main.cpp

00001 
00002 /* Includes ------------------------------------------------------------------*/
00003 
00004 /* mbed specific header files. */
00005 #include "mbed.h"
00006 
00007 /* Helper header files. */
00008 #include "DevSPI.h"
00009 
00010 /* Component specific header files. */
00011 #include "L6474.h"
00012 
00013 
00014 /* Variables -----------------------------------------------------------------*/
00015 
00016 /* Initialization parameters. */
00017 L6474_init_t init = {
00018     160,                              /* Acceleration rate in pps^2. Range: (0..+inf). */
00019     160,                              /* Deceleration rate in pps^2. Range: (0..+inf). */
00020     1600,                             /* Maximum speed in pps. Range: (30..10000]. */
00021     800,                              /* Minimum speed in pps. Range: [30..10000). */
00022     250,                              /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
00023     L6474_OCD_TH_750mA,               /* Overcurrent threshold (OCD_TH register). */
00024     L6474_CONFIG_OC_SD_ENABLE,        /* Overcurrent shutwdown (OC_SD field of CONFIG register). */
00025     L6474_CONFIG_EN_TQREG_TVAL_USED,  /* Torque regulation method (EN_TQREG field of CONFIG register). */
00026     L6474_STEP_SEL_1_16,              /* Step selection (STEP_SEL field of STEP_MODE register). */
00027     L6474_SYNC_SEL_1_2,               /* Sync selection (SYNC_SEL field of STEP_MODE register). */
00028     L6474_FAST_STEP_12us,             /* Fall time value (T_FAST field of T_FAST register). Range: 2us to 32us. */
00029     L6474_TOFF_FAST_8us,              /* Maximum fast decay time (T_OFF field of T_FAST register). Range: 2us to 32us. */
00030     3,                                /* Minimum ON time in us (TON_MIN register). Range: 0.5us to 64us. */
00031     21,                               /* Minimum OFF time in us (TOFF_MIN register). Range: 0.5us to 64us. */
00032     L6474_CONFIG_TOFF_044us,          /* Target Swicthing Period (field TOFF of CONFIG register). */
00033     L6474_CONFIG_SR_320V_us,          /* Slew rate (POW_SR field of CONFIG register). */
00034     L6474_CONFIG_INT_16MHZ,           /* Clock setting (OSC_CLK_SEL field of CONFIG register). */
00035     L6474_ALARM_EN_OVERCURRENT |
00036     L6474_ALARM_EN_THERMAL_SHUTDOWN |
00037     L6474_ALARM_EN_THERMAL_WARNING |
00038     L6474_ALARM_EN_UNDERVOLTAGE |
00039     L6474_ALARM_EN_SW_TURN_ON |
00040     L6474_ALARM_EN_WRONG_NPERF_CMD    /* Alarm (ALARM_EN register). */
00041 };
00042 
00043 /* Motor Control Component. */
00044 L6474 *motor;
00045 
00046 
00047 /* Functions -----------------------------------------------------------------*/
00048 
00049 /**
00050   * @brief  This is an example of user handler for the flag interrupt.
00051   *         Empty parts can be implemented by the user upon needs.
00052   * @param  None.
00053   * @retval None.
00054   * @note   If needed, implement it, and then attach and enable it:
00055   *           + motor->AttachFlagIRQ(&FlagIRQHandler);
00056   *           + motor->EnableFlagIRQ();
00057   *         To disable it:
00058   *           + motor->DisbleFlagIRQ();
00059   */
00060 void FlagIRQHandler(void)
00061 {
00062     /* Set ISR flag. */
00063     motor->isr_flag = TRUE;
00064 
00065     /* Get the value of the status register. */
00066     unsigned int status = motor->get_status();
00067     
00068     /* Check HIZ flag: if set, power brigdes are disabled. */
00069     if ((status & L6474_STATUS_HIZ) == L6474_STATUS_HIZ)
00070     { /* HIZ state. Action to be customized. */ }
00071     
00072     /* Check direction. */
00073     if ((status & L6474_STATUS_DIR) == L6474_STATUS_DIR)
00074     { /* Forward direction is set. Action to be customized. */ }
00075     else
00076     { /* Backward direction is set. Action to be customized. */ }
00077     
00078     /* Check NOTPERF_CMD flag: if set, the command received by SPI can't be performed. */
00079     /* This often occures when a command is sent to the L6474 while it is not in HiZ state. */
00080     if ((status & L6474_STATUS_NOTPERF_CMD) == L6474_STATUS_NOTPERF_CMD)
00081     { /* Command received by SPI can't be performed. Action to be customized. */ }
00082      
00083     /* Check WRONG_CMD flag: if set, the command does not exist. */
00084     if ((status & L6474_STATUS_WRONG_CMD) == L6474_STATUS_WRONG_CMD)
00085     { /* The command received by SPI does not exist. Action to be customized. */ }
00086     
00087     /* Check UVLO flag: if not set, there is an undervoltage lock-out. */
00088     if ((status & L6474_STATUS_UVLO) == 0)
00089     { /* Undervoltage lock-out. Action to be customized. */ }
00090     
00091     /* Check TH_WRN flag: if not set, the thermal warning threshold is reached. */
00092     if ((status & L6474_STATUS_TH_WRN) == 0)
00093     { /* Thermal warning threshold is reached. Action to be customized. */ }
00094     
00095     /* Check TH_SHD flag: if not set, the thermal shut down threshold is reached. */
00096     if ((status & L6474_STATUS_TH_SD) == 0)
00097     { /* Thermal shut down threshold is reached. Action to be customized. */ }
00098     
00099     /* Check OCD  flag: if not set, there is an overcurrent detection. */
00100     if ((status & L6474_STATUS_OCD) == 0)
00101     { /* Overcurrent detection. Action to be customized. */ }
00102 
00103     /* Reset ISR flag. */
00104     motor->isr_flag = FALSE;
00105 }
00106 
00107 /**
00108   * @brief  This is an example of user handler for the errors.
00109   * @param  error error-code.
00110   * @retval None
00111   * @note   If needed, implement it, and then attach it:
00112   *           + motor->AttachErrorHandler(&ErrorHandler);
00113   */
00114 void ErrorHandler(uint16_t error)
00115 {
00116     /* Printing to the console. */
00117     printf("Error: %d.\r\n", error);
00118     
00119     /* Aborting the program. */
00120     exit(EXIT_FAILURE);
00121 }
00122 
00123 
00124 /* Main ----------------------------------------------------------------------*/
00125 
00126 int main()
00127 {
00128     /*----- Initialization. -----*/
00129 
00130     /* Initializing SPI bus. */
00131     DevSPI dev_spi(D11, D12, D13);
00132 
00133     /* Initializing Motor Control Component. */
00134     motor = new L6474(D2, D8, D7, D9, D10, dev_spi);
00135     if (motor->init(&init) != COMPONENT_OK) {
00136         exit(EXIT_FAILURE);
00137     }
00138 
00139     /* Attaching and enabling the user handler for the flag interrupt. */
00140     motor->attach_flag_irq(&FlagIRQHandler);
00141     motor->enable_flag_irq();
00142 
00143     /* Printing to the console. */
00144     printf("Stepper Motor Control with Joystick Example\r\n\n");
00145 
00146 int speed;
00147 ////////////////////////////////////////////////////////////////////////////////
00148 int a,b,c,d,e,f,k;
00149 int i;
00150 int x,y;
00151 float u,w; 
00152 
00153 //DigitalIn botao_A(D2);
00154 DigitalIn botao_B(D3);
00155 DigitalIn botao_C(D4);
00156 DigitalIn botao_D(D5);
00157 DigitalIn botao_E(D6);
00158 //DigitalIn botao_F(D7);
00159 //DigitalIn botao_K(D8);
00160 
00161 AnalogIn eixo_X(A0);
00162 AnalogIn eixo_Y(A1);
00163 
00164 DigitalOut myled(LED1);
00165  
00166 Serial pc(USBTX, USBRX);
00167  
00168 pc.baud(9600);
00169 
00170 a=b=c=d=e=f=k=0; //a=0,b=0,c=0,d=0,e=0,f=0,k=0;
00171 ////////////////////////////////////////////////////////////////////////////////
00172 
00173     /*----- Changing step mode to full step mode. -----*/
00174 
00175     /* Printing to the console. */
00176     printf("--> Changing step mode to full step mode.\r\n");
00177 
00178     /* Selecting full step mode. */
00179     if (!motor->set_step_mode((StepperMotor::step_mode_t) STEP_MODE_FULL)) {
00180         printf("    Step Mode not allowed.\r\n");
00181     }
00182 
00183     /* Setting speed and acceleration to be consistent with full step mode. */
00184     motor->set_max_speed(1000);
00185     motor->set_min_speed(50);
00186     motor->set_acceleration(10);
00187     motor->set_deceleration(10);
00188     
00189 }
00190 /////////////////////////////////////////////////////////////////////////////////////
00191 
00192 ------------------------------------------------------------------------------*/
00193    
00194 
00195 //cls();
00196 pc.printf("\f\n\r\t\t\t\t\t\tHello Analog World!!!");
00197 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);
00198 pc.printf("\n\rBotao\tA\tB\tC\tD\tE\tF\tK\tx\ty\tX\tY\n");
00199 
00200  
00201   while(1) {
00202     
00203     if (botao_A == 0) { // Botão usuário pressionado
00204       a++; 
00205     }
00206     if (botao_B == 0) { // Botão externo pressionado
00207       b++; 
00208     }
00209     if (botao_C == 0) { // Botão usuário pressionado
00210       c++; 
00211     }
00212     if (botao_D == 0) { // Botão usuário pressionado
00213       d++; 
00214     }
00215     if (botao_E == 0) { // Botão usuário pressionado
00216       e++; 
00217     }
00218     if (botao_F == 0) { // Botão usuário pressionado
00219       f++; 
00220     }
00221     if (botao_K == 0) { // Botão usuário pressionado
00222       k++; 
00223     }
00224 //x=(int)eixo_X.read();
00225 u=eixo_X.read();
00226 //x=(int)u;
00227 x=eixo_X.read()*255;    //Converte uma leitura do ADC em float para formato int e armazena na variável y.
00228 
00229 //w=eixo_Y.read();
00230 
00231 //y=eixo_Y.read()*255;    //Converte uma leitura do ADC em float para formato int e armazena na variável y.
00232 
00233 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());
00234 
00235                                                     //Detecta a faixa em que o cursor do pot se encontra:
00236 if (u>0.505){pc.printf(" X FWD ");
00237             /* Setting the speed. */
00238             motor->set_max_speed(x);
00239             /* Requesting to run Forward. */
00240             motor->run(StepperMotor::FWD);}                 //pot > 0.505V (comanda acionamento X proporcional para FRENTE);
00241 else{if (u<0.495)
00242     {pc.printf(" X BWD ");
00243     /* Setting the speed. */
00244     motor->set_max_speed(x);
00245     /* Requesting to run Backward. */
00246     motor->run(StepperMotor::BWD);}     //pot < 0.495V (comanda acionamento X proporcional para TRAS);
00247     else{pc.printf(" X STOP");                  //0.495V < pot < 0.505V (comanda acionamento X para permanecer PARADO).
00248         /* Requesting to immediatly stop. */
00249         motor->hard_stop();}
00250      };
00251 
00252       wait(0.2);
00253  }
00254 }
00255