Diff: botoesnh.cpp

Revision:

38:6e846a303dec

Child:

39:8e6912132896

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/botoesnh.cpp	Wed Apr 18 14:12:03 2018 +0000
@@ -0,0 +1,199 @@
+/**
+ ******************************************************************************
+ * @file    main.cpp
+ * @author  Davide Aliprandi, STMicroelectronics
+ * @version V1.0.0
+ * @date    October 14th, 2015
+ * @brief   mbed test application for the STMicroelectronics X-NUCLEO-IHM01A1
+ *          Motor Control Expansion Board: control of 1 motor.
+ ******************************************************************************
+ * @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"
+
+/* 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 6000
+#define DELAY_4 8000
+
+/* 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
+
+
+/* Variables -----------------------------------------------------------------*/
+
+/* Initialization parameters. */
+L6474_init_t init = {
+    160,                              /* Acceleration rate in pps^2. Range: (0..+inf). */
+    160,                              /* Deceleration rate in pps^2. Range: (0..+inf). */
+    1600,                             /* Maximum speed in pps. Range: (30..10000]. */
+    800,                              /* Minimum speed in pps. Range: [30..10000). */
+    250,                              /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
+    L6474_OCD_TH_750mA,               /* 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). */
+};
+
+/* Motor Control Component. */
+L6474 *motor;
+
+
+/* Functions -----------------------------------------------------------------*/
+
+/**
+ * @brief  This is an example of user handler for the flag interrupt.
+ * @param  None
+ * @retval None
+ * @note   If needed, implement it, and then attach and enable it:
+ *           + motor->attach_flag_irq(&flag_irq_handler);
+ *           + motor->enable_flag_irq();
+ *         To disable it:
+ *           + motor->disble_flag_irq();
+ */
+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;
+}
+
+
+
+
+
+
+
+
+
+
+
+
+DigitalIn botao_A(D6);
+DigitalIn botao_B(D5);
+DigitalIn botao_C(D4);
+DigitalIn botao_D(D3);
+
+
+DigitalOut myled(LED1);
+Serial pc(USBTX, USBRX);
+
+int main() {
+    /*----- Initialization. -----*/
+
+    /* Initializing SPI bus. */
+    DevSPI dev_spi(D11, D12, D13);
+
+    /* Initializing Motor Control Component. */
+    motor = new L6474(D2, D8, D7, D9, D10, dev_spi);
+    if (motor->init(&init) != COMPONENT_OK) {
+        exit(EXIT_FAILURE);
+    }
+
+    /* Attaching and enabling interrupt handlers. */
+    motor->attach_flag_irq(&flag_irq_handler);
+    motor->enable_flag_irq();
+
+int a,b,c,d;
+pc.baud(9600);
+
+
+a=b=c=d=0;
+
+pc.printf("\f\rA=%d, B=%d, C=%d, D=%d",a,b,c,d);
+pc.printf("\n\rHello World!!!");
+
+    while(1) {
+        if (botao_A==0) {
+          a++;
+          pc.printf("\n\rTecla A=%d",a);
+          motor->move(StepperMotor::FWD, 400);
+        }
+        if (botao_B==0) {
+          b++;
+          pc.printf("\n\rTecla B=%d",b);
+          motor->move(StepperMotor::BWD, 400);
+        }
+        if (botao_C==0) {
+          c++;
+          pc.printf("\n\rTecla C=%d",c);
+        }
+        if (botao_D==0) {
+          d++;
+          pc.printf("\n\rTecla D=%d",d);
+        }
+          wait(0.2);
+    }
+}