Diff: main.cpp

Revision:

0:faeebef8f92b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Nov 28 18:13:41 2020 +0000
@@ -0,0 +1,150 @@
+/**
+ ******************************************************************************
+ * @file    main.cpp
+ * @author  Davide Aliprandi, STMicroelectronics
+ * @version V1.0.0
+ * @date    October 14th, 2015
+ * @brief   mbed test application for the STMicroelectronics X-NUCLEO-IHM01A1
+ *          Motor Control Expansion Board: control of 1 motor.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *   1. Redistributions of source code must retain the above copyright notice,
+ *      this list of conditions and the following disclaimer.
+ *   2. Redistributions in binary form must reproduce the above copyright notice,
+ *      this list of conditions and the following disclaimer in the documentation
+ *      and/or other materials provided with the distribution.
+ *   3. Neither the name of STMicroelectronics nor the names of its contributors
+ *      may be used to endorse or promote products derived from this software
+ *      without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Includes ------------------------------------------------------------------*/
+
+/* mbed specific header files. */
+#include "mbed.h"
+
+/* Helper header files. */
+#include "DevSPI.h"
+
+/* Component specific header files. */
+#include "L6474.h"
+InterruptIn Bot(PC_13);
+
+/* Variables -----------------------------------------------------------------*/
+
+/* Initialization parameters. */
+L6474_init_t init = {
+    1,                              /* Acceleration rate in pps^2. Range: (0..+inf). */
+    1,                              /* Deceleration rate in pps^2. Range: (0..+inf). */
+    800,                             /* Maximum speed in pps. Range: (30..10000]. */
+    450,                              /* 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_2,                 /* Step selection (STEP_SEL field of STEP_MODE register). */
+    L6474_SYNC_SEL_8,               /* 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. */
+    21,                                /* 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 -----------------------------------------------------------------*/
+
+/**
+ * @brief  This is an example of user handler for the flag interrupt.
+ * @param  None
+ * @retval None
+ * @note   If needed, implement it, and then attach and enable it:
+ *           + motor->attach_flag_irq(&flag_irq_handler);
+ *           + motor->enable_flag_irq();
+ *         To disable it:
+ *           + motor->disble_flag_irq();
+ */
+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 ----------------------------------------------------------------------*/
+bool Acionar = false;
+void Ativacao(){
+    Acionar = true;
+}
+
+int main()
+{
+    /*----- Initialization. -----*/
+
+    /* 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();
+
+    /* Printing to the console. */
+    printf("Testando 1 motor de passo, aperte o botao azul para girar\r\n\n");
+    Bot.fall(&Ativacao);
+    
+    while (1) {
+        if (Acionar == true){
+            motor->move(StepperMotor::FWD, 400);
+            motor->wait_while_active();
+            Acionar = false;
+        }
+    }
+}