File content as of revision 26:d6a21152f6cc:

/**
 ******************************************************************************
            Wire Winding Setup Arkadiraf@gmail.com 23/5/2016
 ******************************************************************************
 */


/* Includes ------------------------------------------------------------------*/

/* mbed specific header files. */
#include "mbed.h"

/* Helper header files. */
#include "DevSPI.h"

/* Component specific header files. */
#include "l6474_class.h"

#include "BufferedSerial.h" 


#include "Servo.h"

Servo Servo1(D6);
Servo Servo2(D3);

///////////////
// 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 STEPS2Rotation 3200
#define NUM_Windings 750 //600 - first try

Ticker ServoCorrect;
/* Variables -----------------------------------------------------------------*/

/* Initialization parameters. */
L6474_InitTypeDef init =
{
    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]. */
    200,                              /* Minimum speed in step/s. Range: [30..10000). */
    400,                              /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
    L6474_OCD_TH_3000mA,               /* 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_4,               /* 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->AttachFlagIRQ(&FlagIRQHandler);
  *           + motor->EnableFlagIRQ();
  *         To disable it:
  *           + motor->DisbleFlagIRQ();
  */
void FlagIRQHandler(void)
{
    /* Set ISR flag. */
    motor->isr_flag = TRUE;

    /* Get the value of the status register. */
    unsigned int status = motor->GetStatus();
    
    /* 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)
        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;
}

void ServoUpdate(){
    int32_t Rotations=motor->GetPosition()/STEPS2Rotation;
    //int32_t amplitude=76; // number of rotation for full triangle wave 15/0.4/2*4 for 15 mm translation 0.4 wire diameter = 
    int32_t amplitude=64; // number of rotation for full triangle wave 15/0.4/2*4 for 15 mm translation 0.4 wire diameter = 
    float Y_New=(float) (abs(Rotations%amplitude-amplitude/2)-amplitude/4);
    float centr_Angle=0.25; // 0.55 minimum down , 0.05 minimum up. change 0.55-0.01  Last change- 0.53-0.01 0.50-0.0
    float Angle_Amplitude=0.25f;
    float Angle=centr_Angle+(Y_New/(amplitude/4))*Angle_Amplitude;

    //pc.printf("ServoUpdate %d, %d, %f \r\n",motor->GetPosition(),Rotations,Angle); // debug check/
    
    Servo1=(Angle);
    Servo2=(1-Angle);
}


/* Main ----------------------------------------------------------------------*/

int main()
{
    pc.baud(57600); 
    /*----- 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->AttachFlagIRQ(&FlagIRQHandler);
    motor->EnableFlagIRQ();

    /*----- Changing motor setting. -----*/

    /* Setting High Impedance State to update L6474's registers. */
    motor->SoftHiZ();

    /* Changing step mode. */
    motor->SetStepMode(STEP_MODE_1_16); //STEP_MODE_1_16 STEP_MODE_FULL
    
    /* Increasing the torque regulation current to 400mA. */
    motor->SetParameter(L6474_TVAL, 1500);

    /* Max speed to 2400 step/s. */
    motor->SetMaxSpeed(6400);

    /* Min speed to 200 step/s. */
    motor->SetMinSpeed(500);
    
    /* set accelerations */
    motor->SetAcceleration(500);
    motor->SetDeceleration(500);
    
    /* Setting the current position to be the home position. */
    motor->SetHome();
    
    ServoCorrect.attach(&ServoUpdate,0.1f);
    
    /* Requesting to go to a specified position. */
        StepperSetPos=NUM_Windings*STEPS2Rotation;
        motor->GoTo(StepperSetPos);
        motor->WaitWhileActive();
        StepperPos = motor->GetPosition();
    
    /* Infinite Loop. */
    while (0)
    {
        
        // 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(StepperSetPos);
        motor->WaitWhileActive();
        StepperPos = motor->GetPosition();

        pc.printf("Rotations: %d  \r\n", StepperPos/STEPS2Rotation);
        wait(1);
    }
}