Diff: Components/l6474/l6474_class.cpp

Revision:

4:83a1eb397a65

Parent:

1:b38ebb8ea286

Child:

5:d3c78f12a78d

--- a/Components/l6474/l6474_class.cpp	Fri Oct 16 13:30:06 2015 +0000
+++ b/Components/l6474/l6474_class.cpp	Fri Nov 13 12:56:06 2015 +0000
@@ -259,7 +259,7 @@
  **********************************************************/
 void L6474::L6474_GoTo(int32_t targetPosition)
 {
-  motorDir_t direction;
+  direction_t direction;
   int32_t steps;
   
   /* Eventually deactivate motor */
@@ -277,12 +277,12 @@
   if (steps >= 0) 
   {
     devicePrm.stepsToTake = steps;
-    direction = FORWARD;
+    direction = CW;
   } 
   else 
   {
     devicePrm.stepsToTake = -steps;
-    direction = BACKWARD;
+    direction = CCW;
   }
   
   if (steps != 0) 
@@ -323,7 +323,7 @@
  * @param[in] stepCount Number of steps to perform
  * @retval None
  **********************************************************/
-void L6474::L6474_Move(motorDir_t direction, uint32_t stepCount)
+void L6474::L6474_Move(direction_t direction, uint32_t stepCount)
 {
   /* Eventually deactivate motor */
   if (devicePrm.motionState != INACTIVE) 
@@ -377,7 +377,7 @@
  * @param[in] direction FORWARD or BACKWARD
  * @retval None
  **********************************************************/
-void L6474::L6474_Run(motorDir_t direction)
+void L6474::L6474_Run(direction_t direction)
 {
   /* Eventually deactivate motor */
   if (devicePrm.motionState != INACTIVE) 
@@ -792,18 +792,27 @@
 }
 
 /******************************************************//**
+ * @brief  Get the direction 
+ * @retval direction clockwise or counter-clockwise
+ **********************************************************/
+StepperMotor::direction_t L6474::L6474_GetDirection(void)
+{
+  return (devicePrm.direction == FORWARD ? CW : CCW);
+}
+
+/******************************************************//**
  * @brief  Specifies the direction 
  * @param[in] dir FORWARD or BACKWARD
  * @note The direction change is only applied if the device 
  * is in INACTIVE state
  * @retval None
  **********************************************************/
-void L6474::L6474_SetDirection(motorDir_t dir)
+void L6474::L6474_SetDirection(direction_t direction)
 {
   if (devicePrm.motionState == INACTIVE)
   {
-    devicePrm.direction = dir;
-    L6474_SetDirectionGpio(dir);
+    devicePrm.direction = (direction == CW ? FORWARD : BACKWARD);
+    L6474_SetDirectionGpio(direction == CW ? 1 : 0);
   }
 }