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.cpp@24:ff67801d7cd7, 2017-03-13 (annotated)

Committer:
Davidroid
Date:
Mon Mar 13 17:52:38 2017 +0000
Revision:
24:ff67801d7cd7
Parent:
BSP/XNucleoIhm02a1.cpp@23:cf489f2ab072 
Typo corrected.

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.cpp
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 Implementation 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 /* Includes ------------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 43
davide.aliprandi@st.com 22:ba7f4131a5e0 44 /* ACTION 1 ------------------------------------------------------------------*
davide.aliprandi@st.com 22:ba7f4131a5e0 45 * Include here platform specific header files. *
davide.aliprandi@st.com 22:ba7f4131a5e0 46 *----------------------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 47 #include "mbed.h"
davide.aliprandi@st.com 22:ba7f4131a5e0 48 #include "DevSPI.h"
davide.aliprandi@st.com 22:ba7f4131a5e0 49 /* ACTION 2 ------------------------------------------------------------------*
davide.aliprandi@st.com 22:ba7f4131a5e0 50 * Include here expansion board specific header files. *
davide.aliprandi@st.com 22:ba7f4131a5e0 51 *----------------------------------------------------------------------------*/
Davidroid 24:ff67801d7cd7 52 #include "XNucleoIHM02A1.h"
davide.aliprandi@st.com 22:ba7f4131a5e0 53
davide.aliprandi@st.com 22:ba7f4131a5e0 54
davide.aliprandi@st.com 22:ba7f4131a5e0 55 /* Variables -----------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 56
davide.aliprandi@st.com 22:ba7f4131a5e0 57 /* Number of expansion boards. */
Davidroid 24:ff67801d7cd7 58 uint8_t XNucleoIHM02A1::number_of_boards = 0;
davide.aliprandi@st.com 22:ba7f4131a5e0 59
davide.aliprandi@st.com 22:ba7f4131a5e0 60
davide.aliprandi@st.com 22:ba7f4131a5e0 61 /* Methods -------------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 62
davide.aliprandi@st.com 22:ba7f4131a5e0 63 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 64 * @brief Constructor.
davide.aliprandi@st.com 22:ba7f4131a5e0 65 * @param init_0 pointer to the initialization structure of the first motor.
davide.aliprandi@st.com 22:ba7f4131a5e0 66 * @param init_1 pointer to the initialization structure of the second motor.
davide.aliprandi@st.com 22:ba7f4131a5e0 67 * @param flag_irq pin name of the FLAG pin of the component.
davide.aliprandi@st.com 22:ba7f4131a5e0 68 * @param busy_irq pin name of the BUSY pin of the component.
davide.aliprandi@st.com 22:ba7f4131a5e0 69 * @param standby_reset pin name of the STBY\RST pin of the component.
davide.aliprandi@st.com 22:ba7f4131a5e0 70 * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
davide.aliprandi@st.com 22:ba7f4131a5e0 71 * @param spi SPI device to be used for communication.
davide.aliprandi@st.com 22:ba7f4131a5e0 72 */
Davidroid 24:ff67801d7cd7 73 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)
davide.aliprandi@st.com 22:ba7f4131a5e0 74 {
davide.aliprandi@st.com 22:ba7f4131a5e0 75 /* Checking stackability. */
davide.aliprandi@st.com 22:ba7f4131a5e0 76 if (!(number_of_boards < EXPBRD_MOUNTED_NR_MAX)) {
davide.aliprandi@st.com 22:ba7f4131a5e0 77 error("Instantiation of the X_NUCLEO_IHM02A1 expansion board failed: it can be stacked up to %d times.\r\n", EXPBRD_MOUNTED_NR_MAX);
davide.aliprandi@st.com 22:ba7f4131a5e0 78 }
davide.aliprandi@st.com 22:ba7f4131a5e0 79 instance_id = number_of_boards++;
davide.aliprandi@st.com 22:ba7f4131a5e0 80
davide.aliprandi@st.com 22:ba7f4131a5e0 81 /* SPI communication. */
davide.aliprandi@st.com 22:ba7f4131a5e0 82 if (dev_spi == NULL) {
davide.aliprandi@st.com 22:ba7f4131a5e0 83 dev_spi = new DevSPI(X_NUCLEO_IHM02A1_PIN_SPI_MOSI, X_NUCLEO_IHM02A1_PIN_SPI_MISO, X_NUCLEO_IHM02A1_PIN_SPI_SCLK);
davide.aliprandi@st.com 22:ba7f4131a5e0 84 }
davide.aliprandi@st.com 22:ba7f4131a5e0 85
davide.aliprandi@st.com 22:ba7f4131a5e0 86 /* Instantiating the components. */
davide.aliprandi@st.com 22:ba7f4131a5e0 87 /* ACTION 3 --------------------------------------------------------------*
davide.aliprandi@st.com 22:ba7f4131a5e0 88 * Instantiate here the expansion board's components. *
davide.aliprandi@st.com 22:ba7f4131a5e0 89 * *
davide.aliprandi@st.com 22:ba7f4131a5e0 90 * Example: *
davide.aliprandi@st.com 22:ba7f4131a5e0 91 * component_1 = new COMPONENT_1(ssel, *dev_spi); *
davide.aliprandi@st.com 22:ba7f4131a5e0 92 * component_2 = new COMPONENT_2(ssel, *dev_spi); *
davide.aliprandi@st.com 22:ba7f4131a5e0 93 *------------------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 94 components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
davide.aliprandi@st.com 22:ba7f4131a5e0 95 components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
davide.aliprandi@st.com 22:ba7f4131a5e0 96
davide.aliprandi@st.com 22:ba7f4131a5e0 97 /* Initializing the components. */
davide.aliprandi@st.com 22:ba7f4131a5e0 98 init_components[0] = init_0;
davide.aliprandi@st.com 22:ba7f4131a5e0 99 init_components[1] = init_1;
Davidroid 23:cf489f2ab072 100 if (!init()) {
davide.aliprandi@st.com 22:ba7f4131a5e0 101 error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\r\n");
davide.aliprandi@st.com 22:ba7f4131a5e0 102 }
davide.aliprandi@st.com 22:ba7f4131a5e0 103 }
davide.aliprandi@st.com 22:ba7f4131a5e0 104
davide.aliprandi@st.com 22:ba7f4131a5e0 105 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 106 * @brief Constructor.
davide.aliprandi@st.com 22:ba7f4131a5e0 107 * @param init_0 pointer to the initialization structure of the first motor.
davide.aliprandi@st.com 22:ba7f4131a5e0 108 * @param init_1 pointer to the initialization structure of the second motor.
davide.aliprandi@st.com 22:ba7f4131a5e0 109 * @param flag_irq pin name of the FLAG pin of the component.
davide.aliprandi@st.com 22:ba7f4131a5e0 110 * @param busy_irq pin name of the BUSY pin of the component.
davide.aliprandi@st.com 22:ba7f4131a5e0 111 * @param standby_reset pin name of the STBY\RST pin of the component.
davide.aliprandi@st.com 22:ba7f4131a5e0 112 * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
davide.aliprandi@st.com 22:ba7f4131a5e0 113 * @param mosi pin name of the MOSI pin of the SPI device to be used for communication.
davide.aliprandi@st.com 22:ba7f4131a5e0 114 * @param miso pin name of the MISO pin of the SPI device to be used for communication.
davide.aliprandi@st.com 22:ba7f4131a5e0 115 * @param sclk pin name of the SCLK pin of the SPI device to be used for communication.
davide.aliprandi@st.com 22:ba7f4131a5e0 116 */
Davidroid 24:ff67801d7cd7 117 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)
davide.aliprandi@st.com 22:ba7f4131a5e0 118 {
davide.aliprandi@st.com 22:ba7f4131a5e0 119 /* Checking stackability. */
davide.aliprandi@st.com 22:ba7f4131a5e0 120 if (!(number_of_boards < EXPBRD_MOUNTED_NR_MAX)) {
davide.aliprandi@st.com 22:ba7f4131a5e0 121 error("Instantiation of the X_NUCLEO_IHM02A1 expansion board failed: it can be stacked up to %d times.\r\n", EXPBRD_MOUNTED_NR_MAX);
davide.aliprandi@st.com 22:ba7f4131a5e0 122 }
davide.aliprandi@st.com 22:ba7f4131a5e0 123 instance_id = number_of_boards++;
davide.aliprandi@st.com 22:ba7f4131a5e0 124
davide.aliprandi@st.com 22:ba7f4131a5e0 125 /* SPI communication. */
davide.aliprandi@st.com 22:ba7f4131a5e0 126 dev_spi = new DevSPI(mosi, miso, sclk);
davide.aliprandi@st.com 22:ba7f4131a5e0 127
davide.aliprandi@st.com 22:ba7f4131a5e0 128 /* Instantiating the components. */
davide.aliprandi@st.com 22:ba7f4131a5e0 129 /* ACTION 3 --------------------------------------------------------------*
davide.aliprandi@st.com 22:ba7f4131a5e0 130 * Instantiate here the expansion board's components. *
davide.aliprandi@st.com 22:ba7f4131a5e0 131 * *
davide.aliprandi@st.com 22:ba7f4131a5e0 132 * Example: *
davide.aliprandi@st.com 22:ba7f4131a5e0 133 * component_1 = new COMPONENT_1(ssel, *dev_spi); *
davide.aliprandi@st.com 22:ba7f4131a5e0 134 * component_2 = new COMPONENT_2(ssel, *dev_spi); *
davide.aliprandi@st.com 22:ba7f4131a5e0 135 *------------------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 136 components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
davide.aliprandi@st.com 22:ba7f4131a5e0 137 components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
davide.aliprandi@st.com 22:ba7f4131a5e0 138
davide.aliprandi@st.com 22:ba7f4131a5e0 139 /* Initializing the components. */
davide.aliprandi@st.com 22:ba7f4131a5e0 140 init_components[0] = init_0;
davide.aliprandi@st.com 22:ba7f4131a5e0 141 init_components[1] = init_1;
Davidroid 23:cf489f2ab072 142 if (!init()) {
davide.aliprandi@st.com 22:ba7f4131a5e0 143 error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\r\n");
davide.aliprandi@st.com 22:ba7f4131a5e0 144 }
davide.aliprandi@st.com 22:ba7f4131a5e0 145 }
davide.aliprandi@st.com 22:ba7f4131a5e0 146
davide.aliprandi@st.com 22:ba7f4131a5e0 147 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 148 * @brief Initializing the X_NUCLEO_IHM02A1 board.
davide.aliprandi@st.com 22:ba7f4131a5e0 149 * @retval true if initialization is successful, false otherwise.
davide.aliprandi@st.com 22:ba7f4131a5e0 150 */
Davidroid 24:ff67801d7cd7 151 bool XNucleoIHM02A1::init(void)
davide.aliprandi@st.com 22:ba7f4131a5e0 152 {
davide.aliprandi@st.com 22:ba7f4131a5e0 153 /* Initializing the components. */
davide.aliprandi@st.com 22:ba7f4131a5e0 154 /* ACTION 4 --------------------------------------------------------------*
davide.aliprandi@st.com 22:ba7f4131a5e0 155 * Initialize here the expansion board's components. *
davide.aliprandi@st.com 22:ba7f4131a5e0 156 * *
davide.aliprandi@st.com 22:ba7f4131a5e0 157 * Example: *
davide.aliprandi@st.com 22:ba7f4131a5e0 158 * return (init_COMPONENT_1() && init_COMPONENT_2()); *
davide.aliprandi@st.com 22:ba7f4131a5e0 159 *------------------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 160 return (init_L6470_0() && init_L6470_1());
davide.aliprandi@st.com 22:ba7f4131a5e0 161 }
davide.aliprandi@st.com 22:ba7f4131a5e0 162
davide.aliprandi@st.com 22:ba7f4131a5e0 163 /* ACTION 5 ------------------------------------------------------------------*
davide.aliprandi@st.com 22:ba7f4131a5e0 164 * Implement here an initialization method for each expansion board's *
davide.aliprandi@st.com 22:ba7f4131a5e0 165 * component. *
davide.aliprandi@st.com 22:ba7f4131a5e0 166 * *
davide.aliprandi@st.com 22:ba7f4131a5e0 167 * Example: *
davide.aliprandi@st.com 22:ba7f4131a5e0 168 * bool ExpansionBoard::init_COMPONENT_1(void) *
davide.aliprandi@st.com 22:ba7f4131a5e0 169 * { *
davide.aliprandi@st.com 22:ba7f4131a5e0 170 * // Verifying identity. *
davide.aliprandi@st.com 22:ba7f4131a5e0 171 * uint8_t id = 0; *
davide.aliprandi@st.com 22:ba7f4131a5e0 172 * int ret = component_1->read_id(&id); *
davide.aliprandi@st.com 22:ba7f4131a5e0 173 * if ((ret != COMPONENT_OK) || (id != I_AM_COMPONENT_1)) *
davide.aliprandi@st.com 22:ba7f4131a5e0 174 * { *
davide.aliprandi@st.com 22:ba7f4131a5e0 175 * delete component_1; *
davide.aliprandi@st.com 22:ba7f4131a5e0 176 * component_1 = NULL; *
davide.aliprandi@st.com 22:ba7f4131a5e0 177 * return true; *
davide.aliprandi@st.com 22:ba7f4131a5e0 178 * } *
davide.aliprandi@st.com 22:ba7f4131a5e0 179 * *
davide.aliprandi@st.com 22:ba7f4131a5e0 180 * // Configuration. *
davide.aliprandi@st.com 22:ba7f4131a5e0 181 * COMPONENT_init_t init; *
davide.aliprandi@st.com 22:ba7f4131a5e0 182 * init.property_1 = COMPONENT_1_PROPERY_1_INIT; *
davide.aliprandi@st.com 22:ba7f4131a5e0 183 * init.property_N = COMPONENT_1_PROPERY_N_INIT; *
davide.aliprandi@st.com 22:ba7f4131a5e0 184 * *
davide.aliprandi@st.com 22:ba7f4131a5e0 185 * // Initialization. *
davide.aliprandi@st.com 22:ba7f4131a5e0 186 * if (component_1->init(&init) != COMPONENT_OK) *
davide.aliprandi@st.com 22:ba7f4131a5e0 187 * return false; *
davide.aliprandi@st.com 22:ba7f4131a5e0 188 * *
davide.aliprandi@st.com 22:ba7f4131a5e0 189 * return true; *
davide.aliprandi@st.com 22:ba7f4131a5e0 190 * } *
davide.aliprandi@st.com 22:ba7f4131a5e0 191 *----------------------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 192 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 193 * @brief Initialize the L6470 component.
davide.aliprandi@st.com 22:ba7f4131a5e0 194 * @retval true if initialization is successful, false otherwise.
davide.aliprandi@st.com 22:ba7f4131a5e0 195 */
Davidroid 24:ff67801d7cd7 196 bool XNucleoIHM02A1::init_L6470_0(void)
davide.aliprandi@st.com 22:ba7f4131a5e0 197 {
davide.aliprandi@st.com 22:ba7f4131a5e0 198 /* Initialization. */
davide.aliprandi@st.com 22:ba7f4131a5e0 199 if (l6470_0->init((void *) init_components[0]) != COMPONENT_OK) {
davide.aliprandi@st.com 22:ba7f4131a5e0 200 return false;
davide.aliprandi@st.com 22:ba7f4131a5e0 201 }
davide.aliprandi@st.com 22:ba7f4131a5e0 202
davide.aliprandi@st.com 22:ba7f4131a5e0 203 return true;
davide.aliprandi@st.com 22:ba7f4131a5e0 204 }
davide.aliprandi@st.com 22:ba7f4131a5e0 205
davide.aliprandi@st.com 22:ba7f4131a5e0 206 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 207 * @brief Initialize the L6470 component.
davide.aliprandi@st.com 22:ba7f4131a5e0 208 * @retval true if initialization is successful, false otherwise.
davide.aliprandi@st.com 22:ba7f4131a5e0 209 */
Davidroid 24:ff67801d7cd7 210 bool XNucleoIHM02A1::init_L6470_1(void)
davide.aliprandi@st.com 22:ba7f4131a5e0 211 {
davide.aliprandi@st.com 22:ba7f4131a5e0 212 /* Initialization. */
davide.aliprandi@st.com 22:ba7f4131a5e0 213 if (l6470_1->init((void *) init_components[1]) != COMPONENT_OK) {
davide.aliprandi@st.com 22:ba7f4131a5e0 214 return false;
davide.aliprandi@st.com 22:ba7f4131a5e0 215 }
davide.aliprandi@st.com 22:ba7f4131a5e0 216
davide.aliprandi@st.com 22:ba7f4131a5e0 217 return true;
davide.aliprandi@st.com 22:ba7f4131a5e0 218 }
davide.aliprandi@st.com 22:ba7f4131a5e0 219
davide.aliprandi@st.com 22:ba7f4131a5e0 220 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/