Diff: main.cpp

Revision:

5:bc710d77d801

Parent:

3:a6e155687c6a

Child:

6:6fb625ef867a

--- a/main.cpp	Tue May 03 08:54:47 2016 +0000
+++ b/main.cpp	Fri Mar 24 11:00:38 2017 +0100
@@ -42,7 +42,7 @@
 #include "mbed.h"
 
 /* Component specific header files. */
-#include "l6208_class.h"
+#include "L6208.h"
 
 
 /* Definitions ---------------------------------------------------------------*/
@@ -60,7 +60,7 @@
 /* Variables -----------------------------------------------------------------*/
 
 /* Initialization parameters of the motor connected to the expansion board. */
-l6208_Init_t initDeviceParameters =
+l6208_init_t init =
 {
   1500,            //Acceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
   40,              //Acceleration current torque in % (from 0 to 100)
@@ -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) {
   }    
 }
 
@@ -131,179 +130,182 @@
 //----- Initialization 
   /* Initializing Motor Control Component. */
   motor = new L6208(D2, D8, D7, D4, D5, D6, VREFA_PWM_PIN, VREFB_PWM_PIN);
-  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");
 
-//----- 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 microstep/s.\r\n", motor->GetSpeed());
+    printf("    Reached Speed: %d microstep/s.\r\n", motor->get_speed());
     wait_ms(50);    
   }
-  printf("    Reached Speed: %d microstep/s.\r\n", motor->GetSpeed());
+  printf("    Reached Speed: %d microstep/s.\r\n", motor->get_speed());
      
   /* Wait for 1 second */  
   wait_ms(1000);
   
 //----- Decrease speed while running to one quarter of the previous speed
-  motor->SetMaxSpeed(motor->GetSpeed()>>2);
+  motor->set_max_speed(motor->get_speed()>>2);
   
   /* 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 microstep/s.\r\n", motor->GetSpeed());
+    printf("    Reached Speed: %d microstep/s.\r\n", motor->get_speed());
     wait_ms(50);    
   }
-  printf("    Reached Speed: %d microstep/s.\r\n", motor->GetSpeed());  
+  printf("    Reached Speed: %d microstep/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 (0:FS, 1:1/2, 2:1/4, 3:1/8, 4:1/16).\r\n", motor->GetStepMode());
+  motor->set_step_mode(StepperMotor::STEP_MODE_FULL);
+  printf("    Motor step mode: %d (0:FS, 1:1/2, 2:1/4, 3:1/8, 4:1/16).\r\n", motor->get_step_mode());
   
   /* 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 normal mode */
-  motor->SetMaxSpeed(initDeviceParameters.maxSpeedSps>>4);
-  motor->SetAcceleration(motor->GetAcceleration()>>4);
-  motor->SetDeceleration(motor->GetDeceleration()>>4);
+  motor->set_max_speed(init.maxSpeedSps>>4);
+  motor->set_acceleration(motor->get_acceleration()>>4);
+  motor->set_deceleration(motor->get_deceleration()>>4);
   /* 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());
   
-//----- 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);
   
  //----- Change step mode to 1/4 microstepping mode  
-  motor->SetStepMode(StepperMotor::STEP_MODE_1_4);
-  printf("    Motor step mode: %d (0:FS, 1:1/2, 2:1/4, 3:1/8, 4:1/16).\r\n", motor->GetStepMode());
+  motor->set_step_mode(StepperMotor::STEP_MODE_1_4);
+  printf("    Motor step mode: %d (0:FS, 1:1/2, 2:1/4, 3:1/8, 4:1/16).\r\n", motor->get_step_mode());
   
   /* 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 microstep mode */
-  motor->SetMaxSpeed(motor->GetMaxSpeed()<<4);
-  motor->SetAcceleration(motor->GetAcceleration()<<4);
-  motor->SetDeceleration(motor->GetDeceleration()<<4);
+  motor->set_max_speed(motor->get_max_speed()<<4);
+  motor->set_acceleration(motor->get_acceleration()<<4);
+  motor->set_deceleration(motor->get_deceleration()<<4);
   /* 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());
   
   /* Request to go position 800 (quarter steps) */
-  motor->GoTo(800);
+  motor->go_to(800);
 
   /* 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);
   
 //----- Restore step mode to its initialization value
-  motor->SetStepMode((StepperMotor::step_mode_t)initDeviceParameters.stepMode);
-  printf("    Motor step mode: %d (0:FS, 1:1/2, 2:1/4, 3:1/8, 4:1/16).\r\n", motor->GetStepMode());  
+  motor->set_step_mode((StepperMotor::step_mode_t)init.stepMode);
+  printf("    Motor step mode: %d (0:FS, 1:1/2, 2:1/4, 3:1/8, 4:1/16).\r\n", motor->get_step_mode());  
 
   /* 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 decay mode
-  motor->SetDecayMode(SLOW_DECAY);
-  printf("    Motor decay mode: %d (0:slow decay, 1:fast decay).\r\n", motor->GetDecayMode());   
+  motor->set_decay_mode(SLOW_DECAY);
+  printf("    Motor decay mode: %d (0:slow decay, 1:fast decay).\r\n", motor->get_decay_mode());   
   
 //----- 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);
 
 //----- Restore decay mode to its initialization value
-  motor->SetDecayMode(initDeviceParameters.decayMode);
-  printf("    Motor decay mode: %d (0:slow decay, 1:fast decay).\r\n", motor->GetDecayMode());
+  motor->set_decay_mode(init.decayMode);
+  printf("    Motor decay mode: %d (0:slow decay, 1:fast decay).\r\n", motor->get_decay_mode());
   
 //----- 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();
   }
 }
+
 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/