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Simple test application for the STMicroelectronics X-NUCLEO-IHM01A1 Stepper Motor Control Expansion Board.
Dependencies: X_NUCLEO_IHM01A1 mbed
Fork of HelloWorld_IHM01A1 by
Motor Control with the X-NUCLEO-IHM01A1 Expansion Board
This application provides a simple example of usage of the X-NUCLEO-IHM01A1 Stepper Motor Control Expansion Board.
It shows how to use one stepper motor connected to the board, moving the rotor to a specific position, with a given speed value, direction of rotation, etc.
main.cpp@7:1d8a73b24eba, 2015-11-26 (annotated)
- Committer:
- Davidroid
- Date:
- Thu Nov 26 16:03:39 2015 +0000
- Revision:
- 7:1d8a73b24eba
- Parent:
- 6:32166bfc04b0
- Child:
- 8:146aac014c84
+ Updated with the new version of the X_NUCLEO_IHM01A1 library.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Davidroid | 0:e6a49a092e2a | 1 | /** |
Davidroid | 0:e6a49a092e2a | 2 | ****************************************************************************** |
Davidroid | 0:e6a49a092e2a | 3 | * @file main.cpp |
Davidroid | 7:1d8a73b24eba | 4 | * @author Davide Aliprandi, STMicrolectronics |
Davidroid | 0:e6a49a092e2a | 5 | * @version V1.0.0 |
Davidroid | 0:e6a49a092e2a | 6 | * @date October 14th, 2015 |
Davidroid | 0:e6a49a092e2a | 7 | * @brief mbed test application for the STMicrolectronics X-NUCLEO-IHM01A1 |
Davidroid | 0:e6a49a092e2a | 8 | * Motor Control Expansion Board: control of 1 motor. |
Davidroid | 0:e6a49a092e2a | 9 | ****************************************************************************** |
Davidroid | 0:e6a49a092e2a | 10 | * @attention |
Davidroid | 0:e6a49a092e2a | 11 | * |
Davidroid | 0:e6a49a092e2a | 12 | * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2> |
Davidroid | 0:e6a49a092e2a | 13 | * |
Davidroid | 0:e6a49a092e2a | 14 | * Redistribution and use in source and binary forms, with or without modification, |
Davidroid | 0:e6a49a092e2a | 15 | * are permitted provided that the following conditions are met: |
Davidroid | 0:e6a49a092e2a | 16 | * 1. Redistributions of source code must retain the above copyright notice, |
Davidroid | 0:e6a49a092e2a | 17 | * this list of conditions and the following disclaimer. |
Davidroid | 0:e6a49a092e2a | 18 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
Davidroid | 0:e6a49a092e2a | 19 | * this list of conditions and the following disclaimer in the documentation |
Davidroid | 0:e6a49a092e2a | 20 | * and/or other materials provided with the distribution. |
Davidroid | 0:e6a49a092e2a | 21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
Davidroid | 0:e6a49a092e2a | 22 | * may be used to endorse or promote products derived from this software |
Davidroid | 0:e6a49a092e2a | 23 | * without specific prior written permission. |
Davidroid | 0:e6a49a092e2a | 24 | * |
Davidroid | 0:e6a49a092e2a | 25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
Davidroid | 0:e6a49a092e2a | 26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
Davidroid | 0:e6a49a092e2a | 27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
Davidroid | 0:e6a49a092e2a | 28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
Davidroid | 0:e6a49a092e2a | 29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
Davidroid | 0:e6a49a092e2a | 30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
Davidroid | 0:e6a49a092e2a | 31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
Davidroid | 0:e6a49a092e2a | 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
Davidroid | 0:e6a49a092e2a | 33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
Davidroid | 0:e6a49a092e2a | 34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
Davidroid | 0:e6a49a092e2a | 35 | * |
Davidroid | 0:e6a49a092e2a | 36 | ****************************************************************************** |
Davidroid | 0:e6a49a092e2a | 37 | */ |
Davidroid | 0:e6a49a092e2a | 38 | |
Davidroid | 0:e6a49a092e2a | 39 | |
Davidroid | 0:e6a49a092e2a | 40 | /* Includes ------------------------------------------------------------------*/ |
Davidroid | 0:e6a49a092e2a | 41 | |
Davidroid | 0:e6a49a092e2a | 42 | /* mbed specific header files. */ |
Davidroid | 0:e6a49a092e2a | 43 | #include "mbed.h" |
Davidroid | 0:e6a49a092e2a | 44 | |
Davidroid | 0:e6a49a092e2a | 45 | /* Helper header files. */ |
Davidroid | 0:e6a49a092e2a | 46 | #include "DevSPI.h" |
Davidroid | 0:e6a49a092e2a | 47 | |
Davidroid | 0:e6a49a092e2a | 48 | /* Component specific header files. */ |
Davidroid | 0:e6a49a092e2a | 49 | #include "l6474_class.h" |
Davidroid | 0:e6a49a092e2a | 50 | |
Davidroid | 0:e6a49a092e2a | 51 | |
Davidroid | 0:e6a49a092e2a | 52 | /* Definitions ---------------------------------------------------------------*/ |
Davidroid | 0:e6a49a092e2a | 53 | |
Davidroid | 0:e6a49a092e2a | 54 | /* Number of steps corresponding to one round angle of the motor. */ |
Davidroid | 3:fffa53c7aed2 | 55 | #define ROUND_ANGLE_STEPS 3200 |
Davidroid | 0:e6a49a092e2a | 56 | |
Davidroid | 0:e6a49a092e2a | 57 | |
Davidroid | 0:e6a49a092e2a | 58 | /* Variables -----------------------------------------------------------------*/ |
Davidroid | 0:e6a49a092e2a | 59 | |
Davidroid | 0:e6a49a092e2a | 60 | /* Motor Control Component. */ |
Davidroid | 1:fbf28f3367aa | 61 | L6474 *motor; |
Davidroid | 0:e6a49a092e2a | 62 | |
Davidroid | 0:e6a49a092e2a | 63 | |
Davidroid | 0:e6a49a092e2a | 64 | /* Main ----------------------------------------------------------------------*/ |
Davidroid | 0:e6a49a092e2a | 65 | |
Davidroid | 0:e6a49a092e2a | 66 | int main() |
Davidroid | 0:e6a49a092e2a | 67 | { |
Davidroid | 6:32166bfc04b0 | 68 | /*----- Initialization. -----*/ |
Davidroid | 6:32166bfc04b0 | 69 | |
Davidroid | 6:32166bfc04b0 | 70 | |
Davidroid | 0:e6a49a092e2a | 71 | /* Initializing SPI bus. */ |
Davidroid | 0:e6a49a092e2a | 72 | DevSPI dev_spi(D11, D12, D13); |
Davidroid | 0:e6a49a092e2a | 73 | |
Davidroid | 0:e6a49a092e2a | 74 | /* Initializing Motor Control Component. */ |
Davidroid | 5:8065b587ade0 | 75 | motor = new L6474(D2, D8, D7, D9, D10, dev_spi); |
Davidroid | 1:fbf28f3367aa | 76 | if (motor->Init(NULL) != COMPONENT_OK) |
Davidroid | 0:e6a49a092e2a | 77 | return false; |
Davidroid | 0:e6a49a092e2a | 78 | |
Davidroid | 0:e6a49a092e2a | 79 | /* Printing to the console. */ |
Davidroid | 0:e6a49a092e2a | 80 | printf("Motor Control Application Example for 1 Motor\r\n\n"); |
Davidroid | 0:e6a49a092e2a | 81 | |
Davidroid | 6:32166bfc04b0 | 82 | |
Davidroid | 6:32166bfc04b0 | 83 | /*----- Moving. -----*/ |
Davidroid | 6:32166bfc04b0 | 84 | |
Davidroid | 6:32166bfc04b0 | 85 | /* Printing to the console. */ |
Davidroid | 6:32166bfc04b0 | 86 | printf("--> Moving forward %d steps.\r\n", ROUND_ANGLE_STEPS); |
Davidroid | 6:32166bfc04b0 | 87 | |
Davidroid | 6:32166bfc04b0 | 88 | /* Moving N steps in the forward direction. */ |
Davidroid | 6:32166bfc04b0 | 89 | motor->Move(StepperMotor::FWD, ROUND_ANGLE_STEPS); |
Davidroid | 6:32166bfc04b0 | 90 | |
Davidroid | 6:32166bfc04b0 | 91 | /* Waiting while the motor is active. */ |
Davidroid | 6:32166bfc04b0 | 92 | motor->WaitWhileActive(); |
Davidroid | 6:32166bfc04b0 | 93 | |
Davidroid | 6:32166bfc04b0 | 94 | /* Getting current position. */ |
Davidroid | 6:32166bfc04b0 | 95 | int position = motor->GetPosition(); |
Davidroid | 6:32166bfc04b0 | 96 | |
Davidroid | 6:32166bfc04b0 | 97 | /* Printing to the console. */ |
Davidroid | 6:32166bfc04b0 | 98 | printf(" Position: %d.\r\n", position); |
Davidroid | 6:32166bfc04b0 | 99 | |
Davidroid | 6:32166bfc04b0 | 100 | /* Waiting 2 seconds. */ |
Davidroid | 6:32166bfc04b0 | 101 | wait_ms(2000); |
Davidroid | 6:32166bfc04b0 | 102 | |
Davidroid | 6:32166bfc04b0 | 103 | |
Davidroid | 6:32166bfc04b0 | 104 | /*----- Moving. -----*/ |
Davidroid | 6:32166bfc04b0 | 105 | |
Davidroid | 6:32166bfc04b0 | 106 | /* Printing to the console. */ |
Davidroid | 6:32166bfc04b0 | 107 | printf("--> Moving backward %d steps.\r\n", ROUND_ANGLE_STEPS >> 1); |
Davidroid | 6:32166bfc04b0 | 108 | |
Davidroid | 6:32166bfc04b0 | 109 | /* Moving N steps in the backward direction. */ |
Davidroid | 6:32166bfc04b0 | 110 | motor->Move(StepperMotor::BWD, ROUND_ANGLE_STEPS >> 1); |
Davidroid | 6:32166bfc04b0 | 111 | |
Davidroid | 6:32166bfc04b0 | 112 | /* Waiting while the motor is active. */ |
Davidroid | 6:32166bfc04b0 | 113 | motor->WaitWhileActive(); |
Davidroid | 6:32166bfc04b0 | 114 | |
Davidroid | 6:32166bfc04b0 | 115 | /* Getting current position. */ |
Davidroid | 6:32166bfc04b0 | 116 | position = motor->GetPosition(); |
Davidroid | 6:32166bfc04b0 | 117 | |
Davidroid | 6:32166bfc04b0 | 118 | /* Printing to the console. */ |
Davidroid | 6:32166bfc04b0 | 119 | printf(" Position: %d.\r\n", position); |
Davidroid | 6:32166bfc04b0 | 120 | printf("--> Setting Home.\r\n"); |
Davidroid | 6:32166bfc04b0 | 121 | |
Davidroid | 6:32166bfc04b0 | 122 | /* Setting the current position to be the home position. */ |
Davidroid | 6:32166bfc04b0 | 123 | motor->SetHome(); |
Davidroid | 6:32166bfc04b0 | 124 | |
Davidroid | 6:32166bfc04b0 | 125 | /* Waiting 2 seconds. */ |
Davidroid | 6:32166bfc04b0 | 126 | wait_ms(2000); |
Davidroid | 6:32166bfc04b0 | 127 | |
Davidroid | 6:32166bfc04b0 | 128 | |
Davidroid | 6:32166bfc04b0 | 129 | /*----- Going to a specified position. -----*/ |
Davidroid | 6:32166bfc04b0 | 130 | |
Davidroid | 6:32166bfc04b0 | 131 | /* Printing to the console. */ |
Davidroid | 6:32166bfc04b0 | 132 | printf("--> Going to position %d.\r\n", ROUND_ANGLE_STEPS >> 1); |
Davidroid | 6:32166bfc04b0 | 133 | |
Davidroid | 6:32166bfc04b0 | 134 | /* Requesting to go to a specified position. */ |
Davidroid | 6:32166bfc04b0 | 135 | motor->GoTo(ROUND_ANGLE_STEPS >> 1); |
Davidroid | 6:32166bfc04b0 | 136 | |
Davidroid | 6:32166bfc04b0 | 137 | /* Waiting while the motor is active. */ |
Davidroid | 6:32166bfc04b0 | 138 | motor->WaitWhileActive(); |
Davidroid | 6:32166bfc04b0 | 139 | |
Davidroid | 6:32166bfc04b0 | 140 | /* Getting current position. */ |
Davidroid | 6:32166bfc04b0 | 141 | position = motor->GetPosition(); |
Davidroid | 6:32166bfc04b0 | 142 | |
Davidroid | 6:32166bfc04b0 | 143 | /* Printing to the console. */ |
Davidroid | 6:32166bfc04b0 | 144 | printf(" Position: %d.\r\n", position); |
Davidroid | 6:32166bfc04b0 | 145 | |
Davidroid | 6:32166bfc04b0 | 146 | /* Waiting 2 seconds. */ |
Davidroid | 6:32166bfc04b0 | 147 | wait_ms(2000); |
Davidroid | 6:32166bfc04b0 | 148 | |
Davidroid | 6:32166bfc04b0 | 149 | |
Davidroid | 6:32166bfc04b0 | 150 | /*----- Going Home. -----*/ |
Davidroid | 6:32166bfc04b0 | 151 | |
Davidroid | 6:32166bfc04b0 | 152 | /* Printing to the console. */ |
Davidroid | 6:32166bfc04b0 | 153 | printf("--> Going Home.\r\n"); |
Davidroid | 6:32166bfc04b0 | 154 | |
Davidroid | 6:32166bfc04b0 | 155 | /* Requesting to go to home. */ |
Davidroid | 6:32166bfc04b0 | 156 | motor->GoHome(); |
Davidroid | 6:32166bfc04b0 | 157 | |
Davidroid | 6:32166bfc04b0 | 158 | /* Waiting while the motor is active. */ |
Davidroid | 6:32166bfc04b0 | 159 | motor->WaitWhileActive(); |
Davidroid | 6:32166bfc04b0 | 160 | |
Davidroid | 6:32166bfc04b0 | 161 | /* Getting current position. */ |
Davidroid | 6:32166bfc04b0 | 162 | position = motor->GetPosition(); |
Davidroid | 6:32166bfc04b0 | 163 | |
Davidroid | 6:32166bfc04b0 | 164 | /* Printing to the console. */ |
Davidroid | 6:32166bfc04b0 | 165 | printf(" Position: %d.\r\n", position); |
Davidroid | 0:e6a49a092e2a | 166 | |
Davidroid | 6:32166bfc04b0 | 167 | /* Waiting 2 seconds. */ |
Davidroid | 6:32166bfc04b0 | 168 | wait_ms(2000); |
Davidroid | 6:32166bfc04b0 | 169 | |
Davidroid | 6:32166bfc04b0 | 170 | |
Davidroid | 6:32166bfc04b0 | 171 | /*----- Running. -----*/ |
Davidroid | 6:32166bfc04b0 | 172 | |
Davidroid | 6:32166bfc04b0 | 173 | /* Printing to the console. */ |
Davidroid | 6:32166bfc04b0 | 174 | printf("--> Running backward.\r\n"); |
Davidroid | 6:32166bfc04b0 | 175 | |
Davidroid | 6:32166bfc04b0 | 176 | /* Requesting to run backward. */ |
Davidroid | 6:32166bfc04b0 | 177 | motor->Run(StepperMotor::BWD); |
Davidroid | 6:32166bfc04b0 | 178 | |
Davidroid | 6:32166bfc04b0 | 179 | /* Waiting until delay has expired. */ |
Davidroid | 6:32166bfc04b0 | 180 | wait_ms(6000); |
Davidroid | 6:32166bfc04b0 | 181 | |
Davidroid | 6:32166bfc04b0 | 182 | /* Getting current speed. */ |
Davidroid | 6:32166bfc04b0 | 183 | int speed = motor->GetSpeed(); |
Davidroid | 6:32166bfc04b0 | 184 | |
Davidroid | 6:32166bfc04b0 | 185 | /* Printing to the console. */ |
Davidroid | 6:32166bfc04b0 | 186 | printf(" Speed: %d.\r\n", speed); |
Davidroid | 6:32166bfc04b0 | 187 | |
Davidroid | 6:32166bfc04b0 | 188 | /*----- Increasing the speed while running. -----*/ |
Davidroid | 6:32166bfc04b0 | 189 | |
Davidroid | 6:32166bfc04b0 | 190 | /* Printing to the console. */ |
Davidroid | 6:32166bfc04b0 | 191 | printf("--> Increasing the speed while running.\r\n"); |
Davidroid | 6:32166bfc04b0 | 192 | |
Davidroid | 6:32166bfc04b0 | 193 | /* Increasing speed to 2400 step/s. */ |
Davidroid | 6:32166bfc04b0 | 194 | motor->SetMaxSpeed(2400); |
Davidroid | 6:32166bfc04b0 | 195 | |
Davidroid | 6:32166bfc04b0 | 196 | /* Waiting until delay has expired. */ |
Davidroid | 6:32166bfc04b0 | 197 | wait_ms(6000); |
Davidroid | 6:32166bfc04b0 | 198 | |
Davidroid | 6:32166bfc04b0 | 199 | /* Getting current speed. */ |
Davidroid | 6:32166bfc04b0 | 200 | speed = motor->GetSpeed(); |
Davidroid | 6:32166bfc04b0 | 201 | |
Davidroid | 6:32166bfc04b0 | 202 | /* Printing to the console. */ |
Davidroid | 6:32166bfc04b0 | 203 | printf(" Speed: %d.\r\n", speed); |
Davidroid | 6:32166bfc04b0 | 204 | |
Davidroid | 6:32166bfc04b0 | 205 | |
Davidroid | 6:32166bfc04b0 | 206 | /*----- Decreasing the speed while running. -----*/ |
Davidroid | 0:e6a49a092e2a | 207 | |
Davidroid | 6:32166bfc04b0 | 208 | /* Printing to the console. */ |
Davidroid | 6:32166bfc04b0 | 209 | printf("--> Decreasing the speed while running.\r\n"); |
Davidroid | 6:32166bfc04b0 | 210 | |
Davidroid | 6:32166bfc04b0 | 211 | /* Decreasing speed to 1200 step/s. */ |
Davidroid | 6:32166bfc04b0 | 212 | motor->SetMaxSpeed(1200); |
Davidroid | 6:32166bfc04b0 | 213 | |
Davidroid | 6:32166bfc04b0 | 214 | /* Waiting until delay has expired. */ |
Davidroid | 6:32166bfc04b0 | 215 | wait_ms(8000); |
Davidroid | 6:32166bfc04b0 | 216 | |
Davidroid | 6:32166bfc04b0 | 217 | /* Getting current speed. */ |
Davidroid | 6:32166bfc04b0 | 218 | speed = motor->GetSpeed(); |
Davidroid | 6:32166bfc04b0 | 219 | |
Davidroid | 6:32166bfc04b0 | 220 | /* Printing to the console. */ |
Davidroid | 6:32166bfc04b0 | 221 | printf(" Speed: %d.\r\n", speed); |
Davidroid | 6:32166bfc04b0 | 222 | |
Davidroid | 6:32166bfc04b0 | 223 | |
Davidroid | 6:32166bfc04b0 | 224 | /*----- Requiring hard-stop while running. -----*/ |
Davidroid | 6:32166bfc04b0 | 225 | |
Davidroid | 6:32166bfc04b0 | 226 | /* Printing to the console. */ |
Davidroid | 6:32166bfc04b0 | 227 | printf("--> Requiring hard-stop while running.\r\n"); |
Davidroid | 6:32166bfc04b0 | 228 | |
Davidroid | 6:32166bfc04b0 | 229 | /* Requesting to immediatly stop. */ |
Davidroid | 6:32166bfc04b0 | 230 | motor->HardStop(); |
Davidroid | 6:32166bfc04b0 | 231 | |
Davidroid | 6:32166bfc04b0 | 232 | /* Waiting while the motor is active. */ |
Davidroid | 6:32166bfc04b0 | 233 | motor->WaitWhileActive(); |
Davidroid | 6:32166bfc04b0 | 234 | |
Davidroid | 6:32166bfc04b0 | 235 | /* Waiting 2 seconds. */ |
Davidroid | 6:32166bfc04b0 | 236 | wait_ms(2000); |
Davidroid | 6:32166bfc04b0 | 237 | |
Davidroid | 6:32166bfc04b0 | 238 | |
Davidroid | 6:32166bfc04b0 | 239 | /*----- Infinite Loop. -----*/ |
Davidroid | 6:32166bfc04b0 | 240 | |
Davidroid | 6:32166bfc04b0 | 241 | /* Printing to the console. */ |
Davidroid | 6:32166bfc04b0 | 242 | printf("--> Infinite Loop...\r\n"); |
Davidroid | 6:32166bfc04b0 | 243 | |
Davidroid | 6:32166bfc04b0 | 244 | /* Setting the current position to be the home position. */ |
Davidroid | 6:32166bfc04b0 | 245 | motor->SetHome(); |
Davidroid | 6:32166bfc04b0 | 246 | |
Davidroid | 6:32166bfc04b0 | 247 | /* Infinite Loop. */ |
Davidroid | 6:32166bfc04b0 | 248 | while (1) |
Davidroid | 6:32166bfc04b0 | 249 | { |
Davidroid | 6:32166bfc04b0 | 250 | /* Requesting to go to a specified position. */ |
Davidroid | 6:32166bfc04b0 | 251 | motor->GoTo(ROUND_ANGLE_STEPS >> 1); |
Davidroid | 3:fffa53c7aed2 | 252 | |
Davidroid | 0:e6a49a092e2a | 253 | /* Waiting while the motor is active. */ |
Davidroid | 1:fbf28f3367aa | 254 | motor->WaitWhileActive(); |
Davidroid | 0:e6a49a092e2a | 255 | |
Davidroid | 0:e6a49a092e2a | 256 | /* Requesting to go to a specified position. */ |
Davidroid | 6:32166bfc04b0 | 257 | motor->GoTo(- (ROUND_ANGLE_STEPS >> 1)); |
Davidroid | 0:e6a49a092e2a | 258 | |
Davidroid | 0:e6a49a092e2a | 259 | /* Waiting while the motor is active. */ |
Davidroid | 1:fbf28f3367aa | 260 | motor->WaitWhileActive(); |
Davidroid | 0:e6a49a092e2a | 261 | } |
Davidroid | 0:e6a49a092e2a | 262 | } |