ST / Mbed 2 deprecated HelloWorld_IHM12A1

Example program for library X-NUCLEO-IHM12A1 using two low voltage dual brush DC motors

Dependencies:   X_NUCLEO_IHM12A1 mbed

Fork of HelloWorld_IHM12A1 by ST Expansion SW Team

This application provides a simple example of usage of the X-NUCLEO-IHM12A1 Dual Brush DC Motor Control Expansion Board.

It shows how to use 2 bidirectional brush DC motors connected to the board by executing a 13 steps loop:

  • Step 0) Motor 0 runs in forward at 100% of max speed, Motor 1 is inactive
  • Step 1) Motor 0 runs in forward at 75% of max speed, Motor 1 runs in backward at 100% of max speed
  • Step 2) Motor 0 runs in forward at 50% of max speed, Motor 1 runs in backward at 75% of max speed
  • Step 3) Motor 0 runs in forward at 25% of max speed, Motor 1 runs in backward at 50% of max speed
  • Step 4) Motor 0 is stopped, Motor 1 runs in backward at 25% of max speed
  • Step 5) Motor 0 runs in backward at 25% of max speed, Motor 1 is stopped
  • Step 6) Motor 0 runs in backward at 50% of max speed, Motor 1 runs in forward at 25% of max speed
  • Step 7) Motor 0 runs in backward at 75% of max speed, Motor 1 runs in forward at 50% of max speed
  • Step 8) Motor 0 runs in backward at 100% of max speed, Motor 1 runs in forward at 75% of max speed
  • Step 9) Motor 0 runs in backward at 100% of max speed, Motor 1 runs in forward at 100% of max speed
  • Step 10) Stop both motors and disable bridges
  • Step 11) Motor 0 runs in forward at 100% of max speed, Motor 1 runs in forward at 100% of max speed
  • Step 12) Stop both motors and enter standby mode

For the hardware configuration of the expansion board, please refer to the X_NUCLEO_IHM12A1 library web page.

Diff: main.cpp

Revision:
5:7517162fb2b9
Parent:
2:1e4061cedf1d
Child:
6:bd2fa888c101
--- a/main.cpp	Wed Nov 23 09:19:34 2016 +0000
+++ b/main.cpp	Fri Mar 24 11:01:02 2017 +0100
@@ -42,12 +42,12 @@
 #include "mbed.h"
 
 /* Component specific header files. */
-#include "stspin240_250_class.h"
+#include "STSpin240_250.h"
 
 /* Variables -----------------------------------------------------------------*/
 
 /* Initialization parameters of the motor connected to the expansion board. */
- Stspin240_250_Init_t initDeviceParameters =
+ Stspin240_250_init_t init =
  {
   20000, /* Frequency of PWM of Input Bridge A in Hz up to 100000Hz             */
   20000, /* Frequency of PWM of Input Bridge B in Hz up to 100000Hz             */
@@ -66,16 +66,15 @@
  * @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) {
   }    
 }
 
@@ -84,12 +83,12 @@
  * @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)
 {
    /* Code to be customised */
   /************************/
@@ -97,15 +96,13 @@
   printf("    WARNING: \"FLAG\" interrupt triggered.\r\n");
 
   /* 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)
-    {
+  if (bridgeState == 0)  {
+    if (motor->get_device_state(0) != INACTIVE) {
       /* Bridges were disabled due to overcurrent or over temperature */
       /* When  motor was running */
-        myErrorHandler(0XBAD0);
+      my_error_handler(0XBAD0);
     }
   }
 }
@@ -129,133 +126,144 @@
   #else
   motor = new STSPIN240_250(D2, D9, D6, D7, D5, D4, A0);
   #endif
-  if (motor->Init(&initDeviceParameters) != COMPONENT_OK) exit(EXIT_FAILURE);
+  if (motor->init(&init) != COMPONENT_OK) exit(EXIT_FAILURE);
 
   /* Set dual bridge enabled as two motors are used*/
-  motor->SetDualFullBridgeConfig(1);
+  motor->set_dual_full_bridge_config(1);
 
   /* 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 2 brush DC motors\r\n");
 
   /* Set PWM Frequency of Ref to 15000 Hz */ 
-  motor->SetRefPwmFreq(0, 15000); 
+  motor->set_ref_pwm_freq(0, 15000); 
 
   /* Set PWM duty cycle of Ref to 60% */ 
-  motor->SetRefPwmDc(0, 60); 
+  motor->set_ref_pwm_dc(0, 60); 
   
   /* Set PWM Frequency of bridge A inputs to 10000 Hz */ 
-  motor->SetBridgeInputPwmFreq(0,10000); 
+  motor->set_bridge_input_pwm_freq(0,10000); 
   
   /* Set PWM Frequency of bridge B inputs to 10000 Hz */ 
-  motor->SetBridgeInputPwmFreq(1,10000); 
+  motor->set_bridge_input_pwm_freq(1,10000); 
   
   /* Infinite Loop. */
   printf("--> Infinite Loop...\r\n");
-  while (1)
-  {
-    switch (demoStep)
-    {  
-        case 0:
+  while (true) {
+    switch (demoStep) {
+        case 0: {
           printf("STEP 0: Motor(0) FWD Speed=100%% - Motor(1) Inactive\r\n");
           /* Set speed of motor 0 to 100 % */
-          motor->SetSpeed(0,100); 
+          motor->set_speed(0,100); 
           /* start motor 0 to run forward*/
           /* if chip is in standby mode */
           /* it is automatically awakened */
-          motor->Run(0, BDCMotor::FWD);
+          motor->run(0, BDCMotor::FWD);
           break;
-         case 1:
+        }
+        case 1: {
           printf("STEP 1: Motor(0) FWD Speed=75%% - Motor(1) BWD Speed=100%%\r\n");
           /* Set speed of motor 0 to 75 % */
-          motor->SetSpeed(0,75); 
+          motor->set_speed(0,75); 
           /* Set speed of motor 1 to 100 % */
-          motor->SetSpeed(1,100); 
+          motor->set_speed(1,100); 
           /* start motor 1 to run backward */
-          motor->Run(1, BDCMotor::BWD);
+          motor->run(1, BDCMotor::BWD);
           break;
-        case 2:
+        }
+        case 2: {
           printf("STEP 2: Motor(0) FWD Speed=50%% - Motor(1) BWD Speed=75%%\r\n");
           /* Set speed of motor 0 to 50 % */
-          motor->SetSpeed(0,50);   
+          motor->set_speed(0,50);   
          /* Set speed of motor 1 to 75% */
-          motor->SetSpeed(1,75); 
-          break;      
-        case 3:
+          motor->set_speed(1,75); 
+          break;
+        }     
+        case 3: {
           printf("STEP 3: Motor(0) FWD Speed=25%% - Motor(1) BWD Speed=50%%\r\n");
           /* Set speed of motor 0 to 25 % */
-          motor->SetSpeed(0,25);  
+          motor->set_speed(0,25);  
           /* Set speed of motor 1 to 50% */
-          motor->SetSpeed(1,50);          
-          break;  
-        case 4:
+          motor->set_speed(1,50);          
+          break;
+        } 
+        case 4: {
           printf("STEP 4: Motor(0) Stopped - Motor(1) BWD Speed=25%%\r\n");
           /* Stop Motor 0 */
-          motor->HardStop(0);   
+          motor->hard_stop(0);   
           /* Set speed of motor 1 to 25% */
-          motor->SetSpeed(1,25);      
-          break;         
-         case 5:
+          motor->set_speed(1,25);      
+          break;
+        }        
+        case 5: {
           printf("STEP 5: Motor(0) BWD Speed=25%% - Motor(1) Stopped\r\n");
           /* Set speed of motor 0 to 25 % */
-          motor->SetSpeed(0,25); 
+          motor->set_speed(0,25); 
           /* start motor 0 to run backward */
-          motor->Run(0, BDCMotor::BWD);
+          motor->run(0, BDCMotor::BWD);
           /* Stop Motor 1 */
-          motor->HardStop(1);   
+          motor->hard_stop(1);   
           break;
-         case 6:
+        }
+        case 6: {
           printf("STEP 6: Motor(0) BWD Speed=50%% - Motor(1) FWD Speed=25%%\r\n");
           /* Set speed of motor 0 to 50 % */
-          motor->SetSpeed(0,50); 
+          motor->set_speed(0,50); 
           /* Set speed of motor 1 to 25 % */
-          motor->SetSpeed(1,25); 
+          motor->set_speed(1,25); 
           /* start motor 1 to run backward */
-          motor->Run(1, BDCMotor::FWD);
+          motor->run(1, BDCMotor::FWD);
           break;
-        case 7:
+        }
+        case 7: {
           printf("STEP 7: Motor(0) BWD Speed=75%% - Motor(1) FWD Speed=50%%\r\n");
           /* Set speed of motor 0 to 75 % */
-          motor->SetSpeed(0,75);   
+          motor->set_speed(0,75);   
           /* Set speed of motor 1 to 50 % */
-          motor->SetSpeed(1,50);             
-          break;      
-        case 8:
+          motor->set_speed(1,50);             
+          break;
+        }
+        case 8: {
           printf("STEP 8: Motor(0) BWD Speed=100%% - Motor(1) FWD Speed=75%%\r\n");
           /* Set speed of motor 0 to 100 % */
-          motor->SetSpeed(0,100);   
+          motor->set_speed(0,100);   
           /* Set speed of motor 1 to 75 % */
-          motor->SetSpeed(1,75);   
-          break;  
-        case 9:
+          motor->set_speed(1,75);   
+          break;
+        } 
+        case 9: {
           printf("STEP 9: Motor(0) BWD Speed=100%% - Motor(1) FWD Speed=100%%\r\n");
           /* Set speed of motor 1 to 100 % */
-          motor->SetSpeed(1,100);    
-          break;   
-        case 10:
+          motor->set_speed(1,100);    
+          break;
+        }  
+        case 10: {
           printf("STEP 10\r\n: Stop both motors and disable bridges\r\n");
           /* Stop both motors and disable bridge */
-          motor->HardHiZ(0);    
-          motor->HardHiZ(1);    
-          break;           
-        case 11:
+          motor->hard_hiz(0);    
+          motor->hard_hiz(1);    
+          break;
+        }         
+        case 11: {
           printf("STEP 11: Motor(0) FWD Speed=100%% - Motor(1) FWD Speed=100%%\r\n");
           /* Start both motors to go forward*/
-          motor->Run(0,BDCMotor::FWD);    
-          motor->Run(1,BDCMotor::FWD);    
-          break;                 
+          motor->run(0,BDCMotor::FWD);    
+          motor->run(1,BDCMotor::FWD);    
+          break;
+        }               
         case 12:
-        default:
+        default: {
           printf("STEP 12: Stop both motors and enter standby mode\r\n");
           /* Stop both motors and put chip in standby mode */
           motor->Reset();    
-          break;            
+          break;
+        }
     }
   
     /* Wait for 5 seconds */  
@@ -263,10 +271,10 @@
     
     /* Increment demostep*/  
     demoStep++;
-    if (demoStep > 12)
-    {
+    if (demoStep > 12) {
       demoStep = 0;
     }
   } 
 }
+
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/