File content as of revision 1:13fb32a7d8ce:

/* Includes ------------------------------------------------------------------*/

/* mbed specific header files. */
#include "mbed.h"

/* Helper header files. */
#include "DevSPI.h"

/* Expansion Board specific header files. */
#include "XNucleoIHM02A1.h"


/* Definitions ---------------------------------------------------------------*/

// Max time to run looking for a stall to mark home position
#define HOME_TIMEOUT 5s

// LED period / 2
#define LED_ON_TIME 250ms


/* Variables -----------------------------------------------------------------*/

/* Motor Control Expansion Board. */
XNucleoIHM02A1 *motor_shield;

/* Initialization parameters of the motors connected to the expansion board. 
   Motor: https://www.amazon.com/100-Planetary-Gearbox-Stepper-Torque/dp/B00PNEQPCU/ref=psdc_306577011_t1_B00PNEQFAM
   Rated current: 0.67 A
   Phase resistance: 9.2 Ω
   Steps per rev: 200 -> 100:1 gearbox -> 20,000 steps per output shaft rev.
   
   Very good brief on the L6470 and what the below parameters do:
   https://www.mouser.com/simple_stepper_motor/
 */
L6470_init_t init[L6470DAISYCHAINSIZE] = {
    /* First Motor. */
    {
        12.0,                          /* Motor supply voltage in V. */
        200,                           /* Min number of steps per revolution for the motor. */
        0.5,                           /* Max motor phase voltage in A. */
        6.0,                           /* 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]. */
        0.0,                           /* Motor full-step speed threshold [step/s]. */
        6.0,                           /* Holding kval [V]. */
        6.0,                           /* Constant speed kval [V]. */
        6.0,                           /* Acceleration starting kval [V]. */
        6.0,                           /* 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]). */
        400.0,                         /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
        100.0,                         /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
        StepperMotor::STEP_MODE_FULL,  /* Step mode selection. */
        0xFF,                          /* Alarm conditions enable. */
        0x2E88                         /* Ic configuration. */
    },

    /* Second Motor. */
    {
        12.0,                          /* Motor supply voltage in V. */
        200,                           /* Min number of steps per revolution for the motor. */
        0.5,                           /* Max motor phase voltage in A. */
        6.0,                           /* 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]. */
        0.0,                           /* Motor full-step speed threshold [step/s]. */
        6.0,                           /* Holding kval [V]. */
        6.0,                           /* Constant speed kval [V]. */
        6.0,                           /* Acceleration starting kval [V]. */
        6.0,                           /* 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]). */
        400.0,                         /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */
        100.0,                         /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */
        StepperMotor::STEP_MODE_FULL,  /* Step mode selection. */
        0xFF,                          /* Alarm conditions enable. */
        0x2E88                         /* Ic configuration. */
    }
};

bool flag_set = false;
bool timeout_set = false;
bool found_limit = false;

void flag_handler() 
{
    flag_set = true;
}

void timeout_handler()
{
    timeout_set = true;
}
    
void limit_sw_handler()
{
    found_limit = true;
}

/* Main ----------------------------------------------------------------------*/

int main()
{
    /*----- Initialization. -----*/

    /* Initializing SPI bus. */
#ifdef TARGET_STM32F429
    DevSPI dev_spi(D11, D12, D13);
#else
    DevSPI dev_spi(D11, D12, D3);
#endif

    DigitalOut led1(LED1);
        
    Timeout t;

    /* Initializing Motor Control Expansion Board. */
    motor_shield = new XNucleoIHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi);

    /* Building a list of motor control components. */
    L6470 **motors = motor_shield->get_components();

    /*----- Setting home position - run at constant speed until stall -----*/
    printf("Attempting to home.\r\n");
    
    motors[0]->attach_flag_irq(&flag_handler);
    motors[0]->enable_flag_irq();
        
    // Run at a specified speed (in steps/s). 
    //   Goal is to stall and halt using the IRQ, and set the zero position there.
    //   Otherwise, time out
    t.attach(&timeout_handler, HOME_TIMEOUT);
    // Run "backward" so the farthest "backward" is the zero position.
    motors[0]->run(StepperMotor::BWD, 20000);
    
    while(!(flag_set or timeout_set)) {
        led1 = !led1;
        ThisThread::sleep_for(LED_ON_TIME);
    }
    
    // We're either there or timed out; halt the timeout and hard stop the motor
    t.detach();
    motors[0]->hard_stop();
    
    if (flag_set) {
        printf("Flag was set, status register: 0x%02X\r\n", motors[0]->get_status());
        flag_set = false;
    }
    
    if (timeout_set) {
        printf("Timeout happened, home position probably invalid\r\n");
        timeout_set = false;
    }
   
    // Set home position and print current position to console to confirm
    motors[0]->set_home();
    printf("Home set. Current Position: %d\r\n", motors[0]->get_position());
    
    /*----- Setting far limit (mark) position - run at constant speed until stall -----*/
    t.attach(&timeout_handler, HOME_TIMEOUT);
    motors[0]->run(StepperMotor::FWD, 20000);
    
    while(!(flag_set or timeout_set)) {
        led1 = !led1;
        ThisThread::sleep_for(LED_ON_TIME);
    }
    
    // We're either there or timed out; halt the timeout and hard stop the motor
    t.detach();
    motors[0]->hard_stop();
    
    if (flag_set) {
        printf("Flag was set, status register: 0x%02X\r\n", motors[0]->get_status());
        flag_set = false;
    }
    
    if (timeout_set) {
        printf("Timeout happened, mark position probably invalid\r\n");
        timeout_set = false;
    }
    
    motors[0]->set_mark();
    printf("Marked far limit. Current Position: %d\r\n", motors[0]->get_position());
    
    /*---- Now center the actuator -----*/
    motors[0]->go_to(motors[0]->get_mark()/2);
    

    /*----- High Impedance State. -----*/
    motors[0]->hard_hiz();
    printf("Motor Centered, Bridge High Z.\r\n");
}