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/BDCMotor_class.h

Revision:
3:b06e38d365d7
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/Interfaces/BDCMotor_class.h	Tue Jun 14 12:14:28 2016 +0000
@@ -0,0 +1,159 @@
+/**
+ ******************************************************************************
+ * @file    BCDMotor_class.h
+ * @author  IPC Rennes
+ * @version V1.0.0
+ * @date    April 6th, 2016
+ * @brief   This file contains the abstract class describing the interface of a
+ *          Brush DC motor component.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2016 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 __BCDMMOTOR_CLASS_H
+#define __BCDMMOTOR_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <Component_class.h>
+
+
+/* Classes  ------------------------------------------------------------------*/
+
+/** An abstract class for BDCMotor components.
+ */
+class BDCMotor : public Component
+{
+public:
+    /**
+     * @brief Rotation modes.
+     */
+    typedef enum
+    {
+        BWD = 0, /* Backward. */
+        FWD = 1  /* Forward. */
+    } direction_t;
+
+    /**
+     * @brief  Disabling the specified bridge.
+     * @param  bridgeId from 0 for bridge A to 1 for bridge B.
+     * @retval None.
+     */
+    virtual void DisableBridge(unsigned int) = 0;    
+     
+    /**
+     * @brief  Enabling the specified bridge.
+     * @param  bridgeId from 0 for bridge A to 1 for bridge B
+     * @retval None.
+     */
+    virtual void EnableBridge(unsigned int) = 0;    
+     
+    /**
+     * @brief  Getting the PWM frequency of the specified bridge;
+     * @param  bridgeId from 0 for bridge A to 1 for bridge B.
+     * @retval The frequency in Hz of the specified bridge input PWM.
+     */
+    virtual unsigned int GetBridgeInputPwmFreq(unsigned int) = 0;    
+    
+    /**
+     * @brief  Getting the bridge status.
+     * @param  bridgeId from 0 for bridge A to 1 for bridge B.
+     * @retval The status.
+     */
+    virtual unsigned int GetBridgeStatus(unsigned int) = 0;    
+    
+    /**
+     * @brief  Getting the device State. 
+     * @param  motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). 
+     * @retval The device state
+     */
+    virtual motorState_t GetDeviceState(unsigned int) = 0;
+
+    /**
+     * @brief  Getting the current speed in % of the specified motor.
+     * @param  motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). 
+     * @retval The current speed in %.
+     */
+    virtual unsigned int GetSpeed(unsigned int) = 0;
+
+    /**
+     * @brief  Stopping the motor and disabling the power bridge immediately.
+     * @param  motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). 
+     * @retval None.
+     */
+    virtual void HardHiZ(unsigned int) = 0;
+    
+    /**
+     * @brief  Stopping the motor immediately.
+     * @param  motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1). 
+     * @retval None.
+     */
+    virtual void HardStop(unsigned int) = 0;
+
+    /**
+     * @brief  Running the motor.
+     * @param  motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1).
+     * @param  direction The direction of rotation.
+     * @retval None.
+     */
+    virtual void Run(unsigned int, direction_t) = 0;
+    
+    /**
+     * @brief  Setting the PWM frequency of the specified bridge.
+     * @param  bridgeId from 0 for bridge A to 1 for bridge B.
+     * @param  frequency of the PWM in Hz
+     * @retval None.
+     */
+    virtual void SetBridgeInputPwmFreq(unsigned int, unsigned int) = 0;    
+        
+    /**
+     * @brief  Setting the dual bridge configuration mode.
+     * @param  configuration. The bridge configuration.
+     * @retval None.
+     */
+    virtual void SetDualFullBridgeConfig(unsigned int) = 0;
+
+    /**
+     * @brief  Setting the speed in %.
+     * @param  motorId from 0 to (MAX_NUMBER_OF_BRUSH_DC_MOTORS - 1).
+     * @param  speed The new speed in %.
+     * @retval "true" in case of success, "false" otherwise.
+     */
+    virtual bool SetSpeed(unsigned int, unsigned int) = 0;
+
+
+};
+
+#endif /* __BCDMMOTOR_CLASS_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/