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_class.h@0:f6dd8f22f875, 2016-08-01 (annotated)

Committer:
Davidroid
Date:
Mon Aug 01 15:06:25 2016 +0000
Revision:
0:f6dd8f22f875
Interfaces for mbed libraries.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Davidroid 0:f6dd8f22f875 1 /**
Davidroid 0:f6dd8f22f875 2 ******************************************************************************
Davidroid 0:f6dd8f22f875 3 * @file BCDMotor_class.h
Davidroid 0:f6dd8f22f875 4 * @author IPC Rennes
Davidroid 0:f6dd8f22f875 5 * @version V1.0.0
Davidroid 0:f6dd8f22f875 6 * @date April 6th, 2016
Davidroid 0:f6dd8f22f875 7 * @brief This file contains the abstract class describing the interface of a
Davidroid 0:f6dd8f22f875 8 * Brush DC motor component.
Davidroid 0:f6dd8f22f875 9 ******************************************************************************
Davidroid 0:f6dd8f22f875 10 * @attention
Davidroid 0:f6dd8f22f875 11 *
Davidroid 0:f6dd8f22f875 12 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
Davidroid 0:f6dd8f22f875 13 *
Davidroid 0:f6dd8f22f875 14 * Redistribution and use in source and binary forms, with or without modification,
Davidroid 0:f6dd8f22f875 15 * are permitted provided that the following conditions are met:
Davidroid 0:f6dd8f22f875 16 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 0:f6dd8f22f875 17 * this list of conditions and the following disclaimer.
Davidroid 0:f6dd8f22f875 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid 0:f6dd8f22f875 19 * this list of conditions and the following disclaimer in the documentation
Davidroid 0:f6dd8f22f875 20 * and/or other materials provided with the distribution.
Davidroid 0:f6dd8f22f875 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid 0:f6dd8f22f875 22 * may be used to endorse or promote products derived from this software
Davidroid 0:f6dd8f22f875 23 * without specific prior written permission.
Davidroid 0:f6dd8f22f875 24 *
Davidroid 0:f6dd8f22f875 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 0:f6dd8f22f875 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 0:f6dd8f22f875 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid 0:f6dd8f22f875 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid 0:f6dd8f22f875 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid 0:f6dd8f22f875 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid 0:f6dd8f22f875 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid 0:f6dd8f22f875 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid 0:f6dd8f22f875 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid 0:f6dd8f22f875 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid 0:f6dd8f22f875 35 *
Davidroid 0:f6dd8f22f875 36 ******************************************************************************
Davidroid 0:f6dd8f22f875 37 */
Davidroid 0:f6dd8f22f875 38
Davidroid 0:f6dd8f22f875 39
Davidroid 0:f6dd8f22f875 40 /* Define to prevent from recursive inclusion --------------------------------*/
Davidroid 0:f6dd8f22f875 41
Davidroid 0:f6dd8f22f875 42 #ifndef __BCDMMOTOR_CLASS_H
Davidroid 0:f6dd8f22f875 43 #define __BCDMMOTOR_CLASS_H
Davidroid 0:f6dd8f22f875 44
Davidroid 0:f6dd8f22f875 45
Davidroid 0:f6dd8f22f875 46 /* Includes ------------------------------------------------------------------*/
Davidroid 0:f6dd8f22f875 47
Davidroid 0:f6dd8f22f875 48 #include <Component_class.h>
Davidroid 0:f6dd8f22f875 49
Davidroid 0:f6dd8f22f875 50
Davidroid 0:f6dd8f22f875 51 /* Classes ------------------------------------------------------------------*/
Davidroid 0:f6dd8f22f875 52
Davidroid 0:f6dd8f22f875 53 /** An abstract class for BDCMotor components.
Davidroid 0:f6dd8f22f875 54 */
Davidroid 0:f6dd8f22f875 55 class BDCMotor : public Component
Davidroid 0:f6dd8f22f875 56 {
Davidroid 0:f6dd8f22f875 57 public:
Davidroid 0:f6dd8f22f875 58 /**
Davidroid 0:f6dd8f22f875 59 * @brief Rotation modes.
Davidroid 0:f6dd8f22f875 60 */
Davidroid 0:f6dd8f22f875 61 typedef enum
Davidroid 0:f6dd8f22f875 62 {
Davidroid 0:f6dd8f22f875 63 BWD = 0, /* Backward. */
Davidroid 0:f6dd8f22f875 64 FWD = 1 /* Forward. */
Davidroid 0:f6dd8f22f875 65 } direction_t;
Davidroid 0:f6dd8f22f875 66
Davidroid 0:f6dd8f22f875 67 /**
Davidroid 0:f6dd8f22f875 68 * @brief Disabling the specified bridge.
Davidroid 0:f6dd8f22f875 69 * @param bridgeId from 0 for bridge A to 1 for bridge B.
Davidroid 0:f6dd8f22f875 70 * @retval None.
Davidroid 0:f6dd8f22f875 71 */
Davidroid 0:f6dd8f22f875 72 virtual void DisableBridge(unsigned int) = 0;
Davidroid 0:f6dd8f22f875 73
Davidroid 0:f6dd8f22f875 74 /**
Davidroid 0:f6dd8f22f875 75 * @brief Enabling the specified bridge.
Davidroid 0:f6dd8f22f875 76 * @param bridgeId from 0 for bridge A to 1 for bridge B
Davidroid 0:f6dd8f22f875 77 * @retval None.
Davidroid 0:f6dd8f22f875 78 */
Davidroid 0:f6dd8f22f875 79 virtual void EnableBridge(unsigned int) = 0;
Davidroid 0:f6dd8f22f875 80
Davidroid 0:f6dd8f22f875 81 /**
Davidroid 0:f6dd8f22f875 82 * @brief Getting the PWM frequency of the specified bridge;
Davidroid 0:f6dd8f22f875 83 * @param bridgeId from 0 for bridge A to 1 for bridge B.
Davidroid 0:f6dd8f22f875 84 * @retval The frequency in Hz of the specified bridge input PWM.
Davidroid 0:f6dd8f22f875 85 */
Davidroid 0:f6dd8f22f875 86 virtual unsigned int GetBridgeInputPwmFreq(unsigned int) = 0;
Davidroid 0:f6dd8f22f875 87
Davidroid 0:f6dd8f22f875 88 /**
Davidroid 0:f6dd8f22f875 89 * @brief Getting the bridge status.
Davidroid 0:f6dd8f22f875 90 * @param bridgeId from 0 for bridge A to 1 for bridge B.
Davidroid 0:f6dd8f22f875 91 * @retval The status.
Davidroid 0:f6dd8f22f875 92 */
Davidroid 0:f6dd8f22f875 93 virtual unsigned int GetBridgeStatus(unsigned int) = 0;
Davidroid 0:f6dd8f22f875 94
Davidroid 0:f6dd8f22f875 95 /**
Davidroid 0:f6dd8f22f875 96 * @brief Getting the device State.
Davidroid 0:f6dd8f22f875 97 * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1).
Davidroid 0:f6dd8f22f875 98 * @retval The device state
Davidroid 0:f6dd8f22f875 99 */
Davidroid 0:f6dd8f22f875 100 virtual motorState_t GetDeviceState(unsigned int) = 0;
Davidroid 0:f6dd8f22f875 101
Davidroid 0:f6dd8f22f875 102 /**
Davidroid 0:f6dd8f22f875 103 * @brief Getting the current speed in % of the specified motor.
Davidroid 0:f6dd8f22f875 104 * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1).
Davidroid 0:f6dd8f22f875 105 * @retval The current speed in %.
Davidroid 0:f6dd8f22f875 106 */
Davidroid 0:f6dd8f22f875 107 virtual unsigned int GetSpeed(unsigned int) = 0;
Davidroid 0:f6dd8f22f875 108
Davidroid 0:f6dd8f22f875 109 /**
Davidroid 0:f6dd8f22f875 110 * @brief Stopping the motor and disabling the power bridge immediately.
Davidroid 0:f6dd8f22f875 111 * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1).
Davidroid 0:f6dd8f22f875 112 * @retval None.
Davidroid 0:f6dd8f22f875 113 */
Davidroid 0:f6dd8f22f875 114 virtual void HardHiZ(unsigned int) = 0;
Davidroid 0:f6dd8f22f875 115
Davidroid 0:f6dd8f22f875 116 /**
Davidroid 0:f6dd8f22f875 117 * @brief Stopping the motor immediately.
Davidroid 0:f6dd8f22f875 118 * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1).
Davidroid 0:f6dd8f22f875 119 * @retval None.
Davidroid 0:f6dd8f22f875 120 */
Davidroid 0:f6dd8f22f875 121 virtual void HardStop(unsigned int) = 0;
Davidroid 0:f6dd8f22f875 122
Davidroid 0:f6dd8f22f875 123 /**
Davidroid 0:f6dd8f22f875 124 * @brief Running the motor.
Davidroid 0:f6dd8f22f875 125 * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1).
Davidroid 0:f6dd8f22f875 126 * @param direction The direction of rotation.
Davidroid 0:f6dd8f22f875 127 * @retval None.
Davidroid 0:f6dd8f22f875 128 */
Davidroid 0:f6dd8f22f875 129 virtual void Run(unsigned int, direction_t) = 0;
Davidroid 0:f6dd8f22f875 130
Davidroid 0:f6dd8f22f875 131 /**
Davidroid 0:f6dd8f22f875 132 * @brief Setting the PWM frequency of the specified bridge.
Davidroid 0:f6dd8f22f875 133 * @param bridgeId from 0 for bridge A to 1 for bridge B.
Davidroid 0:f6dd8f22f875 134 * @param frequency of the PWM in Hz
Davidroid 0:f6dd8f22f875 135 * @retval None.
Davidroid 0:f6dd8f22f875 136 */
Davidroid 0:f6dd8f22f875 137 virtual void SetBridgeInputPwmFreq(unsigned int, unsigned int) = 0;
Davidroid 0:f6dd8f22f875 138
Davidroid 0:f6dd8f22f875 139 /**
Davidroid 0:f6dd8f22f875 140 * @brief Setting the dual bridge configuration mode.
Davidroid 0:f6dd8f22f875 141 * @param configuration. The bridge configuration.
Davidroid 0:f6dd8f22f875 142 * @retval None.
Davidroid 0:f6dd8f22f875 143 */
Davidroid 0:f6dd8f22f875 144 virtual void SetDualFullBridgeConfig(unsigned int) = 0;
Davidroid 0:f6dd8f22f875 145
Davidroid 0:f6dd8f22f875 146 /**
Davidroid 0:f6dd8f22f875 147 * @brief Setting the speed in %.
Davidroid 0:f6dd8f22f875 148 * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1).
Davidroid 0:f6dd8f22f875 149 * @param speed The new speed in %.
Davidroid 0:f6dd8f22f875 150 * @retval "true" in case of success, "false" otherwise.
Davidroid 0:f6dd8f22f875 151 */
Davidroid 0:f6dd8f22f875 152 virtual bool SetSpeed(unsigned int, unsigned int) = 0;
Davidroid 0:f6dd8f22f875 153
Davidroid 0:f6dd8f22f875 154
Davidroid 0:f6dd8f22f875 155 };
Davidroid 0:f6dd8f22f875 156
Davidroid 0:f6dd8f22f875 157 #endif /* __BCDMMOTOR_CLASS_H */
Davidroid 0:f6dd8f22f875 158
Davidroid 0:f6dd8f22f875 159 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/