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@1:9f1974b0960d, 2015-11-25 (annotated)

Committer:
Davidroid
Date:
Wed Nov 25 12:00:34 2015 +0000
Revision:
1:9f1974b0960d
Parent:
0:5148e9486cf2
Child:
2:41eeee48951b
+ Updated according to the StepperMotor's APIs.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
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 1:9f1974b0960d 7 * @brief mbed test application for the STMicrolectronics X-NUCLEO-IHM02A1
Davidroid 1:9f1974b0960d 8 * Motor Control Expansion Board: control of 2 motors.
Davidroid 0:5148e9486cf2 9 ******************************************************************************
Davidroid 0:5148e9486cf2 10 * @attention
Davidroid 0:5148e9486cf2 11 *
Davidroid 0:5148e9486cf2 12 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Davidroid 0:5148e9486cf2 13 *
Davidroid 0:5148e9486cf2 14 * Redistribution and use in source and binary forms, with or without modification,
Davidroid 0:5148e9486cf2 15 * are permitted provided that the following conditions are met:
Davidroid 0:5148e9486cf2 16 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 0:5148e9486cf2 17 * this list of conditions and the following disclaimer.
Davidroid 0:5148e9486cf2 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid 0:5148e9486cf2 19 * this list of conditions and the following disclaimer in the documentation
Davidroid 0:5148e9486cf2 20 * and/or other materials provided with the distribution.
Davidroid 0:5148e9486cf2 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid 0:5148e9486cf2 22 * may be used to endorse or promote products derived from this software
Davidroid 0:5148e9486cf2 23 * without specific prior written permission.
Davidroid 0:5148e9486cf2 24 *
Davidroid 0:5148e9486cf2 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 0:5148e9486cf2 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 0:5148e9486cf2 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid 0:5148e9486cf2 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid 0:5148e9486cf2 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid 0:5148e9486cf2 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid 0:5148e9486cf2 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid 0:5148e9486cf2 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid 0:5148e9486cf2 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid 0:5148e9486cf2 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid 0:5148e9486cf2 35 *
Davidroid 0:5148e9486cf2 36 ******************************************************************************
Davidroid 0:5148e9486cf2 37 */
Davidroid 0:5148e9486cf2 38
Davidroid 0:5148e9486cf2 39
Davidroid 0:5148e9486cf2 40 /* Includes ------------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 41
Davidroid 0:5148e9486cf2 42 /* mbed specific header files. */
Davidroid 0:5148e9486cf2 43 #include "mbed.h"
Davidroid 0:5148e9486cf2 44
Davidroid 0:5148e9486cf2 45 /* Helper header files. */
Davidroid 0:5148e9486cf2 46 #include "DevSPI.h"
Davidroid 0:5148e9486cf2 47
Davidroid 0:5148e9486cf2 48 /* Expansion Board specific header files. */
Davidroid 0:5148e9486cf2 49 #include "x_nucleo_ihm02a1_class.h"
Davidroid 0:5148e9486cf2 50
Davidroid 0:5148e9486cf2 51
Davidroid 0:5148e9486cf2 52 /* Definitions ---------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 53
Davidroid 0:5148e9486cf2 54 /* Number of movements per revolution. */
Davidroid 0:5148e9486cf2 55 #define MPR_1 4
Davidroid 1:9f1974b0960d 56
Davidroid 1:9f1974b0960d 57 /* Number of steps. */
Davidroid 1:9f1974b0960d 58 #define STEPS_1 100000
Davidroid 1:9f1974b0960d 59 #define STEPS_2 200000
Davidroid 0:5148e9486cf2 60
Davidroid 0:5148e9486cf2 61 /* Delay in milliseconds. */
Davidroid 1:9f1974b0960d 62 #define DELAY_1 1000
Davidroid 0:5148e9486cf2 63 #define DELAY_2 2000
Davidroid 0:5148e9486cf2 64 #define DELAY_3 5000
Davidroid 0:5148e9486cf2 65
Davidroid 0:5148e9486cf2 66
Davidroid 0:5148e9486cf2 67 /* Variables -----------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 68
Davidroid 0:5148e9486cf2 69 /* Motor Control Expansion Board. */
Davidroid 0:5148e9486cf2 70 X_NUCLEO_IHM02A1 *x_nucleo_ihm02a1;
Davidroid 0:5148e9486cf2 71
Davidroid 0:5148e9486cf2 72
Davidroid 0:5148e9486cf2 73 /* Main ----------------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 74
Davidroid 0:5148e9486cf2 75 int main()
Davidroid 0:5148e9486cf2 76 {
Davidroid 1:9f1974b0960d 77 /*----- Initialization. -----*/
Davidroid 1:9f1974b0960d 78
Davidroid 0:5148e9486cf2 79
Davidroid 0:5148e9486cf2 80 /* Initializing SPI bus. */
Davidroid 0:5148e9486cf2 81 DevSPI dev_spi(D11, D12, D3);
Davidroid 0:5148e9486cf2 82
Davidroid 0:5148e9486cf2 83 /* Initializing Motor Control Expansion Board. */
Davidroid 1:9f1974b0960d 84 x_nucleo_ihm02a1 = X_NUCLEO_IHM02A1::Instance(A4, A5, D4, A2, &dev_spi);
Davidroid 0:5148e9486cf2 85
Davidroid 1:9f1974b0960d 86 /* Building a list of motor control components. */
Davidroid 1:9f1974b0960d 87 L6470 **motors = x_nucleo_ihm02a1->GetComponents();
Davidroid 0:5148e9486cf2 88
Davidroid 0:5148e9486cf2 89 /* Printing to the console. */
Davidroid 0:5148e9486cf2 90 printf("Motor Control Application Example for 2 Motors\r\n\n");
Davidroid 0:5148e9486cf2 91
Davidroid 1:9f1974b0960d 92
Davidroid 1:9f1974b0960d 93 /*----- Setting home and marke positions, getting positions, and going to positions. -----*/
Davidroid 1:9f1974b0960d 94
Davidroid 1:9f1974b0960d 95 /* Printing to the console. */
Davidroid 1:9f1974b0960d 96 printf("--> Setting home position.\r\n");
Davidroid 1:9f1974b0960d 97
Davidroid 1:9f1974b0960d 98 /* Setting the home position. */
Davidroid 1:9f1974b0960d 99 motors[0]->SetHome();
Davidroid 1:9f1974b0960d 100
Davidroid 1:9f1974b0960d 101 /* Waiting. */
Davidroid 1:9f1974b0960d 102 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 103
Davidroid 1:9f1974b0960d 104 /* Getting the current position. */
Davidroid 1:9f1974b0960d 105 int position = motors[0]->GetPosition();
Davidroid 1:9f1974b0960d 106
Davidroid 1:9f1974b0960d 107 /* Printing to the console. */
Davidroid 1:9f1974b0960d 108 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 109
Davidroid 1:9f1974b0960d 110 /* Waiting. */
Davidroid 1:9f1974b0960d 111 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 112
Davidroid 1:9f1974b0960d 113 /* Printing to the console. */
Davidroid 1:9f1974b0960d 114 printf("--> Moving forward %d steps.\r\n", STEPS_1);
Davidroid 1:9f1974b0960d 115
Davidroid 1:9f1974b0960d 116 /* Moving. */
Davidroid 1:9f1974b0960d 117 motors[0]->Move(StepperMotor::FWD, STEPS_1);
Davidroid 0:5148e9486cf2 118
Davidroid 1:9f1974b0960d 119 /* Waiting while active. */
Davidroid 1:9f1974b0960d 120 motors[0]->WaitWhileActive();
Davidroid 1:9f1974b0960d 121
Davidroid 1:9f1974b0960d 122 /* Getting the current position. */
Davidroid 1:9f1974b0960d 123 position = motors[0]->GetPosition();
Davidroid 1:9f1974b0960d 124
Davidroid 1:9f1974b0960d 125 /* Printing to the console. */
Davidroid 1:9f1974b0960d 126 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 127
Davidroid 1:9f1974b0960d 128 /* Printing to the console. */
Davidroid 1:9f1974b0960d 129 printf("--> Marking the current position.\r\n");
Davidroid 0:5148e9486cf2 130
Davidroid 1:9f1974b0960d 131 /* Marking the current position. */
Davidroid 1:9f1974b0960d 132 motors[0]->SetMark();
Davidroid 1:9f1974b0960d 133
Davidroid 1:9f1974b0960d 134 /* Waiting. */
Davidroid 1:9f1974b0960d 135 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 136
Davidroid 1:9f1974b0960d 137 /* Printing to the console. */
Davidroid 1:9f1974b0960d 138 printf("--> Moving backward %d steps.\r\n", STEPS_2);
Davidroid 1:9f1974b0960d 139
Davidroid 1:9f1974b0960d 140 /* Moving. */
Davidroid 1:9f1974b0960d 141 motors[0]->Move(StepperMotor::BWD, STEPS_2);
Davidroid 1:9f1974b0960d 142
Davidroid 1:9f1974b0960d 143 /* Waiting while active. */
Davidroid 1:9f1974b0960d 144 motors[0]->WaitWhileActive();
Davidroid 0:5148e9486cf2 145
Davidroid 1:9f1974b0960d 146 /* Waiting. */
Davidroid 1:9f1974b0960d 147 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 148
Davidroid 1:9f1974b0960d 149 /* Getting the current position. */
Davidroid 1:9f1974b0960d 150 position = motors[0]->GetPosition();
Davidroid 1:9f1974b0960d 151
Davidroid 1:9f1974b0960d 152 /* Printing to the console. */
Davidroid 1:9f1974b0960d 153 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 154
Davidroid 1:9f1974b0960d 155 /* Waiting. */
Davidroid 1:9f1974b0960d 156 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 157
Davidroid 1:9f1974b0960d 158 /* Printing to the console. */
Davidroid 1:9f1974b0960d 159 printf("--> Going to marked position.\r\n");
Davidroid 0:5148e9486cf2 160
Davidroid 1:9f1974b0960d 161 /* Going to marked position. */
Davidroid 1:9f1974b0960d 162 motors[0]->GoMark();
Davidroid 1:9f1974b0960d 163
Davidroid 1:9f1974b0960d 164 /* Waiting while active. */
Davidroid 1:9f1974b0960d 165 motors[0]->WaitWhileActive();
Davidroid 0:5148e9486cf2 166
Davidroid 1:9f1974b0960d 167 /* Waiting. */
Davidroid 1:9f1974b0960d 168 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 169
Davidroid 1:9f1974b0960d 170 /* Getting the current position. */
Davidroid 1:9f1974b0960d 171 position = motors[0]->GetPosition();
Davidroid 1:9f1974b0960d 172
Davidroid 1:9f1974b0960d 173 /* Printing to the console. */
Davidroid 1:9f1974b0960d 174 printf("--> Getting the current position: %d\r\n", position);
Davidroid 0:5148e9486cf2 175
Davidroid 1:9f1974b0960d 176 /* Waiting. */
Davidroid 1:9f1974b0960d 177 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 178
Davidroid 1:9f1974b0960d 179 /* Printing to the console. */
Davidroid 1:9f1974b0960d 180 printf("--> Going to home position.\r\n");
Davidroid 0:5148e9486cf2 181
Davidroid 1:9f1974b0960d 182 /* Going to home position. */
Davidroid 1:9f1974b0960d 183 motors[0]->GoHome();
Davidroid 1:9f1974b0960d 184
Davidroid 1:9f1974b0960d 185 /* Waiting while active. */
Davidroid 1:9f1974b0960d 186 motors[0]->WaitWhileActive();
Davidroid 1:9f1974b0960d 187
Davidroid 1:9f1974b0960d 188 /* Waiting. */
Davidroid 1:9f1974b0960d 189 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 190
Davidroid 1:9f1974b0960d 191 /* Getting the current position. */
Davidroid 1:9f1974b0960d 192 position = motors[0]->GetPosition();
Davidroid 1:9f1974b0960d 193
Davidroid 1:9f1974b0960d 194 /* Printing to the console. */
Davidroid 1:9f1974b0960d 195 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 196
Davidroid 1:9f1974b0960d 197 /* Waiting. */
Davidroid 1:9f1974b0960d 198 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 199
Davidroid 0:5148e9486cf2 200
Davidroid 1:9f1974b0960d 201 /*----- Running together for a certain amount of time. -----*/
Davidroid 1:9f1974b0960d 202
Davidroid 1:9f1974b0960d 203 /* Printing to the console. */
Davidroid 1:9f1974b0960d 204 printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000);
Davidroid 0:5148e9486cf2 205
Davidroid 1:9f1974b0960d 206 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 1:9f1974b0960d 207 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 208 motors[m]->PrepareRun(StepperMotor::BWD, 400);
Davidroid 0:5148e9486cf2 209
Davidroid 1:9f1974b0960d 210 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 211 x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 212
Davidroid 1:9f1974b0960d 213 /* Waiting. */
Davidroid 1:9f1974b0960d 214 wait_ms(DELAY_3);
Davidroid 1:9f1974b0960d 215
Davidroid 1:9f1974b0960d 216
Davidroid 1:9f1974b0960d 217 /*----- Increasing the speed while running. -----*/
Davidroid 0:5148e9486cf2 218
Davidroid 1:9f1974b0960d 219 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 1:9f1974b0960d 220 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 221 motors[m]->PrepareGetSpeed();
Davidroid 0:5148e9486cf2 222
Davidroid 1:9f1974b0960d 223 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 224 uint32_t* results = x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 225
Davidroid 1:9f1974b0960d 226 /* Printing to the console. */
Davidroid 1:9f1974b0960d 227 printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
Davidroid 1:9f1974b0960d 228
Davidroid 1:9f1974b0960d 229 /* Printing to the console. */
Davidroid 1:9f1974b0960d 230 printf("--> Doublig the speed while running.\r\n");
Davidroid 0:5148e9486cf2 231
Davidroid 1:9f1974b0960d 232 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 1:9f1974b0960d 233 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 234 motors[m]->PrepareRun(StepperMotor::BWD, results[m] << 1);
Davidroid 1:9f1974b0960d 235
Davidroid 1:9f1974b0960d 236 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 237 results = x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 238
Davidroid 1:9f1974b0960d 239 /* Waiting. */
Davidroid 1:9f1974b0960d 240 wait_ms(DELAY_3);
Davidroid 0:5148e9486cf2 241
Davidroid 1:9f1974b0960d 242 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 1:9f1974b0960d 243 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 244 motors[m]->PrepareGetSpeed();
Davidroid 0:5148e9486cf2 245
Davidroid 1:9f1974b0960d 246 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 247 results = x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 248
Davidroid 1:9f1974b0960d 249 /* Printing to the console. */
Davidroid 1:9f1974b0960d 250 printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
Davidroid 1:9f1974b0960d 251
Davidroid 1:9f1974b0960d 252 /* Waiting. */
Davidroid 1:9f1974b0960d 253 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 254
Davidroid 0:5148e9486cf2 255
Davidroid 1:9f1974b0960d 256 /*----- Hard Stop. -----*/
Davidroid 0:5148e9486cf2 257
Davidroid 1:9f1974b0960d 258 /* Printing to the console. */
Davidroid 1:9f1974b0960d 259 printf("--> Hard Stop.\r\n");
Davidroid 0:5148e9486cf2 260
Davidroid 1:9f1974b0960d 261 /* Preparing each motor to perform a hard stop. */
Davidroid 1:9f1974b0960d 262 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 263 motors[m]->PrepareHardStop();
Davidroid 0:5148e9486cf2 264
Davidroid 1:9f1974b0960d 265 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 266 x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 267
Davidroid 1:9f1974b0960d 268 /* Waiting. */
Davidroid 1:9f1974b0960d 269 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 270
Davidroid 0:5148e9486cf2 271
Davidroid 1:9f1974b0960d 272 /*----- Doing a full revolution on each motor, one after the other. -----*/
Davidroid 1:9f1974b0960d 273
Davidroid 1:9f1974b0960d 274 /* Printing to the console. */
Davidroid 1:9f1974b0960d 275 printf("--> Doing a full revolution on each motor, one after the other.\r\n");
Davidroid 1:9f1974b0960d 276
Davidroid 1:9f1974b0960d 277 /* Doing a full revolution on each motor, one after the other. */
Davidroid 1:9f1974b0960d 278 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 279 for (int i = 0; i < MPR_1; i++)
Davidroid 1:9f1974b0960d 280 {
Davidroid 1:9f1974b0960d 281 /* Computing the number of steps. */
Davidroid 1:9f1974b0960d 282 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 1:9f1974b0960d 283
Davidroid 1:9f1974b0960d 284 /* Moving. */
Davidroid 1:9f1974b0960d 285 motors[m]->Move(StepperMotor::FWD, steps);
Davidroid 1:9f1974b0960d 286
Davidroid 1:9f1974b0960d 287 /* Waiting while active. */
Davidroid 1:9f1974b0960d 288 motors[m]->WaitWhileActive();
Davidroid 1:9f1974b0960d 289
Davidroid 1:9f1974b0960d 290 /* Waiting. */
Davidroid 1:9f1974b0960d 291 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 292 }
Davidroid 1:9f1974b0960d 293
Davidroid 1:9f1974b0960d 294 /* Waiting. */
Davidroid 1:9f1974b0960d 295 wait_ms(DELAY_2);
Davidroid 1:9f1974b0960d 296
Davidroid 1:9f1974b0960d 297
Davidroid 1:9f1974b0960d 298 /*----- High Impedance State. -----*/
Davidroid 1:9f1974b0960d 299
Davidroid 1:9f1974b0960d 300 /* Printing to the console. */
Davidroid 1:9f1974b0960d 301 printf("--> High Impedance State.\r\n");
Davidroid 1:9f1974b0960d 302
Davidroid 1:9f1974b0960d 303 /* Preparing each motor to set High Impedance State. */
Davidroid 1:9f1974b0960d 304 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 305 motors[m]->PrepareHardHiZ();
Davidroid 1:9f1974b0960d 306
Davidroid 1:9f1974b0960d 307 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 308 x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 1:9f1974b0960d 309
Davidroid 1:9f1974b0960d 310 /* Waiting. */
Davidroid 1:9f1974b0960d 311 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 312 }