int main() {
// Create IP connection
IPConnection ipcon;
ipcon_create(&ipcon);
// Create device object
Stepper stepper;
stepper_create(&stepper, UID, &ipcon);
// Connect to brickd
if(ipcon_connect(&ipcon, HOST, PORT) < 0) {
fprintf(stderr, "Could not connect\n");
exit(1);
}
// Don't use device before ipcon is connected
stepper_set_motor_current(&stepper, 800); // 800mA
stepper_set_step_mode(&stepper, 8); // 1/8 step mode
stepper_set_max_velocity(&stepper, 2000); // Velocity 2000 steps/s
// Slow acceleration (500 steps/s^2),
// Fast deacceleration (5000 steps/s^2)
stepper_set_speed_ramping(&stepper, 500, 5000);
stepper_enable(&stepper);
stepper_set_steps(&stepper, 60000); // Drive 60000 steps forward
printf("Press key to exit\n");
getchar();
ipcon_destroy(&ipcon); // Calls ipcon_disconnect internally
}
void set_step_mode(uint8_t com, const SetStepMode *data) {
stepper_set_step_mode(data->mode);
}
void stepper_init(void) {
Pin pins_stepper[] = {PINS_STEPPER};
PIO_Configure(pins_stepper, PIO_LISTSIZE(pins_stepper));
Pin stepper_power_management_pins[] = {VOLTAGE_STACK_PIN,
VOLTAGE_EXTERN_PIN,
VOLTAGE_STACK_SWITCH_PIN,
STEPPER_CURRENT_PIN};
PIO_Configure(stepper_power_management_pins,
PIO_LISTSIZE(stepper_power_management_pins));
// Initialize and enable DACC to set VREF and DECAY pins
DACC_Initialize(DACC,
ID_DACC,
0, // Hardware triggers are disabled
0, // External trigger
0, // Half-Word Transfer
0, // Normal Mode (not sleep mode)
BOARD_MCK,
1, // refresh period
0, // Channel 0 selection
1, // Tag Selection Mode enabled
16); // value of the start up time
DACC_EnableChannel(DACC, VREF_CHANNEL);
DACC_EnableChannel(DACC, DECAY_CHANNEL);
// Enable peripheral clock for TC
PMC->PMC_PCER0 = 1 << ID_TC0;
// Configure and enable TC interrupts
NVIC_DisableIRQ(TC0_IRQn);
NVIC_ClearPendingIRQ(TC0_IRQn);
NVIC_SetPriority(TC0_IRQn, PRIORITY_STEPPER_TC0);
NVIC_EnableIRQ(TC0_IRQn);
tc_channel_init(&STEPPER_TC_CHANNEL,
TC_CMR_TCCLKS_TIMER_CLOCK5 | TC_CMR_CPCTRG);
// Interrupt in compare
tc_channel_interrupt_set(&STEPPER_TC_CHANNEL, TC_IER_CPCS);
PMC->PMC_PCER0 = 1 << ID_TC1;
tc_channel_init(&SINGLE_SHOT_TC_CHANNEL,
TC_CMR_WAVE |
TC_CMR_TCCLKS_TIMER_CLOCK4 |
TC_CMR_EEVT_XC0 |
TC_CMR_ASWTRG_SET |
TC_CMR_ACPC_CLEAR |
TC_CMR_WAVSEL_UP |
TC_CMR_CPCDIS |
TC_CMR_CPCSTOP);
SINGLE_SHOT_COUNTER = 1;
tc_channel_start(&SINGLE_SHOT_TC_CHANNEL);
stepper_set_output_current(VREF_DEFAULT_CURRENT);
stepper_set_step_mode(STEP_MODE_EIGTH);
stepper_set_decay(DECAY_DEFAULT_VALUE);
adc_channel_enable(VOLTAGE_EXTERN_CHANNEL);
adc_channel_enable(VOLTAGE_STACK_CHANNEL);
adc_channel_enable(STEPPER_CURRENT_CHANNEL);
}
