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:
2015-11-20
Revision:
0:5148e9486cf2
Child:
1:9f1974b0960d

File content as of revision 0:5148e9486cf2:

/**
 ******************************************************************************
 * @file    main.cpp
 * @author  Davide Aliprandi / AST
 * @version V1.0.0
 * @date    November 4th, 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"

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


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

/* Number of movements per revolution. */
#define MPR_1 4
#define MPR_2 8

/* Delay in milliseconds. */
#define DELAY_1 500
#define DELAY_2 2000
#define DELAY_3 5000


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

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


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

int main()
{
    /* Led. */
    DigitalOut led(LED1);

    /* Initializing SPI bus. */
    DevSPI dev_spi(D11, D12, D3);

    /* Initializing Motor Control Expansion Board. */
    x_nucleo_ihm02a1 = X_NUCLEO_IHM02A1::Instance(A4, D4, A2, &dev_spi);

    /* Building a list of motors. */
    L6470 *motors[L6470DAISYCHAINSIZE] = {x_nucleo_ihm02a1->l6470_0, x_nucleo_ihm02a1->l6470_1};

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

    /* Main Loop. */
    while(true)
    {
        /*----- 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 < 2; m++)
            for (int i = 0; i < MPR_1; i++)
            {
                /* Computing the number of steps. */
                int steps = (int) (((int) X_NUCLEO_IHM02A1::MotorParameterInitData[0][m].fullstepsperrevolution * pow(2.0f, X_NUCLEO_IHM02A1::MotorParameterInitData[0][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);


        /*----- 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 < 2; m++)
            motors[m]->PrepareRun(StepperMotor::BWD, 10000);

        /* Performing the action on each motor at the same time. */
        for (int m = 0; m < 2; m++)
            motors[m]->PerformAction();

        /* Waiting. */
        wait_ms(DELAY_3);


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

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

        /* Preparing each motor to perform a hard stop. */
        for (int m = 0; m < 2; m++)
            motors[m]->PrepareHardStop();

        /* Performing the action on each motor at the same time. */
        for (int m = 0; m < 2; m++)
            motors[m]->PerformAction();

        /* 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 < 2; m++)
            for (int i = 0; i < MPR_2; i++)
            {
                /* Computing the number of steps. */
                int steps = (int) (((int) X_NUCLEO_IHM02A1::MotorParameterInitData[0][m].fullstepsperrevolution * pow(2.0f, X_NUCLEO_IHM02A1::MotorParameterInitData[0][m].step_sel)) / MPR_2);

                /* 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 < 2; m++)
            motors[m]->PrepareHardHiZ();

        /* Performing the action on each motor at the same time. */
        for (int m = 0; m < 2; m++)
            motors[m]->PerformAction();

        /* Waiting. */
        wait_ms(DELAY_2);


        /*----- Led Blinking. -----*/
        
        /* Led Blinking. */
        led = 1;
        wait_ms(DELAY_2);
        led = 0;
    }
}