Jaeyeol Lee / Mbed OS 200117StepMotorControl

200117StepMotorControl

Dependencies:   X_NUCLEO_IHM02A1 TextLCD

main.cpp@5:3b8e19bbf386, 2015-12-04 (annotated)

Committer:
Davidroid
Date:
Fri Dec 04 13:57:42 2015 +0000
Revision:
5:3b8e19bbf386
Parent:
3:fd280b953f77
Child:
9:f35fbeedb8f4
+ Some comments removed from the code and added to the web-page.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Davidroid 0:5148e9486cf2 1 /**
Davidroid 0:5148e9486cf2 2 ******************************************************************************
Davidroid 0:5148e9486cf2 3 * @file main.cpp
Davidroid 2:41eeee48951b 4 * @author Davide Aliprandi, STMicrolectronics
Davidroid 0:5148e9486cf2 5 * @version V1.0.0
Davidroid 0:5148e9486cf2 6 * @date November 4th, 2015
Davidroid 1:9f1974b0960d 7 * @brief mbed test application for the STMicrolectronics X-NUCLEO-IHM02A1
Davidroid 1:9f1974b0960d 8 * Motor Control Expansion Board: control of 2 motors.
Davidroid 0:5148e9486cf2 9 ******************************************************************************
Davidroid 0:5148e9486cf2 10 * @attention
Davidroid 0:5148e9486cf2 11 *
Davidroid 0:5148e9486cf2 12 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Davidroid 0:5148e9486cf2 13 *
Davidroid 0:5148e9486cf2 14 * Redistribution and use in source and binary forms, with or without modification,
Davidroid 0:5148e9486cf2 15 * are permitted provided that the following conditions are met:
Davidroid 0:5148e9486cf2 16 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 0:5148e9486cf2 17 * this list of conditions and the following disclaimer.
Davidroid 0:5148e9486cf2 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid 0:5148e9486cf2 19 * this list of conditions and the following disclaimer in the documentation
Davidroid 0:5148e9486cf2 20 * and/or other materials provided with the distribution.
Davidroid 0:5148e9486cf2 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid 0:5148e9486cf2 22 * may be used to endorse or promote products derived from this software
Davidroid 0:5148e9486cf2 23 * without specific prior written permission.
Davidroid 0:5148e9486cf2 24 *
Davidroid 0:5148e9486cf2 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 0:5148e9486cf2 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 0:5148e9486cf2 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid 0:5148e9486cf2 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid 0:5148e9486cf2 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid 0:5148e9486cf2 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid 0:5148e9486cf2 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid 0:5148e9486cf2 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid 0:5148e9486cf2 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid 0:5148e9486cf2 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid 0:5148e9486cf2 35 *
Davidroid 0:5148e9486cf2 36 ******************************************************************************
Davidroid 0:5148e9486cf2 37 */
Davidroid 0:5148e9486cf2 38
Davidroid 0:5148e9486cf2 39
Davidroid 0:5148e9486cf2 40 /* Includes ------------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 41
Davidroid 0:5148e9486cf2 42 /* mbed specific header files. */
Davidroid 0:5148e9486cf2 43 #include "mbed.h"
Davidroid 0:5148e9486cf2 44
Davidroid 0:5148e9486cf2 45 /* Helper header files. */
Davidroid 0:5148e9486cf2 46 #include "DevSPI.h"
Davidroid 0:5148e9486cf2 47
Davidroid 0:5148e9486cf2 48 /* Expansion Board specific header files. */
Davidroid 0:5148e9486cf2 49 #include "x_nucleo_ihm02a1_class.h"
Davidroid 0:5148e9486cf2 50
Davidroid 0:5148e9486cf2 51
Davidroid 0:5148e9486cf2 52 /* Definitions ---------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 53
Davidroid 0:5148e9486cf2 54 /* Number of movements per revolution. */
Davidroid 0:5148e9486cf2 55 #define MPR_1 4
Davidroid 1:9f1974b0960d 56
Davidroid 1:9f1974b0960d 57 /* Number of steps. */
Davidroid 1:9f1974b0960d 58 #define STEPS_1 100000
Davidroid 1:9f1974b0960d 59 #define STEPS_2 200000
Davidroid 0:5148e9486cf2 60
Davidroid 0:5148e9486cf2 61 /* Delay in milliseconds. */
Davidroid 1:9f1974b0960d 62 #define DELAY_1 1000
Davidroid 0:5148e9486cf2 63 #define DELAY_2 2000
Davidroid 0:5148e9486cf2 64 #define DELAY_3 5000
Davidroid 0:5148e9486cf2 65
Davidroid 0:5148e9486cf2 66
Davidroid 0:5148e9486cf2 67 /* Variables -----------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 68
Davidroid 0:5148e9486cf2 69 /* Motor Control Expansion Board. */
Davidroid 0:5148e9486cf2 70 X_NUCLEO_IHM02A1 *x_nucleo_ihm02a1;
Davidroid 0:5148e9486cf2 71
Davidroid 0:5148e9486cf2 72
Davidroid 0:5148e9486cf2 73 /* Main ----------------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 74
Davidroid 0:5148e9486cf2 75 int main()
Davidroid 0:5148e9486cf2 76 {
Davidroid 1:9f1974b0960d 77 /*----- Initialization. -----*/
Davidroid 1:9f1974b0960d 78
Davidroid 2:41eeee48951b 79 /* Initializing SPI bus. */
Davidroid 3:fd280b953f77 80 DevSPI dev_spi(D11, D12, D3);
Davidroid 0:5148e9486cf2 81
Davidroid 5:3b8e19bbf386 82 /* Initializing Motor Control Expansion Board. */
Davidroid 2:41eeee48951b 83 x_nucleo_ihm02a1 = new X_NUCLEO_IHM02A1(A4, A5, D4, A2, &dev_spi);
Davidroid 0:5148e9486cf2 84
Davidroid 1:9f1974b0960d 85 /* Building a list of motor control components. */
Davidroid 1:9f1974b0960d 86 L6470 **motors = x_nucleo_ihm02a1->GetComponents();
Davidroid 0:5148e9486cf2 87
Davidroid 0:5148e9486cf2 88 /* Printing to the console. */
Davidroid 0:5148e9486cf2 89 printf("Motor Control Application Example for 2 Motors\r\n\n");
Davidroid 0:5148e9486cf2 90
Davidroid 1:9f1974b0960d 91
Davidroid 1:9f1974b0960d 92 /*----- Setting home and marke positions, getting positions, and going to positions. -----*/
Davidroid 1:9f1974b0960d 93
Davidroid 1:9f1974b0960d 94 /* Printing to the console. */
Davidroid 1:9f1974b0960d 95 printf("--> Setting home position.\r\n");
Davidroid 1:9f1974b0960d 96
Davidroid 1:9f1974b0960d 97 /* Setting the home position. */
Davidroid 1:9f1974b0960d 98 motors[0]->SetHome();
Davidroid 1:9f1974b0960d 99
Davidroid 1:9f1974b0960d 100 /* Waiting. */
Davidroid 1:9f1974b0960d 101 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 102
Davidroid 1:9f1974b0960d 103 /* Getting the current position. */
Davidroid 1:9f1974b0960d 104 int position = motors[0]->GetPosition();
Davidroid 1:9f1974b0960d 105
Davidroid 1:9f1974b0960d 106 /* Printing to the console. */
Davidroid 1:9f1974b0960d 107 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 108
Davidroid 1:9f1974b0960d 109 /* Waiting. */
Davidroid 1:9f1974b0960d 110 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 111
Davidroid 1:9f1974b0960d 112 /* Printing to the console. */
Davidroid 1:9f1974b0960d 113 printf("--> Moving forward %d steps.\r\n", STEPS_1);
Davidroid 1:9f1974b0960d 114
Davidroid 1:9f1974b0960d 115 /* Moving. */
Davidroid 1:9f1974b0960d 116 motors[0]->Move(StepperMotor::FWD, STEPS_1);
Davidroid 0:5148e9486cf2 117
Davidroid 1:9f1974b0960d 118 /* Waiting while active. */
Davidroid 1:9f1974b0960d 119 motors[0]->WaitWhileActive();
Davidroid 1:9f1974b0960d 120
Davidroid 1:9f1974b0960d 121 /* Getting the current position. */
Davidroid 1:9f1974b0960d 122 position = motors[0]->GetPosition();
Davidroid 1:9f1974b0960d 123
Davidroid 1:9f1974b0960d 124 /* Printing to the console. */
Davidroid 1:9f1974b0960d 125 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 126
Davidroid 1:9f1974b0960d 127 /* Printing to the console. */
Davidroid 1:9f1974b0960d 128 printf("--> Marking the current position.\r\n");
Davidroid 0:5148e9486cf2 129
Davidroid 1:9f1974b0960d 130 /* Marking the current position. */
Davidroid 1:9f1974b0960d 131 motors[0]->SetMark();
Davidroid 1:9f1974b0960d 132
Davidroid 1:9f1974b0960d 133 /* Waiting. */
Davidroid 1:9f1974b0960d 134 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 135
Davidroid 1:9f1974b0960d 136 /* Printing to the console. */
Davidroid 1:9f1974b0960d 137 printf("--> Moving backward %d steps.\r\n", STEPS_2);
Davidroid 1:9f1974b0960d 138
Davidroid 1:9f1974b0960d 139 /* Moving. */
Davidroid 1:9f1974b0960d 140 motors[0]->Move(StepperMotor::BWD, STEPS_2);
Davidroid 1:9f1974b0960d 141
Davidroid 1:9f1974b0960d 142 /* Waiting while active. */
Davidroid 1:9f1974b0960d 143 motors[0]->WaitWhileActive();
Davidroid 0:5148e9486cf2 144
Davidroid 1:9f1974b0960d 145 /* Waiting. */
Davidroid 1:9f1974b0960d 146 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 147
Davidroid 1:9f1974b0960d 148 /* Getting the current position. */
Davidroid 1:9f1974b0960d 149 position = motors[0]->GetPosition();
Davidroid 1:9f1974b0960d 150
Davidroid 1:9f1974b0960d 151 /* Printing to the console. */
Davidroid 1:9f1974b0960d 152 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 153
Davidroid 1:9f1974b0960d 154 /* Waiting. */
Davidroid 1:9f1974b0960d 155 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 156
Davidroid 1:9f1974b0960d 157 /* Printing to the console. */
Davidroid 1:9f1974b0960d 158 printf("--> Going to marked position.\r\n");
Davidroid 0:5148e9486cf2 159
Davidroid 1:9f1974b0960d 160 /* Going to marked position. */
Davidroid 1:9f1974b0960d 161 motors[0]->GoMark();
Davidroid 1:9f1974b0960d 162
Davidroid 1:9f1974b0960d 163 /* Waiting while active. */
Davidroid 1:9f1974b0960d 164 motors[0]->WaitWhileActive();
Davidroid 0:5148e9486cf2 165
Davidroid 1:9f1974b0960d 166 /* Waiting. */
Davidroid 1:9f1974b0960d 167 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 168
Davidroid 1:9f1974b0960d 169 /* Getting the current position. */
Davidroid 1:9f1974b0960d 170 position = motors[0]->GetPosition();
Davidroid 1:9f1974b0960d 171
Davidroid 1:9f1974b0960d 172 /* Printing to the console. */
Davidroid 1:9f1974b0960d 173 printf("--> Getting the current position: %d\r\n", position);
Davidroid 0:5148e9486cf2 174
Davidroid 1:9f1974b0960d 175 /* Waiting. */
Davidroid 1:9f1974b0960d 176 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 177
Davidroid 1:9f1974b0960d 178 /* Printing to the console. */
Davidroid 1:9f1974b0960d 179 printf("--> Going to home position.\r\n");
Davidroid 0:5148e9486cf2 180
Davidroid 1:9f1974b0960d 181 /* Going to home position. */
Davidroid 1:9f1974b0960d 182 motors[0]->GoHome();
Davidroid 1:9f1974b0960d 183
Davidroid 1:9f1974b0960d 184 /* Waiting while active. */
Davidroid 1:9f1974b0960d 185 motors[0]->WaitWhileActive();
Davidroid 1:9f1974b0960d 186
Davidroid 1:9f1974b0960d 187 /* Waiting. */
Davidroid 1:9f1974b0960d 188 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 189
Davidroid 1:9f1974b0960d 190 /* Getting the current position. */
Davidroid 1:9f1974b0960d 191 position = motors[0]->GetPosition();
Davidroid 1:9f1974b0960d 192
Davidroid 1:9f1974b0960d 193 /* Printing to the console. */
Davidroid 1:9f1974b0960d 194 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 195
Davidroid 1:9f1974b0960d 196 /* Waiting. */
Davidroid 1:9f1974b0960d 197 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 198
Davidroid 0:5148e9486cf2 199
Davidroid 1:9f1974b0960d 200 /*----- Running together for a certain amount of time. -----*/
Davidroid 1:9f1974b0960d 201
Davidroid 1:9f1974b0960d 202 /* Printing to the console. */
Davidroid 1:9f1974b0960d 203 printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000);
Davidroid 0:5148e9486cf2 204
Davidroid 1:9f1974b0960d 205 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 1:9f1974b0960d 206 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 207 motors[m]->PrepareRun(StepperMotor::BWD, 400);
Davidroid 0:5148e9486cf2 208
Davidroid 1:9f1974b0960d 209 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 210 x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 211
Davidroid 1:9f1974b0960d 212 /* Waiting. */
Davidroid 1:9f1974b0960d 213 wait_ms(DELAY_3);
Davidroid 1:9f1974b0960d 214
Davidroid 1:9f1974b0960d 215
Davidroid 1:9f1974b0960d 216 /*----- Increasing the speed while running. -----*/
Davidroid 0:5148e9486cf2 217
Davidroid 1:9f1974b0960d 218 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 1:9f1974b0960d 219 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 220 motors[m]->PrepareGetSpeed();
Davidroid 0:5148e9486cf2 221
Davidroid 1:9f1974b0960d 222 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 223 uint32_t* results = x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 224
Davidroid 1:9f1974b0960d 225 /* Printing to the console. */
Davidroid 1:9f1974b0960d 226 printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
Davidroid 1:9f1974b0960d 227
Davidroid 1:9f1974b0960d 228 /* Printing to the console. */
Davidroid 1:9f1974b0960d 229 printf("--> Doublig the speed while running.\r\n");
Davidroid 0:5148e9486cf2 230
Davidroid 1:9f1974b0960d 231 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 1:9f1974b0960d 232 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 233 motors[m]->PrepareRun(StepperMotor::BWD, results[m] << 1);
Davidroid 1:9f1974b0960d 234
Davidroid 1:9f1974b0960d 235 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 236 results = x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 237
Davidroid 1:9f1974b0960d 238 /* Waiting. */
Davidroid 1:9f1974b0960d 239 wait_ms(DELAY_3);
Davidroid 0:5148e9486cf2 240
Davidroid 1:9f1974b0960d 241 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 1:9f1974b0960d 242 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 243 motors[m]->PrepareGetSpeed();
Davidroid 0:5148e9486cf2 244
Davidroid 1:9f1974b0960d 245 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 246 results = x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 247
Davidroid 1:9f1974b0960d 248 /* Printing to the console. */
Davidroid 1:9f1974b0960d 249 printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
Davidroid 1:9f1974b0960d 250
Davidroid 1:9f1974b0960d 251 /* Waiting. */
Davidroid 1:9f1974b0960d 252 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 253
Davidroid 0:5148e9486cf2 254
Davidroid 1:9f1974b0960d 255 /*----- Hard Stop. -----*/
Davidroid 0:5148e9486cf2 256
Davidroid 1:9f1974b0960d 257 /* Printing to the console. */
Davidroid 1:9f1974b0960d 258 printf("--> Hard Stop.\r\n");
Davidroid 0:5148e9486cf2 259
Davidroid 1:9f1974b0960d 260 /* Preparing each motor to perform a hard stop. */
Davidroid 1:9f1974b0960d 261 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 262 motors[m]->PrepareHardStop();
Davidroid 0:5148e9486cf2 263
Davidroid 1:9f1974b0960d 264 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 265 x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 0:5148e9486cf2 266
Davidroid 1:9f1974b0960d 267 /* Waiting. */
Davidroid 1:9f1974b0960d 268 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 269
Davidroid 0:5148e9486cf2 270
Davidroid 1:9f1974b0960d 271 /*----- Doing a full revolution on each motor, one after the other. -----*/
Davidroid 1:9f1974b0960d 272
Davidroid 1:9f1974b0960d 273 /* Printing to the console. */
Davidroid 1:9f1974b0960d 274 printf("--> Doing a full revolution on each motor, one after the other.\r\n");
Davidroid 1:9f1974b0960d 275
Davidroid 1:9f1974b0960d 276 /* Doing a full revolution on each motor, one after the other. */
Davidroid 1:9f1974b0960d 277 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 278 for (int i = 0; i < MPR_1; i++)
Davidroid 1:9f1974b0960d 279 {
Davidroid 1:9f1974b0960d 280 /* Computing the number of steps. */
Davidroid 1:9f1974b0960d 281 int steps = (int) (((int) X_NUCLEO_IHM02A1::MotorParameterInitData[0][m].fullstepsperrevolution * pow(2.0f, X_NUCLEO_IHM02A1::MotorParameterInitData[0][m].step_sel)) / MPR_1);
Davidroid 1:9f1974b0960d 282
Davidroid 1:9f1974b0960d 283 /* Moving. */
Davidroid 1:9f1974b0960d 284 motors[m]->Move(StepperMotor::FWD, steps);
Davidroid 1:9f1974b0960d 285
Davidroid 1:9f1974b0960d 286 /* Waiting while active. */
Davidroid 1:9f1974b0960d 287 motors[m]->WaitWhileActive();
Davidroid 1:9f1974b0960d 288
Davidroid 1:9f1974b0960d 289 /* Waiting. */
Davidroid 1:9f1974b0960d 290 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 291 }
Davidroid 1:9f1974b0960d 292
Davidroid 1:9f1974b0960d 293 /* Waiting. */
Davidroid 1:9f1974b0960d 294 wait_ms(DELAY_2);
Davidroid 1:9f1974b0960d 295
Davidroid 1:9f1974b0960d 296
Davidroid 1:9f1974b0960d 297 /*----- High Impedance State. -----*/
Davidroid 1:9f1974b0960d 298
Davidroid 1:9f1974b0960d 299 /* Printing to the console. */
Davidroid 1:9f1974b0960d 300 printf("--> High Impedance State.\r\n");
Davidroid 1:9f1974b0960d 301
Davidroid 1:9f1974b0960d 302 /* Preparing each motor to set High Impedance State. */
Davidroid 1:9f1974b0960d 303 for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid 1:9f1974b0960d 304 motors[m]->PrepareHardHiZ();
Davidroid 1:9f1974b0960d 305
Davidroid 1:9f1974b0960d 306 /* Performing the action on each motor at the same time. */
Davidroid 1:9f1974b0960d 307 x_nucleo_ihm02a1->PerformPreparedActions();
Davidroid 1:9f1974b0960d 308
Davidroid 1:9f1974b0960d 309 /* Waiting. */
Davidroid 1:9f1974b0960d 310 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 311 }