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:

Platform compatibility

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

--- a/Components/powerstep01/powerstep01_class.h	Thu Apr 07 16:11:47 2016 +0000
+++ b/Components/powerstep01/powerstep01_class.h	Wed Apr 13 12:55:45 2016 +0000
@@ -1075,7 +1075,7 @@
      * @note The voltage corresponds to a peak output current
      * accross the external sense power resistor
      **********************************************************/
-    static uint8_t Tval_Current_to_RegVal(float voltage_mV)
+    static uint8_t Tval_RefVoltage_to_RegVal(float voltage_mV)
     {
         return ((uint8_t)((((float)(voltage_mV)-7.8125f)*0.128f)+0.5f));
     }
@@ -1089,7 +1089,7 @@
      * @note The voltage corresponds to a peak output current
      * accross the external sense power resistor
      **********************************************************/
-    static float Tval_RegVal_to_Current(uint32_t regVal)
+    static float Tval_RegVal_to_RefVoltage(uint32_t regVal)
     {
         return (((float)(regVal+1))*7.8125f);
     }