File content as of revision 5:bc710d77d801:

/**
 ******************************************************************************
 * @file    main.cpp
 * @author  IPC Rennes
 * @version V1.0.0
 * @date    April 13th, 2016
 * @brief   mbed simple application for the STMicroelectronics X-NUCLEO-IHM05A1
 *          Motor Control Expansion Board: control of 1 motor.
 ******************************************************************************
 * @attention
 *
 * <h2><center>&copy; 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 "L6208.h"


/* Definitions ---------------------------------------------------------------*/
#ifdef TARGET_NUCLEO_F334R8
#define VREFA_PWM_PIN D11
#define VREFB_PWM_PIN D9
#elif TARGET_NUCLEO_F302R8
#define VREFA_PWM_PIN D11
#define VREFB_PWM_PIN D15 /* HW mandatory patch: bridge manually D9 with D15 */
#else
#define VREFA_PWM_PIN D3
#define VREFB_PWM_PIN D9
#endif

/* Variables -----------------------------------------------------------------*/

/* Initialization parameters of the motor connected to the expansion board. */
l6208_init_t init =
{
  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->attach_flag_irq(&my_flag_irq_handler);
 *           + motor->enable_flag_irq();
 *         To disable it:
 *           + motor->DisbleFlagIRQ();
 */
void my_flag_irq_handler(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->attach_error_handler(&my_error_handler);
 */
void my_error_handler(uint16_t error)
{
  /* Printing to the console. */
  printf("Error %d detected\r\n\n", error);
  
  /* Infinite loop */
  while (true) {
  }    
}

/* 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, VREFB_PWM_PIN);
  if (motor->init(&init) != COMPONENT_OK) {
    exit(EXIT_FAILURE);
  }

  /* Attaching and enabling an interrupt handler. */
  motor->attach_flag_irq(&my_flag_irq_handler);
  motor->enable_flag_irq();
    
  /* Attaching an error handler */
  motor->attach_error_handler(&my_error_handler);

  /* 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->get_status()!=STEADY) {
    /* Print reached speed to the console in step/s or microsteps/s */
    printf("    Reached Speed: %d microstep/s.\r\n", motor->get_speed());
    wait_ms(50);    
  }
  printf("    Reached Speed: %d microstep/s.\r\n", motor->get_speed());
     
  /* Wait for 1 second */  
  wait_ms(1000);
  
//----- Decrease speed while running to one quarter of the previous speed
  motor->set_max_speed(motor->get_speed()>>2);
  
  /* Wait until the motor starts decelerating */
  while (motor->get_status()==STEADY);
  /* Wait and print speed while the motor is not steady running */
  while (motor->get_status()!=STEADY) {
    /* Print reached speed to the console in step/s or microsteps/s */
    printf("    Reached Speed: %d microstep/s.\r\n", motor->get_speed());
    wait_ms(50);    
  }
  printf("    Reached Speed: %d microstep/s.\r\n", motor->get_speed());  

  /* Wait for 5 seconds */  
  wait_ms(5000);
  
//----- Soft stop required while running
  printf("--> Soft stop requested.\r\n");
  motor->soft_stop();
  
  /* Wait for the motor of device ends moving */  
  motor->wait_while_active();

  /* Wait for 2 seconds */
  wait_ms(2000);

//----- Change step mode to full step mode
  motor->set_step_mode(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->get_step_mode());
  
  /* Get current position of device and print to the console */
  printf("    Position: %d.\r\n", motor->get_position());
  
  /* Set speed, acceleration and deceleration to scale with normal mode */
  motor->set_max_speed(init.maxSpeedSps>>4);
  motor->set_acceleration(motor->get_acceleration()>>4);
  motor->set_deceleration(motor->get_deceleration()>>4);
  /* Print parameters to the console */  
  printf("    Motor Max Speed: %d step/s.\r\n", motor->get_max_speed());
  printf("    Motor Min Speed: %d step/s.\r\n", motor->get_min_speed());
  printf("    Motor Acceleration: %d step/s.\r\n", motor->get_acceleration());
  printf("    Motor Deceleration: %d step/s.\r\n", motor->get_deceleration());
  
//----- 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->wait_while_active();
  
  /* Get current position of device and print to the console */
  printf("    Position: %d.\r\n", motor->get_position());
  
  /* Disable the power bridges */
  motor->Disable();
  
  /* Check that the power bridges are actually disabled */
  if (motor->check_status_hw()!=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->set_step_mode(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->get_step_mode());
  
  /* Get current position of device and print to the console */
  printf("    Position: %d.\r\n", motor->get_position());

  /* Set speed, acceleration and deceleration to scale with microstep mode */
  motor->set_max_speed(motor->get_max_speed()<<4);
  motor->set_acceleration(motor->get_acceleration()<<4);
  motor->set_deceleration(motor->get_deceleration()<<4);
  /* Print parameters to the console */
  printf("    Motor Max Speed: %d step/s.\r\n", motor->get_max_speed());
  printf("    Motor Min Speed: %d step/s.\r\n", motor->get_min_speed());
  printf("    Motor Acceleration: %d step/s.\r\n", motor->get_acceleration());
  printf("    Motor Deceleration: %d step/s.\r\n", motor->get_deceleration());
  
  /* Request to go position 800 (quarter steps) */
  motor->go_to(800);

  /* Wait for the motor ends moving */
  motor->wait_while_active();

  /* Get current position of device and print to the console */
  printf("    Position: %d.\r\n", motor->get_position());
  
  /* Wait for 2 seconds */  
  wait_ms(2000);
  
//----- Restore step mode to its initialization value
  motor->set_step_mode((StepperMotor::step_mode_t)init.stepMode);
  printf("    Motor step mode: %d (0:FS, 1:1/2, 2:1/4, 3:1/8, 4:1/16).\r\n", motor->get_step_mode());  

  /* Get current position of device and print to the console */
  printf("    Position: %d.\r\n", motor->get_position());
  
//----- Change decay mode
  motor->set_decay_mode(SLOW_DECAY);
  printf("    Motor decay mode: %d (0:slow decay, 1:fast decay).\r\n", motor->get_decay_mode());   
  
//----- Go to position -6400
  printf("--> Go to position -6400 steps.\r\n");
  motor->go_to(-6400);
  
  /* Wait for the motor ends moving */
  motor->wait_while_active();

  /* Get current position of device and print to the console */
  printf("    Position: %d.\r\n", motor->get_position());
  
  /* Wait for 2 seconds */  
  wait_ms(2000);

//----- Restore decay mode to its initialization value
  motor->set_decay_mode(init.decayMode);
  printf("    Motor decay mode: %d (0:slow decay, 1:fast decay).\r\n", motor->get_decay_mode());
  
//----- Go Home
  printf("--> Go to home position.\r\n");
  motor->go_home();
 
  /* Wait for the motor ends moving */
  motor->wait_while_active();
  
  /* Wait for 1 second */
  wait_ms(1000);
  
  /* Infinite Loop. */
  printf("--> Infinite Loop...\r\n");
  while (true) {
    /* Request device to go position -3200 */
    motor->go_to(-3200);

    /* Waiting while the motor is active. */
    motor->wait_while_active();

    /* Request device to go position 3200 */
    motor->go_to(3200);
 
    /* Waiting while the motor is active. */
    motor->wait_while_active();
  }
}

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/