ST / X_NUCLEO_IHM06A1

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Dependencies:   ST_INTERFACES

Dependents:   HelloWorld_IHM06A1

Fork of X-NUCLEO-IHM06A1 by ST Expansion SW Team

Motor Control Library

Library to handle the X-NUCLEO-IHM06A1 Motor Control Expansion Board based on the STSPIN220 component.

It features the:

  • Read and write of the device parameters; GPIO, PWM and IRQ configuration; microstepping, direction position, speed, acceleration, deceleration and torque controls
  • Automatic full-step switch management; high impedance or hold stop mode selection; enable and standby management
  • Fault interrupts handling (over current, short-circuit and over temperature)
  • Command locking until the device completes movement

The API allows to easily:

  • perform various positioning, moves and stops
  • get/set or monitor the motor positions
  • set the home position and mark another position
  • get/set the minimum and maximum speed
  • get the current speed
  • get/set the acceleration and deceleration
  • get/set the stop mode (hold, hiz or standby)
  • get/set the torque
  • get/set the torque boost
  • get/set the step mode (up to 1/256)

Platform compatibility

Compatible platforms have been tested with the configurations provided by the HelloWorld_IHM06A1 example.

Diff: Components/Common/component.h

Revision:
0:0ccd34c56c66
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/Common/component.h	Thu May 26 15:44:53 2016 +0000
@@ -0,0 +1,93 @@
+/**
+ ******************************************************************************
+ * @file    component.h
+ * @author  AST
+ * @version V1.0.0
+ * @date    1 April 2015
+ * @brief   Generic header file containing a generic component's definitions
+ *          and I/O functions.
+ ******************************************************************************
+ * @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.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+
+#ifndef __COMPONENT_H
+#define __COMPONENT_H
+
+
+/* Types ---------------------------------------------------------------------*/
+
+/**
+ * @brief  Component's Context structure definition.
+ */
+typedef struct
+{  
+    /* Identity. */
+    uint8_t who_am_i;
+
+    /* ACTION ----------------------------------------------------------------*/
+    /* There should be only a unique identifier for each component, which     */
+    /* should be the "who_am_i" parameter, hence this parameter is optional.  */
+    /* -----------------------------------------------------------------------*/
+    /* Type. */
+    uint8_t type;
+
+    /* Configuration. */
+    uint8_t address;
+
+    /* Pointer to the Data. */
+    void *pData;
+
+    /* Pointer to the Virtual Table. */
+    void *pVTable;
+
+    /* ACTION ----------------------------------------------------------------*/
+    /* There should be only a unique virtual table for each component, which  */
+    /* should be the "pVTable" parameter, hence this parameter is optional.   */
+    /* -----------------------------------------------------------------------*/
+    /* Pointer to the Extended Virtual Table. */
+    void *pExtVTable;
+} Handle_t;
+
+/**
+ * @brief  Component's Status enumerator definition.
+ */
+typedef enum
+{
+    COMPONENT_OK = 0,
+    COMPONENT_ERROR,
+    COMPONENT_TIMEOUT,
+    COMPONENT_NOT_IMPLEMENTED
+} Status_t;
+
+#endif /* __COMPONENT_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/