Fabian Scherrer
/
X_NUCLEO_IHM02A1
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Dependencies: X_NUCLEO_COMMON ST_INTERFACES
Dependents: SpleisserProgramm SpleisserProgramm_v2 SpleisserProgramm_v5 SpleisserProgramm_V7 ... more
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XNucleoIHM02A1.cpp
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00001 /** 00002 ****************************************************************************** 00003 * @file XNucleoIHM02A1.cpp 00004 * @author AST / Software Platforms and Cloud 00005 * @version V1.0 00006 * @date November 3rd, 2015 00007 * @brief Implementation file for the X_NUCLEO_IHM02A1 expansion board. 00008 ****************************************************************************** 00009 * @attention 00010 * 00011 * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2> 00012 * 00013 * Redistribution and use in source and binary forms, with or without modification, 00014 * are permitted provided that the following conditions are met: 00015 * 1. Redistributions of source code must retain the above copyright notice, 00016 * this list of conditions and the following disclaimer. 00017 * 2. Redistributions in binary form must reproduce the above copyright notice, 00018 * this list of conditions and the following disclaimer in the documentation 00019 * and/or other materials provided with the distribution. 00020 * 3. Neither the name of STMicroelectronics nor the names of its contributors 00021 * may be used to endorse or promote products derived from this software 00022 * without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00025 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00026 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00027 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 00028 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 00029 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 00030 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 00032 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 00033 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 ****************************************************************************** 00036 */ 00037 00038 00039 /* Generated with STM32CubeTOO -----------------------------------------------*/ 00040 00041 00042 /* Includes ------------------------------------------------------------------*/ 00043 00044 /* ACTION 1 ------------------------------------------------------------------* 00045 * Include here platform specific header files. * 00046 *----------------------------------------------------------------------------*/ 00047 #include "mbed.h" 00048 #include "DevSPI.h" 00049 /* ACTION 2 ------------------------------------------------------------------* 00050 * Include here expansion board specific header files. * 00051 *----------------------------------------------------------------------------*/ 00052 #include "XNucleoIHM02A1.h" 00053 00054 00055 /* Variables -----------------------------------------------------------------*/ 00056 00057 /* Number of expansion boards. */ 00058 uint8_t XNucleoIHM02A1::number_of_boards = 0; 00059 ////fabian///---- 00060 uint8_t XNucleoIHM02A12::number_of_boards1 = 0; 00061 00062 /* Methods -------------------------------------------------------------------*/ 00063 00064 /** 00065 * @brief Constructor. 00066 * @param init_0 pointer to the initialization structure of the first motor. 00067 * @param init_1 pointer to the initialization structure of the second motor. 00068 * @param flag_irq pin name of the FLAG pin of the component. 00069 * @param busy_irq pin name of the BUSY pin of the component. 00070 * @param standby_reset pin name of the STBY\RST pin of the component. 00071 * @param ssel pin name of the SSEL pin of the SPI device to be used for communication. 00072 * @param spi SPI device to be used for communication. 00073 */ 00074 XNucleoIHM02A1::XNucleoIHM02A1(L6470_init_t *init_0, L6470_init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi) : dev_spi(spi) 00075 { 00076 /* Checking stackability. */ 00077 if (!(number_of_boards < EXPBRD_MOUNTED_NR_MAX)) { 00078 error("Instantiation of the X_NUCLEO_IHM02A1 expansion board failed: it can be stacked up to %d times.\r\n", EXPBRD_MOUNTED_NR_MAX); 00079 } 00080 instance_id = number_of_boards++; 00081 00082 00083 /* SPI communication. */ 00084 if (dev_spi == NULL) { 00085 dev_spi = new DevSPI(X_NUCLEO_IHM02A1_PIN_SPI_MOSI, X_NUCLEO_IHM02A1_PIN_SPI_MISO, X_NUCLEO_IHM02A1_PIN_SPI_SCLK); 00086 } 00087 00088 00089 00090 /* Instantiating the components. */ 00091 /* ACTION 3 --------------------------------------------------------------* 00092 * Instantiate here the expansion board's components. * 00093 * * 00094 * Example: * 00095 * component_1 = new COMPONENT_1(ssel, *dev_spi); * 00096 * component_2 = new COMPONENT_2(ssel, *dev_spi); * 00097 *------------------------------------------------------------------------*/ 00098 components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi); 00099 components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi); 00100 00101 /* Initializing the components. */ 00102 init_components[0] = init_0; 00103 init_components[1] = init_1; 00104 if (!init()) { 00105 error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\r\n"); 00106 } 00107 } 00108 00109 /** 00110 * @brief Constructor. 00111 * @param init_0 pointer to the initialization structure of the first motor. 00112 * @param init_1 pointer to the initialization structure of the second motor. 00113 * @param flag_irq pin name of the FLAG pin of the component. 00114 * @param busy_irq pin name of the BUSY pin of the component. 00115 * @param standby_reset pin name of the STBY\RST pin of the component. 00116 * @param ssel pin name of the SSEL pin of the SPI device to be used for communication. 00117 * @param mosi pin name of the MOSI pin of the SPI device to be used for communication. 00118 * @param miso pin name of the MISO pin of the SPI device to be used for communication. 00119 * @param sclk pin name of the SCLK pin of the SPI device to be used for communication. 00120 */ 00121 XNucleoIHM02A1::XNucleoIHM02A1(L6470_init_t *init_0, L6470_init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk) 00122 { 00123 /* Checking stackability. */ 00124 if (!(number_of_boards < EXPBRD_MOUNTED_NR_MAX)) { 00125 error("Instantiation of the X_NUCLEO_IHM02A1 expansion board failed: it can be stacked up to %d times.\r\n", EXPBRD_MOUNTED_NR_MAX); 00126 } 00127 instance_id = number_of_boards++; 00128 00129 printf("--> so viele boards %d.\r\n",number_of_boards); 00130 00131 /* SPI communication. */ 00132 dev_spi = new DevSPI(mosi, miso, sclk); 00133 00134 /* Instantiating the components. */ 00135 /* ACTION 3 --------------------------------------------------------------* 00136 * Instantiate here the expansion board's components. * 00137 * * 00138 * Example: * 00139 * component_1 = new COMPONENT_1(ssel, *dev_spi); * 00140 * component_2 = new COMPONENT_2(ssel, *dev_spi); * 00141 *------------------------------------------------------------------------*/ 00142 components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi); 00143 components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi); 00144 00145 /* Initializing the components. */ 00146 init_components[0] = init_0; 00147 init_components[1] = init_1; 00148 if (!init()) { 00149 error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\r\n"); 00150 } 00151 } 00152 00153 /** 00154 * @brief Initializing the X_NUCLEO_IHM02A1 board. 00155 * @retval true if initialization is successful, false otherwise. 00156 */ 00157 bool XNucleoIHM02A1::init(void) 00158 { 00159 /* Initializing the components. */ 00160 /* ACTION 4 --------------------------------------------------------------* 00161 * Initialize here the expansion board's components. * 00162 * * 00163 * Example: * 00164 * return (init_COMPONENT_1() && init_COMPONENT_2()); * 00165 *------------------------------------------------------------------------*/ 00166 return (init_L6470_0() && init_L6470_1()); 00167 } 00168 00169 /* ACTION 5 ------------------------------------------------------------------* 00170 * Implement here an initialization method for each expansion board's * 00171 * component. * 00172 * * 00173 * Example: * 00174 * bool ExpansionBoard::init_COMPONENT_1(void) * 00175 * { * 00176 * // Verifying identity. * 00177 * uint8_t id = 0; * 00178 * int ret = component_1->read_id(&id); * 00179 * if ((ret != COMPONENT_OK) || (id != I_AM_COMPONENT_1)) * 00180 * { * 00181 * delete component_1; * 00182 * component_1 = NULL; * 00183 * return true; * 00184 * } * 00185 * * 00186 * // Configuration. * 00187 * COMPONENT_init_t init; * 00188 * init.property_1 = COMPONENT_1_PROPERY_1_INIT; * 00189 * init.property_N = COMPONENT_1_PROPERY_N_INIT; * 00190 * * 00191 * // Initialization. * 00192 * if (component_1->init(&init) != COMPONENT_OK) * 00193 * return false; * 00194 * * 00195 * return true; * 00196 * } * 00197 *----------------------------------------------------------------------------*/ 00198 /** 00199 * @brief Initialize the L6470 component. 00200 * @retval true if initialization is successful, false otherwise. 00201 */ 00202 bool XNucleoIHM02A1::init_L6470_0(void) 00203 { 00204 /* Initialization. */ 00205 if (l6470_0->init((void *) init_components[0]) != COMPONENT_OK) { 00206 return false; 00207 } 00208 00209 return true; 00210 } 00211 00212 /** 00213 * @brief Initialize the L6470 component. 00214 * @retval true if initialization is successful, false otherwise. 00215 */ 00216 bool XNucleoIHM02A1::init_L6470_1(void) 00217 { 00218 /* Initialization. */ 00219 if (l6470_1->init((void *) init_components[1]) != COMPONENT_OK) { 00220 return false; 00221 } 00222 00223 return true; 00224 } 00225 00226 /////////////////////////////////////////////////////////////////////FABIAN 00227 00228 XNucleoIHM02A12::XNucleoIHM02A12(L6470_init_t *init_0, L6470_init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi) : dev_spi(spi) 00229 { 00230 /* Checking stackability. */ 00231 if (!(number_of_boards1 < EXPBRD_MOUNTED_NR_MAX)) { 00232 error("Instantiation of the X_NUCLEO_IHM02A1 expansion board failed: it can be stacked up to %d times.\r\n", EXPBRD_MOUNTED_NR_MAX); 00233 } 00234 instance_id = number_of_boards1++; 00235 00236 00237 /* SPI communication. */ 00238 if (dev_spi == NULL) { 00239 dev_spi = new DevSPI(X_NUCLEO_IHM02A1_PIN_SPI_MOSI, X_NUCLEO_IHM02A1_PIN_SPI_MISO, X_NUCLEO_IHM02A1_PIN_SPI_SCLK); 00240 } 00241 00242 00243 00244 /* Instantiating the components. */ 00245 /* ACTION 3 --------------------------------------------------------------* 00246 * Instantiate here the expansion board's components. * 00247 * * 00248 * Example: * 00249 * component_1 = new COMPONENT_1(ssel, *dev_spi); * 00250 * component_2 = new COMPONENT_2(ssel, *dev_spi); * 00251 *------------------------------------------------------------------------*/ 00252 components[0] = l6470_0 = new L6470B(flag_irq, busy_irq, standby_reset, ssel, *dev_spi); 00253 components[1] = l6470_1 = new L6470B(flag_irq, busy_irq, standby_reset, ssel, *dev_spi); 00254 00255 /* Initializing the components. */ 00256 init_components[0] = init_0; 00257 init_components[1] = init_1; 00258 if (!init()) { 00259 error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\r\n"); 00260 } 00261 } 00262 00263 /** 00264 * @brief Constructor. 00265 * @param init_0 pointer to the initialization structure of the first motor. 00266 * @param init_1 pointer to the initialization structure of the second motor. 00267 * @param flag_irq pin name of the FLAG pin of the component. 00268 * @param busy_irq pin name of the BUSY pin of the component. 00269 * @param standby_reset pin name of the STBY\RST pin of the component. 00270 * @param ssel pin name of the SSEL pin of the SPI device to be used for communication. 00271 * @param mosi pin name of the MOSI pin of the SPI device to be used for communication. 00272 * @param miso pin name of the MISO pin of the SPI device to be used for communication. 00273 * @param sclk pin name of the SCLK pin of the SPI device to be used for communication. 00274 */ 00275 XNucleoIHM02A12::XNucleoIHM02A12(L6470_init_t *init_0, L6470_init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk) 00276 { 00277 /* Checking stackability. */ 00278 if (!(number_of_boards1 < EXPBRD_MOUNTED_NR_MAX)) { 00279 error("Instantiation of the X_NUCLEO_IHM02A1 expansion board failed: it can be stacked up to %d times.\r\n", EXPBRD_MOUNTED_NR_MAX); 00280 } 00281 instance_id = number_of_boards1++; 00282 00283 printf("--> so viele boards %d.\r\n",number_of_boards1); 00284 00285 /* SPI communication. */ 00286 dev_spi = new DevSPI(mosi, miso, sclk); 00287 00288 /* Instantiating the components. */ 00289 /* ACTION 3 --------------------------------------------------------------* 00290 * Instantiate here the expansion board's components. * 00291 * * 00292 * Example: * 00293 * component_1 = new COMPONENT_1(ssel, *dev_spi); * 00294 * component_2 = new COMPONENT_2(ssel, *dev_spi); * 00295 *------------------------------------------------------------------------*/ 00296 components[0] = l6470_0 = new L6470B(flag_irq, busy_irq, standby_reset, ssel, *dev_spi); 00297 components[1] = l6470_1 = new L6470B(flag_irq, busy_irq, standby_reset, ssel, *dev_spi); 00298 00299 /* Initializing the components. */ 00300 init_components[0] = init_0; 00301 init_components[1] = init_1; 00302 if (!init()) { 00303 error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\r\n"); 00304 } 00305 } 00306 00307 /** 00308 * @brief Initializing the X_NUCLEO_IHM02A1 board. 00309 * @retval true if initialization is successful, false otherwise. 00310 */ 00311 bool XNucleoIHM02A12::init(void) 00312 { 00313 /* Initializing the components. */ 00314 /* ACTION 4 --------------------------------------------------------------* 00315 * Initialize here the expansion board's components. * 00316 * * 00317 * Example: * 00318 * return (init_COMPONENT_1() && init_COMPONENT_2()); * 00319 *------------------------------------------------------------------------*/ 00320 return (init_L6470_0() && init_L6470_1()); 00321 } 00322 00323 /* ACTION 5 ------------------------------------------------------------------* 00324 * Implement here an initialization method for each expansion board's * 00325 * component. * 00326 * * 00327 * Example: * 00328 * bool ExpansionBoard::init_COMPONENT_1(void) * 00329 * { * 00330 * // Verifying identity. * 00331 * uint8_t id = 0; * 00332 * int ret = component_1->read_id(&id); * 00333 * if ((ret != COMPONENT_OK) || (id != I_AM_COMPONENT_1)) * 00334 * { * 00335 * delete component_1; * 00336 * component_1 = NULL; * 00337 * return true; * 00338 * } * 00339 * * 00340 * // Configuration. * 00341 * COMPONENT_init_t init; * 00342 * init.property_1 = COMPONENT_1_PROPERY_1_INIT; * 00343 * init.property_N = COMPONENT_1_PROPERY_N_INIT; * 00344 * * 00345 * // Initialization. * 00346 * if (component_1->init(&init) != COMPONENT_OK) * 00347 * return false; * 00348 * * 00349 * return true; * 00350 * } * 00351 *----------------------------------------------------------------------------*/ 00352 /** 00353 * @brief Initialize the L6470 component. 00354 * @retval true if initialization is successful, false otherwise. 00355 */ 00356 bool XNucleoIHM02A12::init_L6470_0(void) 00357 { 00358 /* Initialization. */ 00359 if (l6470_0->init((void *) init_components[0]) != COMPONENT_OK) { 00360 return false; 00361 } 00362 00363 return true; 00364 } 00365 00366 /** 00367 * @brief Initialize the L6470 component. 00368 * @retval true if initialization is successful, false otherwise. 00369 */ 00370 bool XNucleoIHM02A12::init_L6470_1(void) 00371 { 00372 /* Initialization. */ 00373 if (l6470_1->init((void *) init_components[1]) != COMPONENT_OK) { 00374 return false; 00375 } 00376 00377 return true; 00378 } 00379 00380 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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