Update
Dependencies: mbed mbed-rtos X_NUCLEO_IHM02A1
Diff: STEPPER_INIT.cpp
- Revision:
- 33:de144094bdd1
- Child:
- 34:0dee9a606869
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/STEPPER_INIT.cpp Mon Apr 22 11:56:38 2019 +0000 @@ -0,0 +1,80 @@ +#include "SETUP.h" + +/* Variables -----------------------------------------------------------------*/ + +/* Motor Control Expansion Board. */ +XNucleoIHM02A1 *x_nucleo_ihm02a1_1; +XNucleoIHM02A12 *x_nucleo_ihm02a1_2; + +/* Initialization parameters of the motors connected to the expansion board. */ +L6470_init_t init[L6470DAISYCHAINSIZE] = { + /* First Motor. */ + { + 9.0, /* Motor supply voltage in V. */ + 400, /* Min number of steps per revolution for the motor. */ + 1.7, /* Max motor phase voltage in A. */ + 3.06, /* Max motor phase voltage in V. */ + 300.0, /* Motor initial speed [step/s]. */ + 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */ + 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */ + 992.0, /* Motor maximum speed [step/s]. */ + 0.0, /* Motor minimum speed [step/s]. */ + 602.7, /* Motor full-step speed threshold [step/s]. */ + 3.06, /* Holding kval [V]. */ + 3.06, /* Constant speed kval [V]. */ + 3.06, /* Acceleration starting kval [V]. */ + 3.06, /* Deceleration starting kval [V]. */ + 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */ + 392.1569e-6, /* Start slope [s/step]. */ + 643.1372e-6, /* Acceleration final slope [s/step]. */ + 643.1372e-6, /* Deceleration final slope [s/step]. */ + 0, /* Thermal compensation factor (range [0, 15]). */ + 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */ + 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */ + StepperMotor::STEP_MODE_1_128, /* Step mode selection. */ + 0xFF, /* Alarm conditions enable. */ + 0x2E88 /* Ic configuration. */ + }, + + /* Second Motor. */ + { + 9.0, /* Motor supply voltage in V. */ + 400, /* Min number of steps per revolution for the motor. */ + 1.7, /* Max motor phase voltage in A. */ + 3.06, /* Max motor phase voltage in V. */ + 300.0, /* Motor initial speed [step/s]. */ + 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */ + 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */ + 992.0, /* Motor maximum speed [step/s]. */ + 0.0, /* Motor minimum speed [step/s]. */ + 602.7, /* Motor full-step speed threshold [step/s]. */ + 3.06, /* Holding kval [V]. */ + 3.06, /* Constant speed kval [V]. */ + 3.06, /* Acceleration starting kval [V]. */ + 3.06, /* Deceleration starting kval [V]. */ + 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */ + 392.1569e-6, /* Start slope [s/step]. */ + 643.1372e-6, /* Acceleration final slope [s/step]. */ + 643.1372e-6, /* Deceleration final slope [s/step]. */ + 0, /* Thermal compensation factor (range [0, 15]). */ + 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */ + 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */ + StepperMotor::STEP_MODE_1_128, /* Step mode selection. */ + 0xFF, /* Alarm conditions enable. */ + 0x2E88 /* Ic configuration. */ + } +}; + +void SchrittmotorenInit() +{ + /* Initializing Motor Control Expansion Board. */ + x_nucleo_ihm02a1_2 = new XNucleoIHM02A12(&init[0], &init[1],IRQ_FLAG_MOTOR, IRQ_BUSY_MOTOR, STB_MOTOR, SPI_CS_1, SPI_MOSI, SPI_MISO, SPI_CLK ); + x_nucleo_ihm02a1_1 = new XNucleoIHM02A1(&init[0], &init[1], IRQ_FLAG_MOTOR, IRQ_BUSY_MOTOR, STB_MOTOR, SPI_CS_2, SPI_MOSI, SPI_MISO, SPI_CLK ); + + + /* Building a list of motor control components. */ + L6470B **motors2 = x_nucleo_ihm02a1_2->get_components(); + L6470 **motors = x_nucleo_ihm02a1_1->get_components(); +} + +