ST / Mbed OS HelloWorld_IHM01A1_2Motors_mbedOS

Simple test application for the STMicroelectronics X-NUCLEO-IHM01A1 Stepper Motor Control Expansion Board, built against mbed OS.

Dependencies:   X_NUCLEO_IHM01A1

Fork of HelloWorld_IHM01A1_2Motors by ST

Motor Control with the X-NUCLEO-IHM01A1 Expansion Board

This application provides a simple example of usage of the X-NUCLEO-IHM01A1 Stepper Motor Control Expansion Board.
It shows how to use two stepper motors connected to two stacked boards in daisy chain configuration, moving the rotors to specific positions, with given speed values, directions of rotation, etc.

main.cpp@2:e12e4df7a486, 2015-11-13 (annotated)

Committer:
Davidroid
Date:
Fri Nov 13 12:59:29 2015 +0000
Revision:
2:e12e4df7a486
Parent:
1:fbf28f3367aa
Child:
3:02d9ec4f88b2
Adaptation to the "StepperMotor" abstract class.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Davidroid 0:e6a49a092e2a 1 /**
Davidroid 0:e6a49a092e2a 2 ******************************************************************************
Davidroid 0:e6a49a092e2a 3 * @file main.cpp
Davidroid 0:e6a49a092e2a 4 * @author Davide Aliprandi / AST
Davidroid 0:e6a49a092e2a 5 * @version V1.0.0
Davidroid 0:e6a49a092e2a 6 * @date October 14th, 2015
Davidroid 0:e6a49a092e2a 7 * @brief mbed test application for the STMicrolectronics X-NUCLEO-IHM01A1
Davidroid 0:e6a49a092e2a 8 * Motor Control Expansion Board: control of 1 motor.
Davidroid 0:e6a49a092e2a 9 * This application makes use of a C++ component architecture obtained
Davidroid 0:e6a49a092e2a 10 * from the C component architecture through the Stm32CubeTOO tool.
Davidroid 0:e6a49a092e2a 11 ******************************************************************************
Davidroid 0:e6a49a092e2a 12 * @attention
Davidroid 0:e6a49a092e2a 13 *
Davidroid 0:e6a49a092e2a 14 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Davidroid 0:e6a49a092e2a 15 *
Davidroid 0:e6a49a092e2a 16 * Redistribution and use in source and binary forms, with or without modification,
Davidroid 0:e6a49a092e2a 17 * are permitted provided that the following conditions are met:
Davidroid 0:e6a49a092e2a 18 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 0:e6a49a092e2a 19 * this list of conditions and the following disclaimer.
Davidroid 0:e6a49a092e2a 20 * 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid 0:e6a49a092e2a 21 * this list of conditions and the following disclaimer in the documentation
Davidroid 0:e6a49a092e2a 22 * and/or other materials provided with the distribution.
Davidroid 0:e6a49a092e2a 23 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid 0:e6a49a092e2a 24 * may be used to endorse or promote products derived from this software
Davidroid 0:e6a49a092e2a 25 * without specific prior written permission.
Davidroid 0:e6a49a092e2a 26 *
Davidroid 0:e6a49a092e2a 27 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 0:e6a49a092e2a 28 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 0:e6a49a092e2a 29 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid 0:e6a49a092e2a 30 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid 0:e6a49a092e2a 31 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid 0:e6a49a092e2a 32 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid 0:e6a49a092e2a 33 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid 0:e6a49a092e2a 34 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid 0:e6a49a092e2a 35 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid 0:e6a49a092e2a 36 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid 0:e6a49a092e2a 37 *
Davidroid 0:e6a49a092e2a 38 ******************************************************************************
Davidroid 0:e6a49a092e2a 39 */
Davidroid 0:e6a49a092e2a 40
Davidroid 0:e6a49a092e2a 41
Davidroid 0:e6a49a092e2a 42 /* Includes ------------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 43
Davidroid 0:e6a49a092e2a 44 /* mbed specific header files. */
Davidroid 0:e6a49a092e2a 45 #include "mbed.h"
Davidroid 0:e6a49a092e2a 46
Davidroid 0:e6a49a092e2a 47 /* Helper header files. */
Davidroid 0:e6a49a092e2a 48 #include "DevSPI.h"
Davidroid 0:e6a49a092e2a 49
Davidroid 0:e6a49a092e2a 50 /* Component specific header files. */
Davidroid 0:e6a49a092e2a 51 #include "l6474_class.h"
Davidroid 0:e6a49a092e2a 52
Davidroid 0:e6a49a092e2a 53
Davidroid 0:e6a49a092e2a 54 /* Definitions ---------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 55
Davidroid 0:e6a49a092e2a 56 /* Number of steps corresponding to one round angle of the motor. */
Davidroid 0:e6a49a092e2a 57 #define ROUND_ANGLE_STEPS 1600
Davidroid 0:e6a49a092e2a 58
Davidroid 0:e6a49a092e2a 59
Davidroid 0:e6a49a092e2a 60 /* Variables -----------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 61
Davidroid 0:e6a49a092e2a 62 /* Motor Control Component. */
Davidroid 1:fbf28f3367aa 63 L6474 *motor;
Davidroid 0:e6a49a092e2a 64
Davidroid 0:e6a49a092e2a 65
Davidroid 0:e6a49a092e2a 66 /* Main ----------------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 67
Davidroid 0:e6a49a092e2a 68 int main()
Davidroid 0:e6a49a092e2a 69 {
Davidroid 0:e6a49a092e2a 70 /* Initializing SPI bus. */
Davidroid 0:e6a49a092e2a 71 DevSPI dev_spi(D11, D12, D13);
Davidroid 0:e6a49a092e2a 72
Davidroid 0:e6a49a092e2a 73 /* Initializing Motor Control Component. */
Davidroid 1:fbf28f3367aa 74 motor = new L6474(D8, D7, D9, D10, dev_spi);
Davidroid 1:fbf28f3367aa 75 if (motor->Init(NULL) != COMPONENT_OK)
Davidroid 0:e6a49a092e2a 76 return false;
Davidroid 0:e6a49a092e2a 77
Davidroid 0:e6a49a092e2a 78 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 79 printf("Motor Control Application Example for 1 Motor\r\n\n");
Davidroid 0:e6a49a092e2a 80
Davidroid 0:e6a49a092e2a 81 /* Main Loop. */
Davidroid 0:e6a49a092e2a 82 while(true)
Davidroid 0:e6a49a092e2a 83 {
Davidroid 0:e6a49a092e2a 84 /*----- Moving forward of N steps. -----*/
Davidroid 0:e6a49a092e2a 85
Davidroid 0:e6a49a092e2a 86 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 87 printf("--> Moving forward %d steps.\r\n", ROUND_ANGLE_STEPS);
Davidroid 0:e6a49a092e2a 88
Davidroid 0:e6a49a092e2a 89 /* Moving N steps in the forward direction. */
Davidroid 2:e12e4df7a486 90 motor->Move(StepperMotor::CW, ROUND_ANGLE_STEPS);
Davidroid 0:e6a49a092e2a 91
Davidroid 0:e6a49a092e2a 92 /* Waiting while the motor is active. */
Davidroid 1:fbf28f3367aa 93 motor->WaitWhileActive();
Davidroid 0:e6a49a092e2a 94
Davidroid 0:e6a49a092e2a 95 /* Getting current position. */
Davidroid 1:fbf28f3367aa 96 int position = motor->GetPosition();
Davidroid 0:e6a49a092e2a 97
Davidroid 0:e6a49a092e2a 98 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 99 printf(" Position: %d.\r\n", position);
Davidroid 0:e6a49a092e2a 100
Davidroid 0:e6a49a092e2a 101 /* Waiting 2 seconds. */
Davidroid 0:e6a49a092e2a 102 wait_ms(2000);
Davidroid 0:e6a49a092e2a 103
Davidroid 0:e6a49a092e2a 104
Davidroid 0:e6a49a092e2a 105 /*----- Moving backward N steps. -----*/
Davidroid 0:e6a49a092e2a 106
Davidroid 0:e6a49a092e2a 107 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 108 printf("--> Moving backward %d steps.\r\n", ROUND_ANGLE_STEPS);
Davidroid 0:e6a49a092e2a 109
Davidroid 0:e6a49a092e2a 110 /* Moving N steps in the backward direction. */
Davidroid 2:e12e4df7a486 111 motor->Move(StepperMotor::CCW, ROUND_ANGLE_STEPS);
Davidroid 0:e6a49a092e2a 112
Davidroid 0:e6a49a092e2a 113 /* Waiting while the motor is active. */
Davidroid 1:fbf28f3367aa 114 motor->WaitWhileActive();
Davidroid 0:e6a49a092e2a 115
Davidroid 0:e6a49a092e2a 116 /* Getting current position. */
Davidroid 1:fbf28f3367aa 117 position = motor->GetPosition();
Davidroid 0:e6a49a092e2a 118
Davidroid 0:e6a49a092e2a 119 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 120 printf(" Position: %d.\r\n", position);
Davidroid 0:e6a49a092e2a 121
Davidroid 0:e6a49a092e2a 122 /* Setting the current position to be the home position. */
Davidroid 1:fbf28f3367aa 123 motor->SetHome();
Davidroid 0:e6a49a092e2a 124
Davidroid 0:e6a49a092e2a 125 /* Waiting 2 seconds. */
Davidroid 0:e6a49a092e2a 126 wait_ms(2000);
Davidroid 0:e6a49a092e2a 127
Davidroid 0:e6a49a092e2a 128
Davidroid 0:e6a49a092e2a 129 /*----- Going to a specified position. -----*/
Davidroid 0:e6a49a092e2a 130
Davidroid 0:e6a49a092e2a 131 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 132 printf("--> Going to position %d.\r\n", ROUND_ANGLE_STEPS >> 1);
Davidroid 0:e6a49a092e2a 133
Davidroid 0:e6a49a092e2a 134 /* Requesting to go to a specified position. */
Davidroid 1:fbf28f3367aa 135 motor->GoTo(ROUND_ANGLE_STEPS >> 1);
Davidroid 0:e6a49a092e2a 136
Davidroid 0:e6a49a092e2a 137 /* Waiting while the motor is active. */
Davidroid 1:fbf28f3367aa 138 motor->WaitWhileActive();
Davidroid 0:e6a49a092e2a 139
Davidroid 0:e6a49a092e2a 140 /* Getting current position. */
Davidroid 1:fbf28f3367aa 141 position = motor->GetPosition();
Davidroid 0:e6a49a092e2a 142
Davidroid 0:e6a49a092e2a 143 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 144 printf(" Position: %d.\r\n", position);
Davidroid 0:e6a49a092e2a 145
Davidroid 0:e6a49a092e2a 146 /* Waiting 2 seconds. */
Davidroid 0:e6a49a092e2a 147 wait_ms(2000);
Davidroid 0:e6a49a092e2a 148
Davidroid 0:e6a49a092e2a 149
Davidroid 0:e6a49a092e2a 150 /*----- Going Home. -----*/
Davidroid 0:e6a49a092e2a 151
Davidroid 0:e6a49a092e2a 152 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 153 printf("--> Going Home.\r\n");
Davidroid 0:e6a49a092e2a 154
Davidroid 0:e6a49a092e2a 155 /* Requesting to go to home. */
Davidroid 1:fbf28f3367aa 156 motor->GoHome();
Davidroid 0:e6a49a092e2a 157
Davidroid 0:e6a49a092e2a 158 /* Waiting while the motor is active. */
Davidroid 1:fbf28f3367aa 159 motor->WaitWhileActive();
Davidroid 0:e6a49a092e2a 160
Davidroid 0:e6a49a092e2a 161 /* Getting current position. */
Davidroid 1:fbf28f3367aa 162 position = motor->GetPosition();
Davidroid 0:e6a49a092e2a 163
Davidroid 0:e6a49a092e2a 164 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 165 printf(" Position: %d.\r\n", position);
Davidroid 0:e6a49a092e2a 166
Davidroid 0:e6a49a092e2a 167 /* Waiting 2 seconds. */
Davidroid 0:e6a49a092e2a 168 wait_ms(2000);
Davidroid 0:e6a49a092e2a 169
Davidroid 0:e6a49a092e2a 170
Davidroid 0:e6a49a092e2a 171 /*----- Moving backward. -----*/
Davidroid 0:e6a49a092e2a 172
Davidroid 0:e6a49a092e2a 173 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 174 printf("--> Moving backward.\r\n");
Davidroid 0:e6a49a092e2a 175
Davidroid 0:e6a49a092e2a 176 /* Requesting to run backward. */
Davidroid 2:e12e4df7a486 177 motor->Run(StepperMotor::CCW);
Davidroid 0:e6a49a092e2a 178
Davidroid 0:e6a49a092e2a 179 /* Waiting until delay has expired. */
Davidroid 1:fbf28f3367aa 180 wait_ms(6000);
Davidroid 0:e6a49a092e2a 181
Davidroid 0:e6a49a092e2a 182 /* Getting current speed. */
Davidroid 2:e12e4df7a486 183 int speed = motor->GetSpeed();
Davidroid 0:e6a49a092e2a 184
Davidroid 0:e6a49a092e2a 185 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 186 printf(" Speed: %d.\r\n", speed);
Davidroid 0:e6a49a092e2a 187
Davidroid 0:e6a49a092e2a 188
Davidroid 0:e6a49a092e2a 189 /*----- Increasing the speed while running. -----*/
Davidroid 0:e6a49a092e2a 190
Davidroid 0:e6a49a092e2a 191 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 192 printf("--> Increasing the speed while running.\r\n");
Davidroid 0:e6a49a092e2a 193
Davidroid 0:e6a49a092e2a 194 /* Increasing speed to 2400 step/s. */
Davidroid 1:fbf28f3367aa 195 motor->SetMaxSpeed(2400);
Davidroid 0:e6a49a092e2a 196
Davidroid 0:e6a49a092e2a 197 /* Waiting until delay has expired. */
Davidroid 1:fbf28f3367aa 198 wait_ms(6000);
Davidroid 0:e6a49a092e2a 199
Davidroid 0:e6a49a092e2a 200 /* Getting current speed. */
Davidroid 2:e12e4df7a486 201 speed = motor->GetSpeed();
Davidroid 0:e6a49a092e2a 202
Davidroid 0:e6a49a092e2a 203 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 204 printf(" Speed: %d.\r\n", speed);
Davidroid 0:e6a49a092e2a 205
Davidroid 0:e6a49a092e2a 206
Davidroid 0:e6a49a092e2a 207 /*----- Decreasing the speed while running. -----*/
Davidroid 0:e6a49a092e2a 208
Davidroid 0:e6a49a092e2a 209 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 210 printf("--> Decreasing the speed while running.\r\n");
Davidroid 0:e6a49a092e2a 211
Davidroid 0:e6a49a092e2a 212 /* Decreasing speed to 1200 step/s. */
Davidroid 1:fbf28f3367aa 213 motor->SetMaxSpeed(1200);
Davidroid 0:e6a49a092e2a 214
Davidroid 0:e6a49a092e2a 215 /* Waiting until delay has expired. */
Davidroid 1:fbf28f3367aa 216 wait_ms(8000);
Davidroid 0:e6a49a092e2a 217
Davidroid 0:e6a49a092e2a 218 /* Getting current speed. */
Davidroid 2:e12e4df7a486 219 speed = motor->GetSpeed();
Davidroid 0:e6a49a092e2a 220
Davidroid 0:e6a49a092e2a 221 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 222 printf(" Speed: %d.\r\n", speed);
Davidroid 0:e6a49a092e2a 223
Davidroid 0:e6a49a092e2a 224
Davidroid 0:e6a49a092e2a 225 /*----- Moving forward. -----*/
Davidroid 0:e6a49a092e2a 226
Davidroid 0:e6a49a092e2a 227 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 228 printf("--> Moving forward.\r\n");
Davidroid 0:e6a49a092e2a 229
Davidroid 0:e6a49a092e2a 230 /* Requesting to run in forward direction. */
Davidroid 2:e12e4df7a486 231 motor->Run(StepperMotor::CW);
Davidroid 0:e6a49a092e2a 232
Davidroid 0:e6a49a092e2a 233 /* Waiting until delay has expired. */
Davidroid 1:fbf28f3367aa 234 wait_ms(4000);
Davidroid 0:e6a49a092e2a 235
Davidroid 0:e6a49a092e2a 236
Davidroid 0:e6a49a092e2a 237 /*----- Requiring hard-stop while running. -----*/
Davidroid 0:e6a49a092e2a 238
Davidroid 0:e6a49a092e2a 239 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 240 printf("--> Requiring hard-stop while running.\r\n");
Davidroid 0:e6a49a092e2a 241
Davidroid 0:e6a49a092e2a 242 /* Requesting to immediatly stop. */
Davidroid 1:fbf28f3367aa 243 motor->HardStop();
Davidroid 0:e6a49a092e2a 244
Davidroid 0:e6a49a092e2a 245 /* Waiting while the motor is active. */
Davidroid 1:fbf28f3367aa 246 motor->WaitWhileActive();
Davidroid 0:e6a49a092e2a 247
Davidroid 0:e6a49a092e2a 248 /* Waiting 2 seconds. */
Davidroid 0:e6a49a092e2a 249 wait_ms(2000);
Davidroid 0:e6a49a092e2a 250
Davidroid 0:e6a49a092e2a 251
Davidroid 0:e6a49a092e2a 252 /*----- Infinite Loop. -----*/
Davidroid 0:e6a49a092e2a 253
Davidroid 0:e6a49a092e2a 254 /* Printing to the console. */
Davidroid 0:e6a49a092e2a 255 printf("--> Infinite Loop...\r\n");
Davidroid 0:e6a49a092e2a 256
Davidroid 0:e6a49a092e2a 257 /* Setting the current position to be the home position. */
Davidroid 1:fbf28f3367aa 258 motor->SetHome();
Davidroid 0:e6a49a092e2a 259
Davidroid 0:e6a49a092e2a 260 /* Infinite Loop. */
Davidroid 0:e6a49a092e2a 261 while(1)
Davidroid 0:e6a49a092e2a 262 {
Davidroid 0:e6a49a092e2a 263 /* Requesting to go to a specified position. */
Davidroid 1:fbf28f3367aa 264 motor->GoTo(- ROUND_ANGLE_STEPS >> 2);
Davidroid 0:e6a49a092e2a 265
Davidroid 0:e6a49a092e2a 266 /* Waiting while the motor is active. */
Davidroid 1:fbf28f3367aa 267 motor->WaitWhileActive();
Davidroid 0:e6a49a092e2a 268
Davidroid 0:e6a49a092e2a 269 /* Requesting to go to a specified position. */
Davidroid 1:fbf28f3367aa 270 motor->GoTo(ROUND_ANGLE_STEPS >> 2);
Davidroid 0:e6a49a092e2a 271
Davidroid 0:e6a49a092e2a 272 /* Waiting while the motor is active. */
Davidroid 1:fbf28f3367aa 273 motor->WaitWhileActive();
Davidroid 0:e6a49a092e2a 274 }
Davidroid 0:e6a49a092e2a 275 }
Davidroid 0:e6a49a092e2a 276 }