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:
2016-09-08
Revision:
22:ce8a202d67ac
Parent:
20:bec1eba352a5
Child:
25:205b3d09e64e

File content as of revision 22:ce8a202d67ac:

/**
 ******************************************************************************
 * @file    main.cpp
 * @author  Davide Aliprandi, STMicrolectronics
 * @version V1.0.0
 * @date    October 14th, 2015
 * @brief   mbed test application for the STMicroelectronics X-NUCLEO-IHM01A1
 *          Motor Control Expansion Board: control of 1 motor showing the usage
 *          of all the related APIs.
 ******************************************************************************
 * @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 -----------------------------------------------------------------*/

/* Initialization parameters. */
L6474_Init_t init =
{
    160,                              /* Acceleration rate in pps^2. Range: (0..+inf). */
    160,                              /* Deceleration rate in pps^2. Range: (0..+inf). */
    1600,                             /* Maximum speed in pps. Range: (30..10000]. */
    800,                              /* Minimum speed in pps. Range: [30..10000). */
    250,                              /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
    L6474_OCD_TH_750mA,               /* Overcurrent threshold (OCD_TH register). */
    L6474_CONFIG_OC_SD_ENABLE,        /* Overcurrent shutwdown (OC_SD field of CONFIG register). */
    L6474_CONFIG_EN_TQREG_TVAL_USED,  /* Torque regulation method (EN_TQREG field of CONFIG register). */
    L6474_STEP_SEL_1_16,              /* Step selection (STEP_SEL field of STEP_MODE register). */
    L6474_SYNC_SEL_1_2,               /* Sync selection (SYNC_SEL field of STEP_MODE register). */
    L6474_FAST_STEP_12us,             /* Fall time value (T_FAST field of T_FAST register). Range: 2us to 32us. */
    L6474_TOFF_FAST_8us,              /* Maximum fast decay time (T_OFF field of T_FAST register). Range: 2us to 32us. */
    3,                                /* Minimum ON time in us (TON_MIN register). Range: 0.5us to 64us. */
    21,                               /* Minimum OFF time in us (TOFF_MIN register). Range: 0.5us to 64us. */
    L6474_CONFIG_TOFF_044us,          /* Target Swicthing Period (field TOFF of CONFIG register). */
    L6474_CONFIG_SR_320V_us,          /* Slew rate (POW_SR field of CONFIG register). */
    L6474_CONFIG_INT_16MHZ,           /* Clock setting (OSC_CLK_SEL field of CONFIG register). */
    L6474_ALARM_EN_OVERCURRENT |
    L6474_ALARM_EN_THERMAL_SHUTDOWN |
    L6474_ALARM_EN_THERMAL_WARNING |
    L6474_ALARM_EN_UNDERVOLTAGE |
    L6474_ALARM_EN_SW_TURN_ON |
    L6474_ALARM_EN_WRONG_NPERF_CMD    /* Alarm (ALARM_EN register). */
};

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


/* Functions -----------------------------------------------------------------*/

/**
  * @brief  This is an example of user handler for the flag interrupt.
  * @param  None
  * @retval None
  * @note   If needed, implement it, and then attach and enable it:
  *           + motor->AttachFlagIRQ(&FlagIRQHandler);
  *           + motor->EnableFlagIRQ();
  *         To disable it:
  *           + motor->DisbleFlagIRQ();
  */
void FlagIRQHandler(void)
{
    /* Set ISR flag. */
    motor->isr_flag = TRUE;

    /* Get the value of the status register. */
    unsigned int status = motor->GetStatus();
    
    /* Check HIZ flag: if set, power brigdes are disabled. */
    if ((status & L6474_STATUS_HIZ) == L6474_STATUS_HIZ)
    { /* HIZ state. Action to be customized. */ }
    
    /* Check direction. */
    if ((status & L6474_STATUS_DIR) == L6474_STATUS_DIR)
    { /* Forward direction is set. Action to be customized. */ }
    else
    { /* Backward direction is set. Action to be customized. */ }
    
    /* Check NOTPERF_CMD flag: if set, the command received by SPI can't be performed. */
    /* This often occures when a command is sent to the L6474 while it is not in HiZ state. */
    if ((status & L6474_STATUS_NOTPERF_CMD) == L6474_STATUS_NOTPERF_CMD)
    { /* Command received by SPI can't be performed. Action to be customized. */ }
     
    /* Check WRONG_CMD flag: if set, the command does not exist. */
    if ((status & L6474_STATUS_WRONG_CMD) == L6474_STATUS_WRONG_CMD)
    { /* The command received by SPI does not exist. Action to be customized. */ }
    
    /* Check UVLO flag: if not set, there is an undervoltage lock-out. */
    if ((status & L6474_STATUS_UVLO) == 0)
    { /* Undervoltage lock-out. Action to be customized. */ }
    
    /* Check TH_WRN flag: if not set, the thermal warning threshold is reached. */
    if ((status & L6474_STATUS_TH_WRN) == 0)
    { /* Thermal warning threshold is reached. Action to be customized. */ }
    
    /* Check TH_SHD flag: if not set, the thermal shut down threshold is reached. */
    if ((status & L6474_STATUS_TH_SD) == 0)
    { /* Thermal shut down threshold is reached. Action to be customized. */ }
    
    /* Check OCD  flag: if not set, there is an overcurrent detection. */
    if ((status & L6474_STATUS_OCD) == 0)
    { /* Overcurrent detection. Action to be customized. */ }

    /* Reset ISR flag. */
    motor->isr_flag = FALSE;
}

/**
  * @brief  This is an example of user handler for the errors.
  * @param  error error-code.
  * @retval None
  * @note   If needed, implement it, and then attach it:
  *           + motor->AttachErrorHandler(&ErrorHandler);
  */
void ErrorHandler(uint16_t error)
{
    /* Printing to the console. */
    printf("Error: %d.\r\n", error);
    
    /* Aborting the program. */
    exit(EXIT_FAILURE);
}


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

int main()
{
    /*----- Initialization. -----*/

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

    /* Initializing Motor Control Component. */
    motor = new L6474(D2, D8, D7, D9, D10, dev_spi);
    if (motor->Init(&init) != COMPONENT_OK)
        exit(EXIT_FAILURE);

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


    /*----- Moving forward 16000 steps. -----*/

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

    /* Moving 16000 steps in the forward direction. */
    motor->Move(StepperMotor::FWD, 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(StepperMotor::BWD, 16000);

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

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

    /* 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);
    
    /* Printing to the console. */
    printf("--> Setting a mark.\r\n");

    /* 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 the mark set previously.\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);


    /*----- Running backward. -----*/

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

    /* Requesting to run backward. */
    motor->Run(StepperMotor::BWD);

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

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

    /* 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 the speed. */
    motor->SetMaxSpeed(2400);

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

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

    /* 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 the speed. */
    motor->SetMaxSpeed(1200);

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

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

    /* 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 the acceleration. */
    motor->SetAcceleration(480);

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

    /* Increasing the speed. */
    motor->SetMaxSpeed(2400);

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

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

    /* 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 the deceleration. */
    motor->SetDeceleration(480);

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

    /* Decreasing the speed. */
    motor->SetMaxSpeed(1200);

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

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

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


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

    /* Printing to the console. */
    printf("--> Requesting 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);


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

    /* Printing to the console. */
    printf("--> Running forward.\r\n");
    
    /* Requesting to run in forward direction. */
    motor->Run(StepperMotor::FWD);

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

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

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

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

    /* 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->GetParameter(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. */
    if (!motor->SetStepMode((StepperMotor::step_mode_t) STEP_MODE_FULL))
        printf("    Step Mode not allowed.\r\n");

    /* 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 */
    if (!motor->SetStepMode((StepperMotor::step_mode_t) STEP_MODE_1_16))
        printf("    Step Mode not allowed.\r\n");

    /* 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();
    }
}