Simple program featuring a few API functions usage of the X_NUCLEO_IHM03A1 library.
Dependencies: X_NUCLEO_IHM03A1 mbed
Fork of HelloWorld_IHM03A1 by
This application provides a simple example of usage of the X-NUCLEO-IHM03A1 High Power Stepper Motor Control Expansion Board.
It shows how to use one stepper motor connected to the board by:
- moving the rotor a specific number of steps or to a specific position, with a given speed value, direction of rotation;
- monitoring the motor status;
- handling an interrupt triggered by the motor driver;
- getting and setting a motor driver parameter.
For the hardware configuration of the expansion board, please refer to the X_NUCLEO_IHM03A1 home web page.
More API usage is available in IHM03A1_ExampleFor1Motor and IHM03A1_ExampleFor3Motors programs.
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>© 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****/