Diff: main.cpp

Revision:

0:b9444a40a999

Child:

1:75a41f0c0586

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Sep 05 20:18:14 2015 +0000
@@ -0,0 +1,442 @@
+/**
+  ******************************************************************************
+  * @file    Multi/Examples/MotionControl/IHM01A1_ExampleFor1Motor/Src/main.c 
+  * @author  IPC Rennes
+  * @version V1.5.0
+  * @date    November 12, 2014
+  * @brief   This example shows how to use 1 IHM01A1 expansion board
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT(c) 2014 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 ------------------------------------------------------------------*/
+#include "mbed.h"
+#include "main.h"
+
+/** @defgroup IHM01A1_Example_for_1_motor_device
+  * @{
+  */ 
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+ static volatile uint16_t gLastError;
+
+/* Private function prototypes -----------------------------------------------*/
+static void MyFlagInterruptHandler(void);
+
+/* Private functions ---------------------------------------------------------*/
+
+/**
+  * @brief  Main program
+  * @param  None
+  * @retval None
+  */
+int main(void)
+{
+  int32_t pos;
+  uint16_t mySpeed;
+
+  /* STM32xx HAL library initialization */
+//  HAL_Init();
+  
+  /* Configure the system clock */
+//mbed  SystemClock_Config();
+    
+//----- Init of the Motor control library 
+  /* Start the L6474 library to use 1 device */
+  /* The L6474 registers are set with the predefined values */
+  /* from file l6474_target_config.h*/
+  BSP_MotorControl_Init(BSP_MOTOR_CONTROL_BOARD_ID_L6474, 1);
+  
+  /* Attach the function MyFlagInterruptHandler (defined below) to the flag interrupt */
+  BSP_MotorControl_AttachFlagInterrupt(MyFlagInterruptHandler);
+
+  /* Attach the function Error_Handler (defined below) to the error Handler*/
+  BSP_MotorControl_AttachErrorHandler(Error_Handler);
+
+//----- Move of 16000 steps in the FW direction
+
+  /* Move device 0 of 16000 steps in the FORWARD direction*/
+  BSP_MotorControl_Move(0, FORWARD, 16000);
+
+  /* Wait for the motor of device 0 ends moving */
+  BSP_MotorControl_WaitWhileActive(0);
+
+  /* Wait for 2 seconds */
+  HAL_Delay(2000);  
+  
+//----- Move of 16000 steps in the BW direction
+
+  /* Move device 0 of 16000 steps in the BACKWARD direction*/
+  BSP_MotorControl_Move(0, BACKWARD, 16000);
+
+  /* Wait for the motor of device 0 ends moving */
+  BSP_MotorControl_WaitWhileActive(0);
+
+   /* Set the current position of device 0 to be the Home position */
+  BSP_MotorControl_SetHome(0);
+  
+  /* Wait for 2 seconds */
+  HAL_Delay(2000);
+
+//----- Go to position -6400
+
+  /* Request device 0 to go to position -6400 */
+  BSP_MotorControl_GoTo(0,-6400);  
+  
+  /* Wait for the motor ends moving */
+  BSP_MotorControl_WaitWhileActive(0);
+
+  /* Get current position of device 0*/
+  pos = BSP_MotorControl_GetPosition(0);
+
+  if (pos != -6400) 
+  {
+    Error_Handler(11);
+  }
+  
+  /* Set the current position of device 0 to be the Mark position */
+  BSP_MotorControl_SetMark(0);
+
+  /* Wait for 2 seconds */
+  HAL_Delay(2000);
+  
+//----- Go Home
+
+  /* Request device 0 to go to Home */
+  BSP_MotorControl_GoHome(0);  
+  BSP_MotorControl_WaitWhileActive(0);
+
+  /* Get current position of device 0 */
+  pos = BSP_MotorControl_GetPosition(0);
+  
+  /* Wait for 2 seconds */
+  HAL_Delay(2000);
+
+//----- Go to position 6400
+
+  /* Request device 0 to go to position 6400 */
+  BSP_MotorControl_GoTo(0,6400);  
+  
+  /* Wait for the motor of device 0 ends moving */
+  BSP_MotorControl_WaitWhileActive(0);
+
+  /* Get current position of device 0*/
+  pos = BSP_MotorControl_GetPosition(0);
+
+  /* Wait for 2 seconds */
+  HAL_Delay(2000);
+  
+//----- Go Mark which was set previously after go to -6400
+
+  /* Request device 0 to go to Mark position */
+  BSP_MotorControl_GoMark(0);  
+  
+  /* Wait for the motor of device 0 ends moving */
+  BSP_MotorControl_WaitWhileActive(0);
+
+  /* Get current position of device 0 */
+  pos = BSP_MotorControl_GetPosition(0);
+
+  /* Wait for 2 seconds */
+  HAL_Delay(2000);
+
+//----- Run the motor BACKWARD
+
+  /* Request device 0 to run BACKWARD */
+   BSP_MotorControl_Run(0,BACKWARD);       
+   HAL_Delay(5000);
+
+   /* Get current speed of device 0 */
+   mySpeed = BSP_MotorControl_GetCurrentSpeed(0);
+
+//----- Increase the speed while running
+
+  /* Increase speed of device 0 to 2400 step/s */
+  BSP_MotorControl_SetMaxSpeed(0,4800);
+  HAL_Delay(9000);
+
+   /* Get current speed of device 0 */
+   mySpeed = BSP_MotorControl_GetCurrentSpeed(0);
+
+//----- Decrease the speed while running
+
+  /* Decrease speed of device 0 to 1200 step/s */
+  BSP_MotorControl_SetMaxSpeed(0,1200);
+  HAL_Delay(5000);
+
+  /* Get current speed */
+  mySpeed = BSP_MotorControl_GetCurrentSpeed(0);
+
+//----- Increase acceleration while running
+
+  /* Increase acceleration of device 0 to 480 step/s^2 */
+  BSP_MotorControl_SetAcceleration(0,480);
+  HAL_Delay(5000);
+
+  /* Increase speed of device 0 to 2400 step/s */
+  BSP_MotorControl_SetMaxSpeed(0,2400);
+  HAL_Delay(5000);
+
+  /* Get current speed of device 0 */
+  mySpeed = BSP_MotorControl_GetCurrentSpeed(0);
+
+  if (mySpeed != 2400)
+  {
+    Error_Handler(10);
+  }
+//----- Increase deceleration while running
+
+  /* Increase deceleration of device 0 to 480 step/s^2 */
+  BSP_MotorControl_SetDeceleration(0,480);
+  HAL_Delay(5000);
+
+  /* Decrease speed of device 0 to 1200 step/s */
+  BSP_MotorControl_SetMaxSpeed(0,1200);
+  HAL_Delay(5000);
+
+  /* Get current speed */
+  mySpeed = BSP_MotorControl_GetCurrentSpeed(0);
+
+//----- Soft stopped required while running
+
+  /* Request soft stop of device 0 */
+  BSP_MotorControl_SoftStop(0);
+
+  /* Wait for the motor of device 0 ends moving */  
+  BSP_MotorControl_WaitWhileActive(0);
+
+  /* Wait for 2 seconds */
+  HAL_Delay(2000);
+
+//----- Run stopped by hardstop
+
+  /* Request device 0 to run in FORWARD direction */
+  BSP_MotorControl_Run(0,FORWARD);       
+  HAL_Delay(5000);
+  
+  /* Request device 0 to immediatly stop */
+  BSP_MotorControl_HardStop(0);
+  BSP_MotorControl_WaitWhileActive(0);
+
+  /* Wait for 2 seconds */
+  HAL_Delay(2000);
+  
+//----- GOTO stopped by softstop
+
+ /* Request device 0 to go to position 20000  */
+  BSP_MotorControl_GoTo(0,20000);  
+  HAL_Delay(5000);
+
+  /* Request device 0 to perform a soft stop */
+  BSP_MotorControl_SoftStop(0);
+  BSP_MotorControl_WaitWhileActive(0);
+
+  /* Wait for 2 seconds */
+  HAL_Delay(2000);  
+
+  //----- Read inexistent register to test MyFlagInterruptHandler
+
+  /* Try to read an inexistent register */
+  /* the flag interrupt should be raised */
+  /* and the MyFlagInterruptHandler function called */
+  BSP_MotorControl_CmdGetParam(0,0x1F);
+  HAL_Delay(500);
+
+//----- Change step mode to full step mode
+
+  /* Select full step mode for device 0 */
+   BSP_MotorControl_SelectStepMode(0,STEP_MODE_FULL);
+
+  /* Set speed and acceleration to be consistent with full step mode */
+   BSP_MotorControl_SetMaxSpeed(0,100);
+   BSP_MotorControl_SetMinSpeed(0,50);
+   BSP_MotorControl_SetAcceleration(0,10);
+   BSP_MotorControl_SetDeceleration(0,10);
+
+  /* Request device 0 to go position 200 */
+   BSP_MotorControl_GoTo(0,200);  
+
+  /* Wait for the motor of device 0 ends moving */
+   BSP_MotorControl_WaitWhileActive(0);
+
+  /* Get current position */
+  pos =  BSP_MotorControl_GetPosition(0);
+
+  /* Wait for 2 seconds */
+  HAL_Delay(2000);
+  
+//----- Restore 1/16 microstepping mode
+
+  /* Reset device 0 to 1/16 microstepping mode */
+  BSP_MotorControl_SelectStepMode(0,STEP_MODE_1_16);   //_FULL _HALF 1_16  
+
+  /* Update speed, acceleration, deceleration for 1/16 microstepping mode*/
+  BSP_MotorControl_SetMaxSpeed(0,40000);
+  BSP_MotorControl_SetMinSpeed(0,800);
+  BSP_MotorControl_SetAcceleration(0,160);
+  BSP_MotorControl_SetDeceleration(0,160);  
+  
+  /* Infinite loop */
+  while(1)
+  {
+    /* Request device 0 to go position -6400 */
+    BSP_MotorControl_GoTo(0,-6400);
+
+    /* Wait for the motor of device 0 ends moving */
+    BSP_MotorControl_WaitWhileActive(0);
+
+    /* Request device 0 to go position 6400 */
+    BSP_MotorControl_GoTo(0,6400);
+
+    /* Wait for the motor of device 0 ends moving */
+    BSP_MotorControl_WaitWhileActive(0);  
+  }
+}
+
+/**
+  * @brief  This function is the User handler for the flag interrupt
+  * @param  None
+  * @retval None
+  */
+void MyFlagInterruptHandler(void)
+{
+  /* Get the value of the status register via the L6474 command GET_STATUS */
+  uint16_t statusRegister = BSP_MotorControl_CmdGetStatus(0);
+  
+  /* Check HIZ flag: if set, power brigdes are disabled */
+  if ((statusRegister & L6474_STATUS_HIZ) == L6474_STATUS_HIZ)
+  {
+    // HIZ state
+    // Action to be customized            
+  }
+
+  /* Check direction bit */
+  if ((statusRegister & L6474_STATUS_DIR) == L6474_STATUS_DIR)
+  {
+    // Forward direction is set
+    // Action to be customized            
+  }  
+  else
+  {
+    // Backward direction is set
+    // Action to be customized            
+  }  
+
+  /* Check NOTPERF_CMD flag: if set, the command received by SPI can't be performed */
+  /* This often occures when a command is sent to the L6474 */
+  /* while it is in HIZ state */
+  if ((statusRegister & L6474_STATUS_NOTPERF_CMD) == L6474_STATUS_NOTPERF_CMD)
+  {
+      // Command received by SPI can't be performed
+     // Action to be customized            
+  }  
+
+  /* Check WRONG_CMD flag: if set, the command does not exist */
+  if ((statusRegister & L6474_STATUS_WRONG_CMD) == L6474_STATUS_WRONG_CMD)
+  {
+     //command received by SPI does not exist 
+     // Action to be customized          
+  }  
+
+  /* Check UVLO flag: if not set, there is an undervoltage lock-out */
+  if ((statusRegister & L6474_STATUS_UVLO) == 0)
+  {
+     //undervoltage lock-out 
+     // Action to be customized          
+  }  
+
+  /* Check TH_WRN flag: if not set, the thermal warning threshold is reached */
+  if ((statusRegister & L6474_STATUS_TH_WRN) == 0)
+  {
+    //thermal warning threshold is reached
+    // Action to be customized          
+  }    
+
+  /* Check TH_SHD flag: if not set, the thermal shut down threshold is reached */
+  if ((statusRegister & L6474_STATUS_TH_SD) == 0)
+  {
+    //thermal shut down threshold is reached 
+    // Action to be customized          
+  }    
+
+  /* Check OCD  flag: if not set, there is an overcurrent detection */
+  if ((statusRegister & L6474_STATUS_OCD) == 0)
+  {
+    //overcurrent detection 
+    // Action to be customized          
+  }      
+ 
+}
+
+/**
+  * @brief  This function is executed in case of error occurrence.
+  * @param  error number of the error
+  * @retval None
+  */
+void Error_Handler(uint16_t error)
+{
+  /* Backup error number */
+  gLastError = error;
+  
+  /* Infinite loop */
+  while(1)
+  {
+  }
+}
+
+#ifdef  USE_FULL_ASSERT
+
+/**
+  * @brief  Reports the name of the source file and the source line number
+  *         where the assert_param error has occurred.
+  * @param  file: pointer to the source file name
+  * @param  line: assert_param error line source number
+  * @retval None
+  */
+void assert_failed(uint8_t* file, uint32_t line)
+{ 
+  /* User can add his own implementation to report the file name and line number,
+     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
+
+  /* Infinite loop */
+  while (1)
+  {
+  }
+}
+#endif
+
+/**
+  * @}
+  */
+
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/