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
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
- Committer:
- Davidroid
- Date:
- 2017-07-28
- Revision:
- 6:c73faac7197f
- Parent:
- 4:0b52159554b5
File content as of revision 6:c73faac7197f:
/******************************************************//** * @file L6208_config.h * @author IPC Rennes * @version V1.1.0 * @date February 11th, 2016 * @brief Predefines values for the L6208 parameters * @note (C) COPYRIGHT 2016 STMicroelectronics ****************************************************************************** * @attention * * <h2><center>© COPYRIGHT(c) 2016 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. * ****************************************************************************** */ /* Define to prevent recursive inclusion -------------------------------------*/ #ifndef __L6208_CONFIG_H #define __L6208_CONFIG_H #ifdef __cplusplus extern "C" { #endif /** @addtogroup L6208 * @{ */ /** @addtogroup L6208_Exported_Constants * @{ */ /** @defgroup Predefined_L6208_Parameters_Values Predefined L6208 Parameters Values * @{ */ /// Acceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes #define L6208_CONF_PARAM_ACC_RATE (1000) /// Acceleration current torque in % (from 0 to 100) #define L6208_CONF_PARAM_ACC_CURRENT (10) /// Deceleration rate in step/s^2 or (1/16)th step/s^2 for microstep modes #define L6208_CONF_PARAM_DEC_RATE (1000) /// Deceleration current torque in % (from 0 to 100) #define L6208_CONF_PARAM_DEC_CURRENT (10) /// Running speed in step/s or (1/16)th step/s for microstep modes #define L6208_CONF_PARAM_RUNNING_SPEED (1000) /// Running current torque in % (from 0 to 100) #define L6208_CONF_PARAM_RUNNING_CURRENT (10) /// Holding current torque in % (from 0 to 100) #define L6208_CONF_PARAM_HOLDING_CURRENT (10) /// Step mode via enum motorStepMode_t #define L6208_CONF_PARAM_STEP_MODE (STEP_MODE_1_16) /// Decay mode via enum motorDecayMode_t #define L6208_CONF_PARAM_DECAY_MODE (FAST_DECAY) /// Dwelling time in ms #define L6208_CONF_PARAM_DWELL_TIME (0) /// Automatic HIZ STOP #define L6208_CONF_PARAM_AUTO_HIZ_STOP (FALSE) /// VREFA and VREFB PWM frequency (Hz) #define L6208_CONF_VREF_PWM_FREQUENCY (100000) /** * @} */ /** * @} */ /** * @} */ #ifdef __cplusplus } #endif #endif /* __L6208_CONFIG_H */ /******************* (C) COPYRIGHT 2016 STMicroelectronics *****END OF FILE****/