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_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 StepperMotor_class.h
Davidroid 0:f6dd8f22f875 4 * @author Davide Aliprandi, STMicroelectronics
Davidroid 0:f6dd8f22f875 5 * @version V1.1.0
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 * stepper-motor component.
Davidroid 0:f6dd8f22f875 9 ******************************************************************************
Davidroid 0:f6dd8f22f875 10 * @attention
Davidroid 0:f6dd8f22f875 11 *
Davidroid 0:f6dd8f22f875 12 * <h2><center>&copy; COPYRIGHT(c) 2015 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 __STEPPERMOTOR_CLASS_H
Davidroid 0:f6dd8f22f875 43 #define __STEPPERMOTOR_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 StepperMotor components.
Davidroid 0:f6dd8f22f875 54 */
Davidroid 0:f6dd8f22f875 55 class StepperMotor : 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 Step modes.
Davidroid 0:f6dd8f22f875 69 */
Davidroid 0:f6dd8f22f875 70 typedef enum
Davidroid 0:f6dd8f22f875 71 {
Davidroid 0:f6dd8f22f875 72 STEP_MODE_FULL = 0, /* Full-step. */
Davidroid 0:f6dd8f22f875 73 STEP_MODE_HALF, /* Half-step. */
Davidroid 0:f6dd8f22f875 74 STEP_MODE_1_4, /* 1/4 microstep. */
Davidroid 0:f6dd8f22f875 75 STEP_MODE_1_8, /* 1/8 microstep. */
Davidroid 0:f6dd8f22f875 76 STEP_MODE_1_16, /* 1/16 microstep. */
Davidroid 0:f6dd8f22f875 77 STEP_MODE_1_32, /* 1/32 microstep. */
Davidroid 0:f6dd8f22f875 78 STEP_MODE_1_64, /* 1/64 microstep. */
Davidroid 0:f6dd8f22f875 79 STEP_MODE_1_128, /* 1/128 microstep. */
Davidroid 0:f6dd8f22f875 80 STEP_MODE_1_256, /* 1/256 microstep. */
Davidroid 0:f6dd8f22f875 81 STEP_MODE_UNKNOWN, /* Unknown. */
Davidroid 0:f6dd8f22f875 82 STEP_MODE_WAVE /* Full-step one-phase-on. */
Davidroid 0:f6dd8f22f875 83 } step_mode_t;
Davidroid 0:f6dd8f22f875 84
Davidroid 0:f6dd8f22f875 85 /**
Davidroid 0:f6dd8f22f875 86 * @brief Getting the status.
Davidroid 0:f6dd8f22f875 87 * @param None.
Davidroid 0:f6dd8f22f875 88 * @retval The status.
Davidroid 0:f6dd8f22f875 89 */
Davidroid 0:f6dd8f22f875 90 virtual unsigned int GetStatus(void) = 0;
Davidroid 0:f6dd8f22f875 91
Davidroid 0:f6dd8f22f875 92 /**
Davidroid 0:f6dd8f22f875 93 * @brief Getting the position.
Davidroid 0:f6dd8f22f875 94 * @param None.
Davidroid 0:f6dd8f22f875 95 * @retval The position.
Davidroid 0:f6dd8f22f875 96 */
Davidroid 0:f6dd8f22f875 97 virtual signed int GetPosition(void) = 0;
Davidroid 0:f6dd8f22f875 98
Davidroid 0:f6dd8f22f875 99 /**
Davidroid 0:f6dd8f22f875 100 * @brief Getting the marked position.
Davidroid 0:f6dd8f22f875 101 * @param None.
Davidroid 0:f6dd8f22f875 102 * @retval The marked position.
Davidroid 0:f6dd8f22f875 103 */
Davidroid 0:f6dd8f22f875 104 virtual signed int GetMark(void) = 0;
Davidroid 0:f6dd8f22f875 105
Davidroid 0:f6dd8f22f875 106 /**
Davidroid 0:f6dd8f22f875 107 * @brief Getting the current speed in pps.
Davidroid 0:f6dd8f22f875 108 * @param None.
Davidroid 0:f6dd8f22f875 109 * @retval The current speed in pps.
Davidroid 0:f6dd8f22f875 110 */
Davidroid 0:f6dd8f22f875 111 virtual unsigned int GetSpeed(void) = 0;
Davidroid 0:f6dd8f22f875 112
Davidroid 0:f6dd8f22f875 113 /**
Davidroid 0:f6dd8f22f875 114 * @brief Getting the maximum speed in pps.
Davidroid 0:f6dd8f22f875 115 * @param None.
Davidroid 0:f6dd8f22f875 116 * @retval The maximum speed in pps.
Davidroid 0:f6dd8f22f875 117 */
Davidroid 0:f6dd8f22f875 118 virtual unsigned int GetMaxSpeed(void) = 0;
Davidroid 0:f6dd8f22f875 119
Davidroid 0:f6dd8f22f875 120 /**
Davidroid 0:f6dd8f22f875 121 * @brief Getting the minimum speed in pps.
Davidroid 0:f6dd8f22f875 122 * @param None.
Davidroid 0:f6dd8f22f875 123 * @retval The minimum speed in pps.
Davidroid 0:f6dd8f22f875 124 */
Davidroid 0:f6dd8f22f875 125 virtual unsigned int GetMinSpeed(void) = 0;
Davidroid 0:f6dd8f22f875 126
Davidroid 0:f6dd8f22f875 127 /**
Davidroid 0:f6dd8f22f875 128 * @brief Getting the acceleration in pps^2.
Davidroid 0:f6dd8f22f875 129 * @param None.
Davidroid 0:f6dd8f22f875 130 * @retval The acceleration in pps^2.
Davidroid 0:f6dd8f22f875 131 */
Davidroid 0:f6dd8f22f875 132 virtual unsigned int GetAcceleration(void) = 0;
Davidroid 0:f6dd8f22f875 133
Davidroid 0:f6dd8f22f875 134 /**
Davidroid 0:f6dd8f22f875 135 * @brief Getting the deceleration in pps^2.
Davidroid 0:f6dd8f22f875 136 * @param None.
Davidroid 0:f6dd8f22f875 137 * @retval The deceleration in pps^2.
Davidroid 0:f6dd8f22f875 138 */
Davidroid 0:f6dd8f22f875 139 virtual unsigned int GetDeceleration(void) = 0;
Davidroid 0:f6dd8f22f875 140
Davidroid 0:f6dd8f22f875 141 /**
Davidroid 0:f6dd8f22f875 142 * @brief Getting the direction of rotation.
Davidroid 0:f6dd8f22f875 143 * @param None.
Davidroid 0:f6dd8f22f875 144 * @retval The direction of rotation.
Davidroid 0:f6dd8f22f875 145 */
Davidroid 0:f6dd8f22f875 146 virtual direction_t GetDirection(void) = 0;
Davidroid 0:f6dd8f22f875 147
Davidroid 0:f6dd8f22f875 148 /**
Davidroid 0:f6dd8f22f875 149 * @brief Setting the current position to be the home position.
Davidroid 0:f6dd8f22f875 150 * @param None.
Davidroid 0:f6dd8f22f875 151 * @retval None.
Davidroid 0:f6dd8f22f875 152 */
Davidroid 0:f6dd8f22f875 153 virtual void SetHome(void) = 0;
Davidroid 0:f6dd8f22f875 154
Davidroid 0:f6dd8f22f875 155 /**
Davidroid 0:f6dd8f22f875 156 * @brief Setting the current position to be the marked position.
Davidroid 0:f6dd8f22f875 157 * @param None.
Davidroid 0:f6dd8f22f875 158 * @retval None.
Davidroid 0:f6dd8f22f875 159 */
Davidroid 0:f6dd8f22f875 160 virtual void SetMark(void) = 0;
Davidroid 0:f6dd8f22f875 161
Davidroid 0:f6dd8f22f875 162 /**
Davidroid 0:f6dd8f22f875 163 * @brief Setting the maximum speed in pps.
Davidroid 0:f6dd8f22f875 164 * @param speed The maximum speed in pps.
Davidroid 0:f6dd8f22f875 165 * @retval "true" in case of success, "false" otherwise.
Davidroid 0:f6dd8f22f875 166 */
Davidroid 0:f6dd8f22f875 167 virtual bool SetMaxSpeed(unsigned int speed) = 0;
Davidroid 0:f6dd8f22f875 168
Davidroid 0:f6dd8f22f875 169 /**
Davidroid 0:f6dd8f22f875 170 * @brief Setting the minimum speed in pps.
Davidroid 0:f6dd8f22f875 171 * @param speed The minimum speed in pps.
Davidroid 0:f6dd8f22f875 172 * @retval "true" in case of success, "false" otherwise.
Davidroid 0:f6dd8f22f875 173 */
Davidroid 0:f6dd8f22f875 174 virtual bool SetMinSpeed(unsigned int speed) = 0;
Davidroid 0:f6dd8f22f875 175
Davidroid 0:f6dd8f22f875 176 /**
Davidroid 0:f6dd8f22f875 177 * @brief Setting the acceleration in pps^2.
Davidroid 0:f6dd8f22f875 178 * @param acceleration The acceleration in pps^2.
Davidroid 0:f6dd8f22f875 179 * @retval "true" in case of success, "false" otherwise.
Davidroid 0:f6dd8f22f875 180 */
Davidroid 0:f6dd8f22f875 181 virtual bool SetAcceleration(unsigned int acceleration) = 0;
Davidroid 0:f6dd8f22f875 182
Davidroid 0:f6dd8f22f875 183 /**
Davidroid 0:f6dd8f22f875 184 * @brief Setting the deceleration in pps^2.
Davidroid 0:f6dd8f22f875 185 * @param deceleration The deceleration in pps^2.
Davidroid 0:f6dd8f22f875 186 * @retval "true" in case of success, "false" otherwise.
Davidroid 0:f6dd8f22f875 187 */
Davidroid 0:f6dd8f22f875 188 virtual bool SetDeceleration(unsigned int deceleration) = 0;
Davidroid 0:f6dd8f22f875 189
Davidroid 0:f6dd8f22f875 190 /**
Davidroid 0:f6dd8f22f875 191 * @brief Setting the Step Mode.
Davidroid 0:f6dd8f22f875 192 * @param step_mode The Step Mode.
Davidroid 0:f6dd8f22f875 193 * @retval "true" in case of success, "false" otherwise.
Davidroid 0:f6dd8f22f875 194 */
Davidroid 0:f6dd8f22f875 195 virtual bool SetStepMode(step_mode_t step_mode) = 0;
Davidroid 0:f6dd8f22f875 196
Davidroid 0:f6dd8f22f875 197 /**
Davidroid 0:f6dd8f22f875 198 * @brief Going to a specified position.
Davidroid 0:f6dd8f22f875 199 * @param position The desired position.
Davidroid 0:f6dd8f22f875 200 * @retval None.
Davidroid 0:f6dd8f22f875 201 */
Davidroid 0:f6dd8f22f875 202 virtual void GoTo(signed int position) = 0;
Davidroid 0:f6dd8f22f875 203
Davidroid 0:f6dd8f22f875 204 /**
Davidroid 0:f6dd8f22f875 205 * @brief Going to the home position.
Davidroid 0:f6dd8f22f875 206 * @param None.
Davidroid 0:f6dd8f22f875 207 * @retval None.
Davidroid 0:f6dd8f22f875 208 */
Davidroid 0:f6dd8f22f875 209 virtual void GoHome(void) = 0;
Davidroid 0:f6dd8f22f875 210
Davidroid 0:f6dd8f22f875 211 /**
Davidroid 0:f6dd8f22f875 212 * @brief Going to the marked position.
Davidroid 0:f6dd8f22f875 213 * @param None.
Davidroid 0:f6dd8f22f875 214 * @retval None.
Davidroid 0:f6dd8f22f875 215 */
Davidroid 0:f6dd8f22f875 216 virtual void GoMark(void) = 0;
Davidroid 0:f6dd8f22f875 217
Davidroid 0:f6dd8f22f875 218 /**
Davidroid 0:f6dd8f22f875 219 * @brief Running the motor towards a specified direction.
Davidroid 0:f6dd8f22f875 220 * @param direction The direction of rotation.
Davidroid 0:f6dd8f22f875 221 * @retval None.
Davidroid 0:f6dd8f22f875 222 */
Davidroid 0:f6dd8f22f875 223 virtual void Run(direction_t direction) = 0;
Davidroid 0:f6dd8f22f875 224
Davidroid 0:f6dd8f22f875 225 /**
Davidroid 0:f6dd8f22f875 226 * @brief Moving the motor towards a specified direction for a certain number of steps.
Davidroid 0:f6dd8f22f875 227 * @param direction The direction of rotation.
Davidroid 0:f6dd8f22f875 228 * @param steps The desired number of steps.
Davidroid 0:f6dd8f22f875 229 * @retval None.
Davidroid 0:f6dd8f22f875 230 */
Davidroid 0:f6dd8f22f875 231 virtual void Move(direction_t direction, unsigned int steps) = 0;
Davidroid 0:f6dd8f22f875 232
Davidroid 0:f6dd8f22f875 233 /**
Davidroid 0:f6dd8f22f875 234 * @brief Stopping the motor through an immediate deceleration up to zero speed.
Davidroid 0:f6dd8f22f875 235 * @param None.
Davidroid 0:f6dd8f22f875 236 * @retval None.
Davidroid 0:f6dd8f22f875 237 */
Davidroid 0:f6dd8f22f875 238 virtual void SoftStop(void) = 0;
Davidroid 0:f6dd8f22f875 239
Davidroid 0:f6dd8f22f875 240 /**
Davidroid 0:f6dd8f22f875 241 * @brief Stopping the motor through an immediate infinite deceleration.
Davidroid 0:f6dd8f22f875 242 * @param None.
Davidroid 0:f6dd8f22f875 243 * @retval None.
Davidroid 0:f6dd8f22f875 244 */
Davidroid 0:f6dd8f22f875 245 virtual void HardStop(void) = 0;
Davidroid 0:f6dd8f22f875 246
Davidroid 0:f6dd8f22f875 247 /**
Davidroid 0:f6dd8f22f875 248 * @brief Disabling the power bridge after performing a deceleration to zero.
Davidroid 0:f6dd8f22f875 249 * @param None.
Davidroid 0:f6dd8f22f875 250 * @retval None.
Davidroid 0:f6dd8f22f875 251 */
Davidroid 0:f6dd8f22f875 252 virtual void SoftHiZ(void) = 0;
Davidroid 0:f6dd8f22f875 253
Davidroid 0:f6dd8f22f875 254 /**
Davidroid 0:f6dd8f22f875 255 * @brief Disabling the power bridge immediately.
Davidroid 0:f6dd8f22f875 256 * @param None.
Davidroid 0:f6dd8f22f875 257 * @retval None.
Davidroid 0:f6dd8f22f875 258 */
Davidroid 0:f6dd8f22f875 259 virtual void HardHiZ(void) = 0;
Davidroid 0:f6dd8f22f875 260
Davidroid 0:f6dd8f22f875 261 /**
Davidroid 0:f6dd8f22f875 262 * @brief Waiting while the motor is active.
Davidroid 0:f6dd8f22f875 263 * @param None.
Davidroid 0:f6dd8f22f875 264 * @retval None.
Davidroid 0:f6dd8f22f875 265 */
Davidroid 0:f6dd8f22f875 266 virtual void WaitWhileActive(void) = 0;
Davidroid 0:f6dd8f22f875 267 };
Davidroid 0:f6dd8f22f875 268
Davidroid 0:f6dd8f22f875 269 #endif /* __STEPPERMOTOR_CLASS_H */
Davidroid 0:f6dd8f22f875 270
Davidroid 0:f6dd8f22f875 271 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/