ST / Mbed OS HelloWorld_IHM01A1_mbedOS

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Dependencies:   X_NUCLEO_IHM01A1

Fork of HelloWorld_IHM01A1 by ST

This application provides a simple example of usage of the X-NUCLEO-IHM01A1 Stepper Motor Control Expansion Board. It shows how to use one stepper motor connected to the board, moving the rotor to a specific position, with a given speed value, direction of rotation, etc.

Diff: main.cpp

Revision:
34:543d0d1147d9
Parent:
29:a80a213c3c94
Child:
35:2b44ed4ec7a0
diff -r b7c72f06bc38 -r 543d0d1147d9 main.cpp
--- a/main.cpp	Fri Oct 28 13:50:25 2016 +0000
+++ b/main.cpp	Wed Mar 01 13:31:48 2017 +0000
@@ -70,8 +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]. */
@@ -120,11 +119,12 @@
 
     /* Get the value of the status register. */
     unsigned int status = motor->GetStatus();
-    
+
     /* 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. */
-    if ((status & L6474_STATUS_NOTPERF_CMD) == L6474_STATUS_NOTPERF_CMD)
+    if ((status & L6474_STATUS_NOTPERF_CMD) == L6474_STATUS_NOTPERF_CMD) {
         printf("    WARNING: \"FLAG\" interrupt triggered. Non-performable command detected when updating L6474's registers while not in HiZ state.\r\n");
+    }
     
     /* Reset ISR flag. */
     motor->isr_flag = FALSE;
@@ -142,8 +142,9 @@
 
     /* 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);
@@ -186,8 +187,9 @@
     printf("--> Doubling the microsteps.\r\n");
 
     /* Doubling the microsteps. */
-    if (!motor->SetStepMode((StepperMotor::step_mode_t) STEP_MODE_1_16))
+    if (!motor->SetStepMode((StepperMotor::step_mode_t) STEP_MODE_1_16)) {
         printf("    Step Mode not allowed.\r\n");
+    }
 
     /* Waiting. */
     wait_ms(DELAY_1);
@@ -348,8 +350,7 @@
     motor->SetHome();
 
     /* Infinite Loop. */
-    while (1)
-    {
+    while (true) {
         /* Requesting to go to a specified position. */
         motor->GoTo(STEPS_1 >> 1);