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.
Diff: Actuators/BDCMotor.h
- Revision:
- 3:b1bb477e115e
- Child:
- 5:d3c9b33b992c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Actuators/BDCMotor.h Fri Mar 10 10:50:53 2017 +0100 @@ -0,0 +1,162 @@ +/** + ****************************************************************************** + * @file BDCMotor.h + * @author IPC Rennes + * @version V1.0.0 + * @date April 6th, 2016 + * @brief This file contains the abstract class describing the interface of a + * Brush DC motor component. + ****************************************************************************** + * @attention + * + * <h2><center>© COPYRIGHT(c) 2016 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. + * + ****************************************************************************** + */ + + +/* Define to prevent from recursive inclusion --------------------------------*/ + +#ifndef __BDCMOTOR_CLASS_H +#define __BDCMOTOR_CLASS_H + + +/* Includes ------------------------------------------------------------------*/ + +#include <Component.h> + + +/* Classes ------------------------------------------------------------------*/ + +/** + * An abstract class for BDCMotor components. + */ +class BDCMotor : public Component { +public: + + /** + * @brief Rotation modes. + */ + typedef enum { + BWD = 0, /* Backward. */ + FWD = 1 /* Forward. */ + } direction_t; + + /** + * @brief Disabling the specified bridge. + * @param bridgeId from 0 for bridge A to 1 for bridge B. + * @retval None. + */ + virtual void disable_bridge(unsigned int) = 0; + + /** + * @brief Enabling the specified bridge. + * @param bridgeId from 0 for bridge A to 1 for bridge B + * @retval None. + */ + virtual void enable_bridge(unsigned int) = 0; + + /** + * @brief Getting the PWM frequency of the specified bridge; + * @param bridgeId from 0 for bridge A to 1 for bridge B. + * @retval The frequency in Hz of the specified bridge input PWM. + */ + virtual unsigned int get_bridge_input_pwm_freq(unsigned int) = 0; + + /** + * @brief Getting the bridge status. + * @param bridgeId from 0 for bridge A to 1 for bridge B. + * @retval The status. + */ + virtual unsigned int get_bridge_status(unsigned int) = 0; + + /** + * @brief Getting the device State. + * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). + * @retval The device state + */ + virtual motorState_t get_device_state(unsigned int) = 0; + + /** + * @brief Getting the current speed in % of the specified motor. + * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). + * @retval The current speed in %. + */ + virtual unsigned int get_speed(unsigned int) = 0; + + /** + * @brief Stopping the motor and disabling the power bridge immediately. + * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). + * @retval None. + */ + virtual void hard_hiz(unsigned int) = 0; + + /** + * @brief Stopping the motor immediately. + * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). + * @retval None. + */ + virtual void hard_stop(unsigned int) = 0; + + /** + * @brief Running the motor. + * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). + * @param direction The direction of rotation. + * @retval None. + */ + virtual void run(unsigned int, direction_t) = 0; + + /** + * @brief Setting the PWM frequency of the specified bridge. + * @param bridgeId from 0 for bridge A to 1 for bridge B. + * @param frequency of the PWM in Hz + * @retval None. + */ + virtual void set_bridge_input_pwm_freq(unsigned int, unsigned int) = 0; + + /** + * @brief Setting the dual bridge configuration mode. + * @param configuration. The bridge configuration. + * @retval None. + */ + virtual void set_dual_full_bridge_config(unsigned int) = 0; + + /** + * @brief Setting the speed in %. + * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). + * @param speed The new speed in %. + * @retval "true" in case of success, "false" otherwise. + */ + virtual bool set_speed(unsigned int, unsigned int) = 0; + + /** + * @brief Destructor. + */ + virtual ~BDCMotor() {}; +}; + +#endif /* __BDCMOTOR_CLASS_H */ + +/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/