Yossi_Students / Mbed 2 deprecated TAU_ROTATING_PLATFORM_IHM05A1

Simple code to run steps

Dependencies:   X-NUCLEO-IHM05A1 mbed

Fork of HelloWorld_IHM05A1 by ST

main.cpp@10:93b6d1b02071, 2018-01-14 (annotated)

Committer:
Arkadi
Date:
Sun Jan 14 10:05:05 2018 +0000
Revision:
10:93b6d1b02071
Parent:
9:4b2736fbecdf 
Increase Torque

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nucleosam 0:36aa6787d4f9 1 /**
nucleosam 0:36aa6787d4f9 2 ******************************************************************************
nucleosam 0:36aa6787d4f9 3 * @file main.cpp
nucleosam 0:36aa6787d4f9 4 * @author IPC Rennes
nucleosam 0:36aa6787d4f9 5 * @version V1.0.0
nucleosam 0:36aa6787d4f9 6 * @date April 13th, 2016
nucleosam 2:c5f455885df7 7 * @brief mbed simple application for the STMicroelectronics X-NUCLEO-IHM05A1
nucleosam 0:36aa6787d4f9 8 * Motor Control Expansion Board: control of 1 motor.
nucleosam 0:36aa6787d4f9 9 ******************************************************************************
nucleosam 0:36aa6787d4f9 10 * @attention
nucleosam 0:36aa6787d4f9 11 *
nucleosam 0:36aa6787d4f9 12 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
nucleosam 0:36aa6787d4f9 13 *
nucleosam 0:36aa6787d4f9 14 * Redistribution and use in source and binary forms, with or without modification,
nucleosam 0:36aa6787d4f9 15 * are permitted provided that the following conditions are met:
nucleosam 0:36aa6787d4f9 16 * 1. Redistributions of source code must retain the above copyright notice,
nucleosam 0:36aa6787d4f9 17 * this list of conditions and the following disclaimer.
nucleosam 0:36aa6787d4f9 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
nucleosam 0:36aa6787d4f9 19 * this list of conditions and the following disclaimer in the documentation
nucleosam 0:36aa6787d4f9 20 * and/or other materials provided with the distribution.
nucleosam 0:36aa6787d4f9 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
nucleosam 0:36aa6787d4f9 22 * may be used to endorse or promote products derived from this software
nucleosam 0:36aa6787d4f9 23 * without specific prior written permission.
nucleosam 0:36aa6787d4f9 24 *
nucleosam 0:36aa6787d4f9 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
nucleosam 0:36aa6787d4f9 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
nucleosam 0:36aa6787d4f9 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
nucleosam 0:36aa6787d4f9 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
nucleosam 0:36aa6787d4f9 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
nucleosam 0:36aa6787d4f9 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
nucleosam 0:36aa6787d4f9 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
nucleosam 0:36aa6787d4f9 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
nucleosam 0:36aa6787d4f9 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
nucleosam 0:36aa6787d4f9 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
nucleosam 0:36aa6787d4f9 35 *
nucleosam 0:36aa6787d4f9 36 ******************************************************************************
nucleosam 0:36aa6787d4f9 37 */
nucleosam 0:36aa6787d4f9 38
nucleosam 0:36aa6787d4f9 39 /* Includes ------------------------------------------------------------------*/
nucleosam 0:36aa6787d4f9 40
nucleosam 0:36aa6787d4f9 41 /* mbed specific header files. */
nucleosam 0:36aa6787d4f9 42 #include "mbed.h"
nucleosam 0:36aa6787d4f9 43
nucleosam 0:36aa6787d4f9 44 /* Component specific header files. */
davide.aliprandi@st.com 5:bc710d77d801 45 #include "L6208.h"
nucleosam 0:36aa6787d4f9 46
Arkadi 9:4b2736fbecdf 47 #define DELAY_STEPS 1000
Arkadi 9:4b2736fbecdf 48 #define STEPS_PER 1
Arkadi 9:4b2736fbecdf 49 #define NUM_STEPS 400
Arkadi 9:4b2736fbecdf 50 #define NUM_ROTATION 1
Arkadi 9:4b2736fbecdf 51 int32_t steps=0;
nucleosam 0:36aa6787d4f9 52 /* Definitions ---------------------------------------------------------------*/
nucleosam 0:36aa6787d4f9 53 #ifdef TARGET_NUCLEO_F334R8
nucleosam 0:36aa6787d4f9 54 #define VREFA_PWM_PIN D11
nucleosam 3:a6e155687c6a 55 #define VREFB_PWM_PIN D9
nucleosam 3:a6e155687c6a 56 #elif TARGET_NUCLEO_F302R8
nucleosam 3:a6e155687c6a 57 #define VREFA_PWM_PIN D11
nucleosam 3:a6e155687c6a 58 #define VREFB_PWM_PIN D15 /* HW mandatory patch: bridge manually D9 with D15 */
nucleosam 0:36aa6787d4f9 59 #else
nucleosam 0:36aa6787d4f9 60 #define VREFA_PWM_PIN D3
nucleosam 3:a6e155687c6a 61 #define VREFB_PWM_PIN D9
nucleosam 0:36aa6787d4f9 62 #endif
nucleosam 0:36aa6787d4f9 63
nucleosam 0:36aa6787d4f9 64 /* Variables -----------------------------------------------------------------*/
nucleosam 0:36aa6787d4f9 65
nucleosam 0:36aa6787d4f9 66 /* Initialization parameters of the motor connected to the expansion board. */
davide.aliprandi@st.com 5:bc710d77d801 67 l6208_init_t init =
nucleosam 0:36aa6787d4f9 68 {
Arkadi 10:93b6d1b02071 69 100, //Acceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
Arkadi 10:93b6d1b02071 70 50, //Acceleration current torque in % (from 0 to 100)
Arkadi 10:93b6d1b02071 71 100, //Deceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes
Arkadi 10:93b6d1b02071 72 50, //Deceleration current torque in % (from 0 to 100)
Arkadi 10:93b6d1b02071 73 100, //Running speed in step/s or (1/16)th step/s for microstep modes
Arkadi 10:93b6d1b02071 74 50, //Running current torque in % (from 0 to 100)
Arkadi 10:93b6d1b02071 75 50, //Holding current torque in % (from 0 to 100)
Arkadi 9:4b2736fbecdf 76 STEP_MODE_HALF, //Step mode via enum motorStepMode_t
Arkadi 10:93b6d1b02071 77 SLOW_DECAY, //Decay mode via enum motorDecayMode_t
Arkadi 10:93b6d1b02071 78 10, //Dwelling time in ms
nucleosam 0:36aa6787d4f9 79 FALSE, //Automatic HIZ STOP
nucleosam 0:36aa6787d4f9 80 100000 //VREFA and VREFB PWM frequency (Hz)
nucleosam 0:36aa6787d4f9 81 };
nucleosam 0:36aa6787d4f9 82
nucleosam 0:36aa6787d4f9 83 /* Motor Control Component. */
nucleosam 0:36aa6787d4f9 84 L6208 *motor;
nucleosam 0:36aa6787d4f9 85
nucleosam 0:36aa6787d4f9 86 /* Functions -----------------------------------------------------------------*/
nucleosam 0:36aa6787d4f9 87
nucleosam 0:36aa6787d4f9 88 /**
nucleosam 0:36aa6787d4f9 89 * @brief This is an example of user handler for the flag interrupt.
nucleosam 0:36aa6787d4f9 90 * @param None
nucleosam 0:36aa6787d4f9 91 * @retval None
nucleosam 0:36aa6787d4f9 92 * @note If needed, implement it, and then attach and enable it:
davide.aliprandi@st.com 5:bc710d77d801 93 * + motor->attach_flag_irq(&my_flag_irq_handler);
davide.aliprandi@st.com 5:bc710d77d801 94 * + motor->enable_flag_irq();
nucleosam 0:36aa6787d4f9 95 * To disable it:
nucleosam 0:36aa6787d4f9 96 * + motor->DisbleFlagIRQ();
nucleosam 0:36aa6787d4f9 97 */
davide.aliprandi@st.com 5:bc710d77d801 98 void my_flag_irq_handler(void)
nucleosam 0:36aa6787d4f9 99 {
nucleosam 0:36aa6787d4f9 100 printf(" WARNING: \"FLAG\" interrupt triggered:\r\n");
Davidroid 6:6fb625ef867a 101 motor->disable();
nucleosam 0:36aa6787d4f9 102 printf(" Motor disabled.\r\n\n");
nucleosam 0:36aa6787d4f9 103 }
nucleosam 0:36aa6787d4f9 104
nucleosam 0:36aa6787d4f9 105 /**
nucleosam 0:36aa6787d4f9 106 * @brief This is an example of error handler.
nucleosam 0:36aa6787d4f9 107 * @param[in] error Number of the error
nucleosam 0:36aa6787d4f9 108 * @retval None
nucleosam 0:36aa6787d4f9 109 * @note If needed, implement it, and then attach it:
davide.aliprandi@st.com 5:bc710d77d801 110 * + motor->attach_error_handler(&my_error_handler);
nucleosam 0:36aa6787d4f9 111 */
davide.aliprandi@st.com 5:bc710d77d801 112 void my_error_handler(uint16_t error)
nucleosam 0:36aa6787d4f9 113 {
nucleosam 0:36aa6787d4f9 114 /* Printing to the console. */
nucleosam 0:36aa6787d4f9 115 printf("Error %d detected\r\n\n", error);
nucleosam 0:36aa6787d4f9 116
nucleosam 0:36aa6787d4f9 117 /* Infinite loop */
davide.aliprandi@st.com 5:bc710d77d801 118 while (true) {
nucleosam 0:36aa6787d4f9 119 }
nucleosam 0:36aa6787d4f9 120 }
nucleosam 0:36aa6787d4f9 121
nucleosam 0:36aa6787d4f9 122 /* Main ----------------------------------------------------------------------*/
nucleosam 0:36aa6787d4f9 123
nucleosam 0:36aa6787d4f9 124 int main()
nucleosam 0:36aa6787d4f9 125 {
nucleosam 0:36aa6787d4f9 126 /* Printing to the console. */
nucleosam 0:36aa6787d4f9 127 printf("STARTING MAIN PROGRAM\r\n");
nucleosam 0:36aa6787d4f9 128 printf(" Reminder:\r\n");
nucleosam 0:36aa6787d4f9 129 printf(" The position unit is in agreement to the step mode.\r\n");
nucleosam 0:36aa6787d4f9 130 printf(" The speed, acceleration or deceleration unit depend on the step mode:\r\n");
nucleosam 0:36aa6787d4f9 131 printf(" - For normal mode and half step mode, the unit is steps/s or /s^2.\r\n");
nucleosam 0:36aa6787d4f9 132 printf(" - For microstep modes, the unit is (1/16)steps/s or /s^2.\r\n");
nucleosam 0:36aa6787d4f9 133
nucleosam 0:36aa6787d4f9 134 //----- Initialization
nucleosam 0:36aa6787d4f9 135 /* Initializing Motor Control Component. */
nucleosam 3:a6e155687c6a 136 motor = new L6208(D2, D8, D7, D4, D5, D6, VREFA_PWM_PIN, VREFB_PWM_PIN);
davide.aliprandi@st.com 5:bc710d77d801 137 if (motor->init(&init) != COMPONENT_OK) {
davide.aliprandi@st.com 5:bc710d77d801 138 exit(EXIT_FAILURE);
davide.aliprandi@st.com 5:bc710d77d801 139 }
nucleosam 0:36aa6787d4f9 140
nucleosam 0:36aa6787d4f9 141 /* Attaching and enabling an interrupt handler. */
davide.aliprandi@st.com 5:bc710d77d801 142 motor->attach_flag_irq(&my_flag_irq_handler);
davide.aliprandi@st.com 5:bc710d77d801 143 motor->enable_flag_irq();
nucleosam 0:36aa6787d4f9 144
nucleosam 0:36aa6787d4f9 145 /* Attaching an error handler */
davide.aliprandi@st.com 5:bc710d77d801 146 motor->attach_error_handler(&my_error_handler);
nucleosam 0:36aa6787d4f9 147
nucleosam 0:36aa6787d4f9 148 /* Printing to the console. */
Arkadi 9:4b2736fbecdf 149 printf("Run motor at 1/16 micro stepping");
nucleosam 0:36aa6787d4f9 150
nucleosam 0:36aa6787d4f9 151 /* Print parameters to the console */
davide.aliprandi@st.com 5:bc710d77d801 152 printf(" Motor Max Speed: %d step/s.\r\n", motor->get_max_speed());
davide.aliprandi@st.com 5:bc710d77d801 153 printf(" Motor Min Speed: %d step/s.\r\n", motor->get_min_speed());
davide.aliprandi@st.com 5:bc710d77d801 154 printf(" Motor Acceleration: %d step/s.\r\n", motor->get_acceleration());
davide.aliprandi@st.com 5:bc710d77d801 155 printf(" Motor Deceleration: %d step/s.\r\n", motor->get_deceleration());
nucleosam 0:36aa6787d4f9 156
Arkadi 9:4b2736fbecdf 157
Arkadi 9:4b2736fbecdf 158 //----- Change step mode to full step mode
Arkadi 9:4b2736fbecdf 159 motor->set_step_mode(StepperMotor::STEP_MODE_HALF);
davide.aliprandi@st.com 5:bc710d77d801 160 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());
nucleosam 0:36aa6787d4f9 161
Arkadi 9:4b2736fbecdf 162 ////----- run the motor BACKWARD
Arkadi 9:4b2736fbecdf 163 // printf("--> Running the motor backward.\r\n");
Arkadi 9:4b2736fbecdf 164 // motor->run(StepperMotor::BWD);
Arkadi 9:4b2736fbecdf 165 //
Arkadi 9:4b2736fbecdf 166 //
Arkadi 9:4b2736fbecdf 167 // // wait untill motor is at const speed
Arkadi 9:4b2736fbecdf 168 // while (motor->get_status()!=STEADY) {
Arkadi 9:4b2736fbecdf 169 // /* Print reached speed to the console in step/s or microsteps/s */
Arkadi 9:4b2736fbecdf 170 // printf(" Reached Speed: %d microstep/s.\r\n", motor->get_speed());
Arkadi 9:4b2736fbecdf 171 // wait_ms(50);
Arkadi 9:4b2736fbecdf 172 // }
Arkadi 9:4b2736fbecdf 173 // printf(" Reached Speed: %d microstep/s.\r\n", motor->get_speed());
Arkadi 9:4b2736fbecdf 174 //
Arkadi 9:4b2736fbecdf 175 // // run continious
Arkadi 9:4b2736fbecdf 176 // /* Wait for 1 second */
Arkadi 9:4b2736fbecdf 177 // wait(60);
Arkadi 9:4b2736fbecdf 178 //
Arkadi 9:4b2736fbecdf 179 ////----- Soft stop required while running
Arkadi 9:4b2736fbecdf 180 // printf("--> Soft stop requested.\r\n");
Arkadi 9:4b2736fbecdf 181 // motor->soft_stop();
Arkadi 9:4b2736fbecdf 182 //
Arkadi 9:4b2736fbecdf 183 // /* Wait for the motor of device ends moving */
Arkadi 9:4b2736fbecdf 184 // motor->wait_while_active();
nucleosam 0:36aa6787d4f9 185
nucleosam 0:36aa6787d4f9 186
Arkadi 9:4b2736fbecdf 187 while (steps<NUM_STEPS*NUM_ROTATION){
Arkadi 9:4b2736fbecdf 188 //----- move of STEPS_PER steps in the FW direction
Arkadi 9:4b2736fbecdf 189
Arkadi 9:4b2736fbecdf 190 motor->move(StepperMotor::FWD, STEPS_PER);
Arkadi 9:4b2736fbecdf 191 /* Wait for DELAY_STEPS*/
Arkadi 9:4b2736fbecdf 192 wait_ms(DELAY_STEPS);
Arkadi 9:4b2736fbecdf 193 steps=motor->get_position();
Arkadi 9:4b2736fbecdf 194 printf("--> %d steps.\r\n",steps);
nucleosam 0:36aa6787d4f9 195 }
nucleosam 0:36aa6787d4f9 196 }
davide.aliprandi@st.com 5:bc710d77d801 197
nucleosam 0:36aa6787d4f9 198 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/