Forigo / Mbed 2 deprecated FORIGO_Modula_V7_3_VdcStep_DICEMBRE2020

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Dependencies:   mbed X_NUCLEO_IHM03A1_for

powerstep.hpp@50:144a92eeddb9, 2021-02-27 (annotated)

Committer:
nerit
Date:
Sat Feb 27 16:18:50 2021 +0000
Revision:
50:144a92eeddb9
Parent:
31:92a9e183be8e 
Aggiornamento parametri relativi al driver stepper installato sulla scheda. ; Dalla versione V8 del pcb sono installati mosfet non integrati nel driver.; Deve essere selezionato il tipo di scheda prima della compilazione.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nerit 3:a469bbd294b5 1 /* Variables -----------------------------------------------------------------*/
nerit 3:a469bbd294b5 2
nerit 3:a469bbd294b5 3 /* Initialization parameters of the motor connected to the expansion board. */
nerit 3:a469bbd294b5 4 /* Voltage mode. */
nerit 50:144a92eeddb9 5 #if defined(pcb_V8)
nerit 50:144a92eeddb9 6 powerstep01_init_u_t init =
nerit 50:144a92eeddb9 7 {
nerit 50:144a92eeddb9 8 /* common parameters */
nerit 50:144a92eeddb9 9 //.cm.cp.cmVmSelection = POWERSTEP01_CM_VM_CURRENT, // enum powerstep01_CmVm_t
nerit 50:144a92eeddb9 10 .cm.cp.cmVmSelection = POWERSTEP01_CM_VM_VOLTAGE, // enum powerstep01_CmVm_t
nerit 50:144a92eeddb9 11 1455,//500, // Acceleration rate in step/s2, range 14.55 to 59590 steps/s^2 582
nerit 50:144a92eeddb9 12 1455,//500, // Deceleration rate in step/s2, range 14.55 to 59590 steps/s^2 582
nerit 50:144a92eeddb9 13 305.00,//122.00, // Maximum speed in step/s, range 15.25 to 15610 steps/s 488 92.45 180.45
nerit 50:144a92eeddb9 14 1.0, // Minimum speed in step/s, range 0 to 976.3 steps/s
nerit 50:144a92eeddb9 15 POWERSTEP01_LSPD_OPT_ON, // Low speed optimization bit, enum powerstep01_LspdOpt_t
nerit 50:144a92eeddb9 16 15624.00, // Full step speed in step/s, range 7.63 to 15625 steps/s 244.16
nerit 50:144a92eeddb9 17 POWERSTEP01_BOOST_MODE_OFF, // Boost of the amplitude square wave, enum powerstep01_BoostMode_t
nerit 50:144a92eeddb9 18 968.75, // Overcurrent threshold settings via enum powerstep01_OcdTh_t 281.25
nerit 50:144a92eeddb9 19 STEP_MODE_1_8, // Step mode settings via enum motorStepMode_t
nerit 50:144a92eeddb9 20 POWERSTEP01_SYNC_SEL_DISABLED, // Synch. Mode settings via enum powerstep01_SyncSel_t
nerit 50:144a92eeddb9 21 (POWERSTEP01_ALARM_EN_OVERCURRENT|
nerit 50:144a92eeddb9 22 POWERSTEP01_ALARM_EN_THERMAL_SHUTDOWN|
nerit 50:144a92eeddb9 23 POWERSTEP01_ALARM_EN_THERMAL_WARNING|
nerit 50:144a92eeddb9 24 POWERSTEP01_ALARM_EN_UVLO|
nerit 50:144a92eeddb9 25 POWERSTEP01_ALARM_EN_STALL_DETECTION|
nerit 50:144a92eeddb9 26 POWERSTEP01_ALARM_EN_SW_TURN_ON|
nerit 50:144a92eeddb9 27 POWERSTEP01_ALARM_EN_WRONG_NPERF_CMD), // Alarm settings via bitmap enum powerstep01_AlarmEn_t
nerit 50:144a92eeddb9 28 POWERSTEP01_IGATE_64mA, // Gate sink/source current via enum powerstep01_Igate_t 64
nerit 50:144a92eeddb9 29 POWERSTEP01_TBOOST_0ns, // Duration of the overboost phase during gate turn-off via enum powerstep01_Tboost_t
nerit 50:144a92eeddb9 30 POWERSTEP01_TCC_500ns, // Controlled current time via enum powerstep01_Tcc_t 500
nerit 50:144a92eeddb9 31 POWERSTEP01_WD_EN_DISABLE, // External clock watchdog, enum powerstep01_WdEn_t
nerit 50:144a92eeddb9 32 POWERSTEP01_TBLANK_375ns, // Duration of the blanking time via enum powerstep01_TBlank_t 375
nerit 50:144a92eeddb9 33 POWERSTEP01_TDT_125ns, // Duration of the dead time via enum powerstep01_Tdt_t 125
nerit 50:144a92eeddb9 34 #if defined(provaStepper)
nerit 50:144a92eeddb9 35 93.60, // KVAL Hold torque in mV, range from 0.0mV to 0.996 mV
nerit 50:144a92eeddb9 36 173.00,//273.00, // KVAL RUN torque in mV, range from 0.0mV to 0.996 mV
nerit 50:144a92eeddb9 37 173.00,//273.00, // KVAL ACC torque in mV, range from 0.0mV to 0.996 mV
nerit 50:144a92eeddb9 38 173.00,//273.00, // KVAL DEC torque in mV, range from 0.0mV to 0.996 mV
nerit 50:144a92eeddb9 39 #else
nerit 50:144a92eeddb9 40 93.60, // KVAL Hold torque in mV, range from 0.0mV to 0.996 mV
nerit 50:144a92eeddb9 41 273.00, // KVAL RUN torque in mV, range from 0.0mV to 0.996 mV
nerit 50:144a92eeddb9 42 273.00, // KVAL ACC torque in mV, range from 0.0mV to 0.996 mV
nerit 50:144a92eeddb9 43 273.00, // KVAL DEC torque in mV, range from 0.0mV to 0.996 mV
nerit 50:144a92eeddb9 44 #endif
nerit 50:144a92eeddb9 45 POWERSTEP01_TOFF_FAST_28us, //Maximum fast decay time , enum powerstep01_ToffFast_t 8 28
nerit 50:144a92eeddb9 46 POWERSTEP01_FAST_STEP_28us, //Maximum fall step time , enum powerstep01_FastStep_t 12 28
nerit 50:144a92eeddb9 47 3.0, // Minimum on-time in us, range 0.5us to 64us 3.0
nerit 50:144a92eeddb9 48 21.0, // Minimum off-time in us, range 0.5us to 64us 21.0
nerit 50:144a92eeddb9 49 POWERSTEP01_CONFIG_INT_16MHZ_OSCOUT_2MHZ, // Clock setting , enum powerstep01_ConfigOscMgmt_t
nerit 50:144a92eeddb9 50 // POWERSTEP01_CONFIG_SW_HARD_STOP, // External switch hard stop interrupt mode, enum powerstep01_ConfigSwMode_t
nerit 50:144a92eeddb9 51 POWERSTEP01_CONFIG_SW_USER, // External switch hard stop interrupt mode, enum powerstep01_ConfigSwMode_t
nerit 50:144a92eeddb9 52 POWERSTEP01_CONFIG_TQ_REG_TVAL_USED, // External torque regulation enabling , enum powerstep01_ConfigEnTqReg_t
nerit 50:144a92eeddb9 53 POWERSTEP01_CONFIG_VS_COMP_ENABLE, // Motor Supply Voltage Compensation enabling , enum powerstep01_ConfigEnVscomp_t
nerit 50:144a92eeddb9 54 POWERSTEP01_CONFIG_OC_SD_DISABLE, // Over current shutwdown enabling, enum powerstep01_ConfigOcSd_t
nerit 50:144a92eeddb9 55 POWERSTEP01_CONFIG_UVLOVAL_LOW, // UVLO Threshold via powerstep01_ConfigUvLoVal_t
nerit 50:144a92eeddb9 56 POWERSTEP01_CONFIG_VCCVAL_7_5V//, // VCC Val, enum powerstep01_ConfigVccVal_t
nerit 50:144a92eeddb9 57 //POWERSTEP01_CONFIG_TSW_124us, // Switching period, enum powerstep01_ConfigTsw_t 048
nerit 50:144a92eeddb9 58 //POWERSTEP01_CONFIG_PRED_ENABLE // Predictive current enabling , enum powerstep01_ConfigPredEn_t
nerit 50:144a92eeddb9 59 };
nerit 50:144a92eeddb9 60 /* Motor Control Component. */
nerit 50:144a92eeddb9 61 PowerStep01 *motor;
nerit 50:144a92eeddb9 62 #endif
nerit 50:144a92eeddb9 63
nerit 50:144a92eeddb9 64 /* Initialization parameters of the motor connected to the expansion board. */
nerit 50:144a92eeddb9 65 /* Current mode. */
nerit 50:144a92eeddb9 66 #if defined(pcb_V7)
nerit 3:a469bbd294b5 67 powerstep01_init_u_t init =
nerit 3:a469bbd294b5 68 {
nerit 3:a469bbd294b5 69 /* common parameters */
nerit 17:9629eb019892 70 .cm.cp.cmVmSelection = POWERSTEP01_CM_VM_CURRENT, // enum powerstep01_CmVm_t
nerit 17:9629eb019892 71 //.cm.cp.cmVmSelection = POWERSTEP01_CM_VM_VOLTAGE, // enum powerstep01_CmVm_t
nerit 31:92a9e183be8e 72 500, // Acceleration rate in step/s2, range 14.55 to 59590 steps/s^2 582
nerit 31:92a9e183be8e 73 500, // Deceleration rate in step/s2, range 14.55 to 59590 steps/s^2 582
nerit 28:0534c86365ec 74 122.00, // Maximum speed in step/s, range 15.25 to 15610 steps/s 488 92.45 180.45
nerit 3:a469bbd294b5 75 1.0, // Minimum speed in step/s, range 0 to 976.3 steps/s
nerit 3:a469bbd294b5 76 POWERSTEP01_LSPD_OPT_ON, // Low speed optimization bit, enum powerstep01_LspdOpt_t
nerit 3:a469bbd294b5 77 15624.00, // Full step speed in step/s, range 7.63 to 15625 steps/s 244.16
nerit 3:a469bbd294b5 78 POWERSTEP01_BOOST_MODE_OFF, // Boost of the amplitude square wave, enum powerstep01_BoostMode_t
nerit 17:9629eb019892 79 968.75, // Overcurrent threshold settings via enum powerstep01_OcdTh_t 281.25
nerit 3:a469bbd294b5 80 STEP_MODE_1_8, // Step mode settings via enum motorStepMode_t
nerit 3:a469bbd294b5 81 POWERSTEP01_SYNC_SEL_DISABLED, // Synch. Mode settings via enum powerstep01_SyncSel_t
nerit 3:a469bbd294b5 82 (POWERSTEP01_ALARM_EN_OVERCURRENT|
nerit 3:a469bbd294b5 83 POWERSTEP01_ALARM_EN_THERMAL_SHUTDOWN|
nerit 3:a469bbd294b5 84 POWERSTEP01_ALARM_EN_THERMAL_WARNING|
nerit 3:a469bbd294b5 85 POWERSTEP01_ALARM_EN_UVLO|
nerit 3:a469bbd294b5 86 POWERSTEP01_ALARM_EN_STALL_DETECTION|
nerit 3:a469bbd294b5 87 POWERSTEP01_ALARM_EN_SW_TURN_ON|
nerit 3:a469bbd294b5 88 POWERSTEP01_ALARM_EN_WRONG_NPERF_CMD), // Alarm settings via bitmap enum powerstep01_AlarmEn_t
nerit 3:a469bbd294b5 89 POWERSTEP01_IGATE_64mA, // Gate sink/source current via enum powerstep01_Igate_t 64
nerit 3:a469bbd294b5 90 POWERSTEP01_TBOOST_0ns, // Duration of the overboost phase during gate turn-off via enum powerstep01_Tboost_t
nerit 3:a469bbd294b5 91 POWERSTEP01_TCC_500ns, // Controlled current time via enum powerstep01_Tcc_t 500
nerit 3:a469bbd294b5 92 POWERSTEP01_WD_EN_DISABLE, // External clock watchdog, enum powerstep01_WdEn_t
nerit 3:a469bbd294b5 93 POWERSTEP01_TBLANK_375ns, // Duration of the blanking time via enum powerstep01_TBlank_t 375
nerit 3:a469bbd294b5 94 POWERSTEP01_TDT_125ns, // Duration of the dead time via enum powerstep01_Tdt_t 125
nerit 18:7c978f69cc51 95 #if defined(provaStepper)
nerit 18:7c978f69cc51 96 93.60, // KVAL Hold torque in mV, range from 0.0mV to 0.996 mV
nerit 18:7c978f69cc51 97 233.00, // KVAL RUN torque in mV, range from 0.0mV to 0.996 mV
nerit 18:7c978f69cc51 98 233.00, // KVAL ACC torque in mV, range from 0.0mV to 0.996 mV
nerit 18:7c978f69cc51 99 233.00, // KVAL DEC torque in mV, range from 0.0mV to 0.996 mV
nerit 18:7c978f69cc51 100 #else
nerit 18:7c978f69cc51 101 93.60, // KVAL Hold torque in mV, range from 0.0mV to 0.996 mV
nerit 18:7c978f69cc51 102 273.00, // KVAL RUN torque in mV, range from 0.0mV to 0.996 mV
nerit 18:7c978f69cc51 103 273.00, // KVAL ACC torque in mV, range from 0.0mV to 0.996 mV
nerit 18:7c978f69cc51 104 273.00, // KVAL DEC torque in mV, range from 0.0mV to 0.996 mV
nerit 18:7c978f69cc51 105 #endif
nerit 17:9629eb019892 106 POWERSTEP01_TOFF_FAST_28us, //Maximum fast decay time , enum powerstep01_ToffFast_t 8
nerit 17:9629eb019892 107 POWERSTEP01_FAST_STEP_28us, //Maximum fall step time , enum powerstep01_FastStep_t 12
nerit 3:a469bbd294b5 108 3.0, // Minimum on-time in us, range 0.5us to 64us 3.0
nerit 3:a469bbd294b5 109 20.5, // Minimum off-time in us, range 0.5us to 64us 21.0
nerit 3:a469bbd294b5 110 POWERSTEP01_CONFIG_INT_16MHZ_OSCOUT_2MHZ, // Clock setting , enum powerstep01_ConfigOscMgmt_t
nerit 3:a469bbd294b5 111 POWERSTEP01_CONFIG_SW_HARD_STOP, // External switch hard stop interrupt mode, enum powerstep01_ConfigSwMode_t
nerit 3:a469bbd294b5 112 POWERSTEP01_CONFIG_TQ_REG_TVAL_USED, // External torque regulation enabling , enum powerstep01_ConfigEnTqReg_t
nerit 3:a469bbd294b5 113 POWERSTEP01_CONFIG_VS_COMP_ENABLE, // Motor Supply Voltage Compensation enabling , enum powerstep01_ConfigEnVscomp_t
nerit 6:e8c18f0f399a 114 POWERSTEP01_CONFIG_OC_SD_DISABLE, // Over current shutwdown enabling, enum powerstep01_ConfigOcSd_t
nerit 3:a469bbd294b5 115 POWERSTEP01_CONFIG_UVLOVAL_LOW, // UVLO Threshold via powerstep01_ConfigUvLoVal_t
nerit 3:a469bbd294b5 116 POWERSTEP01_CONFIG_VCCVAL_7_5V, // VCC Val, enum powerstep01_ConfigVccVal_t
nerit 18:7c978f69cc51 117 POWERSTEP01_CONFIG_TSW_124us, // Switching period, enum powerstep01_ConfigTsw_t 048
nerit 3:a469bbd294b5 118 POWERSTEP01_CONFIG_PRED_ENABLE // Predictive current enabling , enum powerstep01_ConfigPredEn_t
nerit 3:a469bbd294b5 119 };
nerit 3:a469bbd294b5 120 /* Motor Control Component. */
nerit 3:a469bbd294b5 121 PowerStep01 *motor;
nerit 50:144a92eeddb9 122 #endif