Motion control example for 3 motors.
Dependencies: X_NUCLEO_IHM03A1 mbed
Fork of IHM03A1_ExampleFor3Motors by
This application provides an example of usage of three X-NUCLEO-IHM03A1 High Power Stepper Motor Control Expansion Boards.
It shows how to use three stepper motors connected to the three expansion boards by:
- moving each motor independently;
- moving several motors synchronously;
- monitoring the status of the three motors;
- handling interrupts triggered by all motor drivers;
- getting and setting a motor driver parameter;
- etc.
For the hardware configuration of the expansion boards, please refer to the X_NUCLEO_IHM03A1 home web page.
Diff: main.cpp
- Revision:
- 5:05b73855a2e1
- Parent:
- 2:c29a38e427f6
diff -r 1b7227132541 -r 05b73855a2e1 main.cpp --- a/main.cpp Thu Apr 14 09:01:03 2016 +0000 +++ b/main.cpp Thu Oct 18 13:41:14 2018 +0000 @@ -47,13 +47,13 @@ #include "DevSPI.h" /* Component specific header files. */ -#include "powerstep01_class.h" +#include "PowerStep01.h" /* Variables -----------------------------------------------------------------*/ /* Initialization parameters of the motor connected to the expansion board. */ /* Current mode. */ -powerstep01_Init_u_t initDeviceParameters = +powerstep01_init_u_t init_device_parameters = { /* common parameters */ .cm.cp.cmVmSelection = POWERSTEP01_CM_VM_CURRENT, // enum powerstep01_CmVm_t @@ -101,9 +101,9 @@ }; /* Motor Control Component. */ -POWERSTEP01 *motor1; -POWERSTEP01 *motor2; -POWERSTEP01 *motor3; +PowerStep01 *motor1; +PowerStep01 *motor2; +PowerStep01 *motor3; /* Functions -----------------------------------------------------------------*/ @@ -112,28 +112,28 @@ * @param None * @retval None * @note If needed, implement it, and then attach and enable it: - * + motor->AttachFlagIRQ(&myFlagIRQHandler); - * + motor->EnableFlagIRQ(); + * + motor->attach_flag_irq(&myFlagIRQHandler); + * + motor->enable_flag_irq(); * To disable it: * + motor->DisbleFlagIRQ(); */ void myFlagIRQHandler(void) { /* Set ISR flag. */ - POWERSTEP01::isrFlag = TRUE; + PowerStep01::isrFlag = TRUE; - motor1->FetchAndClearAllStatus(); - POWERSTEP01 *motor; + motor1->fetch_and_clear_all_status(); + PowerStep01 *motor; motor = motor1; unsigned int statusRegister; printf(" WARNING: \"FLAG\" interrupt triggered.\r\n"); /* Get the value of the status register. */ - for (uint8_t loop = 0; loop<POWERSTEP01::GetNbDevices();loop++) + for (uint8_t loop = 0; loop<PowerStep01::get_nb_devices();loop++) { if (loop==1) motor = motor2; if (loop==2) motor = motor3; - statusRegister = motor->GetFetchedStatus(); + statusRegister = motor->get_fetched_status(); printf(" Motor%d:\r\n",loop+1); /* Check HIZ flag: if set, power brigdes are disabled */ if ((statusRegister & POWERSTEP01_STATUS_HIZ)==POWERSTEP01_STATUS_HIZ) @@ -264,7 +264,7 @@ } } /* Reset ISR flag. */ - POWERSTEP01::isrFlag = FALSE; + PowerStep01::isrFlag = FALSE; } /** @@ -272,18 +272,18 @@ * @param None * @retval None * @note If needed, implement it, and then attach and enable it: - * + motor->AttachBusyIRQ(&myBusyIRQHandler); - * + motor->EnableBusyIRQ(); + * + motor->attach_busy_irq(&myBusyIRQHandler); + * + motor->enable_busy_irq(); * To disable it: * + motor->DisbleBusyIRQ(); */ void myBusyIRQHandler(void) { /* Set ISR flag. */ - POWERSTEP01::isrFlag = TRUE; + PowerStep01::isrFlag = TRUE; /* Reset ISR flag. */ - POWERSTEP01::isrFlag = FALSE; + PowerStep01::isrFlag = FALSE; } /** @@ -291,7 +291,7 @@ * @param[in] error Number of the error * @retval None * @note If needed, implement it, and then attach it: - * + motor->AttachErrorHandler(&myErrorHandler); + * + motor->attach_error_handler(&myErrorHandler); */ void myErrorHandler(uint16_t error) { @@ -304,10 +304,10 @@ } } -void WaitForAllDevicesNotBusy(void) +void wait_for_all_devices_not_busy(void) { /* Wait while at least one is active */ - while (motor1->IsDeviceBusy()|motor2->IsDeviceBusy()|motor3->IsDeviceBusy()); + while (motor1->is_device_busy()|motor2->is_device_busy()|motor3->is_device_busy()); } /* Main ----------------------------------------------------------------------*/ @@ -334,44 +334,44 @@ DevSPI dev_spi(D11, D12, D13); /* Initializing Motor Control Component. */ - motor1 = new POWERSTEP01(D2, D4, D8, D9, D10, dev_spi); - motor2 = new POWERSTEP01(D2, D4, D8, D9, D10, dev_spi); - motor3 = new POWERSTEP01(D2, D4, D8, D9, D10, dev_spi); - if (motor1->Init(&initDeviceParameters) != COMPONENT_OK) exit(EXIT_FAILURE); - if (motor2->Init(&initDeviceParameters) != COMPONENT_OK) exit(EXIT_FAILURE); - if (motor3->Init(&initDeviceParameters) != COMPONENT_OK) exit(EXIT_FAILURE); + motor1 = new PowerStep01(D2, D4, D8, D9, D10, dev_spi); + motor2 = new PowerStep01(D2, D4, D8, D9, D10, dev_spi); + motor3 = new PowerStep01(D2, D4, D8, D9, D10, dev_spi); + if (motor1->init(&init_device_parameters) != COMPONENT_OK) exit(EXIT_FAILURE); + if (motor2->init(&init_device_parameters) != COMPONENT_OK) exit(EXIT_FAILURE); + if (motor3->init(&init_device_parameters) != COMPONENT_OK) exit(EXIT_FAILURE); /* Attaching and enabling interrupt handlers. */ - motor1->AttachFlagIRQ(&myFlagIRQHandler); - motor1->EnableFlagIRQ(); - motor1->AttachBusyIRQ(&myBusyIRQHandler); - motor1->EnableBusyIRQ(); - motor2->AttachFlagIRQ(&myFlagIRQHandler); - motor2->EnableFlagIRQ(); - motor2->AttachBusyIRQ(&myBusyIRQHandler); - motor2->EnableBusyIRQ(); - motor3->AttachFlagIRQ(&myFlagIRQHandler); - motor3->EnableFlagIRQ(); - motor3->AttachBusyIRQ(&myBusyIRQHandler); - motor3->EnableBusyIRQ(); + motor1->attach_flag_irq(&myFlagIRQHandler); + motor1->enable_flag_irq(); + motor1->attach_busy_irq(&myBusyIRQHandler); + motor1->enable_busy_irq(); + motor2->attach_flag_irq(&myFlagIRQHandler); + motor2->enable_flag_irq(); + motor2->attach_busy_irq(&myBusyIRQHandler); + motor2->enable_busy_irq(); + motor3->attach_flag_irq(&myFlagIRQHandler); + motor3->enable_flag_irq(); + motor3->attach_busy_irq(&myBusyIRQHandler); + motor3->enable_busy_irq(); /* Attaching an error handler */ - motor1->AttachErrorHandler(&myErrorHandler); - motor2->AttachErrorHandler(&myErrorHandler); - motor3->AttachErrorHandler(&myErrorHandler); + motor1->attach_error_handler(&myErrorHandler); + motor2->attach_error_handler(&myErrorHandler); + motor3->attach_error_handler(&myErrorHandler); /* Printing to the console. */ printf("Motor Control Application Example for 3 Motors\r\n"); /* Request motor 1 to go to position 3200 and print to the console */ printf("--> Request motor1 to go to position 3200.\r\n"); - motor1->GoTo(3200); + motor1->go_to(3200); /* Wait for motor 2 ends moving */ - motor1->WaitWhileActive(); + motor1->wait_while_active(); /* Get current position of motor 1 and print to the console */ - pos = motor1->GetPosition(); + pos = motor1->get_position(); printf(" Motor1 position: %d.\r\n", pos); /* Wait for 2 seconds */ @@ -383,18 +383,18 @@ { /* Set current position of motor 1 to be its mark position*/ printf(" Set mark to current position of motor1.\r\n"); - motor1->SetMark(); + motor1->set_mark(); /* Request motor 2 to Go to the same position and print to the console */ printf("--> Request motor2 to go to position 3200.\r\n"); - motor2->GoTo(pos); + motor2->go_to(pos); /* Wait for motor 2 ends moving */ - motor2->WaitWhileActive(); + motor2->wait_while_active(); } /* Get current position of motor 2 and print to the console */ - pos = motor2->GetPosition(); + pos = motor2->get_position(); printf(" Motor2 position: %d.\r\n", pos); /* If the read position of motor 2 is 3200 */ @@ -403,14 +403,14 @@ { /* Request motor 3 to Go to the same position and print to the console */ printf("--> Request motor3 to go to position 3200.\r\n"); - motor3->GoTo(pos); + motor3->go_to(pos); /* Wait for motor 3 ends moving */ - motor3->WaitWhileActive(); + motor3->wait_while_active(); } /* Get current position of motor 3 and print to the console */ - pos = motor3->GetPosition(); + pos = motor3->get_position(); printf(" Motor3 position: %d.\r\n", pos); /* Wait for 1s */ @@ -420,13 +420,13 @@ { /* Request all motors to go home and print to the console */ printf(" Request all motors to go home.\r\n"); - motor1->QueueCommands(POWERSTEP01_GO_HOME,0); - motor2->QueueCommands(POWERSTEP01_GO_HOME,0); - motor3->QueueCommands(POWERSTEP01_GO_HOME,0); - motor1->SendQueuedCommands(); + motor1->queue_commands(POWERSTEP01_GO_HOME,0); + motor2->queue_commands(POWERSTEP01_GO_HOME,0); + motor3->queue_commands(POWERSTEP01_GO_HOME,0); + motor1->send_queued_commands(); /* Wait for all motors ends moving */ - WaitForAllDevicesNotBusy(); + wait_for_all_devices_not_busy(); } /* Wait for 1s */ @@ -434,13 +434,13 @@ /* Request motor 1 to Goto position -3200 and print to the console */ printf("--> Request motor1 to go to position -3200.\r\n"); - motor1->GoTo(-3200); + motor1->go_to(-3200); /* Wait for motor 1 ends moving */ - motor1->WaitWhileActive(); + motor1->wait_while_active(); /* Get current position of motor 1 and print to the console */ - pos = motor1->GetPosition(); + pos = motor1->get_position(); printf(" Motor1 position: %d.\r\n", pos); /* If the read position of motor 1 is -3200 */ @@ -449,14 +449,14 @@ { /* Request motor 2 to go to the same position and print to the console */ printf("--> Request motor2 to go to position -3200.\r\n"); - motor2->GoTo(pos); + motor2->go_to(pos); /* Wait for motor 2 ends moving */ - motor2->WaitWhileActive(); + motor2->wait_while_active(); } /* Get current position of motor 2 and print to the console */ - pos = motor2->GetPosition(); + pos = motor2->get_position(); printf(" Motor2 position: %d.\r\n", pos); /* If the read position of motor 2 is -3200 */ @@ -465,14 +465,14 @@ { /* Request motor 3 to go to the same position and print to the console */ printf("--> Request motor3 to go to position -3200.\r\n"); - motor3->GoTo(pos); + motor3->go_to(pos); /* Wait for motor 3 ends moving */ - motor3->WaitWhileActive(); + motor3->wait_while_active(); } /* Get current position of motor 3 and print to the console */ - pos = motor3->GetPosition(); + pos = motor3->get_position(); printf(" Motor3 position: %d.\r\n", pos); /* Wait for 1s */ @@ -482,17 +482,17 @@ { /* Set current position of motor 3 to be its mark position*/ printf(" Set mark to current position of motor3.\r\n"); - motor3->SetMark(); + motor3->set_mark(); /* Request all motors to go home and print to the console */ printf("--> Request all motors to go home.\r\n"); - motor1->QueueCommands(POWERSTEP01_GO_HOME,0); - motor2->QueueCommands(POWERSTEP01_GO_HOME,0); - motor3->QueueCommands(POWERSTEP01_GO_HOME,0); - motor1->SendQueuedCommands(); + motor1->queue_commands(POWERSTEP01_GO_HOME,0); + motor2->queue_commands(POWERSTEP01_GO_HOME,0); + motor3->queue_commands(POWERSTEP01_GO_HOME,0); + motor1->send_queued_commands(); /* Wait for all device ends moving */ - WaitForAllDevicesNotBusy(); + wait_for_all_devices_not_busy(); } /* Wait for 1s */ @@ -500,34 +500,34 @@ /* Request motor 1 and motor 3 to go their mark position */ printf("--> Request motor1 and motor3 to go to their marked position.\r\n"); - motor1->QueueCommands(POWERSTEP01_GO_MARK,0); - motor2->QueueCommands(POWERSTEP01_NOP,0); - motor3->QueueCommands(POWERSTEP01_GO_MARK,0); - motor1->SendQueuedCommands(); + motor1->queue_commands(POWERSTEP01_GO_MARK,0); + motor2->queue_commands(POWERSTEP01_NOP,0); + motor3->queue_commands(POWERSTEP01_GO_MARK,0); + motor1->send_queued_commands(); /* Wait for motor 1 and 2 ends moving */ - WaitForAllDevicesNotBusy(); + wait_for_all_devices_not_busy(); /* Wait for 1s */ wait_ms(1000); /* Request motor 1 to run in StepperMotor::FWD direction at 400 steps/s*/ printf("--> Request motor1 to run at 400 steps/s in forward direction.\r\n"); - motor1->Run(StepperMotor::FWD, 400); + motor1->run(StepperMotor::FWD, 400); /* Wait for device to reach the targeted speed */ - while((motor1->ReadStatusRegister() & POWERSTEP01_STATUS_MOT_STATUS)!= + while((motor1->read_status_register() & POWERSTEP01_STATUS_MOT_STATUS)!= POWERSTEP01_STATUS_MOT_STATUS_CONST_SPD) { /* Record the reached speed in step/s rounded to integer */ - unsignedIntegerValue = motor1->GetSpeed(); + unsignedIntegerValue = motor1->get_speed(); /* Print reached speed to the console in step/s */ printf(" motor1 reached Speed: %d step/s.\r\n", unsignedIntegerValue); wait_ms(50); } /* Record the reached speed in step/s */ - floatValue = motor1->GetAnalogValue(POWERSTEP01_SPEED); + floatValue = motor1->get_analog_value(POWERSTEP01_SPEED); /* Print reached speed to the console in step/s */ printf(" motor1 reached Speed: %f step/s.\r\n", floatValue); @@ -536,24 +536,24 @@ /* and start at same time. */ printf("--> Request motor2 and motor3 to run respectively in forward direction\r\n"); printf(" at 300 steps/s and 200 steps/s and start at same time.\r\n"); - motor1->QueueCommands(POWERSTEP01_NOP,0); - motor2->QueueCommands((uint8_t)POWERSTEP01_RUN|(uint8_t)StepperMotor::FWD,POWERSTEP01::Speed_Steps_s_to_RegVal(300)); - motor3->QueueCommands((uint8_t)POWERSTEP01_RUN|(uint8_t)StepperMotor::FWD,POWERSTEP01::Speed_Steps_s_to_RegVal(200)); - motor1->SendQueuedCommands(); + motor1->queue_commands(POWERSTEP01_NOP,0); + motor2->queue_commands((uint8_t)POWERSTEP01_RUN|(uint8_t)StepperMotor::FWD,PowerStep01::speed_steps_s_to_reg_val(300)); + motor3->queue_commands((uint8_t)POWERSTEP01_RUN|(uint8_t)StepperMotor::FWD,PowerStep01::speed_steps_s_to_reg_val(200)); + motor1->send_queued_commands(); /* Wait for device to reach the targeted speed */ - while(((motor2->ReadStatusRegister() & POWERSTEP01_STATUS_MOT_STATUS)!= + while(((motor2->read_status_register() & POWERSTEP01_STATUS_MOT_STATUS)!= POWERSTEP01_STATUS_MOT_STATUS_CONST_SPD)|| - ((motor3->ReadStatusRegister() & POWERSTEP01_STATUS_MOT_STATUS)!= + ((motor3->read_status_register() & POWERSTEP01_STATUS_MOT_STATUS)!= POWERSTEP01_STATUS_MOT_STATUS_CONST_SPD)); /* Record the reached speed in step/s */ - floatValue = motor2->GetAnalogValue(POWERSTEP01_SPEED); + floatValue = motor2->get_analog_value(POWERSTEP01_SPEED); /* Print reached speed to the console in step/s */ printf(" motor2 reached Speed: %f step/s.\r\n", floatValue); /* Record the reached speed in step/s */ - floatValue = motor3->GetAnalogValue(POWERSTEP01_SPEED); + floatValue = motor3->get_analog_value(POWERSTEP01_SPEED); /* Print reached speed to the console in step/s */ printf(" motor3 reached Speed: %f step/s.\r\n", floatValue); @@ -562,62 +562,62 @@ /* Request motor 2 to make a soft stop */ printf("--> Request motor2 to stop softly\r\n"); - motor2->SoftStop(); + motor2->soft_stop(); /* Wait for motor 2 end moving */ - motor2->WaitWhileActive(); + motor2->wait_while_active(); /* Request motor 1 and 3 to make a hard stop */ printf("--> Request motor1 and motor3 to stop immediately\r\n"); - motor1->QueueCommands(POWERSTEP01_HARD_STOP,0); - motor2->QueueCommands(POWERSTEP01_NOP,0); - motor3->QueueCommands(POWERSTEP01_HARD_STOP,0); - motor1->SendQueuedCommands(); + motor1->queue_commands(POWERSTEP01_HARD_STOP,0); + motor2->queue_commands(POWERSTEP01_NOP,0); + motor3->queue_commands(POWERSTEP01_HARD_STOP,0); + motor1->send_queued_commands(); /* Wait for both motors end moving */ - WaitForAllDevicesNotBusy(); + wait_for_all_devices_not_busy(); /* Request all motors to go home and print to the console */ printf("--> Request all motors to go home.\r\n"); - motor1->QueueCommands(POWERSTEP01_GO_HOME,0); - motor2->QueueCommands(POWERSTEP01_GO_HOME,0); - motor3->QueueCommands(POWERSTEP01_GO_HOME,0); - motor1->SendQueuedCommands(); + motor1->queue_commands(POWERSTEP01_GO_HOME,0); + motor2->queue_commands(POWERSTEP01_GO_HOME,0); + motor3->queue_commands(POWERSTEP01_GO_HOME,0); + motor1->send_queued_commands(); /* Wait for all device ends moving */ - WaitForAllDevicesNotBusy(); + wait_for_all_devices_not_busy(); /* Get acceleration, deceleration, Maxspeed and MinSpeed of motor 1*/ - myMaxSpeed= motor1->GetRawParameter(POWERSTEP01_MAX_SPEED); - myAcceleration = motor1->GetRawParameter(POWERSTEP01_ACC); - myDeceleration = motor1->GetRawParameter(POWERSTEP01_DEC); - myMinSpeed = motor1->GetRawParameter(POWERSTEP01_MIN_SPEED); + myMaxSpeed= motor1->get_raw_parameter(POWERSTEP01_MAX_SPEED); + myAcceleration = motor1->get_raw_parameter(POWERSTEP01_ACC); + myDeceleration = motor1->get_raw_parameter(POWERSTEP01_DEC); + myMinSpeed = motor1->get_raw_parameter(POWERSTEP01_MIN_SPEED); /* Select 1/16 microstepping mode for motor 1 */ printf(" Set 1/16 microstepping mode for motor1.\r\n"); - motor1->SetStepMode(StepperMotor::STEP_MODE_1_16); + motor1->set_step_mode(StepperMotor::STEP_MODE_1_16); /* Select 1/8 microstepping mode for motor 2 */ printf(" Set 1/8 microstepping mode for motor2.\r\n"); - motor2->SetStepMode(StepperMotor::STEP_MODE_1_8); + motor2->set_step_mode(StepperMotor::STEP_MODE_1_8); /* Set speed and acceleration of motor 2 */ /* Do not scale with microstepping mode */ - motor2->SetRawParameter(POWERSTEP01_ACC, myAcceleration); - motor2->SetRawParameter(POWERSTEP01_DEC, myDeceleration); - motor2->SetRawParameter(POWERSTEP01_MIN_SPEED, myMinSpeed); - motor2->SetRawParameter(POWERSTEP01_MAX_SPEED, myMaxSpeed); + motor2->set_raw_parameter(POWERSTEP01_ACC, myAcceleration); + motor2->set_raw_parameter(POWERSTEP01_DEC, myDeceleration); + motor2->set_raw_parameter(POWERSTEP01_MIN_SPEED, myMinSpeed); + motor2->set_raw_parameter(POWERSTEP01_MAX_SPEED, myMaxSpeed); /* Select ful step mode for motor 3 */ printf(" Set ful step mode for motor3.\r\n"); - motor3->SetStepMode(StepperMotor::STEP_MODE_FULL); + motor3->set_step_mode(StepperMotor::STEP_MODE_FULL); /* Set speed and acceleration of motor 3 */ /* Do not scale with microstepping mode */ - motor3->SetRawParameter(POWERSTEP01_ACC, myAcceleration); - motor3->SetRawParameter(POWERSTEP01_DEC, myDeceleration); - motor3->SetRawParameter(POWERSTEP01_MIN_SPEED, myMinSpeed); - motor3->SetRawParameter(POWERSTEP01_MAX_SPEED, myMaxSpeed); + motor3->set_raw_parameter(POWERSTEP01_ACC, myAcceleration); + motor3->set_raw_parameter(POWERSTEP01_DEC, myDeceleration); + motor3->set_raw_parameter(POWERSTEP01_MIN_SPEED, myMinSpeed); + motor3->set_raw_parameter(POWERSTEP01_MAX_SPEED, myMaxSpeed); /* Printing to the console. */ printf("--> Infinite Loop...\r\n"); @@ -628,21 +628,21 @@ /* motor 2 is using 1/8 microstepping mode */ /* motor 3 is using full step mode */ /* position is in microsteps */ - motor1->QueueCommands(POWERSTEP01_GO_TO,-3200); - motor2->QueueCommands(POWERSTEP01_GO_TO,1600); - motor3->QueueCommands(POWERSTEP01_GO_TO,-200); - motor1->SendQueuedCommands(); + motor1->queue_commands(POWERSTEP01_GO_TO,-3200); + motor2->queue_commands(POWERSTEP01_GO_TO,1600); + motor3->queue_commands(POWERSTEP01_GO_TO,-200); + motor1->send_queued_commands(); /* Wait for all device ends moving */ - WaitForAllDevicesNotBusy(); + wait_for_all_devices_not_busy(); - motor1->QueueCommands(POWERSTEP01_GO_TO,3200); - motor2->QueueCommands(POWERSTEP01_GO_TO,-1600); - motor3->QueueCommands(POWERSTEP01_GO_TO,200); - motor1->SendQueuedCommands(); + motor1->queue_commands(POWERSTEP01_GO_TO,3200); + motor2->queue_commands(POWERSTEP01_GO_TO,-1600); + motor3->queue_commands(POWERSTEP01_GO_TO,200); + motor1->send_queued_commands(); /* Wait for all device ends moving */ - WaitForAllDevicesNotBusy(); + wait_for_all_devices_not_busy(); } } /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/