![](/media/cache/profiles/Timo_01_DSC_4754_533x533.jpg.50x50_q85.jpg)
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
- Committer:
- Davidroid
- Date:
- 2015-11-20
- Revision:
- 0:5148e9486cf2
- Child:
- 1:9f1974b0960d
File content as of revision 0:5148e9486cf2:
/** ****************************************************************************** * @file main.cpp * @author Davide Aliprandi / AST * @version V1.0.0 * @date November 4th, 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 * * <h2><center>© COPYRIGHT(c) 2015 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 ------------------------------------------------------------------*/ /* mbed specific header files. */ #include "mbed.h" /* Helper header files. */ #include "DevSPI.h" /* Expansion Board specific header files. */ #include "x_nucleo_ihm02a1_class.h" /* Definitions ---------------------------------------------------------------*/ /* Number of movements per revolution. */ #define MPR_1 4 #define MPR_2 8 /* Delay in milliseconds. */ #define DELAY_1 500 #define DELAY_2 2000 #define DELAY_3 5000 /* Variables -----------------------------------------------------------------*/ /* Motor Control Expansion Board. */ X_NUCLEO_IHM02A1 *x_nucleo_ihm02a1; /* Main ----------------------------------------------------------------------*/ int main() { /* Led. */ DigitalOut led(LED1); /* Initializing SPI bus. */ DevSPI dev_spi(D11, D12, D3); /* Initializing Motor Control Expansion Board. */ x_nucleo_ihm02a1 = X_NUCLEO_IHM02A1::Instance(A4, D4, A2, &dev_spi); /* Building a list of motors. */ L6470 *motors[L6470DAISYCHAINSIZE] = {x_nucleo_ihm02a1->l6470_0, x_nucleo_ihm02a1->l6470_1}; /* Printing to the console. */ printf("Motor Control Application Example for 2 Motors\r\n\n"); /* Main Loop. */ while(true) { /*----- Doing a full revolution on each motor, one after the other. -----*/ /* Printing to the console. */ printf("--> Doing a full revolution on each motor, one after the other.\r\n"); /* Doing a full revolution on each motor, one after the other. */ for (int m = 0; m < 2; m++) for (int i = 0; i < MPR_1; i++) { /* Computing the number of steps. */ int steps = (int) (((int) X_NUCLEO_IHM02A1::MotorParameterInitData[0][m].fullstepsperrevolution * pow(2.0f, X_NUCLEO_IHM02A1::MotorParameterInitData[0][m].step_sel)) / MPR_1); /* Moving. */ motors[m]->Move(StepperMotor::FWD, steps); /* Waiting while active. */ motors[m]->WaitWhileActive(); /* Waiting. */ wait_ms(DELAY_1); } /* Waiting. */ wait_ms(DELAY_2); /*----- Running together for a certain amount of time. -----*/ /* Printing to the console. */ printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000); /* Preparing each motor to perform a run at a specified speed. */ for (int m = 0; m < 2; m++) motors[m]->PrepareRun(StepperMotor::BWD, 10000); /* Performing the action on each motor at the same time. */ for (int m = 0; m < 2; m++) motors[m]->PerformAction(); /* Waiting. */ wait_ms(DELAY_3); /*----- Hard Stop. -----*/ /* Printing to the console. */ printf("--> Hard Stop.\r\n"); /* Preparing each motor to perform a hard stop. */ for (int m = 0; m < 2; m++) motors[m]->PrepareHardStop(); /* Performing the action on each motor at the same time. */ for (int m = 0; m < 2; m++) motors[m]->PerformAction(); /* Waiting. */ wait_ms(DELAY_2); /*----- Doing a full revolution on each motor, one after the other. -----*/ /* Printing to the console. */ printf("--> Doing a full revolution on each motor, one after the other.\r\n"); /* Doing a full revolution on each motor, one after the other. */ for (int m = 0; m < 2; m++) for (int i = 0; i < MPR_2; i++) { /* Computing the number of steps. */ int steps = (int) (((int) X_NUCLEO_IHM02A1::MotorParameterInitData[0][m].fullstepsperrevolution * pow(2.0f, X_NUCLEO_IHM02A1::MotorParameterInitData[0][m].step_sel)) / MPR_2); /* Moving. */ motors[m]->Move(StepperMotor::FWD, steps); /* Waiting while active. */ motors[m]->WaitWhileActive(); /* Waiting. */ wait_ms(DELAY_1); } /* Waiting. */ wait_ms(DELAY_2); /*----- High Impedance State. -----*/ /* Printing to the console. */ printf("--> High Impedance State.\r\n"); /* Preparing each motor to set High Impedance State. */ for (int m = 0; m < 2; m++) motors[m]->PrepareHardHiZ(); /* Performing the action on each motor at the same time. */ for (int m = 0; m < 2; m++) motors[m]->PerformAction(); /* Waiting. */ wait_ms(DELAY_2); /*----- Led Blinking. -----*/ /* Led Blinking. */ led = 1; wait_ms(DELAY_2); led = 0; } }