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/StepperMotor.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
Davidroid 1:a7810e7acf8d 1 /**
Davidroid 1:a7810e7acf8d 2 ******************************************************************************
Davidroid 1:a7810e7acf8d 3 * @file StepperMotor.h
Davidroid 1:a7810e7acf8d 4 * @author Davide Aliprandi, STMicroelectronics
Davidroid 1:a7810e7acf8d 5 * @version V1.1.0
Davidroid 1:a7810e7acf8d 6 * @date April 6th, 2016
Davidroid 1:a7810e7acf8d 7 * @brief This file contains the abstract class describing the interface of a
Davidroid 1:a7810e7acf8d 8 * stepper-motor component.
Davidroid 1:a7810e7acf8d 9 ******************************************************************************
Davidroid 1:a7810e7acf8d 10 * @attention
Davidroid 1:a7810e7acf8d 11 *
Davidroid 1:a7810e7acf8d 12 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Davidroid 1:a7810e7acf8d 13 *
Davidroid 1:a7810e7acf8d 14 * Redistribution and use in source and binary forms, with or without modification,
Davidroid 1:a7810e7acf8d 15 * are permitted provided that the following conditions are met:
Davidroid 1:a7810e7acf8d 16 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 1:a7810e7acf8d 17 * this list of conditions and the following disclaimer.
Davidroid 1:a7810e7acf8d 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid 1:a7810e7acf8d 19 * this list of conditions and the following disclaimer in the documentation
Davidroid 1:a7810e7acf8d 20 * and/or other materials provided with the distribution.
Davidroid 1:a7810e7acf8d 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid 1:a7810e7acf8d 22 * may be used to endorse or promote products derived from this software
Davidroid 1:a7810e7acf8d 23 * without specific prior written permission.
Davidroid 1:a7810e7acf8d 24 *
Davidroid 1:a7810e7acf8d 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 1:a7810e7acf8d 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 1:a7810e7acf8d 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid 1:a7810e7acf8d 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid 1:a7810e7acf8d 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid 1:a7810e7acf8d 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid 1:a7810e7acf8d 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid 1:a7810e7acf8d 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid 1:a7810e7acf8d 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid 1:a7810e7acf8d 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid 1:a7810e7acf8d 35 *
Davidroid 1:a7810e7acf8d 36 ******************************************************************************
Davidroid 1:a7810e7acf8d 37 */
Davidroid 1:a7810e7acf8d 38
Davidroid 1:a7810e7acf8d 39
Davidroid 1:a7810e7acf8d 40 /* Define to prevent from recursive inclusion --------------------------------*/
Davidroid 1:a7810e7acf8d 41
Davidroid 1:a7810e7acf8d 42 #ifndef __STEPPERMOTOR_CLASS_H
Davidroid 1:a7810e7acf8d 43 #define __STEPPERMOTOR_CLASS_H
Davidroid 1:a7810e7acf8d 44
Davidroid 1:a7810e7acf8d 45
Davidroid 1:a7810e7acf8d 46 /* Includes ------------------------------------------------------------------*/
Davidroid 1:a7810e7acf8d 47
davide.aliprandi@st.com 3:b1bb477e115e 48 #include <Component.h>
Davidroid 1:a7810e7acf8d 49
Davidroid 1:a7810e7acf8d 50
Davidroid 1:a7810e7acf8d 51 /* Classes ------------------------------------------------------------------*/
Davidroid 1:a7810e7acf8d 52
davide.aliprandi@st.com 3:b1bb477e115e 53 /**
davide.aliprandi@st.com 3:b1bb477e115e 54 * An abstract class for StepperMotor components.
Davidroid 1:a7810e7acf8d 55 */
davide.aliprandi@st.com 3:b1bb477e115e 56 class StepperMotor : public Component {
Davidroid 1:a7810e7acf8d 57 public:
davide.aliprandi@st.com 3:b1bb477e115e 58
Davidroid 1:a7810e7acf8d 59 /**
Davidroid 1:a7810e7acf8d 60 * @brief Rotation modes.
Davidroid 1:a7810e7acf8d 61 */
davide.aliprandi@st.com 3:b1bb477e115e 62 typedef enum {
Davidroid 1:a7810e7acf8d 63 BWD = 0, /* Backward. */
Davidroid 1:a7810e7acf8d 64 FWD = 1 /* Forward. */
Davidroid 1:a7810e7acf8d 65 } direction_t;
Davidroid 1:a7810e7acf8d 66
Davidroid 1:a7810e7acf8d 67 /**
Davidroid 1:a7810e7acf8d 68 * @brief Step modes.
Davidroid 1:a7810e7acf8d 69 */
davide.aliprandi@st.com 3:b1bb477e115e 70 typedef enum {
Davidroid 1:a7810e7acf8d 71 STEP_MODE_FULL = 0, /* Full-step. */
Davidroid 1:a7810e7acf8d 72 STEP_MODE_HALF, /* Half-step. */
Davidroid 1:a7810e7acf8d 73 STEP_MODE_1_4, /* 1/4 microstep. */
Davidroid 1:a7810e7acf8d 74 STEP_MODE_1_8, /* 1/8 microstep. */
Davidroid 1:a7810e7acf8d 75 STEP_MODE_1_16, /* 1/16 microstep. */
Davidroid 1:a7810e7acf8d 76 STEP_MODE_1_32, /* 1/32 microstep. */
Davidroid 1:a7810e7acf8d 77 STEP_MODE_1_64, /* 1/64 microstep. */
Davidroid 1:a7810e7acf8d 78 STEP_MODE_1_128, /* 1/128 microstep. */
Davidroid 1:a7810e7acf8d 79 STEP_MODE_1_256, /* 1/256 microstep. */
Davidroid 1:a7810e7acf8d 80 STEP_MODE_UNKNOWN, /* Unknown. */
Davidroid 1:a7810e7acf8d 81 STEP_MODE_WAVE /* Full-step one-phase-on. */
Davidroid 1:a7810e7acf8d 82 } step_mode_t;
Davidroid 1:a7810e7acf8d 83
Davidroid 1:a7810e7acf8d 84 /**
Davidroid 1:a7810e7acf8d 85 * @brief Getting the status.
Davidroid 1:a7810e7acf8d 86 * @param None.
Davidroid 1:a7810e7acf8d 87 * @retval The status.
Davidroid 1:a7810e7acf8d 88 */
davide.aliprandi@st.com 3:b1bb477e115e 89 virtual unsigned int get_status(void) = 0;
Davidroid 1:a7810e7acf8d 90
Davidroid 1:a7810e7acf8d 91 /**
Davidroid 1:a7810e7acf8d 92 * @brief Getting the position.
Davidroid 1:a7810e7acf8d 93 * @param None.
Davidroid 1:a7810e7acf8d 94 * @retval The position.
Davidroid 1:a7810e7acf8d 95 */
davide.aliprandi@st.com 3:b1bb477e115e 96 virtual signed int get_position(void) = 0;
Davidroid 1:a7810e7acf8d 97
Davidroid 1:a7810e7acf8d 98 /**
Davidroid 1:a7810e7acf8d 99 * @brief Getting the marked position.
Davidroid 1:a7810e7acf8d 100 * @param None.
Davidroid 1:a7810e7acf8d 101 * @retval The marked position.
Davidroid 1:a7810e7acf8d 102 */
davide.aliprandi@st.com 3:b1bb477e115e 103 virtual signed int get_mark(void) = 0;
Davidroid 1:a7810e7acf8d 104
Davidroid 1:a7810e7acf8d 105 /**
Davidroid 1:a7810e7acf8d 106 * @brief Getting the current speed in pps.
Davidroid 1:a7810e7acf8d 107 * @param None.
Davidroid 1:a7810e7acf8d 108 * @retval The current speed in pps.
Davidroid 1:a7810e7acf8d 109 */
davide.aliprandi@st.com 3:b1bb477e115e 110 virtual unsigned int get_speed(void) = 0;
Davidroid 1:a7810e7acf8d 111
Davidroid 1:a7810e7acf8d 112 /**
Davidroid 1:a7810e7acf8d 113 * @brief Getting the maximum speed in pps.
Davidroid 1:a7810e7acf8d 114 * @param None.
Davidroid 1:a7810e7acf8d 115 * @retval The maximum speed in pps.
Davidroid 1:a7810e7acf8d 116 */
davide.aliprandi@st.com 3:b1bb477e115e 117 virtual unsigned int get_max_speed(void) = 0;
Davidroid 1:a7810e7acf8d 118
Davidroid 1:a7810e7acf8d 119 /**
Davidroid 1:a7810e7acf8d 120 * @brief Getting the minimum speed in pps.
Davidroid 1:a7810e7acf8d 121 * @param None.
Davidroid 1:a7810e7acf8d 122 * @retval The minimum speed in pps.
Davidroid 1:a7810e7acf8d 123 */
davide.aliprandi@st.com 3:b1bb477e115e 124 virtual unsigned int get_min_speed(void) = 0;
Davidroid 1:a7810e7acf8d 125
Davidroid 1:a7810e7acf8d 126 /**
Davidroid 1:a7810e7acf8d 127 * @brief Getting the acceleration in pps^2.
Davidroid 1:a7810e7acf8d 128 * @param None.
Davidroid 1:a7810e7acf8d 129 * @retval The acceleration in pps^2.
Davidroid 1:a7810e7acf8d 130 */
davide.aliprandi@st.com 3:b1bb477e115e 131 virtual unsigned int get_acceleration(void) = 0;
Davidroid 1:a7810e7acf8d 132
Davidroid 1:a7810e7acf8d 133 /**
Davidroid 1:a7810e7acf8d 134 * @brief Getting the deceleration in pps^2.
Davidroid 1:a7810e7acf8d 135 * @param None.
Davidroid 1:a7810e7acf8d 136 * @retval The deceleration in pps^2.
Davidroid 1:a7810e7acf8d 137 */
davide.aliprandi@st.com 3:b1bb477e115e 138 virtual unsigned int get_deceleration(void) = 0;
Davidroid 1:a7810e7acf8d 139
Davidroid 1:a7810e7acf8d 140 /**
Davidroid 1:a7810e7acf8d 141 * @brief Getting the direction of rotation.
Davidroid 1:a7810e7acf8d 142 * @param None.
Davidroid 1:a7810e7acf8d 143 * @retval The direction of rotation.
Davidroid 1:a7810e7acf8d 144 */
davide.aliprandi@st.com 3:b1bb477e115e 145 virtual direction_t get_direction(void) = 0;
Davidroid 1:a7810e7acf8d 146
Davidroid 1:a7810e7acf8d 147 /**
Davidroid 1:a7810e7acf8d 148 * @brief Setting the current position to be the home position.
Davidroid 1:a7810e7acf8d 149 * @param None.
Davidroid 1:a7810e7acf8d 150 * @retval None.
Davidroid 1:a7810e7acf8d 151 */
davide.aliprandi@st.com 3:b1bb477e115e 152 virtual void set_home(void) = 0;
Davidroid 1:a7810e7acf8d 153
Davidroid 1:a7810e7acf8d 154 /**
Davidroid 1:a7810e7acf8d 155 * @brief Setting the current position to be the marked position.
Davidroid 1:a7810e7acf8d 156 * @param None.
Davidroid 1:a7810e7acf8d 157 * @retval None.
Davidroid 1:a7810e7acf8d 158 */
davide.aliprandi@st.com 3:b1bb477e115e 159 virtual void set_mark(void) = 0;
Davidroid 1:a7810e7acf8d 160
Davidroid 1:a7810e7acf8d 161 /**
Davidroid 1:a7810e7acf8d 162 * @brief Setting the maximum speed in pps.
Davidroid 1:a7810e7acf8d 163 * @param speed The maximum speed in pps.
Davidroid 1:a7810e7acf8d 164 * @retval "true" in case of success, "false" otherwise.
Davidroid 1:a7810e7acf8d 165 */
davide.aliprandi@st.com 3:b1bb477e115e 166 virtual bool set_max_speed(unsigned int speed) = 0;
Davidroid 1:a7810e7acf8d 167
Davidroid 1:a7810e7acf8d 168 /**
Davidroid 1:a7810e7acf8d 169 * @brief Setting the minimum speed in pps.
Davidroid 1:a7810e7acf8d 170 * @param speed The minimum speed in pps.
Davidroid 1:a7810e7acf8d 171 * @retval "true" in case of success, "false" otherwise.
Davidroid 1:a7810e7acf8d 172 */
davide.aliprandi@st.com 3:b1bb477e115e 173 virtual bool set_min_speed(unsigned int speed) = 0;
Davidroid 1:a7810e7acf8d 174
Davidroid 1:a7810e7acf8d 175 /**
Davidroid 1:a7810e7acf8d 176 * @brief Setting the acceleration in pps^2.
Davidroid 1:a7810e7acf8d 177 * @param acceleration The acceleration in pps^2.
Davidroid 1:a7810e7acf8d 178 * @retval "true" in case of success, "false" otherwise.
Davidroid 1:a7810e7acf8d 179 */
davide.aliprandi@st.com 3:b1bb477e115e 180 virtual bool set_acceleration(unsigned int acceleration) = 0;
Davidroid 1:a7810e7acf8d 181
Davidroid 1:a7810e7acf8d 182 /**
Davidroid 1:a7810e7acf8d 183 * @brief Setting the deceleration in pps^2.
Davidroid 1:a7810e7acf8d 184 * @param deceleration The deceleration in pps^2.
Davidroid 1:a7810e7acf8d 185 * @retval "true" in case of success, "false" otherwise.
Davidroid 1:a7810e7acf8d 186 */
davide.aliprandi@st.com 3:b1bb477e115e 187 virtual bool set_deceleration(unsigned int deceleration) = 0;
Davidroid 1:a7810e7acf8d 188
Davidroid 1:a7810e7acf8d 189 /**
Davidroid 1:a7810e7acf8d 190 * @brief Setting the Step Mode.
Davidroid 1:a7810e7acf8d 191 * @param step_mode The Step Mode.
Davidroid 1:a7810e7acf8d 192 * @retval "true" in case of success, "false" otherwise.
Davidroid 1:a7810e7acf8d 193 */
davide.aliprandi@st.com 3:b1bb477e115e 194 virtual bool set_step_mode(step_mode_t step_mode) = 0;
Davidroid 1:a7810e7acf8d 195
Davidroid 1:a7810e7acf8d 196 /**
Davidroid 1:a7810e7acf8d 197 * @brief Going to a specified position.
Davidroid 1:a7810e7acf8d 198 * @param position The desired position.
Davidroid 1:a7810e7acf8d 199 * @retval None.
Davidroid 1:a7810e7acf8d 200 */
davide.aliprandi@st.com 3:b1bb477e115e 201 virtual void go_to(signed int position) = 0;
Davidroid 1:a7810e7acf8d 202
Davidroid 1:a7810e7acf8d 203 /**
Davidroid 1:a7810e7acf8d 204 * @brief Going to the home position.
Davidroid 1:a7810e7acf8d 205 * @param None.
Davidroid 1:a7810e7acf8d 206 * @retval None.
Davidroid 1:a7810e7acf8d 207 */
davide.aliprandi@st.com 3:b1bb477e115e 208 virtual void go_home(void) = 0;
Davidroid 1:a7810e7acf8d 209
Davidroid 1:a7810e7acf8d 210 /**
Davidroid 1:a7810e7acf8d 211 * @brief Going to the marked position.
Davidroid 1:a7810e7acf8d 212 * @param None.
Davidroid 1:a7810e7acf8d 213 * @retval None.
Davidroid 1:a7810e7acf8d 214 */
davide.aliprandi@st.com 3:b1bb477e115e 215 virtual void go_mark(void) = 0;
Davidroid 1:a7810e7acf8d 216
Davidroid 1:a7810e7acf8d 217 /**
Davidroid 1:a7810e7acf8d 218 * @brief Running the motor towards a specified direction.
Davidroid 1:a7810e7acf8d 219 * @param direction The direction of rotation.
Davidroid 1:a7810e7acf8d 220 * @retval None.
Davidroid 1:a7810e7acf8d 221 */
davide.aliprandi@st.com 3:b1bb477e115e 222 virtual void run(direction_t direction) = 0;
Davidroid 1:a7810e7acf8d 223
Davidroid 1:a7810e7acf8d 224 /**
Davidroid 1:a7810e7acf8d 225 * @brief Moving the motor towards a specified direction for a certain number of steps.
Davidroid 1:a7810e7acf8d 226 * @param direction The direction of rotation.
Davidroid 1:a7810e7acf8d 227 * @param steps The desired number of steps.
Davidroid 1:a7810e7acf8d 228 * @retval None.
Davidroid 1:a7810e7acf8d 229 */
davide.aliprandi@st.com 3:b1bb477e115e 230 virtual void move(direction_t direction, unsigned int steps) = 0;
Davidroid 1:a7810e7acf8d 231
Davidroid 1:a7810e7acf8d 232 /**
Davidroid 1:a7810e7acf8d 233 * @brief Stopping the motor through an immediate deceleration up to zero speed.
Davidroid 1:a7810e7acf8d 234 * @param None.
Davidroid 1:a7810e7acf8d 235 * @retval None.
Davidroid 1:a7810e7acf8d 236 */
davide.aliprandi@st.com 3:b1bb477e115e 237 virtual void soft_stop(void) = 0;
Davidroid 1:a7810e7acf8d 238
Davidroid 1:a7810e7acf8d 239 /**
Davidroid 1:a7810e7acf8d 240 * @brief Stopping the motor through an immediate infinite deceleration.
Davidroid 1:a7810e7acf8d 241 * @param None.
Davidroid 1:a7810e7acf8d 242 * @retval None.
Davidroid 1:a7810e7acf8d 243 */
davide.aliprandi@st.com 3:b1bb477e115e 244 virtual void hard_stop(void) = 0;
Davidroid 1:a7810e7acf8d 245
Davidroid 1:a7810e7acf8d 246 /**
Davidroid 1:a7810e7acf8d 247 * @brief Disabling the power bridge after performing a deceleration to zero.
Davidroid 1:a7810e7acf8d 248 * @param None.
Davidroid 1:a7810e7acf8d 249 * @retval None.
Davidroid 1:a7810e7acf8d 250 */
davide.aliprandi@st.com 3:b1bb477e115e 251 virtual void soft_hiz(void) = 0;
Davidroid 1:a7810e7acf8d 252
Davidroid 1:a7810e7acf8d 253 /**
Davidroid 1:a7810e7acf8d 254 * @brief Disabling the power bridge immediately.
Davidroid 1:a7810e7acf8d 255 * @param None.
Davidroid 1:a7810e7acf8d 256 * @retval None.
Davidroid 1:a7810e7acf8d 257 */
davide.aliprandi@st.com 3:b1bb477e115e 258 virtual void hard_hiz(void) = 0;
Davidroid 1:a7810e7acf8d 259
Davidroid 1:a7810e7acf8d 260 /**
Davidroid 1:a7810e7acf8d 261 * @brief Waiting while the motor is active.
Davidroid 1:a7810e7acf8d 262 * @param None.
Davidroid 1:a7810e7acf8d 263 * @retval None.
Davidroid 1:a7810e7acf8d 264 */
davide.aliprandi@st.com 3:b1bb477e115e 265 virtual void wait_while_active(void) = 0;
davide.aliprandi@st.com 3:b1bb477e115e 266
davide.aliprandi@st.com 3:b1bb477e115e 267 /**
davide.aliprandi@st.com 3:b1bb477e115e 268 * @brief Destructor.
davide.aliprandi@st.com 3:b1bb477e115e 269 */
davide.aliprandi@st.com 3:b1bb477e115e 270 virtual ~StepperMotor() {};
Davidroid 1:a7810e7acf8d 271 };
Davidroid 1:a7810e7acf8d 272
Davidroid 1:a7810e7acf8d 273 #endif /* __STEPPERMOTOR_CLASS_H */
Davidroid 1:a7810e7acf8d 274
Davidroid 1:a7810e7acf8d 275 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/