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:
1:8ce2a5d6fbf8
Parent:
0:00a3c3f5a8f0
Child:
2:06f3a5360a45
--- a/Components/powerstep01/powerstep01_class.cpp	Tue Apr 05 15:18:56 2016 +0000
+++ b/Components/powerstep01/powerstep01_class.cpp	Thu Apr 07 16:11:47 2016 +0000
@@ -41,11 +41,8 @@
 
 /* Definitions ---------------------------------------------------------------*/
 
-/* Error while initialising the SPI. */
-#define POWERSTEP01_ERROR_0        (0x8000)   
-
 /* Error of bad SPI transaction. */
-#define POWERSTEP01_ERROR_1        (0x8001)
+#define POWERSTEP01_ERROR_1        (POWERSTEP01_ERROR_BASE|0x0001)
 
 /* Variables  ----------------------------------------------------------------*/
 
@@ -453,7 +450,7 @@
  * @brief Returns the FW version of the library
  * @retval POWERSTEP01_FW_VERSION
  **********************************************************/
-uint8_t POWERSTEP01::Powerstep01_GetFwVersion(void)
+uint32_t POWERSTEP01::Powerstep01_GetFwVersion(void)
 {
   return (POWERSTEP01_FW_VERSION);
 }
@@ -512,7 +509,7 @@
  * as specified in enum motorStepMode_t
  * @retval None
  **********************************************************/
-void POWERSTEP01::Powerstep01_SelectStepMode(motorStepMode_t stepMode)
+bool POWERSTEP01::Powerstep01_SelectStepMode(motorStepMode_t stepMode)
 {
   uint8_t stepModeRegister;
   powerstep01_StepSel_t powerstep01StepMode;
@@ -541,9 +538,10 @@
       powerstep01StepMode = POWERSTEP01_STEP_SEL_1_64;
       break;
     case STEP_MODE_1_128:
+      powerstep01StepMode = POWERSTEP01_STEP_SEL_1_128;
+      break;
     default:
-      powerstep01StepMode = POWERSTEP01_STEP_SEL_1_128;
-      break;       
+      return false;
   }
   
   /* Set the powerstep01 in HiZ state */
@@ -558,6 +556,7 @@
   /* Reset abs pos register */
   Powerstep01_CmdResetPos();
 
+  return true;
 }
 
 /**********************************************************