Diff: main.cpp

Revision:

0:c44075c08a18

Child:

2:f20ed233a489

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Apr 13 13:30:28 2016 +0000
@@ -0,0 +1,303 @@
+/**
+ ******************************************************************************
+ * @file    main.cpp
+ * @author  IPC Rennes
+ * @version V1.0.0
+ * @date    April 13th, 2016
+ * @brief   mbed simple application for the STMicroelectronics X-NUCLEO-IHM03A1
+ *          Motor Control Expansion Board: control of 1 motor.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2016 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"
+
+/* Component specific header files. */
+#include "powerstep01_class.h"
+
+/* Variables -----------------------------------------------------------------*/
+
+/* Initialization parameters of the motor connected to the expansion board. */
+/* Current mode. */
+powerstep01_Init_u_t initDeviceParameters =
+{
+  /* common parameters */
+  .cm.cp.cmVmSelection = POWERSTEP01_CM_VM_CURRENT, // enum powerstep01_CmVm_t
+  582, // Acceleration rate in step/s2, range 14.55 to 59590 steps/s^2
+  582, // Deceleration rate in step/s2, range 14.55 to 59590 steps/s^2
+  488, // Maximum speed in step/s, range 15.25 to 15610 steps/s
+  0, // Minimum speed in step/s, range 0 to 976.3 steps/s
+  POWERSTEP01_LSPD_OPT_OFF, // Low speed optimization bit, enum powerstep01_LspdOpt_t
+  244.16, // Full step speed in step/s, range 7.63 to 15625 steps/s
+  POWERSTEP01_BOOST_MODE_OFF, // Boost of the amplitude square wave, enum powerstep01_BoostMode_t
+  281.25, // Overcurrent threshold settings via enum powerstep01_OcdTh_t
+  STEP_MODE_1_16, // Step mode settings via enum motorStepMode_t
+  POWERSTEP01_SYNC_SEL_DISABLED, // Synch. Mode settings via enum powerstep01_SyncSel_t
+  (POWERSTEP01_ALARM_EN_OVERCURRENT|
+   POWERSTEP01_ALARM_EN_THERMAL_SHUTDOWN|
+   POWERSTEP01_ALARM_EN_THERMAL_WARNING|
+   POWERSTEP01_ALARM_EN_UVLO|
+   POWERSTEP01_ALARM_EN_STALL_DETECTION|
+   POWERSTEP01_ALARM_EN_SW_TURN_ON|
+   POWERSTEP01_ALARM_EN_WRONG_NPERF_CMD), // Alarm settings via bitmap enum powerstep01_AlarmEn_t
+  POWERSTEP01_IGATE_64mA, // Gate sink/source current via enum powerstep01_Igate_t 
+  POWERSTEP01_TBOOST_0ns, // Duration of the overboost phase during gate turn-off via enum powerstep01_Tboost_t
+  POWERSTEP01_TCC_500ns, // Controlled current time via enum powerstep01_Tcc_t
+  POWERSTEP01_WD_EN_DISABLE, // External clock watchdog, enum powerstep01_WdEn_t  
+  POWERSTEP01_TBLANK_375ns, // Duration of the blanking time via enum powerstep01_TBlank_t
+  POWERSTEP01_TDT_125ns, // Duration of the dead time via enum powerstep01_Tdt_t
+  /* current mode parameters */
+  328.12, // Hold torque in mV, range from 7.8mV to 1000 mV
+  328.12, // Running torque in mV, range from 7.8mV to 1000 mV 
+  328.12, // Acceleration torque in mV, range from 7.8mV to 1000 mV
+  328.12, // Deceleration torque in mV, range from 7.8mV to 1000 mV
+  POWERSTEP01_TOFF_FAST_8us, //Maximum fast decay time , enum powerstep01_ToffFast_t 
+  POWERSTEP01_FAST_STEP_12us, //Maximum fall step time , enum powerstep01_FastStep_t 
+  3.0, // Minimum on-time in us, range 0.5us to 64us
+  21.0, // Minimum off-time in us, range 0.5us to 64us 
+  POWERSTEP01_CONFIG_INT_16MHZ_OSCOUT_2MHZ, // Clock setting , enum powerstep01_ConfigOscMgmt_t
+  POWERSTEP01_CONFIG_SW_HARD_STOP, // External switch hard stop interrupt mode, enum powerstep01_ConfigSwMode_t
+  POWERSTEP01_CONFIG_TQ_REG_TVAL_USED, // External torque regulation enabling , enum powerstep01_ConfigEnTqReg_t
+  POWERSTEP01_CONFIG_VS_COMP_DISABLE, // Motor Supply Voltage Compensation enabling , enum powerstep01_ConfigEnVscomp_t 
+  POWERSTEP01_CONFIG_OC_SD_DISABLE, // Over current shutwdown enabling, enum powerstep01_ConfigOcSd_t
+  POWERSTEP01_CONFIG_UVLOVAL_LOW, // UVLO Threshold via powerstep01_ConfigUvLoVal_t
+  POWERSTEP01_CONFIG_VCCVAL_15V, // VCC Val, enum powerstep01_ConfigVccVal_t
+  POWERSTEP01_CONFIG_TSW_048us, // Switching period, enum powerstep01_ConfigTsw_t
+  POWERSTEP01_CONFIG_PRED_DISABLE // Predictive current enabling , enum powerstep01_ConfigPredEn_t 
+};
+
+/* Motor Control Component. */
+POWERSTEP01 *motor;
+
+/* Functions -----------------------------------------------------------------*/
+
+/**
+ * @brief  This is an example of user handler for the flag interrupt.
+ * @param  None
+ * @retval None
+ * @note   If needed, implement it, and then attach and enable it:
+ *           + motor->AttachFlagIRQ(&myFlagIRQHandler);
+ *           + motor->EnableFlagIRQ();
+ *         To disable it:
+ *           + motor->DisbleFlagIRQ();
+ */
+void myFlagIRQHandler(void)
+{
+  /* Set ISR flag. */
+  motor->isrFlag = TRUE;
+  /* Get the value of the status register. */
+  unsigned int statusRegister = motor->GetStatus();
+  printf("    WARNING: \"FLAG\" interrupt triggered.\r\n");
+  /* Check SW_F flag: if not set, the SW input is opened */
+  if ((statusRegister & POWERSTEP01_STATUS_SW_F )!=0)
+  {
+     printf("    SW closed (connected to ground).\r\n");
+  }
+  /* Check SW_EN bit */
+  if ((statusRegister & POWERSTEP01_STATUS_SW_EVN)==
+      POWERSTEP01_STATUS_SW_EVN)
+  {
+     printf("    SW turn_on event.\r\n");
+  }
+  /* Check Command Error flag: if set, the command received by SPI can't be */
+  /* performed. This occurs for instance when a move command is sent to the */
+  /* Powerstep01 while it is already running */
+  if ((statusRegister & POWERSTEP01_STATUS_CMD_ERROR)==
+      POWERSTEP01_STATUS_CMD_ERROR)
+  {
+    printf("    Non-performable command detected.\r\n");
+  }  
+  /* Check UVLO flag: if not set, there is an undervoltage lock-out */
+  if ((statusRegister & POWERSTEP01_STATUS_UVLO)==0)
+  {
+     printf("    undervoltage lock-out.\r\n"); 
+  }  
+  /* Check thermal STATUS flags: if  set, the thermal status is not normal */
+  if ((statusRegister & POWERSTEP01_STATUS_TH_STATUS)!=0)
+  {
+    //thermal status: 1: Warning, 2: Bridge shutdown, 3: Device shutdown
+    printf("    Thermal status: %d.\r\n", (statusRegister & POWERSTEP01_STATUS_TH_STATUS)>>11);
+  }    
+  /* Check OCD  flag: if not set, there is an overcurrent detection */
+  if ((statusRegister & POWERSTEP01_STATUS_OCD)==0)
+  {
+    printf("    Overcurrent detection.\r\n"); 
+  }
+  /* Reset ISR flag. */
+  motor->isrFlag = FALSE;
+}
+
+/**
+ * @brief  This is an example of error handler.
+ * @param[in] error Number of the error
+ * @retval None
+ * @note   If needed, implement it, and then attach it:
+ *           + motor->AttachErrorHandler(&myErrorHandler);
+ */
+void myErrorHandler(uint16_t error)
+{
+  /* Printing to the console. */
+  printf("Error %d detected\r\n\n", error);
+  
+  /* Infinite loop */
+  while(1)
+  {
+  }    
+}
+
+/* Main ----------------------------------------------------------------------*/
+
+int main()
+{
+  /* Printing to the console. */
+  printf("STARTING MAIN PROGRAM\r\n");
+  printf("    Reminder:\r\n");
+  printf("    The position unit is in agreement to the step mode.\r\n");
+  printf("    The speed, acceleration or deceleration unit\r\n");
+  printf("    do not depend on the step mode and the step unit is a full step.\r\n");
+    
+//----- Initialization 
+  /* Initializing SPI bus. */
+  DevSPI dev_spi(D11, D12, D13);
+
+  /* Initializing Motor Control Component. */
+  motor = new POWERSTEP01(D2, D4, D8, D9, D10, dev_spi);
+  if (motor->Init(&initDeviceParameters) != COMPONENT_OK) exit(EXIT_FAILURE);
+
+  /* Attaching and enabling an interrupt handler. */
+  motor->AttachFlagIRQ(&myFlagIRQHandler);
+  motor->EnableFlagIRQ();
+    
+  /* Attaching an error handler */
+  motor->AttachErrorHandler(&myErrorHandler);
+
+  /* Printing to the console. */
+  printf("Motor Control Application Example for 1 Motor\r\n");
+
+//----- Move of 16000 steps in the FW direction
+  printf("--> Moving forward 16000 steps.\r\n");
+  motor->Move(StepperMotor::FWD, 16000);
+
+  /* Waiting while the motor is active. */
+  motor->WaitWhileActive();
+
+  /* Wait for 2 seconds */  
+  wait_ms(2000);
+
+//----- Go to position -6400
+  printf("--> Go to position -6400 steps.\r\n");
+
+  /* Request device to go to position -6400 */
+  motor->GoTo(-6400);
+  
+  /* Wait for the motor ends moving */
+  motor->WaitWhileActive();
+
+  /* Get current position of device and print to the console */
+  printf("    Position: %d.\r\n", motor->GetPosition());
+  
+  /* Wait for 2 seconds */  
+  wait_ms(2000);
+
+//----- Go Home
+  /* Printing to the console. */
+  printf("--> Go to home position.\r\n");
+  
+  /* Request device to go to Home */
+  motor->GoHome();
+  
+  /* Wait for the motor ends moving */
+  motor->WaitWhileActive();
+  
+  /* Wait for 2 seconds */
+  wait_ms(2000);
+
+//----- Run the motor BACKWARD at 400 step/s
+  printf("--> Run the motor backward at 400 step/s.\r\n");
+  motor->Run(StepperMotor::BWD,400);
+
+//----- Get parameter example   
+  /* Wait for device reaches the targeted speed */
+  while((motor->ReadStatusRegister() & POWERSTEP01_STATUS_MOT_STATUS)!=
+        POWERSTEP01_STATUS_MOT_STATUS_CONST_SPD);
+ 
+  /* Record the reached speed in step/s and print to the console */
+  printf("    Reached Speed: %f step/s.\r\n", motor->GetAnalogValue(POWERSTEP01_SPEED));
+
+//----- Soft stopped required while running
+  printf("--> Soft stop requested.\r\n");
+ 
+  /* Request a soft stop of device and keep the power bridges enabled */
+  motor->SoftHiZ();
+
+  /* Wait for the motor of device ends moving */  
+  motor->WaitWhileActive();
+
+  /* Wait for 2 seconds */
+  wait_ms(2000);
+
+//----- Read inexistent register
+  printf("--> Try to read an inexistent register.\r\n");
+  /* Trying to read an inexistent register */
+  /* triggers the flag interrupt and call the myFlagIRQHandler */
+  motor->GetRawParameter(0x1F);
+
+//----- Changing a motor setting
+  printf("--> Set the reference voltage assigned to the torque regulation during acceleration to 500mV.\r\n");
+  motor->SetRawParameter(POWERSTEP01_TVAL_ACC, POWERSTEP01::Tval_RefVoltage_to_RegVal(500));
+  //Alternatively, the register value can be written directly as shown below:
+  //motor->SetRawParameter(POWERSTEP01_TVAL_ACC, 63);
+
+  //Print the new parameter value to the console
+  printf("--> New TVAL_ACC register value is 0x%x .\r\n",motor->GetRawParameter(POWERSTEP01_TVAL_ACC));
+  
+  /* Infinite Loop. */
+  printf("--> Infinite Loop...\r\n");
+  while (1)
+  {
+    /* Request device to go position -6400 */
+    motor->GoTo(-6400);
+
+    /* Waiting while the motor is active. */
+    motor->WaitWhileActive();
+
+    /* Request device to go position 6400 */
+    motor->GoTo(6400);
+ 
+    /* Waiting while the motor is active. */
+    motor->WaitWhileActive();
+  } 
+}
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/