-
Dependencies: X_NUCLEO_IHM01A1 mbed
Fork of joy_buttons_versao_2 by
botoesnh.cpp@38:6e846a303dec, 2018-04-18 (annotated)
- Committer:
- NathanLederman
- Date:
- Wed Apr 18 14:12:03 2018 +0000
- Revision:
- 38:6e846a303dec
joy_buttons;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
NathanLederman | 38:6e846a303dec | 1 | /** |
NathanLederman | 38:6e846a303dec | 2 | ****************************************************************************** |
NathanLederman | 38:6e846a303dec | 3 | * @file main.cpp |
NathanLederman | 38:6e846a303dec | 4 | * @author Davide Aliprandi, STMicroelectronics |
NathanLederman | 38:6e846a303dec | 5 | * @version V1.0.0 |
NathanLederman | 38:6e846a303dec | 6 | * @date October 14th, 2015 |
NathanLederman | 38:6e846a303dec | 7 | * @brief mbed test application for the STMicroelectronics X-NUCLEO-IHM01A1 |
NathanLederman | 38:6e846a303dec | 8 | * Motor Control Expansion Board: control of 1 motor. |
NathanLederman | 38:6e846a303dec | 9 | ****************************************************************************** |
NathanLederman | 38:6e846a303dec | 10 | * @attention |
NathanLederman | 38:6e846a303dec | 11 | * |
NathanLederman | 38:6e846a303dec | 12 | * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2> |
NathanLederman | 38:6e846a303dec | 13 | * |
NathanLederman | 38:6e846a303dec | 14 | * Redistribution and use in source and binary forms, with or without modification, |
NathanLederman | 38:6e846a303dec | 15 | * are permitted provided that the following conditions are met: |
NathanLederman | 38:6e846a303dec | 16 | * 1. Redistributions of source code must retain the above copyright notice, |
NathanLederman | 38:6e846a303dec | 17 | * this list of conditions and the following disclaimer. |
NathanLederman | 38:6e846a303dec | 18 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
NathanLederman | 38:6e846a303dec | 19 | * this list of conditions and the following disclaimer in the documentation |
NathanLederman | 38:6e846a303dec | 20 | * and/or other materials provided with the distribution. |
NathanLederman | 38:6e846a303dec | 21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
NathanLederman | 38:6e846a303dec | 22 | * may be used to endorse or promote products derived from this software |
NathanLederman | 38:6e846a303dec | 23 | * without specific prior written permission. |
NathanLederman | 38:6e846a303dec | 24 | * |
NathanLederman | 38:6e846a303dec | 25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
NathanLederman | 38:6e846a303dec | 26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
NathanLederman | 38:6e846a303dec | 27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
NathanLederman | 38:6e846a303dec | 28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
NathanLederman | 38:6e846a303dec | 29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
NathanLederman | 38:6e846a303dec | 30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
NathanLederman | 38:6e846a303dec | 31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
NathanLederman | 38:6e846a303dec | 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
NathanLederman | 38:6e846a303dec | 33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
NathanLederman | 38:6e846a303dec | 34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
NathanLederman | 38:6e846a303dec | 35 | * |
NathanLederman | 38:6e846a303dec | 36 | ****************************************************************************** |
NathanLederman | 38:6e846a303dec | 37 | */ |
NathanLederman | 38:6e846a303dec | 38 | |
NathanLederman | 38:6e846a303dec | 39 | |
NathanLederman | 38:6e846a303dec | 40 | /* Includes ------------------------------------------------------------------*/ |
NathanLederman | 38:6e846a303dec | 41 | |
NathanLederman | 38:6e846a303dec | 42 | /* mbed specific header files. */ |
NathanLederman | 38:6e846a303dec | 43 | #include "mbed.h" |
NathanLederman | 38:6e846a303dec | 44 | |
NathanLederman | 38:6e846a303dec | 45 | /* Helper header files. */ |
NathanLederman | 38:6e846a303dec | 46 | #include "DevSPI.h" |
NathanLederman | 38:6e846a303dec | 47 | |
NathanLederman | 38:6e846a303dec | 48 | /* Component specific header files. */ |
NathanLederman | 38:6e846a303dec | 49 | #include "L6474.h" |
NathanLederman | 38:6e846a303dec | 50 | |
NathanLederman | 38:6e846a303dec | 51 | |
NathanLederman | 38:6e846a303dec | 52 | /* Definitions ---------------------------------------------------------------*/ |
NathanLederman | 38:6e846a303dec | 53 | |
NathanLederman | 38:6e846a303dec | 54 | /* Number of steps. */ |
NathanLederman | 38:6e846a303dec | 55 | #define STEPS_1 (400 * 8) /* 1 revolution given a 400 steps motor configured at 1/8 microstep mode. */ |
NathanLederman | 38:6e846a303dec | 56 | |
NathanLederman | 38:6e846a303dec | 57 | /* Delay in milliseconds. */ |
NathanLederman | 38:6e846a303dec | 58 | #define DELAY_1 1000 |
NathanLederman | 38:6e846a303dec | 59 | #define DELAY_2 2000 |
NathanLederman | 38:6e846a303dec | 60 | #define DELAY_3 6000 |
NathanLederman | 38:6e846a303dec | 61 | #define DELAY_4 8000 |
NathanLederman | 38:6e846a303dec | 62 | |
NathanLederman | 38:6e846a303dec | 63 | /* Speed in pps (Pulses Per Second). |
NathanLederman | 38:6e846a303dec | 64 | In Full Step mode: 1 pps = 1 step/s). |
NathanLederman | 38:6e846a303dec | 65 | In 1/N Step Mode: N pps = 1 step/s). */ |
NathanLederman | 38:6e846a303dec | 66 | #define SPEED_1 2400 |
NathanLederman | 38:6e846a303dec | 67 | #define SPEED_2 1200 |
NathanLederman | 38:6e846a303dec | 68 | |
NathanLederman | 38:6e846a303dec | 69 | |
NathanLederman | 38:6e846a303dec | 70 | /* Variables -----------------------------------------------------------------*/ |
NathanLederman | 38:6e846a303dec | 71 | |
NathanLederman | 38:6e846a303dec | 72 | /* Initialization parameters. */ |
NathanLederman | 38:6e846a303dec | 73 | L6474_init_t init = { |
NathanLederman | 38:6e846a303dec | 74 | 160, /* Acceleration rate in pps^2. Range: (0..+inf). */ |
NathanLederman | 38:6e846a303dec | 75 | 160, /* Deceleration rate in pps^2. Range: (0..+inf). */ |
NathanLederman | 38:6e846a303dec | 76 | 1600, /* Maximum speed in pps. Range: (30..10000]. */ |
NathanLederman | 38:6e846a303dec | 77 | 800, /* Minimum speed in pps. Range: [30..10000). */ |
NathanLederman | 38:6e846a303dec | 78 | 250, /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */ |
NathanLederman | 38:6e846a303dec | 79 | L6474_OCD_TH_750mA, /* Overcurrent threshold (OCD_TH register). */ |
NathanLederman | 38:6e846a303dec | 80 | L6474_CONFIG_OC_SD_ENABLE, /* Overcurrent shutwdown (OC_SD field of CONFIG register). */ |
NathanLederman | 38:6e846a303dec | 81 | L6474_CONFIG_EN_TQREG_TVAL_USED, /* Torque regulation method (EN_TQREG field of CONFIG register). */ |
NathanLederman | 38:6e846a303dec | 82 | L6474_STEP_SEL_1_8, /* Step selection (STEP_SEL field of STEP_MODE register). */ |
NathanLederman | 38:6e846a303dec | 83 | L6474_SYNC_SEL_1_2, /* Sync selection (SYNC_SEL field of STEP_MODE register). */ |
NathanLederman | 38:6e846a303dec | 84 | L6474_FAST_STEP_12us, /* Fall time value (T_FAST field of T_FAST register). Range: 2us to 32us. */ |
NathanLederman | 38:6e846a303dec | 85 | L6474_TOFF_FAST_8us, /* Maximum fast decay time (T_OFF field of T_FAST register). Range: 2us to 32us. */ |
NathanLederman | 38:6e846a303dec | 86 | 3, /* Minimum ON time in us (TON_MIN register). Range: 0.5us to 64us. */ |
NathanLederman | 38:6e846a303dec | 87 | 21, /* Minimum OFF time in us (TOFF_MIN register). Range: 0.5us to 64us. */ |
NathanLederman | 38:6e846a303dec | 88 | L6474_CONFIG_TOFF_044us, /* Target Swicthing Period (field TOFF of CONFIG register). */ |
NathanLederman | 38:6e846a303dec | 89 | L6474_CONFIG_SR_320V_us, /* Slew rate (POW_SR field of CONFIG register). */ |
NathanLederman | 38:6e846a303dec | 90 | L6474_CONFIG_INT_16MHZ, /* Clock setting (OSC_CLK_SEL field of CONFIG register). */ |
NathanLederman | 38:6e846a303dec | 91 | L6474_ALARM_EN_OVERCURRENT | |
NathanLederman | 38:6e846a303dec | 92 | L6474_ALARM_EN_THERMAL_SHUTDOWN | |
NathanLederman | 38:6e846a303dec | 93 | L6474_ALARM_EN_THERMAL_WARNING | |
NathanLederman | 38:6e846a303dec | 94 | L6474_ALARM_EN_UNDERVOLTAGE | |
NathanLederman | 38:6e846a303dec | 95 | L6474_ALARM_EN_SW_TURN_ON | |
NathanLederman | 38:6e846a303dec | 96 | L6474_ALARM_EN_WRONG_NPERF_CMD /* Alarm (ALARM_EN register). */ |
NathanLederman | 38:6e846a303dec | 97 | }; |
NathanLederman | 38:6e846a303dec | 98 | |
NathanLederman | 38:6e846a303dec | 99 | /* Motor Control Component. */ |
NathanLederman | 38:6e846a303dec | 100 | L6474 *motor; |
NathanLederman | 38:6e846a303dec | 101 | |
NathanLederman | 38:6e846a303dec | 102 | |
NathanLederman | 38:6e846a303dec | 103 | /* Functions -----------------------------------------------------------------*/ |
NathanLederman | 38:6e846a303dec | 104 | |
NathanLederman | 38:6e846a303dec | 105 | /** |
NathanLederman | 38:6e846a303dec | 106 | * @brief This is an example of user handler for the flag interrupt. |
NathanLederman | 38:6e846a303dec | 107 | * @param None |
NathanLederman | 38:6e846a303dec | 108 | * @retval None |
NathanLederman | 38:6e846a303dec | 109 | * @note If needed, implement it, and then attach and enable it: |
NathanLederman | 38:6e846a303dec | 110 | * + motor->attach_flag_irq(&flag_irq_handler); |
NathanLederman | 38:6e846a303dec | 111 | * + motor->enable_flag_irq(); |
NathanLederman | 38:6e846a303dec | 112 | * To disable it: |
NathanLederman | 38:6e846a303dec | 113 | * + motor->disble_flag_irq(); |
NathanLederman | 38:6e846a303dec | 114 | */ |
NathanLederman | 38:6e846a303dec | 115 | void flag_irq_handler(void) |
NathanLederman | 38:6e846a303dec | 116 | { |
NathanLederman | 38:6e846a303dec | 117 | /* Set ISR flag. */ |
NathanLederman | 38:6e846a303dec | 118 | motor->isr_flag = TRUE; |
NathanLederman | 38:6e846a303dec | 119 | |
NathanLederman | 38:6e846a303dec | 120 | /* Get the value of the status register. */ |
NathanLederman | 38:6e846a303dec | 121 | unsigned int status = motor->get_status(); |
NathanLederman | 38:6e846a303dec | 122 | |
NathanLederman | 38:6e846a303dec | 123 | /* Check NOTPERF_CMD flag: if set, the command received by SPI can't be performed. */ |
NathanLederman | 38:6e846a303dec | 124 | /* This often occures when a command is sent to the L6474 while it is not in HiZ state. */ |
NathanLederman | 38:6e846a303dec | 125 | if ((status & L6474_STATUS_NOTPERF_CMD) == L6474_STATUS_NOTPERF_CMD) { |
NathanLederman | 38:6e846a303dec | 126 | printf(" WARNING: \"FLAG\" interrupt triggered. Non-performable command detected when updating L6474's registers while not in HiZ state.\r\n"); |
NathanLederman | 38:6e846a303dec | 127 | } |
NathanLederman | 38:6e846a303dec | 128 | |
NathanLederman | 38:6e846a303dec | 129 | /* Reset ISR flag. */ |
NathanLederman | 38:6e846a303dec | 130 | motor->isr_flag = FALSE; |
NathanLederman | 38:6e846a303dec | 131 | } |
NathanLederman | 38:6e846a303dec | 132 | |
NathanLederman | 38:6e846a303dec | 133 | |
NathanLederman | 38:6e846a303dec | 134 | |
NathanLederman | 38:6e846a303dec | 135 | |
NathanLederman | 38:6e846a303dec | 136 | |
NathanLederman | 38:6e846a303dec | 137 | |
NathanLederman | 38:6e846a303dec | 138 | |
NathanLederman | 38:6e846a303dec | 139 | |
NathanLederman | 38:6e846a303dec | 140 | |
NathanLederman | 38:6e846a303dec | 141 | |
NathanLederman | 38:6e846a303dec | 142 | |
NathanLederman | 38:6e846a303dec | 143 | |
NathanLederman | 38:6e846a303dec | 144 | DigitalIn botao_A(D6); |
NathanLederman | 38:6e846a303dec | 145 | DigitalIn botao_B(D5); |
NathanLederman | 38:6e846a303dec | 146 | DigitalIn botao_C(D4); |
NathanLederman | 38:6e846a303dec | 147 | DigitalIn botao_D(D3); |
NathanLederman | 38:6e846a303dec | 148 | |
NathanLederman | 38:6e846a303dec | 149 | |
NathanLederman | 38:6e846a303dec | 150 | DigitalOut myled(LED1); |
NathanLederman | 38:6e846a303dec | 151 | Serial pc(USBTX, USBRX); |
NathanLederman | 38:6e846a303dec | 152 | |
NathanLederman | 38:6e846a303dec | 153 | int main() { |
NathanLederman | 38:6e846a303dec | 154 | /*----- Initialization. -----*/ |
NathanLederman | 38:6e846a303dec | 155 | |
NathanLederman | 38:6e846a303dec | 156 | /* Initializing SPI bus. */ |
NathanLederman | 38:6e846a303dec | 157 | DevSPI dev_spi(D11, D12, D13); |
NathanLederman | 38:6e846a303dec | 158 | |
NathanLederman | 38:6e846a303dec | 159 | /* Initializing Motor Control Component. */ |
NathanLederman | 38:6e846a303dec | 160 | motor = new L6474(D2, D8, D7, D9, D10, dev_spi); |
NathanLederman | 38:6e846a303dec | 161 | if (motor->init(&init) != COMPONENT_OK) { |
NathanLederman | 38:6e846a303dec | 162 | exit(EXIT_FAILURE); |
NathanLederman | 38:6e846a303dec | 163 | } |
NathanLederman | 38:6e846a303dec | 164 | |
NathanLederman | 38:6e846a303dec | 165 | /* Attaching and enabling interrupt handlers. */ |
NathanLederman | 38:6e846a303dec | 166 | motor->attach_flag_irq(&flag_irq_handler); |
NathanLederman | 38:6e846a303dec | 167 | motor->enable_flag_irq(); |
NathanLederman | 38:6e846a303dec | 168 | |
NathanLederman | 38:6e846a303dec | 169 | int a,b,c,d; |
NathanLederman | 38:6e846a303dec | 170 | pc.baud(9600); |
NathanLederman | 38:6e846a303dec | 171 | |
NathanLederman | 38:6e846a303dec | 172 | |
NathanLederman | 38:6e846a303dec | 173 | a=b=c=d=0; |
NathanLederman | 38:6e846a303dec | 174 | |
NathanLederman | 38:6e846a303dec | 175 | pc.printf("\f\rA=%d, B=%d, C=%d, D=%d",a,b,c,d); |
NathanLederman | 38:6e846a303dec | 176 | pc.printf("\n\rHello World!!!"); |
NathanLederman | 38:6e846a303dec | 177 | |
NathanLederman | 38:6e846a303dec | 178 | while(1) { |
NathanLederman | 38:6e846a303dec | 179 | if (botao_A==0) { |
NathanLederman | 38:6e846a303dec | 180 | a++; |
NathanLederman | 38:6e846a303dec | 181 | pc.printf("\n\rTecla A=%d",a); |
NathanLederman | 38:6e846a303dec | 182 | motor->move(StepperMotor::FWD, 400); |
NathanLederman | 38:6e846a303dec | 183 | } |
NathanLederman | 38:6e846a303dec | 184 | if (botao_B==0) { |
NathanLederman | 38:6e846a303dec | 185 | b++; |
NathanLederman | 38:6e846a303dec | 186 | pc.printf("\n\rTecla B=%d",b); |
NathanLederman | 38:6e846a303dec | 187 | motor->move(StepperMotor::BWD, 400); |
NathanLederman | 38:6e846a303dec | 188 | } |
NathanLederman | 38:6e846a303dec | 189 | if (botao_C==0) { |
NathanLederman | 38:6e846a303dec | 190 | c++; |
NathanLederman | 38:6e846a303dec | 191 | pc.printf("\n\rTecla C=%d",c); |
NathanLederman | 38:6e846a303dec | 192 | } |
NathanLederman | 38:6e846a303dec | 193 | if (botao_D==0) { |
NathanLederman | 38:6e846a303dec | 194 | d++; |
NathanLederman | 38:6e846a303dec | 195 | pc.printf("\n\rTecla D=%d",d); |
NathanLederman | 38:6e846a303dec | 196 | } |
NathanLederman | 38:6e846a303dec | 197 | wait(0.2); |
NathanLederman | 38:6e846a303dec | 198 | } |
NathanLederman | 38:6e846a303dec | 199 | } |