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_target_config.h

Revision:
1:5cc2691ccfff
Parent:
0:52a66fac0f64
--- a/Components/l6208/l6208_target_config.h	Fri Apr 08 15:30:36 2016 +0000
+++ b/Components/l6208/l6208_target_config.h	Wed Apr 27 16:30:55 2016 +0000
@@ -0,0 +1,112 @@
+/******************************************************//**
+  * @file    l6208_target_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_TARGET_CONFIG_H
+#define __L6208_TARGET_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_TARGET_CONFIG_H */
+
+/******************* (C) COPYRIGHT 2016 STMicroelectronics *****END OF FILE****/