Julien Tiron / X_NUCLEO_IHM01A1

motor control

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Components/Interfaces/StepperMotor_class.h@26:7ac4b4c49276, 2016-04-02 (annotated)

Committer:
julientiron
Date:
Sat Apr 02 10:06:38 2016 +0000
Revision:
26:7ac4b4c49276
Parent:
20:a8e81b65f0af 
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Davidroid 4:83a1eb397a65 1 /**
Davidroid 4:83a1eb397a65 2 ******************************************************************************
Davidroid 4:83a1eb397a65 3 * @file StepperMotor_class.h
Davidroid 20:a8e81b65f0af 4 * @author Davide Aliprandi, STMicroelectronics
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 10:c3824af0caf4 58 /**
Davidroid 10:c3824af0caf4 59 * @brief Rotation modes.
Davidroid 10:c3824af0caf4 60 */
Davidroid 4:83a1eb397a65 61 typedef enum
Davidroid 4:83a1eb397a65 62 {
Davidroid 5:d3c78f12a78d 63 BWD = 0, /* Backward. */
Davidroid 5:d3c78f12a78d 64 FWD = 1 /* Forward. */
Davidroid 4:83a1eb397a65 65 } direction_t;
Davidroid 4:83a1eb397a65 66
Davidroid 7:f7e0c3621f77 67 /**
Davidroid 8:42e0b00b1e4d 68 * @brief Getting the status.
Davidroid 7:f7e0c3621f77 69 * @param None.
Davidroid 8:42e0b00b1e4d 70 * @retval The status.
Davidroid 7:f7e0c3621f77 71 */
Davidroid 4:83a1eb397a65 72 virtual unsigned int GetStatus(void) = 0;
Davidroid 4:83a1eb397a65 73
Davidroid 8:42e0b00b1e4d 74 /**
Davidroid 7:f7e0c3621f77 75 * @brief Getting a parameter.
Davidroid 8:42e0b00b1e4d 76 * @param parameter The parameter's identifier (or its register address).
Davidroid 8:42e0b00b1e4d 77 * @retval The parameter's value.
Davidroid 7:f7e0c3621f77 78 */
Davidroid 19:5f0b00a1e38d 79 virtual float GetParameter(unsigned int parameter) = 0;
Davidroid 4:83a1eb397a65 80
Davidroid 8:42e0b00b1e4d 81 /**
Davidroid 8:42e0b00b1e4d 82 * @brief Getting the position.
Davidroid 8:42e0b00b1e4d 83 * @param None.
Davidroid 8:42e0b00b1e4d 84 * @retval The position.
Davidroid 8:42e0b00b1e4d 85 */
Davidroid 4:83a1eb397a65 86 virtual signed int GetPosition(void) = 0;
Davidroid 4:83a1eb397a65 87
Davidroid 8:42e0b00b1e4d 88 /**
Davidroid 8:42e0b00b1e4d 89 * @brief Getting the marked position.
Davidroid 8:42e0b00b1e4d 90 * @param None.
Davidroid 8:42e0b00b1e4d 91 * @retval The marked position.
Davidroid 8:42e0b00b1e4d 92 */
Davidroid 4:83a1eb397a65 93 virtual signed int GetMark(void) = 0;
Davidroid 4:83a1eb397a65 94
Davidroid 8:42e0b00b1e4d 95 /**
Davidroid 8:42e0b00b1e4d 96 * @brief Getting the current speed in pps.
Davidroid 8:42e0b00b1e4d 97 * @param None.
Davidroid 8:42e0b00b1e4d 98 * @retval The current speed in pps.
Davidroid 8:42e0b00b1e4d 99 */
Davidroid 4:83a1eb397a65 100 virtual unsigned int GetSpeed(void) = 0;
Davidroid 4:83a1eb397a65 101
Davidroid 8:42e0b00b1e4d 102 /**
Davidroid 8:42e0b00b1e4d 103 * @brief Getting the maximum speed in pps.
Davidroid 8:42e0b00b1e4d 104 * @param None.
Davidroid 8:42e0b00b1e4d 105 * @retval The maximum speed in pps.
Davidroid 8:42e0b00b1e4d 106 */
Davidroid 4:83a1eb397a65 107 virtual unsigned int GetMaxSpeed(void) = 0;
Davidroid 4:83a1eb397a65 108
Davidroid 8:42e0b00b1e4d 109 /**
Davidroid 8:42e0b00b1e4d 110 * @brief Getting the minimum speed in pps.
Davidroid 8:42e0b00b1e4d 111 * @param None.
Davidroid 8:42e0b00b1e4d 112 * @retval The minimum speed in pps.
Davidroid 8:42e0b00b1e4d 113 */
Davidroid 4:83a1eb397a65 114 virtual unsigned int GetMinSpeed(void) = 0;
Davidroid 4:83a1eb397a65 115
Davidroid 8:42e0b00b1e4d 116 /**
Davidroid 8:42e0b00b1e4d 117 * @brief Getting the acceleration in pps^2.
Davidroid 8:42e0b00b1e4d 118 * @param None.
Davidroid 8:42e0b00b1e4d 119 * @retval The acceleration in pps^2.
Davidroid 8:42e0b00b1e4d 120 */
Davidroid 4:83a1eb397a65 121 virtual unsigned int GetAcceleration(void) = 0;
Davidroid 4:83a1eb397a65 122
Davidroid 8:42e0b00b1e4d 123 /**
Davidroid 8:42e0b00b1e4d 124 * @brief Getting the deceleration in pps^2.
Davidroid 8:42e0b00b1e4d 125 * @param None.
Davidroid 8:42e0b00b1e4d 126 * @retval The deceleration in pps^2.
Davidroid 8:42e0b00b1e4d 127 */
Davidroid 4:83a1eb397a65 128 virtual unsigned int GetDeceleration(void) = 0;
Davidroid 4:83a1eb397a65 129
Davidroid 8:42e0b00b1e4d 130 /**
Davidroid 8:42e0b00b1e4d 131 * @brief Getting the direction of rotation.
Davidroid 8:42e0b00b1e4d 132 * @param None.
Davidroid 8:42e0b00b1e4d 133 * @retval The direction of rotation.
Davidroid 8:42e0b00b1e4d 134 */
Davidroid 5:d3c78f12a78d 135 virtual direction_t GetDirection(void) = 0;
Davidroid 5:d3c78f12a78d 136
Davidroid 7:f7e0c3621f77 137 /**
Davidroid 7:f7e0c3621f77 138 * @brief Setting a parameter.
Davidroid 8:42e0b00b1e4d 139 * @param parameter The parameter's identifier (or its register address).
Davidroid 8:42e0b00b1e4d 140 * @param value The parameter's value.
Davidroid 7:f7e0c3621f77 141 * @retval None.
Davidroid 7:f7e0c3621f77 142 */
Davidroid 19:5f0b00a1e38d 143 virtual void SetParameter(unsigned int parameter, float value) = 0;
Davidroid 4:83a1eb397a65 144
Davidroid 8:42e0b00b1e4d 145 /**
Davidroid 8:42e0b00b1e4d 146 * @brief Setting the current position to be the home position.
Davidroid 8:42e0b00b1e4d 147 * @param None.
Davidroid 8:42e0b00b1e4d 148 * @retval None.
Davidroid 8:42e0b00b1e4d 149 */
Davidroid 4:83a1eb397a65 150 virtual void SetHome(void) = 0;
Davidroid 4:83a1eb397a65 151
Davidroid 8:42e0b00b1e4d 152 /**
Davidroid 8:42e0b00b1e4d 153 * @brief Setting the current position to be the marked position.
Davidroid 8:42e0b00b1e4d 154 * @param None.
Davidroid 8:42e0b00b1e4d 155 * @retval None.
Davidroid 8:42e0b00b1e4d 156 */
Davidroid 4:83a1eb397a65 157 virtual void SetMark(void) = 0;
Davidroid 4:83a1eb397a65 158
Davidroid 8:42e0b00b1e4d 159 /**
Davidroid 8:42e0b00b1e4d 160 * @brief Setting the maximum speed in pps.
Davidroid 8:42e0b00b1e4d 161 * @param speed The maximum speed in pps.
Davidroid 8:42e0b00b1e4d 162 * @retval None.
Davidroid 8:42e0b00b1e4d 163 */
Davidroid 4:83a1eb397a65 164 virtual void SetMaxSpeed(unsigned int speed) = 0;
Davidroid 4:83a1eb397a65 165
Davidroid 8:42e0b00b1e4d 166 /**
Davidroid 8:42e0b00b1e4d 167 * @brief Setting the minimum speed in pps.
Davidroid 8:42e0b00b1e4d 168 * @param speed The minimum speed in pps.
Davidroid 8:42e0b00b1e4d 169 * @retval None.
Davidroid 8:42e0b00b1e4d 170 */
Davidroid 4:83a1eb397a65 171 virtual void SetMinSpeed(unsigned int speed) = 0;
Davidroid 4:83a1eb397a65 172
Davidroid 8:42e0b00b1e4d 173 /**
Davidroid 8:42e0b00b1e4d 174 * @brief Setting the acceleration in pps^2.
Davidroid 8:42e0b00b1e4d 175 * @param acceleration The acceleration in pps^2.
Davidroid 8:42e0b00b1e4d 176 * @retval None.
Davidroid 8:42e0b00b1e4d 177 */
Davidroid 4:83a1eb397a65 178 virtual void SetAcceleration(unsigned int acceleration) = 0;
Davidroid 4:83a1eb397a65 179
Davidroid 8:42e0b00b1e4d 180 /**
Davidroid 8:42e0b00b1e4d 181 * @brief Setting the deceleration in pps^2.
Davidroid 8:42e0b00b1e4d 182 * @param deceleration The deceleration in pps^2.
Davidroid 8:42e0b00b1e4d 183 * @retval None.
Davidroid 8:42e0b00b1e4d 184 */
Davidroid 4:83a1eb397a65 185 virtual void SetDeceleration(unsigned int deceleration) = 0;
Davidroid 4:83a1eb397a65 186
Davidroid 8:42e0b00b1e4d 187 /**
Davidroid 8:42e0b00b1e4d 188 * @brief Going to a specified position.
Davidroid 8:42e0b00b1e4d 189 * @param position The desired position.
Davidroid 8:42e0b00b1e4d 190 * @retval None.
Davidroid 8:42e0b00b1e4d 191 */
Davidroid 4:83a1eb397a65 192 virtual void GoTo(signed int position) = 0;
Davidroid 4:83a1eb397a65 193
Davidroid 8:42e0b00b1e4d 194 /**
Davidroid 8:42e0b00b1e4d 195 * @brief Going to the home position.
Davidroid 8:42e0b00b1e4d 196 * @param None.
Davidroid 8:42e0b00b1e4d 197 * @retval None.
Davidroid 8:42e0b00b1e4d 198 */
Davidroid 4:83a1eb397a65 199 virtual void GoHome(void) = 0;
Davidroid 4:83a1eb397a65 200
Davidroid 8:42e0b00b1e4d 201 /**
Davidroid 8:42e0b00b1e4d 202 * @brief Going to the marked position.
Davidroid 8:42e0b00b1e4d 203 * @param None.
Davidroid 8:42e0b00b1e4d 204 * @retval None.
Davidroid 8:42e0b00b1e4d 205 */
Davidroid 4:83a1eb397a65 206 virtual void GoMark(void) = 0;
Davidroid 4:83a1eb397a65 207
Davidroid 8:42e0b00b1e4d 208 /**
Davidroid 8:42e0b00b1e4d 209 * @brief Running the motor towards a specified direction.
Davidroid 8:42e0b00b1e4d 210 * @param direction The direction of rotation.
Davidroid 8:42e0b00b1e4d 211 * @retval None.
Davidroid 8:42e0b00b1e4d 212 */
Davidroid 4:83a1eb397a65 213 virtual void Run(direction_t direction) = 0;
Davidroid 4:83a1eb397a65 214
Davidroid 8:42e0b00b1e4d 215 /**
Davidroid 8:42e0b00b1e4d 216 * @brief Moving the motor towards a specified direction for a certain number of steps.
Davidroid 8:42e0b00b1e4d 217 * @param direction The direction of rotation.
Davidroid 8:42e0b00b1e4d 218 * @param steps The desired number of steps.
Davidroid 8:42e0b00b1e4d 219 * @retval None.
Davidroid 8:42e0b00b1e4d 220 */
Davidroid 4:83a1eb397a65 221 virtual void Move(direction_t direction, unsigned int steps) = 0;
Davidroid 4:83a1eb397a65 222
Davidroid 8:42e0b00b1e4d 223 /**
Davidroid 13:ba2728afe4c2 224 * @brief Stopping the motor through an immediate deceleration up to zero speed.
Davidroid 8:42e0b00b1e4d 225 * @param None.
Davidroid 8:42e0b00b1e4d 226 * @retval None.
Davidroid 8:42e0b00b1e4d 227 */
Davidroid 4:83a1eb397a65 228 virtual void SoftStop(void) = 0;
Davidroid 4:83a1eb397a65 229
Davidroid 8:42e0b00b1e4d 230 /**
Davidroid 13:ba2728afe4c2 231 * @brief Stopping the motor through an immediate infinite deceleration.
Davidroid 8:42e0b00b1e4d 232 * @param None.
Davidroid 8:42e0b00b1e4d 233 * @retval None.
Davidroid 8:42e0b00b1e4d 234 */
Davidroid 4:83a1eb397a65 235 virtual void HardStop(void) = 0;
Davidroid 7:f7e0c3621f77 236
Davidroid 8:42e0b00b1e4d 237 /**
Davidroid 13:ba2728afe4c2 238 * @brief Disabling the power bridge after performing a deceleration to zero.
Davidroid 13:ba2728afe4c2 239 * @param None.
Davidroid 13:ba2728afe4c2 240 * @retval None.
Davidroid 13:ba2728afe4c2 241 */
Davidroid 13:ba2728afe4c2 242 virtual void SoftHiZ(void) = 0;
Davidroid 13:ba2728afe4c2 243
Davidroid 13:ba2728afe4c2 244 /**
Davidroid 13:ba2728afe4c2 245 * @brief Disabling the power bridge immediately.
Davidroid 13:ba2728afe4c2 246 * @param None.
Davidroid 13:ba2728afe4c2 247 * @retval None.
Davidroid 13:ba2728afe4c2 248 */
Davidroid 13:ba2728afe4c2 249 virtual void HardHiZ(void) = 0;
Davidroid 13:ba2728afe4c2 250
Davidroid 13:ba2728afe4c2 251 /**
Davidroid 8:42e0b00b1e4d 252 * @brief Waiting while the motor is active.
Davidroid 8:42e0b00b1e4d 253 * @param None.
Davidroid 8:42e0b00b1e4d 254 * @retval None.
Davidroid 8:42e0b00b1e4d 255 */
Davidroid 7:f7e0c3621f77 256 virtual void WaitWhileActive(void) = 0;
Davidroid 4:83a1eb397a65 257 };
Davidroid 4:83a1eb397a65 258
Davidroid 4:83a1eb397a65 259 #endif /* __STEPPERMOTOR_CLASS_H */
Davidroid 4:83a1eb397a65 260
Davidroid 4:83a1eb397a65 261 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/