	0:92706998571a	1062	* + Arduino: *
Davidroid	0:92706998571a	1063	* attachInterrupt(pin, callback, RISING); //Attach a callback. *
Davidroid	0:92706998571a	1064	* detachInterrupt(pin); //Detach a callback. *
Davidroid	0:92706998571a	1065	* *
Davidroid	0:92706998571a	1066	* Example (mbed): *
Davidroid	0:92706998571a	1067	* void AttachFeatureIRQ(void (fptr) (void))
Davidroid	0:92706998571a	1068	* { *
Davidroid	0:92706998571a	1069	* feature_irq.rise(fptr); *
Davidroid	0:92706998571a	1070	* } *
Davidroid	0:92706998571a	1071	* *
Davidroid	0:92706998571a	1072	* void EnableFeatureIRQ(void) *
Davidroid	0:92706998571a	1073	* { *
Davidroid	0:92706998571a	1074	* feature_irq.enable_irq(); *
Davidroid	0:92706998571a	1075	* } *
Davidroid	0:92706998571a	1076	* *
Davidroid	0:92706998571a	1077	* void DisableFeatureIRQ(void) *
Davidroid	0:92706998571a	1078	* { *
Davidroid	0:92706998571a	1079	* feature_irq.disable_irq(); *
Davidroid	0:92706998571a	1080	* } *
Davidroid	0:92706998571a	1081	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1082	/**
Davidroid	1:b78dab6d2c58	1083	* @brief Attaching an interrupt handler to the FLAG interrupt.
Davidroid	1:b78dab6d2c58	1084	* @param fptr An interrupt handler.
Davidroid	0:92706998571a	1085	* @retval None.
Davidroid	0:92706998571a	1086	*/
Davidroid	0:92706998571a	1087	void AttachFlagIRQ(void (*fptr)(void))
Davidroid	0:92706998571a	1088	{
Davidroid	11:1aca63b2f034	1089	flag_irq.fall(fptr);
Davidroid	0:92706998571a	1090	}
Davidroid	0:92706998571a	1091
Davidroid	0:92706998571a	1092	/**
Davidroid	1:b78dab6d2c58	1093	* @brief Enabling the FLAG interrupt handling.
Davidroid	0:92706998571a	1094	* @param None.
Davidroid	0:92706998571a	1095	* @retval None.
Davidroid	0:92706998571a	1096	*/
Davidroid	0:92706998571a	1097	void EnableFlagIRQ(void)
Davidroid	0:92706998571a	1098	{
Davidroid	0:92706998571a	1099	flag_irq.enable_irq();
Davidroid	0:92706998571a	1100	}
Davidroid	0:92706998571a	1101
Davidroid	0:92706998571a	1102	/**
Davidroid	1:b78dab6d2c58	1103	* @brief Disabling the FLAG interrupt handling.
Davidroid	0:92706998571a	1104	* @param None.
Davidroid	0:92706998571a	1105	* @retval None.
Davidroid	0:92706998571a	1106	*/
Davidroid	0:92706998571a	1107	void DisableFlagIRQ(void)
Davidroid	0:92706998571a	1108	{
Davidroid	0:92706998571a	1109	flag_irq.disable_irq();
Davidroid	0:92706998571a	1110	}
Davidroid	0:92706998571a	1111
Davidroid	1:b78dab6d2c58	1112	/**
Davidroid	1:b78dab6d2c58	1113	* @brief Attaching an interrupt handler to the BUSY interrupt.
Davidroid	1:b78dab6d2c58	1114	* @param fptr An interrupt handler.
Davidroid	1:b78dab6d2c58	1115	* @retval None.
Davidroid	1:b78dab6d2c58	1116	*/
Davidroid	1:b78dab6d2c58	1117	void AttachBusyIRQ(void (*fptr)(void))
Davidroid	1:b78dab6d2c58	1118	{
Davidroid	11:1aca63b2f034	1119	busy_irq.fall(fptr);
Davidroid	1:b78dab6d2c58	1120	}
Davidroid	1:b78dab6d2c58	1121
Davidroid	1:b78dab6d2c58	1122	/**
Davidroid	1:b78dab6d2c58	1123	* @brief Enabling the BUSY interrupt handling.
Davidroid	1:b78dab6d2c58	1124	* @param None.
Davidroid	1:b78dab6d2c58	1125	* @retval None.
Davidroid	1:b78dab6d2c58	1126	*/
Davidroid	1:b78dab6d2c58	1127	void EnableBusyIRQ(void)
Davidroid	1:b78dab6d2c58	1128	{
Davidroid	1:b78dab6d2c58	1129	busy_irq.enable_irq();
Davidroid	1:b78dab6d2c58	1130	}
Davidroid	1:b78dab6d2c58	1131
Davidroid	1:b78dab6d2c58	1132	/**
Davidroid	1:b78dab6d2c58	1133	* @brief Disabling the BUSY interrupt handling.
Davidroid	1:b78dab6d2c58	1134	* @param None.
Davidroid	1:b78dab6d2c58	1135	* @retval None.
Davidroid	1:b78dab6d2c58	1136	*/
Davidroid	1:b78dab6d2c58	1137	void DisableBusyIRQ(void)
Davidroid	1:b78dab6d2c58	1138	{
Davidroid	1:b78dab6d2c58	1139	busy_irq.disable_irq();
Davidroid	1:b78dab6d2c58	1140	}
Davidroid	1:b78dab6d2c58	1141
Davidroid	0:92706998571a	1142
Davidroid	0:92706998571a	1143	protected:
Davidroid	0:92706998571a	1144
Davidroid	0:92706998571a	1145	/* Protected Component Related Methods */
Davidroid	0:92706998571a	1146
Davidroid	0:92706998571a	1147	/* ACTION 7 --------------------------------------------------------------*
Davidroid	0:92706998571a	1148	* Declare here the component's specific methods. *
Davidroid	0:92706998571a	1149	* They should be: *
Davidroid	0:92706998571a	1150	* + Methods with the same name of the C component's virtual table's *
Davidroid	0:92706998571a	1151	* functions (1); *
Davidroid	0:92706998571a	1152	* + Methods with the same name of the C component's extended virtual *
Davidroid	0:92706998571a	1153	* table's functions, if any (2); *
Davidroid	0:92706998571a	1154	* + Helper methods, if any, like functions declared in the component's *
Davidroid	0:92706998571a	1155	* source files but not pointed by the component's virtual table (3). *
Davidroid	0:92706998571a	1156	* *
Davidroid	0:92706998571a	1157	* Example: *
Davidroid	0:92706998571a	1158	* DrvStatusTypeDef COMPONENT_GetValue(float* pfData); //(1) *
Davidroid	0:92706998571a	1159	* DrvStatusTypeDef COMPONENT_EnableFeature(void); //(2) *
Davidroid	0:92706998571a	1160	* DrvStatusTypeDef COMPONENT_ComputeAverage(void); //(3) *
Davidroid	0:92706998571a	1161	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1162	int32_t L6470_AbsPos_2_Position(uint32_t AbsPos);
Davidroid	0:92706998571a	1163	uint32_t L6470_Position_2_AbsPos(int32_t Position);
Davidroid	0:92706998571a	1164	float L6470_Speed_2_Step_s(uint32_t Speed);
Davidroid	0:92706998571a	1165	uint32_t L6470_Step_s_2_Speed(float Step_s);
Davidroid	0:92706998571a	1166	float L6470_Acc_2_Step_s2(uint16_t Acc);
Davidroid	0:92706998571a	1167	uint16_t L6470_Step_s2_2_Acc(float Step_s2);
Davidroid	0:92706998571a	1168	float L6470_Dec_2_Step_s2(uint16_t Dec);
Davidroid	0:92706998571a	1169	uint16_t L6470_Step_s2_2_Dec(float Step_s2);
Davidroid	0:92706998571a	1170	float L6470_MaxSpeed_2_Step_s(uint16_t MaxSpeed);
Davidroid	0:92706998571a	1171	uint16_t L6470_Step_s_2_MaxSpeed(float Step_s);
Davidroid	0:92706998571a	1172	float L6470_MinSpeed_2_Step_s(uint16_t MinSpeed);
Davidroid	0:92706998571a	1173	uint16_t L6470_Step_s_2_MinSpeed(float Step_s);
Davidroid	0:92706998571a	1174	float L6470_FsSpd_2_Step_s(uint16_t FsSpd);
Davidroid	0:92706998571a	1175	uint16_t L6470_Step_s_2_FsSpd(float Step_s);
Davidroid	0:92706998571a	1176	float L6470_IntSpeed_2_Step_s(uint16_t IntSpeed);
Davidroid	0:92706998571a	1177	uint16_t L6470_Step_s_2_IntSpeed(float Step_s);
Davidroid	0:92706998571a	1178	float L6470_StSlp_2_s_Step(uint8_t StSlp);
Davidroid	0:92706998571a	1179	uint8_t L6470_s_Step_2_StSlp(float s_Step);
Davidroid	0:92706998571a	1180	float L6470_FnSlpAcc_2_s_Step(uint8_t FnSlpAcc);
Davidroid	0:92706998571a	1181	uint8_t L6470_s_Step_2_FnSlpAcc(float s_Step);
Davidroid	0:92706998571a	1182	float L6470_FnSlpDec_2_s_Step(uint8_t FnSlpDec);
Davidroid	0:92706998571a	1183	uint8_t L6470_s_Step_2_FnSlpDec(float s_Step);
Davidroid	0:92706998571a	1184	float L6470_OcdTh_2_mA(uint8_t OcdTh);
Davidroid	0:92706998571a	1185	uint8_t L6470_mA_2_OcdTh(float mA);
Davidroid	0:92706998571a	1186	float L6470_StallTh_2_mA(uint8_t StallTh);
Davidroid	0:92706998571a	1187	uint8_t L6470_mA_2_StallTh(float mA);
Davidroid	11:1aca63b2f034	1188	DrvStatusTypeDef L6470_Config(L6470_InitTypeDef *MotorParameterData);
Davidroid	0:92706998571a	1189	void L6470_SetParam(eL6470_RegId_t L6470_RegId, uint32_t Value);
Davidroid	0:92706998571a	1190	uint32_t L6470_GetParam(eL6470_RegId_t L6470_RegId);
Davidroid	0:92706998571a	1191	void L6470_Run(eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	1192	void L6470_StepClock(eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	1193	void L6470_Move(eL6470_DirId_t L6470_DirId, uint32_t N_Step);
Davidroid	0:92706998571a	1194	void L6470_GoTo(uint32_t AbsPos);
Davidroid	0:92706998571a	1195	void L6470_GoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
Davidroid	0:92706998571a	1196	void L6470_GoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	1197	void L6470_ReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	1198	void L6470_GoHome(void);
Davidroid	0:92706998571a	1199	void L6470_GoMark(void);
Davidroid	0:92706998571a	1200	void L6470_ResetPos(void);
Davidroid	0:92706998571a	1201	void L6470_ResetDevice(void);
Davidroid	0:92706998571a	1202	void L6470_SoftStop(void);
Davidroid	0:92706998571a	1203	void L6470_HardStop(void);
Davidroid	0:92706998571a	1204	void L6470_SoftHiZ(void);
Davidroid	0:92706998571a	1205	void L6470_HardHiZ(void);
Davidroid	0:92706998571a	1206	uint16_t L6470_GetStatus(void);
Davidroid	0:92706998571a	1207	void L6470_PrepareSetParam(eL6470_RegId_t L6470_RegId, uint32_t Value);
Davidroid	0:92706998571a	1208	void L6470_PrepareGetParam(eL6470_RegId_t L6470_RegId);
Davidroid	0:92706998571a	1209	void L6470_PrepareRun(eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	1210	void L6470_PrepareStepClock(eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	1211	void L6470_PrepareMove(eL6470_DirId_t L6470_DirId, uint32_t N_Step);
Davidroid	0:92706998571a	1212	void L6470_PrepareGoTo(uint32_t AbsPos);
Davidroid	0:92706998571a	1213	void L6470_PrepareGoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
Davidroid	0:92706998571a	1214	void L6470_PrepareGoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	1215	void L6470_PrepareReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	1216	void L6470_PrepareGoHome(void);
Davidroid	0:92706998571a	1217	void L6470_PrepareGoMark(void);
Davidroid	0:92706998571a	1218	void L6470_PrepareResetPos(void);
Davidroid	0:92706998571a	1219	void L6470_PrepareResetDevice(void);
Davidroid	0:92706998571a	1220	void L6470_PrepareSoftStop(void);
Davidroid	0:92706998571a	1221	void L6470_PrepareHardStop(void);
Davidroid	0:92706998571a	1222	void L6470_PrepareSoftHiZ(void);
Davidroid	0:92706998571a	1223	void L6470_PrepareHardHiZ(void);
Davidroid	0:92706998571a	1224	void L6470_PrepareGetStatus(void);
Davidroid	0:92706998571a	1225	uint8_t* L6470_PerformPreparedApplicationCommand(void);
Davidroid	0:92706998571a	1226	void L6470_DaisyChainCommand(uint8_t* pL6470_DaisyChainSpiTxStruct, uint8_t* pL6470_DaisyChainSpiRxStruct);
Davidroid	0:92706998571a	1227	uint32_t L6470_ExtractReturnedData(uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte);
Davidroid	0:92706998571a	1228	uint8_t L6470_CheckStatusRegisterFlag(uint8_t L6470_StatusRegisterFlagId);
Davidroid	0:92706998571a	1229	uint8_t* L6470_GetRegisterName(uint8_t id);
Davidroid	0:92706998571a	1230	void L6470_ResetAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg);
Davidroid	0:92706998571a	1231	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	1232	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	1233	void L6470_PrepareDaisyChainCommand(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, uint8_t* pL6470_DaisyChainSpiTxStruct);
Davidroid	0:92706998571a	1234
Davidroid	1:b78dab6d2c58	1235	/**
Davidroid	1:b78dab6d2c58	1236	* @brief Rounding a floating point number to the nearest unsigned integer number.
Davidroid	1:b78dab6d2c58	1237	* @param f The floating point number.
Davidroid	1:b78dab6d2c58	1238	* @retval The nearest unsigned integer number.
Davidroid	1:b78dab6d2c58	1239	*/
Davidroid	1:b78dab6d2c58	1240	int round(float f)
Davidroid	1:b78dab6d2c58	1241	{
Davidroid	1:b78dab6d2c58	1242	if (f >= 0)
Davidroid	1:b78dab6d2c58	1243	return (int) f + (f - (int) f < 0.5f ? 0 : 1);
Davidroid	1:b78dab6d2c58	1244	else
Davidroid	1:b78dab6d2c58	1245	return (int) f - (f - (int) f < -0.5f ? 1 : 0);
Davidroid	1:b78dab6d2c58	1246	}
Davidroid	1:b78dab6d2c58	1247
Davidroid	0:92706998571a	1248
Davidroid	0:92706998571a	1249	/* Component's I/O Methods */
Davidroid	0:92706998571a	1250
Davidroid	0:92706998571a	1251	/**
Davidroid	0:92706998571a	1252	* @brief Utility function to read data from L6470.
Davidroid	0:92706998571a	1253	* @param[out] pBuffer pointer to the buffer to read data into.
Davidroid	0:92706998571a	1254	* @param[in] NumBytesToRead number of bytes to read.
Davidroid	0:92706998571a	1255	* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
Davidroid	0:92706998571a	1256	*/
Davidroid	0:92706998571a	1257	DrvStatusTypeDef Read(uint8_t* pBuffer, uint16_t NumBytesToRead)
Davidroid	0:92706998571a	1258	{
Davidroid	0:92706998571a	1259	if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0)
Davidroid	0:92706998571a	1260	return COMPONENT_ERROR;
Davidroid	0:92706998571a	1261	return COMPONENT_OK;
Davidroid	0:92706998571a	1262	}
Davidroid	0:92706998571a	1263
Davidroid	0:92706998571a	1264	/**
Davidroid	0:92706998571a	1265	* @brief Utility function to write data to L6470.
Davidroid	0:92706998571a	1266	* @param[in] pBuffer pointer to the buffer of data to send.
Davidroid	0:92706998571a	1267	* @param[in] NumBytesToWrite number of bytes to write.
Davidroid	0:92706998571a	1268	* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
Davidroid	0:92706998571a	1269	*/
Davidroid	0:92706998571a	1270	DrvStatusTypeDef Write(uint8_t* pBuffer, uint16_t NumBytesToWrite)
Davidroid	0:92706998571a	1271	{
Davidroid	0:92706998571a	1272	if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0)
Davidroid	0:92706998571a	1273	return COMPONENT_ERROR;
Davidroid	0:92706998571a	1274	return COMPONENT_OK;
Davidroid	0:92706998571a	1275	}
Davidroid	0:92706998571a	1276
Davidroid	0:92706998571a	1277	/**
Davidroid	0:92706998571a	1278	* @brief Utility function to read and write data from/to L6470 at the same time.
Davidroid	0:92706998571a	1279	* @param[out] pBufferToRead pointer to the buffer to read data into.
Davidroid	0:92706998571a	1280	* @param[in] pBufferToWrite pointer to the buffer of data to send.
Davidroid	0:92706998571a	1281	* @param[in] NumBytes number of bytes to read and write.
Davidroid	0:92706998571a	1282	* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
Davidroid	0:92706998571a	1283	*/
Davidroid	0:92706998571a	1284	DrvStatusTypeDef ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes)
Davidroid	0:92706998571a	1285	{
Davidroid	0:92706998571a	1286	if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0)
Davidroid	0:92706998571a	1287	return COMPONENT_ERROR;
Davidroid	0:92706998571a	1288	return COMPONENT_OK;
Davidroid	0:92706998571a	1289	}
Davidroid	0:92706998571a	1290
Davidroid	0:92706998571a	1291	/* ACTION 8 --------------------------------------------------------------*
Davidroid	0:92706998571a	1292	* Implement here other I/O methods beyond those already implemented *
Davidroid	0:92706998571a	1293	* above, which are declared extern within the component's header file. *
Davidroid	0:92706998571a	1294	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1295	/*
Davidroid	0:92706998571a	1296	* Puts the device in standby mode.
Davidroid	0:92706998571a	1297	*/
Davidroid	0:92706998571a	1298	void L6470_ENABLE(void)
Davidroid	0:92706998571a	1299	{
Davidroid	0:92706998571a	1300	standby_reset = 1;
Davidroid	0:92706998571a	1301	}
Davidroid	0:92706998571a	1302
Davidroid	0:92706998571a	1303	/*
Davidroid	0:92706998571a	1304	* Puts the device in reset mode.
Davidroid	0:92706998571a	1305	*/
Davidroid	0:92706998571a	1306	void L6470_DISABLE(void)
Davidroid	0:92706998571a	1307	{
Davidroid	0:92706998571a	1308	standby_reset = 0;
Davidroid	0:92706998571a	1309	}
Davidroid	0:92706998571a	1310
Davidroid	0:92706998571a	1311	/*
Davidroid	0:92706998571a	1312	* Write and read bytes to/from the component through the SPI at the same time.
Davidroid	0:92706998571a	1313	*/
Davidroid	0:92706998571a	1314	void L6470_SPI_Communication(uint8_t pTxData, uint8_t pRxData, uint16_t Size, uint32_t Timeout)
Davidroid	0:92706998571a	1315	{
Davidroid	0:92706998571a	1316	ReadWrite(pRxData, pTxData, Size);
Davidroid	0:92706998571a	1317	}
Davidroid	0:92706998571a	1318
Davidroid	0:92706998571a	1319
Davidroid	0:92706998571a	1320	/* Component's Instance Variables */
Davidroid	0:92706998571a	1321
Davidroid	0:92706998571a	1322	/* ACTION 9 --------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1323	* Declare here interrupt related variables, if needed. *
Davidroid	1:b78dab6d2c58	1324	* Note that interrupt handling is platform dependent, see *
Davidroid	1:b78dab6d2c58	1325	* "Interrupt Related Methods" above. *
Davidroid	1:b78dab6d2c58	1326	* *
Davidroid	1:b78dab6d2c58	1327	* Example: *
Davidroid	1:b78dab6d2c58	1328	* + mbed: *
Davidroid	1:b78dab6d2c58	1329	* InterruptIn feature_irq; *
Davidroid	0:92706998571a	1330	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1331	/* Flag Interrupt. */
Davidroid	0:92706998571a	1332	InterruptIn flag_irq;
Davidroid	0:92706998571a	1333
Davidroid	1:b78dab6d2c58	1334	/* Busy Interrupt. */
Davidroid	1:b78dab6d2c58	1335	InterruptIn busy_irq;
Davidroid	1:b78dab6d2c58	1336
Davidroid	1:b78dab6d2c58	1337	/* ACTION 10 -------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1338	* Declare here other pin related variables, if needed. *
Davidroid	1:b78dab6d2c58	1339	* *
Davidroid	1:b78dab6d2c58	1340	* Example: *
Davidroid	1:b78dab6d2c58	1341	* + mbed: *
Davidroid	1:b78dab6d2c58	1342	* DigitalOut standby_reset; *
Davidroid	1:b78dab6d2c58	1343	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1344	/* Standby/reset pin. */
Davidroid	0:92706998571a	1345	DigitalOut standby_reset;
Davidroid	0:92706998571a	1346
Davidroid	1:b78dab6d2c58	1347	/* ACTION 11 -------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1348	* Declare here communication related variables, if needed. *
Davidroid	1:b78dab6d2c58	1349	* *
Davidroid	1:b78dab6d2c58	1350	* Example: *
Davidroid	1:b78dab6d2c58	1351	* + mbed: *
Davidroid	1:b78dab6d2c58	1352	* DigitalOut ssel; *
Davidroid	1:b78dab6d2c58	1353	* DevSPI &dev_spi; *
Davidroid	1:b78dab6d2c58	1354	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1355	/* Configuration. */
Davidroid	0:92706998571a	1356	DigitalOut ssel;
Davidroid	0:92706998571a	1357
Davidroid	0:92706998571a	1358	/* IO Device. */
Davidroid	0:92706998571a	1359	DevSPI &dev_spi;
Davidroid	0:92706998571a	1360
Davidroid	1:b78dab6d2c58	1361	/* ACTION 12 -------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1362	* Declare here identity related variables, if needed. *
Davidroid	1:b78dab6d2c58	1363	* Note that there should be only a unique identifier for each component, *
Davidroid	1:b78dab6d2c58	1364	* which should be the "who_am_i" parameter. *
Davidroid	1:b78dab6d2c58	1365	------------------------------------------------------------------------/
Davidroid	1:b78dab6d2c58	1366	/* Identity */
Davidroid	1:b78dab6d2c58	1367	uint8_t who_am_i;
Davidroid	1:b78dab6d2c58	1368
Davidroid	1:b78dab6d2c58	1369	/* ACTION 13 -------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1370	* Declare here the component's static and non-static data, one variable *
Davidroid	1:b78dab6d2c58	1371	* per line. *
Davidroid	0:92706998571a	1372	* *
Davidroid	0:92706998571a	1373	* Example: *
Davidroid	1:b78dab6d2c58	1374	* float measure; *
Davidroid	1:b78dab6d2c58	1375	* int instance_id; *
Davidroid	1:b78dab6d2c58	1376	* static int number_of_instances; *
Davidroid	0:92706998571a	1377	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1378	/* Data. */
Davidroid	0:92706998571a	1379	uint8_t L6470_Id;
Davidroid	0:92706998571a	1380	const sL6470_Register_t *L6470_Register;
Davidroid	0:92706998571a	1381	const sL6470_ApplicationCommand_t *L6470_ApplicationCommand;
Davidroid	0:92706998571a	1382	const sL6470_Direction_t *L6470_Direction;
Davidroid	0:92706998571a	1383	const sL6470_ACT_t *L6470_ACT;
Davidroid	0:92706998571a	1384	sL6470_StatusRegister_t L6470_StatusRegister;
Davidroid	0:92706998571a	1385	sL6470_StatusRegister_t *pL6470_StatusRegister;
Davidroid	0:92706998571a	1386	StepperMotorRegister_t StepperMotorRegister;
Davidroid	1:b78dab6d2c58	1387	prepared_action_t prepared_action;
Davidroid	0:92706998571a	1388
Davidroid	0:92706998571a	1389	/* Static data. */
Davidroid	0:92706998571a	1390	static uint8_t number_of_devices;
Davidroid	0:92706998571a	1391	static const sL6470_Register_t _L6470_Register[L6470REGIDSIZE];
Davidroid	0:92706998571a	1392	static const sL6470_ApplicationCommand_t _L6470_ApplicationCommand[L6470APPCMDIDSIZE];
Davidroid	0:92706998571a	1393	static const sL6470_Direction_t _L6470_Direction[L6470DIRIDSIZE];
Davidroid	0:92706998571a	1394	static const sL6470_ACT_t _L6470_ACT[L6470ACTIDSIZE];
Davidroid	0:92706998571a	1395	static eFlagStatus_t L6470_DaisyChain_HalfPrepared;
Davidroid	0:92706998571a	1396	static sL6470_AppCmdPkg_t L6470_AppCmdPkg[L6470DAISYCHAINSIZE];
Davidroid	0:92706998571a	1397	static uint8_t L6470_DaisyChainSpiTxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
Davidroid	0:92706998571a	1398	static uint8_t L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
Davidroid	0:92706998571a	1399	};
Davidroid	0:92706998571a	1400
Davidroid	0:92706998571a	1401	#endif // __L6470_CLASS_H
Davidroid	0:92706998571a	1402
Davidroid	0:92706998571a	1403	/********************** (C) COPYRIGHT STMicroelectronics *END OF FILE**/

Repository toolbox

Export to desktop IDE

Repository details

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

This repository is Public (Unlisted).

The code in this repository is Apache licensed.

Components/l6470/l6470_class.h@12:a942d51c488b, 2016-01-15 (annotated)

Who changed what in which revision?

Repository toolbox

Repository details

Important Information for this Arm website

Access Warning