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@3:e3f6f4474d98, 2015-11-25 (annotated)

Committer:
Davidroid
Date:
Wed Nov 25 17:15:37 2015 +0000
Revision:
3:e3f6f4474d98
Parent:
1:b78dab6d2c58
Child:
9:d70452d7a1e1
+ Expansion Board class updated to be non-singleton.; + Expansion Board class updated with information on SSEL pins needed when stacking more boards.

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 * @brief This array contains the initial parameters for the motors that are
Davidroid 0:92706998571a 62 * linked with each L6470 mounted on each stacked X-NUCLEO-IHM02A1.
Davidroid 0:92706998571a 63 */
Davidroid 0:92706998571a 64 const MICROSTEPPING_MOTOR_InitTypeDef X_NUCLEO_IHM02A1::MotorParameterInitData[EXPBRD_MOUNTED_NR_MAX][L6470DAISYCHAINSIZE] =
Davidroid 0:92706998571a 65 {
Davidroid 0:92706998571a 66 {
Davidroid 0:92706998571a 67 {
Davidroid 1:b78dab6d2c58 68 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 992.0, 0.0, 602.7, 3.06, 3.06,\
Davidroid 0:92706998571a 69 3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
Davidroid 0:92706998571a 70 3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
Davidroid 0:92706998571a 71 },
Davidroid 0:92706998571a 72 {
Davidroid 1:b78dab6d2c58 73 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 992.0, 0.0, 602.7, 3.06, 3.06,\
Davidroid 0:92706998571a 74 3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
Davidroid 0:92706998571a 75 3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
Davidroid 0:92706998571a 76 },
Davidroid 0:92706998571a 77 },
Davidroid 0:92706998571a 78 {
Davidroid 0:92706998571a 79 {
Davidroid 1:b78dab6d2c58 80 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 992.0, 0.0, 602.7, 3.06, 3.06,\
Davidroid 0:92706998571a 81 3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
Davidroid 0:92706998571a 82 3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
Davidroid 0:92706998571a 83 },
Davidroid 0:92706998571a 84 {
Davidroid 1:b78dab6d2c58 85 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 992.0, 0.0, 602.7, 3.06, 3.06,\
Davidroid 0:92706998571a 86 3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
Davidroid 0:92706998571a 87 3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
Davidroid 0:92706998571a 88 },
Davidroid 0:92706998571a 89 },
Davidroid 0:92706998571a 90 {
Davidroid 0:92706998571a 91 {
Davidroid 1:b78dab6d2c58 92 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 992.0, 0.0, 602.7, 3.06, 3.06,\
Davidroid 0:92706998571a 93 3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
Davidroid 0:92706998571a 94 3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
Davidroid 0:92706998571a 95 },
Davidroid 0:92706998571a 96 {
Davidroid 1:b78dab6d2c58 97 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 992.0, 0.0, 602.7, 3.06, 3.06,\
Davidroid 0:92706998571a 98 3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
Davidroid 0:92706998571a 99 3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
Davidroid 0:92706998571a 100 },
Davidroid 0:92706998571a 101 },
Davidroid 0:92706998571a 102 {
Davidroid 0:92706998571a 103 {
Davidroid 1:b78dab6d2c58 104 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 992.0, 0.0, 602.7, 3.06, 3.06,\
Davidroid 0:92706998571a 105 3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
Davidroid 0:92706998571a 106 3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
Davidroid 0:92706998571a 107 },
Davidroid 0:92706998571a 108 {
Davidroid 1:b78dab6d2c58 109 9.0, 400, 1.7, 3.06, 300.0, 500.0, 500.0, 992.0, 0.0, 602.7, 3.06, 3.06,\
Davidroid 0:92706998571a 110 3.06, 3.06, 61.52, 392.1569e-6, 643.1372e-6, 643.1372e-6, 0,\
Davidroid 0:92706998571a 111 3.06*1000*1.10, 3.06*1000*1.00, MICROSTEP_1_128, 0xFF, 0x2E88
Davidroid 0:92706998571a 112 },
Davidroid 0:92706998571a 113 },
Davidroid 0:92706998571a 114 };
Davidroid 0:92706998571a 115
Davidroid 0:92706998571a 116
Davidroid 0:92706998571a 117 /* Methods -------------------------------------------------------------------*/
Davidroid 0:92706998571a 118
Davidroid 0:92706998571a 119 /**
Davidroid 0:92706998571a 120 * @brief Constructor.
Davidroid 0:92706998571a 121 * @param flag_irq pin name of the FLAG pin of the component.
Davidroid 1:b78dab6d2c58 122 * @param busy_irq pin name of the BUSY pin of the component.
Davidroid 0:92706998571a 123 * @param standby_reset pin name of the STBY\RST pin of the component.
Davidroid 0:92706998571a 124 * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 125 * @param spi SPI device to be used for communication.
Davidroid 0:92706998571a 126 */
Davidroid 1:b78dab6d2c58 127 X_NUCLEO_IHM02A1::X_NUCLEO_IHM02A1(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi) : dev_spi(spi)
Davidroid 0:92706998571a 128 {
Davidroid 3:e3f6f4474d98 129 /* SPI communication. */
Davidroid 3:e3f6f4474d98 130 if (dev_spi == NULL)
Davidroid 3:e3f6f4474d98 131 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 132
Davidroid 0:92706998571a 133 /* Instantiating the components. */
Davidroid 0:92706998571a 134 /* ACTION 3 --------------------------------------------------------------*
Davidroid 0:92706998571a 135 * Instantiate here the expansion board's components. *
Davidroid 0:92706998571a 136 * *
Davidroid 0:92706998571a 137 * Example: *
Davidroid 0:92706998571a 138 * component_1 = new COMPONENT_1(COMPONENT_1_SPI_SSEL, *dev_spi); *
Davidroid 0:92706998571a 139 * component_2 = new COMPONENT_2(COMPONENT_2_SPI_SSEL, *dev_spi); *
Davidroid 0:92706998571a 140 *------------------------------------------------------------------------*/
Davidroid 0:92706998571a 141 X_NUCLEO_IHM02A1_Id = number_of_boards++;
Davidroid 1:b78dab6d2c58 142 components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
Davidroid 1:b78dab6d2c58 143 components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
Davidroid 3:e3f6f4474d98 144
Davidroid 3:e3f6f4474d98 145 /* Initializing the components. */
Davidroid 3:e3f6f4474d98 146 if (!Init())
Davidroid 3:e3f6f4474d98 147 error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\n");
Davidroid 0:92706998571a 148 }
Davidroid 0:92706998571a 149
Davidroid 0:92706998571a 150 /**
Davidroid 3:e3f6f4474d98 151 * @brief Constructor.
Davidroid 0:92706998571a 152 * @param flag_irq pin name of the FLAG pin of the component.
Davidroid 1:b78dab6d2c58 153 * @param busy_irq pin name of the BUSY pin of the component.
Davidroid 0:92706998571a 154 * @param standby_reset pin name of the STBY\RST pin of the component.
Davidroid 0:92706998571a 155 * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 156 * @param mosi pin name of the MOSI pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 157 * @param miso pin name of the MISO pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 158 * @param sclk pin name of the SCLK pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 159 */
Davidroid 3:e3f6f4474d98 160 X_NUCLEO_IHM02A1::X_NUCLEO_IHM02A1(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk)
Davidroid 0:92706998571a 161 {
Davidroid 3:e3f6f4474d98 162 /* SPI communication. */
Davidroid 3:e3f6f4474d98 163 dev_spi = new DevSPI(mosi, miso, sclk);
Davidroid 0:92706998571a 164
Davidroid 3:e3f6f4474d98 165 /* Instantiating the components. */
Davidroid 3:e3f6f4474d98 166 /* ACTION 3 --------------------------------------------------------------*
Davidroid 3:e3f6f4474d98 167 * Instantiate here the expansion board's components. *
Davidroid 3:e3f6f4474d98 168 * *
Davidroid 3:e3f6f4474d98 169 * Example: *
Davidroid 3:e3f6f4474d98 170 * component_1 = new COMPONENT_1(COMPONENT_1_SPI_SSEL, *dev_spi); *
Davidroid 3:e3f6f4474d98 171 * component_2 = new COMPONENT_2(COMPONENT_2_SPI_SSEL, *dev_spi); *
Davidroid 3:e3f6f4474d98 172 *------------------------------------------------------------------------*/
Davidroid 3:e3f6f4474d98 173 X_NUCLEO_IHM02A1_Id = number_of_boards++;
Davidroid 3:e3f6f4474d98 174 components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
Davidroid 3:e3f6f4474d98 175 components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
Davidroid 0:92706998571a 176
Davidroid 3:e3f6f4474d98 177 /* Initializing the components. */
Davidroid 3:e3f6f4474d98 178 if (!Init())
Davidroid 3:e3f6f4474d98 179 error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\n");
Davidroid 0:92706998571a 180 }
Davidroid 0:92706998571a 181
Davidroid 0:92706998571a 182 /**
Davidroid 0:92706998571a 183 * @brief Initializing the X_NUCLEO_IHM02A1 board.
Davidroid 0:92706998571a 184 * @retval true if initialization is successful, false otherwise.
Davidroid 0:92706998571a 185 */
Davidroid 0:92706998571a 186 bool X_NUCLEO_IHM02A1::Init(void)
Davidroid 0:92706998571a 187 {
Davidroid 0:92706998571a 188 /* Initializing the components. */
Davidroid 0:92706998571a 189 /* ACTION 4 --------------------------------------------------------------*
Davidroid 0:92706998571a 190 * Initialize here the expansion board's components. *
Davidroid 0:92706998571a 191 * *
Davidroid 0:92706998571a 192 * Example: *
Davidroid 0:92706998571a 193 * return (Init_COMPONENT_1() && Init_COMPONENT_2()); *
Davidroid 0:92706998571a 194 *------------------------------------------------------------------------*/
Davidroid 0:92706998571a 195 return (Init_L6470_0() && Init_L6470_1());
Davidroid 0:92706998571a 196 }
Davidroid 0:92706998571a 197
Davidroid 0:92706998571a 198 /* ACTION 5 ------------------------------------------------------------------*
Davidroid 0:92706998571a 199 * Implement here an initialization method for each expansion board's *
Davidroid 0:92706998571a 200 * component. *
Davidroid 0:92706998571a 201 * *
Davidroid 0:92706998571a 202 * Example: *
Davidroid 0:92706998571a 203 * bool EXPANSION_BOARD::Init_COMPONENT_1(void) *
Davidroid 0:92706998571a 204 * { *
Davidroid 0:92706998571a 205 * // Verifying identity. *
Davidroid 0:92706998571a 206 * uint8_t id = 0; *
Davidroid 0:92706998571a 207 * int ret = component_1->ReadID(&id); *
Davidroid 0:92706998571a 208 * if ((ret != COMPONENT_OK) || (id != I_AM_COMPONENT_1)) *
Davidroid 0:92706998571a 209 * { *
Davidroid 0:92706998571a 210 * delete component_1; *
Davidroid 0:92706998571a 211 * component_1 = NULL; *
Davidroid 0:92706998571a 212 * return true; *
Davidroid 0:92706998571a 213 * } *
Davidroid 0:92706998571a 214 * *
Davidroid 0:92706998571a 215 * // Configuration. *
Davidroid 0:92706998571a 216 * INTERFACE_InitTypeDef InitStructure; *
Davidroid 0:92706998571a 217 * InitStructure.Property_1 = COMPONENT_1_PROPERY_1_INIT; *
Davidroid 0:92706998571a 218 * InitStructure.Property_N = COMPONENT_1_PROPERY_N_INIT; *
Davidroid 0:92706998571a 219 * *
Davidroid 0:92706998571a 220 * // Initialization. *
Davidroid 0:92706998571a 221 * if (component_1->Init(&InitStructure) != COMPONENT_OK) *
Davidroid 0:92706998571a 222 * return false; *
Davidroid 0:92706998571a 223 * *
Davidroid 0:92706998571a 224 * return true; *
Davidroid 0:92706998571a 225 * } *
Davidroid 0:92706998571a 226 *----------------------------------------------------------------------------*/
Davidroid 0:92706998571a 227 /**
Davidroid 0:92706998571a 228 * @brief Initialize the L6470 component.
Davidroid 0:92706998571a 229 * @retval true if initialization is successful, false otherwise.
Davidroid 0:92706998571a 230 */
Davidroid 0:92706998571a 231 bool X_NUCLEO_IHM02A1::Init_L6470_0(void)
Davidroid 0:92706998571a 232 {
Davidroid 0:92706998571a 233 /* Initialization. */
Davidroid 0:92706998571a 234 if (l6470_0->Init((void *) &MotorParameterInitData[X_NUCLEO_IHM02A1_Id][0]) != COMPONENT_OK)
Davidroid 0:92706998571a 235 return false;
Davidroid 0:92706998571a 236
Davidroid 0:92706998571a 237 return true;
Davidroid 0:92706998571a 238 }
Davidroid 0:92706998571a 239
Davidroid 0:92706998571a 240 /**
Davidroid 0:92706998571a 241 * @brief Initialize the L6470 component.
Davidroid 0:92706998571a 242 * @retval true if initialization is successful, false otherwise.
Davidroid 0:92706998571a 243 */
Davidroid 0:92706998571a 244 bool X_NUCLEO_IHM02A1::Init_L6470_1(void)
Davidroid 0:92706998571a 245 {
Davidroid 0:92706998571a 246 /* Initialization. */
Davidroid 0:92706998571a 247 if (l6470_1->Init((void *) &MotorParameterInitData[X_NUCLEO_IHM02A1_Id][1]) != COMPONENT_OK)
Davidroid 0:92706998571a 248 return false;
Davidroid 0:92706998571a 249
Davidroid 0:92706998571a 250 return true;
Davidroid 0:92706998571a 251 }
Davidroid 0:92706998571a 252
Davidroid 0:92706998571a 253 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/