Motor Control with the X-NUCLEO-IHM02A1 Expansion Board

Diff: main.cpp

Revision:

9:f35fbeedb8f4

Parent:

5:3b8e19bbf386

Child:

11:79fcaf38c09d

--- a/main.cpp	Thu Dec 10 15:43:00 2015 +0000
+++ b/main.cpp	Fri Dec 11 17:24:01 2015 +0000
@@ -69,6 +69,66 @@
 /* Motor Control Expansion Board. */
 X_NUCLEO_IHM02A1 *x_nucleo_ihm02a1;
 
+/* Initialization parameters of the motors connected to the expansion board. */
+MICROSTEPPING_MOTOR_InitTypeDef init[L6470DAISYCHAINSIZE] =
+{
+    /* First Motor. */
+    {
+        9.0,                /* Motor supply voltage in V. */
+        200,                /* 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]). */
+        MICROSTEP_1_128,    /* Step mode selection. */
+        0xFF,               /* Alarm conditions enable. */
+        0x2E88              /* Ic configuration. */
+    },
+
+    /* Second Motor. */
+    {
+        9.0,                /* Motor supply voltage in V. */
+        200,                /* 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]). */
+        MICROSTEP_1_128,    /* Step mode selection. */
+        0xFF,               /* Alarm conditions enable. */
+        0x2E88              /* Ic configuration. */
+    }
+};
+
 
 /* Main ----------------------------------------------------------------------*/
 
@@ -80,7 +140,7 @@
     DevSPI dev_spi(D11, D12, D3);
 
     /* Initializing Motor Control Expansion Board. */
-    x_nucleo_ihm02a1 = new X_NUCLEO_IHM02A1(A4, A5, D4, A2, &dev_spi);
+    x_nucleo_ihm02a1 = new X_NUCLEO_IHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi);
 
     /* Building a list of motor control components. */
     L6470 **motors = x_nucleo_ihm02a1->GetComponents();
@@ -278,7 +338,7 @@
         for (int i = 0; i < MPR_1; i++)
         {
             /* Computing the number of steps. */
-            int steps = (int) (((int) X_NUCLEO_IHM02A1::MotorParameterInitData[0][m].fullstepsperrevolution * pow(2.0f, X_NUCLEO_IHM02A1::MotorParameterInitData[0][m].step_sel)) / MPR_1);
+            int steps = (int) (((int) init[m].fullstepsperrevolution * pow(2.0f, init[m].step_sel)) / MPR_1);
 
             /* Moving. */
             motors[m]->Move(StepperMotor::FWD, steps);