ching-yang Trui / X_NUCLEO_IHM02A1

motor board library

Dependencies:   ST_INTERFACES X_NUCLEO_COMMON

Dependents:   selfbalansingcar

Fork of X_NUCLEO_IHM02A1 by ST

BSP/XNucleoIHM02A1.h@25:66409b9ed27c, 2018-04-04 (annotated)

Committer:
yong304
Date:
Wed Apr 04 08:24:33 2018 +0000
Revision:
25:66409b9ed27c
Parent:
24:ff67801d7cd7 
selfbalancecar unfinish;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
davide.aliprandi@st.com 22:ba7f4131a5e0 1 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 2 ******************************************************************************
Davidroid 24:ff67801d7cd7 3 * @file XNucleoIHM02A1.h
davide.aliprandi@st.com 22:ba7f4131a5e0 4 * @author AST / Software Platforms and Cloud
davide.aliprandi@st.com 22:ba7f4131a5e0 5 * @version V1.0
davide.aliprandi@st.com 22:ba7f4131a5e0 6 * @date November 3rd, 2015
davide.aliprandi@st.com 22:ba7f4131a5e0 7 * @brief Class header file for the X-NUCLEO-IHM02A1 expansion board.
davide.aliprandi@st.com 22:ba7f4131a5e0 8 ******************************************************************************
davide.aliprandi@st.com 22:ba7f4131a5e0 9 * @attention
davide.aliprandi@st.com 22:ba7f4131a5e0 10 *
davide.aliprandi@st.com 22:ba7f4131a5e0 11 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
davide.aliprandi@st.com 22:ba7f4131a5e0 12 *
davide.aliprandi@st.com 22:ba7f4131a5e0 13 * Redistribution and use in source and binary forms, with or without modification,
davide.aliprandi@st.com 22:ba7f4131a5e0 14 * are permitted provided that the following conditions are met:
davide.aliprandi@st.com 22:ba7f4131a5e0 15 * 1. Redistributions of source code must retain the above copyright notice,
davide.aliprandi@st.com 22:ba7f4131a5e0 16 * this list of conditions and the following disclaimer.
davide.aliprandi@st.com 22:ba7f4131a5e0 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
davide.aliprandi@st.com 22:ba7f4131a5e0 18 * this list of conditions and the following disclaimer in the documentation
davide.aliprandi@st.com 22:ba7f4131a5e0 19 * and/or other materials provided with the distribution.
davide.aliprandi@st.com 22:ba7f4131a5e0 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
davide.aliprandi@st.com 22:ba7f4131a5e0 21 * may be used to endorse or promote products derived from this software
davide.aliprandi@st.com 22:ba7f4131a5e0 22 * without specific prior written permission.
davide.aliprandi@st.com 22:ba7f4131a5e0 23 *
davide.aliprandi@st.com 22:ba7f4131a5e0 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
davide.aliprandi@st.com 22:ba7f4131a5e0 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
davide.aliprandi@st.com 22:ba7f4131a5e0 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
davide.aliprandi@st.com 22:ba7f4131a5e0 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
davide.aliprandi@st.com 22:ba7f4131a5e0 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
davide.aliprandi@st.com 22:ba7f4131a5e0 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
davide.aliprandi@st.com 22:ba7f4131a5e0 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
davide.aliprandi@st.com 22:ba7f4131a5e0 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
davide.aliprandi@st.com 22:ba7f4131a5e0 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
davide.aliprandi@st.com 22:ba7f4131a5e0 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
davide.aliprandi@st.com 22:ba7f4131a5e0 34 *
davide.aliprandi@st.com 22:ba7f4131a5e0 35 ******************************************************************************
davide.aliprandi@st.com 22:ba7f4131a5e0 36 */
davide.aliprandi@st.com 22:ba7f4131a5e0 37
davide.aliprandi@st.com 22:ba7f4131a5e0 38
davide.aliprandi@st.com 22:ba7f4131a5e0 39 /* Generated with STM32CubeTOO -----------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 40
davide.aliprandi@st.com 22:ba7f4131a5e0 41
davide.aliprandi@st.com 22:ba7f4131a5e0 42 /* Define to prevent recursive inclusion -------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 43
davide.aliprandi@st.com 22:ba7f4131a5e0 44 #ifndef __X_NUCLEO_IHM02A1_CLASS_H
davide.aliprandi@st.com 22:ba7f4131a5e0 45 #define __X_NUCLEO_IHM02A1_CLASS_H
davide.aliprandi@st.com 22:ba7f4131a5e0 46
davide.aliprandi@st.com 22:ba7f4131a5e0 47
davide.aliprandi@st.com 22:ba7f4131a5e0 48 /* Includes ------------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 49
davide.aliprandi@st.com 22:ba7f4131a5e0 50 /* ACTION 1 ------------------------------------------------------------------*
davide.aliprandi@st.com 22:ba7f4131a5e0 51 * Include here platform specific header files. *
davide.aliprandi@st.com 22:ba7f4131a5e0 52 *----------------------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 53 #include "mbed.h"
davide.aliprandi@st.com 22:ba7f4131a5e0 54 #include "DevSPI.h"
davide.aliprandi@st.com 22:ba7f4131a5e0 55 /* ACTION 2 ------------------------------------------------------------------*
davide.aliprandi@st.com 22:ba7f4131a5e0 56 * Include here expansion board configuration's header files. *
davide.aliprandi@st.com 22:ba7f4131a5e0 57 *----------------------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 58 #include "x_nucleo_ihm02a1_config.h"
davide.aliprandi@st.com 22:ba7f4131a5e0 59 /* ACTION 3 ------------------------------------------------------------------*
davide.aliprandi@st.com 22:ba7f4131a5e0 60 * Include here expansion board's components' header files. *
davide.aliprandi@st.com 22:ba7f4131a5e0 61 * *
davide.aliprandi@st.com 22:ba7f4131a5e0 62 * Example: *
davide.aliprandi@st.com 22:ba7f4131a5e0 63 * #include "COMPONENT_1.h" *
davide.aliprandi@st.com 22:ba7f4131a5e0 64 * #include "COMPONENT_2.h" *
davide.aliprandi@st.com 22:ba7f4131a5e0 65 *----------------------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 66 #include "L6470.h"
davide.aliprandi@st.com 22:ba7f4131a5e0 67
davide.aliprandi@st.com 22:ba7f4131a5e0 68
davide.aliprandi@st.com 22:ba7f4131a5e0 69 /* Classes -------------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 70
davide.aliprandi@st.com 22:ba7f4131a5e0 71 /** Class representing a X-NUCLEO-IHM02A1 board.
davide.aliprandi@st.com 22:ba7f4131a5e0 72 */
Davidroid 24:ff67801d7cd7 73 class XNucleoIHM02A1
davide.aliprandi@st.com 22:ba7f4131a5e0 74 {
davide.aliprandi@st.com 22:ba7f4131a5e0 75 public:
davide.aliprandi@st.com 22:ba7f4131a5e0 76
davide.aliprandi@st.com 22:ba7f4131a5e0 77 /*** Constructor, Destructor, and Initialization Methods ***/
davide.aliprandi@st.com 22:ba7f4131a5e0 78
davide.aliprandi@st.com 22:ba7f4131a5e0 79 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 80 * @brief Constructor.
davide.aliprandi@st.com 22:ba7f4131a5e0 81 * @param init_0 pointer to the initialization structure of the first motor.
davide.aliprandi@st.com 22:ba7f4131a5e0 82 * @param init_1 pointer to the initialization structure of the second motor.
davide.aliprandi@st.com 22:ba7f4131a5e0 83 * @param flag_irq pin name of the FLAG pin of the component.
davide.aliprandi@st.com 22:ba7f4131a5e0 84 * @param busy_irq pin name of the BUSY pin of the component.
davide.aliprandi@st.com 22:ba7f4131a5e0 85 * @param standby_reset pin name of the STBY\RST pin of the component.
davide.aliprandi@st.com 22:ba7f4131a5e0 86 * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
davide.aliprandi@st.com 22:ba7f4131a5e0 87 * @param spi SPI device to be used for communication.
davide.aliprandi@st.com 22:ba7f4131a5e0 88 */
Davidroid 24:ff67801d7cd7 89 XNucleoIHM02A1(L6470_init_t *init_0, L6470_init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi);
davide.aliprandi@st.com 22:ba7f4131a5e0 90
davide.aliprandi@st.com 22:ba7f4131a5e0 91 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 92 * @brief Constructor.
davide.aliprandi@st.com 22:ba7f4131a5e0 93 * @param init_0 pointer to the initialization structure of the first motor.
davide.aliprandi@st.com 22:ba7f4131a5e0 94 * @param init_1 pointer to the initialization structure of the second motor.
davide.aliprandi@st.com 22:ba7f4131a5e0 95 * @param flag_irq pin name of the FLAG pin of the component.
davide.aliprandi@st.com 22:ba7f4131a5e0 96 * @param busy_irq pin name of the BUSY pin of the component.
davide.aliprandi@st.com 22:ba7f4131a5e0 97 * @param standby_reset pin name of the STBY\RST pin of the component.
davide.aliprandi@st.com 22:ba7f4131a5e0 98 * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
davide.aliprandi@st.com 22:ba7f4131a5e0 99 * @param mosi pin name of the MOSI pin of the SPI device to be used for communication.
davide.aliprandi@st.com 22:ba7f4131a5e0 100 * @param miso pin name of the MISO pin of the SPI device to be used for communication.
davide.aliprandi@st.com 22:ba7f4131a5e0 101 * @param sclk pin name of the SCLK pin of the SPI device to be used for communication.
davide.aliprandi@st.com 22:ba7f4131a5e0 102 */
Davidroid 24:ff67801d7cd7 103 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);
davide.aliprandi@st.com 22:ba7f4131a5e0 104
davide.aliprandi@st.com 22:ba7f4131a5e0 105 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 106 * @brief Destructor.
davide.aliprandi@st.com 22:ba7f4131a5e0 107 */
Davidroid 24:ff67801d7cd7 108 ~XNucleoIHM02A1(void) {}
davide.aliprandi@st.com 22:ba7f4131a5e0 109
davide.aliprandi@st.com 22:ba7f4131a5e0 110 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 111 * @brief Initializing the X-NUCLEO-IHM02A1 board.
davide.aliprandi@st.com 22:ba7f4131a5e0 112 * @retval true if initialization is successful, false otherwise.
davide.aliprandi@st.com 22:ba7f4131a5e0 113 */
davide.aliprandi@st.com 22:ba7f4131a5e0 114 bool init(void);
davide.aliprandi@st.com 22:ba7f4131a5e0 115
davide.aliprandi@st.com 22:ba7f4131a5e0 116
davide.aliprandi@st.com 22:ba7f4131a5e0 117 /*** Other Public Expansion Board Related Methods ***/
davide.aliprandi@st.com 22:ba7f4131a5e0 118
davide.aliprandi@st.com 22:ba7f4131a5e0 119 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 120 * @brief Getting the array of components.
davide.aliprandi@st.com 22:ba7f4131a5e0 121 * @param None.
davide.aliprandi@st.com 22:ba7f4131a5e0 122 * @retval The array of components.
davide.aliprandi@st.com 22:ba7f4131a5e0 123 */
davide.aliprandi@st.com 22:ba7f4131a5e0 124 L6470 **get_components(void)
davide.aliprandi@st.com 22:ba7f4131a5e0 125 {
davide.aliprandi@st.com 22:ba7f4131a5e0 126 return components;
davide.aliprandi@st.com 22:ba7f4131a5e0 127 }
davide.aliprandi@st.com 22:ba7f4131a5e0 128
davide.aliprandi@st.com 22:ba7f4131a5e0 129 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 130 * @brief Performing the actions set on the motors with calls to a number of
davide.aliprandi@st.com 22:ba7f4131a5e0 131 * "Prepare<Action>()" methods, one for each motor of the daisy-chain.
davide.aliprandi@st.com 22:ba7f4131a5e0 132 * @param None.
davide.aliprandi@st.com 22:ba7f4131a5e0 133 * @retval A pointer to the results returned by the components, i.e. an
davide.aliprandi@st.com 22:ba7f4131a5e0 134 * integer value for each of them.
davide.aliprandi@st.com 22:ba7f4131a5e0 135 */
davide.aliprandi@st.com 22:ba7f4131a5e0 136 virtual uint32_t* perform_prepared_actions(void)
davide.aliprandi@st.com 22:ba7f4131a5e0 137 {
davide.aliprandi@st.com 22:ba7f4131a5e0 138 /* Performing pre-actions, if needed. */
davide.aliprandi@st.com 22:ba7f4131a5e0 139 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
davide.aliprandi@st.com 22:ba7f4131a5e0 140 /*
davide.aliprandi@st.com 22:ba7f4131a5e0 141 "GetPosition()" is needed by "PrepareSetMark()" at the time when the
davide.aliprandi@st.com 22:ba7f4131a5e0 142 prepared actions get performed.
davide.aliprandi@st.com 22:ba7f4131a5e0 143 */
davide.aliprandi@st.com 22:ba7f4131a5e0 144 if (components[m]->get_prepared_action() == L6470::PREPARED_SET_MARK) {
davide.aliprandi@st.com 22:ba7f4131a5e0 145 components[m]->prepare_set_mark((uint32_t) components[m]->get_position());
davide.aliprandi@st.com 22:ba7f4131a5e0 146 }
davide.aliprandi@st.com 22:ba7f4131a5e0 147 }
davide.aliprandi@st.com 22:ba7f4131a5e0 148
davide.aliprandi@st.com 22:ba7f4131a5e0 149 /* Performing the prepared actions and getting back raw data. */
davide.aliprandi@st.com 22:ba7f4131a5e0 150 uint8_t *raw_data = components[0]->perform_prepared_actions();
davide.aliprandi@st.com 22:ba7f4131a5e0 151
davide.aliprandi@st.com 22:ba7f4131a5e0 152 /* Processing raw data. */
davide.aliprandi@st.com 22:ba7f4131a5e0 153 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
davide.aliprandi@st.com 22:ba7f4131a5e0 154 results[m] = components[m]->get_result(raw_data);
davide.aliprandi@st.com 22:ba7f4131a5e0 155 }
davide.aliprandi@st.com 22:ba7f4131a5e0 156
davide.aliprandi@st.com 22:ba7f4131a5e0 157 /* Returning results. */
davide.aliprandi@st.com 22:ba7f4131a5e0 158 return results;
davide.aliprandi@st.com 22:ba7f4131a5e0 159 }
davide.aliprandi@st.com 22:ba7f4131a5e0 160
davide.aliprandi@st.com 22:ba7f4131a5e0 161
davide.aliprandi@st.com 22:ba7f4131a5e0 162 /*** Public Expansion Board Related Attributes ***/
davide.aliprandi@st.com 22:ba7f4131a5e0 163
davide.aliprandi@st.com 22:ba7f4131a5e0 164 /* ACTION 4 --------------------------------------------------------------*
davide.aliprandi@st.com 22:ba7f4131a5e0 165 * Declare here a public attribute for each expansion board's component. *
davide.aliprandi@st.com 22:ba7f4131a5e0 166 * You will have to call these attributes' public methods within your *
davide.aliprandi@st.com 22:ba7f4131a5e0 167 * main program. *
davide.aliprandi@st.com 22:ba7f4131a5e0 168 * *
davide.aliprandi@st.com 22:ba7f4131a5e0 169 * Example: *
davide.aliprandi@st.com 22:ba7f4131a5e0 170 * COMPONENT_1 *component_1; *
davide.aliprandi@st.com 22:ba7f4131a5e0 171 * COMPONENT_2 *component_2; *
davide.aliprandi@st.com 22:ba7f4131a5e0 172 *------------------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 173 L6470 *l6470_0;
davide.aliprandi@st.com 22:ba7f4131a5e0 174 L6470 *l6470_1;
davide.aliprandi@st.com 22:ba7f4131a5e0 175
davide.aliprandi@st.com 22:ba7f4131a5e0 176
davide.aliprandi@st.com 22:ba7f4131a5e0 177 protected:
davide.aliprandi@st.com 22:ba7f4131a5e0 178
davide.aliprandi@st.com 22:ba7f4131a5e0 179 /*** Protected Expansion Board Related Initialization Methods ***/
davide.aliprandi@st.com 22:ba7f4131a5e0 180
davide.aliprandi@st.com 22:ba7f4131a5e0 181 /* ACTION 5 --------------------------------------------------------------*
davide.aliprandi@st.com 22:ba7f4131a5e0 182 * Declare here a protected initialization method for each expansion *
davide.aliprandi@st.com 22:ba7f4131a5e0 183 * board's component. *
davide.aliprandi@st.com 22:ba7f4131a5e0 184 * *
davide.aliprandi@st.com 22:ba7f4131a5e0 185 * Example: *
davide.aliprandi@st.com 22:ba7f4131a5e0 186 * bool init_COMPONENT_1(void); *
davide.aliprandi@st.com 22:ba7f4131a5e0 187 * bool init_COMPONENT_2(void); *
davide.aliprandi@st.com 22:ba7f4131a5e0 188 *------------------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 189 bool init_L6470_0(void);
davide.aliprandi@st.com 22:ba7f4131a5e0 190 bool init_L6470_1(void);
davide.aliprandi@st.com 22:ba7f4131a5e0 191
davide.aliprandi@st.com 22:ba7f4131a5e0 192
davide.aliprandi@st.com 22:ba7f4131a5e0 193 /*** Component's Instance Variables ***/
davide.aliprandi@st.com 22:ba7f4131a5e0 194
davide.aliprandi@st.com 22:ba7f4131a5e0 195 /* IO Device. */
davide.aliprandi@st.com 22:ba7f4131a5e0 196 DevSPI *dev_spi;
davide.aliprandi@st.com 22:ba7f4131a5e0 197
davide.aliprandi@st.com 22:ba7f4131a5e0 198 /* Components. */
davide.aliprandi@st.com 22:ba7f4131a5e0 199 L6470 *components[L6470DAISYCHAINSIZE];
davide.aliprandi@st.com 22:ba7f4131a5e0 200
davide.aliprandi@st.com 22:ba7f4131a5e0 201 /* Components' initialization. */
davide.aliprandi@st.com 22:ba7f4131a5e0 202 L6470_init_t *init_components[L6470DAISYCHAINSIZE];
davide.aliprandi@st.com 22:ba7f4131a5e0 203
davide.aliprandi@st.com 22:ba7f4131a5e0 204 /* Results of prepared actions. */
davide.aliprandi@st.com 22:ba7f4131a5e0 205 uint32_t results[L6470DAISYCHAINSIZE];
davide.aliprandi@st.com 22:ba7f4131a5e0 206
davide.aliprandi@st.com 22:ba7f4131a5e0 207 /* ACTION 6 --------------------------------------------------------------*
davide.aliprandi@st.com 22:ba7f4131a5e0 208 * Declare here the component's static and non-static data, one variable *
davide.aliprandi@st.com 22:ba7f4131a5e0 209 * per line. *
davide.aliprandi@st.com 22:ba7f4131a5e0 210 * *
davide.aliprandi@st.com 22:ba7f4131a5e0 211 * Example: *
davide.aliprandi@st.com 22:ba7f4131a5e0 212 * int instance_id; *
davide.aliprandi@st.com 22:ba7f4131a5e0 213 * static int number_of_instances; *
davide.aliprandi@st.com 22:ba7f4131a5e0 214 *------------------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 215 /* Data. */
davide.aliprandi@st.com 22:ba7f4131a5e0 216 uint8_t instance_id;
davide.aliprandi@st.com 22:ba7f4131a5e0 217
davide.aliprandi@st.com 22:ba7f4131a5e0 218 /* Static data. */
davide.aliprandi@st.com 22:ba7f4131a5e0 219 static uint8_t number_of_boards;
davide.aliprandi@st.com 22:ba7f4131a5e0 220 };
davide.aliprandi@st.com 22:ba7f4131a5e0 221
davide.aliprandi@st.com 22:ba7f4131a5e0 222 #endif /* __X_NUCLEO_IHM02A1_CLASS_H */
davide.aliprandi@st.com 22:ba7f4131a5e0 223
davide.aliprandi@st.com 22:ba7f4131a5e0 224 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/