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.

Files at this revision

API Documentation at this revision

Revision 7:9d772e2a9dbe, committed 2017-07-14

Comitter:
Davidroid
Date:
Fri Jul 14 12:51:38 2017 +0000
Parent:
6:7af3838de91a
Commit message:
Aligning to ARM mbed coding style.

Changed in this revision

Components/PowerStep01/PowerStep01.cpp Show annotated file Show diff for this revision Revisions of this file
Components/PowerStep01/PowerStep01.h Show annotated file Show diff for this revision Revisions of this file
ST_INTERFACES.lib Show annotated file Show diff for this revision Revisions of this file
X_NUCLEO_COMMON.lib Show annotated file Show diff for this revision Revisions of this file 
--- a/Components/PowerStep01/PowerStep01.cpp	Mon May 08 15:41:45 2017 +0000
+++ b/Components/PowerStep01/PowerStep01.cpp	Fri Jul 14 12:51:38 2017 +0000
@@ -1478,55 +1478,83 @@
   {
     case POWERSTEP01_EL_POS:
       if ((value > (POWERSTEP01_ELPOS_STEP_MASK|POWERSTEP01_ELPOS_MICROSTEP_MASK))||
-          ((value!=0)&&(value < (1<<(7-(POWERSTEP01_STEP_MODE_STEP_SEL&Powerstep01_CmdGetParam(POWERSTEP01_STEP_MODE))))))) result = FALSE;
-      else registerValue = ((uint32_t) value)&(POWERSTEP01_ELPOS_STEP_MASK|POWERSTEP01_ELPOS_MICROSTEP_MASK);
+          ((value!=0)&&(value < (1<<(7-(POWERSTEP01_STEP_MODE_STEP_SEL&Powerstep01_CmdGetParam(POWERSTEP01_STEP_MODE))))))) {
+          result = FALSE;
+      } else {
+          registerValue = ((uint32_t) value)&(POWERSTEP01_ELPOS_STEP_MASK|POWERSTEP01_ELPOS_MICROSTEP_MASK);
+      }
       break;        
     case POWERSTEP01_ABS_POS:
     case POWERSTEP01_MARK:
       if (value < 0)
       {
         value=-value;
-        if (((uint32_t)value)<=(POWERSTEP01_MAX_POSITION+1))
-          registerValue = (POWERSTEP01_ABS_POS_VALUE_MASK+1-(uint32_t)value)&POWERSTEP01_ABS_POS_VALUE_MASK;
-        else result = FALSE;  
+        if (((uint32_t)value)<=(POWERSTEP01_MAX_POSITION+1)) {
+            registerValue = (POWERSTEP01_ABS_POS_VALUE_MASK+1-(uint32_t)value)&POWERSTEP01_ABS_POS_VALUE_MASK;
+        } else {
+            result = FALSE;  
+        }
       }
       else
       {
-        if (((uint32_t)value)<=POWERSTEP01_MAX_POSITION)
-          registerValue = ((uint32_t) value)&POWERSTEP01_ABS_POS_VALUE_MASK;
-        else result = FALSE; 
+        if (((uint32_t)value)<=POWERSTEP01_MAX_POSITION) {
+            registerValue = ((uint32_t) value)&POWERSTEP01_ABS_POS_VALUE_MASK;
+        } else {
+            result = FALSE; 
+        }
       }
       break;
     case POWERSTEP01_ACC:
     case POWERSTEP01_DEC:
-      if (value > POWERSTEP01_ACC_DEC_MAX_VALUE) result = FALSE;
-      else registerValue = acc_dec_steps_s2_to_reg_val(value);
+      if (value > POWERSTEP01_ACC_DEC_MAX_VALUE) {
+          result = FALSE;
+      } else {
+          registerValue = acc_dec_steps_s2_to_reg_val(value);
+      }
       break;
     case POWERSTEP01_MAX_SPEED:
-      if (value > POWERSTEP01_MAX_SPEED_MAX_VALUE) result = FALSE;
-      else registerValue = max_spd_steps_s_to_reg_val(value);
+      if (value > POWERSTEP01_MAX_SPEED_MAX_VALUE) {
+          result = FALSE;
+      } else {
+          registerValue = max_spd_steps_s_to_reg_val(value);
+      }
       break;
     case POWERSTEP01_MIN_SPEED:
-      if (value > POWERSTEP01_MIN_SPEED_MAX_VALUE) result = FALSE;
-      else registerValue = (POWERSTEP01_LSPD_OPT&Powerstep01_CmdGetParam(param))|min_spd_steps_s_to_reg_val(value);
+      if (value > POWERSTEP01_MIN_SPEED_MAX_VALUE) {
+          result = FALSE;
+      } else {
+          registerValue = (POWERSTEP01_LSPD_OPT&Powerstep01_CmdGetParam(param))|min_spd_steps_s_to_reg_val(value);
+      }
       break;      
     case POWERSTEP01_FS_SPD:
-      if (value > POWERSTEP01_FS_SPD_MAX_VALUE) result = FALSE;
-      else registerValue = (POWERSTEP01_BOOST_MODE&Powerstep01_CmdGetParam(param))|fs_spd_steps_s_to_reg_val(value);
+      if (value > POWERSTEP01_FS_SPD_MAX_VALUE) {
+          result = FALSE;
+      } else {
+          registerValue = (POWERSTEP01_BOOST_MODE&Powerstep01_CmdGetParam(param))|fs_spd_steps_s_to_reg_val(value);
+      }
       break;
     case POWERSTEP01_INT_SPD:
-      if (value > POWERSTEP01_INT_SPD_MAX_VALUE) result = FALSE;
-      else registerValue = int_spd_steps_s_to_reg_val(value);
+      if (value > POWERSTEP01_INT_SPD_MAX_VALUE) {
+          result = FALSE;
+      } else {
+          registerValue = int_spd_steps_s_to_reg_val(value);
+      }
       break;
     case POWERSTEP01_K_THERM:
       if ((value < POWERSTEP01_K_THERM_MIN_VALUE)||
-          (value > POWERSTEP01_K_THERM_MAX_VALUE)) result = FALSE;
-      else registerValue = k_therm_comp_to_reg_val(value);
+          (value > POWERSTEP01_K_THERM_MAX_VALUE)) {
+          result = FALSE;
+      } else {
+          registerValue = k_therm_comp_to_reg_val(value);
+      }
       break;
     case POWERSTEP01_OCD_TH:
     case POWERSTEP01_STALL_TH:
-      if (value > POWERSTEP01_STALL_OCD_TH_MAX_VALUE) result = FALSE;
-      else registerValue = stall_ocd_th_to_reg_val(value);
+      if (value > POWERSTEP01_STALL_OCD_TH_MAX_VALUE) {
+          result = FALSE;
+      } else {
+          registerValue = stall_ocd_th_to_reg_val(value);
+      }
       break;
     case POWERSTEP01_KVAL_HOLD:  //POWERSTEP01_TVAL_HOLD
     case POWERSTEP01_KVAL_RUN:   //POWERSTEP01_TVAL_RUN
@@ -1534,13 +1562,19 @@
     case POWERSTEP01_KVAL_DEC:   //POWERSTEP01_TVAL_DEC
       if (voltageMode==FALSE)
       {
-        if (value > POWERSTEP01_TVAL_MAX_VALUE) result = FALSE;
-        else registerValue = t_val_ref_voltage_to_reg_val(value);
+        if (value > POWERSTEP01_TVAL_MAX_VALUE) {
+            result = FALSE;
+        } else {
+            registerValue = t_val_ref_voltage_to_reg_val(value);
+        }
       }
       else
       {
-        if (value > POWERSTEP01_KVAL_MAX_VALUE) result = FALSE;
-        else registerValue = k_val_perc_to_reg_val(value);
+        if (value > POWERSTEP01_KVAL_MAX_VALUE) {
+            result = FALSE;
+        } else {
+            registerValue = k_val_perc_to_reg_val(value);
+        }
       }
       break;
     case POWERSTEP01_ST_SLP:
@@ -1553,13 +1587,19 @@
     case POWERSTEP01_FN_SLP_DEC: //POWERSTEP01_TOFF_MIN
       if (voltageMode==FALSE)
       {
-        if (value>POWERSTEP01_TOFF_TON_MIN_MAX_VALUE) result = FALSE;
-        else registerValue = t_min_time_to_reg_val(value);
+        if (value>POWERSTEP01_TOFF_TON_MIN_MAX_VALUE) {
+            result = FALSE;
+        } else {
+            registerValue = t_min_time_to_reg_val(value);
+        }
       }
       else
       {
-        if (value > POWERSTEP01_SLP_MAX_VALUE) result = FALSE;
-        else registerValue = bemf_slope_perc_to_reg_val(value);
+        if (value > POWERSTEP01_SLP_MAX_VALUE) {
+            result = FALSE;
+        } else {
+            registerValue = bemf_slope_perc_to_reg_val(value);
+        }
       }
       break;
     default:

--- 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;
     }
 

--- a/ST_INTERFACES.lib	Mon May 08 15:41:45 2017 +0000
+++ b/ST_INTERFACES.lib	Fri Jul 14 12:51:38 2017 +0000
@@ -1,1 +1,1 @@
-https://developer.mbed.org/teams/ST/code/ST_INTERFACES/#8f70f7159316
+https://developer.mbed.org/teams/ST/code/ST_INTERFACES/#d3c9b33b992c

--- a/X_NUCLEO_COMMON.lib	Mon May 08 15:41:45 2017 +0000
+++ b/X_NUCLEO_COMMON.lib	Fri Jul 14 12:51:38 2017 +0000
@@ -1,1 +1,1 @@
-http://developer.mbed.org/teams/ST/code/X_NUCLEO_COMMON/#12be3dfc15fd
+http://developer.mbed.org/teams/ST/code/X_NUCLEO_COMMON/#0dbcdb8dab03