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/stspin220/STSpin220_config.h

Revision:
4:265c30b9112a
Parent:
3:a132aa6d66e4
Child:
5:fd1315beea32
--- a/Components/stspin220/STSpin220_config.h	Fri Mar 24 10:59:19 2017 +0100
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,120 +0,0 @@
-/**************************************************************************//**
-  * @file    STSpin220_config.h
-  * @author  IPC Rennes
-  * @version V1.1.0
-  * @date    May 26th, 2016
-  * @brief   Predefines values for the STSpin220 registers
-  * and for the devices parameters
-  * @note    (C) COPYRIGHT 2016 STMicroelectronics
-  ******************************************************************************
-  * @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 __STSPIN220_CONFIG_H
-#define __STSPIN220_CONFIG_H
-
-#ifdef __cplusplus
- extern "C" {
-#endif  
-   
-/** @addtogroup STSpin220
-  * @{
-  */
-
-/** @addtogroup Stspin220_Exported_Constants
-  * @{
-  */
-   
-/** @defgroup Predefined_Stspin220_Registers_Values Predefined Stspin220 Registers Values
-  * @{
-  */
-
-/************************ Speed Profile  *******************************/
-
-/// Acceleration rate in pulse/s2 (must be greater than 0)
-#define STSPIN220_CONF_PARAM_ACC                               (480)
-   
-/// Deceleration rate in pulse/s2 (must be greater than 0)
-#define STSPIN220_CONF_PARAM_DEC                               (480)
-   
-/// Running speed in pulse/s (8 pulse/s < Maximum speed <= 10 000 pulse/s )
-#define STSPIN220_CONF_PARAM_RUNNING_SPEED                     (1600)
-   
-/// Minimum speed in pulse/s (8 pulse/s <= Minimum speed < 10 000 pulse/s)
-#define STSPIN220_CONF_PARAM_MIN_SPEED                         (400)
-
-/************************ Torque  *******************************/
-
-/// Acceleration torque in % (from 0 to 100)
-#define STSPIN220_CONF_PARAM_ACC_TORQUE                        (20)
-
-/// Deceleration torque in % (from 0 to 100)
-#define STSPIN220_CONF_PARAM_DEC_TORQUE                        (15)
-
-/// Running torque in % (from 0 to 100)
-#define STSPIN220_CONF_PARAM_RUNNING_TORQUE                    (10)
-
-/// Holding torque in % (from 0 to 100)
-#define STSPIN220_CONF_PARAM_HOLDING_TORQUE                    (25)
-
-/// Torque boost speed enable
-#define STSPIN220_CONF_PARAM_TORQUE_BOOST_EN                   (TRUE)
-
-/// Torque boost speed threshold in fullstep/s
-#define STSPIN220_CONF_PARAM_TORQUE_BOOST_TH                   (200)
-    
-/******************************* Others ***************************************/
-
-/// Step mode selection settings
-#define STSPIN220_CONF_PARAM_STEP_MODE                         (STEP_MODE_1_32)
-   
-/// Automatic HIZ STOP
-#define STSPIN220_CONF_PARAM_AUTO_HIZ_STOP                     (HOLD_MODE)
-
-/// REF PWM frequency (Hz)
-#define STSPIN220_CONF_PARAM_REF_PWM_FREQUENCY                 (100000)
-
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-
-#ifdef __cplusplus
-  }
-#endif
-
-#endif /* __STSPIN220_CONFIG_H */
\ No newline at end of file