Diff: motor.cpp

Revision:

15:88fecbdd191c

Parent:

13:4563244c4071

Child:

16:d818c1a4dafb

diff -r f0667bfc2e98 -r 88fecbdd191c motor.cpp
--- a/motor.cpp	Wed Oct 31 14:38:14 2018 +0000
+++ b/motor.cpp	Thu Nov 01 15:29:33 2018 +0000
@@ -1,10 +1,10 @@
 #include "motor.h"
 
-void MotStatus::set(motorCommands Acmd, motorDir Adir, int32_t  ANSteps) {
+void MotStatus::set(motorCommands aCmd, motorDir aDir, int32_t  aNSteps) {
     cmd = Acmd;
     dir = Adir;
     NSteps  = NSteps;
-} MotStatus;
+};
 
 Motor::Motor(PinName _MPh[4]) {
     initialization( _MPh , MOTOR_STEP_TIME_DEFAULT_US);
@@ -34,7 +34,7 @@
     
     Status.set(MOTOR_nop, CLOCKWISE, 0);// Default command is NOP, clockwise direction, 0 steps
     
-    TickIsAttached = false;
+    Status.TickIsAttached = false;
     StepTime_us = aStepTime_us;// duration in micro second for one step
 
     Steps_FullTurn = MOTOR_STEPS_FOR_A_TURN;  // Default Calibration value
@@ -110,15 +110,15 @@
        StepTime_us = MOTOR_STEP_TIME_MIN_US;
        else StepTime_us = aStepTime_us; // or if OK then assign value
     // if ticker already running recreate a new ticker;
-    if(TickIsAttached) { StopTick(); StartTick(); }
+    if(Status.TickIsAttached) { StopTick(); StartTick(); }
  }
 
 void Motor::StartTick() {
-    if(!TickIsAttached)   {
+    if(!Status.TickIsAttached)   {
         // Connect Interrupt routine in which the motor and all the state machine is performed
         MotorSysTick.attach_us(callback(this, &Motor::ProcessMotorStateMachine), StepTime_us);
         // last=tuneTimings.read_us();
-        TickIsAttached=true;
+        Status.TickIsAttached=true;
         }
 }
 
@@ -126,14 +126,14 @@
 {
     switch(Status.cmd) {
         case MOTOR_run: {
-            switch(state) {
+            switch(Status.state) {
                 case Motor_OFF:
                     MotorON(); // First only turn on the motor ..
                     break;
                 case Motor_ZERO:
                 case Motor_ON:
-                        state = MOTOR_RUN;
-                case MOTOR_RUN:
+                        Status.state = Motor_RUN;
+                case Motor_RUN:
                     if (Status.NSteps==0)  // No more steps to go
                         { Status.cmd = MOTOR_stop; 
                           if (_callback) _callback.call(); } 
@@ -141,7 +141,7 @@
                         { StepOnce(); 
                         Status.NSteps--;}
                     break;
-                } // switch(state)
+                } // switch(Status.state)
             } // case MOTOR_run
         case MOTOR_stop:
             StopTick();
@@ -155,8 +155,8 @@
 }
 
 void Motor::StopTick() {
-    if(TickIsAttached)   
-      { MotorSysTick.detach(); TickIsAttached=false; }
+    if(Status.TickIsAttached)   
+      { MotorSysTick.detach(); Status.TickIsAttached=false; }
 }
 
 /*******************************************************
@@ -166,22 +166,22 @@
  /** Turn off all motor Phases, no more current flowing */
 void Motor::MotorOFF() 
 {   for (int ph=0; ph<4; ph++) *MPh[ph] = 0;  
-    state=Motor_OFF;
+    Status.state=Motor_OFF;
 }
 
 /** Turn on the motor Phase, In the last used phase, memorized in StepPhases 
 *  Equivalent to what previously the function "void Start();" did */
 void Motor::MotorON()
 {   SetPhases(); // attention, does not change StepPhase!
-    if (StepPhase==0)  state=Motor_ZERO;  
-        else state=Motor_ON;
+    if (StepPhase==0)  Status.state=Motor_ZERO;  
+        else Status.state=Motor_ON;
 } 
 
 /** Motor phases turned on and put to Zero Position*/    
 void Motor::MotorZero() {
     StepPhase = 0;  // sets the phases to 0
     SetPhases(); 
-    state=Motor_ZERO;
+    Status.state=Motor_ZERO;
 }
 
 void    Motor::StepOnce()     // Move the Motor in the used 'direction'