ST
Test application for the STMicroelectronics X-NUCLEO-IHM01A1 Stepper Motor Control Expansion Board.
Dependencies: X_NUCLEO_IHM01A1
Fork of
MotorControl_IHM01A1
by 
ST
Embed:
(wiki syntax)
Show/hide line numbers
main.cpp
Go to the documentation of this file.
00001 /** 00002 ****************************************************************************** 00003 * @file main.cpp 00004 * @author Davide Aliprandi, STMicrolectronics 00005 * @version V1.0.0 00006 * @date October 14th, 2015 00007 * @brief mbed test application for the STMicroelectronics X-NUCLEO-IHM01A1 00008 * Motor Control Expansion Board: control of 1 motor showing the usage 00009 * of all the related APIs. 00010 ****************************************************************************** 00011 * @attention 00012 * 00013 * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2> 00014 * 00015 * Redistribution and use in source and binary forms, with or without modification, 00016 * are permitted provided that the following conditions are met: 00017 * 1. Redistributions of source code must retain the above copyright notice, 00018 * this list of conditions and the following disclaimer. 00019 * 2. Redistributions in binary form must reproduce the above copyright notice, 00020 * this list of conditions and the following disclaimer in the documentation 00021 * and/or other materials provided with the distribution. 00022 * 3. Neither the name of STMicroelectronics nor the names of its contributors 00023 * may be used to endorse or promote products derived from this software 00024 * without specific prior written permission. 00025 * 00026 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00027 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00028 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00029 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 00030 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 00031 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 00032 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00033 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 00034 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 00035 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 ****************************************************************************** 00038 */ 00039 00040 00041 /* Includes ------------------------------------------------------------------*/ 00042 00043 /* mbed specific header files. */ 00044 #include "mbed.h" 00045 00046 /* Helper header files. */ 00047 #include "DevSPI.h" 00048 00049 /* Component specific header files. */ 00050 #include "L6474.h" 00051 00052 00053 /* Variables -----------------------------------------------------------------*/ 00054 00055 /* Initialization parameters. */ 00056 L6474_init_t init = { 00057 160, /* Acceleration rate in pps^2. Range: (0..+inf). */ 00058 160, /* Deceleration rate in pps^2. Range: (0..+inf). */ 00059 1600, /* Maximum speed in pps. Range: (30..10000]. */ 00060 800, /* Minimum speed in pps. Range: [30..10000). */ 00061 250, /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */ 00062 L6474_OCD_TH_750mA, /* Overcurrent threshold (OCD_TH register). */ 00063 L6474_CONFIG_OC_SD_ENABLE, /* Overcurrent shutwdown (OC_SD field of CONFIG register). */ 00064 L6474_CONFIG_EN_TQREG_TVAL_USED, /* Torque regulation method (EN_TQREG field of CONFIG register). */ 00065 L6474_STEP_SEL_1_16, /* Step selection (STEP_SEL field of STEP_MODE register). */ 00066 L6474_SYNC_SEL_1_2, /* Sync selection (SYNC_SEL field of STEP_MODE register). */ 00067 L6474_FAST_STEP_12us, /* Fall time value (T_FAST field of T_FAST register). Range: 2us to 32us. */ 00068 L6474_TOFF_FAST_8us, /* Maximum fast decay time (T_OFF field of T_FAST register). Range: 2us to 32us. */ 00069 3, /* Minimum ON time in us (TON_MIN register). Range: 0.5us to 64us. */ 00070 21, /* Minimum OFF time in us (TOFF_MIN register). Range: 0.5us to 64us. */ 00071 L6474_CONFIG_TOFF_044us, /* Target Swicthing Period (field TOFF of CONFIG register). */ 00072 L6474_CONFIG_SR_320V_us, /* Slew rate (POW_SR field of CONFIG register). */ 00073 L6474_CONFIG_INT_16MHZ, /* Clock setting (OSC_CLK_SEL field of CONFIG register). */ 00074 L6474_ALARM_EN_OVERCURRENT | 00075 L6474_ALARM_EN_THERMAL_SHUTDOWN | 00076 L6474_ALARM_EN_THERMAL_WARNING | 00077 L6474_ALARM_EN_UNDERVOLTAGE | 00078 L6474_ALARM_EN_SW_TURN_ON | 00079 L6474_ALARM_EN_WRONG_NPERF_CMD /* Alarm (ALARM_EN register). */ 00080 }; 00081 00082 /* Motor Control Component. */ 00083 L6474 *motor; 00084 00085 00086 /* Functions -----------------------------------------------------------------*/ 00087 00088 /** 00089 * @brief This is an example of user handler for the flag interrupt. 00090 * Empty parts can be implemented by the user upon needs. 00091 * @param None. 00092 * @retval None. 00093 * @note If needed, implement it, and then attach and enable it: 00094 * + motor->AttachFlagIRQ(&FlagIRQHandler); 00095 * + motor->EnableFlagIRQ(); 00096 * To disable it: 00097 * + motor->DisbleFlagIRQ(); 00098 */ 00099 void FlagIRQHandler(void) 00100 { 00101 /* Set ISR flag. */ 00102 motor->isr_flag = TRUE; 00103 00104 /* Get the value of the status register. */ 00105 unsigned int status = motor->get_status(); 00106 00107 /* Check HIZ flag: if set, power brigdes are disabled. */ 00108 if ((status & L6474_STATUS_HIZ) == L6474_STATUS_HIZ) 00109 { /* HIZ state. Action to be customized. */ } 00110 00111 /* Check direction. */ 00112 if ((status & L6474_STATUS_DIR) == L6474_STATUS_DIR) 00113 { /* Forward direction is set. Action to be customized. */ } 00114 else 00115 { /* Backward direction is set. Action to be customized. */ } 00116 00117 /* Check NOTPERF_CMD flag: if set, the command received by SPI can't be performed. */ 00118 /* This often occures when a command is sent to the L6474 while it is not in HiZ state. */ 00119 if ((status & L6474_STATUS_NOTPERF_CMD) == L6474_STATUS_NOTPERF_CMD) 00120 { /* Command received by SPI can't be performed. Action to be customized. */ } 00121 00122 /* Check WRONG_CMD flag: if set, the command does not exist. */ 00123 if ((status & L6474_STATUS_WRONG_CMD) == L6474_STATUS_WRONG_CMD) 00124 { /* The command received by SPI does not exist. Action to be customized. */ } 00125 00126 /* Check UVLO flag: if not set, there is an undervoltage lock-out. */ 00127 if ((status & L6474_STATUS_UVLO) == 0) 00128 { /* Undervoltage lock-out. Action to be customized. */ } 00129 00130 /* Check TH_WRN flag: if not set, the thermal warning threshold is reached. */ 00131 if ((status & L6474_STATUS_TH_WRN) == 0) 00132 { /* Thermal warning threshold is reached. Action to be customized. */ } 00133 00134 /* Check TH_SHD flag: if not set, the thermal shut down threshold is reached. */ 00135 if ((status & L6474_STATUS_TH_SD) == 0) 00136 { /* Thermal shut down threshold is reached. Action to be customized. */ } 00137 00138 /* Check OCD flag: if not set, there is an overcurrent detection. */ 00139 if ((status & L6474_STATUS_OCD) == 0) 00140 { /* Overcurrent detection. Action to be customized. */ } 00141 00142 /* Reset ISR flag. */ 00143 motor->isr_flag = FALSE; 00144 } 00145 00146 /** 00147 * @brief This is an example of user handler for the errors. 00148 * @param error error-code. 00149 * @retval None 00150 * @note If needed, implement it, and then attach it: 00151 * + motor->AttachErrorHandler(&ErrorHandler); 00152 */ 00153 void ErrorHandler(uint16_t error) 00154 { 00155 /* Printing to the console. */ 00156 printf("Error: %d.\r\n", error); 00157 00158 /* Aborting the program. */ 00159 exit(EXIT_FAILURE); 00160 } 00161 00162 00163 /* Main ----------------------------------------------------------------------*/ 00164 00165 int main() 00166 { 00167 /*----- Initialization. -----*/ 00168 00169 /* Initializing SPI bus. */ 00170 DevSPI dev_spi(D11, D12, D13); 00171 00172 /* Initializing Motor Control Component. */ 00173 motor = new L6474(D2, D8, D7, D9, D10, dev_spi); 00174 if (motor->init(&init) != COMPONENT_OK) { 00175 exit(EXIT_FAILURE); 00176 } 00177 00178 /* Attaching and enabling the user handler for the flag interrupt. */ 00179 motor->attach_flag_irq(&FlagIRQHandler); 00180 motor->enable_flag_irq(); 00181 00182 /* Printing to the console. */ 00183 printf("Motor Control Application Example for 1 Motor\r\n\n"); 00184 00185 00186 /*----- Moving forward 16000 steps. -----*/ 00187 00188 /* Printing to the console. */ 00189 printf("--> Moving forward 16000 steps.\r\n"); 00190 00191 /* Moving 16000 steps in the forward direction. */ 00192 motor->move(StepperMotor::FWD, 16000); 00193 00194 /* Waiting while the motor is active. */ 00195 motor->wait_while_active(); 00196 00197 /* Waiting 2 seconds. */ 00198 wait_ms(2000); 00199 00200 00201 /*----- Moving backward 16000 steps. -----*/ 00202 00203 /* Printing to the console. */ 00204 printf("--> Moving backward 16000 steps.\r\n"); 00205 00206 /* Moving 16000 steps in the backward direction. */ 00207 motor->move(StepperMotor::BWD, 16000); 00208 00209 /* Waiting while the motor is active. */ 00210 motor->wait_while_active(); 00211 00212 /* Printing to the console. */ 00213 printf("--> Setting Home.\r\n"); 00214 00215 /* Setting the current position to be the home position. */ 00216 motor->set_home(); 00217 00218 /* Waiting 2 seconds. */ 00219 wait_ms(2000); 00220 00221 00222 /*----- Going to a specified position. -----*/ 00223 00224 /* Printing to the console. */ 00225 printf("--> Going to position -6400.\r\n"); 00226 00227 /* Requesting to go to a specified position. */ 00228 motor->go_to(-6400); 00229 00230 /* Waiting while the motor is active. */ 00231 motor->wait_while_active(); 00232 00233 /* Getting current position. */ 00234 int position = motor->get_position(); 00235 00236 /* Printing to the console. */ 00237 printf(" Position: %d.\r\n", position); 00238 00239 /* Printing to the console. */ 00240 printf("--> Setting a mark.\r\n"); 00241 00242 /* Setting the current position to be the mark position. */ 00243 motor->set_mark(); 00244 00245 /* Waiting 2 seconds. */ 00246 wait_ms(2000); 00247 00248 00249 /*----- Going Home. -----*/ 00250 00251 /* Printing to the console. */ 00252 printf("--> Going Home.\r\n"); 00253 00254 /* Requesting to go to home */ 00255 motor->go_home(); 00256 00257 /* Waiting while the motor is active. */ 00258 motor->wait_while_active(); 00259 00260 /* Getting current position. */ 00261 position = motor->get_position(); 00262 00263 /* Printing to the console. */ 00264 printf(" Position: %d.\r\n", position); 00265 00266 /* Waiting 2 seconds. */ 00267 wait_ms(2000); 00268 00269 00270 /*----- Going to a specified position. -----*/ 00271 00272 /* Printing to the console. */ 00273 printf("--> Going to position 6400.\r\n"); 00274 00275 /* Requesting to go to a specified position. */ 00276 motor->go_to(6400); 00277 00278 /* Waiting while the motor is active. */ 00279 motor->wait_while_active(); 00280 00281 /* Getting current position. */ 00282 position = motor->get_position(); 00283 00284 /* Printing to the console. */ 00285 printf(" Position: %d.\r\n", position); 00286 00287 /* Waiting 2 seconds. */ 00288 wait_ms(2000); 00289 00290 00291 /*----- Going to mark which was set previously after going to -6400. -----*/ 00292 00293 /* Printing to the console. */ 00294 printf("--> Going to the mark set previously.\r\n"); 00295 00296 /* Requesting to go to mark position. */ 00297 motor->go_mark(); 00298 00299 /* Waiting while the motor is active. */ 00300 motor->wait_while_active(); 00301 00302 /* Getting current position. */ 00303 position = motor->get_position(); 00304 00305 /* Printing to the console. */ 00306 printf(" Position: %d.\r\n", position); 00307 00308 /* Waiting 2 seconds. */ 00309 wait_ms(2000); 00310 00311 00312 /*----- Running backward. -----*/ 00313 00314 /* Printing to the console. */ 00315 printf("--> Running backward.\r\n"); 00316 00317 /* Requesting to run backward. */ 00318 motor->run(StepperMotor::BWD); 00319 00320 /* Waiting until delay has expired. */ 00321 wait_ms(5000); 00322 00323 /* Getting current speed. */ 00324 int speed = motor->get_speed(); 00325 00326 /* Printing to the console. */ 00327 printf(" Speed: %d.\r\n", speed); 00328 00329 00330 /*----- Increasing the speed while running. -----*/ 00331 00332 /* Printing to the console. */ 00333 printf("--> Increasing the speed while running.\r\n"); 00334 00335 /* Increasing the speed. */ 00336 motor->set_max_speed(2400); 00337 00338 /* Waiting until delay has expired. */ 00339 wait_ms(5000); 00340 00341 /* Getting current speed. */ 00342 speed = motor->get_speed(); 00343 00344 /* Printing to the console. */ 00345 printf(" Speed: %d.\r\n", speed); 00346 00347 00348 /*----- Decreasing the speed while running. -----*/ 00349 00350 /* Printing to the console. */ 00351 printf("--> Decreasing the speed while running.\r\n"); 00352 00353 /* Decreasing the speed. */ 00354 motor->set_max_speed(1200); 00355 00356 /* Waiting until delay has expired. */ 00357 wait_ms(5000); 00358 00359 /* Getting current speed. */ 00360 speed = motor->get_speed(); 00361 00362 /* Printing to the console. */ 00363 printf(" Speed: %d.\r\n", speed); 00364 00365 00366 /*----- Increasing acceleration while running. -----*/ 00367 00368 /* Printing to the console. */ 00369 printf("--> Increasing acceleration while running.\r\n"); 00370 00371 /* Increasing the acceleration. */ 00372 motor->set_acceleration(480); 00373 00374 /* Waiting until delay has expired. */ 00375 wait_ms(5000); 00376 00377 /* Increasing the speed. */ 00378 motor->set_max_speed(2400); 00379 00380 /* Waiting until delay has expired. */ 00381 wait_ms(5000); 00382 00383 /* Getting current speed. */ 00384 speed = motor->get_speed(); 00385 00386 /* Printing to the console. */ 00387 printf(" Speed: %d.\r\n", speed); 00388 00389 00390 /*----- Increasing deceleration while running. -----*/ 00391 00392 /* Printing to the console. */ 00393 printf("--> Increasing deceleration while running.\r\n"); 00394 00395 /* Increasing the deceleration. */ 00396 motor->set_deceleration(480); 00397 00398 /* Waiting until delay has expired. */ 00399 wait_ms(5000); 00400 00401 /* Decreasing the speed. */ 00402 motor->set_max_speed(1200); 00403 00404 /* Waiting until delay has expired. */ 00405 wait_ms(5000); 00406 00407 /* Getting current speed. */ 00408 speed = motor->get_speed(); 00409 00410 /* Printing to the console. */ 00411 printf(" Speed: %d.\r\n", speed); 00412 00413 00414 /*----- Requesting soft-stop while running. -----*/ 00415 00416 /* Printing to the console. */ 00417 printf("--> Requesting soft-stop while running.\r\n"); 00418 00419 /* Requesting soft stop. */ 00420 motor->soft_stop(); 00421 00422 /* Waiting while the motor is active. */ 00423 motor->wait_while_active(); 00424 00425 /* Waiting 2 seconds. */ 00426 wait_ms(2000); 00427 00428 00429 /*----- Requesting hard-stop while running. -----*/ 00430 00431 /* Printing to the console. */ 00432 printf("--> Running forward.\r\n"); 00433 00434 /* Requesting to run in forward direction. */ 00435 motor->run(StepperMotor::FWD); 00436 00437 /* Waiting until delay has expired. */ 00438 wait_ms(5000); 00439 00440 /* Printing to the console. */ 00441 printf("--> Requesting hard-stop while running.\r\n"); 00442 00443 /* Requesting to immediatly stop. */ 00444 motor->hard_stop(); 00445 00446 /* Waiting while the motor is active. */ 00447 motor->wait_while_active(); 00448 00449 /* Waiting 2 seconds. */ 00450 wait_ms(2000); 00451 00452 00453 /*----- GOTO stopped by soft-stop. -----*/ 00454 00455 /* Printing to the console. */ 00456 printf("--> Going to position 20000.\r\n"); 00457 00458 /* Requesting to go to a specified position. */ 00459 motor->go_to(20000); 00460 00461 /* Waiting while the motor is active. */ 00462 wait_ms(5000); 00463 00464 /* Printing to the console. */ 00465 printf("--> Requiring soft-stop while running.\r\n"); 00466 00467 /* Requesting to perform a soft stop */ 00468 motor->soft_stop(); 00469 00470 /* Waiting while the motor is active. */ 00471 motor->wait_while_active(); 00472 00473 /* Waiting 2 seconds. */ 00474 wait_ms(2000); 00475 00476 00477 /*----- Reading inexistent register to test "MyFlagInterruptHandler". -----*/ 00478 00479 /* Printing to the console. */ 00480 printf("--> Reading inexistent register to test \"MyFlagInterruptHandler\".\r\n"); 00481 00482 /* 00483 * Trying to read an inexistent register. 00484 * The flag interrupt should be raised and the "MyFlagInterruptHandler" 00485 * function called. 00486 */ 00487 motor->get_parameter(0x1F); 00488 00489 /* Waiting 0.5 seconds. */ 00490 wait_ms(500); 00491 00492 00493 /*----- Changing step mode to full step mode. -----*/ 00494 00495 /* Printing to the console. */ 00496 printf("--> Changing step mode to full step mode.\r\n"); 00497 00498 /* Selecting full step mode. */ 00499 if (!motor->set_step_mode((StepperMotor::step_mode_t) STEP_MODE_FULL)) { 00500 printf(" Step Mode not allowed.\r\n"); 00501 } 00502 00503 /* Setting speed and acceleration to be consistent with full step mode. */ 00504 motor->set_max_speed(100); 00505 motor->set_min_speed(50); 00506 motor->set_acceleration(10); 00507 motor->set_deceleration(10); 00508 00509 /* Requesting to go to a specified position. */ 00510 motor->go_to(200); 00511 00512 /* Waiting while the motor is active. */ 00513 motor->wait_while_active(); 00514 00515 /* Getting current position */ 00516 position = motor->get_position(); 00517 00518 /* Printing to the console. */ 00519 printf(" Position: %d.\r\n", position); 00520 00521 /* Waiting 2 seconds. */ 00522 wait_ms(2000); 00523 00524 00525 /*----- Restoring 1/16 microstepping mode. -----*/ 00526 00527 /* Printing to the console. */ 00528 printf("--> Restoring 1/16 microstepping mode.\r\n"); 00529 00530 /* Resetting to 1/16 microstepping mode */ 00531 if (!motor->set_step_mode((StepperMotor::step_mode_t) STEP_MODE_1_16)) { 00532 printf(" Step Mode not allowed.\r\n"); 00533 } 00534 00535 /* Update speed, acceleration, deceleration for 1/16 microstepping mode*/ 00536 motor->set_max_speed(1600); 00537 motor->set_min_speed(800); 00538 motor->set_acceleration(160); 00539 motor->set_deceleration(160); 00540 00541 00542 /*----- Infinite Loop. -----*/ 00543 00544 /* Printing to the console. */ 00545 printf("--> Infinite Loop...\r\n"); 00546 00547 /* Infinite Loop. */ 00548 while (true) { 00549 /* Requesting to go to a specified position. */ 00550 motor->go_to(-6400); 00551 00552 /* Waiting while the motor is active. */ 00553 motor->wait_while_active(); 00554 00555 /* Requesting to go to a specified position. */ 00556 motor->go_to(6400); 00557 00558 /* Waiting while the motor is active. */ 00559 motor->wait_while_active(); 00560 } 00561 }
Generated on Thu Jul 14 2022 23:50:34 by
1.7.2