ching-yang Trui
motor board library
Dependencies: ST_INTERFACES X_NUCLEO_COMMON
Fork of
X_NUCLEO_IHM02A1
by 
ST
Revision 14:e614697ebf34, committed 2016-02-09
- Comitter:
- Davidroid
- Date:
- Tue Feb 09 16:01:30 2016 +0000
- Parent:
- 13:25a579b9b7c3
- Child:
- 15:31785d1acd4b
- Commit message:
- + Updated with the new template's syntax.
Changed in this revision
--- a/BSP/x_nucleo_ihm02a1_class.cpp Tue Jan 19 16:07:00 2016 +0000
+++ b/BSP/x_nucleo_ihm02a1_class.cpp Tue Feb 09 16:01:30 2016 +0000
@@ -43,12 +43,12 @@
/* ACTION 1 ------------------------------------------------------------------*
* Include here platform specific header files. *
- *----------------------------------------------------------------------------*/
+ *----------------------------------------------------------------------------*/
#include "mbed.h"
#include "DevSPI.h"
/* ACTION 2 ------------------------------------------------------------------*
* Include here expansion board specific header files. *
- *----------------------------------------------------------------------------*/
+ *----------------------------------------------------------------------------*/
#include "x_nucleo_ihm02a1_class.h"
@@ -70,7 +70,7 @@
* @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::X_NUCLEO_IHM02A1(L6470_InitTypeDef *init_0, L6470_InitTypeDef *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi) : dev_spi(spi)
+X_NUCLEO_IHM02A1::X_NUCLEO_IHM02A1(L6470_Init_t *init_0, L6470_Init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi) : dev_spi(spi)
{
/* Checking stackability. */
if (!(number_of_boards < EXPBRD_MOUNTED_NR_MAX))
@@ -86,8 +86,8 @@
* Instantiate here the expansion board's components. *
* *
* Example: *
- * component_1 = new COMPONENT_1(COMPONENT_1_SPI_SSEL, *dev_spi); *
- * component_2 = new COMPONENT_2(COMPONENT_2_SPI_SSEL, *dev_spi); *
+ * component_1 = new COMPONENT_1(ssel, *dev_spi); *
+ * component_2 = new COMPONENT_2(ssel, *dev_spi); *
*------------------------------------------------------------------------*/
components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
@@ -111,7 +111,7 @@
* @param miso pin name of the MISO pin of the SPI device to be used for communication.
* @param sclk pin name of the SCLK pin of the SPI device to be used for communication.
*/
-X_NUCLEO_IHM02A1::X_NUCLEO_IHM02A1(L6470_InitTypeDef *init_0, L6470_InitTypeDef *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk)
+X_NUCLEO_IHM02A1::X_NUCLEO_IHM02A1(L6470_Init_t *init_0, L6470_Init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk)
{
/* Checking stackability. */
if (!(number_of_boards < EXPBRD_MOUNTED_NR_MAX))
@@ -126,8 +126,8 @@
* Instantiate here the expansion board's components. *
* *
* Example: *
- * component_1 = new COMPONENT_1(COMPONENT_1_SPI_SSEL, *dev_spi); *
- * component_2 = new COMPONENT_2(COMPONENT_2_SPI_SSEL, *dev_spi); *
+ * component_1 = new COMPONENT_1(ssel, *dev_spi); *
+ * component_2 = new COMPONENT_2(ssel, *dev_spi); *
*------------------------------------------------------------------------*/
components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
@@ -173,7 +173,7 @@
* } *
* *
* // Configuration. *
- * INTERFACE_InitTypeDef InitStructure; *
+ * COMPONENT_Init_t InitStructure; *
* InitStructure.Property_1 = COMPONENT_1_PROPERY_1_INIT; *
* InitStructure.Property_N = COMPONENT_1_PROPERY_N_INIT; *
* *
@@ -204,7 +204,7 @@
bool X_NUCLEO_IHM02A1::Init_L6470_1(void)
{
/* Initialization. */
- if (l6470_1->Init((void *) init_components[0]) != COMPONENT_OK)
+ if (l6470_1->Init((void *) init_components[1]) != COMPONENT_OK)
return false;
return true;
--- a/BSP/x_nucleo_ihm02a1_class.h Tue Jan 19 16:07:00 2016 +0000
+++ b/BSP/x_nucleo_ihm02a1_class.h Tue Feb 09 16:01:30 2016 +0000
@@ -49,12 +49,12 @@
/* ACTION 1 ------------------------------------------------------------------*
* Include here platform specific header files. *
- *----------------------------------------------------------------------------*/
+ *----------------------------------------------------------------------------*/
#include "mbed.h"
#include "DevSPI.h"
/* ACTION 2 ------------------------------------------------------------------*
- * Include here expansion board specific header files. *
- *----------------------------------------------------------------------------*/
+ * Include here expansion board configuration's header files. *
+ *----------------------------------------------------------------------------*/
#include "x_nucleo_ihm02a1_config.h"
/* ACTION 3 ------------------------------------------------------------------*
* Include here expansion board's components' header files. *
@@ -86,7 +86,7 @@
* @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(L6470_InitTypeDef *init_0, L6470_InitTypeDef *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi);
+ X_NUCLEO_IHM02A1(L6470_Init_t *init_0, L6470_Init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi);
/**
* @brief Constructor.
@@ -100,7 +100,7 @@
* @param miso pin name of the MISO pin of the SPI device to be used for communication.
* @param sclk pin name of the SCLK pin of the SPI device to be used for communication.
*/
- X_NUCLEO_IHM02A1(L6470_InitTypeDef *init_0, L6470_InitTypeDef *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk);
+ X_NUCLEO_IHM02A1(L6470_Init_t *init_0, L6470_Init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk);
/**
* @brief Destructor.
@@ -198,7 +198,7 @@
L6470 *components[L6470DAISYCHAINSIZE];
/* Components' initialization. */
- L6470_InitTypeDef *init_components[L6470DAISYCHAINSIZE];
+ L6470_Init_t *init_components[L6470DAISYCHAINSIZE];
/* Results of prepared actions. */
uint32_t results[L6470DAISYCHAINSIZE];
@@ -218,6 +218,6 @@
static uint8_t number_of_boards;
};
-#endif // __X_NUCLEO_IHM02A1_CLASS_H
+#endif /* __X_NUCLEO_IHM02A1_CLASS_H */
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/BSP/x_nucleo_ihm02a1_config.h Tue Jan 19 16:07:00 2016 +0000 +++ b/BSP/x_nucleo_ihm02a1_config.h Tue Feb 09 16:01:30 2016 +0000 @@ -39,7 +39,7 @@ /* Generated with Stm32CubeTOO -----------------------------------------------*/ -/* Define to prevent from recursive inclusion --------------------------------*/ +/* Define to prevent recursive inclusion -------------------------------------*/ #ifndef __X_NUCLEO_IHM02A1_CONFIG_H #define __X_NUCLEO_IHM02A1_CONFIG_H @@ -78,4 +78,4 @@ /* Maximum number of mounted "X-NUCLEO-IHM02A1" Expansion Boards. */ #define EXPBRD_MOUNTED_NR_MAX (4) -#endif // __X_NUCLEO_IHM02A1_CONFIG_H \ No newline at end of file +#endif /* __X_NUCLEO_IHM02A1_CONFIG_H */ \ No newline at end of file
--- a/Components/Common/component.h Tue Jan 19 16:07:00 2016 +0000
+++ b/Components/Common/component.h Tue Feb 09 16:01:30 2016 +0000
@@ -37,10 +37,10 @@
*/
-/* Prevent recursive inclusion -----------------------------------------------*/
+/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __COMPONENT_H__
-#define __COMPONENT_H__
+#ifndef __COMPONENT_H
+#define __COMPONENT_H
/* Types ---------------------------------------------------------------------*/
@@ -75,7 +75,7 @@
/* -----------------------------------------------------------------------*/
/* Pointer to the Extended Virtual Table. */
void *pExtVTable;
-} DrvContextTypeDef;
+} Handle_t;
/**
* @brief Component's Status enumerator definition.
@@ -86,6 +86,8 @@
COMPONENT_ERROR,
COMPONENT_TIMEOUT,
COMPONENT_NOT_IMPLEMENTED
-} DrvStatusTypeDef;
+} Status_t;
-#endif
\ No newline at end of file
+#endif /* __COMPONENT_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/Components/Common/microstepping_motor.h Tue Jan 19 16:07:00 2016 +0000
+++ b/Components/Common/microstepping_motor.h Tue Feb 09 16:01:30 2016 +0000
@@ -1,42 +1,44 @@
/**
- ******************************************************************************
- * @file microstepping_motor.h
- * @author IPD SYSTEM LAB & TECH MKTG
- * @version V0.0.1
- * @date 04-June-2015
- * @brief This file contains all the functions prototypes for the microstepping
- * motor driver with motion engine.
- ******************************************************************************
- * @attention
- *
- * <h2><center>© COPYRIGHT(c) 2014 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.
- *
- ******************************************************************************
- */
+ ******************************************************************************
+ * @file microstepping_motor.h
+ * @author IPD SYSTEM LAB & TECH MKTG
+ * @version V0.0.1
+ * @date 04-June-2015
+ * @brief This file contains all the functions prototypes for the microstepping
+ * motor driver with motion engine.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2014 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 __MICROSTEPPINGMOTOR_H
#define __MICROSTEPPINGMOTOR_H
@@ -44,10 +46,15 @@
extern "C" {
#endif
+
/* Includes ------------------------------------------------------------------*/
+
#include <stdint.h>
#include "component.h"
+
+/* Types ---------------------------------------------------------------------*/
+
/** @addtogroup BSP
* @{
*/
@@ -92,7 +99,7 @@
L6470_STEP_MODE_ID, //!< Step mode
L6470_ALARM_EN_ID, //!< Alarm enable
L6470_CONFIG_ID, //!< IC configuration
- L6470_STATUS_ID //!< Status, (the reset value is according to startup conditions)
+ L6470_STATUS_ID //!< Status, (the reset value is according to startup conditions)
} eL6470_RegId_t;
/**
@@ -305,9 +312,9 @@
uint16_t STATUS; //!< Status Register
} StepperMotorRegister_t;
-/**
- * @brief Stepper Motor Driver Structure
- */
+/**
+ * @brief MICROSTEPPING_MOTOR driver virtual table structure definition.
+ */
typedef struct
{
/* ACTION ----------------------------------------------------------------*
@@ -319,12 +326,12 @@
* specified exactly in the given way. *
* *
* Example: *
- * DrvStatusTypeDef (*Init)(void *handle, void *init); *
- * DrvStatusTypeDef (*ReadID)(void *handle, uint8_t *id); *
+ * Status_t (*Init) (void *handle, void *init); *
+ * Status_t (*ReadID) (void *handle, uint8_t *id); *
*------------------------------------------------------------------------*/
/* Generic */
- DrvStatusTypeDef (*Init)(void *handle, void *init);
- DrvStatusTypeDef (*ReadID)(void *handle, uint8_t *id);
+ Status_t (*Init)(void *handle, void *init);
+ Status_t (*ReadID)(void *handle, uint8_t *id);
/* ACTION ----------------------------------------------------------------*
* Declare here the component's specific functions. *
@@ -332,7 +339,7 @@
* Do not specify any function if not required. *
* *
* Example: *
- * DrvStatusTypeDef (*GetValue)(void *handle, float *pfData); *
+ * Status_t (*GetValue) (void *handle, float *f); *
*------------------------------------------------------------------------*/
/* Specific */
void (*SetParam)(void *handle, eL6470_RegId_t L6470_RegId, uint32_t Value);
@@ -400,7 +407,8 @@
uint8_t (*mA_2_OcdTh)(void *handle, float mA);
float (*StallTh_2_mA)(void *handle, uint8_t StallTh);
uint8_t (*mA_2_StallTh)(void *handle, float mA);
-} MICROSTEPPING_MOTOR_DrvVTableTypeDef;
+ uint32_t (*ExtractReturnedData)(void *handle, uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte);
+} MICROSTEPPING_MOTOR_VTable_t;
/**
* @brief Stepper Motor Board Driver Structure
@@ -427,7 +435,7 @@
uint16_t (*GetStatus)(uint8_t, uint8_t);
uint8_t (*CheckStatusRegisterFlag)(uint8_t, uint8_t, uint8_t);
uint8_t* (*PerformPreparedApplicationCommand)(uint8_t);
-} MICROSTEPPING_MOTOR_EB_DrvVTableTypeDef;
+} MICROSTEPPING_MOTOR_EB_VTable_t;
/**
* @brief Stepper Motor Handle Structure
@@ -435,7 +443,8 @@
typedef struct __StepperMotorDriver_HandleTypeDef
{
uint8_t DaisyChainPosition;
- MICROSTEPPING_MOTOR_DrvVTableTypeDef *Command;
+ void (*Config)(void*);
+ MICROSTEPPING_MOTOR_VTable_t *Command;
} StepperMotorDriverHandle_t;
/**
@@ -444,7 +453,8 @@
typedef struct __StepperMotorBoard_HandleTypeDef
{
uint8_t StackedPosition;
- MICROSTEPPING_MOTOR_EB_DrvVTableTypeDef *Command;
+ void (*Config)(void*);
+ MICROSTEPPING_MOTOR_EB_VTable_t *Command;
StepperMotorDriverHandle_t *StepperMotorDriverHandle[2];
uint8_t (*Select)(uint8_t);
} StepperMotorBoardHandle_t;
--- a/Components/Interfaces/Component_class.h Tue Jan 19 16:07:00 2016 +0000
+++ b/Components/Interfaces/Component_class.h Tue Feb 09 16:01:30 2016 +0000
@@ -1,7 +1,7 @@
/**
******************************************************************************
* @file Component_class.h
- * @author Davide Aliprandi, STMicroelectronics
+ * @author AST
* @version V1.0.0
* @date April 13th, 2015
* @brief This file contains the abstract class describing the interface of a
@@ -37,7 +37,7 @@
*/
-/* Define to prevent from recursive inclusion --------------------------------*/
+/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __COMPONENT_CLASS_H
#define __COMPONENT_CLASS_H
@@ -56,20 +56,20 @@
{
public:
/**
- * @brief Initializing the component.
- * @param init Pointer to device specific initalization structure.
- * @retval "0" in case of success, an error code otherwise.
+ * @brief Initializing the component.
+ * @param[in] init pointer to device specific initalization structure.
+ * @retval "0" in case of success, an error code otherwise.
*/
virtual int Init(void *init) = 0;
/**
- * @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.
+ * @brief Getting the ID of the component.
+ * @param[out] id pointer to an allocated variable to store the ID into.
+ * @retval "0" in case of success, an error code otherwise.
*/
virtual int ReadID(uint8_t *id) = 0;
};
#endif /* __COMPONENT_CLASS_H */
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/Components/l6470/l6470.h Tue Jan 19 16:07:00 2016 +0000
+++ b/Components/l6470/l6470.h Tue Feb 09 16:01:30 2016 +0000
@@ -1,39 +1,41 @@
/**
- ******************************************************************************
- * @file L6470.h
- * @date 01/10/2014 12:00:00
- * @brief This file contains definitions, exported variables and function
- * prototypes related to the L6470.
- ******************************************************************************
- *
- * COPYRIGHT(c) 2014 STMicroelectronics
- *
- * 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.
- *
- ******************************************************************************
- */
+ ******************************************************************************
+ * @file L6470.h
+ * @date 01/10/2014 12:00:00
+ * @brief This file contains definitions, exported variables and function
+ * prototypes related to the L6470.
+ ******************************************************************************
+ *
+ * COPYRIGHT(c) 2014 STMicroelectronics
+ *
+ * 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 __L6470_H
#define __L6470_H
@@ -41,9 +43,86 @@
extern "C" {
#endif
+
/* Includes ------------------------------------------------------------------*/
+
#include "microstepping_motor.h"
+
+/* Definitions ---------------------------------------------------------------*/
+
+/** @addtogroup BSP
+ * @{
+ */
+
+/** @addtogroup Components
+ * @{
+ */
+
+/** @addtogroup L6470
+ * @{
+ */
+
+/** @defgroup L6470_Exported_Defines L6470_Exported_Defines
+ * @{
+ */
+
+/**
+ * @defgroup L6470_Exported_Constants
+ * @brief L6470 Exported Constants.
+ * @{
+ */
+
+/**
+ * @defgroup L6470_Register_Max_Values
+ * @brief Maximum values for L6470 registers.
+ * @{
+ */
+
+#define L6470_MAX_POSITION (0x1FFFFF) //!< Max position
+#define L6470_MIN_POSITION (-(0x200000)) //!< Min position
+#define L6470_POSITION_RANGE ((uint32_t)(L6470_MAX_POSITION - L6470_MIN_POSITION)) //!< Position range
+#define L6470_MAX_SPEED (0xFFFFF) //!< max value of SPEED
+#define L6470_MAX_ACC (0xFFF) //!< max value of ACC
+#define L6470_MAX_DEC (0xFFF) //!< max value of DEC
+#define L6470_MAX_MAX_SPEED (0x3FF) //!< max value of MAX_SPEED
+#define L6470_MAX_MIN_SPEED (0xFFF) //!< max value of MIN_SPEED
+#define L6470_MAX_FS_SPD (0x3FF) //!< max value of FS_SPD
+#define L6470_MAX_INT_SPEED (0x3FFF) //!< max value of INT_SPEED
+#define L6470_MAX_ST_SLP (0xFF) //!< max value of ST_SLP
+#define L6470_MAX_FN_SLP_ACC (0xFF) //!< max value of FN_SLP_ACC
+#define L6470_MAX_FN_SLP_DEC (0xFF) //!< max value of FN_SLP_DEC
+#define L6470_MAX_OCD_TH (0xF) //!< max value of OCD_TH
+#define L6470_MAX_STALL_TH (0x7F) //!< max value of STALL_TH
+
+/**
+ * @}
+ */ /* End of L6470_Register_Max_Values */
+
+#define L6470REGIDSIZE 25 //!< Max number of identifiers of L6470 Registers
+#define L6470APPCMDIDSIZE 19 //!< Max number of identifiers of L6470 Application Commands
+#define L6470DIRIDSIZE 2 //!< Max number of identifiers of L6470 directions
+#define L6470ACTIDSIZE 2 //!< Max number of identifiers of actions to perform about ABS_POS register
+#define L6470MAXSPICMDBYTESIZE 4 //!< Max number of byte to send via SPI to perform an application command
+#define L6470DAISYCHAINSIZE 2 //!< Max number of identifiers of L6470 in daisy chain configuration
+
+#define L6470_MAX_SPEED_VALUE ((float)15610) //!< max value for the speed in step/s
+#define L6470_MAX_ACC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
+#define L6470_MAX_DEC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
+#define L6470_MAX_DEC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
+
+#define OCD_TH_STEP ((float)375) //!< Minimum step for OCD_TH register in mAmpere
+#define STALL_TH_STEP ((float)31.25) //!< Minimum step for STALL_TH register in mAmpere
+
+#define L6470_ACC_CONV ((float)0.068719) //!< Conversion factor for acceleration value from step/s^2 to the right value
+#define L6470_DEC_CONV ((float)0.068719) //!< Conversion factor for deceleration value from step/s^2 to the right value
+#define L6470_MAXSPEED_CONV ((float)0.065536) //!< Conversion factor for max speed value from step/s to the right value
+#define L6470_MINSPEED_CONV ((float)4.194304) //!< Conversion factor for min speed value from step/s to the right value
+#define L6470_SPEED_CONV ((float)67.108864) //!< Conversion factor for speed value from step/s to the right value
+
+
+/* Types ---------------------------------------------------------------------*/
+
/**
* @addtogroup BSP
* @{
@@ -119,63 +198,20 @@
* @}
*/ /* End of L6470_Exported_Types */
-/**
- * @defgroup L6470_Exported_Constants
- * @brief L6470 Exported Constants.
- * @{
- */
-
-/**
- * @defgroup L6470_Register_Max_Values
- * @brief Maximum values for L6470 registers.
- * @{
- */
-
-#define L6470_MAX_POSITION (0x1FFFFF) //!< Max position
-#define L6470_MIN_POSITION (-(0x200000)) //!< Min position
-#define L6470_POSITION_RANGE ((uint32_t)(L6470_MAX_POSITION - L6470_MIN_POSITION)) //!< Position range
-#define L6470_MAX_SPEED (0xFFFFF) //!< max value of SPEED
-#define L6470_MAX_ACC (0xFFF) //!< max value of ACC
-#define L6470_MAX_DEC (0xFFF) //!< max value of DEC
-#define L6470_MAX_MAX_SPEED (0x3FF) //!< max value of MAX_SPEED
-#define L6470_MAX_MIN_SPEED (0xFFF) //!< max value of MIN_SPEED
-#define L6470_MAX_FS_SPD (0x3FF) //!< max value of FS_SPD
-#define L6470_MAX_INT_SPEED (0x3FFF) //!< max value of INT_SPEED
-#define L6470_MAX_ST_SLP (0xFF) //!< max value of ST_SLP
-#define L6470_MAX_FN_SLP_ACC (0xFF) //!< max value of FN_SLP_ACC
-#define L6470_MAX_FN_SLP_DEC (0xFF) //!< max value of FN_SLP_DEC
-#define L6470_MAX_OCD_TH (0xF) //!< max value of OCD_TH
-#define L6470_MAX_STALL_TH (0x7F) //!< max value of STALL_TH
-
-/**
- * @}
- */ /* End of L6470_Register_Max_Values */
-
-#define L6470REGIDSIZE 25 //!< Max number of identifiers of L6470 Registers
-#define L6470APPCMDIDSIZE 19 //!< Max number of identifiers of L6470 Application Commands
-#define L6470DIRIDSIZE 2 //!< Max number of identifiers of L6470 directions
-#define L6470ACTIDSIZE 2 //!< Max number of identifiers of actions to perform about ABS_POS register
-#define L6470MAXSPICMDBYTESIZE 4 //!< Max number of byte to send via SPI to perform an application command
-#define L6470DAISYCHAINSIZE 2 //!< Max number of identifiers of L6470 in daisy chain configuration
-
-#define L6470_MAX_SPEED_VALUE ((float)15610) //!< max value for the speed in step/s
-#define L6470_MAX_ACC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
-#define L6470_MAX_DEC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
-#define L6470_MAX_DEC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
-
-#define OCD_TH_STEP ((float)375) //!< Minimum step for OCD_TH register in mAmpere
-#define STALL_TH_STEP ((float)31.25) //!< Minimum step for STALL_TH register in mAmpere
-
-#define L6470_ACC_CONV ((float)0.068719) //!< Conversion factor for acceleration value from step/s^2 to the right value
-#define L6470_DEC_CONV ((float)0.068719) //!< Conversion factor for deceleration value from step/s^2 to the right value
-#define L6470_MAXSPEED_CONV ((float)0.065536) //!< Conversion factor for max speed value from step/s to the right value
-#define L6470_MINSPEED_CONV ((float)4.194304) //!< Conversion factor for min speed value from step/s to the right value
-#define L6470_SPEED_CONV ((float)67.108864) //!< Conversion factor for speed value from step/s to the right value
-
-
/**
- * @brief L6470 driver initialization structure definition.
- */
+ * @brief L6470 driver initialization structure definition.
+ */
+/* ACTION --------------------------------------------------------------------*
+ * Declare here the component's initialization structure, if any, one *
+ * variable per line without initialization. *
+ * *
+ * Example: *
+ * typedef struct *
+ * { *
+ * int frequency; *
+ * int update_mode; *
+ * } COMPONENT_Init_t; *
+ *----------------------------------------------------------------------------*/
typedef struct
{
float motorvoltage; //!< motor supply voltage in V
@@ -202,11 +238,11 @@
uint8_t step_sel; //!< step mode selection
uint8_t alarmen; //!< alarm conditions enable
uint16_t config; //!< ic configuration
-} L6470_InitTypeDef;
+} L6470_Init_t;
/**
- * @brief L6470 driver data structure definition.
- */
+ * @brief L6470 driver data structure definition.
+ */
/* ACTION --------------------------------------------------------------------*
* Declare here the structure of component's data, if any, one variable per *
* line without initialization. *
@@ -218,8 +254,8 @@
* int T1_out; *
* float T0_degC; *
* float T1_degC; *
- * } COMPONENT_DrvDataTypeDef; *
- * ---------------------------------------------------------------------------*/
+ * } COMPONENT_Data_t; *
+ *----------------------------------------------------------------------------*/
typedef struct
{
uint8_t L6470_Id; //!< The L6470 identifier inside the daisy chain
@@ -233,7 +269,7 @@
eFlagStatus_t L6470_DaisyChain_HalfPrepared; /* = ZERO_F; */ //!< Boolean variable used when more than one L6470 into the daisy chain is going to be addressed for commanding
sL6470_StatusRegister_t L6470_StatusRegister; //!< To store the received L6470_StatusRegister
sL6470_StatusRegister_t *pL6470_StatusRegister; /* = &L6470_StatusRegister; */ //!< Pointer to the L6470_StatusRegister variable
-} L6470_DrvDataTypeDef;
+} L6470_Data_t;
/* Functions -----------------------------------------------------------------*/
@@ -250,15 +286,19 @@
* @{
*/
-/** @defgroup L6470_IO_Functions L6470_IO_Functions
+/** @defgroup L6470_Imported_Functions L6470_Imported_Functions
* @{
*/
+
/* ACTION --------------------------------------------------------------------*
- * Declare here extern I/O functions you need and implemented them in a glue *
- * logic file on the target environment, for example within the expansion *
- * board "*.c" file. E.g.: *
- * extern DrvStatusTypeDef COMPONENT_IO_Read (handle, buf, regadd, bytes); *
- * extern DrvStatusTypeDef COMPONENT_IO_Write(handle, buf, regadd, bytes); *
+ * Declare here extern platform-dependent APIs you might need (e.g.: I/O and *
+ * interrupt related functions), and implement them in a glue-logic file on *
+ * the target environment, for example within the "x_nucleo_board.c" file. *
+ * E.g.: *
+ * extern Status_t COMPONENT_IO_Init (void *handle); *
+ * extern Status_t COMPONENT_IO_Read (handle, buf, regadd, bytes); *
+ * extern Status_t COMPONENT_IO_Write(handle, buf, regadd, bytes); *
+ * extern void COMPONENT_IO_ITConfig(void); *
*----------------------------------------------------------------------------*/
extern void L6470_DISABLE(void);
extern void L6470_ENABLE(void);
@@ -266,22 +306,6 @@
extern void L6470_nCS_HIGH(void);
extern void L6470_SPI_Communication(uint8_t *pTxData, uint8_t *pRxData, uint16_t Size, uint32_t Timeout);
-/**
- * @}
- */ /* End of L6470_Exported_Variables */
-
-/**
- * @}
- */ /* End of L6470 */
-
-/**
- * @}
- */ /* End of Components */
-
-/**
- * @}
- */ /* End of BSP */
-
#ifdef __cplusplus
}
#endif
--- a/Components/l6470/l6470_class.cpp Tue Jan 19 16:07:00 2016 +0000
+++ b/Components/l6470/l6470_class.cpp Tue Feb 09 16:01:30 2016 +0000
@@ -1,37 +1,37 @@
/**
- ******************************************************************************
- * @file l6470_class.cpp
- * @date 01/10/2014 12:00:00
- * @brief This file provides set of firmware functions to manage the
- * L6470.
- ******************************************************************************
- *
- * COPYRIGHT(c) 2014 STMicroelectronics
- *
- * 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.
- *
- ******************************************************************************
- */
+ ******************************************************************************
+ * @file l6470_class.cpp
+ * @date 01/10/2014 12:00:00
+ * @brief This file provides set of firmware functions to manage the
+ * L6470.
+ ******************************************************************************
+ *
+ * COPYRIGHT(c) 2014 STMicroelectronics
+ *
+ * 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.
+ *
+ ******************************************************************************
+ */
/* Generated with Stm32CubeTOO -----------------------------------------------*/
@@ -52,66 +52,7 @@
#include "l6470.h"
-/* Methods -------------------------------------------------------------------*/
-
-/**
- * @defgroup L6470_Conversion_Functions
- * @brief The following functions act just on one driver inside the L6470
- * daisy chain. The command is immediately sent.
- * @{
- */
-
-/* End of L6470_Conversion_Functions */
-
-/**
- * @defgroup L6470_AppCMDs
- * @brief The following functions act just on one driver inside the L6470
- * daisy chain. The command is immediately sent.
- * @{
- */
-
-/* End of L6470_AppCMDs */
-
-/**
- * @defgroup L6470_AppCMDs_ToBePrepared
- * @brief The following functions act just on one driver inside the L6470 daisy
- * chain. The command is prepared and not sent. To send the application
- * commands already prepared for the addressed L6470 drivers you have to
- * use @ref L6470_PerformPreparedApplicationCommand.
- * @{
- */
-
-/* End of L6470_AppCMDs_ToBePrepared */
-
-/**
- * @defgroup L6470_Private_Functions
- * @brief L6470 Private Functions.
- * @{
- */
-
-/* End of L6470_Private_Functions */
-
-
-/**
- * @addtogroup BSP
- * @{
- */
-
-/**
- * @addtogroup Components
- * @{
- */
-
-/**
- * @addtogroup L6470
- * @{
- */
-
-/**
- * @defgroup L6470_Private_Constants
- * @brief L6470 Private Constants.
- * @{
- */
+/* Variables -----------------------------------------------------------------*/
/* Number of instantiated devices on an expansion board. */
uint8_t L6470::number_of_devices = 0;
@@ -214,6 +155,9 @@
* @{
*/
+
+/* Methods -------------------------------------------------------------------*/
+
/**
* @brief Reset the structure used to store the identifier of the L6470
* application command and its the needed parameters.
@@ -1071,7 +1015,7 @@
*/
void L6470::L6470_PrepareSetParam(eL6470_RegId_t L6470_RegId, uint32_t Value)
{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SETPARAM_ID, L6470_RegId, Value, 0);
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SETPARAM_ID, L6470_RegId, Value, 0);
}
/**
@@ -1087,7 +1031,7 @@
*/
void L6470::L6470_PrepareGetParam(eL6470_RegId_t L6470_RegId)
{
- L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETPARAM_ID, L6470_RegId, 0, 0);
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETPARAM_ID, L6470_RegId, 0, 0);
}
/**
@@ -1445,7 +1389,7 @@
* @brief Configures the L6470 registers.
* @param init The pointer to the initialization structure.
*/
-DrvStatusTypeDef L6470::L6470_Config(void *init)
+Status_t L6470::L6470_Config(void *init)
{
/* Disable the L6470. */
L6470_DISABLE();
@@ -1460,7 +1404,7 @@
GetStatus();
/* Prepare the 'Register' field of StepperMotorDriverHandle */
- L6470_InitTypeDef *MotorParameterData = (L6470_InitTypeDef *) init;
+ L6470_Init_t *MotorParameterData = (L6470_Init_t *) init;
StepperMotorRegister.ACC = L6470_Step_s2_2_Acc(MotorParameterData->acc);
StepperMotorRegister.DEC = L6470_Step_s2_2_Dec(MotorParameterData->dec);
StepperMotorRegister.MAX_SPEED = L6470_Step_s_2_MaxSpeed(MotorParameterData->maxspeed);
--- a/Components/l6470/l6470_class.h Tue Jan 19 16:07:00 2016 +0000
+++ b/Components/l6470/l6470_class.h Tue Feb 09 16:01:30 2016 +0000
@@ -57,12 +57,12 @@
/* ACTION 1 ------------------------------------------------------------------*
* Include here platform specific header files. *
- *----------------------------------------------------------------------------*/
+ *----------------------------------------------------------------------------*/
#include "mbed.h"
#include "DevSPI.h"
/* ACTION 2 ------------------------------------------------------------------*
* Include here component specific header files. *
- *----------------------------------------------------------------------------*/
+ *----------------------------------------------------------------------------*/
#include "l6470.h"
/* ACTION 3 ------------------------------------------------------------------*
* Include here interface specific header files. *
@@ -76,7 +76,8 @@
/* Classes -------------------------------------------------------------------*/
-/** Class representing a L6470 component.
+/**
+ * @brief Class representing a L6470 component.
*/
class L6470 : public StepperMotor
{
@@ -153,9 +154,9 @@
* table's functions, if any (2). *
* *
* Example: *
- * virtual int GetValue(float *pData) //(1) *
+ * virtual int GetValue(float *f) //(1) *
* { *
- * return COMPONENT_GetValue(float *pfData); *
+ * return COMPONENT_GetValue(float *f); *
* } *
* *
* virtual int EnableFeature(void) //(2) *
@@ -1054,11 +1055,11 @@
* 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. *
+ * InterruptIn feature_irq(pin); //Interrupt object. *
+ * feature_irq.fall(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. *
@@ -1066,7 +1067,7 @@
* Example (mbed): *
* void AttachFeatureIRQ(void (*fptr) (void)) *
* { *
- * feature_irq.rise(fptr); *
+ * feature_irq.fall(fptr); *
* } *
* *
* void EnableFeatureIRQ(void) *
@@ -1155,9 +1156,9 @@
* source files but not pointed by the component's virtual table (3). *
* *
* Example: *
- * DrvStatusTypeDef COMPONENT_GetValue(float* pfData); //(1) *
- * DrvStatusTypeDef COMPONENT_EnableFeature(void); //(2) *
- * DrvStatusTypeDef COMPONENT_ComputeAverage(void); //(3) *
+ * Status_t COMPONENT_GetValue(float *f); //(1) *
+ * Status_t COMPONENT_EnableFeature(void); //(2) *
+ * Status_t COMPONENT_ComputeAverage(void); //(3) *
*------------------------------------------------------------------------*/
int32_t L6470_AbsPos_2_Position(uint32_t AbsPos);
uint32_t L6470_Position_2_AbsPos(int32_t Position);
@@ -1185,7 +1186,7 @@
uint8_t L6470_mA_2_OcdTh(float mA);
float L6470_StallTh_2_mA(uint8_t StallTh);
uint8_t L6470_mA_2_StallTh(float mA);
- DrvStatusTypeDef L6470_Config(void *init);
+ Status_t L6470_Config(void *init);
void L6470_SetParam(eL6470_RegId_t L6470_RegId, uint32_t Value);
uint32_t L6470_GetParam(eL6470_RegId_t L6470_RegId);
void L6470_Run(eL6470_DirId_t L6470_DirId, uint32_t Speed);
@@ -1254,7 +1255,7 @@
* @param[in] NumBytesToRead number of bytes to read.
* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
*/
- DrvStatusTypeDef Read(uint8_t* pBuffer, uint16_t NumBytesToRead)
+ Status_t Read(uint8_t* pBuffer, uint16_t NumBytesToRead)
{
if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0)
return COMPONENT_ERROR;
@@ -1267,7 +1268,7 @@
* @param[in] NumBytesToWrite number of bytes to write.
* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
*/
- DrvStatusTypeDef Write(uint8_t* pBuffer, uint16_t NumBytesToWrite)
+ Status_t Write(uint8_t* pBuffer, uint16_t NumBytesToWrite)
{
if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0)
return COMPONENT_ERROR;
@@ -1281,7 +1282,7 @@
* @param[in] NumBytes number of bytes to read and write.
* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
*/
- DrvStatusTypeDef ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes)
+ 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;
@@ -1398,6 +1399,6 @@
static uint8_t L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
};
-#endif // __L6470_CLASS_H
+#endif /* __L6470_CLASS_H */
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/