ST
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.cpp
- Revision:
- 5:fd1315beea32
- Parent:
- 4:265c30b9112a
--- a/Components/STSpin220/STSpin220.cpp Fri Mar 24 13:54:23 2017 +0000
+++ b/Components/STSpin220/STSpin220.cpp Fri Jul 28 13:28:00 2017 +0000
@@ -400,11 +400,14 @@
STSpin220_ExitDeviceFromStandby();
}
/* Deactivate motor if needed */
- else if (devicePrm.motionState != INACTIVE)
- {
- STSpin220_HardHiZ();
+ else
+ {
+ if (devicePrm.motionState != INACTIVE)
+ {
+ STSpin220_HardHiZ();
+ }
}
-
+
if (targetPosition > devicePrm.currentPosition)
{
devicePrm.stepsToTake = targetPosition -\
@@ -475,9 +478,12 @@
STSpin220_ExitDeviceFromStandby();
}
/* Deactivate motor if needed */
- else if (devicePrm.motionState != INACTIVE)
- {
- STSpin220_HardHiZ();
+ else
+ {
+ if (devicePrm.motionState != INACTIVE)
+ {
+ STSpin220_HardHiZ();
+ }
}
if (direction != BACKWARD)
@@ -618,9 +624,12 @@
STSpin220_ExitDeviceFromStandby();
}
/* Deactivate motor if needed */
- else if (devicePrm.motionState != INACTIVE)
+ else
{
- STSpin220_HardHiZ();
+ if (devicePrm.motionState != INACTIVE)
+ {
+ STSpin220_HardHiZ();
+ }
}
if (stepCount != 0)
@@ -667,16 +676,19 @@
STSpin220_ExitDeviceFromStandby();
}
/* Deactivate motor if needed */
- else if (devicePrm.motionState != INACTIVE)
+ else
{
- STSpin220_HardHiZ();
+ if (devicePrm.motionState != INACTIVE)
+ {
+ STSpin220_HardHiZ();
+ }
}
- /* Direction setup */
- STSpin220_SetDirection(direction);
- devicePrm.commandExecuted = RUN_CMD;
- /* Motor activation */
- STSpin220_StartMovement();
+ /* Direction setup */
+ STSpin220_SetDirection(direction);
+ devicePrm.commandExecuted = RUN_CMD;
+ /* Motor activation */
+ STSpin220_StartMovement();
}
/******************************************************//**
@@ -735,10 +747,13 @@
devicePrm.direction = dir;
STSpin220_Board_SetDirectionGpio(dir);
}
- else if ((devicePrm.commandExecuted&RUN_CMD)!=0)
+ else
{
- devicePrm.commandExecuted=(deviceCommand_t)
- (STSPIN220_DIR_CHANGE_BIT_MASK|devicePrm.commandExecuted);
+ if ((devicePrm.commandExecuted&RUN_CMD)!=0)
+ {
+ devicePrm.commandExecuted=(deviceCommand_t)
+ (STSPIN220_DIR_CHANGE_BIT_MASK|devicePrm.commandExecuted);
+ }
}
}
@@ -988,26 +1003,32 @@
}
}
}
- else if (((newSpeed <= devicePrm.torqueBoostSpeedThreshold) &&\
- (devicePrm.stepModeLatched != (motorStepMode_t)STEP_MODE_FULL))||\
- (((devicePrm.commandExecuted & STSPIN220_MOVE_BIT_MASK) == MOVE_CMD)&&\
- ((devicePrm.stepsToTake-devicePrm.relativePos)<=\
- (1<<devicePrm.stepModeLatched))))
+ else
{
+ if (((newSpeed <= devicePrm.torqueBoostSpeedThreshold) &&\
+ (devicePrm.stepModeLatched != (motorStepMode_t)STEP_MODE_FULL))||\
+ (((devicePrm.commandExecuted & STSPIN220_MOVE_BIT_MASK) == MOVE_CMD)&&\
+ ((devicePrm.stepsToTake-devicePrm.relativePos)<=\
+ (1<<devicePrm.stepModeLatched))))
+ {
+ STSpin220_Board_UnsetFullStep();
+ devicePrm.stepMode = devicePrm.stepModeLatched;
+ devicePrm.accu <<= devicePrm.stepModeLatched;
+ newSpeed <<= devicePrm.stepModeLatched;
+ }
+ }
+ }
+ else
+ {
+ if (devicePrm.stepMode != devicePrm.stepModeLatched)
+ {
+ //torqueBoostEnable has just been disabled
STSpin220_Board_UnsetFullStep();
devicePrm.stepMode = devicePrm.stepModeLatched;
devicePrm.accu <<= devicePrm.stepModeLatched;
newSpeed <<= devicePrm.stepModeLatched;
}
}
- else if (devicePrm.stepMode != devicePrm.stepModeLatched)
- {
- //torqueBoostEnable has just been disabled
- STSpin220_Board_UnsetFullStep();
- devicePrm.stepMode = devicePrm.stepModeLatched;
- devicePrm.accu <<= devicePrm.stepModeLatched;
- newSpeed <<= devicePrm.stepModeLatched;
- }
if (newSpeed < STSPIN220_MIN_STCK_FREQ)
{
@@ -1020,7 +1041,6 @@
devicePrm.speed = newSpeed;
STSpin220_Board_TimStckSetFreq(newSpeed);
-
}
/******************************************************//**
@@ -1127,10 +1147,22 @@
{
devicePrm.motionState = STANDBY;
- if (STSpin220_SetAcceleration(pInitDevicePrm->acceleration)==false) STSpin220_ErrorHandler(STSPIN220_ERROR_SET_ACCELERATION);
- if (STSpin220_SetDeceleration(pInitDevicePrm->deceleration)==false) STSpin220_ErrorHandler(STSPIN220_ERROR_SET_DECELERATION);
- if (STSpin220_SetMaxSpeed(pInitDevicePrm->maxSpeed)==false) STSpin220_ErrorHandler(STSPIN220_ERROR_SET_MAX_SPEED);
- if (STSpin220_SetMinSpeed(pInitDevicePrm->minSpeed)==false) STSpin220_ErrorHandler(STSPIN220_ERROR_SET_MIN_SPEED);
+ if (STSpin220_SetAcceleration(pInitDevicePrm->acceleration)==false)
+ {
+ STSpin220_ErrorHandler(STSPIN220_ERROR_SET_ACCELERATION);
+ }
+ if (STSpin220_SetDeceleration(pInitDevicePrm->deceleration)==false)
+ {
+ STSpin220_ErrorHandler(STSPIN220_ERROR_SET_DECELERATION);
+ }
+ if (STSpin220_SetMaxSpeed(pInitDevicePrm->maxSpeed)==false)
+ {
+ STSpin220_ErrorHandler(STSPIN220_ERROR_SET_MAX_SPEED);
+ }
+ if (STSpin220_SetMinSpeed(pInitDevicePrm->minSpeed)==false)
+ {
+ STSpin220_ErrorHandler(STSPIN220_ERROR_SET_MIN_SPEED);
+ }
STSpin220_VrefPwmSetFreq(pInitDevicePrm->vrefPwmFreq);
STSpin220_SetTorque(ACC_TORQUE,pInitDevicePrm->accelTorque);
@@ -1157,10 +1189,22 @@
{
devicePrm.motionState = STANDBY;
- if (STSpin220_SetAcceleration(STSPIN220_CONF_PARAM_ACC)==false) STSpin220_ErrorHandler(STSPIN220_ERROR_SET_ACCELERATION);
- if (STSpin220_SetDeceleration(STSPIN220_CONF_PARAM_DEC)==false) STSpin220_ErrorHandler(STSPIN220_ERROR_SET_DECELERATION);
- if (STSpin220_SetMaxSpeed(STSPIN220_CONF_PARAM_RUNNING_SPEED)==false) STSpin220_ErrorHandler(STSPIN220_ERROR_SET_MAX_SPEED);
- if (STSpin220_SetMinSpeed(STSPIN220_CONF_PARAM_MIN_SPEED)==false) STSpin220_ErrorHandler(STSPIN220_ERROR_SET_MIN_SPEED);
+ if (STSpin220_SetAcceleration(STSPIN220_CONF_PARAM_ACC)==false)
+ {
+ STSpin220_ErrorHandler(STSPIN220_ERROR_SET_ACCELERATION);
+ }
+ if (STSpin220_SetDeceleration(STSPIN220_CONF_PARAM_DEC)==false)
+ {
+ STSpin220_ErrorHandler(STSPIN220_ERROR_SET_DECELERATION);
+ }
+ if (STSpin220_SetMaxSpeed(STSPIN220_CONF_PARAM_RUNNING_SPEED)==false)
+ {
+ STSpin220_ErrorHandler(STSPIN220_ERROR_SET_MAX_SPEED);
+ }
+ if (STSpin220_SetMinSpeed(STSPIN220_CONF_PARAM_MIN_SPEED)==false)
+ {
+ STSpin220_ErrorHandler(STSPIN220_ERROR_SET_MIN_SPEED);
+ }
STSpin220_VrefPwmSetFreq(STSPIN220_CONF_PARAM_REF_PWM_FREQUENCY);
STSpin220_SetTorque(ACC_TORQUE,STSPIN220_CONF_PARAM_ACC_TORQUE);
@@ -1358,39 +1402,45 @@
/* Apply decelerating torque */
STSpin220_ApplyTorque(DEC_TORQUE);
}
- else if ((speed>=(devicePrm.maxSpeed>>stepModeShift))||\
- ((devicePrm.commandExecuted==MOVE_CMD)&&(relPos >= endAccPos)))
- {
- devicePrm.motionState = STEADY;
- /* Apply running torque */
- STSpin220_ApplyTorque(RUN_TORQUE);
- }
else
{
- bool speedUpdated = false;
- /* Go on accelerating */
- if (speed==0) speed =1;
- devicePrm.accu += acc / speed;
- while (devicePrm.accu>=(0X10000L))
+ if ((speed>=(devicePrm.maxSpeed>>stepModeShift))||\
+ ((devicePrm.commandExecuted==MOVE_CMD)&&(relPos >= endAccPos)))
+ {
+ devicePrm.motionState = STEADY;
+ /* Apply running torque */
+ STSpin220_ApplyTorque(RUN_TORQUE);
+ }
+ else
{
- devicePrm.accu -= (0X10000L);
- speed +=1;
- speedUpdated = true;
- }
+ bool speedUpdated = false;
+ /* Go on accelerating */
+ if (speed==0)
+ {
+ speed =1;
+ }
+ devicePrm.accu += acc / speed;
+ while (devicePrm.accu>=(0X10000L))
+ {
+ devicePrm.accu -= (0X10000L);
+ speed +=1;
+ speedUpdated = true;
+ }
- if (speedUpdated)
- {
- if (speed>(devicePrm.maxSpeed>>stepModeShift))
+ if (speedUpdated)
{
- speed = devicePrm.maxSpeed>>stepModeShift;
- }
- devicePrm.speed = speed;
- }
+ if (speed>(devicePrm.maxSpeed>>stepModeShift))
+ {
+ speed = devicePrm.maxSpeed>>stepModeShift;
+ }
+ devicePrm.speed = speed;
+ }
- if (devicePrm.updateTorque!=false)
- {
- /* Apply accelerating torque */
- STSpin220_ApplyTorque(ACC_TORQUE);
+ if (devicePrm.updateTorque!=false)
+ {
+ /* Apply accelerating torque */
+ STSpin220_ApplyTorque(ACC_TORQUE);
+ }
}
}
break;
@@ -1415,12 +1465,15 @@
/* Apply decelerating torque */
STSpin220_ApplyTorque(DEC_TORQUE);
}
- else if ((devicePrm.commandExecuted==RUN_CMD)&&(devicePrm.speed<maxSpeed))
+ else
{
- devicePrm.motionState = ACCELERATING;
- devicePrm.accu = 0;
- /* Apply accelerating torque */
- STSpin220_ApplyTorque(ACC_TORQUE);
+ if ((devicePrm.commandExecuted==RUN_CMD)&&(devicePrm.speed<maxSpeed))
+ {
+ devicePrm.motionState = ACCELERATING;
+ devicePrm.accu = 0;
+ /* Apply accelerating torque */
+ STSpin220_ApplyTorque(ACC_TORQUE);
+ }
}
break;
}
@@ -1437,8 +1490,14 @@
if ((devicePrm.commandExecuted&STSPIN220_DIR_CHANGE_BIT_MASK)!=0)
{
devicePrm.commandExecuted=(deviceCommand_t)((~STSPIN220_DIR_CHANGE_BIT_MASK)&devicePrm.commandExecuted);
- if (devicePrm.direction==BACKWARD) devicePrm.direction=FORWARD;
- else devicePrm.direction=BACKWARD;
+ if (devicePrm.direction==BACKWARD)
+ {
+ devicePrm.direction=FORWARD;
+ }
+ else
+ {
+ devicePrm.direction=BACKWARD;
+ }
STSpin220_Board_SetDirectionGpio(devicePrm.direction);
if ((devicePrm.commandExecuted&STSPIN220_SOFT_STOP_BIT_MASK)==0)
{
@@ -1462,44 +1521,50 @@
STSpin220_HardHiZ();
}
}
- else if ((devicePrm.commandExecuted==RUN_CMD)&&
- (speed<=(devicePrm.maxSpeed>>stepModeShift)))
- {
- devicePrm.motionState = STEADY;
- /* Apply running torque */
- STSpin220_ApplyTorque(RUN_TORQUE);
- }
else
{
- /* Go on decelerating */
- if (speed>(devicePrm.minSpeed>>stepModeShift))
+ if ((devicePrm.commandExecuted==RUN_CMD)&&
+ (speed<=(devicePrm.maxSpeed>>stepModeShift)))
{
- bool speedUpdated = false;
- if (speed==0) speed =1;
- devicePrm.accu += dec / speed;
- while (devicePrm.accu>=(0X10000L))
+ devicePrm.motionState = STEADY;
+ /* Apply running torque */
+ STSpin220_ApplyTorque(RUN_TORQUE);
+ }
+ else
+ {
+ /* Go on decelerating */
+ if (speed>(devicePrm.minSpeed>>stepModeShift))
{
- devicePrm.accu -= (0X10000L);
- if (speed>1)
- {
- speed -=1;
+ bool speedUpdated = false;
+ if (speed==0)
+ {
+ speed =1;
}
- speedUpdated = true;
- }
+ devicePrm.accu += dec / speed;
+ while (devicePrm.accu>=(0X10000L))
+ {
+ devicePrm.accu -= (0X10000L);
+ if (speed>1)
+ {
+ speed -=1;
+ }
+ speedUpdated = true;
+ }
- if (speedUpdated)
- {
- if (speed<(devicePrm.minSpeed>>stepModeShift))
+ if (speedUpdated)
{
- speed = devicePrm.minSpeed>>stepModeShift;
- }
- devicePrm.speed = speed;
- }
+ if (speed<(devicePrm.minSpeed>>stepModeShift))
+ {
+ speed = devicePrm.minSpeed>>stepModeShift;
+ }
+ devicePrm.speed = speed;
+ }
- if (devicePrm.updateTorque!=false)
- {
- /* Apply decelerating torque */
- STSpin220_ApplyTorque(DEC_TORQUE);
+ if (devicePrm.updateTorque!=false)
+ {
+ /* Apply decelerating torque */
+ STSpin220_ApplyTorque(DEC_TORQUE);
+ }
}
}
}
X-NUCLEO-IHM06A1 Low Voltage Stepper Motor Driver