Jonas Lopes / Mbed 2 deprecated APS2-MEA-Jonas_Lopes

Software usado para produção de dois movimentos trapezoidais consecutivos.

Dependencies:   mbed X_NUCLEO_IHM01A1

main_APS2_MEA.cpp@39:a932189cfaa6, 2021-10-27 (annotated)

Committer:
jonasl1
Date:
Wed Oct 27 02:53:07 2021 +0000
Revision:
39:a932189cfaa6
Parent:
38:3e9aca2ce6c5 
Cod correto

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jonasl1 38:3e9aca2ce6c5 1 /* Includes ------------------------------------------------------------------*/
jonasl1 38:3e9aca2ce6c5 2 /* mbed specific header files. */
jonasl1 38:3e9aca2ce6c5 3 #include "mbed.h"
jonasl1 38:3e9aca2ce6c5 4
jonasl1 38:3e9aca2ce6c5 5 /* Helper header files. */
jonasl1 38:3e9aca2ce6c5 6 #include "DevSPI.h"
jonasl1 38:3e9aca2ce6c5 7
jonasl1 38:3e9aca2ce6c5 8 /* Component specific header files. */
jonasl1 38:3e9aca2ce6c5 9 #include "L6474.h"
jonasl1 38:3e9aca2ce6c5 10
jonasl1 38:3e9aca2ce6c5 11
jonasl1 38:3e9aca2ce6c5 12 /* Definitions ---------------------------------------------------------------*/
jonasl1 38:3e9aca2ce6c5 13
jonasl1 38:3e9aca2ce6c5 14 InterruptIn user_b(USER_BUTTON);
jonasl1 38:3e9aca2ce6c5 15
jonasl1 38:3e9aca2ce6c5 16 /* Number of steps. */
jonasl1 39:a932189cfaa6 17 #define STEPS_1 800 /* 1 revolution given a 400 steps motor configured at 1/8 microstep mode. */
jonasl1 38:3e9aca2ce6c5 18
jonasl1 38:3e9aca2ce6c5 19 /* Delay in milliseconds. */
jonasl1 38:3e9aca2ce6c5 20 #define DELAY_1 1000
jonasl1 38:3e9aca2ce6c5 21 #define DELAY_2 2000
jonasl1 38:3e9aca2ce6c5 22 #define DELAY_3 6000
jonasl1 38:3e9aca2ce6c5 23 #define DELAY_4 8000
jonasl1 38:3e9aca2ce6c5 24
jonasl1 38:3e9aca2ce6c5 25 /* Speed in pps (Pulses Per Second).
jonasl1 38:3e9aca2ce6c5 26 In Full Step mode: 1 pps = 1 step/s).
jonasl1 38:3e9aca2ce6c5 27 In 1/N Step Mode: N pps = 1 step/s). */
jonasl1 38:3e9aca2ce6c5 28 #define SPEED_1 2400
jonasl1 38:3e9aca2ce6c5 29 #define SPEED_2 1200
jonasl1 38:3e9aca2ce6c5 30
jonasl1 38:3e9aca2ce6c5 31 void acionamento(void); //Prtótipo de função 1
jonasl1 38:3e9aca2ce6c5 32 void acionamento1(void); //Protótipo de função 2
jonasl1 38:3e9aca2ce6c5 33 bool i = 0;
jonasl1 38:3e9aca2ce6c5 34
jonasl1 38:3e9aca2ce6c5 35 /* Variables -----------------------------------------------------------------*/
jonasl1 38:3e9aca2ce6c5 36
jonasl1 38:3e9aca2ce6c5 37 /* Initialization parameters. */
jonasl1 38:3e9aca2ce6c5 38 L6474_init_t init = {
jonasl1 38:3e9aca2ce6c5 39 1000, /* Acceleration rate in pps^2. Range: (0..+inf). */
jonasl1 38:3e9aca2ce6c5 40 1000, /* Deceleration rate in pps^2. Range: (0..+inf). */
jonasl1 39:a932189cfaa6 41 800, /* Maximum speed in pps. Range: (30..10000]. */
jonasl1 38:3e9aca2ce6c5 42 0, /* Minimum speed in pps. Range: [30..10000). */
jonasl1 38:3e9aca2ce6c5 43 250, /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
jonasl1 38:3e9aca2ce6c5 44 L6474_OCD_TH_750mA, /* Overcurrent threshold (OCD_TH register). */
jonasl1 38:3e9aca2ce6c5 45 L6474_CONFIG_OC_SD_ENABLE, /* Overcurrent shutwdown (OC_SD field of CONFIG register). */
jonasl1 38:3e9aca2ce6c5 46 L6474_CONFIG_EN_TQREG_TVAL_USED, /* Torque regulation method (EN_TQREG field of CONFIG register). */
jonasl1 38:3e9aca2ce6c5 47 L6474_STEP_SEL_1_4, /* Step selection (STEP_SEL field of STEP_MODE register). */
jonasl1 38:3e9aca2ce6c5 48 L6474_SYNC_SEL_1_2, /* Sync selection (SYNC_SEL field of STEP_MODE register). */
jonasl1 38:3e9aca2ce6c5 49 L6474_FAST_STEP_12us, /* Fall time value (T_FAST field of T_FAST register). Range: 2us to 32us. */
jonasl1 38:3e9aca2ce6c5 50 L6474_TOFF_FAST_8us, /* Maximum fast decay time (T_OFF field of T_FAST register). Range: 2us to 32us. */
jonasl1 38:3e9aca2ce6c5 51 3, /* Minimum ON time in us (TON_MIN register). Range: 0.5us to 64us. */
jonasl1 38:3e9aca2ce6c5 52 21, /* Minimum OFF time in us (TOFF_MIN register). Range: 0.5us to 64us. */
jonasl1 38:3e9aca2ce6c5 53 L6474_CONFIG_TOFF_044us, /* Target Swicthing Period (field TOFF of CONFIG register). */
jonasl1 38:3e9aca2ce6c5 54 L6474_CONFIG_SR_320V_us, /* Slew rate (POW_SR field of CONFIG register). */
jonasl1 38:3e9aca2ce6c5 55 L6474_CONFIG_INT_16MHZ, /* Clock setting (OSC_CLK_SEL field of CONFIG register). */
jonasl1 38:3e9aca2ce6c5 56 L6474_ALARM_EN_OVERCURRENT |
jonasl1 38:3e9aca2ce6c5 57 L6474_ALARM_EN_THERMAL_SHUTDOWN |
jonasl1 38:3e9aca2ce6c5 58 L6474_ALARM_EN_THERMAL_WARNING |
jonasl1 38:3e9aca2ce6c5 59 L6474_ALARM_EN_UNDERVOLTAGE |
jonasl1 38:3e9aca2ce6c5 60 L6474_ALARM_EN_SW_TURN_ON |
jonasl1 38:3e9aca2ce6c5 61 L6474_ALARM_EN_WRONG_NPERF_CMD /* Alarm (ALARM_EN register). */
jonasl1 38:3e9aca2ce6c5 62 };
jonasl1 38:3e9aca2ce6c5 63
jonasl1 38:3e9aca2ce6c5 64 /* Motor Control Component. */
jonasl1 38:3e9aca2ce6c5 65 L6474 *motor;
jonasl1 38:3e9aca2ce6c5 66
jonasl1 38:3e9aca2ce6c5 67 /* Functions -----------------------------------------------------------------*/
jonasl1 38:3e9aca2ce6c5 68
jonasl1 38:3e9aca2ce6c5 69 void flag_irq_handler(void)
jonasl1 38:3e9aca2ce6c5 70 {
jonasl1 38:3e9aca2ce6c5 71 /* Set ISR flag. */
jonasl1 38:3e9aca2ce6c5 72 motor->isr_flag = TRUE;
jonasl1 38:3e9aca2ce6c5 73
jonasl1 38:3e9aca2ce6c5 74 /* Get the value of the status register. */
jonasl1 38:3e9aca2ce6c5 75 unsigned int status = motor->get_status();
jonasl1 38:3e9aca2ce6c5 76
jonasl1 38:3e9aca2ce6c5 77 /* Check NOTPERF_CMD flag: if set, the command received by SPI can't be performed. */
jonasl1 38:3e9aca2ce6c5 78 /* This often occures when a command is sent to the L6474 while it is not in HiZ state. */
jonasl1 38:3e9aca2ce6c5 79 if ((status & L6474_STATUS_NOTPERF_CMD) == L6474_STATUS_NOTPERF_CMD) {
jonasl1 38:3e9aca2ce6c5 80 printf(" WARNING: \"FLAG\" interrupt triggered. Non-performable command detected when updating L6474's registers while not in HiZ state.\r\n");
jonasl1 38:3e9aca2ce6c5 81 }
jonasl1 38:3e9aca2ce6c5 82
jonasl1 38:3e9aca2ce6c5 83 /* Reset ISR flag. */
jonasl1 38:3e9aca2ce6c5 84 motor->isr_flag = FALSE;
jonasl1 38:3e9aca2ce6c5 85 }
jonasl1 38:3e9aca2ce6c5 86
jonasl1 38:3e9aca2ce6c5 87
jonasl1 38:3e9aca2ce6c5 88 /* Main ----------------------------------------------------------------------*/
jonasl1 38:3e9aca2ce6c5 89
jonasl1 38:3e9aca2ce6c5 90 int main()
jonasl1 38:3e9aca2ce6c5 91 {
jonasl1 38:3e9aca2ce6c5 92 /* Initializing SPI bus. */
jonasl1 38:3e9aca2ce6c5 93 DevSPI dev_spi(D11, D12, D13);
jonasl1 38:3e9aca2ce6c5 94
jonasl1 38:3e9aca2ce6c5 95 /* Initializing Motor Control Component. */
jonasl1 38:3e9aca2ce6c5 96 motor = new L6474(D2, D8, D7, D9, D10, dev_spi);
jonasl1 38:3e9aca2ce6c5 97 if (motor->init(&init) != COMPONENT_OK) {
jonasl1 38:3e9aca2ce6c5 98 exit(EXIT_FAILURE);
jonasl1 38:3e9aca2ce6c5 99 }
jonasl1 38:3e9aca2ce6c5 100
jonasl1 38:3e9aca2ce6c5 101 /* Attaching and enabling interrupt handlers. */
jonasl1 38:3e9aca2ce6c5 102 motor->attach_flag_irq(&flag_irq_handler);
jonasl1 38:3e9aca2ce6c5 103 motor->enable_flag_irq();
jonasl1 38:3e9aca2ce6c5 104
jonasl1 38:3e9aca2ce6c5 105 user_b.fall(&acionamento);
jonasl1 38:3e9aca2ce6c5 106 user_b.rise(&acionamento1);
jonasl1 38:3e9aca2ce6c5 107
jonasl1 38:3e9aca2ce6c5 108 while(true)
jonasl1 38:3e9aca2ce6c5 109 {
jonasl1 38:3e9aca2ce6c5 110 if (i == 1)
jonasl1 38:3e9aca2ce6c5 111 {
jonasl1 38:3e9aca2ce6c5 112 /* Moving N steps in the forward direction. */
jonasl1 38:3e9aca2ce6c5 113 motor->move(StepperMotor::FWD, 800);
jonasl1 38:3e9aca2ce6c5 114 /* Waiting while the motor is active. */
jonasl1 38:3e9aca2ce6c5 115 motor->wait_while_active();
jonasl1 38:3e9aca2ce6c5 116 wait_ms(500); //esperar meio segundo para executar o segundo movimento
jonasl1 38:3e9aca2ce6c5 117
jonasl1 38:3e9aca2ce6c5 118 motor->move(StepperMotor::BWD, 800);
jonasl1 38:3e9aca2ce6c5 119 /* Waiting while the motor is active. */
jonasl1 38:3e9aca2ce6c5 120 motor->wait_while_active();
jonasl1 38:3e9aca2ce6c5 121 }
jonasl1 38:3e9aca2ce6c5 122 }
jonasl1 38:3e9aca2ce6c5 123 }
jonasl1 38:3e9aca2ce6c5 124 void acionamento()
jonasl1 38:3e9aca2ce6c5 125 {
jonasl1 38:3e9aca2ce6c5 126 i = 1; //Ao apertar do botão, I assume estado ligado
jonasl1 38:3e9aca2ce6c5 127 }
jonasl1 38:3e9aca2ce6c5 128 void acionamento1()
jonasl1 38:3e9aca2ce6c5 129 {
jonasl1 38:3e9aca2ce6c5 130 i = 0; //Ao botão voltar ao estado, I assume estado desligado
jonasl1 38:3e9aca2ce6c5 131 }