Simple test application for the STMicroelectronics X-NUCLEO-IHM02A1 Stepper Motor Control Expansion Board, built against mbed OS.

Dependencies:   X_NUCLEO_IHM02A1

Fork of HelloWorld_IHM02A1 by ST

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.

Revision:
1:9f1974b0960d
Parent:
0:5148e9486cf2
Child:
2:41eeee48951b
--- a/main.cpp	Fri Nov 20 18:10:04 2015 +0000
+++ b/main.cpp	Wed Nov 25 12:00:34 2015 +0000
@@ -4,10 +4,8 @@
  * @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.
+ * @brief   mbed test application for the STMicrolectronics X-NUCLEO-IHM02A1
+ *          Motor Control Expansion Board: control of 2 motors.
  ******************************************************************************
  * @attention
  *
@@ -55,10 +53,13 @@
 
 /* Number of movements per revolution. */
 #define MPR_1 4
-#define MPR_2 8
+
+/* Number of steps. */
+#define STEPS_1 100000
+#define STEPS_2 200000
 
 /* Delay in milliseconds. */
-#define DELAY_1 500
+#define DELAY_1 1000
 #define DELAY_2 2000
 #define DELAY_3 5000
 
@@ -73,132 +74,239 @@
 
 int main()
 {
-    /* Led. */
-    DigitalOut led(LED1);
+    /*----- Initialization. -----*/
+
 
     /* 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);
+    x_nucleo_ihm02a1 = X_NUCLEO_IHM02A1::Instance(A4, A5, D4, A2, &dev_spi);
 
-    /* Building a list of motors. */
-    L6470 *motors[L6470DAISYCHAINSIZE] = {x_nucleo_ihm02a1->l6470_0, x_nucleo_ihm02a1->l6470_1};
+    /* 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");
 
-    /* Main Loop. */
-    while(true)
-    {
-        /*----- Doing a full revolution on each motor, one after the other. -----*/
+
+    /*----- 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);
 
-        /* Printing to the console. */
-        printf("--> Doing a full revolution on each motor, one after the other.\r\n");
+    /* 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);
 
-        /* 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);
+    /* 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");
 
-                /* Moving. */
-                motors[m]->Move(StepperMotor::FWD, steps);
-                
-                /* Waiting while active. */
-                motors[m]->WaitWhileActive();
+    /* 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);
-            }
+    /* 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);
 
-        /* Waiting. */
-        wait_ms(DELAY_2);
+    /* Printing to the console. */
+    printf("--> Going to marked position.\r\n");
 
+    /* Going to marked position. */
+    motors[0]->GoMark();
+    
+    /* Waiting while active. */
+    motors[0]->WaitWhileActive();
 
-        /*----- Running together for a certain amount of time. -----*/
+    /* Waiting. */
+    wait_ms(DELAY_1);
 
-        /* Printing to the console. */
-        printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000);
+    /* Getting the current position. */
+    position = motors[0]->GetPosition();
+    
+    /* Printing to the console. */
+    printf("--> Getting the current position: %d\r\n", position);
 
-        /* Preparing each motor to perform a run at a specified speed. */
-        for (int m = 0; m < 2; m++)
-            motors[m]->PrepareRun(StepperMotor::BWD, 10000);
+    /* Waiting. */
+    wait_ms(DELAY_1);
+
+    /* Printing to the console. */
+    printf("--> Going to home position.\r\n");
 
-        /* Performing the action on each motor at the same time. */
-        for (int m = 0; m < 2; m++)
-            motors[m]->PerformAction();
+    /* Going to home position. */
+    motors[0]->GoHome();
+    
+    /* Waiting while active. */
+    motors[0]->WaitWhileActive();
+
+    /* Waiting. */
+    wait_ms(DELAY_1);
 
-        /* Waiting. */
-        wait_ms(DELAY_3);
+    /* 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_2);
 
 
-        /*----- Hard Stop. -----*/
+    /*----- Running together for a certain amount of time. -----*/
+
+    /* Printing to the console. */
+    printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000);
 
-        /* Printing to the console. */
-        printf("--> Hard Stop.\r\n");
+    /* Preparing each motor to perform a run at a specified speed. */
+    for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
+        motors[m]->PrepareRun(StepperMotor::BWD, 400);
 
-        /* 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. */
+    x_nucleo_ihm02a1->PerformPreparedActions();
 
-        /* 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);
+
+
+    /*----- Increasing the speed while running. -----*/
 
-        /* Waiting. */
-        wait_ms(DELAY_2);
-        
+    /* Preparing each motor to perform a run at a specified speed. */
+    for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
+        motors[m]->PrepareGetSpeed();
 
-        /*----- Doing a full revolution on each motor, one after the other. -----*/
+    /* Performing the action on each motor at the same time. */
+    uint32_t* results = x_nucleo_ihm02a1->PerformPreparedActions();
 
-        /* Printing to the console. */
-        printf("--> Doing a full revolution on each motor, one after the other.\r\n");
+    /* 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.\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);
+    /* 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();
 
-                /* Moving. */
-                motors[m]->Move(StepperMotor::FWD, steps);
+    /* Waiting. */
+    wait_ms(DELAY_3);
 
-                /* Waiting while active. */
-                motors[m]->WaitWhileActive();
+    /* Preparing each motor to perform a run at a specified speed. */
+    for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
+        motors[m]->PrepareGetSpeed();
 
-                /* Waiting. */
-                wait_ms(DELAY_1);
-            }
+    /* Performing the action on each motor at the same time. */
+    results = x_nucleo_ihm02a1->PerformPreparedActions();
 
-        /* Waiting. */
-        wait_ms(DELAY_2);
+    /* Printing to the console. */
+    printf("    Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
+
+    /* Waiting. */
+    wait_ms(DELAY_1);
 
 
-        /*----- High Impedance State. -----*/
+    /*----- Hard Stop. -----*/
 
-        /* Printing to the console. */
-        printf("--> High Impedance State.\r\n");
+    /* Printing to the console. */
+    printf("--> Hard Stop.\r\n");
 
-        /* Preparing each motor to set High Impedance State. */
-        for (int m = 0; m < 2; m++)
-            motors[m]->PrepareHardHiZ();
+    /* 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. */
-        for (int m = 0; m < 2; m++)
-            motors[m]->PerformAction();
+    /* Performing the action on each motor at the same time. */
+    x_nucleo_ihm02a1->PerformPreparedActions();
 
-        /* Waiting. */
-        wait_ms(DELAY_2);
+    /* Waiting. */
+    wait_ms(DELAY_2);
 
 
-        /*----- Led Blinking. -----*/
-        
-        /* Led Blinking. */
-        led = 1;
-        wait_ms(DELAY_2);
-        led = 0;
-    }
+    /*----- 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) 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);
+
+
+    /*----- 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);
 }
\ No newline at end of file