Diff: main.cpp

Revision:

23:ef6c5c0d33b2

Parent:

21:0189493b15ec

Child:

24:77e407b5d247

--- a/main.cpp	Tue Jan 19 15:58:22 2016 +0000
+++ b/main.cpp	Thu Jan 28 14:45:01 2016 +0000
@@ -1,38 +1,6 @@
 /**
  ******************************************************************************
- * @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.
- *
+            Wire Winding Setup Arkadiraf@gmail.com 1/28/2016
  ******************************************************************************
  */
 
@@ -48,11 +16,22 @@
 /* Component specific header files. */
 #include "l6474_class.h"
 
+#include "BufferedSerial.h" 
 
-/* Definitions ---------------------------------------------------------------*/
+///////////////
+// variables //
+///////////////
+BufferedSerial pc(USBTX, USBRX);
 
+char BufferCMD[64]={0};
+uint16_t BufferIndex=0;
+int32_t CMDValue=0; // CMD at which speed to run
+char inbyte=' ';
+// variable to store stepper position
+int32_t StepperPos=0;
+int32_t StepperSetPos=0;
 /* Number of steps to move. */
-#define STEPS 3200
+#define STEPS2Rotation 3200
 
 
 /* Variables -----------------------------------------------------------------*/
@@ -60,11 +39,11 @@
 /* Initialization parameters. */
 L6474_InitTypeDef init =
 {
-    160,                              /* Acceleration rate in step/s2. Range: (0..+inf). */
-    160,                              /* Deceleration rate in step/s2. Range: (0..+inf). */
+    1800,                              /* Acceleration rate in step/s2. Range: (0..+inf). */
+    1800,                              /* Deceleration rate in step/s2. Range: (0..+inf). */
     1600,                             /* Maximum speed in step/s. Range: (30..10000]. */
-    800,                              /* Minimum speed in step/s. Range: [30..10000). */
-    250,                              /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
+    200,                              /* Minimum speed in step/s. Range: [30..10000). */
+    400,                              /* 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). */
@@ -112,7 +91,7 @@
     /* 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");
+        pc.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;
@@ -123,6 +102,7 @@
 
 int main()
 {
+    pc.baud(57600); 
     /*----- Initialization. -----*/
 
     /* Initializing SPI bus. */
@@ -137,205 +117,59 @@
     motor->AttachFlagIRQ(&FlagIRQHandler);
     motor->EnableFlagIRQ();
 
-    /* Printing to the console. */
-    printf("Motor Control Application Example for 1 Motor\r\n\n");
-
-
-    /*----- Moving. -----*/
-
-    /* Printing to the console. */
-    printf("--> Moving forward %d steps.\r\n", STEPS);
-
-    /* Moving N steps in the forward direction. */
-    motor->Move(StepperMotor::FWD, STEPS);
-
-    /* Waiting while the motor is active. */
-    motor->WaitWhileActive();
-
-    /* Getting current position. */
-    int position = motor->GetPosition();
-    
-    /* Printing to the console. */
-    printf("    Position: %d.\r\n", position);
-
-    /* Waiting 2 seconds. */
-    wait_ms(2000);
-
-
     /*----- Changing motor setting. -----*/
 
-    /* Printing to the console. */
-    printf("--> Changing Step Mode and Torque.\r\n");
-
     /* Setting High Impedance State to update L6474's registers. */
     motor->SoftHiZ();
 
     /* Changing step mode. */
-    motor->SetParameter(L6474_STEP_MODE, (unsigned int) L6474_STEP_SEL_1_16 | (unsigned int) L6474_SYNC_SEL_1_2);
-
-    /* Increasing the torque regulation current to 500mA. */
-    motor->SetParameter(L6474_TVAL, 500);
+    motor->SetStepMode(STEP_MODE_1_16); //STEP_MODE_1_16 STEP_MODE_FULL
+    
+    /* Increasing the torque regulation current to 400mA. */
+    motor->SetParameter(L6474_TVAL, 400);
 
-    /* Waiting 1 second. */
-    wait_ms(1000);
-
-
-    /*----- Moving. -----*/
-    
-    /* Printing to the console. */
-    printf("--> Moving backward %d steps.\r\n", STEPS);
+    /* Max speed to 2400 step/s. */
+    motor->SetMaxSpeed(6400);
 
-    /* Moving N steps in the backward direction. */
-    motor->Move(StepperMotor::BWD, STEPS);
+    /* Min speed to 200 step/s. */
+    motor->SetMinSpeed(500);
     
-    /* Waiting while the motor is active. */
-    motor->WaitWhileActive();
-
-    /* Getting current position. */
-    position = motor->GetPosition();
+    /* set accelerations */
+    motor->SetAcceleration(500);
+    motor->SetDeceleration(500);
     
-    /* Printing to the console. */
-    printf("    Position: %d.\r\n", position);
-    printf("--> Setting Home.\r\n");
-
     /* Setting the current position to be the home position. */
     motor->SetHome();
-
-    /* Waiting 2 seconds. */
-    wait_ms(2000);
-
-
-    /*----- Going to a specified position. -----*/
-
-    /* Printing to the console. */
-    printf("--> Going to position %d.\r\n", STEPS);
     
-    /* Requesting to go to a specified position. */
-    motor->GoTo(STEPS);
-    
-    /* Waiting while the motor is active. */
-    motor->WaitWhileActive();
-
-    /* Getting current position. */
-    position = motor->GetPosition();
-    
-    /* Printing to the console. */
-    printf("    Position: %d.\r\n", position);
-    
-    /* Waiting 2 seconds. */
-    wait_ms(2000);
-
-    
-    /*----- Going Home. -----*/
-
-    /* Printing to the console. */
-    printf("--> Going Home.\r\n");
-    
-    /* Requesting to go to home. */
-    motor->GoHome();
-    
-    /* Waiting while the motor is active. */
-    motor->WaitWhileActive();
-
-    /* Getting current position. */
-    position = motor->GetPosition();
-
-    /* Printing to the console. */
-    printf("    Position: %d.\r\n", position);
-
-    /* Waiting 2 seconds. */
-    wait_ms(2000);
-
-
-    /*----- Running. -----*/
-
-    /* Printing to the console. */
-    printf("--> Running backward.\r\n");
-
-    /* Requesting to run backward. */
-    motor->Run(StepperMotor::BWD);
-
-    /* Waiting until delay has expired. */
-    wait_ms(6000);
-
-    /* Getting current speed. */
-    int speed = motor->GetSpeed();
-
-    /* Printing to the console. */
-    printf("    Speed: %d.\r\n", speed);
-
-    /*----- Increasing the speed while running. -----*/
-
-    /* Printing to the console. */
-    printf("--> Increasing the speed while running.\r\n");
-
-    /* Increasing speed to 2400 step/s. */
-    motor->SetMaxSpeed(2400);
-
-    /* Waiting until delay has expired. */
-    wait_ms(6000);
-
-    /* Getting current speed. */
-    speed = motor->GetSpeed();
-
-    /* Printing to the console. */
-    printf("    Speed: %d.\r\n", speed);
-
-
-    /*----- Decreasing the speed while running. -----*/
-
-    /* Printing to the console. */
-    printf("--> Decreasing the speed while running.\r\n");
-
-    /* Decreasing speed to 1200 step/s. */
-    motor->SetMaxSpeed(1200);
-
-    /* Waiting until delay has expired. */
-    wait_ms(8000);
-
-    /* Getting current speed. */
-    speed = motor->GetSpeed();
-
-    /* Printing to the console. */
-    printf("    Speed: %d.\r\n", speed);
-
-
-    /*----- Requiring hard-stop while running. -----*/
-
-    /* Printing to the console. */
-    printf("--> Requiring hard-stop while running.\r\n");
-
-    /* Requesting to immediatly stop. */
-    motor->HardStop();
-
-    /* Waiting while the motor is active. */
-    motor->WaitWhileActive();
-
-    /* Waiting 2 seconds. */
-    wait_ms(2000);
-
-
-    /*----- Infinite Loop. -----*/
-
-    /* Printing to the console. */
-    printf("--> Infinite Loop...\r\n");
-
-    /* Setting the current position to be the home position. */
-    motor->SetHome();
 
     /* Infinite Loop. */
     while (1)
     {
+        
+        // receive Motor Command
+        while (pc.readable()) {
+            inbyte=pc.getc();
+            pc.printf("%c" ,inbyte); // debug check/
+            BufferCMD[BufferIndex]=inbyte;
+            BufferIndex++;
+            // parse incoming message format: "$<value>\r\n"    
+            if (inbyte=='$'){ // start of message
+                BufferIndex=0; // initialize to start of parser   
+            }else if(inbyte=='\r'){ // end of message
+               CMDValue=atoi(BufferCMD);
+               BufferIndex=0;   
+               pc.printf("CMD: %d \r\n" ,CMDValue); // debug check/
+               StepperSetPos=CMDValue*STEPS2Rotation;
+               /* Update Stepper Commad */
+            }//end parser  
+        }//end serial
+          
         /* Requesting to go to a specified position. */
-        motor->GoTo(STEPS >> 1);
-
-        /* Waiting while the motor is active. */
+        motor->GoTo(StepperSetPos);
         motor->WaitWhileActive();
+        StepperPos = motor->GetPosition();
 
-        /* Requesting to go to a specified position. */
-        motor->GoTo(- (STEPS >> 1));
-
-        /* Waiting while the motor is active. */
-        motor->WaitWhileActive();
+        pc.printf("Rotations: %d  \r\n", StepperPos/STEPS2Rotation);
+        wait(1);
     }
 }