Diff: main.cpp

Revision:

0:773e2a2be16f

Child:

2:1e4061cedf1d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Apr 28 14:03:58 2016 +0000
@@ -0,0 +1,272 @@
+/**
+ ******************************************************************************
+ * @file    main.cpp
+ * @author  IPC Rennes
+ * @version V1.0.0
+ * @date    April 25th, 2016
+ * @brief   mbed simple application for the STMicroelectronics X-NUCLEO-IHM12A1
+ *          Motor Control Expansion Board: control of 2 Brush DC motors.
+ ******************************************************************************
+ * @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 "stspin240_250_class.h"
+
+/* Variables -----------------------------------------------------------------*/
+
+/* Initialization parameters of the motor connected to the expansion board. */
+ Stspin240_250_Init_t initDeviceParameters =
+ {
+  20000, /* Frequency of PWM of Input Bridge A in Hz up to 100000Hz             */
+  20000, /* Frequency of PWM of Input Bridge B in Hz up to 100000Hz             */
+  20000, /* Frequency of PWM used for Ref pin in Hz up to 100000Hz              */
+  50,    /* Duty cycle of PWM used for Ref pin (from 0 to 100)                  */
+  TRUE   /* Dual Bridge configuration  (FALSE for mono, TRUE for dual brush dc) */
+ };
+
+/* Motor Control Component. */
+STSPIN240_250 *motor;
+
+/* Functions -----------------------------------------------------------------*/
+
+/**
+ * @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->AttachErrorHandler(&myErrorHandler);
+ */
+void myErrorHandler(uint16_t error)
+{
+  /* Printing to the console. */
+  printf("Error %d detected\r\n\n", error);
+  
+  /* Infinite loop */
+  while(1)
+  {
+  }    
+}
+
+/**
+ * @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->AttachFlagIRQ(&myFlagIRQHandler);
+ *           + motor->EnableFlagIRQ();
+ *         To disable it:
+ *           + motor->DisbleFlagIRQ();
+ */
+void myFlagIRQHandler(void)
+{
+   /* Code to be customised */
+  /************************/
+
+  printf("    WARNING: \"FLAG\" interrupt triggered.\r\n");
+
+  /* Get the state of bridge A */
+  uint16_t bridgeState  = motor->GetBridgeStatus(0);
+  
+  if (bridgeState == 0) 
+  {
+    if (motor->GetDeviceState(0) != INACTIVE)
+    {
+      /* Bridges were disabled due to overcurrent or over temperature */
+      /* When  motor was running */
+        myErrorHandler(0XBAD0);
+    }
+  }
+}
+
+/* Main ----------------------------------------------------------------------*/
+
+int main()
+{
+  uint8_t demoStep = 0;
+  
+  /* Printing to the console. */
+  printf("STARTING MAIN PROGRAM\r\n");
+    
+//----- Initialization 
+  
+  /* Initializing Motor Control Component. */
+  #if (defined TARGET_NUCLEO_F030R8)||(defined TARGET_NUCLEO_F334R8)
+  motor = new STSPIN240_250(D2, D9, D6, D7, D5, D4, A2);
+  #elif (defined TARGET_NUCLEO_L152RE)
+  motor = new STSPIN240_250(D2, D9, D6, D7, D5, D4, A3);
+  #else
+  motor = new STSPIN240_250(D2, D9, D6, D7, D5, D4, A0);
+  #endif
+  if (motor->Init(&initDeviceParameters) != COMPONENT_OK) exit(EXIT_FAILURE);
+
+  /* Set dual bridge enabled as two motors are used*/
+  motor->SetDualFullBridgeconfig(1);
+
+  /* Attaching and enabling an interrupt handler. */
+  motor->AttachFlagIRQ(&myFlagIRQHandler);
+  motor->EnableFlagIRQ();
+    
+  /* Attaching an error handler */
+  motor->AttachErrorHandler(&myErrorHandler);
+
+  /* Printing to the console. */
+  printf("Motor Control Application Example for 2 brush DC motors\r\n");
+
+  /* Set PWM Frequency of Ref to 15000 Hz */ 
+  motor->SetRefPwmFreq(0, 15000); 
+
+  /* Set PWM duty cycle of Ref to 60% */ 
+  motor->SetRefPwmDc(0, 60); 
+  
+  /* Set PWM Frequency of bridge A inputs to 10000 Hz */ 
+  motor->SetBridgeInputPwmFreq(0,10000); 
+  
+  /* Set PWM Frequency of bridge B inputs to 10000 Hz */ 
+  motor->SetBridgeInputPwmFreq(1,10000); 
+  
+  /* Infinite Loop. */
+  printf("--> Infinite Loop...\r\n");
+  while (1)
+  {
+    switch (demoStep)
+    {  
+        case 0:
+          printf("STEP 0: Motor(0) FWD Speed=100%% - Motor(1) Inactive\r\n");
+          /* Set speed of motor 0 to 100 % */
+          motor->SetSpeed(0,100); 
+          /* start motor 0 to run forward*/
+          /* if chip is in standby mode */
+          /* it is automatically awakened */
+          motor->Run(0, BDCMotor::FWD);
+          break;
+         case 1:
+          printf("STEP 1: Motor(0) FWD Speed=75%% - Motor(1) BWD Speed=100%%\r\n");
+          /* Set speed of motor 0 to 75 % */
+          motor->SetSpeed(0,75); 
+          /* Set speed of motor 1 to 100 % */
+          motor->SetSpeed(1,100); 
+          /* start motor 1 to run backward */
+          motor->Run(1, BDCMotor::BWD);
+          break;
+        case 2:
+          printf("STEP 2: Motor(0) FWD Speed=50%% - Motor(1) BWD Speed=75%%\r\n");
+          /* Set speed of motor 0 to 50 % */
+          motor->SetSpeed(0,50);   
+         /* Set speed of motor 1 to 75% */
+          motor->SetSpeed(1,75); 
+          break;      
+        case 3:
+          printf("STEP 3: Motor(0) FWD Speed=25%% - Motor(1) BWD Speed=50%%\r\n");
+          /* Set speed of motor 0 to 25 % */
+          motor->SetSpeed(0,25);  
+          /* Set speed of motor 1 to 50% */
+          motor->SetSpeed(1,50);          
+          break;  
+        case 4:
+          printf("STEP 4: Motor(0) Stopped - Motor(1) BWD Speed=25%%\r\n");
+          /* Stop Motor 0 */
+          motor->HardStop(0);   
+          /* Set speed of motor 1 to 25% */
+          motor->SetSpeed(1,25);      
+          break;         
+         case 5:
+          printf("STEP 5: Motor(0) BWD Speed=25%% - Motor(1) Stopped\r\n");
+          /* Set speed of motor 0 to 25 % */
+          motor->SetSpeed(0,25); 
+          /* start motor 0 to run backward */
+          motor->Run(0, BDCMotor::BWD);
+          /* Stop Motor 1 */
+          motor->HardStop(1);   
+          break;
+         case 6:
+          printf("STEP 6: Motor(0) BWD Speed=50%% - Motor(1) FWD Speed=25%%\r\n");
+          /* Set speed of motor 0 to 50 % */
+          motor->SetSpeed(0,50); 
+          /* Set speed of motor 1 to 25 % */
+          motor->SetSpeed(1,25); 
+          /* start motor 1 to run backward */
+          motor->Run(1, BDCMotor::FWD);
+          break;
+        case 7:
+          printf("STEP 7: Motor(0) BWD Speed=75%% - Motor(1) FWD Speed=50%%\r\n");
+          /* Set speed of motor 0 to 75 % */
+          motor->SetSpeed(0,75);   
+          /* Set speed of motor 1 to 50 % */
+          motor->SetSpeed(1,50);             
+          break;      
+        case 8:
+          printf("STEP 8: Motor(0) BWD Speed=100%% - Motor(1) FWD Speed=75%%\r\n");
+          /* Set speed of motor 0 to 100 % */
+          motor->SetSpeed(0,100);   
+          /* Set speed of motor 1 to 75 % */
+          motor->SetSpeed(1,75);   
+          break;  
+        case 9:
+          printf("STEP 9: Motor(0) BWD Speed=100%% - Motor(1) FWD Speed=100%%\r\n");
+          /* Set speed of motor 1 to 100 % */
+          motor->SetSpeed(1,100);    
+          break;   
+        case 10:
+          printf("STEP 10\r\n: Stop both motors and disable bridges\r\n");
+          /* Stop both motors and disable bridge */
+          motor->HardHiZ(0);    
+          motor->HardHiZ(1);    
+          break;           
+        case 11:
+          printf("STEP 11: Motor(0) FWD Speed=100%% - Motor(1) FWD Speed=100%%\r\n");
+          /* Start both motors to go forward*/
+          motor->Run(0,BDCMotor::FWD);    
+          motor->Run(1,BDCMotor::FWD);    
+          break;                 
+        case 12:
+        default:
+          printf("STEP 12: Stop both motors and enter standby mode\r\n");
+          /* Stop both motors and put chip in standby mode */
+          motor->Reset();    
+          break;            
+    }
+  
+    /* Wait for 5 seconds */  
+    wait_ms(5000);
+    
+    /* Increment demostep*/  
+    demoStep++;
+    if (demoStep > 12)
+    {
+      demoStep = 0;
+    }
+  } 
+}
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/