ST / Mbed 2 deprecated HelloWorld_IHM02A1

Simple test application for the STMicroelectronics X-NUCLEO-IHM02A1 Stepper Motor Control Expansion Board.

Dependencies:   X_NUCLEO_IHM02A1 mbed

Fork of HelloWorld_IHM02A1 by ST Expansion SW Team

Motor Control with the X-NUCLEO-IHM02A1 Expansion Board

This application provides a simple example of usage of the X-NUCLEO-IHM02A1 Stepper Motor Control Expansion Board.
It shows how to use two stepper motors connected in daisy chain configuration to the board, moving the rotors to specific positions, with given speed values, direction of rotations, etc.

main.cpp

Committer:
Davidroid
Date:
2017-03-09
Revision:
23:073b26366d03
Parent:
22:e81ccf73bc5d
Child:
24:d1f487cb02ba

File content as of revision 23:073b26366d03:

/**
 ******************************************************************************
 * @file    main.cpp
 * @author  Davide Aliprandi, STMicroelectronics
 * @version V1.0.0
 * @date    November 4th, 2015
 * @brief   mbed test application for the STMicroelectronics X-NUCLEO-IHM02A1
 *          Motor Control Expansion Board: control of 2 motors.
 ******************************************************************************
 * @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"

/* Expansion Board specific header files. */
#include "x_nucleo_ihm02a1_class.h"


/* Definitions ---------------------------------------------------------------*/

/* Number of movements per revolution. */
#define MPR_1 4

/* Number of steps. */
#define STEPS_1 (400 * 128)   /* 1 revolution given a 400 steps motor configured at 1/128 microstep mode. */
#define STEPS_2 (STEPS_1 * 2)

/* Delay in milliseconds. */
#define DELAY_1 1000
#define DELAY_2 2000
#define DELAY_3 5000


/* Variables -----------------------------------------------------------------*/

/* Motor Control Expansion Board. */
X_NUCLEO_IHM02A1 *x_nucleo_ihm02a1;

/* Initialization parameters of the motors connected to the expansion board. */
L6470_Init_t init[L6470DAISYCHAINSIZE] = {
    /* First Motor. */
    {
        9.0,                           /* Motor supply voltage in V. */
        400,                           /* Min number of steps per revolution for the motor. */
        1.7,                           /* Max motor phase voltage in A. */
        3.06,                          /* Max motor phase voltage in V. */
        300.0,                         /* Motor initial speed [step/s]. */
        500.0,                         /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
        500.0,                         /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
        992.0,                         /* Motor maximum speed [step/s]. */
        0.0,                           /* Motor minimum speed [step/s]. */
        602.7,                         /* Motor full-step speed threshold [step/s]. */
        3.06,                          /* Holding kval [V]. */
        3.06,                          /* Constant speed kval [V]. */
        3.06,                          /* Acceleration starting kval [V]. */
        3.06,                          /* Deceleration starting kval [V]. */
        61.52,                         /* Intersect speed for bemf compensation curve slope changing [step/s]. */
        392.1569e-6,                   /* Start slope [s/step]. */
        643.1372e-6,                   /* Acceleration final slope [s/step]. */
        643.1372e-6,                   /* Deceleration final slope [s/step]. */
        0,                             /* Thermal compensation factor (range [0, 15]). */
        3.06 * 1000 * 1.10,            /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
        3.06 * 1000 * 1.00,            /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
        StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
        0xFF,                          /* Alarm conditions enable. */
        0x2E88                         /* Ic configuration. */
    },

    /* Second Motor. */
    {
        9.0,                           /* Motor supply voltage in V. */
        400,                           /* Min number of steps per revolution for the motor. */
        1.7,                           /* Max motor phase voltage in A. */
        3.06,                          /* Max motor phase voltage in V. */
        300.0,                         /* Motor initial speed [step/s]. */
        500.0,                         /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
        500.0,                         /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
        992.0,                         /* Motor maximum speed [step/s]. */
        0.0,                           /* Motor minimum speed [step/s]. */
        602.7,                         /* Motor full-step speed threshold [step/s]. */
        3.06,                          /* Holding kval [V]. */
        3.06,                          /* Constant speed kval [V]. */
        3.06,                          /* Acceleration starting kval [V]. */
        3.06,                          /* Deceleration starting kval [V]. */
        61.52,                         /* Intersect speed for bemf compensation curve slope changing [step/s]. */
        392.1569e-6,                   /* Start slope [s/step]. */
        643.1372e-6,                   /* Acceleration final slope [s/step]. */
        643.1372e-6,                   /* Deceleration final slope [s/step]. */
        0,                             /* Thermal compensation factor (range [0, 15]). */
        3.06 * 1000 * 1.10,            /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
        3.06 * 1000 * 1.00,            /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
        StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
        0xFF,                          /* Alarm conditions enable. */
        0x2E88                         /* Ic configuration. */
    }
};


/* Main ----------------------------------------------------------------------*/

int main()
{
    /*----- Initialization. -----*/

    /* Initializing SPI bus. */
#ifdef TARGET_STM32F429
    DevSPI dev_spi(D11, D12, D13);
#else
    DevSPI dev_spi(D11, D12, D3);
#endif

    /* Initializing Motor Control Expansion Board. */
    x_nucleo_ihm02a1 = new X_NUCLEO_IHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi);

    /* Building a list of motor control components. */
    L6470 **motors = x_nucleo_ihm02a1->GetComponents();

    /* Printing to the console. */
    printf("Motor Control Application Example for 2 Motors\r\n\n");


    /*----- Setting home and marke positions, getting positions, and going to positions. -----*/

    /* Printing to the console. */
    printf("--> Setting home position.\r\n");

    /* Setting the home position. */
    motors[0]->SetHome();

    /* Waiting. */
    wait_ms(DELAY_1);

    /* Getting the current position. */
    int position = motors[0]->GetPosition();

    /* Printing to the console. */
    printf("--> Getting the current position: %d\r\n", position);

    /* Waiting. */
    wait_ms(DELAY_1);

    /* Printing to the console. */
    printf("--> Moving forward %d steps.\r\n", STEPS_1);

    /* Moving. */
    motors[0]->Move(StepperMotor::FWD, STEPS_1);

    /* Waiting while active. */
    motors[0]->WaitWhileActive();

    /* Getting the current position. */
    position = motors[0]->GetPosition();
    
    /* Printing to the console. */
    printf("--> Getting the current position: %d\r\n", position);

    /* Printing to the console. */
    printf("--> Marking the current position.\r\n");

    /* Marking the current position. */
    motors[0]->SetMark();

    /* Waiting. */
    wait_ms(DELAY_1);

    /* Printing to the console. */
    printf("--> Moving backward %d steps.\r\n", STEPS_2);

    /* Moving. */
    motors[0]->Move(StepperMotor::BWD, STEPS_2);

    /* Waiting while active. */
    motors[0]->WaitWhileActive();

    /* Waiting. */
    wait_ms(DELAY_1);

    /* Getting the current position. */
    position = motors[0]->GetPosition();
    
    /* Printing to the console. */
    printf("--> Getting the current position: %d\r\n", position);

    /* Waiting. */
    wait_ms(DELAY_1);

    /* Printing to the console. */
    printf("--> Going to marked position.\r\n");

    /* Going to marked position. */
    motors[0]->GoMark();
    
    /* Waiting while active. */
    motors[0]->WaitWhileActive();

    /* Waiting. */
    wait_ms(DELAY_1);

    /* Getting the current position. */
    position = motors[0]->GetPosition();
    
    /* Printing to the console. */
    printf("--> Getting the current position: %d\r\n", position);

    /* Waiting. */
    wait_ms(DELAY_1);

    /* Printing to the console. */
    printf("--> Going to home position.\r\n");

    /* Going to home position. */
    motors[0]->GoHome();
    
    /* Waiting while active. */
    motors[0]->WaitWhileActive();

    /* Waiting. */
    wait_ms(DELAY_1);

    /* Getting the current position. */
    position = motors[0]->GetPosition();
    
    /* Printing to the console. */
    printf("--> Getting the current position: %d\r\n", position);

    /* Waiting. */
    wait_ms(DELAY_1);

    /* Printing to the console. */
    printf("--> Halving the microsteps.\r\n");

    /* Halving the microsteps. */
    init[0].step_sel = (init[0].step_sel > 0 ? init[0].step_sel -  1 : init[0].step_sel);
    if (!motors[0]->SetStepMode((StepperMotor::step_mode_t) init[0].step_sel)) {
        printf("    Step Mode not allowed.\r\n");
    }

    /* Waiting. */
    wait_ms(DELAY_1);

    /* Printing to the console. */
    printf("--> Setting home position.\r\n");

    /* Setting the home position. */
    motors[0]->SetHome();

    /* Waiting. */
    wait_ms(DELAY_1);

    /* Getting the current position. */
    position = motors[0]->GetPosition();
    
    /* Printing to the console. */
    printf("--> Getting the current position: %d\r\n", position);

    /* Waiting. */
    wait_ms(DELAY_1);

    /* Printing to the console. */
    printf("--> Moving forward %d steps.\r\n", STEPS_1);

    /* Moving. */
    motors[0]->Move(StepperMotor::FWD, STEPS_1);

    /* Waiting while active. */
    motors[0]->WaitWhileActive();

    /* Getting the current position. */
    position = motors[0]->GetPosition();
    
    /* Printing to the console. */
    printf("--> Getting the current position: %d\r\n", position);

    /* Printing to the console. */
    printf("--> Marking the current position.\r\n");

    /* Marking the current position. */
    motors[0]->SetMark();

    /* Waiting. */
    wait_ms(DELAY_2);


    /*----- Running together for a certain amount of time. -----*/

    /* Printing to the console. */
    printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000);

    /* Preparing each motor to perform a run at a specified speed. */
    for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
        motors[m]->PrepareRun(StepperMotor::BWD, 400);
    }

    /* Performing the action on each motor at the same time. */
    x_nucleo_ihm02a1->PerformPreparedActions();

    /* Waiting. */
    wait_ms(DELAY_3);


    /*----- Increasing the speed while running. -----*/

    /* Preparing each motor to perform a run at a specified speed. */
    for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
        motors[m]->PrepareGetSpeed();
    }

    /* Performing the action on each motor at the same time. */
    uint32_t* results = x_nucleo_ihm02a1->PerformPreparedActions();

    /* Printing to the console. */
    printf("    Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);

    /* Printing to the console. */
    printf("--> Doublig the speed while running again for %d seconds.\r\n", DELAY_3 / 1000);

    /* Preparing each motor to perform a run at a specified speed. */
    for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
        motors[m]->PrepareRun(StepperMotor::BWD, results[m] << 1);
    }

    /* Performing the action on each motor at the same time. */
    results = x_nucleo_ihm02a1->PerformPreparedActions();

    /* Waiting. */
    wait_ms(DELAY_3);

    /* Preparing each motor to perform a run at a specified speed. */
    for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
        motors[m]->PrepareGetSpeed();
    }

    /* Performing the action on each motor at the same time. */
    results = x_nucleo_ihm02a1->PerformPreparedActions();

    /* Printing to the console. */
    printf("    Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);

    /* Waiting. */
    wait_ms(DELAY_1);


    /*----- Hard Stop. -----*/

    /* Printing to the console. */
    printf("--> Hard Stop.\r\n");

    /* Preparing each motor to perform a hard stop. */
    for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
        motors[m]->PrepareHardStop();
    }

    /* Performing the action on each motor at the same time. */
    x_nucleo_ihm02a1->PerformPreparedActions();

    /* Waiting. */
    wait_ms(DELAY_2);


    /*----- Doing a full revolution on each motor, one after the other. -----*/

    /* Printing to the console. */
    printf("--> Doing a full revolution on each motor, one after the other.\r\n");

    /* Doing a full revolution on each motor, one after the other. */
    for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
        for (int i = 0; i < MPR_1; i++) {
            /* Computing the number of steps. */
            int steps = (int) (((int) init[m].fullstepsperrevolution * pow(2.0f, init[m].step_sel)) / MPR_1);

            /* Moving. */
            motors[m]->Move(StepperMotor::FWD, steps);
            
            /* Waiting while active. */
            motors[m]->WaitWhileActive();

            /* Waiting. */
            wait_ms(DELAY_1);
        }
    }

    /* Waiting. */
    wait_ms(DELAY_2);


    /*----- High Impedance State. -----*/

    /* Printing to the console. */
    printf("--> High Impedance State.\r\n");

    /* Preparing each motor to set High Impedance State. */
    for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
        motors[m]->PrepareHardHiZ();
    }

    /* Performing the action on each motor at the same time. */
    x_nucleo_ihm02a1->PerformPreparedActions();

    /* Waiting. */
    wait_ms(DELAY_2);
}