Team DIANA / Mbed OS Arm_Stepper_nucleo

1

Dependencies:   X-NUCLEO-IHM05A1

Example code to use L6208 stepper motor driver with nucleo evaluation shield

Explanation: Run a test to determine the maximum speed of the motor at given current and acceleration Run the motor in position mode with microstepping and slow decay

main.cpp@14:1b70207bf922, 2018-12-06 (annotated)

Committer:
gidiana
Date:
Thu Dec 06 21:01:23 2018 +0000
Revision:
14:1b70207bf922
Parent:
13:08617f604d55
Child:
15:c781dda7e44c
bug fix

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nucleosam 0:36aa6787d4f9 1
nucleosam 0:36aa6787d4f9 2 /* Includes ------------------------------------------------------------------*/
nucleosam 0:36aa6787d4f9 3 /* mbed specific header files. */
nucleosam 0:36aa6787d4f9 4 #include "mbed.h"
nucleosam 0:36aa6787d4f9 5 /* Component specific header files. */
davide.aliprandi@st.com 5:bc710d77d801 6 #include "L6208.h"
nucleosam 0:36aa6787d4f9 7 /* Definitions ---------------------------------------------------------------*/
nucleosam 0:36aa6787d4f9 8 #define VREFA_PWM_PIN D3
nucleosam 3:a6e155687c6a 9 #define VREFB_PWM_PIN D9
nucleosam 0:36aa6787d4f9 10 /* Variables -----------------------------------------------------------------*/
nucleosam 0:36aa6787d4f9 11 /* Initialization parameters of the motor connected to the expansion board. */
davide.aliprandi@st.com 5:bc710d77d801 12 l6208_init_t init =
nucleosam 0:36aa6787d4f9 13 {
gidiana 13:08617f604d55 14 150, //Acceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
gidiana 13:08617f604d55 15 80, //Acceleration current torque in % (from 0 to 100)
gidiana 13:08617f604d55 16 150, //Deceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
gidiana 13:08617f604d55 17 80, //Deceleration current torque in % (from 0 to 100)
gidiana 13:08617f604d55 18 1000, //Running speed in step/s or (1/16)th step/s for microstep modes
nucleosam 0:36aa6787d4f9 19 50, //Running current torque in % (from 0 to 100)
gidiana 9:16f134d983bb 20 30, //Holding current torque in % (from 0 to 100)
nucleosam 0:36aa6787d4f9 21 STEP_MODE_1_16, //Step mode via enum motorStepMode_t
nucleosam 0:36aa6787d4f9 22 FAST_DECAY, //Decay mode via enum motorDecayMode_t
nucleosam 0:36aa6787d4f9 23 0, //Dwelling time in ms
nucleosam 0:36aa6787d4f9 24 FALSE, //Automatic HIZ STOP
nucleosam 0:36aa6787d4f9 25 100000 //VREFA and VREFB PWM frequency (Hz)
nucleosam 0:36aa6787d4f9 26 };
nucleosam 0:36aa6787d4f9 27
nucleosam 0:36aa6787d4f9 28 /* Motor Control Component. */
nucleosam 0:36aa6787d4f9 29 L6208 *motor;
gidiana 14:1b70207bf922 30 DigitalIn button (USER_BUTTON);
nucleosam 0:36aa6787d4f9 31 /* Functions -----------------------------------------------------------------*/
nucleosam 0:36aa6787d4f9 32
nucleosam 0:36aa6787d4f9 33 /**
nucleosam 0:36aa6787d4f9 34 * @brief This is an example of user handler for the flag interrupt.
nucleosam 0:36aa6787d4f9 35 * @param None
nucleosam 0:36aa6787d4f9 36 * @retval None
nucleosam 0:36aa6787d4f9 37 * @note If needed, implement it, and then attach and enable it:
davide.aliprandi@st.com 5:bc710d77d801 38 * + motor->attach_flag_irq(&my_flag_irq_handler);
davide.aliprandi@st.com 5:bc710d77d801 39 * + motor->enable_flag_irq();
nucleosam 0:36aa6787d4f9 40 * To disable it:
nucleosam 0:36aa6787d4f9 41 * + motor->DisbleFlagIRQ();
nucleosam 0:36aa6787d4f9 42 */
davide.aliprandi@st.com 5:bc710d77d801 43 void my_flag_irq_handler(void)
nucleosam 0:36aa6787d4f9 44 {
nucleosam 0:36aa6787d4f9 45 printf(" WARNING: \"FLAG\" interrupt triggered:\r\n");
Davidroid 6:6fb625ef867a 46 motor->disable();
nucleosam 0:36aa6787d4f9 47 printf(" Motor disabled.\r\n\n");
nucleosam 0:36aa6787d4f9 48 }
nucleosam 0:36aa6787d4f9 49
nucleosam 0:36aa6787d4f9 50 /**
nucleosam 0:36aa6787d4f9 51 * @brief This is an example of error handler.
nucleosam 0:36aa6787d4f9 52 * @param[in] error Number of the error
nucleosam 0:36aa6787d4f9 53 * @retval None
nucleosam 0:36aa6787d4f9 54 * @note If needed, implement it, and then attach it:
davide.aliprandi@st.com 5:bc710d77d801 55 * + motor->attach_error_handler(&my_error_handler);
nucleosam 0:36aa6787d4f9 56 */
davide.aliprandi@st.com 5:bc710d77d801 57 void my_error_handler(uint16_t error)
nucleosam 0:36aa6787d4f9 58 {
nucleosam 0:36aa6787d4f9 59 /* Printing to the console. */
nucleosam 0:36aa6787d4f9 60 printf("Error %d detected\r\n\n", error);
nucleosam 0:36aa6787d4f9 61
nucleosam 0:36aa6787d4f9 62 /* Infinite loop */
davide.aliprandi@st.com 5:bc710d77d801 63 while (true) {
nucleosam 0:36aa6787d4f9 64 }
nucleosam 0:36aa6787d4f9 65 }
nucleosam 0:36aa6787d4f9 66
nucleosam 0:36aa6787d4f9 67 /* Main ----------------------------------------------------------------------*/
nucleosam 0:36aa6787d4f9 68
nucleosam 0:36aa6787d4f9 69 int main()
nucleosam 0:36aa6787d4f9 70 {
gidiana 9:16f134d983bb 71
nucleosam 0:36aa6787d4f9 72 //----- Initialization
nucleosam 0:36aa6787d4f9 73 /* Initializing Motor Control Component. */
nucleosam 3:a6e155687c6a 74 motor = new L6208(D2, D8, D7, D4, D5, D6, VREFA_PWM_PIN, VREFB_PWM_PIN);
davide.aliprandi@st.com 5:bc710d77d801 75 if (motor->init(&init) != COMPONENT_OK) {
davide.aliprandi@st.com 5:bc710d77d801 76 exit(EXIT_FAILURE);
davide.aliprandi@st.com 5:bc710d77d801 77 }
nucleosam 0:36aa6787d4f9 78
nucleosam 0:36aa6787d4f9 79 /* Attaching and enabling an interrupt handler. */
davide.aliprandi@st.com 5:bc710d77d801 80 motor->attach_flag_irq(&my_flag_irq_handler);
davide.aliprandi@st.com 5:bc710d77d801 81 motor->enable_flag_irq();
nucleosam 0:36aa6787d4f9 82
nucleosam 0:36aa6787d4f9 83 /* Attaching an error handler */
davide.aliprandi@st.com 5:bc710d77d801 84 motor->attach_error_handler(&my_error_handler);
gidiana 13:08617f604d55 85
nucleosam 0:36aa6787d4f9 86
nucleosam 0:36aa6787d4f9 87 //----- Change step mode to 1/4 microstepping mode
davide.aliprandi@st.com 5:bc710d77d801 88 motor->set_step_mode(StepperMotor::STEP_MODE_1_4);
nucleosam 0:36aa6787d4f9 89
nucleosam 0:36aa6787d4f9 90 /* Set speed, acceleration and deceleration to scale with microstep mode */
davide.aliprandi@st.com 5:bc710d77d801 91 motor->set_max_speed(motor->get_max_speed()<<4);
davide.aliprandi@st.com 5:bc710d77d801 92 motor->set_acceleration(motor->get_acceleration()<<4);
davide.aliprandi@st.com 5:bc710d77d801 93 motor->set_deceleration(motor->get_deceleration()<<4);
nucleosam 0:36aa6787d4f9 94
gidiana 13:08617f604d55 95 /* Request to go position 9000 (quarter steps) */
gidiana 13:08617f604d55 96 while (true)
gidiana 13:08617f604d55 97 {
gidiana 9:16f134d983bb 98 motor->go_to(9000);
davide.aliprandi@st.com 5:bc710d77d801 99 motor->wait_while_active();
gidiana 13:08617f604d55 100
gidiana 13:08617f604d55 101 motor->go_to(0);
gidiana 13:08617f604d55 102 motor->wait_while_active();
gidiana 13:08617f604d55 103 while (button)
gidiana 13:08617f604d55 104 {
gidiana 13:08617f604d55 105 }
gidiana 13:08617f604d55 106 }
gidiana 13:08617f604d55 107
gidiana 13:08617f604d55 108
nucleosam 0:36aa6787d4f9 109 /* Waiting while the motor is active. */
davide.aliprandi@st.com 5:bc710d77d801 110 motor->wait_while_active();
gidiana 13:08617f604d55 111
gidiana 9:16f134d983bb 112 wait_ms(5000);
gidiana 9:16f134d983bb 113 motor->disable();
nucleosam 0:36aa6787d4f9 114 }
davide.aliprandi@st.com 5:bc710d77d801 115
gidiana 9:16f134d983bb 116