Terratronics MBED
FastPWM on DRV8711 w Accel
Dependencies: mbed DRV8711v2 FastPWM
Revision 0:567520655b4c, committed 2019-02-11
- Comitter:
- Illkard
- Date:
- Mon Feb 11 03:38:12 2019 +0000
- Commit message:
- FastPWM on DRV8711
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/DRV8711v2.lib Mon Feb 11 03:38:12 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/Terratronics-MBED/code/DRV8711v2/#1d9082f06452
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FastPWM.lib Mon Feb 11 03:38:12 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/Sissors/code/FastPWM/#c0b2265cff9c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Feb 11 03:38:12 2019 +0000
@@ -0,0 +1,112 @@
+
+#include "mbed.h"
+#include "drv8711v1.h"
+#include "FastPWM.h"
+
+#define volume 4.6
+#define step_rev 25600
+#define current_drv 1.5
+
+#define MOSI PA_7
+#define MISO PA_6
+#define SCK PA_5
+#define CS PA_4
+#define STEP PB_2
+#define DIR PB_1
+#define RST PB_10
+#define NSLP PB_11
+#define STEP_MODE EIGHT_2
+#define PWM PA_8
+
+DRV8711 drv(MOSI,MISO,SCK,CS,STEP,DIR,RST,NSLP);
+
+Serial serial(PB_6,PB_7);
+//Serial pc(USBTX,USBRX);
+//Serial pc(PA_2,PA_3);
+Ticker accelTime;
+FastPWM step(PWM, -1);
+
+char readSerial[64];
+char inputCmd;
+int fr;
+bool steppingFlag = 0;
+int pps = 1000;
+float rpm = 0;
+float nospm = 0;
+float aDelay = 0;
+float tDelay = 0;
+bool accelFlag = 0;
+
+void stepF();
+void fr2delay();
+void newDelay();
+void accelPPS();
+void readin();
+
+int main() {
+
+ serial.baud(115200);
+ serial.printf("Initializing Driver...\n");
+
+ drv.begin(STEP_MODE,volume,step_rev,current_drv);
+ step.pulsewidth_us(0.0);
+ serial.printf("Driver Initialization Completed...\n");
+
+ while(1) {
+
+ serial.printf("Ready for next input...\n");
+ while(!serial.readable());
+ serial.gets(readSerial,64);
+ sscanf(readSerial,"%c",&inputCmd);
+
+ if((inputCmd == 'M')||(inputCmd == 'm')){
+
+ serial.printf("Input Flow Rate...\n");
+ while(!serial.readable());
+ serial.gets(readSerial, 64);
+ sscanf(readSerial,"%i",&fr);
+ serial.printf("Flow Rates: %i ml/min\n",fr);
+ fr2delay();
+ serial.printf("Enter anykey to start...\n");
+ while(!serial.readable());
+ serial.gets(readSerial,64);
+ steppingFlag = 1;
+ aDelay = 1000000/1000;
+ step.period_us(aDelay);
+ step.pulsewidth_us(aDelay/2);
+ drv._nsleep = 1;
+ //start stepping
+ accelTime.attach(accelPPS, 0.005);
+ while(steppingFlag != 0){
+ if(serial.readable()){
+ inputCmd = serial.getc();
+ if((inputCmd == 'S')||(inputCmd == 's')){
+ step.pulsewidth_us(0.0);
+ drv._nsleep = 0;
+ serial.printf("Process Terminated...\n");
+ }
+ }
+ }
+ }
+ }
+}
+
+void accelPPS(){
+ aDelay = aDelay - 2.5;
+ if(aDelay <= tDelay){
+ aDelay = tDelay;
+ accelTime.detach();
+ }
+ step.period_us(aDelay);
+ step.pulsewidth_us(aDelay/2);
+}
+
+void fr2delay(){
+ rpm = fr/4.6;
+ serial.printf("RPM: %.2f\n",rpm);
+ nospm = rpm*step_rev;
+ serial.printf("NoSpM: %.2f\n",nospm);
+ tDelay = (60000000/nospm);
+ serial.printf("target Delay: %.2f\n",tDelay);
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Feb 11 03:38:12 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/3a7713b1edbc \ No newline at end of file