Diff: main.cpp

Revision:

0:4643b73902b7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Mar 18 23:18:10 2018 +0000
@@ -0,0 +1,255 @@
+
+/* Includes ------------------------------------------------------------------*/
+
+/* mbed specific header files. */
+#include "mbed.h"
+
+/* Helper header files. */
+#include "DevSPI.h"
+
+/* Component specific header files. */
+#include "L6474.h"
+
+
+/* Variables -----------------------------------------------------------------*/
+
+/* Initialization parameters. */
+L6474_init_t init = {
+    160,                              /* Acceleration rate in pps^2. Range: (0..+inf). */
+    160,                              /* Deceleration rate in pps^2. Range: (0..+inf). */
+    1600,                             /* Maximum speed in pps. Range: (30..10000]. */
+    800,                              /* Minimum speed in pps. Range: [30..10000). */
+    250,                              /* 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). */
+    L6474_STEP_SEL_1_16,              /* 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.
+  *         Empty parts can be implemented by the user upon needs.
+  * @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->get_status();
+    
+    /* Check HIZ flag: if set, power brigdes are disabled. */
+    if ((status & L6474_STATUS_HIZ) == L6474_STATUS_HIZ)
+    { /* HIZ state. Action to be customized. */ }
+    
+    /* Check direction. */
+    if ((status & L6474_STATUS_DIR) == L6474_STATUS_DIR)
+    { /* Forward direction is set. Action to be customized. */ }
+    else
+    { /* Backward direction is set. Action to be customized. */ }
+    
+    /* 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)
+    { /* Command received by SPI can't be performed. Action to be customized. */ }
+     
+    /* Check WRONG_CMD flag: if set, the command does not exist. */
+    if ((status & L6474_STATUS_WRONG_CMD) == L6474_STATUS_WRONG_CMD)
+    { /* The command received by SPI does not exist. Action to be customized. */ }
+    
+    /* Check UVLO flag: if not set, there is an undervoltage lock-out. */
+    if ((status & L6474_STATUS_UVLO) == 0)
+    { /* Undervoltage lock-out. Action to be customized. */ }
+    
+    /* Check TH_WRN flag: if not set, the thermal warning threshold is reached. */
+    if ((status & L6474_STATUS_TH_WRN) == 0)
+    { /* Thermal warning threshold is reached. Action to be customized. */ }
+    
+    /* Check TH_SHD flag: if not set, the thermal shut down threshold is reached. */
+    if ((status & L6474_STATUS_TH_SD) == 0)
+    { /* Thermal shut down threshold is reached. Action to be customized. */ }
+    
+    /* Check OCD  flag: if not set, there is an overcurrent detection. */
+    if ((status & L6474_STATUS_OCD) == 0)
+    { /* Overcurrent detection. Action to be customized. */ }
+
+    /* Reset ISR flag. */
+    motor->isr_flag = FALSE;
+}
+
+/**
+  * @brief  This is an example of user handler for the errors.
+  * @param  error error-code.
+  * @retval None
+  * @note   If needed, implement it, and then attach it:
+  *           + motor->AttachErrorHandler(&ErrorHandler);
+  */
+void ErrorHandler(uint16_t error)
+{
+    /* Printing to the console. */
+    printf("Error: %d.\r\n", error);
+    
+    /* Aborting the program. */
+    exit(EXIT_FAILURE);
+}
+
+
+/* Main ----------------------------------------------------------------------*/
+
+int main()
+{
+    /*----- 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 the user handler for the flag interrupt. */
+    motor->attach_flag_irq(&FlagIRQHandler);
+    motor->enable_flag_irq();
+
+    /* Printing to the console. */
+    printf("Stepper Motor Control with Joystick Example\r\n\n");
+
+int speed;
+////////////////////////////////////////////////////////////////////////////////
+int a,b,c,d,e,f,k;
+int i;
+int x,y;
+float u,w; 
+
+//DigitalIn botao_A(D2);
+DigitalIn botao_B(D3);
+DigitalIn botao_C(D4);
+DigitalIn botao_D(D5);
+DigitalIn botao_E(D6);
+//DigitalIn botao_F(D7);
+//DigitalIn botao_K(D8);
+
+AnalogIn eixo_X(A0);
+AnalogIn eixo_Y(A1);
+
+DigitalOut myled(LED1);
+ 
+Serial pc(USBTX, USBRX);
+ 
+pc.baud(9600);
+
+a=b=c=d=e=f=k=0; //a=0,b=0,c=0,d=0,e=0,f=0,k=0;
+////////////////////////////////////////////////////////////////////////////////
+
+    /*----- Changing step mode to full step mode. -----*/
+
+    /* Printing to the console. */
+    printf("--> Changing step mode to full step mode.\r\n");
+
+    /* Selecting full step mode. */
+    if (!motor->set_step_mode((StepperMotor::step_mode_t) STEP_MODE_FULL)) {
+        printf("    Step Mode not allowed.\r\n");
+    }
+
+    /* Setting speed and acceleration to be consistent with full step mode. */
+    motor->set_max_speed(1000);
+    motor->set_min_speed(50);
+    motor->set_acceleration(10);
+    motor->set_deceleration(10);
+    
+}
+/////////////////////////////////////////////////////////////////////////////////////
+
+------------------------------------------------------------------------------*/
+   
+
+//cls();
+pc.printf("\f\n\r\t\t\t\t\t\tHello Analog World!!!");
+pc.printf("\n\rStart\tA=%d,\tB=%d,\tC=%d,\tD=%d,\tE=%d,\tF=%d,\tK=%d,\tEixos<int>\tEixos<float>\tEixos<status>",a,b,c,d,e,f,k);
+pc.printf("\n\rBotao\tA\tB\tC\tD\tE\tF\tK\tx\ty\tX\tY\n");
+
+ 
+  while(1) {
+    
+    if (botao_A == 0) { // Botão usuário pressionado
+      a++; 
+    }
+    if (botao_B == 0) { // Botão externo pressionado
+      b++; 
+    }
+    if (botao_C == 0) { // Botão usuário pressionado
+      c++; 
+    }
+    if (botao_D == 0) { // Botão usuário pressionado
+      d++; 
+    }
+    if (botao_E == 0) { // Botão usuário pressionado
+      e++; 
+    }
+    if (botao_F == 0) { // Botão usuário pressionado
+      f++; 
+    }
+    if (botao_K == 0) { // Botão usuário pressionado
+      k++; 
+    }
+//x=(int)eixo_X.read();
+u=eixo_X.read();
+//x=(int)u;
+x=eixo_X.read()*255;    //Converte uma leitura do ADC em float para formato int e armazena na variável y.
+
+//w=eixo_Y.read();
+
+//y=eixo_Y.read()*255;    //Converte uma leitura do ADC em float para formato int e armazena na variável y.
+
+pc.printf("\rValor\t%d\t%d\t%d\t%d\t%d\t%d\t%d\t%X \t%X \t%2.3f\t%2.3f",a,b,c,d,e,f,k,x,y,eixo_X.read(),eixo_Y.read());
+
+                                                    //Detecta a faixa em que o cursor do pot se encontra:
+if (u>0.505){pc.printf(" X FWD ");
+            /* Setting the speed. */
+            motor->set_max_speed(x);
+            /* Requesting to run Forward. */
+            motor->run(StepperMotor::FWD);}                 //pot > 0.505V (comanda acionamento X proporcional para FRENTE);
+else{if (u<0.495)
+    {pc.printf(" X BWD ");
+    /* Setting the speed. */
+    motor->set_max_speed(x);
+    /* Requesting to run Backward. */
+    motor->run(StepperMotor::BWD);}     //pot < 0.495V (comanda acionamento X proporcional para TRAS);
+    else{pc.printf(" X STOP");                  //0.495V < pot < 0.505V (comanda acionamento X para permanecer PARADO).
+        /* Requesting to immediatly stop. */
+        motor->hard_stop();}
+     };
+
+      wait(0.2);
+ }
+}
+         
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