Sho Yama
/
LV8548_ON_MD_Modlle_kit_DCMtr_And_STEPMtr
LV8548 Motor Driver Stepper Motor Dc MOtor
Main.cpp@0:82bafa3985c2, 2018-11-16 (annotated)
- Committer:
- yamasho
- Date:
- Fri Nov 16 16:49:36 2018 +0000
- Revision:
- 0:82bafa3985c2
- Child:
- 1:f62c3257d673
LV8548 Motor Driver Stepper Motor Dc MOtor Sample Soft;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yamasho | 0:82bafa3985c2 | 1 | #include "mbed.h" |
yamasho | 0:82bafa3985c2 | 2 | #include "LV8548.h" |
yamasho | 0:82bafa3985c2 | 3 | |
yamasho | 0:82bafa3985c2 | 4 | #define DC_ID "LV8548DC_Ver.2.0.0\n" |
yamasho | 0:82bafa3985c2 | 5 | #define STEP_ID "LV8548Step_Ver.2.0.0\n" |
yamasho | 0:82bafa3985c2 | 6 | |
yamasho | 0:82bafa3985c2 | 7 | //#define DEFAULT_BAUDRATE (9600) |
yamasho | 0:82bafa3985c2 | 8 | #define DEFAULT_BAUDRATE (19200) |
yamasho | 0:82bafa3985c2 | 9 | //#define DEFAULT_BAUDRATE (115200) |
yamasho | 0:82bafa3985c2 | 10 | |
yamasho | 0:82bafa3985c2 | 11 | |
yamasho | 0:82bafa3985c2 | 12 | #define _USE_DEBUG_ (0) |
yamasho | 0:82bafa3985c2 | 13 | enum DCSerialCommandType { |
yamasho | 0:82bafa3985c2 | 14 | SRMES_GET_ID = 0x03, // 3 |
yamasho | 0:82bafa3985c2 | 15 | SRMES_POLLING_ID = 0x04, // 4 |
yamasho | 0:82bafa3985c2 | 16 | //// For Dc Motor Control //////// |
yamasho | 0:82bafa3985c2 | 17 | SRMES_CTL_VOLTAGE = 'A', // 'A' |
yamasho | 0:82bafa3985c2 | 18 | SRMES_ROTATION = 'D', // 'D' |
yamasho | 0:82bafa3985c2 | 19 | SRMES_PWM_FREQSET = 'g', // 'g' |
yamasho | 0:82bafa3985c2 | 20 | SRMES_START_FLAG = 'h', // 'h' |
yamasho | 0:82bafa3985c2 | 21 | //// For Stepper Motor Control //////// |
yamasho | 0:82bafa3985c2 | 22 | SRMES_STEP_ANGLE = 'i', // 'i' |
yamasho | 0:82bafa3985c2 | 23 | SRMES_ROTATION_ANGLE = 'j', // 'j' |
yamasho | 0:82bafa3985c2 | 24 | SRMES_ROTATION_TIME = 'k', // 'k' |
yamasho | 0:82bafa3985c2 | 25 | SRMES_ROTATION_STEP = 'l', // 'l' |
yamasho | 0:82bafa3985c2 | 26 | SRMES_ROTATION_STOP = 'n', // 'n' |
yamasho | 0:82bafa3985c2 | 27 | SRMES_ROTATION_FREE = 'o', // 'o' |
yamasho | 0:82bafa3985c2 | 28 | }; |
yamasho | 0:82bafa3985c2 | 29 | //// For Dc Motor |
yamasho | 0:82bafa3985c2 | 30 | |
yamasho | 0:82bafa3985c2 | 31 | // Segment definition of serial message |
yamasho | 0:82bafa3985c2 | 32 | typedef struct |
yamasho | 0:82bafa3985c2 | 33 | { |
yamasho | 0:82bafa3985c2 | 34 | uint8_t motorNo; |
yamasho | 0:82bafa3985c2 | 35 | uint8_t duty; |
yamasho | 0:82bafa3985c2 | 36 | } __attribute__ ((packed)) SrMesDivCtlVoltage; |
yamasho | 0:82bafa3985c2 | 37 | |
yamasho | 0:82bafa3985c2 | 38 | typedef struct |
yamasho | 0:82bafa3985c2 | 39 | { |
yamasho | 0:82bafa3985c2 | 40 | uint8_t motorNo; |
yamasho | 0:82bafa3985c2 | 41 | DriverPwmOut select; |
yamasho | 0:82bafa3985c2 | 42 | } __attribute__ ((packed)) SrMesDivStartFlag; |
yamasho | 0:82bafa3985c2 | 43 | |
yamasho | 0:82bafa3985c2 | 44 | typedef struct |
yamasho | 0:82bafa3985c2 | 45 | { |
yamasho | 0:82bafa3985c2 | 46 | uint8_t motorNo; |
yamasho | 0:82bafa3985c2 | 47 | DriverPwmMode select; |
yamasho | 0:82bafa3985c2 | 48 | } __attribute__ ((packed)) SrMesDivRotation; |
yamasho | 0:82bafa3985c2 | 49 | |
yamasho | 0:82bafa3985c2 | 50 | typedef struct |
yamasho | 0:82bafa3985c2 | 51 | { |
yamasho | 0:82bafa3985c2 | 52 | uint8_t hz; |
yamasho | 0:82bafa3985c2 | 53 | } __attribute__ ((packed)) SrMesDivPwmFreqset; |
yamasho | 0:82bafa3985c2 | 54 | |
yamasho | 0:82bafa3985c2 | 55 | |
yamasho | 0:82bafa3985c2 | 56 | |
yamasho | 0:82bafa3985c2 | 57 | SrMesDivCtlVoltage DcMtrvoltValue ; |
yamasho | 0:82bafa3985c2 | 58 | SrMesDivRotation DcMtrrotationValue; |
yamasho | 0:82bafa3985c2 | 59 | SrMesDivStartFlag DcMtrstartFlag; |
yamasho | 0:82bafa3985c2 | 60 | SrMesDivPwmFreqset DcMtrfreqValue; |
yamasho | 0:82bafa3985c2 | 61 | |
yamasho | 0:82bafa3985c2 | 62 | /// For Stepper Motor |
yamasho | 0:82bafa3985c2 | 63 | typedef struct |
yamasho | 0:82bafa3985c2 | 64 | { |
yamasho | 0:82bafa3985c2 | 65 | uint16_t angle; |
yamasho | 0:82bafa3985c2 | 66 | } __attribute__ ((packed)) SrMesDivSetStepAngle; |
yamasho | 0:82bafa3985c2 | 67 | |
yamasho | 0:82bafa3985c2 | 68 | typedef struct |
yamasho | 0:82bafa3985c2 | 69 | { |
yamasho | 0:82bafa3985c2 | 70 | uint16_t frequency; |
yamasho | 0:82bafa3985c2 | 71 | uint16_t deg; |
yamasho | 0:82bafa3985c2 | 72 | uint8_t rotation; |
yamasho | 0:82bafa3985c2 | 73 | uint8_t exp; |
yamasho | 0:82bafa3985c2 | 74 | } __attribute__ ((packed)) SrMesDivRotationDeg; |
yamasho | 0:82bafa3985c2 | 75 | |
yamasho | 0:82bafa3985c2 | 76 | typedef struct |
yamasho | 0:82bafa3985c2 | 77 | { |
yamasho | 0:82bafa3985c2 | 78 | uint16_t frequency; |
yamasho | 0:82bafa3985c2 | 79 | uint16_t time; |
yamasho | 0:82bafa3985c2 | 80 | uint8_t rotation; |
yamasho | 0:82bafa3985c2 | 81 | uint8_t exp; |
yamasho | 0:82bafa3985c2 | 82 | } __attribute__ ((packed)) SrMesDivRotationTime; |
yamasho | 0:82bafa3985c2 | 83 | |
yamasho | 0:82bafa3985c2 | 84 | typedef struct |
yamasho | 0:82bafa3985c2 | 85 | { |
yamasho | 0:82bafa3985c2 | 86 | uint16_t frequency; |
yamasho | 0:82bafa3985c2 | 87 | uint16_t step; |
yamasho | 0:82bafa3985c2 | 88 | uint8_t rotation; |
yamasho | 0:82bafa3985c2 | 89 | uint8_t exp; |
yamasho | 0:82bafa3985c2 | 90 | } __attribute__ ((packed)) SrMesDivRotationStep; |
yamasho | 0:82bafa3985c2 | 91 | |
yamasho | 0:82bafa3985c2 | 92 | |
yamasho | 0:82bafa3985c2 | 93 | |
yamasho | 0:82bafa3985c2 | 94 | SrMesDivSetStepAngle StepMtrAngleValue; |
yamasho | 0:82bafa3985c2 | 95 | SrMesDivRotationDeg StepMtrDegValue; |
yamasho | 0:82bafa3985c2 | 96 | SrMesDivRotationTime StepMtrTimeValue; |
yamasho | 0:82bafa3985c2 | 97 | SrMesDivRotationStep StepMtrStepValue; |
yamasho | 0:82bafa3985c2 | 98 | |
yamasho | 0:82bafa3985c2 | 99 | |
yamasho | 0:82bafa3985c2 | 100 | |
yamasho | 0:82bafa3985c2 | 101 | /* pc の仮想ポートをwindows softで開ける */ |
yamasho | 0:82bafa3985c2 | 102 | Serial pc(USBTX, USBRX); // tx, rx |
yamasho | 0:82bafa3985c2 | 103 | #if _USE_DEBUG_ |
yamasho | 0:82bafa3985c2 | 104 | Serial uart(D1, D0); // tx, rx |
yamasho | 0:82bafa3985c2 | 105 | #endif |
yamasho | 0:82bafa3985c2 | 106 | //#if _USE_DEBUG_ |
yamasho | 0:82bafa3985c2 | 107 | //Serial uart(USBTX, USBRX); // tx, rx |
yamasho | 0:82bafa3985c2 | 108 | //#endif |
yamasho | 0:82bafa3985c2 | 109 | //Serial pc(D1, D0); // tx, rx |
yamasho | 0:82bafa3985c2 | 110 | |
yamasho | 0:82bafa3985c2 | 111 | DigitalOut myled(LED1); |
yamasho | 0:82bafa3985c2 | 112 | #if USE_DC_MOTOR |
yamasho | 0:82bafa3985c2 | 113 | LV8548 MOTORDriver( D3,D5,D10,D11,DCMOTOR); // SELECT DCMOTOR |
yamasho | 0:82bafa3985c2 | 114 | #else |
yamasho | 0:82bafa3985c2 | 115 | LV8548 MOTORDriver( D3,D5,D10,D11,STEPERMOTOR); // STEP MOTOR |
yamasho | 0:82bafa3985c2 | 116 | #endif |
yamasho | 0:82bafa3985c2 | 117 | |
yamasho | 0:82bafa3985c2 | 118 | DigitalOut TEST(D12); |
yamasho | 0:82bafa3985c2 | 119 | Ticker Timer500; |
yamasho | 0:82bafa3985c2 | 120 | Ticker Timer1ms; |
yamasho | 0:82bafa3985c2 | 121 | uint8_t LedImage; |
yamasho | 0:82bafa3985c2 | 122 | uint8_t CommandTimer; |
yamasho | 0:82bafa3985c2 | 123 | |
yamasho | 0:82bafa3985c2 | 124 | #define SBUFMAX 64 |
yamasho | 0:82bafa3985c2 | 125 | volatile uint8_t SerialBuffer[SBUFMAX]; |
yamasho | 0:82bafa3985c2 | 126 | volatile uint8_t RingBuffer[256]; |
yamasho | 0:82bafa3985c2 | 127 | volatile uint8_t RingReadpoint; |
yamasho | 0:82bafa3985c2 | 128 | volatile uint8_t RingWritepoint; |
yamasho | 0:82bafa3985c2 | 129 | |
yamasho | 0:82bafa3985c2 | 130 | /*******************************************/ |
yamasho | 0:82bafa3985c2 | 131 | /* AA */ |
yamasho | 0:82bafa3985c2 | 132 | /* AAAA ii ii */ |
yamasho | 0:82bafa3985c2 | 133 | /* AA AA sssss cccc */ |
yamasho | 0:82bafa3985c2 | 134 | /* AAAAAA ss cc iii iii */ |
yamasho | 0:82bafa3985c2 | 135 | /* AA AA ssss cc ii ii */ |
yamasho | 0:82bafa3985c2 | 136 | /* AA AA ss cc ii ii */ |
yamasho | 0:82bafa3985c2 | 137 | /* AA AA sssss cccc iiii iiii */ |
yamasho | 0:82bafa3985c2 | 138 | /* */ |
yamasho | 0:82bafa3985c2 | 139 | /*******************************************/ |
yamasho | 0:82bafa3985c2 | 140 | |
yamasho | 0:82bafa3985c2 | 141 | uint8_t Ascii(uint8_t Data) |
yamasho | 0:82bafa3985c2 | 142 | { |
yamasho | 0:82bafa3985c2 | 143 | switch(Data & 0xf) |
yamasho | 0:82bafa3985c2 | 144 | { |
yamasho | 0:82bafa3985c2 | 145 | case 0: return('0'); |
yamasho | 0:82bafa3985c2 | 146 | case 1: return('1'); |
yamasho | 0:82bafa3985c2 | 147 | case 2: return('2'); |
yamasho | 0:82bafa3985c2 | 148 | case 3: return('3'); |
yamasho | 0:82bafa3985c2 | 149 | case 4: return('4'); |
yamasho | 0:82bafa3985c2 | 150 | case 5: return('5'); |
yamasho | 0:82bafa3985c2 | 151 | case 6: return('6'); |
yamasho | 0:82bafa3985c2 | 152 | case 7: return('7'); |
yamasho | 0:82bafa3985c2 | 153 | case 8: return('8'); |
yamasho | 0:82bafa3985c2 | 154 | case 9: return('9'); |
yamasho | 0:82bafa3985c2 | 155 | case 0xA: return('A'); |
yamasho | 0:82bafa3985c2 | 156 | case 0xB: return('B'); |
yamasho | 0:82bafa3985c2 | 157 | case 0xC: return('C'); |
yamasho | 0:82bafa3985c2 | 158 | case 0xD: return('D'); |
yamasho | 0:82bafa3985c2 | 159 | case 0xE: return('E'); |
yamasho | 0:82bafa3985c2 | 160 | case 0xF: return('F'); |
yamasho | 0:82bafa3985c2 | 161 | } |
yamasho | 0:82bafa3985c2 | 162 | return (0); |
yamasho | 0:82bafa3985c2 | 163 | } |
yamasho | 0:82bafa3985c2 | 164 | /***************************************************************************************************************************/ |
yamasho | 0:82bafa3985c2 | 165 | /* UU UU RRRRR IIII */ |
yamasho | 0:82bafa3985c2 | 166 | /* UU UU tt RR RR ii II */ |
yamasho | 0:82bafa3985c2 | 167 | /* UU UU aaaa rrrrr tttttt RR RR eeee cccc vv vv eeee II rrrrr qqqqq */ |
yamasho | 0:82bafa3985c2 | 168 | /* UU UU aa rr rr tt RRRRR ee ee cc iii vv vv ee ee II rr rr qq qq */ |
yamasho | 0:82bafa3985c2 | 169 | /* UU UU aaaaa rr tt RRRR eeeeee cc ii vv vv eeeeee II rr qq qq */ |
yamasho | 0:82bafa3985c2 | 170 | /* UU UU aa aa rr tt RR RR ee cc ii vvvv ee II rr qqqqq */ |
yamasho | 0:82bafa3985c2 | 171 | /* UUUU aaaaa rr ttt RR RR eeee cccc iiii vv eeee IIII rr qq */ |
yamasho | 0:82bafa3985c2 | 172 | /* qq */ |
yamasho | 0:82bafa3985c2 | 173 | /***************************************************************************************************************************/ |
yamasho | 0:82bafa3985c2 | 174 | void Read_Rx(void) |
yamasho | 0:82bafa3985c2 | 175 | { |
yamasho | 0:82bafa3985c2 | 176 | RingWritepoint++; |
yamasho | 0:82bafa3985c2 | 177 | RingBuffer[RingWritepoint] = pc.getc(); |
yamasho | 0:82bafa3985c2 | 178 | CommandTimer = 2; // 2(最小1)ms後にコマンド処理 |
yamasho | 0:82bafa3985c2 | 179 | } |
yamasho | 0:82bafa3985c2 | 180 | /***********************************************************************************************************/ |
yamasho | 0:82bafa3985c2 | 181 | /* CCCC PPPPP */ |
yamasho | 0:82bafa3985c2 | 182 | /* CC CC dd PP PP */ |
yamasho | 0:82bafa3985c2 | 183 | /* CC oooo mm mm mm mm nnnnn aaaa dd PP PP aaaa rrrrr sssss eeee */ |
yamasho | 0:82bafa3985c2 | 184 | /* CC oo oo mmmmmmm mmmmmmm nn nn aa ddddd PPPPP aa rr rr ss ee ee */ |
yamasho | 0:82bafa3985c2 | 185 | /* CC oo oo mmmmmmm mmmmmmm nn nn aaaaa dd dd PP aaaaa rr ssss eeeeee */ |
yamasho | 0:82bafa3985c2 | 186 | /* CC CC oo oo mm m mm mm m mm nn nn aa aa dd dd PP aa aa rr ss ee */ |
yamasho | 0:82bafa3985c2 | 187 | /* CCCC oooo mm mm mm mm nn nn aaaaa ddddd PP aaaaa rr sssss eeee */ |
yamasho | 0:82bafa3985c2 | 188 | /* */ |
yamasho | 0:82bafa3985c2 | 189 | /***********************************************************************************************************/ |
yamasho | 0:82bafa3985c2 | 190 | void SerialRead(void) |
yamasho | 0:82bafa3985c2 | 191 | { |
yamasho | 0:82bafa3985c2 | 192 | int i = 0; |
yamasho | 0:82bafa3985c2 | 193 | if(CommandTimer ) return; /* 1ms 以上データ無しが安定してから読む */ |
yamasho | 0:82bafa3985c2 | 194 | |
yamasho | 0:82bafa3985c2 | 195 | |
yamasho | 0:82bafa3985c2 | 196 | SerialBuffer[0] = '\0'; |
yamasho | 0:82bafa3985c2 | 197 | while( RingWritepoint != RingReadpoint) |
yamasho | 0:82bafa3985c2 | 198 | { |
yamasho | 0:82bafa3985c2 | 199 | RingReadpoint++; |
yamasho | 0:82bafa3985c2 | 200 | SerialBuffer[i] = RingBuffer[RingReadpoint]; |
yamasho | 0:82bafa3985c2 | 201 | #if _USE_DEBUG_ |
yamasho | 0:82bafa3985c2 | 202 | uart.putc(Ascii(SerialBuffer[i] >> 4)) ; |
yamasho | 0:82bafa3985c2 | 203 | uart.putc(Ascii(SerialBuffer[i] >> 0)) ; |
yamasho | 0:82bafa3985c2 | 204 | uart.putc(0x20); |
yamasho | 0:82bafa3985c2 | 205 | #endif |
yamasho | 0:82bafa3985c2 | 206 | i++; |
yamasho | 0:82bafa3985c2 | 207 | if(i >= (SBUFMAX-1)) |
yamasho | 0:82bafa3985c2 | 208 | { |
yamasho | 0:82bafa3985c2 | 209 | #if _USE_DEBUG_ |
yamasho | 0:82bafa3985c2 | 210 | uart.printf("Max over\n"); |
yamasho | 0:82bafa3985c2 | 211 | #endif |
yamasho | 0:82bafa3985c2 | 212 | SerialBuffer[i] = '\0'; |
yamasho | 0:82bafa3985c2 | 213 | |
yamasho | 0:82bafa3985c2 | 214 | } |
yamasho | 0:82bafa3985c2 | 215 | continue; |
yamasho | 0:82bafa3985c2 | 216 | } |
yamasho | 0:82bafa3985c2 | 217 | |
yamasho | 0:82bafa3985c2 | 218 | switch( SerialBuffer[0] ) |
yamasho | 0:82bafa3985c2 | 219 | { |
yamasho | 0:82bafa3985c2 | 220 | case SRMES_GET_ID: // 3 |
yamasho | 0:82bafa3985c2 | 221 | { |
yamasho | 0:82bafa3985c2 | 222 | #if _USE_DEBUG_ |
yamasho | 0:82bafa3985c2 | 223 | uart.printf("Send Id\n"); |
yamasho | 0:82bafa3985c2 | 224 | #endif |
yamasho | 0:82bafa3985c2 | 225 | #if USE_DC_MOTOR |
yamasho | 0:82bafa3985c2 | 226 | pc.printf(DC_ID); |
yamasho | 0:82bafa3985c2 | 227 | #else |
yamasho | 0:82bafa3985c2 | 228 | pc.printf(STEP_ID); |
yamasho | 0:82bafa3985c2 | 229 | #endif |
yamasho | 0:82bafa3985c2 | 230 | } |
yamasho | 0:82bafa3985c2 | 231 | break; |
yamasho | 0:82bafa3985c2 | 232 | |
yamasho | 0:82bafa3985c2 | 233 | case SRMES_POLLING_ID: // 4 |
yamasho | 0:82bafa3985c2 | 234 | { |
yamasho | 0:82bafa3985c2 | 235 | #if _USE_DEBUG_ |
yamasho | 0:82bafa3985c2 | 236 | uart.printf("Polling\n"); |
yamasho | 0:82bafa3985c2 | 237 | #endif |
yamasho | 0:82bafa3985c2 | 238 | } |
yamasho | 0:82bafa3985c2 | 239 | break; |
yamasho | 0:82bafa3985c2 | 240 | /***************************************************************************************************/ |
yamasho | 0:82bafa3985c2 | 241 | /* FFFFFF DDDD MM MM */ |
yamasho | 0:82bafa3985c2 | 242 | /* FF DD DD MMM MMM tt */ |
yamasho | 0:82bafa3985c2 | 243 | /* FF oooo rrrrr DD DD cccc MMMMMMM oooo tttttt oooo rrrrr */ |
yamasho | 0:82bafa3985c2 | 244 | /* FFFF oo oo rr rr DD DD cc MM M MM oo oo tt oo oo rr rr */ |
yamasho | 0:82bafa3985c2 | 245 | /* FF oo oo rr DD DD cc MM MM oo oo tt oo oo rr */ |
yamasho | 0:82bafa3985c2 | 246 | /* FF oo oo rr DD DD cc MM MM oo oo tt oo oo rr */ |
yamasho | 0:82bafa3985c2 | 247 | /* FF oooo rr DDDD cccc MM MM oooo ttt oooo rr */ |
yamasho | 0:82bafa3985c2 | 248 | /* */ |
yamasho | 0:82bafa3985c2 | 249 | /***************************************************************************************************/ |
yamasho | 0:82bafa3985c2 | 250 | case SRMES_CTL_VOLTAGE: // 0x41 |
yamasho | 0:82bafa3985c2 | 251 | { |
yamasho | 0:82bafa3985c2 | 252 | DcMtrvoltValue = *(SrMesDivCtlVoltage *)SerialBuffer; |
yamasho | 0:82bafa3985c2 | 253 | #if _USE_DEBUG_ |
yamasho | 0:82bafa3985c2 | 254 | uart.printf("Voltage Commnad %2x %2x \n",DcMtrvoltValue.motorNo,DcMtrvoltValue.duty); |
yamasho | 0:82bafa3985c2 | 255 | #endif |
yamasho | 0:82bafa3985c2 | 256 | MOTORDriver.SetDcPwmDuty(DcMtrvoltValue.motorNo,(float)DcMtrvoltValue.duty/(float)100); |
yamasho | 0:82bafa3985c2 | 257 | } |
yamasho | 0:82bafa3985c2 | 258 | break; |
yamasho | 0:82bafa3985c2 | 259 | |
yamasho | 0:82bafa3985c2 | 260 | case SRMES_ROTATION: // 0x44 |
yamasho | 0:82bafa3985c2 | 261 | { |
yamasho | 0:82bafa3985c2 | 262 | DcMtrrotationValue = *(SrMesDivRotation *)&SerialBuffer[1]; |
yamasho | 0:82bafa3985c2 | 263 | #if _USE_DEBUG_ |
yamasho | 0:82bafa3985c2 | 264 | uart.printf("Roteationcommand %2x %2x \n",DcMtrrotationValue.motorNo,DcMtrrotationValue.select); |
yamasho | 0:82bafa3985c2 | 265 | #endif |
yamasho | 0:82bafa3985c2 | 266 | MOTORDriver.SetDcPwmMode(DcMtrrotationValue.motorNo,DcMtrrotationValue.select); |
yamasho | 0:82bafa3985c2 | 267 | } |
yamasho | 0:82bafa3985c2 | 268 | break; |
yamasho | 0:82bafa3985c2 | 269 | |
yamasho | 0:82bafa3985c2 | 270 | case SRMES_PWM_FREQSET: // 0x67 |
yamasho | 0:82bafa3985c2 | 271 | { |
yamasho | 0:82bafa3985c2 | 272 | DcMtrfreqValue = *(SrMesDivPwmFreqset *)&SerialBuffer[1]; |
yamasho | 0:82bafa3985c2 | 273 | #if _USE_DEBUG_ |
yamasho | 0:82bafa3985c2 | 274 | uart.printf("Freq Hz %2x \n",DcMtrfreqValue.hz); |
yamasho | 0:82bafa3985c2 | 275 | #endif |
yamasho | 0:82bafa3985c2 | 276 | switch(DcMtrfreqValue.hz) |
yamasho | 0:82bafa3985c2 | 277 | { |
yamasho | 0:82bafa3985c2 | 278 | case 0: MOTORDriver.SetDcPwmFreqency( MOTOR_A, 7813 ); |
yamasho | 0:82bafa3985c2 | 279 | MOTORDriver.SetDcPwmFreqency( MOTOR_B, 7813 ); |
yamasho | 0:82bafa3985c2 | 280 | break; |
yamasho | 0:82bafa3985c2 | 281 | case 1: MOTORDriver.SetDcPwmFreqency( MOTOR_A,977 ); |
yamasho | 0:82bafa3985c2 | 282 | MOTORDriver.SetDcPwmFreqency( MOTOR_B,977 ); |
yamasho | 0:82bafa3985c2 | 283 | break; |
yamasho | 0:82bafa3985c2 | 284 | case 2: MOTORDriver.SetDcPwmFreqency( MOTOR_A,244 ); |
yamasho | 0:82bafa3985c2 | 285 | MOTORDriver.SetDcPwmFreqency( MOTOR_B,244 ); |
yamasho | 0:82bafa3985c2 | 286 | break; |
yamasho | 0:82bafa3985c2 | 287 | case 3: MOTORDriver.SetDcPwmFreqency( MOTOR_A,61 ); |
yamasho | 0:82bafa3985c2 | 288 | MOTORDriver.SetDcPwmFreqency( MOTOR_B,61 ); |
yamasho | 0:82bafa3985c2 | 289 | break; |
yamasho | 0:82bafa3985c2 | 290 | default: break; |
yamasho | 0:82bafa3985c2 | 291 | } |
yamasho | 0:82bafa3985c2 | 292 | } |
yamasho | 0:82bafa3985c2 | 293 | break; |
yamasho | 0:82bafa3985c2 | 294 | |
yamasho | 0:82bafa3985c2 | 295 | case SRMES_START_FLAG: // 0x68 |
yamasho | 0:82bafa3985c2 | 296 | { |
yamasho | 0:82bafa3985c2 | 297 | DcMtrstartFlag = *(SrMesDivStartFlag *)&SerialBuffer[1]; |
yamasho | 0:82bafa3985c2 | 298 | #if _USE_DEBUG_ |
yamasho | 0:82bafa3985c2 | 299 | uart.printf("StartFlag command %2x %2x \n",DcMtrstartFlag.motorNo,DcMtrstartFlag.select); |
yamasho | 0:82bafa3985c2 | 300 | #endif |
yamasho | 0:82bafa3985c2 | 301 | MOTORDriver.SetDcOutPut(DcMtrstartFlag.motorNo,DcMtrstartFlag.select); |
yamasho | 0:82bafa3985c2 | 302 | } |
yamasho | 0:82bafa3985c2 | 303 | break; |
yamasho | 0:82bafa3985c2 | 304 | /*******************************************************************************************************************/ |
yamasho | 0:82bafa3985c2 | 305 | /* FFFFFF SSSS MM MM */ |
yamasho | 0:82bafa3985c2 | 306 | /* FF SS SS tt MMM MMM tt */ |
yamasho | 0:82bafa3985c2 | 307 | /* FF oooo rrrrr SS tttttt eeee ppppp MMMMMMM oooo tttttt oooo rrrrr */ |
yamasho | 0:82bafa3985c2 | 308 | /* FFFF oo oo rr rr SSSS tt ee ee pp pp MM M MM oo oo tt oo oo rr rr */ |
yamasho | 0:82bafa3985c2 | 309 | /* FF oo oo rr SS tt eeeeee pp pp MM MM oo oo tt oo oo rr */ |
yamasho | 0:82bafa3985c2 | 310 | /* FF oo oo rr SS SS tt ee ppppp MM MM oo oo tt oo oo rr */ |
yamasho | 0:82bafa3985c2 | 311 | /* FF oooo rr SSSS ttt eeee pp MM MM oooo ttt oooo rr */ |
yamasho | 0:82bafa3985c2 | 312 | /* pp */ |
yamasho | 0:82bafa3985c2 | 313 | /*******************************************************************************************************************/ |
yamasho | 0:82bafa3985c2 | 314 | case SRMES_STEP_ANGLE: |
yamasho | 0:82bafa3985c2 | 315 | { |
yamasho | 0:82bafa3985c2 | 316 | StepMtrAngleValue = *(SrMesDivSetStepAngle *)&SerialBuffer[1]; |
yamasho | 0:82bafa3985c2 | 317 | #if _USE_DEBUG_ |
yamasho | 0:82bafa3985c2 | 318 | uart.printf("Step Angle command %4x Req:% \n",StepMtrAngleValue.angle); |
yamasho | 0:82bafa3985c2 | 319 | #endif |
yamasho | 0:82bafa3985c2 | 320 | MOTORDriver.SetStepAngle(StepMtrAngleValue.angle/100); |
yamasho | 0:82bafa3985c2 | 321 | } |
yamasho | 0:82bafa3985c2 | 322 | break; |
yamasho | 0:82bafa3985c2 | 323 | |
yamasho | 0:82bafa3985c2 | 324 | case SRMES_ROTATION_ANGLE: |
yamasho | 0:82bafa3985c2 | 325 | { |
yamasho | 0:82bafa3985c2 | 326 | SrMesDivRotationDeg StepMtrDegValue = *(SrMesDivRotationDeg *)&SerialBuffer[1]; |
yamasho | 0:82bafa3985c2 | 327 | #if _USE_DEBUG_ |
yamasho | 0:82bafa3985c2 | 328 | uart.printf("Step Deg command \n"); |
yamasho | 0:82bafa3985c2 | 329 | #endif |
yamasho | 0:82bafa3985c2 | 330 | MOTORDriver.SetStepDeg(StepMtrDegValue.frequency/10, StepMtrDegValue.deg/100, StepMtrDegValue.rotation, StepMtrDegValue.exp); |
yamasho | 0:82bafa3985c2 | 331 | } |
yamasho | 0:82bafa3985c2 | 332 | break; |
yamasho | 0:82bafa3985c2 | 333 | |
yamasho | 0:82bafa3985c2 | 334 | case SRMES_ROTATION_TIME: |
yamasho | 0:82bafa3985c2 | 335 | { |
yamasho | 0:82bafa3985c2 | 336 | StepMtrTimeValue = *(SrMesDivRotationTime *)&SerialBuffer[1]; |
yamasho | 0:82bafa3985c2 | 337 | #if _USE_DEBUG_ |
yamasho | 0:82bafa3985c2 | 338 | uart.printf("Step Time command \n"); |
yamasho | 0:82bafa3985c2 | 339 | #endif |
yamasho | 0:82bafa3985c2 | 340 | MOTORDriver.SetStepTime(StepMtrTimeValue.frequency/10, StepMtrTimeValue.time/10, StepMtrTimeValue.rotation, StepMtrTimeValue.exp); |
yamasho | 0:82bafa3985c2 | 341 | } |
yamasho | 0:82bafa3985c2 | 342 | break; |
yamasho | 0:82bafa3985c2 | 343 | |
yamasho | 0:82bafa3985c2 | 344 | case SRMES_ROTATION_STEP: |
yamasho | 0:82bafa3985c2 | 345 | { |
yamasho | 0:82bafa3985c2 | 346 | #if _USE_DEBUG_ |
yamasho | 0:82bafa3985c2 | 347 | uart.printf("Step Step command \n"); |
yamasho | 0:82bafa3985c2 | 348 | #endif |
yamasho | 0:82bafa3985c2 | 349 | StepMtrStepValue = *(SrMesDivRotationStep *)&SerialBuffer[1]; |
yamasho | 0:82bafa3985c2 | 350 | MOTORDriver.SetStepStep(StepMtrStepValue.frequency/10, StepMtrStepValue.step/10, StepMtrStepValue.rotation,StepMtrStepValue.exp); |
yamasho | 0:82bafa3985c2 | 351 | } |
yamasho | 0:82bafa3985c2 | 352 | break; |
yamasho | 0:82bafa3985c2 | 353 | |
yamasho | 0:82bafa3985c2 | 354 | case SRMES_ROTATION_STOP: |
yamasho | 0:82bafa3985c2 | 355 | { |
yamasho | 0:82bafa3985c2 | 356 | #if _USE_DEBUG_ |
yamasho | 0:82bafa3985c2 | 357 | uart.printf("Step Stop command \n"); |
yamasho | 0:82bafa3985c2 | 358 | #endif |
yamasho | 0:82bafa3985c2 | 359 | MOTORDriver.SetStepStop(); |
yamasho | 0:82bafa3985c2 | 360 | } |
yamasho | 0:82bafa3985c2 | 361 | break; |
yamasho | 0:82bafa3985c2 | 362 | |
yamasho | 0:82bafa3985c2 | 363 | case SRMES_ROTATION_FREE: |
yamasho | 0:82bafa3985c2 | 364 | { |
yamasho | 0:82bafa3985c2 | 365 | #if _USE_DEBUG_ |
yamasho | 0:82bafa3985c2 | 366 | uart.printf("Step Free command \n"); |
yamasho | 0:82bafa3985c2 | 367 | #endif |
yamasho | 0:82bafa3985c2 | 368 | |
yamasho | 0:82bafa3985c2 | 369 | MOTORDriver.SetStepFree(); |
yamasho | 0:82bafa3985c2 | 370 | } |
yamasho | 0:82bafa3985c2 | 371 | break; |
yamasho | 0:82bafa3985c2 | 372 | |
yamasho | 0:82bafa3985c2 | 373 | default: |
yamasho | 0:82bafa3985c2 | 374 | { |
yamasho | 0:82bafa3985c2 | 375 | #if _USE_DEBUG_ |
yamasho | 0:82bafa3985c2 | 376 | // uart.printf("unknown command\n"); |
yamasho | 0:82bafa3985c2 | 377 | #endif |
yamasho | 0:82bafa3985c2 | 378 | } |
yamasho | 0:82bafa3985c2 | 379 | break; |
yamasho | 0:82bafa3985c2 | 380 | } |
yamasho | 0:82bafa3985c2 | 381 | } |
yamasho | 0:82bafa3985c2 | 382 | /***************************************************************************/ |
yamasho | 0:82bafa3985c2 | 383 | /* TTTTTT PPPPP */ |
yamasho | 0:82bafa3985c2 | 384 | /* TT ii PP PP */ |
yamasho | 0:82bafa3985c2 | 385 | /* TT mm mm eeee rrrrr PP PP rrrrr oooo cccc */ |
yamasho | 0:82bafa3985c2 | 386 | /* TT iii mmmmmmm ee ee rr rr PPPPP rr rr oo oo cc */ |
yamasho | 0:82bafa3985c2 | 387 | /* TT ii mmmmmmm eeeeee rr PP rr oo oo cc */ |
yamasho | 0:82bafa3985c2 | 388 | /* TT ii mm m mm ee rr PP rr oo oo cc */ |
yamasho | 0:82bafa3985c2 | 389 | /* TT iiii mm mm eeee rr PP rr oooo cccc */ |
yamasho | 0:82bafa3985c2 | 390 | /* */ |
yamasho | 0:82bafa3985c2 | 391 | /***************************************************************************/ |
yamasho | 0:82bafa3985c2 | 392 | void Eventtimer500(void) |
yamasho | 0:82bafa3985c2 | 393 | { |
yamasho | 0:82bafa3985c2 | 394 | LedImage = !LedImage; |
yamasho | 0:82bafa3985c2 | 395 | } |
yamasho | 0:82bafa3985c2 | 396 | |
yamasho | 0:82bafa3985c2 | 397 | void Eventtimer1ms(void) |
yamasho | 0:82bafa3985c2 | 398 | { |
yamasho | 0:82bafa3985c2 | 399 | if(CommandTimer) CommandTimer --; |
yamasho | 0:82bafa3985c2 | 400 | } |
yamasho | 0:82bafa3985c2 | 401 | |
yamasho | 0:82bafa3985c2 | 402 | /***********************************/ |
yamasho | 0:82bafa3985c2 | 403 | /* MM MM */ |
yamasho | 0:82bafa3985c2 | 404 | /* MMM MMM ii */ |
yamasho | 0:82bafa3985c2 | 405 | /* MMMMMMM aaaa nnnnn */ |
yamasho | 0:82bafa3985c2 | 406 | /* MM M MM aa iii nn nn */ |
yamasho | 0:82bafa3985c2 | 407 | /* MM MM aaaaa ii nn nn */ |
yamasho | 0:82bafa3985c2 | 408 | /* MM MM aa aa ii nn nn */ |
yamasho | 0:82bafa3985c2 | 409 | /* MM MM aaaaa iiii nn nn */ |
yamasho | 0:82bafa3985c2 | 410 | /* */ |
yamasho | 0:82bafa3985c2 | 411 | /***********************************/ |
yamasho | 0:82bafa3985c2 | 412 | int main() |
yamasho | 0:82bafa3985c2 | 413 | { |
yamasho | 0:82bafa3985c2 | 414 | RingReadpoint = 0; |
yamasho | 0:82bafa3985c2 | 415 | RingWritepoint = 0; |
yamasho | 0:82bafa3985c2 | 416 | CommandTimer = 0; |
yamasho | 0:82bafa3985c2 | 417 | pc .baud(DEFAULT_BAUDRATE); |
yamasho | 0:82bafa3985c2 | 418 | #if _USE_DEBUG_ |
yamasho | 0:82bafa3985c2 | 419 | uart.baud(115200);//DEFAULT_BAUDRATE); |
yamasho | 0:82bafa3985c2 | 420 | pc.printf("Program Start!\n"); |
yamasho | 0:82bafa3985c2 | 421 | uart.printf("Program deb Start!\n"); |
yamasho | 0:82bafa3985c2 | 422 | #endif |
yamasho | 0:82bafa3985c2 | 423 | Timer500.attach(&Eventtimer500, 0.5); |
yamasho | 0:82bafa3985c2 | 424 | Timer1ms.attach(&Eventtimer1ms, 0.001); |
yamasho | 0:82bafa3985c2 | 425 | pc.attach(Read_Rx, Serial::RxIrq); |
yamasho | 0:82bafa3985c2 | 426 | while(1) { |
yamasho | 0:82bafa3985c2 | 427 | SerialRead(); |
yamasho | 0:82bafa3985c2 | 428 | myled = LedImage; // LED is ON |
yamasho | 0:82bafa3985c2 | 429 | } |
yamasho | 0:82bafa3985c2 | 430 | |
yamasho | 0:82bafa3985c2 | 431 | } |