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@1:b78dab6d2c58, 2015-11-25 (annotated)

Committer:
Davidroid
Date:
Wed Nov 25 11:59:37 2015 +0000
Revision:
1:b78dab6d2c58
Parent:
0:92706998571a
Child:
3:e3f6f4474d98
+ Implemented all the StepperMotor's APIs.

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 0:92706998571a 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 0:92706998571a 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 0:92706998571a 51 *----------------------------------------------------------------------------*/
Davidroid 0:92706998571a 52 #include "x_nucleo_ihm02a1_class.h"
Davidroid 0:92706998571a 53
Davidroid 0:92706998571a 54
Davidroid 0:92706998571a 55 /* Static variables ----------------------------------------------------------*/
Davidroid 0:92706998571a 56
Davidroid 0:92706998571a 57 /* Singleton instance of X_NUCLEO_IHM02A1 class. */
Davidroid 0:92706998571a 58 X_NUCLEO_IHM02A1 *X_NUCLEO_IHM02A1::_instance;
Davidroid 0:92706998571a 59
Davidroid 0:92706998571a 60 /* Number of instantiated expansion boards. */
Davidroid 0:92706998571a 61 uint8_t X_NUCLEO_IHM02A1::number_of_boards = 0;
Davidroid 0:92706998571a 62
Davidroid 0:92706998571a 63 /**
Davidroid 0:92706998571a 64 * @brief This array contains the initial parameters for the motors that are
Davidroid 0:92706998571a 65 * linked with each L6470 mounted on each stacked X-NUCLEO-IHM02A1.
Davidroid 0:92706998571a 66 */
Davidroid 0:92706998571a 67 const MICROSTEPPING_MOTOR_InitTypeDef X_NUCLEO_IHM02A1::MotorParameterInitData[EXPBRD_MOUNTED_NR_MAX][L6470DAISYCHAINSIZE] =
Davidroid 0:92706998571a 68 {
Davidroid 0:92706998571a 69 {
Davidroid 0:92706998571a 70 {
Davidroid 1:b78dab6d2c58 71 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 992.0, 0.0, 602.7, 3.06, 3.06,\
Davidroid 0:92706998571a 72 3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
Davidroid 0:92706998571a 73 3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
Davidroid 0:92706998571a 74 },
Davidroid 0:92706998571a 75 {
Davidroid 1:b78dab6d2c58 76 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 992.0, 0.0, 602.7, 3.06, 3.06,\
Davidroid 0:92706998571a 77 3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
Davidroid 0:92706998571a 78 3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
Davidroid 0:92706998571a 79 },
Davidroid 0:92706998571a 80 },
Davidroid 0:92706998571a 81 {
Davidroid 0:92706998571a 82 {
Davidroid 1:b78dab6d2c58 83 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 992.0, 0.0, 602.7, 3.06, 3.06,\
Davidroid 0:92706998571a 84 3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
Davidroid 0:92706998571a 85 3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
Davidroid 0:92706998571a 86 },
Davidroid 0:92706998571a 87 {
Davidroid 1:b78dab6d2c58 88 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 992.0, 0.0, 602.7, 3.06, 3.06,\
Davidroid 0:92706998571a 89 3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
Davidroid 0:92706998571a 90 3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
Davidroid 0:92706998571a 91 },
Davidroid 0:92706998571a 92 },
Davidroid 0:92706998571a 93 {
Davidroid 0:92706998571a 94 {
Davidroid 1:b78dab6d2c58 95 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 992.0, 0.0, 602.7, 3.06, 3.06,\
Davidroid 0:92706998571a 96 3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
Davidroid 0:92706998571a 97 3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
Davidroid 0:92706998571a 98 },
Davidroid 0:92706998571a 99 {
Davidroid 1:b78dab6d2c58 100 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 992.0, 0.0, 602.7, 3.06, 3.06,\
Davidroid 0:92706998571a 101 3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
Davidroid 0:92706998571a 102 3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
Davidroid 0:92706998571a 103 },
Davidroid 0:92706998571a 104 },
Davidroid 0:92706998571a 105 {
Davidroid 0:92706998571a 106 {
Davidroid 1:b78dab6d2c58 107 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 992.0, 0.0, 602.7, 3.06, 3.06,\
Davidroid 0:92706998571a 108 3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
Davidroid 0:92706998571a 109 3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
Davidroid 0:92706998571a 110 },
Davidroid 0:92706998571a 111 {
Davidroid 1:b78dab6d2c58 112 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 992.0, 0.0, 602.7, 3.06, 3.06,\
Davidroid 0:92706998571a 113 3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
Davidroid 0:92706998571a 114 3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
Davidroid 0:92706998571a 115 },
Davidroid 0:92706998571a 116 },
Davidroid 0:92706998571a 117 };
Davidroid 0:92706998571a 118
Davidroid 0:92706998571a 119
Davidroid 0:92706998571a 120 /* Methods -------------------------------------------------------------------*/
Davidroid 0:92706998571a 121
Davidroid 0:92706998571a 122 /**
Davidroid 0:92706998571a 123 * @brief Constructor.
Davidroid 0:92706998571a 124 * @param flag_irq pin name of the FLAG pin of the component.
Davidroid 1:b78dab6d2c58 125 * @param busy_irq pin name of the BUSY pin of the component.
Davidroid 0:92706998571a 126 * @param standby_reset pin name of the STBY\RST pin of the component.
Davidroid 0:92706998571a 127 * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 128 * @param spi SPI device to be used for communication.
Davidroid 0:92706998571a 129 */
Davidroid 1:b78dab6d2c58 130 X_NUCLEO_IHM02A1::X_NUCLEO_IHM02A1(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi) : dev_spi(spi)
Davidroid 0:92706998571a 131 {
Davidroid 0:92706998571a 132 /* Instantiating the components. */
Davidroid 0:92706998571a 133 /* ACTION 3 --------------------------------------------------------------*
Davidroid 0:92706998571a 134 * Instantiate here the expansion board's components. *
Davidroid 0:92706998571a 135 * *
Davidroid 0:92706998571a 136 * Example: *
Davidroid 0:92706998571a 137 * component_1 = new COMPONENT_1(COMPONENT_1_SPI_SSEL, *dev_spi); *
Davidroid 0:92706998571a 138 * component_2 = new COMPONENT_2(COMPONENT_2_SPI_SSEL, *dev_spi); *
Davidroid 0:92706998571a 139 *------------------------------------------------------------------------*/
Davidroid 0:92706998571a 140 X_NUCLEO_IHM02A1_Id = number_of_boards++;
Davidroid 1:b78dab6d2c58 141 components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
Davidroid 1:b78dab6d2c58 142 components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
Davidroid 0:92706998571a 143 }
Davidroid 0:92706998571a 144
Davidroid 0:92706998571a 145 /**
Davidroid 0:92706998571a 146 * @brief Getting a singleton instance of X_NUCLEO_IHM02A1 class.
Davidroid 0:92706998571a 147 * @param flag_irq pin name of the FLAG pin of the component.
Davidroid 1:b78dab6d2c58 148 * @param busy_irq pin name of the BUSY pin of the component.
Davidroid 0:92706998571a 149 * @param standby_reset pin name of the STBY\RST pin of the component.
Davidroid 0:92706998571a 150 * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 151 * @param spi SPI device to be used for communication.
Davidroid 0:92706998571a 152 * @retval a singleton instance of X_NUCLEO_IHM02A1 class.
Davidroid 0:92706998571a 153 */
Davidroid 1:b78dab6d2c58 154 X_NUCLEO_IHM02A1 *X_NUCLEO_IHM02A1::Instance(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi)
Davidroid 0:92706998571a 155 {
Davidroid 0:92706998571a 156 if (_instance == NULL)
Davidroid 0:92706998571a 157 {
Davidroid 0:92706998571a 158 /* SPI communication. */
Davidroid 0:92706998571a 159 if (spi == NULL)
Davidroid 0:92706998571a 160 spi = new DevSPI(X_NUCLEO_IHM02A1_PIN_SPI_MOSI, X_NUCLEO_IHM02A1_PIN_SPI_MISO, X_NUCLEO_IHM02A1_PIN_SPI_SCLK);
Davidroid 0:92706998571a 161
Davidroid 0:92706998571a 162 /* Instantiating the board. */
Davidroid 1:b78dab6d2c58 163 _instance = new X_NUCLEO_IHM02A1(flag_irq, busy_irq, standby_reset, ssel, spi);
Davidroid 0:92706998571a 164
Davidroid 0:92706998571a 165 /* Initializing the components. */
Davidroid 0:92706998571a 166 if (!_instance->Init())
Davidroid 0:92706998571a 167 error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\n");
Davidroid 0:92706998571a 168 }
Davidroid 0:92706998571a 169
Davidroid 0:92706998571a 170 return _instance;
Davidroid 0:92706998571a 171 }
Davidroid 0:92706998571a 172
Davidroid 0:92706998571a 173 /**
Davidroid 0:92706998571a 174 * @brief Getting a singleton instance of X_NUCLEO_IHM02A1 class.
Davidroid 0:92706998571a 175 * @param flag_irq pin name of the FLAG pin of the component.
Davidroid 1:b78dab6d2c58 176 * @param busy_irq pin name of the BUSY pin of the component.
Davidroid 0:92706998571a 177 * @param standby_reset pin name of the STBY\RST pin of the component.
Davidroid 0:92706998571a 178 * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 179 * @param mosi pin name of the MOSI pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 180 * @param miso pin name of the MISO pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 181 * @param sclk pin name of the SCLK pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 182 * @retval a singleton instance of X_NUCLEO_IHM02A1 class.
Davidroid 0:92706998571a 183 */
Davidroid 1:b78dab6d2c58 184 X_NUCLEO_IHM02A1 *X_NUCLEO_IHM02A1::Instance(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk)
Davidroid 0:92706998571a 185 {
Davidroid 0:92706998571a 186 if (_instance == NULL)
Davidroid 0:92706998571a 187 {
Davidroid 0:92706998571a 188 /* SPI communication. */
Davidroid 0:92706998571a 189 DevSPI *spi = new DevSPI(mosi, miso, sclk);
Davidroid 0:92706998571a 190
Davidroid 0:92706998571a 191 /* Instantiating the board. */
Davidroid 1:b78dab6d2c58 192 _instance = new X_NUCLEO_IHM02A1(flag_irq, busy_irq, standby_reset, ssel, spi);
Davidroid 0:92706998571a 193
Davidroid 0:92706998571a 194 /* Initializing the components. */
Davidroid 0:92706998571a 195 if (!_instance->Init())
Davidroid 0:92706998571a 196 error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\n");
Davidroid 0:92706998571a 197 }
Davidroid 0:92706998571a 198
Davidroid 0:92706998571a 199 return _instance;
Davidroid 0:92706998571a 200 }
Davidroid 0:92706998571a 201
Davidroid 0:92706998571a 202 /**
Davidroid 0:92706998571a 203 * @brief Initializing the X_NUCLEO_IHM02A1 board.
Davidroid 0:92706998571a 204 * @retval true if initialization is successful, false otherwise.
Davidroid 0:92706998571a 205 */
Davidroid 0:92706998571a 206 bool X_NUCLEO_IHM02A1::Init(void)
Davidroid 0:92706998571a 207 {
Davidroid 0:92706998571a 208 /* Initializing the components. */
Davidroid 0:92706998571a 209 /* ACTION 4 --------------------------------------------------------------*
Davidroid 0:92706998571a 210 * Initialize here the expansion board's components. *
Davidroid 0:92706998571a 211 * *
Davidroid 0:92706998571a 212 * Example: *
Davidroid 0:92706998571a 213 * return (Init_COMPONENT_1() && Init_COMPONENT_2()); *
Davidroid 0:92706998571a 214 *------------------------------------------------------------------------*/
Davidroid 0:92706998571a 215 return (Init_L6470_0() && Init_L6470_1());
Davidroid 0:92706998571a 216 }
Davidroid 0:92706998571a 217
Davidroid 0:92706998571a 218 /* ACTION 5 ------------------------------------------------------------------*
Davidroid 0:92706998571a 219 * Implement here an initialization method for each expansion board's *
Davidroid 0:92706998571a 220 * component. *
Davidroid 0:92706998571a 221 * *
Davidroid 0:92706998571a 222 * Example: *
Davidroid 0:92706998571a 223 * bool EXPANSION_BOARD::Init_COMPONENT_1(void) *
Davidroid 0:92706998571a 224 * { *
Davidroid 0:92706998571a 225 * // Verifying identity. *
Davidroid 0:92706998571a 226 * uint8_t id = 0; *
Davidroid 0:92706998571a 227 * int ret = component_1->ReadID(&id); *
Davidroid 0:92706998571a 228 * if ((ret != COMPONENT_OK) || (id != I_AM_COMPONENT_1)) *
Davidroid 0:92706998571a 229 * { *
Davidroid 0:92706998571a 230 * delete component_1; *
Davidroid 0:92706998571a 231 * component_1 = NULL; *
Davidroid 0:92706998571a 232 * return true; *
Davidroid 0:92706998571a 233 * } *
Davidroid 0:92706998571a 234 * *
Davidroid 0:92706998571a 235 * // Configuration. *
Davidroid 0:92706998571a 236 * INTERFACE_InitTypeDef InitStructure; *
Davidroid 0:92706998571a 237 * InitStructure.Property_1 = COMPONENT_1_PROPERY_1_INIT; *
Davidroid 0:92706998571a 238 * InitStructure.Property_N = COMPONENT_1_PROPERY_N_INIT; *
Davidroid 0:92706998571a 239 * *
Davidroid 0:92706998571a 240 * // Initialization. *
Davidroid 0:92706998571a 241 * if (component_1->Init(&InitStructure) != COMPONENT_OK) *
Davidroid 0:92706998571a 242 * return false; *
Davidroid 0:92706998571a 243 * *
Davidroid 0:92706998571a 244 * return true; *
Davidroid 0:92706998571a 245 * } *
Davidroid 0:92706998571a 246 *----------------------------------------------------------------------------*/
Davidroid 0:92706998571a 247 /**
Davidroid 0:92706998571a 248 * @brief Initialize the L6470 component.
Davidroid 0:92706998571a 249 * @retval true if initialization is successful, false otherwise.
Davidroid 0:92706998571a 250 */
Davidroid 0:92706998571a 251 bool X_NUCLEO_IHM02A1::Init_L6470_0(void)
Davidroid 0:92706998571a 252 {
Davidroid 0:92706998571a 253 /* Initialization. */
Davidroid 0:92706998571a 254 if (l6470_0->Init((void *) &MotorParameterInitData[X_NUCLEO_IHM02A1_Id][0]) != COMPONENT_OK)
Davidroid 0:92706998571a 255 return false;
Davidroid 0:92706998571a 256
Davidroid 0:92706998571a 257 return true;
Davidroid 0:92706998571a 258 }
Davidroid 0:92706998571a 259
Davidroid 0:92706998571a 260 /**
Davidroid 0:92706998571a 261 * @brief Initialize the L6470 component.
Davidroid 0:92706998571a 262 * @retval true if initialization is successful, false otherwise.
Davidroid 0:92706998571a 263 */
Davidroid 0:92706998571a 264 bool X_NUCLEO_IHM02A1::Init_L6470_1(void)
Davidroid 0:92706998571a 265 {
Davidroid 0:92706998571a 266 /* Initialization. */
Davidroid 0:92706998571a 267 if (l6470_1->Init((void *) &MotorParameterInitData[X_NUCLEO_IHM02A1_Id][1]) != COMPONENT_OK)
Davidroid 0:92706998571a 268 return false;
Davidroid 0:92706998571a 269
Davidroid 0:92706998571a 270 return true;
Davidroid 0:92706998571a 271 }
Davidroid 0:92706998571a 272
Davidroid 0:92706998571a 273 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/