BDCMotor.h

00001 /**
00002  ******************************************************************************
00003  * @file    BDCMotor.h
00004  * @author  IPC Rennes
00005  * @version V1.0.0
00006  * @date    April 6th, 2016
00007  * @brief   This file contains the abstract class describing the interface of a
00008  *          Brush DC motor component.
00009  ******************************************************************************
00010  * @attention
00011  *
00012  * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
00013  *
00014  * Redistribution and use in source and binary forms, with or without modification,
00015  * are permitted provided that the following conditions are met:
00016  *   1. Redistributions of source code must retain the above copyright notice,
00017  *      this list of conditions and the following disclaimer.
00018  *   2. Redistributions in binary form must reproduce the above copyright notice,
00019  *      this list of conditions and the following disclaimer in the documentation
00020  *      and/or other materials provided with the distribution.
00021  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00022  *      may be used to endorse or promote products derived from this software
00023  *      without specific prior written permission.
00024  *
00025  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00026  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00027  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00028  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00029  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00030  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00031  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00033  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00034  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00035  *
00036  ******************************************************************************
00037  */
00038 
00039 
00040 /* Define to prevent from recursive inclusion --------------------------------*/
00041 
00042 #ifndef __BDCMOTOR_CLASS_H
00043 #define __BDCMOTOR_CLASS_H
00044 
00045 
00046 /* Includes ------------------------------------------------------------------*/
00047 
00048 #include <Component.h>
00049 
00050 
00051 /* Classes  ------------------------------------------------------------------*/
00052 
00053 /**
00054  * An abstract class for BDCMotor components.
00055  */
00056 class BDCMotor : public Component {
00057 public:
00058 
00059     /**
00060      * @brief Rotation modes.
00061      */
00062     typedef enum {
00063         BWD = 0, /* Backward. */
00064         FWD = 1  /* Forward. */
00065     } direction_t;
00066 
00067     /**
00068      * @brief  Disabling the specified bridge.
00069      * @param  bridgeId from 0 for bridge A to 1 for bridge B.
00070      * @retval None.
00071      */
00072     virtual void disable_bridge(unsigned int) = 0;    
00073      
00074     /**
00075      * @brief  Enabling the specified bridge.
00076      * @param  bridgeId from 0 for bridge A to 1 for bridge B
00077      * @retval None.
00078      */
00079     virtual void enable_bridge(unsigned int) = 0;    
00080      
00081     /**
00082      * @brief  Getting the PWM frequency of the specified bridge;
00083      * @param  bridgeId from 0 for bridge A to 1 for bridge B.
00084      * @retval The frequency in Hz of the specified bridge input PWM.
00085      */
00086     virtual unsigned int get_bridge_input_pwm_freq(unsigned int) = 0;    
00087     
00088     /**
00089      * @brief  Getting the bridge status.
00090      * @param  bridgeId from 0 for bridge A to 1 for bridge B.
00091      * @retval The status.
00092      */
00093     virtual unsigned int get_bridge_status(unsigned int) = 0;    
00094     
00095     /**
00096      * @brief  Getting the device State. 
00097      * @param  motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). 
00098      * @retval The device state
00099      */
00100     virtual unsigned int get_device_state(unsigned int) = 0;
00101 
00102     /**
00103      * @brief  Getting the current speed in % of the specified motor.
00104      * @param  motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). 
00105      * @retval The current speed in %.
00106      */
00107     virtual unsigned int get_speed(unsigned int) = 0;
00108 
00109     /**
00110      * @brief  Stopping the motor and disabling the power bridge immediately.
00111      * @param  motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). 
00112      * @retval None.
00113      */
00114     virtual void hard_hiz(unsigned int) = 0;
00115     
00116     /**
00117      * @brief  Stopping the motor immediately.
00118      * @param  motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). 
00119      * @retval None.
00120      */
00121     virtual void hard_stop(unsigned int) = 0;
00122 
00123     /**
00124      * @brief  Running the motor.
00125      * @param  motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1).
00126      * @param  direction The direction of rotation.
00127      * @retval None.
00128      */
00129     virtual void run(unsigned int, direction_t) = 0;
00130     
00131     /**
00132      * @brief  Setting the PWM frequency of the specified bridge.
00133      * @param  bridgeId from 0 for bridge A to 1 for bridge B.
00134      * @param  frequency of the PWM in Hz
00135      * @retval None.
00136      */
00137     virtual void set_bridge_input_pwm_freq(unsigned int, unsigned int) = 0;    
00138         
00139     /**
00140      * @brief  Setting the dual bridge configuration mode.
00141      * @param  configuration. The bridge configuration.
00142      * @retval None.
00143      */
00144     virtual void set_dual_full_bridge_config(unsigned int) = 0;
00145 
00146     /**
00147      * @brief  Setting the speed in %.
00148      * @param  motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1).
00149      * @param  speed The new speed in %.
00150      * @retval "true" in case of success, "false" otherwise.
00151      */
00152     virtual bool set_speed(unsigned int, unsigned int) = 0;
00153 
00154     /**
00155      * @brief Destructor.
00156      */
00157     virtual ~BDCMotor() {};
00158 };
00159 
00160 #endif /* __BDCMOTOR_CLASS_H */
00161 
00162 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/