Diff: main.cpp

Revision:

30:a23204ee2be2

Parent:

29:a510e875936d

Child:

31:ebd464b0d0d8

--- a/main.cpp	Thu Apr 01 18:03:26 2021 +0000
+++ b/main.cpp	Thu Apr 01 22:20:55 2021 +0000
@@ -1,45 +1,3 @@
-/**
- ******************************************************************************
- * @file    main.cpp
- * @author  Davide Aliprandi, STMicroelectronics
- * @version V1.0.0
- * @date    November 4th, 2015
- * @brief   mbed test application for the STMicroelectronics X-NUCLEO-IHM02A1
- *          Motor Control Expansion Board: control of 2 motors.
- ******************************************************************************
- * @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. */
@@ -51,6 +9,9 @@
 /* Tinyshell: https://os.mbed.com/users/murilopontes/code/tinyshell/ */
 #include "tinysh.h"
 
+#include <cstdlib>
+#include <string>
+
 /* Definitions ---------------------------------------------------------------*/
 
 /* Motor specs */
@@ -59,7 +20,7 @@
 #define MAX_PHASE_CURRENT_A         0.67
 #define PHASE_RES_OHMS              12.0
 #define MOTOR_INITIAL_SPEED_SPS     1000.0
-#define MOTOR_ACCEL_SPS2            200.0
+#define MOTOR_ACCEL_SPS2            1000.0
 #define MOTOR_MAX_SPEED_SPS         2000.0
 #define FULL_STEP_TH_SPS            602.7
 #define DUMMY_KVAL_V                3.06
@@ -74,23 +35,6 @@
 #define MIN_LOOP_TIME_MS 1
 #define HARD_STOP_WAIT_MS 100
 
-#define CMD_BUFFER_SIZE 256
-#define OUTPUT_BUFFER_SIZE 1024
-
-/* Number of steps. */
-#define STEPS_1 (20000 * 1)   /* 1 revolution given a 200 step motor and 100:1 gearbox, with full stepping */
-#define STEPS_2 (STEPS_1 * 2)
-#define SPEED_SPS 10000 // steps per second
-
-/* Number of movements per revolution. */
-#define MPR_1 4
-
-/* Delay in milliseconds. */
-#define DELAY_1 1000
-#define DELAY_2 2000
-#define DELAY_3 5000
-
-
 /* Variables -----------------------------------------------------------------*/
 
 /* Motor Control Expansion Board. */
@@ -163,6 +107,11 @@
 bool status_flag = false;
 bool run_flag = false;
 bool stop_flag = false;
+bool cmd_both = false;
+int  which_axis = 0;
+int  speed_sps = 0;
+int  go_steps = 0;
+int  dir_fwd = true;
 
 /* Tinyshell command handler functions */
 void set_status_flag(int argc, char **argv)
@@ -170,21 +119,88 @@
     status_flag = true;
 }
 
+// gosteps dir steps (axis)
+void set_gosteps_flag(int argc, char **argv)
+{    
+    if (argc < 3 || argc > 4) {
+        printf("\r\nIncorrect number of arguments for: gosteps dir steps (axis).\r\n");
+        return;
+    }
+    
+    dir_fwd = true;
+    if (argv[1] == std::string("bwd")) dir_fwd = false;
+    go_steps = atoi(argv[2]);
+    
+    if (argc == 3) {
+        // both axes
+        cmd_both = true;
+    } else {
+        cmd_both = false;
+        which_axis = 0;
+        if (argv[3] == std::string("y")) which_axis = 1;
+    }
+}
+
+// run dir speed (axis)
 void set_run_flag(int argc, char **argv)
 {
+    if (argc < 3 || argc > 4) {
+        printf("\r\nIncorrect number of arguments for: run dir steps (axis).\r\n");
+        return;
+    }
+
     run_flag = true;
+    dir_fwd = true;
+    if (argv[1] == std::string("bwd")) dir_fwd = false;
+    speed_sps = atoi(argv[2]);
+
+    //printf("\r\nParsing 'run'[%d], %s %s %s", argc, argv[1], argv[2], argv[3]);
+    if (argc == 3) {
+        // both axes
+        cmd_both = true;
+        //printf("\r\nUsing both axes\r\n");
+    } else {
+        cmd_both = false;
+        which_axis = 0;
+        if (argv[3] == std::string("y")) which_axis = 1;
+        //printf("\r\nUsing axis %s (%d)\r\n", argv[3], which_axis);
+    }
 }
 
+// stop (axis)
 void set_stop_flag(int argc, char **argv)
 {
+    if (argc > 2) {
+        printf("\r\nIncorrect number of arguments for: stop (axis).\r\n");
+        return;
+    }
+    
     stop_flag = true;
+    
+    if (argc == 1) {
+        // both axes
+        cmd_both = true;
+    } else {
+        cmd_both = false;
+        which_axis = 0;
+        if (argv[1] == std::string("y")) which_axis = 1;
+    }    
 }
 
 // parent cmd (0 for top) cmd input name, help string, usage string, 
 //   function to launch, arg when called, next (0 at init), child (0 at init)
-tinysh_cmd_t print_status_cmd = {0, "status", "status command", "[args]", set_status_flag,0,0,0};
-tinysh_cmd_t run_cmd = {0, "run", "run command", "[args]", set_run_flag,0,0,0};
-tinysh_cmd_t stop_cmd = {0, "stop", "stop command", "[args]", set_stop_flag,0,0,0};
+tinysh_cmd_t print_status_cmd = {0, "status", 
+    "\r\nPrint content of status registers.\r\n", 
+    "[no args]", set_status_flag,0,0,0};
+tinysh_cmd_t go_steps_cmd = {0, "gosteps", 
+    "\r\n'Go n steps', dir = 'fwd' for CW or 'bwd' for CCW, steps = n steps, axis = 'x' or 'y' (omit for both).\r\n", 
+    "[dir, steps, (axis)]", set_gosteps_flag,0,0,0};
+tinysh_cmd_t run_cmd = {0, "run", 
+    "\r\nRun motor, dir = 'fwd' for CW or 'bwd' for CCW, speed in steps per second, axis = 'x' or 'y' (omit for both).\r\n", 
+    "[dir, speed, (axis)]", set_run_flag,0,0,0};
+tinysh_cmd_t stop_cmd = {0, "stop", 
+    "\r\nStop motor, optional axis = 'x' or 'y'; both stopped if omitted.\r\n", 
+    "[(axis)]", set_stop_flag,0,0,0};
 
 /* mandatory tiny shell output function */
 void tinysh_char_out(unsigned char c)
@@ -201,12 +217,13 @@
     
     /* Set up tinyshell */
     pc.baud(115200);
-    pc.printf("Motor controller ready\r\n");
-    tinysh_set_prompt("$ ");
+    pc.printf("\r\nMotor controller ready\r\n");
+    tinysh_set_prompt("> ");
     
     // Add all tinyshell commands here
     tinysh_add_command(&print_status_cmd);
     tinysh_add_command(&run_cmd);
+    tinysh_add_command(&go_steps_cmd);
     tinysh_add_command(&stop_cmd);
 
     /* Initializing SPI bus. */
@@ -224,7 +241,7 @@
    
     // Main loop
     while(1) {
-        /* 1: Check for hardware flags ----------------------------------------*/
+        /* 1: Check for hardware flags ---------------------------------------*/
         if (limit_flag) {
             // clear flag
             limit_flag = false;
@@ -243,49 +260,111 @@
             }
             x_nucleo_ihm02a1->perform_prepared_actions();
         
-            printf("Reached limit.\r\n");
+            printf("\r\nReached limit.\r\n");
         }
         
         /* 2: Fetch new chars for Tinyshell ----------------------------------*/
         tinysh_char_in(pc.getc());
         
         /* 3: Handle Commands ------------------------------------------------*/
+        if (go_steps) {
+            // Stop first
+            if (cmd_both) {
+                for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
+                    motors[m]->prepare_hard_stop();
+                }
+                x_nucleo_ihm02a1->perform_prepared_actions();
+            } else {
+                motors[which_axis]->hard_stop();
+            }
+            wait_ms(HARD_STOP_WAIT_MS);
+            
+            if (cmd_both) {
+                for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
+                    if (dir_fwd) motors[m]->prepare_move(StepperMotor::FWD, go_steps);
+                    else motors[m]->prepare_move(StepperMotor::BWD, go_steps);
+                }
+                x_nucleo_ihm02a1->perform_prepared_actions();
+            } else {
+                if (dir_fwd) motors[which_axis]->move(StepperMotor::FWD, go_steps);
+                else motors[which_axis]->move(StepperMotor::BWD, go_steps);
+            }
+ 
+            printf("\r\nGoing %s %d steps.\r\n", dir_fwd ? "Forward" : "Backward", go_steps);
+            
+            // Clear flags
+            go_steps = 0;
+            cmd_both = false;
+        }
+            
         if (run_flag) {
+            // Stop first
+            if (cmd_both) {
+                // stop both at same time
+                for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
+                    motors[m]->prepare_hard_stop();
+                }
+                x_nucleo_ihm02a1->perform_prepared_actions();
+            } else {
+                motors[which_axis]->hard_stop();
+            }
+            wait_ms(HARD_STOP_WAIT_MS);
+            
+            if (cmd_both) {
+                for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
+                    if (dir_fwd) motors[m]->prepare_run(StepperMotor::FWD, speed_sps);
+                    else motors[m]->prepare_run(StepperMotor::BWD, speed_sps);
+                }
+                x_nucleo_ihm02a1->perform_prepared_actions();
+            } else {
+                if (dir_fwd) motors[which_axis]->run(StepperMotor::FWD, speed_sps);
+                else motors[which_axis]->run(StepperMotor::BWD, speed_sps);
+            }
+
+            printf("\r\nRunning.\r\n");
+
+            // Clear flags
             run_flag = false;
-            // Hello world: just run the damn motor forever
-            printf("Running.\r\n");
-            for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
-                motors[m]->prepare_run(StepperMotor::BWD, SPEED_SPS);
-            }
-            x_nucleo_ihm02a1->perform_prepared_actions();
+            cmd_both = false;
         }
 
         if (stop_flag) {
-            stop_flag = false;
+
+            printf("\r\nStopping.\r\n");
+
             // Hard stop 
-            printf("Stopping.\r\n");
-            for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
-                motors[m]->prepare_hard_stop();
+            if (cmd_both) {
+                // stop both at same time
+                for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
+                    motors[m]->prepare_hard_stop();
+                }
+                x_nucleo_ihm02a1->perform_prepared_actions();
+            } else {
+                motors[which_axis]->hard_stop();
             }
-            x_nucleo_ihm02a1->perform_prepared_actions();
-            
             wait_ms(HARD_STOP_WAIT_MS);
             
             // High Z
-            for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
-                motors[m]->prepare_hard_hiz();
+            if (cmd_both) {
+                for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
+                    motors[m]->prepare_hard_hiz();
+                }
+                x_nucleo_ihm02a1->perform_prepared_actions();
+            } else {
+                motors[which_axis]->hard_hiz();
             }
-            x_nucleo_ihm02a1->perform_prepared_actions();
+            
+            // clear flags
+            stop_flag = false;
+            cmd_both = false;
         }
+        
     
         if (status_flag) {
-            // clear flag
-            status_flag = false;
-            
             // Fetch and parse the status register for each motor
             for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
                 status_bytes[m] = motors[m]->get_status();
-                printf("Status reg %d: 0x%02X\r\n", m, status_bytes[m]);
+                printf("\r\nStatus reg %d: 0x%02X\r\n", m, status_bytes[m]);
                 printf("    STEP-CLOCK MODE:       ");
                 printf(status_bytes[m] & 0x8000 ? "SET\r\n" : "NOT SET\r\n");
                 printf("    STEP_LOSS_B:           ");
@@ -319,256 +398,11 @@
                 printf(status_bytes[m] & 0x0002 ? "SET\r\n" : "NOT SET\r\n");
                 printf("    HI_Z:                  ");
                 printf(status_bytes[m] & 0x0001 ? "SET\r\n" : "NOT SET\r\n");
-                printf("\n\n");
+                printf("\r\n\n");
             }
+            // clear flag
+            status_flag = false;
         }
         
     } // end main loop
-}
-
-
-//    /* Printing to the console. */
-//    printf("--> Setting home position.\r\n");
-//
-//    /* Setting the home position. */
-//    motors[0]->set_home();
-
-//    /* Waiting. */
-//    wait_ms(DELAY_1);
-//
-//    /* Getting the current position. */
-//    int position = motors[0]->get_position();
-//
-//    /* Printing to the console. */
-//    printf("--> Getting the current position: %d\r\n", position);
-
-//    /* Waiting. */
-//    wait_ms(DELAY_1);
-//
-//    /* Printing to the console. */
-//    printf("--> Moving forward %d steps.\r\n", STEPS_1);
-//
-//    /* Moving. */
-//    motors[0]->move(StepperMotor::FWD, STEPS_1);
-//
-//    /* Waiting while active. */
-//    motors[0]->wait_while_active();
-//
-//    /* Getting the current position. */
-//    position = motors[0]->get_position();
-//    
-//    /* Printing to the console. */
-//    printf("--> Getting the current position: %d\r\n", position);
-//
-//    /* Printing to the console. */
-//    printf("--> Marking the current position.\r\n");
-//
-//    /* Marking the current position. */
-//    motors[0]->set_mark();
-//
-//    /* Waiting. */
-//    wait_ms(DELAY_1);
-//
-//    /* Printing to the console. */
-//    printf("--> Moving backward %d steps.\r\n", STEPS_2);
-//
-//    /* Moving. */
-//    motors[0]->move(StepperMotor::BWD, STEPS_2);
-//
-//    /* Waiting while active. */
-//    motors[0]->wait_while_active();
-//
-//    /* Waiting. */
-//    wait_ms(DELAY_1);
-//
-//    /* Getting the current position. */
-//    position = motors[0]->get_position();
-//    
-//    /* Printing to the console. */
-//    printf("--> Getting the current position: %d\r\n", position);
-//
-//    /* Waiting. */
-//    wait_ms(DELAY_1);
-//
-//    /* Printing to the console. */
-//    printf("--> Going to marked position.\r\n");
-//
-//    /* Going to marked position. */
-//    motors[0]->go_mark();
-//    
-//    /* Waiting while active. */
-//    motors[0]->wait_while_active();
-//
-//    /* Waiting. */
-//    wait_ms(DELAY_1);
-//
-//    /* Getting the current position. */
-//    position = motors[0]->get_position();
-//    
-//    /* Printing to the console. */
-//    printf("--> Getting the current position: %d\r\n", position);
-//
-//    /* Waiting. */
-//    wait_ms(DELAY_1);
-//
-//    /* Printing to the console. */
-//    printf("--> Going to home position.\r\n");
-//
-//    /* Going to home position. */
-//    motors[0]->go_home();
-//    
-//    /* Waiting while active. */
-//    motors[0]->wait_while_active();
-//
-//    /* Waiting. */
-//    wait_ms(DELAY_1);
-//
-//    /* Getting the current position. */
-//    position = motors[0]->get_position();
-//    
-//    /* Printing to the console. */
-//    printf("--> Getting the current position: %d\r\n", position);
-//
-//    /* Waiting. */
-//    wait_ms(DELAY_1);
-//
-//    /* Printing to the console. */
-//    printf("--> Halving the microsteps.\r\n");
-//
-//    /* Halving the microsteps. */
-//    init[0].step_sel = (init[0].step_sel > 0 ? init[0].step_sel -  1 : init[0].step_sel);
-//    if (!motors[0]->set_step_mode((StepperMotor::step_mode_t) init[0].step_sel)) {
-//        printf("    Step Mode not allowed.\r\n");
-//    }
-//
-//    /* Waiting. */
-//    wait_ms(DELAY_1);
-//
-//    /* Printing to the console. */
-//    printf("--> Setting home position.\r\n");
-//
-//    /* Setting the home position. */
-//    motors[0]->set_home();
-//
-//    /* Waiting. */
-//    wait_ms(DELAY_1);
-//
-//    /* Getting the current position. */
-//    position = motors[0]->get_position();
-//    
-//    /* Printing to the console. */
-//    printf("--> Getting the current position: %d\r\n", position);
-//
-//    /* Waiting. */
-//    wait_ms(DELAY_1);
-//
-//    /* Printing to the console. */
-//    printf("--> Moving forward %d steps.\r\n", STEPS_1);
-//
-//    /* Moving. */
-//    motors[0]->move(StepperMotor::FWD, STEPS_1);
-//
-//    /* Waiting while active. */
-//    motors[0]->wait_while_active();
-//
-//    /* Getting the current position. */
-//    position = motors[0]->get_position();
-//    
-//    /* Printing to the console. */
-//    printf("--> Getting the current position: %d\r\n", position);
-//
-//    /* Printing to the console. */
-//    printf("--> Marking the current position.\r\n");
-//
-//    /* Marking the current position. */
-//    motors[0]->set_mark();
-//
-//    /* Waiting. */
-//    wait_ms(DELAY_2);
-//
-//
-//    /*----- Running together for a certain amount of time. -----*/
-//
-//    /* Printing to the console. */
-//    printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000);
-//
-//    /* Preparing each motor to perform a run at a specified speed. */
-//    for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
-//        motors[m]->prepare_run(StepperMotor::BWD, 400);
-//    }
-//
-//    /* Performing the action on each motor at the same time. */
-//    x_nucleo_ihm02a1->perform_prepared_actions();
-//
-//    /* Waiting. */
-//    wait_ms(DELAY_3);
-//
-//
-//    /*----- Increasing the speed while running. -----*/
-//
-//    /* Preparing each motor to perform a run at a specified speed. */
-//    for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
-//        motors[m]->prepare_get_speed();
-//    }
-//
-//    /* Performing the action on each motor at the same time. */
-//    uint32_t* results = x_nucleo_ihm02a1->perform_prepared_actions();
-//
-//    /* Printing to the console. */
-//    printf("    Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
-//
-//    /* Printing to the console. */
-//    printf("--> Doublig the speed while running again for %d seconds.\r\n", DELAY_3 / 1000);
-//
-//    /* Preparing each motor to perform a run at a specified speed. */
-//    for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
-//        motors[m]->prepare_run(StepperMotor::BWD, results[m] << 1);
-//    }
-//
-//    /* Performing the action on each motor at the same time. */
-//    results = x_nucleo_ihm02a1->perform_prepared_actions();
-//
-//    /* Waiting. */
-//    wait_ms(DELAY_3);
-//
-//    /* Preparing each motor to perform a run at a specified speed. */
-//    for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
-//        motors[m]->prepare_get_speed();
-//    }
-//
-//    /* Performing the action on each motor at the same time. */
-//    results = x_nucleo_ihm02a1->perform_prepared_actions();
-//
-//    /* Printing to the console. */
-//    printf("    Speed: M1 %d, M2 %d.\r\n", results[0], results[1]);
-//
-//    /* Waiting. */
-//    wait_ms(DELAY_1);
-//
-//
-//    /*----- Doing a full revolution on each motor, one after the other. -----*/
-//
-//    /* Printing to the console. */
-//    printf("--> Doing a full revolution on each motor, one after the other.\r\n");
-//
-//    /* Doing a full revolution on each motor, one after the other. */
-//    for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
-//        for (int i = 0; i < MPR_1; i++) {
-//            /* Computing the number of steps. */
-//            int steps = (int) (((int) init[m].fullstepsperrevolution * pow(2.0f, init[m].step_sel)) / MPR_1);
-//
-//            /* Moving. */
-//            motors[m]->move(StepperMotor::FWD, steps);
-//            
-//            /* Waiting while active. */
-//            motors[m]->wait_while_active();
-//
-//            /* Waiting. */
-//            wait_ms(DELAY_1);
-//        }
-//    }
-//
-//    /* Waiting. */
-//    wait_ms(DELAY_2);
-//
-//}
+}
\ No newline at end of file