Progetto STM32 / Mbed 2 deprecated ConcorsoFinal

concorso

Dependencies:   HCSR04 NetworkSocketAPI Servo X_NUCLEO_53L0A1 X_NUCLEO_IDW01M1v2 X_NUCLEO_IHM02A1 mbed-rtos mbed

Fork of HelloWorld_IHM02A1 by ST

main.cpp@0:5148e9486cf2, 2015-11-20 (annotated)

Committer:
Davidroid
Date:
Fri Nov 20 18:10:04 2015 +0000
Revision:
0:5148e9486cf2
Child:
1:9f1974b0960d
mbed test application for the STMicrolectronics X-NUCLEO-IHM02A1 Motor Control Expansion Board: control of 2 motors.

Who changed what in which revision?

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Davidroid 0:5148e9486cf2 1 /**
Davidroid 0:5148e9486cf2 2 ******************************************************************************
Davidroid 0:5148e9486cf2 3 * @file main.cpp
Davidroid 0:5148e9486cf2 4 * @author Davide Aliprandi / AST
Davidroid 0:5148e9486cf2 5 * @version V1.0.0
Davidroid 0:5148e9486cf2 6 * @date November 4th, 2015
Davidroid 0:5148e9486cf2 7 * @brief mbed test application for the STMicrolectronics X-NUCLEO-IHM01A1
Davidroid 0:5148e9486cf2 8 * Motor Control Expansion Board: control of 1 motor.
Davidroid 0:5148e9486cf2 9 * This application makes use of a C++ component architecture obtained
Davidroid 0:5148e9486cf2 10 * from the C component architecture through the Stm32CubeTOO tool.
Davidroid 0:5148e9486cf2 11 ******************************************************************************
Davidroid 0:5148e9486cf2 12 * @attention
Davidroid 0:5148e9486cf2 13 *
Davidroid 0:5148e9486cf2 14 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Davidroid 0:5148e9486cf2 15 *
Davidroid 0:5148e9486cf2 16 * Redistribution and use in source and binary forms, with or without modification,
Davidroid 0:5148e9486cf2 17 * are permitted provided that the following conditions are met:
Davidroid 0:5148e9486cf2 18 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 0:5148e9486cf2 19 * this list of conditions and the following disclaimer.
Davidroid 0:5148e9486cf2 20 * 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid 0:5148e9486cf2 21 * this list of conditions and the following disclaimer in the documentation
Davidroid 0:5148e9486cf2 22 * and/or other materials provided with the distribution.
Davidroid 0:5148e9486cf2 23 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid 0:5148e9486cf2 24 * may be used to endorse or promote products derived from this software
Davidroid 0:5148e9486cf2 25 * without specific prior written permission.
Davidroid 0:5148e9486cf2 26 *
Davidroid 0:5148e9486cf2 27 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 0:5148e9486cf2 28 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 0:5148e9486cf2 29 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid 0:5148e9486cf2 30 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid 0:5148e9486cf2 31 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid 0:5148e9486cf2 32 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid 0:5148e9486cf2 33 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid 0:5148e9486cf2 34 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid 0:5148e9486cf2 35 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid 0:5148e9486cf2 36 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid 0:5148e9486cf2 37 *
Davidroid 0:5148e9486cf2 38 ******************************************************************************
Davidroid 0:5148e9486cf2 39 */
Davidroid 0:5148e9486cf2 40
Davidroid 0:5148e9486cf2 41
Davidroid 0:5148e9486cf2 42 /* Includes ------------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 43
Davidroid 0:5148e9486cf2 44 /* mbed specific header files. */
Davidroid 0:5148e9486cf2 45 #include "mbed.h"
Davidroid 0:5148e9486cf2 46
Davidroid 0:5148e9486cf2 47 /* Helper header files. */
Davidroid 0:5148e9486cf2 48 #include "DevSPI.h"
Davidroid 0:5148e9486cf2 49
Davidroid 0:5148e9486cf2 50 /* Expansion Board specific header files. */
Davidroid 0:5148e9486cf2 51 #include "x_nucleo_ihm02a1_class.h"
Davidroid 0:5148e9486cf2 52
Davidroid 0:5148e9486cf2 53
Davidroid 0:5148e9486cf2 54 /* Definitions ---------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 55
Davidroid 0:5148e9486cf2 56 /* Number of movements per revolution. */
Davidroid 0:5148e9486cf2 57 #define MPR_1 4
Davidroid 0:5148e9486cf2 58 #define MPR_2 8
Davidroid 0:5148e9486cf2 59
Davidroid 0:5148e9486cf2 60 /* Delay in milliseconds. */
Davidroid 0:5148e9486cf2 61 #define DELAY_1 500
Davidroid 0:5148e9486cf2 62 #define DELAY_2 2000
Davidroid 0:5148e9486cf2 63 #define DELAY_3 5000
Davidroid 0:5148e9486cf2 64
Davidroid 0:5148e9486cf2 65
Davidroid 0:5148e9486cf2 66 /* Variables -----------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 67
Davidroid 0:5148e9486cf2 68 /* Motor Control Expansion Board. */
Davidroid 0:5148e9486cf2 69 X_NUCLEO_IHM02A1 *x_nucleo_ihm02a1;
Davidroid 0:5148e9486cf2 70
Davidroid 0:5148e9486cf2 71
Davidroid 0:5148e9486cf2 72 /* Main ----------------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 73
Davidroid 0:5148e9486cf2 74 int main()
Davidroid 0:5148e9486cf2 75 {
Davidroid 0:5148e9486cf2 76 /* Led. */
Davidroid 0:5148e9486cf2 77 DigitalOut led(LED1);
Davidroid 0:5148e9486cf2 78
Davidroid 0:5148e9486cf2 79 /* Initializing SPI bus. */
Davidroid 0:5148e9486cf2 80 DevSPI dev_spi(D11, D12, D3);
Davidroid 0:5148e9486cf2 81
Davidroid 0:5148e9486cf2 82 /* Initializing Motor Control Expansion Board. */
Davidroid 0:5148e9486cf2 83 x_nucleo_ihm02a1 = X_NUCLEO_IHM02A1::Instance(A4, D4, A2, &dev_spi);
Davidroid 0:5148e9486cf2 84
Davidroid 0:5148e9486cf2 85 /* Building a list of motors. */
Davidroid 0:5148e9486cf2 86 L6470 *motors[L6470DAISYCHAINSIZE] = {x_nucleo_ihm02a1->l6470_0, x_nucleo_ihm02a1->l6470_1};
Davidroid 0:5148e9486cf2 87
Davidroid 0:5148e9486cf2 88 /* Printing to the console. */
Davidroid 0:5148e9486cf2 89 printf("Motor Control Application Example for 2 Motors\r\n\n");
Davidroid 0:5148e9486cf2 90
Davidroid 0:5148e9486cf2 91 /* Main Loop. */
Davidroid 0:5148e9486cf2 92 while(true)
Davidroid 0:5148e9486cf2 93 {
Davidroid 0:5148e9486cf2 94 /*----- Doing a full revolution on each motor, one after the other. -----*/
Davidroid 0:5148e9486cf2 95
Davidroid 0:5148e9486cf2 96 /* Printing to the console. */
Davidroid 0:5148e9486cf2 97 printf("--> Doing a full revolution on each motor, one after the other.\r\n");
Davidroid 0:5148e9486cf2 98
Davidroid 0:5148e9486cf2 99 /* Doing a full revolution on each motor, one after the other. */
Davidroid 0:5148e9486cf2 100 for (int m = 0; m < 2; m++)
Davidroid 0:5148e9486cf2 101 for (int i = 0; i < MPR_1; i++)
Davidroid 0:5148e9486cf2 102 {
Davidroid 0:5148e9486cf2 103 /* Computing the number of steps. */
Davidroid 0:5148e9486cf2 104 int steps = (int) (((int) X_NUCLEO_IHM02A1::MotorParameterInitData[0][m].fullstepsperrevolution * pow(2.0f, X_NUCLEO_IHM02A1::MotorParameterInitData[0][m].step_sel)) / MPR_1);
Davidroid 0:5148e9486cf2 105
Davidroid 0:5148e9486cf2 106 /* Moving. */
Davidroid 0:5148e9486cf2 107 motors[m]->Move(StepperMotor::FWD, steps);
Davidroid 0:5148e9486cf2 108
Davidroid 0:5148e9486cf2 109 /* Waiting while active. */
Davidroid 0:5148e9486cf2 110 motors[m]->WaitWhileActive();
Davidroid 0:5148e9486cf2 111
Davidroid 0:5148e9486cf2 112 /* Waiting. */
Davidroid 0:5148e9486cf2 113 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 114 }
Davidroid 0:5148e9486cf2 115
Davidroid 0:5148e9486cf2 116 /* Waiting. */
Davidroid 0:5148e9486cf2 117 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 118
Davidroid 0:5148e9486cf2 119
Davidroid 0:5148e9486cf2 120 /*----- Running together for a certain amount of time. -----*/
Davidroid 0:5148e9486cf2 121
Davidroid 0:5148e9486cf2 122 /* Printing to the console. */
Davidroid 0:5148e9486cf2 123 printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000);
Davidroid 0:5148e9486cf2 124
Davidroid 0:5148e9486cf2 125 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 0:5148e9486cf2 126 for (int m = 0; m < 2; m++)
Davidroid 0:5148e9486cf2 127 motors[m]->PrepareRun(StepperMotor::BWD, 10000);
Davidroid 0:5148e9486cf2 128
Davidroid 0:5148e9486cf2 129 /* Performing the action on each motor at the same time. */
Davidroid 0:5148e9486cf2 130 for (int m = 0; m < 2; m++)
Davidroid 0:5148e9486cf2 131 motors[m]->PerformAction();
Davidroid 0:5148e9486cf2 132
Davidroid 0:5148e9486cf2 133 /* Waiting. */
Davidroid 0:5148e9486cf2 134 wait_ms(DELAY_3);
Davidroid 0:5148e9486cf2 135
Davidroid 0:5148e9486cf2 136
Davidroid 0:5148e9486cf2 137 /*----- Hard Stop. -----*/
Davidroid 0:5148e9486cf2 138
Davidroid 0:5148e9486cf2 139 /* Printing to the console. */
Davidroid 0:5148e9486cf2 140 printf("--> Hard Stop.\r\n");
Davidroid 0:5148e9486cf2 141
Davidroid 0:5148e9486cf2 142 /* Preparing each motor to perform a hard stop. */
Davidroid 0:5148e9486cf2 143 for (int m = 0; m < 2; m++)
Davidroid 0:5148e9486cf2 144 motors[m]->PrepareHardStop();
Davidroid 0:5148e9486cf2 145
Davidroid 0:5148e9486cf2 146 /* Performing the action on each motor at the same time. */
Davidroid 0:5148e9486cf2 147 for (int m = 0; m < 2; m++)
Davidroid 0:5148e9486cf2 148 motors[m]->PerformAction();
Davidroid 0:5148e9486cf2 149
Davidroid 0:5148e9486cf2 150 /* Waiting. */
Davidroid 0:5148e9486cf2 151 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 152
Davidroid 0:5148e9486cf2 153
Davidroid 0:5148e9486cf2 154 /*----- Doing a full revolution on each motor, one after the other. -----*/
Davidroid 0:5148e9486cf2 155
Davidroid 0:5148e9486cf2 156 /* Printing to the console. */
Davidroid 0:5148e9486cf2 157 printf("--> Doing a full revolution on each motor, one after the other.\r\n");
Davidroid 0:5148e9486cf2 158
Davidroid 0:5148e9486cf2 159 /* Doing a full revolution on each motor, one after the other. */
Davidroid 0:5148e9486cf2 160 for (int m = 0; m < 2; m++)
Davidroid 0:5148e9486cf2 161 for (int i = 0; i < MPR_2; i++)
Davidroid 0:5148e9486cf2 162 {
Davidroid 0:5148e9486cf2 163 /* Computing the number of steps. */
Davidroid 0:5148e9486cf2 164 int steps = (int) (((int) X_NUCLEO_IHM02A1::MotorParameterInitData[0][m].fullstepsperrevolution * pow(2.0f, X_NUCLEO_IHM02A1::MotorParameterInitData[0][m].step_sel)) / MPR_2);
Davidroid 0:5148e9486cf2 165
Davidroid 0:5148e9486cf2 166 /* Moving. */
Davidroid 0:5148e9486cf2 167 motors[m]->Move(StepperMotor::FWD, steps);
Davidroid 0:5148e9486cf2 168
Davidroid 0:5148e9486cf2 169 /* Waiting while active. */
Davidroid 0:5148e9486cf2 170 motors[m]->WaitWhileActive();
Davidroid 0:5148e9486cf2 171
Davidroid 0:5148e9486cf2 172 /* Waiting. */
Davidroid 0:5148e9486cf2 173 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 174 }
Davidroid 0:5148e9486cf2 175
Davidroid 0:5148e9486cf2 176 /* Waiting. */
Davidroid 0:5148e9486cf2 177 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 178
Davidroid 0:5148e9486cf2 179
Davidroid 0:5148e9486cf2 180 /*----- High Impedance State. -----*/
Davidroid 0:5148e9486cf2 181
Davidroid 0:5148e9486cf2 182 /* Printing to the console. */
Davidroid 0:5148e9486cf2 183 printf("--> High Impedance State.\r\n");
Davidroid 0:5148e9486cf2 184
Davidroid 0:5148e9486cf2 185 /* Preparing each motor to set High Impedance State. */
Davidroid 0:5148e9486cf2 186 for (int m = 0; m < 2; m++)
Davidroid 0:5148e9486cf2 187 motors[m]->PrepareHardHiZ();
Davidroid 0:5148e9486cf2 188
Davidroid 0:5148e9486cf2 189 /* Performing the action on each motor at the same time. */
Davidroid 0:5148e9486cf2 190 for (int m = 0; m < 2; m++)
Davidroid 0:5148e9486cf2 191 motors[m]->PerformAction();
Davidroid 0:5148e9486cf2 192
Davidroid 0:5148e9486cf2 193 /* Waiting. */
Davidroid 0:5148e9486cf2 194 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 195
Davidroid 0:5148e9486cf2 196
Davidroid 0:5148e9486cf2 197 /*----- Led Blinking. -----*/
Davidroid 0:5148e9486cf2 198
Davidroid 0:5148e9486cf2 199 /* Led Blinking. */
Davidroid 0:5148e9486cf2 200 led = 1;
Davidroid 0:5148e9486cf2 201 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 202 led = 0;
Davidroid 0:5148e9486cf2 203 }
Davidroid 0:5148e9486cf2 204 }