void board_blink_led(led_t led) {
switch (led) {
case RED:
ROM_GPIOPinWrite(LED_RED_PORTBASE, LED_RED, LED_RED);
board_delay_ms(LEDBLINKPERIODMS);
ROM_GPIOPinWrite(LED_RED_PORTBASE, LED_RED, 0);
break;
case BLUE:
ROM_GPIOPinWrite(LED_BLUE_PORTBASE, LED_BLUE, LED_BLUE);
board_delay_ms(LEDBLINKPERIODMS);
ROM_GPIOPinWrite(LED_BLUE_PORTBASE, LED_BLUE, 0);
break;
case GREEN:
ROM_GPIOPinWrite(LED_GREEN_PORTBASE, LED_GREEN, LED_GREEN);
board_delay_ms(LEDBLINKPERIODMS);
ROM_GPIOPinWrite(LED_GREEN_PORTBASE, LED_GREEN, 0);
break;
default:
break;
}
board_delay_ms(LEDBLINKPERIODMS);
}
void board_blink_led(void) {
LEDPORT4OUT |=LEDPORT4PIN0;
board_delay_ms(LEDBLINKPERIODMS);
LEDPORT4OUT &=~LEDPORT4PIN0;
board_delay_ms(LEDBLINKPERIODMS);
}
static int32_t board_eeprom_enable_eeprom_peripherial(void) {
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_EEPROM0);
board_delay_ms (100);
return ROM_EEPROMInit();
}
int main (int argc, char **argv)
{
sys_Init (0, 0); // Turn off WDT, init MCU clocks, ...
pin_Config (LED1, GPIO_OUTPUT, 0); // Setup LED1 for output to show activity
//--------------------------------------------------------------------
// Configure the L6474 Stepper Ctl chip and the motor attached to it.
// This includes downloading configuration parameters into the L6474.
//--------------------------------------------------------------------
extern volatile uint8_t numberOfDevices; // used by EasySpin
numberOfDevices = 1; // save max # devices for EasySpin logic
// ret_code = configure_stepper_motor();
/* Attach the function Error_Handler (defined below) to the error Handler*/
EasySpin_AttachErrorHandler (Error_Handler);
/* Attach the function MyFlagInterruptHandler (defined below) to the EXTI IRQ flag interrupt */
EasySpin_AttachFlagInterrupt (MyFlagInterruptHandler);
//-----------------------------------------
// re-Init of the EasysSpin library
//-----------------------------------------
EasySpin_Begin (1);
//---------------------------------------------------------------
// Read inexistent register to test MyFlagInterruptHandler
//---------------------------------------------------------------
/* Try to read an inexistent register. */
/* The flag interrupt should be raised */
/* and the MyFlagInterruptHandler function called */
// EasySpin_CmdGetParam (0, (easySPIN_Registers_t) 0x1F);
sys_Delay_Millis (500);
/* Move device 0 of 16000 steps in the FORWARD direction */
EasySpin_Move (0, FORWARD, 16000);
/* Wait for the motor of device 0 ends moving */
EasySpin_WaitWhileActive(0) ;
HAL_Delay (1000);
while (1)
{
//---------------------------------------------------------------------
// MOTION CONTROL
//
// Perform a repeated sequence of steps, as if we were doing DIY
// printing or some other form of positioning/machining sequence.
//---------------------------------------------------------------------
//------------------------------------------------------------------
// Setup an initial speed profile and go into full-step mode so that
// we can quickly move the stepper to the desired starting position
// for machinng something.
//------------------------------------------------------------------
/* Select full step mode for the motor */
EasySpin_SelectStepMode (0, easySPIN_STEP_SEL_1);
/* Set speed and acceleration to be consistent with full step mode */
EasySpin_SetMaxSpeed (0,100);
EasySpin_SetMinSpeed (0,50);
EasySpin_SetAcceleration (0,10);
EasySpin_SetDeceleration (0,10);
/* Move the motor to go position 200 */
EasySpin_GoTo (0,200);
/* Wait for the motor to stop moving */
EasySpin_WaitWhileActive (0) ;
/* Set the current position of motor to be its "Home" position */
EasySpin_SetHome (0);
pin_Toggle (LED1); // show activity - toggle LED
//------------------------------------------------------------------
// Now go into 1/16 step mode and set an associated speed profile
// so we can machine something
//------------------------------------------------------------------
/* Set L6474 to drive motor in 1/16 microstepping mode */
EasySpin_SelectStepMode (0,easySPIN_STEP_SEL_1_16);
/* Update speed, acceleration, deceleration for 1/16 microstep mode*/
EasySpin_SetMaxSpeed (0,1600);
EasySpin_SetMinSpeed (0,800);
EasySpin_SetAcceleration (0,160);
EasySpin_SetDeceleration (0,160);
pin_Toggle (LED1); // show activity - toggle LED
//------------------------------------------------------------------
// Now sweep the motor back and forth several passes as if
// machining or printing something.
//------------------------------------------------------------------
for (i = 0; i < total_motor_passes; i++)
{
/* Request motor to step FORWARD to position 6400 */
EasySpin_GoTo (0,6400);
/* Wait for motor to stop moving */
EasySpin_WaitWhileActive (0);
/* Request motor to step BACKWARD to -6400 position */
EasySpin_GoTo (0,6400);
/* Wait for motor to stop moving */
EasySpin_WaitWhileActive (0);
pin_Toggle (LED1); // show activity - toggle after each pass
}
/* In preparation for a new sequence, request Motor to go to Home */
EasySpin_GoHome (0);
EasySpin_WaitWhileActive (0) ;
board_delay_ms (1000); // pause between sequences
}
}
void pmrf_delay_ms(uint32_t ms)
{
board_delay_ms(ms, OSP_DELAY_OS_COMPAT_DISABLE);
}
int main (int argc, char **argv)
{
GPIO_InitTypeDef GPIO_InitStruct;
board_init(); // Turn off WDT, init MCU clocks, ...
board_systick_timer_config(); // configure 1 ms timer
LED1_INIT(); // Setup LED1 for output
// LED2_INIT(); // Setup LED2 for output not on STM32
#if (UART_CHECKOUT)
while (uart_test1) // TEMP DEBUG of Baud Rate
CONSOLE_WRITE ("\n\rInitialization complete. Type in a config parm:\n\r");
while ( ! CONSOLE_CHECK_FOR_INPUT() )
; // loop till get some data
CONSOLE_READ_STRING ((char*) uart_cmd_buf, 12);
CONSOLE_WRITE ("Type in a single char: ");
ret_code = 0;
while (ret_code == 0) // wait till we get a char in
ret_code = CONSOLE_GET_CHAR();
CONSOLE_WRITE_CHAR (ret_code); // echo it
#endif
//-------------------------------------------------------------
// Setup GPIOs to operate in Timer/PWM mode
//
// Start with PA8 (Arduino D7) = TIM1_CH1
//-------------------------------------------------------------
/* TIM1 module - Channel 1 output */
GPIO_InitStruct.Pin = GPIO_PIN_8; // PA8 = Arduino D7
GPIO_InitStruct.Alternate = GPIO_AF1_TIM1; // Alt Func = Timer/PWM
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
HAL_GPIO_Init (GPIOA, &GPIO_InitStruct);
/* TIM1 module - Channel 1 complementary output */
GPIO_InitStruct.Pin = GPIO_PIN_13; // PB13 - not on Arduino - Morpho CN10 - 30
HAL_GPIO_Init (GPIOB, &GPIO_InitStruct);
//------------------------------------
// Configure PWM module to be used
//------------------------------------
// SystemCoreClock variable holds HCLK frequency and is defined in system_stm32f4xx.c file.
uwPeriod = (SystemCoreClock / 20000 ) - 1; // set period = 20 K Hz
ret_code = board_pwm_init_module (PWM_MODULE_1, PWM_COUNT_DOWN,
uwPeriod, 0);
//------------------------------------
// Configure PWM channel(s) to be used
//------------------------------------
ret_code = board_pwm_config_channel (PWM_MODULE_1, PWM_CHANNEL_1,
(uwPeriod/4), 0); // 25 % duty cycle
//---------------------------------------------------
// Enable the PWM module and its associated channels
//---------------------------------------------------
ret_code = board_pwm_enable (PWM_MODULE_1, 0);
while (1)
{
// initial checkout - see if PWM is working
LED1_TOGGLE(); // show activity
board_delay_ms (1000);
}
// ----- INITIAL CHECKOUT -----
#if (LATER)
//-------------------------------------------------------------
// Ensure DRV8848 is OFF during config.
// setup nSLEEP PB_2 pin (J2-2) to LOW to turn off the DRV8848
//-------------------------------------------------------------
pin_Config (Pin19, GPIO_OUTPUT);
pin_Low (Pin19);
//-----------------------------------------------------------------
// Setup PWMs to drive the DRV8711 Stepper
//-----------------------------------------------------------------
// first, get the period for a 20 K Hz PWM frequency
pwm_period = board_frequency_to_period_ticks (PWM_20K_FREQUENCY);
// then initialize the needed PWMs, passing in startup period
//-------------------------------------------------------------
// do basic setup for PWM and Interval Timer (turn on clocks)
// Skipping the /32 gives better accuracy (20.004 KHz vs 20.81 K Hz using /32)
//-------------------------------------------------------------
// MAP_SysCtlPWMClockSet (SYSCTL_PWMDIV_32); // do not do / 32 of Master clock and see results
MAP_SysCtlPWMClockSet (SYSCTL_PWMDIV_1); // Setup Master PWM I/O clock
MAP_SysCtlPeripheralEnable (SYSCTL_PERIPH_PWM1); // turn on PWM module 1 clock
// mg_PWMclock = MAP_SysCtlClockGet() / 32; // save Max PWM Clock value
mg_PWMclock = MAP_SysCtlClockGet(); // save Max PWM Clock value
mg_Sysclock = MAP_SysCtlClockGet(); // This says 80 MHz
nmap_SysClkTicks = MAP_SysCtlClockGet(); // This says 80 MHz after switching over to MAP_ version.
// Before that, non MAP_ version was saying 66 MHz, which is whacked out
//------------------------------------------------------------------------------
// Setup PWM pins that are used by DRV8848
//
// PWM A / AIN1 = PA_4 TA1.2 J2-8 PWM B / BIN1 = PA_6 TA1.1 J1-9
// DIR A / AIN2 = PA_3 TA1CCR2 J2-9 DIR B / BIN2 = PA_7 TA1CCR1 J1-10
// nSLEEP = PB_2 J2-2 nFAULT = PE_0 J2-3
// VREF = PE_4 Adc9 J1-5
//------------------------------------------------------------------------------
// setup DRV8701 STEP_AIN1 PA_6 pin (J1-9) for PWM mode
// setup DRV8848 BIN1 PA_6 pin (J1-9) for PWM mode
MAP_GPIOPinTypePWM (GPIO_PORTA_BASE, GPIO_PIN_6); // setup BIN1 PWM (J1-9)
MAP_GPIOPinConfigure (GPIO_PA6_M1PWM2);
//------------------------------------------------
// Setup PWM and associated Count mode.
// Tiva only supports DOWN counts, not UP counts
//------------------------------------------------
MAP_PWMGenConfigure (PWM1_BASE, PWM_GEN_1, PWM_GEN_MODE_DOWN);
// setup default PWM Period and duty cycle
mg_PWMperiod = (mg_PWMclock / PWM_20K_FREQUENCY) - 1; // default period /32 = 124 (125 - 1)
// default period /1 = 3999 (4000 - 1)
MAP_PWMGenPeriodSet (PWM1_BASE, PWM_GEN_1, mg_PWMperiod);
MAP_PWMPulseWidthSet (PWM1_BASE, PWM_OUT_2, mg_PWMperiod / 4); // duty of 25 %
pwm_duty_value = mg_PWMperiod / 4; // save it for ADC checks
//-----------------------
// Start up the PWM
//-----------------------
MAP_PWMGenEnable (PWM1_BASE, PWM_GEN_1); // start up the PWM ??? need ???
MAP_PWMOutputState (PWM1_BASE, PWM_OUT_2_BIT, true); // Enable PWM pin output
//-----------------------------------------
// setup DIR BIN2 PA_7 pin (J1-10) to LOW
//-----------------------------------------
pin_Config (Pin10, GPIO_OUTPUT); // setup BIN2 DIR (J1-10)
pin_Low (Pin10);
//-----------------------------------------
// Turn off AIN1 PWM and AIN2 DIR pins PA_4 / PA_3 pins (J2-8/J2-9) to LOW
//-----------------------------------------
pin_Config (Pin13, GPIO_OUTPUT); // setup AIN1 PWM (J2-8)
pin_Low (Pin13);
pin_Config (Pin12, GPIO_OUTPUT); // setup AIN2 DIR (J2-9)
pin_Low (Pin12);
//-------------------------------------------------------------
// set nSLEEP PB_2 pin (J2-2) to HIGH to turn on the DRV8848
//-------------------------------------------------------------
pin_High (Pin19);
while (1)
{
// LED1_TOGGLE(); // Setup LED1 for output
if (adc_Check_All_Complete())
{ // we have a completed ADC reading. Pull in the latest reading
adc_Read (&adc_value);
if ( (adc_value > (adc_cur_value +10)) || (adc_value < (adc_cur_value - 1)) )
{ // we have a major change in valu. Update the PWM
adc_cur_value = adc_value;
// scale the PWM Duty_Cycle (o - 4000) value to match the ADC value (0-4096)
if (adc_cur_value > 3999)
pwm_duty_value = 3999;
else pwm_duty_value = adc_value;
// set the new PWM duty ccyle
MAP_PWMPulseWidthSet (PWM1_BASE, PWM_OUT_2, pwm_duty_value);
// start a new ADC sampling cycle
adc_Trigger_Start();
}
}
board_delay_ms (250); // wait 250 ms (1/4 sec) between samples
}
#endif
}