hbjhjb
Dependencies: mbed X-NUCLEO-IHM05A1
main.cpp@25:281c8e913db4, 2019-06-12 (annotated)
- Committer:
- stebonicelli
- Date:
- Wed Jun 12 16:10:21 2019 +0000
- Revision:
- 25:281c8e913db4
- Parent:
- 24:37f139e067b2
- Child:
- 26:44175c51a820
reverted
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
stebonicelli | 17:dc1b04f0b55d | 1 | #include "mbed.h" |
stebonicelli | 25:281c8e913db4 | 2 | #include "L6208.h" |
stebonicelli | 25:281c8e913db4 | 3 | |
stebonicelli | 25:281c8e913db4 | 4 | #define VREFA_PWM_PIN D3 |
stebonicelli | 25:281c8e913db4 | 5 | #define VREFB_PWM_PIN D9 |
danielfpq | 24:37f139e067b2 | 6 | |
stebonicelli | 25:281c8e913db4 | 7 | l6208_init_t init = |
stebonicelli | 25:281c8e913db4 | 8 | { |
stebonicelli | 25:281c8e913db4 | 9 | 8000, //Acceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes |
stebonicelli | 25:281c8e913db4 | 10 | 80, //Acceleration current torque in % (from 0 to 100) |
stebonicelli | 25:281c8e913db4 | 11 | 8000, //Deceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes |
stebonicelli | 25:281c8e913db4 | 12 | 80, //Deceleration current torque in % (from 0 to 100) |
stebonicelli | 25:281c8e913db4 | 13 | 8000, //Running speed in step/s or (1/16)th step/s for microstep modes |
stebonicelli | 25:281c8e913db4 | 14 | 80, //Running current torque in % (from 0 to 100) |
stebonicelli | 25:281c8e913db4 | 15 | 40, //Holding current torque in % (from 0 to 100) |
stebonicelli | 25:281c8e913db4 | 16 | STEP_MODE_1_16, //Step mode via enum motorStepMode_t |
stebonicelli | 25:281c8e913db4 | 17 | FAST_DECAY, //Decay mode via enum motorDecayMode_t |
stebonicelli | 25:281c8e913db4 | 18 | 0, //Dwelling time in ms |
stebonicelli | 25:281c8e913db4 | 19 | FALSE, //Automatic HIZ STOP |
stebonicelli | 25:281c8e913db4 | 20 | 100000 //VREFA and VREFB PWM frequency (Hz) |
stebonicelli | 25:281c8e913db4 | 21 | }; |
nucleosam | 0:36aa6787d4f9 | 22 | |
stebonicelli | 25:281c8e913db4 | 23 | Thread canrxa; |
stebonicelli | 25:281c8e913db4 | 24 | |
stebonicelli | 25:281c8e913db4 | 25 | // Utility |
stebonicelli | 25:281c8e913db4 | 26 | InterruptIn button(USER_BUTTON); |
stebonicelli | 25:281c8e913db4 | 27 | DigitalOut led(LED1); |
stebonicelli | 25:281c8e913db4 | 28 | |
stebonicelli | 25:281c8e913db4 | 29 | // Motor Control |
stebonicelli | 25:281c8e913db4 | 30 | L6208 *motor; |
stebonicelli | 25:281c8e913db4 | 31 | |
stebonicelli | 25:281c8e913db4 | 32 | InterruptIn end0(PC_10, PullUp); |
stebonicelli | 25:281c8e913db4 | 33 | InterruptIn end1(PC_11, PullUp); |
stebonicelli | 25:281c8e913db4 | 34 | InterruptIn enc(PC_12, PullUp); |
stebonicelli | 17:dc1b04f0b55d | 35 | |
danielfpq | 24:37f139e067b2 | 36 | int current_pose = 0; |
stebonicelli | 25:281c8e913db4 | 37 | int pose = 0; |
nucleosam | 0:36aa6787d4f9 | 38 | |
stebonicelli | 17:dc1b04f0b55d | 39 | void motor_error_handler(uint16_t error) |
stebonicelli | 17:dc1b04f0b55d | 40 | { |
stebonicelli | 17:dc1b04f0b55d | 41 | printf("ERROR: Motor Runtime\n\r"); |
stebonicelli | 25:281c8e913db4 | 42 | while(1){} |
stebonicelli | 17:dc1b04f0b55d | 43 | } |
stebonicelli | 17:dc1b04f0b55d | 44 | |
stebonicelli | 21:533d014f09e0 | 45 | void motor_zero() |
stebonicelli | 21:533d014f09e0 | 46 | { |
stebonicelli | 25:281c8e913db4 | 47 | motor->run(StepperMotor::FWD); |
stebonicelli | 21:533d014f09e0 | 48 | } |
stebonicelli | 21:533d014f09e0 | 49 | |
stebonicelli | 25:281c8e913db4 | 50 | void button_int_handler() |
nucleosam | 0:36aa6787d4f9 | 51 | { |
stebonicelli | 25:281c8e913db4 | 52 | printf("POSITION: %d\n\r", motor->get_position()); |
stebonicelli | 21:533d014f09e0 | 53 | motor_zero(); |
stebonicelli | 17:dc1b04f0b55d | 54 | } |
stebonicelli | 17:dc1b04f0b55d | 55 | |
stebonicelli | 25:281c8e913db4 | 56 | void end0_int_handler() |
stebonicelli | 17:dc1b04f0b55d | 57 | { |
stebonicelli | 25:281c8e913db4 | 58 | printf("END0: Pressed\n\rPOSITION: %d\n\r", motor->get_position()); |
nucleosam | 0:36aa6787d4f9 | 59 | } |
nucleosam | 0:36aa6787d4f9 | 60 | |
stebonicelli | 17:dc1b04f0b55d | 61 | void end1_int_handler() |
stebonicelli | 17:dc1b04f0b55d | 62 | { |
stebonicelli | 25:281c8e913db4 | 63 | motor->hard_stop(); |
stebonicelli | 17:dc1b04f0b55d | 64 | |
stebonicelli | 25:281c8e913db4 | 65 | motor->run(StepperMotor::BWD); |
stebonicelli | 17:dc1b04f0b55d | 66 | |
stebonicelli | 17:dc1b04f0b55d | 67 | printf("END1: Pressed\n\r"); |
stebonicelli | 17:dc1b04f0b55d | 68 | } |
stebonicelli | 17:dc1b04f0b55d | 69 | |
stebonicelli | 25:281c8e913db4 | 70 | void motor_set_home() |
stebonicelli | 25:281c8e913db4 | 71 | { |
stebonicelli | 25:281c8e913db4 | 72 | motor->hard_stop(); |
stebonicelli | 25:281c8e913db4 | 73 | motor->set_home(); |
stebonicelli | 25:281c8e913db4 | 74 | motor->go_to(0); |
stebonicelli | 25:281c8e913db4 | 75 | |
stebonicelli | 25:281c8e913db4 | 76 | current_pose = 0; |
stebonicelli | 25:281c8e913db4 | 77 | pose = 0; |
stebonicelli | 25:281c8e913db4 | 78 | } |
stebonicelli | 17:dc1b04f0b55d | 79 | |
stebonicelli | 25:281c8e913db4 | 80 | // CAN |
gidiana | 23:3110010d98a0 | 81 | CAN can1(PB_12, PB_13); // RX, TX |
stebonicelli | 17:dc1b04f0b55d | 82 | |
stebonicelli | 17:dc1b04f0b55d | 83 | CANMessage messageIn; |
stebonicelli | 17:dc1b04f0b55d | 84 | CANMessage messageOut; |
stebonicelli | 17:dc1b04f0b55d | 85 | |
gidiana | 23:3110010d98a0 | 86 | int filter = can1.filter(0x010, 0x4FF, CANStandard); |
stebonicelli | 17:dc1b04f0b55d | 87 | |
gidiana | 18:65707db67191 | 88 | void canrx() |
stebonicelli | 17:dc1b04f0b55d | 89 | { |
stebonicelli | 19:9680ebe86f4a | 90 | while(1) |
stebonicelli | 21:533d014f09e0 | 91 | { |
stebonicelli | 25:281c8e913db4 | 92 | if(can1.read(messageIn,filter)&&messageIn.id==0x010) |
stebonicelli | 19:9680ebe86f4a | 93 | { |
stebonicelli | 25:281c8e913db4 | 94 | pose=messageIn.data[0] + (messageIn.data[1] << 8) + (messageIn.data[2] << 16) + (messageIn.data[3] << 24); |
stebonicelli | 25:281c8e913db4 | 95 | printf("CAN: mess %d\n\r", pose); |
stebonicelli | 21:533d014f09e0 | 96 | |
stebonicelli | 25:281c8e913db4 | 97 | |
stebonicelli | 25:281c8e913db4 | 98 | if (pose == 1) |
stebonicelli | 21:533d014f09e0 | 99 | { |
stebonicelli | 25:281c8e913db4 | 100 | motor->run(StepperMotor::FWD); |
stebonicelli | 21:533d014f09e0 | 101 | } |
stebonicelli | 25:281c8e913db4 | 102 | else if (pose == 0) |
stebonicelli | 21:533d014f09e0 | 103 | { |
stebonicelli | 25:281c8e913db4 | 104 | motor->soft_stop(); |
stebonicelli | 25:281c8e913db4 | 105 | current_pose= motor->get_position(); |
stebonicelli | 25:281c8e913db4 | 106 | motor->go_to(current_pose); |
stebonicelli | 25:281c8e913db4 | 107 | } |
stebonicelli | 25:281c8e913db4 | 108 | else if (pose == 2) |
stebonicelli | 25:281c8e913db4 | 109 | { |
stebonicelli | 25:281c8e913db4 | 110 | motor->run(StepperMotor::BWD); |
stebonicelli | 21:533d014f09e0 | 111 | } |
stebonicelli | 21:533d014f09e0 | 112 | else |
stebonicelli | 21:533d014f09e0 | 113 | { |
stebonicelli | 25:281c8e913db4 | 114 | motor->soft_stop(); |
stebonicelli | 25:281c8e913db4 | 115 | current_pose= motor->get_position(); |
stebonicelli | 25:281c8e913db4 | 116 | motor->go_to(current_pose); |
danielfpq | 24:37f139e067b2 | 117 | } |
stebonicelli | 25:281c8e913db4 | 118 | |
stebonicelli | 25:281c8e913db4 | 119 | |
stebonicelli | 25:281c8e913db4 | 120 | // motor->go_to(pose); |
stebonicelli | 25:281c8e913db4 | 121 | } |
stebonicelli | 25:281c8e913db4 | 122 | } |
nucleosam | 0:36aa6787d4f9 | 123 | } |
stebonicelli | 25:281c8e913db4 | 124 | |
stebonicelli | 17:dc1b04f0b55d | 125 | |
nucleosam | 0:36aa6787d4f9 | 126 | /* Main ----------------------------------------------------------------------*/ |
nucleosam | 0:36aa6787d4f9 | 127 | |
nucleosam | 0:36aa6787d4f9 | 128 | int main() |
nucleosam | 0:36aa6787d4f9 | 129 | { |
stebonicelli | 21:533d014f09e0 | 130 | can1.frequency(125000); |
stebonicelli | 17:dc1b04f0b55d | 131 | |
stebonicelli | 25:281c8e913db4 | 132 | // Motor Initialization |
stebonicelli | 25:281c8e913db4 | 133 | motor = new L6208(D2, D8, D7, D4, D5, D6, VREFA_PWM_PIN, VREFB_PWM_PIN); |
stebonicelli | 25:281c8e913db4 | 134 | |
stebonicelli | 25:281c8e913db4 | 135 | if (motor->init(&init) != COMPONENT_OK) |
stebonicelli | 17:dc1b04f0b55d | 136 | { |
gidiana | 18:65707db67191 | 137 | printf("ERROR: vvMotor Init\n\r"); |
davide.aliprandi@st.com | 5:bc710d77d801 | 138 | exit(EXIT_FAILURE); |
davide.aliprandi@st.com | 5:bc710d77d801 | 139 | } |
nucleosam | 0:36aa6787d4f9 | 140 | |
stebonicelli | 25:281c8e913db4 | 141 | motor->attach_error_handler(&motor_error_handler); |
stebonicelli | 25:281c8e913db4 | 142 | |
stebonicelli | 25:281c8e913db4 | 143 | end0.rise(&end0_int_handler); |
stebonicelli | 25:281c8e913db4 | 144 | end1.rise(&end1_int_handler); |
stebonicelli | 25:281c8e913db4 | 145 | end1.fall(&motor_set_home); |
stebonicelli | 17:dc1b04f0b55d | 146 | |
stebonicelli | 17:dc1b04f0b55d | 147 | button.rise(&button_int_handler); |
stebonicelli | 21:533d014f09e0 | 148 | |
stebonicelli | 25:281c8e913db4 | 149 | motor->set_step_mode(StepperMotor::STEP_MODE_1_16); |
stebonicelli | 19:9680ebe86f4a | 150 | printf("DONE: Motor Init\n\r"); |
nucleosam | 0:36aa6787d4f9 | 151 | |
stebonicelli | 17:dc1b04f0b55d | 152 | // CAN Initialization |
stebonicelli | 21:533d014f09e0 | 153 | |
stebonicelli | 19:9680ebe86f4a | 154 | canrxa.start(canrx); |
stebonicelli | 17:dc1b04f0b55d | 155 | |
stebonicelli | 17:dc1b04f0b55d | 156 | printf("DONE: CAN Init\n\r"); |
stebonicelli | 17:dc1b04f0b55d | 157 | |
gidiana | 20:8e5dd30b1b59 | 158 | |
stebonicelli | 17:dc1b04f0b55d | 159 | |
stebonicelli | 17:dc1b04f0b55d | 160 | printf("Running!\n\r"); |
stebonicelli | 17:dc1b04f0b55d | 161 | |
stebonicelli | 17:dc1b04f0b55d | 162 | while(true) |
gidiana | 13:08617f604d55 | 163 | { |
stebonicelli | 17:dc1b04f0b55d | 164 | wait(1000); |
stebonicelli | 17:dc1b04f0b55d | 165 | } |
nucleosam | 0:36aa6787d4f9 | 166 | } |