ching-yang Trui
motor board library
Dependencies: ST_INTERFACES X_NUCLEO_COMMON
Fork of
X_NUCLEO_IHM02A1
by 
ST
Diff: BSP/XNucleoIhm02a1.cpp
- Revision:
- 22:ba7f4131a5e0
- Child:
- 23:cf489f2ab072
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/BSP/XNucleoIhm02a1.cpp Fri Mar 10 11:09:21 2017 +0100
@@ -0,0 +1,220 @@
+/**
+ ******************************************************************************
+ * @file XNucleoIhm02a1.cpp
+ * @author AST / Software Platforms and Cloud
+ * @version V1.0
+ * @date November 3rd, 2015
+ * @brief Implementation file for the X_NUCLEO_IHM02A1 expansion board.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Generated with STM32CubeTOO -----------------------------------------------*/
+
+
+/* Includes ------------------------------------------------------------------*/
+
+/* ACTION 1 ------------------------------------------------------------------*
+ * Include here platform specific header files. *
+ *----------------------------------------------------------------------------*/
+#include "mbed.h"
+#include "DevSPI.h"
+/* ACTION 2 ------------------------------------------------------------------*
+ * Include here expansion board specific header files. *
+ *----------------------------------------------------------------------------*/
+#include "XNucleoIhm02a1.h"
+
+
+/* Variables -----------------------------------------------------------------*/
+
+/* Number of expansion boards. */
+uint8_t XNucleoIhm02a1::number_of_boards = 0;
+
+
+/* Methods -------------------------------------------------------------------*/
+
+/**
+ * @brief Constructor.
+ * @param init_0 pointer to the initialization structure of the first motor.
+ * @param init_1 pointer to the initialization structure of the second motor.
+ * @param flag_irq pin name of the FLAG pin of the component.
+ * @param busy_irq pin name of the BUSY pin of the component.
+ * @param standby_reset pin name of the STBY\RST pin of the component.
+ * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
+ * @param spi SPI device to be used for communication.
+ */
+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)
+{
+ /* Checking stackability. */
+ if (!(number_of_boards < EXPBRD_MOUNTED_NR_MAX)) {
+ error("Instantiation of the X_NUCLEO_IHM02A1 expansion board failed: it can be stacked up to %d times.\r\n", EXPBRD_MOUNTED_NR_MAX);
+ }
+ instance_id = number_of_boards++;
+
+ /* SPI communication. */
+ if (dev_spi == NULL) {
+ dev_spi = new DevSPI(X_NUCLEO_IHM02A1_PIN_SPI_MOSI, X_NUCLEO_IHM02A1_PIN_SPI_MISO, X_NUCLEO_IHM02A1_PIN_SPI_SCLK);
+ }
+
+ /* Instantiating the components. */
+ /* ACTION 3 --------------------------------------------------------------*
+ * Instantiate here the expansion board's components. *
+ * *
+ * Example: *
+ * component_1 = new COMPONENT_1(ssel, *dev_spi); *
+ * component_2 = new COMPONENT_2(ssel, *dev_spi); *
+ *------------------------------------------------------------------------*/
+ components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
+ components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
+
+ /* Initializing the components. */
+ init_components[0] = init_0;
+ init_components[1] = init_1;
+ if (!Init()) {
+ error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\r\n");
+ }
+}
+
+/**
+ * @brief Constructor.
+ * @param init_0 pointer to the initialization structure of the first motor.
+ * @param init_1 pointer to the initialization structure of the second motor.
+ * @param flag_irq pin name of the FLAG pin of the component.
+ * @param busy_irq pin name of the BUSY pin of the component.
+ * @param standby_reset pin name of the STBY\RST pin of the component.
+ * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
+ * @param mosi pin name of the MOSI pin of the SPI device to be used for communication.
+ * @param miso pin name of the MISO pin of the SPI device to be used for communication.
+ * @param sclk pin name of the SCLK pin of the SPI device to be used for communication.
+ */
+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)
+{
+ /* Checking stackability. */
+ if (!(number_of_boards < EXPBRD_MOUNTED_NR_MAX)) {
+ error("Instantiation of the X_NUCLEO_IHM02A1 expansion board failed: it can be stacked up to %d times.\r\n", EXPBRD_MOUNTED_NR_MAX);
+ }
+ instance_id = number_of_boards++;
+
+ /* SPI communication. */
+ dev_spi = new DevSPI(mosi, miso, sclk);
+
+ /* Instantiating the components. */
+ /* ACTION 3 --------------------------------------------------------------*
+ * Instantiate here the expansion board's components. *
+ * *
+ * Example: *
+ * component_1 = new COMPONENT_1(ssel, *dev_spi); *
+ * component_2 = new COMPONENT_2(ssel, *dev_spi); *
+ *------------------------------------------------------------------------*/
+ components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
+ components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
+
+ /* Initializing the components. */
+ init_components[0] = init_0;
+ init_components[1] = init_1;
+ if (!Init()) {
+ error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\r\n");
+ }
+}
+
+/**
+ * @brief Initializing the X_NUCLEO_IHM02A1 board.
+ * @retval true if initialization is successful, false otherwise.
+ */
+bool XNucleoIhm02a1::init(void)
+{
+ /* Initializing the components. */
+ /* ACTION 4 --------------------------------------------------------------*
+ * Initialize here the expansion board's components. *
+ * *
+ * Example: *
+ * return (init_COMPONENT_1() && init_COMPONENT_2()); *
+ *------------------------------------------------------------------------*/
+ return (init_L6470_0() && init_L6470_1());
+}
+
+/* ACTION 5 ------------------------------------------------------------------*
+ * Implement here an initialization method for each expansion board's *
+ * component. *
+ * *
+ * Example: *
+ * bool ExpansionBoard::init_COMPONENT_1(void) *
+ * { *
+ * // Verifying identity. *
+ * uint8_t id = 0; *
+ * int ret = component_1->read_id(&id); *
+ * if ((ret != COMPONENT_OK) || (id != I_AM_COMPONENT_1)) *
+ * { *
+ * delete component_1; *
+ * component_1 = NULL; *
+ * return true; *
+ * } *
+ * *
+ * // Configuration. *
+ * COMPONENT_init_t init; *
+ * init.property_1 = COMPONENT_1_PROPERY_1_INIT; *
+ * init.property_N = COMPONENT_1_PROPERY_N_INIT; *
+ * *
+ * // Initialization. *
+ * if (component_1->init(&init) != COMPONENT_OK) *
+ * return false; *
+ * *
+ * return true; *
+ * } *
+ *----------------------------------------------------------------------------*/
+/**
+ * @brief Initialize the L6470 component.
+ * @retval true if initialization is successful, false otherwise.
+ */
+bool XNucleoIhm02a1::init_L6470_0(void)
+{
+ /* Initialization. */
+ if (l6470_0->init((void *) init_components[0]) != COMPONENT_OK) {
+ return false;
+ }
+
+ return true;
+}
+
+/**
+ * @brief Initialize the L6470 component.
+ * @retval true if initialization is successful, false otherwise.
+ */
+bool XNucleoIhm02a1::init_L6470_1(void)
+{
+ /* Initialization. */
+ if (l6470_1->init((void *) init_components[1]) != COMPONENT_OK) {
+ return false;
+ }
+
+ return true;
+}
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/