ST
Mems Motor Control application example with X_NUCLEO_IHM01A1 and X_NUCLEO_IKS01A2 expansion boards.
Dependencies: X_NUCLEO_IHM01A1 X_NUCLEO_IKS01A2 mbed
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MemsMotorControl
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ST
MEMS-based Motor Control
This application provides an intuitive and natural way for controlling a stepper motor through an accelerometer. It makes use of the STMicroelectronics X-NUCLEO-IKS01A2 MEMS Inertial and Environmental Sensors Expansion Board to get accelerometer values and the X-NUCLEO-IHM01A1 Stepper Motor Control Expansion Board to directly control a stepper motor with:
- speed proportional to the angle measured by the MEMS board;
- direction driven by the direction of rotation captured by the MEMS board.
Diff: main.cpp
- Revision:
- 0:bd157c8f770c
- Child:
- 2:1784677a5955
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Oct 16 14:08:33 2015 +0000
@@ -0,0 +1,138 @@
+/**
+ ******************************************************************************
+ * @file main.cpp
+ * @author Davide Aliprandi / AST
+ * @version V1.0.0
+ * @date October 16th, 2015
+ * @brief mbed vertical application using the STMicrolectronics
+ * X-NUCLEO-IHM01A1 Motor Control Expansion Board and the
+ * X-NUCLEO-IKS01A1 MEMS Inertial & Environmental Sensors Expansion
+ * Board to get a MEMS-based motor control (direction and speed).
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 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"
+
+/* Helper header files. */
+#include "DevSPI.h"
+
+/* Components and expansion boards specific header files. */
+#include "x_nucleo_iks01a1.h"
+#include "l6474_class.h"
+
+
+/* Definitions ---------------------------------------------------------------*/
+
+/* Absolute value of the rotation threshold. */
+#define ROTATION_TH 50
+
+
+/* Variables -----------------------------------------------------------------*/
+
+/* MEMS Expansion Board. */
+X_NUCLEO_IKS01A1 *x_nucleo_iks01a1;
+
+/* Motor Control Component. */
+L6474 *motor;
+
+
+/* Main ----------------------------------------------------------------------*/
+
+int main()
+{
+ /* Initializing I2C bus. */
+ DevI2C dev_i2c(D14, D15);
+
+ /* Initializing SPI bus. */
+ DevSPI dev_spi(D11, D12, D13);
+
+ /* Initializing MEMS Expansion Board. */
+ x_nucleo_iks01a1 = X_NUCLEO_IKS01A1::Instance(&dev_i2c);
+
+ /* Retrieving the accelerometer. */
+ MotionSensor *accelerometer = x_nucleo_iks01a1->GetAccelerometer();
+
+ /* Initializing Motor Control Component. */
+ motor = new L6474(D8, D7, D9, D10, dev_spi);
+ if (motor->Init(NULL) != COMPONENT_OK)
+ return false;
+
+ /* Set defaults. */
+ motor->SetAcceleration(10000);
+ motor->SetDeceleration(10000);
+ motor->SetMinSpeed(10);
+ int status = 0;
+
+ /* Printing to the console. */
+ printf("Motor Control with MEMS\r\n\n");
+
+ /* Main Loop. */
+ while(true)
+ {
+ /* Reading Accelerometer. */
+ int accelerometer_data[3];
+ accelerometer->Get_X_Axes(accelerometer_data);
+
+ /* Motor Control. */
+ int module = abs(accelerometer_data[1]);
+ int sign = accelerometer_data[1] < 0 ? -1 : 1;
+ if (module > ROTATION_TH)
+ {
+ /* Requesting to run. */
+ if (status != sign)
+ {
+ motor->Run(sign == -1 ? BACKWARD : FORWARD);
+ status = sign;
+ }
+
+ /* Setting Speed. */
+ motor->SetMaxSpeed(module * 10);
+
+ /* Printing to the console. */
+ printf("Speed: %c%d\r\n", sign == -1 ? '-' : '+', motor->GetCurrentSpeed());
+ }
+ else if (status != 0)
+ {
+ /* Requesting to stop. */
+ motor->SoftStop();
+ status = 0;
+
+ /* Printing to the console. */
+ printf("Stop.\r\n");
+ }
+
+ /* Waiting. */
+ wait_ms(500);
+ }
+}