a version to test
Dependencies: X-NUCLEO-IHM05A1
main.cpp
- Committer:
- nucleosam
- Date:
- 2016-04-27
- Revision:
- 0:36aa6787d4f9
- Child:
- 2:c5f455885df7
File content as of revision 0:36aa6787d4f9:
/** ****************************************************************************** * @file main.cpp * @author IPC Rennes * @version V1.0.0 * @date April 13th, 2016 * @brief mbed simple application for the STMicroelectronics X-NUCLEO-IHM03A1 * Motor Control Expansion Board: control of 1 motor. ****************************************************************************** * @attention * * <h2><center>© COPYRIGHT(c) 2016 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" /* Component specific header files. */ #include "l6208_class.h" /* Definitions ---------------------------------------------------------------*/ #ifdef TARGET_NUCLEO_F334R8 #define VREFA_PWM_PIN D11 #else #define VREFA_PWM_PIN D3 #endif /* Variables -----------------------------------------------------------------*/ /* Initialization parameters of the motor connected to the expansion board. */ l6208_Init_t initDeviceParameters = { 1500, //Acceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes 40, //Acceleration current torque in % (from 0 to 100) 1500, //Deceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes 30, //Deceleration current torque in % (from 0 to 100) 1500, //Running speed in step/s or (1/16)th step/s for microstep modes 50, //Running current torque in % (from 0 to 100) 20, //Holding current torque in % (from 0 to 100) STEP_MODE_1_16, //Step mode via enum motorStepMode_t FAST_DECAY, //Decay mode via enum motorDecayMode_t 0, //Dwelling time in ms FALSE, //Automatic HIZ STOP 100000 //VREFA and VREFB PWM frequency (Hz) }; /* Motor Control Component. */ L6208 *motor; /* Functions -----------------------------------------------------------------*/ /** * @brief This is an example of user handler for the flag interrupt. * @param None * @retval None * @note If needed, implement it, and then attach and enable it: * + motor->AttachFlagIRQ(&myFlagIRQHandler); * + motor->EnableFlagIRQ(); * To disable it: * + motor->DisbleFlagIRQ(); */ void myFlagIRQHandler(void) { printf(" WARNING: \"FLAG\" interrupt triggered:\r\n"); motor->Disable(); printf(" Motor disabled.\r\n\n"); } /** * @brief This is an example of error handler. * @param[in] error Number of the error * @retval None * @note If needed, implement it, and then attach it: * + motor->AttachErrorHandler(&myErrorHandler); */ void myErrorHandler(uint16_t error) { /* Printing to the console. */ printf("Error %d detected\r\n\n", error); /* Infinite loop */ while(1) { } } /* Main ----------------------------------------------------------------------*/ int main() { /* Printing to the console. */ printf("STARTING MAIN PROGRAM\r\n"); printf(" Reminder:\r\n"); printf(" The position unit is in agreement to the step mode.\r\n"); printf(" The speed, acceleration or deceleration unit depend on the step mode:\r\n"); printf(" - For normal mode and half step mode, the unit is steps/s or /s^2.\r\n"); printf(" - For microstep modes, the unit is (1/16)steps/s or /s^2.\r\n"); //----- Initialization /* Initializing Motor Control Component. */ motor = new L6208(D2, D8, D7, D4, D5, D6, VREFA_PWM_PIN, D9); if (motor->Init(&initDeviceParameters) != COMPONENT_OK) exit(EXIT_FAILURE); /* Attaching and enabling an interrupt handler. */ motor->AttachFlagIRQ(&myFlagIRQHandler); motor->EnableFlagIRQ(); /* Attaching an error handler */ motor->AttachErrorHandler(&myErrorHandler); /* Printing to the console. */ printf("Motor Control Application Example for 1 Motor\r\n"); //----- Run the motor BACKWARD printf("--> Running the motor backward.\r\n"); motor->Run(StepperMotor::BWD); while (motor->GetStatus()!=STEADY) { /* Print reached speed to the console in step/s or microsteps/s */ //printf(" Reached Speed: %d microstep/s.\r\n", motor->GetSpeed()); //wait_ms(50); } //printf(" Reached Speed: %d microstep/s.\r\n", motor->GetSpeed()); /* Wait for 1 second */ wait_ms(1000); //----- Decrease speed while running to one quarter of the previous speed motor->SetMaxSpeed(motor->GetSpeed()>>2); /* Wait until the motor starts decelerating */ while (motor->GetStatus()==STEADY); /* Wait and print speed while the motor is not steady running */ while (motor->GetStatus()!=STEADY) { /* Print reached speed to the console in step/s or microsteps/s */ //printf(" Reached Speed: %d microstep/s.\r\n", motor->GetSpeed()); //wait_ms(50); } //printf(" Reached Speed: %d microstep/s.\r\n", motor->GetSpeed()); /* Wait for 5 seconds */ wait_ms(5000); //----- Soft stop required while running printf("--> Soft stop requested.\r\n"); motor->SoftStop(); /* Wait for the motor of device ends moving */ motor->WaitWhileActive(); /* Wait for 2 seconds */ wait_ms(2000); //----- Change step mode to full step mode motor->SetStepMode(StepperMotor::STEP_MODE_FULL); printf(" Motor step mode: %d (0:FS, 1:1/2, 2:1/4, 3:1/8, 4:1/16).\r\n", motor->GetStepMode()); /* Get current position of device and print to the console */ printf(" Position: %d.\r\n", motor->GetPosition()); /* Set speed, acceleration and deceleration to scale with normal mode */ motor->SetMaxSpeed(initDeviceParameters.maxSpeedSps>>4); motor->SetAcceleration(motor->GetAcceleration()>>4); motor->SetDeceleration(motor->GetDeceleration()>>4); /* Print parameters to the console */ printf(" Motor Max Speed: %d step/s.\r\n", motor->GetMaxSpeed()); printf(" Motor Min Speed: %d step/s.\r\n", motor->GetMinSpeed()); printf(" Motor Acceleration: %d step/s.\r\n", motor->GetAcceleration()); printf(" Motor Deceleration: %d step/s.\r\n", motor->GetDeceleration()); //----- Move of 200 steps in the FW direction printf("--> Moving forward 200 steps.\r\n"); motor->Move(StepperMotor::FWD, 200); /* Waiting while the motor is active. */ motor->WaitWhileActive(); /* Get current position of device and print to the console */ printf(" Position: %d.\r\n", motor->GetPosition()); /* Disable the power bridges */ motor->Disable(); /* Check that the power bridges are actually disabled */ if (motor->CheckStatusHw()!=0) printf(" Motor driver disabled.\r\n"); else printf(" Failed to disable the motor driver.\r\n"); /* Wait for 2 seconds */ wait_ms(2000); //----- Change step mode to 1/4 microstepping mode motor->SetStepMode(StepperMotor::STEP_MODE_1_4); printf(" Motor step mode: %d (0:FS, 1:1/2, 2:1/4, 3:1/8, 4:1/16).\r\n", motor->GetStepMode()); /* Get current position of device and print to the console */ printf(" Position: %d.\r\n", motor->GetPosition()); /* Set speed, acceleration and deceleration to scale with microstep mode */ motor->SetMaxSpeed(motor->GetMaxSpeed()<<4); motor->SetAcceleration(motor->GetAcceleration()<<4); motor->SetDeceleration(motor->GetDeceleration()<<4); /* Print parameters to the console */ printf(" Motor Max Speed: %d step/s.\r\n", motor->GetMaxSpeed()); printf(" Motor Min Speed: %d step/s.\r\n", motor->GetMinSpeed()); printf(" Motor Acceleration: %d step/s.\r\n", motor->GetAcceleration()); printf(" Motor Deceleration: %d step/s.\r\n", motor->GetDeceleration()); /* Request to go position 800 (quarter steps) */ motor->GoTo(800); /* Wait for the motor ends moving */ motor->WaitWhileActive(); /* Get current position of device and print to the console */ printf(" Position: %d.\r\n", motor->GetPosition()); /* Wait for 2 seconds */ wait_ms(2000); //----- Restore step mode to its initialization value motor->SetStepMode((StepperMotor::step_mode_t)initDeviceParameters.stepMode); printf(" Motor step mode: %d (0:FS, 1:1/2, 2:1/4, 3:1/8, 4:1/16).\r\n", motor->GetStepMode()); /* Get current position of device and print to the console */ printf(" Position: %d.\r\n", motor->GetPosition()); //----- Change decay mode motor->SetDecayMode(SLOW_DECAY); printf(" Motor decay mode: %d (0:slow decay, 1:fast decay).\r\n", motor->GetDecayMode()); //----- Go to position -6400 printf("--> Go to position -6400 steps.\r\n"); motor->GoTo(-6400); /* Wait for the motor ends moving */ motor->WaitWhileActive(); /* Get current position of device and print to the console */ printf(" Position: %d.\r\n", motor->GetPosition()); /* Wait for 2 seconds */ wait_ms(2000); //----- Restore decay mode to its initialization value motor->SetDecayMode(initDeviceParameters.decayMode); printf(" Motor decay mode: %d (0:slow decay, 1:fast decay).\r\n", motor->GetDecayMode()); //----- Go Home printf("--> Go to home position.\r\n"); motor->GoHome(); /* Wait for the motor ends moving */ motor->WaitWhileActive(); /* Wait for 1 second */ wait_ms(1000); /* Infinite Loop. */ printf("--> Infinite Loop...\r\n"); while (1) { /* Request device to go position -3200 */ motor->GoTo(-3200); /* Waiting while the motor is active. */ motor->WaitWhileActive(); /* Request device to go position 3200 */ motor->GoTo(3200); /* Waiting while the motor is active. */ motor->WaitWhileActive(); } } /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/