Signori, questo è il codice di doukietown...... divertitevi
Dependencies: HCSR04 TCS3200 X_NUCLEO_IHM12A1 mbed
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Diff: main.cpp
- Revision:
- 0:773e2a2be16f
- Child:
- 2:1e4061cedf1d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Thu Apr 28 14:03:58 2016 +0000 @@ -0,0 +1,272 @@ +/** + ****************************************************************************** + * @file main.cpp + * @author IPC Rennes + * @version V1.0.0 + * @date April 25th, 2016 + * @brief mbed simple application for the STMicroelectronics X-NUCLEO-IHM12A1 + * Motor Control Expansion Board: control of 2 Brush DC motors. + ****************************************************************************** + * @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" + +/* Component specific header files. */ +#include "stspin240_250_class.h" + +/* Variables -----------------------------------------------------------------*/ + +/* Initialization parameters of the motor connected to the expansion board. */ + Stspin240_250_Init_t initDeviceParameters = + { + 20000, /* Frequency of PWM of Input Bridge A in Hz up to 100000Hz */ + 20000, /* Frequency of PWM of Input Bridge B in Hz up to 100000Hz */ + 20000, /* Frequency of PWM used for Ref pin in Hz up to 100000Hz */ + 50, /* Duty cycle of PWM used for Ref pin (from 0 to 100) */ + TRUE /* Dual Bridge configuration (FALSE for mono, TRUE for dual brush dc) */ + }; + +/* Motor Control Component. */ +STSPIN240_250 *motor; + +/* Functions -----------------------------------------------------------------*/ + +/** + * @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) + { + } +} + +/** + * @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) +{ + /* Code to be customised */ + /************************/ + + printf(" WARNING: \"FLAG\" interrupt triggered.\r\n"); + + /* Get the state of bridge A */ + uint16_t bridgeState = motor->GetBridgeStatus(0); + + if (bridgeState == 0) + { + if (motor->GetDeviceState(0) != INACTIVE) + { + /* Bridges were disabled due to overcurrent or over temperature */ + /* When motor was running */ + myErrorHandler(0XBAD0); + } + } +} + +/* Main ----------------------------------------------------------------------*/ + +int main() +{ + uint8_t demoStep = 0; + + /* Printing to the console. */ + printf("STARTING MAIN PROGRAM\r\n"); + +//----- Initialization + + /* Initializing Motor Control Component. */ + #if (defined TARGET_NUCLEO_F030R8)||(defined TARGET_NUCLEO_F334R8) + motor = new STSPIN240_250(D2, D9, D6, D7, D5, D4, A2); + #elif (defined TARGET_NUCLEO_L152RE) + motor = new STSPIN240_250(D2, D9, D6, D7, D5, D4, A3); + #else + motor = new STSPIN240_250(D2, D9, D6, D7, D5, D4, A0); + #endif + if (motor->Init(&initDeviceParameters) != COMPONENT_OK) exit(EXIT_FAILURE); + + /* Set dual bridge enabled as two motors are used*/ + motor->SetDualFullBridgeconfig(1); + + /* 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 2 brush DC motors\r\n"); + + /* Set PWM Frequency of Ref to 15000 Hz */ + motor->SetRefPwmFreq(0, 15000); + + /* Set PWM duty cycle of Ref to 60% */ + motor->SetRefPwmDc(0, 60); + + /* Set PWM Frequency of bridge A inputs to 10000 Hz */ + motor->SetBridgeInputPwmFreq(0,10000); + + /* Set PWM Frequency of bridge B inputs to 10000 Hz */ + motor->SetBridgeInputPwmFreq(1,10000); + + /* Infinite Loop. */ + printf("--> Infinite Loop...\r\n"); + while (1) + { + switch (demoStep) + { + case 0: + printf("STEP 0: Motor(0) FWD Speed=100%% - Motor(1) Inactive\r\n"); + /* Set speed of motor 0 to 100 % */ + motor->SetSpeed(0,100); + /* start motor 0 to run forward*/ + /* if chip is in standby mode */ + /* it is automatically awakened */ + motor->Run(0, BDCMotor::FWD); + break; + case 1: + printf("STEP 1: Motor(0) FWD Speed=75%% - Motor(1) BWD Speed=100%%\r\n"); + /* Set speed of motor 0 to 75 % */ + motor->SetSpeed(0,75); + /* Set speed of motor 1 to 100 % */ + motor->SetSpeed(1,100); + /* start motor 1 to run backward */ + motor->Run(1, BDCMotor::BWD); + break; + case 2: + printf("STEP 2: Motor(0) FWD Speed=50%% - Motor(1) BWD Speed=75%%\r\n"); + /* Set speed of motor 0 to 50 % */ + motor->SetSpeed(0,50); + /* Set speed of motor 1 to 75% */ + motor->SetSpeed(1,75); + break; + case 3: + printf("STEP 3: Motor(0) FWD Speed=25%% - Motor(1) BWD Speed=50%%\r\n"); + /* Set speed of motor 0 to 25 % */ + motor->SetSpeed(0,25); + /* Set speed of motor 1 to 50% */ + motor->SetSpeed(1,50); + break; + case 4: + printf("STEP 4: Motor(0) Stopped - Motor(1) BWD Speed=25%%\r\n"); + /* Stop Motor 0 */ + motor->HardStop(0); + /* Set speed of motor 1 to 25% */ + motor->SetSpeed(1,25); + break; + case 5: + printf("STEP 5: Motor(0) BWD Speed=25%% - Motor(1) Stopped\r\n"); + /* Set speed of motor 0 to 25 % */ + motor->SetSpeed(0,25); + /* start motor 0 to run backward */ + motor->Run(0, BDCMotor::BWD); + /* Stop Motor 1 */ + motor->HardStop(1); + break; + case 6: + printf("STEP 6: Motor(0) BWD Speed=50%% - Motor(1) FWD Speed=25%%\r\n"); + /* Set speed of motor 0 to 50 % */ + motor->SetSpeed(0,50); + /* Set speed of motor 1 to 25 % */ + motor->SetSpeed(1,25); + /* start motor 1 to run backward */ + motor->Run(1, BDCMotor::FWD); + break; + case 7: + printf("STEP 7: Motor(0) BWD Speed=75%% - Motor(1) FWD Speed=50%%\r\n"); + /* Set speed of motor 0 to 75 % */ + motor->SetSpeed(0,75); + /* Set speed of motor 1 to 50 % */ + motor->SetSpeed(1,50); + break; + case 8: + printf("STEP 8: Motor(0) BWD Speed=100%% - Motor(1) FWD Speed=75%%\r\n"); + /* Set speed of motor 0 to 100 % */ + motor->SetSpeed(0,100); + /* Set speed of motor 1 to 75 % */ + motor->SetSpeed(1,75); + break; + case 9: + printf("STEP 9: Motor(0) BWD Speed=100%% - Motor(1) FWD Speed=100%%\r\n"); + /* Set speed of motor 1 to 100 % */ + motor->SetSpeed(1,100); + break; + case 10: + printf("STEP 10\r\n: Stop both motors and disable bridges\r\n"); + /* Stop both motors and disable bridge */ + motor->HardHiZ(0); + motor->HardHiZ(1); + break; + case 11: + printf("STEP 11: Motor(0) FWD Speed=100%% - Motor(1) FWD Speed=100%%\r\n"); + /* Start both motors to go forward*/ + motor->Run(0,BDCMotor::FWD); + motor->Run(1,BDCMotor::FWD); + break; + case 12: + default: + printf("STEP 12: Stop both motors and enter standby mode\r\n"); + /* Stop both motors and put chip in standby mode */ + motor->Reset(); + break; + } + + /* Wait for 5 seconds */ + wait_ms(5000); + + /* Increment demostep*/ + demoStep++; + if (demoStep > 12) + { + demoStep = 0; + } + } +} +/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/