Motor Control with the X-NUCLEO-IHM01A1 Expansion Board

Diff: main.cpp

Revision:

35:2b44ed4ec7a0

Parent:

34:543d0d1147d9

--- a/main.cpp	Wed Mar 01 13:31:48 2017 +0000
+++ b/main.cpp	Fri Mar 10 11:10:49 2017 +0100
@@ -46,7 +46,7 @@
 #include "DevSPI.h"
 
 /* Component specific header files. */
-#include "l6474_class.h"
+#include "L6474.h"
 
 
 /* Definitions ---------------------------------------------------------------*/
@@ -70,7 +70,7 @@
 /* Variables -----------------------------------------------------------------*/
 
 /* Initialization parameters. */
-L6474_Init_t init = {
+L6474_init_t init = {
     160,                              /* Acceleration rate in pps^2. Range: (0..+inf). */
     160,                              /* Deceleration rate in pps^2. Range: (0..+inf). */
     1600,                             /* Maximum speed in pps. Range: (30..10000]. */
@@ -107,18 +107,18 @@
  * @param  None
  * @retval None
  * @note   If needed, implement it, and then attach and enable it:
- *           + motor->AttachFlagIRQ(&FlagIRQHandler);
- *           + motor->EnableFlagIRQ();
+ *           + motor->attach_flag_irq(&flag_irq_handler);
+ *           + motor->enable_flag_irq();
  *         To disable it:
- *           + motor->DisbleFlagIRQ();
+ *           + motor->disble_flag_irq();
  */
-void FlagIRQHandler(void)
+void flag_irq_handler(void)
 {
     /* Set ISR flag. */
     motor->isr_flag = TRUE;
 
     /* Get the value of the status register. */
-    unsigned int status = motor->GetStatus();
+    unsigned int status = motor->get_status();
 
     /* Check NOTPERF_CMD flag: if set, the command received by SPI can't be performed. */
     /* This often occures when a command is sent to the L6474 while it is not in HiZ state. */
@@ -142,13 +142,13 @@
 
     /* Initializing Motor Control Component. */
     motor = new L6474(D2, D8, D7, D9, D10, dev_spi);
-    if (motor->Init(&init) != COMPONENT_OK) {
+    if (motor->init(&init) != COMPONENT_OK) {
         exit(EXIT_FAILURE);
     }
 
     /* Attaching and enabling interrupt handlers. */
-    motor->AttachFlagIRQ(&FlagIRQHandler);
-    motor->EnableFlagIRQ();
+    motor->attach_flag_irq(&flag_irq_handler);
+    motor->enable_flag_irq();
 
     /* Printing to the console. */
     printf("Motor Control Application Example for 1 Motor\r\n\n");
@@ -160,13 +160,13 @@
     printf("--> Moving forward %d steps.\r\n", STEPS_1);
 
     /* Moving N steps in the forward direction. */
-    motor->Move(StepperMotor::FWD, STEPS_1);
+    motor->move(StepperMotor::FWD, STEPS_1);
 
     /* Waiting while the motor is active. */
-    motor->WaitWhileActive();
+    motor->wait_while_active();
 
     /* Getting current position. */
-    int position = motor->GetPosition();
+    int position = motor->get_position();
     
     /* Printing to the console. */
     printf("    Position: %d.\r\n", position);
@@ -181,13 +181,13 @@
     printf("--> Setting Torque Regulation Current to 500[mA].\r\n");
 
     /* Increasing the torque regulation current to 500[mA]. */
-    motor->SetParameter(L6474_TVAL, 500);
+    motor->set_parameter(L6474_TVAL, 500);
 
     /* Printing to the console. */
     printf("--> Doubling the microsteps.\r\n");
 
     /* Doubling the microsteps. */
-    if (!motor->SetStepMode((StepperMotor::step_mode_t) STEP_MODE_1_16)) {
+    if (!motor->set_step_mode((StepperMotor::step_mode_t) STEP_MODE_1_16)) {
         printf("    Step Mode not allowed.\r\n");
     }
 
@@ -198,10 +198,10 @@
     printf("--> Setting Home.\r\n");
 
     /* Setting the current position to be the home position. */
-    motor->SetHome();
+    motor->set_home();
 
     /* Getting current position. */
-    position = motor->GetPosition();
+    position = motor->get_position();
     
     /* Printing to the console. */
     printf("    Position: %d.\r\n", position);
@@ -216,13 +216,13 @@
     printf("--> Moving backward %d steps.\r\n", STEPS_1);
 
     /* Moving N steps in the backward direction. */
-    motor->Move(StepperMotor::BWD, STEPS_1);
+    motor->move(StepperMotor::BWD, STEPS_1);
     
     /* Waiting while the motor is active. */
-    motor->WaitWhileActive();
+    motor->wait_while_active();
 
     /* Getting current position. */
-    position = motor->GetPosition();
+    position = motor->get_position();
     
     /* Printing to the console. */
     printf("    Position: %d.\r\n", position);
@@ -237,13 +237,13 @@
     printf("--> Going to position %d.\r\n", STEPS_1);
     
     /* Requesting to go to a specified position. */
-    motor->GoTo(STEPS_1);
+    motor->go_to(STEPS_1);
     
     /* Waiting while the motor is active. */
-    motor->WaitWhileActive();
+    motor->wait_while_active();
 
     /* Getting current position. */
-    position = motor->GetPosition();
+    position = motor->get_position();
     
     /* Printing to the console. */
     printf("    Position: %d.\r\n", position);
@@ -258,13 +258,13 @@
     printf("--> Going Home.\r\n");
     
     /* Requesting to go to home. */
-    motor->GoHome();
+    motor->go_home();
     
     /* Waiting while the motor is active. */
-    motor->WaitWhileActive();
+    motor->wait_while_active();
 
     /* Getting current position. */
-    position = motor->GetPosition();
+    position = motor->get_position();
 
     /* Printing to the console. */
     printf("    Position: %d.\r\n", position);
@@ -279,13 +279,13 @@
     printf("--> Running backward for %d seconds.\r\n", DELAY_3 / 1000);
 
     /* Requesting to run backward. */
-    motor->Run(StepperMotor::BWD);
+    motor->run(StepperMotor::BWD);
 
     /* Waiting. */
     wait_ms(DELAY_3);
 
     /* Getting current speed. */
-    int speed = motor->GetSpeed();
+    int speed = motor->get_speed();
 
     /* Printing to the console. */
     printf("    Speed: %d.\r\n", speed);
@@ -296,13 +296,13 @@
     printf("--> Increasing the speed while running again for %d seconds.\r\n", DELAY_3 / 1000);
 
     /* Increasing the speed. */
-    motor->SetMaxSpeed(SPEED_1);
+    motor->set_max_speed(SPEED_1);
 
     /* Waiting. */
     wait_ms(DELAY_3);
 
     /* Getting current speed. */
-    speed = motor->GetSpeed();
+    speed = motor->get_speed();
 
     /* Printing to the console. */
     printf("    Speed: %d.\r\n", speed);
@@ -314,13 +314,13 @@
     printf("--> Decreasing the speed while running again for %d seconds.\r\n", DELAY_4 / 1000);
 
     /* Decreasing the speed. */
-    motor->SetMaxSpeed(SPEED_2);
+    motor->set_max_speed(SPEED_2);
 
     /* Waiting. */
     wait_ms(DELAY_4);
 
     /* Getting current speed. */
-    speed = motor->GetSpeed();
+    speed = motor->get_speed();
 
     /* Printing to the console. */
     printf("    Speed: %d.\r\n", speed);
@@ -332,10 +332,10 @@
     printf("--> Hard Stop.\r\n");
 
     /* Requesting to immediatly stop. */
-    motor->HardStop();
+    motor->hard_stop();
 
     /* Waiting while the motor is active. */
-    motor->WaitWhileActive();
+    motor->wait_while_active();
 
     /* Waiting. */
     wait_ms(DELAY_2);
@@ -347,20 +347,20 @@
     printf("--> Infinite Loop...\r\n");
 
     /* Setting the current position to be the home position. */
-    motor->SetHome();
+    motor->set_home();
 
     /* Infinite Loop. */
     while (true) {
         /* Requesting to go to a specified position. */
-        motor->GoTo(STEPS_1 >> 1);
+        motor->go_to(STEPS_1 >> 1);
 
         /* Waiting while the motor is active. */
-        motor->WaitWhileActive();
+        motor->wait_while_active();
 
         /* Requesting to go to a specified position. */
-        motor->GoTo(- (STEPS_1 >> 1));
+        motor->go_to(- (STEPS_1 >> 1));
 
         /* Waiting while the motor is active. */
-        motor->WaitWhileActive();
+        motor->wait_while_active();
     }
 }