Exercise_IHM05A1.cpp

00001 /**
00002  ******************************************************************************
00003  * @file    main.cpp
00004  * @author  IPC Rennes
00005  * @version V1.0.0
00006  * @date    April 13th, 2016
00007  * @brief   mbed simple application for the STMicroelectronics X-NUCLEO-IHM05A1
00008  *          Motor Control Expansion Board: control of 1 motor.
00009  ******************************************************************************
00010  * @attention
00011  *
00012  * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
00013  *
00014  * Redistribution and use in source and binary forms, with or without modification,
00015  * are permitted provided that the following conditions are met:
00016  *   1. Redistributions of source code must retain the above copyright notice,
00017  *      this list of conditions and the following disclaimer.
00018  *   2. Redistributions in binary form must reproduce the above copyright notice,
00019  *      this list of conditions and the following disclaimer in the documentation
00020  *      and/or other materials provided with the distribution.
00021  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00022  *      may be used to endorse or promote products derived from this software
00023  *      without specific prior written permission.
00024  *
00025  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00026  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00027  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00028  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00029  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00030  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00031  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00033  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00034  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00035  *
00036  ******************************************************************************
00037  */
00038 
00039 /* Includes ------------------------------------------------------------------*/
00040 
00041 /* mbed specific header files. */
00042 #include "mbed.h"
00043 
00044 /* Component specific header files. */
00045 #include "L6208.h"
00046 
00047 
00048 
00049 
00050 /* Definitions ---------------------------------------------------------------*/
00051 #ifdef TARGET_NUCLEO_F334R8
00052 #define VREFA_PWM_PIN D11
00053 #define VREFB_PWM_PIN D9
00054 #elif TARGET_NUCLEO_F302R8
00055 #define VREFA_PWM_PIN D11
00056 #define VREFB_PWM_PIN D15 /* HW mandatory patch: bridge manually D9 with D15 */
00057 #else
00058 #define VREFA_PWM_PIN D3
00059 #define VREFB_PWM_PIN D9
00060 #endif
00061 
00062 Serial pc(SERIAL_TX, SERIAL_RX);
00063 
00064 /* Variables -----------------------------------------------------------------*/
00065 
00066 /* Initialization parameters of the motor connected to the expansion board. */
00067 l6208_init_t init =
00068 {
00069   1500,            //Acceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
00070   40,              //Acceleration current torque in % (from 0 to 100)
00071   1500,            //Deceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
00072   30,              //Deceleration current torque in % (from 0 to 100)
00073   1500,            //Running speed in step/s or (1/16)th step/s for microstep modes
00074   50,              //Running current torque in % (from 0 to 100)
00075   20,              //Holding current torque in % (from 0 to 100)
00076   STEP_MODE_1_16,  //Step mode via enum motorStepMode_t
00077   FAST_DECAY,      //Decay mode via enum motorDecayMode_t
00078   0,               //Dwelling time in ms
00079   FALSE,           //Automatic HIZ STOP
00080   100000           //VREFA and VREFB PWM frequency (Hz)
00081 };
00082 
00083 /* Motor Control Component. */
00084 L6208 *motor;
00085 
00086 /* Functions -----------------------------------------------------------------*/
00087 
00088 /**
00089  * @brief  This is an example of user handler for the flag interrupt.
00090  * @param  None
00091  * @retval None
00092  * @note   If needed, implement it, and then attach and enable it:
00093  *           + motor->attach_flag_irq(&my_flag_irq_handler);
00094  *           + motor->enable_flag_irq();
00095  *         To disable it:
00096  *           + motor->DisbleFlagIRQ();
00097  */
00098 void my_flag_irq_handler(void)
00099 {
00100   pc.printf("    WARNING: \"FLAG\" interrupt triggered:\r\n");
00101   motor->disable();
00102   pc.printf("    Motor disabled.\r\n\n");
00103 }
00104 
00105 /**
00106  * @brief  This is an example of error handler.
00107  * @param[in] error Number of the error
00108  * @retval None
00109  * @note   If needed, implement it, and then attach it:
00110  *           + motor->attach_error_handler(&my_error_handler);
00111  */
00112 void my_error_handler(uint16_t error)
00113 {
00114   /* Printing to the console. */
00115   pc.printf("Error %d detected\r\n\n", error);
00116   
00117   /* Infinite loop */
00118   while (true) {
00119   }    
00120 }
00121 
00122 /* Main ----------------------------------------------------------------------*/
00123 
00124 int main()
00125 {
00126   // configura velocità della comunicazione seriale su USB-VirtualCom e invia messaggio di benvenuto
00127   pc.baud(921600); //921600 bps
00128   //pc.baud(9600); //256000 bps
00129   pc.printf("*** Test Motor ***\n\r");
00130   
00131   /* Printing to the console. */
00132   pc.printf("STARTING MAIN PROGRAM\r\n");
00133   pc.printf("    Reminder:\r\n");
00134   pc.printf("    The position unit is in agreement to the step mode.\r\n");
00135   pc.printf("    The speed, acceleration or deceleration unit depend on the step mode:\r\n");
00136   pc.printf("    - For normal mode and half step mode, the unit is steps/s or /s^2.\r\n");
00137   pc.printf("    - For microstep modes, the unit is (1/16)steps/s or /s^2.\r\n");
00138     
00139 //----- Initialization 
00140   /* Initializing Motor Control Component. */
00141   motor = new L6208(D2, D8, D7, D4, D5, D6, VREFA_PWM_PIN, VREFB_PWM_PIN);
00142   if (motor->init(&init) != COMPONENT_OK) {
00143     exit(EXIT_FAILURE);
00144   }
00145 
00146   /* Attaching and enabling an interrupt handler. */
00147   motor->attach_flag_irq(&my_flag_irq_handler);
00148   motor->enable_flag_irq();
00149     
00150   /* Attaching an error handler */
00151   motor->attach_error_handler(&my_error_handler);
00152 
00153   /* Printing to the console. */
00154   pc.printf("Motor Control Application Example for 1 Motor\r\n");
00155 
00156 //----- run the motor BACKWARD
00157   pc.printf("--> Running the motor backward.\r\n");
00158   motor->run(StepperMotor::BWD);
00159   
00160   while (motor->get_status()!=STEADY) {
00161     /* Print reached speed to the console in step/s or microsteps/s */
00162     pc.printf("    Reached Speed: %d microstep/s.\r\n", motor->get_speed());
00163     wait_ms(50);    
00164   }
00165   pc.printf("    Reached Speed: %d microstep/s.\r\n", motor->get_speed());
00166      
00167   /* Wait for 1 second */  
00168   wait_ms(1000);
00169   
00170 //----- Decrease speed while running to one quarter of the previous speed
00171   motor->set_max_speed(motor->get_speed()>>2);
00172   
00173   /* Wait until the motor starts decelerating */
00174   while (motor->get_status()==STEADY);
00175   /* Wait and print speed while the motor is not steady running */
00176   while (motor->get_status()!=STEADY) {
00177     /* Print reached speed to the console in step/s or microsteps/s */
00178     pc.printf("    Reached Speed: %d microstep/s.\r\n", motor->get_speed());
00179     wait_ms(50);    
00180   }
00181   pc.printf("    Reached Speed: %d microstep/s.\r\n", motor->get_speed());  
00182 
00183   /* Wait for 5 seconds */  
00184   wait_ms(5000);
00185   
00186 //----- Soft stop required while running
00187   pc.printf("--> Soft stop requested.\r\n");
00188   motor->soft_stop();
00189   
00190   /* Wait for the motor of device ends moving */  
00191   motor->wait_while_active();
00192 
00193   /* Wait for 2 seconds */
00194   wait_ms(2000);
00195 
00196 //----- Change step mode to full step mode
00197   motor->set_step_mode(StepperMotor::STEP_MODE_FULL);
00198   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());
00199   
00200   /* Get current position of device and print to the console */
00201   pc.printf("    Position: %d.\r\n", motor->get_position());
00202   
00203   /* Set speed, acceleration and deceleration to scale with normal mode */
00204   motor->set_max_speed(init.maxSpeedSps>>4);
00205   motor->set_acceleration(motor->get_acceleration()>>4);
00206   motor->set_deceleration(motor->get_deceleration()>>4);
00207   /* Print parameters to the console */  
00208   pc.printf("    Motor Max Speed: %d step/s.\r\n", motor->get_max_speed());
00209   pc.printf("    Motor Min Speed: %d step/s.\r\n", motor->get_min_speed());
00210   pc.printf("    Motor Acceleration: %d step/s.\r\n", motor->get_acceleration());
00211   pc.printf("    Motor Deceleration: %d step/s.\r\n", motor->get_deceleration());
00212   
00213 //----- move of 200 steps in the FW direction
00214   pc.printf("--> Moving forward 200 steps.\r\n");
00215   motor->move(StepperMotor::FWD, 200);
00216   
00217   /* Waiting while the motor is active. */
00218   motor->wait_while_active();
00219   
00220   /* Get current position of device and print to the console */
00221   pc.printf("    Position: %d.\r\n", motor->get_position());
00222   
00223   /* Disable the power bridges */
00224   motor->disable();
00225   
00226   /* Check that the power bridges are actually disabled */
00227   if (motor->check_status_hw()!=0) {
00228     pc.printf("    Motor driver disabled.\r\n");
00229   } else {
00230     pc.printf("    Failed to disable the motor driver.\r\n");
00231   }
00232     
00233   /* Wait for 2 seconds */  
00234   wait_ms(2000);
00235   
00236  //----- Change step mode to 1/4 microstepping mode  
00237   motor->set_step_mode(StepperMotor::STEP_MODE_1_4);
00238   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());
00239   
00240   /* Get current position of device and print to the console */
00241   pc.printf("    Position: %d.\r\n", motor->get_position());
00242 
00243   /* Set speed, acceleration and deceleration to scale with microstep mode */
00244   motor->set_max_speed(motor->get_max_speed()<<4);
00245   motor->set_acceleration(motor->get_acceleration()<<4);
00246   motor->set_deceleration(motor->get_deceleration()<<4);
00247   /* Print parameters to the console */
00248   pc.printf("    Motor Max Speed: %d step/s.\r\n", motor->get_max_speed());
00249   pc.printf("    Motor Min Speed: %d step/s.\r\n", motor->get_min_speed());
00250   pc.printf("    Motor Acceleration: %d step/s.\r\n", motor->get_acceleration());
00251   pc.printf("    Motor Deceleration: %d step/s.\r\n", motor->get_deceleration());
00252   
00253   /* Request to go position 800 (quarter steps) */
00254   motor->go_to(800);
00255 
00256   /* Wait for the motor ends moving */
00257   motor->wait_while_active();
00258 
00259   /* Get current position of device and print to the console */
00260   pc.printf("    Position: %d.\r\n", motor->get_position());
00261   
00262   /* Wait for 2 seconds */  
00263   wait_ms(2000);
00264   
00265 //----- Restore step mode to its initialization value
00266   motor->set_step_mode((StepperMotor::step_mode_t)init.stepMode);
00267   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());  
00268 
00269   /* Get current position of device and print to the console */
00270   pc.printf("    Position: %d.\r\n", motor->get_position());
00271   
00272 //----- Change decay mode
00273   motor->set_decay_mode(SLOW_DECAY);
00274   pc.printf("    Motor decay mode: %d (0:slow decay, 1:fast decay).\r\n", motor->get_decay_mode());   
00275   
00276 //----- Go to position -6400
00277   pc.printf("--> Go to position -6400 steps.\r\n");
00278   motor->go_to(-6400);
00279   
00280   /* Wait for the motor ends moving */
00281   motor->wait_while_active();
00282 
00283   /* Get current position of device and print to the console */
00284   pc.printf("    Position: %d.\r\n", motor->get_position());
00285   
00286   /* Wait for 2 seconds */  
00287   wait_ms(2000);
00288 
00289 //----- Restore decay mode to its initialization value
00290   motor->set_decay_mode(init.decayMode);
00291   pc.printf("    Motor decay mode: %d (0:slow decay, 1:fast decay).\r\n", motor->get_decay_mode());
00292   
00293 //----- Go Home
00294   pc.printf("--> Go to home position.\r\n");
00295   motor->go_home();
00296  
00297   /* Wait for the motor ends moving */
00298   motor->wait_while_active();
00299   
00300   /* Wait for 1 second */
00301   wait_ms(1000);
00302   
00303   /* Infinite Loop. */
00304   pc.printf("--> Infinite Loop...\r\n");
00305   //while (true) {
00306   int i;
00307   for (i = 0; i < 2; i++) {
00308     /* Request device to go position -3200 */
00309     motor->go_to(-3200);
00310 
00311     /* Waiting while the motor is active. */
00312     motor->wait_while_active();
00313 
00314     /* Request device to go position 3200 */
00315     motor->go_to(3200);
00316  
00317     /* Waiting while the motor is active. */
00318     motor->wait_while_active();
00319   }
00320 }
00321 
00322 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/