Diff: main.cpp

Revision:

4:0e50964ff610

Parent:

0:9ebe3081c641

Child:

5:8c0802d9a345

--- a/main.cpp	Fri Jul 29 08:54:36 2016 +0000
+++ b/main.cpp	Fri Mar 24 11:00:53 2017 +0100
@@ -42,7 +42,7 @@
 #include "mbed.h"
 
 /* Component specific header files. */
-#include "stspin220_class.h"
+#include "STSpin220.h"
 
 /* Definitions ---------------------------------------------------------------*/
 #ifdef TARGET_NUCLEO_F302R8
@@ -59,7 +59,7 @@
 /* Variables -----------------------------------------------------------------*/
 
 /* Initialization parameters of the motor connected to the expansion board. */
-Stspin220_Init_t initDeviceParameters =
+Stspin220_init_t init =
 {
   10000,           //Acceleration rate in pulse/s2 (must be greater than 0)
   10000,           //Deceleration rate in pulse/s2 (must be greater than 0)
@@ -77,7 +77,7 @@
 };
 
 /* Motor Control Component. */
-STSPIN220 *motor;
+STSpin220 *motor;
 
 /* Functions -----------------------------------------------------------------*/
 
@@ -86,12 +86,12 @@
  * @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)
 {
   printf("    WARNING: \"FLAG\" interrupt triggered:\r\n");
   motor->Disable();
@@ -103,16 +103,15 @@
  * @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) {
   }    
 }
 
@@ -133,180 +132,183 @@
 //----- Initialization 
   /* Initializing Motor Control Component. */
 #ifdef STEP_CLOCK_HANDLER_DURATION_MONITORING
-  motor = new STSPIN220(D2, D8, D7, D5, D10, D3, PWM_REF_PIN, MONITORING_PIN);
+  motor = new STSpin220(D2, D8, D7, D5, D10, D3, PWM_REF_PIN, MONITORING_PIN);
 #else
-  motor = new STSPIN220(D2, D8, D7, D5, D10, D3, PWM_REF_PIN);
+  motor = new STSpin220(D2, D8, D7, D5, D10, D3, PWM_REF_PIN);
 #endif
 
-  if (motor->Init(&initDeviceParameters) != COMPONENT_OK) exit(EXIT_FAILURE);
+  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");
   
 //----- Get the step mode after initialization 
-  StepperMotor::step_mode_t myStepMode = motor->GetStepMode();
+  StepperMotor::step_mode_t myStepMode = motor->get_step_mode();
 
-//----- Run the motor BACKWARD
+//----- run the motor BACKWARD
   printf("--> Running the motor backward.\r\n");
-  motor->Run(StepperMotor::BWD);
+  motor->run(StepperMotor::BWD);
   
-  while (motor->GetStatus()!=STEADY)
+  while (motor->get_status()!=STEADY)
   {
     /* Print reached speed to the console in step/s or microsteps/s */
-    printf("    Reached Speed: %d step/s.\r\n", motor->GetSpeed());
+    printf("    Reached Speed: %d step/s.\r\n", motor->get_speed());
     wait_ms(50);    
   }
-  printf("    Reached Speed: %d step/s.\r\n", motor->GetSpeed());
+  printf("    Reached Speed: %d step/s.\r\n", motor->get_speed());
      
   /* Wait for 1 second */  
   wait_ms(1000);
   
 //----- Decrease speed while running to one quarter of the previous speed
   printf("    Motor init step mode: %d\r\n", myStepMode);
-  int currentStepMode = motor->GetStepMode();
+  int currentStepMode = motor->get_step_mode();
   printf("    Motor current step mode: %d\r\n", currentStepMode);
-  int newSpeed = (motor->GetSpeed()<<(myStepMode-currentStepMode))>>2;
+  int newSpeed = (motor->get_speed()<<(myStepMode-currentStepMode))>>2;
   printf("    Set motor max speed to: %d step/s.\r\n", newSpeed);
-  if (!motor->SetMaxSpeed(newSpeed))
-  {
+  if (!motor->set_max_speed(newSpeed)) {
     printf("    Failed: target speed below min speed.\r\n");
-    if (motor->SetMaxSpeed(motor->GetMinSpeed()))
-      printf("    Motor max speed set to min speed: %d step/s.\r\n", motor->GetMinSpeed());
-    else
+    if (motor->set_max_speed(motor->get_min_speed())) {
+      printf("    Motor max speed set to min speed: %d step/s.\r\n", motor->get_min_speed());
+    } else {
       printf("    Failed: check all speed and boost setting.\r\n");
+    }
   }
   
   /* Wait until the motor starts decelerating */
-  while (motor->GetStatus()==STEADY);
+  while (motor->get_status()==STEADY);
   /* Wait and print speed while the motor is not steady running */
-  while (motor->GetStatus()!=STEADY)
-  {
+  while (motor->get_status()!=STEADY) {
     /* Print reached speed to the console in step/s or microsteps/s */
-    printf("    Reached Speed: %d step/s.\r\n", motor->GetSpeed());
+    printf("    Reached Speed: %d step/s.\r\n", motor->get_speed());
     wait_ms(50);    
   }
-  printf("    Reached Speed: %d step/s.\r\n", motor->GetSpeed());  
+  printf("    Reached Speed: %d step/s.\r\n", motor->get_speed());  
 
   /* Wait for 5 seconds */  
   wait_ms(5000);
   
 //----- Soft stop required while running
   printf("--> Soft stop requested.\r\n");
-  motor->SoftStop();
+  motor->soft_stop();
   
   /* Wait for the motor of device ends moving */  
-  motor->WaitWhileActive();
+  motor->wait_while_active();
 
   /* Wait for 2 seconds */
   wait_ms(2000);
 
 //----- Change step mode to full step mode
-  motor->SetStepMode(StepperMotor::STEP_MODE_FULL);
-  printf("    Motor step mode: %d\r\n", motor->GetStepMode());
+  motor->set_step_mode(StepperMotor::STEP_MODE_FULL);
+  printf("    Motor step mode: %d\r\n", motor->get_step_mode());
   printf("    0:FS      1:1/2     2:1/4\r\n    3:1/8     4:1/16    5:1/32\r\n");
   printf("    6:1/64    7:1/128   8:1/256\r\n");
     
   /* 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());
   
   /* Set speed, acceleration and deceleration to scale with full step mode */
-  motor->SetMinSpeed(initDeviceParameters.minSpeed>>myStepMode);  
-  motor->SetMaxSpeed(initDeviceParameters.maxSpeed>>myStepMode);
-  motor->SetAcceleration(motor->GetAcceleration()>>myStepMode);
-  motor->SetDeceleration(motor->GetDeceleration()>>myStepMode);
+  motor->set_min_speed(init.minSpeed>>myStepMode);  
+  motor->set_max_speed(init.maxSpeed>>myStepMode);
+  motor->set_acceleration(motor->get_acceleration()>>myStepMode);
+  motor->set_deceleration(motor->get_deceleration()>>myStepMode);
   /* Print parameters to the console */
-  printf("    Motor Min Speed: %d step/s.\r\n", motor->GetMinSpeed());  
-  printf("    Motor Max Speed: %d step/s.\r\n", motor->GetMaxSpeed());
-  printf("    Motor Acceleration: %d step/s.\r\n", motor->GetAcceleration());
-  printf("    Motor Deceleration: %d step/s.\r\n", motor->GetDeceleration());
+  printf("    Motor Min Speed: %d step/s.\r\n", motor->get_min_speed());  
+  printf("    Motor Max Speed: %d step/s.\r\n", motor->get_max_speed());
+  printf("    Motor Acceleration: %d step/s.\r\n", motor->get_acceleration());
+  printf("    Motor Deceleration: %d step/s.\r\n", motor->get_deceleration());
   
-//----- Move of 200 steps in the FW direction
+//----- move of 200 steps in the FW direction
   printf("--> Moving forward 200 steps.\r\n");
-  motor->Move(StepperMotor::FWD, 200);
+  motor->move(StepperMotor::FWD, 200);
   
   /* Waiting while the motor is active. */
-  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());
   
   /* Disable the power bridges */
   motor->Disable();
   
   /* Check that the power bridges are actually disabled */
-  if (motor->CheckStatusHw()!=0) printf("    Motor driver disabled.\r\n");
-  else printf("    Failed to disable the motor driver.\r\n");
+  if (motor->check_status_hw()!=0) {
+    printf("    Motor driver disabled.\r\n");
+  } else {
+    printf("    Failed to disable the motor driver.\r\n");
+  }
     
   /* Wait for 2 seconds */  
   wait_ms(2000);
   
 //----- Restore step mode to its initialization value
-  motor->SetStepMode((StepperMotor::step_mode_t)initDeviceParameters.stepMode);
-  printf("    Motor step mode: %d\r\n", motor->GetStepMode());
+  motor->set_step_mode((StepperMotor::step_mode_t)init.stepMode);
+  printf("    Motor step mode: %d\r\n", motor->get_step_mode());
   printf("    0:FS      1:1/2     2:1/4\r\n    3:1/8     4:1/16    5:1/32\r\n");
   printf("    6:1/64    7:1/128   8:1/256\r\n");
 
   /* Set speed, acceleration and deceleration to scale with microstep mode */
-  motor->SetMaxSpeed(motor->GetMaxSpeed()<<myStepMode);
-  motor->SetMinSpeed(motor->GetMinSpeed()<<myStepMode);
-  motor->SetAcceleration(motor->GetAcceleration()<<myStepMode);
-  motor->SetDeceleration(motor->GetDeceleration()<<myStepMode);
+  motor->set_max_speed(motor->get_max_speed()<<myStepMode);
+  motor->set_min_speed(motor->get_min_speed()<<myStepMode);
+  motor->set_acceleration(motor->get_acceleration()<<myStepMode);
+  motor->set_deceleration(motor->get_deceleration()<<myStepMode);
   /* Print parameters to the console */  
-  printf("    Motor Max Speed: %d step/s.\r\n", motor->GetMaxSpeed());
-  printf("    Motor Min Speed: %d step/s.\r\n", motor->GetMinSpeed());
-  printf("    Motor Acceleration: %d step/s.\r\n", motor->GetAcceleration());
-  printf("    Motor Deceleration: %d step/s.\r\n", motor->GetDeceleration());
+  printf("    Motor Max Speed: %d step/s.\r\n", motor->get_max_speed());
+  printf("    Motor Min Speed: %d step/s.\r\n", motor->get_min_speed());
+  printf("    Motor Acceleration: %d step/s.\r\n", motor->get_acceleration());
+  printf("    Motor Deceleration: %d step/s.\r\n", motor->get_deceleration());
 
   /* 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());
   
 //----- Change torque
-  motor->SetTorque(ACC_TORQUE,30);
-  motor->SetTorque(DEC_TORQUE,20);
-  printf("    Motor acceleration and deceleration torque changed to: %d and %d.\r\n", motor->GetTorque(ACC_TORQUE), motor->GetTorque(DEC_TORQUE));   
+  motor->set_torque(ACC_TORQUE,30);
+  motor->set_torque(DEC_TORQUE,20);
+  printf("    Motor acceleration and deceleration torque changed to: %d and %d.\r\n", motor->get_torque(ACC_TORQUE), motor->get_torque(DEC_TORQUE));   
   
 //----- Go to position -6400
   printf("--> Go to position -6400 steps.\r\n");
-  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);
   
 //----- Go Home
   printf("--> Go to home position.\r\n");
-  motor->GoHome();
+  motor->go_home();
  
   /* Wait for the motor ends moving */
-  motor->WaitWhileActive();
+  motor->wait_while_active();
   
   /* Wait for 1 second */
   wait_ms(1000);
   
   /* Infinite Loop. */
   printf("--> Infinite Loop...\r\n");
-  while (1)
-  {
+  while (true) {
     /* Request device to go position -3200 */
-    motor->GoTo(-3200);
+    motor->go_to(-3200);
     /* Waiting while the motor is active. */
-    motor->WaitWhileActive();
+    motor->wait_while_active();
     /* Request device to go position 3200 */
-    motor->GoTo(3200);
+    motor->go_to(3200);
     /* Waiting while the motor is active. */
-    motor->WaitWhileActive();
+    motor->wait_while_active();
     wait_ms(500);
   }
 }