Diff: STEPPER_INIT.cpp

Revision:

34:0dee9a606869

Parent:

33:de144094bdd1

diff -r de144094bdd1 -r 0dee9a606869 STEPPER_INIT.cpp
--- a/STEPPER_INIT.cpp	Mon Apr 22 11:56:38 2019 +0000
+++ b/STEPPER_INIT.cpp	Wed Apr 24 21:08:27 2019 +0000
@@ -1,80 +1,16 @@
 #include "SETUP.h"
+#include "STEPPER_INIT.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. */
-    },
+extern L6470B **motors2;
+extern L6470 **motors;
 
-    /* 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()
+void SpleisserMotorFWD()
 {
-     /* 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();
-}   
+   printf("Warten\r\n");
+   motors[1]->run(StepperMotor::FWD,100);;
+  
+}