ST / Mbed OS MotorControl_IHM01A1_mbedOS

Test application for the STMicroelectronics X-NUCLEO-IHM01A1 Stepper Motor Control Expansion Board.

Dependencies:   X_NUCLEO_IHM01A1

Fork of MotorControl_IHM01A1 by ST

Motor Control with the X-NUCLEO-IHM01A1 Expansion Board

This application provides a more complex example of usage of the X-NUCLEO-IHM01A1 Stepper Motor Control Expansion Board.
It shows how to use one stepper motor connected to the board, with an example of ISR and error handler, as well as an almost complete coverage of the available APIs, e.g.:

  • moving the rotor to a specific position;
  • moving the rotor for a certain amount of time;
  • setting the speed value;
  • setting the direction of rotation;
  • changing the stepper motor mode;
  • soft/hard stopping the rotor;
  • powering off the power bridge.

main.cpp

Committer:
Davidroid
Date:
2015-10-16
Revision:
1:5171df1bf684
Parent:
0:fedf3cf2324a
Child:
2:d956260240b0

File content as of revision 1:5171df1bf684:

/**
 ******************************************************************************
 * @file    main.cpp
 * @author  Davide Aliprandi / AST
 * @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 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.
 ******************************************************************************
 * @attention
 *
 * <h2><center>&copy; 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"

/* Component specific header files. */
#include "l6474_class.h"


/* Variables -----------------------------------------------------------------*/

/* Motor Control Component. */
L6474 *motor;


/* Main ----------------------------------------------------------------------*/

int main()
{
    /* Initializing SPI bus. */
    DevSPI dev_spi(D11, D12, D13);

    /* Initializing Motor Control Component. */
    motor = new L6474(D8, D7, D9, D10, dev_spi);
    if (motor->Init(NULL) != COMPONENT_OK)
        return false;

    /* Printing to the console. */
    printf("Motor Control Application Example for 1 Motor\r\n\n");

    /* Main Loop. */
    while(true)
    {
        /*----- Moving forward 16000 steps. -----*/

        /* Printing to the console. */
        printf("--> Moving forward 16000 steps.\r\n");

        /* Moving 16000 steps in the forward direction. */
        motor->Move(FORWARD, 16000);
        
        /* Waiting while the motor is active. */
        motor->WaitWhileActive();

        /* Waiting 2 seconds. */
        wait_ms(2000);

        
        /*----- Moving backward 16000 steps. -----*/
        
        /* Printing to the console. */
        printf("--> Moving backward 16000 steps.\r\n");
        
        /* Moving 16000 steps in the backward direction. */
        motor->Move(BACKWARD, 16000);

        /* Waiting while the motor is active. */
        motor->WaitWhileActive();

        /* Setting the current position to be the home position. */
        motor->SetHome();
  
        /* Waiting 2 seconds. */
        wait_ms(2000);


        /*----- Going to a specified position. -----*/

        /* Printing to the console. */
        printf("--> Going to position -6400.\r\n");
        
        /* Requesting to go to a specified position. */
        motor->GoTo(-6400);
        
        /* Waiting while the motor is active. */
        motor->WaitWhileActive();

        /* Getting current position. */
        int position = motor->GetPosition();
        
        /* Printing to the console. */
        printf("    Position: %d.\r\n", position);
        
        /* Setting the current position to be the mark position. */
        motor->SetMark();

        /* Waiting 2 seconds. */
        wait_ms(2000);

        
        /*----- Going Home. -----*/

        /* Printing to the console. */
        printf("--> Going Home.\r\n");
        
        /* Requesting to go to home */
        motor->GoHome();  
        
        /* Waiting while the motor is active. */
        motor->WaitWhileActive();

        /* Getting current position. */
        position = motor->GetPosition();

        /* Printing to the console. */
        printf("    Position: %d.\r\n", position);

        /* Waiting 2 seconds. */
        wait_ms(2000);


        /*----- Going to a specified position. -----*/

        /* Printing to the console. */
        printf("--> Going to position 6400.\r\n");
        
        /* Requesting to go to a specified position. */
        motor->GoTo(6400);
        
        /* Waiting while the motor is active. */
        motor->WaitWhileActive();

        /* Getting current position. */
        position = motor->GetPosition();

        /* Printing to the console. */
        printf("    Position: %d.\r\n", position);

        /* Waiting 2 seconds. */
        wait_ms(2000);


        /*----- Going to mark which was set previously after going to -6400. -----*/

        /* Printing to the console. */
        printf("--> Going to mark which was set previously after going to -6400.\r\n");
        
        /* Requesting to go to mark position. */
        motor->GoMark();  
        
        /* Waiting while the motor is active. */
        motor->WaitWhileActive();

        /* Getting current position. */
        position = motor->GetPosition();

        /* Printing to the console. */
        printf("    Position: %d.\r\n", position);

        /* Waiting 2 seconds. */
        wait_ms(2000);


        /*----- Moving backward. -----*/

        /* Printing to the console. */
        printf("--> Moving backward.\r\n");

        /* Requesting to run backward. */
        motor->Run(BACKWARD);

        /* Waiting until delay has expired. */
        wait_ms(5000);

        /* Getting current speed. */
        int speed = motor->GetCurrentSpeed();

        /* Printing to the console. */
        printf("    Speed: %d.\r\n", speed);


        /*----- Increasing the speed while running. -----*/

        /* Printing to the console. */
        printf("--> Increasing the speed while running.\r\n");

        /* Increasing speed to 2400 step/s. */
        motor->SetMaxSpeed(2400);

        /* Waiting until delay has expired. */
        wait_ms(5000);

        /* Getting current speed. */
        speed = motor->GetCurrentSpeed();

        /* Printing to the console. */
        printf("    Speed: %d.\r\n", speed);


        /*----- Decreasing the speed while running. -----*/

        /* Printing to the console. */
        printf("--> Decreasing the speed while running.\r\n");

        /* Decreasing speed to 1200 step/s. */
        motor->SetMaxSpeed(1200);

        /* Waiting until delay has expired. */
        wait_ms(5000);

        /* Getting current speed. */
        speed = motor->GetCurrentSpeed();

        /* Printing to the console. */
        printf("    Speed: %d.\r\n", speed);


        /*----- Increasing acceleration while running. -----*/

        /* Printing to the console. */
        printf("--> Increasing acceleration while running.\r\n");

        /* Increasing acceleration to 480 step/s^2. */
        motor->SetAcceleration(480);

        /* Waiting until delay has expired. */
        wait_ms(5000);

        /* Increasing speed to 2400 step/s. */
        motor->SetMaxSpeed(2400);

        /* Waiting until delay has expired. */
        wait_ms(5000);

        /* Getting current speed. */
        speed = motor->GetCurrentSpeed();

        /* Printing to the console. */
        printf("    Speed: %d.\r\n", speed);


        /*----- Increasing deceleration while running. -----*/

        /* Printing to the console. */
        printf("--> Increasing deceleration while running.\r\n");

        /* Increasing deceleration to 480 step/s^2. */
        motor->SetDeceleration(480);

        /* Waiting until delay has expired. */
        wait_ms(5000);

        /* Decreasing speed to 1200 step/s. */
        motor->SetMaxSpeed(1200);

        /* Waiting until delay has expired. */
        wait_ms(5000);

        /* Getting current speed. */
        speed = motor->GetCurrentSpeed();

        /* Printing to the console. */
        printf("    Speed: %d.\r\n", speed);


        /*----- Requiring soft-stop while running. -----*/

        /* Printing to the console. */
        printf("--> Requiring soft-stop while running.\r\n");

        /* Requesting soft stop. */
        motor->SoftStop();

        /* Waiting while the motor is active. */
        motor->WaitWhileActive();

        /* Waiting 2 seconds. */
        wait_ms(2000);


        /*----- Requiring hard-stop while running. -----*/

        /* Printing to the console. */
        printf("--> Requiring hard-stop while running.\r\n");

        /* Requesting to run in forward direction. */
        motor->Run(FORWARD);

        /* Waiting until delay has expired. */
        wait_ms(5000);
        
        /* Requesting to immediatly stop. */
        motor->HardStop();

        /* Waiting while the motor is active. */
        motor->WaitWhileActive();

        /* Waiting 2 seconds. */
        wait_ms(2000);


        /*----- GOTO stopped by soft-stop. -----*/

        /* Printing to the console. */
        printf("--> GOTO stopped by soft-stop.\r\n");

        /* Requesting to go to a specified position. */
        motor->GoTo(20000);  
        
        /* Waiting while the motor is active. */
        wait_ms(5000);

        /* Requesting to perform a soft stop */
        motor->SoftStop();

        /* Waiting while the motor is active. */
        motor->WaitWhileActive();

        /* Waiting 2 seconds. */
        wait_ms(2000);  


        /*----- Reading inexistent register to test "MyFlagInterruptHandler". -----*/

        /* Printing to the console. */
        printf("--> Reading inexistent register to test \"MyFlagInterruptHandler\".\r\n");

        /*
         * Trying to read an inexistent register.
         * The flag interrupt should be raised and the "MyFlagInterruptHandler"
         * function called.
         */
        motor->CmdGetParam(0x1F);

        /* Waiting 0.5 seconds. */
        wait_ms(500);


        /*----- Changing step mode to full step mode. -----*/

        /* Printing to the console. */
        printf("--> Changing step mode to full step mode.\r\n");

        /* Selecting full step mode. */
        motor->SelectStepMode(STEP_MODE_FULL);

        /* Setting speed and acceleration to be consistent with full step mode. */
        motor->SetMaxSpeed(100);
        motor->SetMinSpeed(50);
        motor->SetAcceleration(10);
        motor->SetDeceleration(10);

        /* Requesting to go to a specified position. */
        motor->GoTo(200);

        /* Waiting while the motor is active. */
        motor->WaitWhileActive();

        /* Getting current position */
        position = motor->GetPosition();

        /* Printing to the console. */
        printf("    Position: %d.\r\n", position);

        /* Waiting 2 seconds. */
        wait_ms(2000);
        

        /*----- Restoring 1/16 microstepping mode. -----*/

        /* Printing to the console. */
        printf("--> Restoring 1/16 microstepping mode.\r\n");

        /* Resetting to 1/16 microstepping mode */
        motor->SelectStepMode(STEP_MODE_1_16);    

        /* Update speed, acceleration, deceleration for 1/16 microstepping mode*/
        motor->SetMaxSpeed(1600);
        motor->SetMinSpeed(800);
        motor->SetAcceleration(160);
        motor->SetDeceleration(160);  


        /*----- Infinite Loop. -----*/

        /* Printing to the console. */
        printf("--> Infinite Loop...\r\n");

        /* Infinite Loop. */
        while(1)
        {
            /* Requesting to go to a specified position. */
            motor->GoTo(-6400);

            /* Waiting while the motor is active. */
            motor->WaitWhileActive();

            /* Requesting to go to a specified position. */
            motor->GoTo(6400);

            /* Waiting while the motor is active. */
            motor->WaitWhileActive();
        }
    }
}