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/Interfaces/StepperMotor_class.h

Revision:
4:f48e8d87553e
Parent:
3:2fbfe0cd8d4d
Child:
5:e7dca8c6ae9f
--- a/Components/Interfaces/StepperMotor_class.h	Tue Sep 13 08:55:39 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,271 +0,0 @@
-/**
- ******************************************************************************
- * @file    StepperMotor_class.h
- * @author  Davide Aliprandi, STMicroelectronics
- * @version V1.1.0
- * @date    April 6th, 2016
- * @brief   This file contains the abstract class describing the interface of a
- *          stepper-motor component.
- ******************************************************************************
- * @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 from recursive inclusion --------------------------------*/
-
-#ifndef __STEPPERMOTOR_CLASS_H
-#define __STEPPERMOTOR_CLASS_H
-
-
-/* Includes ------------------------------------------------------------------*/
-
-#include <Component_class.h>
-
-
-/* Classes  ------------------------------------------------------------------*/
-
-/** An abstract class for StepperMotor components.
- */
-class StepperMotor : public Component
-{
-public:
-    /**
-     * @brief Rotation modes.
-     */
-    typedef enum
-    {
-        BWD = 0, /* Backward. */
-        FWD = 1  /* Forward. */
-    } direction_t;
-
-    /**
-     * @brief Step modes.
-     */
-    typedef enum
-    {
-        STEP_MODE_FULL = 0, /* Full-step. */
-        STEP_MODE_HALF,     /* Half-step. */
-        STEP_MODE_1_4,      /* 1/4 microstep. */
-        STEP_MODE_1_8,      /* 1/8 microstep. */
-        STEP_MODE_1_16,     /* 1/16 microstep. */
-        STEP_MODE_1_32,     /* 1/32 microstep. */
-        STEP_MODE_1_64,     /* 1/64 microstep. */
-        STEP_MODE_1_128,    /* 1/128 microstep. */
-        STEP_MODE_1_256,    /* 1/256 microstep. */
-        STEP_MODE_UNKNOWN,
-        STEP_MODE_WAVE      /* Full-step one-phase-on*/
-    } step_mode_t;
-
-    /**
-     * @brief  Getting the status.
-     * @param  None.
-     * @retval The status.
-     */
-    virtual unsigned int GetStatus(void) = 0;
-
-    /**
-     * @brief  Getting the position.
-     * @param  None.
-     * @retval The position.
-     */
-    virtual signed int GetPosition(void) = 0;
-
-    /**
-     * @brief  Getting the marked position.
-     * @param  None.
-     * @retval The marked position.
-     */
-    virtual signed int GetMark(void) = 0;
-
-    /**
-     * @brief  Getting the current speed in pps.
-     * @param  None.
-     * @retval The current speed in pps.
-     */
-    virtual unsigned int GetSpeed(void) = 0;
-
-    /**
-     * @brief  Getting the maximum speed in pps.
-     * @param  None.
-     * @retval The maximum speed in pps.
-     */
-    virtual unsigned int GetMaxSpeed(void) = 0;
-
-    /**
-     * @brief  Getting the minimum speed in pps.
-     * @param  None.
-     * @retval The minimum speed in pps.
-     */
-    virtual unsigned int GetMinSpeed(void) = 0;
-
-    /**
-     * @brief  Getting the acceleration in pps^2.
-     * @param  None.
-     * @retval The acceleration in pps^2.
-     */
-    virtual unsigned int GetAcceleration(void) = 0;
-
-    /**
-     * @brief  Getting the deceleration in pps^2.
-     * @param  None.
-     * @retval The deceleration in pps^2.
-     */
-    virtual unsigned int GetDeceleration(void) = 0;
-
-    /**
-     * @brief  Getting the direction of rotation.
-     * @param  None.
-     * @retval The direction of rotation.
-     */
-    virtual direction_t GetDirection(void) = 0;
-
-    /**
-     * @brief  Setting the current position to be the home position.
-     * @param  None.
-     * @retval None.
-     */
-    virtual void SetHome(void) = 0;
-
-    /**
-     * @brief  Setting the current position to be the marked position.
-     * @param  None.
-     * @retval None.
-     */
-    virtual void SetMark(void) = 0;
-
-    /**
-     * @brief  Setting the maximum speed in pps.
-     * @param  speed The maximum speed in pps.
-     * @retval "true" in case of success, "false" otherwise.
-     */
-    virtual bool SetMaxSpeed(unsigned int speed) = 0;
-
-    /**
-     * @brief  Setting the minimum speed in pps.
-     * @param  speed The minimum speed in pps.
-     * @retval "true" in case of success, "false" otherwise.
-     */
-    virtual bool SetMinSpeed(unsigned int speed) = 0;
-
-    /**
-     * @brief  Setting the acceleration in pps^2.
-     * @param  acceleration The acceleration in pps^2.
-     * @retval "true" in case of success, "false" otherwise.
-     */
-    virtual bool SetAcceleration(unsigned int acceleration) = 0;
-
-    /**
-     * @brief  Setting the deceleration in pps^2.
-     * @param  deceleration The deceleration in pps^2.
-     * @retval "true" in case of success, "false" otherwise.
-     */
-    virtual bool SetDeceleration(unsigned int deceleration) = 0;
-
-    /**
-     * @brief  Setting the Step Mode.
-     * @param  step_mode The Step Mode.
-     * @retval "true" in case of success, "false" otherwise.
-     */
-    virtual bool SetStepMode(step_mode_t step_mode) = 0;
-
-    /**
-     * @brief  Going to a specified position.
-     * @param  position The desired position.
-     * @retval None.
-     */
-    virtual void GoTo(signed int position) = 0;
-
-    /**
-     * @brief  Going to the home position.
-     * @param  None.
-     * @retval None.
-     */
-    virtual void GoHome(void) = 0;
-
-    /**
-     * @brief  Going to the marked position.
-     * @param  None.
-     * @retval None.
-     */
-    virtual void GoMark(void) = 0;
-
-    /**
-     * @brief  Running the motor towards a specified direction.
-     * @param  direction The direction of rotation.
-     * @retval None.
-     */
-    virtual void Run(direction_t direction) = 0;
-
-    /**
-     * @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.
-     * @retval None.
-     */
-    virtual void Move(direction_t direction, unsigned int steps) = 0;
-
-    /**
-     * @brief  Stopping the motor through an immediate deceleration up to zero speed.
-     * @param  None.
-     * @retval None.
-     */
-    virtual void SoftStop(void) = 0;
-
-    /**
-     * @brief  Stopping the motor through an immediate infinite deceleration.
-     * @param  None.
-     * @retval None.
-     */
-    virtual void HardStop(void) = 0;
-
-    /**
-     * @brief  Disabling the power bridge after performing a deceleration to zero.
-     * @param  None.
-     * @retval None.
-     */
-    virtual void SoftHiZ(void) = 0;
-
-    /**
-     * @brief  Disabling the power bridge immediately.
-     * @param  None.
-     * @retval None.
-     */
-    virtual void HardHiZ(void) = 0;
-
-    /**
-     * @brief  Waiting while the motor is active.
-     * @param  None.
-     * @retval None.
-     */
-    virtual void WaitWhileActive(void) = 0;
-};
-
-#endif /* __STEPPERMOTOR_CLASS_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/