ST
Expansion SW library to control a bipolar stepper motor using X-NUCLEO-IHM05A1 expansion board based on L6208.
Dependencies: ST_INTERFACES
Dependents: HelloWorld_IHM05A1 TAU_ROTATING_PLATFORM_IHM05A1 Amaldi_13_Exercise_IHM05A1 Amaldi_13_Exercise_IHM05A1motore ... more
Fork of
X-NUCLEO-IHM05A1
by 
ST Expansion SW Team
Motor Control Library
Library to handle the X-NUCLEO-IHM05A1 Motor Control Expansion Board based on the L6208 component.
It features the:
- Read and write of device parameters
- Configuration of GPIOs and IRQs (for enabling, direction, current decay and microstepping)
- Control of position, speed, acceleration and deceleration
- Command locking until the device completes movement
- Handling of overcurrent and thermal alarms (flag interrupt handling)
The API allows to easily:
- perform various positioning, moves and stops
- get/set or monitor the motor positions
- set home position and mark another position
- get/set minimum and maximum speed
- get current speed
- get/set acceleration and deceleration
- get/set the step mode (up to 1/16)
Board configuration
Platform compatibility
Compatible platforms have been tested with the configurations provided by the HelloWorld_IHM05A1 example.
Components/Common/component_def.h@6:c73faac7197f, 2017-07-28 (annotated)
- Committer:
- Davidroid
- Date:
- Fri Jul 28 13:06:36 2017 +0000
- Revision:
- 6:c73faac7197f
- Parent:
- 3:63a8d672fe5e
Aligning to ARM mbed coding style.
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| davide.aliprandi@st.com | 3:63a8d672fe5e | 1 | /** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 2 | ****************************************************************************** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 3 | * @file component_def.h |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 4 | * @author AST |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 5 | * @version V1.0.0 |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 6 | * @date 1 April 2015 |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 7 | * @brief Generic header file containing a generic component's definitions |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 8 | * and I/O functions. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 9 | ****************************************************************************** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 10 | * @attention |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 11 | * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 12 | * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2> |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 13 | * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 14 | * Redistribution and use in source and binary forms, with or without modification, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 15 | * are permitted provided that the following conditions are met: |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 16 | * 1. Redistributions of source code must retain the above copyright notice, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 17 | * this list of conditions and the following disclaimer. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 18 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 19 | * this list of conditions and the following disclaimer in the documentation |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 20 | * and/or other materials provided with the distribution. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 22 | * may be used to endorse or promote products derived from this software |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 23 | * without specific prior written permission. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 24 | * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 35 | * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 36 | ****************************************************************************** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 37 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 38 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 39 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 40 | /* Define to prevent recursive inclusion -------------------------------------*/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 41 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 42 | #ifndef __COMPONENT_H |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 43 | #define __COMPONENT_H |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 44 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 45 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 46 | /* Types ---------------------------------------------------------------------*/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 47 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 48 | /** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 49 | * @brief Component's Context structure definition. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 50 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 51 | typedef struct |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 52 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 53 | /* Identity. */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 54 | uint8_t who_am_i; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 55 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 56 | /* ACTION ----------------------------------------------------------------*/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 57 | /* There should be only a unique identifier for each component, which */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 58 | /* should be the "who_am_i" parameter, hence this parameter is optional. */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 59 | /* -----------------------------------------------------------------------*/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 60 | /* Type. */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 61 | uint8_t type; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 62 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 63 | /* Configuration. */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 64 | uint8_t address; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 65 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 66 | /* Pointer to the Data. */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 67 | void *p_data; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 68 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 69 | /* Pointer to the Virtual Table. */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 70 | void *p_vt; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 71 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 72 | /* ACTION ----------------------------------------------------------------*/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 73 | /* There should be only a unique virtual table for each component, which */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 74 | /* should be the "p_vt" parameter, hence this parameter is optional. */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 75 | /* -----------------------------------------------------------------------*/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 76 | /* Pointer to the Extended Virtual Table. */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 77 | void *p_ext_vt; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 78 | } handle_t; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 79 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 80 | /** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 81 | * @brief Component's Status enumerator definition. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 82 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 83 | typedef enum |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 84 | { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 85 | COMPONENT_OK = 0, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 86 | COMPONENT_ERROR, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 87 | COMPONENT_TIMEOUT, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 88 | COMPONENT_NOT_IMPLEMENTED |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 89 | } status_t; |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 90 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 91 | #endif /* __COMPONENT_H */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 92 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 93 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ |
X-NUCLEO-IHM05A1 Bipolar Stepper Motor Driver