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.

Diff: Components/Interfaces/StepperMotor_class.h

Revision:
0:0ccd34c56c66
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/Interfaces/StepperMotor_class.h	Thu May 26 15:44:53 2016 +0000
@@ -0,0 +1,271 @@
+/**
+ ******************************************************************************
+ * @file    StepperMotor_class.h
+ * @author  Davide Aliprandi, STMicroelectronics
+ * @version V1.1.0
+ * @date    April 6th, 2016
+ * @brief   This file contains the abstract class describing the interface of a
+ *          stepper-motor component.
+ ******************************************************************************
+ * @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 from recursive inclusion --------------------------------*/
+
+#ifndef __STEPPERMOTOR_CLASS_H
+#define __STEPPERMOTOR_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <Component_class.h>
+
+
+/* Classes  ------------------------------------------------------------------*/
+
+/** An abstract class for StepperMotor components.
+ */
+class StepperMotor : public Component
+{
+public:
+    /**
+     * @brief Rotation modes.
+     */
+    typedef enum
+    {
+        BWD = 0, /* Backward. */
+        FWD = 1  /* Forward. */
+    } direction_t;
+
+    /**
+     * @brief Step modes.
+     */
+    typedef enum
+    {
+        STEP_MODE_FULL = 0, /* Full-step. */
+        STEP_MODE_HALF,     /* Half-step. */
+        STEP_MODE_1_4,      /* 1/4 microstep. */
+        STEP_MODE_1_8,      /* 1/8 microstep. */
+        STEP_MODE_1_16,     /* 1/16 microstep. */
+        STEP_MODE_1_32,     /* 1/32 microstep. */
+        STEP_MODE_1_64,     /* 1/64 microstep. */
+        STEP_MODE_1_128,    /* 1/128 microstep. */
+        STEP_MODE_1_256,    /* 1/256 microstep. */
+        STEP_MODE_UNKNOWN,
+        STEP_MODE_WAVE      /* Full-step one-phase-on*/
+    } step_mode_t;
+
+    /**
+     * @brief  Getting the status.
+     * @param  None.
+     * @retval The status.
+     */
+    virtual unsigned int GetStatus(void) = 0;
+
+    /**
+     * @brief  Getting the position.
+     * @param  None.
+     * @retval The position.
+     */
+    virtual signed int GetPosition(void) = 0;
+
+    /**
+     * @brief  Getting the marked position.
+     * @param  None.
+     * @retval The marked position.
+     */
+    virtual signed int GetMark(void) = 0;
+
+    /**
+     * @brief  Getting the current speed in pps.
+     * @param  None.
+     * @retval The current speed in pps.
+     */
+    virtual unsigned int GetSpeed(void) = 0;
+
+    /**
+     * @brief  Getting the maximum speed in pps.
+     * @param  None.
+     * @retval The maximum speed in pps.
+     */
+    virtual unsigned int GetMaxSpeed(void) = 0;
+
+    /**
+     * @brief  Getting the minimum speed in pps.
+     * @param  None.
+     * @retval The minimum speed in pps.
+     */
+    virtual unsigned int GetMinSpeed(void) = 0;
+
+    /**
+     * @brief  Getting the acceleration in pps^2.
+     * @param  None.
+     * @retval The acceleration in pps^2.
+     */
+    virtual unsigned int GetAcceleration(void) = 0;
+
+    /**
+     * @brief  Getting the deceleration in pps^2.
+     * @param  None.
+     * @retval The deceleration in pps^2.
+     */
+    virtual unsigned int GetDeceleration(void) = 0;
+
+    /**
+     * @brief  Getting the direction of rotation.
+     * @param  None.
+     * @retval The direction of rotation.
+     */
+    virtual direction_t GetDirection(void) = 0;
+
+    /**
+     * @brief  Setting the current position to be the home position.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void SetHome(void) = 0;
+
+    /**
+     * @brief  Setting the current position to be the marked position.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void SetMark(void) = 0;
+
+    /**
+     * @brief  Setting the maximum speed in pps.
+     * @param  speed The maximum speed in pps.
+     * @retval "true" in case of success, "false" otherwise.
+     */
+    virtual bool SetMaxSpeed(unsigned int speed) = 0;
+
+    /**
+     * @brief  Setting the minimum speed in pps.
+     * @param  speed The minimum speed in pps.
+     * @retval "true" in case of success, "false" otherwise.
+     */
+    virtual bool SetMinSpeed(unsigned int speed) = 0;
+
+    /**
+     * @brief  Setting the acceleration in pps^2.
+     * @param  acceleration The acceleration in pps^2.
+     * @retval "true" in case of success, "false" otherwise.
+     */
+    virtual bool SetAcceleration(unsigned int acceleration) = 0;
+
+    /**
+     * @brief  Setting the deceleration in pps^2.
+     * @param  deceleration The deceleration in pps^2.
+     * @retval "true" in case of success, "false" otherwise.
+     */
+    virtual bool SetDeceleration(unsigned int deceleration) = 0;
+
+    /**
+     * @brief  Setting the Step Mode.
+     * @param  step_mode The Step Mode.
+     * @retval "true" in case of success, "false" otherwise.
+     */
+    virtual bool SetStepMode(step_mode_t step_mode) = 0;
+
+    /**
+     * @brief  Going to a specified position.
+     * @param  position The desired position.
+     * @retval None.
+     */
+    virtual void GoTo(signed int position) = 0;
+
+    /**
+     * @brief  Going to the home position.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void GoHome(void) = 0;
+
+    /**
+     * @brief  Going to the marked position.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void GoMark(void) = 0;
+
+    /**
+     * @brief  Running the motor towards a specified direction.
+     * @param  direction The direction of rotation.
+     * @retval None.
+     */
+    virtual void Run(direction_t direction) = 0;
+
+    /**
+     * @brief  Moving the motor towards a specified direction for a certain number of steps.
+     * @param  direction The direction of rotation.
+     * @param  steps The desired number of steps.
+     * @retval None.
+     */
+    virtual void Move(direction_t direction, unsigned int steps) = 0;
+
+    /**
+     * @brief  Stopping the motor through an immediate deceleration up to zero speed.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void SoftStop(void) = 0;
+
+    /**
+     * @brief  Stopping the motor through an immediate infinite deceleration.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void HardStop(void) = 0;
+
+    /**
+     * @brief  Disabling the power bridge after performing a deceleration to zero.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void SoftHiZ(void) = 0;
+
+    /**
+     * @brief  Disabling the power bridge immediately.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void HardHiZ(void) = 0;
+
+    /**
+     * @brief  Waiting while the motor is active.
+     * @param  None.
+     * @retval None.
+     */
+    virtual void WaitWhileActive(void) = 0;
+};
+
+#endif /* __STEPPERMOTOR_CLASS_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/