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Remove redundant class qualifier #1

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Remove redundant class qualifier #1

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79 changes: 38 additions & 41 deletions DRV8301.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -8,13 +8,10 @@
// en_gate DRV8301 enable pin
// fault DRV8301 fault pin (pull_up)
DRV8301::DRV8301(int mosi, int miso, int sclk, int cs, int en_gate, int fault)
:drv8301_mosi_pin(mosi), drv8301_miso_pin(miso), drv8301_sclk_pin(sclk),
drv8301_cs_pin(cs), drv8301_en_gate_pin(en_gate), drv8301_fault_pin(fault)
{
DRV8301::drv8301_mosi_pin = mosi;
DRV8301::drv8301_miso_pin = miso;
DRV8301::drv8301_sclk_pin = sclk;
DRV8301::drv8301_cs_pin = cs;
DRV8301::drv8301_en_gate_pin = en_gate;
DRV8301::drv8301_fault_pin = fault;

}

#pragma GCC push_options
Expand All @@ -37,12 +34,12 @@ uint16_t DRV8301::spi_transfer(uint16_t txdata)

for (int i = 0; i < 16; i++)
{
digitalWrite(DRV8301::drv8301_mosi_pin, bitRead(txdata, 15 - i));
digitalWrite(DRV8301::drv8301_sclk_pin, HIGH);
DRV8301::spi_delay();
digitalWrite(DRV8301::drv8301_sclk_pin, LOW);
bitWrite(rxdata, 15 - i, digitalRead(DRV8301::drv8301_miso_pin));
DRV8301::spi_delay();
digitalWrite(drv8301_mosi_pin, bitRead(txdata, 15 - i));
digitalWrite(drv8301_sclk_pin, HIGH);
spi_delay();
digitalWrite(drv8301_sclk_pin, LOW);
bitWrite(rxdata, 15 - i, digitalRead(drv8301_miso_pin));
spi_delay();
}

return rxdata;
Expand All @@ -53,13 +50,13 @@ int DRV8301::drv8301_read_reg(uint16_t reg)
{
uint16_t read_data;

digitalWrite(DRV8301::drv8301_cs_pin, LOW);
read_data = DRV8301::spi_transfer(0x8000 | ((reg & 0x000F) << 11));
digitalWrite(DRV8301::drv8301_cs_pin, HIGH);
digitalWrite(drv8301_cs_pin, LOW);
read_data = spi_transfer(0x8000 | ((reg & 0x000F) << 11));
digitalWrite(drv8301_cs_pin, HIGH);

digitalWrite(DRV8301::drv8301_cs_pin, LOW);
read_data = DRV8301::spi_transfer(0xffff);
digitalWrite(DRV8301::drv8301_cs_pin, HIGH);
digitalWrite(drv8301_cs_pin, LOW);
read_data = spi_transfer(0xffff);
digitalWrite(drv8301_cs_pin, HIGH);

return read_data;
}
Expand All @@ -68,70 +65,70 @@ int DRV8301::drv8301_read_reg(uint16_t reg)
void DRV8301::drv8301_write_reg(uint16_t reg, uint16_t data)
{
digitalWrite(drv8301_cs_pin, LOW);
DRV8301::spi_transfer(((reg & 0x000F) << 11) | (data & 0x07FF));
spi_transfer(((reg & 0x000F) << 11) | (data & 0x07FF));
digitalWrite(drv8301_cs_pin, HIGH);
}

// Initialize pin and initialize DRV8301
void DRV8301::begin(DRV8301_PWM_INPUT_MODE pwm_mode)
{
/** Initialize pin */
pinMode(DRV8301::drv8301_en_gate_pin, OUTPUT);
digitalWrite(DRV8301::drv8301_en_gate_pin, LOW);
pinMode(DRV8301::drv8301_fault_pin, INPUT_PULLUP);
pinMode(DRV8301::drv8301_cs_pin, OUTPUT);
digitalWrite(DRV8301::drv8301_cs_pin, HIGH);
pinMode(DRV8301::drv8301_mosi_pin, OUTPUT);
pinMode(DRV8301::drv8301_miso_pin, INPUT);
pinMode(DRV8301::drv8301_sclk_pin, OUTPUT);
digitalWrite(DRV8301::drv8301_sclk_pin, LOW);
pinMode(drv8301_en_gate_pin, OUTPUT);
digitalWrite(drv8301_en_gate_pin, LOW);
pinMode(drv8301_fault_pin, INPUT_PULLUP);
pinMode(drv8301_cs_pin, OUTPUT);
digitalWrite(drv8301_cs_pin, HIGH);
pinMode(drv8301_mosi_pin, OUTPUT);
pinMode(drv8301_miso_pin, INPUT);
pinMode(drv8301_sclk_pin, OUTPUT);
digitalWrite(drv8301_sclk_pin, LOW);

/** Configure register */
DRV8301::drv8301_ctrl_reg1_val = 0x0000;
DRV8301::drv8301_ctrl_reg1_val = OCP_MODE_DISABLE | OC_ADJ_SET(27); //Disable OC
drv8301_ctrl_reg1_val = 0x0000;
drv8301_ctrl_reg1_val = OCP_MODE_DISABLE | OC_ADJ_SET(27); //Disable OC

switch (pwm_mode)
{
case PWM_INPUT_MODE_3PWM:
DRV8301::drv8301_ctrl_reg1_val |= PWM_MODE_3_PWM_INPUTS;
drv8301_ctrl_reg1_val |= PWM_MODE_3_PWM_INPUTS;
break;

case PWM_INPUT_MODE_6PWM:
DRV8301::drv8301_ctrl_reg1_val |= PWM_MODE_6_PWM_INPUTS;
drv8301_ctrl_reg1_val |= PWM_MODE_6_PWM_INPUTS;
break;
}

DRV8301::reset();
reset();
}

// Reset DRV8301
void DRV8301::reset(void)
{
/** Reset timing */
digitalWrite(DRV8301::drv8301_en_gate_pin, LOW);
digitalWrite(drv8301_en_gate_pin, LOW);
delayMicroseconds(40);
digitalWrite(DRV8301::drv8301_en_gate_pin, HIGH);
digitalWrite(drv8301_en_gate_pin, HIGH);
delay(20);

/** Update register value */
DRV8301::drv8301_read_reg(DRV8301_STATUS_REG1);
DRV8301::drv8301_write_reg(DRV8301_CONTROL_REG1, DRV8301::drv8301_ctrl_reg1_val);
drv8301_read_reg(DRV8301_STATUS_REG1);
drv8301_write_reg(DRV8301_CONTROL_REG1, drv8301_ctrl_reg1_val);
}

// Detect if DRV8301 has fault occurred
// retval 0:no faults 1:has faults
int DRV8301::is_fault(void)
{
return (int)!digitalRead(DRV8301::drv8301_fault_pin);
return (int)!digitalRead(drv8301_fault_pin);
}

// Read DRV8301's fault value
// retval DRV8301's fault value
int DRV8301::read_fault(void)
{
uint16_t reg1, reg2;
reg1 = DRV8301::drv8301_read_reg(DRV8301_STATUS_REG1) & 0x07FF;
reg2 = DRV8301::drv8301_read_reg(DRV8301_STATUS_REG2) & 0x07FF;
reg1 = drv8301_read_reg(DRV8301_STATUS_REG1) & 0x07FF;
reg2 = drv8301_read_reg(DRV8301_STATUS_REG2) & 0x07FF;
reg1 &= 0x03FF;
reg2 &= 0x0080;
return (int)(reg1 | reg2 << 3);
Expand All @@ -141,5 +138,5 @@ int DRV8301::read_fault(void)
// retval chip id
int DRV8301::get_id(void)
{
return DRV8301::drv8301_read_reg(DRV8301_STATUS_REG2) & 0x000F;
return drv8301_read_reg(DRV8301_STATUS_REG2) & 0x000F;
}