Steven Cheldelin / Mbed 2 deprecated STM32F303_GAMI_eMPC_motor_tester_v1

Stepper motor tester version 1 for the STM32F303K8 Nucleo development board

Dependencies:   RPCInterface mbed-dsp mbed

main.cpp@0:5e49c3bc05f5, 2016-05-11 (annotated)

Committer:
rcflyair
Date:
Wed May 11 16:58:41 2016 +0000
Revision:
0:5e49c3bc05f5
Child:
1:eabd95ed3f53
K22_GAMI_eMPC_TestCell_v1b development commit 01

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Who changed what in which revision?

UserRevisionLine numberNew contents of line
rcflyair 0:5e49c3bc05f5 1 #include "mbed.h"
rcflyair 0:5e49c3bc05f5 2 #include "SerialRPCInterface.h"
rcflyair 0:5e49c3bc05f5 3 #include "L6470.h"
rcflyair 0:5e49c3bc05f5 4 #include "HC595.h"
rcflyair 0:5e49c3bc05f5 5
rcflyair 0:5e49c3bc05f5 6 // Global objects
rcflyair 0:5e49c3bc05f5 7 DigitalOut led_red(LED_RED); // active low to turn on red part of RGB LED on FRDM-K22F
rcflyair 0:5e49c3bc05f5 8 DigitalOut led_green(LED_GREEN); // active low to turn on green part of RGB LED on FRDM-K22F
rcflyair 0:5e49c3bc05f5 9 DigitalOut led_blue(LED_BLUE); // active low to turn on blue part of RGB LED on FRDM-K22F
rcflyair 0:5e49c3bc05f5 10
rcflyair 0:5e49c3bc05f5 11 SerialRPCInterface rpc(USBTX, USBRX, 115200); // create serial rpc interface on usb virtual com port
rcflyair 0:5e49c3bc05f5 12 L6470 motor(PTD6, PTD7, PTD5, PTD4); // create motor object with mosi, miso, sclk, cs on FRDM-K22F
rcflyair 0:5e49c3bc05f5 13
rcflyair 0:5e49c3bc05f5 14 HC595 hc595(PTC5, PTC10, PTC7); // create led bar driver with ser, oe, rclk, and srclk
rcflyair 0:5e49c3bc05f5 15 AnalogIn lightSense(PTB0); // analog voltage from light sensor on PDU
rcflyair 0:5e49c3bc05f5 16 PwmOut brightness(PTA5); // brightness of PDU
rcflyair 0:5e49c3bc05f5 17 DigitalIn sw0(PTC9);
rcflyair 0:5e49c3bc05f5 18 DigitalIn sw1(PTC8);
rcflyair 0:5e49c3bc05f5 19 DigitalIn sw2(PTA12);
rcflyair 0:5e49c3bc05f5 20 DigitalIn sw3(PTA13);
rcflyair 0:5e49c3bc05f5 21
rcflyair 0:5e49c3bc05f5 22 float ledbar = 1;
rcflyair 0:5e49c3bc05f5 23
rcflyair 0:5e49c3bc05f5 24 // RPC Function calls
rcflyair 0:5e49c3bc05f5 25 void GetStatus(Arguments *input, Reply *output)
rcflyair 0:5e49c3bc05f5 26 {
rcflyair 0:5e49c3bc05f5 27 led_green = !led_green;
rcflyair 0:5e49c3bc05f5 28 int temp = motor.GetStatus();
rcflyair 0:5e49c3bc05f5 29 output->putData(temp & 0xFFFFFF);
rcflyair 0:5e49c3bc05f5 30 };
rcflyair 0:5e49c3bc05f5 31
rcflyair 0:5e49c3bc05f5 32 void GetABSPOS(Arguments *input, Reply *output)
rcflyair 0:5e49c3bc05f5 33 {
rcflyair 0:5e49c3bc05f5 34 led_green = !led_green;
rcflyair 0:5e49c3bc05f5 35 // uint32_t temp = motor.GetParameter(ABS_POS);
rcflyair 0:5e49c3bc05f5 36 int temp = motor.GetParameter(ABS_POS);
rcflyair 0:5e49c3bc05f5 37 temp = (temp & 0x3FFFFF); // mask 22 bit value
rcflyair 0:5e49c3bc05f5 38 output->putData(temp);
rcflyair 0:5e49c3bc05f5 39 };
rcflyair 0:5e49c3bc05f5 40
rcflyair 0:5e49c3bc05f5 41 // motor.move(direction, step)
rcflyair 0:5e49c3bc05f5 42 void Move(Arguments *input, Reply *output)
rcflyair 0:5e49c3bc05f5 43 {
rcflyair 0:5e49c3bc05f5 44 led_green = !led_green;
rcflyair 0:5e49c3bc05f5 45 int arg0 = input->getArg<int>();
rcflyair 0:5e49c3bc05f5 46 int arg1 = input->getArg<int>();
rcflyair 0:5e49c3bc05f5 47 motor.Move(arg0, arg1);
rcflyair 0:5e49c3bc05f5 48 };
rcflyair 0:5e49c3bc05f5 49
rcflyair 0:5e49c3bc05f5 50 void Run(Arguments *input, Reply *output)
rcflyair 0:5e49c3bc05f5 51 {
rcflyair 0:5e49c3bc05f5 52 led_green = !led_green;
rcflyair 0:5e49c3bc05f5 53 int arg0 = input->getArg<int>();
rcflyair 0:5e49c3bc05f5 54 motor.Run(arg0);
rcflyair 0:5e49c3bc05f5 55 };
rcflyair 0:5e49c3bc05f5 56 void Stop(Arguments *input, Reply *output)
rcflyair 0:5e49c3bc05f5 57 {
rcflyair 0:5e49c3bc05f5 58 led_green = !led_green;
rcflyair 0:5e49c3bc05f5 59 motor.HardStop();
rcflyair 0:5e49c3bc05f5 60 };
rcflyair 0:5e49c3bc05f5 61
rcflyair 0:5e49c3bc05f5 62 void ResetPosition(Arguments *input, Reply *output)
rcflyair 0:5e49c3bc05f5 63 {
rcflyair 0:5e49c3bc05f5 64 led_green = !led_green;
rcflyair 0:5e49c3bc05f5 65 motor.ResetPosition();
rcflyair 0:5e49c3bc05f5 66 };
rcflyair 0:5e49c3bc05f5 67
rcflyair 0:5e49c3bc05f5 68 void SetParameter(Arguments *input, Reply *output)
rcflyair 0:5e49c3bc05f5 69 {
rcflyair 0:5e49c3bc05f5 70 led_green = !led_green;
rcflyair 0:5e49c3bc05f5 71 // uint8_t arg0 = input->getArg<int>();
rcflyair 0:5e49c3bc05f5 72 // uint32_t arg1 = input->getArg<int>();
rcflyair 0:5e49c3bc05f5 73 int arg0 = input->getArg<int>();
rcflyair 0:5e49c3bc05f5 74 int arg1 = input->getArg<int>();
rcflyair 0:5e49c3bc05f5 75 motor.SetParameter(arg0, arg1);
rcflyair 0:5e49c3bc05f5 76 };
rcflyair 0:5e49c3bc05f5 77
rcflyair 0:5e49c3bc05f5 78 void SetLEDBar(Arguments *input, Reply *output)
rcflyair 0:5e49c3bc05f5 79 {
rcflyair 0:5e49c3bc05f5 80 led_green = !led_green;
rcflyair 0:5e49c3bc05f5 81 int arg0 = input->getArg<int>();
rcflyair 0:5e49c3bc05f5 82 hc595.bar(arg0);
rcflyair 0:5e49c3bc05f5 83 //output->putData(arg0);
rcflyair 0:5e49c3bc05f5 84 }
rcflyair 0:5e49c3bc05f5 85
rcflyair 0:5e49c3bc05f5 86 void GetParameter(Arguments *input, Reply *output)
rcflyair 0:5e49c3bc05f5 87 {
rcflyair 0:5e49c3bc05f5 88 led_green = !led_green;
rcflyair 0:5e49c3bc05f5 89 //uint8_t arg0 = input->getArg<int>();
rcflyair 0:5e49c3bc05f5 90 //uint32_t temp = motor.GetParameter(arg0);
rcflyair 0:5e49c3bc05f5 91 int arg0 = input->getArg<int>();
rcflyair 0:5e49c3bc05f5 92 int temp = motor.GetParameter(arg0);
rcflyair 0:5e49c3bc05f5 93 output->putData(temp);
rcflyair 0:5e49c3bc05f5 94 }
rcflyair 0:5e49c3bc05f5 95
rcflyair 0:5e49c3bc05f5 96 // RPC variable and function assignments
rcflyair 0:5e49c3bc05f5 97 RPCFunction rpc_GetStatus(&GetStatus, "GetStatus");
rcflyair 0:5e49c3bc05f5 98 RPCFunction rpc_GetABSPOS(&GetABSPOS, "GetABSPOS");
rcflyair 0:5e49c3bc05f5 99 RPCFunction rpc_Move(&Move, "Move");
rcflyair 0:5e49c3bc05f5 100 RPCFunction rpc_Run(&Run, "Run");
rcflyair 0:5e49c3bc05f5 101 RPCFunction rpc_Stop(&Stop, "Stop");
rcflyair 0:5e49c3bc05f5 102 RPCFunction rpc_ResetPosition(&ResetPosition, "ResetPosition");
rcflyair 0:5e49c3bc05f5 103 RPCFunction rpc_SetParameter(&SetParameter, "SetParameter");
rcflyair 0:5e49c3bc05f5 104 RPCFunction rpc_GetParameter(&GetParameter, "GetParameter");
rcflyair 0:5e49c3bc05f5 105 RPCFunction rpc_SetLEDBar(&SetLEDBar, "SetLEDBar");
rcflyair 0:5e49c3bc05f5 106
rcflyair 0:5e49c3bc05f5 107 int main(){
rcflyair 0:5e49c3bc05f5 108 // Turn off LED's
rcflyair 0:5e49c3bc05f5 109 led_red = 1; led_green = 1; led_blue = 1;
rcflyair 0:5e49c3bc05f5 110
rcflyair 0:5e49c3bc05f5 111 // set motor parameters
rcflyair 0:5e49c3bc05f5 112 motor.Reset();
rcflyair 0:5e49c3bc05f5 113 motor.HardStop();
rcflyair 0:5e49c3bc05f5 114 motor.SetParameter(ACC, 0xFF);
rcflyair 0:5e49c3bc05f5 115 motor.SetParameter(DEC, 0xFF);
rcflyair 0:5e49c3bc05f5 116 motor.SetParameter(MAX_SPEED, 0x17);
rcflyair 0:5e49c3bc05f5 117 motor.SetParameter(MIN_SPEED, 0x00);
rcflyair 0:5e49c3bc05f5 118 motor.SetParameter(KVAL_HOLD, 0x29);
rcflyair 0:5e49c3bc05f5 119 motor.SetParameter(KVAL_RUN, 0x29);
rcflyair 0:5e49c3bc05f5 120 motor.SetParameter(KVAL_ACC, 0x29);
rcflyair 0:5e49c3bc05f5 121 motor.SetParameter(KVAL_DEC, 0x29);
rcflyair 0:5e49c3bc05f5 122
rcflyair 0:5e49c3bc05f5 123 motor.SetParameter(STALL_TH, 0x30);
rcflyair 0:5e49c3bc05f5 124
rcflyair 0:5e49c3bc05f5 125 while(1){
rcflyair 0:5e49c3bc05f5 126 if (sw0)
rcflyair 0:5e49c3bc05f5 127 led_red = 0;
rcflyair 0:5e49c3bc05f5 128 else
rcflyair 0:5e49c3bc05f5 129 led_red = 1;
rcflyair 0:5e49c3bc05f5 130
rcflyair 0:5e49c3bc05f5 131 wait_ms(500);
rcflyair 0:5e49c3bc05f5 132 }
rcflyair 0:5e49c3bc05f5 133 }