Robotique FIP
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X_NUCLEO_IHM01A1
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Diff: Components/l6474/l6474_class.h
- Revision:
- 10:c3824af0caf4
- Parent:
- 9:6f116ce8e314
- Child:
- 11:b4d365138c21
--- a/Components/l6474/l6474_class.h Wed Nov 25 12:08:01 2015 +0000
+++ b/Components/l6474/l6474_class.h Thu Nov 26 16:00:28 2015 +0000
@@ -1,40 +1,39 @@
/**
- ******************************************************************************
- * @file l6474_class.h
- * @author IPC Rennes
- * @version V1.5.0
- * @date November 12, 2014
- * @brief L6474 driver (fully integrated microstepping motor driver)
- * @note (C) COPYRIGHT 2014 STMicroelectronics
- ******************************************************************************
- * @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 l6474_class.h
+ * @author Davide Aliprandi, STMicrolectronics
+ * @version V1.0.0
+ * @date October 14th, 2015
+ * @brief This file contains the class of an L6474 Motor Control component.
+ ******************************************************************************
+ * @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.
+ *
+ ******************************************************************************
+ */
/* Generated with Stm32CubeTOO -----------------------------------------------*/
@@ -78,7 +77,8 @@
/* Classes -------------------------------------------------------------------*/
-/** Class representing a L6474 component.
+/**
+ * @brief Class representing an L6474 component.
*/
class L6474 : public StepperMotor
{
@@ -843,19 +843,25 @@
/*** Component's Instance Variables ***/
- /* Identity */
- uint8_t who_am_i;
-
/* ACTION 9 --------------------------------------------------------------*
- * There should be only a unique identifier for each component, which *
- * should be the "who_am_i" parameter, hence this parameter is optional. *
+ * Declare here interrupt related variables, if needed. *
+ * Note that interrupt handling is platform dependent, see *
+ * "Interrupt Related Methods" above. *
+ * *
+ * Example: *
+ * + mbed: *
+ * InterruptIn feature_irq; *
*------------------------------------------------------------------------*/
- /* Type. */
- uint8_t type;
-
/* Flag Interrupt. */
InterruptIn flag_irq;
-
+
+ /* ACTION 10 -------------------------------------------------------------*
+ * Declare here other pin related variables, if needed. *
+ * *
+ * Example: *
+ * + mbed: *
+ * DigitalOut standby_reset; *
+ *------------------------------------------------------------------------*/
/* Standby/reset pin. */
DigitalOut standby_reset;
@@ -865,36 +871,41 @@
/* Pulse Width Modulation pin. */
PwmOut pwm;
+ /* Timer to trigger the PWM callback at each PWM pulse. */
+ Ticker ticker;
+
+ /* ACTION 11 -------------------------------------------------------------*
+ * Declare here communication related variables, if needed. *
+ * *
+ * Example: *
+ * + mbed: *
+ * DigitalOut ssel; *
+ * DevSPI &dev_spi; *
+ *------------------------------------------------------------------------*/
/* Configuration. */
DigitalOut ssel;
/* IO Device. */
DevSPI &dev_spi;
- /* Timer to trigger the PWM callback at each PWM pulse. */
- Ticker ticker;
+ /* ACTION 12 -------------------------------------------------------------*
+ * Declare here identity related variables, if needed. *
+ * Note that there should be only a unique identifier for each component, *
+ * which should be the "who_am_i" parameter. *
+ *------------------------------------------------------------------------*/
+ /* Identity */
+ uint8_t who_am_i;
- /* Interrupts. */
- /* ACTION 10 -------------------------------------------------------------*
- * Put here interrupt related objects, if needed. *
- * Note that interrupt handling is platform dependent, see *
- * "Interrupt Related Methods" above. *
+ /* ACTION 13 -------------------------------------------------------------*
+ * Declare here the component's static and non-static data, one variable *
+ * per line. *
* *
* Example: *
- * + mbed: *
- * InterruptIn feature_int; *
+ * float measure; *
+ * int instance_id; *
+ * static int number_of_instances; *
*------------------------------------------------------------------------*/
-
/* Data. */
- /* ACTION 11 -------------------------------------------------------------*
- * Declare here the component's data, one variable per line. *
- * *
- * Example: *
- * int T0_out; *
- * int T1_out; *
- * float T0_degC; *
- * float T1_degC; *
- *------------------------------------------------------------------------*/
void (*errorHandlerCallback)(uint16_t error);
deviceParams_t devicePrm;
uint8_t deviceInstance;