File content as of revision 0:ac34ca83efb9:

#include "mbed.h"

 
//Libraries needed 
#include "mbed.h"
#include "USBHID.h"
 
// We declare a USBHID device.
// HID In/Out Reports are 64 Bytes long
// Vendor ID (VID):     0x15A2
// Product ID (PID):    0x0138
// Serial Number:       0x0001
USBHID hid(64, 64, 0x15A2, 0x0138, 0x0001, true);
 
//storage for send and receive data
HID_REPORT send_report;
HID_REPORT recv_report;
 
//Stepper Motor States
#define STATE1  1
#define STATE2  2
#define STATE3  3
#define STATE4  4
#define STATE5  5
#define STATE6  6
#define STATE7  7
#define STATE8  8
 
// USB COMMANDS
// These are sent from the PC
#define WRITE_LED           0x20
#define WRITE_OUTPUT_EN     0x30
#define WRITE_STEPS_PER_SEC 0x40
#define WRITE_RUN_STOP      0x70
#define WRITE_DIRECTION     0x71
#define WRITE_ACCEL         0x80
#define WRITE_RESET         0xA0
#define WRITE_STEPMODE      0xB0
 
 
// MOTOR STATES
#define STOP            0x00
#define RUN             0x02
#define RAMP            0x03
#define RESET           0x05
 
// LED CONSTANTS
#define LEDS_OFF        0x00
#define RED             0x01
#define GREEN           0x02
#define BLUE            0x03
#define READY_LED       0x04
 
// LOGICAL CONSTANTS
#define OFF             0x00
#define ON              0x01
 
//step modes
#define QTR             0x01
#define HALF            0x02
 
//FRDM-KL25Z LEDs
//DigitalOut red_led(LED1);
//DigitalOut green_led(LED2);
//DigitalOut blue_led(LED3);
 
//Input pins on Eval Board
DigitalOut IN1A(PTA5);          // Pin IN1A input to EVAL board (FRDM PIN Name)
DigitalOut IN1B(PTC8);         // Pin IN1B input to EVAL board (FRDM PIN Name)
DigitalOut IN2A(PTA13);          // Pin IN2A input to EVAL board (FRDM PIN Name)
DigitalOut IN2B(PTD5);          // Pin IN2B input to EVAL board (FRDM PIN Name)
 
//Green LED on Eval Board
//DigitalOut READY(PTC5);         // Pin READY input to EVAL board (FRDM PIN Name)
 
//These pins are defined differntly on different parts
//OE for FRDM-17529 and FRDM-17533 Eval Boards
//and PSAVE for FRDM-17C724 and FRDM-17531 Eval Boards
//FRDM-34933 Eval Board does not have either of these pins
DigitalOut OE(PTA2);            // Pin OE input to MPC17533, MPC17529 (FRDM PIN Name)
 
//variables
static int stepState = 1;                   //holds current step state of the step being applied to the stepper
static int stepMode = 0;                    //This is either 1/2 or 1/4 step
static int dir = 0;                         //rotational direction of stepper
static int rampCount = 0;                   //counter value used during acceleration ramp-up
static int initflag = 0;                    //used upon first entry into main at startup
static int runstop = 0;                     //holds value of running or stopped of commanded value from PC
static int motorState = 0;                  //holds state of stepper motor state machine (RUN, STOP, RESET, or RAMP)
static int accel = 0;                       //holds the value of accceleration enabled from PC
static float numRampSteps = 0;              //calculated value that is based on the stepper speed after acceleration
static float stepRate = 10;
static int stepMultiplier = 1;
static float next_interval_us = 1200;
static float stepInterval_us = 1200;
static bool acceleration_start = 0;
static bool runStopChange = 0;
static bool accel_wait_flag = 0;
 
//static int mode = 0;
 
void test_state_mach(void);
void adv_state_mach_half(void);
void adv_state_mach_full(void);
void set_speed(float stepRate);
void acceleration_a(void);
void acceleration_b(void);
void set_speed_with_ramp(void);
void null_function(void);
void clear_accel_wait_flag(void);
 
 
 
//
//Create a Timeout function.  Used for ramping up the speed at startup
Timeout accel_ramp;
 
//Create a Ticker function.  Called during normal runtime to advance the stepper motor
Ticker advance_state;
  
 
int main() 
{
    //set up storage for incoming/outgoing 
    send_report.length = 64;
    recv_report.length = 64;
    
    //red_led     = 1;        // Red LED = OFF
    //green_led   = 1;        // Green LED = OFF
    //blue_led    = 0;        // Blue LED = ON
    
    //READY = 0;
    
    motorState = RESET;
 
    while(1) 
    {
        //try to read a msg
        if(hid.readNB(&recv_report)) 
        {
            if(initflag == true)
            {
                initflag = false;
                ///blue_led = 1;               //turn off blue LED
                //READY = 0;
            }
            switch(recv_report.data[0])     //byte 0 of recv_report.data is command
            {
//-----------------------------------------------------------------------------------------------------------------
//          COMMAND PARSER
//-----------------------------------------------------------------------------------------------------------------
////////
                case WRITE_LED:
                    switch(recv_report.data[1])
                    {
                        case LEDS_OFF:
                            //red_led = 1;
                           // green_led = 1;
                           // blue_led = 1;
                            break;
                        case RED:
                            //if(recv_report.data[2] == 1){red_led = 0;} else {red_led = 1;}
                            break;
                        case GREEN:
                            //if(recv_report.data[2] == 1){green_led = 0;} else {green_led = 1;}
                            break; 
                        case BLUE:
                            //if(recv_report.data[2] == 1){blue_led = 0;} else {blue_led = 1;}
                            break;     
                         default:
                            break;
                    }// End recv report data[1]
                    break;
////////end   case WRITE_LED                  
 
////////              
                 case  WRITE_STEPS_PER_SEC:
 
                    stepRate = recv_report.data[1];
                    set_speed(stepRate);
                    break;
////////                
                case  WRITE_RUN_STOP:
                    if(recv_report.data[1] == 1)
                    {
                        if(runstop != 1)
                        {
                            //red_led = 1;
                            //blue_led = 1;
                            //green_led = 0;
                            runstop = 1;
                            runStopChange = 1;
                            
                            if(accel == 1)
                            {
                                motorState = RAMP;
                                next_interval_us = stepMultiplier;
                                acceleration_start = 1;                               
                            }
                            else
                            {
                                motorState = RUN;
                                set_speed(stepRate);
                            }
                        }
 
                    }
                    else
                    {
                        if(runstop != 0)
                        {
                            runstop = 0;
                            runStopChange = 1;                            
                            motorState = STOP;
                            //red_led = 0;
                            //green_led = 1;
                            //blue_led = 1;                          
                        }
                    }//end if(recv_report.data[1] == 1)
                     break;
////////                
                case  WRITE_DIRECTION:
   
                    if(recv_report.data[1] == 1)
                    {
                        dir = 1;
 
                    }
                    else
                    {
                        dir = 0;    
 
                    }                    
                    break;
////////
                case  WRITE_ACCEL:
                    if(recv_report.data[1] == 1)
                    {
                            accel = 1;
                    }
                    else
                    {
                            accel = 0;
                    }
                    break;
////////    
                case WRITE_STEPMODE:
                    if(recv_report.data[1] == QTR)
                    {
                        stepMode = QTR;
                        stepMultiplier = 8;
 
                    }
                    else
                    {
                        stepMode = HALF;
                        stepMultiplier = 4;
    
                    }
                    break;
////////                               
                default:
                    break;
            }// End Switch recv report data[0]
            
 
//-----------------------------------------------------------------------------------------------------------------
//      end command parser    
//-----------------------------------------------------------------------------------------------------------------
            
            send_report.data[0] = recv_report.data[0];      // Echo Command
            send_report.data[1] = recv_report.data[1];      // Echo Subcommand 1
            send_report.data[2] = recv_report.data[2];      // Echo Subcommand 2
            send_report.data[3] = 0x00;
            send_report.data[4] = 0x00;
            send_report.data[5] = 0x00;
            send_report.data[6] = 0x00;
            send_report.data[7] = 0x00;
              
            //Send the report
            hid.send(&send_report);
        }// End If(hid.readNB(&recv_report))
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//End of USB message handling        
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
 
/************************************************************************************************************************
// This is handling of Speed, Acceleration, Direction, and Start/Stop
***********************************************************************************************************************/
 
 
 
 
 
 
        switch (motorState)
        {
            case STOP:
                if(runStopChange == 1)
                {
                    runStopChange = 0;
                    OE = 1;                  
                    advance_state.detach();
                }
                else
                {
                    OE = 1;                    
                }
                break;
             
            case RUN:
                if(runStopChange != 0)
                {
                    OE = 0;
                    runStopChange = 0;
                 }    
                break;
                
            case RESET:
                OE = 1;
                runStopChange = false;
                motorState = STOP;                
                break;
                
            case RAMP:
                if(acceleration_start == 1)
                {
                    OE = 0;
                    acceleration_a();
                    acceleration_start = 0;
                }
                if(accel_wait_flag == 0)
                {
                    acceleration_a();
                    accel_wait_flag = 1;
                    accel_ramp.attach_us(&clear_accel_wait_flag, next_interval_us);
                }  
 
                break; 
                
        }// end switch motorState
 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////       
 
        
    }//end while
}//end main
 
 
 
 
 
 
 
 
 
 
//state machine to advance to next step
//called each time
void adv_state_mach_half()
{
 
    //READY = 1; 
 if(OE == 0)
    {
 
    if(dir == 1)
    {
        switch(stepState)
        {
            case STATE1:
            IN1A = 1;       //coil A +, coil B +
            IN1B = 0;
            IN2A = 1;
            IN2B = 0;
            stepState = 2;
            break;
            
            case STATE2:
            IN1A = 0;       //coil A 0, coil B +
            IN1B = 0;
            IN2A = 1;
            IN2B = 0;
            stepState = 3;
            break;
            
            case STATE3:
            IN1A = 0;       //coil A -, coil B +
            IN1B = 1;
            IN2A = 1;
            IN2B = 0;
            stepState = 4;
            break;
            
            case STATE4:
            IN1A = 0;       //coil A -, coil B 0
            IN1B = 1;
            IN2A = 0;
            IN2B = 0;
            stepState = 5;
            break;
            
            case STATE5:
            IN1A = 0;       //coil A -, coil B -
            IN1B = 1;
            IN2A = 0;
            IN2B = 1;
            stepState = 6;
            break;
            
            case STATE6:
            IN1A = 0;       //coil A 0, coil B -
            IN1B = 0;
            IN2A = 0;
            IN2B = 1;
            stepState = 7;
            break;
            
            case STATE7:
            IN1A = 1;       //coil A +, coil B -
            IN1B = 0;
            IN2A = 0;
            IN2B = 1;
            stepState = 8;
            break;
            
            case STATE8:
            IN1A = 1;       //coil A +, coil B 0
            IN1B = 0;
            IN2A = 0;
            IN2B = 0;
            stepState = 1;
            break;
            
            default:
            IN1A = 0;
            IN1B = 0;
            IN2A = 0;
            IN2B = 0;
            stepState = 1;
            break;
            
            
        }
    }
    else
    {
        switch(stepState)
        {
            case STATE1:
            IN1A = 1;       //coil A +, coil B 0
            IN1B = 0;
            IN2A = 0;
            IN2B = 0;
            stepState = 2;
            break;
            
            case STATE2:
            IN1A = 1;       //coil A +, coil B -
            IN1B = 0;
            IN2A = 0;
            IN2B = 1;
            stepState = 3;
            break;
            
            case STATE3:
            IN1A = 0;       //coil A 0 , coil B -
            IN1B = 0;
            IN2A = 0;
            IN2B = 1;
            stepState = 4;
            break;
            
            case STATE4:
            IN1A = 0;       //coil A -, coil B -
            IN1B = 1;
            IN2A = 0;
            IN2B = 1;
            stepState = 5;
            break;
            
            case STATE5:
            IN1A = 0;       //coil A -, coil B 0
            IN1B = 1;
            IN2A = 0;
            IN2B = 0;
            stepState = 6;
            break;
            
            case STATE6:
            IN1A = 0;       //coil A -, coil B +
            IN1B = 1;
            IN2A = 1;
            IN2B = 0;
            stepState = 7;
            break;
            
            case STATE7:
            IN1A = 0;       //coil A 0, coil B +
            IN1B = 0;
            IN2A = 1;
            IN2B = 0;
            stepState = 8;
            break;
            
            case STATE8:
            IN1A = 1;       //coil A +, coil B +
            IN1B = 0;
            IN2A = 1;
            IN2B = 0;
            stepState = 1;
            break;
            
            default:
            IN1A = 0;
            IN1B = 0;
            IN2A = 0;
            IN2B = 0;
            stepState = 1;
            break;
            
            
        }
    }        
 }   
 
}
 
 
void adv_state_mach_full()
{
 if(OE == 0)
    {
        if(dir == 1)
        {
            switch(stepState)
            {
                case STATE1:
                IN1A = 1;       //coil A +, coil B +
                IN1B = 0;
                IN2A = 1;
                IN2B = 0;
                stepState = 2;
                break;
                
                case STATE2:
                IN1A = 1;       //coil A +, coil B -
                IN1B = 0;
                IN2A = 0;
                IN2B = 1;
                stepState = 3;
                break;
                
                case STATE3:
                IN1A = 0;       //coil A -, coil B -
                IN1B = 1;
                IN2A = 0;
                IN2B = 1;
                stepState = 4;
                break;
                
                
                case STATE4:
                IN1A = 0;       //coil A -, coil B +
                IN1B = 1;
                IN2A = 1;
                IN2B = 0;
                stepState = 1;
                break;
                
                
                
                default:
                IN1A = 0;
                IN1B = 0;
                IN2A = 0;
                IN2B = 0;
                stepState = 1;
                break;
                
                
            }
        }
        else
        {
            switch(stepState)
            {
                case STATE1:
                IN1A = 0;       //coil A -, coil B +
                IN1B = 1;
                IN2A = 1;
                IN2B = 0;
                stepState = 2;
                break;
    
                case STATE2:
                IN1A = 0;       //coil A -, coil B -
                IN1B = 1;
                IN2A = 0;
                IN2B = 1;
                stepState = 3;
                break;
                
                case STATE3:
                IN1A = 1;       //coil A +, coil B -
                IN1B = 0;
                IN2A = 0;
                IN2B = 1;
                stepState = 4;
                break;
                
                case STATE4:
                IN1A = 1;       //coil A +, coil B +
                IN1B = 0;
                IN2A = 1;
                IN2B = 0;
                stepState = 1;
                break;
                
                default:
                IN1A = 0;
                IN1B = 0;
                IN2A = 0;
                IN2B = 0;
                stepState = 1;
                break;
                
                
            } //end switch
        }  //end else   
    } 
}
/////////////////////////////////////////////////////////////////////////////////
 
 
void clear_accel_wait_flag(void)
{
    accel_wait_flag = 0;
}
 
 
 
 
void acceleration_a(void)
{
    
    rampCount ++;
    if(rampCount <= numRampSteps)
    {
        test_state_mach();
        next_interval_us = 1000000 * (1/float(rampCount * stepMultiplier));
  //      accel_ramp.attach_us(&acceleration_b, next_interval_us);//speed);
    }
    else
    {
      rampCount = 0;
      motorState = RUN;
      advance_state.attach_us(&test_state_mach, stepInterval_us);     
    }
 
}
/////////////////////////////////////////////////////////////////////////////////
void acceleration_b(void)
{
    //READY = 1;
    rampCount ++;    
    if(rampCount <= 5000) //numRampSteps)
    {
        test_state_mach();
        next_interval_us = 1000000 * (1/(rampCount)); // * stepMultiplier));
        accel_ramp.attach_us(&acceleration_a, next_interval_us);
    }
    else
    {
        //READY = 0;
        rampCount = 0;
        motorState = RUN;
        advance_state.attach_us(&test_state_mach, stepInterval_us);          
    }
    
}
/////////////////////////////////////////////////////////////////////////////////
 
void test_state_mach(void)
{
    if(stepMode == QTR) 
    {
        adv_state_mach_half();
    }
    else
    {
        adv_state_mach_full();
    }
}
///////////////////////////////////////////////////////////////////////////////////
 
 
void set_speed(float speed)
{
    if(motorState == RUN)
    {
      if(stepMode == QTR)
      {
         numRampSteps = speed;
         stepInterval_us = 1000000*(1.0/(speed * 8));
         advance_state.attach_us(&test_state_mach, stepInterval_us); 
      }
      else
      {
         numRampSteps = speed;
         stepInterval_us = 1000000*(1.0/(speed * 4));
         advance_state.attach_us(&test_state_mach, stepInterval_us); 
      }    
    }
    else    //not in run mode, save the change
    {
          if(stepMode == QTR)
          {
             numRampSteps = speed;
             stepInterval_us = 1000000*(1.0/(speed * 8));
          }
          else
          {
             stepInterval_us = 1000000*(1.0/(speed * 4));
             numRampSteps = speed;
          }   
        }             
}