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@14:e614697ebf34, 2016-02-09 (annotated)

Committer:: Davidroid
Date:: Tue Feb 09 16:01:30 2016 +0000
Revision:: 14:e614697ebf34
Parent:: 13:25a579b9b7c3
Child:: 15:31785d1acd4b

+ Updated with the new template's syntax.

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	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	*/
Davidroid	1:b78dab6d2c58	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;
Davidroid	0:92706998571a	132	L6470_Id = number_of_devices++;
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	1:b78dab6d2c58	197	/**
Davidroid	1:b78dab6d2c58	198	* @brief Getting a parameter.
Davidroid	1:b78dab6d2c58	199	* @param parameter The parameter's identifier (or its register address).
Davidroid	1:b78dab6d2c58	200	* @retval The parameter's value.
Davidroid	1:b78dab6d2c58	201	*/
Davidroid	11:1aca63b2f034	202	virtual float GetParameter(unsigned int parameter)
Davidroid	0:92706998571a	203	{
Davidroid	11:1aca63b2f034	204	return (float) L6470_GetParam((eL6470_RegId_t) parameter);
Davidroid	0:92706998571a	205	}
Davidroid	0:92706998571a	206
Davidroid	1:b78dab6d2c58	207	/**
Davidroid	1:b78dab6d2c58	208	* @brief Getting the position.
Davidroid	1:b78dab6d2c58	209	* @param None.
Davidroid	1:b78dab6d2c58	210	* @retval The position.
Davidroid	1:b78dab6d2c58	211	*/
Davidroid	0:92706998571a	212	virtual signed int GetPosition(void)
Davidroid	0:92706998571a	213	{
Davidroid	1:b78dab6d2c58	214	return (signed int) L6470_AbsPos_2_Position((uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID));
Davidroid	0:92706998571a	215	}
Davidroid	0:92706998571a	216
Davidroid	1:b78dab6d2c58	217	/**
Davidroid	1:b78dab6d2c58	218	* @brief Getting the marked position.
Davidroid	1:b78dab6d2c58	219	* @param None.
Davidroid	1:b78dab6d2c58	220	* @retval The marked position.
Davidroid	1:b78dab6d2c58	221	*/
Davidroid	0:92706998571a	222	virtual signed int GetMark(void)
Davidroid	0:92706998571a	223	{
Davidroid	1:b78dab6d2c58	224	return (signed int) L6470_AbsPos_2_Position((uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_MARK_ID));
Davidroid	0:92706998571a	225	}
Davidroid	0:92706998571a	226
Davidroid	1:b78dab6d2c58	227	/**
Davidroid	1:b78dab6d2c58	228	* @brief Getting the current speed in pps.
Davidroid	1:b78dab6d2c58	229	* @param None.
Davidroid	1:b78dab6d2c58	230	* @retval The current speed in pps.
Davidroid	1:b78dab6d2c58	231	*/
Davidroid	0:92706998571a	232	virtual unsigned int GetSpeed(void)
Davidroid	0:92706998571a	233	{
Davidroid	1:b78dab6d2c58	234	return round(L6470_Speed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_SPEED_ID)));
Davidroid	0:92706998571a	235	}
Davidroid	0:92706998571a	236
Davidroid	1:b78dab6d2c58	237	/**
Davidroid	1:b78dab6d2c58	238	* @brief Getting the maximum speed in pps.
Davidroid	1:b78dab6d2c58	239	* @param None.
Davidroid	1:b78dab6d2c58	240	* @retval The maximum speed in pps.
Davidroid	1:b78dab6d2c58	241	*/
Davidroid	0:92706998571a	242	virtual unsigned int GetMaxSpeed(void)
Davidroid	0:92706998571a	243	{
Davidroid	1:b78dab6d2c58	244	return round(L6470_MaxSpeed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID)));
Davidroid	0:92706998571a	245	}
Davidroid	0:92706998571a	246
Davidroid	1:b78dab6d2c58	247	/**
Davidroid	1:b78dab6d2c58	248	* @brief Getting the minimum speed in pps.
Davidroid	1:b78dab6d2c58	249	* @param None.
Davidroid	1:b78dab6d2c58	250	* @retval The minimum speed in pps.
Davidroid	1:b78dab6d2c58	251	*/
Davidroid	0:92706998571a	252	virtual unsigned int GetMinSpeed(void)
Davidroid	0:92706998571a	253	{
Davidroid	1:b78dab6d2c58	254	return round(L6470_MinSpeed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID)));
Davidroid	0:92706998571a	255	}
Davidroid	0:92706998571a	256
Davidroid	1:b78dab6d2c58	257	/**
Davidroid	1:b78dab6d2c58	258	* @brief Getting the acceleration in pps^2.
Davidroid	1:b78dab6d2c58	259	* @param None.
Davidroid	1:b78dab6d2c58	260	* @retval The acceleration in pps^2.
Davidroid	1:b78dab6d2c58	261	*/
Davidroid	0:92706998571a	262	virtual unsigned int GetAcceleration(void)
Davidroid	0:92706998571a	263	{
Davidroid	1:b78dab6d2c58	264	return round(L6470_Acc_2_Step_s2((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_ACC_ID)));
Davidroid	0:92706998571a	265	}
Davidroid	0:92706998571a	266
Davidroid	1:b78dab6d2c58	267	/**
Davidroid	1:b78dab6d2c58	268	* @brief Getting the deceleration in pps^2.
Davidroid	1:b78dab6d2c58	269	* @param None.
Davidroid	1:b78dab6d2c58	270	* @retval The deceleration in pps^2.
Davidroid	1:b78dab6d2c58	271	*/
Davidroid	0:92706998571a	272	virtual unsigned int GetDeceleration(void)
Davidroid	0:92706998571a	273	{
Davidroid	1:b78dab6d2c58	274	return round(L6470_Dec_2_Step_s2((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_DEC_ID)));
Davidroid	0:92706998571a	275	}
Davidroid	0:92706998571a	276
Davidroid	1:b78dab6d2c58	277	/**
Davidroid	1:b78dab6d2c58	278	* @brief Getting the direction of rotation.
Davidroid	1:b78dab6d2c58	279	* @param None.
Davidroid	1:b78dab6d2c58	280	* @retval The direction of rotation.
Davidroid	1:b78dab6d2c58	281	*/
Davidroid	0:92706998571a	282	virtual direction_t GetDirection(void)
Davidroid	0:92706998571a	283	{
Davidroid	0:92706998571a	284	return (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD);
Davidroid	0:92706998571a	285	}
Davidroid	0:92706998571a	286
Davidroid	1:b78dab6d2c58	287	/**
Davidroid	1:b78dab6d2c58	288	* @brief Setting a parameter.
Davidroid	1:b78dab6d2c58	289	* @param parameter The parameter's identifier (or its register address).
Davidroid	1:b78dab6d2c58	290	* @param value The parameter's value.
Davidroid	1:b78dab6d2c58	291	* @retval None.
Davidroid	1:b78dab6d2c58	292	*/
Davidroid	11:1aca63b2f034	293	virtual void SetParameter(unsigned int parameter, float value)
Davidroid	0:92706998571a	294	{
Davidroid	0:92706998571a	295	L6470_SetParam((eL6470_RegId_t) parameter, (uint32_t) value);
Davidroid	0:92706998571a	296	}
Davidroid	0:92706998571a	297
Davidroid	1:b78dab6d2c58	298	/**
Davidroid	1:b78dab6d2c58	299	* @brief Setting the current position to be the home position.
Davidroid	1:b78dab6d2c58	300	* @param None.
Davidroid	1:b78dab6d2c58	301	* @retval None.
Davidroid	1:b78dab6d2c58	302	*/
Davidroid	0:92706998571a	303	virtual void SetHome(void)
Davidroid	0:92706998571a	304	{
Davidroid	0:92706998571a	305	L6470_ResetPos();
Davidroid	0:92706998571a	306	}
Davidroid	0:92706998571a	307
Davidroid	1:b78dab6d2c58	308	/**
Davidroid	1:b78dab6d2c58	309	* @brief Setting the current position to be the marked position.
Davidroid	1:b78dab6d2c58	310	* @param None.
Davidroid	1:b78dab6d2c58	311	* @retval None.
Davidroid	1:b78dab6d2c58	312	*/
Davidroid	0:92706998571a	313	virtual void SetMark(void)
Davidroid	0:92706998571a	314	{
Davidroid	0:92706998571a	315	L6470_SetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID));
Davidroid	0:92706998571a	316	}
Davidroid	0:92706998571a	317
Davidroid	1:b78dab6d2c58	318	/**
Davidroid	1:b78dab6d2c58	319	* @brief Setting the current position to be the marked position.
Davidroid	1:b78dab6d2c58	320	* @param position The given position.
Davidroid	1:b78dab6d2c58	321	* @retval None.
Davidroid	1:b78dab6d2c58	322	*/
Davidroid	1:b78dab6d2c58	323	virtual void SetMark(signed int position)
Davidroid	1:b78dab6d2c58	324	{
Davidroid	1:b78dab6d2c58	325	L6470_SetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
Davidroid	1:b78dab6d2c58	326	}
Davidroid	1:b78dab6d2c58	327
Davidroid	1:b78dab6d2c58	328	/**
Davidroid	1:b78dab6d2c58	329	* @brief Setting the maximum speed in pps.
Davidroid	1:b78dab6d2c58	330	* @param speed The maximum speed in pps.
Davidroid	1:b78dab6d2c58	331	* @retval None.
Davidroid	1:b78dab6d2c58	332	*/
Davidroid	0:92706998571a	333	virtual void SetMaxSpeed(unsigned int speed)
Davidroid	0:92706998571a	334	{
Davidroid	1:b78dab6d2c58	335	L6470_SetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) L6470_Step_s_2_MaxSpeed((float) speed));
Davidroid	0:92706998571a	336	}
Davidroid	0:92706998571a	337
Davidroid	1:b78dab6d2c58	338	/**
Davidroid	1:b78dab6d2c58	339	* @brief Setting the minimum speed in pps.
Davidroid	1:b78dab6d2c58	340	* @param speed The minimum speed in pps.
Davidroid	1:b78dab6d2c58	341	* @retval None.
Davidroid	1:b78dab6d2c58	342	*/
Davidroid	0:92706998571a	343	virtual void SetMinSpeed(unsigned int speed)
Davidroid	0:92706998571a	344	{
Davidroid	1:b78dab6d2c58	345	L6470_SetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) L6470_Step_s_2_MinSpeed((float) speed));
Davidroid	0:92706998571a	346	}
Davidroid	0:92706998571a	347
Davidroid	1:b78dab6d2c58	348	/**
Davidroid	1:b78dab6d2c58	349	* @brief Setting the acceleration in pps^2.
Davidroid	1:b78dab6d2c58	350	* @param acceleration The acceleration in pps^2.
Davidroid	1:b78dab6d2c58	351	* @retval None.
Davidroid	1:b78dab6d2c58	352	*/
Davidroid	0:92706998571a	353	virtual void SetAcceleration(unsigned int acceleration)
Davidroid	0:92706998571a	354	{
Davidroid	1:b78dab6d2c58	355	L6470_SetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) L6470_Step_s2_2_Acc((float) acceleration));
Davidroid	0:92706998571a	356	}
Davidroid	0:92706998571a	357
Davidroid	1:b78dab6d2c58	358	/**
Davidroid	1:b78dab6d2c58	359	* @brief Setting the deceleration in pps^2.
Davidroid	1:b78dab6d2c58	360	* @param deceleration The deceleration in pps^2.
Davidroid	1:b78dab6d2c58	361	* @retval None.
Davidroid	1:b78dab6d2c58	362	*/
Davidroid	0:92706998571a	363	virtual void SetDeceleration(unsigned int deceleration)
Davidroid	0:92706998571a	364	{
Davidroid	1:b78dab6d2c58	365	L6470_SetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) L6470_Step_s2_2_Dec((float) deceleration));
Davidroid	0:92706998571a	366	}
Davidroid	0:92706998571a	367
Davidroid	1:b78dab6d2c58	368	/**
Davidroid	1:b78dab6d2c58	369	* @brief Going to a specified position through the shortest path.
Davidroid	1:b78dab6d2c58	370	* @param position The desired position.
Davidroid	1:b78dab6d2c58	371	* @retval None.
Davidroid	1:b78dab6d2c58	372	*/
Davidroid	0:92706998571a	373	virtual void GoTo(signed int position)
Davidroid	0:92706998571a	374	{
Davidroid	1:b78dab6d2c58	375	L6470_GoTo((uint32_t) L6470_Position_2_AbsPos((int32_t) position));
Davidroid	0:92706998571a	376	}
Davidroid	0:92706998571a	377
Davidroid	1:b78dab6d2c58	378	/**
Davidroid	1:b78dab6d2c58	379	* @brief Going to a specified position imposing the desired direction.
Davidroid	1:b78dab6d2c58	380	* @param position The desired position.
Davidroid	1:b78dab6d2c58	381	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	382	* @retval None.
Davidroid	1:b78dab6d2c58	383	*/
Davidroid	0:92706998571a	384	virtual void GoTo(signed int position, direction_t direction)
Davidroid	0:92706998571a	385	{
Davidroid	1:b78dab6d2c58	386	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	387	}
Davidroid	0:92706998571a	388
Davidroid	1:b78dab6d2c58	389	/**
Davidroid	1:b78dab6d2c58	390	* @brief Going to the home position.
Davidroid	1:b78dab6d2c58	391	* @param None.
Davidroid	1:b78dab6d2c58	392	* @retval None.
Davidroid	1:b78dab6d2c58	393	*/
Davidroid	0:92706998571a	394	virtual void GoHome(void)
Davidroid	0:92706998571a	395	{
Davidroid	0:92706998571a	396	L6470_GoHome();
Davidroid	0:92706998571a	397	}
Davidroid	0:92706998571a	398
Davidroid	1:b78dab6d2c58	399	/**
Davidroid	1:b78dab6d2c58	400	* @brief Going to the marked position.
Davidroid	1:b78dab6d2c58	401	* @param None.
Davidroid	1:b78dab6d2c58	402	* @retval None.
Davidroid	1:b78dab6d2c58	403	*/
Davidroid	0:92706998571a	404	virtual void GoMark(void)
Davidroid	0:92706998571a	405	{
Davidroid	0:92706998571a	406	L6470_GoMark();
Davidroid	0:92706998571a	407	}
Davidroid	0:92706998571a	408
Davidroid	1:b78dab6d2c58	409	/**
Davidroid	1:b78dab6d2c58	410	* @brief Running at the given speed imposing the desired direction until
Davidroid	1:b78dab6d2c58	411	* an external switch turn-on event occurs.
Davidroid	1:b78dab6d2c58	412	* @param action The identifier of the action about the absolute position.
Davidroid	1:b78dab6d2c58	413	* @param position The desired position.
Davidroid	1:b78dab6d2c58	414	* @param speed The speed value in pps.
Davidroid	1:b78dab6d2c58	415	* @retval None.
Davidroid	1:b78dab6d2c58	416	* @note The identifier of the action about the absolute position can be
Davidroid	1:b78dab6d2c58	417	* one of the following:
Davidroid	1:b78dab6d2c58	418	* + L6470_ACT_RST_ID: the absolute position is reset;
Davidroid	1:b78dab6d2c58	419	* + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
Davidroid	1:b78dab6d2c58	420	*/
Davidroid	1:b78dab6d2c58	421	virtual void GoUntil(eL6470_ActId_t action, direction_t direction, unsigned int speed)
Davidroid	0:92706998571a	422	{
Davidroid	1:b78dab6d2c58	423	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	424	}
Davidroid	0:92706998571a	425
Davidroid	1:b78dab6d2c58	426	/**
Davidroid	1:b78dab6d2c58	427	* @brief Running towards a specified direction.
Davidroid	1:b78dab6d2c58	428	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	429	* @retval None.
Davidroid	1:b78dab6d2c58	430	*/
Davidroid	0:92706998571a	431	virtual void Run(direction_t direction)
Davidroid	0:92706998571a	432	{
Davidroid	0:92706998571a	433	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	434	}
Davidroid	0:92706998571a	435
Davidroid	1:b78dab6d2c58	436	/**
Davidroid	1:b78dab6d2c58	437	* @brief Running towards a specified direction at the given speed.
Davidroid	1:b78dab6d2c58	438	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	439	* @param speed The speed value in pps.
Davidroid	1:b78dab6d2c58	440	* @retval None.
Davidroid	1:b78dab6d2c58	441	*/
Davidroid	0:92706998571a	442	virtual void Run(direction_t direction, unsigned int speed)
Davidroid	0:92706998571a	443	{
Davidroid	1:b78dab6d2c58	444	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	445	}
Davidroid	0:92706998571a	446
Davidroid	1:b78dab6d2c58	447	/**
Davidroid	1:b78dab6d2c58	448	* @brief Moving towards a specified direction for a certain number of steps.
Davidroid	1:b78dab6d2c58	449	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	450	* @param steps The desired number of steps.
Davidroid	1:b78dab6d2c58	451	* @retval None.
Davidroid	1:b78dab6d2c58	452	*/
Davidroid	0:92706998571a	453	virtual void Move(direction_t direction, unsigned int steps)
Davidroid	0:92706998571a	454	{
Davidroid	0:92706998571a	455	L6470_Move((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) steps);
Davidroid	0:92706998571a	456	}
Davidroid	0:92706998571a	457
Davidroid	1:b78dab6d2c58	458	/**
Davidroid	1:b78dab6d2c58	459	* @brief Stopping the motor through an immediate deceleration up to zero speed.
Davidroid	1:b78dab6d2c58	460	* The used deceleration value is the one stored in the "DEC" register.
Davidroid	1:b78dab6d2c58	461	* @param None.
Davidroid	1:b78dab6d2c58	462	* @retval None.
Davidroid	1:b78dab6d2c58	463	*/
Davidroid	0:92706998571a	464	virtual void SoftStop(void)
Davidroid	0:92706998571a	465	{
Davidroid	0:92706998571a	466	L6470_SoftStop();
Davidroid	0:92706998571a	467	}
Davidroid	0:92706998571a	468
Davidroid	1:b78dab6d2c58	469	/**
Davidroid	1:b78dab6d2c58	470	* @brief Stopping the motor through an immediate infinite deceleration.
Davidroid	1:b78dab6d2c58	471	* @param None.
Davidroid	1:b78dab6d2c58	472	* @retval None.
Davidroid	1:b78dab6d2c58	473	*/
Davidroid	0:92706998571a	474	virtual void HardStop(void)
Davidroid	0:92706998571a	475	{
Davidroid	0:92706998571a	476	L6470_HardStop();
Davidroid	0:92706998571a	477	}
Davidroid	0:92706998571a	478
Davidroid	1:b78dab6d2c58	479	/**
Davidroid	1:b78dab6d2c58	480	* @brief Disabling the power bridge after performing a deceleration to zero.
Davidroid	1:b78dab6d2c58	481	* The used deceleration value is the one stored in the "DEC" register.
Davidroid	1:b78dab6d2c58	482	* @param None.
Davidroid	1:b78dab6d2c58	483	* @retval None.
Davidroid	1:b78dab6d2c58	484	*/
Davidroid	1:b78dab6d2c58	485	virtual void SoftHiZ(void)
Davidroid	1:b78dab6d2c58	486	{
Davidroid	1:b78dab6d2c58	487	L6470_SoftHiZ();
Davidroid	1:b78dab6d2c58	488	}
Davidroid	1:b78dab6d2c58	489
Davidroid	1:b78dab6d2c58	490	/**
Davidroid	1:b78dab6d2c58	491	* @brief Disabling the power bridge immediately.
Davidroid	1:b78dab6d2c58	492	* @param None.
Davidroid	1:b78dab6d2c58	493	* @retval None.
Davidroid	1:b78dab6d2c58	494	*/
Davidroid	1:b78dab6d2c58	495	virtual void HardHiZ(void)
Davidroid	1:b78dab6d2c58	496	{
Davidroid	1:b78dab6d2c58	497	L6470_HardHiZ();
Davidroid	1:b78dab6d2c58	498	}
Davidroid	1:b78dab6d2c58	499
Davidroid	1:b78dab6d2c58	500	/**
Davidroid	1:b78dab6d2c58	501	* @brief Waiting while the motor is active.
Davidroid	1:b78dab6d2c58	502	* @param None.
Davidroid	1:b78dab6d2c58	503	* @retval None.
Davidroid	1:b78dab6d2c58	504	*/
Davidroid	0:92706998571a	505	virtual void WaitWhileActive(void)
Davidroid	0:92706998571a	506	{
Davidroid	0:92706998571a	507	while (L6470_CheckStatusRegisterFlag(BUSY_ID) == 0);
Davidroid	0:92706998571a	508	}
Davidroid	0:92706998571a	509
Davidroid	1:b78dab6d2c58	510	/**
Davidroid	1:b78dab6d2c58	511	* @brief Switching to step-clock mode.
Davidroid	1:b78dab6d2c58	512	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	513	* @retval None.
Davidroid	1:b78dab6d2c58	514	*/
Davidroid	0:92706998571a	515	virtual void StepClock(direction_t direction)
Davidroid	0:92706998571a	516	{
Davidroid	0:92706998571a	517	L6470_StepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid	0:92706998571a	518	}
Davidroid	0:92706998571a	519
Davidroid	1:b78dab6d2c58	520	/**
Davidroid	1:b78dab6d2c58	521	* @brief Doing a motion at minimum speed imposing a specified direction
Davidroid	1:b78dab6d2c58	522	* until the SW is released.
Davidroid	1:b78dab6d2c58	523	* @param action The identifier of the action about the absolute position.
Davidroid	1:b78dab6d2c58	524	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	525	* @note The identifier of the action about the absolute position can be
Davidroid	1:b78dab6d2c58	526	* one of the following:
Davidroid	1:b78dab6d2c58	527	* + L6470_ACT_RST_ID: the absolute position is reset;
Davidroid	1:b78dab6d2c58	528	* + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
Davidroid	1:b78dab6d2c58	529	*/
Davidroid	1:b78dab6d2c58	530	virtual void ReleaseSW(eL6470_ActId_t action, direction_t direction)
Davidroid	0:92706998571a	531	{
Davidroid	1:b78dab6d2c58	532	L6470_ReleaseSW((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid	0:92706998571a	533	}
Davidroid	0:92706998571a	534
Davidroid	1:b78dab6d2c58	535	/**
Davidroid	1:b78dab6d2c58	536	* @brief Resetting the device to power-up conditions.
Davidroid	1:b78dab6d2c58	537	* @param None.
Davidroid	1:b78dab6d2c58	538	* @retval None.
Davidroid	1:b78dab6d2c58	539	*/
Davidroid	0:92706998571a	540	virtual void ResetDevice(void)
Davidroid	0:92706998571a	541	{
Davidroid	0:92706998571a	542	L6470_ResetDevice();
Davidroid	0:92706998571a	543	}
Davidroid	0:92706998571a	544
Davidroid	1:b78dab6d2c58	545	/**
Davidroid	1:b78dab6d2c58	546	* @brief Preparing the command to get the status.
Davidroid	1:b78dab6d2c58	547	* @param None.
Davidroid	1:b78dab6d2c58	548	* @retval None.
Davidroid	1:b78dab6d2c58	549	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	550	*/
Davidroid	0:92706998571a	551	virtual void PrepareGetStatus(void)
Davidroid	0:92706998571a	552	{
Davidroid	0:92706998571a	553	L6470_PrepareGetStatus();
Davidroid	1:b78dab6d2c58	554	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	555	}
Davidroid	0:92706998571a	556
Davidroid	1:b78dab6d2c58	557	/**
Davidroid	1:b78dab6d2c58	558	* @brief Preparing the command to get a parameter.
Davidroid	1:b78dab6d2c58	559	* @param parameter The parameter's identifier (or its register address).
Davidroid	1:b78dab6d2c58	560	* @retval None.
Davidroid	1:b78dab6d2c58	561	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	562	*/
Davidroid	0:92706998571a	563	virtual void PrepareGetParameter(unsigned int parameter)
Davidroid	0:92706998571a	564	{
Davidroid	0:92706998571a	565	L6470_PrepareGetParam((eL6470_RegId_t) parameter);
Davidroid	1:b78dab6d2c58	566	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	567	}
Davidroid	0:92706998571a	568
Davidroid	1:b78dab6d2c58	569	/**
Davidroid	1:b78dab6d2c58	570	* @brief Preparing the command to get the position.
Davidroid	1:b78dab6d2c58	571	* @param None.
Davidroid	1:b78dab6d2c58	572	* @retval None.
Davidroid	1:b78dab6d2c58	573	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	574	*/
Davidroid	0:92706998571a	575	virtual void PrepareGetPosition(void)
Davidroid	0:92706998571a	576	{
Davidroid	0:92706998571a	577	L6470_PrepareGetParam((eL6470_RegId_t) L6470_ABS_POS_ID);
Davidroid	1:b78dab6d2c58	578	prepared_action = PREPARED_GET_POSITION;
Davidroid	0:92706998571a	579	}
Davidroid	0:92706998571a	580
Davidroid	1:b78dab6d2c58	581	/**
Davidroid	1:b78dab6d2c58	582	* @brief Preparing the command to get the marked position.
Davidroid	1:b78dab6d2c58	583	* @param None.
Davidroid	1:b78dab6d2c58	584	* @retval None.
Davidroid	1:b78dab6d2c58	585	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	586	*/
Davidroid	0:92706998571a	587	virtual void PrepareGetMark(void)
Davidroid	0:92706998571a	588	{
Davidroid	0:92706998571a	589	L6470_PrepareGetParam((eL6470_RegId_t) L6470_MARK_ID);
Davidroid	1:b78dab6d2c58	590	prepared_action = PREPARED_GET_MARK;
Davidroid	0:92706998571a	591	}
Davidroid	0:92706998571a	592
Davidroid	1:b78dab6d2c58	593	/**
Davidroid	1:b78dab6d2c58	594	* @brief Preparing the command to get the current speed in pps.
Davidroid	1:b78dab6d2c58	595	* @param None.
Davidroid	1:b78dab6d2c58	596	* @retval None.
Davidroid	1:b78dab6d2c58	597	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	598	*/
Davidroid	0:92706998571a	599	virtual void PrepareGetSpeed(void)
Davidroid	0:92706998571a	600	{
Davidroid	1:b78dab6d2c58	601	L6470_PrepareGetParam((eL6470_RegId_t) L6470_SPEED_ID);
Davidroid	1:b78dab6d2c58	602	prepared_action = PREPARED_GET_SPEED;
Davidroid	0:92706998571a	603	}
Davidroid	0:92706998571a	604
Davidroid	1:b78dab6d2c58	605	/**
Davidroid	1:b78dab6d2c58	606	* @brief Preparing the command to get the maximum speed in pps.
Davidroid	1:b78dab6d2c58	607	* @param None.
Davidroid	1:b78dab6d2c58	608	* @retval None.
Davidroid	1:b78dab6d2c58	609	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	610	*/
Davidroid	0:92706998571a	611	virtual void PrepareGetMaxSpeed(void)
Davidroid	0:92706998571a	612	{
Davidroid	0:92706998571a	613	L6470_PrepareGetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID);
Davidroid	1:b78dab6d2c58	614	prepared_action = PREPARED_GET_MAX_SPEED;
Davidroid	0:92706998571a	615	}
Davidroid	0:92706998571a	616
Davidroid	1:b78dab6d2c58	617	/**
Davidroid	1:b78dab6d2c58	618	* @brief Preparing the command to get the minimum speed in pps.
Davidroid	1:b78dab6d2c58	619	* @param None.
Davidroid	1:b78dab6d2c58	620	* @retval None.
Davidroid	1:b78dab6d2c58	621	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	622	*/
Davidroid	0:92706998571a	623	virtual void PrepareGetMinSpeed(void)
Davidroid	0:92706998571a	624	{
Davidroid	0:92706998571a	625	L6470_PrepareGetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID);
Davidroid	1:b78dab6d2c58	626	prepared_action = PREPARED_GET_MIN_SPEED;
Davidroid	0:92706998571a	627	}
Davidroid	0:92706998571a	628
Davidroid	1:b78dab6d2c58	629	/**
Davidroid	1:b78dab6d2c58	630	* @brief Preparing the command to get the acceleration in pps^2.
Davidroid	1:b78dab6d2c58	631	* @param None.
Davidroid	1:b78dab6d2c58	632	* @retval None.
Davidroid	1:b78dab6d2c58	633	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	634	*/
Davidroid	0:92706998571a	635	virtual void PrepareGetAcceleration(void)
Davidroid	0:92706998571a	636	{
Davidroid	0:92706998571a	637	L6470_PrepareGetParam((eL6470_RegId_t) L6470_ACC_ID);
Davidroid	1:b78dab6d2c58	638	prepared_action = PREPARED_GET_ACCELERATION;
Davidroid	0:92706998571a	639	}
Davidroid	0:92706998571a	640
Davidroid	1:b78dab6d2c58	641	/**
Davidroid	1:b78dab6d2c58	642	* @brief Preparing the command to get the deceleration in pps^2.
Davidroid	1:b78dab6d2c58	643	* @param None.
Davidroid	1:b78dab6d2c58	644	* @retval None.
Davidroid	1:b78dab6d2c58	645	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	646	*/
Davidroid	0:92706998571a	647	virtual void PrepareGetDeceleration(void)
Davidroid	0:92706998571a	648	{
Davidroid	0:92706998571a	649	L6470_PrepareGetParam((eL6470_RegId_t) L6470_DEC_ID);
Davidroid	1:b78dab6d2c58	650	prepared_action = PREPARED_GET_DECELERATION;
Davidroid	0:92706998571a	651	}
Davidroid	0:92706998571a	652
Davidroid	1:b78dab6d2c58	653	/**
Davidroid	1:b78dab6d2c58	654	* @brief Preparing the command to get the direction of rotation.
Davidroid	1:b78dab6d2c58	655	* @param None.
Davidroid	1:b78dab6d2c58	656	* @retval None.
Davidroid	1:b78dab6d2c58	657	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	658	*/
Davidroid	1:b78dab6d2c58	659	virtual void PrepareGetDirection(void)
Davidroid	0:92706998571a	660	{
Davidroid	1:b78dab6d2c58	661	if (!L6470_DaisyChain_HalfPrepared)
Davidroid	1:b78dab6d2c58	662	{
Davidroid	1:b78dab6d2c58	663	/* To avoid deleting the previous entered command. */
Davidroid	1:b78dab6d2c58	664	L6470_DaisyChain_HalfPrepared = ONE_F;
Davidroid	1:b78dab6d2c58	665	/* Resetting commands. */
Davidroid	1:b78dab6d2c58	666	L6470_ResetAppCmdPkg(L6470_AppCmdPkg);
Davidroid	1:b78dab6d2c58	667	}
Davidroid	1:b78dab6d2c58	668	prepared_action = PREPARED_GET_DIRECTION;
Davidroid	0:92706998571a	669	}
Davidroid	0:92706998571a	670
Davidroid	1:b78dab6d2c58	671	/**
Davidroid	1:b78dab6d2c58	672	* @brief Preparing the command to set a parameter.
Davidroid	1:b78dab6d2c58	673	* @param parameter The parameter's identifier (or its register address).
Davidroid	1:b78dab6d2c58	674	* @param value The parameter's value.
Davidroid	1:b78dab6d2c58	675	* @retval None.
Davidroid	1:b78dab6d2c58	676	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	677	*/
Davidroid	0:92706998571a	678	virtual void PrepareSetParameter(unsigned int parameter, unsigned int value)
Davidroid	0:92706998571a	679	{
Davidroid	0:92706998571a	680	L6470_PrepareSetParam((eL6470_RegId_t) parameter, (uint32_t) value);
Davidroid	1:b78dab6d2c58	681	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	682	}
Davidroid	0:92706998571a	683
Davidroid	1:b78dab6d2c58	684	/**
Davidroid	1:b78dab6d2c58	685	* @brief Preparing the command to set the current position to be
Davidroid	1:b78dab6d2c58	686	* the home position.
Davidroid	1:b78dab6d2c58	687	* @param None.
Davidroid	1:b78dab6d2c58	688	* @retval None.
Davidroid	1:b78dab6d2c58	689	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	690	*/
Davidroid	0:92706998571a	691	virtual void PrepareSetHome(void)
Davidroid	0:92706998571a	692	{
Davidroid	0:92706998571a	693	L6470_PrepareResetPos();
Davidroid	1:b78dab6d2c58	694	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	695	}
Davidroid	0:92706998571a	696
Davidroid	1:b78dab6d2c58	697	/**
Davidroid	1:b78dab6d2c58	698	* @brief Preparing the command to set the current position to be
Davidroid	1:b78dab6d2c58	699	* the marked position.
Davidroid	1:b78dab6d2c58	700	* @param None.
Davidroid	1:b78dab6d2c58	701	* @retval None.
Davidroid	1:b78dab6d2c58	702	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	703	*/
Davidroid	0:92706998571a	704	virtual void PrepareSetMark(void)
Davidroid	0:92706998571a	705	{
Davidroid	1:b78dab6d2c58	706	/*
Davidroid	1:b78dab6d2c58	707	Set "0" now as marked position. This value will be replaced by the
Davidroid	1:b78dab6d2c58	708	actual position read at the time when the prepared actions will be
Davidroid	1:b78dab6d2c58	709	performed.
Davidroid	1:b78dab6d2c58	710	*/
Davidroid	1:b78dab6d2c58	711	L6470_PrepareSetParam((eL6470_RegId_t) L6470_MARK_ID, 0);
Davidroid	1:b78dab6d2c58	712	prepared_action = PREPARED_SET_MARK;
Davidroid	0:92706998571a	713	}
Davidroid	0:92706998571a	714
Davidroid	1:b78dab6d2c58	715	/**
Davidroid	1:b78dab6d2c58	716	* @brief Preparing the command to set the given position to be
Davidroid	1:b78dab6d2c58	717	* the marked position.
Davidroid	1:b78dab6d2c58	718	* @param position The given position.
Davidroid	1:b78dab6d2c58	719	* @retval None.
Davidroid	1:b78dab6d2c58	720	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	721	*/
Davidroid	1:b78dab6d2c58	722	virtual void PrepareSetMark(signed int position)
Davidroid	1:b78dab6d2c58	723	{
Davidroid	1:b78dab6d2c58	724	L6470_PrepareSetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
Davidroid	1:b78dab6d2c58	725	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	726	}
Davidroid	1:b78dab6d2c58	727
Davidroid	1:b78dab6d2c58	728	/**
Davidroid	1:b78dab6d2c58	729	* @brief Preparing the command to set the current speed in pps.
Davidroid	1:b78dab6d2c58	730	* @param speed The current speed in pps.
Davidroid	1:b78dab6d2c58	731	* @retval None.
Davidroid	1:b78dab6d2c58	732	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	733	*/
Davidroid	1:b78dab6d2c58	734	virtual void PrepareSetSpeed(unsigned int speed)
Davidroid	1:b78dab6d2c58	735	{
Davidroid	1:b78dab6d2c58	736	L6470_PrepareSetParam((eL6470_RegId_t) L6470_SPEED_ID, (uint32_t) L6470_Step_s_2_Speed((float) speed));
Davidroid	1:b78dab6d2c58	737	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	738	}
Davidroid	1:b78dab6d2c58	739
Davidroid	1:b78dab6d2c58	740	/**
Davidroid	1:b78dab6d2c58	741	* @brief Preparing the command to set the maximum speed in pps.
Davidroid	1:b78dab6d2c58	742	* @param speed The maximum speed in pps.
Davidroid	1:b78dab6d2c58	743	* @retval None.
Davidroid	1:b78dab6d2c58	744	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	745	*/
Davidroid	0:92706998571a	746	virtual void PrepareSetMaxSpeed(unsigned int speed)
Davidroid	0:92706998571a	747	{
Davidroid	1:b78dab6d2c58	748	L6470_PrepareSetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) L6470_Step_s_2_MaxSpeed((float) speed));
Davidroid	1:b78dab6d2c58	749	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	750	}
Davidroid	0:92706998571a	751
Davidroid	1:b78dab6d2c58	752	/**
Davidroid	1:b78dab6d2c58	753	* @brief Preparing the command to set the minimum speed in pps.
Davidroid	1:b78dab6d2c58	754	* @param speed The minimum speed in pps.
Davidroid	1:b78dab6d2c58	755	* @retval None.
Davidroid	1:b78dab6d2c58	756	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	757	*/
Davidroid	1:b78dab6d2c58	758	virtual void PrepareSetMinSpeed(unsigned int speed)
Davidroid	1:b78dab6d2c58	759	{
Davidroid	1:b78dab6d2c58	760	L6470_PrepareSetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) L6470_Step_s_2_MinSpeed((float) speed));
Davidroid	1:b78dab6d2c58	761	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	762	}
Davidroid	1:b78dab6d2c58	763
Davidroid	1:b78dab6d2c58	764	/**
Davidroid	1:b78dab6d2c58	765	* @brief Preparing the command to set the acceleration in pps^2.
Davidroid	1:b78dab6d2c58	766	* @param acceleration The acceleration in pps^2.
Davidroid	1:b78dab6d2c58	767	* @retval None.
Davidroid	1:b78dab6d2c58	768	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	769	*/
Davidroid	0:92706998571a	770	virtual void PrepareSetAcceleration(unsigned int acceleration)
Davidroid	0:92706998571a	771	{
Davidroid	1:b78dab6d2c58	772	L6470_PrepareSetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) L6470_Step_s2_2_Acc((float) acceleration));
Davidroid	1:b78dab6d2c58	773	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	774	}
Davidroid	0:92706998571a	775
Davidroid	1:b78dab6d2c58	776	/**
Davidroid	1:b78dab6d2c58	777	* @brief Preparing the command to set the deceleration in pps^2.
Davidroid	1:b78dab6d2c58	778	* @param deceleration The deceleration in pps^2.
Davidroid	1:b78dab6d2c58	779	* @retval None.
Davidroid	1:b78dab6d2c58	780	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	781	*/
Davidroid	1:b78dab6d2c58	782	virtual void PrepareSetDeceleration(unsigned int deceleration)
Davidroid	0:92706998571a	783	{
Davidroid	1:b78dab6d2c58	784	L6470_PrepareSetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) L6470_Step_s2_2_Dec((float) deceleration));
Davidroid	1:b78dab6d2c58	785	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	786	}
Davidroid	0:92706998571a	787
Davidroid	1:b78dab6d2c58	788	/**
Davidroid	1:b78dab6d2c58	789	* @brief Preparing the command to go to a specified position.
Davidroid	1:b78dab6d2c58	790	* @param position The desired position.
Davidroid	1:b78dab6d2c58	791	* @retval None.
Davidroid	1:b78dab6d2c58	792	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	793	*/
Davidroid	1:b78dab6d2c58	794	virtual void PrepareGoTo(signed int position)
Davidroid	1:b78dab6d2c58	795	{
Davidroid	1:b78dab6d2c58	796	L6470_PrepareGoTo((uint32_t) L6470_Position_2_AbsPos((int32_t) position));
Davidroid	1:b78dab6d2c58	797	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	798	}
Davidroid	1:b78dab6d2c58	799
Davidroid	1:b78dab6d2c58	800	/**
Davidroid	1:b78dab6d2c58	801	* @brief Preparing the command to go to a specified position
Davidroid	1:b78dab6d2c58	802	* imposing the desired direction.
Davidroid	1:b78dab6d2c58	803	* @param position The desired position.
Davidroid	1:b78dab6d2c58	804	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	805	* @retval None.
Davidroid	1:b78dab6d2c58	806	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	807	*/
Davidroid	0:92706998571a	808	virtual void PrepareGoTo(signed int position, direction_t direction)
Davidroid	0:92706998571a	809	{
Davidroid	1:b78dab6d2c58	810	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	811	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	812	}
Davidroid	0:92706998571a	813
Davidroid	1:b78dab6d2c58	814	/**
Davidroid	1:b78dab6d2c58	815	* @brief Preparing the command to go to the home position.
Davidroid	1:b78dab6d2c58	816	* @param None.
Davidroid	1:b78dab6d2c58	817	* @retval None.
Davidroid	1:b78dab6d2c58	818	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	819	*/
Davidroid	0:92706998571a	820	virtual void PrepareGoHome(void)
Davidroid	0:92706998571a	821	{
Davidroid	0:92706998571a	822	L6470_PrepareGoHome();
Davidroid	1:b78dab6d2c58	823	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	824	}
Davidroid	0:92706998571a	825
Davidroid	1:b78dab6d2c58	826	/**
Davidroid	1:b78dab6d2c58	827	* @brief Preparing the command to go to the marked position.
Davidroid	1:b78dab6d2c58	828	* @param None.
Davidroid	1:b78dab6d2c58	829	* @retval None.
Davidroid	1:b78dab6d2c58	830	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	831	*/
Davidroid	0:92706998571a	832	virtual void PrepareGoMark(void)
Davidroid	0:92706998571a	833	{
Davidroid	0:92706998571a	834	L6470_PrepareGoMark();
Davidroid	1:b78dab6d2c58	835	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	836	}
Davidroid	0:92706998571a	837
Davidroid	1:b78dab6d2c58	838	/**
Davidroid	1:b78dab6d2c58	839	* @brief Preparing the command to run at the given speed imposing the desired
Davidroid	1:b78dab6d2c58	840	* direction until an external switch turn-on event occurs.
Davidroid	1:b78dab6d2c58	841	* @param action The identifier of the action about the absolute position.
Davidroid	1:b78dab6d2c58	842	* @param position The desired position.
Davidroid	1:b78dab6d2c58	843	* @param speed The speed value in pps.
Davidroid	1:b78dab6d2c58	844	* @retval None.
Davidroid	1:b78dab6d2c58	845	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	846	* The identifier of the action about the absolute position can be
Davidroid	1:b78dab6d2c58	847	* one of the following:
Davidroid	1:b78dab6d2c58	848	* + L6470_ACT_RST_ID: the absolute position is reset;
Davidroid	1:b78dab6d2c58	849	* + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
Davidroid	1:b78dab6d2c58	850	*/
Davidroid	0:92706998571a	851	virtual void PrepareGoUntil(eL6470_ActId_t L6470_ActId, direction_t direction, unsigned int speed)
Davidroid	0:92706998571a	852	{
Davidroid	1:b78dab6d2c58	853	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	854	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	855	}
Davidroid	0:92706998571a	856
Davidroid	1:b78dab6d2c58	857	/**
Davidroid	1:b78dab6d2c58	858	* @brief Preparing the command to run towards a specified direction
Davidroid	1:b78dab6d2c58	859	* at the maximum speed.
Davidroid	1:b78dab6d2c58	860	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	861	* @retval None.
Davidroid	1:b78dab6d2c58	862	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	863	*/
Davidroid	0:92706998571a	864	virtual void PrepareRun(direction_t direction)
Davidroid	0:92706998571a	865	{
Davidroid	0:92706998571a	866	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	867	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	868	}
Davidroid	0:92706998571a	869
Davidroid	1:b78dab6d2c58	870	/**
Davidroid	1:b78dab6d2c58	871	* @brief Preparing the command to run towards a specified direction
Davidroid	1:b78dab6d2c58	872	* at the given speed.
Davidroid	1:b78dab6d2c58	873	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	874	* @param speed The speed value in pps.
Davidroid	1:b78dab6d2c58	875	* @retval None.
Davidroid	1:b78dab6d2c58	876	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	877	*/
Davidroid	0:92706998571a	878	virtual void PrepareRun(direction_t direction, unsigned int speed)
Davidroid	0:92706998571a	879	{
Davidroid	1:b78dab6d2c58	880	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	881	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	882	}
Davidroid	0:92706998571a	883
Davidroid	1:b78dab6d2c58	884	/**
Davidroid	1:b78dab6d2c58	885	* @brief Preparing the command to move towards a specified direction
Davidroid	1:b78dab6d2c58	886	* for a certain number of steps.
Davidroid	1:b78dab6d2c58	887	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	888	* @param steps The desired number of steps.
Davidroid	1:b78dab6d2c58	889	* @retval None.
Davidroid	1:b78dab6d2c58	890	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	891	*/
Davidroid	0:92706998571a	892	virtual void PrepareMove(direction_t direction, unsigned int steps)
Davidroid	0:92706998571a	893	{
Davidroid	0:92706998571a	894	L6470_PrepareMove((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) steps);
Davidroid	1:b78dab6d2c58	895	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	896	}
Davidroid	0:92706998571a	897
Davidroid	1:b78dab6d2c58	898	/**
Davidroid	1:b78dab6d2c58	899	* @brief Preparing the command to stop the motor.
Davidroid	1:b78dab6d2c58	900	* @param None.
Davidroid	1:b78dab6d2c58	901	* @retval None.
Davidroid	1:b78dab6d2c58	902	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	903	*/
Davidroid	0:92706998571a	904	virtual void PrepareSoftStop(void)
Davidroid	0:92706998571a	905	{
Davidroid	0:92706998571a	906	L6470_PrepareSoftStop();
Davidroid	1:b78dab6d2c58	907	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	908	}
Davidroid	0:92706998571a	909
Davidroid	1:b78dab6d2c58	910	/**
Davidroid	1:b78dab6d2c58	911	* @brief Preparing the command to stop the motor and disabling the power bridge.
Davidroid	1:b78dab6d2c58	912	* @param None.
Davidroid	1:b78dab6d2c58	913	* @retval None.
Davidroid	1:b78dab6d2c58	914	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	915	*/
Davidroid	0:92706998571a	916	virtual void PrepareHardStop(void)
Davidroid	0:92706998571a	917	{
Davidroid	0:92706998571a	918	L6470_PrepareHardStop();
Davidroid	1:b78dab6d2c58	919	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	920	}
Davidroid	0:92706998571a	921
Davidroid	1:b78dab6d2c58	922	/**
Davidroid	1:b78dab6d2c58	923	* @brief Preparing the command to disable the power bridge after performing
Davidroid	1:b78dab6d2c58	924	* a deceleration to zero.
Davidroid	1:b78dab6d2c58	925	* The used deceleration value is the one stored in the "DEC" register.
Davidroid	1:b78dab6d2c58	926	* @param None.
Davidroid	1:b78dab6d2c58	927	* @retval None.
Davidroid	1:b78dab6d2c58	928	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	929	*/
Davidroid	0:92706998571a	930	virtual void PrepareSoftHiZ(void)
Davidroid	0:92706998571a	931	{
Davidroid	0:92706998571a	932	L6470_PrepareSoftHiZ();
Davidroid	1:b78dab6d2c58	933	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	934	}
Davidroid	0:92706998571a	935
Davidroid	1:b78dab6d2c58	936	/**
Davidroid	1:b78dab6d2c58	937	* @brief Preparing the command to disable the power bridge immediately.
Davidroid	1:b78dab6d2c58	938	* @param None.
Davidroid	1:b78dab6d2c58	939	* @retval None.
Davidroid	1:b78dab6d2c58	940	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	941	*/
Davidroid	0:92706998571a	942	virtual void PrepareHardHiZ(void)
Davidroid	0:92706998571a	943	{
Davidroid	0:92706998571a	944	L6470_PrepareHardHiZ();
Davidroid	1:b78dab6d2c58	945	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	946	}
Davidroid	1:b78dab6d2c58	947
Davidroid	1:b78dab6d2c58	948	/**
Davidroid	1:b78dab6d2c58	949	* @brief Preparing the command to switch to step-clock mode.
Davidroid	1:b78dab6d2c58	950	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	951	* @retval None.
Davidroid	1:b78dab6d2c58	952	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	953	*/
Davidroid	1:b78dab6d2c58	954	virtual void PrepareStepClock(direction_t direction)
Davidroid	1:b78dab6d2c58	955	{
Davidroid	1:b78dab6d2c58	956	L6470_PrepareStepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid	1:b78dab6d2c58	957	prepared_action = PREPARED_NO_ACTION;
Davidroid	0:92706998571a	958	}
Davidroid	0:92706998571a	959
Davidroid	1:b78dab6d2c58	960	/**
Davidroid	1:b78dab6d2c58	961	* @brief Preparing the command to do a motion at minimum speed
Davidroid	1:b78dab6d2c58	962	* imposing a specified direction until the SW is released.
Davidroid	1:b78dab6d2c58	963	* @param action The identifier of the action about the absolute position.
Davidroid	1:b78dab6d2c58	964	* @param direction The direction of rotation.
Davidroid	1:b78dab6d2c58	965	* @retval None.
Davidroid	1:b78dab6d2c58	966	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	967	* The identifier of the action about the absolute position can be
Davidroid	1:b78dab6d2c58	968	* one of the following:
Davidroid	1:b78dab6d2c58	969	* + L6470_ACT_RST_ID: the absolute position is reset;
Davidroid	1:b78dab6d2c58	970	* + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
Davidroid	1:b78dab6d2c58	971	*/
Davidroid	1:b78dab6d2c58	972	virtual void PrepareReleaseSW(eL6470_ActId_t action, direction_t direction)
Davidroid	0:92706998571a	973	{
Davidroid	1:b78dab6d2c58	974	L6470_PrepareReleaseSW((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
Davidroid	1:b78dab6d2c58	975	prepared_action = PREPARED_NO_ACTION;
Davidroid	1:b78dab6d2c58	976	}
Davidroid	1:b78dab6d2c58	977
Davidroid	1:b78dab6d2c58	978	/**
Davidroid	1:b78dab6d2c58	979	* @brief Preparing the command to reset the device to power-up conditions.
Davidroid	1:b78dab6d2c58	980	* @param None.
Davidroid	1:b78dab6d2c58	981	* @retval None.
Davidroid	1:b78dab6d2c58	982	* @note The command will be sent by issuing "PerformAction()".
Davidroid	1:b78dab6d2c58	983	*/
Davidroid	1:b78dab6d2c58	984	virtual void PrepareResetDevice(void)
Davidroid	1:b78dab6d2c58	985	{
Davidroid	1:b78dab6d2c58	986	L6470_PrepareResetDevice();
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 Performing all the actions prepared on the components
Davidroid	1:b78dab6d2c58	992	* of the daisy-chain.
Davidroid	1:b78dab6d2c58	993	* @param None.
Davidroid	1:b78dab6d2c58	994	* @retval The raw data returned by the components.
Davidroid	1:b78dab6d2c58	995	*/
Davidroid	1:b78dab6d2c58	996	uint8_t* PerformPreparedActions(void)
Davidroid	0:92706998571a	997	{
Davidroid	1:b78dab6d2c58	998	return L6470_PerformPreparedApplicationCommand();
Davidroid	1:b78dab6d2c58	999	}
Davidroid	1:b78dab6d2c58	1000
Davidroid	1:b78dab6d2c58	1001	/**
Davidroid	1:b78dab6d2c58	1002	* @brief Getting the prepared action.
Davidroid	1:b78dab6d2c58	1003	* @param None
Davidroid	1:b78dab6d2c58	1004	* @retval The prepared action.
Davidroid	1:b78dab6d2c58	1005	*/
Davidroid	1:b78dab6d2c58	1006	prepared_action_t GetPreparedAction(void)
Davidroid	1:b78dab6d2c58	1007	{
Davidroid	1:b78dab6d2c58	1008	return prepared_action;
Davidroid	0:92706998571a	1009	}
Davidroid	0:92706998571a	1010
Davidroid	1:b78dab6d2c58	1011	/**
Davidroid	1:b78dab6d2c58	1012	* @brief Converting the raw data received by the component according to
Davidroid	1:b78dab6d2c58	1013	* the action performed on it.
Davidroid	1:b78dab6d2c58	1014	* @param raw_data The received raw data.
Davidroid	1:b78dab6d2c58	1015	* @retval The result of the action performed.
Davidroid	1:b78dab6d2c58	1016	*/
Davidroid	1:b78dab6d2c58	1017	int32_t GetResult(uint8_t *raw_data)
Davidroid	0:92706998571a	1018	{
Davidroid	1:b78dab6d2c58	1019	switch (prepared_action)
Davidroid	1:b78dab6d2c58	1020	{
Davidroid	1:b78dab6d2c58	1021	case PREPARED_GET_POSITION:
Davidroid	1:b78dab6d2c58	1022	return L6470_AbsPos_2_Position(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_ABS_POS_ID].LengthByte));
Davidroid	1:b78dab6d2c58	1023
Davidroid	1:b78dab6d2c58	1024	case PREPARED_GET_MARK:
Davidroid	1:b78dab6d2c58	1025	return L6470_AbsPos_2_Position(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MARK_ID].LengthByte));
Davidroid	0:92706998571a	1026
Davidroid	1:b78dab6d2c58	1027	case PREPARED_GET_SPEED:
Davidroid	1:b78dab6d2c58	1028	return round(L6470_Speed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_SPEED_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1029
Davidroid	1:b78dab6d2c58	1030	case PREPARED_GET_MAX_SPEED:
Davidroid	1:b78dab6d2c58	1031	return round(L6470_MaxSpeed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MAX_SPEED_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1032
Davidroid	1:b78dab6d2c58	1033	case PREPARED_GET_MIN_SPEED:
Davidroid	1:b78dab6d2c58	1034	return round(L6470_MinSpeed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MIN_SPEED_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1035
Davidroid	1:b78dab6d2c58	1036	case PREPARED_GET_ACCELERATION:
Davidroid	1:b78dab6d2c58	1037	return round(L6470_Acc_2_Step_s2(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_ACC_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1038
Davidroid	1:b78dab6d2c58	1039	case PREPARED_GET_DECELERATION:
Davidroid	1:b78dab6d2c58	1040	return round(L6470_Dec_2_Step_s2(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_DEC_ID].LengthByte)));
Davidroid	1:b78dab6d2c58	1041
Davidroid	1:b78dab6d2c58	1042	case PREPARED_GET_DIRECTION:
Davidroid	1:b78dab6d2c58	1043	return (int32_t) (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD);
Davidroid	1:b78dab6d2c58	1044
Davidroid	1:b78dab6d2c58	1045	default:
Davidroid	1:b78dab6d2c58	1046	case PREPARED_NO_ACTION:
Davidroid	1:b78dab6d2c58	1047	return 0;
Davidroid	1:b78dab6d2c58	1048	}
Davidroid	0:92706998571a	1049	}
Davidroid	0:92706998571a	1050
Davidroid	0:92706998571a	1051
Davidroid	0:92706998571a	1052	/* Public Interrupt Related Methods */
Davidroid	0:92706998571a	1053
Davidroid	0:92706998571a	1054	/* ACTION 6 --------------------------------------------------------------*
Davidroid	0:92706998571a	1055	* Implement here interrupt related methods, if any. *
Davidroid	0:92706998571a	1056	* Note that interrupt handling is platform dependent, e.g.: *
Davidroid	0:92706998571a	1057	* + mbed: *
Davidroid	14:e614697ebf34	1058	* InterruptIn feature_irq(pin); //Interrupt object. *
Davidroid	14:e614697ebf34	1059	* feature_irq.fall(callback); //Attach a callback. *
Davidroid	14:e614697ebf34	1060	* feature_irq.mode(PullNone); //Set interrupt mode. *
Davidroid	14:e614697ebf34	1061	* feature_irq.enable_irq(); //Enable interrupt. *
Davidroid	14:e614697ebf34	1062	* feature_irq.disable_irq(); //Disable interrupt. *
Davidroid	0:92706998571a	1063	* + Arduino: *
Davidroid	0:92706998571a	1064	* attachInterrupt(pin, callback, RISING); //Attach a callback. *
Davidroid	0:92706998571a	1065	* detachInterrupt(pin); //Detach a callback. *
Davidroid	0:92706998571a	1066	* *
Davidroid	0:92706998571a	1067	* Example (mbed): *
Davidroid	0:92706998571a	1068	* void AttachFeatureIRQ(void (fptr) (void))
Davidroid	0:92706998571a	1069	* { *
Davidroid	14:e614697ebf34	1070	* feature_irq.fall(fptr); *
Davidroid	0:92706998571a	1071	* } *
Davidroid	0:92706998571a	1072	* *
Davidroid	0:92706998571a	1073	* void EnableFeatureIRQ(void) *
Davidroid	0:92706998571a	1074	* { *
Davidroid	0:92706998571a	1075	* feature_irq.enable_irq(); *
Davidroid	0:92706998571a	1076	* } *
Davidroid	0:92706998571a	1077	* *
Davidroid	0:92706998571a	1078	* void DisableFeatureIRQ(void) *
Davidroid	0:92706998571a	1079	* { *
Davidroid	0:92706998571a	1080	* feature_irq.disable_irq(); *
Davidroid	0:92706998571a	1081	* } *
Davidroid	0:92706998571a	1082	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1083	/**
Davidroid	1:b78dab6d2c58	1084	* @brief Attaching an interrupt handler to the FLAG interrupt.
Davidroid	1:b78dab6d2c58	1085	* @param fptr An interrupt handler.
Davidroid	0:92706998571a	1086	* @retval None.
Davidroid	0:92706998571a	1087	*/
Davidroid	0:92706998571a	1088	void AttachFlagIRQ(void (*fptr)(void))
Davidroid	0:92706998571a	1089	{
Davidroid	11:1aca63b2f034	1090	flag_irq.fall(fptr);
Davidroid	0:92706998571a	1091	}
Davidroid	0:92706998571a	1092
Davidroid	0:92706998571a	1093	/**
Davidroid	1:b78dab6d2c58	1094	* @brief Enabling the FLAG interrupt handling.
Davidroid	0:92706998571a	1095	* @param None.
Davidroid	0:92706998571a	1096	* @retval None.
Davidroid	0:92706998571a	1097	*/
Davidroid	0:92706998571a	1098	void EnableFlagIRQ(void)
Davidroid	0:92706998571a	1099	{
Davidroid	0:92706998571a	1100	flag_irq.enable_irq();
Davidroid	0:92706998571a	1101	}
Davidroid	0:92706998571a	1102
Davidroid	0:92706998571a	1103	/**
Davidroid	1:b78dab6d2c58	1104	* @brief Disabling the FLAG interrupt handling.
Davidroid	0:92706998571a	1105	* @param None.
Davidroid	0:92706998571a	1106	* @retval None.
Davidroid	0:92706998571a	1107	*/
Davidroid	0:92706998571a	1108	void DisableFlagIRQ(void)
Davidroid	0:92706998571a	1109	{
Davidroid	0:92706998571a	1110	flag_irq.disable_irq();
Davidroid	0:92706998571a	1111	}
Davidroid	0:92706998571a	1112
Davidroid	1:b78dab6d2c58	1113	/**
Davidroid	1:b78dab6d2c58	1114	* @brief Attaching an interrupt handler to the BUSY interrupt.
Davidroid	1:b78dab6d2c58	1115	* @param fptr An interrupt handler.
Davidroid	1:b78dab6d2c58	1116	* @retval None.
Davidroid	1:b78dab6d2c58	1117	*/
Davidroid	1:b78dab6d2c58	1118	void AttachBusyIRQ(void (*fptr)(void))
Davidroid	1:b78dab6d2c58	1119	{
Davidroid	11:1aca63b2f034	1120	busy_irq.fall(fptr);
Davidroid	1:b78dab6d2c58	1121	}
Davidroid	1:b78dab6d2c58	1122
Davidroid	1:b78dab6d2c58	1123	/**
Davidroid	1:b78dab6d2c58	1124	* @brief Enabling the BUSY interrupt handling.
Davidroid	1:b78dab6d2c58	1125	* @param None.
Davidroid	1:b78dab6d2c58	1126	* @retval None.
Davidroid	1:b78dab6d2c58	1127	*/
Davidroid	1:b78dab6d2c58	1128	void EnableBusyIRQ(void)
Davidroid	1:b78dab6d2c58	1129	{
Davidroid	1:b78dab6d2c58	1130	busy_irq.enable_irq();
Davidroid	1:b78dab6d2c58	1131	}
Davidroid	1:b78dab6d2c58	1132
Davidroid	1:b78dab6d2c58	1133	/**
Davidroid	1:b78dab6d2c58	1134	* @brief Disabling the BUSY interrupt handling.
Davidroid	1:b78dab6d2c58	1135	* @param None.
Davidroid	1:b78dab6d2c58	1136	* @retval None.
Davidroid	1:b78dab6d2c58	1137	*/
Davidroid	1:b78dab6d2c58	1138	void DisableBusyIRQ(void)
Davidroid	1:b78dab6d2c58	1139	{
Davidroid	1:b78dab6d2c58	1140	busy_irq.disable_irq();
Davidroid	1:b78dab6d2c58	1141	}
Davidroid	1:b78dab6d2c58	1142
Davidroid	0:92706998571a	1143
Davidroid	0:92706998571a	1144	protected:
Davidroid	0:92706998571a	1145
Davidroid	0:92706998571a	1146	/* Protected Component Related Methods */
Davidroid	0:92706998571a	1147
Davidroid	0:92706998571a	1148	/* ACTION 7 --------------------------------------------------------------*
Davidroid	0:92706998571a	1149	* Declare here the component's specific methods. *
Davidroid	0:92706998571a	1150	* They should be: *
Davidroid	0:92706998571a	1151	* + Methods with the same name of the C component's virtual table's *
Davidroid	0:92706998571a	1152	* functions (1); *
Davidroid	0:92706998571a	1153	* + Methods with the same name of the C component's extended virtual *
Davidroid	0:92706998571a	1154	* table's functions, if any (2); *
Davidroid	0:92706998571a	1155	* + Helper methods, if any, like functions declared in the component's *
Davidroid	0:92706998571a	1156	* source files but not pointed by the component's virtual table (3). *
Davidroid	0:92706998571a	1157	* *
Davidroid	0:92706998571a	1158	* Example: *
Davidroid	14:e614697ebf34	1159	* Status_t COMPONENT_GetValue(float f); //(1)
Davidroid	14:e614697ebf34	1160	* Status_t COMPONENT_EnableFeature(void); //(2) *
Davidroid	14:e614697ebf34	1161	* Status_t COMPONENT_ComputeAverage(void); //(3) *
Davidroid	0:92706998571a	1162	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1163	int32_t L6470_AbsPos_2_Position(uint32_t AbsPos);
Davidroid	0:92706998571a	1164	uint32_t L6470_Position_2_AbsPos(int32_t Position);
Davidroid	0:92706998571a	1165	float L6470_Speed_2_Step_s(uint32_t Speed);
Davidroid	0:92706998571a	1166	uint32_t L6470_Step_s_2_Speed(float Step_s);
Davidroid	0:92706998571a	1167	float L6470_Acc_2_Step_s2(uint16_t Acc);
Davidroid	0:92706998571a	1168	uint16_t L6470_Step_s2_2_Acc(float Step_s2);
Davidroid	0:92706998571a	1169	float L6470_Dec_2_Step_s2(uint16_t Dec);
Davidroid	0:92706998571a	1170	uint16_t L6470_Step_s2_2_Dec(float Step_s2);
Davidroid	0:92706998571a	1171	float L6470_MaxSpeed_2_Step_s(uint16_t MaxSpeed);
Davidroid	0:92706998571a	1172	uint16_t L6470_Step_s_2_MaxSpeed(float Step_s);
Davidroid	0:92706998571a	1173	float L6470_MinSpeed_2_Step_s(uint16_t MinSpeed);
Davidroid	0:92706998571a	1174	uint16_t L6470_Step_s_2_MinSpeed(float Step_s);
Davidroid	0:92706998571a	1175	float L6470_FsSpd_2_Step_s(uint16_t FsSpd);
Davidroid	0:92706998571a	1176	uint16_t L6470_Step_s_2_FsSpd(float Step_s);
Davidroid	0:92706998571a	1177	float L6470_IntSpeed_2_Step_s(uint16_t IntSpeed);
Davidroid	0:92706998571a	1178	uint16_t L6470_Step_s_2_IntSpeed(float Step_s);
Davidroid	0:92706998571a	1179	float L6470_StSlp_2_s_Step(uint8_t StSlp);
Davidroid	0:92706998571a	1180	uint8_t L6470_s_Step_2_StSlp(float s_Step);
Davidroid	0:92706998571a	1181	float L6470_FnSlpAcc_2_s_Step(uint8_t FnSlpAcc);
Davidroid	0:92706998571a	1182	uint8_t L6470_s_Step_2_FnSlpAcc(float s_Step);
Davidroid	0:92706998571a	1183	float L6470_FnSlpDec_2_s_Step(uint8_t FnSlpDec);
Davidroid	0:92706998571a	1184	uint8_t L6470_s_Step_2_FnSlpDec(float s_Step);
Davidroid	0:92706998571a	1185	float L6470_OcdTh_2_mA(uint8_t OcdTh);
Davidroid	0:92706998571a	1186	uint8_t L6470_mA_2_OcdTh(float mA);
Davidroid	0:92706998571a	1187	float L6470_StallTh_2_mA(uint8_t StallTh);
Davidroid	0:92706998571a	1188	uint8_t L6470_mA_2_StallTh(float mA);
Davidroid	14:e614697ebf34	1189	Status_t L6470_Config(void *init);
Davidroid	0:92706998571a	1190	void L6470_SetParam(eL6470_RegId_t L6470_RegId, uint32_t Value);
Davidroid	0:92706998571a	1191	uint32_t L6470_GetParam(eL6470_RegId_t L6470_RegId);
Davidroid	0:92706998571a	1192	void L6470_Run(eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	1193	void L6470_StepClock(eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	1194	void L6470_Move(eL6470_DirId_t L6470_DirId, uint32_t N_Step);
Davidroid	0:92706998571a	1195	void L6470_GoTo(uint32_t AbsPos);
Davidroid	0:92706998571a	1196	void L6470_GoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
Davidroid	0:92706998571a	1197	void L6470_GoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	1198	void L6470_ReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	1199	void L6470_GoHome(void);
Davidroid	0:92706998571a	1200	void L6470_GoMark(void);
Davidroid	0:92706998571a	1201	void L6470_ResetPos(void);
Davidroid	0:92706998571a	1202	void L6470_ResetDevice(void);
Davidroid	0:92706998571a	1203	void L6470_SoftStop(void);
Davidroid	0:92706998571a	1204	void L6470_HardStop(void);
Davidroid	0:92706998571a	1205	void L6470_SoftHiZ(void);
Davidroid	0:92706998571a	1206	void L6470_HardHiZ(void);
Davidroid	0:92706998571a	1207	uint16_t L6470_GetStatus(void);
Davidroid	0:92706998571a	1208	void L6470_PrepareSetParam(eL6470_RegId_t L6470_RegId, uint32_t Value);
Davidroid	0:92706998571a	1209	void L6470_PrepareGetParam(eL6470_RegId_t L6470_RegId);
Davidroid	0:92706998571a	1210	void L6470_PrepareRun(eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	1211	void L6470_PrepareStepClock(eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	1212	void L6470_PrepareMove(eL6470_DirId_t L6470_DirId, uint32_t N_Step);
Davidroid	0:92706998571a	1213	void L6470_PrepareGoTo(uint32_t AbsPos);
Davidroid	0:92706998571a	1214	void L6470_PrepareGoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
Davidroid	0:92706998571a	1215	void L6470_PrepareGoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid	0:92706998571a	1216	void L6470_PrepareReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
Davidroid	0:92706998571a	1217	void L6470_PrepareGoHome(void);
Davidroid	0:92706998571a	1218	void L6470_PrepareGoMark(void);
Davidroid	0:92706998571a	1219	void L6470_PrepareResetPos(void);
Davidroid	0:92706998571a	1220	void L6470_PrepareResetDevice(void);
Davidroid	0:92706998571a	1221	void L6470_PrepareSoftStop(void);
Davidroid	0:92706998571a	1222	void L6470_PrepareHardStop(void);
Davidroid	0:92706998571a	1223	void L6470_PrepareSoftHiZ(void);
Davidroid	0:92706998571a	1224	void L6470_PrepareHardHiZ(void);
Davidroid	0:92706998571a	1225	void L6470_PrepareGetStatus(void);
Davidroid	0:92706998571a	1226	uint8_t* L6470_PerformPreparedApplicationCommand(void);
Davidroid	0:92706998571a	1227	void L6470_DaisyChainCommand(uint8_t* pL6470_DaisyChainSpiTxStruct, uint8_t* pL6470_DaisyChainSpiRxStruct);
Davidroid	0:92706998571a	1228	uint32_t L6470_ExtractReturnedData(uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte);
Davidroid	0:92706998571a	1229	uint8_t L6470_CheckStatusRegisterFlag(uint8_t L6470_StatusRegisterFlagId);
Davidroid	0:92706998571a	1230	uint8_t* L6470_GetRegisterName(uint8_t id);
Davidroid	0:92706998571a	1231	void L6470_ResetAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg);
Davidroid	0:92706998571a	1232	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	1233	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	1234	void L6470_PrepareDaisyChainCommand(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, uint8_t* pL6470_DaisyChainSpiTxStruct);
Davidroid	0:92706998571a	1235
Davidroid	1:b78dab6d2c58	1236	/**
Davidroid	1:b78dab6d2c58	1237	* @brief Rounding a floating point number to the nearest unsigned integer number.
Davidroid	1:b78dab6d2c58	1238	* @param f The floating point number.
Davidroid	1:b78dab6d2c58	1239	* @retval The nearest unsigned integer number.
Davidroid	1:b78dab6d2c58	1240	*/
Davidroid	1:b78dab6d2c58	1241	int round(float f)
Davidroid	1:b78dab6d2c58	1242	{
Davidroid	1:b78dab6d2c58	1243	if (f >= 0)
Davidroid	1:b78dab6d2c58	1244	return (int) f + (f - (int) f < 0.5f ? 0 : 1);
Davidroid	1:b78dab6d2c58	1245	else
Davidroid	1:b78dab6d2c58	1246	return (int) f - (f - (int) f < -0.5f ? 1 : 0);
Davidroid	1:b78dab6d2c58	1247	}
Davidroid	1:b78dab6d2c58	1248
Davidroid	0:92706998571a	1249
Davidroid	0:92706998571a	1250	/* Component's I/O Methods */
Davidroid	0:92706998571a	1251
Davidroid	0:92706998571a	1252	/**
Davidroid	0:92706998571a	1253	* @brief Utility function to read data from L6470.
Davidroid	0:92706998571a	1254	* @param[out] pBuffer pointer to the buffer to read data into.
Davidroid	0:92706998571a	1255	* @param[in] NumBytesToRead number of bytes to read.
Davidroid	0:92706998571a	1256	* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
Davidroid	0:92706998571a	1257	*/
Davidroid	14:e614697ebf34	1258	Status_t Read(uint8_t* pBuffer, uint16_t NumBytesToRead)
Davidroid	0:92706998571a	1259	{
Davidroid	0:92706998571a	1260	if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0)
Davidroid	0:92706998571a	1261	return COMPONENT_ERROR;
Davidroid	0:92706998571a	1262	return COMPONENT_OK;
Davidroid	0:92706998571a	1263	}
Davidroid	0:92706998571a	1264
Davidroid	0:92706998571a	1265	/**
Davidroid	0:92706998571a	1266	* @brief Utility function to write data to L6470.
Davidroid	0:92706998571a	1267	* @param[in] pBuffer pointer to the buffer of data to send.
Davidroid	0:92706998571a	1268	* @param[in] NumBytesToWrite number of bytes to write.
Davidroid	0:92706998571a	1269	* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
Davidroid	0:92706998571a	1270	*/
Davidroid	14:e614697ebf34	1271	Status_t Write(uint8_t* pBuffer, uint16_t NumBytesToWrite)
Davidroid	0:92706998571a	1272	{
Davidroid	0:92706998571a	1273	if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0)
Davidroid	0:92706998571a	1274	return COMPONENT_ERROR;
Davidroid	0:92706998571a	1275	return COMPONENT_OK;
Davidroid	0:92706998571a	1276	}
Davidroid	0:92706998571a	1277
Davidroid	0:92706998571a	1278	/**
Davidroid	0:92706998571a	1279	* @brief Utility function to read and write data from/to L6470 at the same time.
Davidroid	0:92706998571a	1280	* @param[out] pBufferToRead pointer to the buffer to read data into.
Davidroid	0:92706998571a	1281	* @param[in] pBufferToWrite pointer to the buffer of data to send.
Davidroid	0:92706998571a	1282	* @param[in] NumBytes number of bytes to read and write.
Davidroid	0:92706998571a	1283	* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
Davidroid	0:92706998571a	1284	*/
Davidroid	14:e614697ebf34	1285	Status_t ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes)
Davidroid	0:92706998571a	1286	{
Davidroid	0:92706998571a	1287	if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0)
Davidroid	0:92706998571a	1288	return COMPONENT_ERROR;
Davidroid	0:92706998571a	1289	return COMPONENT_OK;
Davidroid	0:92706998571a	1290	}
Davidroid	0:92706998571a	1291
Davidroid	0:92706998571a	1292	/* ACTION 8 --------------------------------------------------------------*
Davidroid	0:92706998571a	1293	* Implement here other I/O methods beyond those already implemented *
Davidroid	0:92706998571a	1294	* above, which are declared extern within the component's header file. *
Davidroid	0:92706998571a	1295	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1296	/*
Davidroid	0:92706998571a	1297	* Puts the device in standby mode.
Davidroid	0:92706998571a	1298	*/
Davidroid	0:92706998571a	1299	void L6470_ENABLE(void)
Davidroid	0:92706998571a	1300	{
Davidroid	0:92706998571a	1301	standby_reset = 1;
Davidroid	0:92706998571a	1302	}
Davidroid	0:92706998571a	1303
Davidroid	0:92706998571a	1304	/*
Davidroid	0:92706998571a	1305	* Puts the device in reset mode.
Davidroid	0:92706998571a	1306	*/
Davidroid	0:92706998571a	1307	void L6470_DISABLE(void)
Davidroid	0:92706998571a	1308	{
Davidroid	0:92706998571a	1309	standby_reset = 0;
Davidroid	0:92706998571a	1310	}
Davidroid	0:92706998571a	1311
Davidroid	0:92706998571a	1312	/*
Davidroid	0:92706998571a	1313	* Write and read bytes to/from the component through the SPI at the same time.
Davidroid	0:92706998571a	1314	*/
Davidroid	0:92706998571a	1315	void L6470_SPI_Communication(uint8_t pTxData, uint8_t pRxData, uint16_t Size, uint32_t Timeout)
Davidroid	0:92706998571a	1316	{
Davidroid	0:92706998571a	1317	ReadWrite(pRxData, pTxData, Size);
Davidroid	0:92706998571a	1318	}
Davidroid	0:92706998571a	1319
Davidroid	0:92706998571a	1320
Davidroid	0:92706998571a	1321	/* Component's Instance Variables */
Davidroid	0:92706998571a	1322
Davidroid	0:92706998571a	1323	/* ACTION 9 --------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1324	* Declare here interrupt related variables, if needed. *
Davidroid	1:b78dab6d2c58	1325	* Note that interrupt handling is platform dependent, see *
Davidroid	1:b78dab6d2c58	1326	* "Interrupt Related Methods" above. *
Davidroid	1:b78dab6d2c58	1327	* *
Davidroid	1:b78dab6d2c58	1328	* Example: *
Davidroid	1:b78dab6d2c58	1329	* + mbed: *
Davidroid	1:b78dab6d2c58	1330	* InterruptIn feature_irq; *
Davidroid	0:92706998571a	1331	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1332	/* Flag Interrupt. */
Davidroid	0:92706998571a	1333	InterruptIn flag_irq;
Davidroid	0:92706998571a	1334
Davidroid	1:b78dab6d2c58	1335	/* Busy Interrupt. */
Davidroid	1:b78dab6d2c58	1336	InterruptIn busy_irq;
Davidroid	1:b78dab6d2c58	1337
Davidroid	1:b78dab6d2c58	1338	/* ACTION 10 -------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1339	* Declare here other pin related variables, if needed. *
Davidroid	1:b78dab6d2c58	1340	* *
Davidroid	1:b78dab6d2c58	1341	* Example: *
Davidroid	1:b78dab6d2c58	1342	* + mbed: *
Davidroid	1:b78dab6d2c58	1343	* DigitalOut standby_reset; *
Davidroid	1:b78dab6d2c58	1344	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1345	/* Standby/reset pin. */
Davidroid	0:92706998571a	1346	DigitalOut standby_reset;
Davidroid	0:92706998571a	1347
Davidroid	1:b78dab6d2c58	1348	/* ACTION 11 -------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1349	* Declare here communication related variables, if needed. *
Davidroid	1:b78dab6d2c58	1350	* *
Davidroid	1:b78dab6d2c58	1351	* Example: *
Davidroid	1:b78dab6d2c58	1352	* + mbed: *
Davidroid	1:b78dab6d2c58	1353	* DigitalOut ssel; *
Davidroid	1:b78dab6d2c58	1354	* DevSPI &dev_spi; *
Davidroid	1:b78dab6d2c58	1355	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1356	/* Configuration. */
Davidroid	0:92706998571a	1357	DigitalOut ssel;
Davidroid	0:92706998571a	1358
Davidroid	0:92706998571a	1359	/* IO Device. */
Davidroid	0:92706998571a	1360	DevSPI &dev_spi;
Davidroid	0:92706998571a	1361
Davidroid	1:b78dab6d2c58	1362	/* ACTION 12 -------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1363	* Declare here identity related variables, if needed. *
Davidroid	1:b78dab6d2c58	1364	* Note that there should be only a unique identifier for each component, *
Davidroid	1:b78dab6d2c58	1365	* which should be the "who_am_i" parameter. *
Davidroid	1:b78dab6d2c58	1366	------------------------------------------------------------------------/
Davidroid	1:b78dab6d2c58	1367	/* Identity */
Davidroid	1:b78dab6d2c58	1368	uint8_t who_am_i;
Davidroid	1:b78dab6d2c58	1369
Davidroid	1:b78dab6d2c58	1370	/* ACTION 13 -------------------------------------------------------------*
Davidroid	1:b78dab6d2c58	1371	* Declare here the component's static and non-static data, one variable *
Davidroid	1:b78dab6d2c58	1372	* per line. *
Davidroid	0:92706998571a	1373	* *
Davidroid	0:92706998571a	1374	* Example: *
Davidroid	1:b78dab6d2c58	1375	* float measure; *
Davidroid	1:b78dab6d2c58	1376	* int instance_id; *
Davidroid	1:b78dab6d2c58	1377	* static int number_of_instances; *
Davidroid	0:92706998571a	1378	------------------------------------------------------------------------/
Davidroid	0:92706998571a	1379	/* Data. */
Davidroid	0:92706998571a	1380	uint8_t L6470_Id;
Davidroid	0:92706998571a	1381	const sL6470_Register_t *L6470_Register;
Davidroid	0:92706998571a	1382	const sL6470_ApplicationCommand_t *L6470_ApplicationCommand;
Davidroid	0:92706998571a	1383	const sL6470_Direction_t *L6470_Direction;
Davidroid	0:92706998571a	1384	const sL6470_ACT_t *L6470_ACT;
Davidroid	0:92706998571a	1385	sL6470_StatusRegister_t L6470_StatusRegister;
Davidroid	0:92706998571a	1386	sL6470_StatusRegister_t *pL6470_StatusRegister;
Davidroid	0:92706998571a	1387	StepperMotorRegister_t StepperMotorRegister;
Davidroid	1:b78dab6d2c58	1388	prepared_action_t prepared_action;
Davidroid	0:92706998571a	1389
Davidroid	0:92706998571a	1390	/* Static data. */
Davidroid	0:92706998571a	1391	static uint8_t number_of_devices;
Davidroid	0:92706998571a	1392	static const sL6470_Register_t _L6470_Register[L6470REGIDSIZE];
Davidroid	0:92706998571a	1393	static const sL6470_ApplicationCommand_t _L6470_ApplicationCommand[L6470APPCMDIDSIZE];
Davidroid	0:92706998571a	1394	static const sL6470_Direction_t _L6470_Direction[L6470DIRIDSIZE];
Davidroid	0:92706998571a	1395	static const sL6470_ACT_t _L6470_ACT[L6470ACTIDSIZE];
Davidroid	0:92706998571a	1396	static eFlagStatus_t L6470_DaisyChain_HalfPrepared;
Davidroid	0:92706998571a	1397	static sL6470_AppCmdPkg_t L6470_AppCmdPkg[L6470DAISYCHAINSIZE];
Davidroid	0:92706998571a	1398	static uint8_t L6470_DaisyChainSpiTxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
Davidroid	0:92706998571a	1399	static uint8_t L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
Davidroid	0:92706998571a	1400	};
Davidroid	0:92706998571a	1401
Davidroid	14:e614697ebf34	1402	#endif /* __L6470_CLASS_H */
Davidroid	0:92706998571a	1403
Davidroid	14:e614697ebf34	1404	/********************** (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@14:e614697ebf34, 2016-02-09 (annotated)

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