motor board library
Dependencies: ST_INTERFACES X_NUCLEO_COMMON
Fork of X_NUCLEO_IHM02A1 by
BSP/XNucleoIhm02a1.cpp
- Committer:
- davide.aliprandi@st.com
- Date:
- 2017-03-10
- Revision:
- 22:ba7f4131a5e0
- Child:
- 23:cf489f2ab072
File content as of revision 22:ba7f4131a5e0:
/** ****************************************************************************** * @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****/