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.
main.cpp
- Committer:
- Davidroid
- Date:
- 2017-07-14
- Revision:
- 5:f5ceb23e3590
- Parent:
- 2:f20ed233a489
File content as of revision 5:f5ceb23e3590:
/** ****************************************************************************** * @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.h" /* Variables -----------------------------------------------------------------*/ /* Initialization parameters of the motor connected to the expansion board. */ /* Current mode. */ powerstep01_init_u_t init = { /* 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->attach_flag_irq(&my_flag_irq_handler); * + motor->enable_flag_irq(); * To disable it: * + motor->DisbleFlagIRQ(); */ void my_flag_irq_handler(void) { /* Set ISR flag. */ motor->isrFlag = TRUE; /* Get the value of the status register. */ unsigned int statusRegister = motor->get_status(); 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->attach_error_handler(&my_error_handler); */ void my_error_handler(uint16_t error) { /* Printing to the console. */ printf("Error %d detected\r\n\n", error); /* Infinite loop */ while (true) { } } /* 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(&init) != COMPONENT_OK) { exit(EXIT_FAILURE); } /* Attaching and enabling an interrupt handler. */ motor->attach_flag_irq(&my_flag_irq_handler); motor->enable_flag_irq(); /* Attaching an error handler */ motor->attach_error_handler(&my_error_handler); /* 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->wait_while_active(); /* 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->go_to(-6400); /* Wait for the motor ends moving */ motor->wait_while_active(); /* Get current position of device and print to the console */ printf(" Position: %d.\r\n", motor->get_position()); /* 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->go_home(); /* Wait for the motor ends moving */ motor->wait_while_active(); /* 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->read_status_register() & 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->get_analog_value(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->soft_hiz(); /* Wait for the motor of device ends moving */ motor->wait_while_active(); /* Wait for 2 seconds */ wait_ms(2000); /* Infinite Loop. */ printf("--> Infinite Loop...\r\n"); while (true) { /* Request device to go position -6400 */ motor->go_to(-6400); /* Waiting while the motor is active. */ motor->wait_while_active(); /* Request device to go position 6400 */ motor->go_to(6400); /* Waiting while the motor is active. */ motor->wait_while_active(); } } /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/