Rodrigo Vianna
APS2 MEA Rodrigo Vianna
Dependencies: mbed X_NUCLEO_IHM01A1
Diff: main.cpp
- Revision:
- 6:32166bfc04b0
- Parent:
- 5:8065b587ade0
- Child:
- 7:1d8a73b24eba
--- a/main.cpp Fri Nov 20 18:02:01 2015 +0000
+++ b/main.cpp Wed Nov 25 12:09:18 2015 +0000
@@ -6,8 +6,6 @@
* @date October 14th, 2015
* @brief mbed test application for the STMicrolectronics X-NUCLEO-IHM01A1
* Motor Control Expansion Board: control of 1 motor.
- * This application makes use of a C++ component architecture obtained
- * from the C component architecture through the Stm32CubeTOO tool.
******************************************************************************
* @attention
*
@@ -63,86 +61,13 @@
L6474 *motor;
-/* Functions -----------------------------------------------------------------*/
-
-/**
- * @brief This is an example of user handler for the flag interrupt.
- * @param None
- * @retval None
- * @note If needed, implement it, and then attach and enable it:
- * + motor->AttachFlagIRQ(&FlagIRQHandler);
- * + motor->EnableFlagIRQ();
- * To disable it:
- * + motor->DisbleFlagIRQ();
- */
-void FlagIRQHandler(void)
-{
- /* Set ISR flag. */
- motor->isrFlag = TRUE;
-
- /* Get the value of the status register. */
- unsigned int status = motor->GetStatus();
-
- /* Check HIZ flag: if set, power brigdes are disabled. */
- if ((status & L6474_STATUS_HIZ) == L6474_STATUS_HIZ)
- { /* HIZ state. Action to be customized. */ }
-
- /* Check direction. */
- if ((status & 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 ((status & 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 ((status & L6474_STATUS_WRONG_CMD) == L6474_STATUS_WRONG_CMD)
- { /* The command received by SPI does not exist. Action to be customized. */ }
-
- /* Check UVLO flag: if not set, there is an undervoltage lock-out. */
- if ((status & 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 ((status & 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 ((status & 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 ((status & L6474_STATUS_OCD) == 0)
- { /* Overcurrent detection. Action to be customized. */ }
-
- /* Reset ISR flag. */
- motor->isrFlag = FALSE;
-}
-
-/**
- * @brief This is an example of user handler for the errors.
- * @param error error-code.
- * @retval None
- * @note If needed, implement it, and then attach it:
- * + motor->AttachErrorHandler(&ErrorHandler);
- */
-void ErrorHandler(uint16_t error)
-{
- /* Printing to the console. */
- printf("Error: %d.\r\n", error);
-
- /* Aborting the program. */
- exit(EXIT_FAILURE);
-}
-
-
/* Main ----------------------------------------------------------------------*/
int main()
{
+ /*----- Initialization. -----*/
+
+
/* Initializing SPI bus. */
DevSPI dev_spi(D11, D12, D13);
@@ -154,187 +79,184 @@
/* Printing to the console. */
printf("Motor Control Application Example for 1 Motor\r\n\n");
- /* Main Loop. */
- while(true)
- {
- /*----- Moving. -----*/
+
+ /*----- Moving. -----*/
+
+ /* Printing to the console. */
+ printf("--> Moving forward %d steps.\r\n", ROUND_ANGLE_STEPS);
+
+ /* Moving N steps in the forward direction. */
+ motor->Move(StepperMotor::FWD, ROUND_ANGLE_STEPS);
+
+ /* Waiting while the motor is active. */
+ motor->WaitWhileActive();
+
+ /* Getting current position. */
+ int position = motor->GetPosition();
+
+ /* Printing to the console. */
+ printf(" Position: %d.\r\n", position);
+
+ /* Waiting 2 seconds. */
+ wait_ms(2000);
+
+
+ /*----- Moving. -----*/
+
+ /* Printing to the console. */
+ printf("--> Moving backward %d steps.\r\n", ROUND_ANGLE_STEPS >> 1);
+
+ /* Moving N steps in the backward direction. */
+ motor->Move(StepperMotor::BWD, ROUND_ANGLE_STEPS >> 1);
+
+ /* Waiting while the motor is active. */
+ motor->WaitWhileActive();
+
+ /* Getting current position. */
+ position = motor->GetPosition();
+
+ /* Printing to the console. */
+ printf(" Position: %d.\r\n", position);
+ printf("--> Setting Home.\r\n");
+
+ /* Setting the current position to be the home position. */
+ motor->SetHome();
+
+ /* Waiting 2 seconds. */
+ wait_ms(2000);
+
+
+ /*----- Going to a specified position. -----*/
+
+ /* Printing to the console. */
+ printf("--> Going to position %d.\r\n", ROUND_ANGLE_STEPS >> 1);
+
+ /* Requesting to go to a specified position. */
+ motor->GoTo(ROUND_ANGLE_STEPS >> 1);
+
+ /* Waiting while the motor is active. */
+ motor->WaitWhileActive();
+
+ /* Getting current position. */
+ position = motor->GetPosition();
+
+ /* Printing to the console. */
+ printf(" Position: %d.\r\n", position);
+
+ /* Waiting 2 seconds. */
+ wait_ms(2000);
+
+
+ /*----- Going Home. -----*/
+
+ /* Printing to the console. */
+ printf("--> Going Home.\r\n");
+
+ /* Requesting to go to home. */
+ motor->GoHome();
+
+ /* Waiting while the motor is active. */
+ motor->WaitWhileActive();
+
+ /* Getting current position. */
+ position = motor->GetPosition();
+
+ /* Printing to the console. */
+ printf(" Position: %d.\r\n", position);
- /* Printing to the console. */
- printf("--> Moving forward %d steps.\r\n", ROUND_ANGLE_STEPS);
+ /* Waiting 2 seconds. */
+ wait_ms(2000);
+
+
+ /*----- Running. -----*/
+
+ /* Printing to the console. */
+ printf("--> Running backward.\r\n");
+
+ /* Requesting to run backward. */
+ motor->Run(StepperMotor::BWD);
+
+ /* Waiting until delay has expired. */
+ wait_ms(6000);
+
+ /* Getting current speed. */
+ int speed = motor->GetSpeed();
+
+ /* Printing to the console. */
+ printf(" Speed: %d.\r\n", speed);
+
+ /*----- Increasing the speed while running. -----*/
+
+ /* Printing to the console. */
+ printf("--> Increasing the speed while running.\r\n");
+
+ /* Increasing speed to 2400 step/s. */
+ motor->SetMaxSpeed(2400);
+
+ /* Waiting until delay has expired. */
+ wait_ms(6000);
+
+ /* Getting current speed. */
+ speed = motor->GetSpeed();
+
+ /* Printing to the console. */
+ printf(" Speed: %d.\r\n", speed);
+
+
+ /*----- Decreasing the speed while running. -----*/
- /* Moving N steps in the forward direction. */
- motor->Move(StepperMotor::FWD, ROUND_ANGLE_STEPS);
+ /* Printing to the console. */
+ printf("--> Decreasing the speed while running.\r\n");
+
+ /* Decreasing speed to 1200 step/s. */
+ motor->SetMaxSpeed(1200);
+
+ /* Waiting until delay has expired. */
+ wait_ms(8000);
+
+ /* Getting current speed. */
+ speed = motor->GetSpeed();
+
+ /* Printing to the console. */
+ printf(" Speed: %d.\r\n", speed);
+
+
+ /*----- Requiring hard-stop while running. -----*/
+
+ /* Printing to the console. */
+ printf("--> Requiring hard-stop while running.\r\n");
+
+ /* Requesting to immediatly stop. */
+ motor->HardStop();
+
+ /* Waiting while the motor is active. */
+ motor->WaitWhileActive();
+
+ /* Waiting 2 seconds. */
+ wait_ms(2000);
+
+
+ /*----- Infinite Loop. -----*/
+
+ /* Printing to the console. */
+ printf("--> Infinite Loop...\r\n");
+
+ /* Setting the current position to be the home position. */
+ motor->SetHome();
+
+ /* Infinite Loop. */
+ while (1)
+ {
+ /* Requesting to go to a specified position. */
+ motor->GoTo(ROUND_ANGLE_STEPS >> 1);
/* Waiting while the motor is active. */
motor->WaitWhileActive();
- /* Getting current position. */
- int position = motor->GetPosition();
-
- /* Printing to the console. */
- printf(" Position: %d.\r\n", position);
-
- /* Waiting 2 seconds. */
- wait_ms(2000);
-
-
- /*----- Moving. -----*/
-
- /* Printing to the console. */
- printf("--> Moving backward %d steps.\r\n", ROUND_ANGLE_STEPS >> 1);
-
- /* Moving N steps in the backward direction. */
- motor->Move(StepperMotor::BWD, ROUND_ANGLE_STEPS >> 1);
-
- /* Waiting while the motor is active. */
- motor->WaitWhileActive();
-
- /* Getting current position. */
- position = motor->GetPosition();
-
- /* Printing to the console. */
- printf(" Position: %d.\r\n", position);
- printf("--> Setting Home.\r\n");
-
- /* Setting the current position to be the home position. */
- motor->SetHome();
-
- /* Waiting 2 seconds. */
- wait_ms(2000);
-
-
- /*----- Going to a specified position. -----*/
-
- /* Printing to the console. */
- printf("--> Going to position %d.\r\n", ROUND_ANGLE_STEPS >> 1);
-
/* Requesting to go to a specified position. */
- motor->GoTo(ROUND_ANGLE_STEPS >> 1);
-
- /* Waiting while the motor is active. */
- motor->WaitWhileActive();
-
- /* Getting current position. */
- position = motor->GetPosition();
-
- /* Printing to the console. */
- printf(" Position: %d.\r\n", position);
-
- /* Waiting 2 seconds. */
- wait_ms(2000);
-
-
- /*----- Going Home. -----*/
-
- /* Printing to the console. */
- printf("--> Going Home.\r\n");
-
- /* Requesting to go to home. */
- motor->GoHome();
-
- /* Waiting while the motor is active. */
- motor->WaitWhileActive();
-
- /* Getting current position. */
- position = motor->GetPosition();
-
- /* Printing to the console. */
- printf(" Position: %d.\r\n", position);
-
- /* Waiting 2 seconds. */
- wait_ms(2000);
-
-
- /*----- Running. -----*/
-
- /* Printing to the console. */
- printf("--> Running backward.\r\n");
-
- /* Requesting to run backward. */
- motor->Run(StepperMotor::BWD);
-
- /* Waiting until delay has expired. */
- wait_ms(6000);
-
- /* Getting current speed. */
- int speed = motor->GetSpeed();
-
- /* Printing to the console. */
- printf(" Speed: %d.\r\n", speed);
-
- /*----- Increasing the speed while running. -----*/
-
- /* Printing to the console. */
- printf("--> Increasing the speed while running.\r\n");
-
- /* Increasing speed to 2400 step/s. */
- motor->SetMaxSpeed(2400);
-
- /* Waiting until delay has expired. */
- wait_ms(6000);
-
- /* Getting current speed. */
- speed = motor->GetSpeed();
-
- /* Printing to the console. */
- printf(" Speed: %d.\r\n", speed);
-
-
- /*----- Decreasing the speed while running. -----*/
-
- /* Printing to the console. */
- printf("--> Decreasing the speed while running.\r\n");
-
- /* Decreasing speed to 1200 step/s. */
- motor->SetMaxSpeed(1200);
-
- /* Waiting until delay has expired. */
- wait_ms(8000);
-
- /* Getting current speed. */
- speed = motor->GetSpeed();
-
- /* Printing to the console. */
- printf(" Speed: %d.\r\n", speed);
-
-
- /*----- Requiring hard-stop while running. -----*/
-
- /* Printing to the console. */
- printf("--> Requiring hard-stop while running.\r\n");
-
- /* Requesting to immediatly stop. */
- motor->HardStop();
+ motor->GoTo(- (ROUND_ANGLE_STEPS >> 1));
/* Waiting while the motor is active. */
motor->WaitWhileActive();
-
- /* Waiting 2 seconds. */
- wait_ms(2000);
-
-
- /*----- Infinite Loop. -----*/
-
- /* Printing to the console. */
- printf("--> Infinite Loop...\r\n");
-
- /* Setting the current position to be the home position. */
- motor->SetHome();
-
- /* Infinite Loop. */
- while(1)
- {
- /* Requesting to go to a specified position. */
- motor->GoTo(ROUND_ANGLE_STEPS >> 1);
-
- /* Waiting while the motor is active. */
- motor->WaitWhileActive();
-
- /* Requesting to go to a specified position. */
- motor->GoTo(- (ROUND_ANGLE_STEPS >> 1));
-
- /* Waiting while the motor is active. */
- motor->WaitWhileActive();
- }
}
}