a stepper motor view as a serial midi device, use an interface such ttymidi to generate a serial to 115200 baudrate midi instrument
Dependencies: MIDI mbed X-NUCLEO-IHM05A1
main.cpp@18:65707db67191, 2019-02-07 (annotated)
- Committer:
- gidiana
- Date:
- Thu Feb 07 18:38:41 2019 +0000
- Revision:
- 18:65707db67191
- Parent:
- 17:dc1b04f0b55d
- Child:
- 19:9680ebe86f4a
thread
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
stebonicelli | 17:dc1b04f0b55d | 1 | #include "mbed.h" |
stebonicelli | 17:dc1b04f0b55d | 2 | #include "L6208.h" |
nucleosam | 0:36aa6787d4f9 | 3 | |
nucleosam | 0:36aa6787d4f9 | 4 | #define VREFA_PWM_PIN D3 |
nucleosam | 3:a6e155687c6a | 5 | #define VREFB_PWM_PIN D9 |
stebonicelli | 17:dc1b04f0b55d | 6 | |
davide.aliprandi@st.com | 5:bc710d77d801 | 7 | l6208_init_t init = |
nucleosam | 0:36aa6787d4f9 | 8 | { |
stebonicelli | 17:dc1b04f0b55d | 9 | 2000, //Acceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes |
gidiana | 13:08617f604d55 | 10 | 80, //Acceleration current torque in % (from 0 to 100) |
stebonicelli | 17:dc1b04f0b55d | 11 | 2000, //Deceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes |
gidiana | 13:08617f604d55 | 12 | 80, //Deceleration current torque in % (from 0 to 100) |
stebonicelli | 17:dc1b04f0b55d | 13 | 6000, //Running speed in step/s or (1/16)th step/s for microstep modes |
gidiana | 15:c781dda7e44c | 14 | 80, //Running current torque in % (from 0 to 100) |
gidiana | 15:c781dda7e44c | 15 | 40, //Holding current torque in % (from 0 to 100) |
nucleosam | 0:36aa6787d4f9 | 16 | STEP_MODE_1_16, //Step mode via enum motorStepMode_t |
nucleosam | 0:36aa6787d4f9 | 17 | FAST_DECAY, //Decay mode via enum motorDecayMode_t |
nucleosam | 0:36aa6787d4f9 | 18 | 0, //Dwelling time in ms |
nucleosam | 0:36aa6787d4f9 | 19 | FALSE, //Automatic HIZ STOP |
nucleosam | 0:36aa6787d4f9 | 20 | 100000 //VREFA and VREFB PWM frequency (Hz) |
nucleosam | 0:36aa6787d4f9 | 21 | }; |
gidiana | 18:65707db67191 | 22 | Thread canrxa; |
stebonicelli | 17:dc1b04f0b55d | 23 | |
stebonicelli | 17:dc1b04f0b55d | 24 | // Utility |
stebonicelli | 17:dc1b04f0b55d | 25 | InterruptIn button(USER_BUTTON); |
stebonicelli | 17:dc1b04f0b55d | 26 | DigitalOut led(LED1); |
stebonicelli | 17:dc1b04f0b55d | 27 | |
stebonicelli | 17:dc1b04f0b55d | 28 | // Motor Control |
nucleosam | 0:36aa6787d4f9 | 29 | L6208 *motor; |
stebonicelli | 17:dc1b04f0b55d | 30 | |
stebonicelli | 17:dc1b04f0b55d | 31 | InterruptIn end0(PC_10, PullUp); |
stebonicelli | 17:dc1b04f0b55d | 32 | InterruptIn end1(PC_11, PullUp); |
stebonicelli | 17:dc1b04f0b55d | 33 | InterruptIn enc(PC_12, PullUp); |
stebonicelli | 17:dc1b04f0b55d | 34 | |
stebonicelli | 17:dc1b04f0b55d | 35 | int current_pose = 0; |
stebonicelli | 17:dc1b04f0b55d | 36 | int pose = 0; |
nucleosam | 0:36aa6787d4f9 | 37 | |
stebonicelli | 17:dc1b04f0b55d | 38 | void motor_error_handler(uint16_t error) |
stebonicelli | 17:dc1b04f0b55d | 39 | { |
stebonicelli | 17:dc1b04f0b55d | 40 | printf("ERROR: Motor Runtime\n\r"); |
stebonicelli | 17:dc1b04f0b55d | 41 | while(1){} |
stebonicelli | 17:dc1b04f0b55d | 42 | } |
stebonicelli | 17:dc1b04f0b55d | 43 | |
stebonicelli | 17:dc1b04f0b55d | 44 | void button_int_handler() |
nucleosam | 0:36aa6787d4f9 | 45 | { |
stebonicelli | 17:dc1b04f0b55d | 46 | printf("POSITION: %d\n\r", motor->get_position()); |
stebonicelli | 17:dc1b04f0b55d | 47 | |
stebonicelli | 17:dc1b04f0b55d | 48 | motor->go_to(-160000); |
stebonicelli | 17:dc1b04f0b55d | 49 | } |
stebonicelli | 17:dc1b04f0b55d | 50 | |
stebonicelli | 17:dc1b04f0b55d | 51 | void end0_int_handler() |
stebonicelli | 17:dc1b04f0b55d | 52 | { |
stebonicelli | 17:dc1b04f0b55d | 53 | printf("END0: Pressed\n\rPOSITION: %d\n\r", motor->get_position()); |
nucleosam | 0:36aa6787d4f9 | 54 | } |
nucleosam | 0:36aa6787d4f9 | 55 | |
stebonicelli | 17:dc1b04f0b55d | 56 | void end1_int_handler() |
stebonicelli | 17:dc1b04f0b55d | 57 | { |
stebonicelli | 17:dc1b04f0b55d | 58 | motor->hard_stop(); |
stebonicelli | 17:dc1b04f0b55d | 59 | |
stebonicelli | 17:dc1b04f0b55d | 60 | motor->run(StepperMotor::BWD); |
stebonicelli | 17:dc1b04f0b55d | 61 | |
stebonicelli | 17:dc1b04f0b55d | 62 | printf("END1: Pressed\n\r"); |
stebonicelli | 17:dc1b04f0b55d | 63 | } |
stebonicelli | 17:dc1b04f0b55d | 64 | |
stebonicelli | 17:dc1b04f0b55d | 65 | void motor_set_home() |
stebonicelli | 17:dc1b04f0b55d | 66 | { |
stebonicelli | 17:dc1b04f0b55d | 67 | motor->hard_stop(); |
stebonicelli | 17:dc1b04f0b55d | 68 | motor->set_home(); |
stebonicelli | 17:dc1b04f0b55d | 69 | motor->go_to(0); |
stebonicelli | 17:dc1b04f0b55d | 70 | |
stebonicelli | 17:dc1b04f0b55d | 71 | current_pose = 0; |
stebonicelli | 17:dc1b04f0b55d | 72 | pose = 0; |
stebonicelli | 17:dc1b04f0b55d | 73 | } |
stebonicelli | 17:dc1b04f0b55d | 74 | |
stebonicelli | 17:dc1b04f0b55d | 75 | void motor_zero() |
nucleosam | 0:36aa6787d4f9 | 76 | { |
stebonicelli | 17:dc1b04f0b55d | 77 | motor->run(StepperMotor::BWD); |
stebonicelli | 17:dc1b04f0b55d | 78 | } |
stebonicelli | 17:dc1b04f0b55d | 79 | |
stebonicelli | 17:dc1b04f0b55d | 80 | // CAN |
gidiana | 18:65707db67191 | 81 | CAN can1(PA_11, PA_12); // RX, TX |
stebonicelli | 17:dc1b04f0b55d | 82 | |
stebonicelli | 17:dc1b04f0b55d | 83 | CANMessage messageIn; |
stebonicelli | 17:dc1b04f0b55d | 84 | CANMessage messageOut; |
stebonicelli | 17:dc1b04f0b55d | 85 | |
stebonicelli | 17:dc1b04f0b55d | 86 | int filter = can1.filter(0x020, 0x4FF, CANStandard); |
stebonicelli | 17:dc1b04f0b55d | 87 | |
gidiana | 18:65707db67191 | 88 | void canrx() |
stebonicelli | 17:dc1b04f0b55d | 89 | { |
gidiana | 18:65707db67191 | 90 | printf("CAN: in\n\r"); |
gidiana | 18:65707db67191 | 91 | while(1){ |
stebonicelli | 17:dc1b04f0b55d | 92 | if(can1.read(messageIn, filter)) |
stebonicelli | 17:dc1b04f0b55d | 93 | { |
gidiana | 18:65707db67191 | 94 | printf("CAN: mess %d\n\r", (messageIn.data[0] + (messageIn.data[1] << 8) + (messageIn.data[2] << 16) + (messageIn.data[3] << 24))); |
gidiana | 18:65707db67191 | 95 | printf("CANaacc: id %x \n\r ",messageIn.id); |
gidiana | 18:65707db67191 | 96 | } |
stebonicelli | 17:dc1b04f0b55d | 97 | } |
nucleosam | 0:36aa6787d4f9 | 98 | } |
nucleosam | 0:36aa6787d4f9 | 99 | |
stebonicelli | 17:dc1b04f0b55d | 100 | |
stebonicelli | 17:dc1b04f0b55d | 101 | |
nucleosam | 0:36aa6787d4f9 | 102 | /* Main ----------------------------------------------------------------------*/ |
nucleosam | 0:36aa6787d4f9 | 103 | |
nucleosam | 0:36aa6787d4f9 | 104 | int main() |
nucleosam | 0:36aa6787d4f9 | 105 | { |
stebonicelli | 17:dc1b04f0b55d | 106 | // Motor Initialization |
nucleosam | 3:a6e155687c6a | 107 | motor = new L6208(D2, D8, D7, D4, D5, D6, VREFA_PWM_PIN, VREFB_PWM_PIN); |
stebonicelli | 17:dc1b04f0b55d | 108 | |
stebonicelli | 17:dc1b04f0b55d | 109 | if (motor->init(&init) != COMPONENT_OK) |
stebonicelli | 17:dc1b04f0b55d | 110 | { |
gidiana | 18:65707db67191 | 111 | printf("ERROR: vvMotor Init\n\r"); |
davide.aliprandi@st.com | 5:bc710d77d801 | 112 | exit(EXIT_FAILURE); |
davide.aliprandi@st.com | 5:bc710d77d801 | 113 | } |
nucleosam | 0:36aa6787d4f9 | 114 | |
stebonicelli | 17:dc1b04f0b55d | 115 | motor->attach_error_handler(&motor_error_handler); |
stebonicelli | 17:dc1b04f0b55d | 116 | |
stebonicelli | 17:dc1b04f0b55d | 117 | end0.rise(&end0_int_handler); |
stebonicelli | 17:dc1b04f0b55d | 118 | end1.rise(&end1_int_handler); |
stebonicelli | 17:dc1b04f0b55d | 119 | end1.fall(&motor_set_home); |
stebonicelli | 17:dc1b04f0b55d | 120 | |
stebonicelli | 17:dc1b04f0b55d | 121 | button.rise(&button_int_handler); |
stebonicelli | 17:dc1b04f0b55d | 122 | |
gidiana | 18:65707db67191 | 123 | printf("DONE: Mobjhbtor Init\n\r"); |
nucleosam | 0:36aa6787d4f9 | 124 | |
stebonicelli | 17:dc1b04f0b55d | 125 | // CAN Initialization |
gidiana | 18:65707db67191 | 126 | //can1.reset(); |
gidiana | 18:65707db67191 | 127 | // can1.frequency(500000); |
gidiana | 18:65707db67191 | 128 | //can1.attach(&can_rx_handler); |
stebonicelli | 17:dc1b04f0b55d | 129 | |
gidiana | 18:65707db67191 | 130 | canrxa.start(canrx); |
stebonicelli | 17:dc1b04f0b55d | 131 | printf("DONE: CAN Init\n\r"); |
stebonicelli | 17:dc1b04f0b55d | 132 | |
stebonicelli | 17:dc1b04f0b55d | 133 | motor->run(StepperMotor::FWD); |
stebonicelli | 17:dc1b04f0b55d | 134 | |
stebonicelli | 17:dc1b04f0b55d | 135 | printf("Running!\n\r"); |
stebonicelli | 17:dc1b04f0b55d | 136 | |
stebonicelli | 17:dc1b04f0b55d | 137 | while(true) |
gidiana | 13:08617f604d55 | 138 | { |
stebonicelli | 17:dc1b04f0b55d | 139 | wait(1000); |
stebonicelli | 17:dc1b04f0b55d | 140 | } |
nucleosam | 0:36aa6787d4f9 | 141 | } |
davide.aliprandi@st.com | 5:bc710d77d801 | 142 | |
gidiana | 9:16f134d983bb | 143 |