Diff: main.cpp

Revision:

0:5148e9486cf2

Child:

1:9f1974b0960d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Nov 20 18:10:04 2015 +0000
@@ -0,0 +1,204 @@
+/**
+ ******************************************************************************
+ * @file    main.cpp
+ * @author  Davide Aliprandi / AST
+ * @version V1.0.0
+ * @date    November 4th, 2015
+ * @brief   mbed test application for the STMicrolectronics X-NUCLEO-IHM01A1
+ *          Motor Control Expansion Board: control of 1 motor.
+ *          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"
+
+/* Expansion Board specific header files. */
+#include "x_nucleo_ihm02a1_class.h"
+
+
+/* Definitions ---------------------------------------------------------------*/
+
+/* Number of movements per revolution. */
+#define MPR_1 4
+#define MPR_2 8
+
+/* Delay in milliseconds. */
+#define DELAY_1 500
+#define DELAY_2 2000
+#define DELAY_3 5000
+
+
+/* Variables -----------------------------------------------------------------*/
+
+/* Motor Control Expansion Board. */
+X_NUCLEO_IHM02A1 *x_nucleo_ihm02a1;
+
+
+/* Main ----------------------------------------------------------------------*/
+
+int main()
+{
+    /* Led. */
+    DigitalOut led(LED1);
+
+    /* Initializing SPI bus. */
+    DevSPI dev_spi(D11, D12, D3);
+
+    /* Initializing Motor Control Expansion Board. */
+    x_nucleo_ihm02a1 = X_NUCLEO_IHM02A1::Instance(A4, D4, A2, &dev_spi);
+
+    /* Building a list of motors. */
+    L6470 *motors[L6470DAISYCHAINSIZE] = {x_nucleo_ihm02a1->l6470_0, x_nucleo_ihm02a1->l6470_1};
+
+    /* Printing to the console. */
+    printf("Motor Control Application Example for 2 Motors\r\n\n");
+
+    /* Main Loop. */
+    while(true)
+    {
+        /*----- Doing a full revolution on each motor, one after the other. -----*/
+
+        /* Printing to the console. */
+        printf("--> Doing a full revolution on each motor, one after the other.\r\n");
+
+        /* Doing a full revolution on each motor, one after the other. */
+        for (int m = 0; m < 2; m++)
+            for (int i = 0; i < MPR_1; i++)
+            {
+                /* Computing the number of steps. */
+                int steps = (int) (((int) X_NUCLEO_IHM02A1::MotorParameterInitData[0][m].fullstepsperrevolution * pow(2.0f, X_NUCLEO_IHM02A1::MotorParameterInitData[0][m].step_sel)) / MPR_1);
+
+                /* Moving. */
+                motors[m]->Move(StepperMotor::FWD, steps);
+                
+                /* Waiting while active. */
+                motors[m]->WaitWhileActive();
+
+                /* Waiting. */
+                wait_ms(DELAY_1);
+            }
+
+        /* Waiting. */
+        wait_ms(DELAY_2);
+
+
+        /*----- Running together for a certain amount of time. -----*/
+
+        /* Printing to the console. */
+        printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000);
+
+        /* Preparing each motor to perform a run at a specified speed. */
+        for (int m = 0; m < 2; m++)
+            motors[m]->PrepareRun(StepperMotor::BWD, 10000);
+
+        /* Performing the action on each motor at the same time. */
+        for (int m = 0; m < 2; m++)
+            motors[m]->PerformAction();
+
+        /* Waiting. */
+        wait_ms(DELAY_3);
+
+
+        /*----- Hard Stop. -----*/
+
+        /* Printing to the console. */
+        printf("--> Hard Stop.\r\n");
+
+        /* Preparing each motor to perform a hard stop. */
+        for (int m = 0; m < 2; m++)
+            motors[m]->PrepareHardStop();
+
+        /* Performing the action on each motor at the same time. */
+        for (int m = 0; m < 2; m++)
+            motors[m]->PerformAction();
+
+        /* Waiting. */
+        wait_ms(DELAY_2);
+        
+
+        /*----- Doing a full revolution on each motor, one after the other. -----*/
+
+        /* Printing to the console. */
+        printf("--> Doing a full revolution on each motor, one after the other.\r\n");
+
+        /* Doing a full revolution on each motor, one after the other. */
+        for (int m = 0; m < 2; m++)
+            for (int i = 0; i < MPR_2; i++)
+            {
+                /* Computing the number of steps. */
+                int steps = (int) (((int) X_NUCLEO_IHM02A1::MotorParameterInitData[0][m].fullstepsperrevolution * pow(2.0f, X_NUCLEO_IHM02A1::MotorParameterInitData[0][m].step_sel)) / MPR_2);
+
+                /* Moving. */
+                motors[m]->Move(StepperMotor::FWD, steps);
+
+                /* Waiting while active. */
+                motors[m]->WaitWhileActive();
+
+                /* Waiting. */
+                wait_ms(DELAY_1);
+            }
+
+        /* Waiting. */
+        wait_ms(DELAY_2);
+
+
+        /*----- High Impedance State. -----*/
+
+        /* Printing to the console. */
+        printf("--> High Impedance State.\r\n");
+
+        /* Preparing each motor to set High Impedance State. */
+        for (int m = 0; m < 2; m++)
+            motors[m]->PrepareHardHiZ();
+
+        /* Performing the action on each motor at the same time. */
+        for (int m = 0; m < 2; m++)
+            motors[m]->PerformAction();
+
+        /* Waiting. */
+        wait_ms(DELAY_2);
+
+
+        /*----- Led Blinking. -----*/
+        
+        /* Led Blinking. */
+        led = 1;
+        wait_ms(DELAY_2);
+        led = 0;
+    }
+}
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