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prime funzioni per i motori
Dependencies: X_NUCLEO_IHM12A1 mbed
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HelloWorld_IHM12A1
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Revision 0:773e2a2be16f, committed 2016-04-28
- Comitter:
- Manu_L
- Date:
- Thu Apr 28 14:03:58 2016 +0000
- Child:
- 1:c06b4ac7132b
- Commit message:
- HelloWorld_IHM12A1 creation
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/X-NUCLEO-IHM12A1.lib Thu Apr 28 14:03:58 2016 +0000 @@ -0,0 +1,1 @@ +X-NUCLEO-IHM12A1#13bc901c90aa
--- /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****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Apr 28 14:03:58 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/082adc85693f \ No newline at end of file