Diff: main.cpp

Revision:

0:dcc35ef6effc

Child:

1:4d9b9123d9e1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue May 03 11:46:15 2016 +0000
@@ -0,0 +1,260 @@
+/**
+  ******************************************************************************
+  * @file    Multi/Examples/MotionControl/IHM04A1_ExampleFor4UniDirMotors/Src/main.c 
+  * @author  IPC Rennes
+  * @version V1.0.0
+  * @date    January 06, 2015
+  * @brief   This example shows how to use 1 IHM04A1 expansion board with 
+  * 4 unidirectionnal Brush DC motors.
+  * Each motor has one lead connected to one of the bridge output, 
+  * the other lead to the ground. The input bridges are not parallelised.
+  * The demo sequence starts when the user button is pressed.
+  * Each time, the user button is pressed, the demo step is changed
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; 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"
+
+/* Component specific header files. */
+#include "l6206_class.h"
+
+
+
+/* Definitions ---------------------------------------------------------------*/
+
+
+#define MAX_MOTOR (4)
+
+
+
+/* Variables -----------------------------------------------------------------*/
+
+static volatile uint16_t gLastError;
+static volatile uint8_t gStep = 0;
+
+
+
+/* Variables -----------------------------------------------------------------*/
+
+/* Initialization parameters. */
+L6206_Init_t init =
+{
+    L6206_CONF_PARAM_PARALLE_BRIDGES,
+    {L6206_CONF_PARAM_FREQ_PWM1A, L6206_CONF_PARAM_FREQ_PWM2A, L6206_CONF_PARAM_FREQ_PWM1B, L6206_CONF_PARAM_FREQ_PWM2B},
+    {100,100,100,100},
+    {FORWARD,FORWARD,BACKWARD,FORWARD},
+    {INACTIVE,INACTIVE,INACTIVE,INACTIVE},
+    {FALSE,FALSE}
+};
+
+/* Motor Control Component. */
+L6206 *motor;
+
+/* User button on Nucleo board */
+InterruptIn mybutton_irq(USER_BUTTON);
+
+
+
+/* Functions -----------------------------------------------------------------*/
+
+/**
+  * @brief  This function is executed in case of error occurrence.
+  * @param  error number of the error
+  * @retval None
+  */
+void Error_Handler(uint16_t error)
+{
+  /* Backup error number */
+  gLastError = error;
+  
+  /* Enter your own code here */
+}
+
+/**
+* @brief  This function is the User handler for the flag interrupt
+* @param  None
+* @retval None
+* @note   If needed, implement it, and then attach and enable it:
+*           + motor->AttachFlagInterrupt(MyFlagInterruptHandler);
+*/
+void MyFlagInterruptHandler(void)
+{
+  /* Code to be customised */
+  /************************/
+  /* Get the state of bridge A */
+  uint16_t bridgeState  = motor->CmdGetStatus(0);
+  
+  if (bridgeState == 0) 
+  {
+    if ((motor->GetDeviceState(0) != INACTIVE)||
+        (motor->GetDeviceState(1) != INACTIVE))
+    {
+      /* Bridge A was disabling due to overcurrent or over temperature */
+      /* When at least on of its  motor was running */
+        Error_Handler(0XBAD0);
+    }
+  }
+  
+  /* Get the state of bridge B */
+  bridgeState  = motor->CmdGetStatus(1);
+  
+  if (bridgeState == 0) 
+  {
+    if ((motor->GetDeviceState(2) != INACTIVE)||
+        (motor->GetDeviceState(3) != INACTIVE))
+    {
+      /* Bridge A was disabling due to overcurrent or over temperature */
+      /* When at least on of its  motor was running */
+        Error_Handler(0XBAD1);
+    }
+  }  
+ }
+
+
+/* Private functions ---------------------------------------------------------*/
+
+/**
+  * @brief  Button Irq
+  * @param  None
+  * @retval None
+  */
+
+void button_pressed(void)
+{
+    mybutton_irq.disable_irq();
+    gStep++;
+    if (gStep > MAX_MOTOR)
+    {
+        gStep = 0;
+    }
+    wait_ms(200);
+    mybutton_irq.enable_irq();
+
+}
+
+
+/**
+  * @brief  Main program
+  * @param  None
+  * @retval None
+  */
+int main(void)
+{
+    /*----- Initialization. -----*/
+
+    /* Initializing Motor Control Component. */
+    motor = new L6206( D2, A4, D5, D4, A0, A1);
+
+    /* When Init method is called with NULL pointer, the L6206 parameters are set   */
+    /* with the predefined values from file l6206_target_config.h, otherwise the    */
+    /* parameters are set using the initDeviceParameters structure values.          */
+    if (motor->Init(&init) != COMPONENT_OK)
+        exit(EXIT_FAILURE);
+
+    /* Attach the function MyFlagInterruptHandler (defined below) to the flag interrupt */
+    motor->AttachFlagInterrupt(MyFlagInterruptHandler);
+
+    /* Attach the function Error_Handler (defined below) to the error Handler*/
+    motor->AttachErrorHandler(Error_Handler);
+
+    /* Printing to the console. */
+    printf("Motor Control Application Example for 1 Motor\r\n\n");
+
+
+    /* Select the configuration with no bridge paralleling, two unidirectionnal motors on bridge A 
+       and two unidirectionnal motors on bridge B */
+    motor->SetDualFullBridgeConfig(PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B);
+ 
+    /* Set PWM Frequency of bridge A inputs to 10000 Hz */ 
+    motor->SetBridgeInputPwmFreq(0,1000);
+  
+    /* Set PWM Frequency of bridge B inputs to 25000 Hz */ 
+    motor->SetBridgeInputPwmFreq(1,2000);
+  
+    // Attach button_pressed function to Irq
+    mybutton_irq.fall(&button_pressed);
+
+    /* Infinite loop */
+    while(1)
+    {
+
+        if (gStep > 0)
+        {
+            /* Set speed of motor 0 to 20 % */
+            motor->SetMaxSpeed(0,20);
+            /* start motor 0 */
+            motor->Run(0, FORWARD);
+        }
+
+        if (gStep > 1)
+        {
+            /* Set speed of motor 1 to 30 % */
+            motor->SetMaxSpeed(1,30);
+            /* start motor 1 */
+            motor->Run(1, FORWARD);
+        }
+
+        if (gStep > 2)
+        {
+            /* Set speed of motor 2 to 40 % */
+            motor->SetMaxSpeed(2,40);
+            /* start motor 2 */
+            motor->Run(2, FORWARD);
+        }
+
+        if (gStep > 3)
+        {
+            /* Set speed of motor 3 to 50 % */
+            motor->SetMaxSpeed(3,50);
+            /* start motor 3 */
+            motor->Run(3, FORWARD);      
+        }
+
+        if (gStep > 0)
+        {
+            wait_ms(1000);
+        
+            motor->CmdHardHiZ(0);   
+            motor->CmdHardHiZ(1);   
+            motor->CmdHardHiZ(2);   
+            motor->CmdHardHiZ(3);
+            
+            wait_ms(1000);
+        }
+    }
+}
+
+
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+