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.

Components/STSpin220/STSpin220_config.h

Committer:
Davidroid
Date:
2017-07-28
Revision:
5:fd1315beea32
Parent:
4:265c30b9112a

File content as of revision 5:fd1315beea32:

/**************************************************************************//**
  * @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 */