ST / X_NUCLEO_IHM04A1

Library used to control ST Nucleo Evaluation board IHM04A1, based on L6206 motor control driver.

Dependencies:   ST_INTERFACES

Dependents:   HelloWorld_IHM04A1 RoboCane_Motore arm_dcmotor_can arm_linear_can_2 ... more

Fork of X_NUCLEO_IHM04A1 by ST Expansion SW Team

Motor Control Library

Library to handle the X-NUCLEO-IHM04A1 Motor Control Expansion Board based on the L6206 component.

It allows a complete management of the L6206 by providing a complete APIs.

The key features of the library are :

  • Configuration of the L6206 (bridges inputs and enabling signals, bridges paralleling)
  • FLAG interrupts handling (overcurrent and thermal alarms reporting)
  • Handling of up to two bidirectional Brush DC motors or up to 4 unidirectional Brush DC motors depending of the bridges paralleling configuration
  • Nucleo and expansion board configuration (GPIOs, PWMs, IRQs…)

To use the L6206 driver library, the user first has to call its initialization method which:

  • Setups the required GPIOs to handle the bridges enable pins, the FLAG interrupt which reports overcurrent detection or thermal protection.
  • Loads the driver parameters with initial values configured by the user or with their predefined values from “l6206_target_config.h”, in order to program the PWMs frequency of the bridges inputs, the bridges paralleling configuration, the number and the type (bidirectional or unidirectional) of brush DC motors.

Once the initialization is done, the user can modify the driver parameters by calling specific functions to change the bridges paralleling configuration, types and numbers of motors or the PWMs frequency.

The user can also write callback functions and attach them to:

  • The flag interrupt handler depending on the actions he wants to perform when an overcurrent or a thermal alarm is reported.
  • The Error handler which is called by the library when it reports an error.

Then, the user can drive the different brush DC motors by requesting to run in a specified direction and by changing the maximal speed. When a motor is requested to run, the corresponding bridge is automatically enabled.

A motion command can be stopped at any moment:

  • Either by a hard stop which immediately stops the motor.
  • Or by a hardHiz command which immediately stops the motor and disables the bridge which is used by the motor.

The library also provides functions to disable or enable the bridges independently from the run or stop commands.

Arduino Connector Compatibility Warning

Using the X-NUCLEO-IHM04A1 expansion board with the NUCLEO-F429ZI requires adopting the following patch:

  • to connect with a wire the PB_4 Nucleo pin to the IN1A expansion board pin;
  • to connect with a wire the PC_7 Nucleo pin to the IN2A expansion board pin;
  • to connect with a wire the PA_15 Nucleo pin to the IN1B expansion board pin;
  • to connect with a wire the PB_3 Nucleo pin to the IN2B expansion board pin.


Board configuration for HelloWorld_IHM04A1 example

/media/uploads/brdirais/drive4brushdcmotor_ihm04a1.png

Diff: Components/Interfaces/Motor_class.h

Revision:
1:2597a6165252
Parent:
0:2cb6ce8e07bd
--- a/Components/Interfaces/Motor_class.h	Tue May 03 11:16:57 2016 +0000
+++ b/Components/Interfaces/Motor_class.h	Tue May 17 09:45:13 2016 +0000
@@ -1,102 +1,211 @@
-/**
- ******************************************************************************
- * @file    Motor_class.h
- * @author  AST
- * @version V1.0.0
- * @date    April 13th, 2015
- * @brief   This file contains the abstract class describing the interface of a
- *          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.
- *
- ******************************************************************************
- */
-
-
-/* Generated with STM32CubeTOO -----------------------------------------------*/
-
-
-/* Revision ------------------------------------------------------------------*/
-/*
-	Repository:       http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
-	Branch/Trunk/Tag: trunk
-	Based on:         X-CUBE-SPN4/trunk/Drivers/BSP/Components/Common/motor.h
-	Revision:         0
-*/
-
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-
-#ifndef __MOTOR_CLASS_H
-#define __MOTOR_CLASS_H
-
-
-/* Includes ------------------------------------------------------------------*/
-
-#include "Component_class.h"
-
-
-/* Classes  ------------------------------------------------------------------*/
-
-/** An abstract class for Motor components.
- */
-class Motor : public Component
-{
-public:
-	/* ACTION 1 --------------------------------------------------------------*
-	 * Declare here the interface's methods.                                  *
-	 * They should be:                                                        *
-	 *   + Methods with the same name of the C component's virtual table      *
-	 *     (and extended virtual table, if any)'s functions, provided that    *
-	 *     the component's driver implements them (i.e.: the corresponding    *
-	 *     pointer to function is not "0").                                   *
-	 *                                                                        *
-	 * Example:                                                               *
-	 *    virtual int GetValue(float *f) = 0;                                 *
-	 *------------------------------------------------------------------------*/
-	virtual uint16_t GetCurrentSpeed(uint8_t motorId) = 0;
-	virtual motorState_t GetDeviceState(uint8_t motorId) = 0;
-	virtual uint8_t GetFwVersion(void) = 0;
-	virtual uint16_t GetMaxSpeed(uint8_t motorId) = 0;
-	virtual void HardStop(uint8_t motorId) = 0;
-	virtual void Run(uint8_t stepCount, motorDir_t direction) = 0;
-	virtual bool SetMaxSpeed(uint8_t motorId, uint16_t newMaxSpeed) = 0;
-	virtual void CmdDisable(uint8_t bridgeId) = 0;
-	virtual void CmdEnable(uint8_t bridgeId) = 0;
-	virtual uint16_t CmdGetStatus(uint8_t bridgeId) = 0;
-	virtual void CmdHardHiZ(uint8_t motorId) = 0;
-	virtual void ErrorHandler(uint16_t error) = 0;
-	virtual void SetDualFullBridgeConfig(uint8_t newConfig) = 0;
-	virtual uint32_t GetBridgeInputPwmFreq(uint8_t bridgeId) = 0;
-	virtual void SetBridgeInputPwmFreq(uint8_t bridgeId, uint32_t newFreq) = 0;
-	virtual bool SetNbDevices(uint8_t nbDevices) = 0;
-};
-
-#endif /* __MOTOR_CLASS_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+/**
+ ******************************************************************************
+ * @file    Motor_class.h
+ * @author  AST
+ * @version V1.0.0
+ * @date    April 13th, 2015
+ * @brief   This file contains the abstract class describing the interface of a
+ *          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.
+ *
+ ******************************************************************************
+ */
+
+
+/* Generated with STM32CubeTOO -----------------------------------------------*/
+
+
+/* Revision ------------------------------------------------------------------*/
+/*
+	Repository:       http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
+	Branch/Trunk/Tag: trunk
+	Based on:         X-CUBE-SPN4/trunk/Drivers/BSP/Components/Common/motor.h
+	Revision:         0
+*/
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+
+#ifndef __MOTOR_CLASS_H
+#define __MOTOR_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include "Component_class.h"
+
+
+/* Classes  ------------------------------------------------------------------*/
 
+/** An abstract class for Motor components.
+ */
+class Motor : public Component
+{
+public:
+	/* ACTION 1 --------------------------------------------------------------*
+	 * Declare here the interface's methods.                                  *
+	 * They should be:                                                        *
+	 *   + Methods with the same name of the C component's virtual table      *
+	 *     (and extended virtual table, if any)'s functions, provided that    *
+	 *     the component's driver implements them (i.e.: the corresponding    *
+	 *     pointer to function is not "0").                                   *
+	 *                                                                        *
+	 * Example:                                                               *
+	 *    virtual int GetValue(float *f) = 0;                                 *
+	 *------------------------------------------------------------------------*/
+	 
+	/**
+     * @brief  Getting the current speed in pps.
+     * @param  None.
+     * @retval The current speed in pps.
+     */
+	virtual uint16_t GetCurrentSpeed(uint8_t motorId) = 0;
+	
+	/**
+ 	* @brief Returns the device state
+ 	* @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS 
+ 	* @retval State (STEADY or INACTIVE)
+ 	*/
+	virtual motorState_t GetDeviceState(uint8_t motorId) = 0;
+	
+	/**
+ 	* @brief Returns the FW version of the library
+ 	* @retval L6206_FW_VERSION
+ 	*/
+	virtual uint8_t GetFwVersion(void) = 0;
+	
+	/**
+ 	* @brief  Returns the max  speed of the specified motor
+ 	* @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS 
+ 	* @retval maxSpeed in % from 0 to 100
+ 	*/
+	virtual uint16_t GetMaxSpeed(uint8_t motorId) = 0;
+	
+	/**
+ 	* @brief  Stops the motor without disabling the bridge
+ 	* @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS 
+ 	* @retval none
+ 	*/
+	virtual void HardStop(uint8_t motorId) = 0;
+	
+	/**
+ 	* @brief  Runs the motor
+ 	* @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS 
+ 	* @param[in] direction FORWARD or BACKWARD
+ 	* @retval None
+ 	* @note  For unidirectionnal motor, direction parameter has no effect
+ 	*/
+	virtual void Run(uint8_t stepCount, motorDir_t direction) = 0;
+	
+	/**
+ 	* @brief  Changes the max speed of the specified device
+ 	* @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS 
+ 	* @param[in] newMaxSpeed in % from 0 to 100
+ 	* @retval true if the command is successfully executed, else false
+ 	*/
+	virtual bool SetMaxSpeed(uint8_t motorId, uint16_t newMaxSpeed) = 0;
+	
+	/**
+ 	* @brief Disable the specified bridge
+ 	* @param[in] bridgeId (from 0 for bridge A to 1 for bridge B)
+ 	* @retval None
+ 	* @note  When input of different brigdes are parallelized 
+ 	* together, the disabling of one bridge leads to the disabling
+ 	* of the second one
+ 	*/
+	virtual void CmdDisable(uint8_t bridgeId) = 0;
+	
+	/**
+ 	* @brief Enable the specified bridge
+ 	* @param[in] bridgeId (from 0 for bridge A to 1 for bridge B)
+ 	* @retval None
+ 	* @note  When input of different brigdes are parallelized 
+ 	* together, the enabling of one bridge leads to the enabling
+ 	* of the second one
+ 	*/
+	virtual void CmdEnable(uint8_t bridgeId) = 0;
+	
+	/**
+ 	* @brief  Get the status of the bridge enabling of the corresponding bridge
+ 	* @param[in] bridgeId from 0 for bridge A to 1 for bridge B
+ 	* @retval State of the Enable&Flag pin of the corresponding bridge (1 set, 0 for reset)
+  	*/
+	virtual uint16_t CmdGetStatus(uint8_t bridgeId) = 0;
+	
+	/**
+ 	* @brief  Immediatly stops the motor and disable the power bridge
+ 	* @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS 
+ 	* @retval None
+ 	* @note  if two motors uses the same power bridge, the 
+ 	* power bridge will be disable only if the two motors are stopped
+ 	*/
+	virtual void CmdHardHiZ(uint8_t motorId) = 0;
+	
+	/**
+ 	* @brief Error handler which calls the user callback (if defined)
+ 	* @param[in] error Number of the error
+ 	* @retval None
+ 	*/
+	virtual void ErrorHandler(uint16_t error) = 0;
+	
+	/**
+ 	* @brief Set dual full bridge parallelling configuration
+ 	* @param[in] newConfig bridge configuration to apply from 
+ 	* dualFullBridgeConfig_t enum
+ 	* @retval None
+ 	*/
+	virtual void SetDualFullBridgeConfig(uint8_t newConfig) = 0;
+	
+	/**
+ 	* @brief  Get the PWM frequency of the specified bridge 
+ 	* @param[in] bridgeId 0 for bridge A, 1 for bridge B
+ 	* @retval Freq in Hz
+ 	*/
+	virtual uint32_t GetBridgeInputPwmFreq(uint8_t bridgeId) = 0;
+	
+	/**
+ 	* @brief  Changes the PWM frequency of the bridge input
+ 	* @param[in] bridgeId 0 for bridge A, 1 for bridge B
+ 	* @param[in] newFreq in Hz
+ 	* @retval None
+ 	*/
+	virtual void SetBridgeInputPwmFreq(uint8_t bridgeId, uint32_t newFreq) = 0;
+	
+	/**
+ 	* @brief  Sets the number of devices to be used
+ 	* @param[in] nbDevices (from 1 to MAX_NUMBER_OF_DEVICES)
+ 	* @retval TRUE if successfull, FALSE if failure, attempt to set a number of
+ 	* devices greater than MAX_NUMBER_OF_DEVICES
+ 	*/
+	virtual bool SetNbDevices(uint8_t nbDevices) = 0;
+};
+
+#endif /* __MOTOR_CLASS_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+