Hans Meier / Mbed 2 deprecated MyHelloWorld_IHM04A1

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Dependencies:   FastPWM mbed ST_INTERFACES

Fork of HelloWorld_IHM04A1 by ST

main.cpp@6:b9b32d6c2b40, 2017-03-24 (annotated)

Committer:
davide.aliprandi@st.com
Date:
Fri Mar 24 11:00:26 2017 +0100
Revision:
6:b9b32d6c2b40
Parent:
5:4c1e581bbb8b
Child:
7:20ff5668f5fe
Aligning to ARM mbed coding style.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
brdirais 0:dcc35ef6effc 1 /**
brdirais 0:dcc35ef6effc 2 ******************************************************************************
davide.aliprandi@st.com 6:b9b32d6c2b40 3 * @file main.cpp
brdirais 0:dcc35ef6effc 4 * @author IPC Rennes
brdirais 0:dcc35ef6effc 5 * @version V1.0.0
brdirais 1:4d9b9123d9e1 6 * @date May 16, 2016
brdirais 0:dcc35ef6effc 7 * @brief This example shows how to use 1 IHM04A1 expansion board with
brdirais 0:dcc35ef6effc 8 * 4 unidirectionnal Brush DC motors.
brdirais 0:dcc35ef6effc 9 * Each motor has one lead connected to one of the bridge output,
brdirais 0:dcc35ef6effc 10 * the other lead to the ground. The input bridges are not parallelised.
brdirais 0:dcc35ef6effc 11 * The demo sequence starts when the user button is pressed.
brdirais 1:4d9b9123d9e1 12 * Each time, the user button is pressed, one new motor is activated
brdirais 0:dcc35ef6effc 13 ******************************************************************************
brdirais 0:dcc35ef6effc 14 * @attention
brdirais 0:dcc35ef6effc 15 *
brdirais 0:dcc35ef6effc 16 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
brdirais 0:dcc35ef6effc 17 *
brdirais 0:dcc35ef6effc 18 * Redistribution and use in source and binary forms, with or without modification,
brdirais 0:dcc35ef6effc 19 * are permitted provided that the following conditions are met:
brdirais 0:dcc35ef6effc 20 * 1. Redistributions of source code must retain the above copyright notice,
brdirais 0:dcc35ef6effc 21 * this list of conditions and the following disclaimer.
brdirais 0:dcc35ef6effc 22 * 2. Redistributions in binary form must reproduce the above copyright notice,
brdirais 0:dcc35ef6effc 23 * this list of conditions and the following disclaimer in the documentation
brdirais 0:dcc35ef6effc 24 * and/or other materials provided with the distribution.
brdirais 0:dcc35ef6effc 25 * 3. Neither the name of STMicroelectronics nor the names of its contributors
brdirais 0:dcc35ef6effc 26 * may be used to endorse or promote products derived from this software
brdirais 0:dcc35ef6effc 27 * without specific prior written permission.
brdirais 0:dcc35ef6effc 28 *
brdirais 0:dcc35ef6effc 29 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
brdirais 0:dcc35ef6effc 30 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
brdirais 0:dcc35ef6effc 31 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
brdirais 0:dcc35ef6effc 32 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
brdirais 0:dcc35ef6effc 33 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
brdirais 0:dcc35ef6effc 34 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
brdirais 0:dcc35ef6effc 35 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
brdirais 0:dcc35ef6effc 36 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
brdirais 0:dcc35ef6effc 37 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
brdirais 0:dcc35ef6effc 38 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
brdirais 0:dcc35ef6effc 39 *
brdirais 0:dcc35ef6effc 40 ******************************************************************************
brdirais 0:dcc35ef6effc 41 */
brdirais 0:dcc35ef6effc 42
davide.aliprandi@st.com 6:b9b32d6c2b40 43
brdirais 0:dcc35ef6effc 44 /* Includes ------------------------------------------------------------------*/
brdirais 0:dcc35ef6effc 45
brdirais 0:dcc35ef6effc 46 /* mbed specific header files. */
brdirais 0:dcc35ef6effc 47 #include "mbed.h"
brdirais 0:dcc35ef6effc 48
brdirais 0:dcc35ef6effc 49 /* Component specific header files. */
davide.aliprandi@st.com 6:b9b32d6c2b40 50 #include "L6206.h"
brdirais 0:dcc35ef6effc 51
brdirais 0:dcc35ef6effc 52
brdirais 0:dcc35ef6effc 53 /* Definitions ---------------------------------------------------------------*/
brdirais 0:dcc35ef6effc 54
brdirais 0:dcc35ef6effc 55 #define MAX_MOTOR (4)
brdirais 0:dcc35ef6effc 56
brdirais 0:dcc35ef6effc 57
brdirais 0:dcc35ef6effc 58 /* Variables -----------------------------------------------------------------*/
brdirais 0:dcc35ef6effc 59
brdirais 0:dcc35ef6effc 60 static volatile uint16_t gLastError;
brdirais 0:dcc35ef6effc 61 static volatile uint8_t gStep = 0;
brdirais 0:dcc35ef6effc 62
brdirais 0:dcc35ef6effc 63
brdirais 0:dcc35ef6effc 64 /* Variables -----------------------------------------------------------------*/
brdirais 0:dcc35ef6effc 65
brdirais 0:dcc35ef6effc 66 /* Initialization parameters. */
davide.aliprandi@st.com 6:b9b32d6c2b40 67 L6206_init_t init =
brdirais 0:dcc35ef6effc 68 {
brdirais 0:dcc35ef6effc 69 L6206_CONF_PARAM_PARALLE_BRIDGES,
brdirais 0:dcc35ef6effc 70 {L6206_CONF_PARAM_FREQ_PWM1A, L6206_CONF_PARAM_FREQ_PWM2A, L6206_CONF_PARAM_FREQ_PWM1B, L6206_CONF_PARAM_FREQ_PWM2B},
brdirais 0:dcc35ef6effc 71 {100,100,100,100},
brdirais 0:dcc35ef6effc 72 {FORWARD,FORWARD,BACKWARD,FORWARD},
brdirais 0:dcc35ef6effc 73 {INACTIVE,INACTIVE,INACTIVE,INACTIVE},
brdirais 0:dcc35ef6effc 74 {FALSE,FALSE}
brdirais 0:dcc35ef6effc 75 };
brdirais 0:dcc35ef6effc 76
brdirais 0:dcc35ef6effc 77 /* Motor Control Component. */
brdirais 0:dcc35ef6effc 78 L6206 *motor;
brdirais 0:dcc35ef6effc 79
brdirais 0:dcc35ef6effc 80 /* User button on Nucleo board */
davide.aliprandi@st.com 6:b9b32d6c2b40 81 InterruptIn my_button_irq(USER_BUTTON);
brdirais 0:dcc35ef6effc 82
brdirais 0:dcc35ef6effc 83
brdirais 0:dcc35ef6effc 84 /* Functions -----------------------------------------------------------------*/
brdirais 0:dcc35ef6effc 85
brdirais 0:dcc35ef6effc 86 /**
brdirais 0:dcc35ef6effc 87 * @brief This function is executed in case of error occurrence.
brdirais 0:dcc35ef6effc 88 * @param error number of the error
brdirais 0:dcc35ef6effc 89 * @retval None
brdirais 0:dcc35ef6effc 90 */
davide.aliprandi@st.com 6:b9b32d6c2b40 91 void my_error_handler(uint16_t error)
brdirais 0:dcc35ef6effc 92 {
brdirais 0:dcc35ef6effc 93 /* Backup error number */
brdirais 0:dcc35ef6effc 94 gLastError = error;
brdirais 0:dcc35ef6effc 95
brdirais 0:dcc35ef6effc 96 /* Enter your own code here */
brdirais 0:dcc35ef6effc 97 }
brdirais 0:dcc35ef6effc 98
brdirais 0:dcc35ef6effc 99 /**
brdirais 0:dcc35ef6effc 100 * @brief This function is the User handler for the flag interrupt
brdirais 0:dcc35ef6effc 101 * @param None
brdirais 0:dcc35ef6effc 102 * @retval None
brdirais 0:dcc35ef6effc 103 * @note If needed, implement it, and then attach and enable it:
davide.aliprandi@st.com 6:b9b32d6c2b40 104 * + motor->attach_flag_interrupt(my_flag_irq_handler);
brdirais 0:dcc35ef6effc 105 */
davide.aliprandi@st.com 6:b9b32d6c2b40 106 void my_flag_irq_handler(void)
brdirais 0:dcc35ef6effc 107 {
brdirais 0:dcc35ef6effc 108 /* Code to be customised */
brdirais 0:dcc35ef6effc 109 /************************/
brdirais 0:dcc35ef6effc 110 /* Get the state of bridge A */
davide.aliprandi@st.com 6:b9b32d6c2b40 111 uint16_t bridgeState = motor->get_bridge_status(0);
brdirais 0:dcc35ef6effc 112
davide.aliprandi@st.com 6:b9b32d6c2b40 113 if (bridgeState == 0) {
davide.aliprandi@st.com 6:b9b32d6c2b40 114 if ((motor->get_device_state(0) != INACTIVE)||
davide.aliprandi@st.com 6:b9b32d6c2b40 115 (motor->get_device_state(1) != INACTIVE)) {
brdirais 0:dcc35ef6effc 116 /* Bridge A was disabling due to overcurrent or over temperature */
brdirais 0:dcc35ef6effc 117 /* When at least on of its motor was running */
davide.aliprandi@st.com 6:b9b32d6c2b40 118 my_error_handler(0XBAD0);
brdirais 0:dcc35ef6effc 119 }
brdirais 0:dcc35ef6effc 120 }
brdirais 0:dcc35ef6effc 121
brdirais 0:dcc35ef6effc 122 /* Get the state of bridge B */
davide.aliprandi@st.com 6:b9b32d6c2b40 123 bridgeState = motor->get_bridge_status(1);
brdirais 0:dcc35ef6effc 124
davide.aliprandi@st.com 6:b9b32d6c2b40 125 if (bridgeState == 0) {
davide.aliprandi@st.com 6:b9b32d6c2b40 126 if ((motor->get_device_state(2) != INACTIVE)||
davide.aliprandi@st.com 6:b9b32d6c2b40 127 (motor->get_device_state(3) != INACTIVE)) {
brdirais 0:dcc35ef6effc 128 /* Bridge A was disabling due to overcurrent or over temperature */
brdirais 0:dcc35ef6effc 129 /* When at least on of its motor was running */
davide.aliprandi@st.com 6:b9b32d6c2b40 130 my_error_handler(0XBAD1);
brdirais 0:dcc35ef6effc 131 }
brdirais 0:dcc35ef6effc 132 }
davide.aliprandi@st.com 6:b9b32d6c2b40 133 }
brdirais 0:dcc35ef6effc 134
brdirais 0:dcc35ef6effc 135
brdirais 0:dcc35ef6effc 136 /* Private functions ---------------------------------------------------------*/
brdirais 0:dcc35ef6effc 137
brdirais 0:dcc35ef6effc 138 /**
brdirais 0:dcc35ef6effc 139 * @brief Button Irq
brdirais 0:dcc35ef6effc 140 * @param None
brdirais 0:dcc35ef6effc 141 * @retval None
brdirais 0:dcc35ef6effc 142 */
brdirais 0:dcc35ef6effc 143
davide.aliprandi@st.com 6:b9b32d6c2b40 144 void my_button_pressed(void)
brdirais 0:dcc35ef6effc 145 {
davide.aliprandi@st.com 6:b9b32d6c2b40 146 my_button_irq.disable_irq();
brdirais 0:dcc35ef6effc 147 gStep++;
davide.aliprandi@st.com 6:b9b32d6c2b40 148 if (gStep > MAX_MOTOR) {
brdirais 0:dcc35ef6effc 149 gStep = 0;
brdirais 0:dcc35ef6effc 150 }
brdirais 0:dcc35ef6effc 151 wait_ms(200);
davide.aliprandi@st.com 6:b9b32d6c2b40 152 my_button_irq.enable_irq();
brdirais 0:dcc35ef6effc 153 }
brdirais 0:dcc35ef6effc 154
brdirais 0:dcc35ef6effc 155
brdirais 0:dcc35ef6effc 156 /**
brdirais 0:dcc35ef6effc 157 * @brief Main program
brdirais 0:dcc35ef6effc 158 * @param None
brdirais 0:dcc35ef6effc 159 * @retval None
brdirais 0:dcc35ef6effc 160 */
brdirais 0:dcc35ef6effc 161 int main(void)
brdirais 0:dcc35ef6effc 162 {
brdirais 0:dcc35ef6effc 163 /*----- Initialization. -----*/
brdirais 0:dcc35ef6effc 164
brdirais 0:dcc35ef6effc 165 /* Initializing Motor Control Component. */
brdirais 0:dcc35ef6effc 166 motor = new L6206( D2, A4, D5, D4, A0, A1);
brdirais 0:dcc35ef6effc 167
davide.aliprandi@st.com 6:b9b32d6c2b40 168 /* When init method is called with NULL pointer, the L6206 parameters are set */
brdirais 0:dcc35ef6effc 169 /* with the predefined values from file l6206_target_config.h, otherwise the */
davide.aliprandi@st.com 6:b9b32d6c2b40 170 /* parameters are set using the init structure values. */
davide.aliprandi@st.com 6:b9b32d6c2b40 171 if (motor->init(&init) != COMPONENT_OK) {
brdirais 0:dcc35ef6effc 172 exit(EXIT_FAILURE);
davide.aliprandi@st.com 6:b9b32d6c2b40 173 }
brdirais 0:dcc35ef6effc 174
davide.aliprandi@st.com 6:b9b32d6c2b40 175 /* Attach the function my_flag_irq_handler (defined below) to the flag interrupt */
davide.aliprandi@st.com 6:b9b32d6c2b40 176 motor->attach_flag_interrupt(my_flag_irq_handler);
brdirais 0:dcc35ef6effc 177
davide.aliprandi@st.com 6:b9b32d6c2b40 178 /* Attach the function my_error_handler (defined below) to the error Handler*/
davide.aliprandi@st.com 6:b9b32d6c2b40 179 motor->attach_error_handler(my_error_handler);
brdirais 0:dcc35ef6effc 180
brdirais 0:dcc35ef6effc 181 /* Printing to the console. */
brdirais 1:4d9b9123d9e1 182 printf("Motor Control Application Example for 4 Motor\r\n\n");
brdirais 0:dcc35ef6effc 183
brdirais 0:dcc35ef6effc 184 /* Select the configuration with no bridge paralleling, two unidirectionnal motors on bridge A
brdirais 0:dcc35ef6effc 185 and two unidirectionnal motors on bridge B */
davide.aliprandi@st.com 6:b9b32d6c2b40 186 motor->set_dual_full_bridge_config(PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B);
brdirais 0:dcc35ef6effc 187
brdirais 1:4d9b9123d9e1 188 /* Set PWM Frequency of bridge A inputs to 1000 Hz */
davide.aliprandi@st.com 6:b9b32d6c2b40 189 motor->set_bridge_input_pwm_freq(0,1000);
brdirais 0:dcc35ef6effc 190
brdirais 1:4d9b9123d9e1 191 /* Set PWM Frequency of bridge B inputs to 2000 Hz */
davide.aliprandi@st.com 6:b9b32d6c2b40 192 motor->set_bridge_input_pwm_freq(1,2000);
brdirais 0:dcc35ef6effc 193
davide.aliprandi@st.com 6:b9b32d6c2b40 194 // Attach my_button_pressed function to Irq
davide.aliprandi@st.com 6:b9b32d6c2b40 195 my_button_irq.fall(&my_button_pressed);
brdirais 0:dcc35ef6effc 196
brdirais 0:dcc35ef6effc 197 /* Infinite loop */
davide.aliprandi@st.com 6:b9b32d6c2b40 198 while (true) {
brdirais 0:dcc35ef6effc 199
davide.aliprandi@st.com 6:b9b32d6c2b40 200 if (gStep > 0) {
davide.aliprandi@st.com 6:b9b32d6c2b40 201 printf("run motor 0 at 20%% of the maximum speed\n");
brdirais 1:4d9b9123d9e1 202 /* Set speed of motor 0 to 20% */
davide.aliprandi@st.com 6:b9b32d6c2b40 203 motor->set_speed(0,20);
brdirais 0:dcc35ef6effc 204 /* start motor 0 */
davide.aliprandi@st.com 6:b9b32d6c2b40 205 motor->run(0, BDCMotor::FWD);
brdirais 0:dcc35ef6effc 206 }
brdirais 0:dcc35ef6effc 207
davide.aliprandi@st.com 6:b9b32d6c2b40 208 if (gStep > 1) {
davide.aliprandi@st.com 6:b9b32d6c2b40 209 printf("run motor 1 at 30%% of the maximum speed\n");
brdirais 0:dcc35ef6effc 210 /* Set speed of motor 1 to 30 % */
davide.aliprandi@st.com 6:b9b32d6c2b40 211 motor->set_speed(1,30);
brdirais 0:dcc35ef6effc 212 /* start motor 1 */
davide.aliprandi@st.com 6:b9b32d6c2b40 213 motor->run(1, BDCMotor::FWD);
brdirais 0:dcc35ef6effc 214 }
brdirais 0:dcc35ef6effc 215
davide.aliprandi@st.com 6:b9b32d6c2b40 216 if (gStep > 2) {
davide.aliprandi@st.com 6:b9b32d6c2b40 217 printf("run motor 2 at 40%% of the maximum speed\n");
brdirais 0:dcc35ef6effc 218 /* Set speed of motor 2 to 40 % */
davide.aliprandi@st.com 6:b9b32d6c2b40 219 motor->set_speed(2,40);
brdirais 0:dcc35ef6effc 220 /* start motor 2 */
davide.aliprandi@st.com 6:b9b32d6c2b40 221 motor->run(2, BDCMotor::FWD);
brdirais 0:dcc35ef6effc 222 }
brdirais 0:dcc35ef6effc 223
davide.aliprandi@st.com 6:b9b32d6c2b40 224 if (gStep > 3) {
davide.aliprandi@st.com 6:b9b32d6c2b40 225 printf("run motor 3 at 50%% of the maximum speed\n");
brdirais 0:dcc35ef6effc 226 /* Set speed of motor 3 to 50 % */
davide.aliprandi@st.com 6:b9b32d6c2b40 227 motor->set_speed(3,50);
brdirais 0:dcc35ef6effc 228 /* start motor 3 */
davide.aliprandi@st.com 6:b9b32d6c2b40 229 motor->run(3, BDCMotor::FWD);
brdirais 0:dcc35ef6effc 230 }
brdirais 0:dcc35ef6effc 231
davide.aliprandi@st.com 6:b9b32d6c2b40 232 if (gStep > 0) {
brdirais 0:dcc35ef6effc 233 wait_ms(1000);
brdirais 0:dcc35ef6effc 234
davide.aliprandi@st.com 6:b9b32d6c2b40 235 motor->hard_hiz(0);
davide.aliprandi@st.com 6:b9b32d6c2b40 236 motor->hard_hiz(1);
davide.aliprandi@st.com 6:b9b32d6c2b40 237 motor->hard_hiz(2);
davide.aliprandi@st.com 6:b9b32d6c2b40 238 motor->hard_hiz(3);
brdirais 0:dcc35ef6effc 239
brdirais 0:dcc35ef6effc 240 wait_ms(1000);
brdirais 0:dcc35ef6effc 241 }
brdirais 0:dcc35ef6effc 242 }
brdirais 0:dcc35ef6effc 243 }
brdirais 0:dcc35ef6effc 244
brdirais 0:dcc35ef6effc 245 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/