main.cpp

00001 /**
00002   ******************************************************************************
00003   * @file    Multi/Examples/MotionControl/IHM01A1_ExampleFor1Motor/Src/main.c 
00004   * @author  IPC Rennes
00005   * @version V1.5.0
00006   * @date    November 12, 2014
00007   * @brief   This example shows how to use 1 IHM01A1 expansion board
00008   ******************************************************************************
00009   * @attention
00010   *
00011   * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
00012   *
00013   * Redistribution and use in source and binary forms, with or without modification,
00014   * are permitted provided that the following conditions are met:
00015   *   1. Redistributions of source code must retain the above copyright notice,
00016   *      this list of conditions and the following disclaimer.
00017   *   2. Redistributions in binary form must reproduce the above copyright notice,
00018   *      this list of conditions and the following disclaimer in the documentation
00019   *      and/or other materials provided with the distribution.
00020   *   3. Neither the name of STMicroelectronics nor the names of its contributors
00021   *      may be used to endorse or promote products derived from this software
00022   *      without specific prior written permission.
00023   *
00024   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00025   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00026   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00027   * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00028   * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00029   * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00030   * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00031   * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00032   * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00033   * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00034   *
00035   ******************************************************************************
00036   */
00037 
00038 /* Includes ------------------------------------------------------------------*/
00039 #include "mbed.h"
00040 #include "ihm01a1.h"
00041 
00042 /** @defgroup IHM01A1_Example_for_1_motor_device
00043   * @{
00044   */ 
00045 
00046 /* Private typedef -----------------------------------------------------------*/
00047 /* Private define ------------------------------------------------------------*/
00048 /* Private macro -------------------------------------------------------------*/
00049 /* Private variables ---------------------------------------------------------*/
00050  static volatile uint16_t gLastError;
00051 
00052 /* Private function prototypes -----------------------------------------------*/
00053 static void MyFlagInterruptHandler(void);
00054 
00055 /* Private functions ---------------------------------------------------------*/
00056 
00057 /**
00058   * @brief  Main program
00059   * @param  None
00060   * @retval None
00061   */
00062 int main(void)
00063 {
00064   int32_t pos;
00065   uint16_t mySpeed;
00066 
00067   /* STM32xx HAL library initialization */
00068 //  HAL_Init();
00069   
00070   /* Configure the system clock */
00071 //mbed  SystemClock_Config();
00072     
00073 //----- Init of the Motor control library 
00074   /* Start the L6474 library to use 1 device */
00075   /* The L6474 registers are set with the predefined values */
00076   /* from file l6474_target_config.h*/
00077   BSP_MotorControl_Init(BSP_MOTOR_CONTROL_BOARD_ID_L6474, 1);
00078   
00079   /* Attach the function MyFlagInterruptHandler (defined below) to the flag interrupt */
00080   BSP_MotorControl_AttachFlagInterrupt(MyFlagInterruptHandler);
00081 
00082   /* Attach the function Error_Handler (defined below) to the error Handler*/
00083   BSP_MotorControl_AttachErrorHandler(Error_Handler);
00084 
00085 //----- Move of 16000 steps in the FW direction
00086 
00087   /* Move device 0 of 16000 steps in the FORWARD direction*/
00088   BSP_MotorControl_Move(0, FORWARD, 16000);
00089 
00090   /* Wait for the motor of device 0 ends moving */
00091   BSP_MotorControl_WaitWhileActive(0);
00092 
00093   /* Wait for 2 seconds */
00094   HAL_Delay(2000);  
00095   
00096 //----- Move of 16000 steps in the BW direction
00097 
00098   /* Move device 0 of 16000 steps in the BACKWARD direction*/
00099   BSP_MotorControl_Move(0, BACKWARD, 16000);
00100 
00101   /* Wait for the motor of device 0 ends moving */
00102   BSP_MotorControl_WaitWhileActive(0);
00103 
00104    /* Set the current position of device 0 to be the Home position */
00105   BSP_MotorControl_SetHome(0);
00106   
00107   /* Wait for 2 seconds */
00108   HAL_Delay(2000);
00109 
00110 //----- Go to position -6400
00111 
00112   /* Request device 0 to go to position -6400 */
00113   BSP_MotorControl_GoTo(0,-6400);  
00114   
00115   /* Wait for the motor ends moving */
00116   BSP_MotorControl_WaitWhileActive(0);
00117 
00118   /* Get current position of device 0*/
00119   pos = BSP_MotorControl_GetPosition(0);
00120 
00121   if (pos != -6400) 
00122   {
00123     Error_Handler(11);
00124   }
00125   
00126   /* Set the current position of device 0 to be the Mark position */
00127   BSP_MotorControl_SetMark(0);
00128 
00129   /* Wait for 2 seconds */
00130   HAL_Delay(2000);
00131   
00132 //----- Go Home
00133 
00134   /* Request device 0 to go to Home */
00135   BSP_MotorControl_GoHome(0);  
00136   BSP_MotorControl_WaitWhileActive(0);
00137 
00138   /* Get current position of device 0 */
00139   pos = BSP_MotorControl_GetPosition(0);
00140   
00141   /* Wait for 2 seconds */
00142   HAL_Delay(2000);
00143 
00144 //----- Go to position 6400
00145 
00146   /* Request device 0 to go to position 6400 */
00147   BSP_MotorControl_GoTo(0,6400);  
00148   
00149   /* Wait for the motor of device 0 ends moving */
00150   BSP_MotorControl_WaitWhileActive(0);
00151 
00152   /* Get current position of device 0*/
00153   pos = BSP_MotorControl_GetPosition(0);
00154 
00155   /* Wait for 2 seconds */
00156   HAL_Delay(2000);
00157   
00158 //----- Go Mark which was set previously after go to -6400
00159 
00160   /* Request device 0 to go to Mark position */
00161   BSP_MotorControl_GoMark(0);  
00162   
00163   /* Wait for the motor of device 0 ends moving */
00164   BSP_MotorControl_WaitWhileActive(0);
00165 
00166   /* Get current position of device 0 */
00167   pos = BSP_MotorControl_GetPosition(0);
00168 
00169   /* Wait for 2 seconds */
00170   HAL_Delay(2000);
00171 
00172 //----- Run the motor BACKWARD
00173 
00174   /* Request device 0 to run BACKWARD */
00175    BSP_MotorControl_Run(0,BACKWARD);       
00176    HAL_Delay(5000);
00177 
00178    /* Get current speed of device 0 */
00179    mySpeed = BSP_MotorControl_GetCurrentSpeed(0);
00180 
00181 //----- Increase the speed while running
00182 
00183   /* Increase speed of device 0 to 2400 step/s */
00184   BSP_MotorControl_SetMaxSpeed(0,4800);
00185   HAL_Delay(9000);
00186 
00187    /* Get current speed of device 0 */
00188    mySpeed = BSP_MotorControl_GetCurrentSpeed(0);
00189 
00190 //----- Decrease the speed while running
00191 
00192   /* Decrease speed of device 0 to 1200 step/s */
00193   BSP_MotorControl_SetMaxSpeed(0,1200);
00194   HAL_Delay(5000);
00195 
00196   /* Get current speed */
00197   mySpeed = BSP_MotorControl_GetCurrentSpeed(0);
00198 
00199 //----- Increase acceleration while running
00200 
00201   /* Increase acceleration of device 0 to 480 step/s^2 */
00202   BSP_MotorControl_SetAcceleration(0,480);
00203   HAL_Delay(5000);
00204 
00205   /* Increase speed of device 0 to 2400 step/s */
00206   BSP_MotorControl_SetMaxSpeed(0,2400);
00207   HAL_Delay(5000);
00208 
00209   /* Get current speed of device 0 */
00210   mySpeed = BSP_MotorControl_GetCurrentSpeed(0);
00211 
00212   if (mySpeed != 2400)
00213   {
00214     Error_Handler(10);
00215   }
00216 //----- Increase deceleration while running
00217 
00218   /* Increase deceleration of device 0 to 480 step/s^2 */
00219   BSP_MotorControl_SetDeceleration(0,480);
00220   HAL_Delay(5000);
00221 
00222   /* Decrease speed of device 0 to 1200 step/s */
00223   BSP_MotorControl_SetMaxSpeed(0,1200);
00224   HAL_Delay(5000);
00225 
00226   /* Get current speed */
00227   mySpeed = BSP_MotorControl_GetCurrentSpeed(0);
00228 
00229 //----- Soft stopped required while running
00230 
00231   /* Request soft stop of device 0 */
00232   BSP_MotorControl_SoftStop(0);
00233 
00234   /* Wait for the motor of device 0 ends moving */  
00235   BSP_MotorControl_WaitWhileActive(0);
00236 
00237   /* Wait for 2 seconds */
00238   HAL_Delay(2000);
00239 
00240 //----- Run stopped by hardstop
00241 
00242   /* Request device 0 to run in FORWARD direction */
00243   BSP_MotorControl_Run(0,FORWARD);       
00244   HAL_Delay(5000);
00245   
00246   /* Request device 0 to immediatly stop */
00247   BSP_MotorControl_HardStop(0);
00248   BSP_MotorControl_WaitWhileActive(0);
00249 
00250   /* Wait for 2 seconds */
00251   HAL_Delay(2000);
00252   
00253 //----- GOTO stopped by softstop
00254 
00255  /* Request device 0 to go to position 20000  */
00256   BSP_MotorControl_GoTo(0,20000);  
00257   HAL_Delay(5000);
00258 
00259   /* Request device 0 to perform a soft stop */
00260   BSP_MotorControl_SoftStop(0);
00261   BSP_MotorControl_WaitWhileActive(0);
00262 
00263   /* Wait for 2 seconds */
00264   HAL_Delay(2000);  
00265 
00266   //----- Read inexistent register to test MyFlagInterruptHandler
00267 
00268   /* Try to read an inexistent register */
00269   /* the flag interrupt should be raised */
00270   /* and the MyFlagInterruptHandler function called */
00271   BSP_MotorControl_CmdGetParam(0,0x1F);
00272   HAL_Delay(500);
00273 
00274 //----- Change step mode to full step mode
00275 
00276   /* Select full step mode for device 0 */
00277    BSP_MotorControl_SelectStepMode(0,STEP_MODE_FULL);
00278 
00279   /* Set speed and acceleration to be consistent with full step mode */
00280    BSP_MotorControl_SetMaxSpeed(0,100);
00281    BSP_MotorControl_SetMinSpeed(0,50);
00282    BSP_MotorControl_SetAcceleration(0,10);
00283    BSP_MotorControl_SetDeceleration(0,10);
00284 
00285   /* Request device 0 to go position 200 */
00286    BSP_MotorControl_GoTo(0,200);  
00287 
00288   /* Wait for the motor of device 0 ends moving */
00289    BSP_MotorControl_WaitWhileActive(0);
00290 
00291   /* Get current position */
00292   pos =  BSP_MotorControl_GetPosition(0);
00293 
00294   /* Wait for 2 seconds */
00295   HAL_Delay(2000);
00296   
00297 //----- Restore 1/16 microstepping mode
00298 
00299   /* Reset device 0 to 1/16 microstepping mode */
00300   BSP_MotorControl_SelectStepMode(0,STEP_MODE_1_16);   //_FULL _HALF 1_16  
00301 
00302   /* Update speed, acceleration, deceleration for 1/16 microstepping mode*/
00303   BSP_MotorControl_SetMaxSpeed(0,40000);
00304   BSP_MotorControl_SetMinSpeed(0,800);
00305   BSP_MotorControl_SetAcceleration(0,160);
00306   BSP_MotorControl_SetDeceleration(0,160);  
00307   
00308   /* Infinite loop */
00309   while(1)
00310   {
00311     /* Request device 0 to go position -6400 */
00312     BSP_MotorControl_GoTo(0,-6400);
00313 
00314     /* Wait for the motor of device 0 ends moving */
00315     BSP_MotorControl_WaitWhileActive(0);
00316 
00317     /* Request device 0 to go position 6400 */
00318     BSP_MotorControl_GoTo(0,6400);
00319 
00320     /* Wait for the motor of device 0 ends moving */
00321     BSP_MotorControl_WaitWhileActive(0);  
00322   }
00323 }
00324 
00325 /**
00326   * @brief  This function is the User handler for the flag interrupt
00327   * @param  None
00328   * @retval None
00329   */
00330 void MyFlagInterruptHandler(void)
00331 {
00332   /* Get the value of the status register via the L6474 command GET_STATUS */
00333   uint16_t statusRegister = BSP_MotorControl_CmdGetStatus(0);
00334   
00335   /* Check HIZ flag: if set, power brigdes are disabled */
00336   if ((statusRegister & L6474_STATUS_HIZ) == L6474_STATUS_HIZ)
00337   {
00338     // HIZ state
00339     // Action to be customized            
00340   }
00341 
00342   /* Check direction bit */
00343   if ((statusRegister & L6474_STATUS_DIR) == L6474_STATUS_DIR)
00344   {
00345     // Forward direction is set
00346     // Action to be customized            
00347   }  
00348   else
00349   {
00350     // Backward direction is set
00351     // Action to be customized            
00352   }  
00353 
00354   /* Check NOTPERF_CMD flag: if set, the command received by SPI can't be performed */
00355   /* This often occures when a command is sent to the L6474 */
00356   /* while it is in HIZ state */
00357   if ((statusRegister & L6474_STATUS_NOTPERF_CMD) == L6474_STATUS_NOTPERF_CMD)
00358   {
00359       // Command received by SPI can't be performed
00360      // Action to be customized            
00361   }  
00362 
00363   /* Check WRONG_CMD flag: if set, the command does not exist */
00364   if ((statusRegister & L6474_STATUS_WRONG_CMD) == L6474_STATUS_WRONG_CMD)
00365   {
00366      //command received by SPI does not exist 
00367      // Action to be customized          
00368   }  
00369 
00370   /* Check UVLO flag: if not set, there is an undervoltage lock-out */
00371   if ((statusRegister & L6474_STATUS_UVLO) == 0)
00372   {
00373      //undervoltage lock-out 
00374      // Action to be customized          
00375   }  
00376 
00377   /* Check TH_WRN flag: if not set, the thermal warning threshold is reached */
00378   if ((statusRegister & L6474_STATUS_TH_WRN) == 0)
00379   {
00380     //thermal warning threshold is reached
00381     // Action to be customized          
00382   }    
00383 
00384   /* Check TH_SHD flag: if not set, the thermal shut down threshold is reached */
00385   if ((statusRegister & L6474_STATUS_TH_SD) == 0)
00386   {
00387     //thermal shut down threshold is reached 
00388     // Action to be customized          
00389   }    
00390 
00391   /* Check OCD  flag: if not set, there is an overcurrent detection */
00392   if ((statusRegister & L6474_STATUS_OCD) == 0)
00393   {
00394     //overcurrent detection 
00395     // Action to be customized          
00396   }      
00397  
00398 }
00399 
00400 /**
00401   * @brief  This function is executed in case of error occurrence.
00402   * @param  error number of the error
00403   * @retval None
00404   */
00405 void Error_Handler(uint16_t error)
00406 {
00407   /* Backup error number */
00408   gLastError = error;
00409   
00410   /* Infinite loop */
00411   while(1)
00412   {
00413   }
00414 }
00415 
00416 #ifdef  USE_FULL_ASSERT
00417 
00418 /**
00419   * @brief  Reports the name of the source file and the source line number
00420   *         where the assert_param error has occurred.
00421   * @param  file: pointer to the source file name
00422   * @param  line: assert_param error line source number
00423   * @retval None
00424   */
00425 void assert_failed(uint8_t* file, uint32_t line)
00426 { 
00427   /* User can add his own implementation to report the file name and line number,
00428      ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
00429 
00430   /* Infinite loop */
00431   while (1)
00432   {
00433   }
00434 }
00435 #endif
00436 
00437 /**
00438   * @}
00439   */
00440 
00441 
00442 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/