Neri Tiziano
/
X_NUCLEO_IHM03A1_for
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Dependencies: X_NUCLEO_COMMON ST_INTERFACES
Diff: Components/PowerStep01/PowerStep01.h
- Revision:
- 5:e7dca8c6ae9f
- Parent:
- 4:f48e8d87553e
- Child:
- 6:7af3838de91a
diff -r f48e8d87553e -r e7dca8c6ae9f Components/PowerStep01/PowerStep01.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/PowerStep01/PowerStep01.h Fri Mar 24 10:24:39 2017 +0000
@@ -0,0 +1,1495 @@
+/**
+ ******************************************************************************
+ * @file PowerStep01.h
+ * @author IPC Rennes
+ * @version V1.0.1
+ * @date September 13th, 2016
+ * @brief This file contains the class of a Powerstep01 Motor Control component.
+ * @note (C) COPYRIGHT 2016 STMicroelectronics
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+
+#ifndef __POWERSTEP01_CLASS_H
+#define __POWERSTEP01_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+/* ACTION 1 ------------------------------------------------------------------*
+ * Include here platform specific header files. *
+ *----------------------------------------------------------------------------*/
+#include "mbed.h"
+#include "DevSPI.h"
+/* ACTION 2 ------------------------------------------------------------------*
+ * Include here component specific header files. *
+ *----------------------------------------------------------------------------*/
+#include "PowerStep01_def.h"
+/* ACTION 3 ------------------------------------------------------------------*
+ * Include here interface specific header files. *
+ * *
+ * Example: *
+ * #include "HumiditySensor.h" *
+ * #include "TemperatureSensor.h" *
+ *----------------------------------------------------------------------------*/
+#include "StepperMotor.h"
+
+
+/* Classes -------------------------------------------------------------------*/
+
+/**
+ * @brief Class representing a Powerstep01 component.
+ */
+class PowerStep01 : public StepperMotor
+{
+public:
+
+ /*** Constructor and Destructor Methods ***/
+
+ /**
+ * @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 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.
+ */
+ PowerStep01(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName pwm, PinName ssel, DevSPI &spi) : StepperMotor(), flag_irq(flag_irq), busy_irq(busy_irq), standby_reset(standby_reset), pwm(pwm), ssel(ssel), dev_spi(spi)
+ {
+ /* Checking stackability. */
+ if (!(numberOfDevices < MAX_NUMBER_OF_DEVICES))
+ error("Instantiation of the PowerStep01 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++; *
+ *--------------------------------------------------------------------*/
+ errorHandlerCallback = 0;
+ deviceInstance = numberOfDevices++;
+ memset(spiTxBursts, 0, POWERSTEP01_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t));
+ memset(spiRxBursts, 0, POWERSTEP01_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t));
+ }
+
+ /**
+ * @brief Destructor.
+ */
+ virtual ~PowerStep01(void) {}
+
+
+ /*** Public Component Related Methods ***/
+
+ /* 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 GetValue(float *pData) //(1) *
+ * { *
+ * return COMPONENT_GetValue(float *pfData); *
+ * } *
+ * *
+ * virtual int EnableFeature(void) //(2) *
+ * { *
+ * return COMPONENT_EnableFeature(); *
+ * } *
+ *------------------------------------------------------------------------*/
+
+ /**
+ * @brief Public functions inherited from the Component Class
+ */
+
+ /**
+ * @brief Initialize the component.
+ * @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) Powerstep01_Init((void *) init);
+ }
+
+ /**
+ * @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) Powerstep01_ReadID((uint8_t *) id);
+ }
+
+ /**
+ * @brief Public functions inherited from the StepperMotor Class
+ */
+
+ /**
+ * @brief Getting the value of the Status Register.
+ * @param None.
+ * @retval None.
+ * @note The Status Register's flags are cleared, contrary to read_status_register().
+ */
+ virtual unsigned int get_status(void)
+ {
+ return (unsigned int) Powerstep01_CmdGetStatus();
+ }
+
+ /**
+ * @brief Getting the position.
+ * @param None.
+ * @retval The position.
+ */
+ virtual signed int get_position(void)
+ {
+ return (signed int)Powerstep01_GetPosition();
+ }
+
+ /**
+ * @brief Getting the marked position.
+ * @param None.
+ * @retval The marked position.
+ */
+ virtual signed int get_mark(void)
+ {
+ return (signed int)Powerstep01_GetMark();
+ }
+
+ /**
+ * @brief Getting the current speed in step/s.
+ * @param None.
+ * @retval The current speed in step/s.
+ */
+ virtual unsigned int get_speed(void)
+ {
+ return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_SPEED));
+ }
+
+ /**
+ * @brief Getting the maximum speed in step/s.
+ * @param None.
+ * @retval The maximum speed in step/s.
+ */
+ virtual unsigned int get_max_speed(void)
+ {
+ return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_MAX_SPEED));
+ }
+
+ /**
+ * @brief Getting the minimum speed in step/s.
+ * @param None.
+ * @retval The minimum speed in step/s.
+ */
+ virtual unsigned int get_min_speed(void)
+ {
+ return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_MIN_SPEED));
+ }
+
+ /**
+ * @brief Getting the acceleration in step/s^2.
+ * @param None.
+ * @retval The acceleration in step/s^2.
+ */
+ virtual unsigned int get_acceleration(void)
+ {
+ return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_ACC));
+ }
+
+ /**
+ * @brief Getting the deceleration in step/s^2.
+ * @param None.
+ * @retval The deceleration in step/s^2.
+ */
+ virtual unsigned int get_deceleration(void)
+ {
+ return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_DEC));
+ }
+
+ /**
+ * @brief Getting the direction of rotation.
+ * @param None.
+ * @retval The direction of rotation.
+ */
+ virtual direction_t get_direction(void)
+ {
+ if ((POWERSTEP01_STATUS_DIR&Powerstep01_ReadStatusRegister())!=0)
+ {
+ return FWD;
+ }
+ else
+ {
+ return BWD;
+ }
+ }
+
+ /**
+ * @brief Setting the current position to be the home position.
+ * @param None.
+ * @retval None.
+ */
+ virtual void set_home(void)
+ {
+ Powerstep01_SetHome();
+ }
+
+ /**
+ * @brief Setting the current position to be the marked position.
+ * @param None.
+ * @retval None.
+ */
+ virtual void set_mark(void)
+ {
+ Powerstep01_SetMark();
+ }
+
+ /**
+ * @brief Setting the maximum speed in steps/s.
+ * @param speed The maximum speed in steps/s.
+ * @retval TRUE if value is valid, FALSE otherwise.
+ */
+ virtual bool set_max_speed(unsigned int speed)
+ {
+ return Powerstep01_SetAnalogValue(POWERSTEP01_MAX_SPEED, (float)speed);
+ }
+
+ /**
+ * @brief Setting the minimum speed in steps/s.
+ * @param speed The minimum speed in steps/s.
+ * @retval TRUE if value is valid, FALSE otherwise.
+ */
+ virtual bool set_min_speed(unsigned int speed)
+ {
+ return Powerstep01_SetAnalogValue(POWERSTEP01_MIN_SPEED, (float)speed);
+ }
+
+ /**
+ * @brief Setting the acceleration in steps/s^2.
+ * @param acceleration The acceleration in steps/s^2.
+ * @retval None.
+ */
+ virtual bool set_acceleration(unsigned int acceleration)
+ {
+ return Powerstep01_SetAnalogValue(POWERSTEP01_ACC, (float)acceleration);
+ }
+
+ /**
+ * @brief Setting the deceleration in steps/s^2.
+ * @param deceleration The deceleration in steps/s^2.
+ * @retval None.
+ */
+ virtual bool set_deceleration(unsigned int deceleration)
+ {
+ return Powerstep01_SetAnalogValue(POWERSTEP01_DEC, (float)deceleration);
+ }
+
+ /**
+ * @brief Setting the Step Mode.
+ * @param step_mode The Step Mode.
+ * @retval None.
+ * @note step_mode can be one of the following:
+ * + STEP_MODE_FULL
+ * + STEP_MODE_HALF
+ * + STEP_MODE_1_4
+ * + STEP_MODE_1_8
+ * + STEP_MODE_1_16
+ * + STEP_MODE_1_32
+ * + STEP_MODE_1_64
+ * + STEP_MODE_1_128
+ */
+ virtual bool set_step_mode(step_mode_t step_mode)
+ {
+ return Powerstep01_SelectStepMode((motorStepMode_t) step_mode);
+ }
+
+ /**
+ * @brief Going to a specified position.
+ * @param position The desired position.
+ * @retval None.
+ */
+ virtual void go_to(signed int position)
+ {
+ Powerstep01_CmdGoTo((int32_t)position);
+ }
+
+ virtual void go_to(direction_t direction, signed int position)
+ {
+ Powerstep01_CmdGoToDir((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD),(int32_t)position);
+ }
+
+ /**
+ * @brief Going to the home position.
+ * @param None.
+ * @retval None.
+ */
+ virtual void go_home(void)
+ {
+ Powerstep01_CmdGoHome();
+ }
+
+ /**
+ * @brief Going to the marked position.
+ * @param None.
+ * @retval None.
+ */
+ virtual void go_mark(void)
+ {
+ Powerstep01_CmdGoMark();
+ }
+
+ /**
+ * @brief Running the motor towards a specified direction.
+ * @param direction The direction of rotation.
+ * @retval None.
+ */
+ virtual void run(direction_t direction)
+ {
+ Powerstep01_CmdRun((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), Powerstep01_CmdGetParam((powerstep01_Registers_t) POWERSTEP01_MAX_SPEED));
+ }
+
+ /**
+ * @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)
+ {
+ Powerstep01_CmdMove((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), (uint32_t)steps);
+ }
+
+ /**
+ * @brief Stopping the motor through an immediate deceleration up to zero speed.
+ * @param None.
+ * @retval None.
+ */
+ virtual void soft_stop(void)
+ {
+ Powerstep01_CmdSoftStop();
+ }
+
+ /**
+ * @brief Stopping the motor through an immediate infinite deceleration.
+ * @param None.
+ * @retval None.
+ */
+ virtual void hard_stop(void)
+ {
+ Powerstep01_CmdHardStop();
+ }
+
+ /**
+ * @brief Disabling the power bridge after performing a deceleration to zero.
+ * @param None.
+ * @retval None.
+ */
+ virtual void soft_hiz(void)
+ {
+ Powerstep01_CmdSoftHiZ();
+ }
+
+ /**
+ * @brief Disabling the power bridge immediately.
+ * @param None.
+ * @retval None.
+ */
+ virtual void hard_hiz(void)
+ {
+ Powerstep01_CmdHardHiZ();
+ }
+
+ /**
+ * @brief Waiting while the motor is active.
+ * @param None.
+ * @retval None.
+ */
+ virtual void wait_while_active(void)
+ {
+ Powerstep01_WaitWhileActive();
+ }
+
+ /**
+ * @brief Public functions NOT inherited
+ */
+
+ /**
+ * @brief Attaching an error handler.
+ * @param fptr An error handler.
+ * @retval None.
+ */
+ virtual void attach_error_handler(void (*fptr)(uint16_t error))
+ {
+ Powerstep01_AttachErrorHandler((void (*)(uint16_t error)) fptr);
+ }
+
+ /**
+ * @brief Checks if the device is busy by reading the busy pin position.
+ * @param None.
+ * @retval One if the device his busy (low logic level on busy output),
+ * otherwise zero
+ */
+ virtual int check_busy_hw(void)
+ {
+ if (busy_irq!=0) return 0x01;
+ else return 0x00;
+ }
+
+ /**
+ * @brief Checks if the device has an alarm flag set by reading the flag pin position.
+ * @param None.
+ * @retval One if the device has an alarm flag set (low logic level on flag output),
+ * otherwise zero
+ */
+ virtual unsigned int check_status_hw(void)
+ {
+ if (flag_irq!=0) return 0x01;
+ else return 0x00;
+ }
+
+ /**
+ * @brief Fetch and clear status flags of all devices
+ * by issuing a GET_STATUS command simultaneously
+ * to all devices.
+ * Then, the fetched status of each device can be retrieved
+ * by using the Powerstep01_GetFetchedStatus function
+ * provided there is no other calls to functions which
+ * use the SPI in between.
+ * @retval None
+ */
+ virtual void fetch_and_clear_all_status(void)
+ {
+ Powerstep01_FetchAndClearAllStatus();
+ }
+
+ /**
+ * @brief Getting a parameter float value.
+ * @param parameter A parameter's register adress.
+ * @retval The parameter's float value.
+ * parameter can be one of the following:
+ * + POWERSTEP01_ABS_POS
+ * + POWERSTEP01_MARK
+ * + POWERSTEP01_ACC
+ * + POWERSTEP01_DEC
+ * + POWERSTEP01_SPEED
+ * + POWERSTEP01_MAX_SPEED
+ * + POWERSTEP01_MIN_SPEED
+ * + POWERSTEP01_FS_SPD
+ * (voltage mode) + POWERSTEP01_INT_SPD
+ * (voltage mode) + POWERSTEP01_K_THERM
+ * + POWERSTEP01_OCD_TH
+ * (voltage mode) + POWERSTEP01_STALL_TH
+ * (voltage mode) + POWERSTEP01_KVAL_HOLD : value in %
+ * (current mode) + POWERSTEP01_TVAL_HOLD : value in mV
+ * (voltage mode) + POWERSTEP01_KVAL_RUN : value in %
+ * (current mode) + POWERSTEP01_TVAL_RUN : value in mV
+ * (voltage mode) + POWERSTEP01_KVAL_ACC : value in %
+ * (current mode) + POWERSTEP01_TVAL_ACC : value in mV
+ * (voltage mode) + POWERSTEP01_KVAL_DEC : value in %
+ * (current mode) + POWERSTEP01_TVAL_DEC : value in mV
+ * (voltage mode) + POWERSTEP01_ST_SLP
+ * (voltage mode) + POWERSTEP01_FN_SLP_ACC
+ * (voltage mode) + POWERSTEP01_FN_SLP_DEC
+ */
+ virtual float get_analog_value(unsigned int parameter)
+ {
+ return Powerstep01_GetAnalogValue((powerstep01_Registers_t)parameter);
+ }
+
+ /**
+ * @brief Get the value of the STATUS register which was
+ * fetched by using Powerstep01_FetchAndClearAllStatus.
+ * The fetched values are available as long as there
+ * no other calls to functions which use the SPI.
+ * @retval Last fetched value of the STATUS register.
+ */
+ virtual uint16_t get_fetched_status(void)
+ {
+ return Powerstep01_GetFetchedStatus();
+ }
+
+ /**
+ * @brief Getting the version of the firmware.
+ * @param None.
+ * @retval The version of the firmware.
+ */
+ virtual unsigned int get_fw_version(void)
+ {
+ return (unsigned int) Powerstep01_GetFwVersion();
+ }
+
+ /**
+ * @brief Getting a parameter register value.
+ * @param parameter A parameter's register adress.
+ * @retval The parameter's register value.
+ * parameter can be one of the following:
+ * + POWERSTEP01_ABS_POS
+ * + POWERSTEP01_EL_POS
+ * + POWERSTEP01_MARK
+ * + POWERSTEP01_SPEED
+ * + POWERSTEP01_ACC
+ * + POWERSTEP01_DEC
+ * + POWERSTEP01_MAX_SPEED
+ * + POWERSTEP01_MIN_SPEED
+ * (voltage mode) + POWERSTEP01_KVAL_HOLD : value in %
+ * (current mode) + POWERSTEP01_TVAL_HOLD : value in mV
+ * (voltage mode) + POWERSTEP01_KVAL_RUN : value in %
+ * (current mode) + POWERSTEP01_TVAL_RUN : value in mV
+ * (voltage mode) + POWERSTEP01_KVAL_ACC : value in %
+ * (current mode) + POWERSTEP01_TVAL_ACC : value in mV
+ * (voltage mode) + POWERSTEP01_KVAL_DEC : value in %
+ * (current mode) + POWERSTEP01_TVAL_DEC : value in mV
+ * (voltage mode) + POWERSTEP01_INT_SPD
+ * (voltage mode) + POWERSTEP01_ST_SLP
+ * (current mode) + POWERSTEP01_T_FAST
+ * (voltage mode) + POWERSTEP01_FN_SLP_ACC
+ * (current mode) + POWERSTEP01_TON_MIN
+ * (voltage mode) + POWERSTEP01_FN_SLP_DEC
+ * (current mode) + POWERSTEP01_TOFF_MIN
+ * (voltage mode) + POWERSTEP01_K_THERM
+ * + POWERSTEP01_ADC_OUT
+ * + POWERSTEP01_OCD_TH
+ * (voltage mode) + POWERSTEP01_STALL_TH
+ * + POWERSTEP01_FS_SPD
+ * + POWERSTEP01_STEP_MODE
+ * + POWERSTEP01_ALARM_EN
+ * + POWERSTEP01_GATECFG1
+ * + POWERSTEP01_GATECFG2
+ * + POWERSTEP01_CONFIG
+ * + POWERSTEP01_STATUS
+ */
+ virtual unsigned int get_raw_parameter(unsigned int parameter)
+ {
+ return (unsigned int) Powerstep01_CmdGetParam((powerstep01_Registers_t)parameter);
+ }
+
+ /**
+ * @brief Issues PowerStep01 Go Until command.
+ * @param action type of action to undertake when the SW
+ * input is forced high (ACTION_RESET or ACTION_COPY).
+ * @param direction The direction of rotation.
+ * @param speed in steps/s.
+ * @retval One if the device has an alarm flag set (low logic level on flag output),
+ * otherwise zero
+ */
+ virtual void go_until(motorAction_t action, direction_t direction, float speed)
+ {
+ Powerstep01_CmdGoUntil(action,
+ (motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD),
+ speed_steps_s_to_reg_val(speed));
+ }
+
+ /**
+ * @brief Checks if the device is busy
+ * by reading the Busy flag bit ot its status Register
+ * This operation clears the status register
+ * @retval true if device is busy, false zero
+ */
+ virtual bool is_device_busy(void)
+ {
+ return Powerstep01_IsDeviceBusy();
+ }
+
+ /**
+ * @brief Put commands in queue before synchronous sending
+ * done by calling send_queued_commands.
+ * Any call to functions that use the SPI between the calls of
+ * queue_commands and send_queued_commands
+ * will corrupt the queue.
+ * A command for each device of the daisy chain must be
+ * specified before calling send_queued_commands.
+ * @param command Command to queue (all Powerstep01 commmands
+ * except POWERSTEP01_SET_PARAM, POWERSTEP01_GET_PARAM,
+ * POWERSTEP01_GET_STATUS).
+ * @param value argument of the command to queue.
+ * @retval None.
+ */
+ virtual void queue_commands(uint8_t command, int32_t value)
+ {
+ Powerstep01_QueueCommands(command, value);
+ }
+
+ /**
+ * @brief Reading the Status Register.
+ * @param None.
+ * @retval None.
+ * @note The Status Register's flags are not cleared, contrary to get_status().
+ */
+ virtual uint16_t read_status_register(void)
+ {
+ return Powerstep01_ReadStatusRegister();
+ }
+
+ /**
+ * @brief Issues PowerStep01 Release SW command.
+ * @param action type of action to undertake when the SW
+ * input is forced high (ACTION_RESET or ACTION_COPY).
+ * @param direction The direction of rotation.
+ * @param speed in steps/s.
+ * @retval One if the device has an alarm flag set (low logic level on flag output),
+ * otherwise zero
+ */
+ virtual void release_sw(motorAction_t action, direction_t direction)
+ {
+ Powerstep01_CmdReleaseSw(action,
+ (motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD));
+ }
+
+ /**
+ * @brief Issues PowerStep01 Reset Device command.
+ * @param None.
+ * @retval None.
+ */
+ virtual void reset_command(void)
+ {
+ Powerstep01_CmdResetDevice();
+ }
+
+ /**
+ * @brief Issues PowerStep01 ResetPos command.
+ * @param None.
+ * @retval None.
+ * @note Same effect as set_home().
+ */
+ virtual void reset_position(void)
+ {
+ Powerstep01_CmdResetPos();
+ }
+
+ /**
+ * @brief Running the motor towards a specified direction.
+ * @param direction The direction of rotation.
+ * @param speed in steps/s.
+ * @retval None.
+ */
+ virtual void run(direction_t direction, float speed)
+ {
+ Powerstep01_CmdRun((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), speed_steps_s_to_reg_val(speed));
+ }
+
+ /**
+ * @brief Sends commands stored previously in the queue by queue_commands.
+ * @param None.
+ * @retval None.
+ */
+ virtual void send_queued_commands(void)
+ {
+ Powerstep01_SendQueuedCommands();
+ }
+
+ /**
+ * @brief Setting a parameter with an input float value.
+ * @param param Register adress.
+ * @param value Float value to convert and set into the register.
+ * @retval TRUE if param and value are valid, FALSE otherwise
+ * @note parameter can be one of the following:
+ * + POWERSTEP01_EL_POS
+ * + POWERSTEP01_ABS_POS
+ * + POWERSTEP01_MARK
+ * + POWERSTEP01_ACC
+ * + POWERSTEP01_DEC
+ * + POWERSTEP01_MAX_SPEED
+ * + POWERSTEP01_MIN_SPEED
+ * + POWERSTEP01_FS_SPD
+ * + POWERSTEP01_INT_SPD
+ * + POWERSTEP01_K_THERM
+ * + POWERSTEP01_OCD_TH
+ * + POWERSTEP01_STALL_TH
+ * + POWERSTEP01_KVAL_HOLD
+ * + POWERSTEP01_KVAL_RUN
+ * + POWERSTEP01_KVAL_ACC
+ * + POWERSTEP01_KVAL_DEC
+ * + POWERSTEP01_ST_SLP
+ * + POWERSTEP01_FN_SLP_ACC
+ * + POWERSTEP01_FN_SLP_DEC
+ * + POWERSTEP01_TVAL_HOLD
+ * + POWERSTEP01_TVAL_RUN
+ * + POWERSTEP01_TVAL_ACC
+ * + POWERSTEP01_TVAL_DEC
+ * + POWERSTEP01_TON_MIN
+ * + POWERSTEP01_TOFF_MIN
+ */
+ virtual bool set_analog_value(unsigned int param, float value)
+ {
+ return Powerstep01_SetAnalogValue((powerstep01_Registers_t)param, value);
+ }
+
+ /**
+ * @brief Setting a parameter.
+ * @param parameter A parameter's register adress.
+ * @param value The parameter's value.
+ * @retval None.
+ * parameter can be one of the following:
+ * + POWERSTEP01_ABS_POS
+ * + POWERSTEP01_EL_POS
+ * + POWERSTEP01_MARK
+ * + POWERSTEP01_ACC
+ * + POWERSTEP01_DEC
+ * + POWERSTEP01_MAX_SPEED
+ * + POWERSTEP01_MIN_SPEED
+ * (voltage mode) + POWERSTEP01_KVAL_HOLD : value in %
+ * (current mode) + POWERSTEP01_TVAL_HOLD : value in mV
+ * (voltage mode) + POWERSTEP01_KVAL_RUN : value in %
+ * (current mode) + POWERSTEP01_TVAL_RUN : value in mV
+ * (voltage mode) + POWERSTEP01_KVAL_ACC : value in %
+ * (current mode) + POWERSTEP01_TVAL_ACC : value in mV
+ * (voltage mode) + POWERSTEP01_KVAL_DEC : value in %
+ * (current mode) + POWERSTEP01_TVAL_DEC : value in mV
+ * (voltage mode) + POWERSTEP01_INT_SPD
+ * (voltage mode) + POWERSTEP01_ST_SLP
+ * (current mode) + POWERSTEP01_T_FAST
+ * (voltage mode) + POWERSTEP01_FN_SLP_ACC
+ * (current mode) + POWERSTEP01_TON_MIN
+ * (voltage mode) + POWERSTEP01_FN_SLP_DEC
+ * (current mode) + POWERSTEP01_TOFF_MIN
+ * (voltage mode) + POWERSTEP01_K_THERM
+ * + POWERSTEP01_ADC_OUT
+ * + POWERSTEP01_OCD_TH
+ * (voltage mode) + POWERSTEP01_STALL_TH
+ * + POWERSTEP01_FS_SPD
+ * + POWERSTEP01_STEP_MODE
+ * + POWERSTEP01_ALARM_EN
+ * + POWERSTEP01_GATECFG1
+ * + POWERSTEP01_GATECFG2
+ * + POWERSTEP01_CONFIG
+ */
+ virtual void set_raw_parameter(unsigned int parameter, unsigned int value)
+ {
+ Powerstep01_CmdSetParam((powerstep01_Registers_t)parameter, (uint32_t)value);
+ }
+
+ /**
+ * @brief Enable the step clock mode.
+ * @param frequency the frequency of PWM.
+ * @retval None.
+ */
+ virtual void step_clock_mode_enable(direction_t direction)
+ {
+ Powerstep01_CmdStepClock((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD));
+ }
+
+ /**
+ * @brief Setting the frequency of PWM.
+ * The frequency controls directly the speed of the device.
+ * @param frequency the frequency of PWM.
+ * @retval None.
+ */
+ virtual void step_clock_start(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);
+ }
+
+ /**
+ * @brief Stopping the PWM.
+ * @param None.
+ * @retval None.
+ */
+ virtual void step_clock_stop(void)
+ {
+ pwm.write(0.0f);
+ }
+
+ /**
+ * @brief Public static functions
+ */
+
+ static uint8_t get_nb_devices(void)
+ {
+ return numberOfDevices;
+ }
+
+ /**
+ * @brief To and from register parameter conversion functions
+ */
+
+ /**********************************************************
+ * @brief Convert the float formatted acceleration or
+ * deceleration into respectively an ACC or DEC register value
+ * @param[in] steps_s2 the acceleration or deceleration as
+ * steps/s^2, range 14.55 to 59590 steps/s^2
+ * @retval The acceleration or deceleration as steps/tick^2
+ **********************************************************/
+ static uint16_t acc_dec_steps_s2_to_reg_val(float steps_s2)
+ {
+ return ((uint16_t)(((float)(steps_s2)*0.068719476736f)+0.5f));
+ }
+
+ /**********************************************************
+ * @brief Convert the ACC or DEC register value into step/s^2
+ * @param[in] regVal The ACC or DEC register value
+ * @retval The speed as steps/s
+ **********************************************************/
+ static float acc_dec_reg_val_to_steps_s2(uint32_t regVal)
+ {
+ return (((float)(regVal))*14.5519152283f);
+ }
+
+ /**********************************************************
+ * @brief Converts BEMF compensation slope to values for ST_SLP,
+ * FN_SLP_ACC or FN_SLP_DEC register
+ * @param[in] percentage BEMF compensation slope percentage,
+ * range 0 to 0.4% (0.004) s/step
+ * @retval value for ST_SLP, FN_SLP_ACC or FN_SLP_DEC register
+ **********************************************************/
+ static uint8_t bemf_slope_perc_to_reg_val(float percentage)
+ {
+ return ((uint8_t)(((float)(percentage)*637.5f)+0.5f));
+ }
+
+ /**********************************************************
+ * @brief Converts values from ST_SLP, FN_SLP_ACC or
+ * FN_SLP_DEC register to BEMF compensation slope percentage
+ * @param[in] regVal The ST_SLP, FN_SLP_ACC or FN_SLP_DEC
+ * register value
+ * @retval BEMF compensation slope percentage
+ **********************************************************/
+ static float bemf_slope_reg_val_to_perc(uint32_t regVal)
+ {
+ return (((float)(regVal))*0.00156862745098f);
+ }
+
+ /**********************************************************
+ * @brief Convert the float formatted speed into a FS_SPD
+ * register value
+ * @param[in] steps_s the speed as steps/s, range 15.25 to 15610 steps/s
+ * @retval The speed as steps/tick
+ **********************************************************/
+ static uint16_t fs_spd_steps_s_to_reg_val(float steps_s)
+ {
+ return ((uint16_t)((float)(steps_s)*0.065536f));
+ }
+
+ /**********************************************************
+ * @brief Convert the FS_SPD register value into step/s
+ * @param[in] regVal The FS_SPD register value
+ * @retval The full Step speed as steps/s
+ **********************************************************/
+ static float fs_spd_reg_val_to_steps_s(uint32_t regVal)
+ {
+ return (((float)regVal+0.999f)*15.258789f);
+ }
+
+ /**********************************************************
+ * @brief Convert the float formatted speed into a INT_SPEED
+ * register value
+ * @param[in] steps_s the speed as steps/s, range 0 to 976.5 steps/s
+ * @retval The intersect speed as steps/tick
+ **********************************************************/
+ static uint16_t int_spd_steps_s_to_reg_val(float steps_s)
+ {
+ return ((uint16_t)(((float)(steps_s)*16.777216f)+0.5f));
+ }
+
+ /**********************************************************
+ * @brief Convert the INT_SPEED register value into step/s
+ * @param[in] regVal The INT_SPEED register value
+ * @retval The speed as steps/s
+ **********************************************************/
+ static float int_spd_reg_val_to_steps_s(uint32_t regVal)
+ {
+ return (((float)(regVal))*0.0596045f);
+ }
+
+ /**********************************************************
+ * @brief Convert the float formatted thermal compensation
+ * factor into a K_THERM register value
+ * @param[in] compFactor the float formatted thermal
+ * compensation factor, range 1 to 1.46875
+ * @retval value for K_THERM register
+ **********************************************************/
+ static uint8_t k_therm_comp_to_reg_val(float compFactor)
+ {
+ return ((uint8_t)((((float)(compFactor)-1.0f)*32.0f)+0.5f));
+ }
+
+ /**********************************************************
+ * @brief Convert the K_THERM register value into a float
+ * formatted thermal compensation factor
+ * @param[in] regVal The K_THERM register value
+ * @retval The float formatted thermal compensation factor
+ **********************************************************/
+ static float k_therm_reg_val_to_comp(uint32_t regVal)
+ {
+ return (((float)(regVal))*0.03125f+1);
+ }
+
+ /**********************************************************
+ * @brief Converts voltage in percentage to values for KVAL_RUN,
+ * KVAL_HOLD, KVAL_ACC or KVAL_DEC register
+ * @param[in] percentage percentage of the power supply voltage
+ * applied to the motor windings, range 0.4% to 99.6%
+ * @retval value for KVAL_RUN, KVAL_HOLD, KVAL_ACC or
+ * KVAL_DEC register
+ * @note The voltage applied is sinusoidal
+ **********************************************************/
+ static uint8_t k_val_perc_to_reg_val(float percentage)
+ {
+ return ((uint8_t)(((float)(percentage)*2.56f)+0.5f));
+ }
+
+ /**********************************************************
+ * @brief Converts values from KVAL_RUN, KVAL_HOLD, KVAL_ACC
+ * or KVAL_DEC register to percentage
+ * @param[in] regVal The KVAL_RUN, KVAL_HOLD, KVAL_ACC
+ * or KVAL_DEC register value
+ * @retval percentage of the power supply voltage applied to
+ * the motor windings
+ * @note The voltage applied is sinusoidal
+ **********************************************************/
+ static float k_val_reg_val_to_perc(uint32_t regVal)
+ {
+ return (((float)(regVal))*0.390625f);
+ }
+
+ /**********************************************************
+ * @brief Convert the float formatted speed into a MAX_SPEED
+ * register value
+ * @param[in] steps_s the speed as steps/s, range 15.25 to 15610 steps/s
+ * @retval The speed as steps/tick
+ **********************************************************/
+ static uint16_t max_spd_steps_s_to_reg_val(float steps_s)
+ {
+ return ((uint16_t)(((float)(steps_s)*0.065536f)+0.5f));
+ }
+
+ /**********************************************************
+ * @brief Convert the MAX_SPEED register value into step/s
+ * @param[in] regVal The MAX_SPEED register value
+ * @retval The speed as steps/s
+ **********************************************************/
+ static float max_spd_reg_val_to_steps_s(uint32_t regVal)
+ {
+ return (((float)(regVal))*15.258789f);
+ }
+
+ /**********************************************************
+ * @brief Convert the float formatted speed into a MIN_SPEED
+ * register value
+ * @param[in] steps_s the speed as steps/s, range 0 to 976.3 steps/s
+ * @retval The speed as steps/tick
+ **********************************************************/
+ static uint16_t min_spd_steps_s_to_reg_val(float steps_s)
+ {
+ return ((uint16_t)(((float)(steps_s)*4.194304f)+0.5f));
+ }
+
+ /**********************************************************
+ * @brief Convert the MIN_SPEED register value into step/s
+ * @param[in] regVal The MIN_SPEED register value
+ * @retval The speed as steps/s
+ **********************************************************/
+ static float min_spd_reg_val_to_steps_s(uint32_t regVal)
+ {
+ return (((float)(regVal))*0.238418579f);
+ }
+
+ /**********************************************************
+ * @brief Convert the float formatted speed into a SPEED
+ * register value
+ * @param[in] steps_s the speed as steps/s, range 0 to 15625 steps/s
+ * @retval The speed as steps/tick
+ **********************************************************/
+ static uint32_t speed_steps_s_to_reg_val(float steps_s)
+ {
+ return ((uint32_t)(((float)(steps_s)*67.108864f)+0.5f));
+ }
+
+ /**********************************************************
+ * @brief Convert the SPEED register value into step/s
+ * @param[in] regVal The SPEED register value
+ * @retval The speed as steps/s
+ **********************************************************/
+ static float speed_reg_val_to_steps_s(uint32_t regVal)
+ {
+ return (((float)(regVal))*0.01490116119f);
+ }
+
+ /**********************************************************
+ * @brief Converts STALL or OCD Threshold voltage in mV to
+ * values for STALL_TH or OCD_TH register
+ * @param[in] mV voltage in mV, range 31.25mV to 1000mV
+ * @retval value for STALL_TH or OCD_TH register
+ **********************************************************/
+ static uint8_t stall_ocd_th_to_reg_val(float mV)
+ {
+ return ((uint8_t)((((float)(mV)-31.25f)*0.032f)+0.5f));
+ }
+
+ /**********************************************************
+ * @brief Converts values from STALL_TH or OCD_TH register
+ * to mV
+ * @param[in] regVal The STALL_TH or OCD_TH register value
+ * @retval voltage in mV
+ **********************************************************/
+ static float stall_ocd_reg_val_to_th(uint32_t regVal)
+ {
+ return (((float)(regVal+1))*31.25f);
+ }
+
+ /**********************************************************
+ * @brief Converts voltage in mV to values for TVAL_RUN,
+ * TVAL_HOLD, TVAL_ACC or TVAL_DEC register
+ * @param[in] voltage_mV voltage in mV, range 7.8mV to 1000mV
+ * @retval value for TVAL_RUN, TVAL_HOLD, TVAL_ACC or
+ * TVAL_DEC register
+ * @note The voltage corresponds to a peak output current
+ * accross the external sense power resistor
+ **********************************************************/
+ static uint8_t t_val_ref_voltage_to_reg_val(float voltage_mV)
+ {
+ return ((uint8_t)((((float)(voltage_mV)-7.8125f)*0.128f)+0.5f));
+ }
+
+ /**********************************************************
+ * @brief Converts values from TVAL_RUN, TVAL_HOLD, TVAL_ACC
+ * or TVAL_DEC register to mV
+ * @param[in] regVal The TVAL_RUN, TVAL_HOLD, TVAL_ACC
+ * or TVAL_DEC register value
+ * @retval voltage in mV
+ * @note The voltage corresponds to a peak output current
+ * accross the external sense power resistor
+ **********************************************************/
+ static float t_val_reg_val_to_ref_voltage(uint32_t regVal)
+ {
+ return (((float)(regVal+1))*7.8125f);
+ }
+
+ /**********************************************************
+ * @brief Convert time in us to values for TON_MIN register
+ * @param[in] tmin_us time in us, range 0.5us to 64us
+ * @retval value for TON_MIN register
+ **********************************************************/
+ static uint8_t t_min_time_to_reg_val(float tmin_us)
+ {
+ return ((uint8_t)((((float)(tmin_us)-0.5f)*2.0f)+0.5f));
+ }
+
+ /**********************************************************
+ * @brief Convert values for TON_MIN or TOFF_MIN register to time in us
+ * @param[in] regVal The TON_MIN or TOFF_MIN register value
+ * @retval time in us
+ **********************************************************/
+ static float t_min_reg_val_to_time(uint32_t regVal)
+ {
+ return (((float)(regVal+1))*0.5f);
+ }
+
+ /*** Public Interrupt Related Methods ***/
+
+ /* 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();
+ }
+
+ /**
+ * @brief Attaching an interrupt handler to the BUSY interrupt.
+ * @param fptr An interrupt handler.
+ * @retval None.
+ */
+ void attach_busy_irq(void (*fptr)(void))
+ {
+ busy_irq.fall(fptr);
+ }
+
+ /**
+ * @brief Enabling the BUSY interrupt handling.
+ * @param None.
+ * @retval None.
+ */
+ void enable_busy_irq(void)
+ {
+ busy_irq.enable_irq();
+ }
+
+ /**
+ * @brief Disabling the BUSY interrupt handling.
+ * @param None.
+ * @retval None.
+ */
+ void disable_busy_irq(void)
+ {
+ busy_irq.disable_irq();
+ }
+
+protected:
+
+ /*** Protected Component Related Methods ***/
+
+ /* 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) *
+ *------------------------------------------------------------------------*/
+ status_t Powerstep01_Init(void *init);
+ status_t Powerstep01_ReadID(uint8_t *id);
+ void Powerstep01_AttachErrorHandler(void (*callback)(uint16_t error));
+ uint8_t Powerstep01_CheckBusyHw(void);
+ uint8_t Powerstep01_CheckStatusHw(void);
+ uint16_t Powerstep01_CmdGetStatus(void);
+ void Powerstep01_CmdGoHome(void);
+ void Powerstep01_CmdGoMark(void);
+ void Powerstep01_CmdGoTo(int32_t targetPosition);
+ void Powerstep01_CmdGoToDir(motorDir_t direction, int32_t targetPosition);
+ void Powerstep01_CmdGoUntil(motorAction_t action, motorDir_t direction, uint32_t speed);
+ void Powerstep01_CmdHardHiZ(void);
+ void Powerstep01_CmdHardStop(void);
+ void Powerstep01_CmdMove(motorDir_t direction, uint32_t stepCount);
+ void Powerstep01_CmdNop(void);
+ void Powerstep01_CmdReleaseSw(motorAction_t action, motorDir_t direction);
+ void Powerstep01_CmdResetDevice(void);
+ void Powerstep01_CmdResetPos(void);
+ void Powerstep01_CmdRun(motorDir_t direction, uint32_t speed);
+ void Powerstep01_CmdSoftHiZ(void);
+ void Powerstep01_CmdSoftStop(void);
+ void Powerstep01_CmdStepClock(motorDir_t direction);
+ void Powerstep01_ErrorHandler(uint16_t error);
+ void Powerstep01_FetchAndClearAllStatus(void);
+ uint16_t Powerstep01_GetFetchedStatus(void);
+ uint32_t Powerstep01_GetFwVersion(void);
+ int32_t Powerstep01_GetMark(void);
+ int32_t Powerstep01_GetPosition(void);
+ bool Powerstep01_IsDeviceBusy(void);
+ uint16_t Powerstep01_ReadStatusRegister(void);
+ bool Powerstep01_SelectStepMode(motorStepMode_t stepMode);
+ void Powerstep01_SetHome(void);
+ void Powerstep01_SetMark(void);
+ void Powerstep01_WaitForAllDevicesNotBusy(void);
+ void Powerstep01_WaitWhileActive(void);
+
+ /**
+ * @brief To and from register parameter conversion functions
+ */
+ int32_t Powerstep01_ConvertPosition(uint32_t abs_position_reg);
+
+ /**
+ * @brief Functions to initialize the registers
+ */
+ void Powerstep01_SetDeviceParamsToGivenValues(powerstep01_init_u_t *initPrm);
+ void Powerstep01_SetRegisterToPredefinedValues(void);
+
+ /**
+ * @brief Functions to get and set parameters using digital or analog values
+ */
+ uint32_t Powerstep01_CmdGetParam(powerstep01_Registers_t param);
+ void Powerstep01_CmdSetParam(powerstep01_Registers_t param, uint32_t value);
+ float Powerstep01_GetAnalogValue(powerstep01_Registers_t param);
+ void Powerstep01_QueueCommands(uint8_t command, int32_t value);
+ void Powerstep01_SendCommand(uint8_t command, uint32_t value);
+ void Powerstep01_SendQueuedCommands(void);
+ bool Powerstep01_SetAnalogValue(powerstep01_Registers_t param, float value);
+ void Powerstep01_WriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte);
+
+ /**
+ * @brief Rounding a floating point number to the nearest unsigned integer number.
+ * @param f The floating point number.
+ * @retval The nearest unsigned integer number.
+ */
+ int round(float f)
+ {
+ if (f >= 0)
+ return (int) f + (f - (int) f < 0.5f ? 0 : 1);
+ else
+ return (int) f - (f - (int) f < -0.5f ? 1 : 0);
+ }
+
+ /*** Component's I/O Methods ***/
+
+ /**
+ * @brief Utility function to read data from Powerstep01.
+ * @param[out] pBuffer pointer to the buffer to read data into.
+ * @param 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 Powerstep01.
+ * @param pBuffer pointer to the buffer of data to send.
+ * @param 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 Powerstep01 at the same time.
+ * @param[out] pBufferToRead pointer to the buffer to read data into.
+ * @param pBufferToWrite pointer to the buffer of data to send.
+ * @param 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 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 Powerstep01_Board_Delay(uint32_t delay)
+ {
+ wait_ms(delay);
+ }
+
+ /**
+ * @brief Enabling interrupts.
+ * @param None.
+ * @retval None.
+ */
+ void Powerstep01_Board_EnableIrq(void)
+ {
+ __enable_irq();
+ }
+
+ /**
+ * @brief Disabling interrupts.
+ * @param None.
+ * @retval None.
+ */
+ void Powerstep01_Board_DisableIrq(void)
+ {
+ __disable_irq();
+ }
+
+ /**
+ * @brief Initialising the PWM.
+ * @param None.
+ * @retval None.
+ */
+ void Powerstep01_Board_StepClockInit(void) {}
+
+ /**
+ * @brief Exit the device from reset mode.
+ * @param None.
+ * @retval None.
+ */
+ void Powerstep01_Board_ReleaseReset(void)
+ {
+ standby_reset = 1;
+ }
+
+ /**
+ * @brief Put the device in reset mode.
+ * @param None.
+ * @retval None.
+ */
+ void Powerstep01_Board_reset(void)
+ {
+ standby_reset = 0;
+ }
+
+ /**
+ * @brief Writing and reading bytes to/from the component through the SPI at the same time.
+ * @param 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 Powerstep01_Board_SpiWriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte)
+ {
+ return (uint8_t) (ReadWrite(pReceivedByte, pByteToTransmit, numberOfDevices) == 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;
+
+ /* Busy Interrupt. */
+ InterruptIn busy_irq;
+
+ /* ACTION 10 -------------------------------------------------------------*
+ * Declare here other pin related variables, if needed. *
+ * *
+ * Example: *
+ * + mbed: *
+ * DigitalOut standby_reset; *
+ *------------------------------------------------------------------------*/
+ /* Standby/reset pin. */
+ DigitalOut standby_reset;
+
+ /* Pulse Width Modulation pin. */
+ PwmOut pwm;
+
+ /* 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;
+
+ /* 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 (*errorHandlerCallback)(uint16_t error);
+ uint8_t deviceInstance;
+
+ /* Static data. */
+ static uint8_t numberOfDevices;
+ static uint8_t spiTxBursts[POWERSTEP01_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
+ static uint8_t spiRxBursts[POWERSTEP01_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
+
+
+public:
+
+ /* Static data. */
+ static bool spiPreemptionByIsr;
+ static bool isrFlag;
+
+};
+
+#endif // __POWERSTEP01_CLASS_H
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/