Julien Tiron / X_NUCLEO_IHM01A1

motor control

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Components/Interfaces/StepperMotor_class.h@8:42e0b00b1e4d, 2015-11-23 (annotated)

Committer:
Davidroid
Date:
Mon Nov 23 11:10:54 2015 +0000
Revision:
8:42e0b00b1e4d
Parent:
7:f7e0c3621f77
Child:
10:c3824af0caf4
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Davidroid 4:83a1eb397a65 1 /**
Davidroid 4:83a1eb397a65 2 ******************************************************************************
Davidroid 4:83a1eb397a65 3 * @file StepperMotor_class.h
Davidroid 4:83a1eb397a65 4 * @author AST
Davidroid 4:83a1eb397a65 5 * @version V1.0.0
Davidroid 4:83a1eb397a65 6 * @date November 12th, 2015
Davidroid 4:83a1eb397a65 7 * @brief This file contains the abstract class describing the interface of a
Davidroid 8:42e0b00b1e4d 8 * stepper-motor component.
Davidroid 4:83a1eb397a65 9 ******************************************************************************
Davidroid 4:83a1eb397a65 10 * @attention
Davidroid 4:83a1eb397a65 11 *
Davidroid 4:83a1eb397a65 12 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Davidroid 4:83a1eb397a65 13 *
Davidroid 4:83a1eb397a65 14 * Redistribution and use in source and binary forms, with or without modification,
Davidroid 4:83a1eb397a65 15 * are permitted provided that the following conditions are met:
Davidroid 4:83a1eb397a65 16 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 4:83a1eb397a65 17 * this list of conditions and the following disclaimer.
Davidroid 4:83a1eb397a65 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid 4:83a1eb397a65 19 * this list of conditions and the following disclaimer in the documentation
Davidroid 4:83a1eb397a65 20 * and/or other materials provided with the distribution.
Davidroid 4:83a1eb397a65 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid 4:83a1eb397a65 22 * may be used to endorse or promote products derived from this software
Davidroid 4:83a1eb397a65 23 * without specific prior written permission.
Davidroid 4:83a1eb397a65 24 *
Davidroid 4:83a1eb397a65 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 4:83a1eb397a65 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 4:83a1eb397a65 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid 4:83a1eb397a65 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid 4:83a1eb397a65 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid 4:83a1eb397a65 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid 4:83a1eb397a65 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid 4:83a1eb397a65 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid 4:83a1eb397a65 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid 4:83a1eb397a65 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid 4:83a1eb397a65 35 *
Davidroid 4:83a1eb397a65 36 ******************************************************************************
Davidroid 4:83a1eb397a65 37 */
Davidroid 4:83a1eb397a65 38
Davidroid 4:83a1eb397a65 39
Davidroid 4:83a1eb397a65 40 /* Define to prevent from recursive inclusion --------------------------------*/
Davidroid 4:83a1eb397a65 41
Davidroid 4:83a1eb397a65 42 #ifndef __STEPPERMOTOR_CLASS_H
Davidroid 4:83a1eb397a65 43 #define __STEPPERMOTOR_CLASS_H
Davidroid 4:83a1eb397a65 44
Davidroid 4:83a1eb397a65 45
Davidroid 4:83a1eb397a65 46 /* Includes ------------------------------------------------------------------*/
Davidroid 4:83a1eb397a65 47
Davidroid 4:83a1eb397a65 48 #include <Component_class.h>
Davidroid 4:83a1eb397a65 49
Davidroid 4:83a1eb397a65 50
Davidroid 4:83a1eb397a65 51 /* Classes ------------------------------------------------------------------*/
Davidroid 4:83a1eb397a65 52
Davidroid 4:83a1eb397a65 53 /** An abstract class for StepperMotor components.
Davidroid 4:83a1eb397a65 54 */
Davidroid 4:83a1eb397a65 55 class StepperMotor : public Component
Davidroid 4:83a1eb397a65 56 {
Davidroid 4:83a1eb397a65 57 public:
Davidroid 4:83a1eb397a65 58 /** Rotation modes. */
Davidroid 4:83a1eb397a65 59 typedef enum
Davidroid 4:83a1eb397a65 60 {
Davidroid 5:d3c78f12a78d 61 BWD = 0, /* Backward. */
Davidroid 5:d3c78f12a78d 62 FWD = 1 /* Forward. */
Davidroid 4:83a1eb397a65 63 } direction_t;
Davidroid 4:83a1eb397a65 64
Davidroid 7:f7e0c3621f77 65 /**
Davidroid 8:42e0b00b1e4d 66 * @brief Getting the status.
Davidroid 7:f7e0c3621f77 67 * @param None.
Davidroid 8:42e0b00b1e4d 68 * @retval The status.
Davidroid 7:f7e0c3621f77 69 */
Davidroid 4:83a1eb397a65 70 virtual unsigned int GetStatus(void) = 0;
Davidroid 4:83a1eb397a65 71
Davidroid 8:42e0b00b1e4d 72 /**
Davidroid 7:f7e0c3621f77 73 * @brief Getting a parameter.
Davidroid 8:42e0b00b1e4d 74 * @param parameter The parameter's identifier (or its register address).
Davidroid 8:42e0b00b1e4d 75 * @retval The parameter's value.
Davidroid 7:f7e0c3621f77 76 */
Davidroid 4:83a1eb397a65 77 virtual unsigned int GetParameter(unsigned int parameter) = 0;
Davidroid 4:83a1eb397a65 78
Davidroid 8:42e0b00b1e4d 79 /**
Davidroid 8:42e0b00b1e4d 80 * @brief Getting the position.
Davidroid 8:42e0b00b1e4d 81 * @param None.
Davidroid 8:42e0b00b1e4d 82 * @retval The position.
Davidroid 8:42e0b00b1e4d 83 */
Davidroid 4:83a1eb397a65 84 virtual signed int GetPosition(void) = 0;
Davidroid 4:83a1eb397a65 85
Davidroid 8:42e0b00b1e4d 86 /**
Davidroid 8:42e0b00b1e4d 87 * @brief Getting the marked position.
Davidroid 8:42e0b00b1e4d 88 * @param None.
Davidroid 8:42e0b00b1e4d 89 * @retval The marked position.
Davidroid 8:42e0b00b1e4d 90 */
Davidroid 4:83a1eb397a65 91 virtual signed int GetMark(void) = 0;
Davidroid 4:83a1eb397a65 92
Davidroid 8:42e0b00b1e4d 93 /**
Davidroid 8:42e0b00b1e4d 94 * @brief Getting the current speed in pps.
Davidroid 8:42e0b00b1e4d 95 * @param None.
Davidroid 8:42e0b00b1e4d 96 * @retval The current speed in pps.
Davidroid 8:42e0b00b1e4d 97 */
Davidroid 4:83a1eb397a65 98 virtual unsigned int GetSpeed(void) = 0;
Davidroid 4:83a1eb397a65 99
Davidroid 8:42e0b00b1e4d 100 /**
Davidroid 8:42e0b00b1e4d 101 * @brief Getting the maximum speed in pps.
Davidroid 8:42e0b00b1e4d 102 * @param None.
Davidroid 8:42e0b00b1e4d 103 * @retval The maximum speed in pps.
Davidroid 8:42e0b00b1e4d 104 */
Davidroid 4:83a1eb397a65 105 virtual unsigned int GetMaxSpeed(void) = 0;
Davidroid 4:83a1eb397a65 106
Davidroid 8:42e0b00b1e4d 107 /**
Davidroid 8:42e0b00b1e4d 108 * @brief Getting the minimum speed in pps.
Davidroid 8:42e0b00b1e4d 109 * @param None.
Davidroid 8:42e0b00b1e4d 110 * @retval The minimum speed in pps.
Davidroid 8:42e0b00b1e4d 111 */
Davidroid 4:83a1eb397a65 112 virtual unsigned int GetMinSpeed(void) = 0;
Davidroid 4:83a1eb397a65 113
Davidroid 8:42e0b00b1e4d 114 /**
Davidroid 8:42e0b00b1e4d 115 * @brief Getting the acceleration in pps^2.
Davidroid 8:42e0b00b1e4d 116 * @param None.
Davidroid 8:42e0b00b1e4d 117 * @retval The acceleration in pps^2.
Davidroid 8:42e0b00b1e4d 118 */
Davidroid 4:83a1eb397a65 119 virtual unsigned int GetAcceleration(void) = 0;
Davidroid 4:83a1eb397a65 120
Davidroid 8:42e0b00b1e4d 121 /**
Davidroid 8:42e0b00b1e4d 122 * @brief Getting the deceleration in pps^2.
Davidroid 8:42e0b00b1e4d 123 * @param None.
Davidroid 8:42e0b00b1e4d 124 * @retval The deceleration in pps^2.
Davidroid 8:42e0b00b1e4d 125 */
Davidroid 4:83a1eb397a65 126 virtual unsigned int GetDeceleration(void) = 0;
Davidroid 4:83a1eb397a65 127
Davidroid 8:42e0b00b1e4d 128 /**
Davidroid 8:42e0b00b1e4d 129 * @brief Getting the direction of rotation.
Davidroid 8:42e0b00b1e4d 130 * @param None.
Davidroid 8:42e0b00b1e4d 131 * @retval The direction of rotation.
Davidroid 8:42e0b00b1e4d 132 */
Davidroid 5:d3c78f12a78d 133 virtual direction_t GetDirection(void) = 0;
Davidroid 5:d3c78f12a78d 134
Davidroid 7:f7e0c3621f77 135 /**
Davidroid 7:f7e0c3621f77 136 * @brief Setting a parameter.
Davidroid 8:42e0b00b1e4d 137 * @param parameter The parameter's identifier (or its register address).
Davidroid 8:42e0b00b1e4d 138 * @param value The parameter's value.
Davidroid 7:f7e0c3621f77 139 * @retval None.
Davidroid 7:f7e0c3621f77 140 */
Davidroid 4:83a1eb397a65 141 virtual void SetParameter(unsigned int parameter, unsigned int value) = 0;
Davidroid 4:83a1eb397a65 142
Davidroid 8:42e0b00b1e4d 143 /**
Davidroid 8:42e0b00b1e4d 144 * @brief Setting the current position to be the home position.
Davidroid 8:42e0b00b1e4d 145 * @param None.
Davidroid 8:42e0b00b1e4d 146 * @retval None.
Davidroid 8:42e0b00b1e4d 147 */
Davidroid 4:83a1eb397a65 148 virtual void SetHome(void) = 0;
Davidroid 4:83a1eb397a65 149
Davidroid 8:42e0b00b1e4d 150 /**
Davidroid 8:42e0b00b1e4d 151 * @brief Setting the current position to be the marked position.
Davidroid 8:42e0b00b1e4d 152 * @param None.
Davidroid 8:42e0b00b1e4d 153 * @retval None.
Davidroid 8:42e0b00b1e4d 154 */
Davidroid 4:83a1eb397a65 155 virtual void SetMark(void) = 0;
Davidroid 4:83a1eb397a65 156
Davidroid 8:42e0b00b1e4d 157 /**
Davidroid 8:42e0b00b1e4d 158 * @brief Setting the maximum speed in pps.
Davidroid 8:42e0b00b1e4d 159 * @param speed The maximum speed in pps.
Davidroid 8:42e0b00b1e4d 160 * @retval None.
Davidroid 8:42e0b00b1e4d 161 */
Davidroid 4:83a1eb397a65 162 virtual void SetMaxSpeed(unsigned int speed) = 0;
Davidroid 4:83a1eb397a65 163
Davidroid 8:42e0b00b1e4d 164 /**
Davidroid 8:42e0b00b1e4d 165 * @brief Setting the minimum speed in pps.
Davidroid 8:42e0b00b1e4d 166 * @param speed The minimum speed in pps.
Davidroid 8:42e0b00b1e4d 167 * @retval None.
Davidroid 8:42e0b00b1e4d 168 */
Davidroid 4:83a1eb397a65 169 virtual void SetMinSpeed(unsigned int speed) = 0;
Davidroid 4:83a1eb397a65 170
Davidroid 8:42e0b00b1e4d 171 /**
Davidroid 8:42e0b00b1e4d 172 * @brief Setting the acceleration in pps^2.
Davidroid 8:42e0b00b1e4d 173 * @param acceleration The acceleration in pps^2.
Davidroid 8:42e0b00b1e4d 174 * @retval None.
Davidroid 8:42e0b00b1e4d 175 */
Davidroid 4:83a1eb397a65 176 virtual void SetAcceleration(unsigned int acceleration) = 0;
Davidroid 4:83a1eb397a65 177
Davidroid 8:42e0b00b1e4d 178 /**
Davidroid 8:42e0b00b1e4d 179 * @brief Setting the deceleration in pps^2.
Davidroid 8:42e0b00b1e4d 180 * @param deceleration The deceleration in pps^2.
Davidroid 8:42e0b00b1e4d 181 * @retval None.
Davidroid 8:42e0b00b1e4d 182 */
Davidroid 4:83a1eb397a65 183 virtual void SetDeceleration(unsigned int deceleration) = 0;
Davidroid 4:83a1eb397a65 184
Davidroid 8:42e0b00b1e4d 185 /**
Davidroid 8:42e0b00b1e4d 186 * @brief Going to a specified position.
Davidroid 8:42e0b00b1e4d 187 * @param position The desired position.
Davidroid 8:42e0b00b1e4d 188 * @retval None.
Davidroid 8:42e0b00b1e4d 189 */
Davidroid 4:83a1eb397a65 190 virtual void GoTo(signed int position) = 0;
Davidroid 4:83a1eb397a65 191
Davidroid 8:42e0b00b1e4d 192 /**
Davidroid 8:42e0b00b1e4d 193 * @brief Going to the home position.
Davidroid 8:42e0b00b1e4d 194 * @param None.
Davidroid 8:42e0b00b1e4d 195 * @retval None.
Davidroid 8:42e0b00b1e4d 196 */
Davidroid 4:83a1eb397a65 197 virtual void GoHome(void) = 0;
Davidroid 4:83a1eb397a65 198
Davidroid 8:42e0b00b1e4d 199 /**
Davidroid 8:42e0b00b1e4d 200 * @brief Going to the marked position.
Davidroid 8:42e0b00b1e4d 201 * @param None.
Davidroid 8:42e0b00b1e4d 202 * @retval None.
Davidroid 8:42e0b00b1e4d 203 */
Davidroid 4:83a1eb397a65 204 virtual void GoMark(void) = 0;
Davidroid 4:83a1eb397a65 205
Davidroid 8:42e0b00b1e4d 206 /**
Davidroid 8:42e0b00b1e4d 207 * @brief Running the motor towards a specified direction.
Davidroid 8:42e0b00b1e4d 208 * @param direction The direction of rotation.
Davidroid 8:42e0b00b1e4d 209 * @retval None.
Davidroid 8:42e0b00b1e4d 210 */
Davidroid 4:83a1eb397a65 211 virtual void Run(direction_t direction) = 0;
Davidroid 4:83a1eb397a65 212
Davidroid 8:42e0b00b1e4d 213 /**
Davidroid 8:42e0b00b1e4d 214 * @brief Moving the motor towards a specified direction for a certain number of steps.
Davidroid 8:42e0b00b1e4d 215 * @param direction The direction of rotation.
Davidroid 8:42e0b00b1e4d 216 * @param steps The desired number of steps.
Davidroid 8:42e0b00b1e4d 217 * @retval None.
Davidroid 8:42e0b00b1e4d 218 */
Davidroid 4:83a1eb397a65 219 virtual void Move(direction_t direction, unsigned int steps) = 0;
Davidroid 4:83a1eb397a65 220
Davidroid 8:42e0b00b1e4d 221 /**
Davidroid 8:42e0b00b1e4d 222 * @brief Stopping the motor.
Davidroid 8:42e0b00b1e4d 223 * @param None.
Davidroid 8:42e0b00b1e4d 224 * @retval None.
Davidroid 8:42e0b00b1e4d 225 */
Davidroid 4:83a1eb397a65 226 virtual void SoftStop(void) = 0;
Davidroid 4:83a1eb397a65 227
Davidroid 8:42e0b00b1e4d 228 /**
Davidroid 8:42e0b00b1e4d 229 * @brief Stopping the motor and disabling the power bridge.
Davidroid 8:42e0b00b1e4d 230 * @param None.
Davidroid 8:42e0b00b1e4d 231 * @retval None.
Davidroid 8:42e0b00b1e4d 232 */
Davidroid 4:83a1eb397a65 233 virtual void HardStop(void) = 0;
Davidroid 7:f7e0c3621f77 234
Davidroid 8:42e0b00b1e4d 235 /**
Davidroid 8:42e0b00b1e4d 236 * @brief Waiting while the motor is active.
Davidroid 8:42e0b00b1e4d 237 * @param None.
Davidroid 8:42e0b00b1e4d 238 * @retval None.
Davidroid 8:42e0b00b1e4d 239 */
Davidroid 7:f7e0c3621f77 240 virtual void WaitWhileActive(void) = 0;
Davidroid 4:83a1eb397a65 241 };
Davidroid 4:83a1eb397a65 242
Davidroid 4:83a1eb397a65 243 #endif /* __STEPPERMOTOR_CLASS_H */
Davidroid 4:83a1eb397a65 244
Davidroid 4:83a1eb397a65 245 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/