Stepper motor control for KYPHOS rig
Dependencies: mbed X_NUCLEO_IHM03A1 HX711
Diff: main.cpp
- Revision:
- 0:1cb05bc2807c
- Child:
- 1:5822a95491d3
diff -r 000000000000 -r 1cb05bc2807c main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Tue Feb 11 16:02:22 2020 +0000 @@ -0,0 +1,191 @@ +#include "mbed.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 + 488, // 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 +}; + +/* Motor Control Component. */ +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) +{ + /* Printing to the console. */ + printf("Error %d detected\r\n\n", error); + + /* Infinite loop */ + while (true) { + } +} + +/* Main ----------------------------------------------------------------------*/ + +int main() +{ + /* Printing to the console. */ + printf("STARTING MAIN PROGRAM\r\n"); + +//----- Initialization + /* 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); + + /* Printing to the console. */ + printf("Motor Control Application Example for 1 Motor\r\n"); + +//----- move of 16000 steps in the FW direction + printf("--> Moving forward 480 steps.\r\n"); + motor->move(StepperMotor::FWD, 480); + + /* Waiting while the motor is active. */ + motor->wait_while_active(); + + /* Wait for 2 seconds */ + ThisThread::sleep_for(2*1000); + //----- Go to position -480 + printf("--> Go to position -480 steps.\r\n"); + + /* Request device to go to position -480 */ + motor->go_to(-480); + + /* Wait for the motor ends moving */ + motor->wait_while_active(); + + /* Get current position of device and print to the console */ + printf(" Position: %d.\r\n", motor->get_position()); + + /* Wait for 2 seconds */ + ThisThread::sleep_for(2*1000); + +//----- Go Home + /* Printing to the console. */ + printf("--> Go to home position.\r\n"); + + /* Request device to go to Home */ + motor->go_home(); + + /* Wait for the motor ends moving */ + motor->wait_while_active(); + + /* Wait for 2 seconds */ + ThisThread::sleep_for(2*1000); + +//----- run the motor BACKWARD at 120 step/s + printf("--> run the motor backward at 120 step/s.\r\n"); + motor->run(StepperMotor::BWD, 120); + +//----- Get parameter example + /* Wait for device reaches the targeted speed */ + while ((motor->read_status_register() & POWERSTEP01_STATUS_MOT_STATUS) != POWERSTEP01_STATUS_MOT_STATUS_CONST_SPD); + + /* Record the reached speed in step/s and print to the console */ + printf(" Reached Speed: %f step/s.\r\n", motor->get_analog_value(POWERSTEP01_SPEED)); + +//----- Soft stopped required while running + printf("--> Soft stop requested.\r\n"); + + /* 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(); +} \ No newline at end of file