Victor Mirkhan
/
X_NUCLEO_IHM01A1
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Dependencies: ST_INTERFACES X_NUCLEO_COMMON
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X_NUCLEO_IHM01A1
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Diff: Components/l6474/l6474.h
- Revision:
- 33:8daea0279301
- Parent:
- 27:990963ed581b
--- a/Components/l6474/l6474.h Tue Feb 28 16:12:31 2017 +0000
+++ b/Components/l6474/l6474.h Fri Mar 10 11:07:50 2017 +0100
@@ -1,11 +1,10 @@
/**
******************************************************************************
- * @file l6474.h
- * @author IPC Rennes
- * @version V1.5.0
- * @date November 12, 2014
- * @brief Header for L6474 driver (fully integrated microstepping motor driver)
- * @note (C) COPYRIGHT 2014 STMicroelectronics
+ * @file L6474.h
+ * @author Davide Aliprandi, STMicroelectronics
+ * @version V1.0.0
+ * @date October 14th, 2015
+ * @brief This file contains the class of an L6474 Motor Control component.
******************************************************************************
* @attention
*
@@ -37,564 +36,983 @@
*/
+/* Generated with STM32CubeTOO -----------------------------------------------*/
+
+
+/* Revision ------------------------------------------------------------------*/
+/*
+ Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
+ Branch/Trunk/Tag: trunk
+ Based on: X-CUBE-SPN1/trunk/Drivers/BSP/Components/l6474/l6474.h
+ Revision: 0
+*/
+
+
/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __L6474_H
-#define __L6474_H
-
-#ifdef __cplusplus
- extern "C" {
-#endif
+#ifndef __L6474_CLASS_H
+#define __L6474_CLASS_H
/* Includes ------------------------------------------------------------------*/
-#include "l6474_target_config.h"
-#include "../Common/motor.h"
+/* ACTION 1 ------------------------------------------------------------------*
+ * Include here platform specific header files. *
+ *----------------------------------------------------------------------------*/
+#include "mbed.h"
+#include "DevSPI.h"
+/* ACTION 2 ------------------------------------------------------------------*
+ * Include here component specific header files. *
+ *----------------------------------------------------------------------------*/
+#include "L6474_def.h"
+/* ACTION 3 ------------------------------------------------------------------*
+ * Include here interface specific header files. *
+ * *
+ * Example: *
+ * #include "HumiditySensor.h" *
+ * #include "TemperatureSensor.h" *
+ *----------------------------------------------------------------------------*/
+#include "StepperMotor.h"
+
+
+/* Classes -------------------------------------------------------------------*/
+
+/**
+ * @brief Class representing an L6474 component.
+ */
+class L6474 : public StepperMotor
+{
+public:
+
+ /*** Constructor and Destructor Methods ***/
+
+ /**
+ * @brief Constructor.
+ * @param flag_irq pin name of the FLAG pin of the component.
+ * @param standby_reset pin name of the STBY\RST pin of the component.
+ * @param direction pin name of the DIR pin of the component.
+ * @param pwm pin name of the PWM pin of the component.
+ * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
+ * @param spi SPI device to be used for communication.
+ */
+ L6474(PinName flag_irq, PinName standby_reset, PinName direction, PinName pwm, PinName ssel, DevSPI &spi) : StepperMotor(), flag_irq(flag_irq), standby_reset(standby_reset), direction(direction), pwm(pwm), ssel(ssel), dev_spi(spi)
+ {
+ /* Checking stackability. */
+ if (!(number_of_devices < MAX_NUMBER_OF_DEVICES)) {
+ error("Instantiation of the L6474 component failed: it can be stacked up to %d times.\r\n", MAX_NUMBER_OF_DEVICES);
+ }
+
+ /* ACTION 4 ----------------------------------------------------------*
+ * Initialize here the component's member variables, one variable per *
+ * line. *
+ * *
+ * Example: *
+ * measure = 0; *
+ * instance_id = number_of_instances++; *
+ *--------------------------------------------------------------------*/
+ error_handler_callback = 0;
+ device_instance = number_of_devices++;
+ memset(spi_tx_bursts, 0, L6474_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t));
+ memset(spi_rx_bursts, 0, L6474_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t));
+ }
+
+ /**
+ * @brief Destructor.
+ */
+ virtual ~L6474(void) {}
-/* Definitions ---------------------------------------------------------------*/
-
-/** @addtogroup BSP
- * @{
- */
-
-/** @addtogroup Components
- * @{
- */
-
-/** @addtogroup L6474
- * @{
- */
-
-/** @defgroup L6474_Exported_Defines L6474_Exported_Defines
- * @{
- */
-
-/// Current FW version
-#define L6474_FW_VERSION (5)
+ /*** Public Component Related Methods ***/
-/// L6474 max number of bytes of command & arguments to set a parameter
-#define L6474_CMD_ARG_MAX_NB_BYTES (4)
-
-/// L6474 command + argument bytes number for GET_STATUS command
-#define L6474_CMD_ARG_NB_BYTES_GET_STATUS (1)
-
-/// L6474 response bytes number
-#define L6474_RSP_NB_BYTES_GET_STATUS (2)
+ /* ACTION 5 --------------------------------------------------------------*
+ * Implement here the component's public methods, as wrappers of the C *
+ * component's functions. *
+ * They should be: *
+ * + Methods with the same name of the C component's virtual table's *
+ * functions (1); *
+ * + Methods with the same name of the C component's extended virtual *
+ * table's functions, if any (2). *
+ * *
+ * Example: *
+ * virtual int get_value(float *p_data) //(1) *
+ * { *
+ * return COMPONENT_get_value(float *pf_data); *
+ * } *
+ * *
+ * virtual int enable_feature(void) //(2) *
+ * { *
+ * return COMPONENT_enable_feature(); *
+ * } *
+ *------------------------------------------------------------------------*/
+ /**
+ * @brief Initializing the component in 1/16 Microstepping mode.
+ * @param init Pointer to device specific initalization structure.
+ * @retval "0" in case of success, an error code otherwise.
+ */
+ virtual int init(void *init = NULL)
+ {
+ return (int) L6474_Init((void *) init);
+ }
-/// L6474 value mask for ABS_POS register
-#define L6474_ABS_POS_VALUE_MASK ((uint32_t) 0x003FFFFF)
-
-/// L6474 sign bit mask for ABS_POS register
-#define L6474_ABS_POS_SIGN_BIT_MASK ((uint32_t) 0x00200000)
+ /**
+ * @brief Getting the ID of the component.
+ * @param id Pointer to an allocated variable to store the ID into.
+ * @retval "0" in case of success, an error code otherwise.
+ */
+ virtual int read_id(uint8_t *id = NULL)
+ {
+ return (int) L6474_ReadID((uint8_t *) id);
+ }
-
-/* Types ---------------------------------------------------------------------*/
-
-/** @defgroup L6474_Exported_Types
- * @{
- */
+ /**
+ * @brief Getting the value of the Status Register.
+ * @param None.
+ * @retval None.
+ * @note The Status Register's flags are cleared, contrary to the
+ * read_status_register() method.
+ */
+ virtual unsigned int get_status(void)
+ {
+ return (unsigned int) L6474_CmdGetStatus();
+ }
-/** @defgroup L6474_Fast_Decay_Time_Options
- * @{
- */
-///TOFF_FAST values for T_FAST register
-typedef enum {
- L6474_TOFF_FAST_2us = ((uint8_t) 0x00 << 4),
- L6474_TOFF_FAST_4us = ((uint8_t) 0x01 << 4),
- L6474_TOFF_FAST_6us = ((uint8_t) 0x02 << 4),
- L6474_TOFF_FAST_8us = ((uint8_t) 0x03 << 4),
- L6474_TOFF_FAST_10us = ((uint8_t) 0x04 << 4),
- L6474_TOFF_FAST_12us = ((uint8_t) 0x05 << 4),
- L6474_TOFF_FAST_14us = ((uint8_t) 0x06 << 4),
- L6474_TOFF_FAST_16us = ((uint8_t) 0x07 << 4),
- L6474_TOFF_FAST_18us = ((uint8_t) 0x08 << 4),
- L6474_TOFF_FAST_20us = ((uint8_t) 0x09 << 4),
- L6474_TOFF_FAST_22us = ((uint8_t) 0x0A << 4),
- L6474_TOFF_FAST_24us = ((uint8_t) 0x0B << 4),
- L6474_TOFF_FAST_26us = ((uint8_t) 0x0C << 4),
- L6474_TOFF_FAST_28us = ((uint8_t) 0x0D << 4),
- L6474_TOFF_FAST_30us = ((uint8_t) 0x0E << 4),
- L6474_TOFF_FAST_32us = ((uint8_t) 0x0F << 4)
-} L6474_TOFF_FAST_t;
-/**
- * @}
- */
+ /**
+ * @brief Getting a parameter.
+ * @param parameter A parameter's register address.
+ * @retval The parameter's value.
+ * @note The Status Register's flags are cleared, contrary to the
+ * read_status_register() method.
+ * The parameter can be one of the following:
+ * + L6474_ABS_POS
+ * + L6474_EL_POS
+ * + L6474_MARK
+ * + L6474_RESERVED_REG01
+ * + L6474_RESERVED_REG02
+ * + L6474_RESERVED_REG03
+ * + L6474_RESERVED_REG04
+ * + L6474_RESERVED_REG05
+ * + L6474_RESERVED_REG06
+ * + L6474_TVAL : value in mA
+ * + L6474_RESERVED_REG07
+ * + L6474_RESERVED_REG08
+ * + L6474_RESERVED_REG09
+ * + L6474_RESERVED_REG10
+ * + L6474_T_FAST
+ * + L6474_TON_MIN : value in us
+ * + L6474_TOFF_MIN : value in us
+ * + L6474_RESERVED_REG11
+ * + L6474_ADC_OUT
+ * + L6474_OCD_TH
+ * + L6474_RESERVED_REG12
+ * + L6474_STEP_MODE
+ * + L6474_ALARM_EN
+ * + L6474_CONFIG
+ * + L6474_STATUS
+ * + L6474_RESERVED_REG13
+ * + L6474_RESERVED_REG14
+ * + L6474_INEXISTENT_REG
+ */
+ virtual float get_parameter(unsigned int parameter)
+ {
+ unsigned int register_value = (unsigned int) L6474_CmdGetParam((L6474_Registers_t) parameter);
+ float value;
-/** @defgroup L6474_Fall_Step_Time_Options
- * @{
- */
-///FAST_STEP values for T_FAST register
-typedef enum {
- L6474_FAST_STEP_2us = ((uint8_t) 0x00),
- L6474_FAST_STEP_4us = ((uint8_t) 0x01),
- L6474_FAST_STEP_6us = ((uint8_t) 0x02),
- L6474_FAST_STEP_8us = ((uint8_t) 0x03),
- L6474_FAST_STEP_10us = ((uint8_t) 0x04),
- L6474_FAST_STEP_12us = ((uint8_t) 0x05),
- L6474_FAST_STEP_14us = ((uint8_t) 0x06),
- L6474_FAST_STEP_16us = ((uint8_t) 0x07),
- L6474_FAST_STEP_18us = ((uint8_t) 0x08),
- L6474_FAST_STEP_20us = ((uint8_t) 0x09),
- L6474_FAST_STEP_22us = ((uint8_t) 0x0A),
- L6474_FAST_STEP_24us = ((uint8_t) 0x0B),
- L6474_FAST_STEP_26us = ((uint8_t) 0x0C),
- L6474_FAST_STEP_28us = ((uint8_t) 0x0D),
- L6474_FAST_STEP_30us = ((uint8_t) 0x0E),
- L6474_FAST_STEP_32us = ((uint8_t) 0x0F)
-} L6474_FAST_STEP_t;
-/**
- * @}
- */
+ switch ((L6474_Registers_t) parameter) {
+ case L6474_TVAL:
+ value = L6474_Par_to_Tval_Current((float) register_value);
+ break;
+ case L6474_TON_MIN:
+ case L6474_TOFF_MIN:
+ value = L6474_Par_to_Tmin_Time((float) register_value);
+ break;
+ default:
+ value = (float) register_value;
+ break;
+ }
+
+ return value;
+ }
+
+ /**
+ * @brief Getting the position.
+ * @param None.
+ * @retval The position.
+ */
+ virtual signed int get_position(void)
+ {
+ return (signed int) L6474_GetPosition();
+ }
-/** @defgroup L6474_Overcurrent_Threshold_options
- * @{
- */
-///OCD_TH register
-typedef enum {
- L6474_OCD_TH_375mA = ((uint8_t) 0x00),
- L6474_OCD_TH_750mA = ((uint8_t) 0x01),
- L6474_OCD_TH_1125mA = ((uint8_t) 0x02),
- L6474_OCD_TH_1500mA = ((uint8_t) 0x03),
- L6474_OCD_TH_1875mA = ((uint8_t) 0x04),
- L6474_OCD_TH_2250mA = ((uint8_t) 0x05),
- L6474_OCD_TH_2625mA = ((uint8_t) 0x06),
- L6474_OCD_TH_3000mA = ((uint8_t) 0x07),
- L6474_OCD_TH_3375mA = ((uint8_t) 0x08),
- L6474_OCD_TH_3750mA = ((uint8_t) 0x09),
- L6474_OCD_TH_4125mA = ((uint8_t) 0x0A),
- L6474_OCD_TH_4500mA = ((uint8_t) 0x0B),
- L6474_OCD_TH_4875mA = ((uint8_t) 0x0C),
- L6474_OCD_TH_5250mA = ((uint8_t) 0x0D),
- L6474_OCD_TH_5625mA = ((uint8_t) 0x0E),
- L6474_OCD_TH_6000mA = ((uint8_t) 0x0F)
-} L6474_OCD_TH_t;
-/**
- * @}
- */
+ /**
+ * @brief Getting the marked position.
+ * @param None.
+ * @retval The marked position.
+ */
+ virtual signed int get_mark(void)
+ {
+ return (signed int) L6474_GetMark();
+ }
+
+ /**
+ * @brief Getting the current speed in pps.
+ * @param None.
+ * @retval The current speed in pps.
+ */
+ virtual unsigned int get_speed(void)
+ {
+ return (unsigned int) L6474_GetCurrentSpeed();
+ }
+
+ /**
+ * @brief Getting the maximum speed in pps.
+ * @param None.
+ * @retval The maximum speed in pps.
+ */
+ virtual unsigned int get_max_speed(void)
+ {
+ return (unsigned int) L6474_GetMaxSpeed();
+ }
-/** @defgroup L6474_STEP_MODE_Register_Masks
- * @{
- */
-///STEP_MODE register
-typedef enum {
- L6474_STEP_MODE_STEP_SEL = ((uint8_t) 0x07),
- L6474_STEP_MODE_SYNC_SEL = ((uint8_t) 0x70)
-} L6474_STEP_MODE_Masks_t;
-/**
- * @}
- */
+ /**
+ * @brief Getting the minimum speed in pps.
+ * @param None.
+ * @retval The minimum speed in pps.
+ */
+ virtual unsigned int get_min_speed(void)
+ {
+ return (unsigned int) L6474_GetMinSpeed();
+ }
-/** @defgroup L6474_STEP_SEL_Options_For_STEP_MODE_Register
- * @{
- */
-///STEP_SEL field of STEP_MODE register
-typedef enum {
- L6474_STEP_SEL_1 = ((uint8_t) 0x08), //full step
- L6474_STEP_SEL_1_2 = ((uint8_t) 0x09), //half step
- L6474_STEP_SEL_1_4 = ((uint8_t) 0x0A), //1/4 microstep
- L6474_STEP_SEL_1_8 = ((uint8_t) 0x0B), //1/8 microstep
- L6474_STEP_SEL_1_16 = ((uint8_t) 0x0C) //1/16 microstep
-} L6474_STEP_SEL_t;
-/**
- * @}
- */
+ /**
+ * @brief Getting the acceleration in pps^2.
+ * @param None.
+ * @retval The acceleration in pps^2.
+ */
+ virtual unsigned int get_acceleration(void)
+ {
+ return (unsigned int) L6474_GetAcceleration();
+ }
+
+ /**
+ * @brief Getting the deceleration in pps^2.
+ * @param None.
+ * @retval The deceleration in pps^2.
+ */
+ virtual unsigned int get_deceleration(void)
+ {
+ return (unsigned int) L6474_GetDeceleration();
+ }
-/** @defgroup L6474_SYNC_SEL_Options_For_STEP_MODE_Register
- * @{
- */
-///SYNC_SEL field of STEP_MODE register
-typedef enum {
- L6474_SYNC_SEL_1_2 = ((uint8_t) 0x80),
- L6474_SYNC_SEL_1 = ((uint8_t) 0x90),
- L6474_SYNC_SEL_2 = ((uint8_t) 0xA0),
- L6474_SYNC_SEL_4 = ((uint8_t) 0xB0),
- L6474_SYNC_SEL_8 = ((uint8_t) 0xC0),
- L6474_SYNC_SEL_UNUSED = ((uint8_t) 0xD0)
-} L6474_SYNC_SEL_t;
-/**
- * @}
- */
-
-/** @defgroup L6474_ALARM_EN_Register_Options
- * @{
- */
-///ALARM_EN register
-typedef enum {
- L6474_ALARM_EN_OVERCURRENT = ((uint8_t) 0x01),
- L6474_ALARM_EN_THERMAL_SHUTDOWN = ((uint8_t) 0x02),
- L6474_ALARM_EN_THERMAL_WARNING = ((uint8_t) 0x04),
- L6474_ALARM_EN_UNDERVOLTAGE = ((uint8_t) 0x08),
- L6474_ALARM_EN_SW_TURN_ON = ((uint8_t) 0x40),
- L6474_ALARM_EN_WRONG_NPERF_CMD = ((uint8_t) 0x80)
-} L6474_ALARM_EN_t;
-/**
- * @}
- */
+ /**
+ * @brief Getting the direction of rotation.
+ * @param None.
+ * @retval The direction of rotation.
+ */
+ virtual direction_t get_direction(void)
+ {
+ return (direction_t) (L6474_GetDirection() == FORWARD ? StepperMotor::FWD : StepperMotor::BWD);
+ }
-/** @defgroup L6474_CONFIG_Register_Masks
- * @{
- */
-///CONFIG register
-typedef enum {
- L6474_CONFIG_OSC_SEL = ((uint16_t) 0x0007),
- L6474_CONFIG_EXT_CLK = ((uint16_t) 0x0008),
- L6474_CONFIG_EN_TQREG = ((uint16_t) 0x0020),
- L6474_CONFIG_OC_SD = ((uint16_t) 0x0080),
- L6474_CONFIG_POW_SR = ((uint16_t) 0x0300),
- L6474_CONFIG_TOFF = ((uint16_t) 0x7C00)
-} L6474_CONFIG_Masks_t;
-/**
- * @}
- */
-
-/** @defgroup L6474_Clock_Source_Options_For_CONFIG_Register
- * @{
- */
-///Clock source option for CONFIG register
-typedef enum {
- L6474_CONFIG_INT_16MHZ = ((uint16_t) 0x0000),
- L6474_CONFIG_INT_16MHZ_OSCOUT_2MHZ = ((uint16_t) 0x0008),
- L6474_CONFIG_INT_16MHZ_OSCOUT_4MHZ = ((uint16_t) 0x0009),
- L6474_CONFIG_INT_16MHZ_OSCOUT_8MHZ = ((uint16_t) 0x000A),
- L6474_CONFIG_INT_16MHZ_OSCOUT_16MHZ = ((uint16_t) 0x000B),
- L6474_CONFIG_EXT_8MHZ_XTAL_DRIVE = ((uint16_t) 0x0004),
- L6474_CONFIG_EXT_16MHZ_XTAL_DRIVE = ((uint16_t) 0x0005),
- L6474_CONFIG_EXT_24MHZ_XTAL_DRIVE = ((uint16_t) 0x0006),
- L6474_CONFIG_EXT_32MHZ_XTAL_DRIVE = ((uint16_t) 0x0007),
- L6474_CONFIG_EXT_8MHZ_OSCOUT_INVERT = ((uint16_t) 0x000C),
- L6474_CONFIG_EXT_16MHZ_OSCOUT_INVERT = ((uint16_t) 0x000D),
- L6474_CONFIG_EXT_24MHZ_OSCOUT_INVERT = ((uint16_t) 0x000E),
- L6474_CONFIG_EXT_32MHZ_OSCOUT_INVERT = ((uint16_t) 0x000F)
-} L6474_CONFIG_OSC_MGMT_t;
-/**
- * @}
- */
-
-/** @defgroup L6474_External_Torque_Regulation_Options_For_CONFIG_Register
- * @{
- */
-///External Torque regulation options for CONFIG register
-typedef enum {
- L6474_CONFIG_EN_TQREG_TVAL_USED = ((uint16_t) 0x0000),
- L6474_CONFIG_EN_TQREG_ADC_OUT = ((uint16_t) 0x0020)
-} L6474_CONFIG_EN_TQREG_t;
-/**
- * @}
- */
+ /**
+ * @brief Setting a parameter.
+ * @param parameter A parameter's register address.
+ * @param value The parameter's value.
+ * @retval None.
+ * @note The parameter can be one of the following:
+ * + L6474_ABS_POS
+ * + L6474_EL_POS
+ * + L6474_MARK
+ * + L6474_RESERVED_REG01
+ * + L6474_RESERVED_REG02
+ * + L6474_RESERVED_REG03
+ * + L6474_RESERVED_REG04
+ * + L6474_RESERVED_REG05
+ * + L6474_RESERVED_REG06
+ * + L6474_TVAL : value in mA
+ * + L6474_RESERVED_REG07
+ * + L6474_RESERVED_REG08
+ * + L6474_RESERVED_REG09
+ * + L6474_RESERVED_REG10
+ * + L6474_T_FAST
+ * + L6474_TON_MIN : value in us
+ * + L6474_TOFF_MIN : value in us
+ * + L6474_RESERVED_REG11
+ * + L6474_ADC_OUT
+ * + L6474_OCD_TH
+ * + L6474_RESERVED_REG12
+ * + L6474_STEP_MODE
+ * + L6474_ALARM_EN
+ * + L6474_CONFIG
+ * + L6474_STATUS
+ * + L6474_RESERVED_REG13
+ * + L6474_RESERVED_REG14
+ * + L6474_INEXISTENT_REG
+ * @warning Some registers can only be written in particular conditions (see L6474's datasheet).
+ * Any attempt to write one of those registers when the conditions are not satisfied
+ * causes the command to be ignored and the NOTPERF_CMD flag to rise at the end of the
+ * last argument byte. Any attempt to set an inexistent register (wrong address value)
+ * causes the command to be ignored and the WRONG_CMD flag to rise.
+ * For example, setting some parameters requires first to disable the power bridge;
+ * this can be done through the soft_hiz() method.
+ * They are the following:
+ * + L6474_EL_POS
+ * + L6474_T_FAST
+ * + L6474_TON_MIN : value in us
+ * + L6474_TOFF_MIN : value in us
+ * + L6474_ADC_OUT
+ * + L6474_STEP_MODE
+ * + L6474_CONFIG
+ * + L6474_STATUS
+ */
+ virtual void set_parameter(unsigned int parameter, float value)
+ {
+ float register_value;
-/** @defgroup L6474_Over_Current_Shutdown_Options_For_CONFIG_Register
- * @{
- */
-///Over Current Shutdown options for CONFIG register
-typedef enum {
- L6474_CONFIG_OC_SD_DISABLE = ((uint16_t) 0x0000),
- L6474_CONFIG_OC_SD_ENABLE = ((uint16_t) 0x0080)
-} L6474_CONFIG_OC_SD_t;
-/**
- * @}
- */
+ switch ((L6474_Registers_t) parameter) {
+ case L6474_TVAL:
+ register_value = L6474_Tval_Current_to_Par(value);
+ break;
+ case L6474_TON_MIN:
+ case L6474_TOFF_MIN:
+ register_value = L6474_Tmin_Time_to_Par(value);
+ break;
+ default:
+ register_value = value;
+ break;
+ }
+
+ L6474_CmdSetParam((L6474_Registers_t) parameter, (unsigned int) register_value);
+ }
+
+ /**
+ * @brief Setting the current position to be the home position.
+ * @param None.
+ * @retval None.
+ */
+ virtual void set_home(void)
+ {
+ L6474_SetHome();
+ }
-/** @defgroup L6474_Power_Bridge_Output_Slew_Rate_Options
- * @{
- */
-/// POW_SR values for CONFIG register
-typedef enum {
- L6474_CONFIG_SR_320V_us =((uint16_t)0x0000),
- L6474_CONFIG_SR_075V_us =((uint16_t)0x0100),
- L6474_CONFIG_SR_110V_us =((uint16_t)0x0200),
- L6474_CONFIG_SR_260V_us =((uint16_t)0x0300)
-} L6474_CONFIG_POW_SR_t;
-/**
- * @}
- */
+ /**
+ * @brief Setting the current position to be the marked position.
+ * @param None.
+ * @retval None.
+ */
+ virtual void set_mark(void)
+ {
+ L6474_SetMark();
+ }
+
+ /**
+ * @brief Setting the maximum speed in pps.
+ * @param speed The maximum speed in pps.
+ * @retval "true" in case of success, "false" otherwise.
+ */
+ virtual bool set_max_speed(unsigned int speed)
+ {
+ L6474_SetMaxSpeed((unsigned int) speed);
+ return true;
+ }
+
+ /**
+ * @brief Setting the minimum speed in pps.
+ * @param speed The minimum speed in pps.
+ * @retval "true" in case of success, "false" otherwise.
+ */
+ virtual bool set_min_speed(unsigned int speed)
+ {
+ L6474_SetMinSpeed((unsigned int) speed);
+ return true;
+ }
-/** @defgroup L6474_Off_Time_Options
- * @{
- */
-/// TOFF values for CONFIG register
-typedef enum {
- L6474_CONFIG_TOFF_004us = (((uint16_t) 0x01) << 10),
- L6474_CONFIG_TOFF_008us = (((uint16_t) 0x02) << 10),
- L6474_CONFIG_TOFF_012us = (((uint16_t) 0x03) << 10),
- L6474_CONFIG_TOFF_016us = (((uint16_t) 0x04) << 10),
- L6474_CONFIG_TOFF_020us = (((uint16_t) 0x05) << 10),
- L6474_CONFIG_TOFF_024us = (((uint16_t) 0x06) << 10),
- L6474_CONFIG_TOFF_028us = (((uint16_t) 0x07) << 10),
- L6474_CONFIG_TOFF_032us = (((uint16_t) 0x08) << 10),
- L6474_CONFIG_TOFF_036us = (((uint16_t) 0x09) << 10),
- L6474_CONFIG_TOFF_040us = (((uint16_t) 0x0A) << 10),
- L6474_CONFIG_TOFF_044us = (((uint16_t) 0x0B) << 10),
- L6474_CONFIG_TOFF_048us = (((uint16_t) 0x0C) << 10),
- L6474_CONFIG_TOFF_052us = (((uint16_t) 0x0D) << 10),
- L6474_CONFIG_TOFF_056us = (((uint16_t) 0x0E) << 10),
- L6474_CONFIG_TOFF_060us = (((uint16_t) 0x0F) << 10),
- L6474_CONFIG_TOFF_064us = (((uint16_t) 0x10) << 10),
- L6474_CONFIG_TOFF_068us = (((uint16_t) 0x11) << 10),
- L6474_CONFIG_TOFF_072us = (((uint16_t) 0x12) << 10),
- L6474_CONFIG_TOFF_076us = (((uint16_t) 0x13) << 10),
- L6474_CONFIG_TOFF_080us = (((uint16_t) 0x14) << 10),
- L6474_CONFIG_TOFF_084us = (((uint16_t) 0x15) << 10),
- L6474_CONFIG_TOFF_088us = (((uint16_t) 0x16) << 10),
- L6474_CONFIG_TOFF_092us = (((uint16_t) 0x17) << 10),
- L6474_CONFIG_TOFF_096us = (((uint16_t) 0x18) << 10),
- L6474_CONFIG_TOFF_100us = (((uint16_t) 0x19) << 10),
- L6474_CONFIG_TOFF_104us = (((uint16_t) 0x1A) << 10),
- L6474_CONFIG_TOFF_108us = (((uint16_t) 0x1B) << 10),
- L6474_CONFIG_TOFF_112us = (((uint16_t) 0x1C) << 10),
- L6474_CONFIG_TOFF_116us = (((uint16_t) 0x1D) << 10),
- L6474_CONFIG_TOFF_120us = (((uint16_t) 0x1E) << 10),
- L6474_CONFIG_TOFF_124us = (((uint16_t) 0x1F) << 10)
-} L6474_CONFIG_TOFF_t;
-/**
- * @}
- */
+ /**
+ * @brief Setting the acceleration in pps^2.
+ * @param acceleration The acceleration in pps^2.
+ * @retval "true" in case of success, "false" otherwise.
+ */
+ virtual bool set_acceleration(unsigned int acceleration)
+ {
+ L6474_SetAcceleration((unsigned int) acceleration);
+ return true;
+ }
+
+ /**
+ * @brief Setting the deceleration in pps^2.
+ * @param deceleration The deceleration in pps^2.
+ * @retval "true" in case of success, "false" otherwise.
+ */
+ virtual bool set_deceleration(unsigned int deceleration)
+ {
+ L6474_SetDeceleration((unsigned int) deceleration);
+ return true;
+ }
+
+ /**
+ * @brief Going to a specified position.
+ * @param position The desired position.
+ * @retval None.
+ */
+ virtual void go_to(signed int position)
+ {
+ L6474_GoTo((signed int) position);
+ }
-/** @defgroup L6474_STATUS_Register_Bit_Masks
- * @{
- */
-///STATUS Register Bit Masks
-typedef enum {
- L6474_STATUS_HIZ = (((uint16_t) 0x0001)),
- L6474_STATUS_DIR = (((uint16_t) 0x0010)),
- L6474_STATUS_NOTPERF_CMD = (((uint16_t) 0x0080)),
- L6474_STATUS_WRONG_CMD = (((uint16_t) 0x0100)),
- L6474_STATUS_UVLO = (((uint16_t) 0x0200)),
- L6474_STATUS_TH_WRN = (((uint16_t) 0x0400)),
- L6474_STATUS_TH_SD = (((uint16_t) 0x0800)),
- L6474_STATUS_OCD = (((uint16_t) 0x1000))
-} L6474_STATUS_Masks_t;
-/**
- * @}
- */
+ /**
+ * @brief Going to the home position.
+ * @param None.
+ * @retval None.
+ */
+ virtual void go_home(void)
+ {
+ L6474_GoHome();
+ }
+
+ /**
+ * @brief Going to the marked position.
+ * @param None.
+ * @retval None.
+ */
+ virtual void go_mark(void)
+ {
+ L6474_GoMark();
+ }
-/** @defgroup L6474_Direction_Field_Of_STATUS_Register
- * @{
- */
-///Diretion field of STATUS register
-typedef enum {
- L6474_STATUS_DIR_FORWARD = (((uint16_t) 0x0001) << 4),
- L6474_STATUS_DIR_REVERSE = (((uint16_t) 0x0000) << 4)
-} L6474_STATUS_DIR_t;
-/**
- * @}
- */
+ /**
+ * @brief Running the motor towards a specified direction.
+ * @param direction The direction of rotation.
+ * @retval None.
+ */
+ virtual void run(direction_t direction)
+ {
+ L6474_Run((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD));
+ }
+
+ /**
+ * @brief Moving the motor towards a specified direction for a certain number of steps.
+ * @param direction The direction of rotation.
+ * @param steps The desired number of steps.
+ * @retval None.
+ */
+ virtual void move(direction_t direction, unsigned int steps)
+ {
+ L6474_Move((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), (unsigned int) steps);
+ }
-/** @defgroup L6474_Internal_Register_Addresses
- * @{
- */
-/// Internal L6474 register addresses
-typedef enum {
- L6474_ABS_POS = ((uint8_t) 0x01),
- L6474_EL_POS = ((uint8_t) 0x02),
- L6474_MARK = ((uint8_t) 0x03),
- L6474_RESERVED_REG01 = ((uint8_t) 0x04),
- L6474_RESERVED_REG02 = ((uint8_t) 0x05),
- L6474_RESERVED_REG03 = ((uint8_t) 0x06),
- L6474_RESERVED_REG04 = ((uint8_t) 0x07),
- L6474_RESERVED_REG05 = ((uint8_t) 0x08),
- L6474_RESERVED_REG06 = ((uint8_t) 0x15),
- L6474_TVAL = ((uint8_t) 0x09),
- L6474_RESERVED_REG07 = ((uint8_t) 0x0A),
- L6474_RESERVED_REG08 = ((uint8_t) 0x0B),
- L6474_RESERVED_REG09 = ((uint8_t) 0x0C),
- L6474_RESERVED_REG10 = ((uint8_t) 0x0D),
- L6474_T_FAST = ((uint8_t) 0x0E),
- L6474_TON_MIN = ((uint8_t) 0x0F),
- L6474_TOFF_MIN = ((uint8_t) 0x10),
- L6474_RESERVED_REG11 = ((uint8_t) 0x11),
- L6474_ADC_OUT = ((uint8_t) 0x12),
- L6474_OCD_TH = ((uint8_t) 0x13),
- L6474_RESERVED_REG12 = ((uint8_t) 0x14),
- L6474_STEP_MODE = ((uint8_t) 0x16),
- L6474_ALARM_EN = ((uint8_t) 0x17),
- L6474_CONFIG = ((uint8_t) 0x18),
- L6474_STATUS = ((uint8_t) 0x19),
- L6474_RESERVED_REG13 = ((uint8_t) 0x1A),
- L6474_RESERVED_REG14 = ((uint8_t) 0x1B),
- L6474_INEXISTENT_REG = ((uint8_t) 0x1F)
-} L6474_Registers_t;
-/**
- * @}
- */
+ /**
+ * @brief Stopping the motor through an immediate deceleration up to zero speed.
+ * @param None.
+ * @retval None.
+ */
+ virtual void soft_stop(void)
+ {
+ L6474_SoftStop();
+ }
+
+ /**
+ * @brief Stopping the motor through an immediate infinite deceleration.
+ * @param None.
+ * @retval None.
+ */
+ virtual void hard_stop(void)
+ {
+ L6474_HardStop();
+ }
+
+ /**
+ * @brief Disabling the power bridge after performing a deceleration to zero.
+ * @param None.
+ * @retval None.
+ */
+ virtual void soft_hiz(void)
+ {
+ L6474_SoftStop();
+ L6474_CmdDisable();
+ }
-/** @defgroup L6474_Command_Set
- * @{
- */
-/// L6474 command set
-typedef enum {
- L6474_NOP = ((uint8_t) 0x00),
- L6474_SET_PARAM = ((uint8_t) 0x00),
- L6474_GET_PARAM = ((uint8_t) 0x20),
- L6474_ENABLE = ((uint8_t) 0xB8),
- L6474_DISABLE = ((uint8_t) 0xA8),
- L6474_GET_STATUS = ((uint8_t) 0xD0),
- L6474_RESERVED_CMD1 = ((uint8_t) 0xEB),
- L6474_RESERVED_CMD2 = ((uint8_t) 0xF8)
-} L6474_Commands_t;
+ /**
+ * @brief Disabling the power bridge immediately.
+ * @param None.
+ * @retval None.
+ */
+ virtual void hard_hiz(void)
+ {
+ L6474_HardStop();
+ L6474_CmdDisable();
+ }
-/**
- * @brief L6474 driver initialization structure definition.
- */
-/* ACTION --------------------------------------------------------------------*
- * Declare here the component's initialization structure, if any, one *
- * variable per line without initialization. *
- * *
- * Example: *
- * typedef struct *
- * { *
- * int frequency; *
- * int update_mode; *
- * } COMPONENT_Init_t; *
- *----------------------------------------------------------------------------*/
-typedef struct
-{
- /* Acceleration rate in pps^2. Range: (0..+inf). */
- int acceleration_pps_2;
+ /**
+ * @brief Waiting while the motor is active.
+ * @param None.
+ * @retval None.
+ */
+ virtual void wait_while_active(void)
+ {
+ L6474_WaitWhileActive();
+ }
- /* Deceleration rate in pps^2. Range: (0..+inf). */
- int deceleration_pps_2;
-
- /* Maximum speed in pps. Range: (30..10000]. */
- int maximum_speed_pps;
+ /**
+ * @brief Getting the device state.
+ * @param None.
+ * @retval The device state.
+ * @note The device state can be one of the following:
+ * + ACCELERATING
+ * + DECELERATING
+ * + STEADY
+ * + INACTIVE
+ */
+ virtual motorState_t get_device_state(void)
+ {
+ return (motorState_t) L6474_GetDeviceState();
+ }
- /* Minimum speed in pps. Range: [30..10000). */
- int minimum_speed_pps;
-
- /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
- float torque_regulation_current_mA;
-
- /* Overcurrent threshold (OCD_TH register). */
- L6474_OCD_TH_t overcurrent_threshold;
-
- /* Overcurrent shutwdown (OC_SD field of CONFIG register). */
- L6474_CONFIG_OC_SD_t overcurrent_shutwdown;
-
- /* Torque regulation method (EN_TQREG field of CONFIG register). */
- L6474_CONFIG_EN_TQREG_t torque_regulation_method;
-
- /* Step selection (STEP_SEL field of STEP_MODE register). */
- L6474_STEP_SEL_t step_selection;
+ /**
+ * @brief Reading the Status Register.
+ * @param None.
+ * @retval None.
+ * @note The Status Register's flags are not cleared, contrary to the
+ * GetStatus() method.
+ */
+ virtual uint16_t read_status_register(void)
+ {
+ return (uint16_t) L6474_ReadStatusRegister();
+ }
- /* Sync selection (SYNC_SEL field of STEP_MODE register). */
- L6474_SYNC_SEL_t sync_selection;
-
- /* Fall time value (T_FAST field of T_FAST register). Range: 2us to 32us. */
- L6474_FAST_STEP_t fall_time;
-
- /* Maximum fast decay time (T_OFF field of T_FAST register). Range: 2us to 32us. */
- L6474_TOFF_FAST_t maximum_fast_decay_time;
+ /**
+ * @brief Setting the Step Mode.
+ * @param step_mode The Step Mode.
+ * @retval "true" in case of success, "false" otherwise.
+ * @warning Setting the step mode implies first disabling the power bridge through
+ * the soft_hiz() method.
+ * @warning Every time step mode is changed, the values of the home
+ * and mark positions lose meaning and are reset.
+ */
+ virtual bool set_step_mode(step_mode_t step_mode)
+ {
+ if ((motorStepMode_t) step_mode > STEP_MODE_1_16) {
+ return false;
+ }
- /* Minimum ON time in us (TON_MIN register). Range: 0.5us to 64us. */
- float minimum_ON_time_us;
-
- /* Minimum OFF time in us (TOFF_MIN register). Range: 0.5us to 64us. */
- float minimum_OFF_time_us;
-
- /* Target Swicthing Period (field TOFF of CONFIG register). */
- L6474_CONFIG_TOFF_t target_swicthing_period;
-
- /* Slew rate (POW_SR field of CONFIG register). */
- L6474_CONFIG_POW_SR_t slew_rate;
+ soft_hiz();
+ L6474_SelectStepMode((motorStepMode_t) step_mode);
+ return true;
+ }
- /* Clock setting (OSC_CLK_SEL field of CONFIG register). */
- L6474_CONFIG_OSC_MGMT_t clock;
-
- /* Alarm (ALARM_EN register). */
- int alarm;
-} L6474_Init_t;
+ /**
+ * @brief Attaching an error handler.
+ * @param fptr An error handler.
+ * @retval None.
+ */
+ virtual void attach_error_handler(void (*fptr)(uint16_t error))
+ {
+ L6474_AttachErrorHandler((void (*)(uint16_t error)) fptr);
+ }
-/**
- * @brief L6474 driver data structure definition.
- */
-/* ACTION --------------------------------------------------------------------*
- * Declare here the structure of component's data, if any, one variable per *
- * line without initialization. *
- * *
- * Example: *
- * typedef struct *
- * { *
- * int T0_out; *
- * int T1_out; *
- * float T0_degC; *
- * float T1_degC; *
- * } COMPONENT_Data_t; *
- *----------------------------------------------------------------------------*/
-typedef struct
-{
- /// Function pointer to flag interrupt call back
- void (*flagInterruptCallback)(void);
- /// Function pointer to error handler call back
- void (*errorHandlerCallback)(uint16_t error);
- bool spiPreemtionByIsr; // = FALSE;
- bool isrFlag; // = FALSE;
- /// L6474 Device Paramaters structure
- deviceParams_t devicePrm; //[MAX_NUMBER_OF_DEVICES];
- uint8_t number_of_devices;
- uint8_t device_instance;
- uint8_t spiTxBursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
- uint8_t spiRxBursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
-} L6474_Data_t;
+ /**
+ * @brief Enabling the device.
+ * @param None.
+ * @retval None.
+ */
+ virtual void enable(void)
+ {
+ L6474_CmdEnable();
+ }
+
+ /**
+ * @brief Disabling the device.
+ * @param None.
+ * @retval None.
+ */
+ virtual void disable(void)
+ {
+ L6474_CmdDisable();
+ }
+
+ /**
+ * @brief Getting the version of the firmware.
+ * @param None.
+ * @retval The version of the firmware.
+ */
+ virtual uint8_t get_fw_version(void)
+ {
+ return (uint8_t) L6474_GetFwVersion();
+ }
-/* Functions -----------------------------------------------------------------*/
+ /*** Public Interrupt Related Methods ***/
-/** @addtogroup BSP
- * @{
- */
+ /* ACTION 6 --------------------------------------------------------------*
+ * Implement here interrupt related methods, if any. *
+ * Note that interrupt handling is platform dependent, e.g.: *
+ * + mbed: *
+ * InterruptIn feature_irq(pin); //Interrupt object. *
+ * feature_irq.rise(callback); //Attach a callback. *
+ * feature_irq.mode(PullNone); //Set interrupt mode. *
+ * feature_irq.enable_irq(); //Enable interrupt. *
+ * feature_irq.disable_irq(); //Disable interrupt. *
+ * + Arduino: *
+ * attachInterrupt(pin, callback, RISING); //Attach a callback. *
+ * detachInterrupt(pin); //Detach a callback. *
+ * *
+ * Example (mbed): *
+ * void attach_feature_irq(void (*fptr) (void)) *
+ * { *
+ * feature_irq.rise(fptr); *
+ * } *
+ * *
+ * void enable_feature_irq(void) *
+ * { *
+ * feature_irq.enable_irq(); *
+ * } *
+ * *
+ * void disable_feature_irq(void) *
+ * { *
+ * feature_irq.disable_irq(); *
+ * } *
+ *------------------------------------------------------------------------*/
+ /**
+ * @brief Attaching an interrupt handler to the FLAG interrupt.
+ * @param fptr An interrupt handler.
+ * @retval None.
+ */
+ void attach_flag_irq(void (*fptr)(void))
+ {
+ flag_irq.fall(fptr);
+ }
+
+ /**
+ * @brief Enabling the FLAG interrupt handling.
+ * @param None.
+ * @retval None.
+ */
+ void enable_flag_irq(void)
+ {
+ flag_irq.enable_irq();
+ }
+
+ /**
+ * @brief Disabling the FLAG interrupt handling.
+ * @param None.
+ * @retval None.
+ */
+ void disable_flag_irq(void)
+ {
+ flag_irq.disable_irq();
+ }
+
+
+protected:
+
+ /*** Protected Component Related Methods ***/
-/** @addtogroup Components
- * @{
- */
+ /* ACTION 7 --------------------------------------------------------------*
+ * Declare here the component's specific methods. *
+ * They should be: *
+ * + Methods with the same name of the C component's virtual table's *
+ * functions (1); *
+ * + Methods with the same name of the C component's extended virtual *
+ * table's functions, if any (2); *
+ * + Helper methods, if any, like functions declared in the component's *
+ * source files but not pointed by the component's virtual table (3). *
+ * *
+ * Example: *
+ * status_t COMPONENT_get_value(float *f); //(1) *
+ * status_t COMPONENT_enable_feature(void); //(2) *
+ * status_t COMPONENT_compute_average(void); //(3) *
+ *------------------------------------------------------------------------*/
+ void L6474_AttachErrorHandler(void (*callback)(uint16_t error));
+ status_t L6474_Init(void *init);
+ status_t L6474_ReadID(uint8_t *id);
+ uint16_t L6474_GetAcceleration(void);
+ uint16_t L6474_GetCurrentSpeed(void);
+ uint16_t L6474_GetDeceleration(void);
+ motorState_t L6474_GetDeviceState(void);
+ uint8_t L6474_GetFwVersion(void);
+ int32_t L6474_GetMark(void);
+ uint16_t L6474_GetMaxSpeed(void);
+ uint16_t L6474_GetMinSpeed(void);
+ int32_t L6474_GetPosition(void);
+ void L6474_GoHome(void);
+ void L6474_GoMark(void);
+ void L6474_GoTo(int32_t targetPosition);
+ void L6474_HardStop(void);
+ void L6474_Move(motorDir_t direction, uint32_t stepCount);
+ void L6474_Run(motorDir_t direction);
+ bool L6474_SetAcceleration(uint16_t newAcc);
+ bool L6474_SetDeceleration(uint16_t newDec);
+ void L6474_SetHome(void);
+ void L6474_SetMark(void);
+ bool L6474_SetMaxSpeed(uint16_t newMaxSpeed);
+ bool L6474_SetMinSpeed(uint16_t newMinSpeed);
+ bool L6474_SoftStop(void);
+ void L6474_WaitWhileActive(void);
+ void L6474_CmdDisable(void);
+ void L6474_CmdEnable(void);
+ uint32_t L6474_CmdGetParam(L6474_Registers_t parameter);
+ uint16_t L6474_CmdGetStatus(void);
+ void L6474_CmdNop(void);
+ void L6474_CmdSetParam(L6474_Registers_t parameter, uint32_t value);
+ uint16_t L6474_ReadStatusRegister(void);
+ void L6474_SelectStepMode(motorStepMode_t stepMod);
+ motorDir_t L6474_GetDirection(void);
+ void L6474_SetDirection(motorDir_t direction);
+ void L6474_ApplySpeed(uint16_t newSpeed);
+ void L6474_ComputeSpeedProfile(uint32_t nbSteps);
+ int32_t L6474_ConvertPosition(uint32_t abs_position_reg);
+ void L6474_ErrorHandler(uint16_t error);
+ void L6474_SendCommand(uint8_t param);
+ void L6474_SetRegisterToPredefinedValues(void);
+ void L6474_SetRegisterToInitializationValues(L6474_init_t *init);
+ void L6474_WriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte);
+ void L6474_SetDeviceParamsToPredefinedValues(void);
+ void L6474_StartMovement(void);
+ void L6474_StepClockHandler(void);
+ float L6474_Tval_Current_to_Par(float current_mA);
+ float L6474_Par_to_Tval_Current(float Tval);
+ float L6474_Tmin_Time_to_Par(float ton_min_us);
+ float L6474_Par_to_Tmin_Time(float Tmin);
-/** @addtogroup L6474
- * @{
- */
+
+ /*** Component's I/O Methods ***/
-/** @defgroup L6474_Imported_Functions L6474_Imported_Functions
- * @{
- */
+ /**
+ * @brief Utility function to read data from L6474.
+ * @param[out] pBuffer pointer to the buffer to read data into.
+ * @param[in] NumBytesToRead number of bytes to read.
+ * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
+ */
+ status_t Read(uint8_t* pBuffer, uint16_t NumBytesToRead)
+ {
+ if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0) {
+ return COMPONENT_ERROR;
+ }
+ return COMPONENT_OK;
+ }
+
+ /**
+ * @brief Utility function to write data to L6474.
+ * @param[in] pBuffer pointer to the buffer of data to send.
+ * @param[in] NumBytesToWrite number of bytes to write.
+ * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
+ */
+ status_t Write(uint8_t* pBuffer, uint16_t NumBytesToWrite)
+ {
+ if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0) {
+ return COMPONENT_ERROR;
+ }
+ return COMPONENT_OK;
+ }
+
+ /**
+ * @brief Utility function to read and write data from/to L6474 at the same time.
+ * @param[out] pBufferToRead pointer to the buffer to read data into.
+ * @param[in] pBufferToWrite pointer to the buffer of data to send.
+ * @param[in] NumBytes number of bytes to read and write.
+ * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
+ */
+ status_t ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes)
+ {
+ if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0) {
+ return COMPONENT_ERROR;
+ }
+ return COMPONENT_OK;
+ }
-/* ACTION --------------------------------------------------------------------*
- * Declare here extern platform-dependent APIs you might need (e.g.: I/O and *
- * interrupt related functions), and implement them in a glue-logic file on *
- * the target environment, for example within the "x_nucleo_board.c" file. *
- * E.g.: *
- * extern Status_t COMPONENT_IO_Init (void *handle); *
- * extern Status_t COMPONENT_IO_Read (handle, buf, regadd, bytes); *
- * extern Status_t COMPONENT_IO_Write(handle, buf, regadd, bytes); *
- * extern void COMPONENT_IO_ITConfig(void); *
- *----------------------------------------------------------------------------*/
-///Delay of the requested number of milliseconds
-extern void L6474_Delay(void *handle, uint32_t delay);
-///Enable Irq
-extern void L6474_EnableIrq(void *handle);
-///Disable Irq
-extern void L6474_DisableIrq(void *handle);
-///Set PWM1 frequency and start it
-extern void L6474_Pwm1SetFreq(void *handle, uint16_t newFreq);
-///Set PWM2 frequency and start it
-extern void L6474_Pwm2SetFreq(void *handle, uint16_t newFreq);
-///Set PWM3 frequency and start it
-extern void L6474_Pwm3SetFreq(void *handle, uint16_t newFreq);
-///Init the PWM
-extern void L6474_PwmInit(void *handle);
-///Stop the PWM
-extern void L6474_PwmStop(void *handle);
-///Reset the L6474 reset pin
-extern void L6474_ReleaseReset(void *handle);
-///Set the L6474 reset pin
-extern void L6474_Reset(void *handle);
-///Set direction GPIO
-extern void L6474_SetDirectionGpio(void *handle, uint8_t gpioState);
-///Write bytes to the L6474s via SPI
-extern uint8_t L6474_SpiWriteBytes(void *handle, uint8_t *pByteToTransmit, uint8_t *pReceivedByte);
+ /* ACTION 8 --------------------------------------------------------------*
+ * Implement here other I/O methods beyond those already implemented *
+ * above, which are declared extern within the component's header file. *
+ *------------------------------------------------------------------------*/
+ /**
+ * @brief Making the CPU wait.
+ * @param None.
+ * @retval None.
+ */
+ void L6474_Delay(uint32_t delay)
+ {
+ wait_ms(delay);
+ }
+
+ /**
+ * @brief Enabling interrupts.
+ * @param None.
+ * @retval None.
+ */
+ void L6474_EnableIrq(void)
+ {
+ __enable_irq();
+ }
+
+ /**
+ * @brief Disabling interrupts.
+ * @param None.
+ * @retval None.
+ */
+ void L6474_DisableIrq(void)
+ {
+ __disable_irq();
+ }
+
+ /**
+ * @brief Initialising the PWM.
+ * @param None.
+ * @retval None.
+ */
+ void L6474_PwmInit(void) {}
+
+ /**
+ * @brief Setting the frequency of PWM.
+ * The frequency controls directly the speed of the device.
+ * @param frequency the frequency of PWM.
+ * @retval None.
+ */
+ void L6474_PwmSetFreq(uint16_t frequency)
+ {
+ /* Computing the period of PWM. */
+ double period = 1.0f / frequency;
+
+ /* Setting the period and the duty-cycle of PWM. */
+ pwm.period(period);
+ pwm.write(0.5f);
+
+ /* Setting a callback with the same period of PWM's, to update the state machine. */
+ ticker.attach(Callback<void()>(this, &L6474::L6474_StepClockHandler), period);
+ }
+
+ /**
+ * @brief Stopping the PWM.
+ * @param None.
+ * @retval None.
+ */
+ void L6474_PwmStop(void)
+ {
+ pwm.write(0.0f);
+ ticker.detach();
+ }
+
+ /**
+ * @brief Putting the device in standby mode.
+ * @param None.
+ * @retval None.
+ */
+ void L6474_ReleaseReset(void)
+ {
+ standby_reset = 1;
+ }
+
+ /**
+ * @brief Putting the device in reset mode.
+ * @param None.
+ * @retval None.
+ */
+ void L6474_Reset(void)
+ {
+ standby_reset = 0;
+ }
-#ifdef __cplusplus
- }
-#endif
+ /**
+ * @brief Setting the direction of rotation.
+ * @param gpioState direction of rotation: "1" for forward, "0" for backward.
+ * @retval None.
+ */
+ void L6474_SetDirectionGpio(uint8_t gpioState)
+ {
+ direction = gpioState;
+ }
+
+ /**
+ * @brief Writing and reading bytes to/from the component through the SPI at the same time.
+ * @param[in] pByteToTransmit pointer to the buffer of data to send.
+ * @param[out] pReceivedByte pointer to the buffer to read data into.
+ * @retval "0" in case of success, "1" otherwise.
+ */
+ uint8_t L6474_SpiWriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte)
+ {
+ return (uint8_t) (ReadWrite(pReceivedByte, pByteToTransmit, number_of_devices) == COMPONENT_OK ? 0 : 1);
+ }
+
+
+ /*** Component's Instance Variables ***/
+
+ /* ACTION 9 --------------------------------------------------------------*
+ * Declare here interrupt related variables, if needed. *
+ * Note that interrupt handling is platform dependent, see *
+ * "Interrupt Related Methods" above. *
+ * *
+ * Example: *
+ * + mbed: *
+ * InterruptIn feature_irq; *
+ *------------------------------------------------------------------------*/
+ /* Flag Interrupt. */
+ InterruptIn flag_irq;
+
+ /* ACTION 10 -------------------------------------------------------------*
+ * Declare here other pin related variables, if needed. *
+ * *
+ * Example: *
+ * + mbed: *
+ * DigitalOut standby_reset; *
+ *------------------------------------------------------------------------*/
+ /* Standby/reset pin. */
+ DigitalOut standby_reset;
+
+ /* Direction of rotation pin. */
+ DigitalOut direction;
+
+ /* Pulse Width Modulation pin. */
+ PwmOut pwm;
-#endif /* #ifndef __L6474_H */
+ /* Timer to trigger the PWM callback at each PWM pulse. */
+ Ticker ticker;
+
+ /* ACTION 11 -------------------------------------------------------------*
+ * Declare here communication related variables, if needed. *
+ * *
+ * Example: *
+ * + mbed: *
+ * DigitalOut ssel; *
+ * DevSPI &dev_spi; *
+ *------------------------------------------------------------------------*/
+ /* Configuration. */
+ DigitalOut ssel;
+
+ /* IO Device. */
+ DevSPI &dev_spi;
+
+ /* ACTION 12 -------------------------------------------------------------*
+ * Declare here identity related variables, if needed. *
+ * Note that there should be only a unique identifier for each component, *
+ * which should be the "who_am_i" parameter. *
+ *------------------------------------------------------------------------*/
+ /* Identity */
+ uint8_t who_am_i;
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+ /* ACTION 13 -------------------------------------------------------------*
+ * Declare here the component's static and non-static data, one variable *
+ * per line. *
+ * *
+ * Example: *
+ * float measure; *
+ * int instance_id; *
+ * static int number_of_instances; *
+ *------------------------------------------------------------------------*/
+ /* Data. */
+ void (*error_handler_callback)(uint16_t error);
+ deviceParams_t device_prm;
+ uint8_t device_instance;
+
+ /* Static data. */
+ static uint8_t number_of_devices;
+ static uint8_t spi_tx_bursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
+ static uint8_t spi_rx_bursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
+
+
+public:
+
+ /* Static data. */
+ static bool spi_preemtion_by_isr;
+ static bool isr_flag;
+};
+
+#endif // __L6474_CLASS_H
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/