ST / X_NUCLEO_IHM06A1

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

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.

Fixed Stspin220_Board_TimStckStop (missing __enable_irq() function call).; Fixed conditions to exit from FS mode in Stspin220_ApplySpeed function.