ST / X-NUCLEO-IHM05A1

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

/media/uploads/nucleosam/mbed-x-nucleo-ihm05a1.png

Platform compatibility

Compatible platforms have been tested with the configurations provided by the HelloWorld_IHM05A1 example.

Diff: Components/l6208/L6208_config.h

Revision:
4:0b52159554b5
Parent:
3:63a8d672fe5e
Child:
5:f0856e278c08
--- a/Components/l6208/L6208_config.h	Fri Mar 24 10:59:42 2017 +0100
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,112 +0,0 @@
-/******************************************************//**
-  * @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>&copy; 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****/