Antonio Maiorquim
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Joystick_S_Controller
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Dependencies: ST_INTERFACES X_NUCLEO_COMMON
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L6474.h
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00001 /** 00002 ****************************************************************************** 00003 * @file L6474.h 00004 * @author Davide Aliprandi, STMicroelectronics 00005 * @version V1.0.0 00006 * @date October 14th, 2015 00007 * @brief This file contains the class of an L6474 Motor Control component. 00008 ****************************************************************************** 00009 * @attention 00010 * 00011 * <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2> 00012 * 00013 * Redistribution and use in source and binary forms, with or without modification, 00014 * are permitted provided that the following conditions are met: 00015 * 1. Redistributions of source code must retain the above copyright notice, 00016 * this list of conditions and the following disclaimer. 00017 * 2. Redistributions in binary form must reproduce the above copyright notice, 00018 * this list of conditions and the following disclaimer in the documentation 00019 * and/or other materials provided with the distribution. 00020 * 3. Neither the name of STMicroelectronics nor the names of its contributors 00021 * may be used to endorse or promote products derived from this software 00022 * without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00025 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00026 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00027 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 00028 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 00029 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 00030 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 00032 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 00033 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 ****************************************************************************** 00036 */ 00037 00038 00039 /* Generated with STM32CubeTOO -----------------------------------------------*/ 00040 00041 00042 /* Revision ------------------------------------------------------------------*/ 00043 /* 00044 Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev 00045 Branch/Trunk/Tag: trunk 00046 Based on: X-CUBE-SPN1/trunk/Drivers/BSP/Components/l6474/l6474.h 00047 Revision: 0 00048 */ 00049 00050 00051 /* Define to prevent recursive inclusion -------------------------------------*/ 00052 00053 #ifndef __L6474_CLASS_H 00054 #define __L6474_CLASS_H 00055 00056 00057 /* Includes ------------------------------------------------------------------*/ 00058 00059 /* ACTION 1 ------------------------------------------------------------------* 00060 * Include here platform specific header files. * 00061 *----------------------------------------------------------------------------*/ 00062 #include "mbed.h" 00063 #include "DevSPI.h" 00064 /* ACTION 2 ------------------------------------------------------------------* 00065 * Include here component specific header files. * 00066 *----------------------------------------------------------------------------*/ 00067 #include "L6474_def.h" 00068 /* ACTION 3 ------------------------------------------------------------------* 00069 * Include here interface specific header files. * 00070 * * 00071 * Example: * 00072 * #include "HumiditySensor.h" * 00073 * #include "TemperatureSensor.h" * 00074 *----------------------------------------------------------------------------*/ 00075 #include "StepperMotor.h" 00076 00077 00078 /* Classes -------------------------------------------------------------------*/ 00079 00080 /** 00081 * @brief Class representing an L6474 component. 00082 */ 00083 class L6474 : public StepperMotor 00084 { 00085 public: 00086 00087 /*** Constructor and Destructor Methods ***/ 00088 00089 /** 00090 * @brief Constructor. 00091 * @param flag_irq pin name of the FLAG pin of the component. 00092 * @param standby_reset pin name of the STBY\RST pin of the component. 00093 * @param direction pin name of the DIR pin of the component. 00094 * @param pwm pin name of the PWM pin of the component. 00095 * @param ssel pin name of the SSEL pin of the SPI device to be used for communication. 00096 * @param spi SPI device to be used for communication. 00097 */ 00098 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) 00099 { 00100 /* Checking stackability. */ 00101 if (!(number_of_devices < MAX_NUMBER_OF_DEVICES)) { 00102 error("Instantiation of the L6474 component failed: it can be stacked up to %d times.\r\n", MAX_NUMBER_OF_DEVICES); 00103 } 00104 00105 /* ACTION 4 ----------------------------------------------------------* 00106 * Initialize here the component's member variables, one variable per * 00107 * line. * 00108 * * 00109 * Example: * 00110 * measure = 0; * 00111 * instance_id = number_of_instances++; * 00112 *--------------------------------------------------------------------*/ 00113 error_handler_callback = 0; 00114 device_instance = number_of_devices++; 00115 memset(spi_tx_bursts, 0, L6474_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t)); 00116 memset(spi_rx_bursts, 0, L6474_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t)); 00117 } 00118 00119 /** 00120 * @brief Destructor. 00121 */ 00122 virtual ~L6474(void) {} 00123 00124 00125 /*** Public Component Related Methods ***/ 00126 00127 /* ACTION 5 --------------------------------------------------------------* 00128 * Implement here the component's public methods, as wrappers of the C * 00129 * component's functions. * 00130 * They should be: * 00131 * + Methods with the same name of the C component's virtual table's * 00132 * functions (1); * 00133 * + Methods with the same name of the C component's extended virtual * 00134 * table's functions, if any (2). * 00135 * * 00136 * Example: * 00137 * virtual int get_value(float *p_data) //(1) * 00138 * { * 00139 * return COMPONENT_get_value(float *pf_data); * 00140 * } * 00141 * * 00142 * virtual int enable_feature(void) //(2) * 00143 * { * 00144 * return COMPONENT_enable_feature(); * 00145 * } * 00146 *------------------------------------------------------------------------*/ 00147 /** 00148 * @brief Initializing the component in 1/16 Microstepping mode. 00149 * @param init Pointer to device specific initalization structure. 00150 * @retval "0" in case of success, an error code otherwise. 00151 */ 00152 virtual int init(void *init = NULL) 00153 { 00154 return (int) L6474_Init((void *) init); 00155 } 00156 00157 /** 00158 * @brief Getting the ID of the component. 00159 * @param id Pointer to an allocated variable to store the ID into. 00160 * @retval "0" in case of success, an error code otherwise. 00161 */ 00162 virtual int read_id(uint8_t *id = NULL) 00163 { 00164 return (int) L6474_ReadID((uint8_t *) id); 00165 } 00166 00167 /** 00168 * @brief Getting the value of the Status Register. 00169 * @param None. 00170 * @retval None. 00171 * @note The Status Register's flags are cleared, contrary to the 00172 * read_status_register() method. 00173 */ 00174 virtual unsigned int get_status(void) 00175 { 00176 return (unsigned int) L6474_CmdGetStatus(); 00177 } 00178 00179 /** 00180 * @brief Getting a parameter. 00181 * @param parameter A parameter's register address. 00182 * @retval The parameter's value. 00183 * @note The Status Register's flags are cleared, contrary to the 00184 * read_status_register() method. 00185 * The parameter can be one of the following: 00186 * + L6474_ABS_POS 00187 * + L6474_EL_POS 00188 * + L6474_MARK 00189 * + L6474_RESERVED_REG01 00190 * + L6474_RESERVED_REG02 00191 * + L6474_RESERVED_REG03 00192 * + L6474_RESERVED_REG04 00193 * + L6474_RESERVED_REG05 00194 * + L6474_RESERVED_REG06 00195 * + L6474_TVAL : value in mA 00196 * + L6474_RESERVED_REG07 00197 * + L6474_RESERVED_REG08 00198 * + L6474_RESERVED_REG09 00199 * + L6474_RESERVED_REG10 00200 * + L6474_T_FAST 00201 * + L6474_TON_MIN : value in us 00202 * + L6474_TOFF_MIN : value in us 00203 * + L6474_RESERVED_REG11 00204 * + L6474_ADC_OUT 00205 * + L6474_OCD_TH 00206 * + L6474_RESERVED_REG12 00207 * + L6474_STEP_MODE 00208 * + L6474_ALARM_EN 00209 * + L6474_CONFIG 00210 * + L6474_STATUS 00211 * + L6474_RESERVED_REG13 00212 * + L6474_RESERVED_REG14 00213 * + L6474_INEXISTENT_REG 00214 */ 00215 virtual float get_parameter(unsigned int parameter) 00216 { 00217 unsigned int register_value = (unsigned int) L6474_CmdGetParam((L6474_Registers_t) parameter); 00218 float value; 00219 00220 switch ((L6474_Registers_t) parameter) { 00221 case L6474_TVAL: 00222 value = L6474_Par_to_Tval_Current((float) register_value); 00223 break; 00224 case L6474_TON_MIN: 00225 case L6474_TOFF_MIN: 00226 value = L6474_Par_to_Tmin_Time((float) register_value); 00227 break; 00228 default: 00229 value = (float) register_value; 00230 break; 00231 } 00232 00233 return value; 00234 } 00235 00236 /** 00237 * @brief Getting the position. 00238 * @param None. 00239 * @retval The position. 00240 */ 00241 virtual signed int get_position(void) 00242 { 00243 return (signed int) L6474_GetPosition(); 00244 } 00245 00246 /** 00247 * @brief Getting the marked position. 00248 * @param None. 00249 * @retval The marked position. 00250 */ 00251 virtual signed int get_mark(void) 00252 { 00253 return (signed int) L6474_GetMark(); 00254 } 00255 00256 /** 00257 * @brief Getting the current speed in pps. 00258 * @param None. 00259 * @retval The current speed in pps. 00260 */ 00261 virtual unsigned int get_speed(void) 00262 { 00263 return (unsigned int) L6474_GetCurrentSpeed(); 00264 } 00265 00266 /** 00267 * @brief Getting the maximum speed in pps. 00268 * @param None. 00269 * @retval The maximum speed in pps. 00270 */ 00271 virtual unsigned int get_max_speed(void) 00272 { 00273 return (unsigned int) L6474_GetMaxSpeed(); 00274 } 00275 00276 /** 00277 * @brief Getting the minimum speed in pps. 00278 * @param None. 00279 * @retval The minimum speed in pps. 00280 */ 00281 virtual unsigned int get_min_speed(void) 00282 { 00283 return (unsigned int) L6474_GetMinSpeed(); 00284 } 00285 00286 /** 00287 * @brief Getting the acceleration in pps^2. 00288 * @param None. 00289 * @retval The acceleration in pps^2. 00290 */ 00291 virtual unsigned int get_acceleration(void) 00292 { 00293 return (unsigned int) L6474_GetAcceleration(); 00294 } 00295 00296 /** 00297 * @brief Getting the deceleration in pps^2. 00298 * @param None. 00299 * @retval The deceleration in pps^2. 00300 */ 00301 virtual unsigned int get_deceleration(void) 00302 { 00303 return (unsigned int) L6474_GetDeceleration(); 00304 } 00305 00306 /** 00307 * @brief Getting the direction of rotation. 00308 * @param None. 00309 * @retval The direction of rotation. 00310 */ 00311 virtual direction_t get_direction(void) 00312 { 00313 return (direction_t) (L6474_GetDirection() == FORWARD ? StepperMotor::FWD : StepperMotor::BWD); 00314 } 00315 00316 /** 00317 * @brief Setting a parameter. 00318 * @param parameter A parameter's register address. 00319 * @param value The parameter's value. 00320 * @retval None. 00321 * @note The parameter can be one of the following: 00322 * + L6474_ABS_POS 00323 * + L6474_EL_POS 00324 * + L6474_MARK 00325 * + L6474_RESERVED_REG01 00326 * + L6474_RESERVED_REG02 00327 * + L6474_RESERVED_REG03 00328 * + L6474_RESERVED_REG04 00329 * + L6474_RESERVED_REG05 00330 * + L6474_RESERVED_REG06 00331 * + L6474_TVAL : value in mA 00332 * + L6474_RESERVED_REG07 00333 * + L6474_RESERVED_REG08 00334 * + L6474_RESERVED_REG09 00335 * + L6474_RESERVED_REG10 00336 * + L6474_T_FAST 00337 * + L6474_TON_MIN : value in us 00338 * + L6474_TOFF_MIN : value in us 00339 * + L6474_RESERVED_REG11 00340 * + L6474_ADC_OUT 00341 * + L6474_OCD_TH 00342 * + L6474_RESERVED_REG12 00343 * + L6474_STEP_MODE 00344 * + L6474_ALARM_EN 00345 * + L6474_CONFIG 00346 * + L6474_STATUS 00347 * + L6474_RESERVED_REG13 00348 * + L6474_RESERVED_REG14 00349 * + L6474_INEXISTENT_REG 00350 * @warning Some registers can only be written in particular conditions (see L6474's datasheet). 00351 * Any attempt to write one of those registers when the conditions are not satisfied 00352 * causes the command to be ignored and the NOTPERF_CMD flag to rise at the end of the 00353 * last argument byte. Any attempt to set an inexistent register (wrong address value) 00354 * causes the command to be ignored and the WRONG_CMD flag to rise. 00355 * For example, setting some parameters requires first to disable the power bridge; 00356 * this can be done through the soft_hiz() method. 00357 * They are the following: 00358 * + L6474_EL_POS 00359 * + L6474_T_FAST 00360 * + L6474_TON_MIN : value in us 00361 * + L6474_TOFF_MIN : value in us 00362 * + L6474_ADC_OUT 00363 * + L6474_STEP_MODE 00364 * + L6474_CONFIG 00365 * + L6474_STATUS 00366 */ 00367 virtual void set_parameter(unsigned int parameter, float value) 00368 { 00369 float register_value; 00370 00371 switch ((L6474_Registers_t) parameter) { 00372 case L6474_TVAL: 00373 register_value = L6474_Tval_Current_to_Par(value); 00374 break; 00375 case L6474_TON_MIN: 00376 case L6474_TOFF_MIN: 00377 register_value = L6474_Tmin_Time_to_Par(value); 00378 break; 00379 default: 00380 register_value = value; 00381 break; 00382 } 00383 00384 L6474_CmdSetParam((L6474_Registers_t) parameter, (unsigned int) register_value); 00385 } 00386 00387 /** 00388 * @brief Setting the current position to be the home position. 00389 * @param None. 00390 * @retval None. 00391 */ 00392 virtual void set_home(void) 00393 { 00394 L6474_SetHome(); 00395 } 00396 00397 /** 00398 * @brief Setting the current position to be the marked position. 00399 * @param None. 00400 * @retval None. 00401 */ 00402 virtual void set_mark(void) 00403 { 00404 L6474_SetMark(); 00405 } 00406 00407 /** 00408 * @brief Setting the maximum speed in pps. 00409 * @param speed The maximum speed in pps. 00410 * @retval "true" in case of success, "false" otherwise. 00411 */ 00412 virtual bool set_max_speed(unsigned int speed) 00413 { 00414 L6474_SetMaxSpeed((unsigned int) speed); 00415 return true; 00416 } 00417 00418 /** 00419 * @brief Setting the minimum speed in pps. 00420 * @param speed The minimum speed in pps. 00421 * @retval "true" in case of success, "false" otherwise. 00422 */ 00423 virtual bool set_min_speed(unsigned int speed) 00424 { 00425 L6474_SetMinSpeed((unsigned int) speed); 00426 return true; 00427 } 00428 00429 /** 00430 * @brief Setting the acceleration in pps^2. 00431 * @param acceleration The acceleration in pps^2. 00432 * @retval "true" in case of success, "false" otherwise. 00433 */ 00434 virtual bool set_acceleration(unsigned int acceleration) 00435 { 00436 L6474_SetAcceleration((unsigned int) acceleration); 00437 return true; 00438 } 00439 00440 /** 00441 * @brief Setting the deceleration in pps^2. 00442 * @param deceleration The deceleration in pps^2. 00443 * @retval "true" in case of success, "false" otherwise. 00444 */ 00445 virtual bool set_deceleration(unsigned int deceleration) 00446 { 00447 L6474_SetDeceleration((unsigned int) deceleration); 00448 return true; 00449 } 00450 00451 /** 00452 * @brief Going to a specified position. 00453 * @param position The desired position. 00454 * @retval None. 00455 */ 00456 virtual void go_to(signed int position) 00457 { 00458 L6474_GoTo((signed int) position); 00459 } 00460 00461 /** 00462 * @brief Going to the home position. 00463 * @param None. 00464 * @retval None. 00465 */ 00466 virtual void go_home(void) 00467 { 00468 L6474_GoHome(); 00469 } 00470 00471 /** 00472 * @brief Going to the marked position. 00473 * @param None. 00474 * @retval None. 00475 */ 00476 virtual void go_mark(void) 00477 { 00478 L6474_GoMark(); 00479 } 00480 00481 /** 00482 * @brief Running the motor towards a specified direction. 00483 * @param direction The direction of rotation. 00484 * @retval None. 00485 */ 00486 virtual void run(direction_t direction) 00487 { 00488 L6474_Run((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD)); 00489 } 00490 00491 /** 00492 * @brief Moving the motor towards a specified direction for a certain number of steps. 00493 * @param direction The direction of rotation. 00494 * @param steps The desired number of steps. 00495 * @retval None. 00496 */ 00497 virtual void move(direction_t direction, unsigned int steps) 00498 { 00499 L6474_Move((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), (unsigned int) steps); 00500 } 00501 00502 /** 00503 * @brief Stopping the motor through an immediate deceleration up to zero speed. 00504 * @param None. 00505 * @retval None. 00506 */ 00507 virtual void soft_stop(void) 00508 { 00509 L6474_SoftStop(); 00510 } 00511 00512 /** 00513 * @brief Stopping the motor through an immediate infinite deceleration. 00514 * @param None. 00515 * @retval None. 00516 */ 00517 virtual void hard_stop(void) 00518 { 00519 L6474_HardStop(); 00520 } 00521 00522 /** 00523 * @brief Disabling the power bridge after performing a deceleration to zero. 00524 * @param None. 00525 * @retval None. 00526 */ 00527 virtual void soft_hiz(void) 00528 { 00529 L6474_SoftStop(); 00530 L6474_CmdDisable(); 00531 } 00532 00533 /** 00534 * @brief Disabling the power bridge immediately. 00535 * @param None. 00536 * @retval None. 00537 */ 00538 virtual void hard_hiz(void) 00539 { 00540 L6474_HardStop(); 00541 L6474_CmdDisable(); 00542 } 00543 00544 /** 00545 * @brief Waiting while the motor is active. 00546 * @param None. 00547 * @retval None. 00548 */ 00549 virtual void wait_while_active(void) 00550 { 00551 L6474_WaitWhileActive(); 00552 } 00553 00554 /** 00555 * @brief Getting the device state. 00556 * @param None. 00557 * @retval The device state. 00558 * @note The device state can be one of the following: 00559 * + ACCELERATING 00560 * + DECELERATING 00561 * + STEADY 00562 * + INACTIVE 00563 */ 00564 virtual motorState_t get_device_state(void) 00565 { 00566 return (motorState_t) L6474_GetDeviceState(); 00567 } 00568 00569 /** 00570 * @brief Reading the Status Register. 00571 * @param None. 00572 * @retval None. 00573 * @note The Status Register's flags are not cleared, contrary to the 00574 * GetStatus() method. 00575 */ 00576 virtual uint16_t read_status_register(void) 00577 { 00578 return (uint16_t) L6474_ReadStatusRegister(); 00579 } 00580 00581 /** 00582 * @brief Setting the Step Mode. 00583 * @param step_mode The Step Mode. 00584 * @retval "true" in case of success, "false" otherwise. 00585 * @warning Setting the step mode implies first disabling the power bridge through 00586 * the soft_hiz() method. 00587 * @warning Every time step mode is changed, the values of the home 00588 * and mark positions lose meaning and are reset. 00589 */ 00590 virtual bool set_step_mode(step_mode_t step_mode) 00591 { 00592 if ((motorStepMode_t) step_mode > STEP_MODE_1_16) { 00593 return false; 00594 } 00595 00596 soft_hiz(); 00597 L6474_SelectStepMode((motorStepMode_t) step_mode); 00598 return true; 00599 } 00600 00601 /** 00602 * @brief Attaching an error handler. 00603 * @param fptr An error handler. 00604 * @retval None. 00605 */ 00606 virtual void attach_error_handler(void (*fptr)(uint16_t error)) 00607 { 00608 L6474_AttachErrorHandler((void (*)(uint16_t error)) fptr); 00609 } 00610 00611 /** 00612 * @brief Enabling the device. 00613 * @param None. 00614 * @retval None. 00615 */ 00616 virtual void enable(void) 00617 { 00618 L6474_CmdEnable(); 00619 } 00620 00621 /** 00622 * @brief Disabling the device. 00623 * @param None. 00624 * @retval None. 00625 */ 00626 virtual void disable(void) 00627 { 00628 L6474_CmdDisable(); 00629 } 00630 00631 /** 00632 * @brief Getting the version of the firmware. 00633 * @param None. 00634 * @retval The version of the firmware. 00635 */ 00636 virtual uint8_t get_fw_version(void) 00637 { 00638 return (uint8_t) L6474_GetFwVersion(); 00639 } 00640 00641 00642 /*** Public Interrupt Related Methods ***/ 00643 00644 /* ACTION 6 --------------------------------------------------------------* 00645 * Implement here interrupt related methods, if any. * 00646 * Note that interrupt handling is platform dependent, e.g.: * 00647 * + mbed: * 00648 * InterruptIn feature_irq(pin); //Interrupt object. * 00649 * feature_irq.rise(callback); //Attach a callback. * 00650 * feature_irq.mode(PullNone); //Set interrupt mode. * 00651 * feature_irq.enable_irq(); //Enable interrupt. * 00652 * feature_irq.disable_irq(); //Disable interrupt. * 00653 * + Arduino: * 00654 * attachInterrupt(pin, callback, RISING); //Attach a callback. * 00655 * detachInterrupt(pin); //Detach a callback. * 00656 * * 00657 * Example (mbed): * 00658 * void attach_feature_irq(void (*fptr) (void)) * 00659 * { * 00660 * feature_irq.rise(fptr); * 00661 * } * 00662 * * 00663 * void enable_feature_irq(void) * 00664 * { * 00665 * feature_irq.enable_irq(); * 00666 * } * 00667 * * 00668 * void disable_feature_irq(void) * 00669 * { * 00670 * feature_irq.disable_irq(); * 00671 * } * 00672 *------------------------------------------------------------------------*/ 00673 /** 00674 * @brief Attaching an interrupt handler to the FLAG interrupt. 00675 * @param fptr An interrupt handler. 00676 * @retval None. 00677 */ 00678 void attach_flag_irq(void (*fptr)(void)) 00679 { 00680 flag_irq.fall(fptr); 00681 } 00682 00683 /** 00684 * @brief Enabling the FLAG interrupt handling. 00685 * @param None. 00686 * @retval None. 00687 */ 00688 void enable_flag_irq(void) 00689 { 00690 flag_irq.enable_irq(); 00691 } 00692 00693 /** 00694 * @brief Disabling the FLAG interrupt handling. 00695 * @param None. 00696 * @retval None. 00697 */ 00698 void disable_flag_irq(void) 00699 { 00700 flag_irq.disable_irq(); 00701 } 00702 00703 00704 protected: 00705 00706 /*** Protected Component Related Methods ***/ 00707 00708 /* ACTION 7 --------------------------------------------------------------* 00709 * Declare here the component's specific methods. * 00710 * They should be: * 00711 * + Methods with the same name of the C component's virtual table's * 00712 * functions (1); * 00713 * + Methods with the same name of the C component's extended virtual * 00714 * table's functions, if any (2); * 00715 * + Helper methods, if any, like functions declared in the component's * 00716 * source files but not pointed by the component's virtual table (3). * 00717 * * 00718 * Example: * 00719 * status_t COMPONENT_get_value(float *f); //(1) * 00720 * status_t COMPONENT_enable_feature(void); //(2) * 00721 * status_t COMPONENT_compute_average(void); //(3) * 00722 *------------------------------------------------------------------------*/ 00723 void L6474_AttachErrorHandler(void (*callback)(uint16_t error)); 00724 status_t L6474_Init(void *init); 00725 status_t L6474_ReadID(uint8_t *id); 00726 uint16_t L6474_GetAcceleration(void); 00727 uint16_t L6474_GetCurrentSpeed(void); 00728 uint16_t L6474_GetDeceleration(void); 00729 motorState_t L6474_GetDeviceState(void); 00730 uint8_t L6474_GetFwVersion(void); 00731 int32_t L6474_GetMark(void); 00732 uint16_t L6474_GetMaxSpeed(void); 00733 uint16_t L6474_GetMinSpeed(void); 00734 int32_t L6474_GetPosition(void); 00735 void L6474_GoHome(void); 00736 void L6474_GoMark(void); 00737 void L6474_GoTo(int32_t targetPosition); 00738 void L6474_HardStop(void); 00739 void L6474_Move(motorDir_t direction, uint32_t stepCount); 00740 void L6474_Run(motorDir_t direction); 00741 bool L6474_SetAcceleration(uint16_t newAcc); 00742 bool L6474_SetDeceleration(uint16_t newDec); 00743 void L6474_SetHome(void); 00744 void L6474_SetMark(void); 00745 bool L6474_SetMaxSpeed(uint16_t newMaxSpeed); 00746 bool L6474_SetMinSpeed(uint16_t newMinSpeed); 00747 bool L6474_SoftStop(void); 00748 void L6474_WaitWhileActive(void); 00749 void L6474_CmdDisable(void); 00750 void L6474_CmdEnable(void); 00751 uint32_t L6474_CmdGetParam(L6474_Registers_t parameter); 00752 uint16_t L6474_CmdGetStatus(void); 00753 void L6474_CmdNop(void); 00754 void L6474_CmdSetParam(L6474_Registers_t parameter, uint32_t value); 00755 uint16_t L6474_ReadStatusRegister(void); 00756 void L6474_SelectStepMode(motorStepMode_t stepMod); 00757 motorDir_t L6474_GetDirection(void); 00758 void L6474_SetDirection(motorDir_t direction); 00759 void L6474_ApplySpeed(uint16_t newSpeed); 00760 void L6474_ComputeSpeedProfile(uint32_t nbSteps); 00761 int32_t L6474_ConvertPosition(uint32_t abs_position_reg); 00762 void L6474_ErrorHandler(uint16_t error); 00763 void L6474_SendCommand(uint8_t param); 00764 void L6474_SetRegisterToPredefinedValues(void); 00765 void L6474_SetRegisterToInitializationValues(L6474_init_t *init); 00766 void L6474_WriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte); 00767 void L6474_SetDeviceParamsToPredefinedValues(void); 00768 void L6474_StartMovement(void); 00769 void L6474_StepClockHandler(void); 00770 float L6474_Tval_Current_to_Par(float current_mA); 00771 float L6474_Par_to_Tval_Current(float Tval); 00772 float L6474_Tmin_Time_to_Par(float ton_min_us); 00773 float L6474_Par_to_Tmin_Time(float Tmin); 00774 00775 00776 /*** Component's I/O Methods ***/ 00777 00778 /** 00779 * @brief Utility function to read data from L6474. 00780 * @param[out] pBuffer pointer to the buffer to read data into. 00781 * @param[in] NumBytesToRead number of bytes to read. 00782 * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise. 00783 */ 00784 status_t Read(uint8_t* pBuffer, uint16_t NumBytesToRead) 00785 { 00786 if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0) { 00787 return COMPONENT_ERROR; 00788 } 00789 return COMPONENT_OK; 00790 } 00791 00792 /** 00793 * @brief Utility function to write data to L6474. 00794 * @param[in] pBuffer pointer to the buffer of data to send. 00795 * @param[in] NumBytesToWrite number of bytes to write. 00796 * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise. 00797 */ 00798 status_t Write(uint8_t* pBuffer, uint16_t NumBytesToWrite) 00799 { 00800 if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0) { 00801 return COMPONENT_ERROR; 00802 } 00803 return COMPONENT_OK; 00804 } 00805 00806 /** 00807 * @brief Utility function to read and write data from/to L6474 at the same time. 00808 * @param[out] pBufferToRead pointer to the buffer to read data into. 00809 * @param[in] pBufferToWrite pointer to the buffer of data to send. 00810 * @param[in] NumBytes number of bytes to read and write. 00811 * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise. 00812 */ 00813 status_t ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes) 00814 { 00815 if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0) { 00816 return COMPONENT_ERROR; 00817 } 00818 return COMPONENT_OK; 00819 } 00820 00821 /* ACTION 8 --------------------------------------------------------------* 00822 * Implement here other I/O methods beyond those already implemented * 00823 * above, which are declared extern within the component's header file. * 00824 *------------------------------------------------------------------------*/ 00825 /** 00826 * @brief Making the CPU wait. 00827 * @param None. 00828 * @retval None. 00829 */ 00830 void L6474_Delay(uint32_t delay) 00831 { 00832 wait_ms(delay); 00833 } 00834 00835 /** 00836 * @brief Enabling interrupts. 00837 * @param None. 00838 * @retval None. 00839 */ 00840 void L6474_EnableIrq(void) 00841 { 00842 __enable_irq(); 00843 } 00844 00845 /** 00846 * @brief Disabling interrupts. 00847 * @param None. 00848 * @retval None. 00849 */ 00850 void L6474_DisableIrq(void) 00851 { 00852 __disable_irq(); 00853 } 00854 00855 /** 00856 * @brief Initialising the PWM. 00857 * @param None. 00858 * @retval None. 00859 */ 00860 void L6474_PwmInit(void) {} 00861 00862 /** 00863 * @brief Setting the frequency of PWM. 00864 * The frequency controls directly the speed of the device. 00865 * @param frequency the frequency of PWM. 00866 * @retval None. 00867 */ 00868 void L6474_PwmSetFreq(uint16_t frequency) 00869 { 00870 /* Computing the period of PWM. */ 00871 double period = 1.0f / frequency; 00872 00873 /* Setting the period and the duty-cycle of PWM. */ 00874 pwm.period(period); 00875 pwm.write(0.5f); 00876 00877 /* Setting a callback with the same period of PWM's, to update the state machine. */ 00878 ticker.attach(Callback<void()>(this, &L6474::L6474_StepClockHandler), period); 00879 } 00880 00881 /** 00882 * @brief Stopping the PWM. 00883 * @param None. 00884 * @retval None. 00885 */ 00886 void L6474_PwmStop(void) 00887 { 00888 pwm.write(0.0f); 00889 ticker.detach(); 00890 } 00891 00892 /** 00893 * @brief Putting the device in standby mode. 00894 * @param None. 00895 * @retval None. 00896 */ 00897 void L6474_ReleaseReset(void) 00898 { 00899 standby_reset = 1; 00900 } 00901 00902 /** 00903 * @brief Putting the device in reset mode. 00904 * @param None. 00905 * @retval None. 00906 */ 00907 void L6474_Reset(void) 00908 { 00909 standby_reset = 0; 00910 } 00911 00912 /** 00913 * @brief Setting the direction of rotation. 00914 * @param gpioState direction of rotation: "1" for forward, "0" for backward. 00915 * @retval None. 00916 */ 00917 void L6474_SetDirectionGpio(uint8_t gpioState) 00918 { 00919 direction = gpioState; 00920 } 00921 00922 /** 00923 * @brief Writing and reading bytes to/from the component through the SPI at the same time. 00924 * @param[in] pByteToTransmit pointer to the buffer of data to send. 00925 * @param[out] pReceivedByte pointer to the buffer to read data into. 00926 * @retval "0" in case of success, "1" otherwise. 00927 */ 00928 uint8_t L6474_SpiWriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte) 00929 { 00930 return (uint8_t) (ReadWrite(pReceivedByte, pByteToTransmit, number_of_devices) == COMPONENT_OK ? 0 : 1); 00931 } 00932 00933 00934 /*** Component's Instance Variables ***/ 00935 00936 /* ACTION 9 --------------------------------------------------------------* 00937 * Declare here interrupt related variables, if needed. * 00938 * Note that interrupt handling is platform dependent, see * 00939 * "Interrupt Related Methods" above. * 00940 * * 00941 * Example: * 00942 * + mbed: * 00943 * InterruptIn feature_irq; * 00944 *------------------------------------------------------------------------*/ 00945 /* Flag Interrupt. */ 00946 InterruptIn flag_irq; 00947 00948 /* ACTION 10 -------------------------------------------------------------* 00949 * Declare here other pin related variables, if needed. * 00950 * * 00951 * Example: * 00952 * + mbed: * 00953 * DigitalOut standby_reset; * 00954 *------------------------------------------------------------------------*/ 00955 /* Standby/reset pin. */ 00956 DigitalOut standby_reset; 00957 00958 /* Direction of rotation pin. */ 00959 DigitalOut direction; 00960 00961 /* Pulse Width Modulation pin. */ 00962 PwmOut pwm; 00963 00964 /* Timer to trigger the PWM callback at each PWM pulse. */ 00965 Ticker ticker; 00966 00967 /* ACTION 11 -------------------------------------------------------------* 00968 * Declare here communication related variables, if needed. * 00969 * * 00970 * Example: * 00971 * + mbed: * 00972 * DigitalOut ssel; * 00973 * DevSPI &dev_spi; * 00974 *------------------------------------------------------------------------*/ 00975 /* Configuration. */ 00976 DigitalOut ssel; 00977 00978 /* IO Device. */ 00979 DevSPI &dev_spi; 00980 00981 /* ACTION 12 -------------------------------------------------------------* 00982 * Declare here identity related variables, if needed. * 00983 * Note that there should be only a unique identifier for each component, * 00984 * which should be the "who_am_i" parameter. * 00985 *------------------------------------------------------------------------*/ 00986 /* Identity */ 00987 uint8_t who_am_i; 00988 00989 /* ACTION 13 -------------------------------------------------------------* 00990 * Declare here the component's static and non-static data, one variable * 00991 * per line. * 00992 * * 00993 * Example: * 00994 * float measure; * 00995 * int instance_id; * 00996 * static int number_of_instances; * 00997 *------------------------------------------------------------------------*/ 00998 /* Data. */ 00999 void (*error_handler_callback)(uint16_t error); 01000 deviceParams_t device_prm; 01001 uint8_t device_instance; 01002 01003 /* Static data. */ 01004 static uint8_t number_of_devices; 01005 static uint8_t spi_tx_bursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES]; 01006 static uint8_t spi_rx_bursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES]; 01007 01008 01009 public: 01010 01011 /* Static data. */ 01012 static bool spi_preemtion_by_isr; 01013 static bool isr_flag; 01014 }; 01015 01016 #endif // __L6474_CLASS_H 01017 01018 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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