File content as of revision 0:9ebe3081c641:

/**
 ******************************************************************************
 * @file    main.cpp
 * @author  IPC Rennes
 * @version V1.0.0
 * @date    May 26th, 2016
 * @brief   mbed simple application for the STMicroelectronics X-NUCLEO-IHM06A1
 *          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"

/* Component specific header files. */
#include "stspin220_class.h"

/* Definitions ---------------------------------------------------------------*/
#ifdef TARGET_NUCLEO_F302R8
#define PWM_REF_PIN D11 /* HW mandatory patch: bridge manually D9 with D10 */
#else
#define PWM_REF_PIN D9
#endif
/* Uncomment the line below to enable the step clock monitoring duration */
//#define STEP_CLOCK_HANDLER_DURATION_MONITORING
#ifdef STEP_CLOCK_HANDLER_DURATION_MONITORING
#define MONITORING_PIN D15
#endif

/* Variables -----------------------------------------------------------------*/

/* Initialization parameters of the motor connected to the expansion board. */
Stspin220_Init_t initDeviceParameters =
{
  10000,           //Acceleration rate in pulse/s2 (must be greater than 0)
  10000,           //Deceleration rate in pulse/s2 (must be greater than 0)
  10000,           //Running speed in pulse/s (8 pulse/s < Maximum speed <= 10 000 pulse/s )
  400,             //Minimum speed in pulse/s (8 pulse/s <= Minimum speed < 10 000 pulse/s)
  20,              //Acceleration current torque in % (from 0 to 100)
  15,              //Deceleration current torque in % (from 0 to 100)
  10,              //Running current torque in % (from 0 to 100)
  25,              //Holding current torque in % (from 0 to 100)
  TRUE,            //Torque boost speed enable
  200,             //Torque boost speed threshold in fullstep/s
  STEP_MODE_1_32,  //Step mode via enum motorStepMode_t  
  HIZ_MODE,        //Automatic HIZ STOP
  100000           //REF frequency (Hz)
};

/* Motor Control Component. */
STSPIN220 *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, speed, acceleration and deceleration units\r\n");
  printf("    are in agreement to the step mode.\r\n");
  printf("    In example if the step mode is 1/32th,\r\n");
  printf("    the position is in 1/32th step,\r\n");
  printf("    the speed is in 1/32th step/s,\r\n");
  printf("    the acceleration and the deceleration are in 1/32th step/s^2.\r\n");
    
//----- Initialization 
  /* Initializing Motor Control Component. */
#ifdef STEP_CLOCK_HANDLER_DURATION_MONITORING
  motor = new STSPIN220(D2, D8, D7, D5, D10, D3, PWM_REF_PIN, MONITORING_PIN);
#else
  motor = new STSPIN220(D2, D8, D7, D5, D10, D3, PWM_REF_PIN);
#endif

  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");
  
//----- Get the step mode after initialization 
  StepperMotor::step_mode_t myStepMode = motor->GetStepMode();

//----- 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 step/s.\r\n", motor->GetSpeed());
    wait_ms(50);    
  }
  printf("    Reached Speed: %d step/s.\r\n", motor->GetSpeed());
     
  /* Wait for 1 second */  
  wait_ms(1000);
  
//----- Decrease speed while running to one quarter of the previous speed
  printf("    Motor init step mode: %d\r\n", myStepMode);
  int currentStepMode = motor->GetStepMode();
  printf("    Motor current step mode: %d\r\n", currentStepMode);
  int newSpeed = (motor->GetSpeed()<<(myStepMode-currentStepMode))>>2;
  printf("    Set motor max speed to: %d step/s.\r\n", newSpeed);
  if (!motor->SetMaxSpeed(newSpeed))
  {
    printf("    Failed: target speed below min speed.\r\n");
    if (motor->SetMaxSpeed(motor->GetMinSpeed()))
      printf("    Motor max speed set to min speed: %d step/s.\r\n", motor->GetMinSpeed());
    else
      printf("    Failed: check all speed and boost setting.\r\n");
  }
  
  /* 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 step/s.\r\n", motor->GetSpeed());
    wait_ms(50);    
  }
  printf("    Reached Speed: %d step/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\r\n", motor->GetStepMode());
  printf("    0:FS      1:1/2     2:1/4\r\n    3:1/8     4:1/16    5:1/32\r\n");
  printf("    6:1/64    7:1/128   8:1/256\r\n");
    
  /* 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 full step mode */
  motor->SetMinSpeed(initDeviceParameters.minSpeed>>myStepMode);  
  motor->SetMaxSpeed(initDeviceParameters.maxSpeed>>myStepMode);
  motor->SetAcceleration(motor->GetAcceleration()>>myStepMode);
  motor->SetDeceleration(motor->GetDeceleration()>>myStepMode);
  /* Print parameters to the console */
  printf("    Motor Min Speed: %d step/s.\r\n", motor->GetMinSpeed());  
  printf("    Motor Max Speed: %d step/s.\r\n", motor->GetMaxSpeed());
  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);
  
//----- Restore step mode to its initialization value
  motor->SetStepMode((StepperMotor::step_mode_t)initDeviceParameters.stepMode);
  printf("    Motor step mode: %d\r\n", motor->GetStepMode());
  printf("    0:FS      1:1/2     2:1/4\r\n    3:1/8     4:1/16    5:1/32\r\n");
  printf("    6:1/64    7:1/128   8:1/256\r\n");

  /* Set speed, acceleration and deceleration to scale with microstep mode */
  motor->SetMaxSpeed(motor->GetMaxSpeed()<<myStepMode);
  motor->SetMinSpeed(motor->GetMinSpeed()<<myStepMode);
  motor->SetAcceleration(motor->GetAcceleration()<<myStepMode);
  motor->SetDeceleration(motor->GetDeceleration()<<myStepMode);
  /* 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());

  /* Get current position of device and print to the console */
  printf("    Position: %d.\r\n", motor->GetPosition());
  
//----- Change torque
  motor->SetTorque(ACC_TORQUE,30);
  motor->SetTorque(DEC_TORQUE,20);
  printf("    Motor acceleration and deceleration torque changed to: %d and %d.\r\n", motor->GetTorque(ACC_TORQUE), motor->GetTorque(DEC_TORQUE));   
  
//----- 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);
  
//----- 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();
    wait_ms(500);
  }
}
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/