Stepper motor control for KYPHOS rig
Dependencies: mbed X_NUCLEO_IHM03A1 HX711
main.cpp
- Committer:
- paullj
- Date:
- 2020-03-16
- Revision:
- 2:ad3a480d3376
- Parent:
- 1:5822a95491d3
File content as of revision 2:ad3a480d3376:
#include "mbed.h" #include "DevSPI.h" #include "PowerStep01.h" powerstep01_init_u_t init = { /* common parameters */ .cm.cp.cmVmSelection = POWERSTEP01_CM_VM_CURRENT, // enum powerstep01_CmVm_t 582, // Acceleration rate in step/s2, range 14.55 to 59590 steps/s^2 582, // Deceleration rate in step/s2, range 14.55 to 59590 steps/s^2 48, // Maximum speed in step/s, range 15.25 to 15610 steps/s 0, // Minimum speed in step/s, range 0 to 976.3 steps/s POWERSTEP01_LSPD_OPT_OFF, // Low speed optimization bit, enum powerstep01_LspdOpt_t 244.16, // Full step speed in step/s, range 7.63 to 15625 steps/s POWERSTEP01_BOOST_MODE_OFF, // Boost of the amplitude square wave, enum powerstep01_BoostMode_t 281.25, // Overcurrent threshold settings via enum powerstep01_OcdTh_t STEP_MODE_1_16, // 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 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 POWERSTEP01_WD_EN_DISABLE, // External clock watchdog, enum powerstep01_WdEn_t POWERSTEP01_TBLANK_375ns, // Duration of the blanking time via enum powerstep01_TBlank_t POWERSTEP01_TDT_125ns, // Duration of the dead time via enum powerstep01_Tdt_t /* current mode parameters */ 328.12, // Hold torque in mV, range from 7.8mV to 1000 mV 328.12, // Running torque in mV, range from 7.8mV to 1000 mV 328.12, // Acceleration torque in mV, range from 7.8mV to 1000 mV 328.12, // Deceleration torque in mV, range from 7.8mV to 1000 mV POWERSTEP01_TOFF_FAST_8us, //Maximum fast decay time , enum powerstep01_ToffFast_t POWERSTEP01_FAST_STEP_12us, //Maximum fall step time , enum powerstep01_FastStep_t 3.0, // Minimum on-time in us, range 0.5us to 64us 21.0, // Minimum off-time in us, range 0.5us to 64us 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_DISABLE, // Motor Supply Voltage Compensation enabling , enum powerstep01_ConfigEnVscomp_t POWERSTEP01_CONFIG_OC_SD_DISABLE, // Over current shutwdown enabling, enum powerstep01_ConfigOcSd_t POWERSTEP01_CONFIG_UVLOVAL_LOW, // UVLO Threshold via powerstep01_ConfigUvLoVal_t POWERSTEP01_CONFIG_VCCVAL_15V, // VCC Val, enum powerstep01_ConfigVccVal_t POWERSTEP01_CONFIG_TSW_048us, // Switching period, enum powerstep01_ConfigTsw_t POWERSTEP01_CONFIG_PRED_DISABLE // Predictive current enabling , enum powerstep01_ConfigPredEn_t }; DigitalIn button(USER_BUTTON); PowerStep01 *motor; void flag_irq_handler(void) { /* Set ISR flag. */ motor->isrFlag = TRUE; /* Get the value of the status register. */ unsigned int statusRegister = motor->get_status(); printf(" WARNING: \"FLAG\" interrupt triggered.\r\n"); /* Check SW_F flag: if not set, the SW input is opened */ if ((statusRegister & POWERSTEP01_STATUS_SW_F ) != 0) { printf(" SW closed (connected to ground).\r\n"); } /* Check SW_EN bit */ if ((statusRegister & POWERSTEP01_STATUS_SW_EVN) == POWERSTEP01_STATUS_SW_EVN) { printf(" SW turn_on event.\r\n"); } /* Check Command Error flag: if set, the command received by SPI can't be */ /* performed. This occurs for instance when a move command is sent to the */ /* Powerstep01 while it is already running */ if ((statusRegister & POWERSTEP01_STATUS_CMD_ERROR) == POWERSTEP01_STATUS_CMD_ERROR) { printf(" Non-performable command detected.\r\n"); } /* Check UVLO flag: if not set, there is an undervoltage lock-out */ if ((statusRegister & POWERSTEP01_STATUS_UVLO)==0) { printf(" undervoltage lock-out.\r\n"); } /* Check thermal STATUS flags: if set, the thermal status is not normal */ if ((statusRegister & POWERSTEP01_STATUS_TH_STATUS)!=0) { //thermal status: 1: Warning, 2: Bridge shutdown, 3: Device shutdown printf(" Thermal status: %d.\r\n", (statusRegister & POWERSTEP01_STATUS_TH_STATUS)>>11); } /* Check OCD flag: if not set, there is an overcurrent detection */ if ((statusRegister & POWERSTEP01_STATUS_OCD)==0) { printf(" Overcurrent detection.\r\n"); } /* Reset ISR flag. */ motor->isrFlag = FALSE; } /** * @brief This is an example of error handler. * @param[in] error Number of the error * @retval None * @note If needed, implement it, and then attach it: * + motor->attach_error_handler(&my_error_handler); */ void error_handler(uint16_t error) { printf("Error %d detected\r\n\n", error); while (true); } /* Main ----------------------------------------------------------------------*/ int main() { printf("STARTING MAIN PROGRAM\r\n"); /* Initializing SPI bus. */ DevSPI dev_spi(D11, D12, D13); /* Initializing Motor Control Component. */ motor = new PowerStep01(D2, D4, D8, D9, D10, dev_spi); if (motor->init(&init) != COMPONENT_OK) { exit(EXIT_FAILURE); } /* Attaching and enabling an interrupt handler. */ motor->attach_flag_irq(&flag_irq_handler); motor->enable_flag_irq(); /* Attaching an error handler */ motor->attach_error_handler(&error_handler); printf("Press button to start motor control.\r\n"); while(button); printf("--> Going to start position.\r\n"); motor->move(StepperMotor::FWD, 2000); motor->wait_while_active(); while(button) { //----- Go to position 7680 printf("--> Go to position -2000 steps.\r\n"); /* Request device to go to position 7680 */ motor->go_to(-2000); /* Wait for the motor ends moving */ motor->wait_while_active(); printf("--> Go to position 2000 steps.\r\n"); motor->go_to(2000); /* Wait for the motor ends moving */ motor->wait_while_active(); } //----- Go Home /* Printing to the console. */ printf("--> Go to home position.\r\n"); /* Request device to go to Home */ motor->go_home(); motor->wait_while_active(); /* Request a soft stop of device and keep the power bridges enabled */ motor->soft_hiz(); /* Wait for the motor of device ends moving */ motor->wait_while_active(); }