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C++ boolean is deprecated (#15)
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@thinkyhead
thinkyhead committed Aug 6, 2019
1 parent 86cf6fc commit d4f8f67
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Showing 2 changed files with 43 additions and 46 deletions.
4 changes: 2 additions & 2 deletions src/L6470.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -130,7 +130,7 @@ void L64XX::set_pins(const _pin_t sck, const _pin_t mosi, const _pin_t miso, con
}
}

boolean L64XX::isBusy() { return !(getStatus() & 0x0002); }
bool L64XX::isBusy() { return !(getStatus() & 0x0002); }

void L64XX::setMicroSteps(int16_t microSteps) {
uint8_t stepSel;
Expand Down Expand Up @@ -208,7 +208,7 @@ void L64XX::setStallCurrent(float ma_current) {
// When disabling, the value will have to be explicitly written by
// the user with a SetParam() call. See the datasheet for further
// information about low-speed optimization.
void L64XX::SetLowSpeedOpt(const boolean enable) {
void L64XX::SetLowSpeedOpt(const bool enable) {
Xfer(dSPIN_SET_PARAM | L6470_MIN_SPEED);
Param(enable ? 0x1000 : 0, 13);
}
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85 changes: 41 additions & 44 deletions src/L6470.h
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Original file line number Diff line number Diff line change
Expand Up @@ -328,7 +328,7 @@ class L64XX {
void setStallCurrent(float ma_current);

uint32_t ParamHandler(const uint8_t param, const uint32_t value);
void SetLowSpeedOpt(boolean enable);
void SetLowSpeedOpt(bool enable);

void run(const uint8_t dir, const float spd);
void Step_Clock(const uint8_t dir);
Expand All @@ -342,7 +342,7 @@ class L64XX {
void goTo_DIR(const uint8_t dir, long pos);
void goUntil(const uint8_t act, const uint8_t dir, uint32_t spd);

boolean isBusy();
bool isBusy();

void releaseSW(const uint8_t act, const uint8_t dir);

Expand All @@ -363,27 +363,26 @@ class L64XX {
uint32_t GetParam(const uint8_t param);

// L6470 placeholders may be overridden by sub-classes
static constexpr uint8_t OCD_TH_MAX = 15;
static constexpr uint8_t STALL_TH_MAX = 127;
static constexpr float OCD_CURRENT_CONSTANT_INV = 375; // mA per count
static constexpr float OCD_CURRENT_CONSTANT = 1.0f / OCD_CURRENT_CONSTANT_INV; // counts per mA
static constexpr float STALL_CURRENT_CONSTANT_INV = 31.25; // mA per count
static constexpr float STALL_CURRENT_CONSTANT = 1.0f / STALL_CURRENT_CONSTANT_INV; // counts per mA
static constexpr uint8_t OCD_TH_MAX = 15, STALL_TH_MAX = 127;
static constexpr float OCD_CURRENT_CONSTANT_INV = 375, // mA per count
OCD_CURRENT_CONSTANT = 1.0f / OCD_CURRENT_CONSTANT_INV, // counts per mA
STALL_CURRENT_CONSTANT_INV = 31.25, // mA per count
STALL_CURRENT_CONSTANT = 1.0f / STALL_CURRENT_CONSTANT_INV; // counts per mA

static constexpr uint8_t L64XX_CONFIG = 0x18;
static constexpr uint8_t L64XX_STATUS = 0x19;
static constexpr uint8_t L64XX_CONFIG = 0x18,
L64XX_STATUS = 0x19;

static constexpr bool L6470_status_layout = true;
static constexpr uint16_t STATUS_NOTPERF_CMD = 0x0080; // Last command not performed.
static constexpr uint16_t STATUS_WRONG_CMD = 0x0100; // Last command not valid.
static constexpr uint16_t STATUS_CMD_ERR = 0x0180; // Command error
static constexpr uint16_t STATUS_UVLO = 0x0200; // Undervoltage lockout is active
static constexpr uint16_t STATUS_TH_WRN = 0x0400; // Thermal warning
static constexpr uint16_t STATUS_TH_SD = 0x0800; // Thermal shutdown
static constexpr uint16_t STATUS_OCD = 0x1000; // Overcurrent detected
static constexpr uint16_t STATUS_STEP_LOSS_A = 0x2000; // Stall detected on A bridge
static constexpr uint16_t STATUS_STEP_LOSS_B = 0x4000; // Stall detected on B bridge
static constexpr uint16_t STATUS_SCK_MOD = 0x8000; // Step clock mode is active
static constexpr uint16_t STATUS_NOTPERF_CMD = 0x0080, // Last command not performed.
STATUS_WRONG_CMD = 0x0100, // Last command not valid.
STATUS_CMD_ERR = 0x0180, // Command error
STATUS_UVLO = 0x0200, // Undervoltage lockout is active
STATUS_TH_WRN = 0x0400, // Thermal warning
STATUS_TH_SD = 0x0800, // Thermal shutdown
STATUS_OCD = 0x1000, // Overcurrent detected
STATUS_STEP_LOSS_A = 0x2000, // Stall detected on A bridge
STATUS_STEP_LOSS_B = 0x4000, // Stall detected on B bridge
STATUS_SCK_MOD = 0x8000; // Step clock mode is active

private:
long convert(uint32_t val);
Expand All @@ -408,46 +407,44 @@ class L6470 : public L64XX {

class L6480_Base : public L64XX {
public:
static constexpr uint8_t L64XX_CONFIG = 0x1A;
static constexpr uint8_t L64XX_STATUS = 0x1B;
static constexpr uint8_t L64XX_CONFIG = 0x1A,
L64XX_STATUS = 0x1B;

static constexpr bool L6470_status_layout = false;
static constexpr uint16_t STATUS_WRONG_CMD = 0x0080; // Last command not valid.
static constexpr uint16_t STATUS_CMD_ERR = 0x0080; // Command error
static constexpr uint16_t STATUS_UVLO = 0x0200; // Undervoltage lockout is active
static constexpr uint16_t UVLO_ADC = 0x0400; // ADC undervoltage event
static constexpr uint16_t STATUS_TH_WRN = 0x0800; // Thermal warning
static constexpr uint16_t STATUS_TH_SD = 0x1000; // Thermal shutdown
static constexpr uint16_t STATUS_OCD = 0x2000; // Overcurrent detected
static constexpr uint16_t STATUS_STEP_LOSS_A = 0x4000; // Stall detected on A bridge
static constexpr uint16_t STATUS_STEP_LOSS_B = 0x8000; // Stall detected on B bridge
static constexpr uint16_t STATUS_SCK_MOD = 0x0100; // Step clock mode is active
static constexpr uint16_t STATUS_WRONG_CMD = 0x0080, // Last command not valid.
STATUS_CMD_ERR = 0x0080, // Command error
STATUS_UVLO = 0x0200, // Undervoltage lockout is active
UVLO_ADC = 0x0400, // ADC undervoltage event
STATUS_TH_WRN = 0x0800, // Thermal warning
STATUS_TH_SD = 0x1000, // Thermal shutdown
STATUS_OCD = 0x2000, // Overcurrent detected
STATUS_STEP_LOSS_A = 0x4000, // Stall detected on A bridge
STATUS_STEP_LOSS_B = 0x8000, // Stall detected on B bridge
STATUS_SCK_MOD = 0x0100; // Step clock mode is active
};

class L6480 : public L6480_Base {
public:
L6480(const _pin_t ss_pin) { init(ss_pin); }
L6480(const _pin_t ss_pin, L64XXHelper *_helper) { init(ss_pin, _helper); }

static constexpr uint8_t OCD_TH_MAX = 31;
static constexpr uint8_t STALL_TH_MAX = 31;
static constexpr float OCD_CURRENT_CONSTANT_INV = 31.25; // mA per count
static constexpr float OCD_CURRENT_CONSTANT = 1.0f / OCD_CURRENT_CONSTANT_INV; // counts per mA
static constexpr float STALL_CURRENT_CONSTANT_INV = 31.25; // mA per count
static constexpr float STALL_CURRENT_CONSTANT = 1.0f / STALL_CURRENT_CONSTANT_INV; // counts per mA
static constexpr uint8_t OCD_TH_MAX = 31, STALL_TH_MAX = 31;
static constexpr float OCD_CURRENT_CONSTANT_INV = 31.25, // mA per count
OCD_CURRENT_CONSTANT = 1.0f / OCD_CURRENT_CONSTANT_INV, // counts per mA
STALL_CURRENT_CONSTANT_INV = 31.25, // mA per count
STALL_CURRENT_CONSTANT = 1.0f / STALL_CURRENT_CONSTANT_INV; // counts per mA
};

class powerSTEP01 : public L6480_Base {
public:
powerSTEP01(const _pin_t ss_pin) { init(ss_pin); }
powerSTEP01(const _pin_t ss_pin, L64XXHelper *_helper) { init(ss_pin, _helper); }

static constexpr uint8_t OCD_TH_MAX = 31;
static constexpr uint8_t STALL_TH_MAX = 31;
static constexpr float OCD_CURRENT_CONSTANT = 0.001; // counts per mA (empirically derived for powerSTEP01)
static constexpr float OCD_CURRENT_CONSTANT_INV = 1000; // mA per count (empirically derived for powerSTEP01)
static constexpr float STALL_CURRENT_CONSTANT = 0.005; // counts per mA (empirically derived for powerSTEP01)
static constexpr float STALL_CURRENT_CONSTANT_INV = 200; // mA per count (empirically derived for powerSTEP01)
static constexpr uint8_t OCD_TH_MAX = 31, STALL_TH_MAX = 31;
static constexpr float OCD_CURRENT_CONSTANT = 0.001, // counts per mA (empirically derived for powerSTEP01)
OCD_CURRENT_CONSTANT_INV = 1000, // mA per count (empirically derived for powerSTEP01)
STALL_CURRENT_CONSTANT = 0.005, // counts per mA (empirically derived for powerSTEP01)
STALL_CURRENT_CONSTANT_INV = 200; // mA per count (empirically derived for powerSTEP01)
//static constexpr float POWERSTEP_AVERAGE_RDS = 0.016; // Ohms - L648x use external FETs so this may be user modified
//static constexpr float OCD_CURRENT_CONSTANT = (POWERSTEP_AVERAGE_RDS/0.03125)/1000; // counts per mA (calc per data sheet - definitely wrong)
//static constexpr float OCD_CURRENT_CONSTANT_INV = (1000 * 0.03125)/(POWERSTEP_AVERAGE_RDS); // mA per count (calc per data sheet - definitely wrong)
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