main.cpp

00001 /**
00002  ******************************************************************************
00003  * @file    main.cpp
00004  * @author  IPC Rennes
00005  * @version V1.0.0
00006  * @date    April 13th, 2016
00007  * @brief   mbed simple application for the STMicroelectronics X-NUCLEO-IHM03A1
00008  *          Motor Control Expansion Board: control of 1 motor.
00009  ******************************************************************************
00010  * @attention
00011  *
00012  * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
00013  *
00014  * Redistribution and use in source and binary forms, with or without modification,
00015  * are permitted provided that the following conditions are met:
00016  *   1. Redistributions of source code must retain the above copyright notice,
00017  *      this list of conditions and the following disclaimer.
00018  *   2. Redistributions in binary form must reproduce the above copyright notice,
00019  *      this list of conditions and the following disclaimer in the documentation
00020  *      and/or other materials provided with the distribution.
00021  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00022  *      may be used to endorse or promote products derived from this software
00023  *      without specific prior written permission.
00024  *
00025  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00026  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00027  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00028  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00029  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00030  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00031  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00033  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00034  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00035  *
00036  ******************************************************************************
00037  */
00038 
00039 /* Includes ------------------------------------------------------------------*/
00040 
00041 /* mbed specific header files. */
00042 #include "mbed.h"
00043 
00044 /* Helper header files. */
00045 #include "DevSPI.h"
00046 
00047 /* Component specific header files. */
00048 #include "PowerStep01.h"
00049 
00050 /* Variables -----------------------------------------------------------------*/
00051 
00052 /* Initialization parameters of the motor connected to the expansion board. */
00053 /* Current mode. */
00054 powerstep01_init_u_t init =
00055 {
00056   /* common parameters */
00057   .cm.cp.cmVmSelection = POWERSTEP01_CM_VM_CURRENT, // enum powerstep01_CmVm_t
00058   582, // Acceleration rate in step/s2, range 14.55 to 59590 steps/s^2
00059   582, // Deceleration rate in step/s2, range 14.55 to 59590 steps/s^2
00060   488, // Maximum speed in step/s, range 15.25 to 15610 steps/s
00061   0, // Minimum speed in step/s, range 0 to 976.3 steps/s
00062   POWERSTEP01_LSPD_OPT_OFF, // Low speed optimization bit, enum powerstep01_LspdOpt_t
00063   244.16, // Full step speed in step/s, range 7.63 to 15625 steps/s
00064   POWERSTEP01_BOOST_MODE_OFF, // Boost of the amplitude square wave, enum powerstep01_BoostMode_t
00065   281.25, // Overcurrent threshold settings via enum powerstep01_OcdTh_t
00066   STEP_MODE_1_16, // Step mode settings via enum motorStepMode_t
00067   POWERSTEP01_SYNC_SEL_DISABLED, // Synch. Mode settings via enum powerstep01_SyncSel_t
00068   (POWERSTEP01_ALARM_EN_OVERCURRENT|
00069    POWERSTEP01_ALARM_EN_THERMAL_SHUTDOWN|
00070    POWERSTEP01_ALARM_EN_THERMAL_WARNING|
00071    POWERSTEP01_ALARM_EN_UVLO|
00072    POWERSTEP01_ALARM_EN_STALL_DETECTION|
00073    POWERSTEP01_ALARM_EN_SW_TURN_ON|
00074    POWERSTEP01_ALARM_EN_WRONG_NPERF_CMD), // Alarm settings via bitmap enum powerstep01_AlarmEn_t
00075   POWERSTEP01_IGATE_64mA, // Gate sink/source current via enum powerstep01_Igate_t 
00076   POWERSTEP01_TBOOST_0ns, // Duration of the overboost phase during gate turn-off via enum powerstep01_Tboost_t
00077   POWERSTEP01_TCC_500ns, // Controlled current time via enum powerstep01_Tcc_t
00078   POWERSTEP01_WD_EN_DISABLE, // External clock watchdog, enum powerstep01_WdEn_t  
00079   POWERSTEP01_TBLANK_375ns, // Duration of the blanking time via enum powerstep01_TBlank_t
00080   POWERSTEP01_TDT_125ns, // Duration of the dead time via enum powerstep01_Tdt_t
00081   /* current mode parameters */
00082   328.12, // Hold torque in mV, range from 7.8mV to 1000 mV
00083   328.12, // Running torque in mV, range from 7.8mV to 1000 mV 
00084   328.12, // Acceleration torque in mV, range from 7.8mV to 1000 mV
00085   328.12, // Deceleration torque in mV, range from 7.8mV to 1000 mV
00086   POWERSTEP01_TOFF_FAST_8us, //Maximum fast decay time , enum powerstep01_ToffFast_t 
00087   POWERSTEP01_FAST_STEP_12us, //Maximum fall step time , enum powerstep01_FastStep_t 
00088   3.0, // Minimum on-time in us, range 0.5us to 64us
00089   21.0, // Minimum off-time in us, range 0.5us to 64us 
00090   POWERSTEP01_CONFIG_INT_16MHZ_OSCOUT_2MHZ, // Clock setting , enum powerstep01_ConfigOscMgmt_t
00091   POWERSTEP01_CONFIG_SW_HARD_STOP, // External switch hard stop interrupt mode, enum powerstep01_ConfigSwMode_t
00092   POWERSTEP01_CONFIG_TQ_REG_TVAL_USED, // External torque regulation enabling , enum powerstep01_ConfigEnTqReg_t
00093   POWERSTEP01_CONFIG_VS_COMP_DISABLE, // Motor Supply Voltage Compensation enabling , enum powerstep01_ConfigEnVscomp_t 
00094   POWERSTEP01_CONFIG_OC_SD_DISABLE, // Over current shutwdown enabling, enum powerstep01_ConfigOcSd_t
00095   POWERSTEP01_CONFIG_UVLOVAL_LOW, // UVLO Threshold via powerstep01_ConfigUvLoVal_t
00096   POWERSTEP01_CONFIG_VCCVAL_15V, // VCC Val, enum powerstep01_ConfigVccVal_t
00097   POWERSTEP01_CONFIG_TSW_048us, // Switching period, enum powerstep01_ConfigTsw_t
00098   POWERSTEP01_CONFIG_PRED_DISABLE // Predictive current enabling , enum powerstep01_ConfigPredEn_t 
00099 };
00100 
00101 /* Motor Control Component. */
00102 PowerStep01 *motor;
00103 
00104 /* Functions -----------------------------------------------------------------*/
00105 
00106 /**
00107  * @brief  This is an example of user handler for the flag interrupt.
00108  * @param  None
00109  * @retval None
00110  * @note   If needed, implement it, and then attach and enable it:
00111  *           + motor->attach_flag_irq(&my_flag_irq_handler);
00112  *           + motor->enable_flag_irq();
00113  *         To disable it:
00114  *           + motor->DisbleFlagIRQ();
00115  */
00116 void my_flag_irq_handler(void)
00117 {
00118   /* Set ISR flag. */
00119   motor->isrFlag = TRUE;
00120   /* Get the value of the status register. */
00121   unsigned int statusRegister = motor->get_status();
00122   printf("    WARNING: \"FLAG\" interrupt triggered.\r\n");
00123   /* Check SW_F flag: if not set, the SW input is opened */
00124   if ((statusRegister & POWERSTEP01_STATUS_SW_F ) != 0) {
00125     printf("    SW closed (connected to ground).\r\n");
00126   }
00127   /* Check SW_EN bit */
00128   if ((statusRegister & POWERSTEP01_STATUS_SW_EVN) == POWERSTEP01_STATUS_SW_EVN) {
00129     printf("    SW turn_on event.\r\n");
00130   }
00131   /* Check Command Error flag: if set, the command received by SPI can't be */
00132   /* performed. This occurs for instance when a move command is sent to the */
00133   /* Powerstep01 while it is already running */
00134   if ((statusRegister & POWERSTEP01_STATUS_CMD_ERROR) == POWERSTEP01_STATUS_CMD_ERROR) {
00135     printf("    Non-performable command detected.\r\n");
00136   }  
00137   /* Check UVLO flag: if not set, there is an undervoltage lock-out */
00138   if ((statusRegister & POWERSTEP01_STATUS_UVLO)==0) {
00139     printf("    undervoltage lock-out.\r\n"); 
00140   }  
00141   /* Check thermal STATUS flags: if  set, the thermal status is not normal */
00142   if ((statusRegister & POWERSTEP01_STATUS_TH_STATUS)!=0) {
00143     //thermal status: 1: Warning, 2: Bridge shutdown, 3: Device shutdown
00144     printf("    Thermal status: %d.\r\n", (statusRegister & POWERSTEP01_STATUS_TH_STATUS)>>11);
00145   }    
00146   /* Check OCD  flag: if not set, there is an overcurrent detection */
00147   if ((statusRegister & POWERSTEP01_STATUS_OCD)==0) {
00148     printf("    Overcurrent detection.\r\n"); 
00149   }
00150   /* Reset ISR flag. */
00151   motor->isrFlag = FALSE;
00152 }
00153 
00154 /**
00155  * @brief  This is an example of error handler.
00156  * @param[in] error Number of the error
00157  * @retval None
00158  * @note   If needed, implement it, and then attach it:
00159  *           + motor->attach_error_handler(&my_error_handler);
00160  */
00161 void my_error_handler(uint16_t error)
00162 {
00163   /* Printing to the console. */
00164   printf("Error %d detected\r\n\n", error);
00165   
00166   /* Infinite loop */
00167   while (true) {
00168   }    
00169 }
00170 
00171 /* Main ----------------------------------------------------------------------*/
00172 
00173 int main()
00174 {
00175   /* Printing to the console. */
00176   printf("STARTING MAIN PROGRAM\r\n");
00177   printf("    Reminder:\r\n");
00178   printf("    The position unit is in agreement to the step mode.\r\n");
00179   printf("    The speed, acceleration or deceleration unit\r\n");
00180   printf("    do not depend on the step mode and the step unit is a full step.\r\n");
00181     
00182 //----- Initialization 
00183   /* Initializing SPI bus. */
00184   DevSPI dev_spi(D11, D12, D13);
00185 
00186   /* Initializing Motor Control Component. */
00187   motor = new PowerStep01(D2, D4, D8, D9, D10, dev_spi);
00188   if (motor->init(&init) != COMPONENT_OK) {
00189     exit(EXIT_FAILURE);
00190   }
00191 
00192   /* Attaching and enabling an interrupt handler. */
00193   motor->attach_flag_irq(&my_flag_irq_handler);
00194   motor->enable_flag_irq();
00195     
00196   /* Attaching an error handler */
00197   motor->attach_error_handler(&my_error_handler);
00198 
00199   /* Printing to the console. */
00200   printf("Motor Control Application Example for 1 Motor\r\n");
00201 
00202 //----- move of 16000 steps in the FW direction
00203   printf("--> Moving forward 16000 steps.\r\n");
00204   motor->move(StepperMotor::FWD, 16000);
00205 
00206   /* Waiting while the motor is active. */
00207   motor->wait_while_active();
00208 
00209   /* Wait for 2 seconds */  
00210   wait_ms(2000);
00211 
00212 //----- Go to position -6400
00213   printf("--> Go to position -6400 steps.\r\n");
00214 
00215   /* Request device to go to position -6400 */
00216   motor->go_to(-6400);
00217   
00218   /* Wait for the motor ends moving */
00219   motor->wait_while_active();
00220 
00221   /* Get current position of device and print to the console */
00222   printf("    Position: %d.\r\n", motor->get_position());
00223   
00224   /* Wait for 2 seconds */  
00225   wait_ms(2000);
00226 
00227 //----- Go Home
00228   /* Printing to the console. */
00229   printf("--> Go to home position.\r\n");
00230   
00231   /* Request device to go to Home */
00232   motor->go_home();
00233   
00234   /* Wait for the motor ends moving */
00235   motor->wait_while_active();
00236   
00237   /* Wait for 2 seconds */
00238   wait_ms(2000);
00239 
00240 //----- run the motor BACKWARD at 400 step/s
00241   printf("--> run the motor backward at 400 step/s.\r\n");
00242   motor->run(StepperMotor::BWD,400);
00243 
00244 //----- Get parameter example   
00245   /* Wait for device reaches the targeted speed */
00246   while ((motor->read_status_register() & POWERSTEP01_STATUS_MOT_STATUS) != POWERSTEP01_STATUS_MOT_STATUS_CONST_SPD);
00247  
00248   /* Record the reached speed in step/s and print to the console */
00249   printf("    Reached Speed: %f step/s.\r\n", motor->get_analog_value(POWERSTEP01_SPEED));
00250 
00251 //----- Soft stopped required while running
00252   printf("--> Soft stop requested.\r\n");
00253  
00254   /* Request a soft stop of device and keep the power bridges enabled */
00255   motor->soft_hiz();
00256 
00257   /* Wait for the motor of device ends moving */  
00258   motor->wait_while_active();
00259 
00260   /* Wait for 2 seconds */
00261   wait_ms(2000);
00262 
00263   /* Infinite Loop. */
00264   printf("--> Infinite Loop...\r\n");
00265   while (true) {
00266     /* Request device to go position -6400 */
00267     motor->go_to(-6400);
00268 
00269     /* Waiting while the motor is active. */
00270     motor->wait_while_active();
00271 
00272     /* Request device to go position 6400 */
00273     motor->go_to(6400);
00274  
00275     /* Waiting while the motor is active. */
00276     motor->wait_while_active();
00277   } 
00278 }
00279 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/