Tom STOGIANNIS / Mbed OS HelloWorld_IHM02A1-2

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Dependencies:   X_NUCLEO_COMMON ST_INTERFACES

main.cpp@28:c2d5dbe5b28e, 2020-12-17 (annotated)

Committer:
tomstogiannis
Date:
Thu Dec 17 12:47:52 2020 +0000
Revision:
28:c2d5dbe5b28e
Parent:
26:caec5f51abe8 
support os 6

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 ******************************************************************************
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 26:caec5f51abe8 49 #include "XNucleoIHM02A1.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 18:591a007effc2 58 #define STEPS_1 (400 * 128) /* 1 revolution given a 400 steps motor configured at 1/128 microstep mode. */
Davidroid 18:591a007effc2 59 #define STEPS_2 (STEPS_1 * 2)
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 26:caec5f51abe8 70 XNucleoIHM02A1 *x_nucleo_ihm02a1;
Davidroid 0:5148e9486cf2 71
Davidroid 9:f35fbeedb8f4 72 /* Initialization parameters of the motors connected to the expansion board. */
davide.aliprandi@st.com 24:d1f487cb02ba 73 L6470_init_t init[L6470DAISYCHAINSIZE] = {
Davidroid 9:f35fbeedb8f4 74 /* First Motor. */
Davidroid 9:f35fbeedb8f4 75 {
Davidroid 18:591a007effc2 76 9.0, /* Motor supply voltage in V. */
Davidroid 18:591a007effc2 77 400, /* Min number of steps per revolution for the motor. */
Davidroid 18:591a007effc2 78 1.7, /* Max motor phase voltage in A. */
Davidroid 18:591a007effc2 79 3.06, /* Max motor phase voltage in V. */
Davidroid 18:591a007effc2 80 300.0, /* Motor initial speed [step/s]. */
Davidroid 18:591a007effc2 81 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
Davidroid 18:591a007effc2 82 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
Davidroid 18:591a007effc2 83 992.0, /* Motor maximum speed [step/s]. */
Davidroid 18:591a007effc2 84 0.0, /* Motor minimum speed [step/s]. */
Davidroid 18:591a007effc2 85 602.7, /* Motor full-step speed threshold [step/s]. */
Davidroid 18:591a007effc2 86 3.06, /* Holding kval [V]. */
Davidroid 18:591a007effc2 87 3.06, /* Constant speed kval [V]. */
Davidroid 18:591a007effc2 88 3.06, /* Acceleration starting kval [V]. */
Davidroid 18:591a007effc2 89 3.06, /* Deceleration starting kval [V]. */
Davidroid 18:591a007effc2 90 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
Davidroid 18:591a007effc2 91 392.1569e-6, /* Start slope [s/step]. */
Davidroid 18:591a007effc2 92 643.1372e-6, /* Acceleration final slope [s/step]. */
Davidroid 18:591a007effc2 93 643.1372e-6, /* Deceleration final slope [s/step]. */
Davidroid 18:591a007effc2 94 0, /* Thermal compensation factor (range [0, 15]). */
Davidroid 18:591a007effc2 95 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
Davidroid 18:591a007effc2 96 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
Davidroid 18:591a007effc2 97 StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
Davidroid 18:591a007effc2 98 0xFF, /* Alarm conditions enable. */
Davidroid 18:591a007effc2 99 0x2E88 /* Ic configuration. */
Davidroid 9:f35fbeedb8f4 100 },
Davidroid 9:f35fbeedb8f4 101
Davidroid 9:f35fbeedb8f4 102 /* Second Motor. */
Davidroid 9:f35fbeedb8f4 103 {
Davidroid 18:591a007effc2 104 9.0, /* Motor supply voltage in V. */
Davidroid 18:591a007effc2 105 400, /* Min number of steps per revolution for the motor. */
Davidroid 18:591a007effc2 106 1.7, /* Max motor phase voltage in A. */
Davidroid 18:591a007effc2 107 3.06, /* Max motor phase voltage in V. */
Davidroid 18:591a007effc2 108 300.0, /* Motor initial speed [step/s]. */
Davidroid 18:591a007effc2 109 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */
Davidroid 18:591a007effc2 110 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */
Davidroid 18:591a007effc2 111 992.0, /* Motor maximum speed [step/s]. */
Davidroid 18:591a007effc2 112 0.0, /* Motor minimum speed [step/s]. */
Davidroid 18:591a007effc2 113 602.7, /* Motor full-step speed threshold [step/s]. */
Davidroid 18:591a007effc2 114 3.06, /* Holding kval [V]. */
Davidroid 18:591a007effc2 115 3.06, /* Constant speed kval [V]. */
Davidroid 18:591a007effc2 116 3.06, /* Acceleration starting kval [V]. */
Davidroid 18:591a007effc2 117 3.06, /* Deceleration starting kval [V]. */
Davidroid 18:591a007effc2 118 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */
Davidroid 18:591a007effc2 119 392.1569e-6, /* Start slope [s/step]. */
Davidroid 18:591a007effc2 120 643.1372e-6, /* Acceleration final slope [s/step]. */
Davidroid 18:591a007effc2 121 643.1372e-6, /* Deceleration final slope [s/step]. */
Davidroid 18:591a007effc2 122 0, /* Thermal compensation factor (range [0, 15]). */
Davidroid 18:591a007effc2 123 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
Davidroid 18:591a007effc2 124 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
Davidroid 18:591a007effc2 125 StepperMotor::STEP_MODE_1_128, /* Step mode selection. */
Davidroid 18:591a007effc2 126 0xFF, /* Alarm conditions enable. */
Davidroid 18:591a007effc2 127 0x2E88 /* Ic configuration. */
Davidroid 9:f35fbeedb8f4 128 }
Davidroid 9:f35fbeedb8f4 129 };
tomstogiannis 28:c2d5dbe5b28e 130 void wait_ms(int delay)
tomstogiannis 28:c2d5dbe5b28e 131 {
tomstogiannis 28:c2d5dbe5b28e 132 wait_us(DELAY_1/1000);
tomstogiannis 28:c2d5dbe5b28e 133 }
Davidroid 0:5148e9486cf2 134
Davidroid 0:5148e9486cf2 135 /* Main ----------------------------------------------------------------------*/
Davidroid 0:5148e9486cf2 136
Davidroid 0:5148e9486cf2 137 int main()
Davidroid 0:5148e9486cf2 138 {
Davidroid 1:9f1974b0960d 139 /*----- Initialization. -----*/
Davidroid 1:9f1974b0960d 140
Davidroid 2:41eeee48951b 141 /* Initializing SPI bus. */
Davidroid 23:073b26366d03 142 #ifdef TARGET_STM32F429
Davidroid 23:073b26366d03 143 DevSPI dev_spi(D11, D12, D13);
Davidroid 23:073b26366d03 144 #else
Davidroid 3:fd280b953f77 145 DevSPI dev_spi(D11, D12, D3);
Davidroid 23:073b26366d03 146 #endif
Davidroid 0:5148e9486cf2 147
Davidroid 5:3b8e19bbf386 148 /* Initializing Motor Control Expansion Board. */
Davidroid 26:caec5f51abe8 149 x_nucleo_ihm02a1 = new XNucleoIHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi);
Davidroid 0:5148e9486cf2 150
Davidroid 1:9f1974b0960d 151 /* Building a list of motor control components. */
davide.aliprandi@st.com 24:d1f487cb02ba 152 L6470 **motors = x_nucleo_ihm02a1->get_components();
Davidroid 0:5148e9486cf2 153
Davidroid 0:5148e9486cf2 154 /* Printing to the console. */
Davidroid 0:5148e9486cf2 155 printf("Motor Control Application Example for 2 Motors\r\n\n");
Davidroid 0:5148e9486cf2 156
Davidroid 1:9f1974b0960d 157
Davidroid 1:9f1974b0960d 158 /*----- Setting home and marke positions, getting positions, and going to positions. -----*/
Davidroid 1:9f1974b0960d 159
Davidroid 1:9f1974b0960d 160 /* Printing to the console. */
Davidroid 1:9f1974b0960d 161 printf("--> Setting home position.\r\n");
Davidroid 1:9f1974b0960d 162
Davidroid 1:9f1974b0960d 163 /* Setting the home position. */
davide.aliprandi@st.com 24:d1f487cb02ba 164 motors[0]->set_home();
Davidroid 1:9f1974b0960d 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. */
davide.aliprandi@st.com 24:d1f487cb02ba 170 int position = motors[0]->get_position();
Davidroid 18:591a007effc2 171
Davidroid 1:9f1974b0960d 172 /* Printing to the console. */
Davidroid 1:9f1974b0960d 173 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 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("--> Moving forward %d steps.\r\n", STEPS_1);
Davidroid 1:9f1974b0960d 180
Davidroid 1:9f1974b0960d 181 /* Moving. */
davide.aliprandi@st.com 24:d1f487cb02ba 182 motors[0]->move(StepperMotor::FWD, STEPS_1);
Davidroid 0:5148e9486cf2 183
Davidroid 1:9f1974b0960d 184 /* Waiting while active. */
davide.aliprandi@st.com 24:d1f487cb02ba 185 motors[0]->wait_while_active();
Davidroid 1:9f1974b0960d 186
Davidroid 1:9f1974b0960d 187 /* Getting the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 188 position = motors[0]->get_position();
Davidroid 1:9f1974b0960d 189
Davidroid 1:9f1974b0960d 190 /* Printing to the console. */
Davidroid 1:9f1974b0960d 191 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 192
Davidroid 1:9f1974b0960d 193 /* Printing to the console. */
Davidroid 1:9f1974b0960d 194 printf("--> Marking the current position.\r\n");
Davidroid 0:5148e9486cf2 195
Davidroid 1:9f1974b0960d 196 /* Marking the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 197 motors[0]->set_mark();
Davidroid 1:9f1974b0960d 198
Davidroid 1:9f1974b0960d 199 /* Waiting. */
Davidroid 1:9f1974b0960d 200 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 201
Davidroid 1:9f1974b0960d 202 /* Printing to the console. */
Davidroid 1:9f1974b0960d 203 printf("--> Moving backward %d steps.\r\n", STEPS_2);
Davidroid 1:9f1974b0960d 204
Davidroid 1:9f1974b0960d 205 /* Moving. */
davide.aliprandi@st.com 24:d1f487cb02ba 206 motors[0]->move(StepperMotor::BWD, STEPS_2);
Davidroid 1:9f1974b0960d 207
Davidroid 1:9f1974b0960d 208 /* Waiting while active. */
davide.aliprandi@st.com 24:d1f487cb02ba 209 motors[0]->wait_while_active();
Davidroid 0:5148e9486cf2 210
Davidroid 1:9f1974b0960d 211 /* Waiting. */
Davidroid 1:9f1974b0960d 212 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 213
Davidroid 1:9f1974b0960d 214 /* Getting the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 215 position = motors[0]->get_position();
Davidroid 1:9f1974b0960d 216
Davidroid 1:9f1974b0960d 217 /* Printing to the console. */
Davidroid 1:9f1974b0960d 218 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 219
Davidroid 1:9f1974b0960d 220 /* Waiting. */
Davidroid 1:9f1974b0960d 221 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 222
Davidroid 1:9f1974b0960d 223 /* Printing to the console. */
Davidroid 1:9f1974b0960d 224 printf("--> Going to marked position.\r\n");
Davidroid 0:5148e9486cf2 225
Davidroid 1:9f1974b0960d 226 /* Going to marked position. */
davide.aliprandi@st.com 24:d1f487cb02ba 227 motors[0]->go_mark();
Davidroid 1:9f1974b0960d 228
Davidroid 1:9f1974b0960d 229 /* Waiting while active. */
davide.aliprandi@st.com 24:d1f487cb02ba 230 motors[0]->wait_while_active();
Davidroid 0:5148e9486cf2 231
Davidroid 1:9f1974b0960d 232 /* Waiting. */
Davidroid 1:9f1974b0960d 233 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 234
Davidroid 1:9f1974b0960d 235 /* Getting the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 236 position = motors[0]->get_position();
Davidroid 1:9f1974b0960d 237
Davidroid 1:9f1974b0960d 238 /* Printing to the console. */
Davidroid 1:9f1974b0960d 239 printf("--> Getting the current position: %d\r\n", position);
Davidroid 0:5148e9486cf2 240
Davidroid 1:9f1974b0960d 241 /* Waiting. */
Davidroid 1:9f1974b0960d 242 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 243
Davidroid 1:9f1974b0960d 244 /* Printing to the console. */
Davidroid 1:9f1974b0960d 245 printf("--> Going to home position.\r\n");
Davidroid 0:5148e9486cf2 246
Davidroid 1:9f1974b0960d 247 /* Going to home position. */
davide.aliprandi@st.com 24:d1f487cb02ba 248 motors[0]->go_home();
Davidroid 1:9f1974b0960d 249
Davidroid 1:9f1974b0960d 250 /* Waiting while active. */
davide.aliprandi@st.com 24:d1f487cb02ba 251 motors[0]->wait_while_active();
Davidroid 1:9f1974b0960d 252
Davidroid 1:9f1974b0960d 253 /* Waiting. */
Davidroid 1:9f1974b0960d 254 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 255
Davidroid 1:9f1974b0960d 256 /* Getting the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 257 position = motors[0]->get_position();
Davidroid 1:9f1974b0960d 258
Davidroid 1:9f1974b0960d 259 /* Printing to the console. */
Davidroid 1:9f1974b0960d 260 printf("--> Getting the current position: %d\r\n", position);
Davidroid 1:9f1974b0960d 261
Davidroid 1:9f1974b0960d 262 /* Waiting. */
Davidroid 18:591a007effc2 263 wait_ms(DELAY_1);
Davidroid 18:591a007effc2 264
Davidroid 18:591a007effc2 265 /* Printing to the console. */
Davidroid 18:591a007effc2 266 printf("--> Halving the microsteps.\r\n");
Davidroid 18:591a007effc2 267
Davidroid 18:591a007effc2 268 /* Halving the microsteps. */
Davidroid 18:591a007effc2 269 init[0].step_sel = (init[0].step_sel > 0 ? init[0].step_sel - 1 : init[0].step_sel);
davide.aliprandi@st.com 24:d1f487cb02ba 270 if (!motors[0]->set_step_mode((StepperMotor::step_mode_t) init[0].step_sel)) {
Davidroid 18:591a007effc2 271 printf(" Step Mode not allowed.\r\n");
Davidroid 22:e81ccf73bc5d 272 }
Davidroid 18:591a007effc2 273
Davidroid 18:591a007effc2 274 /* Waiting. */
Davidroid 18:591a007effc2 275 wait_ms(DELAY_1);
Davidroid 18:591a007effc2 276
Davidroid 18:591a007effc2 277 /* Printing to the console. */
Davidroid 18:591a007effc2 278 printf("--> Setting home position.\r\n");
Davidroid 18:591a007effc2 279
Davidroid 18:591a007effc2 280 /* Setting the home position. */
davide.aliprandi@st.com 24:d1f487cb02ba 281 motors[0]->set_home();
Davidroid 18:591a007effc2 282
Davidroid 18:591a007effc2 283 /* Waiting. */
Davidroid 18:591a007effc2 284 wait_ms(DELAY_1);
Davidroid 18:591a007effc2 285
Davidroid 18:591a007effc2 286 /* Getting the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 287 position = motors[0]->get_position();
Davidroid 18:591a007effc2 288
Davidroid 18:591a007effc2 289 /* Printing to the console. */
Davidroid 18:591a007effc2 290 printf("--> Getting the current position: %d\r\n", position);
Davidroid 18:591a007effc2 291
Davidroid 18:591a007effc2 292 /* Waiting. */
Davidroid 18:591a007effc2 293 wait_ms(DELAY_1);
Davidroid 18:591a007effc2 294
Davidroid 18:591a007effc2 295 /* Printing to the console. */
Davidroid 18:591a007effc2 296 printf("--> Moving forward %d steps.\r\n", STEPS_1);
Davidroid 18:591a007effc2 297
Davidroid 18:591a007effc2 298 /* Moving. */
davide.aliprandi@st.com 24:d1f487cb02ba 299 motors[0]->move(StepperMotor::FWD, STEPS_1);
Davidroid 18:591a007effc2 300
Davidroid 18:591a007effc2 301 /* Waiting while active. */
davide.aliprandi@st.com 24:d1f487cb02ba 302 motors[0]->wait_while_active();
Davidroid 18:591a007effc2 303
Davidroid 18:591a007effc2 304 /* Getting the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 305 position = motors[0]->get_position();
Davidroid 18:591a007effc2 306
Davidroid 18:591a007effc2 307 /* Printing to the console. */
Davidroid 18:591a007effc2 308 printf("--> Getting the current position: %d\r\n", position);
Davidroid 18:591a007effc2 309
Davidroid 18:591a007effc2 310 /* Printing to the console. */
Davidroid 18:591a007effc2 311 printf("--> Marking the current position.\r\n");
Davidroid 18:591a007effc2 312
Davidroid 18:591a007effc2 313 /* Marking the current position. */
davide.aliprandi@st.com 24:d1f487cb02ba 314 motors[0]->set_mark();
Davidroid 18:591a007effc2 315
Davidroid 18:591a007effc2 316 /* Waiting. */
Davidroid 1:9f1974b0960d 317 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 318
Davidroid 0:5148e9486cf2 319
Davidroid 1:9f1974b0960d 320 /*----- Running together for a certain amount of time. -----*/
Davidroid 1:9f1974b0960d 321
Davidroid 1:9f1974b0960d 322 /* Printing to the console. */
Davidroid 1:9f1974b0960d 323 printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000);
Davidroid 0:5148e9486cf2 324
Davidroid 1:9f1974b0960d 325 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 22:e81ccf73bc5d 326 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
davide.aliprandi@st.com 24:d1f487cb02ba 327 motors[m]->prepare_run(StepperMotor::BWD, 400);
Davidroid 22:e81ccf73bc5d 328 }
Davidroid 0:5148e9486cf2 329
Davidroid 1:9f1974b0960d 330 /* Performing the action on each motor at the same time. */
davide.aliprandi@st.com 24:d1f487cb02ba 331 x_nucleo_ihm02a1->perform_prepared_actions();
Davidroid 0:5148e9486cf2 332
Davidroid 1:9f1974b0960d 333 /* Waiting. */
Davidroid 1:9f1974b0960d 334 wait_ms(DELAY_3);
Davidroid 1:9f1974b0960d 335
Davidroid 1:9f1974b0960d 336
Davidroid 1:9f1974b0960d 337 /*----- Increasing the speed while running. -----*/
Davidroid 0:5148e9486cf2 338
Davidroid 1:9f1974b0960d 339 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 22:e81ccf73bc5d 340 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
davide.aliprandi@st.com 24:d1f487cb02ba 341 motors[m]->prepare_get_speed();
Davidroid 22:e81ccf73bc5d 342 }
Davidroid 0:5148e9486cf2 343
Davidroid 1:9f1974b0960d 344 /* Performing the action on each motor at the same time. */
davide.aliprandi@st.com 24:d1f487cb02ba 345 uint32_t* results = x_nucleo_ihm02a1->perform_prepared_actions();
Davidroid 0:5148e9486cf2 346
Davidroid 1:9f1974b0960d 347 /* Printing to the console. */
Davidroid 1:9f1974b0960d 348 printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
Davidroid 1:9f1974b0960d 349
Davidroid 1:9f1974b0960d 350 /* Printing to the console. */
Davidroid 18:591a007effc2 351 printf("--> Doublig the speed while running again for %d seconds.\r\n", DELAY_3 / 1000);
Davidroid 0:5148e9486cf2 352
Davidroid 1:9f1974b0960d 353 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 22:e81ccf73bc5d 354 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
davide.aliprandi@st.com 24:d1f487cb02ba 355 motors[m]->prepare_run(StepperMotor::BWD, results[m] << 1);
Davidroid 22:e81ccf73bc5d 356 }
Davidroid 1:9f1974b0960d 357
Davidroid 1:9f1974b0960d 358 /* Performing the action on each motor at the same time. */
davide.aliprandi@st.com 24:d1f487cb02ba 359 results = x_nucleo_ihm02a1->perform_prepared_actions();
Davidroid 0:5148e9486cf2 360
Davidroid 1:9f1974b0960d 361 /* Waiting. */
Davidroid 1:9f1974b0960d 362 wait_ms(DELAY_3);
Davidroid 0:5148e9486cf2 363
Davidroid 1:9f1974b0960d 364 /* Preparing each motor to perform a run at a specified speed. */
Davidroid 22:e81ccf73bc5d 365 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
davide.aliprandi@st.com 24:d1f487cb02ba 366 motors[m]->prepare_get_speed();
Davidroid 22:e81ccf73bc5d 367 }
Davidroid 0:5148e9486cf2 368
Davidroid 1:9f1974b0960d 369 /* Performing the action on each motor at the same time. */
davide.aliprandi@st.com 24:d1f487cb02ba 370 results = x_nucleo_ihm02a1->perform_prepared_actions();
Davidroid 0:5148e9486cf2 371
Davidroid 1:9f1974b0960d 372 /* Printing to the console. */
Davidroid 1:9f1974b0960d 373 printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
Davidroid 1:9f1974b0960d 374
Davidroid 1:9f1974b0960d 375 /* Waiting. */
Davidroid 1:9f1974b0960d 376 wait_ms(DELAY_1);
Davidroid 0:5148e9486cf2 377
Davidroid 0:5148e9486cf2 378
Davidroid 1:9f1974b0960d 379 /*----- Hard Stop. -----*/
Davidroid 0:5148e9486cf2 380
Davidroid 1:9f1974b0960d 381 /* Printing to the console. */
Davidroid 1:9f1974b0960d 382 printf("--> Hard Stop.\r\n");
Davidroid 0:5148e9486cf2 383
Davidroid 1:9f1974b0960d 384 /* Preparing each motor to perform a hard stop. */
Davidroid 22:e81ccf73bc5d 385 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
davide.aliprandi@st.com 24:d1f487cb02ba 386 motors[m]->prepare_hard_stop();
Davidroid 22:e81ccf73bc5d 387 }
Davidroid 0:5148e9486cf2 388
Davidroid 1:9f1974b0960d 389 /* Performing the action on each motor at the same time. */
davide.aliprandi@st.com 24:d1f487cb02ba 390 x_nucleo_ihm02a1->perform_prepared_actions();
Davidroid 0:5148e9486cf2 391
Davidroid 1:9f1974b0960d 392 /* Waiting. */
Davidroid 1:9f1974b0960d 393 wait_ms(DELAY_2);
Davidroid 0:5148e9486cf2 394
Davidroid 0:5148e9486cf2 395
Davidroid 1:9f1974b0960d 396 /*----- Doing a full revolution on each motor, one after the other. -----*/
Davidroid 1:9f1974b0960d 397
Davidroid 1:9f1974b0960d 398 /* Printing to the console. */
Davidroid 1:9f1974b0960d 399 printf("--> Doing a full revolution on each motor, one after the other.\r\n");
Davidroid 1:9f1974b0960d 400
Davidroid 1:9f1974b0960d 401 /* Doing a full revolution on each motor, one after the other. */
Davidroid 22:e81ccf73bc5d 402 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
Davidroid 22:e81ccf73bc5d 403 for (int i = 0; i < MPR_1; i++) {
Davidroid 1:9f1974b0960d 404 /* Computing the number of steps. */
Davidroid 9:f35fbeedb8f4 405 int steps = (int) (((int) init[m].fullstepsperrevolution * pow(2.0f, init[m].step_sel)) / MPR_1);
Davidroid 1:9f1974b0960d 406
Davidroid 1:9f1974b0960d 407 /* Moving. */
davide.aliprandi@st.com 24:d1f487cb02ba 408 motors[m]->move(StepperMotor::FWD, steps);
Davidroid 1:9f1974b0960d 409
Davidroid 1:9f1974b0960d 410 /* Waiting while active. */
davide.aliprandi@st.com 24:d1f487cb02ba 411 motors[m]->wait_while_active();
Davidroid 1:9f1974b0960d 412
Davidroid 1:9f1974b0960d 413 /* Waiting. */
Davidroid 1:9f1974b0960d 414 wait_ms(DELAY_1);
Davidroid 1:9f1974b0960d 415 }
Davidroid 22:e81ccf73bc5d 416 }
Davidroid 1:9f1974b0960d 417
Davidroid 1:9f1974b0960d 418 /* Waiting. */
Davidroid 1:9f1974b0960d 419 wait_ms(DELAY_2);
Davidroid 1:9f1974b0960d 420
Davidroid 1:9f1974b0960d 421
Davidroid 1:9f1974b0960d 422 /*----- High Impedance State. -----*/
Davidroid 1:9f1974b0960d 423
Davidroid 1:9f1974b0960d 424 /* Printing to the console. */
Davidroid 1:9f1974b0960d 425 printf("--> High Impedance State.\r\n");
Davidroid 1:9f1974b0960d 426
Davidroid 1:9f1974b0960d 427 /* Preparing each motor to set High Impedance State. */
Davidroid 22:e81ccf73bc5d 428 for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
davide.aliprandi@st.com 24:d1f487cb02ba 429 motors[m]->prepare_hard_hiz();
Davidroid 22:e81ccf73bc5d 430 }
Davidroid 1:9f1974b0960d 431
Davidroid 1:9f1974b0960d 432 /* Performing the action on each motor at the same time. */
davide.aliprandi@st.com 24:d1f487cb02ba 433 x_nucleo_ihm02a1->perform_prepared_actions();
Davidroid 1:9f1974b0960d 434
Davidroid 1:9f1974b0960d 435 /* Waiting. */
Davidroid 1:9f1974b0960d 436 wait_ms(DELAY_2);
Davidroid 22:e81ccf73bc5d 437 }