File content as of revision 4:5b4969cb5bf0:

/**
 ******************************************************************************
 * @file    main.cpp
 * @author  IPC Rennes
 * @version V1.0.0
 * @date    March 18th, 2016
 * @brief   mbed test application for the STMicroelectronics X-NUCLEO-IHM03A1
 *          Motor Control Expansion Board: control of 1 motor.
 ******************************************************************************
 * @attention
 *
 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
 *
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted provided that the following conditions are met:
 *   1. Redistributions of source code must retain the above copyright notice,
 *      this list of conditions and the following disclaimer.
 *   2. Redistributions in binary form must reproduce the above copyright notice,
 *      this list of conditions and the following disclaimer in the documentation
 *      and/or other materials provided with the distribution.
 *   3. Neither the name of STMicroelectronics nor the names of its contributors
 *      may be used to endorse or promote products derived from this software
 *      without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 ******************************************************************************
 */


/* Includes ------------------------------------------------------------------*/

/* mbed specific header files. */
#include "mbed.h"

/* Helper header files. */
#include "DevSPI.h"

/* Component specific header files. */
#include "powerstep01_class.h"

/* Variables -----------------------------------------------------------------*/

/* Initialization parameters of the motor connected to the expansion board. */
/* Current mode. */
powerstep01_Init_u_t initDeviceParameters =
{
  /* common parameters */
  .cm.cp.cmVmSelection = POWERSTEP01_CM_VM_CURRENT, // enum powerstep01_CmVm_t
  582, // Acceleration rate in step/s2, range 14.55 to 59590 steps/s^2
  582, // Deceleration rate in step/s2, range 14.55 to 59590 steps/s^2
  488, // Maximum speed in step/s, range 15.25 to 15610 steps/s
  0, // Minimum speed in step/s, range 0 to 976.3 steps/s
  POWERSTEP01_LSPD_OPT_OFF, // Low speed optimization bit, enum powerstep01_LspdOpt_t
  244.16, // Full step speed in step/s, range 7.63 to 15625 steps/s
  POWERSTEP01_BOOST_MODE_OFF, // Boost of the amplitude square wave, enum powerstep01_BoostMode_t
  281.25, // Overcurrent threshold settings via enum powerstep01_OcdTh_t
  STEP_MODE_1_16, // Step mode settings via enum motorStepMode_t
  POWERSTEP01_SYNC_SEL_DISABLED, // Synch. Mode settings via enum powerstep01_SyncSel_t
  (POWERSTEP01_ALARM_EN_OVERCURRENT|
   POWERSTEP01_ALARM_EN_THERMAL_SHUTDOWN|
   POWERSTEP01_ALARM_EN_THERMAL_WARNING|
   POWERSTEP01_ALARM_EN_UVLO|
   POWERSTEP01_ALARM_EN_STALL_DETECTION|
   POWERSTEP01_ALARM_EN_SW_TURN_ON|
   POWERSTEP01_ALARM_EN_WRONG_NPERF_CMD), // Alarm settings via bitmap enum powerstep01_AlarmEn_t
  POWERSTEP01_IGATE_64mA, // Gate sink/source current via enum powerstep01_Igate_t 
  POWERSTEP01_TBOOST_0ns, // Duration of the overboost phase during gate turn-off via enum powerstep01_Tboost_t
  POWERSTEP01_TCC_500ns, // Controlled current time via enum powerstep01_Tcc_t
  POWERSTEP01_WD_EN_DISABLE, // External clock watchdog, enum powerstep01_WdEn_t  
  POWERSTEP01_TBLANK_375ns, // Duration of the blanking time via enum powerstep01_TBlank_t
  POWERSTEP01_TDT_125ns, // Duration of the dead time via enum powerstep01_Tdt_t
  /* current mode parameters */
  328.12, // Hold torque in mV, range from 7.8mV to 1000 mV
  328.12, // Running torque in mV, range from 7.8mV to 1000 mV 
  328.12, // Acceleration torque in mV, range from 7.8mV to 1000 mV
  328.12, // Deceleration torque in mV, range from 7.8mV to 1000 mV
  POWERSTEP01_TOFF_FAST_8us, //Maximum fast decay time , enum powerstep01_ToffFast_t 
  POWERSTEP01_FAST_STEP_12us, //Maximum fall step time , enum powerstep01_FastStep_t 
  3.0, // Minimum on-time in us, range 0.5us to 64us
  21.0, // Minimum off-time in us, range 0.5us to 64us 
  POWERSTEP01_CONFIG_INT_16MHZ_OSCOUT_2MHZ, // Clock setting , enum powerstep01_ConfigOscMgmt_t
  POWERSTEP01_CONFIG_SW_HARD_STOP, // External switch hard stop interrupt mode, enum powerstep01_ConfigSwMode_t
  POWERSTEP01_CONFIG_TQ_REG_TVAL_USED, // External torque regulation enabling , enum powerstep01_ConfigEnTqReg_t
  POWERSTEP01_CONFIG_VS_COMP_DISABLE, // Motor Supply Voltage Compensation enabling , enum powerstep01_ConfigEnVscomp_t 
  POWERSTEP01_CONFIG_OC_SD_DISABLE, // Over current shutwdown enabling, enum powerstep01_ConfigOcSd_t
  POWERSTEP01_CONFIG_UVLOVAL_LOW, // UVLO Threshold via powerstep01_ConfigUvLoVal_t
  POWERSTEP01_CONFIG_VCCVAL_15V, // VCC Val, enum powerstep01_ConfigVccVal_t
  POWERSTEP01_CONFIG_TSW_048us, // Switching period, enum powerstep01_ConfigTsw_t
  POWERSTEP01_CONFIG_PRED_DISABLE // Predictive current enabling , enum powerstep01_ConfigPredEn_t 
};

/* Motor Control Component. */
POWERSTEP01 *motor;


/* Functions -----------------------------------------------------------------*/

/**
 * @brief  This is an example of user handler for the flag interrupt.
 * @param  None
 * @retval None
 * @note   If needed, implement it, and then attach and enable it:
 *           + motor->AttachFlagIRQ(&myFlagIRQHandler);
 *           + motor->EnableFlagIRQ();
 *         To disable it:
 *           + motor->DisbleFlagIRQ();
 */
void myFlagIRQHandler(void)
{
  /* Set ISR flag. */
  motor->isrFlag = TRUE;

  /* Get the value of the status register. */
  unsigned int statusRegister = motor->GetStatus();

  printf("    WARNING: \"FLAG\" interrupt triggered.\r\n");
  /* Check HIZ flag: if set, power brigdes are disabled */
  if ((statusRegister & POWERSTEP01_STATUS_HIZ)==POWERSTEP01_STATUS_HIZ)
  {
    // HIZ state
    printf("    HiZ state.\r\n");
  }
  /* Check BUSY flag: if not set, a command is under execution */
  if ((statusRegister & POWERSTEP01_STATUS_BUSY)==0)
  {
    // BUSY
    printf("    Busy.\r\n");
  }
  /* Check SW_F flag: if not set, the SW input is opened */
  if ((statusRegister & POWERSTEP01_STATUS_SW_F )!=0)
  {
     // SW closed (connected to ground)
     printf("    SW closed (connected to ground).\r\n");
  }
  /* Check SW_EN bit */
  if ((statusRegister & POWERSTEP01_STATUS_SW_EVN)==
      POWERSTEP01_STATUS_SW_EVN)
  {
    // SW turn_on event
     printf("    SW turn_on event.\r\n");
  }
  if ((statusRegister & POWERSTEP01_STATUS_MOT_STATUS)==
      POWERSTEP01_STATUS_MOT_STATUS_STOPPED)
  {
    // MOTOR STOPPED
    printf("    Stopped.\r\n");
  }
  else
  {
    if ((statusRegister & POWERSTEP01_STATUS_MOT_STATUS)==
              POWERSTEP01_STATUS_MOT_STATUS_ACCELERATION)
    {
      // MOTOR ACCELERATION
      printf("    Accelerating ");
    }  
    else  if ((statusRegister & POWERSTEP01_STATUS_MOT_STATUS)==
              POWERSTEP01_STATUS_MOT_STATUS_DECELERATION)
    {
      // MOTOR DECELERATION
      printf("    Decelerating ");
    }
    else  if ((statusRegister & POWERSTEP01_STATUS_MOT_STATUS)==
              POWERSTEP01_STATUS_MOT_STATUS_CONST_SPD)
    {
      // MOTOR RUNNING AT CONSTANT SPEED
      printf("    Steady running ");        
    } 
    /* Check direction bit */
    if ((statusRegister & POWERSTEP01_STATUS_DIR)==0)
    {
    // StepperMotor::BWD
     printf(" in backward direction.\r\n");
    }
    else  
    {
      // StepperMotor::FWD
      printf(" in forward direction.\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)
  {
    // Command Error
    printf("    Non-performable command detected.\r\n");
  }  
  /* Check Step mode clock flag: if set, the device is working in step clock mode */
  if ((statusRegister & POWERSTEP01_STATUS_STCK_MOD)==
      POWERSTEP01_STATUS_STCK_MOD)
  {
     //Step clock mode enabled
    printf("    Step clock mode enabled.\r\n");
  }  
  /* Check UVLO flag: if not set, there is an undervoltage lock-out */
  if ((statusRegister & POWERSTEP01_STATUS_UVLO)==0)
  {
     //Undervoltage lock-out
     printf("    undervoltage lock-out.\r\n"); 
  }  
  /* Check UVLO ADC flag: if not set, there is an ADC undervoltage lock-out */
  if ((statusRegister & POWERSTEP01_STATUS_UVLO_ADC)==0)
  {
     //ADC undervoltage lock-out
     printf("    ADC undervoltage lock-out:\r\n");
     printf("    Expected with default IHM03A1 HW configuration.\r\n");
  } 
  /* Check thermal STATUS flags: if  set, the thermal status is not normal */
  if ((statusRegister & POWERSTEP01_STATUS_TH_STATUS)!=0)
  {
    //thermal status: 1: Warning, 2: Bridge shutdown, 3: Device shutdown
    if (((statusRegister & POWERSTEP01_STATUS_TH_STATUS)>>11)==1)
    {
      printf("    Thermal status - Warning.\r\n");
    }
    else if (((statusRegister & POWERSTEP01_STATUS_TH_STATUS)>>11)==2)
    {
      printf("    Thermal status - Bridge shutdown.\r\n");
    }
    else if (((statusRegister & POWERSTEP01_STATUS_TH_STATUS)>>11)==3)
    {
      printf("    Thermal status - Device shutdown.\r\n");
    }
  }    
  /* Check OCD  flag: if not set, there is an overcurrent detection */
  if ((statusRegister & POWERSTEP01_STATUS_OCD)==0)
  {
    //Overcurrent detection
    printf("    Overcurrent detection.\r\n"); 
  }      
  /* Check STALL_A flag: if not set, there is a Stall condition on bridge A */
  if ((statusRegister & POWERSTEP01_STATUS_STALL_A)==0)
  {
    //Bridge A stalled
    printf("    Bridge A stalled.\r\n");   
  }    
  /* Check STALL_B flag: if not set, there is a Stall condition on bridge B */
  if ((statusRegister & POWERSTEP01_STATUS_STALL_B)==0)
  {
    //Bridge B stalled
    printf("    Bridge B stalled.\r\n");  
  }
   
  /* Reset ISR flag. */
  motor->isrFlag = FALSE;
}

/**
 * @brief  This is an example of user handler for the busy interrupt.
 * @param  None
 * @retval None
 * @note   If needed, implement it, and then attach and enable it:
 *           + motor->AttachBusyIRQ(&myBusyIRQHandler);
 *           + motor->EnableBusyIRQ();
 *         To disable it:
 *           + motor->DisbleBusyIRQ();
 */
void myBusyIRQHandler(void)
{
  /* Set ISR flag. */
  motor->isrFlag = TRUE;

  if (motor->CheckBusyHw())
  {
    /* Busy pin is low, so at list one Powerstep01 chip is busy */
    /* To be customized (for example Switch on a LED) */
  }
  else
  {
    /* To be customized (for example Switch off a LED) */        
  }
  
  /* Reset ISR flag. */
  motor->isrFlag = FALSE;
}

/**
 * @brief  This is an example of error handler.
 * @param[in] error Number of the error
 * @retval None
 * @note   If needed, implement it, and then attach it:
 *           + motor->AttachErrorHandler(&myErrorHandler);
 */
void myErrorHandler(uint16_t error)
{
  /* Printing to the console. */
  printf("Error %d detected\r\n\n", error);
  
  /* Infinite loop */
  while(1)
  {
  }    
}

/* Main ----------------------------------------------------------------------*/

int main()
{
  int32_t pos;
  uint32_t unsignedIntegerValue;
  float floatValue;
  
  /* Printing to the console. */
  printf("STARTING MAIN PROGRAM\r\n");
  printf("    Reminder:\r\n");
  printf("    The position unit is in agreement to the step mode.\r\n");
  printf("    The speed, acceleration or deceleration unit\r\n");
  printf("    do not depend on the step mode and the step unit is a full step.\r\n");
    
//----- Initialization 
  /* Initializing SPI bus. */
  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);

  /* Attaching and enabling interrupt handlers. */
  motor->AttachFlagIRQ(&myFlagIRQHandler);
  motor->EnableFlagIRQ();
  motor->AttachBusyIRQ(&myBusyIRQHandler);
  motor->EnableBusyIRQ();
    
  /* Attaching an error handler */
  motor->AttachErrorHandler(&myErrorHandler);

  /* Printing to the console. */
  printf("Motor Control Application Example for 1 Motor\r\n");

//----- Move of 16000 steps in the FW direction
  /* Printing to the console. */
  printf("--> Moving forward 16000 steps.\r\n");

  /* Move 16000 steps in the FORWARD direction*/
  motor->Move(StepperMotor::FWD, 16000);

  /* Waiting while the motor is active. */
  motor->WaitWhileActive();

  /* Wait for 2 seconds */  
  wait_ms(2000);

//----- Move of 16000 steps in the BW direction
  /* Printing to the console. */
  printf("--> Moving backward 16000 steps.\r\n");

  /* Move 16000 steps in the BACKWARD direction*/
  motor->Move(StepperMotor::BWD, 16000);

  /* Waiting while the motor is active. */
  motor->WaitWhileActive();

  /* Wait for 2 seconds */  
  wait_ms(2000);

//----- Go to position -6400
  /* Printing to the console. */
  printf("--> Go to position -6400 steps.\r\n");

  /* Request device to go to position -6400 */
  motor->GoTo(-6400);  
  
  /* Wait for the motor ends moving */
  motor->WaitWhileActive();

  /* Get current position of device and print to the console */
  pos = motor->GetPosition();
  printf("    Position: %d.\r\n", pos);

  /* Mark the current position and print to the console */
  motor->SetMark();
  printf("    Position marked: -6400.\r\n");
  
  /* Wait for 2 seconds */  
  wait_ms(2000);

//----- Go Home
  /* Printing to the console. */
  printf("--> Go to home position.\r\n");
  
  /* Request device to go to Home */
  motor->GoHome();  
  motor->WaitWhileActive();

  /* Get current position of device and print to the console */
  pos = motor->GetPosition();
  printf("    Position: %d.\r\n", pos);
  
  /* Wait for 2 seconds */
  wait_ms(2000);

//----- Go to position 6400
  /* Printing to the console. */
  printf("--> Go to position 6400 steps.\r\n");
  
  /* Request device to go to position 6400 */
  motor->GoTo(6400);  
  
  /* Wait for the motor of device ends moving */
  motor->WaitWhileActive();

  /* Get current position of device and print to the console */
  pos = motor->GetPosition();
  printf("    Position: %d.\r\n", pos);

  /* Wait for 2 seconds */
  wait_ms(2000);
  
//----- Go Mark which was set previously after go to -6400
  /* Printing to the console. */
  printf("--> Go to the marked position.\r\n");
  
  /* Request device to go to Mark position */
  motor->GoMark();  
  
  /* Wait for the motor of device ends moving */
  motor->WaitWhileActive();

  /* Get current position of device and print to the console */
  pos = motor->GetPosition();
  printf("    Position: %d.\r\n", pos);

  /* Wait for 2 seconds */
  wait_ms(2000);

//----- Run the motor BACKWARD
  /* Printing to the console. */
  printf("--> Run the motor backward at 400 step/s.\r\n");
  
  /* Request device to run BACKWARD at 400 step/s */
  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);
 
  /* Record the reached speed in step/s */
  floatValue = motor->GetAnalogValue(POWERSTEP01_SPEED); 
  /* Print reached speed to the console in step/s */
  printf("    Reached Speed: %f step/s.\r\n", floatValue);

  /* Record the reached speed in step/s rounded to integer */
  unsignedIntegerValue = motor->GetSpeed();
  /* Print reached speed to the console in step/s */
  printf("    Reached Speed: %d step/s.\r\n", unsignedIntegerValue);
  
  /* Record the reached speed in step/tick */
  unsignedIntegerValue = motor->GetRawParameter(POWERSTEP01_SPEED); 
  /* Print reached speed to the console in step/tick */
  printf("    Reached Speed: %d step/tick.\r\n", unsignedIntegerValue);

//----- Soft stopped required while running
  /* Printing to the console. */
  printf("--> Soft stop requested.\r\n");
  
  /* Request a soft stop of device and keep the power bridges enabled */
  motor->SoftHiZ();

  /* Wait for the motor of device ends moving */  
  motor->WaitWhileActive();

  /* Wait for 2 seconds */
  wait_ms(2000);

//----- Run stopped by hardstop
  /* Printing to the console. */
  printf("--> Run the motor forward at 300 step/s.\r\n");
  
  /* Request device to run in FORWARD direction at 300 step/s */
  motor->Run(StepperMotor::FWD,300);         
  wait_ms(5000);
  
  /* Printing to the console. */
  printf("--> Hard stop requested.\r\n");
  
  /* Request device to immediatly stop */
  motor->HardStop();
  motor->WaitWhileActive();

  /* Wait for 2 seconds */
  wait_ms(2000);

//----- GOTO stopped by soft stop
  /* Printing to the console. */
  printf("--> Go to position 200000 steps.\r\n");
  
  /* Request device to go to position 200000  */
  motor->GoTo(200000);  
  wait_ms(2000);

  /* Printing to the console. */
  printf("--> Soft stop requested.\r\n");

  /* Request device to perform a soft stop */
  motor->SoftStop();
  motor->WaitWhileActive();
  
  /* Get current position of device and print to the console */
  pos = motor->GetPosition();
  printf("    Position: %d.\r\n", pos);

  /* Wait for 2 seconds */
  wait_ms(2000);

//----- Read inexistent register to test MyFlagInterruptHandler
  /* Printing to the console. */
  printf("--> Try to read an inexistent register.\r\n");

  /* Try to read an inexistent register */
  /* the flag interrupt should be raised */
  /* and the MyFlagInterruptHandler function called */
  motor->GetRawParameter(0x1F);
  
//----- Put the bridges in high impedance
  /* Printing to the console. */
  printf("--> Request disabling of device power bridges.\r\n");
    
  /* Request disabling of device power bridges */
  motor->HardHiZ();
  wait_ms(5000);
  
//----- Step clock mode example
  /* Printing to the console. */
  printf("--> Enable Step Clock Mode of the Powerstep01, enabling power bridges.\r\n");
  
  /* Enable Step Clock Mode of the Powerstep01, enabling power bridges */
  motor->StepClockModeEnable(StepperMotor::FWD);
  
  /* Printing to the console. */ 
  printf("--> Start step clock.\r\n");  
  
  /* Enable the step clock at 333 Hz */
  motor->StepClockStart(333);
  
  /* Let the motor runs for 5 second at 333 step/s */
  wait_ms(5000);

  /* Printing to the console. */ 
  printf("--> Stop step clock.\r\n"); 
  
  /* Stop the step clock */
  motor->StepClockStop();
  
  /* Wait for 2 seconds */
  wait_ms(2000);

//----- Set parameter example
  /* Printing to the console. */
  printf("--> Set POWERSTEP01_MAX_SPEED parameter to 3.\r\n");
  printf("    This is corresponding to 45.75 full step/s.\r\n");

  /* Change the maximum speed to 3*2^18 step/tick */
  motor->SetRawParameter(POWERSTEP01_MAX_SPEED, 3);
  
  /* Printing to the console. */
  printf("--> Move the motor 3200 steps in forward direction.\r\n");
    
  /* Request device to move 3200 microsteps */
  motor->Move(StepperMotor::FWD,3200);
    
  /* Wait for the motor ends moving */
  motor->WaitWhileActive();
  
  /* Wait for 2 seconds */
  wait_ms(2000);
  
//----- Change step mode to full step mode
  /* Printing to the console. */
  printf("--> Select full step mode.\r\n");

  /* Select full step mode for device */
  motor->SetStepMode(StepperMotor::STEP_MODE_FULL);

  /* Printing to the console. */
  printf("--> Set the device position to POWERSTEP01_MIN_POSITION + 199 (-2^21+199).\r\n");

  /* Set the device position to POWERSTEP01_MIN_POSITION + 199 */
  motor->SetRawParameter(POWERSTEP01_ABS_POS,(uint32_t)(POWERSTEP01_MIN_POSITION+199));
  
  /* Get current position of device and print to the console */
  pos = motor->GetPosition();
  printf("    Position: %d.\r\n", pos);

  /* Printing to the console. */
  printf("--> Go to POWERSTEP01_MAX_POSITION (2^21-1) using the shortest path.\r\n");

  /* Request device to go to the POWERSTEP01_MAX_POSITION using the shortest path */
  motor->GoTo(POWERSTEP01_MAX_POSITION);

  /* Wait for the motor of device ends moving */
  motor->WaitWhileActive();

  /* Get current position of device and print to the console */
  pos = motor->GetPosition();
  printf("    Position: %d.\r\n", pos);

  /* Wait for 2 seconds */
  wait_ms(2000);
  
  /* Printing to the console. */
  printf("--> Set the device position to POWERSTEP01_MIN_POSITION + 199 (-2^21+199).\r\n");

  /* Set the device position to POWERSTEP01_MIN_POSITION + 199 */
  motor->SetRawParameter(POWERSTEP01_ABS_POS,(uint32_t)(POWERSTEP01_MIN_POSITION+199));
  
  /* Get current position of device and print to the console */
  pos = motor->GetPosition();
  printf("    Position: %d.\r\n", pos);

//----- GoTo_DIR example
  /* Printing to the console. */
  printf("--> Go to the POWERSTEP01_MAX_POSITION using backward direction.\r\n");

  /* Request device to go to the POWERSTEP01_MAX_POSITION using backward direction */
  motor->GoTo(StepperMotor::BWD,POWERSTEP01_MAX_POSITION);

  /* Wait for the motor of device ends moving */
  motor->WaitWhileActive();

  /* Get current position of device and print to the console */
  pos = motor->GetPosition();
  printf("    Position: %d.\r\n", pos); 
 
   /* Printing to the console. */
  printf("--> Restore device initial max speed.\r\n");
  
  /* Restore device initial max speed */
  motor->SetAnalogValue(POWERSTEP01_MAX_SPEED, POWERSTEP01_CONF_PARAM_MAX_SPEED_DEVICE_0);
  
  /* Get the maximum speed in step/s */
  floatValue = motor->GetAnalogValue(POWERSTEP01_MAX_SPEED); 
  /* Print maximum speed to the console in step/s */
  printf("    Maximum Speed: %f step/s.\r\n", floatValue); 
  
//----- Restore initial microstepping mode
   /* Printing to the console. */
  printf("--> Restore device initial step mode.\r\n");

  /* Reset device to its initial  microstepping mode */
  motor->SetStepMode((StepperMotor::step_mode_t)POWERSTEP01_CONF_PARAM_STEP_MODE_DEVICE_0);

  /* Wait for 2 seconds */  
  wait_ms(2000);

  /* Printing to the console. */
  printf("--> Infinite Loop...\r\n");
  /* Infinite Loop. */
  while (1)
  {
    /* Request device to go position -6400 */
    motor->GoTo(-6400);

    /* Waiting while the motor is active. */
    motor->WaitWhileActive();

    /* Request device to go position 6400 */
    motor->GoTo(6400);
 
    /* Waiting while the motor is active. */
    motor->WaitWhileActive();
  } 
}
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/