Diff: BSP/x_nucleo_ihm02a1_class.h

Revision:

1:b78dab6d2c58

Parent:

0:92706998571a

Child:

3:e3f6f4474d98

diff -r 92706998571a -r b78dab6d2c58 BSP/x_nucleo_ihm02a1_class.h
--- a/BSP/x_nucleo_ihm02a1_class.h	Fri Nov 20 18:07:45 2015 +0000
+++ b/BSP/x_nucleo_ihm02a1_class.h	Wed Nov 25 11:59:37 2015 +0000
@@ -79,16 +79,18 @@
     /**
      * @brief Getting a singleton instance of X_NUCLEO_IHM02A1 class.
      * @param flag_irq      pin name of the FLAG pin of the component.
+     * @param busy_irq      pin name of the BUSY pin of the component.
      * @param standby_reset pin name of the STBY\RST 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.
      * @retval a singleton instance of X_NUCLEO_IHM02A1 class.
      */
-    static X_NUCLEO_IHM02A1 *Instance(PinName flag_irq, PinName standby_reset, PinName ssel, DevSPI *spi = NULL);
+    static X_NUCLEO_IHM02A1 *Instance(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi = NULL);
 
     /**
      * @brief Getting a singleton instance of X_NUCLEO_IHM02A1 class.
      * @param flag_irq      pin name of the FLAG pin of the component.
+     * @param busy_irq      pin name of the BUSY pin of the component.
      * @param standby_reset pin name of the STBY\RST pin of the component.
      * @param ssel          pin name of the SSEL pin of the SPI device to be used for communication.
      * @param mosi          pin name of the MOSI pin of the SPI device to be used for communication.
@@ -96,7 +98,7 @@
      * @param sclk          pin name of the SCLK pin of the SPI device to be used for communication.
      * @retval a singleton instance of X_NUCLEO_IHM02A1 class.
      */
-    static X_NUCLEO_IHM02A1 *Instance(PinName flag_irq, PinName standby_reset, PinName ssel, PinName miso, PinName mosi, PinName sclk);
+    static X_NUCLEO_IHM02A1 *Instance(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName miso, PinName mosi, PinName sclk);
 
     /**
      * @brief Initializing the X_NUCLEO_IHM02A1 board.
@@ -109,6 +111,47 @@
      */
     ~X_NUCLEO_IHM02A1(void) {}
 
+    /**
+     * @brief  Getting the array of components.
+     * @param  None.
+     * @retval The array of components.
+     */
+    L6470 **GetComponents(void)
+    {
+        return components;
+    }
+
+    /**
+      * @brief  Performing the actions set on the motors with calls to a number of
+      *         "Prepare<Action>()" methods, one for each motor of the daisy-chain.
+      * @param  None.
+      * @retval A pointer to the results returned by the components, i.e. an
+      *         integer value for each of them.
+      */
+    virtual uint32_t* PerformPreparedActions(void)
+    {
+        /* Performing pre-actions, if needed. */
+        for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
+        {
+            /*
+               "GetPosition()" is needed by "PrepareSetMark()" at the time when the
+               prepared actions get performed.
+            */
+            if (components[m]->GetPreparedAction() == L6470::PREPARED_SET_MARK)
+                components[m]->PrepareSetMark((uint32_t) components[m]->GetPosition());
+        }
+        
+        /* Performing the prepared actions and getting back raw data. */
+        uint8_t *raw_data = components[0]->PerformPreparedActions();
+
+        /* Processing raw data. */
+        for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
+            results[m] = components[m]->GetResult(raw_data);
+
+        /* Returning results. */
+        return results;
+    }
+
 
     /*** Public Expansion Board Related Attributes ***/
 
@@ -135,11 +178,12 @@
     /**
      * @brief Constructor.
      * @param flag_irq      pin name of the FLAG pin of the component.
+     * @param busy_irq      pin name of the BUSY pin of the component.
      * @param standby_reset pin name of the STBY\RST 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.
      */
-    X_NUCLEO_IHM02A1(PinName flag_irq, PinName standby_reset, PinName ssel, DevSPI *spi);
+    X_NUCLEO_IHM02A1(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi);
 
 
     /*** Protected Expansion Board Related Initialization Methods ***/
@@ -164,6 +208,12 @@
     /* IO Device. */
     DevSPI *dev_spi;
 
+    /* Components. */
+    L6470 *components[L6470DAISYCHAINSIZE];
+    
+    /* Results of prepared actions. */
+    uint32_t results[L6470DAISYCHAINSIZE];
+
     /* Data. */
     /* ACTION 11 -------------------------------------------------------------*
      * Declare here the component's data, one variable per line.              *