Timo Karppinen / Mbed OS Hello_IHM02A1_OS_L476RG

ST Microelectronics IHM02A1 motor driver board for two stepping motors. ST L647OPD motion controller ICs are used on the IHM02A1. Nanotec ST4118X1404-A motors used on testing.

Dependencies:   X_NUCLEO_IHM02A1

main.cpp@28:831587f78478, 2021-10-04 (annotated)

Committer:
timo_k2
Date:
Mon Oct 04 06:52:31 2021 +0000
Revision:
28:831587f78478
Parent:
27:b25816ce6043
Child:
29:34ef733fe490
Initial commit on this forked ST Microelectronics code example.

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 12:5be6dd48b94a 4 * @author Davide Aliprandi, STMicroelectronics
Davidroid 0:5148e9486cf2 5 * @version V1.0.0
Davidroid 0:5148e9486cf2 6 * @date November 4th, 2015
Davidroid 12:5be6dd48b94a 7 * @brief mbed test application for the STMicroelectronics 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 ******************************************************************************
timo_k2 28:831587f78478 37 * Comments by Timo Karppinen
timo_k2 28:831587f78478 38 * For correct use of the NUCLEO-F401RE with the X-NUCLEO-IHM02A1,
timo_k2 28:831587f78478 39 * the solder bridge SB15 on the NUCLEO-F401RE has to be removed /
timo_k2 28:831587f78478 40 * Getting started with X-NUCLEO_IHM02A1, page 3/24. = IHM02A1 L6470 nCS
timo_k2 28:831587f78478 41 *
timo_k2 28:831587f78478 42 * Set the motor parameters before connecting the motor!!! Supply voltage,
timo_k2 28:831587f78478 43 * Maximum motor phase curent and Maximum phase voltage are the most
timo_k2 28:831587f78478 44 * important ones. Set as well the step angle - you will set the number of
timo_k2 28:831587f78478 45 * steps per revolution.
timo_k2 28:831587f78478 46 *
timo_k2 28:831587f78478 47 * On first tests supply the IHM02A1 voltage from a source where you can set
timo_k2 28:831587f78478 48 * the current limit. The limit should correspond the maximum phase current
timo_k2 28:831587f78478 49 * given in the step motor data sheet. One phase is driven at a time in full
timo_k2 28:831587f78478 50 * steps. In half steps the current might be double the motor phase current.
timo_k2 28:831587f78478 51 *
Davidroid 0:5148e9486cf2 52 */
Davidroid 0:5148e9486cf2 53
Davidroid 0:5148e9486cf2 54
Davidroid 0:5148e9486cf2 55 /* Includes ------------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 56
Davidroid 0:5148e9486cf2 57 /* mbed specific header files. */
Davidroid 0:5148e9486cf2 58 #include "mbed.h"
Davidroid 27:b25816ce6043 59 #include "rtos.h"
Davidroid 0:5148e9486cf2 60
Davidroid 0:5148e9486cf2 61 /* Helper header files. */
Davidroid 0:5148e9486cf2 62 #include "DevSPI.h"
Davidroid 0:5148e9486cf2 63
Davidroid 0:5148e9486cf2 64 /* Expansion Board specific header files. */
Davidroid 26:caec5f51abe8 65 #include "XNucleoIHM02A1.h"
Davidroid 0:5148e9486cf2 66
Davidroid 0:5148e9486cf2 67
Davidroid 0:5148e9486cf2 68 /* Definitions ---------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 69
Davidroid 0:5148e9486cf2 70 /* Number of movements per revolution. */
Davidroid 0:5148e9486cf2 71 #define MPR_1 4
Davidroid 1:9f1974b0960d 72
Davidroid 1:9f1974b0960d 73 /* Number of steps. */
Davidroid 18:591a007effc2 74 #define STEPS_1 (400 * 128) /* 1 revolution given a 400 steps motor configured at 1/128 microstep mode. */
Davidroid 18:591a007effc2 75 #define STEPS_2 (STEPS_1 * 2)
Davidroid 0:5148e9486cf2 76
Davidroid 0:5148e9486cf2 77 /* Delay in milliseconds. */
Davidroid 1:9f1974b0960d 78 #define DELAY_1 1000
Davidroid 0:5148e9486cf2 79 #define DELAY_2 2000
Davidroid 0:5148e9486cf2 80 #define DELAY_3 5000
Davidroid 0:5148e9486cf2 81
Davidroid 0:5148e9486cf2 82
Davidroid 0:5148e9486cf2 83 /* Variables -----------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 84
Davidroid 0:5148e9486cf2 85 /* Motor Control Expansion Board. */
Davidroid 26:caec5f51abe8 86 XNucleoIHM02A1 *x_nucleo_ihm02a1;
Davidroid 0:5148e9486cf2 87
Davidroid 9:f35fbeedb8f4 88 /* Initialization parameters of the motors connected to the expansion board. */
davide.aliprandi@st.com 24:d1f487cb02ba 89 L6470_init_t init[L6470DAISYCHAINSIZE] = {
Davidroid 9:f35fbeedb8f4 90 /* First Motor. */
Davidroid 9:f35fbeedb8f4 91 {
Davidroid 18:591a007effc2 92 9.0, /* Motor supply voltage in V. */
timo_k2 28:831587f78478 93 200, /* Min number of steps per revolution for the motor. */
timo_k2 28:831587f78478 94 1.0, /* Max motor phase current in A. */
timo_k2 28:831587f78478 95 2.0, /* Max motor phase voltage in V. */
Davidroid 18:591a007effc2 96 300.0, /* Motor initial speed [step/s]. */
Davidroid 18:591a007effc2 97 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
Davidroid 18:591a007effc2 98 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
Davidroid 18:591a007effc2 99 992.0, /* Motor maximum speed [step/s]. */
Davidroid 18:591a007effc2 100 0.0, /* Motor minimum speed [step/s]. */
Davidroid 18:591a007effc2 101 602.7, /* Motor full-step speed threshold [step/s]. */
Davidroid 18:591a007effc2 102 3.06, /* Holding kval [V]. */
Davidroid 18:591a007effc2 103 3.06, /* Constant speed kval [V]. */
Davidroid 18:591a007effc2 104 3.06, /* Acceleration starting kval [V]. */
Davidroid 18:591a007effc2 105 3.06, /* Deceleration starting kval [V]. */
Davidroid 18:591a007effc2 106 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
Davidroid 18:591a007effc2 107 392.1569e-6, /* Start slope [s/step]. */
Davidroid 18:591a007effc2 108 643.1372e-6, /* Acceleration final slope [s/step]. */
Davidroid 18:591a007effc2 109 643.1372e-6, /* Deceleration final slope [s/step]. */
Davidroid 18:591a007effc2 110 0, /* Thermal compensation factor (range [0, 15]). */
Davidroid 18:591a007effc2 111 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
Davidroid 18:591a007effc2 112 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
Davidroid 18:591a007effc2 113 StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
Davidroid 18:591a007effc2 114 0xFF, /* Alarm conditions enable. */
Davidroid 18:591a007effc2 115 0x2E88 /* Ic configuration. */
Davidroid 9:f35fbeedb8f4 116 },
Davidroid 9:f35fbeedb8f4 117
Davidroid 9:f35fbeedb8f4 118 /* Second Motor. */
Davidroid 9:f35fbeedb8f4 119 {
Davidroid 18:591a007effc2 120 9.0, /* Motor supply voltage in V. */
timo_k2 28:831587f78478 121 200, /* Min number of steps per revolution for the motor. */
timo_k2 28:831587f78478 122 1.0, /* Max motor phase voltage in A. */
timo_k2 28:831587f78478 123 2.0, /* Max motor phase voltage in V. */
Davidroid 18:591a007effc2 124 300.0, /* Motor initial speed [step/s]. */
Davidroid 18:591a007effc2 125 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
Davidroid 18:591a007effc2 126 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
Davidroid 18:591a007effc2 127 992.0, /* Motor maximum speed [step/s]. */
Davidroid 18:591a007effc2 128 0.0, /* Motor minimum speed [step/s]. */
Davidroid 18:591a007effc2 129 602.7, /* Motor full-step speed threshold [step/s]. */
Davidroid 18:591a007effc2 130 3.06, /* Holding kval [V]. */
Davidroid 18:591a007effc2 131 3.06, /* Constant speed kval [V]. */
Davidroid 18:591a007effc2 132 3.06, /* Acceleration starting kval [V]. */
Davidroid 18:591a007effc2 133 3.06, /* Deceleration starting kval [V]. */
Davidroid 18:591a007effc2 134 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
Davidroid 18:591a007effc2 135 392.1569e-6, /* Start slope [s/step]. */
Davidroid 18:591a007effc2 136 643.1372e-6, /* Acceleration final slope [s/step]. */
Davidroid 18:591a007effc2 137 643.1372e-6, /* Deceleration final slope [s/step]. */
Davidroid 18:591a007effc2 138 0, /* Thermal compensation factor (range [0, 15]). */
Davidroid 18:591a007effc2 139 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
Davidroid 18:591a007effc2 140 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
Davidroid 18:591a007effc2 141 StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
Davidroid 18:591a007effc2 142 0xFF, /* Alarm conditions enable. */
Davidroid 18:591a007effc2 143 0x2E88 /* Ic configuration. */
Davidroid 9:f35fbeedb8f4 144 }
Davidroid 9:f35fbeedb8f4 145 };
Davidroid 9:f35fbeedb8f4 146
Davidroid 0:5148e9486cf2 147
Davidroid 0:5148e9486cf2 148 /* Main ----------------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 149
Davidroid 0:5148e9486cf2 150 int main()
Davidroid 0:5148e9486cf2 151 {
Davidroid 1:9f1974b0960d 152 /*----- Initialization. -----*/
Davidroid 1:9f1974b0960d 153
Davidroid 2:41eeee48951b 154 /* Initializing SPI bus. */
Davidroid 23:073b26366d03 155 #ifdef TARGET_STM32F429
Davidroid 23:073b26366d03 156 DevSPI dev_spi(D11, D12, D13);
Davidroid 23:073b26366d03 157 #else
Davidroid 3:fd280b953f77 158 DevSPI dev_spi(D11, D12, D3);
Davidroid 23:073b26366d03 159 #endif
Davidroid 0:5148e9486cf2 160
Davidroid 5:3b8e19bbf386 161 /* Initializing Motor Control Expansion Board. */
Davidroid 26:caec5f51abe8 162 x_nucleo_ihm02a1 = new XNucleoIHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi);
Davidroid 0:5148e9486cf2 163
Davidroid 1:9f1974b0960d 164 /* Building a list of motor control components. */
davide.aliprandi@st.com 24:d1f487cb02ba 165 L6470 **motors = x_nucleo_ihm02a1->get_components();
Davidroid 0:5148e9486cf2 166
Davidroid 0:5148e9486cf2 167 /* Printing to the console. */
Davidroid 0:5148e9486cf2 168 printf("Motor Control Application Example for 2 Motors\r\n\n");
Davidroid 0:5148e9486cf2 169
Davidroid 1:9f1974b0960d 170
Davidroid 1:9f1974b0960d 171 /*----- Setting home and marke positions, getting positions, and going to positions. -----*/
Davidroid 1:9f1974b0960d 172
Davidroid 1:9f1974b0960d 173 /* Printing to the console. */
Davidroid 1:9f1974b0960d 174 printf("--> Setting home position.\r\n");
Davidroid 1:9f1974b0960d 175
Davidroid 1:9f1974b0960d 176 /* Setting the home position. */
davide.aliprandi@st.com 24:d1f487cb02ba 177 motors[0]->set_home();
Davidroid 1:9f1974b0960d 178
Davidroid 1:9f1974b0960d 179 /* Waiting. */
Davidroid 1:9f1974b0960d 180 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 181
Davidroid 1:9f1974b0960d 182 /* Getting the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 183 int position = motors[0]->get_position();
Davidroid 18:591a007effc2 184
Davidroid 1:9f1974b0960d 185 /* Printing to the console. */
Davidroid 1:9f1974b0960d 186 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 187
Davidroid 1:9f1974b0960d 188 /* Waiting. */
Davidroid 1:9f1974b0960d 189 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 190
Davidroid 1:9f1974b0960d 191 /* Printing to the console. */
Davidroid 1:9f1974b0960d 192 printf("--> Moving forward %d steps.\r\n", STEPS_1);
Davidroid 1:9f1974b0960d 193
Davidroid 1:9f1974b0960d 194 /* Moving. */
davide.aliprandi@st.com 24:d1f487cb02ba 195 motors[0]->move(StepperMotor::FWD, STEPS_1);
Davidroid 0:5148e9486cf2 196
Davidroid 1:9f1974b0960d 197 /* Waiting while active. */
davide.aliprandi@st.com 24:d1f487cb02ba 198 motors[0]->wait_while_active();
Davidroid 1:9f1974b0960d 199
Davidroid 1:9f1974b0960d 200 /* Getting the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 201 position = motors[0]->get_position();
Davidroid 1:9f1974b0960d 202
Davidroid 1:9f1974b0960d 203 /* Printing to the console. */
Davidroid 1:9f1974b0960d 204 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 205
Davidroid 1:9f1974b0960d 206 /* Printing to the console. */
Davidroid 1:9f1974b0960d 207 printf("--> Marking the current position.\r\n");
Davidroid 0:5148e9486cf2 208
Davidroid 1:9f1974b0960d 209 /* Marking the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 210 motors[0]->set_mark();
Davidroid 1:9f1974b0960d 211
Davidroid 1:9f1974b0960d 212 /* Waiting. */
Davidroid 1:9f1974b0960d 213 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 214
Davidroid 1:9f1974b0960d 215 /* Printing to the console. */
Davidroid 1:9f1974b0960d 216 printf("--> Moving backward %d steps.\r\n", STEPS_2);
Davidroid 1:9f1974b0960d 217
Davidroid 1:9f1974b0960d 218 /* Moving. */
davide.aliprandi@st.com 24:d1f487cb02ba 219 motors[0]->move(StepperMotor::BWD, STEPS_2);
Davidroid 1:9f1974b0960d 220
Davidroid 1:9f1974b0960d 221 /* Waiting while active. */
davide.aliprandi@st.com 24:d1f487cb02ba 222 motors[0]->wait_while_active();
Davidroid 0:5148e9486cf2 223
Davidroid 1:9f1974b0960d 224 /* Waiting. */
Davidroid 1:9f1974b0960d 225 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 226
Davidroid 1:9f1974b0960d 227 /* Getting the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 228 position = motors[0]->get_position();
Davidroid 1:9f1974b0960d 229
Davidroid 1:9f1974b0960d 230 /* Printing to the console. */
Davidroid 1:9f1974b0960d 231 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 232
Davidroid 1:9f1974b0960d 233 /* Waiting. */
Davidroid 1:9f1974b0960d 234 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 235
Davidroid 1:9f1974b0960d 236 /* Printing to the console. */
Davidroid 1:9f1974b0960d 237 printf("--> Going to marked position.\r\n");
Davidroid 0:5148e9486cf2 238
Davidroid 1:9f1974b0960d 239 /* Going to marked position. */
davide.aliprandi@st.com 24:d1f487cb02ba 240 motors[0]->go_mark();
Davidroid 1:9f1974b0960d 241
Davidroid 1:9f1974b0960d 242 /* Waiting while active. */
davide.aliprandi@st.com 24:d1f487cb02ba 243 motors[0]->wait_while_active();
Davidroid 0:5148e9486cf2 244
Davidroid 1:9f1974b0960d 245 /* Waiting. */
Davidroid 1:9f1974b0960d 246 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 247
Davidroid 1:9f1974b0960d 248 /* Getting the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 249 position = motors[0]->get_position();
Davidroid 1:9f1974b0960d 250
Davidroid 1:9f1974b0960d 251 /* Printing to the console. */
Davidroid 1:9f1974b0960d 252 printf("--> Getting the current position: %d\r\n", position);
Davidroid 0:5148e9486cf2 253
Davidroid 1:9f1974b0960d 254 /* Waiting. */
Davidroid 1:9f1974b0960d 255 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 256
Davidroid 1:9f1974b0960d 257 /* Printing to the console. */
Davidroid 1:9f1974b0960d 258 printf("--> Going to home position.\r\n");
Davidroid 0:5148e9486cf2 259
Davidroid 1:9f1974b0960d 260 /* Going to home position. */
davide.aliprandi@st.com 24:d1f487cb02ba 261 motors[0]->go_home();
Davidroid 1:9f1974b0960d 262
Davidroid 1:9f1974b0960d 263 /* Waiting while active. */
davide.aliprandi@st.com 24:d1f487cb02ba 264 motors[0]->wait_while_active();
Davidroid 1:9f1974b0960d 265
Davidroid 1:9f1974b0960d 266 /* Waiting. */
Davidroid 1:9f1974b0960d 267 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 268
Davidroid 1:9f1974b0960d 269 /* Getting the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 270 position = motors[0]->get_position();
Davidroid 1:9f1974b0960d 271
Davidroid 1:9f1974b0960d 272 /* Printing to the console. */
Davidroid 1:9f1974b0960d 273 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 274
Davidroid 1:9f1974b0960d 275 /* Waiting. */
Davidroid 18:591a007effc2 276 wait_ms(DELAY_1);
Davidroid 18:591a007effc2 277
Davidroid 18:591a007effc2 278 /* Printing to the console. */
Davidroid 18:591a007effc2 279 printf("--> Halving the microsteps.\r\n");
Davidroid 18:591a007effc2 280
Davidroid 18:591a007effc2 281 /* Halving the microsteps. */
Davidroid 18:591a007effc2 282 init[0].step_sel = (init[0].step_sel > 0 ? init[0].step_sel - 1 : init[0].step_sel);
davide.aliprandi@st.com 24:d1f487cb02ba 283 if (!motors[0]->set_step_mode((StepperMotor::step_mode_t) init[0].step_sel)) {
Davidroid 18:591a007effc2 284 printf(" Step Mode not allowed.\r\n");
Davidroid 22:e81ccf73bc5d 285 }
Davidroid 18:591a007effc2 286
Davidroid 18:591a007effc2 287 /* Waiting. */
Davidroid 18:591a007effc2 288 wait_ms(DELAY_1);
Davidroid 18:591a007effc2 289
Davidroid 18:591a007effc2 290 /* Printing to the console. */
Davidroid 18:591a007effc2 291 printf("--> Setting home position.\r\n");
Davidroid 18:591a007effc2 292
Davidroid 18:591a007effc2 293 /* Setting the home position. */
davide.aliprandi@st.com 24:d1f487cb02ba 294 motors[0]->set_home();
Davidroid 18:591a007effc2 295
Davidroid 18:591a007effc2 296 /* Waiting. */
Davidroid 18:591a007effc2 297 wait_ms(DELAY_1);
Davidroid 18:591a007effc2 298
Davidroid 18:591a007effc2 299 /* Getting the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 300 position = motors[0]->get_position();
Davidroid 18:591a007effc2 301
Davidroid 18:591a007effc2 302 /* Printing to the console. */
Davidroid 18:591a007effc2 303 printf("--> Getting the current position: %d\r\n", position);
Davidroid 18:591a007effc2 304
Davidroid 18:591a007effc2 305 /* Waiting. */
Davidroid 18:591a007effc2 306 wait_ms(DELAY_1);
Davidroid 18:591a007effc2 307
Davidroid 18:591a007effc2 308 /* Printing to the console. */
Davidroid 18:591a007effc2 309 printf("--> Moving forward %d steps.\r\n", STEPS_1);
Davidroid 18:591a007effc2 310
Davidroid 18:591a007effc2 311 /* Moving. */
davide.aliprandi@st.com 24:d1f487cb02ba 312 motors[0]->move(StepperMotor::FWD, STEPS_1);
Davidroid 18:591a007effc2 313
Davidroid 18:591a007effc2 314 /* Waiting while active. */
davide.aliprandi@st.com 24:d1f487cb02ba 315 motors[0]->wait_while_active();
Davidroid 18:591a007effc2 316
Davidroid 18:591a007effc2 317 /* Getting the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 318 position = motors[0]->get_position();
Davidroid 18:591a007effc2 319
Davidroid 18:591a007effc2 320 /* Printing to the console. */
Davidroid 18:591a007effc2 321 printf("--> Getting the current position: %d\r\n", position);
Davidroid 18:591a007effc2 322
Davidroid 18:591a007effc2 323 /* Printing to the console. */
Davidroid 18:591a007effc2 324 printf("--> Marking the current position.\r\n");
Davidroid 18:591a007effc2 325
Davidroid 18:591a007effc2 326 /* Marking the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 327 motors[0]->set_mark();
Davidroid 18:591a007effc2 328
Davidroid 18:591a007effc2 329 /* Waiting. */
Davidroid 1:9f1974b0960d 330 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 331
Davidroid 0:5148e9486cf2 332
Davidroid 1:9f1974b0960d 333 /*----- Running together for a certain amount of time. -----*/
Davidroid 1:9f1974b0960d 334
Davidroid 1:9f1974b0960d 335 /* Printing to the console. */
Davidroid 1:9f1974b0960d 336 printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000);
Davidroid 0:5148e9486cf2 337
Davidroid 1:9f1974b0960d 338 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 22:e81ccf73bc5d 339 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
davide.aliprandi@st.com 24:d1f487cb02ba 340 motors[m]->prepare_run(StepperMotor::BWD, 400);
Davidroid 22:e81ccf73bc5d 341 }
Davidroid 0:5148e9486cf2 342
Davidroid 1:9f1974b0960d 343 /* Performing the action on each motor at the same time. */
davide.aliprandi@st.com 24:d1f487cb02ba 344 x_nucleo_ihm02a1->perform_prepared_actions();
Davidroid 0:5148e9486cf2 345
Davidroid 1:9f1974b0960d 346 /* Waiting. */
Davidroid 1:9f1974b0960d 347 wait_ms(DELAY_3);
Davidroid 1:9f1974b0960d 348
Davidroid 1:9f1974b0960d 349
Davidroid 1:9f1974b0960d 350 /*----- Increasing the speed while running. -----*/
Davidroid 0:5148e9486cf2 351
Davidroid 1:9f1974b0960d 352 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 22:e81ccf73bc5d 353 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
davide.aliprandi@st.com 24:d1f487cb02ba 354 motors[m]->prepare_get_speed();
Davidroid 22:e81ccf73bc5d 355 }
Davidroid 0:5148e9486cf2 356
Davidroid 1:9f1974b0960d 357 /* Performing the action on each motor at the same time. */
davide.aliprandi@st.com 24:d1f487cb02ba 358 uint32_t* results = x_nucleo_ihm02a1->perform_prepared_actions();
Davidroid 0:5148e9486cf2 359
Davidroid 1:9f1974b0960d 360 /* Printing to the console. */
Davidroid 1:9f1974b0960d 361 printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
Davidroid 1:9f1974b0960d 362
Davidroid 1:9f1974b0960d 363 /* Printing to the console. */
Davidroid 18:591a007effc2 364 printf("--> Doublig the speed while running again for %d seconds.\r\n", DELAY_3 / 1000);
Davidroid 0:5148e9486cf2 365
Davidroid 1:9f1974b0960d 366 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 22:e81ccf73bc5d 367 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
davide.aliprandi@st.com 24:d1f487cb02ba 368 motors[m]->prepare_run(StepperMotor::BWD, results[m] << 1);
Davidroid 22:e81ccf73bc5d 369 }
Davidroid 1:9f1974b0960d 370
Davidroid 1:9f1974b0960d 371 /* Performing the action on each motor at the same time. */
davide.aliprandi@st.com 24:d1f487cb02ba 372 results = x_nucleo_ihm02a1->perform_prepared_actions();
Davidroid 0:5148e9486cf2 373
Davidroid 1:9f1974b0960d 374 /* Waiting. */
Davidroid 1:9f1974b0960d 375 wait_ms(DELAY_3);
Davidroid 0:5148e9486cf2 376
Davidroid 1:9f1974b0960d 377 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 22:e81ccf73bc5d 378 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
davide.aliprandi@st.com 24:d1f487cb02ba 379 motors[m]->prepare_get_speed();
Davidroid 22:e81ccf73bc5d 380 }
Davidroid 0:5148e9486cf2 381
Davidroid 1:9f1974b0960d 382 /* Performing the action on each motor at the same time. */
davide.aliprandi@st.com 24:d1f487cb02ba 383 results = x_nucleo_ihm02a1->perform_prepared_actions();
Davidroid 0:5148e9486cf2 384
Davidroid 1:9f1974b0960d 385 /* Printing to the console. */
Davidroid 1:9f1974b0960d 386 printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
Davidroid 1:9f1974b0960d 387
Davidroid 1:9f1974b0960d 388 /* Waiting. */
Davidroid 1:9f1974b0960d 389 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 390
Davidroid 0:5148e9486cf2 391
Davidroid 1:9f1974b0960d 392 /*----- Hard Stop. -----*/
Davidroid 0:5148e9486cf2 393
Davidroid 1:9f1974b0960d 394 /* Printing to the console. */
Davidroid 1:9f1974b0960d 395 printf("--> Hard Stop.\r\n");
Davidroid 0:5148e9486cf2 396
Davidroid 1:9f1974b0960d 397 /* Preparing each motor to perform a hard stop. */
Davidroid 22:e81ccf73bc5d 398 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
davide.aliprandi@st.com 24:d1f487cb02ba 399 motors[m]->prepare_hard_stop();
Davidroid 22:e81ccf73bc5d 400 }
Davidroid 0:5148e9486cf2 401
Davidroid 1:9f1974b0960d 402 /* Performing the action on each motor at the same time. */
davide.aliprandi@st.com 24:d1f487cb02ba 403 x_nucleo_ihm02a1->perform_prepared_actions();
Davidroid 0:5148e9486cf2 404
Davidroid 1:9f1974b0960d 405 /* Waiting. */
Davidroid 1:9f1974b0960d 406 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 407
Davidroid 0:5148e9486cf2 408
Davidroid 1:9f1974b0960d 409 /*----- Doing a full revolution on each motor, one after the other. -----*/
Davidroid 1:9f1974b0960d 410
Davidroid 1:9f1974b0960d 411 /* Printing to the console. */
Davidroid 1:9f1974b0960d 412 printf("--> Doing a full revolution on each motor, one after the other.\r\n");
Davidroid 1:9f1974b0960d 413
Davidroid 1:9f1974b0960d 414 /* Doing a full revolution on each motor, one after the other. */
Davidroid 22:e81ccf73bc5d 415 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
Davidroid 22:e81ccf73bc5d 416 for (int i = 0; i < MPR_1; i++) {
Davidroid 1:9f1974b0960d 417 /* Computing the number of steps. */
Davidroid 9:f35fbeedb8f4 418 int steps = (int) (((int) init[m].fullstepsperrevolution * pow(2.0f, init[m].step_sel)) / MPR_1);
Davidroid 1:9f1974b0960d 419
Davidroid 1:9f1974b0960d 420 /* Moving. */
davide.aliprandi@st.com 24:d1f487cb02ba 421 motors[m]->move(StepperMotor::FWD, steps);
Davidroid 1:9f1974b0960d 422
Davidroid 1:9f1974b0960d 423 /* Waiting while active. */
davide.aliprandi@st.com 24:d1f487cb02ba 424 motors[m]->wait_while_active();
Davidroid 1:9f1974b0960d 425
Davidroid 1:9f1974b0960d 426 /* Waiting. */
Davidroid 1:9f1974b0960d 427 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 428 }
Davidroid 22:e81ccf73bc5d 429 }
Davidroid 1:9f1974b0960d 430
Davidroid 1:9f1974b0960d 431 /* Waiting. */
Davidroid 1:9f1974b0960d 432 wait_ms(DELAY_2);
Davidroid 1:9f1974b0960d 433
Davidroid 1:9f1974b0960d 434
Davidroid 1:9f1974b0960d 435 /*----- High Impedance State. -----*/
Davidroid 1:9f1974b0960d 436
Davidroid 1:9f1974b0960d 437 /* Printing to the console. */
Davidroid 1:9f1974b0960d 438 printf("--> High Impedance State.\r\n");
Davidroid 1:9f1974b0960d 439
Davidroid 1:9f1974b0960d 440 /* Preparing each motor to set High Impedance State. */
Davidroid 22:e81ccf73bc5d 441 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
davide.aliprandi@st.com 24:d1f487cb02ba 442 motors[m]->prepare_hard_hiz();
Davidroid 22:e81ccf73bc5d 443 }
Davidroid 1:9f1974b0960d 444
Davidroid 1:9f1974b0960d 445 /* Performing the action on each motor at the same time. */
davide.aliprandi@st.com 24:d1f487cb02ba 446 x_nucleo_ihm02a1->perform_prepared_actions();
Davidroid 1:9f1974b0960d 447
Davidroid 1:9f1974b0960d 448 /* Waiting. */
Davidroid 1:9f1974b0960d 449 wait_ms(DELAY_2);
Davidroid 22:e81ccf73bc5d 450 }