ST / X_NUCLEO_IHM03A1

Expansion SW library to control high power stepper motor(s) using IHM03A1 expansion board(s) with Powerstep01 driver.

Dependencies:   X_NUCLEO_COMMON ST_INTERFACES

Dependents:   IHM03A1_ExampleFor1Motor HelloWorld_IHM03A1 IHM03A1_ExampleFor3Motors KYPHOS_Stepper_Motor_Control

Fork of X_NUCLEO_IHM03A1 by ST Expansion SW Team

Motor Control Library

Library to handle the X-NUCLEO-IHM03A1 Motor Control Expansion Board based on the Powerstep01 component.

It features the:

  • read and write of Powerstep01 registers
  • Nucleo and expansion board configuration (GPIOs, PWMs, IRQs, etc.)
  • Powerstep01 application commands handling
  • FLAG and BUSY interrupt handling (alarm reporting)
  • Daisy chain 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 1/128)
  • get/set the control method
  • get/set parameters for voltage mode driving
  • get/set parameters for current mode driving
  • get/set parameters for gate driving
  • configure various protections such as overcurrent detection
  • enable/disable alarms
  • handle step-clock
  • get system status

Daisy-Chain Configuration

The IHM03A1 board can be stacked up to three times so that the Powerstep01 components will be connected in daisy-chain configuration. For this purpose, some resistors must be correctly connected on the boards as depicted here below:

/media/uploads/nucleosam/driving1steppermotor.png /media/uploads/nucleosam/driving2steppermotors.png /media/uploads/nucleosam/driving3steppermotors.png

Platform compatibility

Compatible platforms have been tested with the default configuration provided by the HelloWorld_IHM03A1 example.

Diff: Components/powerstep01/powerstep01_class.cpp

Revision:
2:06f3a5360a45
Parent:
1:8ce2a5d6fbf8
--- a/Components/powerstep01/powerstep01_class.cpp	Thu Apr 07 16:11:47 2016 +0000
+++ b/Components/powerstep01/powerstep01_class.cpp	Wed Apr 13 12:55:45 2016 +0000
@@ -708,16 +708,16 @@
   {
     // Current mode
         Powerstep01_CmdSetParam(POWERSTEP01_TVAL_HOLD,
-          Tval_Current_to_RegVal(
+          Tval_RefVoltage_to_RegVal(
             initPrm->cm.tvalHold));
         Powerstep01_CmdSetParam(POWERSTEP01_TVAL_RUN,
-          Tval_Current_to_RegVal(
+          Tval_RefVoltage_to_RegVal(
             initPrm->cm.tvalRun));
         Powerstep01_CmdSetParam(POWERSTEP01_TVAL_ACC,
-          Tval_Current_to_RegVal(
+          Tval_RefVoltage_to_RegVal(
             initPrm->cm.tvalAcc));
         Powerstep01_CmdSetParam(POWERSTEP01_TVAL_DEC,
-          Tval_Current_to_RegVal(
+          Tval_RefVoltage_to_RegVal(
             initPrm->cm.tvalDec));
         Powerstep01_CmdSetParam(POWERSTEP01_T_FAST,
           (uint8_t)initPrm->cm.toffFast|
@@ -842,16 +842,16 @@
       {
         // Current mode
         Powerstep01_CmdSetParam(POWERSTEP01_TVAL_HOLD,
-          Tval_Current_to_RegVal(
+          Tval_RefVoltage_to_RegVal(
             POWERSTEP01_CONF_PARAM_TVAL_HOLD_DEVICE_0));
         Powerstep01_CmdSetParam(POWERSTEP01_TVAL_RUN,
-          Tval_Current_to_RegVal(
+          Tval_RefVoltage_to_RegVal(
             POWERSTEP01_CONF_PARAM_TVAL_RUN_DEVICE_0));
         Powerstep01_CmdSetParam(POWERSTEP01_TVAL_ACC,
-          Tval_Current_to_RegVal(
+          Tval_RefVoltage_to_RegVal(
             POWERSTEP01_CONF_PARAM_TVAL_ACC_DEVICE_0));
         Powerstep01_CmdSetParam(POWERSTEP01_TVAL_DEC,
-          Tval_Current_to_RegVal(
+          Tval_RefVoltage_to_RegVal(
             POWERSTEP01_CONF_PARAM_TVAL_DEC_DEVICE_0));
         Powerstep01_CmdSetParam(POWERSTEP01_T_FAST,
           (uint8_t)POWERSTEP01_CONF_PARAM_TOFF_FAST_DEVICE_0 |
@@ -956,16 +956,16 @@
       {
         // Current mode
         Powerstep01_CmdSetParam(POWERSTEP01_TVAL_HOLD,
-          Tval_Current_to_RegVal(
+          Tval_RefVoltage_to_RegVal(
             POWERSTEP01_CONF_PARAM_TVAL_HOLD_DEVICE_1));
         Powerstep01_CmdSetParam(POWERSTEP01_TVAL_RUN,
-          Tval_Current_to_RegVal(
+          Tval_RefVoltage_to_RegVal(
             POWERSTEP01_CONF_PARAM_TVAL_RUN_DEVICE_1));
         Powerstep01_CmdSetParam(POWERSTEP01_TVAL_ACC,
-          Tval_Current_to_RegVal(
+          Tval_RefVoltage_to_RegVal(
             POWERSTEP01_CONF_PARAM_TVAL_ACC_DEVICE_1));
         Powerstep01_CmdSetParam(POWERSTEP01_TVAL_DEC,
-          Tval_Current_to_RegVal(
+          Tval_RefVoltage_to_RegVal(
             POWERSTEP01_CONF_PARAM_TVAL_DEC_DEVICE_1));
         Powerstep01_CmdSetParam(POWERSTEP01_T_FAST,
           (uint8_t)POWERSTEP01_CONF_PARAM_TOFF_FAST_DEVICE_1 |
@@ -1071,16 +1071,16 @@
       {
         // Current mode
         Powerstep01_CmdSetParam(POWERSTEP01_TVAL_HOLD,
-          Tval_Current_to_RegVal(
+          Tval_RefVoltage_to_RegVal(
             POWERSTEP01_CONF_PARAM_TVAL_HOLD_DEVICE_2));
         Powerstep01_CmdSetParam(POWERSTEP01_TVAL_RUN,
-          Tval_Current_to_RegVal(
+          Tval_RefVoltage_to_RegVal(
             POWERSTEP01_CONF_PARAM_TVAL_RUN_DEVICE_2));
         Powerstep01_CmdSetParam(POWERSTEP01_TVAL_ACC,
-          Tval_Current_to_RegVal(
+          Tval_RefVoltage_to_RegVal(
             POWERSTEP01_CONF_PARAM_TVAL_ACC_DEVICE_2));
         Powerstep01_CmdSetParam(POWERSTEP01_TVAL_DEC,
-          Tval_Current_to_RegVal(
+          Tval_RefVoltage_to_RegVal(
             POWERSTEP01_CONF_PARAM_TVAL_DEC_DEVICE_2));
         Powerstep01_CmdSetParam(POWERSTEP01_T_FAST,
           (uint8_t)POWERSTEP01_CONF_PARAM_TOFF_FAST_DEVICE_2 |
@@ -1535,7 +1535,7 @@
       if (voltageMode==FALSE)
       {
         if (value > POWERSTEP01_TVAL_MAX_VALUE) result = FALSE;
-        else registerValue = Tval_Current_to_RegVal(value);
+        else registerValue = Tval_RefVoltage_to_RegVal(value);
       }
       else
       {