Test
Dependencies: X_NUCLEO_IHM02A1 mbed
Fork of HelloWorld_IHM02A1 by
main.cpp
- Committer:
- Robby
- Date:
- 2018-05-10
- Revision:
- 20:64b4bb57c3c6
- Parent:
- 18:591a007effc2
File content as of revision 20:64b4bb57c3c6:
/** ****************************************************************************** * @file main.cpp * @author Davide Aliprandi, STMicroelectronics * @version V1.0.0 * @date November 4th, 2015 * @brief mbed test application for the STMicroelectronics X-NUCLEO-IHM02A1 * Motor Control Expansion Board: control of 2 motors. ****************************************************************************** * @attention * * <h2><center>© COPYRIGHT(c) 2015 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" /* Expansion Board specific header files. */ #include "x_nucleo_ihm02a1_class.h" /* String libraries for splitting commands*/ #include <string.h> /* Definitions ---------------------------------------------------------------*/ /* Number of movements per revolution. */ #define MPR_1 4 /* Number of steps. */ #define STEPS_1 (200 * 128) /* 1 revolution given a 400 steps motor configured at 1/128 microstep mode. */ #define STEPS_2 (STEPS_1 * 2) /* Delay in milliseconds. */ #define DELAY_1 1000 #define DELAY_2 2000 #define DELAY_3 5000 /* Variables -----------------------------------------------------------------*/ /* Serial port to USB*/ Serial pc(USBTX,USBRX);//tx, rx /* Motor Control Expansion Board. */ X_NUCLEO_IHM02A1 *x_nucleo_ihm02a1; /* Initialization parameters of the motors connected to the expansion board. */ L6470_Init_t init[L6470DAISYCHAINSIZE] = { /* First Motor. */ { 12.0, /* Motor supply voltage in V. */ 200, /* Min number of steps per revolution for the motor. */ 0.5, /* Max motor phase voltage in A. */ 5.06, /* Max motor phase voltage in V. */ 200.0, /* Motor initial speed [step/s]. */ 300.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */ 300.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */ 400.0, /* Motor maximum speed [step/s]. */ 0.0, /* Motor minimum speed [step/s]. */ 800, /* Motor full-step speed threshold [step/s]. */ 3.06, /* Holding kval [V]. */ 3.06, /* Constant speed kval [V]. */ 3.06, /* Acceleration starting kval [V]. */ 3.06, /* Deceleration starting kval [V]. */ 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */ 392.1569e-6, /* Start slope [s/step]. */ 643.1372e-6, /* Acceleration final slope [s/step]. */ 643.1372e-6, /* Deceleration final slope [s/step]. */ 0, /* Thermal compensation factor (range [0, 15]). */ 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */ 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */ StepperMotor::STEP_MODE_1_128, /* Step mode selection. */ 0xFF, /* Alarm conditions enable. */ 0x2E88 /* Ic configuration. */ }, /* Second Motor. */ { 12.0, /* Motor supply voltage in V. */ 200, /* Min number of steps per revolution for the motor. */ 0.5, /* Max motor phase voltage in A. */ 5.06, /* Max motor phase voltage in V. */ 200.0, /* Motor initial speed [step/s]. */ 300.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */ 300.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */ 400.0, /* Motor maximum speed [step/s]. */ 0.0, /* Motor minimum speed [step/s]. */ 800, /* Motor full-step speed threshold [step/s]. */ 3.06, /* Holding kval [V]. */ 3.06, /* Constant speed kval [V]. */ 3.06, /* Acceleration starting kval [V]. */ 3.06, /* Deceleration starting kval [V]. */ 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */ 392.1569e-6, /* Start slope [s/step]. */ 643.1372e-6, /* Acceleration final slope [s/step]. */ 643.1372e-6, /* Deceleration final slope [s/step]. */ 0, /* Thermal compensation factor (range [0, 15]). */ 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */ 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */ StepperMotor::STEP_MODE_1_128, /* Step mode selection. */ 0xFF, /* Alarm conditions enable. */ 0x2E88 /* Ic configuration. */ } }; DigitalIn enable(PA_8); /* Building a list of motor control components. */ //L6470 **motors = x_nucleo_ihm02a1->GetComponents(); L6470 **motors; void highZ(){ /* Preparing each motor to set High Impedance State. */ for (int m = 0; m < L6470DAISYCHAINSIZE; m++) motors[m]->PrepareHardHiZ(); /* Performing the action on each motor at the same time. */ x_nucleo_ihm02a1->PerformPreparedActions(); } void hardStop(int motor){ // /*----- Hard Stop. -----*/ // /* Printing to the console. */ // pc.printf("--> Hard Stop.\r\n"); /* Preparing each motor to perform a hard stop. */ // for (int m = 0; m < L6470DAISYCHAINSIZE; m++) motors[motor]->PrepareHardStop(); /* Performing the action on each motor at the same time. */ x_nucleo_ihm02a1->PerformPreparedActions(); highZ(); /* Waiting. */ // wait_ms(DELAY_2); } void stopAllMotors(){ /* Preparing each motor to perform a hard stop. */ for (int m = 0; m < L6470DAISYCHAINSIZE; m++) motors[m]->PrepareHardStop(); /* Performing the action on each motor at the same time. */ x_nucleo_ihm02a1->PerformPreparedActions(); highZ(); } void setHome(int motor){ motors[motor]->SetHome(); } int getPosition(int motor){ int position = motors[motor]->GetPosition(); return position; } void moveSteps(int motor, int steps){ if(steps < 0) motors[motor]->Move(StepperMotor::BWD, steps*-1); else motors[motor]->Move(StepperMotor::FWD, steps); motors[motor]->WaitWhileActive(); hardStop(motor); } void runAtSpeed(int motor, int speed){ if(speed < 0) motors[motor]->PrepareRun(StepperMotor::BWD, speed*-1); else if(speed > 0) motors[motor]->PrepareRun(StepperMotor::FWD, speed); else{ hardStop(motor); return; } /* Performing the action on each motor at the same time. */ x_nucleo_ihm02a1->PerformPreparedActions(); } void moveInSync(int steps){ if(steps < 0){ motors[0]->PrepareMove(StepperMotor::BWD, steps*-1); motors[1]->PrepareMove(StepperMotor::BWD, steps*-1); } else if(steps > 0){ motors[0]->PrepareMove(StepperMotor::FWD, steps); motors[1]->PrepareMove(StepperMotor::FWD, steps); } x_nucleo_ihm02a1->PerformPreparedActions(); motors[0]->WaitWhileActive(); motors[1]->WaitWhileActive(); } void goXRHome(int speed){ //while not pushing button move motor to the left? motors[0]->PrepareRun(StepperMotor::BWD, speed); motors[1]->PrepareRun(StepperMotor::BWD, speed); x_nucleo_ihm02a1->PerformPreparedActions(); // while( wait_ms(5000); stopAllMotors(); } void goHome(int motor, int speed){ //while not pushing button move motor to the left? motors[motor]->PrepareRun(StepperMotor::BWD, speed); x_nucleo_ihm02a1->PerformPreparedActions(); // while( wait_ms(5000); stopAllMotors(); } void readSerial(){ char rx_line[10]; // while(pc.readable()){ pc.scanf("%s", rx_line); //pc.printf("Spoken %s \r\n", rx_line); char cmd[10], cmdv[10], cmdv2[10]; int values = sscanf(rx_line, "%[^','],%[^','],%s",cmd, cmdv, cmdv2); //pc.printf("%d\r\n",values); int cmd_value = atoi(cmdv); int cmd_value2 = atoi(cmdv2); //pc.printf("%s\r\n%d\r\n%d\r\n", cmd, cmd_value, cmd_value2); char c = cmd[0]; //pc.printf("%c", c); int pos; int pos2; switch(c){ case 'a': return; case 'b': //set home setHome(cmd_value); pos = getPosition(cmd_value); pc.printf("%c,%d,%d\r\n",c,cmd_value,pos); return; case 'c': //get position pos = getPosition(cmd_value); pc.printf("%c,%d,%d\r\n",c,cmd_value,pos); return; case 'd': break; case 'e': //move steps moveSteps(cmd_value, cmd_value2); pos = getPosition(cmd_value); pc.printf("%c,%d,%d\r\n",c,cmd_value,pos); return; case 'f': //run at a given speed or change to run until hit bump runAtSpeed(cmd_value, cmd_value2); break; case 'g': //Halt stopAllMotors(); break; case 'h': //move X to home (and R cause connected) goXRHome(cmd_value2); pos = getPosition(0); pos2 = getPosition(1); pc.printf("%c,%d,%d\r\n",c,pos,pos2); return; case 'i': //move X numebr of steps and R cause connected moveInSync(cmd_value); pos = getPosition(0); pos2 = getPosition(1); pc.printf("%c,%d,%d\r\n",c,pos,pos2); return; case 'j': //go home goHome(cmd_value, cmd_value2); pos = getPosition(cmd_value); pc.printf("%c,%d,%d\r\n",c,cmd_value,pos); return; default: //N/A command pc.printf("Do not understand commands: %s with value %d\r\n", cmd, cmd_value); return; } pc.printf("complete\r\n"); } /* Main ----------------------------------------------------------------------*/ int main() { /* Initializing SPI bus. */ DevSPI dev_spi(D11, D12, D13); /* Initializing Motor Control Expansion Board. */ x_nucleo_ihm02a1 = new X_NUCLEO_IHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi); motors = x_nucleo_ihm02a1->GetComponents(); pc.attach(readSerial); pc.printf("ready\r\n"); while(1){ } ///*----- Initialization. -----*/ // // /* Initializing SPI bus. */ // DevSPI dev_spi(D11, D12, D13); // // /* Initializing Motor Control Expansion Board. */ // x_nucleo_ihm02a1 = new X_NUCLEO_IHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi); // // /* Building a list of motor control components. */ // L6470 **motors = x_nucleo_ihm02a1->GetComponents(); // // /* Printing to the console. */ // pc.printf("Motor Control Application Example for 2 Motors\r\n\n"); // // // /*----- Setting home and marke positions, getting positions, and going to positions. -----*/ // // /* Printing to the console. */ // pc.printf("--> Setting home position.\r\n"); // // /* Setting the home position. */ // motors[0]->SetHome(); // // /* Waiting. */ // wait_ms(DELAY_1); // // /* Getting the current position. */ // int position = motors[0]->GetPosition(); // // /* Printing to the console. */ // pc.printf("--> Getting the current position: %d\r\n", position); // // /* Waiting. */ // wait_ms(DELAY_1); // // /* Printing to the console. */ // pc.printf("--> Moving forward %d steps.\r\n", STEPS_1); // // /* Moving. */ // motors[0]->Move(StepperMotor::FWD, STEPS_1); // // /* Waiting while active. */ // motors[0]->WaitWhileActive(); // // /* Getting the current position. */ // position = motors[0]->GetPosition(); // // /* Printing to the console. */ // pc.printf("--> Getting the current position: %d\r\n", position); // // /* Printing to the console. */ // pc.printf("--> Marking the current position.\r\n"); // // /* Marking the current position. */ // motors[0]->SetMark(); // // /* Waiting. */ // wait_ms(DELAY_1); // // /* Printing to the console. */ // pc.printf("--> Moving backward %d steps.\r\n", STEPS_2); // // /* Moving. */ //motors[0]->Move(StepperMotor::BWD, STEPS_2); // // /* Waiting while active. */ // motors[0]->WaitWhileActive(); // // /* Waiting. */ // wait_ms(DELAY_1); // // /* Getting the current position. */ // position = motors[0]->GetPosition(); // // /* Printing to the console. */ // pc.printf("--> Getting the current position: %d\r\n", position); // // /* Waiting. */ // wait_ms(DELAY_1); // // /* Printing to the console. */ // pc.printf("--> Going to marked position.\r\n"); // // /* Going to marked position. */ // motors[0]->GoMark(); // // /* Waiting while active. */ // motors[0]->WaitWhileActive(); // // /* Waiting. */ // wait_ms(DELAY_1); // // /* Getting the current position. */ // position = motors[0]->GetPosition(); // // /* Printing to the console. */ // pc.printf("--> Getting the current position: %d\r\n", position); // // /* Waiting. */ // wait_ms(DELAY_1); // // /* Printing to the console. */ // pc.printf("--> Going to home position.\r\n"); // // /* Going to home position. */ // motors[0]->GoHome(); // // /* Waiting while active. */ // motors[0]->WaitWhileActive(); // // /* Waiting. */ // wait_ms(DELAY_1); // // /* Getting the current position. */ // position = motors[0]->GetPosition(); // // /* Printing to the console. */ // pc.printf("--> Getting the current position: %d\r\n", position); // // /* Waiting. */ // wait_ms(DELAY_1); // // /* Printing to the console. */ // pc.printf("--> Halving the microsteps.\r\n"); // // /* Halving the microsteps. */ // init[0].step_sel = (init[0].step_sel > 0 ? init[0].step_sel - 1 : init[0].step_sel); // if (!motors[0]->SetStepMode((StepperMotor::step_mode_t) init[0].step_sel)) // pc.printf(" Step Mode not allowed.\r\n"); // // /* Waiting. */ // wait_ms(DELAY_1); // // /* Printing to the console. */ // pc.printf("--> Setting home position.\r\n"); // // /* Setting the home position. */ // motors[0]->SetHome(); // // /* Waiting. */ // wait_ms(DELAY_1); // // /* Getting the current position. */ // position = motors[0]->GetPosition(); // // /* Printing to the console. */ // pc.printf("--> Getting the current position: %d\r\n", position); // // /* Waiting. */ // wait_ms(DELAY_1); // // /* Printing to the console. */ // pc.printf("--> Moving forward %d steps.\r\n", STEPS_1); // // /* Moving. */ // motors[0]->Move(StepperMotor::FWD, STEPS_1); // // /* Waiting while active. */ // motors[0]->WaitWhileActive(); // // /* Getting the current position. */ // position = motors[0]->GetPosition(); // // /* Printing to the console. */ // pc.printf("--> Getting the current position: %d\r\n", position); // // /* Printing to the console. */ // pc.printf("--> Marking the current position.\r\n"); // // /* Marking the current position. */ // motors[0]->SetMark(); // // /* Waiting. */ // wait_ms(DELAY_2); // // // /*----- Running together for a certain amount of time. -----*/ // // /* Printing to the console. */ // pc.printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000); // // /* Preparing each motor to perform a run at a specified speed. */ // for (int m = 0; m < L6470DAISYCHAINSIZE; m++) // motors[m]->PrepareRun(StepperMotor::BWD, 400); // // /* Performing the action on each motor at the same time. */ // x_nucleo_ihm02a1->PerformPreparedActions(); // // /* Waiting. */ // wait_ms(DELAY_3); // // // /*----- Increasing the speed while running. -----*/ // // /* Preparing each motor to perform a run at a specified speed. */ // for (int m = 0; m < L6470DAISYCHAINSIZE; m++) // motors[m]->PrepareGetSpeed(); // // /* Performing the action on each motor at the same time. */ // uint32_t* results = x_nucleo_ihm02a1->PerformPreparedActions(); // // /* Printing to the console. */ // pc.printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]); // // /* Printing to the console. */ // pc.printf("--> Doublig the speed while running again for %d seconds.\r\n", DELAY_3 / 1000); // // /* Preparing each motor to perform a run at a specified speed. */ // for (int m = 0; m < L6470DAISYCHAINSIZE; m++) // motors[m]->PrepareRun(StepperMotor::BWD, results[m] << 1); // // /* Performing the action on each motor at the same time. */ // results = x_nucleo_ihm02a1->PerformPreparedActions(); // // /* Waiting. */ // wait_ms(DELAY_3); // // /* Preparing each motor to perform a run at a specified speed. */ // for (int m = 0; m < L6470DAISYCHAINSIZE; m++) // motors[m]->PrepareGetSpeed(); // // /* Performing the action on each motor at the same time. */ // results = x_nucleo_ihm02a1->PerformPreparedActions(); // // /* Printing to the console. */ // pc.printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]); // // /* Waiting. */ // wait_ms(DELAY_1); // // // /*----- Hard Stop. -----*/ // // /* Printing to the console. */ // pc.printf("--> Hard Stop.\r\n"); // // /* Preparing each motor to perform a hard stop. */ // for (int m = 0; m < L6470DAISYCHAINSIZE; m++) // motors[m]->PrepareHardStop(); // // /* Performing the action on each motor at the same time. */ // x_nucleo_ihm02a1->PerformPreparedActions(); // // /* Waiting. */ // wait_ms(DELAY_2); // // // /*----- Doing a full revolution on each motor, one after the other. -----*/ // // /* Printing to the console. */ // pc.printf("--> Doing a full revolution on each motor, one after the other.\r\n"); // // /* Doing a full revolution on each motor, one after the other. */ // for (int m = 0; m < L6470DAISYCHAINSIZE; m++) // for (int i = 0; i < MPR_1; i++) // { // /* Computing the number of steps. */ // int steps = (int) (((int) init[m].fullstepsperrevolution * pow(2.0f, init[m].step_sel)) / MPR_1); // // /* Moving. */ // motors[m]->Move(StepperMotor::FWD, steps); // // /* Waiting while active. */ // motors[m]->WaitWhileActive(); // // /* Waiting. */ // wait_ms(DELAY_1); // } // // /* Waiting. */ // wait_ms(DELAY_2); // // // /*----- High Impedance State. -----*/ // // /* Printing to the console. */ // pc.printf("--> High Impedance State.\r\n"); // // /* Preparing each motor to set High Impedance State. */ // for (int m = 0; m < L6470DAISYCHAINSIZE; m++) // motors[m]->PrepareHardHiZ(); // // /* Performing the action on each motor at the same time. */ // x_nucleo_ihm02a1->PerformPreparedActions(); // // /* Waiting. */ // wait_ms(DELAY_2); }