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Library used to control ST Nucleo Evaluation board IHM12A1, based on STSPIN240 low voltage dual brush DC motor control driver.
Dependencies: ST_INTERFACES
Dependents: motori prova_motore SchedamotoriIHM12A1 prova_motore_duck ... more
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STSpin240_250.h
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00001 /** 00002 ****************************************************************************** 00003 * @file STSpin240_250.h 00004 * @author IPC Rennes 00005 * @version V1.0.0 00006 * @date April 20th, 2016 00007 * @brief This file contains the class of a STSpin240_250 Motor Control component. 00008 * @note (C) COPYRIGHT 2016 STMicroelectronics 00009 ****************************************************************************** 00010 * @attention 00011 * 00012 * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2> 00013 * 00014 * Redistribution and use in source and binary forms, with or without modification, 00015 * are permitted provided that the following conditions are met: 00016 * 1. Redistributions of source code must retain the above copyright notice, 00017 * this list of conditions and the following disclaimer. 00018 * 2. Redistributions in binary form must reproduce the above copyright notice, 00019 * this list of conditions and the following disclaimer in the documentation 00020 * and/or other materials provided with the distribution. 00021 * 3. Neither the name of STMicroelectronics nor the names of its contributors 00022 * may be used to endorse or promote products derived from this software 00023 * without specific prior written permission. 00024 * 00025 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00026 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00027 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00028 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 00029 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 00030 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 00031 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 00033 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 00034 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 ****************************************************************************** 00037 */ 00038 00039 /* Define to prevent recursive inclusion -------------------------------------*/ 00040 00041 #ifndef __STSPIN240_250_CLASS_H 00042 #define __STSPIN240_250_CLASS_H 00043 00044 00045 /* Includes ------------------------------------------------------------------*/ 00046 00047 /* ACTION 1 ------------------------------------------------------------------* 00048 * Include here platform specific header files. * 00049 *----------------------------------------------------------------------------*/ 00050 #include "mbed.h" 00051 /* ACTION 2 ------------------------------------------------------------------* 00052 * Include here component specific header files. * 00053 *----------------------------------------------------------------------------*/ 00054 #include "STSpin240_250_def.h" 00055 /* ACTION 3 ------------------------------------------------------------------* 00056 * Include here interface specific header files. * 00057 * * 00058 * Example: * 00059 * #include "HumiditySensor.h" * 00060 * #include "TemperatureSensor.h" * 00061 *----------------------------------------------------------------------------*/ 00062 #include "BDCMotor.h" 00063 00064 /* Defines -------------------------------------------------------------------*/ 00065 00066 /* MCU wait time in ms after power bridges are enabled */ 00067 #define BRIDGE_TURN_ON_DELAY (1) 00068 00069 /* MCU wait time in ms after exit standby mode */ 00070 #define EXIT_STANDBY_MODE_DELAY (1) 00071 00072 /* Classes -------------------------------------------------------------------*/ 00073 00074 00075 /** 00076 * @brief Class representing a STSpin240_250 component. 00077 */ 00078 class STSpin240_250 : public BDCMotor 00079 { 00080 public: 00081 00082 /*** Constructor and Destructor Methods ***/ 00083 00084 /** 00085 * @brief Constructor. 00086 * @param flag_and_enable_pin pin name of the EN pin of the component. 00087 * @param standby_reset_pin pin name of the STBY\RST pin of the component. 00088 * @param dirA_pin pin name for the direction pin for bridge A. 00089 * @param dirB_pin pin name for the direction pin for bridge B. 00090 * @param pwmA_pin pin name for the PWM input for bridge A. 00091 * @param pwmB_pin pin name for the PWM input for bridge B. 00092 * @param pwmRef_pin pin name for the REF pin of the component. 00093 */ 00094 STSpin240_250(PinName flag_and_enable_pin, PinName standby_reset_pin, PinName dirA_pin, PinName dirB_pin, PinName pwmA_pin, PinName pwmB_pin, PinName pwmRef_pin) : 00095 BDCMotor(), 00096 flag_and_enable(flag_and_enable_pin), 00097 standby_reset(standby_reset_pin), 00098 dirA(dirA_pin), 00099 dirB(dirB_pin), 00100 pwmA(pwmA_pin), 00101 pwmB(pwmB_pin), 00102 pwmRef(pwmRef_pin) 00103 { 00104 /* Checking stackability. */ 00105 if (!(numberOfDevices < MAX_NUMBER_OF_DEVICES)) 00106 { 00107 error("Instantiation of the Stpin240_250 component failed: it can be stacked up to %d times.\r\n", MAX_NUMBER_OF_DEVICES); 00108 } 00109 00110 /* ACTION 4 ----------------------------------------------------------* 00111 * Initialize here the component's member variables, one variable per * 00112 * line. * 00113 * * 00114 * Example: * 00115 * measure = 0; * 00116 * instance_id = number_of_instances++; * 00117 *--------------------------------------------------------------------*/ 00118 errorHandlerCallback = 0; 00119 deviceInstance = numberOfDevices++; 00120 } 00121 00122 /** 00123 * @brief Destructor. 00124 */ 00125 virtual ~STSpin240_250(void) {} 00126 00127 00128 /*** Public Component Related Methods ***/ 00129 00130 /* ACTION 5 --------------------------------------------------------------* 00131 * Implement here the component's public methods, as wrappers of the C * 00132 * component's functions. * 00133 * They should be: * 00134 * + Methods with the same name of the C component's virtual table's * 00135 * functions (1); * 00136 * + Methods with the same name of the C component's extended virtual * 00137 * table's functions, if any (2). * 00138 * * 00139 * Example: * 00140 * virtual int get_value(float *p_data) //(1) * 00141 * { * 00142 * return COMPONENT_get_value(float *pf_data); * 00143 * } * 00144 * * 00145 * virtual int enable_feature(void) //(2) * 00146 * { * 00147 * return COMPONENT_enable_feature(); * 00148 * } * 00149 *------------------------------------------------------------------------*/ 00150 00151 /** 00152 * @brief Public functions inherited from the Component Class 00153 */ 00154 00155 /** 00156 * @brief Initialize the component. 00157 * @param init Pointer to device specific initalization structure. 00158 * @retval "0" in case of success, an error code otherwise. 00159 */ 00160 virtual int init(void *init = NULL) 00161 { 00162 return (int) STSpin240_250_Init((void *) init); 00163 } 00164 00165 /** 00166 * @brief Getting the ID of the component. 00167 * @param id Pointer to an allocated variable to store the ID into. 00168 * @retval "0" in case of success, an error code otherwise. 00169 */ 00170 virtual int read_id(uint8_t *id = NULL) 00171 { 00172 return (int) STSpin240_250_ReadId((uint8_t *) id); 00173 } 00174 00175 /** 00176 * @brief Public functions inherited from the BCDMotor Class 00177 */ 00178 00179 /** 00180 * @brief Disabling the specified bridge. 00181 * @param bridgeId from 0 for bridge A to 1 for bridge B. 00182 * @retval None. 00183 */ 00184 virtual void disable_bridge(unsigned int bridgeId) 00185 { 00186 STSpin240_250_DisableBridge(bridgeId); 00187 } 00188 00189 /** 00190 * @brief Enabling the specified bridge. 00191 * @param bridgeId from 0 for bridge A to 1 for bridge B 00192 * @retval None. 00193 */ 00194 virtual void enable_bridge(unsigned int bridgeId) 00195 { 00196 STSpin240_250_EnableBridge(bridgeId); 00197 } 00198 00199 /** 00200 * @brief Getting the PWM frequency of the specified bridge; 00201 * @param bridgeId from 0 for bridge A to 1 for bridge B. 00202 * @retval The frequency in Hz of the specified bridge input PWM. 00203 */ 00204 virtual unsigned int get_bridge_input_pwm_freq(unsigned int bridgeId) 00205 { 00206 return (unsigned int) STSpin240_250_GetBridgeInputPwmFreq(bridgeId); 00207 } 00208 00209 /** 00210 * @brief Getting the bridge status. 00211 * @param bridgeId from 0 for bridge A to 1 for bridge B. 00212 * @retval The status. 00213 */ 00214 virtual unsigned int get_bridge_status(unsigned int bridgeId) 00215 { 00216 return (unsigned int) STSpin240_250_GetBridgeStatus(); 00217 } 00218 00219 /** 00220 * @brief Getting the device State. 00221 * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). 00222 * @retval The device state (STEADY or INACTIVE) 00223 */ 00224 virtual unsigned int get_device_state(unsigned int motorId) 00225 { 00226 return (motorState_t) STSpin240_250_GetDeviceState(motorId); 00227 } 00228 00229 /** 00230 * @brief Getting the current speed in % of the specified motor. 00231 * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). 00232 * @retval The current speed in %. 00233 */ 00234 virtual unsigned int get_speed(unsigned int motorId) 00235 { 00236 return (unsigned int) STSpin240_250_GetCurrentSpeed(motorId); 00237 } 00238 00239 /** 00240 * @brief Stopping the motor and disabling the power bridge immediately. 00241 * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). 00242 * @retval None. 00243 */ 00244 virtual void hard_hiz(unsigned int motorId) 00245 { 00246 STSpin240_250_HardHiz(motorId); 00247 } 00248 00249 /** 00250 * @brief Stopping the motor immediately. 00251 * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). 00252 * @retval None. 00253 */ 00254 virtual void hard_stop(unsigned int motorId) 00255 { 00256 STSpin240_250_HardStop(motorId); 00257 } 00258 00259 /** 00260 * @brief Running the motor. 00261 * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). 00262 * @param direction The direction of rotation. 00263 * @retval None. 00264 */ 00265 virtual void run(unsigned int motorId, direction_t direction) 00266 { 00267 STSpin240_250_Run(motorId, (motorDir_t) direction); 00268 } 00269 00270 /** 00271 * @brief Setting the PWM frequency of the specified bridge. 00272 * @param bridgeId from 0 for bridge A to 1 for bridge B. 00273 * @param frequency of the PWM in Hz 00274 * @retval None. 00275 */ 00276 virtual void set_bridge_input_pwm_freq(unsigned int bridgeId, unsigned int frequency) 00277 { 00278 STSpin240_250_SetBridgeInputPwmFreq(bridgeId, frequency); 00279 } 00280 00281 /** 00282 * @brief Setting the dual bridge configuration mode. 00283 * @param configuration. The bridge configuration. 00284 * @retval None. 00285 */ 00286 virtual void set_dual_full_bridge_config(unsigned int configuration) 00287 { 00288 STSpin240_250_SetDualFullBridgeconfig(configuration); 00289 } 00290 00291 /** 00292 * @brief Setting the speed in %. 00293 * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). 00294 * @param speed The new speed in %. 00295 * @retval "true" in case of success, "false" otherwise. 00296 */ 00297 virtual bool set_speed(unsigned int motorId, unsigned int speed) 00298 { 00299 return (bool) STSpin240_250_SetMaxSpeed(motorId, speed); 00300 } 00301 00302 /** 00303 * @brief Public functions NOT inherited 00304 */ 00305 00306 /** 00307 * @brief Attaching an error handler. 00308 * @param fptr An error handler. 00309 * @retval None. 00310 */ 00311 virtual void attach_error_handler(void (*fptr)(uint16_t error)) 00312 { 00313 STSpin240_250_AttachErrorHandler((void (*)(uint16_t error)) fptr); 00314 } 00315 00316 /** 00317 * @brief Getting the motor current direction. 00318 * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). 00319 * @retval direction The direction of rotation. 00320 */ 00321 virtual direction_t get_direction(unsigned int motorId) 00322 { 00323 return (direction_t) STSpin240_250_GetDirection(motorId); 00324 } 00325 00326 /** 00327 * @brief Getting the version of the firmware. 00328 * @param None. 00329 * @retval The version of the firmware. 00330 */ 00331 virtual unsigned int get_fw_version(void) 00332 { 00333 return (unsigned int) STSpin240_250_GetFwVersion(); 00334 } 00335 00336 /** 00337 * @brief Getting the duty cycle of the PWM used for REF. 00338 * @param refId Id of the reference PWM signal. 00339 * @retval duty cycle in % (from 0 to 100) 00340 */ 00341 virtual unsigned int get_ref_pwm_dc(unsigned int refId) 00342 { 00343 return (unsigned int) STSpin240_250_GetRefPwmDc(refId); 00344 } 00345 00346 /** 00347 * @brief Getting the frequency of the PWM used for REF. 00348 * @param refId Id of the reference PWM signal. 00349 * @retval frequency in Hz. 00350 */ 00351 virtual unsigned int get_ref_pwm_freq(unsigned int refId) 00352 { 00353 return (unsigned int) STSpin240_250_GetRefPwmFreq(refId); 00354 } 00355 00356 /** 00357 * @brief Releasing the reset (exiting standby mode). 00358 * @param None. 00359 * @retval None. 00360 */ 00361 virtual void release_reset(void) 00362 { 00363 STSpin240_250_ReleaseReset(); 00364 } 00365 00366 /** 00367 * @brief Reseting (entering standby mode). 00368 * @param None. 00369 * @retval None. 00370 */ 00371 virtual void reset(void) 00372 { 00373 STSpin240_250_Reset(); 00374 } 00375 00376 /** 00377 * @brief Setting the direction of rotation of the firmware. 00378 * @param motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). 00379 * @param direction The direction of rotation. 00380 * @retval None 00381 */ 00382 virtual void set_direction(unsigned int motorId, direction_t direction) 00383 { 00384 STSpin240_250_SetDirection(motorId, (motorDir_t) direction); 00385 } 00386 00387 /** 00388 * @brief Setting the duty cycle of the PWM used for REF. 00389 * @param refId Id of the reference PWM signal. 00390 * @param newDc new duty cycle from 0 to 100 00391 * @retval None. 00392 */ 00393 virtual void set_ref_pwm_dc(unsigned int refId, unsigned int newDc) 00394 { 00395 STSpin240_250_SetRefPwmDc(refId, newDc); 00396 } 00397 00398 /** 00399 * @brief Setting the frequency of the PWM used for REF. 00400 * @param refId Id of the reference PWM signal. 00401 * @param frequency in Hz. 00402 * @retval None. 00403 */ 00404 virtual void set_ref_pwm_freq(unsigned int refId, unsigned int frequency) 00405 { 00406 STSpin240_250_SetRefPwmFreq(refId, frequency); 00407 } 00408 00409 /** 00410 * @brief Public static functions 00411 */ 00412 static uint8_t get_nb_devices(void) 00413 { 00414 return numberOfDevices; 00415 } 00416 00417 /*** Public Interrupt Related Methods ***/ 00418 00419 /* ACTION 6 --------------------------------------------------------------* 00420 * Implement here interrupt related methods, if any. * 00421 * Note that interrupt handling is platform dependent, e.g.: * 00422 * + mbed: * 00423 * InterruptIn feature_irq(pin); //Interrupt object. * 00424 * feature_irq.rise(callback); //Attach a callback. * 00425 * feature_irq.mode(PullNone); //Set interrupt mode. * 00426 * feature_irq.enable_irq(); //Enable interrupt. * 00427 * feature_irq.disable_irq(); //Disable interrupt. * 00428 * + Arduino: * 00429 * attachInterrupt(pin, callback, RISING); //Attach a callback. * 00430 * detachInterrupt(pin); //Detach a callback. * 00431 * * 00432 * Example (mbed): * 00433 * void attach_feature_irq(void (*fptr) (void)) * 00434 * { * 00435 * feature_irq.rise(fptr); * 00436 * } * 00437 * * 00438 * void enable_feature_irq(void) * 00439 * { * 00440 * feature_irq.enable_irq(); * 00441 * } * 00442 * * 00443 * void disable_feature_irq(void) * 00444 * { * 00445 * feature_irq.disable_irq(); * 00446 * } * 00447 *------------------------------------------------------------------------*/ 00448 /** 00449 * @brief Attaching an interrupt handler to the FLAG interrupt. 00450 * @param fptr An interrupt handler. 00451 * @retval None. 00452 */ 00453 void attach_flag_irq(void (*fptr)(void)) 00454 { 00455 flag_and_enable.mode(PullDown); 00456 flag_and_enable.fall(fptr); 00457 } 00458 00459 /** 00460 * @brief Enabling the FLAG interrupt handling. 00461 * @param None. 00462 * @retval None. 00463 */ 00464 void enable_flag_irq(void) 00465 { 00466 flag_and_enable.enable_irq(); 00467 } 00468 00469 /** 00470 * @brief Disabling the FLAG interrupt handling. 00471 * @param None. 00472 * @retval None. 00473 */ 00474 void disable_flag_irq(void) 00475 { 00476 flag_and_enable.disable_irq(); 00477 } 00478 00479 protected: 00480 00481 /*** Protected Component Related Methods ***/ 00482 00483 /* ACTION 7 --------------------------------------------------------------* 00484 * Declare here the component's specific methods. * 00485 * They should be: * 00486 * + Methods with the same name of the C component's virtual table's * 00487 * functions (1); * 00488 * + Methods with the same name of the C component's extended virtual * 00489 * table's functions, if any (2); * 00490 * + Helper methods, if any, like functions declared in the component's * 00491 * source files but not pointed by the component's virtual table (3). * 00492 * * 00493 * Example: * 00494 * status_t COMPONENT_get_value(float *f); //(1) * 00495 * status_t COMPONENT_enable_feature(void); //(2) * 00496 * status_t COMPONENT_compute_average(void); //(3) * 00497 *------------------------------------------------------------------------*/ 00498 00499 status_t STSpin240_250_Init(void *init); 00500 status_t STSpin240_250_ReadId(uint8_t *id); 00501 void STSpin240_250_AttachErrorHandler(void (*callback)(uint16_t error)); 00502 void STSpin240_250_DisableBridge(uint8_t bridgeId); 00503 void STSpin240_250_EnableBridge(uint8_t bridgeId); 00504 void STSpin240_250_ErrorHandler(uint16_t error); 00505 uint32_t STSpin240_250_GetBridgeInputPwmFreq(uint8_t bridgeId); 00506 uint16_t STSpin240_250_GetBridgeStatus(void); 00507 uint16_t STSpin240_250_GetCurrentSpeed(uint8_t motorId); 00508 motorState_t STSpin240_250_GetDeviceState(uint8_t motorId); 00509 motorDir_t STSpin240_250_GetDirection(uint8_t motorId); 00510 uint32_t STSpin240_250_GetFwVersion(void); 00511 uint8_t STSpin240_250_GetRefPwmDc(uint8_t refId); 00512 uint32_t STSpin240_250_GetRefPwmFreq(uint8_t refId); 00513 void STSpin240_250_HardHiz(uint8_t motorId); 00514 void STSpin240_250_HardStop(uint8_t motorId); 00515 void STSpin240_250_ReleaseReset(void); 00516 void STSpin240_250_Reset(void); 00517 void STSpin240_250_Run(uint8_t motorId, motorDir_t direction); 00518 void STSpin240_250_SetBridgeInputPwmFreq(uint8_t bridgeId, uint32_t newFreq); 00519 void STSpin240_250_SetDirection(uint8_t motorId, motorDir_t dir); 00520 void STSpin240_250_SetDualFullBridgeconfig(uint8_t enable); 00521 bool STSpin240_250_SetMaxSpeed(uint8_t motorId,uint16_t newMaxSpeed); 00522 void STSpin240_250_SetRefPwmDc(uint8_t refId, uint8_t newDc); 00523 void STSpin240_250_SetRefPwmFreq(uint8_t refId, uint32_t newFreq); 00524 00525 /** 00526 * @brief Functions to initialize the registers 00527 */ 00528 void STSpin240_250_SetDeviceParamsToGivenValues(STSpin240_250_init_t *pInitPrm); 00529 void STSpin240_250_SetDeviceParamsToPredefinedValues(void); 00530 00531 /** 00532 * @brief Get the state of the standby/reset pin 00533 */ 00534 uint8_t STSpin240_250_GetResetState(void); 00535 00536 /*** Component's I/O Methods ***/ 00537 00538 /* ACTION 8 --------------------------------------------------------------* 00539 * Implement here other I/O methods beyond those already implemented * 00540 * above, which are declared extern within the component's header file. * 00541 *------------------------------------------------------------------------*/ 00542 /** 00543 * @brief Making the CPU wait. 00544 * @param None. 00545 * @retval None. 00546 */ 00547 void STSpin240_250_Board_Delay(uint32_t delay) 00548 { 00549 wait_ms(delay); 00550 } 00551 00552 /** 00553 * @brief Disable bridge. 00554 * @param None. 00555 * @retval None. 00556 */ 00557 void STSpin240_250_Board_DisableBridge(void) 00558 { 00559 flag_and_enable.disable_irq(); 00560 flag_and_enable.mode(PullDown); 00561 } 00562 00563 /** 00564 * @brief Enable bridge. 00565 * @param addDelay if different from 0, a delay is added after bridge activation.. 00566 * @retval None. 00567 */ 00568 void STSpin240_250_Board_EnableBridge(uint8_t addDelay) 00569 { 00570 flag_and_enable.mode(PullUp); 00571 if (addDelay) 00572 { 00573 STSpin240_250_Board_Delay(BRIDGE_TURN_ON_DELAY); 00574 } 00575 flag_and_enable.enable_irq(); 00576 } 00577 00578 /** 00579 * @brief Get the status of the reset Pin. 00580 * @param None. 00581 * @retval None. 00582 */ 00583 uint16_t STSpin240_250_Board_GetResetPinState(void) 00584 { 00585 return((uint16_t)flag_and_enable.read()); 00586 } 00587 00588 /** 00589 * @brief Get the status of the flag and enable Pin. 00590 * @param None. 00591 * @retval None. 00592 */ 00593 uint16_t STSpin240_250_Board_GetFaultPinState(void) 00594 { 00595 return((uint16_t)flag_and_enable.read()); 00596 } 00597 00598 /** 00599 * @brief Deinitialising the PWM. 00600 * @param pwmId 0 for bridge A PWM, 1 for bridge B PWM, 2 for REF PWM. 00601 * @retval None. 00602 */ 00603 void STSpin240_250_Board_PwmDeInit(uint8_t pwmId) 00604 { 00605 00606 } 00607 00608 /** 00609 * @brief Initialising the PWM. 00610 * @param pwmId 0 for bridge A PWM, 1 for bridge B PWM, 2 for REF PWM. 00611 * @param onlyChannel. 00612 * @retval None. 00613 */ 00614 void STSpin240_250_Board_PwmInit(uint8_t pwmId, uint8_t onlyChannel) 00615 { 00616 00617 } 00618 00619 /** 00620 * @brief Setting the frequency of PWM. 00621 * The frequency of bridge A and B controls directly the speed of the device. 00622 * @param pwmId 0 for bridge A PWM, 1 for bridge B PWM, 2 for REF PWM. 00623 * @param newFreq frequency to apply in Hz. 00624 * @param duty Duty cycle to use from 0 to 100. 00625 * @retval None. 00626 */ 00627 void STSpin240_250_Board_PwmSetFreq(int8_t pwmId, uint32_t newFreq, uint8_t duty) 00628 { 00629 /* Computing the period of PWM. */ 00630 double period = 1.0f / newFreq; 00631 00632 switch (pwmId) 00633 { 00634 case 0: 00635 default: 00636 /* Setting the period and the duty-cycle of PWM A. */ 00637 pwmA.period(period); 00638 pwmA.write((float)(duty / 100.0f)); 00639 break; 00640 case 1: 00641 /* Setting the period and the duty-cycle of PWM B. */ 00642 pwmB.period(period); 00643 pwmB.write((float)(duty / 100.0f)); 00644 break; 00645 case 2: 00646 /* Setting the period and the duty-cycle of PWM Ref. */ 00647 pwmRef.period(period); 00648 pwmRef.write((float)(duty / 100.0f)); 00649 break; 00650 } 00651 } 00652 00653 /** 00654 * @brief Stopping the PWM. 00655 * @param pwmId 0 for bridge A PWM, 1 for bridge B PWM, 2 for REF PWM. 00656 * @retval None. 00657 */ 00658 void STSpin240_250_Board_PwmStop(uint8_t pwmId) 00659 { 00660 switch (pwmId) 00661 { 00662 case 0: 00663 default: 00664 pwmA.write(0.0f); 00665 break; 00666 case 1: 00667 pwmB.write(0.0f); 00668 break; 00669 case 2: 00670 pwmRef.write(0.0f); 00671 break; 00672 } 00673 } 00674 00675 /** 00676 * @brief Putting the device in standby mode. 00677 * @param None. 00678 * @retval None. 00679 */ 00680 void STSpin240_250_Board_ReleaseReset(void) 00681 { 00682 standby_reset = 1; 00683 STSpin240_250_Board_Delay(EXIT_STANDBY_MODE_DELAY); 00684 } 00685 00686 /** 00687 * @brief Putting the device in reset mode. 00688 * @param None. 00689 * @retval None. 00690 */ 00691 void STSpin240_250_Board_Reset(void) 00692 { 00693 standby_reset = 0; 00694 } 00695 00696 /** 00697 * @brief Setting the direction of rotation. 00698 * @param bridgeId 0 for bridge A, 1 for bridge B. 00699 * @param gpioState direction of rotation: "1" for forward, "0" for backward. 00700 * @retval None. 00701 */ 00702 void STSpin240_250_Board_SetDirectionGpio(uint8_t bridgeId, uint8_t gpioState) 00703 { 00704 if (bridgeId == 0) 00705 { 00706 dirA = gpioState; 00707 } 00708 else 00709 { 00710 dirB = gpioState; 00711 } 00712 } 00713 00714 /*** Component's Instance Variables ***/ 00715 00716 /* ACTION 9 --------------------------------------------------------------* 00717 * Declare here interrupt related variables, if needed. * 00718 * Note that interrupt handling is platform dependent, see * 00719 * "Interrupt Related Methods" above. * 00720 * * 00721 * Example: * 00722 * + mbed: * 00723 * InterruptIn feature_irq; * 00724 *------------------------------------------------------------------------*/ 00725 /* Flag Interrupt. */ 00726 InterruptIn flag_and_enable; 00727 00728 /* ACTION 10 -------------------------------------------------------------* 00729 * Declare here other pin related variables, if needed. * 00730 * * 00731 * Example: * 00732 * + mbed: * 00733 * DigitalOut standby_reset; * 00734 *------------------------------------------------------------------------*/ 00735 /* Standby/reset pin. */ 00736 DigitalOut standby_reset; 00737 00738 /* Direction pin of bridge A. */ 00739 DigitalOut dirA; 00740 00741 /* Direction pin of bridge B. */ 00742 DigitalOut dirB; 00743 00744 /* Pulse Width Modulation pin for bridge A input. */ 00745 PwmOut pwmA; 00746 00747 /* Pulse Width Modulation pin for bridge A input. */ 00748 PwmOut pwmB; 00749 00750 /* Pulse Width Modulation pin for Ref signal. */ 00751 PwmOut pwmRef; 00752 00753 /* ACTION 11 -------------------------------------------------------------* 00754 * Declare here communication related variables, if needed. * 00755 * * 00756 * Example: * 00757 * + mbed: * 00758 * DigitalOut ssel; * 00759 * DevSPI &dev_spi; * 00760 *------------------------------------------------------------------------*/ 00761 00762 /* ACTION 12 -------------------------------------------------------------* 00763 * Declare here identity related variables, if needed. * 00764 * Note that there should be only a unique identifier for each component, * 00765 * which should be the "who_am_i" parameter. * 00766 *------------------------------------------------------------------------*/ 00767 /* Identity */ 00768 uint8_t who_am_i; 00769 00770 /* ACTION 13 -------------------------------------------------------------* 00771 * Declare here the component's static and non-static data, one variable * 00772 * per line. * 00773 * * 00774 * Example: * 00775 * float measure; * 00776 * int instance_id; * 00777 * static int number_of_instances; * 00778 *------------------------------------------------------------------------*/ 00779 /* Data. */ 00780 void (*errorHandlerCallback)(uint16_t error); 00781 deviceParams_t device_prm; 00782 uint8_t deviceInstance; 00783 00784 00785 /* Static data. */ 00786 static uint8_t numberOfDevices; 00787 static uint8_t arrayNbMaxMotorsByConfig[2]; 00788 00789 public: 00790 00791 /* Static data. */ 00792 00793 }; 00794 00795 #endif // __STSPIN240_250_CLASS_H 00796 00797 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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X-NUCLEO-IHM12A1 Low Voltage Dual Brush DC Motor Driver