Diff: main.cpp

Revision:

9:900e18a2310b

Parent:

8:baedd289a8cc

--- a/main.cpp	Fri Jul 28 13:07:13 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,313 +0,0 @@
-/**
- ******************************************************************************
- * @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
-
-/* 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)
-{
-  printf("    WARNING: \"FLAG\" interrupt triggered:\r\n");
-  motor->disable();
-  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. */
-  printf("Error %d detected\r\n\n", error);
-  
-  /* Infinite loop */
-  while (true) {
-  }    
-}
-
-/* Main ----------------------------------------------------------------------*/
-
-int main()
-{
-  /* 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 depend on the step mode:\r\n");
-  printf("    - For normal mode and half step mode, the unit is steps/s or /s^2.\r\n");
-  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. */
-  printf("Motor Control Application Example for 1 Motor\r\n");
-
-//----- run the motor BACKWARD
-  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 */
-    printf("    Reached Speed: %d microstep/s.\r\n", motor->get_speed());
-    wait_ms(50);    
-  }
-  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 */
-    printf("    Reached Speed: %d microstep/s.\r\n", motor->get_speed());
-    wait_ms(50);    
-  }
-  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->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);
-  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->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 */  
-  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
-  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 */
-  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) {
-    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->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->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 */
-  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->go_to(800);
-
-  /* Wait for the motor ends moving */
-  motor->wait_while_active();
-
-  /* Get current position of device and print to the console */
-  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);
-  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->get_position());
-  
-//----- Change decay mode
-  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->go_to(-6400);
-  
-  /* Wait for the motor ends moving */
-  motor->wait_while_active();
-
-  /* Get current position of device and print to the console */
-  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);
-  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->go_home();
- 
-  /* Wait for the motor ends moving */
-  motor->wait_while_active();
-  
-  /* Wait for 1 second */
-  wait_ms(1000);
-  
-  /* Infinite Loop. */
-  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****/