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/Common/component.h

Revision:
4:f48e8d87553e
Parent:
3:2fbfe0cd8d4d
Child:
5:e7dca8c6ae9f
--- a/Components/Common/component.h	Tue Sep 13 08:55:39 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,93 +0,0 @@
-/**
- ******************************************************************************
- * @file    component.h
- * @author  AST
- * @version V1.0.0
- * @date    1 April 2015
- * @brief   Generic header file containing a generic component's definitions
- *          and I/O functions.
- ******************************************************************************
- * @attention
- *
- * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- *   1. Redistributions of source code must retain the above copyright notice,
- *      this list of conditions and the following disclaimer.
- *   2. Redistributions in binary form must reproduce the above copyright notice,
- *      this list of conditions and the following disclaimer in the documentation
- *      and/or other materials provided with the distribution.
- *   3. Neither the name of STMicroelectronics nor the names of its contributors
- *      may be used to endorse or promote products derived from this software
- *      without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
-
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-
-#ifndef __COMPONENT_H
-#define __COMPONENT_H
-
-
-/* Types ---------------------------------------------------------------------*/
-
-/**
- * @brief  Component's Context structure definition.
- */
-typedef struct
-{  
-    /* Identity. */
-    uint8_t who_am_i;
-
-    /* ACTION ----------------------------------------------------------------*/
-    /* There should be only a unique identifier for each component, which     */
-    /* should be the "who_am_i" parameter, hence this parameter is optional.  */
-    /* -----------------------------------------------------------------------*/
-    /* Type. */
-    uint8_t type;
-
-    /* Configuration. */
-    uint8_t address;
-
-    /* Pointer to the Data. */
-    void *pData;
-
-    /* Pointer to the Virtual Table. */
-    void *pVTable;
-
-    /* ACTION ----------------------------------------------------------------*/
-    /* There should be only a unique virtual table for each component, which  */
-    /* should be the "pVTable" parameter, hence this parameter is optional.   */
-    /* -----------------------------------------------------------------------*/
-    /* Pointer to the Extended Virtual Table. */
-    void *pExtVTable;
-} Handle_t;
-
-/**
- * @brief  Component's Status enumerator definition.
- */
-typedef enum
-{
-    COMPONENT_OK = 0,
-    COMPONENT_ERROR,
-    COMPONENT_TIMEOUT,
-    COMPONENT_NOT_IMPLEMENTED
-} Status_t;
-
-#endif /* __COMPONENT_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/