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.
Revision 1:8ce2a5d6fbf8, committed 2016-04-07
- Comitter:
- nucleosam
- Date:
- Thu Apr 07 16:11:47 2016 +0000
- Parent:
- 0:00a3c3f5a8f0
- Child:
- 2:06f3a5360a45
- Commit message:
- StepperMotor class modification and induced changes
Changed in this revision
--- a/Components/Common/motor.h Tue Apr 05 15:18:56 2016 +0000 +++ b/Components/Common/motor.h Thu Apr 07 16:11:47 2016 +0000 @@ -2,8 +2,8 @@ ****************************************************************************** * @file motor.h * @author IPC Rennes - * @version V1.5.0 - * @date January 25, 2016 + * @version V1.6.0 + * @date April 7th, 2016 * @brief This file contains all the functions prototypes for motor drivers. ****************************************************************************** * @attention @@ -269,7 +269,7 @@ /// Function pointer to GetDeviceState motorState_t(*GetDeviceState)(void *handle); /// Function pointer to GetFwVersion - uint8_t (*GetFwVersion)(void *handle); + uint32_t (*GetFwVersion)(void *handle); /// Function pointer to GetMark int32_t (*GetMark)(void *handle); /// Function pointer to GetMaxSpeed @@ -329,7 +329,7 @@ /// Function pointer to Reset void (*Reset)(void *handle); /// Function pointer to SelectStepMode - void (*SelectStepMode)(void *handle, motorStepMode_t); + bool (*SelectStepMode)(void *handle, motorStepMode_t); /// Function pointer to SetDirection void (*SetDirection)(void *handle, motorDir_t direction); /// Function pointer to CmdGoToDir
--- a/Components/Interfaces/Component_class.h Tue Apr 05 15:18:56 2016 +0000
+++ b/Components/Interfaces/Component_class.h Thu Apr 07 16:11:47 2016 +0000
@@ -68,14 +68,6 @@
* @retval "0" in case of success, an error code otherwise.
*/
virtual int ReadID(uint8_t *id) = 0;
-
- /**
- * @brief Getting the version of the firmware.
- * @param None.
- * @retval The version of the firmware.
- */
- virtual unsigned int GetFwVersion(void) = 0;
-
};
#endif /* __COMPONENT_CLASS_H */
--- a/Components/Interfaces/StepperMotor_class.h Tue Apr 05 15:18:56 2016 +0000
+++ b/Components/Interfaces/StepperMotor_class.h Thu Apr 07 16:11:47 2016 +0000
@@ -1,15 +1,15 @@
/**
******************************************************************************
* @file StepperMotor_class.h
- * @author IPC Rennes
- * @version V1.2.0
- * @date March 18th, 2016
+ * @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>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
+ * <h2><center>© 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:
@@ -60,17 +60,28 @@
*/
typedef enum
{
- BWD = 0, /* Backward. */
- FWD = 1 /* Forward. */
+ BWD = 0, /* Backward. */
+ FWD = 1 /* Forward. */
} direction_t;
/**
- * @brief Attaching an error handler.
- * @param fptr An error handler.
- * @retval None.
+ * @brief Step modes.
*/
- virtual void AttachErrorHandler(void (*fptr)(uint16_t error)) = 0;
-
+ 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.
@@ -79,20 +90,6 @@
virtual unsigned int GetStatus(void) = 0;
/**
- * @brief Getting a parameter in the register format
- * @param parameter The parameter's identifier (or its register address).
- * @retval The parameter's value in the register format (digital value)
- */
- virtual unsigned int GetParameter(unsigned int parameter) = 0;
-
- /**
- * @brief Getting a parameter value in float format
- * @param parameter The parameter's identifier (or its register address).
- * @retval The parameter's value in float format (analog value)
- */
- virtual float GetAnalogValue(unsigned int parameter) = 0;
-
- /**
* @brief Getting the position.
* @param None.
* @retval The position.
@@ -105,7 +102,7 @@
* @retval The marked position.
*/
virtual signed int GetMark(void) = 0;
-
+
/**
* @brief Getting the current speed in pps.
* @param None.
@@ -140,29 +137,13 @@
* @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 a parameter.
- * @param parameter The parameter's identifier (or its register address).
- * @param value The parameter's value in the register format (digital value)
- * @retval None.
- */
- virtual void SetParameter(unsigned int parameter, unsigned int value) = 0;
-
- /**
- * @brief Setting a parameter.
- * @param parameter The parameter's identifier (or its register address).
- * @param value The parameter's value in a float format (analog value)
- * @retval None.
- */
- virtual bool SetAnalogValue(unsigned int parameter, float value) = 0;
/**
* @brief Setting the current position to be the home position.
@@ -181,37 +162,37 @@
/**
* @brief Setting the maximum speed in pps.
* @param speed The maximum speed in pps.
- * @retval TRUE if value is valid, FALSE otherwise.
+ * @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 if value is valid, FALSE otherwise.
+ * @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 if value is valid, FALSE otherwise.
+ * @retval "true" in case of success, "false" otherwise.
*/
- virtual bool SetAcceleration(unsigned int speed) = 0;
+ virtual bool SetAcceleration(unsigned int acceleration) = 0;
/**
* @brief Setting the deceleration in pps^2.
* @param deceleration The deceleration in pps^2.
- * @retval TRUE if value is valid, FALSE otherwise.
+ * @retval "true" in case of success, "false" otherwise.
*/
- virtual bool SetDeceleration(unsigned int speed) = 0;
-
+ virtual bool SetDeceleration(unsigned int deceleration) = 0;
+
/**
* @brief Setting the Step Mode.
* @param step_mode The Step Mode.
- * @retval None.
+ * @retval "true" in case of success, "false" otherwise.
*/
- virtual void SetStepMode(motorStepMode_t step_mode) = 0;
+ virtual bool SetStepMode(step_mode_t step_mode) = 0;
/**
* @brief Going to a specified position.
@@ -283,9 +264,8 @@
* @retval None.
*/
virtual void WaitWhileActive(void) = 0;
-
};
#endif /* __STEPPERMOTOR_CLASS_H */
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/Components/powerstep01/powerstep01.h Tue Apr 05 15:18:56 2016 +0000
+++ b/Components/powerstep01/powerstep01.h Thu Apr 07 16:11:47 2016 +0000
@@ -62,8 +62,16 @@
/** @defgroup Powerstep01_Exported_Defines Powerstep01_Exported_Defines
* @{
*/
+/// Current FW major version
+#define POWERSTEP01_FW_MAJOR_VERSION (uint8_t)(1)
+/// Current FW minor version
+#define POWERSTEP01_FW_MINOR_VERSION (uint8_t)(2)
+/// Current FW patch version
+#define POWERSTEP01_FW_PATCH_VERSION (uint8_t)(0)
/// Current FW version
-#define POWERSTEP01_FW_VERSION (2)
+#define POWERSTEP01_FW_VERSION (uint32_t)((POWERSTEP01_FW_MAJOR_VERSION<<16)|\
+ (POWERSTEP01_FW_MINOR_VERSION<<8)|\
+ (POWERSTEP01_FW_PATCH_VERSION))
/// Powerstep01 max number of bytes of command & arguments to set a parameter
#define POWERSTEP01_CMD_ARG_MAX_NB_BYTES (4)
@@ -116,7 +124,7 @@
#define POWERSTEP01_MIN_POSITION (int32_t)(0xFFE00000)
/// powerSTEP01 error base number
-#define POWERSTEP01_ERROR_BASE (0x7000)
+#define POWERSTEP01_ERROR_BASE (0xB000)
/// powerSTEP01 acceleration and deceleration max value
#define POWERSTEP01_ACC_DEC_MAX_VALUE (float)(59590)
--- 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;
}
/**********************************************************
--- 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