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/x_nucleo_ihm02a1_class.cpp@9:d70452d7a1e1, 2015-12-11 (annotated)

Committer:
Davidroid
Date:
Fri Dec 11 17:23:31 2015 +0000
Revision:
9:d70452d7a1e1
Parent:
3:e3f6f4474d98
Child:
10:aa68441705b2
+ Initialization structure moved from the BSP to the main application.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Davidroid 0:92706998571a 1 /**
Davidroid 0:92706998571a 2 ******************************************************************************
Davidroid 0:92706998571a 3 * @file x_nucleo_ihm02a1_class.cpp
Davidroid 0:92706998571a 4 * @author AST / Software Platforms and Cloud
Davidroid 0:92706998571a 5 * @version V1.0
Davidroid 0:92706998571a 6 * @date November 3rd, 2015
Davidroid 0:92706998571a 7 * @brief Implementation file for the X_NUCLEO_IHM02A1 expansion board.
Davidroid 0:92706998571a 8 ******************************************************************************
Davidroid 0:92706998571a 9 * @attention
Davidroid 0:92706998571a 10 *
Davidroid 0:92706998571a 11 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Davidroid 0:92706998571a 12 *
Davidroid 0:92706998571a 13 * Redistribution and use in source and binary forms, with or without modification,
Davidroid 0:92706998571a 14 * are permitted provided that the following conditions are met:
Davidroid 0:92706998571a 15 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 0:92706998571a 16 * this list of conditions and the following disclaimer.
Davidroid 0:92706998571a 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid 0:92706998571a 18 * this list of conditions and the following disclaimer in the documentation
Davidroid 0:92706998571a 19 * and/or other materials provided with the distribution.
Davidroid 0:92706998571a 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid 0:92706998571a 21 * may be used to endorse or promote products derived from this software
Davidroid 0:92706998571a 22 * without specific prior written permission.
Davidroid 0:92706998571a 23 *
Davidroid 0:92706998571a 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 0:92706998571a 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 0:92706998571a 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid 0:92706998571a 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid 0:92706998571a 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid 0:92706998571a 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid 0:92706998571a 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid 0:92706998571a 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid 0:92706998571a 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid 0:92706998571a 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid 0:92706998571a 34 *
Davidroid 0:92706998571a 35 ******************************************************************************
Davidroid 0:92706998571a 36 */
Davidroid 0:92706998571a 37
Davidroid 0:92706998571a 38
Davidroid 0:92706998571a 39 /* Generated with Stm32CubeTOO -----------------------------------------------*/
Davidroid 0:92706998571a 40
Davidroid 0:92706998571a 41
Davidroid 0:92706998571a 42 /* Includes ------------------------------------------------------------------*/
Davidroid 0:92706998571a 43
Davidroid 0:92706998571a 44 /* ACTION 1 ------------------------------------------------------------------*
Davidroid 0:92706998571a 45 * Include here platform specific header files. *
Davidroid 0:92706998571a 46 *----------------------------------------------------------------------------*/
Davidroid 0:92706998571a 47 #include "mbed.h"
Davidroid 0:92706998571a 48 #include "DevSPI.h"
Davidroid 0:92706998571a 49 /* ACTION 2 ------------------------------------------------------------------*
Davidroid 0:92706998571a 50 * Include here expansion board specific header files. *
Davidroid 0:92706998571a 51 *----------------------------------------------------------------------------*/
Davidroid 0:92706998571a 52 #include "x_nucleo_ihm02a1_class.h"
Davidroid 0:92706998571a 53
Davidroid 0:92706998571a 54
Davidroid 0:92706998571a 55 /* Static variables ----------------------------------------------------------*/
Davidroid 0:92706998571a 56
Davidroid 0:92706998571a 57 /* Number of instantiated expansion boards. */
Davidroid 0:92706998571a 58 uint8_t X_NUCLEO_IHM02A1::number_of_boards = 0;
Davidroid 0:92706998571a 59
Davidroid 0:92706998571a 60
Davidroid 0:92706998571a 61 /* Methods -------------------------------------------------------------------*/
Davidroid 0:92706998571a 62
Davidroid 0:92706998571a 63 /**
Davidroid 0:92706998571a 64 * @brief Constructor.
Davidroid 9:d70452d7a1e1 65 * @param init_0 pointer to the initialization structure of the first motor.
Davidroid 9:d70452d7a1e1 66 * @param init_1 pointer to the initialization structure of the second motor.
Davidroid 0:92706998571a 67 * @param flag_irq pin name of the FLAG pin of the component.
Davidroid 1:b78dab6d2c58 68 * @param busy_irq pin name of the BUSY pin of the component.
Davidroid 0:92706998571a 69 * @param standby_reset pin name of the STBY\RST pin of the component.
Davidroid 0:92706998571a 70 * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 71 * @param spi SPI device to be used for communication.
Davidroid 0:92706998571a 72 */
Davidroid 9:d70452d7a1e1 73 X_NUCLEO_IHM02A1::X_NUCLEO_IHM02A1(MICROSTEPPING_MOTOR_InitTypeDef *init_0, MICROSTEPPING_MOTOR_InitTypeDef *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi) : dev_spi(spi)
Davidroid 0:92706998571a 74 {
Davidroid 3:e3f6f4474d98 75 /* SPI communication. */
Davidroid 3:e3f6f4474d98 76 if (dev_spi == NULL)
Davidroid 3:e3f6f4474d98 77 dev_spi = new DevSPI(X_NUCLEO_IHM02A1_PIN_SPI_MOSI, X_NUCLEO_IHM02A1_PIN_SPI_MISO, X_NUCLEO_IHM02A1_PIN_SPI_SCLK);
Davidroid 3:e3f6f4474d98 78
Davidroid 0:92706998571a 79 /* Instantiating the components. */
Davidroid 0:92706998571a 80 /* ACTION 3 --------------------------------------------------------------*
Davidroid 0:92706998571a 81 * Instantiate here the expansion board's components. *
Davidroid 0:92706998571a 82 * *
Davidroid 0:92706998571a 83 * Example: *
Davidroid 0:92706998571a 84 * component_1 = new COMPONENT_1(COMPONENT_1_SPI_SSEL, *dev_spi); *
Davidroid 0:92706998571a 85 * component_2 = new COMPONENT_2(COMPONENT_2_SPI_SSEL, *dev_spi); *
Davidroid 0:92706998571a 86 *------------------------------------------------------------------------*/
Davidroid 0:92706998571a 87 X_NUCLEO_IHM02A1_Id = number_of_boards++;
Davidroid 1:b78dab6d2c58 88 components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
Davidroid 1:b78dab6d2c58 89 components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
Davidroid 3:e3f6f4474d98 90
Davidroid 3:e3f6f4474d98 91 /* Initializing the components. */
Davidroid 9:d70452d7a1e1 92 init_components[0] = init_0;
Davidroid 9:d70452d7a1e1 93 init_components[1] = init_1;
Davidroid 3:e3f6f4474d98 94 if (!Init())
Davidroid 3:e3f6f4474d98 95 error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\n");
Davidroid 0:92706998571a 96 }
Davidroid 0:92706998571a 97
Davidroid 0:92706998571a 98 /**
Davidroid 3:e3f6f4474d98 99 * @brief Constructor.
Davidroid 9:d70452d7a1e1 100 * @param init_0 pointer to the initialization structure of the first motor.
Davidroid 9:d70452d7a1e1 101 * @param init_1 pointer to the initialization structure of the second motor.
Davidroid 0:92706998571a 102 * @param flag_irq pin name of the FLAG pin of the component.
Davidroid 1:b78dab6d2c58 103 * @param busy_irq pin name of the BUSY pin of the component.
Davidroid 0:92706998571a 104 * @param standby_reset pin name of the STBY\RST pin of the component.
Davidroid 0:92706998571a 105 * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 106 * @param mosi pin name of the MOSI pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 107 * @param miso pin name of the MISO pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 108 * @param sclk pin name of the SCLK pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 109 */
Davidroid 9:d70452d7a1e1 110 X_NUCLEO_IHM02A1::X_NUCLEO_IHM02A1(MICROSTEPPING_MOTOR_InitTypeDef *init_0, MICROSTEPPING_MOTOR_InitTypeDef *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk)
Davidroid 0:92706998571a 111 {
Davidroid 3:e3f6f4474d98 112 /* SPI communication. */
Davidroid 3:e3f6f4474d98 113 dev_spi = new DevSPI(mosi, miso, sclk);
Davidroid 0:92706998571a 114
Davidroid 3:e3f6f4474d98 115 /* Instantiating the components. */
Davidroid 3:e3f6f4474d98 116 /* ACTION 3 --------------------------------------------------------------*
Davidroid 3:e3f6f4474d98 117 * Instantiate here the expansion board's components. *
Davidroid 3:e3f6f4474d98 118 * *
Davidroid 3:e3f6f4474d98 119 * Example: *
Davidroid 3:e3f6f4474d98 120 * component_1 = new COMPONENT_1(COMPONENT_1_SPI_SSEL, *dev_spi); *
Davidroid 3:e3f6f4474d98 121 * component_2 = new COMPONENT_2(COMPONENT_2_SPI_SSEL, *dev_spi); *
Davidroid 3:e3f6f4474d98 122 *------------------------------------------------------------------------*/
Davidroid 3:e3f6f4474d98 123 X_NUCLEO_IHM02A1_Id = number_of_boards++;
Davidroid 3:e3f6f4474d98 124 components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
Davidroid 3:e3f6f4474d98 125 components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
Davidroid 0:92706998571a 126
Davidroid 3:e3f6f4474d98 127 /* Initializing the components. */
Davidroid 9:d70452d7a1e1 128 init_components[0] = init_0;
Davidroid 9:d70452d7a1e1 129 init_components[1] = init_1;
Davidroid 3:e3f6f4474d98 130 if (!Init())
Davidroid 3:e3f6f4474d98 131 error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\n");
Davidroid 0:92706998571a 132 }
Davidroid 0:92706998571a 133
Davidroid 0:92706998571a 134 /**
Davidroid 0:92706998571a 135 * @brief Initializing the X_NUCLEO_IHM02A1 board.
Davidroid 0:92706998571a 136 * @retval true if initialization is successful, false otherwise.
Davidroid 0:92706998571a 137 */
Davidroid 0:92706998571a 138 bool X_NUCLEO_IHM02A1::Init(void)
Davidroid 0:92706998571a 139 {
Davidroid 0:92706998571a 140 /* Initializing the components. */
Davidroid 0:92706998571a 141 /* ACTION 4 --------------------------------------------------------------*
Davidroid 0:92706998571a 142 * Initialize here the expansion board's components. *
Davidroid 0:92706998571a 143 * *
Davidroid 0:92706998571a 144 * Example: *
Davidroid 0:92706998571a 145 * return (Init_COMPONENT_1() && Init_COMPONENT_2()); *
Davidroid 0:92706998571a 146 *------------------------------------------------------------------------*/
Davidroid 0:92706998571a 147 return (Init_L6470_0() && Init_L6470_1());
Davidroid 0:92706998571a 148 }
Davidroid 0:92706998571a 149
Davidroid 0:92706998571a 150 /* ACTION 5 ------------------------------------------------------------------*
Davidroid 0:92706998571a 151 * Implement here an initialization method for each expansion board's *
Davidroid 0:92706998571a 152 * component. *
Davidroid 0:92706998571a 153 * *
Davidroid 0:92706998571a 154 * Example: *
Davidroid 0:92706998571a 155 * bool EXPANSION_BOARD::Init_COMPONENT_1(void) *
Davidroid 0:92706998571a 156 * { *
Davidroid 0:92706998571a 157 * // Verifying identity. *
Davidroid 0:92706998571a 158 * uint8_t id = 0; *
Davidroid 0:92706998571a 159 * int ret = component_1->ReadID(&id); *
Davidroid 0:92706998571a 160 * if ((ret != COMPONENT_OK) || (id != I_AM_COMPONENT_1)) *
Davidroid 0:92706998571a 161 * { *
Davidroid 0:92706998571a 162 * delete component_1; *
Davidroid 0:92706998571a 163 * component_1 = NULL; *
Davidroid 0:92706998571a 164 * return true; *
Davidroid 0:92706998571a 165 * } *
Davidroid 0:92706998571a 166 * *
Davidroid 0:92706998571a 167 * // Configuration. *
Davidroid 0:92706998571a 168 * INTERFACE_InitTypeDef InitStructure; *
Davidroid 0:92706998571a 169 * InitStructure.Property_1 = COMPONENT_1_PROPERY_1_INIT; *
Davidroid 0:92706998571a 170 * InitStructure.Property_N = COMPONENT_1_PROPERY_N_INIT; *
Davidroid 0:92706998571a 171 * *
Davidroid 0:92706998571a 172 * // Initialization. *
Davidroid 0:92706998571a 173 * if (component_1->Init(&InitStructure) != COMPONENT_OK) *
Davidroid 0:92706998571a 174 * return false; *
Davidroid 0:92706998571a 175 * *
Davidroid 0:92706998571a 176 * return true; *
Davidroid 0:92706998571a 177 * } *
Davidroid 0:92706998571a 178 *----------------------------------------------------------------------------*/
Davidroid 0:92706998571a 179 /**
Davidroid 0:92706998571a 180 * @brief Initialize the L6470 component.
Davidroid 0:92706998571a 181 * @retval true if initialization is successful, false otherwise.
Davidroid 0:92706998571a 182 */
Davidroid 0:92706998571a 183 bool X_NUCLEO_IHM02A1::Init_L6470_0(void)
Davidroid 0:92706998571a 184 {
Davidroid 0:92706998571a 185 /* Initialization. */
Davidroid 9:d70452d7a1e1 186 if (l6470_0->Init((void *) init_components[0]) != COMPONENT_OK)
Davidroid 0:92706998571a 187 return false;
Davidroid 0:92706998571a 188
Davidroid 0:92706998571a 189 return true;
Davidroid 0:92706998571a 190 }
Davidroid 0:92706998571a 191
Davidroid 0:92706998571a 192 /**
Davidroid 0:92706998571a 193 * @brief Initialize the L6470 component.
Davidroid 0:92706998571a 194 * @retval true if initialization is successful, false otherwise.
Davidroid 0:92706998571a 195 */
Davidroid 0:92706998571a 196 bool X_NUCLEO_IHM02A1::Init_L6470_1(void)
Davidroid 0:92706998571a 197 {
Davidroid 0:92706998571a 198 /* Initialization. */
Davidroid 9:d70452d7a1e1 199 if (l6470_1->Init((void *) init_components[0]) != COMPONENT_OK)
Davidroid 0:92706998571a 200 return false;
Davidroid 0:92706998571a 201
Davidroid 0:92706998571a 202 return true;
Davidroid 0:92706998571a 203 }
Davidroid 0:92706998571a 204
Davidroid 0:92706998571a 205 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/