Luca Istorico / X_NUCLEO_IHM02A1

Library to handle the X_NUCLEO_IHM02A1 Motor Control Expansion Board based on the L6470 component.

Dependencies:   X_NUCLEO_COMMON

Fork of X_NUCLEO_IHM02A1 by ST

Components/Interfaces/StepperMotor_class.h@4:381d76f5b0b4, 2015-11-26 (annotated)

Committer:
Davidroid
Date:
Thu Nov 26 16:24:17 2015 +0000
Revision:
4:381d76f5b0b4
Parent:
1:b78dab6d2c58
Child:
5:3cde564db574
+ Updated with the new structure of the Stm32CubeTOO tool.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Davidroid 0:92706998571a 1 /**
Davidroid 0:92706998571a 2 ******************************************************************************
Davidroid 0:92706998571a 3 * @file StepperMotor_class.h
Davidroid 4:381d76f5b0b4 4 * @author Davide Aliprandi, STMicrolectronics
Davidroid 0:92706998571a 5 * @version V1.0.0
Davidroid 0:92706998571a 6 * @date November 12th, 2015
Davidroid 0:92706998571a 7 * @brief This file contains the abstract class describing the interface of a
Davidroid 1:b78dab6d2c58 8 * stepper-motor component.
Davidroid 0:92706998571a 9 ******************************************************************************
Davidroid 0:92706998571a 10 * @attention
Davidroid 0:92706998571a 11 *
Davidroid 0:92706998571a 12 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Davidroid 0:92706998571a 13 *
Davidroid 0:92706998571a 14 * Redistribution and use in source and binary forms, with or without modification,
Davidroid 0:92706998571a 15 * are permitted provided that the following conditions are met:
Davidroid 0:92706998571a 16 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 0:92706998571a 17 * this list of conditions and the following disclaimer.
Davidroid 0:92706998571a 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid 0:92706998571a 19 * this list of conditions and the following disclaimer in the documentation
Davidroid 0:92706998571a 20 * and/or other materials provided with the distribution.
Davidroid 0:92706998571a 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid 0:92706998571a 22 * may be used to endorse or promote products derived from this software
Davidroid 0:92706998571a 23 * without specific prior written permission.
Davidroid 0:92706998571a 24 *
Davidroid 0:92706998571a 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 0:92706998571a 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 0:92706998571a 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid 0:92706998571a 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid 0:92706998571a 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid 0:92706998571a 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid 0:92706998571a 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid 0:92706998571a 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid 0:92706998571a 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid 0:92706998571a 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid 0:92706998571a 35 *
Davidroid 0:92706998571a 36 ******************************************************************************
Davidroid 0:92706998571a 37 */
Davidroid 0:92706998571a 38
Davidroid 0:92706998571a 39
Davidroid 0:92706998571a 40 /* Define to prevent from recursive inclusion --------------------------------*/
Davidroid 0:92706998571a 41
Davidroid 0:92706998571a 42 #ifndef __STEPPERMOTOR_CLASS_H
Davidroid 0:92706998571a 43 #define __STEPPERMOTOR_CLASS_H
Davidroid 0:92706998571a 44
Davidroid 0:92706998571a 45
Davidroid 0:92706998571a 46 /* Includes ------------------------------------------------------------------*/
Davidroid 0:92706998571a 47
Davidroid 0:92706998571a 48 #include <Component_class.h>
Davidroid 0:92706998571a 49
Davidroid 0:92706998571a 50
Davidroid 0:92706998571a 51 /* Classes ------------------------------------------------------------------*/
Davidroid 0:92706998571a 52
Davidroid 0:92706998571a 53 /** An abstract class for StepperMotor components.
Davidroid 0:92706998571a 54 */
Davidroid 0:92706998571a 55 class StepperMotor : public Component
Davidroid 0:92706998571a 56 {
Davidroid 0:92706998571a 57 public:
Davidroid 4:381d76f5b0b4 58 /**
Davidroid 4:381d76f5b0b4 59 * @brief Rotation modes.
Davidroid 4:381d76f5b0b4 60 */
Davidroid 0:92706998571a 61 typedef enum
Davidroid 0:92706998571a 62 {
Davidroid 0:92706998571a 63 BWD = 0, /* Backward. */
Davidroid 0:92706998571a 64 FWD = 1 /* Forward. */
Davidroid 0:92706998571a 65 } direction_t;
Davidroid 0:92706998571a 66
Davidroid 0:92706998571a 67 /**
Davidroid 1:b78dab6d2c58 68 * @brief Getting the status.
Davidroid 0:92706998571a 69 * @param None.
Davidroid 1:b78dab6d2c58 70 * @retval The status.
Davidroid 0:92706998571a 71 */
Davidroid 0:92706998571a 72 virtual unsigned int GetStatus(void) = 0;
Davidroid 0:92706998571a 73
Davidroid 1:b78dab6d2c58 74 /**
Davidroid 0:92706998571a 75 * @brief Getting a parameter.
Davidroid 1:b78dab6d2c58 76 * @param parameter The parameter's identifier (or its register address).
Davidroid 1:b78dab6d2c58 77 * @retval The parameter's value.
Davidroid 0:92706998571a 78 */
Davidroid 0:92706998571a 79 virtual unsigned int GetParameter(unsigned int parameter) = 0;
Davidroid 0:92706998571a 80
Davidroid 1:b78dab6d2c58 81 /**
Davidroid 1:b78dab6d2c58 82 * @brief Getting the position.
Davidroid 1:b78dab6d2c58 83 * @param None.
Davidroid 1:b78dab6d2c58 84 * @retval The position.
Davidroid 1:b78dab6d2c58 85 */
Davidroid 0:92706998571a 86 virtual signed int GetPosition(void) = 0;
Davidroid 0:92706998571a 87
Davidroid 1:b78dab6d2c58 88 /**
Davidroid 1:b78dab6d2c58 89 * @brief Getting the marked position.
Davidroid 1:b78dab6d2c58 90 * @param None.
Davidroid 1:b78dab6d2c58 91 * @retval The marked position.
Davidroid 1:b78dab6d2c58 92 */
Davidroid 0:92706998571a 93 virtual signed int GetMark(void) = 0;
Davidroid 0:92706998571a 94
Davidroid 1:b78dab6d2c58 95 /**
Davidroid 1:b78dab6d2c58 96 * @brief Getting the current speed in pps.
Davidroid 1:b78dab6d2c58 97 * @param None.
Davidroid 1:b78dab6d2c58 98 * @retval The current speed in pps.
Davidroid 1:b78dab6d2c58 99 */
Davidroid 0:92706998571a 100 virtual unsigned int GetSpeed(void) = 0;
Davidroid 0:92706998571a 101
Davidroid 1:b78dab6d2c58 102 /**
Davidroid 1:b78dab6d2c58 103 * @brief Getting the maximum speed in pps.
Davidroid 1:b78dab6d2c58 104 * @param None.
Davidroid 1:b78dab6d2c58 105 * @retval The maximum speed in pps.
Davidroid 1:b78dab6d2c58 106 */
Davidroid 0:92706998571a 107 virtual unsigned int GetMaxSpeed(void) = 0;
Davidroid 0:92706998571a 108
Davidroid 1:b78dab6d2c58 109 /**
Davidroid 1:b78dab6d2c58 110 * @brief Getting the minimum speed in pps.
Davidroid 1:b78dab6d2c58 111 * @param None.
Davidroid 1:b78dab6d2c58 112 * @retval The minimum speed in pps.
Davidroid 1:b78dab6d2c58 113 */
Davidroid 0:92706998571a 114 virtual unsigned int GetMinSpeed(void) = 0;
Davidroid 0:92706998571a 115
Davidroid 1:b78dab6d2c58 116 /**
Davidroid 1:b78dab6d2c58 117 * @brief Getting the acceleration in pps^2.
Davidroid 1:b78dab6d2c58 118 * @param None.
Davidroid 1:b78dab6d2c58 119 * @retval The acceleration in pps^2.
Davidroid 1:b78dab6d2c58 120 */
Davidroid 0:92706998571a 121 virtual unsigned int GetAcceleration(void) = 0;
Davidroid 0:92706998571a 122
Davidroid 1:b78dab6d2c58 123 /**
Davidroid 1:b78dab6d2c58 124 * @brief Getting the deceleration in pps^2.
Davidroid 1:b78dab6d2c58 125 * @param None.
Davidroid 1:b78dab6d2c58 126 * @retval The deceleration in pps^2.
Davidroid 1:b78dab6d2c58 127 */
Davidroid 0:92706998571a 128 virtual unsigned int GetDeceleration(void) = 0;
Davidroid 0:92706998571a 129
Davidroid 1:b78dab6d2c58 130 /**
Davidroid 1:b78dab6d2c58 131 * @brief Getting the direction of rotation.
Davidroid 1:b78dab6d2c58 132 * @param None.
Davidroid 1:b78dab6d2c58 133 * @retval The direction of rotation.
Davidroid 1:b78dab6d2c58 134 */
Davidroid 0:92706998571a 135 virtual direction_t GetDirection(void) = 0;
Davidroid 0:92706998571a 136
Davidroid 0:92706998571a 137 /**
Davidroid 0:92706998571a 138 * @brief Setting a parameter.
Davidroid 1:b78dab6d2c58 139 * @param parameter The parameter's identifier (or its register address).
Davidroid 1:b78dab6d2c58 140 * @param value The parameter's value.
Davidroid 0:92706998571a 141 * @retval None.
Davidroid 0:92706998571a 142 */
Davidroid 0:92706998571a 143 virtual void SetParameter(unsigned int parameter, unsigned int value) = 0;
Davidroid 0:92706998571a 144
Davidroid 1:b78dab6d2c58 145 /**
Davidroid 1:b78dab6d2c58 146 * @brief Setting the current position to be the home position.
Davidroid 1:b78dab6d2c58 147 * @param None.
Davidroid 1:b78dab6d2c58 148 * @retval None.
Davidroid 1:b78dab6d2c58 149 */
Davidroid 0:92706998571a 150 virtual void SetHome(void) = 0;
Davidroid 0:92706998571a 151
Davidroid 1:b78dab6d2c58 152 /**
Davidroid 1:b78dab6d2c58 153 * @brief Setting the current position to be the marked position.
Davidroid 1:b78dab6d2c58 154 * @param None.
Davidroid 1:b78dab6d2c58 155 * @retval None.
Davidroid 1:b78dab6d2c58 156 */
Davidroid 0:92706998571a 157 virtual void SetMark(void) = 0;
Davidroid 0:92706998571a 158
Davidroid 1:b78dab6d2c58 159 /**
Davidroid 1:b78dab6d2c58 160 * @brief Setting the maximum speed in pps.
Davidroid 1:b78dab6d2c58 161 * @param speed The maximum speed in pps.
Davidroid 1:b78dab6d2c58 162 * @retval None.
Davidroid 1:b78dab6d2c58 163 */
Davidroid 0:92706998571a 164 virtual void SetMaxSpeed(unsigned int speed) = 0;
Davidroid 0:92706998571a 165
Davidroid 1:b78dab6d2c58 166 /**
Davidroid 1:b78dab6d2c58 167 * @brief Setting the minimum speed in pps.
Davidroid 1:b78dab6d2c58 168 * @param speed The minimum speed in pps.
Davidroid 1:b78dab6d2c58 169 * @retval None.
Davidroid 1:b78dab6d2c58 170 */
Davidroid 0:92706998571a 171 virtual void SetMinSpeed(unsigned int speed) = 0;
Davidroid 0:92706998571a 172
Davidroid 1:b78dab6d2c58 173 /**
Davidroid 1:b78dab6d2c58 174 * @brief Setting the acceleration in pps^2.
Davidroid 1:b78dab6d2c58 175 * @param acceleration The acceleration in pps^2.
Davidroid 1:b78dab6d2c58 176 * @retval None.
Davidroid 1:b78dab6d2c58 177 */
Davidroid 0:92706998571a 178 virtual void SetAcceleration(unsigned int acceleration) = 0;
Davidroid 0:92706998571a 179
Davidroid 1:b78dab6d2c58 180 /**
Davidroid 1:b78dab6d2c58 181 * @brief Setting the deceleration in pps^2.
Davidroid 1:b78dab6d2c58 182 * @param deceleration The deceleration in pps^2.
Davidroid 1:b78dab6d2c58 183 * @retval None.
Davidroid 1:b78dab6d2c58 184 */
Davidroid 0:92706998571a 185 virtual void SetDeceleration(unsigned int deceleration) = 0;
Davidroid 0:92706998571a 186
Davidroid 1:b78dab6d2c58 187 /**
Davidroid 1:b78dab6d2c58 188 * @brief Going to a specified position.
Davidroid 1:b78dab6d2c58 189 * @param position The desired position.
Davidroid 1:b78dab6d2c58 190 * @retval None.
Davidroid 1:b78dab6d2c58 191 */
Davidroid 0:92706998571a 192 virtual void GoTo(signed int position) = 0;
Davidroid 0:92706998571a 193
Davidroid 1:b78dab6d2c58 194 /**
Davidroid 1:b78dab6d2c58 195 * @brief Going to the home position.
Davidroid 1:b78dab6d2c58 196 * @param None.
Davidroid 1:b78dab6d2c58 197 * @retval None.
Davidroid 1:b78dab6d2c58 198 */
Davidroid 0:92706998571a 199 virtual void GoHome(void) = 0;
Davidroid 0:92706998571a 200
Davidroid 1:b78dab6d2c58 201 /**
Davidroid 1:b78dab6d2c58 202 * @brief Going to the marked position.
Davidroid 1:b78dab6d2c58 203 * @param None.
Davidroid 1:b78dab6d2c58 204 * @retval None.
Davidroid 1:b78dab6d2c58 205 */
Davidroid 0:92706998571a 206 virtual void GoMark(void) = 0;
Davidroid 0:92706998571a 207
Davidroid 1:b78dab6d2c58 208 /**
Davidroid 1:b78dab6d2c58 209 * @brief Running the motor towards a specified direction.
Davidroid 1:b78dab6d2c58 210 * @param direction The direction of rotation.
Davidroid 1:b78dab6d2c58 211 * @retval None.
Davidroid 1:b78dab6d2c58 212 */
Davidroid 0:92706998571a 213 virtual void Run(direction_t direction) = 0;
Davidroid 0:92706998571a 214
Davidroid 1:b78dab6d2c58 215 /**
Davidroid 1:b78dab6d2c58 216 * @brief Moving the motor towards a specified direction for a certain number of steps.
Davidroid 1:b78dab6d2c58 217 * @param direction The direction of rotation.
Davidroid 1:b78dab6d2c58 218 * @param steps The desired number of steps.
Davidroid 1:b78dab6d2c58 219 * @retval None.
Davidroid 1:b78dab6d2c58 220 */
Davidroid 0:92706998571a 221 virtual void Move(direction_t direction, unsigned int steps) = 0;
Davidroid 0:92706998571a 222
Davidroid 1:b78dab6d2c58 223 /**
Davidroid 1:b78dab6d2c58 224 * @brief Stopping the motor.
Davidroid 1:b78dab6d2c58 225 * @param None.
Davidroid 1:b78dab6d2c58 226 * @retval None.
Davidroid 1:b78dab6d2c58 227 */
Davidroid 0:92706998571a 228 virtual void SoftStop(void) = 0;
Davidroid 0:92706998571a 229
Davidroid 1:b78dab6d2c58 230 /**
Davidroid 1:b78dab6d2c58 231 * @brief Stopping the motor and disabling the power bridge.
Davidroid 1:b78dab6d2c58 232 * @param None.
Davidroid 1:b78dab6d2c58 233 * @retval None.
Davidroid 1:b78dab6d2c58 234 */
Davidroid 0:92706998571a 235 virtual void HardStop(void) = 0;
Davidroid 0:92706998571a 236
Davidroid 1:b78dab6d2c58 237 /**
Davidroid 1:b78dab6d2c58 238 * @brief Waiting while the motor is active.
Davidroid 1:b78dab6d2c58 239 * @param None.
Davidroid 1:b78dab6d2c58 240 * @retval None.
Davidroid 1:b78dab6d2c58 241 */
Davidroid 0:92706998571a 242 virtual void WaitWhileActive(void) = 0;
Davidroid 0:92706998571a 243 };
Davidroid 0:92706998571a 244
Davidroid 0:92706998571a 245 #endif /* __STEPPERMOTOR_CLASS_H */
Davidroid 0:92706998571a 246
Davidroid 0:92706998571a 247 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/