ST / ST_INTERFACES

Official interfaces for ST components.

Dependents:   X_NUCLEO_IKS01A1 mDot_X_NUCLEO_IKS01A1 53L0A1 X_NUCLEO_IKS01A1 ... more

Fork of ST_INTERFACES by Davide Aliprandi

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?

UserRevisionLine numberNew 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>&copy; 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****/