Official interfaces for ST components.
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This library contains all abstract classes which together constitute the common API to which all existing and future ST components will adhere to.
Actuators/BDCMotor.h@5:d3c9b33b992c, 2017-03-24 (annotated)
- Committer:
- Davidroid
- Date:
- Fri Mar 24 12:59:21 2017 +0000
- Revision:
- 5:d3c9b33b992c
- Parent:
- 3:b1bb477e115e
Changed a returned type in BDCMotor interface.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
davide.aliprandi@st.com | 3:b1bb477e115e | 1 | /** |
davide.aliprandi@st.com | 3:b1bb477e115e | 2 | ****************************************************************************** |
davide.aliprandi@st.com | 3:b1bb477e115e | 3 | * @file BDCMotor.h |
davide.aliprandi@st.com | 3:b1bb477e115e | 4 | * @author IPC Rennes |
davide.aliprandi@st.com | 3:b1bb477e115e | 5 | * @version V1.0.0 |
davide.aliprandi@st.com | 3:b1bb477e115e | 6 | * @date April 6th, 2016 |
davide.aliprandi@st.com | 3:b1bb477e115e | 7 | * @brief This file contains the abstract class describing the interface of a |
davide.aliprandi@st.com | 3:b1bb477e115e | 8 | * Brush DC motor component. |
davide.aliprandi@st.com | 3:b1bb477e115e | 9 | ****************************************************************************** |
davide.aliprandi@st.com | 3:b1bb477e115e | 10 | * @attention |
davide.aliprandi@st.com | 3:b1bb477e115e | 11 | * |
davide.aliprandi@st.com | 3:b1bb477e115e | 12 | * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2> |
davide.aliprandi@st.com | 3:b1bb477e115e | 13 | * |
davide.aliprandi@st.com | 3:b1bb477e115e | 14 | * Redistribution and use in source and binary forms, with or without modification, |
davide.aliprandi@st.com | 3:b1bb477e115e | 15 | * are permitted provided that the following conditions are met: |
davide.aliprandi@st.com | 3:b1bb477e115e | 16 | * 1. Redistributions of source code must retain the above copyright notice, |
davide.aliprandi@st.com | 3:b1bb477e115e | 17 | * this list of conditions and the following disclaimer. |
davide.aliprandi@st.com | 3:b1bb477e115e | 18 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
davide.aliprandi@st.com | 3:b1bb477e115e | 19 | * this list of conditions and the following disclaimer in the documentation |
davide.aliprandi@st.com | 3:b1bb477e115e | 20 | * and/or other materials provided with the distribution. |
davide.aliprandi@st.com | 3:b1bb477e115e | 21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
davide.aliprandi@st.com | 3:b1bb477e115e | 22 | * may be used to endorse or promote products derived from this software |
davide.aliprandi@st.com | 3:b1bb477e115e | 23 | * without specific prior written permission. |
davide.aliprandi@st.com | 3:b1bb477e115e | 24 | * |
davide.aliprandi@st.com | 3:b1bb477e115e | 25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
davide.aliprandi@st.com | 3:b1bb477e115e | 26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
davide.aliprandi@st.com | 3:b1bb477e115e | 27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
davide.aliprandi@st.com | 3:b1bb477e115e | 28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
davide.aliprandi@st.com | 3:b1bb477e115e | 29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
davide.aliprandi@st.com | 3:b1bb477e115e | 30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
davide.aliprandi@st.com | 3:b1bb477e115e | 31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
davide.aliprandi@st.com | 3:b1bb477e115e | 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
davide.aliprandi@st.com | 3:b1bb477e115e | 33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
davide.aliprandi@st.com | 3:b1bb477e115e | 34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
davide.aliprandi@st.com | 3:b1bb477e115e | 35 | * |
davide.aliprandi@st.com | 3:b1bb477e115e | 36 | ****************************************************************************** |
davide.aliprandi@st.com | 3:b1bb477e115e | 37 | */ |
davide.aliprandi@st.com | 3:b1bb477e115e | 38 | |
davide.aliprandi@st.com | 3:b1bb477e115e | 39 | |
davide.aliprandi@st.com | 3:b1bb477e115e | 40 | /* Define to prevent from recursive inclusion --------------------------------*/ |
davide.aliprandi@st.com | 3:b1bb477e115e | 41 | |
davide.aliprandi@st.com | 3:b1bb477e115e | 42 | #ifndef __BDCMOTOR_CLASS_H |
davide.aliprandi@st.com | 3:b1bb477e115e | 43 | #define __BDCMOTOR_CLASS_H |
davide.aliprandi@st.com | 3:b1bb477e115e | 44 | |
davide.aliprandi@st.com | 3:b1bb477e115e | 45 | |
davide.aliprandi@st.com | 3:b1bb477e115e | 46 | /* Includes ------------------------------------------------------------------*/ |
davide.aliprandi@st.com | 3:b1bb477e115e | 47 | |
davide.aliprandi@st.com | 3:b1bb477e115e | 48 | #include <Component.h> |
davide.aliprandi@st.com | 3:b1bb477e115e | 49 | |
davide.aliprandi@st.com | 3:b1bb477e115e | 50 | |
davide.aliprandi@st.com | 3:b1bb477e115e | 51 | /* Classes ------------------------------------------------------------------*/ |
davide.aliprandi@st.com | 3:b1bb477e115e | 52 | |
davide.aliprandi@st.com | 3:b1bb477e115e | 53 | /** |
davide.aliprandi@st.com | 3:b1bb477e115e | 54 | * An abstract class for BDCMotor components. |
davide.aliprandi@st.com | 3:b1bb477e115e | 55 | */ |
davide.aliprandi@st.com | 3:b1bb477e115e | 56 | class BDCMotor : public Component { |
davide.aliprandi@st.com | 3:b1bb477e115e | 57 | public: |
davide.aliprandi@st.com | 3:b1bb477e115e | 58 | |
davide.aliprandi@st.com | 3:b1bb477e115e | 59 | /** |
davide.aliprandi@st.com | 3:b1bb477e115e | 60 | * @brief Rotation modes. |
davide.aliprandi@st.com | 3:b1bb477e115e | 61 | */ |
davide.aliprandi@st.com | 3:b1bb477e115e | 62 | typedef enum { |
davide.aliprandi@st.com | 3:b1bb477e115e | 63 | BWD = 0, /* Backward. */ |
davide.aliprandi@st.com | 3:b1bb477e115e | 64 | FWD = 1 /* Forward. */ |
davide.aliprandi@st.com | 3:b1bb477e115e | 65 | } direction_t; |
davide.aliprandi@st.com | 3:b1bb477e115e | 66 | |
davide.aliprandi@st.com | 3:b1bb477e115e | 67 | /** |
davide.aliprandi@st.com | 3:b1bb477e115e | 68 | * @brief Disabling the specified bridge. |
davide.aliprandi@st.com | 3:b1bb477e115e | 69 | * @param bridgeId from 0 for bridge A to 1 for bridge B. |
davide.aliprandi@st.com | 3:b1bb477e115e | 70 | * @retval None. |
davide.aliprandi@st.com | 3:b1bb477e115e | 71 | */ |
davide.aliprandi@st.com | 3:b1bb477e115e | 72 | virtual void disable_bridge(unsigned int) = 0; |
davide.aliprandi@st.com | 3:b1bb477e115e | 73 | |
davide.aliprandi@st.com | 3:b1bb477e115e | 74 | /** |
davide.aliprandi@st.com | 3:b1bb477e115e | 75 | * @brief Enabling the specified bridge. |
davide.aliprandi@st.com | 3:b1bb477e115e | 76 | * @param bridgeId from 0 for bridge A to 1 for bridge B |
davide.aliprandi@st.com | 3:b1bb477e115e | 77 | * @retval None. |
davide.aliprandi@st.com | 3:b1bb477e115e | 78 | */ |
davide.aliprandi@st.com | 3:b1bb477e115e | 79 | virtual void enable_bridge(unsigned int) = 0; |
davide.aliprandi@st.com | 3:b1bb477e115e | 80 | |
davide.aliprandi@st.com | 3:b1bb477e115e | 81 | /** |
davide.aliprandi@st.com | 3:b1bb477e115e | 82 | * @brief Getting the PWM frequency of the specified bridge; |
davide.aliprandi@st.com | 3:b1bb477e115e | 83 | * @param bridgeId from 0 for bridge A to 1 for bridge B. |
davide.aliprandi@st.com | 3:b1bb477e115e | 84 | * @retval The frequency in Hz of the specified bridge input PWM. |
davide.aliprandi@st.com | 3:b1bb477e115e | 85 | */ |
davide.aliprandi@st.com | 3:b1bb477e115e | 86 | virtual unsigned int get_bridge_input_pwm_freq(unsigned int) = 0; |
davide.aliprandi@st.com | 3:b1bb477e115e | 87 | |
davide.aliprandi@st.com | 3:b1bb477e115e | 88 | /** |
davide.aliprandi@st.com | 3:b1bb477e115e | 89 | * @brief Getting the bridge status. |
davide.aliprandi@st.com | 3:b1bb477e115e | 90 | * @param bridgeId from 0 for bridge A to 1 for bridge B. |
davide.aliprandi@st.com | 3:b1bb477e115e | 91 | * @retval The status. |
davide.aliprandi@st.com | 3:b1bb477e115e | 92 | */ |
davide.aliprandi@st.com | 3:b1bb477e115e | 93 | virtual unsigned int get_bridge_status(unsigned int) = 0; |
davide.aliprandi@st.com | 3:b1bb477e115e | 94 | |
davide.aliprandi@st.com | 3:b1bb477e115e | 95 | /** |
davide.aliprandi@st.com | 3:b1bb477e115e | 96 | * @brief Getting the device State. |
davide.aliprandi@st.com | 3:b1bb477e115e | 97 | * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). |
davide.aliprandi@st.com | 3:b1bb477e115e | 98 | * @retval The device state |
davide.aliprandi@st.com | 3:b1bb477e115e | 99 | */ |
Davidroid | 5:d3c9b33b992c | 100 | virtual unsigned int get_device_state(unsigned int) = 0; |
davide.aliprandi@st.com | 3:b1bb477e115e | 101 | |
davide.aliprandi@st.com | 3:b1bb477e115e | 102 | /** |
davide.aliprandi@st.com | 3:b1bb477e115e | 103 | * @brief Getting the current speed in % of the specified motor. |
davide.aliprandi@st.com | 3:b1bb477e115e | 104 | * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). |
davide.aliprandi@st.com | 3:b1bb477e115e | 105 | * @retval The current speed in %. |
davide.aliprandi@st.com | 3:b1bb477e115e | 106 | */ |
davide.aliprandi@st.com | 3:b1bb477e115e | 107 | virtual unsigned int get_speed(unsigned int) = 0; |
davide.aliprandi@st.com | 3:b1bb477e115e | 108 | |
davide.aliprandi@st.com | 3:b1bb477e115e | 109 | /** |
davide.aliprandi@st.com | 3:b1bb477e115e | 110 | * @brief Stopping the motor and disabling the power bridge immediately. |
davide.aliprandi@st.com | 3:b1bb477e115e | 111 | * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). |
davide.aliprandi@st.com | 3:b1bb477e115e | 112 | * @retval None. |
davide.aliprandi@st.com | 3:b1bb477e115e | 113 | */ |
davide.aliprandi@st.com | 3:b1bb477e115e | 114 | virtual void hard_hiz(unsigned int) = 0; |
davide.aliprandi@st.com | 3:b1bb477e115e | 115 | |
davide.aliprandi@st.com | 3:b1bb477e115e | 116 | /** |
davide.aliprandi@st.com | 3:b1bb477e115e | 117 | * @brief Stopping the motor immediately. |
davide.aliprandi@st.com | 3:b1bb477e115e | 118 | * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). |
davide.aliprandi@st.com | 3:b1bb477e115e | 119 | * @retval None. |
davide.aliprandi@st.com | 3:b1bb477e115e | 120 | */ |
davide.aliprandi@st.com | 3:b1bb477e115e | 121 | virtual void hard_stop(unsigned int) = 0; |
davide.aliprandi@st.com | 3:b1bb477e115e | 122 | |
davide.aliprandi@st.com | 3:b1bb477e115e | 123 | /** |
davide.aliprandi@st.com | 3:b1bb477e115e | 124 | * @brief Running the motor. |
davide.aliprandi@st.com | 3:b1bb477e115e | 125 | * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). |
davide.aliprandi@st.com | 3:b1bb477e115e | 126 | * @param direction The direction of rotation. |
davide.aliprandi@st.com | 3:b1bb477e115e | 127 | * @retval None. |
davide.aliprandi@st.com | 3:b1bb477e115e | 128 | */ |
davide.aliprandi@st.com | 3:b1bb477e115e | 129 | virtual void run(unsigned int, direction_t) = 0; |
davide.aliprandi@st.com | 3:b1bb477e115e | 130 | |
davide.aliprandi@st.com | 3:b1bb477e115e | 131 | /** |
davide.aliprandi@st.com | 3:b1bb477e115e | 132 | * @brief Setting the PWM frequency of the specified bridge. |
davide.aliprandi@st.com | 3:b1bb477e115e | 133 | * @param bridgeId from 0 for bridge A to 1 for bridge B. |
davide.aliprandi@st.com | 3:b1bb477e115e | 134 | * @param frequency of the PWM in Hz |
davide.aliprandi@st.com | 3:b1bb477e115e | 135 | * @retval None. |
davide.aliprandi@st.com | 3:b1bb477e115e | 136 | */ |
davide.aliprandi@st.com | 3:b1bb477e115e | 137 | virtual void set_bridge_input_pwm_freq(unsigned int, unsigned int) = 0; |
davide.aliprandi@st.com | 3:b1bb477e115e | 138 | |
davide.aliprandi@st.com | 3:b1bb477e115e | 139 | /** |
davide.aliprandi@st.com | 3:b1bb477e115e | 140 | * @brief Setting the dual bridge configuration mode. |
davide.aliprandi@st.com | 3:b1bb477e115e | 141 | * @param configuration. The bridge configuration. |
davide.aliprandi@st.com | 3:b1bb477e115e | 142 | * @retval None. |
davide.aliprandi@st.com | 3:b1bb477e115e | 143 | */ |
davide.aliprandi@st.com | 3:b1bb477e115e | 144 | virtual void set_dual_full_bridge_config(unsigned int) = 0; |
davide.aliprandi@st.com | 3:b1bb477e115e | 145 | |
davide.aliprandi@st.com | 3:b1bb477e115e | 146 | /** |
davide.aliprandi@st.com | 3:b1bb477e115e | 147 | * @brief Setting the speed in %. |
davide.aliprandi@st.com | 3:b1bb477e115e | 148 | * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). |
davide.aliprandi@st.com | 3:b1bb477e115e | 149 | * @param speed The new speed in %. |
davide.aliprandi@st.com | 3:b1bb477e115e | 150 | * @retval "true" in case of success, "false" otherwise. |
davide.aliprandi@st.com | 3:b1bb477e115e | 151 | */ |
davide.aliprandi@st.com | 3:b1bb477e115e | 152 | virtual bool set_speed(unsigned int, unsigned int) = 0; |
davide.aliprandi@st.com | 3:b1bb477e115e | 153 | |
davide.aliprandi@st.com | 3:b1bb477e115e | 154 | /** |
davide.aliprandi@st.com | 3:b1bb477e115e | 155 | * @brief Destructor. |
davide.aliprandi@st.com | 3:b1bb477e115e | 156 | */ |
davide.aliprandi@st.com | 3:b1bb477e115e | 157 | virtual ~BDCMotor() {}; |
davide.aliprandi@st.com | 3:b1bb477e115e | 158 | }; |
davide.aliprandi@st.com | 3:b1bb477e115e | 159 | |
davide.aliprandi@st.com | 3:b1bb477e115e | 160 | #endif /* __BDCMOTOR_CLASS_H */ |
davide.aliprandi@st.com | 3:b1bb477e115e | 161 | |
davide.aliprandi@st.com | 3:b1bb477e115e | 162 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ |