Diff: Exercise_IHM05A1.cpp

Revision:

9:900e18a2310b

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+++ b/Exercise_IHM05A1.cpp	Thu Nov 08 12:20:59 2018 +0000
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+/**
+ ******************************************************************************
+ * @file    main.cpp
+ * @author  IPC Rennes
+ * @version V1.0.0
+ * @date    April 13th, 2016
+ * @brief   mbed simple application for the STMicroelectronics X-NUCLEO-IHM05A1
+ *          Motor Control Expansion Board: control of 1 motor.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2016 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"
+
+/* Component specific header files. */
+#include "L6208.h"
+
+
+
+
+/* Definitions ---------------------------------------------------------------*/
+#ifdef TARGET_NUCLEO_F334R8
+#define VREFA_PWM_PIN D11
+#define VREFB_PWM_PIN D9
+#elif TARGET_NUCLEO_F302R8
+#define VREFA_PWM_PIN D11
+#define VREFB_PWM_PIN D15 /* HW mandatory patch: bridge manually D9 with D15 */
+#else
+#define VREFA_PWM_PIN D3
+#define VREFB_PWM_PIN D9
+#endif
+
+Serial pc(SERIAL_TX, SERIAL_RX);
+
+/* Variables -----------------------------------------------------------------*/
+
+/* Initialization parameters of the motor connected to the expansion board. */
+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)
+  1500,            //Deceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
+  30,              //Deceleration current torque in % (from 0 to 100)
+  1500,            //Running speed in step/s or (1/16)th step/s for microstep modes
+  50,              //Running current torque in % (from 0 to 100)
+  20,              //Holding current torque in % (from 0 to 100)
+  STEP_MODE_1_16,  //Step mode via enum motorStepMode_t
+  FAST_DECAY,      //Decay mode via enum motorDecayMode_t
+  0,               //Dwelling time in ms
+  FALSE,           //Automatic HIZ STOP
+  100000           //VREFA and VREFB PWM frequency (Hz)
+};
+
+/* Motor Control Component. */
+L6208 *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->attach_flag_irq(&my_flag_irq_handler);
+ *           + motor->enable_flag_irq();
+ *         To disable it:
+ *           + motor->DisbleFlagIRQ();
+ */
+void my_flag_irq_handler(void)
+{
+  pc.printf("    WARNING: \"FLAG\" interrupt triggered:\r\n");
+  motor->disable();
+  pc.printf("    Motor disabled.\r\n\n");
+}
+
+/**
+ * @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->attach_error_handler(&my_error_handler);
+ */
+void my_error_handler(uint16_t error)
+{
+  /* Printing to the console. */
+  pc.printf("Error %d detected\r\n\n", error);
+  
+  /* Infinite loop */
+  while (true) {
+  }    
+}
+
+/* Main ----------------------------------------------------------------------*/
+
+int main()
+{
+  // configura velocità della comunicazione seriale su USB-VirtualCom e invia messaggio di benvenuto
+  pc.baud(921600); //921600 bps
+  //pc.baud(9600); //256000 bps
+  pc.printf("*** Test Motor ***\n\r");
+  
+  /* Printing to the console. */
+  pc.printf("STARTING MAIN PROGRAM\r\n");
+  pc.printf("    Reminder:\r\n");
+  pc.printf("    The position unit is in agreement to the step mode.\r\n");
+  pc.printf("    The speed, acceleration or deceleration unit depend on the step mode:\r\n");
+  pc.printf("    - For normal mode and half step mode, the unit is steps/s or /s^2.\r\n");
+  pc.printf("    - For microstep modes, the unit is (1/16)steps/s or /s^2.\r\n");
+    
+//----- Initialization 
+  /* Initializing Motor Control Component. */
+  motor = new L6208(D2, D8, D7, D4, D5, D6, VREFA_PWM_PIN, VREFB_PWM_PIN);
+  if (motor->init(&init) != COMPONENT_OK) {
+    exit(EXIT_FAILURE);
+  }
+
+  /* Attaching and enabling an interrupt handler. */
+  motor->attach_flag_irq(&my_flag_irq_handler);
+  motor->enable_flag_irq();
+    
+  /* Attaching an error handler */
+  motor->attach_error_handler(&my_error_handler);
+
+  /* Printing to the console. */
+  pc.printf("Motor Control Application Example for 1 Motor\r\n");
+
+//----- run the motor BACKWARD
+  pc.printf("--> Running the motor backward.\r\n");
+  motor->run(StepperMotor::BWD);
+  
+  while (motor->get_status()!=STEADY) {
+    /* Print reached speed to the console in step/s or microsteps/s */
+    pc.printf("    Reached Speed: %d microstep/s.\r\n", motor->get_speed());
+    wait_ms(50);    
+  }
+  pc.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->set_max_speed(motor->get_speed()>>2);
+  
+  /* Wait until the motor starts decelerating */
+  while (motor->get_status()==STEADY);
+  /* Wait and print speed while the motor is not steady running */
+  while (motor->get_status()!=STEADY) {
+    /* Print reached speed to the console in step/s or microsteps/s */
+    pc.printf("    Reached Speed: %d microstep/s.\r\n", motor->get_speed());
+    wait_ms(50);    
+  }
+  pc.printf("    Reached Speed: %d microstep/s.\r\n", motor->get_speed());  
+
+  /* Wait for 5 seconds */  
+  wait_ms(5000);
+  
+//----- Soft stop required while running
+  pc.printf("--> Soft stop requested.\r\n");
+  motor->soft_stop();
+  
+  /* Wait for the motor of device ends moving */  
+  motor->wait_while_active();
+
+  /* Wait for 2 seconds */
+  wait_ms(2000);
+
+//----- Change step mode to full step mode
+  motor->set_step_mode(StepperMotor::STEP_MODE_FULL);
+  pc.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 */
+  pc.printf("    Position: %d.\r\n", motor->get_position());
+  
+  /* Set speed, acceleration and deceleration to scale with normal mode */
+  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 */  
+  pc.printf("    Motor Max Speed: %d step/s.\r\n", motor->get_max_speed());
+  pc.printf("    Motor Min Speed: %d step/s.\r\n", motor->get_min_speed());
+  pc.printf("    Motor Acceleration: %d step/s.\r\n", motor->get_acceleration());
+  pc.printf("    Motor Deceleration: %d step/s.\r\n", motor->get_deceleration());
+  
+//----- move of 200 steps in the FW direction
+  pc.printf("--> Moving forward 200 steps.\r\n");
+  motor->move(StepperMotor::FWD, 200);
+  
+  /* Waiting while the motor is active. */
+  motor->wait_while_active();
+  
+  /* Get current position of device and print to the console */
+  pc.printf("    Position: %d.\r\n", motor->get_position());
+  
+  /* Disable the power bridges */
+  motor->disable();
+  
+  /* Check that the power bridges are actually disabled */
+  if (motor->check_status_hw()!=0) {
+    pc.printf("    Motor driver disabled.\r\n");
+  } else {
+    pc.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->set_step_mode(StepperMotor::STEP_MODE_1_4);
+  pc.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 */
+  pc.printf("    Position: %d.\r\n", motor->get_position());
+
+  /* Set speed, acceleration and deceleration to scale with microstep mode */
+  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 */
+  pc.printf("    Motor Max Speed: %d step/s.\r\n", motor->get_max_speed());
+  pc.printf("    Motor Min Speed: %d step/s.\r\n", motor->get_min_speed());
+  pc.printf("    Motor Acceleration: %d step/s.\r\n", motor->get_acceleration());
+  pc.printf("    Motor Deceleration: %d step/s.\r\n", motor->get_deceleration());
+  
+  /* Request to go position 800 (quarter steps) */
+  motor->go_to(800);
+
+  /* Wait for the motor ends moving */
+  motor->wait_while_active();
+
+  /* Get current position of device and print to the console */
+  pc.printf("    Position: %d.\r\n", motor->get_position());
+  
+  /* Wait for 2 seconds */  
+  wait_ms(2000);
+  
+//----- Restore step mode to its initialization value
+  motor->set_step_mode((StepperMotor::step_mode_t)init.stepMode);
+  pc.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 */
+  pc.printf("    Position: %d.\r\n", motor->get_position());
+  
+//----- Change decay mode
+  motor->set_decay_mode(SLOW_DECAY);
+  pc.printf("    Motor decay mode: %d (0:slow decay, 1:fast decay).\r\n", motor->get_decay_mode());   
+  
+//----- Go to position -6400
+  pc.printf("--> Go to position -6400 steps.\r\n");
+  motor->go_to(-6400);
+  
+  /* Wait for the motor ends moving */
+  motor->wait_while_active();
+
+  /* Get current position of device and print to the console */
+  pc.printf("    Position: %d.\r\n", motor->get_position());
+  
+  /* Wait for 2 seconds */  
+  wait_ms(2000);
+
+//----- Restore decay mode to its initialization value
+  motor->set_decay_mode(init.decayMode);
+  pc.printf("    Motor decay mode: %d (0:slow decay, 1:fast decay).\r\n", motor->get_decay_mode());
+  
+//----- Go Home
+  pc.printf("--> Go to home position.\r\n");
+  motor->go_home();
+ 
+  /* Wait for the motor ends moving */
+  motor->wait_while_active();
+  
+  /* Wait for 1 second */
+  wait_ms(1000);
+  
+  /* Infinite Loop. */
+  pc.printf("--> Infinite Loop...\r\n");
+  //while (true) {
+  int i;
+  for (i = 0; i < 2; i++) {
+    /* Request device to go position -3200 */
+    motor->go_to(-3200);
+
+    /* Waiting while the motor is active. */
+    motor->wait_while_active();
+
+    /* Request device to go position 3200 */
+    motor->go_to(3200);
+ 
+    /* Waiting while the motor is active. */
+    motor->wait_while_active();
+  }
+}
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/