main.cpp

00001 /**
00002  ******************************************************************************
00003  * @file    main.cpp
00004  * @author  IPC Rennes
00005  * @version V1.0.0
00006  * @date    March 18th, 2016
00007  * @brief   mbed test application for the STMicroelectronics X-NUCLEO-IHM03A1
00008  *          Motor Control Expansion Board: control of 1 motor.
00009  ******************************************************************************
00010  * @attention
00011  *
00012  * <h2><center>&copy; COPYRIGHT(c) 2015 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 
00040 /* Includes ------------------------------------------------------------------*/
00041 
00042 /* mbed specific header files. */
00043 #include "mbed.h"
00044 
00045 /* Helper header files. */
00046 #include "DevSPI.h"
00047 
00048 /* Component specific header files. */
00049 #include "powerstep01_class.h"
00050 
00051 /* Variables -----------------------------------------------------------------*/
00052 
00053 /* Initialization parameters of the motor connected to the expansion board. */
00054 /* Current mode. */
00055 powerstep01_Init_u_t initDeviceParameters =
00056 {
00057   /* common parameters */
00058   .cm.cp.cmVmSelection = POWERSTEP01_CM_VM_CURRENT, // enum powerstep01_CmVm_t
00059   582, // Acceleration rate in step/s2, range 14.55 to 59590 steps/s^2
00060   582, // Deceleration rate in step/s2, range 14.55 to 59590 steps/s^2
00061   488, // Maximum speed in step/s, range 15.25 to 15610 steps/s
00062   0, // Minimum speed in step/s, range 0 to 976.3 steps/s
00063   POWERSTEP01_LSPD_OPT_OFF, // Low speed optimization bit, enum powerstep01_LspdOpt_t
00064   244.16, // Full step speed in step/s, range 7.63 to 15625 steps/s
00065   POWERSTEP01_BOOST_MODE_OFF, // Boost of the amplitude square wave, enum powerstep01_BoostMode_t
00066   281.25, // Overcurrent threshold settings via enum powerstep01_OcdTh_t
00067   STEP_MODE_1_16, // Step mode settings via enum motorStepMode_t
00068   POWERSTEP01_SYNC_SEL_DISABLED, // Synch. Mode settings via enum powerstep01_SyncSel_t
00069   (POWERSTEP01_ALARM_EN_OVERCURRENT|
00070    POWERSTEP01_ALARM_EN_THERMAL_SHUTDOWN|
00071    POWERSTEP01_ALARM_EN_THERMAL_WARNING|
00072    POWERSTEP01_ALARM_EN_UVLO|
00073    POWERSTEP01_ALARM_EN_STALL_DETECTION|
00074    POWERSTEP01_ALARM_EN_SW_TURN_ON|
00075    POWERSTEP01_ALARM_EN_WRONG_NPERF_CMD), // Alarm settings via bitmap enum powerstep01_AlarmEn_t
00076   POWERSTEP01_IGATE_64mA, // Gate sink/source current via enum powerstep01_Igate_t 
00077   POWERSTEP01_TBOOST_0ns, // Duration of the overboost phase during gate turn-off via enum powerstep01_Tboost_t
00078   POWERSTEP01_TCC_500ns, // Controlled current time via enum powerstep01_Tcc_t
00079   POWERSTEP01_WD_EN_DISABLE, // External clock watchdog, enum powerstep01_WdEn_t  
00080   POWERSTEP01_TBLANK_375ns, // Duration of the blanking time via enum powerstep01_TBlank_t
00081   POWERSTEP01_TDT_125ns, // Duration of the dead time via enum powerstep01_Tdt_t
00082   /* current mode parameters */
00083   328.12, // Hold torque in mV, range from 7.8mV to 1000 mV
00084   328.12, // Running torque in mV, range from 7.8mV to 1000 mV 
00085   328.12, // Acceleration torque in mV, range from 7.8mV to 1000 mV
00086   328.12, // Deceleration torque in mV, range from 7.8mV to 1000 mV
00087   POWERSTEP01_TOFF_FAST_8us, //Maximum fast decay time , enum powerstep01_ToffFast_t 
00088   POWERSTEP01_FAST_STEP_12us, //Maximum fall step time , enum powerstep01_FastStep_t 
00089   3.0, // Minimum on-time in us, range 0.5us to 64us
00090   21.0, // Minimum off-time in us, range 0.5us to 64us 
00091   POWERSTEP01_CONFIG_INT_16MHZ_OSCOUT_2MHZ, // Clock setting , enum powerstep01_ConfigOscMgmt_t
00092   POWERSTEP01_CONFIG_SW_HARD_STOP, // External switch hard stop interrupt mode, enum powerstep01_ConfigSwMode_t
00093   POWERSTEP01_CONFIG_TQ_REG_TVAL_USED, // External torque regulation enabling , enum powerstep01_ConfigEnTqReg_t
00094   POWERSTEP01_CONFIG_VS_COMP_DISABLE, // Motor Supply Voltage Compensation enabling , enum powerstep01_ConfigEnVscomp_t 
00095   POWERSTEP01_CONFIG_OC_SD_DISABLE, // Over current shutwdown enabling, enum powerstep01_ConfigOcSd_t
00096   POWERSTEP01_CONFIG_UVLOVAL_LOW, // UVLO Threshold via powerstep01_ConfigUvLoVal_t
00097   POWERSTEP01_CONFIG_VCCVAL_15V, // VCC Val, enum powerstep01_ConfigVccVal_t
00098   POWERSTEP01_CONFIG_TSW_048us, // Switching period, enum powerstep01_ConfigTsw_t
00099   POWERSTEP01_CONFIG_PRED_DISABLE // Predictive current enabling , enum powerstep01_ConfigPredEn_t 
00100 };
00101 
00102 /* Motor Control Component. */
00103 POWERSTEP01 *motor;
00104 
00105 
00106 /* Functions -----------------------------------------------------------------*/
00107 
00108 /**
00109  * @brief  This is an example of user handler for the flag interrupt.
00110  * @param  None
00111  * @retval None
00112  * @note   If needed, implement it, and then attach and enable it:
00113  *           + motor->AttachFlagIRQ(&myFlagIRQHandler);
00114  *           + motor->EnableFlagIRQ();
00115  *         To disable it:
00116  *           + motor->DisbleFlagIRQ();
00117  */
00118 void myFlagIRQHandler(void)
00119 {
00120   /* Set ISR flag. */
00121   motor->isrFlag = TRUE;
00122 
00123   /* Get the value of the status register. */
00124   unsigned int statusRegister = motor->GetStatus();
00125 
00126   printf("    WARNING: \"FLAG\" interrupt triggered.\r\n");
00127   /* Check HIZ flag: if set, power brigdes are disabled */
00128   if ((statusRegister & POWERSTEP01_STATUS_HIZ)==POWERSTEP01_STATUS_HIZ)
00129   {
00130     // HIZ state
00131     printf("    HiZ state.\r\n");
00132   }
00133   /* Check BUSY flag: if not set, a command is under execution */
00134   if ((statusRegister & POWERSTEP01_STATUS_BUSY)==0)
00135   {
00136     // BUSY
00137     printf("    Busy.\r\n");
00138   }
00139   /* Check SW_F flag: if not set, the SW input is opened */
00140   if ((statusRegister & POWERSTEP01_STATUS_SW_F )!=0)
00141   {
00142      // SW closed (connected to ground)
00143      printf("    SW closed (connected to ground).\r\n");
00144   }
00145   /* Check SW_EN bit */
00146   if ((statusRegister & POWERSTEP01_STATUS_SW_EVN)==
00147       POWERSTEP01_STATUS_SW_EVN)
00148   {
00149     // SW turn_on event
00150      printf("    SW turn_on event.\r\n");
00151   }
00152   if ((statusRegister & POWERSTEP01_STATUS_MOT_STATUS)==
00153       POWERSTEP01_STATUS_MOT_STATUS_STOPPED)
00154   {
00155     // MOTOR STOPPED
00156     printf("    Stopped.\r\n");
00157   }
00158   else
00159   {
00160     if ((statusRegister & POWERSTEP01_STATUS_MOT_STATUS)==
00161               POWERSTEP01_STATUS_MOT_STATUS_ACCELERATION)
00162     {
00163       // MOTOR ACCELERATION
00164       printf("    Accelerating ");
00165     }  
00166     else  if ((statusRegister & POWERSTEP01_STATUS_MOT_STATUS)==
00167               POWERSTEP01_STATUS_MOT_STATUS_DECELERATION)
00168     {
00169       // MOTOR DECELERATION
00170       printf("    Decelerating ");
00171     }
00172     else  if ((statusRegister & POWERSTEP01_STATUS_MOT_STATUS)==
00173               POWERSTEP01_STATUS_MOT_STATUS_CONST_SPD)
00174     {
00175       // MOTOR RUNNING AT CONSTANT SPEED
00176       printf("    Steady running ");        
00177     } 
00178     /* Check direction bit */
00179     if ((statusRegister & POWERSTEP01_STATUS_DIR)==0)
00180     {
00181     // StepperMotor::BWD
00182      printf(" in backward direction.\r\n");
00183     }
00184     else  
00185     {
00186       // StepperMotor::FWD
00187       printf(" in forward direction.\r\n");
00188     }
00189   } 
00190   /* Check Command Error flag: if set, the command received by SPI can't be */
00191   /* performed. This occurs for instance when a move command is sent to the */
00192   /* Powerstep01 while it is already running */
00193   if ((statusRegister & POWERSTEP01_STATUS_CMD_ERROR)==
00194       POWERSTEP01_STATUS_CMD_ERROR)
00195   {
00196     // Command Error
00197     printf("    Non-performable command detected.\r\n");
00198   }  
00199   /* Check Step mode clock flag: if set, the device is working in step clock mode */
00200   if ((statusRegister & POWERSTEP01_STATUS_STCK_MOD)==
00201       POWERSTEP01_STATUS_STCK_MOD)
00202   {
00203      //Step clock mode enabled
00204     printf("    Step clock mode enabled.\r\n");
00205   }  
00206   /* Check UVLO flag: if not set, there is an undervoltage lock-out */
00207   if ((statusRegister & POWERSTEP01_STATUS_UVLO)==0)
00208   {
00209      //Undervoltage lock-out
00210      printf("    undervoltage lock-out.\r\n"); 
00211   }  
00212   /* Check UVLO ADC flag: if not set, there is an ADC undervoltage lock-out */
00213   if ((statusRegister & POWERSTEP01_STATUS_UVLO_ADC)==0)
00214   {
00215      //ADC undervoltage lock-out
00216      printf("    ADC undervoltage lock-out:\r\n");
00217      printf("    Expected with default IHM03A1 HW configuration.\r\n");
00218   } 
00219   /* Check thermal STATUS flags: if  set, the thermal status is not normal */
00220   if ((statusRegister & POWERSTEP01_STATUS_TH_STATUS)!=0)
00221   {
00222     //thermal status: 1: Warning, 2: Bridge shutdown, 3: Device shutdown
00223     if (((statusRegister & POWERSTEP01_STATUS_TH_STATUS)>>11)==1)
00224     {
00225       printf("    Thermal status - Warning.\r\n");
00226     }
00227     else if (((statusRegister & POWERSTEP01_STATUS_TH_STATUS)>>11)==2)
00228     {
00229       printf("    Thermal status - Bridge shutdown.\r\n");
00230     }
00231     else if (((statusRegister & POWERSTEP01_STATUS_TH_STATUS)>>11)==3)
00232     {
00233       printf("    Thermal status - Device shutdown.\r\n");
00234     }
00235   }    
00236   /* Check OCD  flag: if not set, there is an overcurrent detection */
00237   if ((statusRegister & POWERSTEP01_STATUS_OCD)==0)
00238   {
00239     //Overcurrent detection
00240     printf("    Overcurrent detection.\r\n"); 
00241   }      
00242   /* Check STALL_A flag: if not set, there is a Stall condition on bridge A */
00243   if ((statusRegister & POWERSTEP01_STATUS_STALL_A)==0)
00244   {
00245     //Bridge A stalled
00246     printf("    Bridge A stalled.\r\n");   
00247   }    
00248   /* Check STALL_B flag: if not set, there is a Stall condition on bridge B */
00249   if ((statusRegister & POWERSTEP01_STATUS_STALL_B)==0)
00250   {
00251     //Bridge B stalled
00252     printf("    Bridge B stalled.\r\n");  
00253   }
00254    
00255   /* Reset ISR flag. */
00256   motor->isrFlag = FALSE;
00257 }
00258 
00259 /**
00260  * @brief  This is an example of user handler for the busy interrupt.
00261  * @param  None
00262  * @retval None
00263  * @note   If needed, implement it, and then attach and enable it:
00264  *           + motor->AttachBusyIRQ(&myBusyIRQHandler);
00265  *           + motor->EnableBusyIRQ();
00266  *         To disable it:
00267  *           + motor->DisbleBusyIRQ();
00268  */
00269 void myBusyIRQHandler(void)
00270 {
00271   /* Set ISR flag. */
00272   motor->isrFlag = TRUE;
00273 
00274   if (motor->CheckBusyHw())
00275   {
00276     /* Busy pin is low, so at list one Powerstep01 chip is busy */
00277     /* To be customized (for example Switch on a LED) */
00278   }
00279   else
00280   {
00281     /* To be customized (for example Switch off a LED) */        
00282   }
00283   
00284   /* Reset ISR flag. */
00285   motor->isrFlag = FALSE;
00286 }
00287 
00288 /**
00289  * @brief  This is an example of error handler.
00290  * @param[in] error Number of the error
00291  * @retval None
00292  * @note   If needed, implement it, and then attach it:
00293  *           + motor->AttachErrorHandler(&myErrorHandler);
00294  */
00295 void myErrorHandler(uint16_t error)
00296 {
00297   /* Printing to the console. */
00298   printf("Error %d detected\r\n\n", error);
00299   
00300   /* Infinite loop */
00301   while(1)
00302   {
00303   }    
00304 }
00305 
00306 /* Main ----------------------------------------------------------------------*/
00307 
00308 int main()
00309 {
00310   int32_t pos;
00311   uint32_t unsignedIntegerValue;
00312   float floatValue;
00313   
00314   /* Printing to the console. */
00315   printf("STARTING MAIN PROGRAM\r\n");
00316   printf("    Reminder:\r\n");
00317   printf("    The position unit is in agreement to the step mode.\r\n");
00318   printf("    The speed, acceleration or deceleration unit\r\n");
00319   printf("    do not depend on the step mode and the step unit is a full step.\r\n");
00320     
00321 //----- Initialization 
00322   /* Initializing SPI bus. */
00323   DevSPI dev_spi(D11, D12, D13);
00324 
00325   /* Initializing Motor Control Component. */
00326   motor = new POWERSTEP01(D2, D4, D8, D9, D10, dev_spi);
00327   if (motor->Init(&initDeviceParameters) != COMPONENT_OK) exit(EXIT_FAILURE);
00328 
00329   /* Attaching and enabling interrupt handlers. */
00330   motor->AttachFlagIRQ(&myFlagIRQHandler);
00331   motor->EnableFlagIRQ();
00332   motor->AttachBusyIRQ(&myBusyIRQHandler);
00333   motor->EnableBusyIRQ();
00334     
00335   /* Attaching an error handler */
00336   motor->AttachErrorHandler(&myErrorHandler);
00337 
00338   /* Printing to the console. */
00339   printf("Motor Control Application Example for 1 Motor\r\n");
00340 
00341 //----- Move of 16000 steps in the FW direction
00342   /* Printing to the console. */
00343   printf("--> Moving forward 16000 steps.\r\n");
00344 
00345   /* Move 16000 steps in the FORWARD direction*/
00346   motor->Move(StepperMotor::FWD, 16000);
00347 
00348   /* Waiting while the motor is active. */
00349   motor->WaitWhileActive();
00350 
00351   /* Wait for 2 seconds */  
00352   wait_ms(2000);
00353 
00354 //----- Move of 16000 steps in the BW direction
00355   /* Printing to the console. */
00356   printf("--> Moving backward 16000 steps.\r\n");
00357 
00358   /* Move 16000 steps in the BACKWARD direction*/
00359   motor->Move(StepperMotor::BWD, 16000);
00360 
00361   /* Waiting while the motor is active. */
00362   motor->WaitWhileActive();
00363 
00364   /* Wait for 2 seconds */  
00365   wait_ms(2000);
00366 
00367 //----- Go to position -6400
00368   /* Printing to the console. */
00369   printf("--> Go to position -6400 steps.\r\n");
00370 
00371   /* Request device to go to position -6400 */
00372   motor->GoTo(-6400);  
00373   
00374   /* Wait for the motor ends moving */
00375   motor->WaitWhileActive();
00376 
00377   /* Get current position of device and print to the console */
00378   pos = motor->GetPosition();
00379   printf("    Position: %d.\r\n", pos);
00380 
00381   /* Mark the current position and print to the console */
00382   motor->SetMark();
00383   printf("    Position marked: -6400.\r\n");
00384   
00385   /* Wait for 2 seconds */  
00386   wait_ms(2000);
00387 
00388 //----- Go Home
00389   /* Printing to the console. */
00390   printf("--> Go to home position.\r\n");
00391   
00392   /* Request device to go to Home */
00393   motor->GoHome();  
00394   motor->WaitWhileActive();
00395 
00396   /* Get current position of device and print to the console */
00397   pos = motor->GetPosition();
00398   printf("    Position: %d.\r\n", pos);
00399   
00400   /* Wait for 2 seconds */
00401   wait_ms(2000);
00402 
00403 //----- Go to position 6400
00404   /* Printing to the console. */
00405   printf("--> Go to position 6400 steps.\r\n");
00406   
00407   /* Request device to go to position 6400 */
00408   motor->GoTo(6400);  
00409   
00410   /* Wait for the motor of device ends moving */
00411   motor->WaitWhileActive();
00412 
00413   /* Get current position of device and print to the console */
00414   pos = motor->GetPosition();
00415   printf("    Position: %d.\r\n", pos);
00416 
00417   /* Wait for 2 seconds */
00418   wait_ms(2000);
00419   
00420 //----- Go Mark which was set previously after go to -6400
00421   /* Printing to the console. */
00422   printf("--> Go to the marked position.\r\n");
00423   
00424   /* Request device to go to Mark position */
00425   motor->GoMark();  
00426   
00427   /* Wait for the motor of device ends moving */
00428   motor->WaitWhileActive();
00429 
00430   /* Get current position of device and print to the console */
00431   pos = motor->GetPosition();
00432   printf("    Position: %d.\r\n", pos);
00433 
00434   /* Wait for 2 seconds */
00435   wait_ms(2000);
00436 
00437 //----- Run the motor BACKWARD
00438   /* Printing to the console. */
00439   printf("--> Run the motor backward at 400 step/s.\r\n");
00440   
00441   /* Request device to run BACKWARD at 400 step/s */
00442   motor->Run(StepperMotor::BWD,400);
00443 
00444 //----- Get parameter example   
00445   /* Wait for device reaches the targeted speed */
00446   while((motor->ReadStatusRegister() & POWERSTEP01_STATUS_MOT_STATUS)!=
00447         POWERSTEP01_STATUS_MOT_STATUS_CONST_SPD);
00448  
00449   /* Record the reached speed in step/s */
00450   floatValue = motor->GetAnalogValue(POWERSTEP01_SPEED); 
00451   /* Print reached speed to the console in step/s */
00452   printf("    Reached Speed: %f step/s.\r\n", floatValue);
00453 
00454   /* Record the reached speed in step/s rounded to integer */
00455   unsignedIntegerValue = motor->GetSpeed();
00456   /* Print reached speed to the console in step/s */
00457   printf("    Reached Speed: %d step/s.\r\n", unsignedIntegerValue);
00458   
00459   /* Record the reached speed in step/tick */
00460   unsignedIntegerValue = motor->GetRawParameter(POWERSTEP01_SPEED); 
00461   /* Print reached speed to the console in step/tick */
00462   printf("    Reached Speed: %d step/tick.\r\n", unsignedIntegerValue);
00463 
00464 //----- Soft stopped required while running
00465   /* Printing to the console. */
00466   printf("--> Soft stop requested.\r\n");
00467   
00468   /* Request a soft stop of device and keep the power bridges enabled */
00469   motor->SoftHiZ();
00470 
00471   /* Wait for the motor of device ends moving */  
00472   motor->WaitWhileActive();
00473 
00474   /* Wait for 2 seconds */
00475   wait_ms(2000);
00476 
00477 //----- Run stopped by hardstop
00478   /* Printing to the console. */
00479   printf("--> Run the motor forward at 300 step/s.\r\n");
00480   
00481   /* Request device to run in FORWARD direction at 300 step/s */
00482   motor->Run(StepperMotor::FWD,300);         
00483   wait_ms(5000);
00484   
00485   /* Printing to the console. */
00486   printf("--> Hard stop requested.\r\n");
00487   
00488   /* Request device to immediatly stop */
00489   motor->HardStop();
00490   motor->WaitWhileActive();
00491 
00492   /* Wait for 2 seconds */
00493   wait_ms(2000);
00494 
00495 //----- GOTO stopped by soft stop
00496   /* Printing to the console. */
00497   printf("--> Go to position 200000 steps.\r\n");
00498   
00499   /* Request device to go to position 200000  */
00500   motor->GoTo(200000);  
00501   wait_ms(2000);
00502 
00503   /* Printing to the console. */
00504   printf("--> Soft stop requested.\r\n");
00505 
00506   /* Request device to perform a soft stop */
00507   motor->SoftStop();
00508   motor->WaitWhileActive();
00509   
00510   /* Get current position of device and print to the console */
00511   pos = motor->GetPosition();
00512   printf("    Position: %d.\r\n", pos);
00513 
00514   /* Wait for 2 seconds */
00515   wait_ms(2000);
00516 
00517 //----- Read inexistent register to test MyFlagInterruptHandler
00518   /* Printing to the console. */
00519   printf("--> Try to read an inexistent register.\r\n");
00520 
00521   /* Try to read an inexistent register */
00522   /* the flag interrupt should be raised */
00523   /* and the MyFlagInterruptHandler function called */
00524   motor->GetRawParameter(0x1F);
00525   
00526 //----- Put the bridges in high impedance
00527   /* Printing to the console. */
00528   printf("--> Request disabling of device power bridges.\r\n");
00529     
00530   /* Request disabling of device power bridges */
00531   motor->HardHiZ();
00532   wait_ms(5000);
00533   
00534 //----- Step clock mode example
00535   /* Printing to the console. */
00536   printf("--> Enable Step Clock Mode of the Powerstep01, enabling power bridges.\r\n");
00537   
00538   /* Enable Step Clock Mode of the Powerstep01, enabling power bridges */
00539   motor->StepClockModeEnable(StepperMotor::FWD);
00540   
00541   /* Printing to the console. */ 
00542   printf("--> Start step clock.\r\n");  
00543   
00544   /* Enable the step clock at 333 Hz */
00545   motor->StepClockStart(333);
00546   
00547   /* Let the motor runs for 5 second at 333 step/s */
00548   wait_ms(5000);
00549 
00550   /* Printing to the console. */ 
00551   printf("--> Stop step clock.\r\n"); 
00552   
00553   /* Stop the step clock */
00554   motor->StepClockStop();
00555   
00556   /* Wait for 2 seconds */
00557   wait_ms(2000);
00558 
00559 //----- Set parameter example
00560   /* Printing to the console. */
00561   printf("--> Set POWERSTEP01_MAX_SPEED parameter to 3.\r\n");
00562   printf("    This is corresponding to 45.75 full step/s.\r\n");
00563 
00564   /* Change the maximum speed to 3*2^18 step/tick */
00565   motor->SetRawParameter(POWERSTEP01_MAX_SPEED, 3);
00566   
00567   /* Printing to the console. */
00568   printf("--> Move the motor 3200 steps in forward direction.\r\n");
00569     
00570   /* Request device to move 3200 microsteps */
00571   motor->Move(StepperMotor::FWD,3200);
00572     
00573   /* Wait for the motor ends moving */
00574   motor->WaitWhileActive();
00575   
00576   /* Wait for 2 seconds */
00577   wait_ms(2000);
00578   
00579 //----- Change step mode to full step mode
00580   /* Printing to the console. */
00581   printf("--> Select full step mode.\r\n");
00582 
00583   /* Select full step mode for device */
00584   motor->SetStepMode(StepperMotor::STEP_MODE_FULL);
00585 
00586   /* Printing to the console. */
00587   printf("--> Set the device position to POWERSTEP01_MIN_POSITION + 199 (-2^21+199).\r\n");
00588 
00589   /* Set the device position to POWERSTEP01_MIN_POSITION + 199 */
00590   motor->SetRawParameter(POWERSTEP01_ABS_POS,(uint32_t)(POWERSTEP01_MIN_POSITION+199));
00591   
00592   /* Get current position of device and print to the console */
00593   pos = motor->GetPosition();
00594   printf("    Position: %d.\r\n", pos);
00595 
00596   /* Printing to the console. */
00597   printf("--> Go to POWERSTEP01_MAX_POSITION (2^21-1) using the shortest path.\r\n");
00598 
00599   /* Request device to go to the POWERSTEP01_MAX_POSITION using the shortest path */
00600   motor->GoTo(POWERSTEP01_MAX_POSITION);
00601 
00602   /* Wait for the motor of device ends moving */
00603   motor->WaitWhileActive();
00604 
00605   /* Get current position of device and print to the console */
00606   pos = motor->GetPosition();
00607   printf("    Position: %d.\r\n", pos);
00608 
00609   /* Wait for 2 seconds */
00610   wait_ms(2000);
00611   
00612   /* Printing to the console. */
00613   printf("--> Set the device position to POWERSTEP01_MIN_POSITION + 199 (-2^21+199).\r\n");
00614 
00615   /* Set the device position to POWERSTEP01_MIN_POSITION + 199 */
00616   motor->SetRawParameter(POWERSTEP01_ABS_POS,(uint32_t)(POWERSTEP01_MIN_POSITION+199));
00617   
00618   /* Get current position of device and print to the console */
00619   pos = motor->GetPosition();
00620   printf("    Position: %d.\r\n", pos);
00621 
00622 //----- GoTo_DIR example
00623   /* Printing to the console. */
00624   printf("--> Go to the POWERSTEP01_MAX_POSITION using backward direction.\r\n");
00625 
00626   /* Request device to go to the POWERSTEP01_MAX_POSITION using backward direction */
00627   motor->GoTo(StepperMotor::BWD,POWERSTEP01_MAX_POSITION);
00628 
00629   /* Wait for the motor of device ends moving */
00630   motor->WaitWhileActive();
00631 
00632   /* Get current position of device and print to the console */
00633   pos = motor->GetPosition();
00634   printf("    Position: %d.\r\n", pos); 
00635  
00636    /* Printing to the console. */
00637   printf("--> Restore device initial max speed.\r\n");
00638   
00639   /* Restore device initial max speed */
00640   motor->SetAnalogValue(POWERSTEP01_MAX_SPEED, POWERSTEP01_CONF_PARAM_MAX_SPEED_DEVICE_0);
00641   
00642   /* Get the maximum speed in step/s */
00643   floatValue = motor->GetAnalogValue(POWERSTEP01_MAX_SPEED); 
00644   /* Print maximum speed to the console in step/s */
00645   printf("    Maximum Speed: %f step/s.\r\n", floatValue); 
00646   
00647 //----- Restore initial microstepping mode
00648    /* Printing to the console. */
00649   printf("--> Restore device initial step mode.\r\n");
00650 
00651   /* Reset device to its initial  microstepping mode */
00652   motor->SetStepMode((StepperMotor::step_mode_t)POWERSTEP01_CONF_PARAM_STEP_MODE_DEVICE_0);
00653 
00654   /* Wait for 2 seconds */  
00655   wait_ms(2000);
00656 
00657   /* Printing to the console. */
00658   printf("--> Infinite Loop...\r\n");
00659   /* Infinite Loop. */
00660   while (1)
00661   {
00662     /* Request device to go position -6400 */
00663     motor->GoTo(-6400);
00664 
00665     /* Waiting while the motor is active. */
00666     motor->WaitWhileActive();
00667 
00668     /* Request device to go position 6400 */
00669     motor->GoTo(6400);
00670  
00671     /* Waiting while the motor is active. */
00672     motor->WaitWhileActive();
00673   } 
00674 }
00675 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/