ching-yang Trui
motor board library
Dependencies: ST_INTERFACES X_NUCLEO_COMMON
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X_NUCLEO_IHM02A1
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Diff: BSP/XNucleoIHM02A1.h
- Revision:
- 24:ff67801d7cd7
- Parent:
- 22:ba7f4131a5e0
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/BSP/XNucleoIHM02A1.h Mon Mar 13 17:52:38 2017 +0000
@@ -0,0 +1,224 @@
+/**
+ ******************************************************************************
+ * @file XNucleoIHM02A1.h
+ * @author AST / Software Platforms and Cloud
+ * @version V1.0
+ * @date November 3rd, 2015
+ * @brief Class header 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 -----------------------------------------------*/
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+
+#ifndef __X_NUCLEO_IHM02A1_CLASS_H
+#define __X_NUCLEO_IHM02A1_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+/* ACTION 1 ------------------------------------------------------------------*
+ * Include here platform specific header files. *
+ *----------------------------------------------------------------------------*/
+#include "mbed.h"
+#include "DevSPI.h"
+/* ACTION 2 ------------------------------------------------------------------*
+ * Include here expansion board configuration's header files. *
+ *----------------------------------------------------------------------------*/
+#include "x_nucleo_ihm02a1_config.h"
+/* ACTION 3 ------------------------------------------------------------------*
+ * Include here expansion board's components' header files. *
+ * *
+ * Example: *
+ * #include "COMPONENT_1.h" *
+ * #include "COMPONENT_2.h" *
+ *----------------------------------------------------------------------------*/
+#include "L6470.h"
+
+
+/* Classes -------------------------------------------------------------------*/
+
+/** Class representing a X-NUCLEO-IHM02A1 board.
+ */
+class XNucleoIHM02A1
+{
+public:
+
+ /*** Constructor, Destructor, and Initialization 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(L6470_init_t *init_0, L6470_init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi);
+
+ /**
+ * @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(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);
+
+ /**
+ * @brief Destructor.
+ */
+ ~XNucleoIHM02A1(void) {}
+
+ /**
+ * @brief Initializing the X-NUCLEO-IHM02A1 board.
+ * @retval true if initialization is successful, false otherwise.
+ */
+ bool init(void);
+
+
+ /*** Other Public Expansion Board Related Methods ***/
+
+ /**
+ * @brief Getting the array of components.
+ * @param None.
+ * @retval The array of components.
+ */
+ L6470 **get_components(void)
+ {
+ return components;
+ }
+
+ /**
+ * @brief Performing the actions set on the motors with calls to a number of
+ * "Prepare<Action>()" methods, one for each motor of the daisy-chain.
+ * @param None.
+ * @retval A pointer to the results returned by the components, i.e. an
+ * integer value for each of them.
+ */
+ virtual uint32_t* perform_prepared_actions(void)
+ {
+ /* Performing pre-actions, if needed. */
+ for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
+ /*
+ "GetPosition()" is needed by "PrepareSetMark()" at the time when the
+ prepared actions get performed.
+ */
+ if (components[m]->get_prepared_action() == L6470::PREPARED_SET_MARK) {
+ components[m]->prepare_set_mark((uint32_t) components[m]->get_position());
+ }
+ }
+
+ /* Performing the prepared actions and getting back raw data. */
+ uint8_t *raw_data = components[0]->perform_prepared_actions();
+
+ /* Processing raw data. */
+ for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
+ results[m] = components[m]->get_result(raw_data);
+ }
+
+ /* Returning results. */
+ return results;
+ }
+
+
+ /*** Public Expansion Board Related Attributes ***/
+
+ /* ACTION 4 --------------------------------------------------------------*
+ * Declare here a public attribute for each expansion board's component. *
+ * You will have to call these attributes' public methods within your *
+ * main program. *
+ * *
+ * Example: *
+ * COMPONENT_1 *component_1; *
+ * COMPONENT_2 *component_2; *
+ *------------------------------------------------------------------------*/
+ L6470 *l6470_0;
+ L6470 *l6470_1;
+
+
+protected:
+
+ /*** Protected Expansion Board Related Initialization Methods ***/
+
+ /* ACTION 5 --------------------------------------------------------------*
+ * Declare here a protected initialization method for each expansion *
+ * board's component. *
+ * *
+ * Example: *
+ * bool init_COMPONENT_1(void); *
+ * bool init_COMPONENT_2(void); *
+ *------------------------------------------------------------------------*/
+ bool init_L6470_0(void);
+ bool init_L6470_1(void);
+
+
+ /*** Component's Instance Variables ***/
+
+ /* IO Device. */
+ DevSPI *dev_spi;
+
+ /* Components. */
+ L6470 *components[L6470DAISYCHAINSIZE];
+
+ /* Components' initialization. */
+ L6470_init_t *init_components[L6470DAISYCHAINSIZE];
+
+ /* Results of prepared actions. */
+ uint32_t results[L6470DAISYCHAINSIZE];
+
+ /* ACTION 6 --------------------------------------------------------------*
+ * Declare here the component's static and non-static data, one variable *
+ * per line. *
+ * *
+ * Example: *
+ * int instance_id; *
+ * static int number_of_instances; *
+ *------------------------------------------------------------------------*/
+ /* Data. */
+ uint8_t instance_id;
+
+ /* Static data. */
+ static uint8_t number_of_boards;
+};
+
+#endif /* __X_NUCLEO_IHM02A1_CLASS_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/