Diff: powerstep.hpp

Revision:

3:a469bbd294b5

Child:

6:e8c18f0f399a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/powerstep.hpp	Wed Feb 13 07:18:01 2019 +0000
@@ -0,0 +1,53 @@
+/* Variables -----------------------------------------------------------------*/
+
+/* Initialization parameters of the motor connected to the expansion board. */
+/* Voltage mode. */
+powerstep01_init_u_t init =
+{
+  /* common parameters */
+  //.cm.cp.cmVmSelection = POWERSTEP01_CM_VM_CURRENT, // enum powerstep01_CmVm_t
+  .cm.cp.cmVmSelection = POWERSTEP01_CM_VM_VOLTAGE, // enum powerstep01_CmVm_t
+  5500, // Acceleration rate in step/s2, range 14.55 to 59590 steps/s^2 582
+  5500, // Deceleration rate in step/s2, range 14.55 to 59590 steps/s^2 582
+  180.45, // Maximum speed in step/s, range 15.25 to 15610 steps/s 488 92.45
+  1.0, // Minimum speed in step/s, range 0 to 976.3 steps/s
+  POWERSTEP01_LSPD_OPT_ON, // Low speed optimization bit, enum powerstep01_LspdOpt_t
+  15624.00, // Full step speed in step/s, range 7.63 to 15625 steps/s 244.16
+  POWERSTEP01_BOOST_MODE_OFF, // Boost of the amplitude square wave, enum powerstep01_BoostMode_t
+  750.00, // Overcurrent threshold settings via enum powerstep01_OcdTh_t 281.25
+  STEP_MODE_1_8, // Step mode settings via enum motorStepMode_t
+  POWERSTEP01_SYNC_SEL_DISABLED, // Synch. Mode settings via enum powerstep01_SyncSel_t
+   (POWERSTEP01_ALARM_EN_OVERCURRENT|
+   POWERSTEP01_ALARM_EN_THERMAL_SHUTDOWN|
+   POWERSTEP01_ALARM_EN_THERMAL_WARNING|
+   POWERSTEP01_ALARM_EN_UVLO|
+   POWERSTEP01_ALARM_EN_STALL_DETECTION|
+   POWERSTEP01_ALARM_EN_SW_TURN_ON|
+   POWERSTEP01_ALARM_EN_WRONG_NPERF_CMD), // Alarm settings via bitmap enum powerstep01_AlarmEn_t
+  POWERSTEP01_IGATE_64mA, // Gate sink/source current via enum powerstep01_Igate_t  64
+  POWERSTEP01_TBOOST_0ns, // Duration of the overboost phase during gate turn-off via enum powerstep01_Tboost_t
+  POWERSTEP01_TCC_500ns, // Controlled current time via enum powerstep01_Tcc_t 500
+  POWERSTEP01_WD_EN_DISABLE, // External clock watchdog, enum powerstep01_WdEn_t  
+  POWERSTEP01_TBLANK_375ns, // Duration of the blanking time via enum powerstep01_TBlank_t 375
+  POWERSTEP01_TDT_125ns, // Duration of the dead time via enum powerstep01_Tdt_t 125
+  /* current mode parameters */
+  70.00, // Hold torque in mV, range from 7.8mV to 1000 mV 328  ****  70.00mV=1,4A
+  250.00, // Running torque in mV, range from 7.8mV to 1000 mV  **** 150.00mV=3,0A
+  250.00, // Acceleration torque in mV, range from 7.8mV to 1000 mV
+  250.00, // Deceleration torque in mV, range from 7.8mV to 1000 mV
+  POWERSTEP01_TOFF_FAST_8us, //Maximum fast decay time , enum powerstep01_ToffFast_t 8
+  POWERSTEP01_FAST_STEP_12us, //Maximum fall step time , enum powerstep01_FastStep_t 12
+  3.0, // Minimum on-time in us, range 0.5us to 64us 3.0
+  20.5, // Minimum off-time in us, range 0.5us to 64us 21.0
+  POWERSTEP01_CONFIG_INT_16MHZ_OSCOUT_2MHZ, // Clock setting , enum powerstep01_ConfigOscMgmt_t
+  POWERSTEP01_CONFIG_SW_HARD_STOP, // External switch hard stop interrupt mode, enum powerstep01_ConfigSwMode_t
+  POWERSTEP01_CONFIG_TQ_REG_TVAL_USED, // External torque regulation enabling , enum powerstep01_ConfigEnTqReg_t
+  POWERSTEP01_CONFIG_VS_COMP_ENABLE, // Motor Supply Voltage Compensation enabling , enum powerstep01_ConfigEnVscomp_t 
+  POWERSTEP01_CONFIG_OC_SD_ENABLE, // Over current shutwdown enabling, enum powerstep01_ConfigOcSd_t
+  POWERSTEP01_CONFIG_UVLOVAL_LOW, // UVLO Threshold via powerstep01_ConfigUvLoVal_t
+  POWERSTEP01_CONFIG_VCCVAL_7_5V, // VCC Val, enum powerstep01_ConfigVccVal_t
+  POWERSTEP01_CONFIG_TSW_024us, // Switching period, enum powerstep01_ConfigTsw_t 48
+  POWERSTEP01_CONFIG_PRED_ENABLE // Predictive current enabling , enum powerstep01_ConfigPredEn_t 
+};
+/* Motor Control Component. */
+PowerStep01 *motor;