Revision 0:08a64a788d1f, committed 2021-03-29

Comitter:

ersatzavian

Date:

Mon Mar 29 23:51:53 2021 +0000

Child:

1:13fb32a7d8ce

Commit message:

first commit

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/X_NUCLEO_IHM02A1.lib	Mon Mar 29 23:51:53 2021 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/ST/code/X_NUCLEO_IHM02A1/#ff67801d7cd7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Mar 29 23:51:53 2021 +0000
@@ -0,0 +1,205 @@
+/* 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_S 5
+
+// LED period / 2
+#define LED_ON_S 0.25
+
+
+/* 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_S);
+    // Run "backward" so the farthest "backward" is the zero position.
+    motors[0]->run(StepperMotor::BWD, 20000);
+    
+    while(!(flag_set or timeout_set)) {
+        led1 = !led1;
+        wait_ms(LED_ON_S * 1000);
+    }
+    
+    // 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_S);
+    motors[0]->run(StepperMotor::FWD, 20000);
+    
+    while(!(flag_set or timeout_set)) {
+        led1 = !led1;
+        wait_ms(LED_ON_S * 1000);
+    }
+    
+    // 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");
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Mar 29 23:51:53 2021 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file