ST
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.
Diff: Components/powerstep01/powerstep01_class.h
- Revision:
- 1:8ce2a5d6fbf8
- Parent:
- 0:00a3c3f5a8f0
- Child:
- 2:06f3a5360a45
--- a/Components/powerstep01/powerstep01_class.h Tue Apr 05 15:18:56 2016 +0000
+++ b/Components/powerstep01/powerstep01_class.h Thu Apr 07 16:11:47 2016 +0000
@@ -158,30 +158,10 @@
}
/**
- * @brief Getting the version of the firmware.
- * @param None.
- * @retval The version of the firmware.
- */
- virtual unsigned int GetFwVersion(void)
- {
- return (unsigned int) Powerstep01_GetFwVersion();
- }
-
- /**
* @brief Public functions inherited from the StepperMotor Class
*/
/**
- * @brief Attaching an error handler.
- * @param fptr An error handler.
- * @retval None.
- */
- virtual void AttachErrorHandler(void (*fptr)(uint16_t error))
- {
- Powerstep01_AttachErrorHandler((void (*)(uint16_t error)) fptr);
- }
-
- /**
* @brief Getting the value of the Status Register.
* @param None.
* @retval None.
@@ -192,86 +172,6 @@
return (unsigned int) Powerstep01_CmdGetStatus();
}
- /**
- * @brief Getting a parameter register value.
- * @param parameter A parameter's register adress.
- * @retval The parameter's register value.
- * parameter can be one of the following:
- * + POWERSTEP01_ABS_POS
- * + POWERSTEP01_EL_POS
- * + POWERSTEP01_MARK
- * + POWERSTEP01_SPEED
- * + POWERSTEP01_ACC
- * + POWERSTEP01_DEC
- * + POWERSTEP01_MAX_SPEED
- * + POWERSTEP01_MIN_SPEED
- * (voltage mode) + POWERSTEP01_KVAL_HOLD : value in %
- * (current mode) + POWERSTEP01_TVAL_HOLD : value in mV
- * (voltage mode) + POWERSTEP01_KVAL_RUN : value in %
- * (current mode) + POWERSTEP01_TVAL_RUN : value in mV
- * (voltage mode) + POWERSTEP01_KVAL_ACC : value in %
- * (current mode) + POWERSTEP01_TVAL_ACC : value in mV
- * (voltage mode) + POWERSTEP01_KVAL_DEC : value in %
- * (current mode) + POWERSTEP01_TVAL_DEC : value in mV
- * (voltage mode) + POWERSTEP01_INT_SPD
- * (voltage mode) + POWERSTEP01_ST_SLP
- * (current mode) + POWERSTEP01_T_FAST
- * (voltage mode) + POWERSTEP01_FN_SLP_ACC
- * (current mode) + POWERSTEP01_TON_MIN
- * (voltage mode) + POWERSTEP01_FN_SLP_DEC
- * (current mode) + POWERSTEP01_TOFF_MIN
- * (voltage mode) + POWERSTEP01_K_THERM
- * + POWERSTEP01_ADC_OUT
- * + POWERSTEP01_OCD_TH
- * (voltage mode) + POWERSTEP01_STALL_TH
- * + POWERSTEP01_FS_SPD
- * + POWERSTEP01_STEP_MODE
- * + POWERSTEP01_ALARM_EN
- * + POWERSTEP01_GATECFG1
- * + POWERSTEP01_GATECFG2
- * + POWERSTEP01_CONFIG
- * + POWERSTEP01_STATUS
- */
- virtual unsigned int GetParameter(unsigned int parameter)
- {
- return (unsigned int) Powerstep01_CmdGetParam((powerstep01_Registers_t)parameter);
- }
-
- /**
- * @brief Getting a parameter float value.
- * @param parameter A parameter's register adress.
- * @retval The parameter's float value.
- * parameter can be one of the following:
- * + POWERSTEP01_ABS_POS
- * + POWERSTEP01_MARK
- * + POWERSTEP01_ACC
- * + POWERSTEP01_DEC
- * + POWERSTEP01_SPEED
- * + POWERSTEP01_MAX_SPEED
- * + POWERSTEP01_MIN_SPEED
- * + POWERSTEP01_FS_SPD
- * (voltage mode) + POWERSTEP01_INT_SPD
- * (voltage mode) + POWERSTEP01_K_THERM
- * + POWERSTEP01_OCD_TH
- * (voltage mode) + POWERSTEP01_STALL_TH
- * (voltage mode) + POWERSTEP01_KVAL_HOLD : value in %
- * (current mode) + POWERSTEP01_TVAL_HOLD : value in mV
- * (voltage mode) + POWERSTEP01_KVAL_RUN : value in %
- * (current mode) + POWERSTEP01_TVAL_RUN : value in mV
- * (voltage mode) + POWERSTEP01_KVAL_ACC : value in %
- * (current mode) + POWERSTEP01_TVAL_ACC : value in mV
- * (voltage mode) + POWERSTEP01_KVAL_DEC : value in %
- * (current mode) + POWERSTEP01_TVAL_DEC : value in mV
- * (voltage mode) + POWERSTEP01_ST_SLP
- * (voltage mode) + POWERSTEP01_FN_SLP_ACC
- * (voltage mode) + POWERSTEP01_FN_SLP_DEC
- */
- virtual float GetAnalogValue(unsigned int parameter)
- {
- return Powerstep01_GetAnalogValue((powerstep01_Registers_t)parameter);
- }
-
-
/**
* @brief Getting the position.
* @param None.
@@ -359,87 +259,6 @@
}
}
- /**
- * @brief Setting a parameter.
- * @param parameter A parameter's register adress.
- * @param value The parameter's value.
- * @retval None.
- * parameter can be one of the following:
- * + POWERSTEP01_ABS_POS
- * + POWERSTEP01_EL_POS
- * + POWERSTEP01_MARK
- * + POWERSTEP01_ACC
- * + POWERSTEP01_DEC
- * + POWERSTEP01_MAX_SPEED
- * + POWERSTEP01_MIN_SPEED
- * (voltage mode) + POWERSTEP01_KVAL_HOLD : value in %
- * (current mode) + POWERSTEP01_TVAL_HOLD : value in mV
- * (voltage mode) + POWERSTEP01_KVAL_RUN : value in %
- * (current mode) + POWERSTEP01_TVAL_RUN : value in mV
- * (voltage mode) + POWERSTEP01_KVAL_ACC : value in %
- * (current mode) + POWERSTEP01_TVAL_ACC : value in mV
- * (voltage mode) + POWERSTEP01_KVAL_DEC : value in %
- * (current mode) + POWERSTEP01_TVAL_DEC : value in mV
- * (voltage mode) + POWERSTEP01_INT_SPD
- * (voltage mode) + POWERSTEP01_ST_SLP
- * (current mode) + POWERSTEP01_T_FAST
- * (voltage mode) + POWERSTEP01_FN_SLP_ACC
- * (current mode) + POWERSTEP01_TON_MIN
- * (voltage mode) + POWERSTEP01_FN_SLP_DEC
- * (current mode) + POWERSTEP01_TOFF_MIN
- * (voltage mode) + POWERSTEP01_K_THERM
- * + POWERSTEP01_ADC_OUT
- * + POWERSTEP01_OCD_TH
- * (voltage mode) + POWERSTEP01_STALL_TH
- * + POWERSTEP01_FS_SPD
- * + POWERSTEP01_STEP_MODE
- * + POWERSTEP01_ALARM_EN
- * + POWERSTEP01_GATECFG1
- * + POWERSTEP01_GATECFG2
- * + POWERSTEP01_CONFIG
- */
- virtual void SetParameter(unsigned int parameter, unsigned int value)
- {
- Powerstep01_CmdSetParam((powerstep01_Registers_t)parameter, (uint32_t)value);
- }
-
- /**
- * @brief Setting a parameter with an input float value.
- * @param param Register adress.
- * @param value Float value to convert and set into the register.
- * @retval TRUE if param and value are valid, FALSE otherwise
- * @note parameter can be one of the following:
- * + POWERSTEP01_EL_POS
- * + POWERSTEP01_ABS_POS
- * + POWERSTEP01_MARK
- * + POWERSTEP01_ACC
- * + POWERSTEP01_DEC
- * + POWERSTEP01_MAX_SPEED
- * + POWERSTEP01_MIN_SPEED
- * + POWERSTEP01_FS_SPD
- * + POWERSTEP01_INT_SPD
- * + POWERSTEP01_K_THERM
- * + POWERSTEP01_OCD_TH
- * + POWERSTEP01_STALL_TH
- * + POWERSTEP01_KVAL_HOLD
- * + POWERSTEP01_KVAL_RUN
- * + POWERSTEP01_KVAL_ACC
- * + POWERSTEP01_KVAL_DEC
- * + POWERSTEP01_ST_SLP
- * + POWERSTEP01_FN_SLP_ACC
- * + POWERSTEP01_FN_SLP_DEC
- * + POWERSTEP01_TVAL_HOLD
- * + POWERSTEP01_TVAL_RUN
- * + POWERSTEP01_TVAL_ACC
- * + POWERSTEP01_TVAL_DEC
- * + POWERSTEP01_TON_MIN
- * + POWERSTEP01_TOFF_MIN
- */
- virtual bool SetAnalogValue(unsigned int param, float value)
- {
- return Powerstep01_SetAnalogValue((powerstep01_Registers_t)param, value);
- }
-
/**
* @brief Setting the current position to be the home position.
* @param None.
@@ -514,9 +333,9 @@
* + STEP_MODE_1_64
* + STEP_MODE_1_128
*/
- virtual void SetStepMode(motorStepMode_t step_mode)
+ virtual bool SetStepMode(step_mode_t step_mode)
{
- Powerstep01_SelectStepMode((motorStepMode_t) step_mode);
+ return Powerstep01_SelectStepMode((motorStepMode_t) step_mode);
}
/**
@@ -565,17 +384,6 @@
}
/**
- * @brief Running the motor towards a specified direction.
- * @param direction The direction of rotation.
- * @param speed in steps/s.
- * @retval None.
- */
- virtual void Run(direction_t direction, float speed)
- {
- Powerstep01_CmdRun((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), Speed_Steps_s_to_RegVal(speed));
- }
-
- /**
* @brief Moving the motor towards a specified direction for a certain number of steps.
* @param direction The direction of rotation.
* @param steps The desired number of steps.
@@ -639,7 +447,17 @@
/**
* @brief Public functions NOT inherited
*/
-
+
+ /**
+ * @brief Attaching an error handler.
+ * @param fptr An error handler.
+ * @retval None.
+ */
+ virtual void AttachErrorHandler(void (*fptr)(uint16_t error))
+ {
+ Powerstep01_AttachErrorHandler((void (*)(uint16_t error)) fptr);
+ }
+
/**
* @brief Checks if the device is busy by reading the busy pin position.
* @param None.
@@ -680,6 +498,40 @@
}
/**
+ * @brief Getting a parameter float value.
+ * @param parameter A parameter's register adress.
+ * @retval The parameter's float value.
+ * parameter can be one of the following:
+ * + POWERSTEP01_ABS_POS
+ * + POWERSTEP01_MARK
+ * + POWERSTEP01_ACC
+ * + POWERSTEP01_DEC
+ * + POWERSTEP01_SPEED
+ * + POWERSTEP01_MAX_SPEED
+ * + POWERSTEP01_MIN_SPEED
+ * + POWERSTEP01_FS_SPD
+ * (voltage mode) + POWERSTEP01_INT_SPD
+ * (voltage mode) + POWERSTEP01_K_THERM
+ * + POWERSTEP01_OCD_TH
+ * (voltage mode) + POWERSTEP01_STALL_TH
+ * (voltage mode) + POWERSTEP01_KVAL_HOLD : value in %
+ * (current mode) + POWERSTEP01_TVAL_HOLD : value in mV
+ * (voltage mode) + POWERSTEP01_KVAL_RUN : value in %
+ * (current mode) + POWERSTEP01_TVAL_RUN : value in mV
+ * (voltage mode) + POWERSTEP01_KVAL_ACC : value in %
+ * (current mode) + POWERSTEP01_TVAL_ACC : value in mV
+ * (voltage mode) + POWERSTEP01_KVAL_DEC : value in %
+ * (current mode) + POWERSTEP01_TVAL_DEC : value in mV
+ * (voltage mode) + POWERSTEP01_ST_SLP
+ * (voltage mode) + POWERSTEP01_FN_SLP_ACC
+ * (voltage mode) + POWERSTEP01_FN_SLP_DEC
+ */
+ virtual float GetAnalogValue(unsigned int parameter)
+ {
+ return Powerstep01_GetAnalogValue((powerstep01_Registers_t)parameter);
+ }
+
+ /**
* @brief Get the value of the STATUS register which was
* fetched by using Powerstep01_FetchAndClearAllStatus.
* The fetched values are available as long as there
@@ -690,6 +542,61 @@
{
return Powerstep01_GetFetchedStatus();
}
+
+ /**
+ * @brief Getting the version of the firmware.
+ * @param None.
+ * @retval The version of the firmware.
+ */
+ virtual unsigned int GetFwVersion(void)
+ {
+ return (unsigned int) Powerstep01_GetFwVersion();
+ }
+
+ /**
+ * @brief Getting a parameter register value.
+ * @param parameter A parameter's register adress.
+ * @retval The parameter's register value.
+ * parameter can be one of the following:
+ * + POWERSTEP01_ABS_POS
+ * + POWERSTEP01_EL_POS
+ * + POWERSTEP01_MARK
+ * + POWERSTEP01_SPEED
+ * + POWERSTEP01_ACC
+ * + POWERSTEP01_DEC
+ * + POWERSTEP01_MAX_SPEED
+ * + POWERSTEP01_MIN_SPEED
+ * (voltage mode) + POWERSTEP01_KVAL_HOLD : value in %
+ * (current mode) + POWERSTEP01_TVAL_HOLD : value in mV
+ * (voltage mode) + POWERSTEP01_KVAL_RUN : value in %
+ * (current mode) + POWERSTEP01_TVAL_RUN : value in mV
+ * (voltage mode) + POWERSTEP01_KVAL_ACC : value in %
+ * (current mode) + POWERSTEP01_TVAL_ACC : value in mV
+ * (voltage mode) + POWERSTEP01_KVAL_DEC : value in %
+ * (current mode) + POWERSTEP01_TVAL_DEC : value in mV
+ * (voltage mode) + POWERSTEP01_INT_SPD
+ * (voltage mode) + POWERSTEP01_ST_SLP
+ * (current mode) + POWERSTEP01_T_FAST
+ * (voltage mode) + POWERSTEP01_FN_SLP_ACC
+ * (current mode) + POWERSTEP01_TON_MIN
+ * (voltage mode) + POWERSTEP01_FN_SLP_DEC
+ * (current mode) + POWERSTEP01_TOFF_MIN
+ * (voltage mode) + POWERSTEP01_K_THERM
+ * + POWERSTEP01_ADC_OUT
+ * + POWERSTEP01_OCD_TH
+ * (voltage mode) + POWERSTEP01_STALL_TH
+ * + POWERSTEP01_FS_SPD
+ * + POWERSTEP01_STEP_MODE
+ * + POWERSTEP01_ALARM_EN
+ * + POWERSTEP01_GATECFG1
+ * + POWERSTEP01_GATECFG2
+ * + POWERSTEP01_CONFIG
+ * + POWERSTEP01_STATUS
+ */
+ virtual unsigned int GetRawParameter(unsigned int parameter)
+ {
+ return (unsigned int) Powerstep01_CmdGetParam((powerstep01_Registers_t)parameter);
+ }
/**
* @brief Issues PowerStep01 Go Until command.
@@ -783,7 +690,18 @@
{
Powerstep01_CmdResetPos();
}
-
+
+ /**
+ * @brief Running the motor towards a specified direction.
+ * @param direction The direction of rotation.
+ * @param speed in steps/s.
+ * @retval None.
+ */
+ virtual void Run(direction_t direction, float speed)
+ {
+ Powerstep01_CmdRun((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), Speed_Steps_s_to_RegVal(speed));
+ }
+
/**
* @brief Sends commands stored previously in the queue by QueueCommands.
* @param None.
@@ -795,6 +713,87 @@
}
/**
+ * @brief Setting a parameter with an input float value.
+ * @param param Register adress.
+ * @param value Float value to convert and set into the register.
+ * @retval TRUE if param and value are valid, FALSE otherwise
+ * @note parameter can be one of the following:
+ * + POWERSTEP01_EL_POS
+ * + POWERSTEP01_ABS_POS
+ * + POWERSTEP01_MARK
+ * + POWERSTEP01_ACC
+ * + POWERSTEP01_DEC
+ * + POWERSTEP01_MAX_SPEED
+ * + POWERSTEP01_MIN_SPEED
+ * + POWERSTEP01_FS_SPD
+ * + POWERSTEP01_INT_SPD
+ * + POWERSTEP01_K_THERM
+ * + POWERSTEP01_OCD_TH
+ * + POWERSTEP01_STALL_TH
+ * + POWERSTEP01_KVAL_HOLD
+ * + POWERSTEP01_KVAL_RUN
+ * + POWERSTEP01_KVAL_ACC
+ * + POWERSTEP01_KVAL_DEC
+ * + POWERSTEP01_ST_SLP
+ * + POWERSTEP01_FN_SLP_ACC
+ * + POWERSTEP01_FN_SLP_DEC
+ * + POWERSTEP01_TVAL_HOLD
+ * + POWERSTEP01_TVAL_RUN
+ * + POWERSTEP01_TVAL_ACC
+ * + POWERSTEP01_TVAL_DEC
+ * + POWERSTEP01_TON_MIN
+ * + POWERSTEP01_TOFF_MIN
+ */
+ virtual bool SetAnalogValue(unsigned int param, float value)
+ {
+ return Powerstep01_SetAnalogValue((powerstep01_Registers_t)param, value);
+ }
+
+ /**
+ * @brief Setting a parameter.
+ * @param parameter A parameter's register adress.
+ * @param value The parameter's value.
+ * @retval None.
+ * parameter can be one of the following:
+ * + POWERSTEP01_ABS_POS
+ * + POWERSTEP01_EL_POS
+ * + POWERSTEP01_MARK
+ * + POWERSTEP01_ACC
+ * + POWERSTEP01_DEC
+ * + POWERSTEP01_MAX_SPEED
+ * + POWERSTEP01_MIN_SPEED
+ * (voltage mode) + POWERSTEP01_KVAL_HOLD : value in %
+ * (current mode) + POWERSTEP01_TVAL_HOLD : value in mV
+ * (voltage mode) + POWERSTEP01_KVAL_RUN : value in %
+ * (current mode) + POWERSTEP01_TVAL_RUN : value in mV
+ * (voltage mode) + POWERSTEP01_KVAL_ACC : value in %
+ * (current mode) + POWERSTEP01_TVAL_ACC : value in mV
+ * (voltage mode) + POWERSTEP01_KVAL_DEC : value in %
+ * (current mode) + POWERSTEP01_TVAL_DEC : value in mV
+ * (voltage mode) + POWERSTEP01_INT_SPD
+ * (voltage mode) + POWERSTEP01_ST_SLP
+ * (current mode) + POWERSTEP01_T_FAST
+ * (voltage mode) + POWERSTEP01_FN_SLP_ACC
+ * (current mode) + POWERSTEP01_TON_MIN
+ * (voltage mode) + POWERSTEP01_FN_SLP_DEC
+ * (current mode) + POWERSTEP01_TOFF_MIN
+ * (voltage mode) + POWERSTEP01_K_THERM
+ * + POWERSTEP01_ADC_OUT
+ * + POWERSTEP01_OCD_TH
+ * (voltage mode) + POWERSTEP01_STALL_TH
+ * + POWERSTEP01_FS_SPD
+ * + POWERSTEP01_STEP_MODE
+ * + POWERSTEP01_ALARM_EN
+ * + POWERSTEP01_GATECFG1
+ * + POWERSTEP01_GATECFG2
+ * + POWERSTEP01_CONFIG
+ */
+ virtual void SetRawParameter(unsigned int parameter, unsigned int value)
+ {
+ Powerstep01_CmdSetParam((powerstep01_Registers_t)parameter, (uint32_t)value);
+ }
+
+ /**
* @brief Enable the step clock mode.
* @param frequency the frequency of PWM.
* @retval None.
@@ -1250,12 +1249,12 @@
void Powerstep01_ErrorHandler(uint16_t error);
void Powerstep01_FetchAndClearAllStatus(void);
uint16_t Powerstep01_GetFetchedStatus(void);
- uint8_t Powerstep01_GetFwVersion(void);
+ uint32_t Powerstep01_GetFwVersion(void);
int32_t Powerstep01_GetMark(void);
int32_t Powerstep01_GetPosition(void);
bool Powerstep01_IsDeviceBusy(void);
uint16_t Powerstep01_ReadStatusRegister(void);
- void Powerstep01_SelectStepMode(motorStepMode_t stepMode);
+ bool Powerstep01_SelectStepMode(motorStepMode_t stepMode);
void Powerstep01_SetHome(void);
void Powerstep01_SetMark(void);
void Powerstep01_WaitForAllDevicesNotBusy(void);
X-NUCLEO-IHM03A1 High Power Stepper Motor Driver