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
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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/L6208/L6208_config.h@6:c73faac7197f, 2017-07-28 (annotated)
- Committer:
- Davidroid
- Date:
- Fri Jul 28 13:06:36 2017 +0000
- Revision:
- 6:c73faac7197f
- Parent:
- 4:0b52159554b5
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 | * @file L6208_config.h |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 3 | * @author IPC Rennes |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 4 | * @version V1.1.0 |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 5 | * @date February 11th, 2016 |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 6 | * @brief Predefines values for the L6208 parameters |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 7 | * @note (C) COPYRIGHT 2016 STMicroelectronics |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 8 | ****************************************************************************** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 9 | * @attention |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 10 | * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 11 | * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2> |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 12 | * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 13 | * Redistribution and use in source and binary forms, with or without modification, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 14 | * are permitted provided that the following conditions are met: |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 15 | * 1. Redistributions of source code must retain the above copyright notice, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 16 | * this list of conditions and the following disclaimer. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 17 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 18 | * this list of conditions and the following disclaimer in the documentation |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 19 | * and/or other materials provided with the distribution. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 20 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 21 | * may be used to endorse or promote products derived from this software |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 22 | * without specific prior written permission. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 23 | * |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 24 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 25 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 26 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 27 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 28 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 29 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 30 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 31 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 32 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 33 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 34 | * |
| 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 | /* Define to prevent recursive inclusion -------------------------------------*/ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 39 | #ifndef __L6208_CONFIG_H |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 40 | #define __L6208_CONFIG_H |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 41 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 42 | #ifdef __cplusplus |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 43 | extern "C" { |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 44 | #endif |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 45 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 46 | /** @addtogroup L6208 |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 47 | * @{ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 48 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 49 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 50 | /** @addtogroup L6208_Exported_Constants |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 51 | * @{ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 52 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 53 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 54 | /** @defgroup Predefined_L6208_Parameters_Values Predefined L6208 Parameters Values |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 55 | * @{ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 56 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 57 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 58 | /// Acceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 59 | #define L6208_CONF_PARAM_ACC_RATE (1000) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 60 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 61 | /// Acceleration current torque in % (from 0 to 100) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 62 | #define L6208_CONF_PARAM_ACC_CURRENT (10) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 63 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 64 | /// Deceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 65 | #define L6208_CONF_PARAM_DEC_RATE (1000) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 66 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 67 | /// Deceleration current torque in % (from 0 to 100) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 68 | #define L6208_CONF_PARAM_DEC_CURRENT (10) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 69 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 70 | /// Running speed in step/s or (1/16)th step/s for microstep modes |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 71 | #define L6208_CONF_PARAM_RUNNING_SPEED (1000) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 72 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 73 | /// Running current torque in % (from 0 to 100) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 74 | #define L6208_CONF_PARAM_RUNNING_CURRENT (10) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 75 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 76 | /// Holding current torque in % (from 0 to 100) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 77 | #define L6208_CONF_PARAM_HOLDING_CURRENT (10) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 78 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 79 | /// Step mode via enum motorStepMode_t |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 80 | #define L6208_CONF_PARAM_STEP_MODE (STEP_MODE_1_16) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 81 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 82 | /// Decay mode via enum motorDecayMode_t |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 83 | #define L6208_CONF_PARAM_DECAY_MODE (FAST_DECAY) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 84 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 85 | /// Dwelling time in ms |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 86 | #define L6208_CONF_PARAM_DWELL_TIME (0) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 87 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 88 | /// Automatic HIZ STOP |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 89 | #define L6208_CONF_PARAM_AUTO_HIZ_STOP (FALSE) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 90 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 91 | /// VREFA and VREFB PWM frequency (Hz) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 92 | #define L6208_CONF_VREF_PWM_FREQUENCY (100000) |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 93 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 94 | /** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 95 | * @} |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 96 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 97 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 98 | /** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 99 | * @} |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 100 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 101 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 102 | /** |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 103 | * @} |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 104 | */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 105 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 106 | #ifdef __cplusplus |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 107 | } |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 108 | #endif |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 109 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 110 | #endif /* __L6208_CONFIG_H */ |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 111 | |
| davide.aliprandi@st.com | 3:63a8d672fe5e | 112 | /******************* (C) COPYRIGHT 2016 STMicroelectronics *****END OF FILE****/ |
X-NUCLEO-IHM05A1 Bipolar Stepper Motor Driver