Sho Yama
LV8548 Motor Driver Stepper Motor Dc MOtor
Diff: Main.cpp
- Revision:
- 0:82bafa3985c2
- Child:
- 1:f62c3257d673
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Main.cpp Fri Nov 16 16:49:36 2018 +0000
@@ -0,0 +1,431 @@
+#include "mbed.h"
+#include "LV8548.h"
+
+#define DC_ID "LV8548DC_Ver.2.0.0\n"
+#define STEP_ID "LV8548Step_Ver.2.0.0\n"
+
+//#define DEFAULT_BAUDRATE (9600)
+#define DEFAULT_BAUDRATE (19200)
+//#define DEFAULT_BAUDRATE (115200)
+
+
+#define _USE_DEBUG_ (0)
+enum DCSerialCommandType {
+ SRMES_GET_ID = 0x03, // 3
+ SRMES_POLLING_ID = 0x04, // 4
+//// For Dc Motor Control ////////
+ SRMES_CTL_VOLTAGE = 'A', // 'A'
+ SRMES_ROTATION = 'D', // 'D'
+ SRMES_PWM_FREQSET = 'g', // 'g'
+ SRMES_START_FLAG = 'h', // 'h'
+//// For Stepper Motor Control ////////
+ SRMES_STEP_ANGLE = 'i', // 'i'
+ SRMES_ROTATION_ANGLE = 'j', // 'j'
+ SRMES_ROTATION_TIME = 'k', // 'k'
+ SRMES_ROTATION_STEP = 'l', // 'l'
+ SRMES_ROTATION_STOP = 'n', // 'n'
+ SRMES_ROTATION_FREE = 'o', // 'o'
+};
+//// For Dc Motor
+
+ // Segment definition of serial message
+ typedef struct
+ {
+ uint8_t motorNo;
+ uint8_t duty;
+ } __attribute__ ((packed)) SrMesDivCtlVoltage;
+
+ typedef struct
+ {
+ uint8_t motorNo;
+ DriverPwmOut select;
+ } __attribute__ ((packed)) SrMesDivStartFlag;
+
+ typedef struct
+ {
+ uint8_t motorNo;
+ DriverPwmMode select;
+ } __attribute__ ((packed)) SrMesDivRotation;
+
+ typedef struct
+ {
+ uint8_t hz;
+ } __attribute__ ((packed)) SrMesDivPwmFreqset;
+
+
+
+SrMesDivCtlVoltage DcMtrvoltValue ;
+SrMesDivRotation DcMtrrotationValue;
+SrMesDivStartFlag DcMtrstartFlag;
+SrMesDivPwmFreqset DcMtrfreqValue;
+
+/// For Stepper Motor
+ typedef struct
+ {
+ uint16_t angle;
+ } __attribute__ ((packed)) SrMesDivSetStepAngle;
+
+ typedef struct
+ {
+ uint16_t frequency;
+ uint16_t deg;
+ uint8_t rotation;
+ uint8_t exp;
+ } __attribute__ ((packed)) SrMesDivRotationDeg;
+
+ typedef struct
+ {
+ uint16_t frequency;
+ uint16_t time;
+ uint8_t rotation;
+ uint8_t exp;
+ } __attribute__ ((packed)) SrMesDivRotationTime;
+
+ typedef struct
+ {
+ uint16_t frequency;
+ uint16_t step;
+ uint8_t rotation;
+ uint8_t exp;
+ } __attribute__ ((packed)) SrMesDivRotationStep;
+
+
+
+SrMesDivSetStepAngle StepMtrAngleValue;
+SrMesDivRotationDeg StepMtrDegValue;
+SrMesDivRotationTime StepMtrTimeValue;
+SrMesDivRotationStep StepMtrStepValue;
+
+
+
+/* pc の仮想ポートをwindows softで開ける */
+Serial pc(USBTX, USBRX); // tx, rx
+#if _USE_DEBUG_
+Serial uart(D1, D0); // tx, rx
+#endif
+//#if _USE_DEBUG_
+//Serial uart(USBTX, USBRX); // tx, rx
+//#endif
+//Serial pc(D1, D0); // tx, rx
+
+DigitalOut myled(LED1);
+#if USE_DC_MOTOR
+LV8548 MOTORDriver( D3,D5,D10,D11,DCMOTOR); // SELECT DCMOTOR
+#else
+LV8548 MOTORDriver( D3,D5,D10,D11,STEPERMOTOR); // STEP MOTOR
+#endif
+
+DigitalOut TEST(D12);
+Ticker Timer500;
+Ticker Timer1ms;
+uint8_t LedImage;
+uint8_t CommandTimer;
+
+#define SBUFMAX 64
+volatile uint8_t SerialBuffer[SBUFMAX];
+volatile uint8_t RingBuffer[256];
+volatile uint8_t RingReadpoint;
+volatile uint8_t RingWritepoint;
+
+/*******************************************/
+/* AA */
+/* AAAA ii ii */
+/* AA AA sssss cccc */
+/* AAAAAA ss cc iii iii */
+/* AA AA ssss cc ii ii */
+/* AA AA ss cc ii ii */
+/* AA AA sssss cccc iiii iiii */
+/* */
+/*******************************************/
+
+uint8_t Ascii(uint8_t Data)
+{
+ switch(Data & 0xf)
+ {
+ case 0: return('0');
+ case 1: return('1');
+ case 2: return('2');
+ case 3: return('3');
+ case 4: return('4');
+ case 5: return('5');
+ case 6: return('6');
+ case 7: return('7');
+ case 8: return('8');
+ case 9: return('9');
+ case 0xA: return('A');
+ case 0xB: return('B');
+ case 0xC: return('C');
+ case 0xD: return('D');
+ case 0xE: return('E');
+ case 0xF: return('F');
+ }
+ return (0);
+}
+/***************************************************************************************************************************/
+/* UU UU RRRRR IIII */
+/* UU UU tt RR RR ii II */
+/* UU UU aaaa rrrrr tttttt RR RR eeee cccc vv vv eeee II rrrrr qqqqq */
+/* UU UU aa rr rr tt RRRRR ee ee cc iii vv vv ee ee II rr rr qq qq */
+/* UU UU aaaaa rr tt RRRR eeeeee cc ii vv vv eeeeee II rr qq qq */
+/* UU UU aa aa rr tt RR RR ee cc ii vvvv ee II rr qqqqq */
+/* UUUU aaaaa rr ttt RR RR eeee cccc iiii vv eeee IIII rr qq */
+/* qq */
+/***************************************************************************************************************************/
+void Read_Rx(void)
+{
+ RingWritepoint++;
+ RingBuffer[RingWritepoint] = pc.getc();
+ CommandTimer = 2; // 2(最小1)ms後にコマンド処理
+}
+/***********************************************************************************************************/
+/* CCCC PPPPP */
+/* CC CC dd PP PP */
+/* CC oooo mm mm mm mm nnnnn aaaa dd PP PP aaaa rrrrr sssss eeee */
+/* CC oo oo mmmmmmm mmmmmmm nn nn aa ddddd PPPPP aa rr rr ss ee ee */
+/* CC oo oo mmmmmmm mmmmmmm nn nn aaaaa dd dd PP aaaaa rr ssss eeeeee */
+/* CC CC oo oo mm m mm mm m mm nn nn aa aa dd dd PP aa aa rr ss ee */
+/* CCCC oooo mm mm mm mm nn nn aaaaa ddddd PP aaaaa rr sssss eeee */
+/* */
+/***********************************************************************************************************/
+void SerialRead(void)
+{
+ int i = 0;
+ if(CommandTimer ) return; /* 1ms 以上データ無しが安定してから読む */
+
+
+ SerialBuffer[0] = '\0';
+ while( RingWritepoint != RingReadpoint)
+ {
+ RingReadpoint++;
+ SerialBuffer[i] = RingBuffer[RingReadpoint];
+#if _USE_DEBUG_
+ uart.putc(Ascii(SerialBuffer[i] >> 4)) ;
+ uart.putc(Ascii(SerialBuffer[i] >> 0)) ;
+ uart.putc(0x20);
+#endif
+ i++;
+ if(i >= (SBUFMAX-1))
+ {
+#if _USE_DEBUG_
+ uart.printf("Max over\n");
+#endif
+ SerialBuffer[i] = '\0';
+
+ }
+ continue;
+ }
+
+ switch( SerialBuffer[0] )
+ {
+ case SRMES_GET_ID: // 3
+ {
+#if _USE_DEBUG_
+ uart.printf("Send Id\n");
+#endif
+#if USE_DC_MOTOR
+ pc.printf(DC_ID);
+#else
+ pc.printf(STEP_ID);
+#endif
+ }
+ break;
+
+ case SRMES_POLLING_ID: // 4
+ {
+#if _USE_DEBUG_
+ uart.printf("Polling\n");
+#endif
+ }
+ break;
+/***************************************************************************************************/
+/* FFFFFF DDDD MM MM */
+/* FF DD DD MMM MMM tt */
+/* FF oooo rrrrr DD DD cccc MMMMMMM oooo tttttt oooo rrrrr */
+/* FFFF oo oo rr rr DD DD cc MM M MM oo oo tt oo oo rr rr */
+/* FF oo oo rr DD DD cc MM MM oo oo tt oo oo rr */
+/* FF oo oo rr DD DD cc MM MM oo oo tt oo oo rr */
+/* FF oooo rr DDDD cccc MM MM oooo ttt oooo rr */
+/* */
+/***************************************************************************************************/
+ case SRMES_CTL_VOLTAGE: // 0x41
+ {
+ DcMtrvoltValue = *(SrMesDivCtlVoltage *)SerialBuffer;
+#if _USE_DEBUG_
+ uart.printf("Voltage Commnad %2x %2x \n",DcMtrvoltValue.motorNo,DcMtrvoltValue.duty);
+#endif
+ MOTORDriver.SetDcPwmDuty(DcMtrvoltValue.motorNo,(float)DcMtrvoltValue.duty/(float)100);
+ }
+ break;
+
+ case SRMES_ROTATION: // 0x44
+ {
+ DcMtrrotationValue = *(SrMesDivRotation *)&SerialBuffer[1];
+#if _USE_DEBUG_
+ uart.printf("Roteationcommand %2x %2x \n",DcMtrrotationValue.motorNo,DcMtrrotationValue.select);
+#endif
+ MOTORDriver.SetDcPwmMode(DcMtrrotationValue.motorNo,DcMtrrotationValue.select);
+ }
+ break;
+
+ case SRMES_PWM_FREQSET: // 0x67
+ {
+ DcMtrfreqValue = *(SrMesDivPwmFreqset *)&SerialBuffer[1];
+#if _USE_DEBUG_
+ uart.printf("Freq Hz %2x \n",DcMtrfreqValue.hz);
+#endif
+ switch(DcMtrfreqValue.hz)
+ {
+ case 0: MOTORDriver.SetDcPwmFreqency( MOTOR_A, 7813 );
+ MOTORDriver.SetDcPwmFreqency( MOTOR_B, 7813 );
+ break;
+ case 1: MOTORDriver.SetDcPwmFreqency( MOTOR_A,977 );
+ MOTORDriver.SetDcPwmFreqency( MOTOR_B,977 );
+ break;
+ case 2: MOTORDriver.SetDcPwmFreqency( MOTOR_A,244 );
+ MOTORDriver.SetDcPwmFreqency( MOTOR_B,244 );
+ break;
+ case 3: MOTORDriver.SetDcPwmFreqency( MOTOR_A,61 );
+ MOTORDriver.SetDcPwmFreqency( MOTOR_B,61 );
+ break;
+ default: break;
+ }
+ }
+ break;
+
+ case SRMES_START_FLAG: // 0x68
+ {
+ DcMtrstartFlag = *(SrMesDivStartFlag *)&SerialBuffer[1];
+#if _USE_DEBUG_
+ uart.printf("StartFlag command %2x %2x \n",DcMtrstartFlag.motorNo,DcMtrstartFlag.select);
+#endif
+ MOTORDriver.SetDcOutPut(DcMtrstartFlag.motorNo,DcMtrstartFlag.select);
+ }
+ break;
+/*******************************************************************************************************************/
+/* FFFFFF SSSS MM MM */
+/* FF SS SS tt MMM MMM tt */
+/* FF oooo rrrrr SS tttttt eeee ppppp MMMMMMM oooo tttttt oooo rrrrr */
+/* FFFF oo oo rr rr SSSS tt ee ee pp pp MM M MM oo oo tt oo oo rr rr */
+/* FF oo oo rr SS tt eeeeee pp pp MM MM oo oo tt oo oo rr */
+/* FF oo oo rr SS SS tt ee ppppp MM MM oo oo tt oo oo rr */
+/* FF oooo rr SSSS ttt eeee pp MM MM oooo ttt oooo rr */
+/* pp */
+/*******************************************************************************************************************/
+ case SRMES_STEP_ANGLE:
+ {
+ StepMtrAngleValue = *(SrMesDivSetStepAngle *)&SerialBuffer[1];
+#if _USE_DEBUG_
+ uart.printf("Step Angle command %4x Req:% \n",StepMtrAngleValue.angle);
+#endif
+ MOTORDriver.SetStepAngle(StepMtrAngleValue.angle/100);
+ }
+ break;
+
+ case SRMES_ROTATION_ANGLE:
+ {
+ SrMesDivRotationDeg StepMtrDegValue = *(SrMesDivRotationDeg *)&SerialBuffer[1];
+#if _USE_DEBUG_
+ uart.printf("Step Deg command \n");
+#endif
+ MOTORDriver.SetStepDeg(StepMtrDegValue.frequency/10, StepMtrDegValue.deg/100, StepMtrDegValue.rotation, StepMtrDegValue.exp);
+ }
+ break;
+
+ case SRMES_ROTATION_TIME:
+ {
+ StepMtrTimeValue = *(SrMesDivRotationTime *)&SerialBuffer[1];
+#if _USE_DEBUG_
+ uart.printf("Step Time command \n");
+#endif
+ MOTORDriver.SetStepTime(StepMtrTimeValue.frequency/10, StepMtrTimeValue.time/10, StepMtrTimeValue.rotation, StepMtrTimeValue.exp);
+ }
+ break;
+
+ case SRMES_ROTATION_STEP:
+ {
+#if _USE_DEBUG_
+ uart.printf("Step Step command \n");
+#endif
+ StepMtrStepValue = *(SrMesDivRotationStep *)&SerialBuffer[1];
+ MOTORDriver.SetStepStep(StepMtrStepValue.frequency/10, StepMtrStepValue.step/10, StepMtrStepValue.rotation,StepMtrStepValue.exp);
+ }
+ break;
+
+ case SRMES_ROTATION_STOP:
+ {
+#if _USE_DEBUG_
+ uart.printf("Step Stop command \n");
+#endif
+ MOTORDriver.SetStepStop();
+ }
+ break;
+
+ case SRMES_ROTATION_FREE:
+ {
+#if _USE_DEBUG_
+ uart.printf("Step Free command \n");
+#endif
+
+ MOTORDriver.SetStepFree();
+ }
+ break;
+
+ default:
+ {
+#if _USE_DEBUG_
+ // uart.printf("unknown command\n");
+#endif
+ }
+ break;
+ }
+}
+/***************************************************************************/
+/* TTTTTT PPPPP */
+/* TT ii PP PP */
+/* TT mm mm eeee rrrrr PP PP rrrrr oooo cccc */
+/* TT iii mmmmmmm ee ee rr rr PPPPP rr rr oo oo cc */
+/* TT ii mmmmmmm eeeeee rr PP rr oo oo cc */
+/* TT ii mm m mm ee rr PP rr oo oo cc */
+/* TT iiii mm mm eeee rr PP rr oooo cccc */
+/* */
+/***************************************************************************/
+void Eventtimer500(void)
+{
+ LedImage = !LedImage;
+}
+
+void Eventtimer1ms(void)
+{
+ if(CommandTimer) CommandTimer --;
+}
+
+/***********************************/
+/* MM MM */
+/* MMM MMM ii */
+/* MMMMMMM aaaa nnnnn */
+/* MM M MM aa iii nn nn */
+/* MM MM aaaaa ii nn nn */
+/* MM MM aa aa ii nn nn */
+/* MM MM aaaaa iiii nn nn */
+/* */
+/***********************************/
+int main()
+{
+ RingReadpoint = 0;
+ RingWritepoint = 0;
+ CommandTimer = 0;
+ pc .baud(DEFAULT_BAUDRATE);
+#if _USE_DEBUG_
+ uart.baud(115200);//DEFAULT_BAUDRATE);
+ pc.printf("Program Start!\n");
+ uart.printf("Program deb Start!\n");
+#endif
+ Timer500.attach(&Eventtimer500, 0.5);
+ Timer1ms.attach(&Eventtimer1ms, 0.001);
+ pc.attach(Read_Rx, Serial::RxIrq);
+ while(1) {
+ SerialRead();
+ myled = LedImage; // LED is ON
+ }
+
+}