Revision 1:a7810e7acf8d, committed 2016-09-27

Comitter:

Davidroid

Date:

Tue Sep 27 11:28:52 2016 +0000

Parent:

0:f6dd8f22f875

Child:

2:e2bf4d06a8fc

Commit message:

LightSensor, RangeSensor, Nfc interfaces added.

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Actuators/BCDMotor.h	Tue Sep 27 11:28:52 2016 +0000
@@ -0,0 +1,159 @@
+/**
+ ******************************************************************************
+ * @file    BCDMotor.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>&copy; 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 __BCDMMOTOR_CLASS_H
+#define __BCDMMOTOR_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <ComponentObject.h>
+
+
+/* Classes  ------------------------------------------------------------------*/
+
+/** An abstract class for BDCMotor components.
+ */
+class BDCMotor : public ComponentObject
+{
+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 DisableBridge(unsigned int) = 0;    
+     
+    /**
+     * @brief  Enabling the specified bridge.
+     * @param  bridgeId from 0 for bridge A to 1 for bridge B
+     * @retval None.
+     */
+    virtual void EnableBridge(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 GetBridgeInputPwmFreq(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 GetBridgeStatus(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 GetDeviceState(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 GetSpeed(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 HardHiZ(unsigned int) = 0;
+    
+    /**
+     * @brief  Stopping the motor immediately.
+     * @param  motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). 
+     * @retval None.
+     */
+    virtual void HardStop(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 SetBridgeInputPwmFreq(unsigned int, unsigned int) = 0;    
+        
+    /**
+     * @brief  Setting the dual bridge configuration mode.
+     * @param  configuration. The bridge configuration.
+     * @retval None.
+     */
+    virtual void SetDualFullBridgeConfig(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 SetSpeed(unsigned int, unsigned int) = 0;
+
+
+};
+
+#endif /* __BCDMMOTOR_CLASS_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ 

--- a/Actuators/BDCMotor_class.h	Mon Aug 01 15:06:25 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,159 +0,0 @@
-/**
- ******************************************************************************
- * @file    BCDMotor_class.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>&copy; 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 __BCDMMOTOR_CLASS_H
-#define __BCDMMOTOR_CLASS_H
-
-
-/* Includes ------------------------------------------------------------------*/
-
-#include <Component_class.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 DisableBridge(unsigned int) = 0;    
-     
-    /**
-     * @brief  Enabling the specified bridge.
-     * @param  bridgeId from 0 for bridge A to 1 for bridge B
-     * @retval None.
-     */
-    virtual void EnableBridge(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 GetBridgeInputPwmFreq(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 GetBridgeStatus(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 GetDeviceState(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 GetSpeed(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 HardHiZ(unsigned int) = 0;
-    
-    /**
-     * @brief  Stopping the motor immediately.
-     * @param  motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). 
-     * @retval None.
-     */
-    virtual void HardStop(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 SetBridgeInputPwmFreq(unsigned int, unsigned int) = 0;    
-        
-    /**
-     * @brief  Setting the dual bridge configuration mode.
-     * @param  configuration. The bridge configuration.
-     * @retval None.
-     */
-    virtual void SetDualFullBridgeConfig(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 SetSpeed(unsigned int, unsigned int) = 0;
-
-
-};
-
-#endif /* __BCDMMOTOR_CLASS_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ 

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Actuators/StepperMotor.h	Tue Sep 27 11:28:52 2016 +0000
@@ -0,0 +1,271 @@
+/**
+ ******************************************************************************
+ * @file    StepperMotor.h
+ * @author  Davide Aliprandi, STMicroelectronics
+ * @version V1.1.0
+ * @date    April 6th, 2016
+ * @brief   This file contains the abstract class describing the interface of a
+ *          stepper-motor component.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2015 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 __STEPPERMOTOR_CLASS_H
+#define __STEPPERMOTOR_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <ComponentObject.h>
+
+
+/* Classes  ------------------------------------------------------------------*/
+
+/** An abstract class for StepperMotor components.
+ */
+class StepperMotor : public ComponentObject
+{
+public:
+    /**
+     * @brief Rotation modes.
+     */
+    typedef enum
+    {
+        BWD = 0, /* Backward. */
+        FWD = 1  /* Forward. */
+    } direction_t;
+
+    /**
+     * @brief Step modes.
+     */
+    typedef enum
+    {
+        STEP_MODE_FULL = 0, /* Full-step. */
+        STEP_MODE_HALF,     /* Half-step. */
+        STEP_MODE_1_4,      /* 1/4 microstep. */
+        STEP_MODE_1_8,      /* 1/8 microstep. */
+        STEP_MODE_1_16,     /* 1/16 microstep. */
+        STEP_MODE_1_32,     /* 1/32 microstep. */
+        STEP_MODE_1_64,     /* 1/64 microstep. */
+        STEP_MODE_1_128,    /* 1/128 microstep. */
+        STEP_MODE_1_256,    /* 1/256 microstep. */
+        STEP_MODE_UNKNOWN,  /* Unknown. */
+        STEP_MODE_WAVE      /* Full-step one-phase-on. */
+    } step_mode_t;
+
+    /**
+     * @brief  Getting the status.
+     * @param  None.
+     * @retval The status.
+     */
+    virtual unsigned int GetStatus(void) = 0;
+
+    /**
+     * @brief  Getting the position.
+     * @param  None.
+     * @retval The position.
+     */
+    virtual signed int GetPosition(void) = 0;
+
+    /**
+     * @brief  Getting the marked position.
+     * @param  None.
+     * @retval The marked position.
+     */
+    virtual signed int GetMark(void) = 0;
+
+    /**
+     * @brief  Getting the current speed in pps.
+     * @param  None.
+     * @retval The current speed in pps.
+     */
+    virtual unsigned int GetSpeed(void) = 0;
+
+    /**
+     * @brief  Getting the maximum speed in pps.
+     * @param  None.
+     * @retval The maximum speed in pps.
+     */
+    virtual unsigned int GetMaxSpeed(void) = 0;
+
+    /**
+     * @brief  Getting the minimum speed in pps.
+     * @param  None.
+     * @retval The minimum speed in pps.
+     */
+    virtual unsigned int GetMinSpeed(void) = 0;
+
+    /**
+     * @brief  Getting the acceleration in pps^2.
+     * @param  None.
+     * @retval The acceleration in pps^2.
+     */
+    virtual unsigned int GetAcceleration(void) = 0;
+
+    /**
+     * @brief  Getting the deceleration in pps^2.
+     * @param  None.
+     * @retval The deceleration in pps^2.
+     */
+    virtual unsigned int GetDeceleration(void) = 0;
+
+    /**
+     * @brief  Getting the direction of rotation.
+     * @param  None.
+     * @retval The direction of rotation.
+     */
+    virtual direction_t GetDirection(void) = 0;
+
+    /**
+     * @brief  Setting the current position to be the home position.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void SetHome(void) = 0;
+
+    /**
+     * @brief  Setting the current position to be the marked position.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void SetMark(void) = 0;
+
+    /**
+     * @brief  Setting the maximum speed in pps.
+     * @param  speed The maximum speed in pps.
+     * @retval "true" in case of success, "false" otherwise.
+     */
+    virtual bool SetMaxSpeed(unsigned int speed) = 0;
+
+    /**
+     * @brief  Setting the minimum speed in pps.
+     * @param  speed The minimum speed in pps.
+     * @retval "true" in case of success, "false" otherwise.
+     */
+    virtual bool SetMinSpeed(unsigned int speed) = 0;
+
+    /**
+     * @brief  Setting the acceleration in pps^2.
+     * @param  acceleration The acceleration in pps^2.
+     * @retval "true" in case of success, "false" otherwise.
+     */
+    virtual bool SetAcceleration(unsigned int acceleration) = 0;
+
+    /**
+     * @brief  Setting the deceleration in pps^2.
+     * @param  deceleration The deceleration in pps^2.
+     * @retval "true" in case of success, "false" otherwise.
+     */
+    virtual bool SetDeceleration(unsigned int deceleration) = 0;
+
+    /**
+     * @brief  Setting the Step Mode.
+     * @param  step_mode The Step Mode.
+     * @retval "true" in case of success, "false" otherwise.
+     */
+    virtual bool SetStepMode(step_mode_t step_mode) = 0;
+
+    /**
+     * @brief  Going to a specified position.
+     * @param  position The desired position.
+     * @retval None.
+     */
+    virtual void GoTo(signed int position) = 0;
+
+    /**
+     * @brief  Going to the home position.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void GoHome(void) = 0;
+
+    /**
+     * @brief  Going to the marked position.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void GoMark(void) = 0;
+
+    /**
+     * @brief  Running the motor towards a specified direction.
+     * @param  direction The direction of rotation.
+     * @retval None.
+     */
+    virtual void Run(direction_t direction) = 0;
+
+    /**
+     * @brief  Moving the motor towards a specified direction for a certain number of steps.
+     * @param  direction The direction of rotation.
+     * @param  steps The desired number of steps.
+     * @retval None.
+     */
+    virtual void Move(direction_t direction, unsigned int steps) = 0;
+
+    /**
+     * @brief  Stopping the motor through an immediate deceleration up to zero speed.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void SoftStop(void) = 0;
+
+    /**
+     * @brief  Stopping the motor through an immediate infinite deceleration.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void HardStop(void) = 0;
+
+    /**
+     * @brief  Disabling the power bridge after performing a deceleration to zero.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void SoftHiZ(void) = 0;
+
+    /**
+     * @brief  Disabling the power bridge immediately.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void HardHiZ(void) = 0;
+
+    /**
+     * @brief  Waiting while the motor is active.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void WaitWhileActive(void) = 0;
+};
+
+#endif /* __STEPPERMOTOR_CLASS_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ 

--- a/Actuators/StepperMotor_class.h	Mon Aug 01 15:06:25 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,271 +0,0 @@
-/**
- ******************************************************************************
- * @file    StepperMotor_class.h
- * @author  Davide Aliprandi, STMicroelectronics
- * @version V1.1.0
- * @date    April 6th, 2016
- * @brief   This file contains the abstract class describing the interface of a
- *          stepper-motor component.
- ******************************************************************************
- * @attention
- *
- * <h2><center>&copy; COPYRIGHT(c) 2015 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 __STEPPERMOTOR_CLASS_H
-#define __STEPPERMOTOR_CLASS_H
-
-
-/* Includes ------------------------------------------------------------------*/
-
-#include "Component_class.h"
-
-
-/* Classes  ------------------------------------------------------------------*/
-
-/** An abstract class for StepperMotor components.
- */
-class StepperMotor : public Component
-{
-public:
-    /**
-     * @brief Rotation modes.
-     */
-    typedef enum
-    {
-        BWD = 0, /* Backward. */
-        FWD = 1  /* Forward. */
-    } direction_t;
-
-    /**
-     * @brief Step modes.
-     */
-    typedef enum
-    {
-        STEP_MODE_FULL = 0, /* Full-step. */
-        STEP_MODE_HALF,     /* Half-step. */
-        STEP_MODE_1_4,      /* 1/4 microstep. */
-        STEP_MODE_1_8,      /* 1/8 microstep. */
-        STEP_MODE_1_16,     /* 1/16 microstep. */
-        STEP_MODE_1_32,     /* 1/32 microstep. */
-        STEP_MODE_1_64,     /* 1/64 microstep. */
-        STEP_MODE_1_128,    /* 1/128 microstep. */
-        STEP_MODE_1_256,    /* 1/256 microstep. */
-        STEP_MODE_UNKNOWN,  /* Unknown. */
-        STEP_MODE_WAVE      /* Full-step one-phase-on. */
-    } step_mode_t;
-
-    /**
-     * @brief  Getting the status.
-     * @param  None.
-     * @retval The status.
-     */
-    virtual unsigned int GetStatus(void) = 0;
-
-    /**
-     * @brief  Getting the position.
-     * @param  None.
-     * @retval The position.
-     */
-    virtual signed int GetPosition(void) = 0;
-
-    /**
-     * @brief  Getting the marked position.
-     * @param  None.
-     * @retval The marked position.
-     */
-    virtual signed int GetMark(void) = 0;
-
-    /**
-     * @brief  Getting the current speed in pps.
-     * @param  None.
-     * @retval The current speed in pps.
-     */
-    virtual unsigned int GetSpeed(void) = 0;
-
-    /**
-     * @brief  Getting the maximum speed in pps.
-     * @param  None.
-     * @retval The maximum speed in pps.
-     */
-    virtual unsigned int GetMaxSpeed(void) = 0;
-
-    /**
-     * @brief  Getting the minimum speed in pps.
-     * @param  None.
-     * @retval The minimum speed in pps.
-     */
-    virtual unsigned int GetMinSpeed(void) = 0;
-
-    /**
-     * @brief  Getting the acceleration in pps^2.
-     * @param  None.
-     * @retval The acceleration in pps^2.
-     */
-    virtual unsigned int GetAcceleration(void) = 0;
-
-    /**
-     * @brief  Getting the deceleration in pps^2.
-     * @param  None.
-     * @retval The deceleration in pps^2.
-     */
-    virtual unsigned int GetDeceleration(void) = 0;
-
-    /**
-     * @brief  Getting the direction of rotation.
-     * @param  None.
-     * @retval The direction of rotation.
-     */
-    virtual direction_t GetDirection(void) = 0;
-
-    /**
-     * @brief  Setting the current position to be the home position.
-     * @param  None.
-     * @retval None.
-     */
-    virtual void SetHome(void) = 0;
-
-    /**
-     * @brief  Setting the current position to be the marked position.
-     * @param  None.
-     * @retval None.
-     */
-    virtual void SetMark(void) = 0;
-
-    /**
-     * @brief  Setting the maximum speed in pps.
-     * @param  speed The maximum speed in pps.
-     * @retval "true" in case of success, "false" otherwise.
-     */
-    virtual bool SetMaxSpeed(unsigned int speed) = 0;
-
-    /**
-     * @brief  Setting the minimum speed in pps.
-     * @param  speed The minimum speed in pps.
-     * @retval "true" in case of success, "false" otherwise.
-     */
-    virtual bool SetMinSpeed(unsigned int speed) = 0;
-
-    /**
-     * @brief  Setting the acceleration in pps^2.
-     * @param  acceleration The acceleration in pps^2.
-     * @retval "true" in case of success, "false" otherwise.
-     */
-    virtual bool SetAcceleration(unsigned int acceleration) = 0;
-
-    /**
-     * @brief  Setting the deceleration in pps^2.
-     * @param  deceleration The deceleration in pps^2.
-     * @retval "true" in case of success, "false" otherwise.
-     */
-    virtual bool SetDeceleration(unsigned int deceleration) = 0;
-
-    /**
-     * @brief  Setting the Step Mode.
-     * @param  step_mode The Step Mode.
-     * @retval "true" in case of success, "false" otherwise.
-     */
-    virtual bool SetStepMode(step_mode_t step_mode) = 0;
-
-    /**
-     * @brief  Going to a specified position.
-     * @param  position The desired position.
-     * @retval None.
-     */
-    virtual void GoTo(signed int position) = 0;
-
-    /**
-     * @brief  Going to the home position.
-     * @param  None.
-     * @retval None.
-     */
-    virtual void GoHome(void) = 0;
-
-    /**
-     * @brief  Going to the marked position.
-     * @param  None.
-     * @retval None.
-     */
-    virtual void GoMark(void) = 0;
-
-    /**
-     * @brief  Running the motor towards a specified direction.
-     * @param  direction The direction of rotation.
-     * @retval None.
-     */
-    virtual void Run(direction_t direction) = 0;
-
-    /**
-     * @brief  Moving the motor towards a specified direction for a certain number of steps.
-     * @param  direction The direction of rotation.
-     * @param  steps The desired number of steps.
-     * @retval None.
-     */
-    virtual void Move(direction_t direction, unsigned int steps) = 0;
-
-    /**
-     * @brief  Stopping the motor through an immediate deceleration up to zero speed.
-     * @param  None.
-     * @retval None.
-     */
-    virtual void SoftStop(void) = 0;
-
-    /**
-     * @brief  Stopping the motor through an immediate infinite deceleration.
-     * @param  None.
-     * @retval None.
-     */
-    virtual void HardStop(void) = 0;
-
-    /**
-     * @brief  Disabling the power bridge after performing a deceleration to zero.
-     * @param  None.
-     * @retval None.
-     */
-    virtual void SoftHiZ(void) = 0;
-
-    /**
-     * @brief  Disabling the power bridge immediately.
-     * @param  None.
-     * @retval None.
-     */
-    virtual void HardHiZ(void) = 0;
-
-    /**
-     * @brief  Waiting while the motor is active.
-     * @param  None.
-     * @retval None.
-     */
-    virtual void WaitWhileActive(void) = 0;
-};
-
-#endif /* __STEPPERMOTOR_CLASS_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ 

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Common/ComponentObject.h	Tue Sep 27 11:28:52 2016 +0000
@@ -0,0 +1,75 @@
+/**
+ ******************************************************************************
+ * @file    ComponentObject.h
+ * @author  AST
+ * @version V1.0.0
+ * @date    April 13th, 2015
+ * @brief   This file contains the abstract class describing the interface of a
+ *          generic component.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2015 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 recursive inclusion -------------------------------------*/
+
+#ifndef __COMPONENT_OBJECT_CLASS_H
+#define __COMPONENT_OBJECT_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <stdint.h>
+
+
+/* Classes  ------------------------------------------------------------------*/
+
+/** An abstract class for Generic components.
+ */
+class ComponentObject
+{
+public:
+    /**
+     * @brief     Initializing the component.
+     * @param[in] init pointer to device specific initalization structure.
+     * @retval    "0" in case of success, an error code otherwise.
+     */
+    virtual int Init(void *init) = 0;
+
+    /**
+     * @brief      Getting the ID of the component.
+     * @param[out] id pointer to an allocated variable to store the ID into.
+     * @retval     "0" in case of success, an error code otherwise.
+     */
+    virtual int ReadID(uint8_t *id) = 0;
+};
+
+#endif /* __COMPONENT_OBJECT_CLASS_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

--- a/Common/Component_class.h	Mon Aug 01 15:06:25 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,75 +0,0 @@
-/**
- ******************************************************************************
- * @file    Component_class.h
- * @author  AST
- * @version V1.0.0
- * @date    April 13th, 2015
- * @brief   This file contains the abstract class describing the interface of a
- *          generic component.
- ******************************************************************************
- * @attention
- *
- * <h2><center>&copy; COPYRIGHT(c) 2015 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 recursive inclusion -------------------------------------*/
-
-#ifndef __COMPONENT_CLASS_H
-#define __COMPONENT_CLASS_H
-
-
-/* Includes ------------------------------------------------------------------*/
-
-#include <stdint.h>
-
-
-/* Classes  ------------------------------------------------------------------*/
-
-/** An abstract class for Generic components.
- */
-class Component
-{
-public:
-    /**
-     * @brief     Initializing the component.
-     * @param[in] init pointer to device specific initalization structure.
-     * @retval    "0" in case of success, an error code otherwise.
-     */
-    virtual int Init(void *init) = 0;
-
-    /**
-     * @brief      Getting the ID of the component.
-     * @param[out] id pointer to an allocated variable to store the ID into.
-     * @retval     "0" in case of success, an error code otherwise.
-     */
-    virtual int ReadID(uint8_t *id) = 0;
-};
-
-#endif /* __COMPONENT_CLASS_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Communications/Nfc.h	Tue Sep 27 11:28:52 2016 +0000
@@ -0,0 +1,90 @@
+/**
+ ******************************************************************************
+ * @file    Nfc.h
+ * @author  ST Central Labs
+ * @version V1.0.0
+ * @date    13-April-2015
+ * @brief   This file contains the abstract class describing the interface of a
+ *          nfc component.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2015 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.
+ *
+ ******************************************************************************
+ */
+
+
+/* Generated with Stm32CubeTOO -----------------------------------------------*/
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+
+#ifndef __NFC_CLASS_H
+#define __NFC_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <ComponentObject.h>
+
+typedef enum {
+    NFC_SUCCESS = 0,
+} NFC_StatusTypeDef;
+/* Error codes are in component driver */
+
+
+/* Classes  ------------------------------------------------------------------*/
+
+/**
+* An abstract class for Nfc components. 
+*/
+class Nfc : public ComponentObject
+{
+public:
+
+    /**
+     * Read data from the tag.
+     * @param Offset Read offset.
+     * @param NbByteToRead Number of bytes to read.
+     * @param[out] pBufferRead Buffer to store the read data into.
+     * @return NFC_SUCCESS if no errors 
+     */
+    virtual int ReadBinary(uint16_t Offset, uint8_t NbByteToRead, uint8_t *pBufferRead) = 0;
+
+    /**
+     * Write data to the tag.
+     * @param Offset Write offset.
+     * @param NbByteToWrite Number of bytes to write.
+     * @param pDataToWrite Buffer to write.
+     * @return NFC_SUCCESS if no errors
+     */
+    virtual int UpdateBinary(uint16_t Offset, uint8_t NbByteToWrite, uint8_t *pDataToWrite) = 0;
+
+    virtual ~Nfc(){};
+};
+
+#endif /* __NFC_CLASS_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ 

--- a/Sensors/GyroSensor.h	Mon Aug 01 15:06:25 2016 +0000
+++ b/Sensors/GyroSensor.h	Tue Sep 27 11:28:52 2016 +0000
@@ -41,12 +41,12 @@
 #define __GYRO_SENSOR_CLASS_H
 
 /* Includes ------------------------------------------------------------------*/
-#include <Component_class.h>
+#include <ComponentObject.h>
 
 /* Classes  ------------------------------------------------------------------*/
 /** An abstract class for a Gyroscope
  */
-class GyroSensor : public Component
+class GyroSensor : public ComponentObject
 {
  public:
 	/**

--- a/Sensors/HumiditySensor.h	Mon Aug 01 15:06:25 2016 +0000
+++ b/Sensors/HumiditySensor.h	Tue Sep 27 11:28:52 2016 +0000
@@ -41,12 +41,12 @@
 #define __HUMIDITY_SENSOR_CLASS_H
 
 /* Includes ------------------------------------------------------------------*/
-#include <Component_class.h>
+#include <ComponentObject.h>
 
 /* Classes  ------------------------------------------------------------------*/
 /** An abstract class for Humidity sensors
  */
-class HumiditySensor : public Component
+class HumiditySensor : public ComponentObject
 {
  public:
 	/**

--- a/Sensors/LightSensor.h	Mon Aug 01 15:06:25 2016 +0000
+++ b/Sensors/LightSensor.h	Tue Sep 27 11:28:52 2016 +0000
@@ -41,12 +41,12 @@
 #define __LIGHT_SENSOR_CLASS_H
 
 /* Includes ------------------------------------------------------------------*/
-#include "Component_class.h"
+#include <ComponentObject.h>
 
 /* Classes  ------------------------------------------------------------------*/
 /** An abstract class for ambient light sensors
  */
-class LightSensor : public Component
+class LightSensor : public ComponentObject
 {
  public:
     /**

--- a/Sensors/MagneticSensor.h	Mon Aug 01 15:06:25 2016 +0000
+++ b/Sensors/MagneticSensor.h	Tue Sep 27 11:28:52 2016 +0000
@@ -41,12 +41,12 @@
 #define __MAGNETIC_SENSOR_CLASS_H
 
 /* Includes ------------------------------------------------------------------*/
-#include <Component_class.h>
+#include <ComponentObject.h>
 
 /* Classes  ------------------------------------------------------------------*/
 /** An abstract class for a magnetometer
  */
-class MagneticSensor : public Component
+class MagneticSensor : public ComponentObject
 {
  public:
 	/**

--- a/Sensors/MotionSensor.h	Mon Aug 01 15:06:25 2016 +0000
+++ b/Sensors/MotionSensor.h	Tue Sep 27 11:28:52 2016 +0000
@@ -41,12 +41,12 @@
 #define __MOTION_SENSOR_CLASS_H
 
 /* Includes ------------------------------------------------------------------*/
-#include <Component_class.h>
+#include <ComponentObject.h>
 
 /* Classes  ------------------------------------------------------------------*/
 /** An abstract class for an Accelerometer
  */
-class MotionSensor : public Component
+class MotionSensor : public ComponentObject
 {
  public:
 	/**

--- a/Sensors/PressureSensor.h	Mon Aug 01 15:06:25 2016 +0000
+++ b/Sensors/PressureSensor.h	Tue Sep 27 11:28:52 2016 +0000
@@ -41,12 +41,12 @@
 #define __PRESSURE_SENSOR_CLASS_H
 
 /* Includes ------------------------------------------------------------------*/
-#include <Component_class.h>
+#include <ComponentObject.h>
 
 /* Classes  ------------------------------------------------------------------*/
 /** An abstract class for a Pressure Sensor
  */
-class PressureSensor : public Component
+class PressureSensor : public ComponentObject
 {
  public:
 	/**

--- a/Sensors/RangeSensor.h	Mon Aug 01 15:06:25 2016 +0000
+++ b/Sensors/RangeSensor.h	Tue Sep 27 11:28:52 2016 +0000
@@ -41,12 +41,12 @@
 #define __RANGE_SENSOR_CLASS_H
 
 /* Includes ------------------------------------------------------------------*/
-#include "Component_class.h"
+#include <ComponentObject.h>
 
 /* Classes  ------------------------------------------------------------------*/
 /** An abstract class for range sensors
  */
-class RangeSensor : public Component
+class RangeSensor : public ComponentObject
 {
  public:
     /**

--- a/Sensors/TempSensor.h	Mon Aug 01 15:06:25 2016 +0000
+++ b/Sensors/TempSensor.h	Tue Sep 27 11:28:52 2016 +0000
@@ -41,12 +41,12 @@
 #define __TEMP_SENSOR_CLASS_H
 
 /* Includes ------------------------------------------------------------------*/
-#include <Component_class.h>
+#include <ComponentObject.h>
 
 /* Classes  ------------------------------------------------------------------*/
 /** An abstract class for Temperature sensors
  */
-class TempSensor : public Component
+class TempSensor : public ComponentObject
 {
  public:
 	/**