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/l6206/l6206_class.h

Revision:
3:b06e38d365d7
Parent:
2:65057305b86e
--- a/Components/l6206/l6206_class.h	Tue May 17 12:14:35 2016 +0000
+++ b/Components/l6206/l6206_class.h	Tue Jun 14 12:14:28 2016 +0000
@@ -72,7 +72,7 @@
  *   #include "../Interfaces/Humidity_class.h"                                *
  *   #include "../Interfaces/Temperature_class.h"                             *
  *----------------------------------------------------------------------------*/
-#include "../Interfaces/Motor_class.h"
+#include "../Interfaces/BDCMotor_class.h"
 
 
 
@@ -118,7 +118,7 @@
 /**
  * @brief Class representing a L6206 component.
  */
-class L6206 : public Motor
+class L6206 : public BDCMotor
 {
 public:
 
@@ -127,7 +127,7 @@
 	/**
 	 * @brief Constructor.
 	 */
-	L6206(PinName EN_flag_A, PinName EN_flag_B, PinName pwm_1A, PinName pwm_2A, PinName pwm_1B, PinName pwm_2B) : Motor(), flag_A_irq(EN_flag_A), flag_B_irq(EN_flag_B), EN_flag_A(EN_flag_A), EN_flag_B(EN_flag_B), pwm_1A(pwm_1A), pwm_2A(pwm_2A), pwm_1B(pwm_1B), pwm_2B(pwm_2B)
+	L6206(PinName EN_flag_A, PinName EN_flag_B, PinName pwm_1A, PinName pwm_2A, PinName pwm_1B, PinName pwm_2B) : BDCMotor(), flag_A_irq(EN_flag_A), flag_B_irq(EN_flag_B), EN_flag_A(EN_flag_A), EN_flag_B(EN_flag_B), pwm_1A(pwm_1A), pwm_2A(pwm_2A), pwm_1B(pwm_1B), pwm_2B(pwm_2B)
 	{
 		/* ACTION 4 ----------------------------------------------------------*
 		 * Initialize here the component's member variables, one variable per *
@@ -225,9 +225,9 @@
  	* @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS 
  	* @retval current speed in % from 0 to 100
  	*/
-	virtual uint16_t GetCurrentSpeed(uint8_t motorId)
+	virtual unsigned int GetSpeed(unsigned int motorId)
 	{
-		return (uint16_t) L6206_GetCurrentSpeed((uint8_t) motorId);
+		return (unsigned int) L6206_GetCurrentSpeed((uint8_t) motorId);
 	}
 
 	/**
@@ -235,7 +235,7 @@
  	* @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS 
  	* @retval State (STEADY or INACTIVE)
  	*/
-	virtual motorState_t GetDeviceState(uint8_t motorId)
+	virtual motorState_t GetDeviceState(unsigned int motorId)
 	{
 		return (motorState_t) L6206_GetDeviceState((uint8_t) motorId);
 	}
@@ -254,7 +254,7 @@
  	* @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)
+	virtual uint16_t GetMaxSpeed(unsigned int motorId)
 	{
 		return (uint16_t) L6206_GetMaxSpeed((uint8_t) motorId);
 	}
@@ -264,7 +264,7 @@
  	* @param[in] motorId from 0 to MAX_NUMBER_OF_BRUSH_DC_MOTORS 
  	* @retval none
  	*/
-	virtual void HardStop(uint8_t motorId)
+	virtual void HardStop(unsigned int motorId)
 	{
 		L6206_HardStop((uint8_t) motorId);
 	}
@@ -276,9 +276,9 @@
  	* @retval None
  	* @note  For unidirectionnal motor, direction parameter has no effect
  	*/
-	virtual void Run(uint8_t stepCount, motorDir_t direction)
+	virtual void Run(unsigned int motorId, direction_t direction)
 	{
-		L6206_Run((uint8_t) stepCount, (motorDir_t) direction);
+		L6206_Run((uint8_t) motorId, (motorDir_t) direction);
 	}
 
 	/**
@@ -287,7 +287,7 @@
  	* @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)
+	virtual bool SetSpeed(unsigned int motorId, unsigned int newMaxSpeed)
 	{
 		return (bool) L6206_SetMaxSpeed((uint8_t) motorId, (uint16_t) newMaxSpeed);
 	}
@@ -300,7 +300,7 @@
  	* together, the disabling of one bridge leads to the disabling
  	* of the second one
  	*/
-	virtual void CmdDisable(uint8_t bridgeId)
+	virtual void DisableBridge(unsigned int bridgeId)
 	{
 		L6206_DisableBridge((uint8_t) bridgeId);
 	}
@@ -313,7 +313,7 @@
  	* together, the enabling of one bridge leads to the enabling
  	* of the second one
  	*/
-	virtual void CmdEnable(uint8_t bridgeId)
+	virtual void EnableBridge(unsigned int bridgeId)
 	{
 		L6206_EnableBridge((uint8_t) bridgeId);
 	}
@@ -323,9 +323,9 @@
  	* @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)
+	virtual unsigned int GetBridgeStatus(unsigned int bridgeId)
 	{
-		return (uint16_t) L6206_GetBridgeStatus((uint8_t) bridgeId);
+		return (unsigned int) L6206_GetBridgeStatus((uint8_t) bridgeId);
 	}
 
 	/**
@@ -335,7 +335,7 @@
  	* @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)
+	virtual void HardHiZ(unsigned int motorId)
 	{
 		L6206_HardHiz((uint8_t) motorId);
 	}
@@ -356,7 +356,7 @@
  	* dualFullBridgeConfig_t enum
  	* @retval None
  	*/
-	virtual void SetDualFullBridgeConfig(uint8_t newConfig)
+	virtual void SetDualFullBridgeConfig(unsigned int newConfig)
 	{
 		L6206_SetDualFullBridgeConfig((uint8_t) newConfig);
 	}
@@ -366,9 +366,9 @@
  	* @param[in] bridgeId 0 for bridge A, 1 for bridge B
  	* @retval Freq in Hz
  	*/
-	virtual uint32_t GetBridgeInputPwmFreq(uint8_t bridgeId)
+	virtual unsigned int  GetBridgeInputPwmFreq(unsigned int bridgeId)
 	{
-		return (uint32_t) L6206_GetBridgeInputPwmFreq((uint8_t) bridgeId);
+		return (unsigned int) L6206_GetBridgeInputPwmFreq((uint8_t) bridgeId);
 	}
 
 	/**
@@ -377,7 +377,7 @@
  	* @param[in] newFreq in Hz
  	* @retval None
  	*/
-	virtual void SetBridgeInputPwmFreq(uint8_t bridgeId, uint32_t newFreq)
+	virtual void SetBridgeInputPwmFreq(unsigned int bridgeId, unsigned int newFreq)
 	{
 		L6206_SetBridgeInputPwmFreq((uint8_t) bridgeId, (uint32_t) newFreq);
 	}