BASE
Dependencies: X-NUCLEO-IHM05A1
main.cpp@10:9d908db05638, 2018-12-01 (annotated)
- Committer:
- gidiana
- Date:
- Sat Dec 01 12:35:22 2018 +0000
- Revision:
- 10:9d908db05638
- Parent:
- 9:16f134d983bb
- Child:
- 13:08617f604d55
2
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
nucleosam | 0:36aa6787d4f9 | 1 | |
nucleosam | 0:36aa6787d4f9 | 2 | /* Includes ------------------------------------------------------------------*/ |
nucleosam | 0:36aa6787d4f9 | 3 | |
nucleosam | 0:36aa6787d4f9 | 4 | /* mbed specific header files. */ |
nucleosam | 0:36aa6787d4f9 | 5 | #include "mbed.h" |
nucleosam | 0:36aa6787d4f9 | 6 | |
nucleosam | 0:36aa6787d4f9 | 7 | /* Component specific header files. */ |
davide.aliprandi@st.com | 5:bc710d77d801 | 8 | #include "L6208.h" |
nucleosam | 0:36aa6787d4f9 | 9 | |
nucleosam | 0:36aa6787d4f9 | 10 | |
nucleosam | 0:36aa6787d4f9 | 11 | /* Definitions ---------------------------------------------------------------*/ |
nucleosam | 0:36aa6787d4f9 | 12 | #ifdef TARGET_NUCLEO_F334R8 |
nucleosam | 0:36aa6787d4f9 | 13 | #define VREFA_PWM_PIN D11 |
nucleosam | 3:a6e155687c6a | 14 | #define VREFB_PWM_PIN D9 |
nucleosam | 3:a6e155687c6a | 15 | #elif TARGET_NUCLEO_F302R8 |
nucleosam | 3:a6e155687c6a | 16 | #define VREFA_PWM_PIN D11 |
nucleosam | 3:a6e155687c6a | 17 | #define VREFB_PWM_PIN D15 /* HW mandatory patch: bridge manually D9 with D15 */ |
nucleosam | 0:36aa6787d4f9 | 18 | #else |
nucleosam | 0:36aa6787d4f9 | 19 | #define VREFA_PWM_PIN D3 |
nucleosam | 3:a6e155687c6a | 20 | #define VREFB_PWM_PIN D9 |
nucleosam | 0:36aa6787d4f9 | 21 | #endif |
nucleosam | 0:36aa6787d4f9 | 22 | |
nucleosam | 0:36aa6787d4f9 | 23 | /* Variables -----------------------------------------------------------------*/ |
nucleosam | 0:36aa6787d4f9 | 24 | |
nucleosam | 0:36aa6787d4f9 | 25 | /* Initialization parameters of the motor connected to the expansion board. */ |
davide.aliprandi@st.com | 5:bc710d77d801 | 26 | l6208_init_t init = |
nucleosam | 0:36aa6787d4f9 | 27 | { |
nucleosam | 0:36aa6787d4f9 | 28 | 1500, //Acceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes |
gidiana | 9:16f134d983bb | 29 | 50, //Acceleration current torque in % (from 0 to 100) |
gidiana | 9:16f134d983bb | 30 | 1000, //Deceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes |
gidiana | 9:16f134d983bb | 31 | 50, //Deceleration current torque in % (from 0 to 100) |
nucleosam | 0:36aa6787d4f9 | 32 | 1500, //Running speed in step/s or (1/16)th step/s for microstep modes |
nucleosam | 0:36aa6787d4f9 | 33 | 50, //Running current torque in % (from 0 to 100) |
gidiana | 9:16f134d983bb | 34 | 30, //Holding current torque in % (from 0 to 100) |
nucleosam | 0:36aa6787d4f9 | 35 | STEP_MODE_1_16, //Step mode via enum motorStepMode_t |
nucleosam | 0:36aa6787d4f9 | 36 | FAST_DECAY, //Decay mode via enum motorDecayMode_t |
nucleosam | 0:36aa6787d4f9 | 37 | 0, //Dwelling time in ms |
nucleosam | 0:36aa6787d4f9 | 38 | FALSE, //Automatic HIZ STOP |
nucleosam | 0:36aa6787d4f9 | 39 | 100000 //VREFA and VREFB PWM frequency (Hz) |
nucleosam | 0:36aa6787d4f9 | 40 | }; |
nucleosam | 0:36aa6787d4f9 | 41 | |
nucleosam | 0:36aa6787d4f9 | 42 | /* Motor Control Component. */ |
nucleosam | 0:36aa6787d4f9 | 43 | L6208 *motor; |
nucleosam | 0:36aa6787d4f9 | 44 | |
nucleosam | 0:36aa6787d4f9 | 45 | /* Functions -----------------------------------------------------------------*/ |
nucleosam | 0:36aa6787d4f9 | 46 | |
nucleosam | 0:36aa6787d4f9 | 47 | /** |
nucleosam | 0:36aa6787d4f9 | 48 | * @brief This is an example of user handler for the flag interrupt. |
nucleosam | 0:36aa6787d4f9 | 49 | * @param None |
nucleosam | 0:36aa6787d4f9 | 50 | * @retval None |
nucleosam | 0:36aa6787d4f9 | 51 | * @note If needed, implement it, and then attach and enable it: |
davide.aliprandi@st.com | 5:bc710d77d801 | 52 | * + motor->attach_flag_irq(&my_flag_irq_handler); |
davide.aliprandi@st.com | 5:bc710d77d801 | 53 | * + motor->enable_flag_irq(); |
nucleosam | 0:36aa6787d4f9 | 54 | * To disable it: |
nucleosam | 0:36aa6787d4f9 | 55 | * + motor->DisbleFlagIRQ(); |
nucleosam | 0:36aa6787d4f9 | 56 | */ |
davide.aliprandi@st.com | 5:bc710d77d801 | 57 | void my_flag_irq_handler(void) |
nucleosam | 0:36aa6787d4f9 | 58 | { |
nucleosam | 0:36aa6787d4f9 | 59 | printf(" WARNING: \"FLAG\" interrupt triggered:\r\n"); |
Davidroid | 6:6fb625ef867a | 60 | motor->disable(); |
nucleosam | 0:36aa6787d4f9 | 61 | printf(" Motor disabled.\r\n\n"); |
nucleosam | 0:36aa6787d4f9 | 62 | } |
nucleosam | 0:36aa6787d4f9 | 63 | |
nucleosam | 0:36aa6787d4f9 | 64 | /** |
nucleosam | 0:36aa6787d4f9 | 65 | * @brief This is an example of error handler. |
nucleosam | 0:36aa6787d4f9 | 66 | * @param[in] error Number of the error |
nucleosam | 0:36aa6787d4f9 | 67 | * @retval None |
nucleosam | 0:36aa6787d4f9 | 68 | * @note If needed, implement it, and then attach it: |
davide.aliprandi@st.com | 5:bc710d77d801 | 69 | * + motor->attach_error_handler(&my_error_handler); |
nucleosam | 0:36aa6787d4f9 | 70 | */ |
davide.aliprandi@st.com | 5:bc710d77d801 | 71 | void my_error_handler(uint16_t error) |
nucleosam | 0:36aa6787d4f9 | 72 | { |
nucleosam | 0:36aa6787d4f9 | 73 | /* Printing to the console. */ |
nucleosam | 0:36aa6787d4f9 | 74 | printf("Error %d detected\r\n\n", error); |
nucleosam | 0:36aa6787d4f9 | 75 | |
nucleosam | 0:36aa6787d4f9 | 76 | /* Infinite loop */ |
davide.aliprandi@st.com | 5:bc710d77d801 | 77 | while (true) { |
nucleosam | 0:36aa6787d4f9 | 78 | } |
nucleosam | 0:36aa6787d4f9 | 79 | } |
nucleosam | 0:36aa6787d4f9 | 80 | |
nucleosam | 0:36aa6787d4f9 | 81 | /* Main ----------------------------------------------------------------------*/ |
nucleosam | 0:36aa6787d4f9 | 82 | |
nucleosam | 0:36aa6787d4f9 | 83 | int main() |
nucleosam | 0:36aa6787d4f9 | 84 | { |
gidiana | 9:16f134d983bb | 85 | |
nucleosam | 0:36aa6787d4f9 | 86 | //----- Initialization |
nucleosam | 0:36aa6787d4f9 | 87 | /* Initializing Motor Control Component. */ |
nucleosam | 3:a6e155687c6a | 88 | motor = new L6208(D2, D8, D7, D4, D5, D6, VREFA_PWM_PIN, VREFB_PWM_PIN); |
davide.aliprandi@st.com | 5:bc710d77d801 | 89 | if (motor->init(&init) != COMPONENT_OK) { |
davide.aliprandi@st.com | 5:bc710d77d801 | 90 | exit(EXIT_FAILURE); |
davide.aliprandi@st.com | 5:bc710d77d801 | 91 | } |
nucleosam | 0:36aa6787d4f9 | 92 | |
nucleosam | 0:36aa6787d4f9 | 93 | /* Attaching and enabling an interrupt handler. */ |
davide.aliprandi@st.com | 5:bc710d77d801 | 94 | motor->attach_flag_irq(&my_flag_irq_handler); |
davide.aliprandi@st.com | 5:bc710d77d801 | 95 | motor->enable_flag_irq(); |
nucleosam | 0:36aa6787d4f9 | 96 | |
nucleosam | 0:36aa6787d4f9 | 97 | /* Attaching an error handler */ |
davide.aliprandi@st.com | 5:bc710d77d801 | 98 | motor->attach_error_handler(&my_error_handler); |
gidiana | 9:16f134d983bb | 99 | //----- run the motor BACKWARD |
nucleosam | 0:36aa6787d4f9 | 100 | printf("--> Running the motor backward.\r\n"); |
davide.aliprandi@st.com | 5:bc710d77d801 | 101 | motor->run(StepperMotor::BWD); |
nucleosam | 0:36aa6787d4f9 | 102 | |
davide.aliprandi@st.com | 5:bc710d77d801 | 103 | while (motor->get_status()!=STEADY) { |
nucleosam | 0:36aa6787d4f9 | 104 | /* Print reached speed to the console in step/s or microsteps/s */ |
davide.aliprandi@st.com | 5:bc710d77d801 | 105 | printf(" Reached Speed: %d microstep/s.\r\n", motor->get_speed()); |
nucleosam | 2:c5f455885df7 | 106 | wait_ms(50); |
nucleosam | 0:36aa6787d4f9 | 107 | } |
davide.aliprandi@st.com | 5:bc710d77d801 | 108 | printf(" Reached Speed: %d microstep/s.\r\n", motor->get_speed()); |
nucleosam | 0:36aa6787d4f9 | 109 | |
nucleosam | 0:36aa6787d4f9 | 110 | /* Wait for 1 second */ |
nucleosam | 0:36aa6787d4f9 | 111 | wait_ms(1000); |
nucleosam | 0:36aa6787d4f9 | 112 | |
nucleosam | 0:36aa6787d4f9 | 113 | //----- Decrease speed while running to one quarter of the previous speed |
davide.aliprandi@st.com | 5:bc710d77d801 | 114 | motor->set_max_speed(motor->get_speed()>>2); |
nucleosam | 0:36aa6787d4f9 | 115 | |
nucleosam | 0:36aa6787d4f9 | 116 | /* Wait until the motor starts decelerating */ |
davide.aliprandi@st.com | 5:bc710d77d801 | 117 | while (motor->get_status()==STEADY); |
nucleosam | 0:36aa6787d4f9 | 118 | /* Wait and print speed while the motor is not steady running */ |
davide.aliprandi@st.com | 5:bc710d77d801 | 119 | while (motor->get_status()!=STEADY) { |
nucleosam | 0:36aa6787d4f9 | 120 | /* Print reached speed to the console in step/s or microsteps/s */ |
davide.aliprandi@st.com | 5:bc710d77d801 | 121 | printf(" Reached Speed: %d microstep/s.\r\n", motor->get_speed()); |
nucleosam | 2:c5f455885df7 | 122 | wait_ms(50); |
nucleosam | 0:36aa6787d4f9 | 123 | } |
davide.aliprandi@st.com | 5:bc710d77d801 | 124 | printf(" Reached Speed: %d microstep/s.\r\n", motor->get_speed()); |
nucleosam | 0:36aa6787d4f9 | 125 | |
nucleosam | 0:36aa6787d4f9 | 126 | /* Wait for 5 seconds */ |
nucleosam | 0:36aa6787d4f9 | 127 | wait_ms(5000); |
nucleosam | 0:36aa6787d4f9 | 128 | |
nucleosam | 0:36aa6787d4f9 | 129 | //----- Change step mode to 1/4 microstepping mode |
davide.aliprandi@st.com | 5:bc710d77d801 | 130 | motor->set_step_mode(StepperMotor::STEP_MODE_1_4); |
nucleosam | 0:36aa6787d4f9 | 131 | |
nucleosam | 0:36aa6787d4f9 | 132 | /* Set speed, acceleration and deceleration to scale with microstep mode */ |
davide.aliprandi@st.com | 5:bc710d77d801 | 133 | motor->set_max_speed(motor->get_max_speed()<<4); |
davide.aliprandi@st.com | 5:bc710d77d801 | 134 | motor->set_acceleration(motor->get_acceleration()<<4); |
davide.aliprandi@st.com | 5:bc710d77d801 | 135 | motor->set_deceleration(motor->get_deceleration()<<4); |
nucleosam | 0:36aa6787d4f9 | 136 | |
nucleosam | 0:36aa6787d4f9 | 137 | /* Request to go position 800 (quarter steps) */ |
gidiana | 9:16f134d983bb | 138 | motor->go_to(9000); |
nucleosam | 0:36aa6787d4f9 | 139 | |
nucleosam | 0:36aa6787d4f9 | 140 | /* Wait for the motor ends moving */ |
davide.aliprandi@st.com | 5:bc710d77d801 | 141 | motor->wait_while_active(); |
gidiana | 9:16f134d983bb | 142 | motor->go_to(-9000); |
nucleosam | 0:36aa6787d4f9 | 143 | |
nucleosam | 0:36aa6787d4f9 | 144 | /* Wait for the motor ends moving */ |
davide.aliprandi@st.com | 5:bc710d77d801 | 145 | motor->wait_while_active(); |
nucleosam | 0:36aa6787d4f9 | 146 | /* Wait for 2 seconds */ |
nucleosam | 0:36aa6787d4f9 | 147 | wait_ms(2000); |
gidiana | 9:16f134d983bb | 148 | int i; |
gidiana | 9:16f134d983bb | 149 | for (i = 0; i < 4; i++) { |
nucleosam | 0:36aa6787d4f9 | 150 | /* Request device to go position -3200 */ |
gidiana | 9:16f134d983bb | 151 | motor->go_to(3200); |
nucleosam | 0:36aa6787d4f9 | 152 | |
nucleosam | 0:36aa6787d4f9 | 153 | /* Waiting while the motor is active. */ |
davide.aliprandi@st.com | 5:bc710d77d801 | 154 | motor->wait_while_active(); |
nucleosam | 0:36aa6787d4f9 | 155 | |
nucleosam | 0:36aa6787d4f9 | 156 | /* Request device to go position 3200 */ |
gidiana | 9:16f134d983bb | 157 | motor->go_to(-3200); |
nucleosam | 0:36aa6787d4f9 | 158 | |
nucleosam | 0:36aa6787d4f9 | 159 | /* Waiting while the motor is active. */ |
davide.aliprandi@st.com | 5:bc710d77d801 | 160 | motor->wait_while_active(); |
nucleosam | 0:36aa6787d4f9 | 161 | } |
gidiana | 9:16f134d983bb | 162 | wait_ms(5000); |
gidiana | 9:16f134d983bb | 163 | motor->disable(); |
nucleosam | 0:36aa6787d4f9 | 164 | } |
davide.aliprandi@st.com | 5:bc710d77d801 | 165 | |
gidiana | 9:16f134d983bb | 166 |