ST / Mbed 2 deprecated HelloWorld_IHM04A1

Simple program featuring a few API functions usage of the X_NUCLEO_IHM04A1 library.

Dependencies:   X_NUCLEO_IHM04A1 mbed

Dependents:   SimplePIDBot

Fork of HelloWorld_IHM04A1 by ST Expansion SW Team

This application provides a simple example of usage of the X-NUCLEO-IHM04A1 Brush DC Motor Control Expansion Board.

It shows how to use four unidirectional brush DC motors connected to the board by running the four motor in parallel. At the beginning, no motor is running. Each time the user presses the user button, a new brush DC motor is activated. Motors run during one second, stop during one second and run again.

  • motor 1 runs at 20% of maximum speed.
  • motor 2 runs at 30% of maximum speed.
  • motor 3 runs at 40% of maximum speed.
  • motor 4 runs at 50% of maximum speed.

For the hardware configuration of the expansion board, please refer to the X_NUCLEO_IHM04A1 library web page.

main.cpp@1:4d9b9123d9e1, 2016-05-17 (annotated)

Committer:
brdirais
Date:
Tue May 17 09:45:43 2016 +0000
Revision:
1:4d9b9123d9e1
Parent:
0:dcc35ef6effc
Child:
5:4c1e581bbb8b
- Update of comment in source code.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
brdirais 0:dcc35ef6effc 1 /**
brdirais 0:dcc35ef6effc 2 ******************************************************************************
brdirais 0:dcc35ef6effc 3 * @file Multi/Examples/MotionControl/IHM04A1_ExampleFor4UniDirMotors/Src/main.c
brdirais 0:dcc35ef6effc 4 * @author IPC Rennes
brdirais 0:dcc35ef6effc 5 * @version V1.0.0
brdirais 1:4d9b9123d9e1 6 * @date May 16, 2016
brdirais 0:dcc35ef6effc 7 * @brief This example shows how to use 1 IHM04A1 expansion board with
brdirais 0:dcc35ef6effc 8 * 4 unidirectionnal Brush DC motors.
brdirais 0:dcc35ef6effc 9 * Each motor has one lead connected to one of the bridge output,
brdirais 0:dcc35ef6effc 10 * the other lead to the ground. The input bridges are not parallelised.
brdirais 0:dcc35ef6effc 11 * The demo sequence starts when the user button is pressed.
brdirais 1:4d9b9123d9e1 12 * Each time, the user button is pressed, one new motor is activated
brdirais 0:dcc35ef6effc 13 ******************************************************************************
brdirais 0:dcc35ef6effc 14 * @attention
brdirais 0:dcc35ef6effc 15 *
brdirais 0:dcc35ef6effc 16 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
brdirais 0:dcc35ef6effc 17 *
brdirais 0:dcc35ef6effc 18 * Redistribution and use in source and binary forms, with or without modification,
brdirais 0:dcc35ef6effc 19 * are permitted provided that the following conditions are met:
brdirais 0:dcc35ef6effc 20 * 1. Redistributions of source code must retain the above copyright notice,
brdirais 0:dcc35ef6effc 21 * this list of conditions and the following disclaimer.
brdirais 0:dcc35ef6effc 22 * 2. Redistributions in binary form must reproduce the above copyright notice,
brdirais 0:dcc35ef6effc 23 * this list of conditions and the following disclaimer in the documentation
brdirais 0:dcc35ef6effc 24 * and/or other materials provided with the distribution.
brdirais 0:dcc35ef6effc 25 * 3. Neither the name of STMicroelectronics nor the names of its contributors
brdirais 0:dcc35ef6effc 26 * may be used to endorse or promote products derived from this software
brdirais 0:dcc35ef6effc 27 * without specific prior written permission.
brdirais 0:dcc35ef6effc 28 *
brdirais 0:dcc35ef6effc 29 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
brdirais 0:dcc35ef6effc 30 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
brdirais 0:dcc35ef6effc 31 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
brdirais 0:dcc35ef6effc 32 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
brdirais 0:dcc35ef6effc 33 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
brdirais 0:dcc35ef6effc 34 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
brdirais 0:dcc35ef6effc 35 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
brdirais 0:dcc35ef6effc 36 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
brdirais 0:dcc35ef6effc 37 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
brdirais 0:dcc35ef6effc 38 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
brdirais 0:dcc35ef6effc 39 *
brdirais 0:dcc35ef6effc 40 ******************************************************************************
brdirais 0:dcc35ef6effc 41 */
brdirais 0:dcc35ef6effc 42
brdirais 0:dcc35ef6effc 43 /* Includes ------------------------------------------------------------------*/
brdirais 0:dcc35ef6effc 44
brdirais 0:dcc35ef6effc 45 /* mbed specific header files. */
brdirais 0:dcc35ef6effc 46 #include "mbed.h"
brdirais 0:dcc35ef6effc 47
brdirais 0:dcc35ef6effc 48 /* Component specific header files. */
brdirais 0:dcc35ef6effc 49 #include "l6206_class.h"
brdirais 0:dcc35ef6effc 50
brdirais 0:dcc35ef6effc 51
brdirais 0:dcc35ef6effc 52
brdirais 0:dcc35ef6effc 53 /* Definitions ---------------------------------------------------------------*/
brdirais 0:dcc35ef6effc 54
brdirais 0:dcc35ef6effc 55
brdirais 0:dcc35ef6effc 56 #define MAX_MOTOR (4)
brdirais 0:dcc35ef6effc 57
brdirais 0:dcc35ef6effc 58
brdirais 0:dcc35ef6effc 59
brdirais 0:dcc35ef6effc 60 /* Variables -----------------------------------------------------------------*/
brdirais 0:dcc35ef6effc 61
brdirais 0:dcc35ef6effc 62 static volatile uint16_t gLastError;
brdirais 0:dcc35ef6effc 63 static volatile uint8_t gStep = 0;
brdirais 0:dcc35ef6effc 64
brdirais 0:dcc35ef6effc 65
brdirais 0:dcc35ef6effc 66
brdirais 0:dcc35ef6effc 67 /* Variables -----------------------------------------------------------------*/
brdirais 0:dcc35ef6effc 68
brdirais 0:dcc35ef6effc 69 /* Initialization parameters. */
brdirais 0:dcc35ef6effc 70 L6206_Init_t init =
brdirais 0:dcc35ef6effc 71 {
brdirais 0:dcc35ef6effc 72 L6206_CONF_PARAM_PARALLE_BRIDGES,
brdirais 0:dcc35ef6effc 73 {L6206_CONF_PARAM_FREQ_PWM1A, L6206_CONF_PARAM_FREQ_PWM2A, L6206_CONF_PARAM_FREQ_PWM1B, L6206_CONF_PARAM_FREQ_PWM2B},
brdirais 0:dcc35ef6effc 74 {100,100,100,100},
brdirais 0:dcc35ef6effc 75 {FORWARD,FORWARD,BACKWARD,FORWARD},
brdirais 0:dcc35ef6effc 76 {INACTIVE,INACTIVE,INACTIVE,INACTIVE},
brdirais 0:dcc35ef6effc 77 {FALSE,FALSE}
brdirais 0:dcc35ef6effc 78 };
brdirais 0:dcc35ef6effc 79
brdirais 0:dcc35ef6effc 80 /* Motor Control Component. */
brdirais 0:dcc35ef6effc 81 L6206 *motor;
brdirais 0:dcc35ef6effc 82
brdirais 0:dcc35ef6effc 83 /* User button on Nucleo board */
brdirais 0:dcc35ef6effc 84 InterruptIn mybutton_irq(USER_BUTTON);
brdirais 0:dcc35ef6effc 85
brdirais 0:dcc35ef6effc 86
brdirais 0:dcc35ef6effc 87
brdirais 0:dcc35ef6effc 88 /* Functions -----------------------------------------------------------------*/
brdirais 0:dcc35ef6effc 89
brdirais 0:dcc35ef6effc 90 /**
brdirais 0:dcc35ef6effc 91 * @brief This function is executed in case of error occurrence.
brdirais 0:dcc35ef6effc 92 * @param error number of the error
brdirais 0:dcc35ef6effc 93 * @retval None
brdirais 0:dcc35ef6effc 94 */
brdirais 0:dcc35ef6effc 95 void Error_Handler(uint16_t error)
brdirais 0:dcc35ef6effc 96 {
brdirais 0:dcc35ef6effc 97 /* Backup error number */
brdirais 0:dcc35ef6effc 98 gLastError = error;
brdirais 0:dcc35ef6effc 99
brdirais 0:dcc35ef6effc 100 /* Enter your own code here */
brdirais 0:dcc35ef6effc 101 }
brdirais 0:dcc35ef6effc 102
brdirais 0:dcc35ef6effc 103 /**
brdirais 0:dcc35ef6effc 104 * @brief This function is the User handler for the flag interrupt
brdirais 0:dcc35ef6effc 105 * @param None
brdirais 0:dcc35ef6effc 106 * @retval None
brdirais 0:dcc35ef6effc 107 * @note If needed, implement it, and then attach and enable it:
brdirais 0:dcc35ef6effc 108 * + motor->AttachFlagInterrupt(MyFlagInterruptHandler);
brdirais 0:dcc35ef6effc 109 */
brdirais 0:dcc35ef6effc 110 void MyFlagInterruptHandler(void)
brdirais 0:dcc35ef6effc 111 {
brdirais 0:dcc35ef6effc 112 /* Code to be customised */
brdirais 0:dcc35ef6effc 113 /************************/
brdirais 0:dcc35ef6effc 114 /* Get the state of bridge A */
brdirais 0:dcc35ef6effc 115 uint16_t bridgeState = motor->CmdGetStatus(0);
brdirais 0:dcc35ef6effc 116
brdirais 0:dcc35ef6effc 117 if (bridgeState == 0)
brdirais 0:dcc35ef6effc 118 {
brdirais 0:dcc35ef6effc 119 if ((motor->GetDeviceState(0) != INACTIVE)||
brdirais 0:dcc35ef6effc 120 (motor->GetDeviceState(1) != INACTIVE))
brdirais 0:dcc35ef6effc 121 {
brdirais 0:dcc35ef6effc 122 /* Bridge A was disabling due to overcurrent or over temperature */
brdirais 0:dcc35ef6effc 123 /* When at least on of its motor was running */
brdirais 0:dcc35ef6effc 124 Error_Handler(0XBAD0);
brdirais 0:dcc35ef6effc 125 }
brdirais 0:dcc35ef6effc 126 }
brdirais 0:dcc35ef6effc 127
brdirais 0:dcc35ef6effc 128 /* Get the state of bridge B */
brdirais 0:dcc35ef6effc 129 bridgeState = motor->CmdGetStatus(1);
brdirais 0:dcc35ef6effc 130
brdirais 0:dcc35ef6effc 131 if (bridgeState == 0)
brdirais 0:dcc35ef6effc 132 {
brdirais 0:dcc35ef6effc 133 if ((motor->GetDeviceState(2) != INACTIVE)||
brdirais 0:dcc35ef6effc 134 (motor->GetDeviceState(3) != INACTIVE))
brdirais 0:dcc35ef6effc 135 {
brdirais 0:dcc35ef6effc 136 /* Bridge A was disabling due to overcurrent or over temperature */
brdirais 0:dcc35ef6effc 137 /* When at least on of its motor was running */
brdirais 0:dcc35ef6effc 138 Error_Handler(0XBAD1);
brdirais 0:dcc35ef6effc 139 }
brdirais 0:dcc35ef6effc 140 }
brdirais 0:dcc35ef6effc 141 }
brdirais 0:dcc35ef6effc 142
brdirais 0:dcc35ef6effc 143
brdirais 0:dcc35ef6effc 144 /* Private functions ---------------------------------------------------------*/
brdirais 0:dcc35ef6effc 145
brdirais 0:dcc35ef6effc 146 /**
brdirais 0:dcc35ef6effc 147 * @brief Button Irq
brdirais 0:dcc35ef6effc 148 * @param None
brdirais 0:dcc35ef6effc 149 * @retval None
brdirais 0:dcc35ef6effc 150 */
brdirais 0:dcc35ef6effc 151
brdirais 0:dcc35ef6effc 152 void button_pressed(void)
brdirais 0:dcc35ef6effc 153 {
brdirais 0:dcc35ef6effc 154 mybutton_irq.disable_irq();
brdirais 0:dcc35ef6effc 155 gStep++;
brdirais 0:dcc35ef6effc 156 if (gStep > MAX_MOTOR)
brdirais 0:dcc35ef6effc 157 {
brdirais 0:dcc35ef6effc 158 gStep = 0;
brdirais 0:dcc35ef6effc 159 }
brdirais 0:dcc35ef6effc 160 wait_ms(200);
brdirais 0:dcc35ef6effc 161 mybutton_irq.enable_irq();
brdirais 0:dcc35ef6effc 162
brdirais 0:dcc35ef6effc 163 }
brdirais 0:dcc35ef6effc 164
brdirais 0:dcc35ef6effc 165
brdirais 0:dcc35ef6effc 166 /**
brdirais 0:dcc35ef6effc 167 * @brief Main program
brdirais 0:dcc35ef6effc 168 * @param None
brdirais 0:dcc35ef6effc 169 * @retval None
brdirais 0:dcc35ef6effc 170 */
brdirais 0:dcc35ef6effc 171 int main(void)
brdirais 0:dcc35ef6effc 172 {
brdirais 0:dcc35ef6effc 173 /*----- Initialization. -----*/
brdirais 0:dcc35ef6effc 174
brdirais 0:dcc35ef6effc 175 /* Initializing Motor Control Component. */
brdirais 0:dcc35ef6effc 176 motor = new L6206( D2, A4, D5, D4, A0, A1);
brdirais 0:dcc35ef6effc 177
brdirais 0:dcc35ef6effc 178 /* When Init method is called with NULL pointer, the L6206 parameters are set */
brdirais 0:dcc35ef6effc 179 /* with the predefined values from file l6206_target_config.h, otherwise the */
brdirais 0:dcc35ef6effc 180 /* parameters are set using the initDeviceParameters structure values. */
brdirais 0:dcc35ef6effc 181 if (motor->Init(&init) != COMPONENT_OK)
brdirais 0:dcc35ef6effc 182 exit(EXIT_FAILURE);
brdirais 0:dcc35ef6effc 183
brdirais 0:dcc35ef6effc 184 /* Attach the function MyFlagInterruptHandler (defined below) to the flag interrupt */
brdirais 0:dcc35ef6effc 185 motor->AttachFlagInterrupt(MyFlagInterruptHandler);
brdirais 0:dcc35ef6effc 186
brdirais 0:dcc35ef6effc 187 /* Attach the function Error_Handler (defined below) to the error Handler*/
brdirais 0:dcc35ef6effc 188 motor->AttachErrorHandler(Error_Handler);
brdirais 0:dcc35ef6effc 189
brdirais 0:dcc35ef6effc 190 /* Printing to the console. */
brdirais 1:4d9b9123d9e1 191 printf("Motor Control Application Example for 4 Motor\r\n\n");
brdirais 0:dcc35ef6effc 192
brdirais 0:dcc35ef6effc 193
brdirais 0:dcc35ef6effc 194 /* Select the configuration with no bridge paralleling, two unidirectionnal motors on bridge A
brdirais 0:dcc35ef6effc 195 and two unidirectionnal motors on bridge B */
brdirais 0:dcc35ef6effc 196 motor->SetDualFullBridgeConfig(PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B);
brdirais 0:dcc35ef6effc 197
brdirais 1:4d9b9123d9e1 198 /* Set PWM Frequency of bridge A inputs to 1000 Hz */
brdirais 0:dcc35ef6effc 199 motor->SetBridgeInputPwmFreq(0,1000);
brdirais 0:dcc35ef6effc 200
brdirais 1:4d9b9123d9e1 201 /* Set PWM Frequency of bridge B inputs to 2000 Hz */
brdirais 0:dcc35ef6effc 202 motor->SetBridgeInputPwmFreq(1,2000);
brdirais 0:dcc35ef6effc 203
brdirais 0:dcc35ef6effc 204 // Attach button_pressed function to Irq
brdirais 0:dcc35ef6effc 205 mybutton_irq.fall(&button_pressed);
brdirais 0:dcc35ef6effc 206
brdirais 0:dcc35ef6effc 207 /* Infinite loop */
brdirais 0:dcc35ef6effc 208 while(1)
brdirais 0:dcc35ef6effc 209 {
brdirais 0:dcc35ef6effc 210
brdirais 0:dcc35ef6effc 211 if (gStep > 0)
brdirais 0:dcc35ef6effc 212 {
brdirais 1:4d9b9123d9e1 213 printf("Run motor 0 at 20%% of the maximum speed\n");
brdirais 1:4d9b9123d9e1 214 /* Set speed of motor 0 to 20% */
brdirais 0:dcc35ef6effc 215 motor->SetMaxSpeed(0,20);
brdirais 0:dcc35ef6effc 216 /* start motor 0 */
brdirais 0:dcc35ef6effc 217 motor->Run(0, FORWARD);
brdirais 0:dcc35ef6effc 218 }
brdirais 0:dcc35ef6effc 219
brdirais 0:dcc35ef6effc 220 if (gStep > 1)
brdirais 0:dcc35ef6effc 221 {
brdirais 1:4d9b9123d9e1 222 printf("Run motor 1 at 30%% of the maximum speed\n");
brdirais 0:dcc35ef6effc 223 /* Set speed of motor 1 to 30 % */
brdirais 0:dcc35ef6effc 224 motor->SetMaxSpeed(1,30);
brdirais 0:dcc35ef6effc 225 /* start motor 1 */
brdirais 0:dcc35ef6effc 226 motor->Run(1, FORWARD);
brdirais 0:dcc35ef6effc 227 }
brdirais 0:dcc35ef6effc 228
brdirais 0:dcc35ef6effc 229 if (gStep > 2)
brdirais 0:dcc35ef6effc 230 {
brdirais 1:4d9b9123d9e1 231 printf("Run motor 2 at 40%% of the maximum speed\n");
brdirais 0:dcc35ef6effc 232 /* Set speed of motor 2 to 40 % */
brdirais 0:dcc35ef6effc 233 motor->SetMaxSpeed(2,40);
brdirais 0:dcc35ef6effc 234 /* start motor 2 */
brdirais 0:dcc35ef6effc 235 motor->Run(2, FORWARD);
brdirais 0:dcc35ef6effc 236 }
brdirais 0:dcc35ef6effc 237
brdirais 0:dcc35ef6effc 238 if (gStep > 3)
brdirais 0:dcc35ef6effc 239 {
brdirais 1:4d9b9123d9e1 240 printf("Run motor 3 at 50%% of the maximum speed\n");
brdirais 0:dcc35ef6effc 241 /* Set speed of motor 3 to 50 % */
brdirais 0:dcc35ef6effc 242 motor->SetMaxSpeed(3,50);
brdirais 0:dcc35ef6effc 243 /* start motor 3 */
brdirais 0:dcc35ef6effc 244 motor->Run(3, FORWARD);
brdirais 0:dcc35ef6effc 245 }
brdirais 0:dcc35ef6effc 246
brdirais 0:dcc35ef6effc 247 if (gStep > 0)
brdirais 0:dcc35ef6effc 248 {
brdirais 0:dcc35ef6effc 249 wait_ms(1000);
brdirais 0:dcc35ef6effc 250
brdirais 0:dcc35ef6effc 251 motor->CmdHardHiZ(0);
brdirais 0:dcc35ef6effc 252 motor->CmdHardHiZ(1);
brdirais 0:dcc35ef6effc 253 motor->CmdHardHiZ(2);
brdirais 0:dcc35ef6effc 254 motor->CmdHardHiZ(3);
brdirais 0:dcc35ef6effc 255
brdirais 0:dcc35ef6effc 256 wait_ms(1000);
brdirais 0:dcc35ef6effc 257 }
brdirais 0:dcc35ef6effc 258 }
brdirais 0:dcc35ef6effc 259 }
brdirais 0:dcc35ef6effc 260
brdirais 0:dcc35ef6effc 261
brdirais 0:dcc35ef6effc 262
brdirais 0:dcc35ef6effc 263 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
brdirais 0:dcc35ef6effc 264