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@31:f203b17d5534, 2017-07-14 (annotated)

Committer:
Davidroid
Date:
Fri Jul 14 15:33:04 2017 +0000
Revision:
31:f203b17d5534
Parent:
29:526970c1d998 
mbed OS

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 17:aae1446c67f4 4 * @author Davide Aliprandi, STMicroelectronics
Davidroid 0:e6a49a092e2a 5 * @version V1.0.0
Davidroid 0:e6a49a092e2a 6 * @date October 14th, 2015
Davidroid 17:aae1446c67f4 7 * @brief mbed test application for the STMicroelectronics X-NUCLEO-IHM01A1
Davidroid 3:02d9ec4f88b2 8 * Motor Control Expansion Board: control of 2 motors.
Davidroid 0:e6a49a092e2a 9 ******************************************************************************
Davidroid 0:e6a49a092e2a 10 * @attention
Davidroid 0:e6a49a092e2a 11 *
Davidroid 0:e6a49a092e2a 12 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Davidroid 0:e6a49a092e2a 13 *
Davidroid 0:e6a49a092e2a 14 * Redistribution and use in source and binary forms, with or without modification,
Davidroid 0:e6a49a092e2a 15 * are permitted provided that the following conditions are met:
Davidroid 0:e6a49a092e2a 16 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 0:e6a49a092e2a 17 * this list of conditions and the following disclaimer.
Davidroid 0:e6a49a092e2a 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid 0:e6a49a092e2a 19 * this list of conditions and the following disclaimer in the documentation
Davidroid 0:e6a49a092e2a 20 * and/or other materials provided with the distribution.
Davidroid 0:e6a49a092e2a 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid 0:e6a49a092e2a 22 * may be used to endorse or promote products derived from this software
Davidroid 0:e6a49a092e2a 23 * without specific prior written permission.
Davidroid 0:e6a49a092e2a 24 *
Davidroid 0:e6a49a092e2a 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 0:e6a49a092e2a 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 0:e6a49a092e2a 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid 0:e6a49a092e2a 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid 0:e6a49a092e2a 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid 0:e6a49a092e2a 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid 0:e6a49a092e2a 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid 0:e6a49a092e2a 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid 0:e6a49a092e2a 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid 0:e6a49a092e2a 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid 0:e6a49a092e2a 35 *
Davidroid 0:e6a49a092e2a 36 ******************************************************************************
Davidroid 0:e6a49a092e2a 37 */
Davidroid 0:e6a49a092e2a 38
Davidroid 0:e6a49a092e2a 39
Davidroid 0:e6a49a092e2a 40 /* Includes ------------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 41
Davidroid 0:e6a49a092e2a 42 /* mbed specific header files. */
Davidroid 0:e6a49a092e2a 43 #include "mbed.h"
Davidroid 0:e6a49a092e2a 44
Davidroid 0:e6a49a092e2a 45 /* Helper header files. */
Davidroid 0:e6a49a092e2a 46 #include "DevSPI.h"
Davidroid 0:e6a49a092e2a 47
Davidroid 0:e6a49a092e2a 48 /* Component specific header files. */
Davidroid 29:526970c1d998 49 #include "L6474.h"
Davidroid 0:e6a49a092e2a 50
Davidroid 0:e6a49a092e2a 51
Davidroid 0:e6a49a092e2a 52 /* Definitions ---------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 53
Davidroid 24:8cb3c4ad055f 54 /* Number of steps. */
Davidroid 9:a9e51320aee4 55 #define STEPS 3200
Davidroid 0:e6a49a092e2a 56
Davidroid 24:8cb3c4ad055f 57 /* Delay in milliseconds. */
Davidroid 24:8cb3c4ad055f 58 #define DELAY_1 2000
Davidroid 24:8cb3c4ad055f 59 #define DELAY_2 6000
Davidroid 24:8cb3c4ad055f 60 #define DELAY_3 8000
Davidroid 24:8cb3c4ad055f 61
Davidroid 24:8cb3c4ad055f 62 /* Speed in pps (Pulses Per Second).
Davidroid 24:8cb3c4ad055f 63 In Full Step mode: 1 pps = 1 step/s).
Davidroid 24:8cb3c4ad055f 64 In 1/N Step Mode: N pps = 1 step/s). */
Davidroid 24:8cb3c4ad055f 65 #define SPEED_1 2400
Davidroid 24:8cb3c4ad055f 66 #define SPEED_2 1200
Davidroid 24:8cb3c4ad055f 67
Davidroid 0:e6a49a092e2a 68
Davidroid 0:e6a49a092e2a 69 /* Variables -----------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 70
Davidroid 0:e6a49a092e2a 71 /* Motor Control Component. */
Davidroid 3:02d9ec4f88b2 72 L6474 *motor1;
Davidroid 3:02d9ec4f88b2 73 L6474 *motor2;
Davidroid 0:e6a49a092e2a 74
Davidroid 0:e6a49a092e2a 75
Davidroid 0:e6a49a092e2a 76 /* Main ----------------------------------------------------------------------*/
Davidroid 0:e6a49a092e2a 77
Davidroid 0:e6a49a092e2a 78 int main()
Davidroid 0:e6a49a092e2a 79 {
Davidroid 8:cec4c2c03a27 80 /*----- Initialization. -----*/
Davidroid 8:cec4c2c03a27 81
Davidroid 0:e6a49a092e2a 82 /* Initializing SPI bus. */
Davidroid 0:e6a49a092e2a 83 DevSPI dev_spi(D11, D12, D13);
Davidroid 0:e6a49a092e2a 84
Davidroid 9:a9e51320aee4 85 /* Initializing Motor Control Components. */
Davidroid 5:a0268a435bb1 86 motor1 = new L6474(D2, D8, D7, D9, D10, dev_spi);
Davidroid 16:810667a9f31f 87 motor2 = new L6474(D2, D8, D4, D3, D10, dev_spi);
Davidroid 29:526970c1d998 88 if (motor1->init() != COMPONENT_OK) {
Davidroid 14:fcd452b03d1a 89 exit(EXIT_FAILURE);
Davidroid 28:3f17a4152bcf 90 }
Davidroid 29:526970c1d998 91 if (motor2->init() != COMPONENT_OK) {
Davidroid 14:fcd452b03d1a 92 exit(EXIT_FAILURE);
Davidroid 28:3f17a4152bcf 93 }
Davidroid 0:e6a49a092e2a 94
Davidroid 0:e6a49a092e2a 95 /* Printing to the console. */
Davidroid 3:02d9ec4f88b2 96 printf("Motor Control Application Example for 2 Motors\r\n\n");
Davidroid 0:e6a49a092e2a 97
Davidroid 8:cec4c2c03a27 98
Davidroid 8:cec4c2c03a27 99 /*----- Moving. -----*/
Davidroid 8:cec4c2c03a27 100
Davidroid 8:cec4c2c03a27 101 /* Printing to the console. */
Davidroid 9:a9e51320aee4 102 printf("--> Moving forward: M1 %d steps, M2 %d steps.\r\n", STEPS >> 1, STEPS);
Davidroid 8:cec4c2c03a27 103
Davidroid 8:cec4c2c03a27 104 /* Moving N steps in the forward direction. */
Davidroid 29:526970c1d998 105 motor1->move(StepperMotor::FWD, STEPS >> 1);
Davidroid 29:526970c1d998 106 motor2->move(StepperMotor::FWD, STEPS);
Davidroid 8:cec4c2c03a27 107
Davidroid 8:cec4c2c03a27 108 /* Waiting while the motor is active. */
Davidroid 29:526970c1d998 109 motor1->wait_while_active();
Davidroid 29:526970c1d998 110 motor2->wait_while_active();
Davidroid 8:cec4c2c03a27 111
Davidroid 8:cec4c2c03a27 112 /* Getting current position. */
Davidroid 29:526970c1d998 113 int position1 = motor1->get_position();
Davidroid 29:526970c1d998 114 int position2 = motor2->get_position();
Davidroid 8:cec4c2c03a27 115
Davidroid 8:cec4c2c03a27 116 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 117 printf(" Position: M1 %d, M2 %d.\r\n", position1, position2);
Davidroid 8:cec4c2c03a27 118
Davidroid 8:cec4c2c03a27 119 /* Waiting 2 seconds. */
Davidroid 24:8cb3c4ad055f 120 wait_ms(DELAY_1);
Davidroid 8:cec4c2c03a27 121
Davidroid 8:cec4c2c03a27 122
Davidroid 8:cec4c2c03a27 123 /*----- Moving. -----*/
Davidroid 8:cec4c2c03a27 124
Davidroid 8:cec4c2c03a27 125 /* Printing to the console. */
Davidroid 9:a9e51320aee4 126 printf("--> Moving backward: M1 %d steps, M2 %d steps.\r\n", STEPS >> 1, STEPS);
Davidroid 8:cec4c2c03a27 127
Davidroid 8:cec4c2c03a27 128
Davidroid 8:cec4c2c03a27 129 /* Moving N steps in the backward direction. */
Davidroid 29:526970c1d998 130 motor1->move(StepperMotor::BWD, STEPS >> 1);
Davidroid 29:526970c1d998 131 motor2->move(StepperMotor::BWD, STEPS);
Davidroid 8:cec4c2c03a27 132
Davidroid 8:cec4c2c03a27 133 /* Waiting while the motor is active. */
Davidroid 29:526970c1d998 134 motor1->wait_while_active();
Davidroid 29:526970c1d998 135 motor2->wait_while_active();
Davidroid 8:cec4c2c03a27 136
Davidroid 8:cec4c2c03a27 137 /* Getting current position. */
Davidroid 29:526970c1d998 138 position1 = motor1->get_position();
Davidroid 29:526970c1d998 139 position2 = motor2->get_position();
Davidroid 8:cec4c2c03a27 140
Davidroid 8:cec4c2c03a27 141 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 142 printf(" Position: M1 %d, M2 %d.\r\n", position1, position2);
Davidroid 8:cec4c2c03a27 143 printf("--> Setting Home.\r\n");
Davidroid 8:cec4c2c03a27 144
Davidroid 8:cec4c2c03a27 145 /* Setting the current position to be the home position. */
Davidroid 29:526970c1d998 146 motor1->set_home();
Davidroid 29:526970c1d998 147 motor2->set_home();
Davidroid 8:cec4c2c03a27 148
Davidroid 8:cec4c2c03a27 149 /* Waiting 2 seconds. */
Davidroid 24:8cb3c4ad055f 150 wait_ms(DELAY_1);
Davidroid 8:cec4c2c03a27 151
Davidroid 8:cec4c2c03a27 152
Davidroid 8:cec4c2c03a27 153 /*----- Going to a specified position. -----*/
Davidroid 8:cec4c2c03a27 154
Davidroid 8:cec4c2c03a27 155 /* Printing to the console. */
Davidroid 9:a9e51320aee4 156 printf("--> Going to position: M1 %d, M2 %d.\r\n", STEPS, STEPS >> 1);
Davidroid 8:cec4c2c03a27 157
Davidroid 8:cec4c2c03a27 158 /* Requesting to go to a specified position. */
Davidroid 29:526970c1d998 159 motor1->go_to(STEPS);
Davidroid 29:526970c1d998 160 motor2->go_to(STEPS >> 1);
Davidroid 8:cec4c2c03a27 161
Davidroid 8:cec4c2c03a27 162 /* Waiting while the motor is active. */
Davidroid 29:526970c1d998 163 motor1->wait_while_active();
Davidroid 29:526970c1d998 164 motor2->wait_while_active();
Davidroid 8:cec4c2c03a27 165
Davidroid 8:cec4c2c03a27 166 /* Getting current position. */
Davidroid 29:526970c1d998 167 position1 = motor1->get_position();
Davidroid 29:526970c1d998 168 position2 = motor2->get_position();
Davidroid 8:cec4c2c03a27 169
Davidroid 8:cec4c2c03a27 170 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 171 printf(" Position: M1 %d, M2 %d.\r\n", position1, position2);
Davidroid 8:cec4c2c03a27 172
Davidroid 8:cec4c2c03a27 173 /* Waiting 2 seconds. */
Davidroid 24:8cb3c4ad055f 174 wait_ms(DELAY_1);
Davidroid 8:cec4c2c03a27 175
Davidroid 8:cec4c2c03a27 176
Davidroid 8:cec4c2c03a27 177 /*----- Going Home. -----*/
Davidroid 8:cec4c2c03a27 178
Davidroid 8:cec4c2c03a27 179 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 180 printf("--> Going Home.\r\n");
Davidroid 8:cec4c2c03a27 181
Davidroid 8:cec4c2c03a27 182 /* Requesting to go to home. */
Davidroid 29:526970c1d998 183 motor1->go_home();
Davidroid 29:526970c1d998 184 motor2->go_home();
Davidroid 8:cec4c2c03a27 185
Davidroid 8:cec4c2c03a27 186 /* Waiting while the motor is active. */
Davidroid 29:526970c1d998 187 motor1->wait_while_active();
Davidroid 29:526970c1d998 188 motor2->wait_while_active();
Davidroid 8:cec4c2c03a27 189
Davidroid 8:cec4c2c03a27 190 /* Getting current position. */
Davidroid 29:526970c1d998 191 position1 = motor1->get_position();
Davidroid 29:526970c1d998 192 position2 = motor2->get_position();
Davidroid 0:e6a49a092e2a 193
Davidroid 8:cec4c2c03a27 194 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 195 printf(" Position: M1 %d, M2 %d.\r\n", position1, position2);
Davidroid 8:cec4c2c03a27 196
Davidroid 8:cec4c2c03a27 197 /* Waiting 2 seconds. */
Davidroid 24:8cb3c4ad055f 198 wait_ms(DELAY_1);
Davidroid 8:cec4c2c03a27 199
Davidroid 8:cec4c2c03a27 200
Davidroid 8:cec4c2c03a27 201 /*----- Running. -----*/
Davidroid 8:cec4c2c03a27 202
Davidroid 8:cec4c2c03a27 203 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 204 printf("--> M1 running backward, M2 running forward.\r\n");
Davidroid 8:cec4c2c03a27 205
Davidroid 8:cec4c2c03a27 206 /* Requesting to run backward. */
Davidroid 29:526970c1d998 207 motor1->run(StepperMotor::BWD);
Davidroid 29:526970c1d998 208 motor2->run(StepperMotor::FWD);
Davidroid 8:cec4c2c03a27 209
Davidroid 8:cec4c2c03a27 210 /* Waiting until delay has expired. */
Davidroid 24:8cb3c4ad055f 211 wait_ms(DELAY_2);
Davidroid 8:cec4c2c03a27 212
Davidroid 8:cec4c2c03a27 213 /* Getting current speed. */
Davidroid 29:526970c1d998 214 int speed1 = motor1->get_speed();
Davidroid 29:526970c1d998 215 int speed2 = motor2->get_speed();
Davidroid 8:cec4c2c03a27 216
Davidroid 8:cec4c2c03a27 217 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 218 printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
Davidroid 8:cec4c2c03a27 219
Davidroid 8:cec4c2c03a27 220 /*----- Increasing the speed while running. -----*/
Davidroid 8:cec4c2c03a27 221
Davidroid 8:cec4c2c03a27 222 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 223 printf("--> Increasing the speed while running.\r\n");
Davidroid 8:cec4c2c03a27 224
Davidroid 24:8cb3c4ad055f 225 /* Increasing the speed. */
Davidroid 29:526970c1d998 226 motor1->set_max_speed(SPEED_1);
Davidroid 29:526970c1d998 227 motor2->set_max_speed(SPEED_1);
Davidroid 8:cec4c2c03a27 228
Davidroid 8:cec4c2c03a27 229 /* Waiting until delay has expired. */
Davidroid 24:8cb3c4ad055f 230 wait_ms(DELAY_2);
Davidroid 8:cec4c2c03a27 231
Davidroid 8:cec4c2c03a27 232 /* Getting current speed. */
Davidroid 29:526970c1d998 233 speed1 = motor1->get_speed();
Davidroid 29:526970c1d998 234 speed2 = motor2->get_speed();
Davidroid 8:cec4c2c03a27 235
Davidroid 8:cec4c2c03a27 236 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 237 printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
Davidroid 8:cec4c2c03a27 238
Davidroid 8:cec4c2c03a27 239
Davidroid 8:cec4c2c03a27 240 /*----- Decreasing the speed while running. -----*/
Davidroid 0:e6a49a092e2a 241
Davidroid 8:cec4c2c03a27 242 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 243 printf("--> Decreasing the speed while running.\r\n");
Davidroid 8:cec4c2c03a27 244
Davidroid 24:8cb3c4ad055f 245 /* Decreasing the speed. */
Davidroid 29:526970c1d998 246 motor1->set_max_speed(SPEED_2);
Davidroid 29:526970c1d998 247 motor2->set_max_speed(SPEED_2);
Davidroid 8:cec4c2c03a27 248
Davidroid 8:cec4c2c03a27 249 /* Waiting until delay has expired. */
Davidroid 24:8cb3c4ad055f 250 wait_ms(DELAY_3);
Davidroid 8:cec4c2c03a27 251
Davidroid 8:cec4c2c03a27 252 /* Getting current speed. */
Davidroid 29:526970c1d998 253 speed1 = motor1->get_speed();
Davidroid 29:526970c1d998 254 speed2 = motor2->get_speed();
Davidroid 8:cec4c2c03a27 255
Davidroid 8:cec4c2c03a27 256 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 257 printf(" Speed: M1 %d, M2 %d.\r\n", speed1, speed2);
Davidroid 8:cec4c2c03a27 258
Davidroid 8:cec4c2c03a27 259
Davidroid 8:cec4c2c03a27 260 /*----- Requiring hard-stop while running. -----*/
Davidroid 8:cec4c2c03a27 261
Davidroid 8:cec4c2c03a27 262 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 263 printf("--> Requiring hard-stop while running.\r\n");
Davidroid 8:cec4c2c03a27 264
Davidroid 8:cec4c2c03a27 265 /* Requesting to immediatly stop. */
Davidroid 29:526970c1d998 266 motor1->hard_stop();
Davidroid 29:526970c1d998 267 motor2->hard_stop();
Davidroid 8:cec4c2c03a27 268
Davidroid 8:cec4c2c03a27 269 /* Waiting while the motor is active. */
Davidroid 29:526970c1d998 270 motor1->wait_while_active();
Davidroid 29:526970c1d998 271 motor2->wait_while_active();
Davidroid 8:cec4c2c03a27 272
Davidroid 8:cec4c2c03a27 273 /* Waiting 2 seconds. */
Davidroid 24:8cb3c4ad055f 274 wait_ms(DELAY_1);
Davidroid 8:cec4c2c03a27 275
Davidroid 8:cec4c2c03a27 276
Davidroid 8:cec4c2c03a27 277 /*----- Infinite Loop. -----*/
Davidroid 8:cec4c2c03a27 278
Davidroid 8:cec4c2c03a27 279 /* Printing to the console. */
Davidroid 8:cec4c2c03a27 280 printf("--> Infinite Loop...\r\n");
Davidroid 8:cec4c2c03a27 281
Davidroid 8:cec4c2c03a27 282 /* Setting the current position to be the home position. */
Davidroid 29:526970c1d998 283 motor1->set_home();
Davidroid 29:526970c1d998 284 motor2->set_home();
Davidroid 8:cec4c2c03a27 285
Davidroid 8:cec4c2c03a27 286 /* Infinite Loop. */
Davidroid 28:3f17a4152bcf 287 while(true) {
Davidroid 8:cec4c2c03a27 288 /* Requesting to go to a specified position. */
Davidroid 29:526970c1d998 289 motor1->go_to(STEPS >> 1);
Davidroid 29:526970c1d998 290 motor2->go_to(- (STEPS >> 1));
Davidroid 3:02d9ec4f88b2 291
Davidroid 0:e6a49a092e2a 292 /* Waiting while the motor is active. */
Davidroid 29:526970c1d998 293 motor1->wait_while_active();
Davidroid 29:526970c1d998 294 motor2->wait_while_active();
Davidroid 0:e6a49a092e2a 295
Davidroid 0:e6a49a092e2a 296 /* Requesting to go to a specified position. */
Davidroid 29:526970c1d998 297 motor1->go_to(- (STEPS >> 1));
Davidroid 29:526970c1d998 298 motor2->go_to(STEPS >> 1);
Davidroid 0:e6a49a092e2a 299
Davidroid 0:e6a49a092e2a 300 /* Waiting while the motor is active. */
Davidroid 29:526970c1d998 301 motor1->wait_while_active();
Davidroid 29:526970c1d998 302 motor2->wait_while_active();
Davidroid 0:e6a49a092e2a 303 }
Davidroid 0:e6a49a092e2a 304 }