Diff: main.cpp

Revision:

1:b2e395e50a45

Parent:

0:cc562f78f889

Child:

2:73d24891eef6

--- a/main.cpp	Wed Apr 25 11:37:14 2018 +0000
+++ b/main.cpp	Wed Apr 25 11:39:47 2018 +0000
@@ -1,12 +1,266 @@
+/* Includes ------------------------------------------------------------------*/
+
+/* mbed specific header files. */
 #include "mbed.h"
+#include "rtos.h"
+
+/* Helper header files. */
+#include "DevSPI.h"
+
+/* Component specific header files. */
+#include "L6474.h"
+
+
+/* Definitions ---------------------------------------------------------------*/
+
+/* Number of steps. */
+#define STEPS_1 (400 * 8)   /* 1 revolution given a 400 steps motor configured at 1/8 microstep mode. */
+
+/* Delay in milliseconds. */
+#define DELAY_1 1000
+#define DELAY_2 2000
+#define DELAY_3 2000
+#define DELAY_4 2000
+
+/* Speed in pps (Pulses Per Second).
+   In Full Step mode: 1 pps = 1 step/s).
+   In 1/N Step Mode:  N pps = 1 step/s). */
+#define SPEED_1 2400
+#define SPEED_2 1200
+
+AnalogIn joyx(A5);
+AnalogIn joyy(A4);
+
+DigitalIn bup(D12);
+DigitalIn bdown(D13);
+
+/* Variables -----------------------------------------------------------------*/
 
-DigitalOut myled(LED1);
+/* Initialization parameters. */
+L6474_init_t init = {
+    300,                              /* Acceleration rate in pps^2. Range: (0..+inf). */
+    300,                              /* Deceleration rate in pps^2. Range: (0..+inf). */
+    2400,                             /* Maximum speed in pps. Range: (30..10000]. */
+    30,                              /* Minimum speed in pps. Range: [30..10000). */
+    250,                              /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
+    L6474_OCD_TH_2250mA,               /* Overcurrent threshold (OCD_TH register). */
+    L6474_CONFIG_OC_SD_ENABLE,        /* Overcurrent shutwdown (OC_SD field of CONFIG register). */
+    L6474_CONFIG_EN_TQREG_TVAL_USED,  /* Torque regulation method (EN_TQREG field of CONFIG register). */
+    L6474_STEP_SEL_1_8,               /* Step selection (STEP_SEL field of STEP_MODE register). */
+    L6474_SYNC_SEL_1_2,               /* Sync selection (SYNC_SEL field of STEP_MODE register). */
+    L6474_FAST_STEP_12us,             /* Fall time value (T_FAST field of T_FAST register). Range: 2us to 32us. */
+    L6474_TOFF_FAST_8us,              /* Maximum fast decay time (T_OFF field of T_FAST register). Range: 2us to 32us. */
+    3,                                /* Minimum ON time in us (TON_MIN register). Range: 0.5us to 64us. */
+    21,                               /* Minimum OFF time in us (TOFF_MIN register). Range: 0.5us to 64us. */
+    L6474_CONFIG_TOFF_044us,          /* Target Swicthing Period (field TOFF of CONFIG register). */
+    L6474_CONFIG_SR_320V_us,          /* Slew rate (POW_SR field of CONFIG register). */
+    L6474_CONFIG_INT_16MHZ,           /* Clock setting (OSC_CLK_SEL field of CONFIG register). */
+    L6474_ALARM_EN_OVERCURRENT |
+    L6474_ALARM_EN_THERMAL_SHUTDOWN |
+    L6474_ALARM_EN_THERMAL_WARNING |
+    L6474_ALARM_EN_UNDERVOLTAGE |
+    L6474_ALARM_EN_SW_TURN_ON |
+    L6474_ALARM_EN_WRONG_NPERF_CMD    /* Alarm (ALARM_EN register). */
+};
+
+float value_x = 0;
+float value_y = 0;
+
+int value_bup = 0;
+int value_bdown = 0;
+
+unsigned int z_speed = 2000;
+
+int read = 0;
+int previous = 0;
+int speed_read;
+
+unsigned int maxSpeed = 2000;
+unsigned int minSpeed = 30;
+
+unsigned int speedFWDX = 0;
+unsigned int speedBWDX = 0;
+
+unsigned int speedFWDY = 0;
+unsigned int speedBWDY = 0;
+
+/* Motor Control Component. */
+L6474 *motor;
+L6474 *motor2;
+L6474 *motor3;
+
+
+/* Functions -----------------------------------------------------------------*/
+void flag_irq_handler(void)
+{
+    /* Set ISR flag. */
+    motor->isr_flag = TRUE;
+
+    /* Get the value of the status register. */
+    unsigned int status = motor->get_status();
+
+    /* Check NOTPERF_CMD flag: if set, the command received by SPI can't be performed. */
+    /* This often occures when a command is sent to the L6474 while it is not in HiZ state. */
+    if ((status & L6474_STATUS_NOTPERF_CMD) == L6474_STATUS_NOTPERF_CMD) {
+        printf("    WARNING: \"FLAG\" interrupt triggered. Non-performable command detected when updating L6474's registers while not in HiZ state.\r\n");
+    }
+    
+    /* Reset ISR flag. */
+    motor->isr_flag = FALSE;
+}
+
+/* Main ----------------------------------------------------------------------*/
+
+float upper = 0.5;
+float lower = 0.42;
+
+int main(){
+    /*----- Initialization. -----*/
+
+    /* Initializing SPI bus. */
+    DevSPI dev_spi(D11, D12, D13);
 
-int main() {
-    while(1) {
-        myled = 1; // LED is ON
-        wait(0.2); // 200 ms
-        myled = 0; // LED is OFF
-        wait(1.0); // 1 sec
+    // MOTOR 1 INIT ------------------------------------------------------------
+    motor = new L6474(D2, D8, D7, D9, D10, dev_spi);
+    
+    if (motor->init(&init) != COMPONENT_OK) {
+        exit(EXIT_FAILURE);
+        printf("Motor Error");
+    } 
+    else {
+        printf("Motor 1 started");
+    }
+    
+    /* Attaching and enabling interrupt handlers. */
+    motor->attach_flag_irq(&flag_irq_handler);
+    motor->enable_flag_irq(); 
+
+    /* Printing to the console. */
+    printf("--> Setting Torque Regulation Current to 500[mA].\r\n");
+
+    /* Increasing the torque regulation current to 500[mA]. */
+    motor->set_parameter(L6474_TVAL, 500);
+
+    /* Doubling the microsteps. */
+    if (!motor->set_step_mode((StepperMotor::step_mode_t) STEP_MODE_FULL)) {
+        printf("Motor 1 Step Mode not allowed.\r\n");
+    }
+    
+    // MOTOR 2 INIT ------------------------------------------------------------
+    motor2 = new L6474(D2, D8, D4, D3, D10, dev_spi);
+    
+    if (motor2->init(&init) != COMPONENT_OK) {
+        exit(EXIT_FAILURE);
+        printf("Motor 2 Error");
+    } else {
+        printf("Motor 2 started");
+    }
+    
+    /* Attaching and enabling interrupt handlers. */
+    motor2->attach_flag_irq(&flag_irq_handler);
+    motor2->enable_flag_irq();
+
+    /* Printing to the console. */
+    printf("--> Setting Torque Regulation Current to 500[mA].\r\n");
+
+    /* Increasing the torque regulation current to 500[mA]. */
+    motor2->set_parameter(L6474_TVAL, 500);
+
+    /* Doubling the microsteps. */
+    if (!motor2->set_step_mode((StepperMotor::step_mode_t) STEP_MODE_FULL)) {
+        printf(" Motor 2 Step Mode not allowed.\r\n");
+    }
+    
+    // MOTOR 1 INIT ------------------------------------------------------------
+    motor3 = new L6474(D2, D8, D5, D6, D10, dev_spi);
+    
+    if (motor3->init(&init) != COMPONENT_OK) {
+        exit(EXIT_FAILURE);
+        printf("Motor 3 Error");
+    } 
+    else {
+        printf("Motor 3 started");
+    }
+    
+    /* Attaching and enabling interrupt handlers. */
+    motor3->attach_flag_irq(&flag_irq_handler);
+    motor3->enable_flag_irq(); 
+
+    /* Printing to the console. */
+    printf("--> Setting Torque Regulation Current to 500[mA].\r\n");
+
+    /* Increasing the torque regulation current to 500[mA]. */
+    motor3->set_parameter(L6474_TVAL, 500);
+
+    /* Doubling the microsteps. */
+    if (!motor3->set_step_mode((StepperMotor::step_mode_t) STEP_MODE_FULL)) {
+        printf("Motor 3 Step Mode not allowed.\r\n");
+    }
+    
+    //------------------------------------------------------------------------------------------------------------------------
+
+    while(1){        
+        value_x = joyx;
+        value_y = joyy;
+        
+        wait(0.05);
+        
+        value_bup = !bup;
+        value_bdown = !bdown;
+        
+        //motor1
+        
+        if(value_x < upper && value_x > lower){
+            motor->hard_stop();    
+        }
+        else if(value_x > upper){
+            speedFWDX = (int)((float)maxSpeed-(float)minSpeed)*(value_x-upper)/((float)1-upper)+(float)minSpeed;
+            motor->set_min_speed(speedFWDX);
+            motor->run(StepperMotor::FWD);
+            printf("upper X %d\r\n",motor->get_speed());
+        }
+        else if(value_x < lower){
+            speedBWDX = (int)((float)maxSpeed - ((float)maxSpeed-(float)minSpeed)*value_x/lower);
+            motor->set_min_speed(speedBWDX);
+            motor->run(StepperMotor::BWD);
+            printf("lower X %d\r\n", motor->get_speed());
+        }
+                    
+        //motor2
+        
+        if(value_y < upper && value_y > lower){
+            motor2->hard_stop();    
+        }
+        else if(value_y > upper){
+            speedFWDY = (int)((float)maxSpeed-(float)minSpeed)*(value_y-upper)/((float)1-upper)+(float)minSpeed;
+            motor2->set_min_speed(speedFWDY);
+            motor2->run(StepperMotor::FWD);
+            printf("upper Y %d\r\n",motor2->get_speed());
+        }
+        else if(value_y < lower){
+            speedBWDY = (int)((float)maxSpeed - ((float)maxSpeed-(float)minSpeed)*value_y/lower);
+            motor2->set_min_speed(speedBWDY);
+            motor2->run(StepperMotor::BWD);
+            printf("lower Y %d\r\n", motor2->get_speed());
+        }
+        
+        //motor 3
+        if(value_bup && value_bdown){
+            motor3->hard_stop();
+        }
+        else if(!value_bup && !value_bdown){
+            motor3->hard_stop();
+        }        
+        else if(value_bup && !value_bdown){
+            motor3->set_min_speed(z_speed);
+            motor3->run(StepperMotor::FWD);
+            printf("upper Z %d\r\n",motor3->get_speed());
+        }
+        else if(value_bdown && !value_bup){
+            motor3->set_min_speed(z_speed);
+            motor3->run(StepperMotor::BWD);
+            printf("lower Z %d\r\n", motor3->get_speed());
+        }
+                    
     }
 }