Diff: main.cpp

Revision:

39:1270497828ca

Parent:

38:ca71d404823c

Child:

40:fc0e002acc8c

Child:

41:74e394ae8b5f

--- a/main.cpp	Mon Jul 03 11:54:28 2017 +0000
+++ b/main.cpp	Thu Feb 06 22:44:58 2020 +0000
@@ -1,3 +1,37 @@
+/**
+ ******************************************************************************
+ * @file    main.cpp
+ * @date    February 06, 2020
+ * @brief   mbed test application Esmacat Shield working together with 
+ *          STMicroelectronics X-NUCLEO-IHM01A1
+ *          Motor Control Expansion Board: control of 1 motor.
+ * The original code is STMicroelectronics which is modified to integrate EASE.
+ *The Copyright of STMicroelectronics is retained below.
+ ******************************************************************************
+ 
+  Copyright (c) 2020 https://www.esmacat.com/
+
+  Licensed under the Apache License, Version 2.0 (the "License");
+  you may not use this file except in compliance with the License.
+  You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+  Unless required by applicable law or agreed to in writing, software
+  distributed under the License is distributed on an "AS IS" BASIS,
+  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+  See the License for the specific language governing permissions and
+  limitations under the License.
+
+  EsmacatShield.h - Library for using EtherCAT Arduino Shield by Esmacat(EASE).
+  Created by Esmacat, 01/22/2020
+  
+*******************************************************************************
+* @file EsmacatShield.h
+*******************************************************************************
+*/
+
+
 /**
  ******************************************************************************
  * @file    main.cpp
@@ -49,24 +83,19 @@
 /* Component specific header files. */
 #include "L6474.h"
 
+/* Esmacat code*/
+#include <EsmacatShield.h>      //Include Esmacat Library
+
+int16_t ease_read[8];                       //EASE 8 registers
+
+/*D9 Chip select for EASE. Remember to change the jumper on the board*/
+DigitalOut selectPin(D9);  
+SPI spi(D11, D12, D13); // mosi, miso, sclk
+/* Esmacat code*/
 
 /* Definitions ---------------------------------------------------------------*/
-
-/* Number of steps. */
-#define STEPS_1 (400 * 8)   /* 1 revolution given a 400 steps motor configured at 1/8 microstep mode. */
-
 /* Delay in milliseconds. */
 #define DELAY_1 1000
-#define DELAY_2 2000
-#define DELAY_3 6000
-#define DELAY_4 8000
-
-/* Speed in pps (Pulses Per Second).
-   In Full Step mode: 1 pps = 1 step/s).
-   In 1/N Step Mode:  N pps = 1 step/s). */
-#define SPEED_1 2400
-#define SPEED_2 1200
-
 
 /* Variables -----------------------------------------------------------------*/
 
@@ -136,13 +165,21 @@
 
 int main()
 {
+    /*----- Initialization of EASE -----*/
+
+   
     /*----- Initialization. -----*/
 
     /* Initializing SPI bus. */
-    DevSPI dev_spi(D11, D12, D13);
+    DevSPI dev_spi(D11, D12, D13);// SPI device for the motor
+    dev_spi.setup(8, 3, 3E6);      // Set-up SPI device for the motor
+    
+    EsmacatShield slave(spi, selectPin);    //Define Chip Selector Pin
+    slave.setup_spi();                      //Setup SPI for EASE
+
 
     /* Initializing Motor Control Component. */
-    motor = new L6474(D2, D8, D7, D9, D10, dev_spi);
+    motor = new L6474(D2, D8, D7, D3, D10, dev_spi);//PWM pin is set to D3 as D9 is used by EASE
     if (motor->init(&init) != COMPONENT_OK) {
         exit(EXIT_FAILURE);
     }
@@ -150,218 +187,46 @@
     /* Attaching and enabling interrupt handlers. */
     motor->attach_flag_irq(&flag_irq_handler);
     motor->enable_flag_irq();
-
-    /* Printing to the console. */
-    printf("Motor Control Application Example for 1 Motor\r\n\n");
-
-
-    /*----- Moving. -----*/
-
-    /* Printing to the console. */
-    printf("--> Moving forward %d steps.\r\n", STEPS_1);
-
-    /* Moving N steps in the forward direction. */
-    motor->move(StepperMotor::FWD, STEPS_1);
-
-    /* Waiting while the motor is active. */
-    motor->wait_while_active();
-
-    /* Getting current position. */
-    int position = motor->get_position();
     
-    /* Printing to the console. */
-    printf("    Position: %d.\r\n", position);
-
-    /* Waiting. */
-    wait_ms(DELAY_1);
-
-
-    /*----- Changing the motor setting. -----*/
-
-    /* Printing to the console. */
-    printf("--> Setting Torque Regulation Current to 500[mA].\r\n");
-
-    /* Increasing the torque regulation current to 500[mA]. */
-    motor->set_parameter(L6474_TVAL, 500);
-
-    /* Printing to the console. */
-    printf("--> Doubling the microsteps.\r\n");
 
-    /* Doubling the microsteps. */
-    if (!motor->set_step_mode((StepperMotor::step_mode_t) STEP_MODE_1_16)) {
-        printf("    Step Mode not allowed.\r\n");
-    }
-
-    /* Waiting. */
-    wait_ms(DELAY_1);
-
-    /* Printing to the console. */
-    printf("--> Setting Home.\r\n");
-
-    /* Setting the current position to be the home position. */
-    motor->set_home();
-
-    /* Getting current position. */
-    position = motor->get_position();
-    
-    /* Printing to the console. */
-    printf("    Position: %d.\r\n", position);
-    
-    /* Waiting. */
-    wait_ms(DELAY_2);
-
-
-    /*----- Moving. -----*/
-    
-    /* Printing to the console. */
-    printf("--> Moving backward %d steps.\r\n", STEPS_1);
-
-    /* Moving N steps in the backward direction. */
-    motor->move(StepperMotor::BWD, STEPS_1);
-    
-    /* Waiting while the motor is active. */
-    motor->wait_while_active();
-
-    /* Getting current position. */
-    position = motor->get_position();
-    
-    /* Printing to the console. */
-    printf("    Position: %d.\r\n", position);
-
-    /* Waiting. */
-    wait_ms(DELAY_1);
 
 
-    /*----- Going to a specified position. -----*/
-
-    /* Printing to the console. */
-    printf("--> Going to position %d.\r\n", STEPS_1);
-    
-    /* Requesting to go to a specified position. */
-    motor->go_to(STEPS_1);
-    
-    /* Waiting while the motor is active. */
-    motor->wait_while_active();
-
-    /* Getting current position. */
-    position = motor->get_position();
-    
-    /* Printing to the console. */
-    printf("    Position: %d.\r\n", position);
-    
-    /* Waiting. */
-    wait_ms(DELAY_2);
-
-    
-    /*----- Going Home. -----*/
-
-    /* Printing to the console. */
-    printf("--> Going Home.\r\n");
-    
-    /* Requesting to go to home. */
-    motor->go_home();
+    while(1)
+    {
+        // This part of the code sets up the Mode 1 for SPI to be used for
+        // communication with EASE. This is needed because SPI for EASE operates
+        // in Mode 1 which is different than what the motor shield SPI operates in.
+        
+        slave.setup_spi();                     //Mode 1 set SPI for EASE
+        wait_us(200); 
+        
+        // get the data from Esmacat Master
+        slave.get_ecat_registers(ease_read);  //read all registers
+        
+        wait_us(1000);  
+           /* Printing to the console. */
+        printf("--> Moving to position : %d\r\n", ease_read[0]);
+      
+        
+        // This part of the code sets up the Mode 1 for SPI to be used for
+        // communication with EASE. This is needed because SPI for EASE operates
+        // in Mode 1 which is different than what the motor shield SPI operates in.
+        dev_spi.setup(8, 3, 3E6);       // Mode 3 set for SPI device for the motor
+        wait_us(200); 
+        
+        // command the motor to go to a set postion
+        motor->go_to(ease_read[0]);
+        
     
-    /* Waiting while the motor is active. */
-    motor->wait_while_active();
-
-    /* Getting current position. */
-    position = motor->get_position();
-
-    /* Printing to the console. */
-    printf("    Position: %d.\r\n", position);
-
-    /* Waiting. */
-    wait_ms(DELAY_2);
-
-
-    /*----- Running. -----*/
-
-    /* Printing to the console. */
-    printf("--> Running backward for %d seconds.\r\n", DELAY_3 / 1000);
-
-    /* Requesting to run backward. */
-    motor->run(StepperMotor::BWD);
-
-    /* Waiting. */
-    wait_ms(DELAY_3);
-
-    /* Getting current speed. */
-    int speed = motor->get_speed();
-
-    /* Printing to the console. */
-    printf("    Speed: %d.\r\n", speed);
-
-    /*----- Increasing the speed while running. -----*/
-
-    /* Printing to the console. */
-    printf("--> Increasing the speed while running again for %d seconds.\r\n", DELAY_3 / 1000);
-
-    /* Increasing the speed. */
-    motor->set_max_speed(SPEED_1);
+        /* Getting current position. */
+       int position = motor->get_position();
+       
+       /* Printing to the console. */
+        printf("    Position: %d.\r\n", position);
+    
+       /* Waiting. */
+       wait_ms(DELAY_1);    
+        
+    }
 
-    /* Waiting. */
-    wait_ms(DELAY_3);
-
-    /* Getting current speed. */
-    speed = motor->get_speed();
-
-    /* Printing to the console. */
-    printf("    Speed: %d.\r\n", speed);
-
-
-    /*----- Decreasing the speed while running. -----*/
-
-    /* Printing to the console. */
-    printf("--> Decreasing the speed while running again for %d seconds.\r\n", DELAY_4 / 1000);
-
-    /* Decreasing the speed. */
-    motor->set_max_speed(SPEED_2);
-
-    /* Waiting. */
-    wait_ms(DELAY_4);
-
-    /* Getting current speed. */
-    speed = motor->get_speed();
-
-    /* Printing to the console. */
-    printf("    Speed: %d.\r\n", speed);
-
-
-    /*----- Hard Stop. -----*/
-
-    /* Printing to the console. */
-    printf("--> Hard Stop.\r\n");
-
-    /* Requesting to immediatly stop. */
-    motor->hard_stop();
-
-    /* Waiting while the motor is active. */
-    motor->wait_while_active();
-
-    /* Waiting. */
-    wait_ms(DELAY_2);
-
-
-    /*----- Infinite Loop. -----*/
-
-    /* Printing to the console. */
-    printf("--> Infinite Loop...\r\n");
-
-    /* Setting the current position to be the home position. */
-    motor->set_home();
-
-    /* Infinite Loop. */
-    while (true) {
-        /* Requesting to go to a specified position. */
-        motor->go_to(STEPS_1 >> 1);
-
-        /* Waiting while the motor is active. */
-        motor->wait_while_active();
-
-        /* Requesting to go to a specified position. */
-        motor->go_to(- (STEPS_1 >> 1));
-
-        /* Waiting while the motor is active. */
-        motor->wait_while_active();
-    }
 }