Diff: main.cpp

Revision:

0:36aa6787d4f9

Child:

2:c5f455885df7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Apr 27 16:32:15 2016 +0000
@@ -0,0 +1,307 @@
+/**
+ ******************************************************************************
+ * @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 "l6208_class.h"
+
+
+/* Definitions ---------------------------------------------------------------*/
+#ifdef TARGET_NUCLEO_F334R8
+#define VREFA_PWM_PIN D11
+#else
+#define VREFA_PWM_PIN D3
+#endif
+
+/* Variables -----------------------------------------------------------------*/
+
+/* Initialization parameters of the motor connected to the expansion board. */
+l6208_Init_t initDeviceParameters =
+{
+  1500,            //Acceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
+  40,              //Acceleration current torque in % (from 0 to 100)
+  1500,            //Deceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
+  30,              //Deceleration current torque in % (from 0 to 100)
+  1500,            //Running speed in step/s or (1/16)th step/s for microstep modes
+  50,              //Running current torque in % (from 0 to 100)
+  20,              //Holding current torque in % (from 0 to 100)
+  STEP_MODE_1_16,  //Step mode via enum motorStepMode_t
+  FAST_DECAY,      //Decay mode via enum motorDecayMode_t
+  0,               //Dwelling time in ms
+  FALSE,           //Automatic HIZ STOP
+  100000           //VREFA and VREFB PWM frequency (Hz)
+};
+
+/* Motor Control Component. */
+L6208 *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)
+{
+  printf("    WARNING: \"FLAG\" interrupt triggered:\r\n");
+  motor->Disable();
+  printf("    Motor disabled.\r\n\n");
+}
+
+/**
+ * @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 depend on the step mode:\r\n");
+  printf("    - For normal mode and half step mode, the unit is steps/s or /s^2.\r\n");
+  printf("    - For microstep modes, the unit is (1/16)steps/s or /s^2.\r\n");
+    
+//----- Initialization 
+  /* Initializing Motor Control Component. */
+  motor = new L6208(D2, D8, D7, D4, D5, D6, VREFA_PWM_PIN, D9);
+  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");
+
+//----- Run the motor BACKWARD
+  printf("--> Running the motor backward.\r\n");
+  motor->Run(StepperMotor::BWD);
+  
+  while (motor->GetStatus()!=STEADY)
+  {
+    /* Print reached speed to the console in step/s or microsteps/s */
+    //printf("    Reached Speed: %d microstep/s.\r\n", motor->GetSpeed());
+    //wait_ms(50);    
+  }
+  //printf("    Reached Speed: %d microstep/s.\r\n", motor->GetSpeed());
+     
+  /* Wait for 1 second */  
+  wait_ms(1000);
+  
+//----- Decrease speed while running to one quarter of the previous speed
+  motor->SetMaxSpeed(motor->GetSpeed()>>2);
+  
+  /* Wait until the motor starts decelerating */
+  while (motor->GetStatus()==STEADY);
+  /* Wait and print speed while the motor is not steady running */
+  while (motor->GetStatus()!=STEADY)
+  {
+    /* Print reached speed to the console in step/s or microsteps/s */
+    //printf("    Reached Speed: %d microstep/s.\r\n", motor->GetSpeed());
+    //wait_ms(50);    
+  }
+  //printf("    Reached Speed: %d microstep/s.\r\n", motor->GetSpeed());  
+
+  /* Wait for 5 seconds */  
+  wait_ms(5000);
+  
+//----- Soft stop required while running
+  printf("--> Soft stop requested.\r\n");
+  motor->SoftStop();
+  
+  /* Wait for the motor of device ends moving */  
+  motor->WaitWhileActive();
+
+  /* Wait for 2 seconds */
+  wait_ms(2000);
+
+//----- Change step mode to full step mode
+  motor->SetStepMode(StepperMotor::STEP_MODE_FULL);
+  printf("    Motor step mode: %d (0:FS, 1:1/2, 2:1/4, 3:1/8, 4:1/16).\r\n", motor->GetStepMode());
+  
+  /* Get current position of device and print to the console */
+  printf("    Position: %d.\r\n", motor->GetPosition());
+  
+  /* Set speed, acceleration and deceleration to scale with normal mode */
+  motor->SetMaxSpeed(initDeviceParameters.maxSpeedSps>>4);
+  motor->SetAcceleration(motor->GetAcceleration()>>4);
+  motor->SetDeceleration(motor->GetDeceleration()>>4);
+  /* Print parameters to the console */  
+  printf("    Motor Max Speed: %d step/s.\r\n", motor->GetMaxSpeed());
+  printf("    Motor Min Speed: %d step/s.\r\n", motor->GetMinSpeed());
+  printf("    Motor Acceleration: %d step/s.\r\n", motor->GetAcceleration());
+  printf("    Motor Deceleration: %d step/s.\r\n", motor->GetDeceleration());
+  
+//----- Move of 200 steps in the FW direction
+  printf("--> Moving forward 200 steps.\r\n");
+  motor->Move(StepperMotor::FWD, 200);
+  
+  /* Waiting while the motor is active. */
+  motor->WaitWhileActive();
+  
+  /* Get current position of device and print to the console */
+  printf("    Position: %d.\r\n", motor->GetPosition());
+  
+  /* Disable the power bridges */
+  motor->Disable();
+  
+  /* Check that the power bridges are actually disabled */
+  if (motor->CheckStatusHw()!=0) printf("    Motor driver disabled.\r\n");
+  else printf("    Failed to disable the motor driver.\r\n");
+    
+  /* Wait for 2 seconds */  
+  wait_ms(2000);
+  
+ //----- Change step mode to 1/4 microstepping mode  
+  motor->SetStepMode(StepperMotor::STEP_MODE_1_4);
+  printf("    Motor step mode: %d (0:FS, 1:1/2, 2:1/4, 3:1/8, 4:1/16).\r\n", motor->GetStepMode());
+  
+  /* Get current position of device and print to the console */
+  printf("    Position: %d.\r\n", motor->GetPosition());
+
+  /* Set speed, acceleration and deceleration to scale with microstep mode */
+  motor->SetMaxSpeed(motor->GetMaxSpeed()<<4);
+  motor->SetAcceleration(motor->GetAcceleration()<<4);
+  motor->SetDeceleration(motor->GetDeceleration()<<4);
+  /* Print parameters to the console */
+  printf("    Motor Max Speed: %d step/s.\r\n", motor->GetMaxSpeed());
+  printf("    Motor Min Speed: %d step/s.\r\n", motor->GetMinSpeed());
+  printf("    Motor Acceleration: %d step/s.\r\n", motor->GetAcceleration());
+  printf("    Motor Deceleration: %d step/s.\r\n", motor->GetDeceleration());
+  
+  /* Request to go position 800 (quarter steps) */
+  motor->GoTo(800);
+
+  /* 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);
+  
+//----- Restore step mode to its initialization value
+  motor->SetStepMode((StepperMotor::step_mode_t)initDeviceParameters.stepMode);
+  printf("    Motor step mode: %d (0:FS, 1:1/2, 2:1/4, 3:1/8, 4:1/16).\r\n", motor->GetStepMode());  
+
+  /* Get current position of device and print to the console */
+  printf("    Position: %d.\r\n", motor->GetPosition());
+  
+//----- Change decay mode
+  motor->SetDecayMode(SLOW_DECAY);
+  printf("    Motor decay mode: %d (0:slow decay, 1:fast decay).\r\n", motor->GetDecayMode());   
+  
+//----- Go to position -6400
+  printf("--> Go to position -6400 steps.\r\n");
+  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);
+
+//----- Restore decay mode to its initialization value
+  motor->SetDecayMode(initDeviceParameters.decayMode);
+  printf("    Motor decay mode: %d (0:slow decay, 1:fast decay).\r\n", motor->GetDecayMode());
+  
+//----- Go Home
+  printf("--> Go to home position.\r\n");
+  motor->GoHome();
+ 
+  /* Wait for the motor ends moving */
+  motor->WaitWhileActive();
+  
+  /* Wait for 1 second */
+  wait_ms(1000);
+  
+  /* Infinite Loop. */
+  printf("--> Infinite Loop...\r\n");
+  while (1)
+  {
+    /* Request device to go position -3200 */
+    motor->GoTo(-3200);
+
+    /* Waiting while the motor is active. */
+    motor->WaitWhileActive();
+
+    /* Request device to go position 3200 */
+    motor->GoTo(3200);
+ 
+    /* Waiting while the motor is active. */
+    motor->WaitWhileActive();
+  }
+}
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/