Stephanie Liu / Mbed 2 deprecated MAQELECT_APS2

APS2

Dependencies:   mbed X_NUCLEO_IHM01A1

main.cpp@38:3d32ce11e4d8, 2021-10-24 (annotated)

Committer:
stephanie_liu
Date:
Sun Oct 24 22:17:48 2021 +0000
Revision:
38:3d32ce11e4d8
Parent:
35:2b44ed4ec7a0 
APS2 maqelectricas

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Davidroid 0:e6a49a092e2a 1
stephanie_liu 38:3d32ce11e4d8 2 //Importando bibliotecas
Davidroid 0:e6a49a092e2a 3 #include "mbed.h"
Davidroid 0:e6a49a092e2a 4 #include "DevSPI.h"
davide.aliprandi@st.com 35:2b44ed4ec7a0 5 #include "L6474.h"
Davidroid 0:e6a49a092e2a 6
stephanie_liu 38:3d32ce11e4d8 7 // Variaveis definição
stephanie_liu 38:3d32ce11e4d8 8 #define STEPS_1 (200 * 2) /*NUMERO DE STEPs - 1 revolution given a 200 steps motor configured at 1/2 meio passo mode. */
Davidroid 0:e6a49a092e2a 9
stephanie_liu 38:3d32ce11e4d8 10 // Delay in milliseconds
Davidroid 26:b0203c2265e5 11 #define DELAY_1 1000
Davidroid 26:b0203c2265e5 12 #define DELAY_2 2000
Davidroid 26:b0203c2265e5 13 #define DELAY_3 6000
Davidroid 26:b0203c2265e5 14 #define DELAY_4 8000
Davidroid 26:b0203c2265e5 15
Davidroid 29:a80a213c3c94 16 /* Speed in pps (Pulses Per Second).
Davidroid 29:a80a213c3c94 17 In Full Step mode: 1 pps = 1 step/s).
Davidroid 29:a80a213c3c94 18 In 1/N Step Mode: N pps = 1 step/s). */
stephanie_liu 38:3d32ce11e4d8 19 #define SPEED_1 400 //passos por segundo V1
stephanie_liu 38:3d32ce11e4d8 20
stephanie_liu 38:3d32ce11e4d8 21 // Definindo botão
stephanie_liu 38:3d32ce11e4d8 22 DigitalIn button(USER_BUTTON);
stephanie_liu 38:3d32ce11e4d8 23 // inicialização da serial
stephanie_liu 38:3d32ce11e4d8 24 Serial pc(USBTX, USBRX);
Davidroid 0:e6a49a092e2a 25
Davidroid 0:e6a49a092e2a 26
Davidroid 0:e6a49a092e2a 27 /* Variables -----------------------------------------------------------------*/
stephanie_liu 38:3d32ce11e4d8 28 int velocidade;
Davidroid 0:e6a49a092e2a 29
Davidroid 19:1cd7f65c155c 30 /* Initialization parameters. */
davide.aliprandi@st.com 35:2b44ed4ec7a0 31 L6474_init_t init = {
stephanie_liu 38:3d32ce11e4d8 32 900, /* Acceleration rate in pps^2. Range: (0..+inf). */
stephanie_liu 38:3d32ce11e4d8 33 900, /* Deceleration rate in pps^2. Range: (0..+inf). */
stephanie_liu 38:3d32ce11e4d8 34 1200, /* Maximum speed in pps. Range: (30..10000]. */
stephanie_liu 38:3d32ce11e4d8 35 30, /* Minimum speed in pps. Range: [30..10000). */
Davidroid 19:1cd7f65c155c 36 250, /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
Davidroid 19:1cd7f65c155c 37 L6474_OCD_TH_750mA, /* Overcurrent threshold (OCD_TH register). */
Davidroid 19:1cd7f65c155c 38 L6474_CONFIG_OC_SD_ENABLE, /* Overcurrent shutwdown (OC_SD field of CONFIG register). */
Davidroid 19:1cd7f65c155c 39 L6474_CONFIG_EN_TQREG_TVAL_USED, /* Torque regulation method (EN_TQREG field of CONFIG register). */
stephanie_liu 38:3d32ce11e4d8 40 L6474_STEP_SEL_1_2, /* Step selection (STEP_SEL field of STEP_MODE register). */ //SETADO PARA MEIO PASSO
Davidroid 19:1cd7f65c155c 41 L6474_SYNC_SEL_1_2, /* Sync selection (SYNC_SEL field of STEP_MODE register). */
Davidroid 19:1cd7f65c155c 42 L6474_FAST_STEP_12us, /* Fall time value (T_FAST field of T_FAST register). Range: 2us to 32us. */
Davidroid 19:1cd7f65c155c 43 L6474_TOFF_FAST_8us, /* Maximum fast decay time (T_OFF field of T_FAST register). Range: 2us to 32us. */
Davidroid 19:1cd7f65c155c 44 3, /* Minimum ON time in us (TON_MIN register). Range: 0.5us to 64us. */
Davidroid 19:1cd7f65c155c 45 21, /* Minimum OFF time in us (TOFF_MIN register). Range: 0.5us to 64us. */
Davidroid 19:1cd7f65c155c 46 L6474_CONFIG_TOFF_044us, /* Target Swicthing Period (field TOFF of CONFIG register). */
Davidroid 19:1cd7f65c155c 47 L6474_CONFIG_SR_320V_us, /* Slew rate (POW_SR field of CONFIG register). */
Davidroid 19:1cd7f65c155c 48 L6474_CONFIG_INT_16MHZ, /* Clock setting (OSC_CLK_SEL field of CONFIG register). */
Davidroid 19:1cd7f65c155c 49 L6474_ALARM_EN_OVERCURRENT |
Davidroid 19:1cd7f65c155c 50 L6474_ALARM_EN_THERMAL_SHUTDOWN |
Davidroid 19:1cd7f65c155c 51 L6474_ALARM_EN_THERMAL_WARNING |
Davidroid 19:1cd7f65c155c 52 L6474_ALARM_EN_UNDERVOLTAGE |
Davidroid 19:1cd7f65c155c 53 L6474_ALARM_EN_SW_TURN_ON |
Davidroid 19:1cd7f65c155c 54 L6474_ALARM_EN_WRONG_NPERF_CMD /* Alarm (ALARM_EN register). */
Davidroid 19:1cd7f65c155c 55 };
Davidroid 19:1cd7f65c155c 56
Davidroid 0:e6a49a092e2a 57 /* Motor Control Component. */
Davidroid 1:fbf28f3367aa 58 L6474 *motor;
Davidroid 0:e6a49a092e2a 59
Davidroid 0:e6a49a092e2a 60
Davidroid 19:1cd7f65c155c 61 /* Functions -----------------------------------------------------------------*/
Davidroid 19:1cd7f65c155c 62 /**
Davidroid 25:3c863b420ac5 63 * @brief This is an example of user handler for the flag interrupt.
Davidroid 25:3c863b420ac5 64 * @param None
Davidroid 25:3c863b420ac5 65 * @retval None
Davidroid 25:3c863b420ac5 66 * @note If needed, implement it, and then attach and enable it:
davide.aliprandi@st.com 35:2b44ed4ec7a0 67 * + motor->attach_flag_irq(&flag_irq_handler);
davide.aliprandi@st.com 35:2b44ed4ec7a0 68 * + motor->enable_flag_irq();
Davidroid 25:3c863b420ac5 69 * To disable it:
davide.aliprandi@st.com 35:2b44ed4ec7a0 70 * + motor->disble_flag_irq();
Davidroid 25:3c863b420ac5 71 */
stephanie_liu 38:3d32ce11e4d8 72 void flag_irq_handler(void){
Davidroid 19:1cd7f65c155c 73 /* Set ISR flag. */
Davidroid 19:1cd7f65c155c 74 motor->isr_flag = TRUE;
Davidroid 19:1cd7f65c155c 75
Davidroid 19:1cd7f65c155c 76 /* Get the value of the status register. */
davide.aliprandi@st.com 35:2b44ed4ec7a0 77 unsigned int status = motor->get_status();
Davidroid 34:543d0d1147d9 78
Davidroid 19:1cd7f65c155c 79 /* Check NOTPERF_CMD flag: if set, the command received by SPI can't be performed. */
Davidroid 19:1cd7f65c155c 80 /* This often occures when a command is sent to the L6474 while it is not in HiZ state. */
Davidroid 34:543d0d1147d9 81 if ((status & L6474_STATUS_NOTPERF_CMD) == L6474_STATUS_NOTPERF_CMD) {
stephanie_liu 38:3d32ce11e4d8 82 printf("WARNING: \"FLAG\" interrupt triggered. Non-performable command detected when updating L6474's registers while not in HiZ state.\r\n");
Davidroid 34:543d0d1147d9 83 }
stephanie_liu 38:3d32ce11e4d8 84
Davidroid 19:1cd7f65c155c 85 /* Reset ISR flag. */
Davidroid 19:1cd7f65c155c 86 motor->isr_flag = FALSE;
Davidroid 19:1cd7f65c155c 87 }
Davidroid 19:1cd7f65c155c 88
stephanie_liu 38:3d32ce11e4d8 89 int main(){
Davidroid 6:32166bfc04b0 90 /*----- Initialization. -----*/
stephanie_liu 38:3d32ce11e4d8 91 DevSPI dev_spi(D11, D12, D13); //Initializing SPI bus
stephanie_liu 38:3d32ce11e4d8 92 pc.baud(9600); //Initializing serial
Davidroid 0:e6a49a092e2a 93
Davidroid 11:3e303a25770d 94 /* Initializing Motor Control Component. */
Davidroid 5:8065b587ade0 95 motor = new L6474(D2, D8, D7, D9, D10, dev_spi);
davide.aliprandi@st.com 35:2b44ed4ec7a0 96 if (motor->init(&init) != COMPONENT_OK) {
Davidroid 17:4830b25fec7f 97 exit(EXIT_FAILURE);
Davidroid 34:543d0d1147d9 98 }
stephanie_liu 38:3d32ce11e4d8 99
Davidroid 19:1cd7f65c155c 100 /* Attaching and enabling interrupt handlers. */
davide.aliprandi@st.com 35:2b44ed4ec7a0 101 motor->attach_flag_irq(&flag_irq_handler);
davide.aliprandi@st.com 35:2b44ed4ec7a0 102 motor->enable_flag_irq();
Davidroid 19:1cd7f65c155c 103
stephanie_liu 38:3d32ce11e4d8 104 while (1) {
stephanie_liu 38:3d32ce11e4d8 105 velocidade = motor->get_speed(); // pegando a velocidade do motor
stephanie_liu 38:3d32ce11e4d8 106 pc.printf("%d\r\n", velocidade); // print plotter serial da velocidade
stephanie_liu 38:3d32ce11e4d8 107 if (button == 0) {
stephanie_liu 38:3d32ce11e4d8 108 motor->set_max_speed(SPEED_1); /* Increasing the speed. */
stephanie_liu 38:3d32ce11e4d8 109 motor->move(StepperMotor::FWD, STEPS_1); /* realizando a rotação completa no sentido horario */
stephanie_liu 38:3d32ce11e4d8 110 motor->wait_while_active(); /* esperando o motor ser ativado. */
stephanie_liu 38:3d32ce11e4d8 111 wait(1); // Espera 1s antes de mudar de direç˜åo
stephanie_liu 38:3d32ce11e4d8 112 motor->set_max_speed(SPEED_1); /* aumentando a velocidade até o valor de speed 1*/
stephanie_liu 38:3d32ce11e4d8 113 motor->move(StepperMotor::BWD, STEPS_1); /* SAH realizando a rotação completa*/
stephanie_liu 38:3d32ce11e4d8 114 }
Davidroid 0:e6a49a092e2a 115 }
Davidroid 0:e6a49a092e2a 116 }