7 years, 4 months ago.

x-nucleo-ihm04a1 with 1 dc motor don`t work

j3 and j4 juper j1 and j2 open connect dc motor in A- and B- / A+ and B+

compiler ok

run motor for 2 second and run dc motor in one direction when RESET BUTTON PUSCH inibith function with USER SWITCH PUSH

/ ****************

• @file Multi/Examples/MotionControl/IHM04A1_ExampleFor4UniDirMotors/Src/main.c
• @author IPC Rennes
• @version V1.0.0
• @date May 16, 2016
• @brief This example shows how to use 1 IHM04A1 expansion board with
• 4 unidirectionnal Brush DC motors.
• Each motor has one lead connected to one of the bridge output,
• the other lead to the ground. The input bridges are not parallelised.
• The demo sequence starts when the user button is pressed.
• Each time, the user button is pressed, one new motor is activated
• @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. */

1. include "mbed.h"

/* Component specific header files. */

1. include "l6206_class.h"

/* Definitions -------------*/

#define MAX_MOTOR (4)

1. define MAX_MOTOR (2)
2. define TimerUp (5)
3. define TimerDown (5)

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

static volatile uint16_t gLastError; static volatile uint8_t gStep = 0;

uint16_t TimeElapsed; uint16_t StartTime;

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

/* Initialization parameters. */ 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}, {100,100,100,100}, {FORWARD,FORWARD,BACKWARD,FORWARD}, {INACTIVE,INACTIVE,INACTIVE,INACTIVE}, {FALSE,FALSE} };

/* Motor Control Component. */ L6206 *motor;

/* User button on Nucleo board */ InterruptIn mybutton_irq(USER_BUTTON);

Timer timer;

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

/**

• @brief This function is executed in case of error occurrence.
• @param error number of the error
• @retval None
• / void Error_Handler(uint16_t error) { /* Backup error number */ gLastError = error;

/* Enter your own code here */ }

/**

• @brief This function is the User handler for the flag interrupt
• @param None
• @retval None
• @note If needed, implement it, and then attach and enable it:
• + motor->AttachFlagInterrupt(MyFlagInterruptHandler);
• / void MyFlagInterruptHandler(void) { /* Code to be customised */ /****/ /* Get the state of bridge A */ uint16_t bridgeState = motor->GetBridgeStatus(0);

if (bridgeState == 0) { if ((motor->GetDeviceState(0) != INACTIVE)|| (motor->GetDeviceState(1) != INACTIVE)) { /* Bridge A was disabling due to overcurrent or over temperature */ /* When at least on of its motor was running */ Error_Handler(0XBAD0); } }

/* Get the state of bridge B */ bridgeState = motor->GetBridgeStatus(1);

if (bridgeState == 0) { if ((motor->GetDeviceState(2) != INACTIVE)|| (motor->GetDeviceState(3) != INACTIVE)) { /* Bridge A was disabling due to overcurrent or over temperature */ /* When at least on of its motor was running */ Error_Handler(0XBAD1); } } }

/* Private functions -----------*/

/**

• @brief Button Irq
• @param None
• @retval None
• /

void button_pressed(void) { mybutton_irq.disable_irq(); gStep++; if (gStep > MAX_MOTOR) { gStep = 0; } wait_ms(200); mybutton_irq.enable_irq();

}

/**

• @brief Main program
• @param None
• @retval None
• / int main(void) { /*- Initialization. -*/

/* 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 */ /* 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) exit(EXIT_FAILURE);

/* Attach the function MyFlagInterruptHandler (defined below) to the flag interrupt */ motor->AttachFlagInterrupt(MyFlagInterruptHandler);

/* Attach the function Error_Handler (defined below) to the error Handler*/ motor->AttachErrorHandler(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_A2_UNDIR_MOTOR_BRIDGE_B);

/* Set PWM Frequency of bridge A inputs to 1000 Hz */ motor->SetBridgeInputPwmFreq(0,1000);

/* Set PWM Frequency of bridge B inputs to 2000 Hz */ motor->SetBridgeInputPwmFreq(1,2000);

Attach button_pressed function to Irq mybutton_irq.fall(&button_pressed);

/* Infinite loop */ while(1) {

if (gStep > 0) { printf("Run motor 0 at 20%% of the maximum speed\n"); /* Set speed of motor 0 to 20% */ motor->SetSpeed(0,100); /* start motor 0 */ motor->Run(0, BDCMotor::FWD); StartTime = timer.read();

if(timer.read() - StartTime >= TimerUp){ motor->HardHiZ(0); gStep = 0; }

}

if (gStep > 1) { printf("Run motor 1 at 30%% of the maximum speed\n"); /* Set speed of motor 1 to 30 % */ motor->SetSpeed(1,100); /* start motor 0 */ motor->Run(0, BDCMotor::BWD); StartTime = timer.read(); if(timer.read() - StartTime <= TimerDown){ motor->HardHiZ(0); gStep = 0; }

}

if (gStep > 10) era 2 { printf("Run motor 2 at 40%% of the maximum speed\n"); /* Set speed of motor 2 to 40 % */ motor->SetSpeed(2,40); /* start motor 2 */ motor->Run(2, BDCMotor::FWD); }

if (gStep > 10) era 3 { printf("Run motor 3 at 50%% of the maximum speed\n"); /* Set speed of motor 3 to 50 % */ motor->SetSpeed(3,50); /* start motor 3 */ motor->Run(3, BDCMotor::FWD); }

if (gStep > 10) era a 0 { wait_ms(1000);

motor->HardHiZ(0); motor->HardHiZ(1); motor->HardHiZ(2); motor->HardHiZ(3);

wait_ms(1000); } } }

/**** (C) COPYRIGHT STMicroelectronics *END OF FILE/