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

Committer:
Davidroid
Date:
Wed Nov 25 11:59:37 2015 +0000
Revision:
1:b78dab6d2c58
Parent:
0:92706998571a
Child:
4:381d76f5b0b4
+ 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 StepperMotor_class.h
Davidroid 0:92706998571a 4 * @author AST
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 0:92706998571a 58 /** Rotation modes. */
Davidroid 0:92706998571a 59 typedef enum
Davidroid 0:92706998571a 60 {
Davidroid 0:92706998571a 61 BWD = 0, /* Backward. */
Davidroid 0:92706998571a 62 FWD = 1 /* Forward. */
Davidroid 0:92706998571a 63 } direction_t;
Davidroid 0:92706998571a 64
Davidroid 0:92706998571a 65 /**
Davidroid 1:b78dab6d2c58 66 * @brief Getting the status.
Davidroid 0:92706998571a 67 * @param None.
Davidroid 1:b78dab6d2c58 68 * @retval The status.
Davidroid 0:92706998571a 69 */
Davidroid 0:92706998571a 70 virtual unsigned int GetStatus(void) = 0;
Davidroid 0:92706998571a 71
Davidroid 1:b78dab6d2c58 72 /**
Davidroid 0:92706998571a 73 * @brief Getting a parameter.
Davidroid 1:b78dab6d2c58 74 * @param parameter The parameter's identifier (or its register address).
Davidroid 1:b78dab6d2c58 75 * @retval The parameter's value.
Davidroid 0:92706998571a 76 */
Davidroid 0:92706998571a 77 virtual unsigned int GetParameter(unsigned int parameter) = 0;
Davidroid 0:92706998571a 78
Davidroid 1:b78dab6d2c58 79 /**
Davidroid 1:b78dab6d2c58 80 * @brief Getting the position.
Davidroid 1:b78dab6d2c58 81 * @param None.
Davidroid 1:b78dab6d2c58 82 * @retval The position.
Davidroid 1:b78dab6d2c58 83 */
Davidroid 0:92706998571a 84 virtual signed int GetPosition(void) = 0;
Davidroid 0:92706998571a 85
Davidroid 1:b78dab6d2c58 86 /**
Davidroid 1:b78dab6d2c58 87 * @brief Getting the marked position.
Davidroid 1:b78dab6d2c58 88 * @param None.
Davidroid 1:b78dab6d2c58 89 * @retval The marked position.
Davidroid 1:b78dab6d2c58 90 */
Davidroid 0:92706998571a 91 virtual signed int GetMark(void) = 0;
Davidroid 0:92706998571a 92
Davidroid 1:b78dab6d2c58 93 /**
Davidroid 1:b78dab6d2c58 94 * @brief Getting the current speed in pps.
Davidroid 1:b78dab6d2c58 95 * @param None.
Davidroid 1:b78dab6d2c58 96 * @retval The current speed in pps.
Davidroid 1:b78dab6d2c58 97 */
Davidroid 0:92706998571a 98 virtual unsigned int GetSpeed(void) = 0;
Davidroid 0:92706998571a 99
Davidroid 1:b78dab6d2c58 100 /**
Davidroid 1:b78dab6d2c58 101 * @brief Getting the maximum speed in pps.
Davidroid 1:b78dab6d2c58 102 * @param None.
Davidroid 1:b78dab6d2c58 103 * @retval The maximum speed in pps.
Davidroid 1:b78dab6d2c58 104 */
Davidroid 0:92706998571a 105 virtual unsigned int GetMaxSpeed(void) = 0;
Davidroid 0:92706998571a 106
Davidroid 1:b78dab6d2c58 107 /**
Davidroid 1:b78dab6d2c58 108 * @brief Getting the minimum speed in pps.
Davidroid 1:b78dab6d2c58 109 * @param None.
Davidroid 1:b78dab6d2c58 110 * @retval The minimum speed in pps.
Davidroid 1:b78dab6d2c58 111 */
Davidroid 0:92706998571a 112 virtual unsigned int GetMinSpeed(void) = 0;
Davidroid 0:92706998571a 113
Davidroid 1:b78dab6d2c58 114 /**
Davidroid 1:b78dab6d2c58 115 * @brief Getting the acceleration in pps^2.
Davidroid 1:b78dab6d2c58 116 * @param None.
Davidroid 1:b78dab6d2c58 117 * @retval The acceleration in pps^2.
Davidroid 1:b78dab6d2c58 118 */
Davidroid 0:92706998571a 119 virtual unsigned int GetAcceleration(void) = 0;
Davidroid 0:92706998571a 120
Davidroid 1:b78dab6d2c58 121 /**
Davidroid 1:b78dab6d2c58 122 * @brief Getting the deceleration in pps^2.
Davidroid 1:b78dab6d2c58 123 * @param None.
Davidroid 1:b78dab6d2c58 124 * @retval The deceleration in pps^2.
Davidroid 1:b78dab6d2c58 125 */
Davidroid 0:92706998571a 126 virtual unsigned int GetDeceleration(void) = 0;
Davidroid 0:92706998571a 127
Davidroid 1:b78dab6d2c58 128 /**
Davidroid 1:b78dab6d2c58 129 * @brief Getting the direction of rotation.
Davidroid 1:b78dab6d2c58 130 * @param None.
Davidroid 1:b78dab6d2c58 131 * @retval The direction of rotation.
Davidroid 1:b78dab6d2c58 132 */
Davidroid 0:92706998571a 133 virtual direction_t GetDirection(void) = 0;
Davidroid 0:92706998571a 134
Davidroid 0:92706998571a 135 /**
Davidroid 0:92706998571a 136 * @brief Setting a parameter.
Davidroid 1:b78dab6d2c58 137 * @param parameter The parameter's identifier (or its register address).
Davidroid 1:b78dab6d2c58 138 * @param value The parameter's value.
Davidroid 0:92706998571a 139 * @retval None.
Davidroid 0:92706998571a 140 */
Davidroid 0:92706998571a 141 virtual void SetParameter(unsigned int parameter, unsigned int value) = 0;
Davidroid 0:92706998571a 142
Davidroid 1:b78dab6d2c58 143 /**
Davidroid 1:b78dab6d2c58 144 * @brief Setting the current position to be the home position.
Davidroid 1:b78dab6d2c58 145 * @param None.
Davidroid 1:b78dab6d2c58 146 * @retval None.
Davidroid 1:b78dab6d2c58 147 */
Davidroid 0:92706998571a 148 virtual void SetHome(void) = 0;
Davidroid 0:92706998571a 149
Davidroid 1:b78dab6d2c58 150 /**
Davidroid 1:b78dab6d2c58 151 * @brief Setting the current position to be the marked position.
Davidroid 1:b78dab6d2c58 152 * @param None.
Davidroid 1:b78dab6d2c58 153 * @retval None.
Davidroid 1:b78dab6d2c58 154 */
Davidroid 0:92706998571a 155 virtual void SetMark(void) = 0;
Davidroid 0:92706998571a 156
Davidroid 1:b78dab6d2c58 157 /**
Davidroid 1:b78dab6d2c58 158 * @brief Setting the maximum speed in pps.
Davidroid 1:b78dab6d2c58 159 * @param speed The maximum speed in pps.
Davidroid 1:b78dab6d2c58 160 * @retval None.
Davidroid 1:b78dab6d2c58 161 */
Davidroid 0:92706998571a 162 virtual void SetMaxSpeed(unsigned int speed) = 0;
Davidroid 0:92706998571a 163
Davidroid 1:b78dab6d2c58 164 /**
Davidroid 1:b78dab6d2c58 165 * @brief Setting the minimum speed in pps.
Davidroid 1:b78dab6d2c58 166 * @param speed The minimum speed in pps.
Davidroid 1:b78dab6d2c58 167 * @retval None.
Davidroid 1:b78dab6d2c58 168 */
Davidroid 0:92706998571a 169 virtual void SetMinSpeed(unsigned int speed) = 0;
Davidroid 0:92706998571a 170
Davidroid 1:b78dab6d2c58 171 /**
Davidroid 1:b78dab6d2c58 172 * @brief Setting the acceleration in pps^2.
Davidroid 1:b78dab6d2c58 173 * @param acceleration The acceleration in pps^2.
Davidroid 1:b78dab6d2c58 174 * @retval None.
Davidroid 1:b78dab6d2c58 175 */
Davidroid 0:92706998571a 176 virtual void SetAcceleration(unsigned int acceleration) = 0;
Davidroid 0:92706998571a 177
Davidroid 1:b78dab6d2c58 178 /**
Davidroid 1:b78dab6d2c58 179 * @brief Setting the deceleration in pps^2.
Davidroid 1:b78dab6d2c58 180 * @param deceleration The deceleration in pps^2.
Davidroid 1:b78dab6d2c58 181 * @retval None.
Davidroid 1:b78dab6d2c58 182 */
Davidroid 0:92706998571a 183 virtual void SetDeceleration(unsigned int deceleration) = 0;
Davidroid 0:92706998571a 184
Davidroid 1:b78dab6d2c58 185 /**
Davidroid 1:b78dab6d2c58 186 * @brief Going to a specified position.
Davidroid 1:b78dab6d2c58 187 * @param position The desired position.
Davidroid 1:b78dab6d2c58 188 * @retval None.
Davidroid 1:b78dab6d2c58 189 */
Davidroid 0:92706998571a 190 virtual void GoTo(signed int position) = 0;
Davidroid 0:92706998571a 191
Davidroid 1:b78dab6d2c58 192 /**
Davidroid 1:b78dab6d2c58 193 * @brief Going to the home position.
Davidroid 1:b78dab6d2c58 194 * @param None.
Davidroid 1:b78dab6d2c58 195 * @retval None.
Davidroid 1:b78dab6d2c58 196 */
Davidroid 0:92706998571a 197 virtual void GoHome(void) = 0;
Davidroid 0:92706998571a 198
Davidroid 1:b78dab6d2c58 199 /**
Davidroid 1:b78dab6d2c58 200 * @brief Going to the marked position.
Davidroid 1:b78dab6d2c58 201 * @param None.
Davidroid 1:b78dab6d2c58 202 * @retval None.
Davidroid 1:b78dab6d2c58 203 */
Davidroid 0:92706998571a 204 virtual void GoMark(void) = 0;
Davidroid 0:92706998571a 205
Davidroid 1:b78dab6d2c58 206 /**
Davidroid 1:b78dab6d2c58 207 * @brief Running the motor towards a specified direction.
Davidroid 1:b78dab6d2c58 208 * @param direction The direction of rotation.
Davidroid 1:b78dab6d2c58 209 * @retval None.
Davidroid 1:b78dab6d2c58 210 */
Davidroid 0:92706998571a 211 virtual void Run(direction_t direction) = 0;
Davidroid 0:92706998571a 212
Davidroid 1:b78dab6d2c58 213 /**
Davidroid 1:b78dab6d2c58 214 * @brief Moving the motor towards a specified direction for a certain number of steps.
Davidroid 1:b78dab6d2c58 215 * @param direction The direction of rotation.
Davidroid 1:b78dab6d2c58 216 * @param steps The desired number of steps.
Davidroid 1:b78dab6d2c58 217 * @retval None.
Davidroid 1:b78dab6d2c58 218 */
Davidroid 0:92706998571a 219 virtual void Move(direction_t direction, unsigned int steps) = 0;
Davidroid 0:92706998571a 220
Davidroid 1:b78dab6d2c58 221 /**
Davidroid 1:b78dab6d2c58 222 * @brief Stopping the motor.
Davidroid 1:b78dab6d2c58 223 * @param None.
Davidroid 1:b78dab6d2c58 224 * @retval None.
Davidroid 1:b78dab6d2c58 225 */
Davidroid 0:92706998571a 226 virtual void SoftStop(void) = 0;
Davidroid 0:92706998571a 227
Davidroid 1:b78dab6d2c58 228 /**
Davidroid 1:b78dab6d2c58 229 * @brief Stopping the motor and disabling the power bridge.
Davidroid 1:b78dab6d2c58 230 * @param None.
Davidroid 1:b78dab6d2c58 231 * @retval None.
Davidroid 1:b78dab6d2c58 232 */
Davidroid 0:92706998571a 233 virtual void HardStop(void) = 0;
Davidroid 0:92706998571a 234
Davidroid 1:b78dab6d2c58 235 /**
Davidroid 1:b78dab6d2c58 236 * @brief Waiting while the motor is active.
Davidroid 1:b78dab6d2c58 237 * @param None.
Davidroid 1:b78dab6d2c58 238 * @retval None.
Davidroid 1:b78dab6d2c58 239 */
Davidroid 0:92706998571a 240 virtual void WaitWhileActive(void) = 0;
Davidroid 0:92706998571a 241 };
Davidroid 0:92706998571a 242
Davidroid 0:92706998571a 243 #endif /* __STEPPERMOTOR_CLASS_H */
Davidroid 0:92706998571a 244
Davidroid 0:92706998571a 245 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/