ST / Mbed 2 deprecated IHM03A1_ExampleFor1Motor

Motion control example for 1 motor.

Dependencies:   X_NUCLEO_IHM03A1 mbed

Fork of IHM03A1_ExampleFor1Motor by ST Expansion SW Team

This application provides an example of usage of the X-NUCLEO-IHM03A1 High Power Stepper Motor Control Expansion Board.

It shows how to use one stepper motor connected to the board by:

  • moving the rotor a specific number of steps or to a specific position, with a given speed value, direction of rotation;
  • monitoring the motor status;
  • handling an interrupt triggered by the motor driver;
  • getting and setting a motor driver parameter.
  • etc.

For the hardware configuration of the expansion board, please refer to the X_NUCLEO_IHM03A1 home web page.

Diff: main.cpp

Revision:
2:7e8485b5d57d
Parent:
1:6b179be4937e
Child:
3:465d357bbce3
--- a/main.cpp	Thu Apr 07 16:32:55 2016 +0000
+++ b/main.cpp	Wed Apr 13 08:53:45 2016 +0000
@@ -96,7 +96,7 @@
   POWERSTEP01_CONFIG_UVLOVAL_LOW, // UVLO Threshold via powerstep01_ConfigUvLoVal_t
   POWERSTEP01_CONFIG_VCCVAL_15V, // VCC Val, enum powerstep01_ConfigVccVal_t
   POWERSTEP01_CONFIG_TSW_048us, // Switching period, enum powerstep01_ConfigTsw_t
-  POWERSTEP01_CONFIG_PRED_DISABLE, // Predictive current enabling , enum powerstep01_ConfigPredEn_t 
+  POWERSTEP01_CONFIG_PRED_DISABLE // Predictive current enabling , enum powerstep01_ConfigPredEn_t 
 };
 
 /* Motor Control Component. */
@@ -110,7 +110,7 @@
  * @param  None
  * @retval None
  * @note   If needed, implement it, and then attach and enable it:
- *           + motor->AttachFlagIRQ(&FlagIRQHandler);
+ *           + motor->AttachFlagIRQ(&myFlagIRQHandler);
  *           + motor->EnableFlagIRQ();
  *         To disable it:
  *           + motor->DisbleFlagIRQ();
@@ -122,61 +122,70 @@
 
   /* Get the value of the status register. */
   unsigned int statusRegister = motor->GetStatus();
- 
+
   /* Check HIZ flag: if set, power brigdes are disabled */
   if ((statusRegister & POWERSTEP01_STATUS_HIZ)==POWERSTEP01_STATUS_HIZ)
   {
     // HIZ state
-    printf("    WARNING: \"FLAG\" interrupt triggered. HiZ state.\r\n");
+    printf("    HiZ state.\r\n");
   }
   /* Check BUSY flag: if not set, a command is under execution */
   if ((statusRegister & POWERSTEP01_STATUS_BUSY)==0)
   {
     // BUSY
+    printf("    Busy.\r\n");
   }
   /* Check SW_F flag: if not set, the SW input is opened */
-  if ((statusRegister & POWERSTEP01_STATUS_SW_F )==0)
-  {
-     // SW OPEN
-  }
-  else
-  {
-    // SW CLOSED   
-  }  
-  /* Check SW_EN bit */
-  if ((statusRegister & POWERSTEP01_STATUS_SW_EVN)==POWERSTEP01_STATUS_SW_EVN)
+  if ((statusRegister & POWERSTEP01_STATUS_SW_F )!=0)
   {
-    // switch turn_on event
-  }  
-  /* Check direction bit */
-  if ((statusRegister & POWERSTEP01_STATUS_DIR)==0)
+     // SW closed (connected to ground)
+     printf("    SW closed (connected to ground).\r\n");
+  }
+  /* Check SW_EN bit */
+  if ((statusRegister & POWERSTEP01_STATUS_SW_EVN)==
+      POWERSTEP01_STATUS_SW_EVN)
   {
-    // BACKWARD
-  }
-  else  
-  {
-    // FORWARD 
+    // SW turn_on event
+     printf("    SW turn_on event.\r\n");
   }
   if ((statusRegister & POWERSTEP01_STATUS_MOT_STATUS)==
       POWERSTEP01_STATUS_MOT_STATUS_STOPPED)
   {
     // MOTOR STOPPED
+    printf("    Stopped.\r\n");
   }
-  else  if ((statusRegister & POWERSTEP01_STATUS_MOT_STATUS)==
-            POWERSTEP01_STATUS_MOT_STATUS_ACCELERATION)
+  else
   {
-    // MOTOR ACCELERATION
-  }  
-  else  if ((statusRegister & POWERSTEP01_STATUS_MOT_STATUS)==
-            POWERSTEP01_STATUS_MOT_STATUS_DECELERATION)
-  {
-    // MOTOR DECELERATION
-  }
-  else  if ((statusRegister & POWERSTEP01_STATUS_MOT_STATUS)==
-            POWERSTEP01_STATUS_MOT_STATUS_CONST_SPD)
-  {
-    // MOTOR RUNNING AT CONSTANT SPEED
-  }  
+    if ((statusRegister & POWERSTEP01_STATUS_MOT_STATUS)==
+              POWERSTEP01_STATUS_MOT_STATUS_ACCELERATION)
+    {
+      // MOTOR ACCELERATION
+      printf("    Accelerating ");
+    }  
+    else  if ((statusRegister & POWERSTEP01_STATUS_MOT_STATUS)==
+              POWERSTEP01_STATUS_MOT_STATUS_DECELERATION)
+    {
+      // MOTOR DECELERATION
+      printf("    Decelerating ");
+    }
+    else  if ((statusRegister & POWERSTEP01_STATUS_MOT_STATUS)==
+              POWERSTEP01_STATUS_MOT_STATUS_CONST_SPD)
+    {
+      // MOTOR RUNNING AT CONSTANT SPEED
+      printf("    Steady running ");        
+    } 
+    /* Check direction bit */
+    if ((statusRegister & POWERSTEP01_STATUS_DIR)==0)
+    {
+    // StepperMotor::BWD
+     printf(" in backward direction.\r\n");
+    }
+    else  
+    {
+      // StepperMotor::FWD
+      printf(" in forward direction.\r\n");
+    }
+  } 
   /* Check Command Error flag: if set, the command received by SPI can't be */
   /* performed. This occurs for instance when a move command is sent to the */
   /* Powerstep01 while it is already running */
@@ -184,45 +193,64 @@
       POWERSTEP01_STATUS_CMD_ERROR)
   {
     // Command Error
-    printf("    WARNING: \"FLAG\" interrupt triggered. Non-performable command detected.\r\n");
+    printf("    Non-performable command detected.\r\n");
   }  
   /* Check Step mode clock flag: if set, the device is working in step clock mode */
   if ((statusRegister & POWERSTEP01_STATUS_STCK_MOD)==
       POWERSTEP01_STATUS_STCK_MOD)
   {
      //Step clock mode enabled
+    printf("    Step clock mode enabled.\r\n");
   }  
   /* Check UVLO flag: if not set, there is an undervoltage lock-out */
   if ((statusRegister & POWERSTEP01_STATUS_UVLO)==0)
   {
-     //undervoltage lock-out 
+     //Undervoltage lock-out
+     printf("    undervoltage lock-out.\r\n"); 
   }  
   /* Check UVLO ADC flag: if not set, there is an ADC undervoltage lock-out */
   if ((statusRegister & POWERSTEP01_STATUS_UVLO_ADC)==0)
   {
-     //ADC undervoltage lock-out 
+     //ADC undervoltage lock-out
+     printf("    ADC undervoltage lock-out:\r\n");
+     printf("    Expected with default IHM03A1 HW configuration.\r\n");
   } 
   /* Check thermal STATUS flags: if  set, the thermal status is not normal */
   if ((statusRegister & POWERSTEP01_STATUS_TH_STATUS)!=0)
   {
     //thermal status: 1: Warning, 2: Bridge shutdown, 3: Device shutdown
+    if (((statusRegister & POWERSTEP01_STATUS_TH_STATUS)>>11)==1)
+    {
+      printf("    Thermal status - Warning.\r\n");
+    }
+    else if (((statusRegister & POWERSTEP01_STATUS_TH_STATUS)>>11)==2)
+    {
+      printf("    Thermal status - Bridge shutdown.\r\n");
+    }
+    else if (((statusRegister & POWERSTEP01_STATUS_TH_STATUS)>>11)==3)
+    {
+      printf("    Thermal status - Device shutdown.\r\n");
+    }
   }    
   /* Check OCD  flag: if not set, there is an overcurrent detection */
   if ((statusRegister & POWERSTEP01_STATUS_OCD)==0)
   {
-    //overcurrent detection 
+    //Overcurrent detection
+    printf("    Overcurrent detection.\r\n"); 
   }      
   /* Check STALL_A flag: if not set, there is a Stall condition on bridge A */
   if ((statusRegister & POWERSTEP01_STATUS_STALL_A)==0)
   {
-    //overcurrent detection 
+    //Bridge A stalled
+    printf("    Bridge A stalled.\r\n");   
   }    
   /* Check STALL_B flag: if not set, there is a Stall condition on bridge B */
   if ((statusRegister & POWERSTEP01_STATUS_STALL_B)==0)
   {
-    //overcurrent detection 
-  }      
-    
+    //Bridge B stalled
+    printf("    Bridge B stalled.\r\n");  
+  }
+   
   /* Reset ISR flag. */
   motor->isrFlag = FALSE;
 }
@@ -232,7 +260,7 @@
  * @param  None
  * @retval None
  * @note   If needed, implement it, and then attach and enable it:
- *           + motor->AttachBusyIRQ(&FlagIRQHandler);
+ *           + motor->AttachBusyIRQ(&myBusyIRQHandler);
  *           + motor->EnableBusyIRQ();
  *         To disable it:
  *           + motor->DisbleBusyIRQ();
@@ -260,6 +288,8 @@
  * @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)
 {