Diff: main.cpp

Revision:

6:b9b32d6c2b40

Parent:

5:4c1e581bbb8b

Child:

7:20ff5668f5fe

--- a/main.cpp	Wed Jun 15 12:51:03 2016 +0000
+++ b/main.cpp	Fri Mar 24 11:00:26 2017 +0100
@@ -1,6 +1,6 @@
 /**
   ******************************************************************************
-  * @file    Multi/Examples/MotionControl/IHM04A1_ExampleFor4UniDirMotors/Src/main.c 
+  * @file    main.cpp
   * @author  IPC Rennes
   * @version V1.0.0
   * @date    May 16, 2016
@@ -40,34 +40,31 @@
   ******************************************************************************
   */
 
+
 /* Includes ------------------------------------------------------------------*/
 
 /* mbed specific header files. */
 #include "mbed.h"
 
 /* Component specific header files. */
-#include "l6206_class.h"
-
+#include "L6206.h"
 
 
 /* Definitions ---------------------------------------------------------------*/
 
-
 #define MAX_MOTOR (4)
 
 
-
 /* Variables -----------------------------------------------------------------*/
 
 static volatile uint16_t gLastError;
 static volatile uint8_t gStep = 0;
 
 
-
 /* Variables -----------------------------------------------------------------*/
 
 /* Initialization parameters. */
-L6206_Init_t init =
+L6206_init_t init =
 {
     L6206_CONF_PARAM_PARALLE_BRIDGES,
     {L6206_CONF_PARAM_FREQ_PWM1A, L6206_CONF_PARAM_FREQ_PWM2A, L6206_CONF_PARAM_FREQ_PWM1B, L6206_CONF_PARAM_FREQ_PWM2B},
@@ -81,8 +78,7 @@
 L6206 *motor;
 
 /* User button on Nucleo board */
-InterruptIn mybutton_irq(USER_BUTTON);
-
+InterruptIn my_button_irq(USER_BUTTON);
 
 
 /* Functions -----------------------------------------------------------------*/
@@ -92,7 +88,7 @@
   * @param  error number of the error
   * @retval None
   */
-void Error_Handler(uint16_t error)
+void my_error_handler(uint16_t error)
 {
   /* Backup error number */
   gLastError = error;
@@ -105,40 +101,36 @@
 * @param  None
 * @retval None
 * @note   If needed, implement it, and then attach and enable it:
-*           + motor->AttachFlagInterrupt(MyFlagInterruptHandler);
+*           + motor->attach_flag_interrupt(my_flag_irq_handler);
 */
-void MyFlagInterruptHandler(void)
+void my_flag_irq_handler(void)
 {
   /* Code to be customised */
   /************************/
   /* Get the state of bridge A */
-  uint16_t bridgeState  = motor->GetBridgeStatus(0);
+  uint16_t bridgeState  = motor->get_bridge_status(0);
   
-  if (bridgeState == 0) 
-  {
-    if ((motor->GetDeviceState(0) != INACTIVE)||
-        (motor->GetDeviceState(1) != INACTIVE))
-    {
+  if (bridgeState == 0) {
+    if ((motor->get_device_state(0) != INACTIVE)||
+        (motor->get_device_state(1) != INACTIVE)) {
       /* Bridge A was disabling due to overcurrent or over temperature */
       /* When at least on of its  motor was running */
-        Error_Handler(0XBAD0);
+        my_error_handler(0XBAD0);
     }
   }
   
   /* Get the state of bridge B */
-  bridgeState  = motor->GetBridgeStatus(1);
+  bridgeState  = motor->get_bridge_status(1);
   
-  if (bridgeState == 0) 
-  {
-    if ((motor->GetDeviceState(2) != INACTIVE)||
-        (motor->GetDeviceState(3) != INACTIVE))
-    {
+  if (bridgeState == 0)  {
+    if ((motor->get_device_state(2) != INACTIVE)||
+        (motor->get_device_state(3) != INACTIVE)) {
       /* Bridge A was disabling due to overcurrent or over temperature */
       /* When at least on of its  motor was running */
-        Error_Handler(0XBAD1);
+        my_error_handler(0XBAD1);
     }
   }  
- }
+}
 
 
 /* Private functions ---------------------------------------------------------*/
@@ -149,17 +141,15 @@
   * @retval None
   */
 
-void button_pressed(void)
+void my_button_pressed(void)
 {
-    mybutton_irq.disable_irq();
+    my_button_irq.disable_irq();
     gStep++;
-    if (gStep > MAX_MOTOR)
-    {
+    if (gStep > MAX_MOTOR) {
         gStep = 0;
     }
     wait_ms(200);
-    mybutton_irq.enable_irq();
-
+    my_button_irq.enable_irq();
 }
 
 
@@ -175,90 +165,81 @@
     /* Initializing Motor Control Component. */
     motor = new L6206( D2, A4, D5, D4, A0, A1);
 
-    /* When Init method is called with NULL pointer, the L6206 parameters are set   */
+    /* When init method is called with NULL pointer, the L6206 parameters are set   */
     /* with the predefined values from file l6206_target_config.h, otherwise the    */
-    /* parameters are set using the initDeviceParameters structure values.          */
-    if (motor->Init(&init) != COMPONENT_OK)
+    /* parameters are set using the init structure values.          */
+    if (motor->init(&init) != COMPONENT_OK) {
         exit(EXIT_FAILURE);
+    }
 
-    /* Attach the function MyFlagInterruptHandler (defined below) to the flag interrupt */
-    motor->AttachFlagInterrupt(MyFlagInterruptHandler);
+    /* Attach the function my_flag_irq_handler (defined below) to the flag interrupt */
+    motor->attach_flag_interrupt(my_flag_irq_handler);
 
-    /* Attach the function Error_Handler (defined below) to the error Handler*/
-    motor->AttachErrorHandler(Error_Handler);
+    /* Attach the function my_error_handler (defined below) to the error Handler*/
+    motor->attach_error_handler(my_error_handler);
 
     /* Printing to the console. */
     printf("Motor Control Application Example for 4 Motor\r\n\n");
 
-
     /* Select the configuration with no bridge paralleling, two unidirectionnal motors on bridge A 
        and two unidirectionnal motors on bridge B */
-    motor->SetDualFullBridgeConfig(PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B);
+    motor->set_dual_full_bridge_config(PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B);
  
     /* Set PWM Frequency of bridge A inputs to 1000 Hz */ 
-    motor->SetBridgeInputPwmFreq(0,1000);
+    motor->set_bridge_input_pwm_freq(0,1000);
   
     /* Set PWM Frequency of bridge B inputs to 2000 Hz */ 
-    motor->SetBridgeInputPwmFreq(1,2000);
+    motor->set_bridge_input_pwm_freq(1,2000);
   
-    // Attach button_pressed function to Irq
-    mybutton_irq.fall(&button_pressed);
+    // Attach my_button_pressed function to Irq
+    my_button_irq.fall(&my_button_pressed);
 
     /* Infinite loop */
-    while(1)
-    {
+    while (true) {
 
-        if (gStep > 0)
-        {
-            printf("Run motor 0 at 20%% of the maximum speed\n");
+        if (gStep > 0) {
+            printf("run motor 0 at 20%% of the maximum speed\n");
             /* Set speed of motor 0 to 20% */
-            motor->SetSpeed(0,20);
+            motor->set_speed(0,20);
             /* start motor 0 */
-            motor->Run(0, BDCMotor::FWD);
+            motor->run(0, BDCMotor::FWD);
         }
 
-        if (gStep > 1)
-        {
-            printf("Run motor 1 at 30%% of the maximum speed\n");
+        if (gStep > 1) {
+            printf("run motor 1 at 30%% of the maximum speed\n");
             /* Set speed of motor 1 to 30 % */
-            motor->SetSpeed(1,30);
+            motor->set_speed(1,30);
             /* start motor 1 */
-            motor->Run(1, BDCMotor::FWD);
+            motor->run(1, BDCMotor::FWD);
         }
 
-        if (gStep > 2)
-        {
-            printf("Run motor 2 at 40%% of the maximum speed\n");
+        if (gStep > 2) {
+            printf("run motor 2 at 40%% of the maximum speed\n");
             /* Set speed of motor 2 to 40 % */
-            motor->SetSpeed(2,40);
+            motor->set_speed(2,40);
             /* start motor 2 */
-            motor->Run(2, BDCMotor::FWD);
+            motor->run(2, BDCMotor::FWD);
         }
 
-        if (gStep > 3)
-        {
-            printf("Run motor 3 at 50%% of the maximum speed\n");
+        if (gStep > 3)  {
+            printf("run motor 3 at 50%% of the maximum speed\n");
             /* Set speed of motor 3 to 50 % */
-            motor->SetSpeed(3,50);
+            motor->set_speed(3,50);
             /* start motor 3 */
-            motor->Run(3, BDCMotor::FWD);      
+            motor->run(3, BDCMotor::FWD);      
         }
 
-        if (gStep > 0)
-        {
+        if (gStep > 0) {
             wait_ms(1000);
         
-            motor->HardHiZ(0);   
-            motor->HardHiZ(1);   
-            motor->HardHiZ(2);   
-            motor->HardHiZ(3);
+            motor->hard_hiz(0);   
+            motor->hard_hiz(1);   
+            motor->hard_hiz(2);   
+            motor->hard_hiz(3);
             
             wait_ms(1000);
         }
     }
 }
 
-
-
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
-