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ST Microelectronics IHM02A1 motor driver board for two stepping motors. ST L647OPD motion controller ICs are used on the IHM02A1. Nanotec ST4118X1404-A motors used on testing.
Dependencies: X_NUCLEO_IHM02A1
main.cpp
- Committer:
- timo_k2
- Date:
- 2021-10-04
- Revision:
- 29:34ef733fe490
- Parent:
- 28:831587f78478
File content as of revision 29:34ef733fe490:
/** ****************************************************************************** * @file main.cpp * @author Davide Aliprandi, STMicroelectronics * @version V1.0.0 * @date November 4th, 2015 * @brief mbed test application for the STMicroelectronics X-NUCLEO-IHM02A1 * Motor Control Expansion Board: control of 2 motors. ****************************************************************************** * @attention * * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2> * * Redistribution and use in source and binary forms, with or without modification, * are permitted provided that the following conditions are met: * 1. Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright notice, * this list of conditions and the following disclaimer in the documentation * and/or other materials provided with the distribution. * 3. Neither the name of STMicroelectronics nor the names of its contributors * may be used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************** * Comments by Timo Karppinen * For correct use of the NUCLEO-F401RE, L476RG with the X-NUCLEO-IHM02A1, * the solder bridge SB15 on the NUCLEO-x4xxRx has to be removed / * Getting started with X-NUCLEO_IHM02A1, page 3/24. = IHM02A1 L6470 nCS * * Set the motor parameters before connecting the motor!!! Supply voltage, * Maximum motor phase curent and Maximum phase voltage are the most * important ones. Set as well the step angle - you will set the number of * steps per revolution. * * On first tests supply the IHM02A1 voltage from a source where you can set * the current limit. The limit should correspond the maximum phase current * given in the step motor data sheet. Two phases are driven at a time * the current might be double the motor phase current. * * Wiring the IHM02A1 --- ST4118X1404-A * 2A --- Orange phase A\ * 1A --- Brown phase A * 1B --- Red phase B * 2B --- Yellow phase B\ * */ /* Includes ------------------------------------------------------------------*/ /* mbed specific header files. */ #include "mbed.h" #include "rtos.h" /* Helper header files. */ #include "DevSPI.h" /* Expansion Board specific header files. */ #include "XNucleoIHM02A1.h" /* Definitions ---------------------------------------------------------------*/ /* Number of movements per revolution. */ #define MPR_1 4 /* Number of steps. */ #define STEPS_1 (400 * 128) /* 1 revolution given a 400 steps motor configured at 1/128 microstep mode. */ #define STEPS_2 (STEPS_1 * 2) /* Delay in milliseconds. */ #define DELAY_1 1000 #define DELAY_2 2000 #define DELAY_3 5000 /* Variables -----------------------------------------------------------------*/ /* Motor Control Expansion Board. */ XNucleoIHM02A1 *x_nucleo_ihm02a1; /* Initialization parameters of the motors connected to the expansion board. */ L6470_init_t init[L6470DAISYCHAINSIZE] = { /* First Motor. */ { 9.0, /* Motor supply voltage in V. */ 200, /* Min number of steps per revolution for the motor. */ 1.0, /* Max motor phase current in A. */ 2.0, /* 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. */ 200, /* Min number of steps per revolution for the motor. */ 1.0, /* Max motor phase voltage in A. */ 2.0, /* 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. */ } }; /* Main ----------------------------------------------------------------------*/ int main() { /*----- Initialization. -----*/ /* Initializing SPI bus. */ #ifdef TARGET_STM32F429 DevSPI dev_spi(D11, D12, D13); #else DevSPI dev_spi(D11, D12, D3); #endif /* Initializing Motor Control Expansion Board. */ x_nucleo_ihm02a1 = new XNucleoIHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi); /* Building a list of motor control components. */ L6470 **motors = x_nucleo_ihm02a1->get_components(); /* Printing to the console. */ printf("Motor Control Application Example for 2 Motors\r\n\n"); /*----- Setting home and marke positions, getting positions, and going to positions. -----*/ /* Printing to the console. */ printf("--> Setting home position.\r\n"); /* Setting the home position. */ motors[0]->set_home(); /* Waiting. */ wait_ms(DELAY_1); /* Getting the current position. */ int position = motors[0]->get_position(); /* Printing to the console. */ printf("--> Getting the current position: %d\r\n", position); /* Waiting. */ wait_ms(DELAY_1); /* Printing to the console. */ printf("--> Moving forward %d steps.\r\n", STEPS_1); /* Moving. */ motors[0]->move(StepperMotor::FWD, STEPS_1); /* Waiting while active. */ motors[0]->wait_while_active(); /* Getting the current position. */ position = motors[0]->get_position(); /* Printing to the console. */ printf("--> Getting the current position: %d\r\n", position); /* Printing to the console. */ printf("--> Marking the current position.\r\n"); /* Marking the current position. */ motors[0]->set_mark(); /* Waiting. */ wait_ms(DELAY_1); /* Printing to the console. */ printf("--> Moving backward %d steps.\r\n", STEPS_2); /* Moving. */ motors[0]->move(StepperMotor::BWD, STEPS_2); /* Waiting while active. */ motors[0]->wait_while_active(); /* Waiting. */ wait_ms(DELAY_1); /* Getting the current position. */ position = motors[0]->get_position(); /* Printing to the console. */ printf("--> Getting the current position: %d\r\n", position); /* Waiting. */ wait_ms(DELAY_1); /* Printing to the console. */ printf("--> Going to marked position.\r\n"); /* Going to marked position. */ motors[0]->go_mark(); /* Waiting while active. */ motors[0]->wait_while_active(); /* Waiting. */ wait_ms(DELAY_1); /* Getting the current position. */ position = motors[0]->get_position(); /* Printing to the console. */ printf("--> Getting the current position: %d\r\n", position); /* Waiting. */ wait_ms(DELAY_1); /* Printing to the console. */ printf("--> Going to home position.\r\n"); /* Going to home position. */ motors[0]->go_home(); /* Waiting while active. */ motors[0]->wait_while_active(); /* Waiting. */ wait_ms(DELAY_1); /* Getting the current position. */ position = motors[0]->get_position(); /* Printing to the console. */ printf("--> Getting the current position: %d\r\n", position); /* Waiting. */ wait_ms(DELAY_1); /* Printing to the console. */ printf("--> Halving the microsteps.\r\n"); /* Halving the microsteps. */ init[0].step_sel = (init[0].step_sel > 0 ? init[0].step_sel - 1 : init[0].step_sel); if (!motors[0]->set_step_mode((StepperMotor::step_mode_t) init[0].step_sel)) { printf(" Step Mode not allowed.\r\n"); } /* Waiting. */ wait_ms(DELAY_1); /* Printing to the console. */ printf("--> Setting home position.\r\n"); /* Setting the home position. */ motors[0]->set_home(); /* Waiting. */ wait_ms(DELAY_1); /* Getting the current position. */ position = motors[0]->get_position(); /* Printing to the console. */ printf("--> Getting the current position: %d\r\n", position); /* Waiting. */ wait_ms(DELAY_1); /* Printing to the console. */ printf("--> Moving forward %d steps.\r\n", STEPS_1); /* Moving. */ motors[0]->move(StepperMotor::FWD, STEPS_1); /* Waiting while active. */ motors[0]->wait_while_active(); /* Getting the current position. */ position = motors[0]->get_position(); /* Printing to the console. */ printf("--> Getting the current position: %d\r\n", position); /* Printing to the console. */ printf("--> Marking the current position.\r\n"); /* Marking the current position. */ motors[0]->set_mark(); /* Waiting. */ wait_ms(DELAY_2); /*----- Running together for a certain amount of time. -----*/ /* Printing to the console. */ printf("--> Running together for %d seconds.\r\n", DELAY_3 / 1000); /* Preparing each motor to perform a run at a specified speed. */ for (int m = 0; m < L6470DAISYCHAINSIZE; m++) { motors[m]->prepare_run(StepperMotor::BWD, 400); } /* Performing the action on each motor at the same time. */ x_nucleo_ihm02a1->perform_prepared_actions(); /* Waiting. */ wait_ms(DELAY_3); /*----- Increasing the speed while running. -----*/ /* Preparing each motor to perform a run at a specified speed. */ for (int m = 0; m < L6470DAISYCHAINSIZE; m++) { motors[m]->prepare_get_speed(); } /* Performing the action on each motor at the same time. */ uint32_t* results = x_nucleo_ihm02a1->perform_prepared_actions(); /* Printing to the console. */ printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]); /* Printing to the console. */ printf("--> Doublig the speed while running again for %d seconds.\r\n", DELAY_3 / 1000); /* Preparing each motor to perform a run at a specified speed. */ for (int m = 0; m < L6470DAISYCHAINSIZE; m++) { motors[m]->prepare_run(StepperMotor::BWD, results[m] << 1); } /* Performing the action on each motor at the same time. */ results = x_nucleo_ihm02a1->perform_prepared_actions(); /* Waiting. */ wait_ms(DELAY_3); /* Preparing each motor to perform a run at a specified speed. */ for (int m = 0; m < L6470DAISYCHAINSIZE; m++) { motors[m]->prepare_get_speed(); } /* Performing the action on each motor at the same time. */ results = x_nucleo_ihm02a1->perform_prepared_actions(); /* Printing to the console. */ printf(" Speed: M1 %d, M2 %d.\r\n", results[0], results[1]); /* Waiting. */ wait_ms(DELAY_1); /*----- Hard Stop. -----*/ /* Printing to the console. */ printf("--> Hard Stop.\r\n"); /* Preparing each motor to perform a hard stop. */ for (int m = 0; m < L6470DAISYCHAINSIZE; m++) { motors[m]->prepare_hard_stop(); } /* Performing the action on each motor at the same time. */ x_nucleo_ihm02a1->perform_prepared_actions(); /* Waiting. */ wait_ms(DELAY_2); /*----- Doing a full revolution on each motor, one after the other. -----*/ /* Printing to the console. */ printf("--> Doing a full revolution on each motor, one after the other.\r\n"); /* Doing a full revolution on each motor, one after the other. */ for (int m = 0; m < L6470DAISYCHAINSIZE; m++) { for (int i = 0; i < MPR_1; i++) { /* Computing the number of steps. */ int steps = (int) (((int) init[m].fullstepsperrevolution * pow(2.0f, init[m].step_sel)) / MPR_1); /* Moving. */ motors[m]->move(StepperMotor::FWD, steps); /* Waiting while active. */ motors[m]->wait_while_active(); /* Waiting. */ wait_ms(DELAY_1); } } /* Waiting. */ wait_ms(DELAY_2); /*----- High Impedance State. -----*/ /* Printing to the console. */ printf("--> High Impedance State.\r\n"); /* Preparing each motor to set High Impedance State. */ for (int m = 0; m < L6470DAISYCHAINSIZE; m++) { motors[m]->prepare_hard_hiz(); } /* Performing the action on each motor at the same time. */ x_nucleo_ihm02a1->perform_prepared_actions(); /* Waiting. */ wait_ms(DELAY_2); }