Basic code for linear actuator and end effector motor
Dependencies: QEI X_NUCLEO_IHM04A1 arm_linear_can_2
main.cpp@30:62e21e5b4445, 2019-09-14 (annotated)
- Committer:
- s242743
- Date:
- Sat Sep 14 22:30:43 2019 +0000
- Revision:
- 30:62e21e5b4445
- Parent:
- 29:93a31c16467b
.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
stebonicelli | 17:dc1b04f0b55d | 1 | #include "mbed.h" |
danielfpq | 24:37f139e067b2 | 2 | #include "L6206.h" |
s242743 | 29:93a31c16467b | 3 | #include "BDCMotor.h" |
s242743 | 29:93a31c16467b | 4 | #include <math.h> |
danielfpq | 24:37f139e067b2 | 5 | |
s242743 | 29:93a31c16467b | 6 | /****************************/ |
s242743 | 29:93a31c16467b | 7 | /* PIN DEFINITION */ |
s242743 | 29:93a31c16467b | 8 | /****************************/ |
s242743 | 29:93a31c16467b | 9 | |
s242743 | 29:93a31c16467b | 10 | // CAN |
s242743 | 29:93a31c16467b | 11 | #define CAN_RX PB_8 |
s242743 | 29:93a31c16467b | 12 | #define CAN_TX PB_9 |
s242743 | 29:93a31c16467b | 13 | |
s242743 | 29:93a31c16467b | 14 | // ENCODER |
s242743 | 29:93a31c16467b | 15 | #define CH_A PA_8 |
s242743 | 29:93a31c16467b | 16 | #define CH_B PA_9 |
s242743 | 29:93a31c16467b | 17 | |
s242743 | 29:93a31c16467b | 18 | /********************************/ |
s242743 | 29:93a31c16467b | 19 | /* CAN */ |
s242743 | 29:93a31c16467b | 20 | /********************************/ |
stebonicelli | 26:c18d6aaa474a | 21 | |
s242743 | 29:93a31c16467b | 22 | typedef enum |
s242743 | 29:93a31c16467b | 23 | { |
s242743 | 29:93a31c16467b | 24 | JOINT_SET_SPEED = 20, |
s242743 | 29:93a31c16467b | 25 | JOINT_SET_POSITION, |
s242743 | 29:93a31c16467b | 26 | JOINT_CURRENT_POSITION, |
s242743 | 29:93a31c16467b | 27 | JOINT_CURRENT_SPEED, |
s242743 | 29:93a31c16467b | 28 | JOINT_STATUS, |
s242743 | 29:93a31c16467b | 29 | JOINT_ERROR, |
s242743 | 29:93a31c16467b | 30 | JOINT_TORQUE, |
s242743 | 29:93a31c16467b | 31 | JOINT_MAXTORQUE, |
s242743 | 29:93a31c16467b | 32 | JOINT_ZERO, |
s242743 | 29:93a31c16467b | 33 | } CAN_COMMANDS; |
stebonicelli | 26:c18d6aaa474a | 34 | |
s242743 | 29:93a31c16467b | 35 | typedef enum |
s242743 | 29:93a31c16467b | 36 | { |
s242743 | 29:93a31c16467b | 37 | BASE = 1, |
s242743 | 29:93a31c16467b | 38 | SHOULDER, |
s242743 | 29:93a31c16467b | 39 | ELBOW, |
s242743 | 29:93a31c16467b | 40 | WRIST1, |
s242743 | 29:93a31c16467b | 41 | WRIST2, |
s242743 | 29:93a31c16467b | 42 | WRIST3, |
s242743 | 29:93a31c16467b | 43 | END_EFFECTOR, |
s242743 | 29:93a31c16467b | 44 | CAMERA1, |
s242743 | 29:93a31c16467b | 45 | CAMERA2, |
s242743 | 29:93a31c16467b | 46 | } JOINT; |
s242743 | 29:93a31c16467b | 47 | |
s242743 | 29:93a31c16467b | 48 | // |
s242743 | 30:62e21e5b4445 | 49 | DigitalOut myled(LED1); |
nucleosam | 0:36aa6787d4f9 | 50 | |
danielfpq | 24:37f139e067b2 | 51 | static volatile uint16_t gLastError; |
danielfpq | 24:37f139e067b2 | 52 | static volatile uint8_t gStep = 0; |
stebonicelli | 17:dc1b04f0b55d | 53 | |
danielfpq | 24:37f139e067b2 | 54 | L6206_init_t init = |
nucleosam | 0:36aa6787d4f9 | 55 | { |
s242743 | 29:93a31c16467b | 56 | L6206_CONF_PARAM_PARALLE_BRIDGES, |
danielfpq | 24:37f139e067b2 | 57 | {L6206_CONF_PARAM_FREQ_PWM1A, L6206_CONF_PARAM_FREQ_PWM2A, L6206_CONF_PARAM_FREQ_PWM1B, L6206_CONF_PARAM_FREQ_PWM2B}, |
danielfpq | 24:37f139e067b2 | 58 | {100,100,100,100}, |
gidiana | 27:bf0109fb61c3 | 59 | {FORWARD,BACKWARD,FORWARD,BACKWARD}, |
danielfpq | 24:37f139e067b2 | 60 | {INACTIVE,INACTIVE,INACTIVE,INACTIVE}, |
danielfpq | 24:37f139e067b2 | 61 | {FALSE,FALSE} |
nucleosam | 0:36aa6787d4f9 | 62 | }; |
stebonicelli | 21:533d014f09e0 | 63 | |
s242743 | 29:93a31c16467b | 64 | // Motor definition |
s242743 | 29:93a31c16467b | 65 | L6206 *LinAct; |
s242743 | 29:93a31c16467b | 66 | L6206 *EndEff; |
stebonicelli | 17:dc1b04f0b55d | 67 | |
s242743 | 29:93a31c16467b | 68 | int speed_elbow = 0; |
s242743 | 29:93a31c16467b | 69 | int speed_ee = 0; |
stebonicelli | 21:533d014f09e0 | 70 | |
s242743 | 29:93a31c16467b | 71 | /*********************************/ |
s242743 | 29:93a31c16467b | 72 | /* Interrupt Handlers */ |
s242743 | 29:93a31c16467b | 73 | /*********************************/ |
s242743 | 29:93a31c16467b | 74 | |
s242743 | 29:93a31c16467b | 75 | // Error Handler (called by the library when it reports an error) |
danielfpq | 24:37f139e067b2 | 76 | void my_error_handler(uint16_t error) |
danielfpq | 24:37f139e067b2 | 77 | { |
danielfpq | 24:37f139e067b2 | 78 | /* Backup error number */ |
danielfpq | 24:37f139e067b2 | 79 | gLastError = error; |
danielfpq | 24:37f139e067b2 | 80 | |
danielfpq | 24:37f139e067b2 | 81 | /* Enter your own code here */ |
danielfpq | 24:37f139e067b2 | 82 | } |
danielfpq | 24:37f139e067b2 | 83 | |
s242743 | 29:93a31c16467b | 84 | // Flag Handler (overcurrent and thermal alarms reporting) |
danielfpq | 24:37f139e067b2 | 85 | void my_flag_irq_handler(void) |
stebonicelli | 17:dc1b04f0b55d | 86 | { |
s242743 | 29:93a31c16467b | 87 | /* Get the state of bridge A */ |
s242743 | 29:93a31c16467b | 88 | uint16_t bridgeState = EndEff->get_bridge_status(0); |
s242743 | 29:93a31c16467b | 89 | |
s242743 | 29:93a31c16467b | 90 | if (bridgeState == 0) |
s242743 | 29:93a31c16467b | 91 | { |
s242743 | 29:93a31c16467b | 92 | if ((EndEff->get_device_state(0) != INACTIVE)|| |
s242743 | 29:93a31c16467b | 93 | (EndEff->get_device_state(1) != INACTIVE)) |
s242743 | 29:93a31c16467b | 94 | { |
s242743 | 29:93a31c16467b | 95 | /* Bridge A was disabling due to overcurrent or over temperature */ |
s242743 | 29:93a31c16467b | 96 | /* When at least on of its motor was running */ |
s242743 | 29:93a31c16467b | 97 | my_error_handler(0XBAD0); |
s242743 | 29:93a31c16467b | 98 | } |
danielfpq | 24:37f139e067b2 | 99 | } |
danielfpq | 24:37f139e067b2 | 100 | |
s242743 | 29:93a31c16467b | 101 | /* Get the state of bridge B */ |
s242743 | 29:93a31c16467b | 102 | bridgeState = LinAct->get_bridge_status(1); |
danielfpq | 24:37f139e067b2 | 103 | |
s242743 | 29:93a31c16467b | 104 | if (bridgeState == 0) |
s242743 | 29:93a31c16467b | 105 | { |
s242743 | 29:93a31c16467b | 106 | if ((LinAct->get_device_state(2) != INACTIVE)|| |
s242743 | 29:93a31c16467b | 107 | (LinAct->get_device_state(3) != INACTIVE)) |
s242743 | 29:93a31c16467b | 108 | { |
s242743 | 29:93a31c16467b | 109 | /* Bridge A was disabling due to overcurrent or over temperature */ |
s242743 | 29:93a31c16467b | 110 | /* When at least on of its motor was running */ |
s242743 | 29:93a31c16467b | 111 | my_error_handler(0XBAD1); |
s242743 | 29:93a31c16467b | 112 | } |
s242743 | 29:93a31c16467b | 113 | } |
danielfpq | 24:37f139e067b2 | 114 | } |
stebonicelli | 17:dc1b04f0b55d | 115 | |
s242743 | 29:93a31c16467b | 116 | /****************************/ |
s242743 | 29:93a31c16467b | 117 | /* CAN Interface */ |
s242743 | 29:93a31c16467b | 118 | /****************************/ |
s242743 | 29:93a31c16467b | 119 | |
gidiana | 27:bf0109fb61c3 | 120 | CAN can1(PB_8, PB_9); // RX, TX |
stebonicelli | 17:dc1b04f0b55d | 121 | |
s242743 | 29:93a31c16467b | 122 | Thread t_canrx, t_cantx; |
stebonicelli | 17:dc1b04f0b55d | 123 | |
s242743 | 29:93a31c16467b | 124 | uint32_t gen_can_id(CAN_COMMANDS message_id, JOINT can_id) |
stebonicelli | 17:dc1b04f0b55d | 125 | { |
s242743 | 29:93a31c16467b | 126 | uint32_t id = (uint32_t)can_id; // LSB byte is the controller id. |
s242743 | 29:93a31c16467b | 127 | id |= (uint32_t)message_id << 8; // Next lowest byte is the packet id. |
s242743 | 29:93a31c16467b | 128 | id |= 0x80000000; // Send in Extended Frame Format. |
s242743 | 29:93a31c16467b | 129 | return id; |
s242743 | 29:93a31c16467b | 130 | } |
s242743 | 29:93a31c16467b | 131 | |
s242743 | 29:93a31c16467b | 132 | bool can_rx() |
s242743 | 29:93a31c16467b | 133 | { |
s242743 | 29:93a31c16467b | 134 | CANMessage messageIn; |
s242743 | 29:93a31c16467b | 135 | messageIn.format = CANExtended; |
s242743 | 29:93a31c16467b | 136 | bool status = can1.read(messageIn); |
s242743 | 29:93a31c16467b | 137 | printf ("CAN ID : %d Message received : %d\n\r", messageIn.id, status); |
s242743 | 29:93a31c16467b | 138 | |
s242743 | 30:62e21e5b4445 | 139 | if(can1.read(messageIn)) |
danielfpq | 24:37f139e067b2 | 140 | { |
s242743 | 30:62e21e5b4445 | 141 | myled = 1; |
s242743 | 30:62e21e5b4445 | 142 | wait(0.5); |
s242743 | 30:62e21e5b4445 | 143 | myled = 0; |
s242743 | 30:62e21e5b4445 | 144 | wait(0.5); |
s242743 | 30:62e21e5b4445 | 145 | if(messageIn.id == gen_can_id(JOINT_SET_SPEED, ELBOW)) |
s242743 | 30:62e21e5b4445 | 146 | { |
s242743 | 30:62e21e5b4445 | 147 | speed_elbow = messageIn.data[3] + (messageIn.data[2] << 8) + (messageIn.data[1] << 16) + (messageIn.data[0] << 24); |
s242743 | 30:62e21e5b4445 | 148 | } |
s242743 | 29:93a31c16467b | 149 | } |
s242743 | 29:93a31c16467b | 150 | |
s242743 | 30:62e21e5b4445 | 151 | /* |
s242743 | 30:62e21e5b4445 | 152 | if(can1.read(messageIn)) |
s242743 | 29:93a31c16467b | 153 | { |
s242743 | 30:62e21e5b4445 | 154 | myled = 1; |
s242743 | 30:62e21e5b4445 | 155 | wait(0.5); |
s242743 | 30:62e21e5b4445 | 156 | myled = 0; |
s242743 | 30:62e21e5b4445 | 157 | wait(0.5); |
s242743 | 30:62e21e5b4445 | 158 | if(messageIn.id == gen_can_id(JOINT_SET_SPEED, END_EFFECTOR)) |
s242743 | 30:62e21e5b4445 | 159 | { |
s242743 | 30:62e21e5b4445 | 160 | speed_ee = messageIn.data[3] + (messageIn.data[2] << 8) + (messageIn.data[1] << 16) + (messageIn.data[0] << 24); |
s242743 | 30:62e21e5b4445 | 161 | } |
s242743 | 29:93a31c16467b | 162 | } |
s242743 | 30:62e21e5b4445 | 163 | */ |
s242743 | 29:93a31c16467b | 164 | |
s242743 | 29:93a31c16467b | 165 | if(can1.read(messageIn) && messageIn.id == gen_can_id(JOINT_ZERO,ELBOW)) |
s242743 | 29:93a31c16467b | 166 | { |
s242743 | 29:93a31c16467b | 167 | if((messageIn.data[0] + (messageIn.data[1] << 8) + (messageIn.data[2] << 16) + (messageIn.data[3] << 24)) == 1) |
s242743 | 29:93a31c16467b | 168 | { |
s242743 | 29:93a31c16467b | 169 | LinAct->run(1, BDCMotor::BWD); |
s242743 | 29:93a31c16467b | 170 | } |
stebonicelli | 26:c18d6aaa474a | 171 | } |
stebonicelli | 26:c18d6aaa474a | 172 | |
s242743 | 29:93a31c16467b | 173 | return status; |
nucleosam | 0:36aa6787d4f9 | 174 | } |
stebonicelli | 26:c18d6aaa474a | 175 | |
s242743 | 29:93a31c16467b | 176 | void can_rx_isr() |
s242743 | 29:93a31c16467b | 177 | { |
s242743 | 29:93a31c16467b | 178 | while(1) |
s242743 | 29:93a31c16467b | 179 | { |
s242743 | 29:93a31c16467b | 180 | can_rx(); |
s242743 | 29:93a31c16467b | 181 | osDelay(10); |
s242743 | 29:93a31c16467b | 182 | } |
s242743 | 29:93a31c16467b | 183 | } |
stebonicelli | 17:dc1b04f0b55d | 184 | |
s242743 | 29:93a31c16467b | 185 | /*****************************/ |
s242743 | 29:93a31c16467b | 186 | /* MAIN */ |
s242743 | 29:93a31c16467b | 187 | /*****************************/ |
s242743 | 29:93a31c16467b | 188 | |
nucleosam | 0:36aa6787d4f9 | 189 | int main() |
nucleosam | 0:36aa6787d4f9 | 190 | { |
s242743 | 29:93a31c16467b | 191 | can1.frequency(125000); |
s242743 | 29:93a31c16467b | 192 | |
s242743 | 29:93a31c16467b | 193 | // Motor Initialization |
danielfpq | 24:37f139e067b2 | 194 | #ifdef TARGET_STM32F429 |
s242743 | 29:93a31c16467b | 195 | LinAct = new L6206(PB_14, PB_15, PA_8, PA_9, PC_6, PC_7); // EN_A, EN_B, IN1_A, IN2_A, IN1_B, IN2_B |
s242743 | 29:93a31c16467b | 196 | EndEff = new L6206(PB_14, PB_15, PA_8, PA_9, PC_6, PC_7); // EN_A, EN_B, IN1_A, IN2_A, IN1_B, IN2_B |
danielfpq | 24:37f139e067b2 | 197 | #else |
s242743 | 29:93a31c16467b | 198 | //LinAct = new L6206(PB_14, PB_15, PA_8, PA_9, PC_6, PC_7); |
s242743 | 29:93a31c16467b | 199 | LinAct = new L6206(D2, A4, D5, D4, A0, A1); |
s242743 | 29:93a31c16467b | 200 | EndEff = new L6206(D2, A4, D5, D4, A0, A1); |
danielfpq | 24:37f139e067b2 | 201 | #endif |
nucleosam | 0:36aa6787d4f9 | 202 | |
s242743 | 29:93a31c16467b | 203 | if (LinAct->init(&init) != COMPONENT_OK) |
s242743 | 29:93a31c16467b | 204 | { |
s242743 | 29:93a31c16467b | 205 | printf("ERROR: vvMotor Init\n\r"); |
s242743 | 29:93a31c16467b | 206 | exit(EXIT_FAILURE); |
s242743 | 29:93a31c16467b | 207 | } |
s242743 | 29:93a31c16467b | 208 | if (EndEff->init(&init) != COMPONENT_OK) |
s242743 | 29:93a31c16467b | 209 | { |
s242743 | 29:93a31c16467b | 210 | printf("ERROR: vvMotor Init\n\r"); |
s242743 | 29:93a31c16467b | 211 | exit(EXIT_FAILURE); |
s242743 | 29:93a31c16467b | 212 | } |
s242743 | 29:93a31c16467b | 213 | |
s242743 | 29:93a31c16467b | 214 | LinAct->attach_flag_interrupt(my_flag_irq_handler); |
s242743 | 29:93a31c16467b | 215 | LinAct->attach_error_handler(my_error_handler); |
s242743 | 29:93a31c16467b | 216 | EndEff->attach_flag_interrupt(my_flag_irq_handler); |
s242743 | 29:93a31c16467b | 217 | EndEff->attach_error_handler(my_error_handler); |
s242743 | 29:93a31c16467b | 218 | printf("DONE: Motor Init\n\r"); |
s242743 | 29:93a31c16467b | 219 | |
s242743 | 29:93a31c16467b | 220 | LinAct->set_dual_full_bridge_config(PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B); |
s242743 | 29:93a31c16467b | 221 | EndEff->set_dual_full_bridge_config(PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B); |
danielfpq | 24:37f139e067b2 | 222 | |
s242743 | 29:93a31c16467b | 223 | // CAN Initialization |
s242743 | 29:93a31c16467b | 224 | t_canrx.start(can_rx_isr); |
s242743 | 29:93a31c16467b | 225 | printf("DONE: CAN Init\n\r"); |
s242743 | 29:93a31c16467b | 226 | |
s242743 | 29:93a31c16467b | 227 | while(true) |
s242743 | 29:93a31c16467b | 228 | { |
s242743 | 29:93a31c16467b | 229 | EndEff->set_speed(0, speed_ee); |
s242743 | 29:93a31c16467b | 230 | if(speed_ee < 0) |
s242743 | 29:93a31c16467b | 231 | EndEff->run(0, BDCMotor::BWD); |
s242743 | 29:93a31c16467b | 232 | else if(speed_ee > 0) |
s242743 | 29:93a31c16467b | 233 | EndEff->run(0, BDCMotor::FWD); |
s242743 | 29:93a31c16467b | 234 | else if(speed_ee == 0) |
s242743 | 29:93a31c16467b | 235 | EndEff->hard_stop(0); |
s242743 | 29:93a31c16467b | 236 | |
s242743 | 29:93a31c16467b | 237 | LinAct->set_speed(1, speed_elbow); |
s242743 | 29:93a31c16467b | 238 | if(speed_elbow < 0) |
s242743 | 29:93a31c16467b | 239 | LinAct->run(1, BDCMotor::BWD); |
s242743 | 29:93a31c16467b | 240 | else if(speed_elbow > 0) |
s242743 | 29:93a31c16467b | 241 | LinAct->run(1, BDCMotor::FWD); |
s242743 | 29:93a31c16467b | 242 | else if(speed_elbow == 0) |
s242743 | 29:93a31c16467b | 243 | LinAct->hard_stop(1); |
s242743 | 29:93a31c16467b | 244 | |
s242743 | 29:93a31c16467b | 245 | osDelay(100); |
s242743 | 29:93a31c16467b | 246 | } |
s242743 | 29:93a31c16467b | 247 | } |