Use BDCMotor_class.h instead of motor_class.h
Dependents: HelloWorld_IHM04A1
Fork of X_NUCLEO_IHM04A1 by
Components/Interfaces/Motor_class.h@1:2597a6165252, 2016-05-17 (annotated)
- Committer:
- brdirais
- Date:
- Tue May 17 09:45:13 2016 +0000
- Revision:
- 1:2597a6165252
- Parent:
- 0:2cb6ce8e07bd
- Add of Doxygen comments to all functions where missing.; - Suppression of non-used library X-NUCLEO-COMMON; - Update of MBed SDK; - Update of comments in source code
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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brdirais | 1:2597a6165252 | 1 | /** |
brdirais | 1:2597a6165252 | 2 | ****************************************************************************** |
brdirais | 1:2597a6165252 | 3 | * @file Motor_class.h |
brdirais | 1:2597a6165252 | 4 | * @author AST |
brdirais | 1:2597a6165252 | 5 | * @version V1.0.0 |
brdirais | 1:2597a6165252 | 6 | * @date April 13th, 2015 |
brdirais | 1:2597a6165252 | 7 | * @brief This file contains the abstract class describing the interface of a |
brdirais | 1:2597a6165252 | 8 | * motor component. |
brdirais | 1:2597a6165252 | 9 | ****************************************************************************** |
brdirais | 1:2597a6165252 | 10 | * @attention |
brdirais | 1:2597a6165252 | 11 | * |
brdirais | 1:2597a6165252 | 12 | * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2> |
brdirais | 1:2597a6165252 | 13 | * |
brdirais | 1:2597a6165252 | 14 | * Redistribution and use in source and binary forms, with or without modification, |
brdirais | 1:2597a6165252 | 15 | * are permitted provided that the following conditions are met: |
brdirais | 1:2597a6165252 | 16 | * 1. Redistributions of source code must retain the above copyright notice, |
brdirais | 1:2597a6165252 | 17 | * this list of conditions and the following disclaimer. |
brdirais | 1:2597a6165252 | 18 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
brdirais | 1:2597a6165252 | 19 | * this list of conditions and the following disclaimer in the documentation |
brdirais | 1:2597a6165252 | 20 | * and/or other materials provided with the distribution. |
brdirais | 1:2597a6165252 | 21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
brdirais | 1:2597a6165252 | 22 | * may be used to endorse or promote products derived from this software |
brdirais | 1:2597a6165252 | 23 | * without specific prior written permission. |
brdirais | 1:2597a6165252 | 24 | * |
brdirais | 1:2597a6165252 | 25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
brdirais | 1:2597a6165252 | 26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
brdirais | 1:2597a6165252 | 27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
brdirais | 1:2597a6165252 | 28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
brdirais | 1:2597a6165252 | 29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
brdirais | 1:2597a6165252 | 30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
brdirais | 1:2597a6165252 | 31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
brdirais | 1:2597a6165252 | 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
brdirais | 1:2597a6165252 | 33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
brdirais | 1:2597a6165252 | 34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
brdirais | 1:2597a6165252 | 35 | * |
brdirais | 1:2597a6165252 | 36 | ****************************************************************************** |
brdirais | 1:2597a6165252 | 37 | */ |
brdirais | 1:2597a6165252 | 38 | |
brdirais | 1:2597a6165252 | 39 | |
brdirais | 1:2597a6165252 | 40 | /* Generated with STM32CubeTOO -----------------------------------------------*/ |
brdirais | 1:2597a6165252 | 41 | |
brdirais | 1:2597a6165252 | 42 | |
brdirais | 1:2597a6165252 | 43 | /* Revision ------------------------------------------------------------------*/ |
brdirais | 1:2597a6165252 | 44 | /* |
brdirais | 1:2597a6165252 | 45 | Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev |
brdirais | 1:2597a6165252 | 46 | Branch/Trunk/Tag: trunk |
brdirais | 1:2597a6165252 | 47 | Based on: X-CUBE-SPN4/trunk/Drivers/BSP/Components/Common/motor.h |
brdirais | 1:2597a6165252 | 48 | Revision: 0 |
brdirais | 1:2597a6165252 | 49 | */ |
brdirais | 1:2597a6165252 | 50 | |
brdirais | 1:2597a6165252 | 51 | |
brdirais | 1:2597a6165252 | 52 | /* Define to prevent recursive inclusion -------------------------------------*/ |
brdirais | 1:2597a6165252 | 53 | |
brdirais | 1:2597a6165252 | 54 | #ifndef __MOTOR_CLASS_H |
brdirais | 1:2597a6165252 | 55 | #define __MOTOR_CLASS_H |
brdirais | 1:2597a6165252 | 56 | |
brdirais | 1:2597a6165252 | 57 | |
brdirais | 1:2597a6165252 | 58 | /* Includes ------------------------------------------------------------------*/ |
brdirais | 1:2597a6165252 | 59 | |
brdirais | 1:2597a6165252 | 60 | #include "Component_class.h" |
brdirais | 1:2597a6165252 | 61 | |
brdirais | 1:2597a6165252 | 62 | |
brdirais | 1:2597a6165252 | 63 | /* Classes ------------------------------------------------------------------*/ |
brdirais | 0:2cb6ce8e07bd | 64 | |
brdirais | 1:2597a6165252 | 65 | /** An abstract class for Motor components. |
brdirais | 1:2597a6165252 | 66 | */ |
brdirais | 1:2597a6165252 | 67 | class Motor : public Component |
brdirais | 1:2597a6165252 | 68 | { |
brdirais | 1:2597a6165252 | 69 | public: |
brdirais | 1:2597a6165252 | 70 | /* ACTION 1 --------------------------------------------------------------* |
brdirais | 1:2597a6165252 | 71 | * Declare here the interface's methods. * |
brdirais | 1:2597a6165252 | 72 | * They should be: * |
brdirais | 1:2597a6165252 | 73 | * + Methods with the same name of the C component's virtual table * |
brdirais | 1:2597a6165252 | 74 | * (and extended virtual table, if any)'s functions, provided that * |
brdirais | 1:2597a6165252 | 75 | * the component's driver implements them (i.e.: the corresponding * |
brdirais | 1:2597a6165252 | 76 | * pointer to function is not "0"). * |
brdirais | 1:2597a6165252 | 77 | * * |
brdirais | 1:2597a6165252 | 78 | * Example: * |
brdirais | 1:2597a6165252 | 79 | * virtual int GetValue(float *f) = 0; * |
brdirais | 1:2597a6165252 | 80 | *------------------------------------------------------------------------*/ |
brdirais | 1:2597a6165252 | 81 | |
brdirais | 1:2597a6165252 | 82 | /** |
brdirais | 1:2597a6165252 | 83 | * @brief Getting the current speed in pps. |
brdirais | 1:2597a6165252 | 84 | * @param None. |
brdirais | 1:2597a6165252 | 85 | * @retval The current speed in pps. |
brdirais | 1:2597a6165252 | 86 | */ |
brdirais | 1:2597a6165252 | 87 | virtual uint16_t GetCurrentSpeed(uint8_t motorId) = 0; |
brdirais | 1:2597a6165252 | 88 | |
brdirais | 1:2597a6165252 | 89 | /** |
brdirais | 1:2597a6165252 | 90 | * @brief Returns the device state |
brdirais | 1:2597a6165252 | 91 | * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS |
brdirais | 1:2597a6165252 | 92 | * @retval State (STEADY or INACTIVE) |
brdirais | 1:2597a6165252 | 93 | */ |
brdirais | 1:2597a6165252 | 94 | virtual motorState_t GetDeviceState(uint8_t motorId) = 0; |
brdirais | 1:2597a6165252 | 95 | |
brdirais | 1:2597a6165252 | 96 | /** |
brdirais | 1:2597a6165252 | 97 | * @brief Returns the FW version of the library |
brdirais | 1:2597a6165252 | 98 | * @retval L6206_FW_VERSION |
brdirais | 1:2597a6165252 | 99 | */ |
brdirais | 1:2597a6165252 | 100 | virtual uint8_t GetFwVersion(void) = 0; |
brdirais | 1:2597a6165252 | 101 | |
brdirais | 1:2597a6165252 | 102 | /** |
brdirais | 1:2597a6165252 | 103 | * @brief Returns the max speed of the specified motor |
brdirais | 1:2597a6165252 | 104 | * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS |
brdirais | 1:2597a6165252 | 105 | * @retval maxSpeed in % from 0 to 100 |
brdirais | 1:2597a6165252 | 106 | */ |
brdirais | 1:2597a6165252 | 107 | virtual uint16_t GetMaxSpeed(uint8_t motorId) = 0; |
brdirais | 1:2597a6165252 | 108 | |
brdirais | 1:2597a6165252 | 109 | /** |
brdirais | 1:2597a6165252 | 110 | * @brief Stops the motor without disabling the bridge |
brdirais | 1:2597a6165252 | 111 | * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS |
brdirais | 1:2597a6165252 | 112 | * @retval none |
brdirais | 1:2597a6165252 | 113 | */ |
brdirais | 1:2597a6165252 | 114 | virtual void HardStop(uint8_t motorId) = 0; |
brdirais | 1:2597a6165252 | 115 | |
brdirais | 1:2597a6165252 | 116 | /** |
brdirais | 1:2597a6165252 | 117 | * @brief Runs the motor |
brdirais | 1:2597a6165252 | 118 | * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS |
brdirais | 1:2597a6165252 | 119 | * @param[in] direction FORWARD or BACKWARD |
brdirais | 1:2597a6165252 | 120 | * @retval None |
brdirais | 1:2597a6165252 | 121 | * @note For unidirectionnal motor, direction parameter has no effect |
brdirais | 1:2597a6165252 | 122 | */ |
brdirais | 1:2597a6165252 | 123 | virtual void Run(uint8_t stepCount, motorDir_t direction) = 0; |
brdirais | 1:2597a6165252 | 124 | |
brdirais | 1:2597a6165252 | 125 | /** |
brdirais | 1:2597a6165252 | 126 | * @brief Changes the max speed of the specified device |
brdirais | 1:2597a6165252 | 127 | * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS |
brdirais | 1:2597a6165252 | 128 | * @param[in] newMaxSpeed in % from 0 to 100 |
brdirais | 1:2597a6165252 | 129 | * @retval true if the command is successfully executed, else false |
brdirais | 1:2597a6165252 | 130 | */ |
brdirais | 1:2597a6165252 | 131 | virtual bool SetMaxSpeed(uint8_t motorId, uint16_t newMaxSpeed) = 0; |
brdirais | 1:2597a6165252 | 132 | |
brdirais | 1:2597a6165252 | 133 | /** |
brdirais | 1:2597a6165252 | 134 | * @brief Disable the specified bridge |
brdirais | 1:2597a6165252 | 135 | * @param[in] bridgeId (from 0 for bridge A to 1 for bridge B) |
brdirais | 1:2597a6165252 | 136 | * @retval None |
brdirais | 1:2597a6165252 | 137 | * @note When input of different brigdes are parallelized |
brdirais | 1:2597a6165252 | 138 | * together, the disabling of one bridge leads to the disabling |
brdirais | 1:2597a6165252 | 139 | * of the second one |
brdirais | 1:2597a6165252 | 140 | */ |
brdirais | 1:2597a6165252 | 141 | virtual void CmdDisable(uint8_t bridgeId) = 0; |
brdirais | 1:2597a6165252 | 142 | |
brdirais | 1:2597a6165252 | 143 | /** |
brdirais | 1:2597a6165252 | 144 | * @brief Enable the specified bridge |
brdirais | 1:2597a6165252 | 145 | * @param[in] bridgeId (from 0 for bridge A to 1 for bridge B) |
brdirais | 1:2597a6165252 | 146 | * @retval None |
brdirais | 1:2597a6165252 | 147 | * @note When input of different brigdes are parallelized |
brdirais | 1:2597a6165252 | 148 | * together, the enabling of one bridge leads to the enabling |
brdirais | 1:2597a6165252 | 149 | * of the second one |
brdirais | 1:2597a6165252 | 150 | */ |
brdirais | 1:2597a6165252 | 151 | virtual void CmdEnable(uint8_t bridgeId) = 0; |
brdirais | 1:2597a6165252 | 152 | |
brdirais | 1:2597a6165252 | 153 | /** |
brdirais | 1:2597a6165252 | 154 | * @brief Get the status of the bridge enabling of the corresponding bridge |
brdirais | 1:2597a6165252 | 155 | * @param[in] bridgeId from 0 for bridge A to 1 for bridge B |
brdirais | 1:2597a6165252 | 156 | * @retval State of the Enable&Flag pin of the corresponding bridge (1 set, 0 for reset) |
brdirais | 1:2597a6165252 | 157 | */ |
brdirais | 1:2597a6165252 | 158 | virtual uint16_t CmdGetStatus(uint8_t bridgeId) = 0; |
brdirais | 1:2597a6165252 | 159 | |
brdirais | 1:2597a6165252 | 160 | /** |
brdirais | 1:2597a6165252 | 161 | * @brief Immediatly stops the motor and disable the power bridge |
brdirais | 1:2597a6165252 | 162 | * @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS |
brdirais | 1:2597a6165252 | 163 | * @retval None |
brdirais | 1:2597a6165252 | 164 | * @note if two motors uses the same power bridge, the |
brdirais | 1:2597a6165252 | 165 | * power bridge will be disable only if the two motors are stopped |
brdirais | 1:2597a6165252 | 166 | */ |
brdirais | 1:2597a6165252 | 167 | virtual void CmdHardHiZ(uint8_t motorId) = 0; |
brdirais | 1:2597a6165252 | 168 | |
brdirais | 1:2597a6165252 | 169 | /** |
brdirais | 1:2597a6165252 | 170 | * @brief Error handler which calls the user callback (if defined) |
brdirais | 1:2597a6165252 | 171 | * @param[in] error Number of the error |
brdirais | 1:2597a6165252 | 172 | * @retval None |
brdirais | 1:2597a6165252 | 173 | */ |
brdirais | 1:2597a6165252 | 174 | virtual void ErrorHandler(uint16_t error) = 0; |
brdirais | 1:2597a6165252 | 175 | |
brdirais | 1:2597a6165252 | 176 | /** |
brdirais | 1:2597a6165252 | 177 | * @brief Set dual full bridge parallelling configuration |
brdirais | 1:2597a6165252 | 178 | * @param[in] newConfig bridge configuration to apply from |
brdirais | 1:2597a6165252 | 179 | * dualFullBridgeConfig_t enum |
brdirais | 1:2597a6165252 | 180 | * @retval None |
brdirais | 1:2597a6165252 | 181 | */ |
brdirais | 1:2597a6165252 | 182 | virtual void SetDualFullBridgeConfig(uint8_t newConfig) = 0; |
brdirais | 1:2597a6165252 | 183 | |
brdirais | 1:2597a6165252 | 184 | /** |
brdirais | 1:2597a6165252 | 185 | * @brief Get the PWM frequency of the specified bridge |
brdirais | 1:2597a6165252 | 186 | * @param[in] bridgeId 0 for bridge A, 1 for bridge B |
brdirais | 1:2597a6165252 | 187 | * @retval Freq in Hz |
brdirais | 1:2597a6165252 | 188 | */ |
brdirais | 1:2597a6165252 | 189 | virtual uint32_t GetBridgeInputPwmFreq(uint8_t bridgeId) = 0; |
brdirais | 1:2597a6165252 | 190 | |
brdirais | 1:2597a6165252 | 191 | /** |
brdirais | 1:2597a6165252 | 192 | * @brief Changes the PWM frequency of the bridge input |
brdirais | 1:2597a6165252 | 193 | * @param[in] bridgeId 0 for bridge A, 1 for bridge B |
brdirais | 1:2597a6165252 | 194 | * @param[in] newFreq in Hz |
brdirais | 1:2597a6165252 | 195 | * @retval None |
brdirais | 1:2597a6165252 | 196 | */ |
brdirais | 1:2597a6165252 | 197 | virtual void SetBridgeInputPwmFreq(uint8_t bridgeId, uint32_t newFreq) = 0; |
brdirais | 1:2597a6165252 | 198 | |
brdirais | 1:2597a6165252 | 199 | /** |
brdirais | 1:2597a6165252 | 200 | * @brief Sets the number of devices to be used |
brdirais | 1:2597a6165252 | 201 | * @param[in] nbDevices (from 1 to MAX_NUMBER_OF_DEVICES) |
brdirais | 1:2597a6165252 | 202 | * @retval TRUE if successfull, FALSE if failure, attempt to set a number of |
brdirais | 1:2597a6165252 | 203 | * devices greater than MAX_NUMBER_OF_DEVICES |
brdirais | 1:2597a6165252 | 204 | */ |
brdirais | 1:2597a6165252 | 205 | virtual bool SetNbDevices(uint8_t nbDevices) = 0; |
brdirais | 1:2597a6165252 | 206 | }; |
brdirais | 1:2597a6165252 | 207 | |
brdirais | 1:2597a6165252 | 208 | #endif /* __MOTOR_CLASS_H */ |
brdirais | 1:2597a6165252 | 209 | |
brdirais | 1:2597a6165252 | 210 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ |
brdirais | 1:2597a6165252 | 211 |