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-IHM05A1
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 /* Component specific header files. */
00045 #include "L6208.h"
00046 
00047 
00048 /* Definitions ---------------------------------------------------------------*/
00049 #ifdef TARGET_NUCLEO_F334R8
00050 #define VREFA_PWM_PIN D11
00051 #define VREFB_PWM_PIN D9
00052 #elif TARGET_NUCLEO_F302R8
00053 #define VREFA_PWM_PIN D11
00054 #define VREFB_PWM_PIN D15 /* HW mandatory patch: bridge manually D9 with D15 */
00055 #else
00056 #define VREFA_PWM_PIN D3
00057 #define VREFB_PWM_PIN D9
00058 #endif
00059 
00060 /* Variables -----------------------------------------------------------------*/
00061 
00062 /* Initialization parameters of the motor connected to the expansion board. */
00063 l6208_init_t init =
00064 {
00065   1500,            //Acceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
00066   40,              //Acceleration current torque in % (from 0 to 100)
00067   1500,            //Deceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
00068   30,              //Deceleration current torque in % (from 0 to 100)
00069   1500,            //Running speed in step/s or (1/16)th step/s for microstep modes
00070   50,              //Running current torque in % (from 0 to 100)
00071   20,              //Holding current torque in % (from 0 to 100)
00072   STEP_MODE_1_16,  //Step mode via enum motorStepMode_t
00073   FAST_DECAY,      //Decay mode via enum motorDecayMode_t
00074   0,               //Dwelling time in ms
00075   FALSE,           //Automatic HIZ STOP
00076   100000           //VREFA and VREFB PWM frequency (Hz)
00077 };
00078 
00079 /* Motor Control Component. */
00080 L6208 *motor;
00081 
00082 /* Functions -----------------------------------------------------------------*/
00083 
00084 /**
00085  * @brief  This is an example of user handler for the flag interrupt.
00086  * @param  None
00087  * @retval None
00088  * @note   If needed, implement it, and then attach and enable it:
00089  *           + motor->attach_flag_irq(&my_flag_irq_handler);
00090  *           + motor->enable_flag_irq();
00091  *         To disable it:
00092  *           + motor->DisbleFlagIRQ();
00093  */
00094 void my_flag_irq_handler(void)
00095 {
00096   printf("    WARNING: \"FLAG\" interrupt triggered:\r\n");
00097   motor->disable();
00098   printf("    Motor disabled.\r\n\n");
00099 }
00100 
00101 /**
00102  * @brief  This is an example of error handler.
00103  * @param[in] error Number of the error
00104  * @retval None
00105  * @note   If needed, implement it, and then attach it:
00106  *           + motor->attach_error_handler(&my_error_handler);
00107  */
00108 void my_error_handler(uint16_t error)
00109 {
00110   /* Printing to the console. */
00111   printf("Error %d detected\r\n\n", error);
00112   
00113   /* Infinite loop */
00114   while (true) {
00115   }    
00116 }
00117 
00118 /* Main ----------------------------------------------------------------------*/
00119 
00120 int main()
00121 {
00122   /* Printing to the console. */
00123   printf("STARTING MAIN PROGRAM\r\n");
00124   printf("    Reminder:\r\n");
00125   printf("    The position unit is in agreement to the step mode.\r\n");
00126   printf("    The speed, acceleration or deceleration unit depend on the step mode:\r\n");
00127   printf("    - For normal mode and half step mode, the unit is steps/s or /s^2.\r\n");
00128   printf("    - For microstep modes, the unit is (1/16)steps/s or /s^2.\r\n");
00129     
00130 //----- Initialization 
00131   /* Initializing Motor Control Component. */
00132   motor = new L6208(D2, D8, D7, D4, D5, D6, VREFA_PWM_PIN, VREFB_PWM_PIN);
00133   if (motor->init(&init) != COMPONENT_OK) {
00134     exit(EXIT_FAILURE);
00135   }
00136 
00137   /* Attaching and enabling an interrupt handler. */
00138   motor->attach_flag_irq(&my_flag_irq_handler);
00139   motor->enable_flag_irq();
00140     
00141   /* Attaching an error handler */
00142   motor->attach_error_handler(&my_error_handler);
00143 
00144   /* Printing to the console. */
00145   printf("Motor Control Application Example for 1 Motor\r\n");
00146 
00147 //----- run the motor BACKWARD
00148   printf("--> Running the motor backward.\r\n");
00149   motor->run(StepperMotor::BWD);
00150   
00151   while (motor->get_status()!=STEADY) {
00152     /* Print reached speed to the console in step/s or microsteps/s */
00153     printf("    Reached Speed: %d microstep/s.\r\n", motor->get_speed());
00154     wait_ms(50);    
00155   }
00156   printf("    Reached Speed: %d microstep/s.\r\n", motor->get_speed());
00157      
00158   /* Wait for 1 second */  
00159   wait_ms(1000);
00160   
00161 //----- Decrease speed while running to one quarter of the previous speed
00162   motor->set_max_speed(motor->get_speed()>>2);
00163   
00164   /* Wait until the motor starts decelerating */
00165   while (motor->get_status()==STEADY);
00166   /* Wait and print speed while the motor is not steady running */
00167   while (motor->get_status()!=STEADY) {
00168     /* Print reached speed to the console in step/s or microsteps/s */
00169     printf("    Reached Speed: %d microstep/s.\r\n", motor->get_speed());
00170     wait_ms(50);    
00171   }
00172   printf("    Reached Speed: %d microstep/s.\r\n", motor->get_speed());  
00173 
00174   /* Wait for 5 seconds */  
00175   wait_ms(5000);
00176   
00177 //----- Soft stop required while running
00178   printf("--> Soft stop requested.\r\n");
00179   motor->soft_stop();
00180   
00181   /* Wait for the motor of device ends moving */  
00182   motor->wait_while_active();
00183 
00184   /* Wait for 2 seconds */
00185   wait_ms(2000);
00186 
00187 //----- Change step mode to full step mode
00188   motor->set_step_mode(StepperMotor::STEP_MODE_FULL);
00189   printf("    Motor step mode: %d (0:FS, 1:1/2, 2:1/4, 3:1/8, 4:1/16).\r\n", motor->get_step_mode());
00190   
00191   /* Get current position of device and print to the console */
00192   printf("    Position: %d.\r\n", motor->get_position());
00193   
00194   /* Set speed, acceleration and deceleration to scale with normal mode */
00195   motor->set_max_speed(init.maxSpeedSps>>4);
00196   motor->set_acceleration(motor->get_acceleration()>>4);
00197   motor->set_deceleration(motor->get_deceleration()>>4);
00198   /* Print parameters to the console */  
00199   printf("    Motor Max Speed: %d step/s.\r\n", motor->get_max_speed());
00200   printf("    Motor Min Speed: %d step/s.\r\n", motor->get_min_speed());
00201   printf("    Motor Acceleration: %d step/s.\r\n", motor->get_acceleration());
00202   printf("    Motor Deceleration: %d step/s.\r\n", motor->get_deceleration());
00203   
00204 //----- move of 200 steps in the FW direction
00205   printf("--> Moving forward 200 steps.\r\n");
00206   motor->move(StepperMotor::FWD, 200);
00207   
00208   /* Waiting while the motor is active. */
00209   motor->wait_while_active();
00210   
00211   /* Get current position of device and print to the console */
00212   printf("    Position: %d.\r\n", motor->get_position());
00213   
00214   /* Disable the power bridges */
00215   motor->disable();
00216   
00217   /* Check that the power bridges are actually disabled */
00218   if (motor->check_status_hw()!=0) {
00219     printf("    Motor driver disabled.\r\n");
00220   } else {
00221     printf("    Failed to disable the motor driver.\r\n");
00222   }
00223     
00224   /* Wait for 2 seconds */  
00225   wait_ms(2000);
00226   
00227  //----- Change step mode to 1/4 microstepping mode  
00228   motor->set_step_mode(StepperMotor::STEP_MODE_1_4);
00229   printf("    Motor step mode: %d (0:FS, 1:1/2, 2:1/4, 3:1/8, 4:1/16).\r\n", motor->get_step_mode());
00230   
00231   /* Get current position of device and print to the console */
00232   printf("    Position: %d.\r\n", motor->get_position());
00233 
00234   /* Set speed, acceleration and deceleration to scale with microstep mode */
00235   motor->set_max_speed(motor->get_max_speed()<<4);
00236   motor->set_acceleration(motor->get_acceleration()<<4);
00237   motor->set_deceleration(motor->get_deceleration()<<4);
00238   /* Print parameters to the console */
00239   printf("    Motor Max Speed: %d step/s.\r\n", motor->get_max_speed());
00240   printf("    Motor Min Speed: %d step/s.\r\n", motor->get_min_speed());
00241   printf("    Motor Acceleration: %d step/s.\r\n", motor->get_acceleration());
00242   printf("    Motor Deceleration: %d step/s.\r\n", motor->get_deceleration());
00243   
00244   /* Request to go position 800 (quarter steps) */
00245   motor->go_to(800);
00246 
00247   /* Wait for the motor ends moving */
00248   motor->wait_while_active();
00249 
00250   /* Get current position of device and print to the console */
00251   printf("    Position: %d.\r\n", motor->get_position());
00252   
00253   /* Wait for 2 seconds */  
00254   wait_ms(2000);
00255   
00256 //----- Restore step mode to its initialization value
00257   motor->set_step_mode((StepperMotor::step_mode_t)init.stepMode);
00258   printf("    Motor step mode: %d (0:FS, 1:1/2, 2:1/4, 3:1/8, 4:1/16).\r\n", motor->get_step_mode());  
00259 
00260   /* Get current position of device and print to the console */
00261   printf("    Position: %d.\r\n", motor->get_position());
00262   
00263 //----- Change decay mode
00264   motor->set_decay_mode(SLOW_DECAY);
00265   printf("    Motor decay mode: %d (0:slow decay, 1:fast decay).\r\n", motor->get_decay_mode());   
00266   
00267 //----- Go to position -6400
00268   printf("--> Go to position -6400 steps.\r\n");
00269   motor->go_to(-6400);
00270   
00271   /* Wait for the motor ends moving */
00272   motor->wait_while_active();
00273 
00274   /* Get current position of device and print to the console */
00275   printf("    Position: %d.\r\n", motor->get_position());
00276   
00277   /* Wait for 2 seconds */  
00278   wait_ms(2000);
00279 
00280 //----- Restore decay mode to its initialization value
00281   motor->set_decay_mode(init.decayMode);
00282   printf("    Motor decay mode: %d (0:slow decay, 1:fast decay).\r\n", motor->get_decay_mode());
00283   
00284 //----- Go Home
00285   printf("--> Go to home position.\r\n");
00286   motor->go_home();
00287  
00288   /* Wait for the motor ends moving */
00289   motor->wait_while_active();
00290   
00291   /* Wait for 1 second */
00292   wait_ms(1000);
00293   
00294   /* Infinite Loop. */
00295   printf("--> Infinite Loop...\r\n");
00296   //while (true) {
00297   int i;
00298   for (i = 0; i < 2; i++) {
00299     /* Request device to go position -3200 */
00300     motor->go_to(-3200);
00301 
00302     /* Waiting while the motor is active. */
00303     motor->wait_while_active();
00304 
00305     /* Request device to go position 3200 */
00306     motor->go_to(3200);
00307  
00308     /* Waiting while the motor is active. */
00309     motor->wait_while_active();
00310   }
00311 }
00312 
00313 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/