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_class.h

Revision:
2:2af31245e67e
Parent:
1:5cc2691ccfff
--- a/Components/l6208/l6208_class.h	Wed Apr 27 16:30:55 2016 +0000
+++ b/Components/l6208/l6208_class.h	Fri Apr 29 14:58:30 2016 +0000
@@ -96,8 +96,8 @@
                                                                                                                                                          vrefB_pwm(vrefB_pwm_pin)
     {
         /* Checking stackability. */
-        if (!(numberOfDevices < MAX_NUMBER_OF_DEVICES))
-            error("Instantiation of the L6208 component failed: it can be stacked up to %d times.\r\n", MAX_NUMBER_OF_DEVICES);
+        if (numberOfDevices!=0)
+            error("Instantiation of the L6208 component failed: it can't be stacked on itself.\r\n");
 
         /* ACTION 4 ----------------------------------------------------------*
          * Initialize here the component's member variables, one variable per *
@@ -663,15 +663,6 @@
     {
         L6208_SetStopMode(stopMode);
     }
-    
-    /**
-     * @brief Public static functions
-     */    
-
-    static uint8_t GetNbDevices(void)
-    {
-        return numberOfDevices;
-    }
    
     /*** Public Interrupt Related Methods ***/
 
@@ -791,6 +782,34 @@
     void L6208_VrefPwmSetFreq(uint32_t newFreq);
     void L6208_WaitWhileActive(void);
     
+    /*** Functions intended to be used only internally ***/
+    
+    void L6208_ClearSysFlag(uint32_t mask);
+    uint32_t L6208_ComputeNbAccOrDecSteps(uint16_t accOrDecRate);
+    uint16_t L6208_ConvertAcceDecelRateValue(uint16_t newAccOrDecRate);
+    void L6208_DoAccel(void);
+    void L6208_DoDecel(void);
+    void L6208_DoRun(void);
+    uint8_t L6208_GetMicrostepSample2Scale(void);
+    void L6208_Indexmodeinit(void);
+    bool L6208_IsSysFlag(uint32_t mask);
+    void L6208_ResetSteps(void);
+    uint32_t L6208_ScaleWaveformSample(uint8_t sampleIndex);
+    void L6208_ScaleWaveformTable(void);
+    void L6208_SetDeviceParamsToGivenValues(l6208_Init_t* pInitDevicePrm);
+    void L6208_SetDeviceParamsToPredefinedValues(void);
+    void L6208_SetMicrostepSample2Scale(uint8_t value);
+    void L6208_SetMicrostepSample2Update(uint8_t value);
+    void L6208_SetMotionState(motorState_t newMotionState);
+    bool L6208_SetSpeed(uint16_t newSpeed, uint32_t volatile *pSpeed);
+    void L6208_SetSysFlag(uint32_t mask);
+    bool L6208_StartMovement(void);
+    void L6208_UpdateScanWaveformTable(void);
+    void L6208_UstepWaveformHandling(void);
+    bool L6208_VectorCalc(uint8_t newTorque);
+    bool L6208_VrefPwmComputePulseWidth(uint8_t bridgeId, uint16_t value, bool valueIsPwmDutyCycle);
+    void L6208_VrefPwmUpdatePulseWidth(void);
+    
     /*** Component's I/O Methods ***/
 
     /* ACTION 8 --------------------------------------------------------------*
@@ -1065,36 +1084,6 @@
         else return false;
         return true;
     }
-    
-private:
-
-    /*** Private Component Related Methods ***/
-
-    void L6208_ClearSysFlag(uint32_t mask);
-    uint32_t L6208_ComputeNbAccOrDecSteps(uint16_t accOrDecRate);
-    uint16_t L6208_ConvertAcceDecelRateValue(uint16_t newAccOrDecRate);
-    void L6208_DoAccel(void);
-    void L6208_DoDecel(void);
-    void L6208_DoRun(void);
-    uint8_t L6208_GetMicrostepSample2Scale(void);
-    void L6208_Indexmodeinit(void);
-    bool L6208_IsSysFlag(uint32_t mask);
-    void L6208_ResetSteps(void);
-    uint32_t L6208_ScaleWaveformSample(uint8_t sampleIndex);
-    void L6208_ScaleWaveformTable(void);
-    void L6208_SetDeviceParamsToGivenValues(l6208_Init_t* pInitDevicePrm);
-    void L6208_SetDeviceParamsToPredefinedValues(void);
-    void L6208_SetMicrostepSample2Scale(uint8_t value);
-    void L6208_SetMicrostepSample2Update(uint8_t value);
-    void L6208_SetMotionState(motorState_t newMotionState);
-    bool L6208_SetSpeed(uint16_t newSpeed, uint32_t volatile *pSpeed);
-    void L6208_SetSysFlag(uint32_t mask);
-    bool L6208_StartMovement(void);
-    void L6208_UpdateScanWaveformTable(void);
-    void L6208_UstepWaveformHandling(void);
-    bool L6208_VectorCalc(uint8_t newTorque);
-    bool L6208_VrefPwmComputePulseWidth(uint8_t bridgeId, uint16_t value, bool valueIsPwmDutyCycle);
-    void L6208_VrefPwmUpdatePulseWidth(void);
 
 protected: