#ifndef dSpinBuffer_h
#define dSpinBuffer_h
#include <Energia.h>
#include <SsiBuffer.h>
#include <driverlib/interrupt.h>
class dSpinAxis;
class SsiDeviceQueue;
typedef void (dSpinAxis::*dSpinAxisCallback)( uint32_t );
class DSpinBuffer : public SsiBuffer {
private:
dSpinAxis* target;
dSpinAxisCallback callBack;
void
getParam( uint8_t param );
public:
// Constructor
DSpinBuffer (
SsiDeviceQueue* aQueue );
// Destructor
virtual ~DSpinBuffer();
void
addCallback (
dSpinAxis* aTarget,
dSpinAxisCallback aCallBack );
DSpinBuffer* queueNext;
bool setParam(
uint8_t param,
uint32_t value,
String* msg );
virtual void
rxComplete();
// parameter registers
void getMaxSpeed();
void getSpeed();
void getPosition();
void getPhase();
bool
setMinSpeed(
float stepsPerSecF,
bool lowSpeedOptimization,
String* msgPtr );
bool
setMaxSpeed(
float stepsPerSecF,
String* msgPtr );
// Full speed is the speed at which the chip stops microstepping and switches to full step (both phases on)
// to achieve higher motor speeds.
bool
setFullSpeed(
float stepsPerSecF,
String* msgPtr );
bool
setAcceleration(
float stepsPerSecPerSecF,
String* msgPtr );
bool
setDeceleration(
float stepsPerSecPerSecF,
String* msgPtr );
// Power levels use an 8 bit scale, i.e., 255 is max
bool
setRunPower(
uint32_t powerU,
String* msgPtr );
bool
setAccelPower(
uint32_t powerU,
String* msgPtr );
bool
setDecelPower(
uint32_t powerU,
String* msgPtr );
bool
setHoldPower(
uint32_t powerU,
String* msgPtr );
bool
setOvercurrentThreshold(
uint32_t threshold,
String* msgPtr );
bool
setStallDetectThreshold(
uint32_t threshold,
String* msgPtr );
bool
setMicroStepMode(
uint32_t mode,
String* msgPtr );
// Fetch and return the 16-bit value in the STATUS register.
void
getStatus( bool clear );
// accelerate the motor to a constant velocity
void
setTargetVelocity( float velocity );
void
runAtMinSpeed( bool forward );
void
setPosition( uint32_t position );
// Bring the motor to a halt using the deceleration curve.
void
softStop();
// Stop the motor immediatly losing position.
void
hardStop();
// Put the bridges in Hi-Z state immediately with no deceleration.
void
hardHiZ();
// Decelerate the motor and put the bridges in Hi-Z state.
void
softHiZ();
// Reset device to power up conditions.
// Equivalent to toggling the STBY pin or cycling power.
void
softReset();
// Sets the ABS_POS register to 0, effectively declaring the current
// position to be "HOME".
void
resetPos();
/*
setStepClock() puts the device in external step clocking mode. When active,
pin 25, STCK, will microstep the device in the requested direction.
Any motion command (RUN, MOVE, etc) will cause the device
to exit step clock mode. */
void
setStepClock( bool forward );
/*
move() will send the motor n_step microsteps (size based on step mode) in the
direction imposed by dir (FWD or REV constants may be used). The motor
will accelerate according the acceleration and deceleration curves, and
will run at MAX_SPEED. Stepping mode will adhere to FS_SPD value, as well. */
void
move( int32_t n_step );
/*
goTo operates much like MOVE, except it produces absolute motion instead
of relative motion. The motor will be moved to the indicated position
in the shortest direction, i.e., ABS_POS register can wrap. */
void
goTo( uint32_t pos );
/*
goToWithDirection() is same as GOTO, but with user constrained rotational direction. */
void
goToWithDirection( int32_t pos );
/*
goUntil() will run at requested velocity
until a falling edge is detected on the SW pin. Depending
on bit SW_MODE in CONFIG, either a hard stop or a soft stop is
then performed, and depending on the value of the copy parameter
either the value in the ABS_POS register is RESET to 0 or
the ABS_POS register is copied to the MARK register. */
void
goUntil( int32_t vel, bool copy );
/*
Similar to goUntil, releaseSW() runs at minimum speed (the higher
of the value in MIN_SPEED or 5 steps/s) until a rising edge
is detected on the switch input, then a hard stop is performed
and the ABS_POS register is either copied into MARK or RESET to
0, depending on the copy parameter. */
void
releaseSW( bool forward, bool copy );
/*
goHome() is equivalent to goTo(0), but requires less time to send.
Note that no direction is provided; motion occurs through shortest
path. If the ABS_POS register may have wraped and a direction is required,
use GoTo_DIR(). */
void
goHome();
/*
goMark() is equivalent to GoTo( MARK ), but requires less time to send.
Note that no direction is provided; motion occurs through shortest
path. If a direction is required, use GoTo_DIR(). */
void
goMark();
};
#endif