Forigo / Mbed 2 deprecated FORIGO_Modula_V7_3_VdcStep_maggio2020

Messa in campo 4 file - 26/06/2020 Francia

Dependencies:   mbed X_NUCLEO_IHM03A1_for

Fork of FORIGO_Modula_V7_3_VdcStep_maggio2020 by Francesco Pistone

powerstep.hpp@6:e8c18f0f399a, 2019-02-19 (annotated)

Committer:
nerit
Date:
Tue Feb 19 16:58:02 2019 +0000
Revision:
6:e8c18f0f399a
Parent:
3:a469bbd294b5
Child:
14:e2b5efa06c41
v1

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 3:a469bbd294b5 5 powerstep01_init_u_t init =
nerit 3:a469bbd294b5 6 {
nerit 3:a469bbd294b5 7 /* common parameters */
nerit 3:a469bbd294b5 8 //.cm.cp.cmVmSelection = POWERSTEP01_CM_VM_CURRENT, // enum powerstep01_CmVm_t
nerit 3:a469bbd294b5 9 .cm.cp.cmVmSelection = POWERSTEP01_CM_VM_VOLTAGE, // enum powerstep01_CmVm_t
nerit 3:a469bbd294b5 10 5500, // Acceleration rate in step/s2, range 14.55 to 59590 steps/s^2 582
nerit 3:a469bbd294b5 11 5500, // Deceleration rate in step/s2, range 14.55 to 59590 steps/s^2 582
nerit 3:a469bbd294b5 12 180.45, // Maximum speed in step/s, range 15.25 to 15610 steps/s 488 92.45
nerit 3:a469bbd294b5 13 1.0, // Minimum speed in step/s, range 0 to 976.3 steps/s
nerit 3:a469bbd294b5 14 POWERSTEP01_LSPD_OPT_ON, // Low speed optimization bit, enum powerstep01_LspdOpt_t
nerit 3:a469bbd294b5 15 15624.00, // Full step speed in step/s, range 7.63 to 15625 steps/s 244.16
nerit 3:a469bbd294b5 16 POWERSTEP01_BOOST_MODE_OFF, // Boost of the amplitude square wave, enum powerstep01_BoostMode_t
nerit 3:a469bbd294b5 17 750.00, // Overcurrent threshold settings via enum powerstep01_OcdTh_t 281.25
nerit 3:a469bbd294b5 18 STEP_MODE_1_8, // Step mode settings via enum motorStepMode_t
nerit 3:a469bbd294b5 19 POWERSTEP01_SYNC_SEL_DISABLED, // Synch. Mode settings via enum powerstep01_SyncSel_t
nerit 3:a469bbd294b5 20 (POWERSTEP01_ALARM_EN_OVERCURRENT|
nerit 3:a469bbd294b5 21 POWERSTEP01_ALARM_EN_THERMAL_SHUTDOWN|
nerit 3:a469bbd294b5 22 POWERSTEP01_ALARM_EN_THERMAL_WARNING|
nerit 3:a469bbd294b5 23 POWERSTEP01_ALARM_EN_UVLO|
nerit 3:a469bbd294b5 24 POWERSTEP01_ALARM_EN_STALL_DETECTION|
nerit 3:a469bbd294b5 25 POWERSTEP01_ALARM_EN_SW_TURN_ON|
nerit 3:a469bbd294b5 26 POWERSTEP01_ALARM_EN_WRONG_NPERF_CMD), // Alarm settings via bitmap enum powerstep01_AlarmEn_t
nerit 3:a469bbd294b5 27 POWERSTEP01_IGATE_64mA, // Gate sink/source current via enum powerstep01_Igate_t 64
nerit 3:a469bbd294b5 28 POWERSTEP01_TBOOST_0ns, // Duration of the overboost phase during gate turn-off via enum powerstep01_Tboost_t
nerit 3:a469bbd294b5 29 POWERSTEP01_TCC_500ns, // Controlled current time via enum powerstep01_Tcc_t 500
nerit 3:a469bbd294b5 30 POWERSTEP01_WD_EN_DISABLE, // External clock watchdog, enum powerstep01_WdEn_t
nerit 3:a469bbd294b5 31 POWERSTEP01_TBLANK_375ns, // Duration of the blanking time via enum powerstep01_TBlank_t 375
nerit 3:a469bbd294b5 32 POWERSTEP01_TDT_125ns, // Duration of the dead time via enum powerstep01_Tdt_t 125
nerit 3:a469bbd294b5 33 /* current mode parameters */
nerit 3:a469bbd294b5 34 70.00, // Hold torque in mV, range from 7.8mV to 1000 mV 328 **** 70.00mV=1,4A
nerit 3:a469bbd294b5 35 250.00, // Running torque in mV, range from 7.8mV to 1000 mV **** 150.00mV=3,0A
nerit 3:a469bbd294b5 36 250.00, // Acceleration torque in mV, range from 7.8mV to 1000 mV
nerit 3:a469bbd294b5 37 250.00, // Deceleration torque in mV, range from 7.8mV to 1000 mV
nerit 3:a469bbd294b5 38 POWERSTEP01_TOFF_FAST_8us, //Maximum fast decay time , enum powerstep01_ToffFast_t 8
nerit 3:a469bbd294b5 39 POWERSTEP01_FAST_STEP_12us, //Maximum fall step time , enum powerstep01_FastStep_t 12
nerit 3:a469bbd294b5 40 3.0, // Minimum on-time in us, range 0.5us to 64us 3.0
nerit 3:a469bbd294b5 41 20.5, // Minimum off-time in us, range 0.5us to 64us 21.0
nerit 3:a469bbd294b5 42 POWERSTEP01_CONFIG_INT_16MHZ_OSCOUT_2MHZ, // Clock setting , enum powerstep01_ConfigOscMgmt_t
nerit 3:a469bbd294b5 43 POWERSTEP01_CONFIG_SW_HARD_STOP, // External switch hard stop interrupt mode, enum powerstep01_ConfigSwMode_t
nerit 3:a469bbd294b5 44 POWERSTEP01_CONFIG_TQ_REG_TVAL_USED, // External torque regulation enabling , enum powerstep01_ConfigEnTqReg_t
nerit 3:a469bbd294b5 45 POWERSTEP01_CONFIG_VS_COMP_ENABLE, // Motor Supply Voltage Compensation enabling , enum powerstep01_ConfigEnVscomp_t
nerit 6:e8c18f0f399a 46 POWERSTEP01_CONFIG_OC_SD_DISABLE, // Over current shutwdown enabling, enum powerstep01_ConfigOcSd_t
nerit 3:a469bbd294b5 47 POWERSTEP01_CONFIG_UVLOVAL_LOW, // UVLO Threshold via powerstep01_ConfigUvLoVal_t
nerit 3:a469bbd294b5 48 POWERSTEP01_CONFIG_VCCVAL_7_5V, // VCC Val, enum powerstep01_ConfigVccVal_t
nerit 3:a469bbd294b5 49 POWERSTEP01_CONFIG_TSW_024us, // Switching period, enum powerstep01_ConfigTsw_t 48
nerit 3:a469bbd294b5 50 POWERSTEP01_CONFIG_PRED_ENABLE // Predictive current enabling , enum powerstep01_ConfigPredEn_t
nerit 3:a469bbd294b5 51 };
nerit 3:a469bbd294b5 52 /* Motor Control Component. */
nerit 3:a469bbd294b5 53 PowerStep01 *motor;