Motor Control with the X-NUCLEO-IHM01A1 Expansion Board

Diff: main.cpp

Revision:

1:fbf28f3367aa

Parent:

0:e6a49a092e2a

Child:

2:e12e4df7a486

--- a/main.cpp	Wed Oct 14 15:21:49 2015 +0000
+++ b/main.cpp	Fri Oct 16 13:51:31 2015 +0000
@@ -60,80 +60,7 @@
 /* Variables -----------------------------------------------------------------*/
 
 /* Motor Control Component. */
-L6474 *l6474;
-
-/* Flag to identify whenever a PWM pulse has finished. */
-volatile int pwm_pulse_finished_flag;
-
-/* Flag to identify whenever the desired delay has expired. */
-volatile int delay_expired_flag;
-
-
-/* Functions -----------------------------------------------------------------*/
-
-/*
- * @brief  PWM callback.
- * @param  None
- * @retval None
- */
-void PWMCallback(void)
-{
-    pwm_pulse_finished_flag = 1;
-}
-
-/*
- * @brief  Delay callback.
- * @param  None
- * @retval None
- */
-void DelayCallback()
-{
-    delay_expired_flag = 1;
-}
-
-/*
- * @brief  Waiting until PWM pulse has finished.
- * @param  None
- * @retval None
- */
-void WaitForPWMPulse(void)
-{
-    /* Waiting until PWM flag is set. */
-    while (pwm_pulse_finished_flag == 0);
-    
-    /* Resetting PWM flag. */
-    pwm_pulse_finished_flag = 0;
-
-    /* Setting the device state machine. */
-    if (l6474->GetDeviceState() != INACTIVE)
-        l6474->StepClockHandler();
-}
-
-/*
- * @brief  Waiting while the motor is active.
- * @param  None
- * @retval None
- */
-void WaitWhileActive(void)
-{
-    while (l6474->GetDeviceState() != INACTIVE)
-        WaitForPWMPulse();
-}
-
-/*
- * @brief  Waiting until delay has expired.
- * @param  delay delay in milliseconds.
- * @retval None
- */
-void WaitForDelay(int delay)
-{
-    Timeout timeout;
-    timeout.attach(&DelayCallback, delay / 1E3);
-
-    delay_expired_flag = 0;
-    while (delay_expired_flag == 0)
-        WaitForPWMPulse();
-}
+L6474 *motor;
 
 
 /* Main ----------------------------------------------------------------------*/
@@ -143,12 +70,9 @@
     /* Initializing SPI bus. */
     DevSPI dev_spi(D11, D12, D13);
 
-    /* Resetting Timer PWM flag. */
-    pwm_pulse_finished_flag = 0;
-
     /* Initializing Motor Control Component. */
-    l6474 = new L6474(D8, D7, D9, D10, dev_spi);
-    if (l6474->Init(NULL) != COMPONENT_OK)
+    motor = new L6474(D8, D7, D9, D10, dev_spi);
+    if (motor->Init(NULL) != COMPONENT_OK)
         return false;
 
     /* Printing to the console. */
@@ -163,13 +87,13 @@
         printf("--> Moving forward %d steps.\r\n", ROUND_ANGLE_STEPS);
 
         /* Moving N steps in the forward direction. */
-        l6474->Move(FORWARD, ROUND_ANGLE_STEPS);
+        motor->Move(FORWARD, ROUND_ANGLE_STEPS);
         
         /* Waiting while the motor is active. */
-        WaitWhileActive();
+        motor->WaitWhileActive();
 
         /* Getting current position. */
-        int position = l6474->GetPosition();
+        int position = motor->GetPosition();
         
         /* Printing to the console. */
         printf("    Position: %d.\r\n", position);
@@ -184,19 +108,19 @@
         printf("--> Moving backward %d steps.\r\n", ROUND_ANGLE_STEPS);
         
         /* Moving N steps in the backward direction. */
-        l6474->Move(BACKWARD, ROUND_ANGLE_STEPS);
+        motor->Move(BACKWARD, ROUND_ANGLE_STEPS);
         
         /* Waiting while the motor is active. */
-        WaitWhileActive();
+        motor->WaitWhileActive();
 
         /* Getting current position. */
-        position = l6474->GetPosition();
+        position = motor->GetPosition();
         
         /* Printing to the console. */
         printf("    Position: %d.\r\n", position);
 
         /* Setting the current position to be the home position. */
-        l6474->SetHome();
+        motor->SetHome();
 
         /* Waiting 2 seconds. */
         wait_ms(2000);
@@ -208,13 +132,13 @@
         printf("--> Going to position %d.\r\n", ROUND_ANGLE_STEPS >> 1);
         
         /* Requesting to go to a specified position. */
-        l6474->GoTo(ROUND_ANGLE_STEPS >> 1);
+        motor->GoTo(ROUND_ANGLE_STEPS >> 1);
         
         /* Waiting while the motor is active. */
-        WaitWhileActive();
+        motor->WaitWhileActive();
 
         /* Getting current position. */
-        position = l6474->GetPosition();
+        position = motor->GetPosition();
         
         /* Printing to the console. */
         printf("    Position: %d.\r\n", position);
@@ -229,13 +153,13 @@
         printf("--> Going Home.\r\n");
         
         /* Requesting to go to home. */
-        l6474->GoHome();
+        motor->GoHome();
         
         /* Waiting while the motor is active. */
-        WaitWhileActive();
+        motor->WaitWhileActive();
 
         /* Getting current position. */
-        position = l6474->GetPosition();
+        position = motor->GetPosition();
 
         /* Printing to the console. */
         printf("    Position: %d.\r\n", position);
@@ -250,13 +174,13 @@
         printf("--> Moving backward.\r\n");
 
         /* Requesting to run backward. */
-        l6474->Run(BACKWARD);
+        motor->Run(BACKWARD);
 
         /* Waiting until delay has expired. */
-        WaitForDelay(6000);
+        wait_ms(6000);
 
         /* Getting current speed. */
-        int speed = l6474->GetCurrentSpeed();
+        int speed = motor->GetCurrentSpeed();
 
         /* Printing to the console. */
         printf("    Speed: %d.\r\n", speed);
@@ -268,13 +192,13 @@
         printf("--> Increasing the speed while running.\r\n");
 
         /* Increasing speed to 2400 step/s. */
-        l6474->SetMaxSpeed(2400);
+        motor->SetMaxSpeed(2400);
 
         /* Waiting until delay has expired. */
-        WaitForDelay(6000);
+        wait_ms(6000);
 
         /* Getting current speed. */
-        speed = l6474->GetCurrentSpeed();
+        speed = motor->GetCurrentSpeed();
 
         /* Printing to the console. */
         printf("    Speed: %d.\r\n", speed);
@@ -286,13 +210,13 @@
         printf("--> Decreasing the speed while running.\r\n");
 
         /* Decreasing speed to 1200 step/s. */
-        l6474->SetMaxSpeed(1200);
+        motor->SetMaxSpeed(1200);
 
         /* Waiting until delay has expired. */
-        WaitForDelay(8000);
+        wait_ms(8000);
 
         /* Getting current speed. */
-        speed = l6474->GetCurrentSpeed();
+        speed = motor->GetCurrentSpeed();
 
         /* Printing to the console. */
         printf("    Speed: %d.\r\n", speed);
@@ -304,10 +228,10 @@
         printf("--> Moving forward.\r\n");
 
         /* Requesting to run in forward direction. */
-        l6474->Run(FORWARD);
+        motor->Run(FORWARD);
 
         /* Waiting until delay has expired. */
-        WaitForDelay(4000);
+        wait_ms(4000);
         
 
         /*----- Requiring hard-stop while running. -----*/
@@ -316,10 +240,10 @@
         printf("--> Requiring hard-stop while running.\r\n");
 
         /* Requesting to immediatly stop. */
-        l6474->HardStop();
+        motor->HardStop();
 
         /* Waiting while the motor is active. */
-        WaitWhileActive();
+        motor->WaitWhileActive();
 
         /* Waiting 2 seconds. */
         wait_ms(2000);
@@ -331,22 +255,22 @@
         printf("--> Infinite Loop...\r\n");
 
         /* Setting the current position to be the home position. */
-        l6474->SetHome();
+        motor->SetHome();
 
         /* Infinite Loop. */
         while(1)
         {
             /* Requesting to go to a specified position. */
-            l6474->GoTo(- ROUND_ANGLE_STEPS >> 2);
+            motor->GoTo(- ROUND_ANGLE_STEPS >> 2);
 
             /* Waiting while the motor is active. */
-            WaitWhileActive();
+            motor->WaitWhileActive();
 
             /* Requesting to go to a specified position. */
-            l6474->GoTo(ROUND_ANGLE_STEPS >> 2);
+            motor->GoTo(ROUND_ANGLE_STEPS >> 2);
 
             /* Waiting while the motor is active. */
-            WaitWhileActive();
+            motor->WaitWhileActive();
         }
     }
 }