File content as of revision 40:74e394ae8b5f:

/**
 ******************************************************************************
 * @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
 * @author  Davide Aliprandi, STMicroelectronics
 * @version V1.0.0
 * @date    October 14th, 2015
 * @brief   mbed test application for the STMicroelectronics X-NUCLEO-IHM01A1
 *          Motor Control Expansion Board: control of 1 motor.
 ******************************************************************************
 * @attention
 *
 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
 *
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted provided that the following conditions are met:
 *   1. Redistributions of source code must retain the above copyright notice,
 *      this list of conditions and the following disclaimer.
 *   2. Redistributions in binary form must reproduce the above copyright notice,
 *      this list of conditions and the following disclaimer in the documentation
 *      and/or other materials provided with the distribution.
 *   3. Neither the name of STMicroelectronics nor the names of its contributors
 *      may be used to endorse or promote products derived from this software
 *      without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 ******************************************************************************
 */


/* Includes ------------------------------------------------------------------*/

/* mbed specific header files. */
#include "mbed.h"
#include "rtos.h"

/* Helper header files. */
#include "DevSPI.h"

/* 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 ---------------------------------------------------------------*/
/* Delay in milliseconds. */
#define DELAY_1 1000

/* 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_8,               /* 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.
 * @param  None
 * @retval None
 * @note   If needed, implement it, and then attach and enable it:
 *           + motor->attach_flag_irq(&flag_irq_handler);
 *           + motor->enable_flag_irq();
 *         To disable it:
 *           + motor->disble_flag_irq();
 */
void flag_irq_handler(void)
{
    /* Set ISR flag. */
    motor->isr_flag = TRUE;

    /* Get the value of the status register. */
    unsigned int status = motor->get_status();

    /* 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) {
        printf("    WARNING: \"FLAG\" interrupt triggered. Non-performable command detected when updating L6474's registers while not in HiZ state.\r\n");
    }
    
    /* Reset ISR flag. */
    motor->isr_flag = FALSE;
}


/* Main ----------------------------------------------------------------------*/

int main()
{

    /* Initializing SPI bus for Motor  */
    DevSPI dev_spi(D11, D12, D13);// SPI device for the motor
    dev_spi.setup(8, 3, 3E6);      // Set-up SPI device for the motor
/* EASE slave object creation and Initializing SPI bus for EASE */    
    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, 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);
    }
    
    /* Attaching and enabling interrupt handlers. */
    motor->attach_flag_irq(&flag_irq_handler);
    motor->enable_flag_irq();
 
    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]);       
    
        /* Getting current position. */
       int position = motor->get_position();
       
       /* Printing to the console. */
        printf("    Position: %d.\r\n", position);
    
       /* Waiting. */
       wait_ms(DELAY_1);    
        
    }

}