Motor Control with the X-NUCLEO-IHM01A1 Expansion Board

Diff: main.cpp

Revision:

0:e6a49a092e2a

Child:

1:fbf28f3367aa

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Oct 14 15:21:49 2015 +0000
@@ -0,0 +1,352 @@
+/**
+ ******************************************************************************
+ * @file    main.cpp
+ * @author  Davide Aliprandi / AST
+ * @version V1.0.0
+ * @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
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2015 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"
+
+/* Helper header files. */
+#include "DevSPI.h"
+
+/* Component specific header files. */
+#include "l6474_class.h"
+
+
+/* Definitions ---------------------------------------------------------------*/
+
+/* Number of steps corresponding to one round angle of the motor. */
+#define ROUND_ANGLE_STEPS 1600
+
+
+/* Variables -----------------------------------------------------------------*/
+
+/* Motor Control Component. */
+L6474 *l6474;
+
+/* Flag to identify whenever a PWM pulse has finished. */
+volatile int pwm_pulse_finished_flag;
+
+/* Flag to identify whenever the desired delay has expired. */
+volatile int delay_expired_flag;
+
+
+/* Functions -----------------------------------------------------------------*/
+
+/*
+ * @brief  PWM callback.
+ * @param  None
+ * @retval None
+ */
+void PWMCallback(void)
+{
+    pwm_pulse_finished_flag = 1;
+}
+
+/*
+ * @brief  Delay callback.
+ * @param  None
+ * @retval None
+ */
+void DelayCallback()
+{
+    delay_expired_flag = 1;
+}
+
+/*
+ * @brief  Waiting until PWM pulse has finished.
+ * @param  None
+ * @retval None
+ */
+void WaitForPWMPulse(void)
+{
+    /* Waiting until PWM flag is set. */
+    while (pwm_pulse_finished_flag == 0);
+    
+    /* Resetting PWM flag. */
+    pwm_pulse_finished_flag = 0;
+
+    /* Setting the device state machine. */
+    if (l6474->GetDeviceState() != INACTIVE)
+        l6474->StepClockHandler();
+}
+
+/*
+ * @brief  Waiting while the motor is active.
+ * @param  None
+ * @retval None
+ */
+void WaitWhileActive(void)
+{
+    while (l6474->GetDeviceState() != INACTIVE)
+        WaitForPWMPulse();
+}
+
+/*
+ * @brief  Waiting until delay has expired.
+ * @param  delay delay in milliseconds.
+ * @retval None
+ */
+void WaitForDelay(int delay)
+{
+    Timeout timeout;
+    timeout.attach(&DelayCallback, delay / 1E3);
+
+    delay_expired_flag = 0;
+    while (delay_expired_flag == 0)
+        WaitForPWMPulse();
+}
+
+
+/* Main ----------------------------------------------------------------------*/
+
+int main()
+{
+    /* Initializing SPI bus. */
+    DevSPI dev_spi(D11, D12, D13);
+
+    /* Resetting Timer PWM flag. */
+    pwm_pulse_finished_flag = 0;
+
+    /* Initializing Motor Control Component. */
+    l6474 = new L6474(D8, D7, D9, D10, dev_spi);
+    if (l6474->Init(NULL) != COMPONENT_OK)
+        return false;
+
+    /* Printing to the console. */
+    printf("Motor Control Application Example for 1 Motor\r\n\n");
+
+    /* Main Loop. */
+    while(true)
+    {
+        /*----- Moving forward of N steps. -----*/
+
+        /* Printing to the console. */
+        printf("--> Moving forward %d steps.\r\n", ROUND_ANGLE_STEPS);
+
+        /* Moving N steps in the forward direction. */
+        l6474->Move(FORWARD, ROUND_ANGLE_STEPS);
+        
+        /* Waiting while the motor is active. */
+        WaitWhileActive();
+
+        /* Getting current position. */
+        int position = l6474->GetPosition();
+        
+        /* Printing to the console. */
+        printf("    Position: %d.\r\n", position);
+
+        /* Waiting 2 seconds. */
+        wait_ms(2000);
+
+        
+        /*----- Moving backward N steps. -----*/
+        
+        /* Printing to the console. */
+        printf("--> Moving backward %d steps.\r\n", ROUND_ANGLE_STEPS);
+        
+        /* Moving N steps in the backward direction. */
+        l6474->Move(BACKWARD, ROUND_ANGLE_STEPS);
+        
+        /* Waiting while the motor is active. */
+        WaitWhileActive();
+
+        /* Getting current position. */
+        position = l6474->GetPosition();
+        
+        /* Printing to the console. */
+        printf("    Position: %d.\r\n", position);
+
+        /* Setting the current position to be the home position. */
+        l6474->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. */
+        l6474->GoTo(ROUND_ANGLE_STEPS >> 1);
+        
+        /* Waiting while the motor is active. */
+        WaitWhileActive();
+
+        /* Getting current position. */
+        position = l6474->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. */
+        l6474->GoHome();
+        
+        /* Waiting while the motor is active. */
+        WaitWhileActive();
+
+        /* Getting current position. */
+        position = l6474->GetPosition();
+
+        /* Printing to the console. */
+        printf("    Position: %d.\r\n", position);
+
+        /* Waiting 2 seconds. */
+        wait_ms(2000);
+
+
+        /*----- Moving backward. -----*/
+
+        /* Printing to the console. */
+        printf("--> Moving backward.\r\n");
+
+        /* Requesting to run backward. */
+        l6474->Run(BACKWARD);
+
+        /* Waiting until delay has expired. */
+        WaitForDelay(6000);
+
+        /* Getting current speed. */
+        int speed = l6474->GetCurrentSpeed();
+
+        /* 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. */
+        l6474->SetMaxSpeed(2400);
+
+        /* Waiting until delay has expired. */
+        WaitForDelay(6000);
+
+        /* Getting current speed. */
+        speed = l6474->GetCurrentSpeed();
+
+        /* 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. */
+        l6474->SetMaxSpeed(1200);
+
+        /* Waiting until delay has expired. */
+        WaitForDelay(8000);
+
+        /* Getting current speed. */
+        speed = l6474->GetCurrentSpeed();
+
+        /* Printing to the console. */
+        printf("    Speed: %d.\r\n", speed);
+
+
+        /*----- Moving forward. -----*/
+
+        /* Printing to the console. */
+        printf("--> Moving forward.\r\n");
+
+        /* Requesting to run in forward direction. */
+        l6474->Run(FORWARD);
+
+        /* Waiting until delay has expired. */
+        WaitForDelay(4000);
+        
+
+        /*----- Requiring hard-stop while running. -----*/
+
+        /* Printing to the console. */
+        printf("--> Requiring hard-stop while running.\r\n");
+
+        /* Requesting to immediatly stop. */
+        l6474->HardStop();
+
+        /* Waiting while the motor is active. */
+        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. */
+        l6474->SetHome();
+
+        /* Infinite Loop. */
+        while(1)
+        {
+            /* Requesting to go to a specified position. */
+            l6474->GoTo(- ROUND_ANGLE_STEPS >> 2);
+
+            /* Waiting while the motor is active. */
+            WaitWhileActive();
+
+            /* Requesting to go to a specified position. */
+            l6474->GoTo(ROUND_ANGLE_STEPS >> 2);
+
+            /* Waiting while the motor is active. */
+            WaitWhileActive();
+        }
+    }
+}