Diff: main.cpp

Revision:

0:24171bdfc41f

Child:

1:19ba52379a64

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Sep 16 13:31:15 2016 +0000
@@ -0,0 +1,133 @@
+/*Kamil Kanas 
+NUCLEO FR401 Serial Stepper motor controller DRV8825
+Matlab interface (dir,step,speed)
+15/9/2016
+*/
+
+
+#include "mbed.h"
+
+// DRV8825 control pins
+
+#define stepPin PA_5     //Step pin
+#define dirPin  PA_6     //Direction pin
+#define enPin   PA_7     //Enable pin
+
+/*--INITS-------------------------------------------------------------------------------*/
+Serial pc(USBTX, USBRX);        // create PC interface
+DigitalOut stepOut(stepPin);    // step output
+DigitalOut dirOut(dirPin);      // direction output
+DigitalOut enableOut(enPin);    //enable output   
+
+/*--VARIABLES---------------------------------------------------------------------------*/
+char buffer[16];                //Serial buffer
+uint8_t direction;              //Direction 0 - right, 1- left
+uint16_t step;                  //step 0-400 full turn in half step mode 
+uint16_t speed;                 //speed
+char * pch;                     //auxilary pointer to buffer
+char *mot_char[16];             //motor char
+int mot_int[3];                 //motor int 
+/*--FUNCTION DECLARATIONS---------------------------------------------------------------*/
+void int_usb(void);
+void stepMOtor (int,int,int);
+void stepDemo (void);
+/*--FUNCTION DEFINITIONS----------------------------------------------------------------*/
+
+/*
+ void int_usb (void) // initialize serial connection
+*/
+
+void int_usb(void)
+
+ {
+     pc.baud(115200);                                  /*Set baud rate*/   
+ }        
+
+
+/* stepMottor
+   int dir 0- right, 1- left
+   int steps 0-200 full step mode
+   int speed
+*/
+   
+void stepMOtor(int dir, int steps, int speedS )        
+
+{
+
+ if (!dir)                                                        // Checking direction flag
+  {
+    
+    enableOut=0;
+    dirOut=0;                                                     // drive right 
+                                                              
+  }
+    else
+      {
+        enableOut=0;
+        dirOut=1;                                                 // drive left  
+      }
+
+ int deg;
+
+    for (deg=0;deg<steps;deg++)
+  {
+   
+    stepOut=1;
+    wait_us(500);
+    stepOut=0;
+    wait_ms(speedS);
+    if (deg==steps-2)
+      {
+              pc.printf("ready %s \n");
+      }
+  }
+ }
+
+/*
+void stepDemo(void);
+full motor revolution 
+0.8 deg / sec
+*/
+
+void stepDemo (void)
+{
+    enableOut=0;
+    dirOut=0;                                                            // Enables the motor direction right
+       for(int x = 0; x < 199; x++) {                                    // Makes 400 steps for full revolution
+         stepOut=1; 
+          wait_us(1000); 
+         stepOut=0;
+      wait_ms(999);
+      }
+}
+
+int main() {
+   int_usb(); 
+  
+   while(1){ 
+        pc.printf("Hello %s \n"); 
+        wait(0.5);
+            while(true){
+            while (pc.readable()) {                    //if data in the ring buffer
+                     pc.gets(buffer,16);               //read 7 characters
+                     pc.printf("stringReceived %s ", buffer);
+                   char * pch;
+                    pch = strtok (buffer,",");
+                      int i=0;
+                      while (pch != NULL)
+                        
+                        {
+                         mot_char[i++] = pch;
+                         pch = strtok (NULL, ","); 
+                        }
+                       
+                       for (i = 0; i < 3; ++i) {
+                          //pc.printf("%s\n", mot_char[i]);
+                         mot_int[i]=atoi(mot_char[i]);
+                         pc.printf("%d\n", mot_int[i]);
+                       }
+            break; }
+
+       }
+     }
+  }