Diff: main_APS2_MEA.cpp

Revision:

38:3e9aca2ce6c5

Child:

39:a932189cfaa6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main_APS2_MEA.cpp	Tue Oct 26 12:09:18 2021 +0000
@@ -0,0 +1,131 @@
+/* Includes ------------------------------------------------------------------*/
+/* mbed specific header files. */
+#include "mbed.h"
+
+/* Helper header files. */
+#include "DevSPI.h"
+
+/* Component specific header files. */
+#include "L6474.h"
+
+
+/* Definitions ---------------------------------------------------------------*/
+
+InterruptIn user_b(USER_BUTTON);
+
+/* Number of steps. */
+#define STEPS_1 1600   /* 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
+
+void acionamento(void); //Prtótipo de função 1
+void acionamento1(void); //Protótipo de função 2
+bool i = 0;
+
+/* Variables -----------------------------------------------------------------*/
+
+/* Initialization parameters. */
+L6474_init_t init = {
+    1000,                              /* Acceleration rate in pps^2. Range: (0..+inf). */
+    1000,                              /* Deceleration rate in pps^2. Range: (0..+inf). */
+    1000,                             /* Maximum speed in pps. Range: (30..10000]. */
+    0,                              /* 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_4,               /* 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 -----------------------------------------------------------------*/
+
+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. */
+    DevSPI dev_spi(D11, D12, D13);
+
+    /* Initializing Motor Control Component. */
+    motor = new L6474(D2, D8, D7, D9, D10, dev_spi);
+    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();
+    
+    user_b.fall(&acionamento);
+    user_b.rise(&acionamento1);
+    
+    while(true)
+    {
+        if (i == 1)
+        {
+            /* Moving N steps in the forward direction. */
+            motor->move(StepperMotor::FWD, 800);
+            /* Waiting while the motor is active. */
+            motor->wait_while_active();
+            wait_ms(500); //esperar meio segundo para executar o segundo movimento
+            
+            motor->move(StepperMotor::BWD, 800);
+            /* Waiting while the motor is active. */
+            motor->wait_while_active();
+        }
+    }
+}
+void acionamento()
+{
+   i = 1; //Ao apertar do botão, I assume estado ligado
+}
+void acionamento1()
+{
+   i = 0; //Ao botão voltar ao estado, I assume estado desligado
+}
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