Hey Christian,
How did you solve the problem? I have no solution for the same problem: I can just control one motor shield: If use the user button motors 1 and 2 are moving. Without the user button motors 3 and 4 are moving :
/**
******************************************************************************
* @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.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
/* mbed specific header files. */
#include "mbed.h"
/* Helper header files. */
#include "DevSPI.h"
/* Expansion Board specific header files. */
#include "XNucleoIHM02A1.h"
DigitalIn B1(USER_BUTTON);
/* Definitions ---------------------------------------------------------------*/
/* Number of movements per revolution. */
#define MPR_1 4
/* Number of steps. */
#define STEPS_1 (20 * 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_1 100
#define DELAY_2 200
#define DELAY_3 500
/* Variables -----------------------------------------------------------------*/
/* Motor Control Expansion Board. */
XNucleoIHM02A1 *x_nucleo_ihm02a1_a;
XNucleoIHM02A1 *x_nucleo_ihm02a1_b;
/* Initialization parameters of the motors connected to the expansion board. */
L6470_init_t init[L6470DAISYCHAINSIZE] = {
/* First Motor. */
{
45.0, /* Motor supply voltage in V. */
400, /* Min number of steps per revolution for the motor. */
1.7, /* Max motor phase voltage in A. */
3.06, /* 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. */
{
45.0, /* Motor supply voltage in V. */
400, /* Min number of steps per revolution for the motor. */
1.7, /* Max motor phase voltage in A. */
3.06, /* 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()
{
/* Initializing Motor Control Expansion Board. */
if(B1==0)
{
x_nucleo_ihm02a1_b = new XNucleoIHM02A1(&init[0], &init[1], A4, A5, D4, D10, D11, D12, D13);
x_nucleo_ihm02a1_a = new XNucleoIHM02A1(&init[0], &init[1], A4, A5, D4, A2, D11, D12, D13);
}
else
{
x_nucleo_ihm02a1_a = new XNucleoIHM02A1(&init[0], &init[1], A4, A5, D4, A2, D11, D12, D13);
x_nucleo_ihm02a1_b = new XNucleoIHM02A1(&init[0], &init[1], A4, A5, D4, D10, D11, D12, D13);
}
/* Building a list of motor control components. */
L6470 **motors_a = x_nucleo_ihm02a1_a->get_components();
L6470 **motors_b = x_nucleo_ihm02a1_b->get_components();
/* Moving Motors */
motors_a[0]->move(StepperMotor::FWD, STEPS_1);
motors_a[1]->move(StepperMotor::FWD, STEPS_1);
motors_b[0]->move(StepperMotor::FWD, STEPS_1);
motors_b[1]->move(StepperMotor::FWD, STEPS_1);
printf("Ende gut alles gut \r\n");
}
