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.h@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.h
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 Class header 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 /* Define to prevent recursive inclusion -------------------------------------*/
Davidroid 0:92706998571a 43
Davidroid 0:92706998571a 44 #ifndef __X_NUCLEO_IHM02A1_CLASS_H
Davidroid 0:92706998571a 45 #define __X_NUCLEO_IHM02A1_CLASS_H
Davidroid 0:92706998571a 46
Davidroid 0:92706998571a 47
Davidroid 0:92706998571a 48 /* Includes ------------------------------------------------------------------*/
Davidroid 0:92706998571a 49
Davidroid 0:92706998571a 50 /* ACTION 1 ------------------------------------------------------------------*
Davidroid 0:92706998571a 51 * Include here platform specific header files. *
Davidroid 0:92706998571a 52 *----------------------------------------------------------------------------*/
Davidroid 0:92706998571a 53 #include "mbed.h"
Davidroid 0:92706998571a 54 #include "DevSPI.h"
Davidroid 0:92706998571a 55 /* ACTION 2 ------------------------------------------------------------------*
Davidroid 0:92706998571a 56 * Include here expansion board specific header files. *
Davidroid 0:92706998571a 57 *----------------------------------------------------------------------------*/
Davidroid 0:92706998571a 58 #include "x_nucleo_ihm02a1_config.h"
Davidroid 0:92706998571a 59 /* ACTION 3 ------------------------------------------------------------------*
Davidroid 0:92706998571a 60 * Include here expansion board's components' header files. *
Davidroid 0:92706998571a 61 * *
Davidroid 0:92706998571a 62 * Example: *
Davidroid 0:92706998571a 63 * #include "component_1_class.h" *
Davidroid 0:92706998571a 64 * #include "component_2_class.h" *
Davidroid 0:92706998571a 65 *----------------------------------------------------------------------------*/
Davidroid 0:92706998571a 66 #include "l6470_class.h"
Davidroid 0:92706998571a 67
Davidroid 0:92706998571a 68
Davidroid 0:92706998571a 69 /* Classes -------------------------------------------------------------------*/
Davidroid 0:92706998571a 70
Davidroid 0:92706998571a 71 /** Class representing a X_NUCLEO_IHM02A1 board.
Davidroid 0:92706998571a 72 */
Davidroid 0:92706998571a 73 class X_NUCLEO_IHM02A1
Davidroid 0:92706998571a 74 {
Davidroid 0:92706998571a 75 public:
Davidroid 0:92706998571a 76
Davidroid 3:e3f6f4474d98 77 /*** Constructor, Destructor, and Initialization Methods ***/
Davidroid 0:92706998571a 78
Davidroid 0:92706998571a 79 /**
Davidroid 3:e3f6f4474d98 80 * @brief Constructor.
Davidroid 9:d70452d7a1e1 81 * @param init_0 pointer to the initialization structure of the first motor.
Davidroid 9:d70452d7a1e1 82 * @param init_1 pointer to the initialization structure of the second motor.
Davidroid 0:92706998571a 83 * @param flag_irq pin name of the FLAG pin of the component.
Davidroid 1:b78dab6d2c58 84 * @param busy_irq pin name of the BUSY pin of the component.
Davidroid 0:92706998571a 85 * @param standby_reset pin name of the STBY\RST pin of the component.
Davidroid 0:92706998571a 86 * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 87 * @param spi SPI device to be used for communication.
Davidroid 0:92706998571a 88 */
Davidroid 9:d70452d7a1e1 89 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);
Davidroid 0:92706998571a 90
Davidroid 0:92706998571a 91 /**
Davidroid 3:e3f6f4474d98 92 * @brief Constructor.
Davidroid 9:d70452d7a1e1 93 * @param init_0 pointer to the initialization structure of the first motor.
Davidroid 9:d70452d7a1e1 94 * @param init_1 pointer to the initialization structure of the second motor.
Davidroid 0:92706998571a 95 * @param flag_irq pin name of the FLAG pin of the component.
Davidroid 1:b78dab6d2c58 96 * @param busy_irq pin name of the BUSY pin of the component.
Davidroid 0:92706998571a 97 * @param standby_reset pin name of the STBY\RST pin of the component.
Davidroid 0:92706998571a 98 * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 99 * @param mosi pin name of the MOSI pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 100 * @param miso pin name of the MISO pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 101 * @param sclk pin name of the SCLK pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 102 */
Davidroid 9:d70452d7a1e1 103 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 3:e3f6f4474d98 104
Davidroid 3:e3f6f4474d98 105 /**
Davidroid 3:e3f6f4474d98 106 * @brief Destructor.
Davidroid 3:e3f6f4474d98 107 */
Davidroid 3:e3f6f4474d98 108 ~X_NUCLEO_IHM02A1(void) {}
Davidroid 0:92706998571a 109
Davidroid 0:92706998571a 110 /**
Davidroid 0:92706998571a 111 * @brief Initializing the X_NUCLEO_IHM02A1 board.
Davidroid 0:92706998571a 112 * @retval true if initialization is successful, false otherwise.
Davidroid 0:92706998571a 113 */
Davidroid 0:92706998571a 114 bool Init(void);
Davidroid 0:92706998571a 115
Davidroid 3:e3f6f4474d98 116
Davidroid 3:e3f6f4474d98 117 /*** Other Public Expansion Board Related Methods ***/
Davidroid 0:92706998571a 118
Davidroid 1:b78dab6d2c58 119 /**
Davidroid 1:b78dab6d2c58 120 * @brief Getting the array of components.
Davidroid 1:b78dab6d2c58 121 * @param None.
Davidroid 1:b78dab6d2c58 122 * @retval The array of components.
Davidroid 1:b78dab6d2c58 123 */
Davidroid 1:b78dab6d2c58 124 L6470 **GetComponents(void)
Davidroid 1:b78dab6d2c58 125 {
Davidroid 1:b78dab6d2c58 126 return components;
Davidroid 1:b78dab6d2c58 127 }
Davidroid 1:b78dab6d2c58 128
Davidroid 1:b78dab6d2c58 129 /**
Davidroid 1:b78dab6d2c58 130 * @brief Performing the actions set on the motors with calls to a number of
Davidroid 1:b78dab6d2c58 131 * "Prepare<Action>()" methods, one for each motor of the daisy-chain.
Davidroid 1:b78dab6d2c58 132 * @param None.
Davidroid 1:b78dab6d2c58 133 * @retval A pointer to the results returned by the components, i.e. an
Davidroid 1:b78dab6d2c58 134 * integer value for each of them.
Davidroid 1:b78dab6d2c58 135 */
Davidroid 1:b78dab6d2c58 136 virtual uint32_t* PerformPreparedActions(void)
Davidroid 1:b78dab6d2c58 137 {
Davidroid 1:b78dab6d2c58 138 /* Performing pre-actions, if needed. */
Davidroid 1:b78dab6d2c58 139 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:b78dab6d2c58 140 {
Davidroid 1:b78dab6d2c58 141 /*
Davidroid 1:b78dab6d2c58 142 "GetPosition()" is needed by "PrepareSetMark()" at the time when the
Davidroid 1:b78dab6d2c58 143 prepared actions get performed.
Davidroid 1:b78dab6d2c58 144 */
Davidroid 1:b78dab6d2c58 145 if (components[m]->GetPreparedAction() == L6470::PREPARED_SET_MARK)
Davidroid 1:b78dab6d2c58 146 components[m]->PrepareSetMark((uint32_t) components[m]->GetPosition());
Davidroid 1:b78dab6d2c58 147 }
Davidroid 1:b78dab6d2c58 148
Davidroid 1:b78dab6d2c58 149 /* Performing the prepared actions and getting back raw data. */
Davidroid 1:b78dab6d2c58 150 uint8_t *raw_data = components[0]->PerformPreparedActions();
Davidroid 1:b78dab6d2c58 151
Davidroid 1:b78dab6d2c58 152 /* Processing raw data. */
Davidroid 1:b78dab6d2c58 153 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:b78dab6d2c58 154 results[m] = components[m]->GetResult(raw_data);
Davidroid 1:b78dab6d2c58 155
Davidroid 1:b78dab6d2c58 156 /* Returning results. */
Davidroid 1:b78dab6d2c58 157 return results;
Davidroid 1:b78dab6d2c58 158 }
Davidroid 1:b78dab6d2c58 159
Davidroid 0:92706998571a 160
Davidroid 0:92706998571a 161 /*** Public Expansion Board Related Attributes ***/
Davidroid 0:92706998571a 162
Davidroid 0:92706998571a 163 /* ACTION 4 --------------------------------------------------------------*
Davidroid 0:92706998571a 164 * Declare here a public attribute for each expansion board's component. *
Davidroid 0:92706998571a 165 * You will have to call these attributes' public methods within your *
Davidroid 0:92706998571a 166 * main program. *
Davidroid 0:92706998571a 167 * *
Davidroid 0:92706998571a 168 * Example: *
Davidroid 0:92706998571a 169 * COMPONENT_1 *component_1; *
Davidroid 0:92706998571a 170 * COMPONENT_2 *component_2; *
Davidroid 0:92706998571a 171 *------------------------------------------------------------------------*/
Davidroid 0:92706998571a 172 L6470 *l6470_0;
Davidroid 0:92706998571a 173 L6470 *l6470_1;
Davidroid 0:92706998571a 174
Davidroid 0:92706998571a 175
Davidroid 0:92706998571a 176 protected:
Davidroid 0:92706998571a 177
Davidroid 0:92706998571a 178 /*** Protected Expansion Board Related Initialization Methods ***/
Davidroid 0:92706998571a 179
Davidroid 0:92706998571a 180 /* ACTION 5 --------------------------------------------------------------*
Davidroid 0:92706998571a 181 * Declare here a protected initialization method for each expansion *
Davidroid 0:92706998571a 182 * board's component. *
Davidroid 0:92706998571a 183 * *
Davidroid 0:92706998571a 184 * Example: *
Davidroid 0:92706998571a 185 * bool Init_COMPONENT_1(void); *
Davidroid 0:92706998571a 186 * bool Init_COMPONENT_2(void); *
Davidroid 0:92706998571a 187 *------------------------------------------------------------------------*/
Davidroid 0:92706998571a 188 bool Init_L6470_0(void);
Davidroid 0:92706998571a 189 bool Init_L6470_1(void);
Davidroid 0:92706998571a 190
Davidroid 0:92706998571a 191
Davidroid 0:92706998571a 192 /*** Component's Instance Variables ***/
Davidroid 0:92706998571a 193
Davidroid 0:92706998571a 194 /* IO Device. */
Davidroid 0:92706998571a 195 DevSPI *dev_spi;
Davidroid 0:92706998571a 196
Davidroid 1:b78dab6d2c58 197 /* Components. */
Davidroid 1:b78dab6d2c58 198 L6470 *components[L6470DAISYCHAINSIZE];
Davidroid 1:b78dab6d2c58 199
Davidroid 9:d70452d7a1e1 200 /* Components' initialization. */
Davidroid 9:d70452d7a1e1 201 MICROSTEPPING_MOTOR_InitTypeDef *init_components[L6470DAISYCHAINSIZE];
Davidroid 9:d70452d7a1e1 202
Davidroid 1:b78dab6d2c58 203 /* Results of prepared actions. */
Davidroid 1:b78dab6d2c58 204 uint32_t results[L6470DAISYCHAINSIZE];
Davidroid 1:b78dab6d2c58 205
Davidroid 0:92706998571a 206 /* Data. */
Davidroid 0:92706998571a 207 /* ACTION 11 -------------------------------------------------------------*
Davidroid 0:92706998571a 208 * Declare here the component's data, one variable per line. *
Davidroid 0:92706998571a 209 * *
Davidroid 0:92706998571a 210 * Example: *
Davidroid 0:92706998571a 211 * uint8_t ExpansionBoard_Id; *
Davidroid 0:92706998571a 212 *------------------------------------------------------------------------*/
Davidroid 0:92706998571a 213 uint8_t X_NUCLEO_IHM02A1_Id;
Davidroid 0:92706998571a 214
Davidroid 0:92706998571a 215 /* Static data. */
Davidroid 0:92706998571a 216 static uint8_t number_of_boards;
Davidroid 0:92706998571a 217 };
Davidroid 0:92706998571a 218
Davidroid 0:92706998571a 219 #endif // __X_NUCLEO_IHM02A1_CLASS_H
Davidroid 0:92706998571a 220
Davidroid 0:92706998571a 221 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/