Diff: motor.h

Revision:

17:86e5af6f7628

Parent:

16:d818c1a4dafb

Child:

18:00e3d8c71a9c

--- a/motor.h	Wed Nov 28 09:44:34 2018 +0000
+++ b/motor.h	Wed Nov 28 21:04:24 2018 +0000
@@ -25,13 +25,13 @@
 #define MOTOR_STEPS_FOR_A_TURN 4096     /**< Default number of motor steps to complete a turn = 4096 steps  */
 
 /** \enum motorStates 
-* \brief Motor States of Motor state machine
+* \brief Possible States of Motor state machine
 * 
 * Motor_CALIB is deprecated, was removed from the enum structure */
 typedef enum {
     Motor_OFF = 0,  /**< All phase currents is off, replaces Motor_STOP. */  
-    Motor_ZERO,     /**< Motor at phase position 0 and ON, only reached by call of Zero() command. */  
-    Motor_ON,       /**< Phases are engaged, but Motor does not run, replaces Motor_PAUSE. */  
+    Motor_ZERO,     /**< Motor at phase position 0 and ON, only reached by call of Zero() procedure. */  
+    Motor_ON,       /**< Phases are engaged, but Motor state machine stopped, replaces Motor_PAUSE. */  
     Motor_RUN       /**< Phases are engaged, and Motor state machine runs*/  
 } motorStates;
 
@@ -45,7 +45,7 @@
 
 * MOTOR_restart is equivalent to and replaced by MOTOR_run.
 */
-typedef enum { // Define Motor State Machine Commands
+typedef enum {
     MOTOR_nop = 0,  /**< No active command to execute. */
     MOTOR_run,      /**< Run Motor until Nsteps are achieved. */
     MOTOR_stop,     /**< Stop immediately all activity, turn off Motor. */
@@ -53,12 +53,12 @@
 } motorCommands;
 
 /** \enum motorDir 
-* \brief Define Motor direction to be Clockwise or Anticlockwise 
+* \brief Gives Motor direction to be Clockwise or Anticlockwise 
 */
 typedef enum motorDir {
     CLOCKWISE = 0,      /**< Turn Motor in clockwise direction. */
     COUNTERCLOCKWISE    /**< Turn Motor in anti-clockwise direction. */
-} motorDir;
+};
 
 /** \struct MotStatus
 * \brief Structure of Motor Status registers.
@@ -70,7 +70,7 @@
     motorCommands cmd;  /**< Command asked to be executed currently by the state machine.*/
     motorDir      dir;  /**< Direction that the Motor is asked to run.*/
     int32_t       NSteps;/**< Number of steps remain for the Motor to run. 
-    NSteps=0: all steps finsihed; NSteps<0: indicates to run "forever" */
+    NSteps=0: all steps finished; NSteps<0: indicates to run "forever" */
     bool         TickIsAttached; /**< Indicates if Ticker is attached.
     Ticker is automatically attached while Motor runs, or paused; 
     detaches when finished a run, or stopped.  */
@@ -105,12 +105,13 @@
     * Creates the class, initiallizes all fields, creates Phase Pins.  
     * Time between two steps defaults here to MOTOR_STEP_TIME_DEFAULT_US=5000usec.
     *
-    * @code
-    *    PinName MotPhases[] = {PB_1, PB_15, PB_14, PB_13};
-    *    Motor MotorName(MotPhases); // Call this creator for example like this:  
-    * @endcode 
+    @code
+       PinName MotPhases[] = {PB_1, PB_15, PB_14, PB_13};
+       Motor MotorName(MotPhases); // Call this creator for example like this:  
+    @endcode 
     * 
-    * @param _MPh[4] Array of Names of the 4 Digital Pins of type PinNames */
+    * @param _MPh Array of Names of the 4 Digital Pins of type PinNames 
+    */
     Motor(PinName _MPh[4] );
     
     /** Motor Class Creator
@@ -118,12 +119,13 @@
     * Creates the class, initiallizes all fields, creates Phase Pins.  
     * Time between two steps defaults here to MOTOR_STEP_TIME_DEFAULT_US=5000usec.
     *
-    * @param <PB_1, PB_15, PB_14, PB_13> List of Names of the 4 Digital Pins of type PinNames    
+    @code
+      // Call this creator for example like this:
+       Motor MotorName(PB_1, PB_15, PB_14, PB_13);
+    @endcode 
     * 
-    * @code
-    *   // Call this creator for example like this:
-    *    Motor MotorName(PB_1, PB_15, PB_14, PB_13);
-    * @endcode */
+    * @param <_MPh0, _MPh1, _MPh2, _MPh3> List of Names of the 4 Digital Pins of type PinNames    
+    */
     Motor(PinName _MPh0, PinName _MPh1, PinName _MPh2, PinName _MPh3);
     
     /** Motor Class Creator
@@ -131,13 +133,14 @@
     * Creates the class, initiallizes all fields, creates Phase Pins.  
     * Time between two steps is passed as parameter.
     *
-    * @code
-    *   // Call this creator for example like this:
-    *    Motor MotorName(PB_1, PB_15, PB_14, PB_13);
-    * @endcode 
+    @code
+      // Call this creator for example like this:
+       Motor MotorName(PB_1, PB_15, PB_14, PB_13);
+    @endcode 
     *
-    * @param <PB_1, PB_15, PB_14, PB_13> List of Names of the 4 Digital Pins of type PinNames    
-    * @param <aStepTime_us> Lthe time in usec between two steps, thats used initially.   */
+    * @param <_MPh0, _MPh1, _MPh2, _MPh3> List of Names of the 4 Digital Pins of type PinNames    
+    * @param <aStepTime_us> Lthe time in usec between two steps, thats used initially.   
+    */
     Motor(PinName _MPh0, PinName _MPh1, PinName _MPh2, PinName _MPh3, uint32_t aStepTime_us);
 
 private:
@@ -151,6 +154,7 @@
     * Not called when the Motor is stopped by a call of Stop Function, or any other events.
     * For use see precautions at Class description above. 
     * Formerly called setMotorCallback()
+    *
     @code
     // Simple callback function, state variable endMove can be polled elsewhere
     void CallBackFunction()
@@ -174,14 +178,14 @@
     * @param <*CBfunction> Callback function, must not be member of a class.
 
     */
-    void callbackSet(void (*CBfunction)());
+    void callbackSet(void (*CBfunction)(void));
 
     /** Attach a Callback function, member of a class.
     * Only called when a Run Command reaches it's requested end.
     * Not called when the Motor is stopped by a call of Stop Function, or any other events.
     * For use see precautions at Class description above. 
-    * @param <T *object> Class pointer who possesses callback member.
-    * @param <T::*CBmember> Pointer to callback function, member of Class.
+    * @param <*object> Class pointer which possesses callback member.
+    * @param <*CBmember> Pointer to callback function, member of Class.
     * 
     @code
     // Class Creator:
@@ -197,7 +201,7 @@
     {  endMove=true;  }
     @endcode
     */
-    template<typename T>
+    template<typename T>;
     void callbackSet(T *object, void (T::*CBmember)(void)) {
         _callback = callback(object,CBmember);
     }
@@ -213,7 +217,7 @@
     * @param[in] <Direction> Given Direction, can be: CLOCKWISE, or COUNTERCLOCKWISE.
     * @param[in] <Nsteps> Number of steps to run for; must be >0 ; Nsteps<=0 will not be executed.    
     */
-   void RunSteps (motorDir direction, uint32_t Nsteps);
+   void RunSteps (motorDir Direction, uint32_t Nsteps);
 
     /** High Level: Run Motor for a given angle
     
@@ -224,7 +228,7 @@
     * @param[in] <Direction> Given Direction, can be: CLOCKWISE, or COUNTERCLOCKWISE.
     * @param[in] <angle_deg> Angle>0 to rotate for, in degrees, Angles<=0 are not executed.     
     */
-   void RunDegrees  (motorDir direction, float angle_deg);
+   void RunDegrees  (motorDir Direction, float angle_deg);
 
     /** High Level: Run Motor "unlimited"
     
@@ -233,7 +237,7 @@
     * Call Pause() or Stop() to pause or end the Motor run.
     * @param[in] <Direction> Given Direction, can be: CLOCKWISE, or COUNTERCLOCKWISE.
     */
-    void RunInfinite (motorDir direction);
+    void RunInfinite (motorDir Direction);
 
     /** High Level: Pause a motor Run.
      * Put Motor into Pause state, Run is suspended, but only effective if Status.cmd=MOTOR_run.
@@ -258,10 +262,10 @@
 public: // All the ticker timing related parameters
 
     /** MidLevel: Get Motor status
-    
+    *
     * Gets the Status of the different internal mechanisms. 
     * See documentation of MotStatus Structure.
-    * @return <MotStatus> The structure of Motor status registers. */
+    * \return MotStatus The structure of Motor status registers. */
     MotStatus getStatus();
 
     /** MidLevel: Get number of Steps per Full turn
@@ -269,7 +273,7 @@
     * Defaults to MOTOR_STEPS_FOR_A_TURN = 4096.
     * Used by RunDegrees() to translate from angle in degrees to number of steps.
     * Old Name was: getCalibration, but that was not a good explicit name. 
-    * @return <MotStatus> The structure of Motor status registers. */
+    * \return uint32_t The structure of Motor status registers. */
     uint32_t getStepsFullTurn();
 
     /** MidLevel: Set number of Steps per Full turn.
@@ -283,20 +287,20 @@
 
     /** Mid Level: Get the Motor step time. 
     
-     * Step time is time between two Motor steps, and is given in microseconds
-     * and is passed to the ticker as delay time. 
-     * So the larger the value the slower the motor speed.  
-     * Defaults to MOTOR_STEP_TIME_DEFAULT_US = 5000.
-    * @return <uint32_t> The structure of Motor status registers.
-     */
+    * Step time is time between two Motor steps, and is given in microseconds
+    * and is passed to the ticker as delay time. 
+    * So the larger the value the slower the motor speed.  
+    * Defaults to MOTOR_STEP_TIME_DEFAULT_US = 5000.
+    * \return uint32_t The structure of Motor status registers.
+    */
     uint32_t getStepTime_us;
     
     /** Set the time in microseconds between two Motor steps.
-     *  Defaults to MOTOR_STEP_TIME_DEFAULT_US = 5000usec.
-     *  Filters values below Minimum Value = 700.
-     *  Passed to the ticker as delay time.
-     *  Can be called while ticker is running, and takes immediate effect. 
-     *  Was previously called setStepTime(), but was not clear which units.  
+    *  Defaults to MOTOR_STEP_TIME_DEFAULT_US = 5000usec.
+    *  Filters values below Minimum Value = 700.
+    *  Passed to the ticker as delay time.
+    *  Can be called while ticker is running, and takes immediate effect. 
+    *  Was previously called setStepTime(), but was not clear which units.  
     * @param <aStepTime_us> the time in microseconds between two Motor steps
     */
     void setStepTime_us(uint32_t aStepTime_us);
@@ -329,16 +333,16 @@
     void MotorTest();
 
     /** Low Level: turn off all Motor Phases
-     * No more current flows, reduces holding force.
-     * After: State: Motor_OFF.
-     * StepPhases memorizes the last used phase.
-     * Equivalent what previously the function "void Stop();" did .  */
+    * No more current flows, reduces holding force.
+    * After: State: Motor_OFF.
+    * StepPhases memorizes the last used phase.
+    * Equivalent what previously the function "void Stop();" did .  */
     void MotorOFF();
     
     /** Low Level: turn on the Motor Phases in the last used phase.
-     * The last used phase is held in StepPhases.
-     * After: State: Motor_ON, or Motor_ZERO if StepPhases==0
-     * Equivalent to what previously the function "void Start();" did.  */
+    * The last used phase is held in StepPhases.
+    * After: State: Motor_ON, or Motor_ZERO if StepPhases==0
+    * Equivalent to what previously the function "void Start();" did.  */
     void MotorON();
     
     /** Low Level: Advance Motor one step, rotates in direction of variable direction. */