KAIQUE DOGNANI / Mbed 2 deprecated APS_3

Baseado no IHM01A1 da ST

Dependencies:   mbed X_NUCLEO_IHM01A1

main.cpp@0:faeebef8f92b, 2020-11-28 (annotated)

Committer:
kaiquedog
Date:
Sat Nov 28 18:13:41 2020 +0000
Revision:
0:faeebef8f92b
Baseado no IHM01A1 da ST

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kaiquedog 0:faeebef8f92b 1 /**
kaiquedog 0:faeebef8f92b 2 ******************************************************************************
kaiquedog 0:faeebef8f92b 3 * @file main.cpp
kaiquedog 0:faeebef8f92b 4 * @author Davide Aliprandi, STMicroelectronics
kaiquedog 0:faeebef8f92b 5 * @version V1.0.0
kaiquedog 0:faeebef8f92b 6 * @date October 14th, 2015
kaiquedog 0:faeebef8f92b 7 * @brief mbed test application for the STMicroelectronics X-NUCLEO-IHM01A1
kaiquedog 0:faeebef8f92b 8 * Motor Control Expansion Board: control of 1 motor.
kaiquedog 0:faeebef8f92b 9 ******************************************************************************
kaiquedog 0:faeebef8f92b 10 * @attention
kaiquedog 0:faeebef8f92b 11 *
kaiquedog 0:faeebef8f92b 12 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
kaiquedog 0:faeebef8f92b 13 *
kaiquedog 0:faeebef8f92b 14 * Redistribution and use in source and binary forms, with or without modification,
kaiquedog 0:faeebef8f92b 15 * are permitted provided that the following conditions are met:
kaiquedog 0:faeebef8f92b 16 * 1. Redistributions of source code must retain the above copyright notice,
kaiquedog 0:faeebef8f92b 17 * this list of conditions and the following disclaimer.
kaiquedog 0:faeebef8f92b 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
kaiquedog 0:faeebef8f92b 19 * this list of conditions and the following disclaimer in the documentation
kaiquedog 0:faeebef8f92b 20 * and/or other materials provided with the distribution.
kaiquedog 0:faeebef8f92b 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
kaiquedog 0:faeebef8f92b 22 * may be used to endorse or promote products derived from this software
kaiquedog 0:faeebef8f92b 23 * without specific prior written permission.
kaiquedog 0:faeebef8f92b 24 *
kaiquedog 0:faeebef8f92b 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
kaiquedog 0:faeebef8f92b 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
kaiquedog 0:faeebef8f92b 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
kaiquedog 0:faeebef8f92b 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
kaiquedog 0:faeebef8f92b 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
kaiquedog 0:faeebef8f92b 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
kaiquedog 0:faeebef8f92b 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
kaiquedog 0:faeebef8f92b 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
kaiquedog 0:faeebef8f92b 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
kaiquedog 0:faeebef8f92b 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
kaiquedog 0:faeebef8f92b 35 *
kaiquedog 0:faeebef8f92b 36 ******************************************************************************
kaiquedog 0:faeebef8f92b 37 */
kaiquedog 0:faeebef8f92b 38
kaiquedog 0:faeebef8f92b 39
kaiquedog 0:faeebef8f92b 40 /* Includes ------------------------------------------------------------------*/
kaiquedog 0:faeebef8f92b 41
kaiquedog 0:faeebef8f92b 42 /* mbed specific header files. */
kaiquedog 0:faeebef8f92b 43 #include "mbed.h"
kaiquedog 0:faeebef8f92b 44
kaiquedog 0:faeebef8f92b 45 /* Helper header files. */
kaiquedog 0:faeebef8f92b 46 #include "DevSPI.h"
kaiquedog 0:faeebef8f92b 47
kaiquedog 0:faeebef8f92b 48 /* Component specific header files. */
kaiquedog 0:faeebef8f92b 49 #include "L6474.h"
kaiquedog 0:faeebef8f92b 50 InterruptIn Bot(PC_13);
kaiquedog 0:faeebef8f92b 51
kaiquedog 0:faeebef8f92b 52 /* Variables -----------------------------------------------------------------*/
kaiquedog 0:faeebef8f92b 53
kaiquedog 0:faeebef8f92b 54 /* Initialization parameters. */
kaiquedog 0:faeebef8f92b 55 L6474_init_t init = {
kaiquedog 0:faeebef8f92b 56 1, /* Acceleration rate in pps^2. Range: (0..+inf). */
kaiquedog 0:faeebef8f92b 57 1, /* Deceleration rate in pps^2. Range: (0..+inf). */
kaiquedog 0:faeebef8f92b 58 800, /* Maximum speed in pps. Range: (30..10000]. */
kaiquedog 0:faeebef8f92b 59 450, /* Minimum speed in pps. Range: [30..10000). */
kaiquedog 0:faeebef8f92b 60 250, /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
kaiquedog 0:faeebef8f92b 61 L6474_OCD_TH_750mA, /* Overcurrent threshold (OCD_TH register). */
kaiquedog 0:faeebef8f92b 62 L6474_CONFIG_OC_SD_ENABLE, /* Overcurrent shutwdown (OC_SD field of CONFIG register). */
kaiquedog 0:faeebef8f92b 63 L6474_CONFIG_EN_TQREG_TVAL_USED, /* Torque regulation method (EN_TQREG field of CONFIG register). */
kaiquedog 0:faeebef8f92b 64 L6474_STEP_SEL_1_2, /* Step selection (STEP_SEL field of STEP_MODE register). */
kaiquedog 0:faeebef8f92b 65 L6474_SYNC_SEL_8, /* Sync selection (SYNC_SEL field of STEP_MODE register). */
kaiquedog 0:faeebef8f92b 66 L6474_FAST_STEP_12us, /* Fall time value (T_FAST field of T_FAST register). Range: 2us to 32us. */
kaiquedog 0:faeebef8f92b 67 L6474_TOFF_FAST_8us, /* Maximum fast decay time (T_OFF field of T_FAST register). Range: 2us to 32us. */
kaiquedog 0:faeebef8f92b 68 21, /* Minimum ON time in us (TON_MIN register). Range: 0.5us to 64us. */
kaiquedog 0:faeebef8f92b 69 21, /* Minimum OFF time in us (TOFF_MIN register). Range: 0.5us to 64us. */
kaiquedog 0:faeebef8f92b 70 L6474_CONFIG_TOFF_044us, /* Target Swicthing Period (field TOFF of CONFIG register). */
kaiquedog 0:faeebef8f92b 71 L6474_CONFIG_SR_320V_us, /* Slew rate (POW_SR field of CONFIG register). */
kaiquedog 0:faeebef8f92b 72 L6474_CONFIG_INT_16MHZ, /* Clock setting (OSC_CLK_SEL field of CONFIG register). */
kaiquedog 0:faeebef8f92b 73 L6474_ALARM_EN_OVERCURRENT |
kaiquedog 0:faeebef8f92b 74 L6474_ALARM_EN_THERMAL_SHUTDOWN |
kaiquedog 0:faeebef8f92b 75 L6474_ALARM_EN_THERMAL_WARNING |
kaiquedog 0:faeebef8f92b 76 L6474_ALARM_EN_UNDERVOLTAGE |
kaiquedog 0:faeebef8f92b 77 L6474_ALARM_EN_SW_TURN_ON |
kaiquedog 0:faeebef8f92b 78 L6474_ALARM_EN_WRONG_NPERF_CMD /* Alarm (ALARM_EN register). */
kaiquedog 0:faeebef8f92b 79 };
kaiquedog 0:faeebef8f92b 80
kaiquedog 0:faeebef8f92b 81 /* Motor Control Component. */
kaiquedog 0:faeebef8f92b 82 L6474 *motor;
kaiquedog 0:faeebef8f92b 83
kaiquedog 0:faeebef8f92b 84
kaiquedog 0:faeebef8f92b 85 /* Functions -----------------------------------------------------------------*/
kaiquedog 0:faeebef8f92b 86
kaiquedog 0:faeebef8f92b 87 /**
kaiquedog 0:faeebef8f92b 88 * @brief This is an example of user handler for the flag interrupt.
kaiquedog 0:faeebef8f92b 89 * @param None
kaiquedog 0:faeebef8f92b 90 * @retval None
kaiquedog 0:faeebef8f92b 91 * @note If needed, implement it, and then attach and enable it:
kaiquedog 0:faeebef8f92b 92 * + motor->attach_flag_irq(&flag_irq_handler);
kaiquedog 0:faeebef8f92b 93 * + motor->enable_flag_irq();
kaiquedog 0:faeebef8f92b 94 * To disable it:
kaiquedog 0:faeebef8f92b 95 * + motor->disble_flag_irq();
kaiquedog 0:faeebef8f92b 96 */
kaiquedog 0:faeebef8f92b 97 void flag_irq_handler(void)
kaiquedog 0:faeebef8f92b 98 {
kaiquedog 0:faeebef8f92b 99 /* Set ISR flag. */
kaiquedog 0:faeebef8f92b 100 motor->isr_flag = TRUE;
kaiquedog 0:faeebef8f92b 101
kaiquedog 0:faeebef8f92b 102 /* Get the value of the status register. */
kaiquedog 0:faeebef8f92b 103 unsigned int status = motor->get_status();
kaiquedog 0:faeebef8f92b 104
kaiquedog 0:faeebef8f92b 105 /* Check NOTPERF_CMD flag: if set, the command received by SPI can't be performed. */
kaiquedog 0:faeebef8f92b 106 /* This often occures when a command is sent to the L6474 while it is not in HiZ state. */
kaiquedog 0:faeebef8f92b 107 if ((status & L6474_STATUS_NOTPERF_CMD) == L6474_STATUS_NOTPERF_CMD) {
kaiquedog 0:faeebef8f92b 108 printf(" WARNING: \"FLAG\" interrupt triggered. Non-performable command detected when updating L6474's registers while not in HiZ state.\r\n");
kaiquedog 0:faeebef8f92b 109 }
kaiquedog 0:faeebef8f92b 110
kaiquedog 0:faeebef8f92b 111 /* Reset ISR flag. */
kaiquedog 0:faeebef8f92b 112 motor->isr_flag = FALSE;
kaiquedog 0:faeebef8f92b 113 }
kaiquedog 0:faeebef8f92b 114
kaiquedog 0:faeebef8f92b 115
kaiquedog 0:faeebef8f92b 116 /* Main ----------------------------------------------------------------------*/
kaiquedog 0:faeebef8f92b 117 bool Acionar = false;
kaiquedog 0:faeebef8f92b 118 void Ativacao(){
kaiquedog 0:faeebef8f92b 119 Acionar = true;
kaiquedog 0:faeebef8f92b 120 }
kaiquedog 0:faeebef8f92b 121
kaiquedog 0:faeebef8f92b 122 int main()
kaiquedog 0:faeebef8f92b 123 {
kaiquedog 0:faeebef8f92b 124 /*----- Initialization. -----*/
kaiquedog 0:faeebef8f92b 125
kaiquedog 0:faeebef8f92b 126 /* Initializing SPI bus. */
kaiquedog 0:faeebef8f92b 127 DevSPI dev_spi(D11, D12, D13);
kaiquedog 0:faeebef8f92b 128
kaiquedog 0:faeebef8f92b 129 /* Initializing Motor Control Component. */
kaiquedog 0:faeebef8f92b 130 motor = new L6474(D2, D8, D7, D9, D10, dev_spi);
kaiquedog 0:faeebef8f92b 131 if (motor->init(&init) != COMPONENT_OK) {
kaiquedog 0:faeebef8f92b 132 exit(EXIT_FAILURE);
kaiquedog 0:faeebef8f92b 133 }
kaiquedog 0:faeebef8f92b 134
kaiquedog 0:faeebef8f92b 135 /* Attaching and enabling interrupt handlers. */
kaiquedog 0:faeebef8f92b 136 motor->attach_flag_irq(&flag_irq_handler);
kaiquedog 0:faeebef8f92b 137 motor->enable_flag_irq();
kaiquedog 0:faeebef8f92b 138
kaiquedog 0:faeebef8f92b 139 /* Printing to the console. */
kaiquedog 0:faeebef8f92b 140 printf("Testando 1 motor de passo, aperte o botao azul para girar\r\n\n");
kaiquedog 0:faeebef8f92b 141 Bot.fall(&Ativacao);
kaiquedog 0:faeebef8f92b 142
kaiquedog 0:faeebef8f92b 143 while (1) {
kaiquedog 0:faeebef8f92b 144 if (Acionar == true){
kaiquedog 0:faeebef8f92b 145 motor->move(StepperMotor::FWD, 400);
kaiquedog 0:faeebef8f92b 146 motor->wait_while_active();
kaiquedog 0:faeebef8f92b 147 Acionar = false;
kaiquedog 0:faeebef8f92b 148 }
kaiquedog 0:faeebef8f92b 149 }
kaiquedog 0:faeebef8f92b 150 }