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
- Committer:
- davide.aliprandi@st.com
- Date:
- 2017-03-10
- Revision:
- 3:b1bb477e115e
- Child:
- 5:d3c9b33b992c
File content as of revision 3:b1bb477e115e:
/** ****************************************************************************** * @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****/