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@1:a7810e7acf8d, 2016-09-27 (annotated)

Committer:
Davidroid
Date:
Tue Sep 27 11:28:52 2016 +0000
Revision:
1:a7810e7acf8d
Child:
3:b1bb477e115e
LightSensor, RangeSensor, Nfc interfaces added.

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
Davidroid 1:a7810e7acf8d 48 #include <ComponentObject.h>
Davidroid 1:a7810e7acf8d 49
Davidroid 1:a7810e7acf8d 50
Davidroid 1:a7810e7acf8d 51 /* Classes ------------------------------------------------------------------*/
Davidroid 1:a7810e7acf8d 52
Davidroid 1:a7810e7acf8d 53 /** An abstract class for StepperMotor components.
Davidroid 1:a7810e7acf8d 54 */
Davidroid 1:a7810e7acf8d 55 class StepperMotor : public ComponentObject
Davidroid 1:a7810e7acf8d 56 {
Davidroid 1:a7810e7acf8d 57 public:
Davidroid 1:a7810e7acf8d 58 /**
Davidroid 1:a7810e7acf8d 59 * @brief Rotation modes.
Davidroid 1:a7810e7acf8d 60 */
Davidroid 1:a7810e7acf8d 61 typedef enum
Davidroid 1:a7810e7acf8d 62 {
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 */
Davidroid 1:a7810e7acf8d 70 typedef enum
Davidroid 1:a7810e7acf8d 71 {
Davidroid 1:a7810e7acf8d 72 STEP_MODE_FULL = 0, /* Full-step. */
Davidroid 1:a7810e7acf8d 73 STEP_MODE_HALF, /* Half-step. */
Davidroid 1:a7810e7acf8d 74 STEP_MODE_1_4, /* 1/4 microstep. */
Davidroid 1:a7810e7acf8d 75 STEP_MODE_1_8, /* 1/8 microstep. */
Davidroid 1:a7810e7acf8d 76 STEP_MODE_1_16, /* 1/16 microstep. */
Davidroid 1:a7810e7acf8d 77 STEP_MODE_1_32, /* 1/32 microstep. */
Davidroid 1:a7810e7acf8d 78 STEP_MODE_1_64, /* 1/64 microstep. */
Davidroid 1:a7810e7acf8d 79 STEP_MODE_1_128, /* 1/128 microstep. */
Davidroid 1:a7810e7acf8d 80 STEP_MODE_1_256, /* 1/256 microstep. */
Davidroid 1:a7810e7acf8d 81 STEP_MODE_UNKNOWN, /* Unknown. */
Davidroid 1:a7810e7acf8d 82 STEP_MODE_WAVE /* Full-step one-phase-on. */
Davidroid 1:a7810e7acf8d 83 } step_mode_t;
Davidroid 1:a7810e7acf8d 84
Davidroid 1:a7810e7acf8d 85 /**
Davidroid 1:a7810e7acf8d 86 * @brief Getting the status.
Davidroid 1:a7810e7acf8d 87 * @param None.
Davidroid 1:a7810e7acf8d 88 * @retval The status.
Davidroid 1:a7810e7acf8d 89 */
Davidroid 1:a7810e7acf8d 90 virtual unsigned int GetStatus(void) = 0;
Davidroid 1:a7810e7acf8d 91
Davidroid 1:a7810e7acf8d 92 /**
Davidroid 1:a7810e7acf8d 93 * @brief Getting the position.
Davidroid 1:a7810e7acf8d 94 * @param None.
Davidroid 1:a7810e7acf8d 95 * @retval The position.
Davidroid 1:a7810e7acf8d 96 */
Davidroid 1:a7810e7acf8d 97 virtual signed int GetPosition(void) = 0;
Davidroid 1:a7810e7acf8d 98
Davidroid 1:a7810e7acf8d 99 /**
Davidroid 1:a7810e7acf8d 100 * @brief Getting the marked position.
Davidroid 1:a7810e7acf8d 101 * @param None.
Davidroid 1:a7810e7acf8d 102 * @retval The marked position.
Davidroid 1:a7810e7acf8d 103 */
Davidroid 1:a7810e7acf8d 104 virtual signed int GetMark(void) = 0;
Davidroid 1:a7810e7acf8d 105
Davidroid 1:a7810e7acf8d 106 /**
Davidroid 1:a7810e7acf8d 107 * @brief Getting the current speed in pps.
Davidroid 1:a7810e7acf8d 108 * @param None.
Davidroid 1:a7810e7acf8d 109 * @retval The current speed in pps.
Davidroid 1:a7810e7acf8d 110 */
Davidroid 1:a7810e7acf8d 111 virtual unsigned int GetSpeed(void) = 0;
Davidroid 1:a7810e7acf8d 112
Davidroid 1:a7810e7acf8d 113 /**
Davidroid 1:a7810e7acf8d 114 * @brief Getting the maximum speed in pps.
Davidroid 1:a7810e7acf8d 115 * @param None.
Davidroid 1:a7810e7acf8d 116 * @retval The maximum speed in pps.
Davidroid 1:a7810e7acf8d 117 */
Davidroid 1:a7810e7acf8d 118 virtual unsigned int GetMaxSpeed(void) = 0;
Davidroid 1:a7810e7acf8d 119
Davidroid 1:a7810e7acf8d 120 /**
Davidroid 1:a7810e7acf8d 121 * @brief Getting the minimum speed in pps.
Davidroid 1:a7810e7acf8d 122 * @param None.
Davidroid 1:a7810e7acf8d 123 * @retval The minimum speed in pps.
Davidroid 1:a7810e7acf8d 124 */
Davidroid 1:a7810e7acf8d 125 virtual unsigned int GetMinSpeed(void) = 0;
Davidroid 1:a7810e7acf8d 126
Davidroid 1:a7810e7acf8d 127 /**
Davidroid 1:a7810e7acf8d 128 * @brief Getting the acceleration in pps^2.
Davidroid 1:a7810e7acf8d 129 * @param None.
Davidroid 1:a7810e7acf8d 130 * @retval The acceleration in pps^2.
Davidroid 1:a7810e7acf8d 131 */
Davidroid 1:a7810e7acf8d 132 virtual unsigned int GetAcceleration(void) = 0;
Davidroid 1:a7810e7acf8d 133
Davidroid 1:a7810e7acf8d 134 /**
Davidroid 1:a7810e7acf8d 135 * @brief Getting the deceleration in pps^2.
Davidroid 1:a7810e7acf8d 136 * @param None.
Davidroid 1:a7810e7acf8d 137 * @retval The deceleration in pps^2.
Davidroid 1:a7810e7acf8d 138 */
Davidroid 1:a7810e7acf8d 139 virtual unsigned int GetDeceleration(void) = 0;
Davidroid 1:a7810e7acf8d 140
Davidroid 1:a7810e7acf8d 141 /**
Davidroid 1:a7810e7acf8d 142 * @brief Getting the direction of rotation.
Davidroid 1:a7810e7acf8d 143 * @param None.
Davidroid 1:a7810e7acf8d 144 * @retval The direction of rotation.
Davidroid 1:a7810e7acf8d 145 */
Davidroid 1:a7810e7acf8d 146 virtual direction_t GetDirection(void) = 0;
Davidroid 1:a7810e7acf8d 147
Davidroid 1:a7810e7acf8d 148 /**
Davidroid 1:a7810e7acf8d 149 * @brief Setting the current position to be the home position.
Davidroid 1:a7810e7acf8d 150 * @param None.
Davidroid 1:a7810e7acf8d 151 * @retval None.
Davidroid 1:a7810e7acf8d 152 */
Davidroid 1:a7810e7acf8d 153 virtual void SetHome(void) = 0;
Davidroid 1:a7810e7acf8d 154
Davidroid 1:a7810e7acf8d 155 /**
Davidroid 1:a7810e7acf8d 156 * @brief Setting the current position to be the marked position.
Davidroid 1:a7810e7acf8d 157 * @param None.
Davidroid 1:a7810e7acf8d 158 * @retval None.
Davidroid 1:a7810e7acf8d 159 */
Davidroid 1:a7810e7acf8d 160 virtual void SetMark(void) = 0;
Davidroid 1:a7810e7acf8d 161
Davidroid 1:a7810e7acf8d 162 /**
Davidroid 1:a7810e7acf8d 163 * @brief Setting the maximum speed in pps.
Davidroid 1:a7810e7acf8d 164 * @param speed The maximum speed in pps.
Davidroid 1:a7810e7acf8d 165 * @retval "true" in case of success, "false" otherwise.
Davidroid 1:a7810e7acf8d 166 */
Davidroid 1:a7810e7acf8d 167 virtual bool SetMaxSpeed(unsigned int speed) = 0;
Davidroid 1:a7810e7acf8d 168
Davidroid 1:a7810e7acf8d 169 /**
Davidroid 1:a7810e7acf8d 170 * @brief Setting the minimum speed in pps.
Davidroid 1:a7810e7acf8d 171 * @param speed The minimum speed in pps.
Davidroid 1:a7810e7acf8d 172 * @retval "true" in case of success, "false" otherwise.
Davidroid 1:a7810e7acf8d 173 */
Davidroid 1:a7810e7acf8d 174 virtual bool SetMinSpeed(unsigned int speed) = 0;
Davidroid 1:a7810e7acf8d 175
Davidroid 1:a7810e7acf8d 176 /**
Davidroid 1:a7810e7acf8d 177 * @brief Setting the acceleration in pps^2.
Davidroid 1:a7810e7acf8d 178 * @param acceleration The acceleration in pps^2.
Davidroid 1:a7810e7acf8d 179 * @retval "true" in case of success, "false" otherwise.
Davidroid 1:a7810e7acf8d 180 */
Davidroid 1:a7810e7acf8d 181 virtual bool SetAcceleration(unsigned int acceleration) = 0;
Davidroid 1:a7810e7acf8d 182
Davidroid 1:a7810e7acf8d 183 /**
Davidroid 1:a7810e7acf8d 184 * @brief Setting the deceleration in pps^2.
Davidroid 1:a7810e7acf8d 185 * @param deceleration The deceleration in pps^2.
Davidroid 1:a7810e7acf8d 186 * @retval "true" in case of success, "false" otherwise.
Davidroid 1:a7810e7acf8d 187 */
Davidroid 1:a7810e7acf8d 188 virtual bool SetDeceleration(unsigned int deceleration) = 0;
Davidroid 1:a7810e7acf8d 189
Davidroid 1:a7810e7acf8d 190 /**
Davidroid 1:a7810e7acf8d 191 * @brief Setting the Step Mode.
Davidroid 1:a7810e7acf8d 192 * @param step_mode The Step Mode.
Davidroid 1:a7810e7acf8d 193 * @retval "true" in case of success, "false" otherwise.
Davidroid 1:a7810e7acf8d 194 */
Davidroid 1:a7810e7acf8d 195 virtual bool SetStepMode(step_mode_t step_mode) = 0;
Davidroid 1:a7810e7acf8d 196
Davidroid 1:a7810e7acf8d 197 /**
Davidroid 1:a7810e7acf8d 198 * @brief Going to a specified position.
Davidroid 1:a7810e7acf8d 199 * @param position The desired position.
Davidroid 1:a7810e7acf8d 200 * @retval None.
Davidroid 1:a7810e7acf8d 201 */
Davidroid 1:a7810e7acf8d 202 virtual void GoTo(signed int position) = 0;
Davidroid 1:a7810e7acf8d 203
Davidroid 1:a7810e7acf8d 204 /**
Davidroid 1:a7810e7acf8d 205 * @brief Going to the home position.
Davidroid 1:a7810e7acf8d 206 * @param None.
Davidroid 1:a7810e7acf8d 207 * @retval None.
Davidroid 1:a7810e7acf8d 208 */
Davidroid 1:a7810e7acf8d 209 virtual void GoHome(void) = 0;
Davidroid 1:a7810e7acf8d 210
Davidroid 1:a7810e7acf8d 211 /**
Davidroid 1:a7810e7acf8d 212 * @brief Going to the marked position.
Davidroid 1:a7810e7acf8d 213 * @param None.
Davidroid 1:a7810e7acf8d 214 * @retval None.
Davidroid 1:a7810e7acf8d 215 */
Davidroid 1:a7810e7acf8d 216 virtual void GoMark(void) = 0;
Davidroid 1:a7810e7acf8d 217
Davidroid 1:a7810e7acf8d 218 /**
Davidroid 1:a7810e7acf8d 219 * @brief Running the motor towards a specified direction.
Davidroid 1:a7810e7acf8d 220 * @param direction The direction of rotation.
Davidroid 1:a7810e7acf8d 221 * @retval None.
Davidroid 1:a7810e7acf8d 222 */
Davidroid 1:a7810e7acf8d 223 virtual void Run(direction_t direction) = 0;
Davidroid 1:a7810e7acf8d 224
Davidroid 1:a7810e7acf8d 225 /**
Davidroid 1:a7810e7acf8d 226 * @brief Moving the motor towards a specified direction for a certain number of steps.
Davidroid 1:a7810e7acf8d 227 * @param direction The direction of rotation.
Davidroid 1:a7810e7acf8d 228 * @param steps The desired number of steps.
Davidroid 1:a7810e7acf8d 229 * @retval None.
Davidroid 1:a7810e7acf8d 230 */
Davidroid 1:a7810e7acf8d 231 virtual void Move(direction_t direction, unsigned int steps) = 0;
Davidroid 1:a7810e7acf8d 232
Davidroid 1:a7810e7acf8d 233 /**
Davidroid 1:a7810e7acf8d 234 * @brief Stopping the motor through an immediate deceleration up to zero speed.
Davidroid 1:a7810e7acf8d 235 * @param None.
Davidroid 1:a7810e7acf8d 236 * @retval None.
Davidroid 1:a7810e7acf8d 237 */
Davidroid 1:a7810e7acf8d 238 virtual void SoftStop(void) = 0;
Davidroid 1:a7810e7acf8d 239
Davidroid 1:a7810e7acf8d 240 /**
Davidroid 1:a7810e7acf8d 241 * @brief Stopping the motor through an immediate infinite deceleration.
Davidroid 1:a7810e7acf8d 242 * @param None.
Davidroid 1:a7810e7acf8d 243 * @retval None.
Davidroid 1:a7810e7acf8d 244 */
Davidroid 1:a7810e7acf8d 245 virtual void HardStop(void) = 0;
Davidroid 1:a7810e7acf8d 246
Davidroid 1:a7810e7acf8d 247 /**
Davidroid 1:a7810e7acf8d 248 * @brief Disabling the power bridge after performing a deceleration to zero.
Davidroid 1:a7810e7acf8d 249 * @param None.
Davidroid 1:a7810e7acf8d 250 * @retval None.
Davidroid 1:a7810e7acf8d 251 */
Davidroid 1:a7810e7acf8d 252 virtual void SoftHiZ(void) = 0;
Davidroid 1:a7810e7acf8d 253
Davidroid 1:a7810e7acf8d 254 /**
Davidroid 1:a7810e7acf8d 255 * @brief Disabling the power bridge immediately.
Davidroid 1:a7810e7acf8d 256 * @param None.
Davidroid 1:a7810e7acf8d 257 * @retval None.
Davidroid 1:a7810e7acf8d 258 */
Davidroid 1:a7810e7acf8d 259 virtual void HardHiZ(void) = 0;
Davidroid 1:a7810e7acf8d 260
Davidroid 1:a7810e7acf8d 261 /**
Davidroid 1:a7810e7acf8d 262 * @brief Waiting while the motor is active.
Davidroid 1:a7810e7acf8d 263 * @param None.
Davidroid 1:a7810e7acf8d 264 * @retval None.
Davidroid 1:a7810e7acf8d 265 */
Davidroid 1:a7810e7acf8d 266 virtual void WaitWhileActive(void) = 0;
Davidroid 1:a7810e7acf8d 267 };
Davidroid 1:a7810e7acf8d 268
Davidroid 1:a7810e7acf8d 269 #endif /* __STEPPERMOTOR_CLASS_H */
Davidroid 1:a7810e7acf8d 270
Davidroid 1:a7810e7acf8d 271 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/