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

BSP/x_nucleo_ihm02a1_class.cpp@20:9821a6a2ca62, 2016-07-27 (annotated)

Committer:
Isto
Date:
Wed Jul 27 09:15:53 2016 +0000
Revision:
20:9821a6a2ca62
Parent:
19:591ef53bc983 
+ fix

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Davidroid 0:92706998571a 1 /**
Davidroid 0:92706998571a 2 ******************************************************************************
Davidroid 0:92706998571a 3 * @file x_nucleo_ihm02a1_class.cpp
Davidroid 0:92706998571a 4 * @author AST / Software Platforms and Cloud
Davidroid 0:92706998571a 5 * @version V1.0
Davidroid 0:92706998571a 6 * @date November 3rd, 2015
Davidroid 0:92706998571a 7 * @brief Implementation file for the X_NUCLEO_IHM02A1 expansion board.
Davidroid 0:92706998571a 8 ******************************************************************************
Davidroid 0:92706998571a 9 * @attention
Davidroid 0:92706998571a 10 *
Davidroid 0:92706998571a 11 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Davidroid 0:92706998571a 12 *
Davidroid 0:92706998571a 13 * Redistribution and use in source and binary forms, with or without modification,
Davidroid 0:92706998571a 14 * are permitted provided that the following conditions are met:
Davidroid 0:92706998571a 15 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 0:92706998571a 16 * this list of conditions and the following disclaimer.
Davidroid 0:92706998571a 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid 0:92706998571a 18 * this list of conditions and the following disclaimer in the documentation
Davidroid 0:92706998571a 19 * and/or other materials provided with the distribution.
Davidroid 0:92706998571a 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid 0:92706998571a 21 * may be used to endorse or promote products derived from this software
Davidroid 0:92706998571a 22 * without specific prior written permission.
Davidroid 0:92706998571a 23 *
Davidroid 0:92706998571a 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 0:92706998571a 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 0:92706998571a 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid 0:92706998571a 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid 0:92706998571a 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid 0:92706998571a 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid 0:92706998571a 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid 0:92706998571a 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid 0:92706998571a 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid 0:92706998571a 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid 0:92706998571a 34 *
Davidroid 0:92706998571a 35 ******************************************************************************
Davidroid 0:92706998571a 36 */
Davidroid 0:92706998571a 37
Davidroid 0:92706998571a 38
Davidroid 15:31785d1acd4b 39 /* Generated with STM32CubeTOO -----------------------------------------------*/
Davidroid 0:92706998571a 40
Davidroid 0:92706998571a 41
Davidroid 0:92706998571a 42 /* Includes ------------------------------------------------------------------*/
Davidroid 0:92706998571a 43
Davidroid 0:92706998571a 44 /* ACTION 1 ------------------------------------------------------------------*
Davidroid 0:92706998571a 45 * Include here platform specific header files. *
Davidroid 14:e614697ebf34 46 *----------------------------------------------------------------------------*/
Davidroid 0:92706998571a 47 #include "mbed.h"
Davidroid 0:92706998571a 48 #include "DevSPI.h"
Davidroid 0:92706998571a 49 /* ACTION 2 ------------------------------------------------------------------*
Davidroid 0:92706998571a 50 * Include here expansion board specific header files. *
Davidroid 14:e614697ebf34 51 *----------------------------------------------------------------------------*/
Davidroid 0:92706998571a 52 #include "x_nucleo_ihm02a1_class.h"
Davidroid 0:92706998571a 53
Davidroid 0:92706998571a 54
Davidroid 10:aa68441705b2 55 /* Variables -----------------------------------------------------------------*/
Davidroid 0:92706998571a 56
Davidroid 10:aa68441705b2 57 /* Number of expansion boards. */
Davidroid 0:92706998571a 58 uint8_t X_NUCLEO_IHM02A1::number_of_boards = 0;
Davidroid 0:92706998571a 59
Davidroid 0:92706998571a 60
Davidroid 0:92706998571a 61 /* Methods -------------------------------------------------------------------*/
Davidroid 0:92706998571a 62
Davidroid 0:92706998571a 63 /**
Davidroid 0:92706998571a 64 * @brief Constructor.
Davidroid 9:d70452d7a1e1 65 * @param init_0 pointer to the initialization structure of the first motor.
Davidroid 9:d70452d7a1e1 66 * @param init_1 pointer to the initialization structure of the second motor.
Davidroid 0:92706998571a 67 * @param flag_irq pin name of the FLAG pin of the component.
Davidroid 1:b78dab6d2c58 68 * @param busy_irq pin name of the BUSY pin of the component.
Davidroid 0:92706998571a 69 * @param standby_reset pin name of the STBY\RST pin of the component.
Davidroid 0:92706998571a 70 * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 71 * @param spi SPI device to be used for communication.
Davidroid 0:92706998571a 72 */
Davidroid 14:e614697ebf34 73 X_NUCLEO_IHM02A1::X_NUCLEO_IHM02A1(L6470_Init_t *init_0, L6470_Init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi) : dev_spi(spi)
Davidroid 0:92706998571a 74 {
Davidroid 10:aa68441705b2 75 /* Checking stackability. */
Davidroid 10:aa68441705b2 76 if (!(number_of_boards < EXPBRD_MOUNTED_NR_MAX))
Davidroid 10:aa68441705b2 77 error("Instantiation of the X_NUCLEO_IHM02A1 expansion board failed: it can be stacked up to %d times.\r\n", EXPBRD_MOUNTED_NR_MAX);
Davidroid 10:aa68441705b2 78 X_NUCLEO_IHM02A1_Id = number_of_boards++;
Davidroid 10:aa68441705b2 79
Davidroid 3:e3f6f4474d98 80 /* SPI communication. */
Davidroid 3:e3f6f4474d98 81 if (dev_spi == NULL)
Davidroid 3:e3f6f4474d98 82 dev_spi = new DevSPI(X_NUCLEO_IHM02A1_PIN_SPI_MOSI, X_NUCLEO_IHM02A1_PIN_SPI_MISO, X_NUCLEO_IHM02A1_PIN_SPI_SCLK);
Davidroid 3:e3f6f4474d98 83
Davidroid 0:92706998571a 84 /* Instantiating the components. */
Davidroid 0:92706998571a 85 /* ACTION 3 --------------------------------------------------------------*
Davidroid 0:92706998571a 86 * Instantiate here the expansion board's components. *
Davidroid 0:92706998571a 87 * *
Davidroid 0:92706998571a 88 * Example: *
Davidroid 14:e614697ebf34 89 * component_1 = new COMPONENT_1(ssel, *dev_spi); *
Davidroid 14:e614697ebf34 90 * component_2 = new COMPONENT_2(ssel, *dev_spi); *
Davidroid 0:92706998571a 91 *------------------------------------------------------------------------*/
Isto 20:9821a6a2ca62 92 components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
Isto 20:9821a6a2ca62 93 components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
Davidroid 3:e3f6f4474d98 94
Davidroid 3:e3f6f4474d98 95 /* Initializing the components. */
Davidroid 9:d70452d7a1e1 96 init_components[0] = init_0;
Davidroid 9:d70452d7a1e1 97 init_components[1] = init_1;
Davidroid 3:e3f6f4474d98 98 if (!Init())
Davidroid 10:aa68441705b2 99 error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\r\n");
Davidroid 0:92706998571a 100 }
Davidroid 0:92706998571a 101
Davidroid 0:92706998571a 102 /**
Davidroid 3:e3f6f4474d98 103 * @brief Constructor.
Davidroid 9:d70452d7a1e1 104 * @param init_0 pointer to the initialization structure of the first motor.
Davidroid 9:d70452d7a1e1 105 * @param init_1 pointer to the initialization structure of the second motor.
Davidroid 0:92706998571a 106 * @param flag_irq pin name of the FLAG pin of the component.
Davidroid 1:b78dab6d2c58 107 * @param busy_irq pin name of the BUSY pin of the component.
Davidroid 0:92706998571a 108 * @param standby_reset pin name of the STBY\RST pin of the component.
Davidroid 0:92706998571a 109 * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 110 * @param mosi pin name of the MOSI pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 111 * @param miso pin name of the MISO pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 112 * @param sclk pin name of the SCLK pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 113 */
Davidroid 14:e614697ebf34 114 X_NUCLEO_IHM02A1::X_NUCLEO_IHM02A1(L6470_Init_t *init_0, L6470_Init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk)
Davidroid 0:92706998571a 115 {
Davidroid 10:aa68441705b2 116 /* Checking stackability. */
Davidroid 10:aa68441705b2 117 if (!(number_of_boards < EXPBRD_MOUNTED_NR_MAX))
Davidroid 10:aa68441705b2 118 error("Instantiation of the X_NUCLEO_IHM02A1 expansion board failed: it can be stacked up to %d times.\r\n", EXPBRD_MOUNTED_NR_MAX);
Davidroid 10:aa68441705b2 119 X_NUCLEO_IHM02A1_Id = number_of_boards++;
Davidroid 10:aa68441705b2 120
Davidroid 3:e3f6f4474d98 121 /* SPI communication. */
Davidroid 3:e3f6f4474d98 122 dev_spi = new DevSPI(mosi, miso, sclk);
Davidroid 0:92706998571a 123
Davidroid 3:e3f6f4474d98 124 /* Instantiating the components. */
Davidroid 3:e3f6f4474d98 125 /* ACTION 3 --------------------------------------------------------------*
Davidroid 3:e3f6f4474d98 126 * Instantiate here the expansion board's components. *
Davidroid 3:e3f6f4474d98 127 * *
Davidroid 3:e3f6f4474d98 128 * Example: *
Davidroid 14:e614697ebf34 129 * component_1 = new COMPONENT_1(ssel, *dev_spi); *
Davidroid 14:e614697ebf34 130 * component_2 = new COMPONENT_2(ssel, *dev_spi); *
Davidroid 3:e3f6f4474d98 131 *------------------------------------------------------------------------*/
Isto 20:9821a6a2ca62 132 components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
Isto 20:9821a6a2ca62 133 components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
Davidroid 0:92706998571a 134
Davidroid 3:e3f6f4474d98 135 /* Initializing the components. */
Davidroid 9:d70452d7a1e1 136 init_components[0] = init_0;
Davidroid 9:d70452d7a1e1 137 init_components[1] = init_1;
Davidroid 3:e3f6f4474d98 138 if (!Init())
Davidroid 10:aa68441705b2 139 error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\r\n");
Davidroid 0:92706998571a 140 }
Davidroid 0:92706998571a 141
Davidroid 0:92706998571a 142 /**
Davidroid 0:92706998571a 143 * @brief Initializing the X_NUCLEO_IHM02A1 board.
Davidroid 0:92706998571a 144 * @retval true if initialization is successful, false otherwise.
Davidroid 0:92706998571a 145 */
Davidroid 0:92706998571a 146 bool X_NUCLEO_IHM02A1::Init(void)
Davidroid 0:92706998571a 147 {
Davidroid 0:92706998571a 148 /* Initializing the components. */
Davidroid 0:92706998571a 149 /* ACTION 4 --------------------------------------------------------------*
Davidroid 0:92706998571a 150 * Initialize here the expansion board's components. *
Davidroid 0:92706998571a 151 * *
Davidroid 0:92706998571a 152 * Example: *
Davidroid 0:92706998571a 153 * return (Init_COMPONENT_1() && Init_COMPONENT_2()); *
Davidroid 0:92706998571a 154 *------------------------------------------------------------------------*/
Davidroid 0:92706998571a 155 return (Init_L6470_0() && Init_L6470_1());
Davidroid 0:92706998571a 156 }
Davidroid 0:92706998571a 157
Davidroid 0:92706998571a 158 /* ACTION 5 ------------------------------------------------------------------*
Davidroid 0:92706998571a 159 * Implement here an initialization method for each expansion board's *
Davidroid 0:92706998571a 160 * component. *
Davidroid 0:92706998571a 161 * *
Davidroid 0:92706998571a 162 * Example: *
Davidroid 0:92706998571a 163 * bool EXPANSION_BOARD::Init_COMPONENT_1(void) *
Davidroid 0:92706998571a 164 * { *
Davidroid 0:92706998571a 165 * // Verifying identity. *
Davidroid 0:92706998571a 166 * uint8_t id = 0; *
Davidroid 0:92706998571a 167 * int ret = component_1->ReadID(&id); *
Davidroid 0:92706998571a 168 * if ((ret != COMPONENT_OK) || (id != I_AM_COMPONENT_1)) *
Davidroid 0:92706998571a 169 * { *
Davidroid 0:92706998571a 170 * delete component_1; *
Davidroid 0:92706998571a 171 * component_1 = NULL; *
Davidroid 0:92706998571a 172 * return true; *
Davidroid 0:92706998571a 173 * } *
Davidroid 0:92706998571a 174 * *
Davidroid 0:92706998571a 175 * // Configuration. *
Davidroid 14:e614697ebf34 176 * COMPONENT_Init_t InitStructure; *
Davidroid 0:92706998571a 177 * InitStructure.Property_1 = COMPONENT_1_PROPERY_1_INIT; *
Davidroid 0:92706998571a 178 * InitStructure.Property_N = COMPONENT_1_PROPERY_N_INIT; *
Davidroid 0:92706998571a 179 * *
Davidroid 0:92706998571a 180 * // Initialization. *
Davidroid 0:92706998571a 181 * if (component_1->Init(&InitStructure) != COMPONENT_OK) *
Davidroid 0:92706998571a 182 * return false; *
Davidroid 0:92706998571a 183 * *
Davidroid 0:92706998571a 184 * return true; *
Davidroid 0:92706998571a 185 * } *
Davidroid 0:92706998571a 186 *----------------------------------------------------------------------------*/
Davidroid 0:92706998571a 187 /**
Davidroid 0:92706998571a 188 * @brief Initialize the L6470 component.
Davidroid 0:92706998571a 189 * @retval true if initialization is successful, false otherwise.
Davidroid 0:92706998571a 190 */
Davidroid 0:92706998571a 191 bool X_NUCLEO_IHM02A1::Init_L6470_0(void)
Davidroid 0:92706998571a 192 {
Davidroid 0:92706998571a 193 /* Initialization. */
Davidroid 9:d70452d7a1e1 194 if (l6470_0->Init((void *) init_components[0]) != COMPONENT_OK)
Davidroid 0:92706998571a 195 return false;
Davidroid 0:92706998571a 196
Davidroid 0:92706998571a 197 return true;
Davidroid 0:92706998571a 198 }
Davidroid 0:92706998571a 199
Davidroid 0:92706998571a 200 /**
Davidroid 0:92706998571a 201 * @brief Initialize the L6470 component.
Davidroid 0:92706998571a 202 * @retval true if initialization is successful, false otherwise.
Davidroid 0:92706998571a 203 */
Davidroid 0:92706998571a 204 bool X_NUCLEO_IHM02A1::Init_L6470_1(void)
Davidroid 0:92706998571a 205 {
Davidroid 0:92706998571a 206 /* Initialization. */
Davidroid 14:e614697ebf34 207 if (l6470_1->Init((void *) init_components[1]) != COMPONENT_OK)
Davidroid 0:92706998571a 208 return false;
Davidroid 0:92706998571a 209
Davidroid 0:92706998571a 210 return true;
Davidroid 0:92706998571a 211 }
Davidroid 0:92706998571a 212
Davidroid 0:92706998571a 213 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/