/**
******************************************************************************
* @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
*
*
© COPYRIGHT(c) 2016 STMicroelectronics
*
* 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****/