Diff: BSP/x_nucleo_ihm02a1_class.cpp

Revision:

0:92706998571a

Child:

1:b78dab6d2c58

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BSP/x_nucleo_ihm02a1_class.cpp	Fri Nov 20 18:07:45 2015 +0000
@@ -0,0 +1,270 @@
+/**
+ ******************************************************************************
+ * @file    x_nucleo_ihm02a1_class.cpp
+ * @author  AST / Software Platforms and Cloud
+ * @version V1.0
+ * @date    November 3rd, 2015
+ * @brief   Implementation file for the X_NUCLEO_IHM02A1 expansion board.
+ ******************************************************************************
+ * @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 -----------------------------------------------*/
+
+
+/* Includes ------------------------------------------------------------------*/
+
+/* ACTION 1 ------------------------------------------------------------------*
+ * Include here platform specific header files.                               *
+ *----------------------------------------------------------------------------*/        
+#include "mbed.h"
+#include "DevSPI.h"
+/* ACTION 2 ------------------------------------------------------------------*
+ * Include here expansion board specific header files.                        *
+ *----------------------------------------------------------------------------*/        
+#include "x_nucleo_ihm02a1_class.h"
+
+
+/* Static variables ----------------------------------------------------------*/
+
+/* Singleton instance of X_NUCLEO_IHM02A1 class. */
+X_NUCLEO_IHM02A1 *X_NUCLEO_IHM02A1::_instance;
+
+/* Number of instantiated expansion boards. */
+uint8_t X_NUCLEO_IHM02A1::number_of_boards = 0;
+
+/**
+  * @brief This array contains the initial parameters for the motors that are
+  *        linked with each L6470 mounted on each stacked X-NUCLEO-IHM02A1.
+  */
+const MICROSTEPPING_MOTOR_InitTypeDef X_NUCLEO_IHM02A1::MotorParameterInitData[EXPBRD_MOUNTED_NR_MAX][L6470DAISYCHAINSIZE] =
+{
+  {
+    {
+      9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 400.0, 0.0, 602.7, 3.06, 3.06,\
+      3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
+      3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
+    },
+    {
+      9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 400.0, 0.0, 602.7, 3.06, 3.06,\
+      3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
+      3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
+    },
+  },
+  {
+    {
+      9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 400.0, 0.0, 602.7, 3.06, 3.06,\
+      3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
+      3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
+    },
+    {
+      9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 400.0, 0.0, 602.7, 3.06, 3.06,\
+      3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
+      3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
+    },
+  },
+  {
+    {
+      9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 400.0, 0.0, 602.7, 3.06, 3.06,\
+      3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
+      3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
+    },
+    {
+      9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 400.0, 0.0, 602.7, 3.06, 3.06,\
+      3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
+      3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
+    },
+  },
+  {
+    {
+      9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 400.0, 0.0, 602.7, 3.06, 3.06,\
+      3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
+      3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
+    },
+    {
+      9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 400.0, 0.0, 602.7, 3.06, 3.06,\
+      3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
+      3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
+    },
+  },
+};
+
+
+/* Methods -------------------------------------------------------------------*/
+
+/**
+ * @brief Constructor.
+ * @param flag_irq      pin name of the FLAG pin of the component.
+ * @param standby_reset pin name of the STBY\RST pin of the component.
+ * @param ssel          pin name of the SSEL pin of the SPI device to be used for communication.
+ * @param spi           SPI device to be used for communication.
+ */
+X_NUCLEO_IHM02A1::X_NUCLEO_IHM02A1(PinName flag_irq, PinName standby_reset, PinName ssel, DevSPI *spi) : dev_spi(spi)
+{
+    /* Instantiating the components. */
+    /* ACTION 3 --------------------------------------------------------------*
+     * Instantiate here the expansion board's components.                     *
+     *                                                                        *
+     * Example:                                                               *
+     *   component_1 = new COMPONENT_1(COMPONENT_1_SPI_SSEL, *dev_spi);       *
+     *   component_2 = new COMPONENT_2(COMPONENT_2_SPI_SSEL, *dev_spi);       *
+     *------------------------------------------------------------------------*/
+    X_NUCLEO_IHM02A1_Id = number_of_boards++;
+    l6470_0 = new L6470(flag_irq, standby_reset, ssel, *dev_spi);
+    l6470_1 = new L6470(flag_irq, standby_reset, ssel, *dev_spi);
+}
+
+/**
+ * @brief Getting a singleton instance of X_NUCLEO_IHM02A1 class.
+ * @param flag_irq      pin name of the FLAG pin of the component.
+ * @param standby_reset pin name of the STBY\RST pin of the component.
+ * @param ssel          pin name of the SSEL pin of the SPI device to be used for communication.
+ * @param spi           SPI device to be used for communication.
+ * @retval a singleton instance of X_NUCLEO_IHM02A1 class.
+ */
+X_NUCLEO_IHM02A1 *X_NUCLEO_IHM02A1::Instance(PinName flag_irq, PinName standby_reset, PinName ssel, DevSPI *spi)
+{
+    if (_instance == NULL)
+    {
+        /* SPI communication. */
+        if (spi == NULL)
+            spi = new DevSPI(X_NUCLEO_IHM02A1_PIN_SPI_MOSI, X_NUCLEO_IHM02A1_PIN_SPI_MISO, X_NUCLEO_IHM02A1_PIN_SPI_SCLK);
+
+        /* Instantiating the board. */
+        _instance = new X_NUCLEO_IHM02A1(flag_irq, standby_reset, ssel, spi);
+
+        /* Initializing the components. */
+        if (!_instance->Init())
+            error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\n");
+    }
+
+    return _instance;
+}
+
+/**
+ * @brief Getting a singleton instance of X_NUCLEO_IHM02A1 class.
+ * @param flag_irq      pin name of the FLAG pin of the component.
+ * @param standby_reset pin name of the STBY\RST pin of the component.
+ * @param ssel          pin name of the SSEL pin of the SPI device to be used for communication.
+ * @param mosi          pin name of the MOSI pin of the SPI device to be used for communication.
+ * @param miso          pin name of the MISO pin of the SPI device to be used for communication.
+ * @param sclk          pin name of the SCLK pin of the SPI device to be used for communication.
+ * @retval a singleton instance of X_NUCLEO_IHM02A1 class.
+ */
+X_NUCLEO_IHM02A1 *X_NUCLEO_IHM02A1::Instance(PinName flag_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk)
+{
+    if (_instance == NULL)
+    {
+        /* SPI communication. */
+        DevSPI *spi = new DevSPI(mosi, miso, sclk);
+
+        /* Instantiating the board. */
+        _instance = new X_NUCLEO_IHM02A1(flag_irq, standby_reset, ssel, spi);
+
+        /* Initializing the components. */
+        if (!_instance->Init())
+            error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\n");
+    }
+
+    return _instance;
+}
+
+/**
+ * @brief Initializing the X_NUCLEO_IHM02A1 board.
+ * @retval true if initialization is successful, false otherwise.
+ */
+bool X_NUCLEO_IHM02A1::Init(void)
+{
+    /* Initializing the components. */
+    /* ACTION 4 --------------------------------------------------------------*
+     * Initialize here the expansion board's components.                      *
+     *                                                                        *
+     * Example:                                                               *
+     *   return (Init_COMPONENT_1() && Init_COMPONENT_2());                   *
+     *------------------------------------------------------------------------*/
+    return (Init_L6470_0() && Init_L6470_1());
+}
+
+/* ACTION 5 ------------------------------------------------------------------*
+ * Implement here an initialization method for each expansion board's         *
+ * component.                                                                 *
+ *                                                                            *
+ * Example:                                                                   *
+ *   bool EXPANSION_BOARD::Init_COMPONENT_1(void)                             *
+ *   {                                                                        *
+ *     // Verifying identity.                                                 *
+ *     uint8_t id = 0;                                                        *
+ *     int ret = component_1->ReadID(&id);                                    *
+ *     if ((ret != COMPONENT_OK) || (id != I_AM_COMPONENT_1))                 *
+ *     {                                                                      *
+ *       delete component_1;                                                  *
+ *       component_1 = NULL;                                                  *
+ *       return true;                                                         *
+ *     }                                                                      *
+ *                                                                            *
+ *     // Configuration.                                                      *
+ *     INTERFACE_InitTypeDef InitStructure;                                   *
+ *     InitStructure.Property_1 = COMPONENT_1_PROPERY_1_INIT;                 *
+ *     InitStructure.Property_N = COMPONENT_1_PROPERY_N_INIT;                 *
+ *                                                                            *
+ *     // Initialization.                                                     *
+ *     if (component_1->Init(&InitStructure) != COMPONENT_OK)                 *
+ *       return false;                                                        *
+ *                                                                            *
+ *     return true;                                                           *
+ *   }                                                                        *
+ *----------------------------------------------------------------------------*/
+/**
+ * @brief  Initialize the L6470 component.
+ * @retval true if initialization is successful, false otherwise.
+ */
+bool X_NUCLEO_IHM02A1::Init_L6470_0(void)
+{
+    /* Initialization. */
+    if (l6470_0->Init((void *) &MotorParameterInitData[X_NUCLEO_IHM02A1_Id][0]) != COMPONENT_OK)
+        return false;
+
+    return true;
+}
+
+/**
+ * @brief  Initialize the L6470 component.
+ * @retval true if initialization is successful, false otherwise.
+ */
+bool X_NUCLEO_IHM02A1::Init_L6470_1(void)
+{
+    /* Initialization. */
+    if (l6470_1->Init((void *) &MotorParameterInitData[X_NUCLEO_IHM02A1_Id][1]) != COMPONENT_OK)
+        return false;
+
+    return true;
+}
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/