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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

Components/Common/motor.h

Committer:: brdirais
Date:: 2016-05-03
Revision:: 0:2cb6ce8e07bd

File content as of revision 0:2cb6ce8e07bd:

/**
  ******************************************************************************
  * @file    motor.h
  * @author  IPC Rennes
  * @version V1.5.0
  * @date    January 25, 2016
  * @brief   This file contains all the functions prototypes for motor drivers.   
  ******************************************************************************
  * @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 recursive inclusion -------------------------------------*/
#ifndef __MOTOR_H
#define __MOTOR_H

#ifdef __cplusplus
 extern "C" {
#endif 

/* Includes ------------------------------------------------------------------*/
#include <stdint.h>
#include "component.h"
   
/** @addtogroup BSP
  * @{
  */

/** @addtogroup Components
  * @{
  */ 

/** @defgroup Motor Motor
  * @{
  */
    
/** @defgroup Motor_Exported_Constants Motor Exported Constants
  * @{
  */   
   
/// boolean for false condition 
#ifndef FALSE
#define FALSE (0)
#endif
/// boolean for true condition 
#ifndef TRUE
#define TRUE  (1)
#endif

   /**
  * @}
  */
   
/** @defgroup Motor_Exported_Types Motor Exported Types
  * @{
  */

/** @defgroup Motor_Boolean_Type Motor Boolean Type
  * @{
  */
///bool Type
//typedef uint8_t  bool;
/**
  * @}
  */   
   
/** @defgroup Device_Direction_Options Device Direction Options
  * @{
  */
/// Direction options
typedef enum {
  BACKWARD = 0,
  FORWARD = 1,
  UNKNOW_DIR = ((uint8_t)0xFF)
} motorDir_t;
/**
  * @}
  */
  
/** @defgroup Device_Action_Options Device Action Options
  * @{
  */
/// Action options
typedef enum {
  ACTION_RESET = ((uint8_t)0x00),
  ACTION_COPY  = ((uint8_t)0x08)
} motorAction_t;
/**
  * @}
  */  

/** @defgroup Device_States Device States
  * @{
  */
/// Device states
typedef enum {
  ACCELERATING       = 0,
  DECELERATINGTOSTOP = 1,  
  DECELERATING       = 2, 
  STEADY             = 3,
  INDEX_ACCEL        = 4,
  INDEX_RUN          = 5,
  INDEX_DECEL        = 6,
  INDEX_DWELL        = 7,
  INACTIVE           = 8,
  STANDBY            = 9,
  STANDBYTOINACTIVE  = 10
} motorState_t;
/**
  * @}
  */   

/** @defgroup Device_Step_mode Device Step mode
  * @{
  */
 /// Stepping options 
typedef enum {
  STEP_MODE_FULL   = ((uint8_t)0x00), 
  STEP_MODE_HALF   = ((uint8_t)0x01),
  STEP_MODE_1_4    = ((uint8_t)0x02),
  STEP_MODE_1_8    = ((uint8_t)0x03),
  STEP_MODE_1_16   = ((uint8_t)0x04),
  STEP_MODE_1_32   = ((uint8_t)0x05),
  STEP_MODE_1_64   = ((uint8_t)0x06),
  STEP_MODE_1_128  = ((uint8_t)0x07),
  STEP_MODE_1_256  = ((uint8_t)0x08),
  STEP_MODE_UNKNOW = ((uint8_t)0xFE),
  STEP_MODE_WAVE   = ((uint8_t)0xFF)  
} motorStepMode_t;

/**
  * @}
  */
  
/** @defgroup Decay_mode Decay mode
  * @{
  */
/// Decay Mode 
typedef enum {
  SLOW_DECAY = 0,
  FAST_DECAY = 1,
  UNKNOW_DECAY = ((uint8_t)0xFF)
} motorDecayMode_t;
/**
  * @}
  */
  
/** @defgroup Stop_mode Stop mode
  * @{
  */
/// Stop mode
typedef enum
{ 
  HOLD_MODE = 0,
  HIZ_MODE = 1,
  STANDBY_MODE = 2,
  UNKNOW_STOP_MODE = ((uint8_t)0xFF)
} motorStopMode_t;
/**
  * @}
  */  

/** @defgroup Torque_mode Torque mode
  * @{
  */
/// Torque mode
typedef enum
{ 
  ACC_TORQUE = 0,
  DEC_TORQUE = 1,
  RUN_TORQUE = 2,
  HOLD_TORQUE = 3,
  CURRENT_TORQUE = 4,
  UNKNOW_TORQUE = ((uint8_t)0xFF)
} motorTorqueMode_t;
/**
  * @}
  */  
    
/** @defgroup Dual_Full_Bridge_Configuration Dual Full Bridge Configuration
  * @{
  */
///Dual full bridge configurations for brush DC motors
typedef enum {
  PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B = 0,
  PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B = 1,
  PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B = 2,
  PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B = 3,
  PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B = 4,
  PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B = 5,
  PARALLELING_IN1B_IN2B__1_BIDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B = 6,
  PARALLELING_IN1B_IN2B__2_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B = 7,
  PARALLELING_IN1A_IN2A__IN1B_IN2B__1_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B = 8,
  PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR = 9,
  PARALLELING_IN1A_IN1B__IN2A_IN2B__1_UNDIR_MOTOR_BRIDGE_1A__1_UNDIR_MOTOR_BRIDGE_2A = 10,
  PARALLELING_IN1A_IN1B__IN2A_IN2B__1_BIDIR_MOTOR = 11,
  PARALLELING_ALL_WITH_IN1A___1_UNDIR_MOTOR = 12,
  PARALLELING_END_ENUM = 13 
} dualFullBridgeConfig_t;
/**
  * @}
  */

/** @defgroup Motor_Driver_Structure Motor Driver Structure
  * @{
  */
/// Motor driver structure definition  
typedef struct
{

	/* Generic */
	Status_t (*Init)(void *handle, void *init);
	Status_t (*ReadID)(void *handle, uint8_t *id);

	/* Interrupts */
	/// Function pointer to AttachErrorHandler
	void(*AttachErrorHandler)(void *handle, void (*callback)(void *handle, uint16_t error));
	/// Function pointer to AttachFlagInterrupt
	void (*AttachFlagInterrupt)(void *handle, void (*callback)(void *handle));
	/// Function pointer to AttachBusyInterrupt
	void (*AttachBusyInterrupt)(void *handle, void (*callback)(void *handle));
	/// Function pointer to FlagInterruptHandler
	void (*FlagInterruptHandler)(void *handle);

	/* Specific */
	/// Function pointer to GetAcceleration
	uint16_t (*GetAcceleration)(void *handle);
	/// Function pointer to GetCurrentSpeed
	uint16_t (*GetCurrentSpeed)(void *handle, uint8_t motorId);
	/// Function pointer to GetDeceleration
	uint16_t (*GetDeceleration)(void *handle);
	/// Function pointer to GetDeviceState
	motorState_t(*GetDeviceState)(void *handle, uint8_t motorId);
	/// Function pointer to GetFwVersion
	uint8_t (*GetFwVersion)(void *handle);
	/// Function pointer to GetMark
	int32_t (*GetMark)(void *handle);
	/// Function pointer to GetMaxSpeed
	uint16_t (*GetMaxSpeed)(void *handle, uint8_t motorId);
	/// Function pointer to GetMinSpeed
	uint16_t (*GetMinSpeed)(void *handle, uint8_t motorId);
	/// Function pointer to GetPosition
	int32_t (*GetPosition)(void *handle);
	/// Function pointer to GoHome
	void (*GoHome)(void *handle);
	/// Function pointer to GoMark
	void (*GoMark)(void *handle);
	/// Function pointer to GoTo
	void (*GoTo)(void *handle, uint8_t deviceId, int32_t motorId);
	/// Function pointer to HardStop
	void (*HardStop)(void *handle, uint8_t motorId);
	/// Function pointer to Move
	void (*Move)(void *handle, motorDir_t direction, uint32_t stepCount);
	/// Function pointer to ResetAllDevices
	void (*ResetAllDevices)(void *handle);
	/// Function pointer to Run
	void (*Run)(void *handle, uint8_t stepCount, motorDir_t direction);
	/// Function pointer to SetAcceleration
	bool(*SetAcceleration)(void *handle, uint16_t newAcc);
	/// Function pointer to SetDeceleration
	bool(*SetDeceleration)(void *handle, uint16_t newDec);
	/// Function pointer to SetHome
	void (*SetHome)(void *handle);
	/// Function pointer to SetMark
	void (*SetMark)(void *handle);
	/// Function pointer to SetMaxSpeed
	bool (*SetMaxSpeed)(void *handle, uint8_t motorId, uint16_t newMaxSpeed);
	/// Function pointer to SetMinSpeed
	bool (*SetMinSpeed)(void *handle, uint8_t motorId, uint16_t newMinSpeed);
	/// Function pointer to SoftStop
	bool (*SoftStop)(void *handle);
	/// Function pointer to StepClockHandler
	void (*StepClockHandler)(void *handle);
	/// Function pointer to WaitWhileActive
	void (*WaitWhileActive)(void *handle);
	/// Function pointer to CmdDisable
	void (*CmdDisable)(void *handle, uint8_t bridgeId);
	/// Function pointer to CmdEnable
	void (*CmdEnable)(void *handle, uint8_t bridgeId);
	/// Function pointer to CmdGetParam
	uint32_t (*CmdGetParam)(void *handle, uint32_t param);
	/// Function pointer to CmdGetStatus
	uint16_t (*CmdGetStatus)(void *handle, uint8_t bridgeId);
	/// Function pointer to CmdNop
	void (*CmdNop)(void *handle);
	/// Function pointer to CmdSetParam
	void (*CmdSetParam)(void *handle, uint32_t param, uint32_t value);
	/// Function pointer to ReadStatusRegister
	uint16_t (*ReadStatusRegister)(void *handle);
	/// Function pointer to ReleaseReset
	void (*ReleaseReset)(void *handle);
	/// Function pointer to Reset
	void (*Reset)(void *handle);
	/// Function pointer to SelectStepMode
	void (*SelectStepMode)(void *handle, motorStepMode_t stepMode);
	/// Function pointer to SetDirection
	void (*SetDirection)(void *handle, motorDir_t direction);
	/// Function pointer to CmdGoToDir
	void (*CmdGoToDir)(void *handle, motorDir_t direction, int32_t abs_pos);
	/// Function pointer to CheckBusyHw
	uint8_t (*CheckBusyHw)(void *handle);
	/// Function pointer to CheckStatusHw
	uint8_t (*CheckStatusHw)(void *handle);
	/// Function pointer to CmdGoUntil
	void (*CmdGoUntil)(void *handle, motorAction_t action, motorDir_t direction, uint32_t speed);
	/// Function pointer to CmdHardHiZ
	void (*CmdHardHiZ)(void *handle, uint8_t motorId);
	/// Function pointer to CmdReleaseSw
	void (*CmdReleaseSw)(void *handle, motorAction_t action, motorDir_t direction);
	/// Function pointer to CmdResetDevice
	void (*CmdResetDevice)(void *handle);
	/// Function pointer to CmdResetPos
	void (*CmdResetPos)(void *handle);
	/// Function pointer to CmdRun
	void (*CmdRun)(void *handle, motorDir_t direction, uint32_t speed);
	/// Function pointer to CmdSoftHiZ
	void (*CmdSoftHiZ)(void *handle);
	/// Function pointer to CmdStepClock
	void (*CmdStepClock)(void *handle, motorDir_t direction);
	/// Function pointer to FetchAndClearAllStatus
	void (*FetchAndClearAllStatus)(void *handle);
	/// Function pointer to GetFetchedStatus
	uint16_t (*GetFetchedStatus)(void *handle);
	/// Function pointer to GetNbDevices
	uint8_t (*GetNbDevices)(void *handle);
	/// Function pointer to IsDeviceBusy
	bool (*IsDeviceBusy)(void *handle);
	/// Function pointer to SendQueuedCommands
	void (*SendQueuedCommands)(void *handle);
	/// Function pointer to QueueCommands
	void (*QueueCommands)(void *handle, uint8_t param, int32_t value);
	/// Function pointer to WaitForAllDevicesNotBusy
	void (*WaitForAllDevicesNotBusy)(void *handle);
	/// Function pointer to ErrorHandler
	void (*ErrorHandler)(void *handle, uint16_t error);
	/// Function pointer to BusyInterruptHandler
	void (*BusyInterruptHandler)(void *handle);
	/// Function pointer to CmdSoftStop
	void (*CmdSoftStop)(void *handle);
	/// Function pointer to StartStepClock
	void (*StartStepClock)(void *handle);
	/// Function pointer to StopStepClock
	void (*StopStepClock)(void *handle);
	/// Function pointer to SetDualFullBridgeConfig
	void (*SetDualFullBridgeConfig)(void *handle, uint8_t newConfig);
	/// Function pointer to GetBridgeInputPwmFreq
	uint32_t (*GetBridgeInputPwmFreq)(void *handle, uint8_t bridgeId);
	/// Function pointer to SetBridgeInputPwmFreq
	void (*SetBridgeInputPwmFreq)(void *handle, uint8_t bridgeId, uint32_t newFreq);
	/// Function pointer to SetStopMode
	void (*SetStopMode)(void *handle, motorStopMode_t stopMode);
	/// Function pointer to GetStopMode
	motorStopMode_t (*GetStopMode)(void *handle);
	/// Function pointer to SetDecayMode
	void (*SetDecayMode)(void *handle, motorDecayMode_t decayMode);
	/// Function pointer to GetDecayMode
	motorDecayMode_t (*GetDecayMode)(void *handle);
	/// Function pointer to GetStepMode
	motorStepMode_t (*GetStepMode)(void *handle);
	/// Function pointer to GetDirection
	motorDir_t (*GetDirection)(void *handle);
	/// Function pointer to ExitDeviceFromReset
	void (*ExitDeviceFromReset)(void *handle);
	/// Function pointer to SetTorque
	void (*SetTorque)(void *handle, motorTorqueMode_t torqueMode, uint8_t torqueValue);
	/// Function pointer to GetTorque
	uint8_t (*GetTorque)(void *handle, motorTorqueMode_t torqueMode);
	/// Function pointer to SetVRefFreq
	void (*SetRefFreq)(void *handle, uint32_t freq);
	/// Function pointer to GetVRefFreq
	uint32_t (*GetRefFreq)(void *handle);
	/// Function pointer to SetVRefDc
	void (*SetRefDc)(void *handle, uint8_t RefDc);
	/// Function pointer to GetVRefDc
	uint8_t (*GetRefDc)(void *handle);
	/// Function pointer to SetNbDevices
	bool (*SetNbDevices)(void *handle, uint8_t nbDevices);
	/// Function pointer to set a parameter
	bool (*SetAnalogValue)(void *handle, uint32_t param, float value);
	/// Function pointer to get a parameter
	float (*GetAnalogValue)(void *handle, uint32_t param);
} MOTOR_VTable_t;
      
/**
  
* @}
  */ 

/**
  * @}
  */ 

/**
  * @}
  */
  
/**
  * @}
  */ 

/**
  * @}
  */ 

#ifdef __cplusplus
}
#endif

#endif /* __MOTOR_H */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/