Diff: main.cpp

Revision:

0:1cb05bc2807c

Child:

1:5822a95491d3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Feb 11 16:02:22 2020 +0000
@@ -0,0 +1,191 @@
+#include "mbed.h"
+#include "PowerStep01.h"
+
+powerstep01_init_u_t init = {
+    /* common parameters */
+    .cm.cp.cmVmSelection = POWERSTEP01_CM_VM_CURRENT, // enum powerstep01_CmVm_t
+    582, // Acceleration rate in step/s2, range 14.55 to 59590 steps/s^2
+    582, // Deceleration rate in step/s2, range 14.55 to 59590 steps/s^2
+    488, // Maximum speed in step/s, range 15.25 to 15610 steps/s
+    0, // Minimum speed in step/s, range 0 to 976.3 steps/s
+    POWERSTEP01_LSPD_OPT_OFF, // Low speed optimization bit, enum powerstep01_LspdOpt_t
+    244.16, // Full step speed in step/s, range 7.63 to 15625 steps/s
+    POWERSTEP01_BOOST_MODE_OFF, // Boost of the amplitude square wave, enum powerstep01_BoostMode_t
+    281.25, // Overcurrent threshold settings via enum powerstep01_OcdTh_t
+    STEP_MODE_1_16, // Step mode settings via enum motorStepMode_t
+    POWERSTEP01_SYNC_SEL_DISABLED, // Synch. Mode settings via enum powerstep01_SyncSel_t
+    (POWERSTEP01_ALARM_EN_OVERCURRENT|
+    POWERSTEP01_ALARM_EN_THERMAL_SHUTDOWN|
+    POWERSTEP01_ALARM_EN_THERMAL_WARNING|
+    POWERSTEP01_ALARM_EN_UVLO|
+    POWERSTEP01_ALARM_EN_STALL_DETECTION|
+    POWERSTEP01_ALARM_EN_SW_TURN_ON|
+    POWERSTEP01_ALARM_EN_WRONG_NPERF_CMD), // Alarm settings via bitmap enum powerstep01_AlarmEn_t
+    POWERSTEP01_IGATE_64mA, // Gate sink/source current via enum powerstep01_Igate_t
+    POWERSTEP01_TBOOST_0ns, // Duration of the overboost phase during gate turn-off via enum powerstep01_Tboost_t
+    POWERSTEP01_TCC_500ns, // Controlled current time via enum powerstep01_Tcc_t
+    POWERSTEP01_WD_EN_DISABLE, // External clock watchdog, enum powerstep01_WdEn_t
+    POWERSTEP01_TBLANK_375ns, // Duration of the blanking time via enum powerstep01_TBlank_t
+    POWERSTEP01_TDT_125ns, // Duration of the dead time via enum powerstep01_Tdt_t
+    /* current mode parameters */
+    328.12, // Hold torque in mV, range from 7.8mV to 1000 mV
+    328.12, // Running torque in mV, range from 7.8mV to 1000 mV
+    328.12, // Acceleration torque in mV, range from 7.8mV to 1000 mV
+    328.12, // Deceleration torque in mV, range from 7.8mV to 1000 mV
+    POWERSTEP01_TOFF_FAST_8us, //Maximum fast decay time , enum powerstep01_ToffFast_t
+    POWERSTEP01_FAST_STEP_12us, //Maximum fall step time , enum powerstep01_FastStep_t
+    3.0, // Minimum on-time in us, range 0.5us to 64us
+    21.0, // Minimum off-time in us, range 0.5us to 64us
+    POWERSTEP01_CONFIG_INT_16MHZ_OSCOUT_2MHZ, // Clock setting , enum powerstep01_ConfigOscMgmt_t
+    POWERSTEP01_CONFIG_SW_HARD_STOP, // External switch hard stop interrupt mode, enum powerstep01_ConfigSwMode_t
+    POWERSTEP01_CONFIG_TQ_REG_TVAL_USED, // External torque regulation enabling , enum powerstep01_ConfigEnTqReg_t
+    POWERSTEP01_CONFIG_VS_COMP_DISABLE, // Motor Supply Voltage Compensation enabling , enum powerstep01_ConfigEnVscomp_t
+    POWERSTEP01_CONFIG_OC_SD_DISABLE, // Over current shutwdown enabling, enum powerstep01_ConfigOcSd_t
+    POWERSTEP01_CONFIG_UVLOVAL_LOW, // UVLO Threshold via powerstep01_ConfigUvLoVal_t
+    POWERSTEP01_CONFIG_VCCVAL_15V, // VCC Val, enum powerstep01_ConfigVccVal_t
+    POWERSTEP01_CONFIG_TSW_048us, // Switching period, enum powerstep01_ConfigTsw_t
+    POWERSTEP01_CONFIG_PRED_DISABLE // Predictive current enabling , enum powerstep01_ConfigPredEn_t
+};
+
+/* Motor Control Component. */
+PowerStep01 *motor;
+
+void flag_irq_handler(void)
+{
+    /* Set ISR flag. */
+    motor->isrFlag = TRUE;
+    /* Get the value of the status register. */
+    unsigned int statusRegister = motor->get_status();
+    printf("    WARNING: \"FLAG\" interrupt triggered.\r\n");
+    /* Check SW_F flag: if not set, the SW input is opened */
+    if ((statusRegister & POWERSTEP01_STATUS_SW_F ) != 0) {
+        printf("    SW closed (connected to ground).\r\n");
+    }
+    /* Check SW_EN bit */
+    if ((statusRegister & POWERSTEP01_STATUS_SW_EVN) == POWERSTEP01_STATUS_SW_EVN) {
+        printf("    SW turn_on event.\r\n");
+    }
+    /* Check Command Error flag: if set, the command received by SPI can't be */
+    /* performed. This occurs for instance when a move command is sent to the */
+    /* Powerstep01 while it is already running */
+    if ((statusRegister & POWERSTEP01_STATUS_CMD_ERROR) == POWERSTEP01_STATUS_CMD_ERROR) {
+        printf("    Non-performable command detected.\r\n");
+    }
+    /* Check UVLO flag: if not set, there is an undervoltage lock-out */
+    if ((statusRegister & POWERSTEP01_STATUS_UVLO)==0) {
+        printf("    undervoltage lock-out.\r\n");
+    }
+    /* Check thermal STATUS flags: if  set, the thermal status is not normal */
+    if ((statusRegister & POWERSTEP01_STATUS_TH_STATUS)!=0) {
+        //thermal status: 1: Warning, 2: Bridge shutdown, 3: Device shutdown
+        printf("    Thermal status: %d.\r\n", (statusRegister & POWERSTEP01_STATUS_TH_STATUS)>>11);
+    }
+    /* Check OCD  flag: if not set, there is an overcurrent detection */
+    if ((statusRegister & POWERSTEP01_STATUS_OCD)==0) {
+        printf("    Overcurrent detection.\r\n");
+    }
+    /* Reset ISR flag. */
+    motor->isrFlag = FALSE;
+}
+
+/**
+ * @brief  This is an example of error handler.
+ * @param[in] error Number of the error
+ * @retval None
+ * @note   If needed, implement it, and then attach it:
+ *           + motor->attach_error_handler(&my_error_handler);
+ */
+void error_handler(uint16_t error)
+{
+    /* Printing to the console. */
+    printf("Error %d detected\r\n\n", error);
+
+    /* Infinite loop */
+    while (true) {
+    }
+}
+
+/* Main ----------------------------------------------------------------------*/
+
+int main()
+{
+    /* Printing to the console. */
+    printf("STARTING MAIN PROGRAM\r\n");
+
+//----- Initialization
+    /* Initializing SPI bus. */
+    DevSPI dev_spi(D11, D12, D13);
+
+    /* Initializing Motor Control Component. */
+    motor = new PowerStep01(D2, D4, D8, D9, D10, dev_spi);
+    if (motor->init(&init) != COMPONENT_OK) {
+        exit(EXIT_FAILURE);
+    }
+
+    /* Attaching and enabling an interrupt handler. */
+    motor->attach_flag_irq(&flag_irq_handler);
+    motor->enable_flag_irq();
+
+    /* Attaching an error handler */
+    motor->attach_error_handler(&error_handler);
+
+    /* Printing to the console. */
+    printf("Motor Control Application Example for 1 Motor\r\n");
+
+//----- move of 16000 steps in the FW direction
+    printf("--> Moving forward 480 steps.\r\n");
+    motor->move(StepperMotor::FWD, 480);
+
+    /* Waiting while the motor is active. */
+    motor->wait_while_active();
+
+    /* Wait for 2 seconds */
+    ThisThread::sleep_for(2*1000);
+    //----- Go to position -480
+    printf("--> Go to position -480 steps.\r\n");
+
+    /* Request device to go to position -480 */
+    motor->go_to(-480);
+
+    /* Wait for the motor ends moving */
+    motor->wait_while_active();
+
+    /* Get current position of device and print to the console */
+    printf("    Position: %d.\r\n", motor->get_position());
+
+    /* Wait for 2 seconds */
+    ThisThread::sleep_for(2*1000);
+
+//----- Go Home
+    /* Printing to the console. */
+    printf("--> Go to home position.\r\n");
+
+    /* Request device to go to Home */
+    motor->go_home();
+
+    /* Wait for the motor ends moving */
+    motor->wait_while_active();
+
+    /* Wait for 2 seconds */
+    ThisThread::sleep_for(2*1000);
+
+//----- run the motor BACKWARD at 120 step/s
+    printf("--> run the motor backward at 120 step/s.\r\n");
+    motor->run(StepperMotor::BWD, 120);
+
+//----- Get parameter example
+    /* Wait for device reaches the targeted speed */
+    while ((motor->read_status_register() & POWERSTEP01_STATUS_MOT_STATUS) != POWERSTEP01_STATUS_MOT_STATUS_CONST_SPD);
+
+    /* Record the reached speed in step/s and print to the console */
+    printf("    Reached Speed: %f step/s.\r\n", motor->get_analog_value(POWERSTEP01_SPEED));
+
+//----- Soft stopped required while running
+    printf("--> Soft stop requested.\r\n");
+
+    /* Request a soft stop of device and keep the power bridges enabled */
+    motor->soft_hiz();
+
+    /* Wait for the motor of device ends moving */
+    motor->wait_while_active();
+}
\ No newline at end of file