Motor Control with the X-NUCLEO-IHM01A1 Expansion Board

Diff: main.cpp

Revision:

6:32166bfc04b0

Parent:

5:8065b587ade0

Child:

7:1d8a73b24eba

--- a/main.cpp	Fri Nov 20 18:02:01 2015 +0000
+++ b/main.cpp	Wed Nov 25 12:09:18 2015 +0000
@@ -6,8 +6,6 @@
  * @date    October 14th, 2015
  * @brief   mbed test application for the STMicrolectronics X-NUCLEO-IHM01A1
  *          Motor Control Expansion Board: control of 1 motor.
- *          This application makes use of a C++ component architecture obtained
- *          from the C component architecture through the Stm32CubeTOO tool.
  ******************************************************************************
  * @attention
  *
@@ -63,86 +61,13 @@
 L6474 *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->AttachFlagIRQ(&FlagIRQHandler);
-  *           + motor->EnableFlagIRQ();
-  *         To disable it:
-  *           + motor->DisbleFlagIRQ();
-  */
-void FlagIRQHandler(void)
-{
-    /* Set ISR flag. */
-    motor->isrFlag = TRUE;
-
-    /* Get the value of the status register. */
-    unsigned int status = motor->GetStatus();
-    
-    /* Check HIZ flag: if set, power brigdes are disabled. */
-    if ((status & L6474_STATUS_HIZ) == L6474_STATUS_HIZ)
-    { /* HIZ state. Action to be customized. */ }
-    
-    /* Check direction. */
-    if ((status & L6474_STATUS_DIR) == L6474_STATUS_DIR)
-    { /* Forward direction is set. Action to be customized. */ }
-    else
-    { /* Backward direction is set. Action to be customized. */ }
-    
-    /* Check NOTPERF_CMD flag: if set, the command received by SPI can't be performed. */
-    /* This often occures when a command is sent to the L6474 while it is in HIZ state. */
-    if ((status & L6474_STATUS_NOTPERF_CMD) == L6474_STATUS_NOTPERF_CMD)
-    { /* Command received by SPI can't be performed. Action to be customized. */ }
-    
-    /* Check WRONG_CMD flag: if set, the command does not exist. */
-    if ((status & L6474_STATUS_WRONG_CMD) == L6474_STATUS_WRONG_CMD)
-    { /* The command received by SPI does not exist. Action to be customized. */ }
-    
-    /* Check UVLO flag: if not set, there is an undervoltage lock-out. */
-    if ((status & L6474_STATUS_UVLO) == 0)
-    { /* Undervoltage lock-out. Action to be customized. */ }
-    
-    /* Check TH_WRN flag: if not set, the thermal warning threshold is reached. */
-    if ((status & L6474_STATUS_TH_WRN) == 0)
-    { /* Thermal warning threshold is reached. Action to be customized. */ }
-    
-    /* Check TH_SHD flag: if not set, the thermal shut down threshold is reached. */
-    if ((status & L6474_STATUS_TH_SD) == 0)
-    { /* Thermal shut down threshold is reached. Action to be customized. */ }
-    
-    /* Check OCD  flag: if not set, there is an overcurrent detection. */
-    if ((status & L6474_STATUS_OCD) == 0)
-    { /* Overcurrent detection. Action to be customized. */ }
-
-    /* Reset ISR flag. */
-    motor->isrFlag = FALSE;
-}
-
-/**
-  * @brief  This is an example of user handler for the errors.
-  * @param  error error-code.
-  * @retval None
-  * @note   If needed, implement it, and then attach it:
-  *           + motor->AttachErrorHandler(&ErrorHandler);
-  */
-void ErrorHandler(uint16_t error)
-{
-    /* Printing to the console. */
-    printf("Error: %d.\r\n", error);
-    
-    /* Aborting the program. */
-    exit(EXIT_FAILURE);
-}
-
-
 /* Main ----------------------------------------------------------------------*/
 
 int main()
 {
+    /*----- Initialization. -----*/
+
+
     /* Initializing SPI bus. */
     DevSPI dev_spi(D11, D12, D13);
 
@@ -154,187 +79,184 @@
     /* Printing to the console. */
     printf("Motor Control Application Example for 1 Motor\r\n\n");
 
-    /* Main Loop. */
-    while(true)
-    {
-        /*----- Moving. -----*/
+
+    /*----- Moving. -----*/
+
+    /* Printing to the console. */
+    printf("--> Moving forward %d steps.\r\n", ROUND_ANGLE_STEPS);
+
+    /* Moving N steps in the forward direction. */
+    motor->Move(StepperMotor::FWD, ROUND_ANGLE_STEPS);
+
+    /* Waiting while the motor is active. */
+    motor->WaitWhileActive();
+
+    /* Getting current position. */
+    int position = motor->GetPosition();
+    
+    /* Printing to the console. */
+    printf("    Position: %d.\r\n", position);
+
+    /* Waiting 2 seconds. */
+    wait_ms(2000);
+
+    
+    /*----- Moving. -----*/
+    
+    /* Printing to the console. */
+    printf("--> Moving backward %d steps.\r\n", ROUND_ANGLE_STEPS >> 1);
+
+    /* Moving N steps in the backward direction. */
+    motor->Move(StepperMotor::BWD, ROUND_ANGLE_STEPS >> 1);
+    
+    /* Waiting while the motor is active. */
+    motor->WaitWhileActive();
+
+    /* Getting current position. */
+    position = motor->GetPosition();
+    
+    /* Printing to the console. */
+    printf("    Position: %d.\r\n", position);
+    printf("--> Setting Home.\r\n");
+
+    /* Setting the current position to be the home position. */
+    motor->SetHome();
+
+    /* Waiting 2 seconds. */
+    wait_ms(2000);
+
+
+    /*----- Going to a specified position. -----*/
+
+    /* Printing to the console. */
+    printf("--> Going to position %d.\r\n", ROUND_ANGLE_STEPS >> 1);
+    
+    /* Requesting to go to a specified position. */
+    motor->GoTo(ROUND_ANGLE_STEPS >> 1);
+    
+    /* Waiting while the motor is active. */
+    motor->WaitWhileActive();
+
+    /* Getting current position. */
+    position = motor->GetPosition();
+    
+    /* Printing to the console. */
+    printf("    Position: %d.\r\n", position);
+    
+    /* Waiting 2 seconds. */
+    wait_ms(2000);
+
+    
+    /*----- Going Home. -----*/
+
+    /* Printing to the console. */
+    printf("--> Going Home.\r\n");
+    
+    /* Requesting to go to home. */
+    motor->GoHome();
+    
+    /* Waiting while the motor is active. */
+    motor->WaitWhileActive();
+
+    /* Getting current position. */
+    position = motor->GetPosition();
+
+    /* Printing to the console. */
+    printf("    Position: %d.\r\n", position);
 
-        /* Printing to the console. */
-        printf("--> Moving forward %d steps.\r\n", ROUND_ANGLE_STEPS);
+    /* Waiting 2 seconds. */
+    wait_ms(2000);
+
+
+    /*----- Running. -----*/
+
+    /* Printing to the console. */
+    printf("--> Running backward.\r\n");
+
+    /* Requesting to run backward. */
+    motor->Run(StepperMotor::BWD);
+
+    /* Waiting until delay has expired. */
+    wait_ms(6000);
+
+    /* Getting current speed. */
+    int speed = motor->GetSpeed();
+
+    /* Printing to the console. */
+    printf("    Speed: %d.\r\n", speed);
+
+    /*----- Increasing the speed while running. -----*/
+
+    /* Printing to the console. */
+    printf("--> Increasing the speed while running.\r\n");
+
+    /* Increasing speed to 2400 step/s. */
+    motor->SetMaxSpeed(2400);
+
+    /* Waiting until delay has expired. */
+    wait_ms(6000);
+
+    /* Getting current speed. */
+    speed = motor->GetSpeed();
+
+    /* Printing to the console. */
+    printf("    Speed: %d.\r\n", speed);
+
+
+    /*----- Decreasing the speed while running. -----*/
 
-        /* Moving N steps in the forward direction. */
-        motor->Move(StepperMotor::FWD, ROUND_ANGLE_STEPS);
+    /* Printing to the console. */
+    printf("--> Decreasing the speed while running.\r\n");
+
+    /* Decreasing speed to 1200 step/s. */
+    motor->SetMaxSpeed(1200);
+
+    /* Waiting until delay has expired. */
+    wait_ms(8000);
+
+    /* Getting current speed. */
+    speed = motor->GetSpeed();
+
+    /* Printing to the console. */
+    printf("    Speed: %d.\r\n", speed);
+
+
+    /*----- Requiring hard-stop while running. -----*/
+
+    /* Printing to the console. */
+    printf("--> Requiring hard-stop while running.\r\n");
+
+    /* Requesting to immediatly stop. */
+    motor->HardStop();
+
+    /* Waiting while the motor is active. */
+    motor->WaitWhileActive();
+
+    /* Waiting 2 seconds. */
+    wait_ms(2000);
+
+
+    /*----- Infinite Loop. -----*/
+
+    /* Printing to the console. */
+    printf("--> Infinite Loop...\r\n");
+
+    /* Setting the current position to be the home position. */
+    motor->SetHome();
+
+    /* Infinite Loop. */
+    while (1)
+    {
+        /* Requesting to go to a specified position. */
+        motor->GoTo(ROUND_ANGLE_STEPS >> 1);
 
         /* Waiting while the motor is active. */
         motor->WaitWhileActive();
 
-        /* Getting current position. */
-        int position = motor->GetPosition();
-        
-        /* Printing to the console. */
-        printf("    Position: %d.\r\n", position);
-
-        /* Waiting 2 seconds. */
-        wait_ms(2000);
-
-        
-        /*----- Moving. -----*/
-        
-        /* Printing to the console. */
-        printf("--> Moving backward %d steps.\r\n", ROUND_ANGLE_STEPS >> 1);
-
-        /* Moving N steps in the backward direction. */
-        motor->Move(StepperMotor::BWD, ROUND_ANGLE_STEPS >> 1);
-        
-        /* Waiting while the motor is active. */
-        motor->WaitWhileActive();
-
-        /* Getting current position. */
-        position = motor->GetPosition();
-        
-        /* Printing to the console. */
-        printf("    Position: %d.\r\n", position);
-        printf("--> Setting Home.\r\n");
-
-        /* Setting the current position to be the home position. */
-        motor->SetHome();
-
-        /* Waiting 2 seconds. */
-        wait_ms(2000);
-
-
-        /*----- Going to a specified position. -----*/
-
-        /* Printing to the console. */
-        printf("--> Going to position %d.\r\n", ROUND_ANGLE_STEPS >> 1);
-        
         /* Requesting to go to a specified position. */
-        motor->GoTo(ROUND_ANGLE_STEPS >> 1);
-        
-        /* Waiting while the motor is active. */
-        motor->WaitWhileActive();
-
-        /* Getting current position. */
-        position = motor->GetPosition();
-        
-        /* Printing to the console. */
-        printf("    Position: %d.\r\n", position);
-        
-        /* Waiting 2 seconds. */
-        wait_ms(2000);
-
-        
-        /*----- Going Home. -----*/
-
-        /* Printing to the console. */
-        printf("--> Going Home.\r\n");
-        
-        /* Requesting to go to home. */
-        motor->GoHome();
-        
-        /* Waiting while the motor is active. */
-        motor->WaitWhileActive();
-
-        /* Getting current position. */
-        position = motor->GetPosition();
-
-        /* Printing to the console. */
-        printf("    Position: %d.\r\n", position);
-
-        /* Waiting 2 seconds. */
-        wait_ms(2000);
-
-
-        /*----- Running. -----*/
-
-        /* Printing to the console. */
-        printf("--> Running backward.\r\n");
-
-        /* Requesting to run backward. */
-        motor->Run(StepperMotor::BWD);
-
-        /* Waiting until delay has expired. */
-        wait_ms(6000);
-
-        /* Getting current speed. */
-        int speed = motor->GetSpeed();
-
-        /* Printing to the console. */
-        printf("    Speed: %d.\r\n", speed);
-
-        /*----- Increasing the speed while running. -----*/
-
-        /* Printing to the console. */
-        printf("--> Increasing the speed while running.\r\n");
-
-        /* Increasing speed to 2400 step/s. */
-        motor->SetMaxSpeed(2400);
-
-        /* Waiting until delay has expired. */
-        wait_ms(6000);
-
-        /* Getting current speed. */
-        speed = motor->GetSpeed();
-
-        /* Printing to the console. */
-        printf("    Speed: %d.\r\n", speed);
-
-
-        /*----- Decreasing the speed while running. -----*/
-
-        /* Printing to the console. */
-        printf("--> Decreasing the speed while running.\r\n");
-
-        /* Decreasing speed to 1200 step/s. */
-        motor->SetMaxSpeed(1200);
-
-        /* Waiting until delay has expired. */
-        wait_ms(8000);
-
-        /* Getting current speed. */
-        speed = motor->GetSpeed();
-
-        /* Printing to the console. */
-        printf("    Speed: %d.\r\n", speed);
-
-
-        /*----- Requiring hard-stop while running. -----*/
-
-        /* Printing to the console. */
-        printf("--> Requiring hard-stop while running.\r\n");
-
-        /* Requesting to immediatly stop. */
-        motor->HardStop();
+        motor->GoTo(- (ROUND_ANGLE_STEPS >> 1));
 
         /* Waiting while the motor is active. */
         motor->WaitWhileActive();
-
-        /* Waiting 2 seconds. */
-        wait_ms(2000);
-
-
-        /*----- Infinite Loop. -----*/
-
-        /* Printing to the console. */
-        printf("--> Infinite Loop...\r\n");
-
-        /* Setting the current position to be the home position. */
-        motor->SetHome();
-
-        /* Infinite Loop. */
-        while(1)
-        {
-            /* Requesting to go to a specified position. */
-            motor->GoTo(ROUND_ANGLE_STEPS >> 1);
-
-            /* Waiting while the motor is active. */
-            motor->WaitWhileActive();
-
-            /* Requesting to go to a specified position. */
-            motor->GoTo(- (ROUND_ANGLE_STEPS >> 1));
-
-            /* Waiting while the motor is active. */
-            motor->WaitWhileActive();
-        }
     }
 }