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.h

Revision:
7:9d772e2a9dbe
Parent:
6:7af3838de91a
--- a/Components/PowerStep01/PowerStep01.h	Mon May 08 15:41:45 2017 +0000
+++ b/Components/PowerStep01/PowerStep01.h	Fri Jul 14 12:51:38 2017 +0000
@@ -87,8 +87,9 @@
     PowerStep01(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName pwm, PinName ssel, DevSPI &spi) : StepperMotor(), flag_irq(flag_irq), busy_irq(busy_irq), standby_reset(standby_reset), pwm(pwm), ssel(ssel), dev_spi(spi)
     {
         /* Checking stackability. */
-        if (!(numberOfDevices < MAX_NUMBER_OF_DEVICES))
+        if (!(numberOfDevices < MAX_NUMBER_OF_DEVICES)) {
             error("Instantiation of the PowerStep01 component failed: it can be stacked up to %d times.\r\n", MAX_NUMBER_OF_DEVICES);
+        }
 
         /* ACTION 4 ----------------------------------------------------------*
          * Initialize here the component's member variables, one variable per *
@@ -466,8 +467,11 @@
      */
     virtual int check_busy_hw(void)
     {
-        if (busy_irq!=0) return 0x01;
-        else return 0x00;
+        if (busy_irq!=0) {
+            return 0x01;
+        } else {
+            return 0x00;
+        }
     }
 
     /**
@@ -478,8 +482,11 @@
      */
     virtual unsigned int check_status_hw(void)
     {
-        if (flag_irq!=0) return 0x01;
-        else return 0x00;
+        if (flag_irq!=0) {
+            return 0x01;
+        } else {
+            return 0x00;
+        }
     }
     
     /**
@@ -1290,10 +1297,11 @@
      */
     int round(float f)
     {
-        if (f >= 0)
+        if (f >= 0) {
             return (int) f + (f - (int) f < 0.5f ? 0 : 1);
-        else
+        } else {
             return (int) f - (f - (int) f < -0.5f ? 1 : 0);
+        }
     }
     
     /*** Component's I/O Methods ***/
@@ -1306,8 +1314,9 @@
      */
     status_t Read(uint8_t* pBuffer, uint16_t NumBytesToRead)
     {
-        if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0)
+        if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0) {
             return COMPONENT_ERROR;
+        }
         return COMPONENT_OK;
     }
     
@@ -1319,8 +1328,9 @@
      */
     status_t Write(uint8_t* pBuffer, uint16_t NumBytesToWrite)
     {
-        if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0)
+        if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0) {
             return COMPONENT_ERROR;
+        }
         return COMPONENT_OK;
     }
 
@@ -1333,8 +1343,9 @@
      */
     status_t ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes)
     {
-        if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0)
+        if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0) {
             return COMPONENT_ERROR;
+        }
         return COMPONENT_OK;
     }