体验东芝 TB62262FTG 和 PIC18F57Q43 带来的精确电机控制

/*!
 * @file main.c
 * @brief MultiStepperTB62262 Click example
 *
 * # Description
 * This example demonstrates the use of the Multi Stepper TB62262 click board by driving the 
 * motor in both directions for a desired number of steps.
 *
 * The demo application is composed of two sections :
 *
 * ## Application Init
 * Initializes the driver and performs the click default configuration.
 *
 * ## Application Task
 * Drives the motor clockwise for 200 steps and then counter-clockiwse for 100 steps with
 * 2 seconds delay before changing the direction.
 * Each step will be logged on the USB UART where you can track the program flow.
 *
 * @author Stefan Filipovic
 *
 */

#include "board.h"
#include "log.h"
#include "multisteppertb62262.h"

static multisteppertb62262_t multisteppertb62262;
static log_t logger;

void application_init ( void ) 
{
    log_cfg_t log_cfg;  /**< Logger config object. */
    multisteppertb62262_cfg_t multisteppertb62262_cfg;  /**< Click config object. */

    /** 
     * Logger initialization.
     * Default baud rate: 115200
     * Default log level: LOG_LEVEL_DEBUG
     * @note If USB_UART_RX and USB_UART_TX 
     * are defined as HAL_PIN_NC, you will 
     * need to define them manually for log to work. 
     * See @b LOG_MAP_USB_UART macro definition for detailed explanation.
     */
    LOG_MAP_USB_UART( log_cfg );
    log_init( &logger, &log_cfg );
    log_info( &logger, " Application Init " );

    // Click initialization.
    multisteppertb62262_cfg_setup( &multisteppertb62262_cfg );
    MULTISTEPPERTB62262_MAP_MIKROBUS( multisteppertb62262_cfg, MIKROBUS_1 );
    if ( I2C_MASTER_ERROR == multisteppertb62262_init( &multisteppertb62262, &multisteppertb62262_cfg ) ) 
    {
        log_error( &logger, " Communication init." );
        for ( ; ; );
    }
    
    if ( MULTISTEPPERTB62262_ERROR == multisteppertb62262_default_cfg ( &multisteppertb62262 ) )
    {
        log_error( &logger, " Default configuration." );
        for ( ; ; );
    }
    
    log_info( &logger, " Application Task " );
}

void application_task ( void ) 
{
    log_printf ( &logger, " Move 200 steps clockwise \r\n\n" );
    multisteppertb62262_set_direction ( &multisteppertb62262, MULTISTEPPERTB62262_DIR_CW );
    multisteppertb62262_drive_motor ( &multisteppertb62262, 200, MULTISTEPPERTB62262_SPEED_FAST );
    Delay_ms ( 2000 );
    
    log_printf ( &logger, " Move 100 steps counter-clockwise \r\n\n" );
    multisteppertb62262_set_direction ( &multisteppertb62262, MULTISTEPPERTB62262_DIR_CCW );
    multisteppertb62262_drive_motor ( &multisteppertb62262, 100, MULTISTEPPERTB62262_SPEED_FAST );
    Delay_ms ( 2000 );
}

void main ( void ) 
{
    application_init( );

    for ( ; ; ) 
    {
        application_task( );
    }
}

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