Motor Control with the X-NUCLEO-IHM01A1 Expansion Board

Diff: main.cpp

Revision:

1:5171df1bf684

Parent:

0:fedf3cf2324a

Child:

2:d956260240b0

--- a/main.cpp	Wed Oct 14 15:29:42 2015 +0000
+++ b/main.cpp	Fri Oct 16 13:43:01 2015 +0000
@@ -5,7 +5,8 @@
  * @version V1.0.0
  * @date    October 14th, 2015
  * @brief   mbed test application for the STMicrolectronics X-NUCLEO-IHM01A1
- *          Motor Control Expansion Board: control of 1 motor.
+ *          Motor Control Expansion Board: control of 1 motor showing the usage
+ *          of all the related APIs.
  *          This application makes use of a C++ component architecture obtained
  *          from the C component architecture through the Stm32CubeTOO tool.
  ******************************************************************************
@@ -54,80 +55,7 @@
 /* Variables -----------------------------------------------------------------*/
 
 /* Motor Control Component. */
-L6474 *l6474;
-
-/* Flag to identify whenever a PWM pulse has finished. */
-volatile int pwm_pulse_finished_flag;
-
-/* Flag to identify whenever the desired delay has expired. */
-volatile int delay_expired_flag;
-
-
-/* Functions -----------------------------------------------------------------*/
-
-/*
- * @brief  PWM callback.
- * @param  None
- * @retval None
- */
-void PWMCallback(void)
-{
-    pwm_pulse_finished_flag = 1;
-}
-
-/*
- * @brief  Delay callback.
- * @param  None
- * @retval None
- */
-void DelayCallback()
-{
-    delay_expired_flag = 1;
-}
-
-/*
- * @brief  Waiting until PWM pulse has finished.
- * @param  None
- * @retval None
- */
-void WaitForPWMPulse(void)
-{
-    /* Waiting until PWM flag is set. */
-    while (pwm_pulse_finished_flag == 0);
-    
-    /* Resetting PWM flag. */
-    pwm_pulse_finished_flag = 0;
-
-    /* Setting the device state machine. */
-    if (l6474->GetDeviceState() != INACTIVE)
-        l6474->StepClockHandler();
-}
-
-/*
- * @brief  Waiting while the motor is active.
- * @param  None
- * @retval None
- */
-void WaitWhileActive(void)
-{
-    while (l6474->GetDeviceState() != INACTIVE)
-        WaitForPWMPulse();
-}
-
-/*
- * @brief  Waiting until delay has expired.
- * @param  delay delay in milliseconds.
- * @retval None
- */
-void WaitForDelay(int delay)
-{
-    Timeout timeout;
-    timeout.attach(&DelayCallback, delay / 1E3);
-
-    delay_expired_flag = 0;
-    while (delay_expired_flag == 0)
-        WaitForPWMPulse();
-}
+L6474 *motor;
 
 
 /* Main ----------------------------------------------------------------------*/
@@ -137,12 +65,9 @@
     /* Initializing SPI bus. */
     DevSPI dev_spi(D11, D12, D13);
 
-    /* Resetting Timer PWM flag. */
-    pwm_pulse_finished_flag = 0;
-
     /* Initializing Motor Control Component. */
-    l6474 = new L6474(D8, D7, D9, D10, dev_spi);
-    if (l6474->Init(NULL) != COMPONENT_OK)
+    motor = new L6474(D8, D7, D9, D10, dev_spi);
+    if (motor->Init(NULL) != COMPONENT_OK)
         return false;
 
     /* Printing to the console. */
@@ -157,10 +82,10 @@
         printf("--> Moving forward 16000 steps.\r\n");
 
         /* Moving 16000 steps in the forward direction. */
-        l6474->Move(FORWARD, 16000);
+        motor->Move(FORWARD, 16000);
         
         /* Waiting while the motor is active. */
-        WaitWhileActive();
+        motor->WaitWhileActive();
 
         /* Waiting 2 seconds. */
         wait_ms(2000);
@@ -172,13 +97,13 @@
         printf("--> Moving backward 16000 steps.\r\n");
         
         /* Moving 16000 steps in the backward direction. */
-        l6474->Move(BACKWARD, 16000);
-        
+        motor->Move(BACKWARD, 16000);
+
         /* Waiting while the motor is active. */
-        WaitWhileActive();
+        motor->WaitWhileActive();
 
         /* Setting the current position to be the home position. */
-        l6474->SetHome();
+        motor->SetHome();
   
         /* Waiting 2 seconds. */
         wait_ms(2000);
@@ -190,19 +115,19 @@
         printf("--> Going to position -6400.\r\n");
         
         /* Requesting to go to a specified position. */
-        l6474->GoTo(-6400);
+        motor->GoTo(-6400);
         
         /* Waiting while the motor is active. */
-        WaitWhileActive();
+        motor->WaitWhileActive();
 
         /* Getting current position. */
-        int position = l6474->GetPosition();
+        int position = motor->GetPosition();
         
         /* Printing to the console. */
         printf("    Position: %d.\r\n", position);
         
         /* Setting the current position to be the mark position. */
-        l6474->SetMark();
+        motor->SetMark();
 
         /* Waiting 2 seconds. */
         wait_ms(2000);
@@ -214,13 +139,13 @@
         printf("--> Going Home.\r\n");
         
         /* Requesting to go to home */
-        l6474->GoHome();  
+        motor->GoHome();  
         
         /* Waiting while the motor is active. */
-        WaitWhileActive();
+        motor->WaitWhileActive();
 
         /* Getting current position. */
-        position = l6474->GetPosition();
+        position = motor->GetPosition();
 
         /* Printing to the console. */
         printf("    Position: %d.\r\n", position);
@@ -235,13 +160,13 @@
         printf("--> Going to position 6400.\r\n");
         
         /* Requesting to go to a specified position. */
-        l6474->GoTo(6400);
+        motor->GoTo(6400);
         
         /* Waiting while the motor is active. */
-        WaitWhileActive();
+        motor->WaitWhileActive();
 
         /* Getting current position. */
-        position = l6474->GetPosition();
+        position = motor->GetPosition();
 
         /* Printing to the console. */
         printf("    Position: %d.\r\n", position);
@@ -256,13 +181,13 @@
         printf("--> Going to mark which was set previously after going to -6400.\r\n");
         
         /* Requesting to go to mark position. */
-        l6474->GoMark();  
+        motor->GoMark();  
         
         /* Waiting while the motor is active. */
-        WaitWhileActive();
+        motor->WaitWhileActive();
 
         /* Getting current position. */
-        position = l6474->GetPosition();
+        position = motor->GetPosition();
 
         /* Printing to the console. */
         printf("    Position: %d.\r\n", position);
@@ -277,13 +202,13 @@
         printf("--> Moving backward.\r\n");
 
         /* Requesting to run backward. */
-        l6474->Run(BACKWARD);
+        motor->Run(BACKWARD);
 
         /* Waiting until delay has expired. */
-        WaitForDelay(5000);
+        wait_ms(5000);
 
         /* Getting current speed. */
-        int speed = l6474->GetCurrentSpeed();
+        int speed = motor->GetCurrentSpeed();
 
         /* Printing to the console. */
         printf("    Speed: %d.\r\n", speed);
@@ -295,13 +220,13 @@
         printf("--> Increasing the speed while running.\r\n");
 
         /* Increasing speed to 2400 step/s. */
-        l6474->SetMaxSpeed(2400);
+        motor->SetMaxSpeed(2400);
 
         /* Waiting until delay has expired. */
-        WaitForDelay(5000);
+        wait_ms(5000);
 
         /* Getting current speed. */
-        speed = l6474->GetCurrentSpeed();
+        speed = motor->GetCurrentSpeed();
 
         /* Printing to the console. */
         printf("    Speed: %d.\r\n", speed);
@@ -313,13 +238,13 @@
         printf("--> Decreasing the speed while running.\r\n");
 
         /* Decreasing speed to 1200 step/s. */
-        l6474->SetMaxSpeed(1200);
+        motor->SetMaxSpeed(1200);
 
         /* Waiting until delay has expired. */
-        WaitForDelay(5000);
+        wait_ms(5000);
 
         /* Getting current speed. */
-        speed = l6474->GetCurrentSpeed();
+        speed = motor->GetCurrentSpeed();
 
         /* Printing to the console. */
         printf("    Speed: %d.\r\n", speed);
@@ -331,19 +256,19 @@
         printf("--> Increasing acceleration while running.\r\n");
 
         /* Increasing acceleration to 480 step/s^2. */
-        l6474->SetAcceleration(480);
+        motor->SetAcceleration(480);
 
         /* Waiting until delay has expired. */
-        WaitForDelay(5000);
+        wait_ms(5000);
 
         /* Increasing speed to 2400 step/s. */
-        l6474->SetMaxSpeed(2400);
+        motor->SetMaxSpeed(2400);
 
         /* Waiting until delay has expired. */
-        WaitForDelay(5000);
+        wait_ms(5000);
 
         /* Getting current speed. */
-        speed = l6474->GetCurrentSpeed();
+        speed = motor->GetCurrentSpeed();
 
         /* Printing to the console. */
         printf("    Speed: %d.\r\n", speed);
@@ -355,19 +280,19 @@
         printf("--> Increasing deceleration while running.\r\n");
 
         /* Increasing deceleration to 480 step/s^2. */
-        l6474->SetDeceleration(480);
+        motor->SetDeceleration(480);
 
         /* Waiting until delay has expired. */
-        WaitForDelay(5000);
+        wait_ms(5000);
 
         /* Decreasing speed to 1200 step/s. */
-        l6474->SetMaxSpeed(1200);
+        motor->SetMaxSpeed(1200);
 
         /* Waiting until delay has expired. */
-        WaitForDelay(5000);
+        wait_ms(5000);
 
         /* Getting current speed. */
-        speed = l6474->GetCurrentSpeed();
+        speed = motor->GetCurrentSpeed();
 
         /* Printing to the console. */
         printf("    Speed: %d.\r\n", speed);
@@ -379,10 +304,10 @@
         printf("--> Requiring soft-stop while running.\r\n");
 
         /* Requesting soft stop. */
-        l6474->SoftStop();
+        motor->SoftStop();
 
         /* Waiting while the motor is active. */
-        WaitWhileActive();
+        motor->WaitWhileActive();
 
         /* Waiting 2 seconds. */
         wait_ms(2000);
@@ -394,16 +319,16 @@
         printf("--> Requiring hard-stop while running.\r\n");
 
         /* Requesting to run in forward direction. */
-        l6474->Run(FORWARD);
+        motor->Run(FORWARD);
 
         /* Waiting until delay has expired. */
-        WaitForDelay(5000);
+        wait_ms(5000);
         
         /* Requesting to immediatly stop. */
-        l6474->HardStop();
+        motor->HardStop();
 
         /* Waiting while the motor is active. */
-        WaitWhileActive();
+        motor->WaitWhileActive();
 
         /* Waiting 2 seconds. */
         wait_ms(2000);
@@ -415,16 +340,16 @@
         printf("--> GOTO stopped by soft-stop.\r\n");
 
         /* Requesting to go to a specified position. */
-        l6474->GoTo(20000);  
+        motor->GoTo(20000);  
         
         /* Waiting while the motor is active. */
-        WaitForDelay(5000);
+        wait_ms(5000);
 
         /* Requesting to perform a soft stop */
-        l6474->SoftStop();
+        motor->SoftStop();
 
         /* Waiting while the motor is active. */
-        WaitWhileActive();
+        motor->WaitWhileActive();
 
         /* Waiting 2 seconds. */
         wait_ms(2000);  
@@ -440,7 +365,7 @@
          * The flag interrupt should be raised and the "MyFlagInterruptHandler"
          * function called.
          */
-        l6474->CmdGetParam(0x1F);
+        motor->CmdGetParam(0x1F);
 
         /* Waiting 0.5 seconds. */
         wait_ms(500);
@@ -452,22 +377,22 @@
         printf("--> Changing step mode to full step mode.\r\n");
 
         /* Selecting full step mode. */
-        l6474->SelectStepMode(STEP_MODE_FULL);
+        motor->SelectStepMode(STEP_MODE_FULL);
 
         /* Setting speed and acceleration to be consistent with full step mode. */
-        l6474->SetMaxSpeed(100);
-        l6474->SetMinSpeed(50);
-        l6474->SetAcceleration(10);
-        l6474->SetDeceleration(10);
+        motor->SetMaxSpeed(100);
+        motor->SetMinSpeed(50);
+        motor->SetAcceleration(10);
+        motor->SetDeceleration(10);
 
         /* Requesting to go to a specified position. */
-        l6474->GoTo(200);
+        motor->GoTo(200);
 
         /* Waiting while the motor is active. */
-        WaitWhileActive();
+        motor->WaitWhileActive();
 
         /* Getting current position */
-        position = l6474->GetPosition();
+        position = motor->GetPosition();
 
         /* Printing to the console. */
         printf("    Position: %d.\r\n", position);
@@ -482,13 +407,13 @@
         printf("--> Restoring 1/16 microstepping mode.\r\n");
 
         /* Resetting to 1/16 microstepping mode */
-        l6474->SelectStepMode(STEP_MODE_1_16);    
+        motor->SelectStepMode(STEP_MODE_1_16);    
 
         /* Update speed, acceleration, deceleration for 1/16 microstepping mode*/
-        l6474->SetMaxSpeed(1600);
-        l6474->SetMinSpeed(800);
-        l6474->SetAcceleration(160);
-        l6474->SetDeceleration(160);  
+        motor->SetMaxSpeed(1600);
+        motor->SetMinSpeed(800);
+        motor->SetAcceleration(160);
+        motor->SetDeceleration(160);  
 
 
         /*----- Infinite Loop. -----*/
@@ -500,16 +425,16 @@
         while(1)
         {
             /* Requesting to go to a specified position. */
-            l6474->GoTo(-6400);
+            motor->GoTo(-6400);
 
             /* Waiting while the motor is active. */
-            WaitWhileActive();
+            motor->WaitWhileActive();
 
             /* Requesting to go to a specified position. */
-            l6474->GoTo(6400);
+            motor->GoTo(6400);
 
             /* Waiting while the motor is active. */
-            WaitWhileActive();
+            motor->WaitWhileActive();
         }
     }
 }