Diff: Components/Interfaces/Motor_class.h

Revision:

1:2597a6165252

Parent:

0:2cb6ce8e07bd

--- a/Components/Interfaces/Motor_class.h	Tue May 03 11:16:57 2016 +0000
+++ b/Components/Interfaces/Motor_class.h	Tue May 17 09:45:13 2016 +0000
@@ -1,102 +1,211 @@
-/**
- ******************************************************************************
- * @file    Motor_class.h
- * @author  AST
- * @version V1.0.0
- * @date    April 13th, 2015
- * @brief   This file contains the abstract class describing the interface of a
- *          motor component.
- ******************************************************************************
- * @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 -----------------------------------------------*/
-
-
-/* Revision ------------------------------------------------------------------*/
-/*
-	Repository:       http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
-	Branch/Trunk/Tag: trunk
-	Based on:         X-CUBE-SPN4/trunk/Drivers/BSP/Components/Common/motor.h
-	Revision:         0
-*/
-
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-
-#ifndef __MOTOR_CLASS_H
-#define __MOTOR_CLASS_H
-
-
-/* Includes ------------------------------------------------------------------*/
-
-#include "Component_class.h"
-
-
-/* Classes  ------------------------------------------------------------------*/
-
-/** An abstract class for Motor components.
- */
-class Motor : public Component
-{
-public:
-	/* ACTION 1 --------------------------------------------------------------*
-	 * Declare here the interface's methods.                                  *
-	 * They should be:                                                        *
-	 *   + Methods with the same name of the C component's virtual table      *
-	 *     (and extended virtual table, if any)'s functions, provided that    *
-	 *     the component's driver implements them (i.e.: the corresponding    *
-	 *     pointer to function is not "0").                                   *
-	 *                                                                        *
-	 * Example:                                                               *
-	 *    virtual int GetValue(float *f) = 0;                                 *
-	 *------------------------------------------------------------------------*/
-	virtual uint16_t GetCurrentSpeed(uint8_t motorId) = 0;
-	virtual motorState_t GetDeviceState(uint8_t motorId) = 0;
-	virtual uint8_t GetFwVersion(void) = 0;
-	virtual uint16_t GetMaxSpeed(uint8_t motorId) = 0;
-	virtual void HardStop(uint8_t motorId) = 0;
-	virtual void Run(uint8_t stepCount, motorDir_t direction) = 0;
-	virtual bool SetMaxSpeed(uint8_t motorId, uint16_t newMaxSpeed) = 0;
-	virtual void CmdDisable(uint8_t bridgeId) = 0;
-	virtual void CmdEnable(uint8_t bridgeId) = 0;
-	virtual uint16_t CmdGetStatus(uint8_t bridgeId) = 0;
-	virtual void CmdHardHiZ(uint8_t motorId) = 0;
-	virtual void ErrorHandler(uint16_t error) = 0;
-	virtual void SetDualFullBridgeConfig(uint8_t newConfig) = 0;
-	virtual uint32_t GetBridgeInputPwmFreq(uint8_t bridgeId) = 0;
-	virtual void SetBridgeInputPwmFreq(uint8_t bridgeId, uint32_t newFreq) = 0;
-	virtual bool SetNbDevices(uint8_t nbDevices) = 0;
-};
-
-#endif /* __MOTOR_CLASS_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+/**
+ ******************************************************************************
+ * @file    Motor_class.h
+ * @author  AST
+ * @version V1.0.0
+ * @date    April 13th, 2015
+ * @brief   This file contains the abstract class describing the interface of a
+ *          motor component.
+ ******************************************************************************
+ * @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 -----------------------------------------------*/
+
+
+/* Revision ------------------------------------------------------------------*/
+/*
+	Repository:       http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
+	Branch/Trunk/Tag: trunk
+	Based on:         X-CUBE-SPN4/trunk/Drivers/BSP/Components/Common/motor.h
+	Revision:         0
+*/
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+
+#ifndef __MOTOR_CLASS_H
+#define __MOTOR_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include "Component_class.h"
+
+
+/* Classes  ------------------------------------------------------------------*/
 
+/** An abstract class for Motor components.
+ */
+class Motor : public Component
+{
+public:
+	/* ACTION 1 --------------------------------------------------------------*
+	 * Declare here the interface's methods.                                  *
+	 * They should be:                                                        *
+	 *   + Methods with the same name of the C component's virtual table      *
+	 *     (and extended virtual table, if any)'s functions, provided that    *
+	 *     the component's driver implements them (i.e.: the corresponding    *
+	 *     pointer to function is not "0").                                   *
+	 *                                                                        *
+	 * Example:                                                               *
+	 *    virtual int GetValue(float *f) = 0;                                 *
+	 *------------------------------------------------------------------------*/
+	 
+	/**
+     * @brief  Getting the current speed in pps.
+     * @param  None.
+     * @retval The current speed in pps.
+     */
+	virtual uint16_t GetCurrentSpeed(uint8_t motorId) = 0;
+	
+	/**
+ 	* @brief Returns the device state
+ 	* @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS 
+ 	* @retval State (STEADY or INACTIVE)
+ 	*/
+	virtual motorState_t GetDeviceState(uint8_t motorId) = 0;
+	
+	/**
+ 	* @brief Returns the FW version of the library
+ 	* @retval L6206_FW_VERSION
+ 	*/
+	virtual uint8_t GetFwVersion(void) = 0;
+	
+	/**
+ 	* @brief  Returns the max  speed of the specified motor
+ 	* @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS 
+ 	* @retval maxSpeed in % from 0 to 100
+ 	*/
+	virtual uint16_t GetMaxSpeed(uint8_t motorId) = 0;
+	
+	/**
+ 	* @brief  Stops the motor without disabling the bridge
+ 	* @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS 
+ 	* @retval none
+ 	*/
+	virtual void HardStop(uint8_t motorId) = 0;
+	
+	/**
+ 	* @brief  Runs the motor
+ 	* @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS 
+ 	* @param[in] direction FORWARD or BACKWARD
+ 	* @retval None
+ 	* @note  For unidirectionnal motor, direction parameter has no effect
+ 	*/
+	virtual void Run(uint8_t stepCount, motorDir_t direction) = 0;
+	
+	/**
+ 	* @brief  Changes the max speed of the specified device
+ 	* @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS 
+ 	* @param[in] newMaxSpeed in % from 0 to 100
+ 	* @retval true if the command is successfully executed, else false
+ 	*/
+	virtual bool SetMaxSpeed(uint8_t motorId, uint16_t newMaxSpeed) = 0;
+	
+	/**
+ 	* @brief Disable the specified bridge
+ 	* @param[in] bridgeId (from 0 for bridge A to 1 for bridge B)
+ 	* @retval None
+ 	* @note  When input of different brigdes are parallelized 
+ 	* together, the disabling of one bridge leads to the disabling
+ 	* of the second one
+ 	*/
+	virtual void CmdDisable(uint8_t bridgeId) = 0;
+	
+	/**
+ 	* @brief Enable the specified bridge
+ 	* @param[in] bridgeId (from 0 for bridge A to 1 for bridge B)
+ 	* @retval None
+ 	* @note  When input of different brigdes are parallelized 
+ 	* together, the enabling of one bridge leads to the enabling
+ 	* of the second one
+ 	*/
+	virtual void CmdEnable(uint8_t bridgeId) = 0;
+	
+	/**
+ 	* @brief  Get the status of the bridge enabling of the corresponding bridge
+ 	* @param[in] bridgeId from 0 for bridge A to 1 for bridge B
+ 	* @retval State of the Enable&Flag pin of the corresponding bridge (1 set, 0 for reset)
+  	*/
+	virtual uint16_t CmdGetStatus(uint8_t bridgeId) = 0;
+	
+	/**
+ 	* @brief  Immediatly stops the motor and disable the power bridge
+ 	* @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS 
+ 	* @retval None
+ 	* @note  if two motors uses the same power bridge, the 
+ 	* power bridge will be disable only if the two motors are stopped
+ 	*/
+	virtual void CmdHardHiZ(uint8_t motorId) = 0;
+	
+	/**
+ 	* @brief Error handler which calls the user callback (if defined)
+ 	* @param[in] error Number of the error
+ 	* @retval None
+ 	*/
+	virtual void ErrorHandler(uint16_t error) = 0;
+	
+	/**
+ 	* @brief Set dual full bridge parallelling configuration
+ 	* @param[in] newConfig bridge configuration to apply from 
+ 	* dualFullBridgeConfig_t enum
+ 	* @retval None
+ 	*/
+	virtual void SetDualFullBridgeConfig(uint8_t newConfig) = 0;
+	
+	/**
+ 	* @brief  Get the PWM frequency of the specified bridge 
+ 	* @param[in] bridgeId 0 for bridge A, 1 for bridge B
+ 	* @retval Freq in Hz
+ 	*/
+	virtual uint32_t GetBridgeInputPwmFreq(uint8_t bridgeId) = 0;
+	
+	/**
+ 	* @brief  Changes the PWM frequency of the bridge input
+ 	* @param[in] bridgeId 0 for bridge A, 1 for bridge B
+ 	* @param[in] newFreq in Hz
+ 	* @retval None
+ 	*/
+	virtual void SetBridgeInputPwmFreq(uint8_t bridgeId, uint32_t newFreq) = 0;
+	
+	/**
+ 	* @brief  Sets the number of devices to be used
+ 	* @param[in] nbDevices (from 1 to MAX_NUMBER_OF_DEVICES)
+ 	* @retval TRUE if successfull, FALSE if failure, attempt to set a number of
+ 	* devices greater than MAX_NUMBER_OF_DEVICES
+ 	*/
+	virtual bool SetNbDevices(uint8_t nbDevices) = 0;
+};
+
+#endif /* __MOTOR_CLASS_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+