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();
+}   
+    
+