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/**
******************************************************************************
* @file Multi/Examples/MotionControl/IHM13A1_ExampleFor1BiDirMotor/Src/main.c
* @author IPC Rennes
* @version V1.3.0
* @date March 16th, 2018
* @brief This example shows how to use one X-NUCLEO-IHM13A1 expansion board with
* 1 bidirectionnal Brush DC motor.
* 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>© COPYRIGHT(c) 2018 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 ------------------------------------------------------------------*/
#include "main.h"
/** @defgroup IHM13A1_Example_for_1_Bidirectionnal_motor
* @{
*/
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
#define MAX_STEPS (11)
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
static volatile uint16_t gLastError;
static volatile bool gButtonPressed = FALSE;
static volatile uint8_t gStep = MAX_STEPS;
Stspin240_250_Init_t gStspin240_250InitParams =
{
{20000}, // Frequency of PWM of Input Bridge in Hz up to 100000Hz
20000, // Frequency of PWM used for Ref pin in Hz up to 100000Hz
50, //Duty cycle of PWM used for Ref pin (from 0 to 100)
0 // Dual Bridge configuration ( always FALSE for STSPIN250)
};
/* Private function prototypes -----------------------------------------------*/
static void MyFlagInterruptHandler(void);
void ButtonHandler(void);
/* Private functions ---------------------------------------------------------*/
/**
* @brief Main program
* @param None
* @retval None
*/
int main(void)
{
/* STM32xx HAL library initialization */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Configure KEY Button */
BSP_PB_Init(BUTTON_KEY, BUTTON_MODE_EXTI);
/* Set Systick Interrupt to the highest priority to have HAL_Delay working*/
/* under the user button handler */
HAL_NVIC_SetPriority(SysTick_IRQn, 0x0, 0x0);
//----- Init of the Motor control library
/* Set the Stspin240_250 library to use 1 device */
BSP_MotorControl_SetNbDevices(BSP_MOTOR_CONTROL_BOARD_ID_STSPIN250, 1);
/* When BSP_MotorControl_Init is called with NULL pointer, */
/* the Stspin240_250 library parameters are set with the predefined values from file */
/* stspin240_250_target_config.h, otherwise the registers are set using the */
/* Stspin240_250_Init_t pointer structure */
/* Uncomment the call to BSP_MotorControl_Init below to initialize the */
/* device with the structure gStspin240_250InitParams declared in the the main.c file */
/* and comment the subsequent call having the NULL pointer */
BSP_MotorControl_Init(BSP_MOTOR_CONTROL_BOARD_ID_STSPIN250, &gStspin240_250InitParams);
//BSP_MotorControl_Init(BSP_MOTOR_CONTROL_BOARD_ID_STSPIN250, NULL);
/* Disable Dual bridge configuration as it is not supported by STSPIN250*/
BSP_MotorControl_SetDualFullBridgeConfig(0);
/* Attach the function MyFlagInterruptHandler (defined below) to the flag interrupt */
BSP_MotorControl_AttachFlagInterrupt(MyFlagInterruptHandler);
/* Attach the function Error_Handler (defined below) to the error Handler*/
BSP_MotorControl_AttachErrorHandler(Error_Handler);
/* Set PWM Frequency of Ref to 15000 Hz */
BSP_MotorControl_SetRefFreq(0,15000);
/* Set PWM duty cycle of Ref to 60% */
BSP_MotorControl_SetRefDc(0,60);
/* Set PWM Frequency of bridge A inputs to 10000 Hz */
BSP_MotorControl_SetBridgeInputPwmFreq(0,10000);
/* Infinite loop */
while(1)
{
/* Each time the user button is pressed, the step is increased by 1 */
if (gButtonPressed)
{
gButtonPressed = FALSE;
gStep++;
if (gStep > MAX_STEPS)
{
gStep = 0;
}
switch (gStep)
{
case 0:
/*********** Step 0 ************/
/* Set speed of motor 0 to 100 % */
BSP_MotorControl_SetMaxSpeed(0,100);
/* start motor 0 to run forward*/
/* if chip is in standby mode */
/* it is automatically awakened */
BSP_MotorControl_Run(0, FORWARD);
break;
case 1:
/*********** Step 1 ************/
/* Set speed of motor 0 to 75 % */
BSP_MotorControl_SetMaxSpeed(0,75);
break;
case 2:
/*********** Step 2 ************/
/* Set speed of motor 0 to 50 % */
BSP_MotorControl_SetMaxSpeed(0,50);
break;
case 3:
/*********** Step 3 ************/
/* Set speed of motor 0 to 25 % */
BSP_MotorControl_SetMaxSpeed(0,25);
break;
case 4:
/*********** Step 4 ************/
/* Stop Motor 0 */
BSP_MotorControl_HardStop(0);
break;
case 5:
/*********** Step 5 ************/
/* Set speed of motor 0 to 25 % */
BSP_MotorControl_SetMaxSpeed(0,25);
/* start motor 0 to run backward */
BSP_MotorControl_Run(0, BACKWARD);
break;
case 6:
/*********** Step 6 ************/
/* Set speed of motor 0 to 50 % */
BSP_MotorControl_SetMaxSpeed(0,50);
break;
case 7:
/*********** Step 7 ************/
/* Set speed of motor 0 to 75 % */
BSP_MotorControl_SetMaxSpeed(0,75);
break;
case 8:
/*********** Step 8 ************/
/* Set speed of motor 0 to 100 % */
BSP_MotorControl_SetMaxSpeed(0,100);
break;
case 9:
/*********** Step 9 ************/
/* Stop motor and disable bridge */
BSP_MotorControl_CmdHardHiZ(0);
break;
case 10:
/*********** Step 10 ************/
/* Start motor to go forward*/
BSP_MotorControl_Run(0,FORWARD);
break;
case 11:
default:
/*********** Step 11 ************/
/* Stop motor and put chip in standby mode */
BSP_MotorControl_Reset(0);
break;
}
}
}
}
/**
* @brief This function is the User handler for the flag interrupt
* @param None
* @retval None
*/
void MyFlagInterruptHandler(void)
{
/* Code to be customised */
/************************/
/* Get the state of bridge */
uint16_t bridgeState = BSP_MotorControl_CmdGetStatus(0);
if (bridgeState == 0)
{
if (BSP_MotorControl_GetDeviceState(0) != INACTIVE)
{
/* Bridges were disabled due to overcurrent or over temperature */
/* When motor was running */
Error_Handler(0XBAD0);
}
}
}
/**
* @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;
/* Infinite loop */
while(1)
{
}
}
/**
* @brief This function is executed when the Nucleo User button is pressed
* @param error number of the error
* @retval None
*/
void ButtonHandler(void)
{
gButtonPressed = TRUE;
/* Let 300 ms before clearing the IT for key debouncing */
HAL_Delay(300);
__HAL_GPIO_EXTI_CLEAR_IT(KEY_BUTTON_PIN);
HAL_NVIC_ClearPendingIRQ(KEY_BUTTON_EXTI_IRQn);
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t* file, uint32_t line)
{
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* Infinite loop */
while (1)
{
}
}
#endif
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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