File content as of revision 1:b2e395e50a45:

/* 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 -----------------------------------------------------------------*/

/* 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);

    // 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());
        }
                    
    }
}