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****/

X-NUCLEO-IHM05A1 Bipolar Stepper Motor Driver