Diff: main.cpp

Revision:

2:f20ed233a489

Parent:

0:c44075c08a18

Child:

5:f5ceb23e3590

--- a/main.cpp	Thu Apr 14 08:53:04 2016 +0000
+++ b/main.cpp	Fri Mar 24 11:00:20 2017 +0100
@@ -45,13 +45,13 @@
 #include "DevSPI.h"
 
 /* Component specific header files. */
-#include "powerstep01_class.h"
+#include "PowerStep01.h"
 
 /* Variables -----------------------------------------------------------------*/
 
 /* Initialization parameters of the motor connected to the expansion board. */
 /* Current mode. */
-powerstep01_Init_u_t initDeviceParameters =
+powerstep01_init_u_t init =
 {
   /* common parameters */
   .cm.cp.cmVmSelection = POWERSTEP01_CM_VM_CURRENT, // enum powerstep01_CmVm_t
@@ -99,7 +99,7 @@
 };
 
 /* Motor Control Component. */
-POWERSTEP01 *motor;
+PowerStep01 *motor;
 
 /* Functions -----------------------------------------------------------------*/
 
@@ -108,51 +108,43 @@
  * @param  None
  * @retval None
  * @note   If needed, implement it, and then attach and enable it:
- *           + motor->AttachFlagIRQ(&myFlagIRQHandler);
- *           + motor->EnableFlagIRQ();
+ *           + motor->attach_flag_irq(&my_flag_irq_handler);
+ *           + motor->enable_flag_irq();
  *         To disable it:
  *           + motor->DisbleFlagIRQ();
  */
-void myFlagIRQHandler(void)
+void my_flag_irq_handler(void)
 {
   /* Set ISR flag. */
   motor->isrFlag = TRUE;
   /* Get the value of the status register. */
-  unsigned int statusRegister = motor->GetStatus();
+  unsigned int statusRegister = motor->get_status();
   printf("    WARNING: \"FLAG\" interrupt triggered.\r\n");
   /* Check SW_F flag: if not set, the SW input is opened */
-  if ((statusRegister & POWERSTEP01_STATUS_SW_F )!=0)
-  {
-     printf("    SW closed (connected to ground).\r\n");
+  if ((statusRegister & POWERSTEP01_STATUS_SW_F ) != 0) {
+    printf("    SW closed (connected to ground).\r\n");
   }
   /* Check SW_EN bit */
-  if ((statusRegister & POWERSTEP01_STATUS_SW_EVN)==
-      POWERSTEP01_STATUS_SW_EVN)
-  {
-     printf("    SW turn_on event.\r\n");
+  if ((statusRegister & POWERSTEP01_STATUS_SW_EVN) == POWERSTEP01_STATUS_SW_EVN) {
+    printf("    SW turn_on event.\r\n");
   }
   /* Check Command Error flag: if set, the command received by SPI can't be */
   /* performed. This occurs for instance when a move command is sent to the */
   /* Powerstep01 while it is already running */
-  if ((statusRegister & POWERSTEP01_STATUS_CMD_ERROR)==
-      POWERSTEP01_STATUS_CMD_ERROR)
-  {
+  if ((statusRegister & POWERSTEP01_STATUS_CMD_ERROR) == POWERSTEP01_STATUS_CMD_ERROR) {
     printf("    Non-performable command detected.\r\n");
   }  
   /* Check UVLO flag: if not set, there is an undervoltage lock-out */
-  if ((statusRegister & POWERSTEP01_STATUS_UVLO)==0)
-  {
-     printf("    undervoltage lock-out.\r\n"); 
+  if ((statusRegister & POWERSTEP01_STATUS_UVLO)==0) {
+    printf("    undervoltage lock-out.\r\n"); 
   }  
   /* Check thermal STATUS flags: if  set, the thermal status is not normal */
-  if ((statusRegister & POWERSTEP01_STATUS_TH_STATUS)!=0)
-  {
+  if ((statusRegister & POWERSTEP01_STATUS_TH_STATUS)!=0) {
     //thermal status: 1: Warning, 2: Bridge shutdown, 3: Device shutdown
     printf("    Thermal status: %d.\r\n", (statusRegister & POWERSTEP01_STATUS_TH_STATUS)>>11);
   }    
   /* Check OCD  flag: if not set, there is an overcurrent detection */
-  if ((statusRegister & POWERSTEP01_STATUS_OCD)==0)
-  {
+  if ((statusRegister & POWERSTEP01_STATUS_OCD)==0) {
     printf("    Overcurrent detection.\r\n"); 
   }
   /* Reset ISR flag. */
@@ -164,16 +156,15 @@
  * @param[in] error Number of the error
  * @retval None
  * @note   If needed, implement it, and then attach it:
- *           + motor->AttachErrorHandler(&myErrorHandler);
+ *           + motor->attach_error_handler(&my_error_handler);
  */
-void myErrorHandler(uint16_t error)
+void my_error_handler(uint16_t error)
 {
   /* Printing to the console. */
   printf("Error %d detected\r\n\n", error);
   
   /* Infinite loop */
-  while(1)
-  {
+  while (true) {
   }    
 }
 
@@ -193,25 +184,27 @@
   DevSPI dev_spi(D11, D12, D13);
 
   /* Initializing Motor Control Component. */
-  motor = new POWERSTEP01(D2, D4, D8, D9, D10, dev_spi);
-  if (motor->Init(&initDeviceParameters) != COMPONENT_OK) exit(EXIT_FAILURE);
+  motor = new PowerStep01(D2, D4, D8, D9, D10, dev_spi);
+  if (motor->init(&init) != COMPONENT_OK) {
+    exit(EXIT_FAILURE);
+  }
 
   /* Attaching and enabling an interrupt handler. */
-  motor->AttachFlagIRQ(&myFlagIRQHandler);
-  motor->EnableFlagIRQ();
+  motor->attach_flag_irq(&my_flag_irq_handler);
+  motor->enable_flag_irq();
     
   /* Attaching an error handler */
-  motor->AttachErrorHandler(&myErrorHandler);
+  motor->attach_error_handler(&my_error_handler);
 
   /* Printing to the console. */
   printf("Motor Control Application Example for 1 Motor\r\n");
 
-//----- Move of 16000 steps in the FW direction
+//----- move of 16000 steps in the FW direction
   printf("--> Moving forward 16000 steps.\r\n");
-  motor->Move(StepperMotor::FWD, 16000);
+  motor->move(StepperMotor::FWD, 16000);
 
   /* Waiting while the motor is active. */
-  motor->WaitWhileActive();
+  motor->wait_while_active();
 
   /* Wait for 2 seconds */  
   wait_ms(2000);
@@ -220,13 +213,13 @@
   printf("--> Go to position -6400 steps.\r\n");
 
   /* Request device to go to position -6400 */
-  motor->GoTo(-6400);
+  motor->go_to(-6400);
   
   /* Wait for the motor ends moving */
-  motor->WaitWhileActive();
+  motor->wait_while_active();
 
   /* Get current position of device and print to the console */
-  printf("    Position: %d.\r\n", motor->GetPosition());
+  printf("    Position: %d.\r\n", motor->get_position());
   
   /* Wait for 2 seconds */  
   wait_ms(2000);
@@ -236,34 +229,33 @@
   printf("--> Go to home position.\r\n");
   
   /* Request device to go to Home */
-  motor->GoHome();
+  motor->go_home();
   
   /* Wait for the motor ends moving */
-  motor->WaitWhileActive();
+  motor->wait_while_active();
   
   /* Wait for 2 seconds */
   wait_ms(2000);
 
-//----- Run the motor BACKWARD at 400 step/s
-  printf("--> Run the motor backward at 400 step/s.\r\n");
-  motor->Run(StepperMotor::BWD,400);
+//----- run the motor BACKWARD at 400 step/s
+  printf("--> run the motor backward at 400 step/s.\r\n");
+  motor->run(StepperMotor::BWD,400);
 
 //----- Get parameter example   
   /* Wait for device reaches the targeted speed */
-  while((motor->ReadStatusRegister() & POWERSTEP01_STATUS_MOT_STATUS)!=
-        POWERSTEP01_STATUS_MOT_STATUS_CONST_SPD);
+  while ((motor->read_status_register() & POWERSTEP01_STATUS_MOT_STATUS) != POWERSTEP01_STATUS_MOT_STATUS_CONST_SPD);
  
   /* Record the reached speed in step/s and print to the console */
-  printf("    Reached Speed: %f step/s.\r\n", motor->GetAnalogValue(POWERSTEP01_SPEED));
+  printf("    Reached Speed: %f step/s.\r\n", motor->get_analog_value(POWERSTEP01_SPEED));
 
 //----- Soft stopped required while running
   printf("--> Soft stop requested.\r\n");
  
   /* Request a soft stop of device and keep the power bridges enabled */
-  motor->SoftHiZ();
+  motor->soft_hiz();
 
   /* Wait for the motor of device ends moving */  
-  motor->WaitWhileActive();
+  motor->wait_while_active();
 
   /* Wait for 2 seconds */
   wait_ms(2000);
@@ -271,33 +263,32 @@
 //----- Read inexistent register
   printf("--> Try to read an inexistent register.\r\n");
   /* Trying to read an inexistent register */
-  /* triggers the flag interrupt and call the myFlagIRQHandler */
-  motor->GetRawParameter(0x1F);
+  /* triggers the flag interrupt and call the my_flag_irq_handler */
+  motor->get_raw_parameter(0x1F);
 
 //----- Changing a motor setting
   printf("--> Set the reference voltage assigned to the torque regulation during acceleration to 500mV.\r\n");
-  motor->SetRawParameter(POWERSTEP01_TVAL_ACC, POWERSTEP01::Tval_RefVoltage_to_RegVal(500));
+  motor->set_raw_parameter(POWERSTEP01_TVAL_ACC, PowerStep01::t_val_ref_voltage_to_reg_val(500));
   //Alternatively, the register value can be written directly as shown below:
-  //motor->SetRawParameter(POWERSTEP01_TVAL_ACC, 63);
+  //motor->set_raw_parameter(POWERSTEP01_TVAL_ACC, 63);
 
   //Print the new parameter value to the console
-  printf("--> New TVAL_ACC register value is 0x%x .\r\n",motor->GetRawParameter(POWERSTEP01_TVAL_ACC));
+  printf("--> New TVAL_ACC register value is 0x%x .\r\n",motor->get_raw_parameter(POWERSTEP01_TVAL_ACC));
   
   /* Infinite Loop. */
   printf("--> Infinite Loop...\r\n");
-  while (1)
-  {
+  while (true) {
     /* Request device to go position -6400 */
-    motor->GoTo(-6400);
+    motor->go_to(-6400);
 
     /* Waiting while the motor is active. */
-    motor->WaitWhileActive();
+    motor->wait_while_active();
 
     /* Request device to go position 6400 */
-    motor->GoTo(6400);
+    motor->go_to(6400);
  
     /* Waiting while the motor is active. */
-    motor->WaitWhileActive();
+    motor->wait_while_active();
   } 
 }
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/