main.cpp

00001 /**
00002  ******************************************************************************
00003  * @file    main.cpp
00004  * @author  Davide Aliprandi, STMicroelectronics
00005  * @version V1.0.0
00006  * @date    October 14th, 2015
00007  * @brief   mbed test application for the STMicroelectronics X-NUCLEO-IHM01A1
00008  *          Motor Control Expansion Board: control of 1 motor.
00009  ******************************************************************************
00010  * @attention
00011  *
00012  * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
00013  *
00014  * Redistribution and use in source and binary forms, with or without modification,
00015  * are permitted provided that the following conditions are met:
00016  *   1. Redistributions of source code must retain the above copyright notice,
00017  *      this list of conditions and the following disclaimer.
00018  *   2. Redistributions in binary form must reproduce the above copyright notice,
00019  *      this list of conditions and the following disclaimer in the documentation
00020  *      and/or other materials provided with the distribution.
00021  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00022  *      may be used to endorse or promote products derived from this software
00023  *      without specific prior written permission.
00024  *
00025  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00026  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00027  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00028  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00029  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00030  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00031  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00033  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00034  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00035  *
00036  ******************************************************************************
00037  */
00038 
00039 
00040 /* Includes ------------------------------------------------------------------*/
00041 
00042 /* mbed specific header files. */
00043 #include "mbed.h"
00044 #include "rtos.h"
00045 
00046 /* Helper header files. */
00047 #include "DevSPI.h"
00048 
00049 /* Component specific header files. */
00050 #include "L6474.h"
00051 
00052 
00053 /* Definitions ---------------------------------------------------------------*/
00054 
00055 /* Number of steps. */
00056 #define STEPS_1 (400 * 8)   /* 1 revolution given a 400 steps motor configured at 1/8 microstep mode. */
00057 
00058 /* Delay in milliseconds. */
00059 #define DELAY_1 1000
00060 #define DELAY_2 2000
00061 #define DELAY_3 6000
00062 #define DELAY_4 8000
00063 
00064 /* Speed in pps (Pulses Per Second).
00065    In Full Step mode: 1 pps = 1 step/s).
00066    In 1/N Step Mode:  N pps = 1 step/s). */
00067 #define SPEED_1 2400
00068 #define SPEED_2 1200
00069 
00070 
00071 /* Variables -----------------------------------------------------------------*/
00072 
00073 /* Initialization parameters. */
00074 L6474_init_t init = {
00075     160,                              /* Acceleration rate in pps^2. Range: (0..+inf). */
00076     160,                              /* Deceleration rate in pps^2. Range: (0..+inf). */
00077     1600,                             /* Maximum speed in pps. Range: (30..10000]. */
00078     800,                              /* Minimum speed in pps. Range: [30..10000). */
00079     250,                              /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
00080     L6474_OCD_TH_750mA,               /* Overcurrent threshold (OCD_TH register). */
00081     L6474_CONFIG_OC_SD_ENABLE,        /* Overcurrent shutwdown (OC_SD field of CONFIG register). */
00082     L6474_CONFIG_EN_TQREG_TVAL_USED,  /* Torque regulation method (EN_TQREG field of CONFIG register). */
00083     L6474_STEP_SEL_1_8,               /* Step selection (STEP_SEL field of STEP_MODE register). */
00084     L6474_SYNC_SEL_1_2,               /* Sync selection (SYNC_SEL field of STEP_MODE register). */
00085     L6474_FAST_STEP_12us,             /* Fall time value (T_FAST field of T_FAST register). Range: 2us to 32us. */
00086     L6474_TOFF_FAST_8us,              /* Maximum fast decay time (T_OFF field of T_FAST register). Range: 2us to 32us. */
00087     3,                                /* Minimum ON time in us (TON_MIN register). Range: 0.5us to 64us. */
00088     21,                               /* Minimum OFF time in us (TOFF_MIN register). Range: 0.5us to 64us. */
00089     L6474_CONFIG_TOFF_044us,          /* Target Swicthing Period (field TOFF of CONFIG register). */
00090     L6474_CONFIG_SR_320V_us,          /* Slew rate (POW_SR field of CONFIG register). */
00091     L6474_CONFIG_INT_16MHZ,           /* Clock setting (OSC_CLK_SEL field of CONFIG register). */
00092     L6474_ALARM_EN_OVERCURRENT |
00093     L6474_ALARM_EN_THERMAL_SHUTDOWN |
00094     L6474_ALARM_EN_THERMAL_WARNING |
00095     L6474_ALARM_EN_UNDERVOLTAGE |
00096     L6474_ALARM_EN_SW_TURN_ON |
00097     L6474_ALARM_EN_WRONG_NPERF_CMD    /* Alarm (ALARM_EN register). */
00098 };
00099 
00100 /* Motor Control Component. */
00101 L6474 *motor;
00102 
00103 
00104 /* Functions -----------------------------------------------------------------*/
00105 
00106 /**
00107  * @brief  This is an example of user handler for the flag interrupt.
00108  * @param  None
00109  * @retval None
00110  * @note   If needed, implement it, and then attach and enable it:
00111  *           + motor->attach_flag_irq(&flag_irq_handler);
00112  *           + motor->enable_flag_irq();
00113  *         To disable it:
00114  *           + motor->disble_flag_irq();
00115  */
00116 void flag_irq_handler(void)
00117 {
00118     /* Set ISR flag. */
00119     motor->isr_flag = TRUE;
00120 
00121     /* Get the value of the status register. */
00122     unsigned int status = motor->get_status();
00123 
00124     /* Check NOTPERF_CMD flag: if set, the command received by SPI can't be performed. */
00125     /* This often occures when a command is sent to the L6474 while it is not in HiZ state. */
00126     if ((status & L6474_STATUS_NOTPERF_CMD) == L6474_STATUS_NOTPERF_CMD) {
00127         printf("    WARNING: \"FLAG\" interrupt triggered. Non-performable command detected when updating L6474's registers while not in HiZ state.\r\n");
00128     }
00129     
00130     /* Reset ISR flag. */
00131     motor->isr_flag = FALSE;
00132 }
00133 
00134 
00135 /* Main ----------------------------------------------------------------------*/
00136 
00137 int main()
00138 {
00139     /*----- Initialization. -----*/
00140 
00141     /* Initializing SPI bus. */
00142     DevSPI dev_spi(D11, D12, D13);
00143 
00144     /* Initializing Motor Control Component. */
00145     motor = new L6474(D2, D8, D7, D9, D10, dev_spi);
00146     if (motor->init(&init) != COMPONENT_OK) {
00147         exit(EXIT_FAILURE);
00148     }
00149 
00150     /* Attaching and enabling interrupt handlers. */
00151     motor->attach_flag_irq(&flag_irq_handler);
00152     motor->enable_flag_irq();
00153 
00154     /* Printing to the console. */
00155     printf("Motor Control Application Example for 1 Motor\r\n\n");
00156 
00157 
00158     /*----- Moving. -----*/
00159 
00160     /* Printing to the console. */
00161     printf("--> Moving forward %d steps.\r\n", STEPS_1);
00162 
00163     /* Moving N steps in the forward direction. */
00164     motor->move(StepperMotor::FWD, STEPS_1);
00165 
00166     /* Waiting while the motor is active. */
00167     motor->wait_while_active();
00168 
00169     /* Getting current position. */
00170     int position = motor->get_position();
00171     
00172     /* Printing to the console. */
00173     printf("    Position: %d.\r\n", position);
00174 
00175     /* Waiting. */
00176     wait_ms(DELAY_1);
00177 
00178 
00179     /*----- Changing the motor setting. -----*/
00180 
00181     /* Printing to the console. */
00182     printf("--> Setting Torque Regulation Current to 500[mA].\r\n");
00183 
00184     /* Increasing the torque regulation current to 500[mA]. */
00185     motor->set_parameter(L6474_TVAL, 500);
00186 
00187     /* Printing to the console. */
00188     printf("--> Doubling the microsteps.\r\n");
00189 
00190     /* Doubling the microsteps. */
00191     if (!motor->set_step_mode((StepperMotor::step_mode_t) STEP_MODE_1_16)) {
00192         printf("    Step Mode not allowed.\r\n");
00193     }
00194 
00195     /* Waiting. */
00196     wait_ms(DELAY_1);
00197 
00198     /* Printing to the console. */
00199     printf("--> Setting Home.\r\n");
00200 
00201     /* Setting the current position to be the home position. */
00202     motor->set_home();
00203 
00204     /* Getting current position. */
00205     position = motor->get_position();
00206     
00207     /* Printing to the console. */
00208     printf("    Position: %d.\r\n", position);
00209     
00210     /* Waiting. */
00211     wait_ms(DELAY_2);
00212 
00213 
00214     /*----- Moving. -----*/
00215     
00216     /* Printing to the console. */
00217     printf("--> Moving backward %d steps.\r\n", STEPS_1);
00218 
00219     /* Moving N steps in the backward direction. */
00220     motor->move(StepperMotor::BWD, STEPS_1);
00221     
00222     /* Waiting while the motor is active. */
00223     motor->wait_while_active();
00224 
00225     /* Getting current position. */
00226     position = motor->get_position();
00227     
00228     /* Printing to the console. */
00229     printf("    Position: %d.\r\n", position);
00230 
00231     /* Waiting. */
00232     wait_ms(DELAY_1);
00233 
00234 
00235     /*----- Going to a specified position. -----*/
00236 
00237     /* Printing to the console. */
00238     printf("--> Going to position %d.\r\n", STEPS_1);
00239     
00240     /* Requesting to go to a specified position. */
00241     motor->go_to(STEPS_1);
00242     
00243     /* Waiting while the motor is active. */
00244     motor->wait_while_active();
00245 
00246     /* Getting current position. */
00247     position = motor->get_position();
00248     
00249     /* Printing to the console. */
00250     printf("    Position: %d.\r\n", position);
00251     
00252     /* Waiting. */
00253     wait_ms(DELAY_2);
00254 
00255     
00256     /*----- Going Home. -----*/
00257 
00258     /* Printing to the console. */
00259     printf("--> Going Home.\r\n");
00260     
00261     /* Requesting to go to home. */
00262     motor->go_home();
00263     
00264     /* Waiting while the motor is active. */
00265     motor->wait_while_active();
00266 
00267     /* Getting current position. */
00268     position = motor->get_position();
00269 
00270     /* Printing to the console. */
00271     printf("    Position: %d.\r\n", position);
00272 
00273     /* Waiting. */
00274     wait_ms(DELAY_2);
00275 
00276 
00277     /*----- Running. -----*/
00278 
00279     /* Printing to the console. */
00280     printf("--> Running backward for %d seconds.\r\n", DELAY_3 / 1000);
00281 
00282     /* Requesting to run backward. */
00283     motor->run(StepperMotor::BWD);
00284 
00285     /* Waiting. */
00286     wait_ms(DELAY_3);
00287 
00288     /* Getting current speed. */
00289     int speed = motor->get_speed();
00290 
00291     /* Printing to the console. */
00292     printf("    Speed: %d.\r\n", speed);
00293 
00294     /*----- Increasing the speed while running. -----*/
00295 
00296     /* Printing to the console. */
00297     printf("--> Increasing the speed while running again for %d seconds.\r\n", DELAY_3 / 1000);
00298 
00299     /* Increasing the speed. */
00300     motor->set_max_speed(SPEED_1);
00301 
00302     /* Waiting. */
00303     wait_ms(DELAY_3);
00304 
00305     /* Getting current speed. */
00306     speed = motor->get_speed();
00307 
00308     /* Printing to the console. */
00309     printf("    Speed: %d.\r\n", speed);
00310 
00311 
00312     /*----- Decreasing the speed while running. -----*/
00313 
00314     /* Printing to the console. */
00315     printf("--> Decreasing the speed while running again for %d seconds.\r\n", DELAY_4 / 1000);
00316 
00317     /* Decreasing the speed. */
00318     motor->set_max_speed(SPEED_2);
00319 
00320     /* Waiting. */
00321     wait_ms(DELAY_4);
00322 
00323     /* Getting current speed. */
00324     speed = motor->get_speed();
00325 
00326     /* Printing to the console. */
00327     printf("    Speed: %d.\r\n", speed);
00328 
00329 
00330     /*----- Hard Stop. -----*/
00331 
00332     /* Printing to the console. */
00333     printf("--> Hard Stop.\r\n");
00334 
00335     /* Requesting to immediatly stop. */
00336     motor->hard_stop();
00337 
00338     /* Waiting while the motor is active. */
00339     motor->wait_while_active();
00340 
00341     /* Waiting. */
00342     wait_ms(DELAY_2);
00343 
00344 
00345     /*----- Infinite Loop. -----*/
00346 
00347     /* Printing to the console. */
00348     printf("--> Infinite Loop...\r\n");
00349 
00350     /* Setting the current position to be the home position. */
00351     motor->set_home();
00352 
00353     /* Infinite Loop. */
00354     while (true) {
00355         /* Requesting to go to a specified position. */
00356         motor->go_to(STEPS_1 >> 1);
00357 
00358         /* Waiting while the motor is active. */
00359         motor->wait_while_active();
00360 
00361         /* Requesting to go to a specified position. */
00362         motor->go_to(- (STEPS_1 >> 1));
00363 
00364         /* Waiting while the motor is active. */
00365         motor->wait_while_active();
00366     }
00367 }