ST / X_NUCLEO_IHM12A1

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Dependencies:   ST_INTERFACES

Dependents:   motori prova_motore SchedamotoriIHM12A1 prova_motore_duck ... more

Fork of X-NUCLEO-IHM12A1 by ST Expansion SW Team

Brush DC Motor Control Library

Library to handle the X-NUCLEO-IHM12A1 Motor Control Expansion Board based on the STSPIN240 component.

It allows a complete management of the STSPIN240, a low voltage dual brush DC driver, by providing a complete APIs.

The key features of the library are :

  • Configuration of the STSPIN240 (bridges input and enabling signals)
  • Flag interrupt handling (overcurrent and thermal alarms reporting)
  • Handling of up to two bidirectional Brush DC motors
  • Nucleo and expansion board configuration (GPIOs, PWMs, IRQs…)

To use the STSPIN240 driver library, the user first has to call its initialization method which:

  • Setups the required GPIOs to handle the bridges enable pins, the FLAG interrupt which reports overcurrent detection or thermal protection.
  • Loads the driver parameters with initial values configured by the user or with their predefined values from “stspin240_250_target_config.h”, in order to program the PWMs frequency of the bridges inputs, the number of brush DC motors.

Once the initialization is done, the user can modify the driver parameters by calling specific functions to change the numbers of motors or the PWMs frequency.

The user can also write callback functions and attach them to:

  • The flag interrupt handler depending on the actions he wants to perform when an overcurrent or a thermal alarm is reported.
  • The Error handler which is called by the library when it reports an error.

Then, the user can drive the different brush DC motors by requesting to run in a specified direction and by changing the maximal speed. When a motor is requested to run, the corresponding bridge is automatically enabled.

A motion command can be stopped at any moment:

  • Either by a hard stop which immediately stops the motor.
  • Or by a hardHiz command which immediately stops the motor and disables the bridge which is used by the motor.

The library also provides functions to disable or enable the bridges independently from the run or stop commands.

Arduino Connector Compatibility Warning

Using the X-NUCLEO-IHM12A1 expansion board with the NUCLEO-F429ZI requires adopting the following patch:

  • to connect with a wire the PB_3 Nucleo pin to the PWMB expansion board pin.


Board configuration for HelloWorld_IHM12A1 example

/media/uploads/Manu_L/x_nucleo_ihm12a1.jpg

Diff: Components/stspin240_250/STSpin240_250_config.h

Revision:
3:b0128df93d26
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/stspin240_250/STSpin240_250_config.h	Fri Mar 24 10:59:30 2017 +0100
@@ -0,0 +1,100 @@
+/**************************************************************************//**
+  * @file    STSpin240_250_config.h
+  * @author  IPC Rennes
+  * @version V1.0.0
+  * @date    February 10, 2016
+  * @brief   Predefines values for the Stspin240 or Stspin250 parameters
+  * 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 __STSPIN240_250_CONFIG_H
+#define __STSPIN240_250_CONFIG_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif 
+
+/** @addtogroup STSPIN240_250
+  * @{
+  */   
+
+/** @addtogroup STSPIN240_250_Exported_Defines STSPIN240_250 Exported Defines
+  * @{
+  */   
+   
+/** @defgroup Predefined_STSPIN240_250_Parameters_Values Predefined STSPIN240_250 Parameters Values
+  * @{
+  */   
+
+/// The maximum number of Stspin240 or Stspin250 devices 
+#define MAX_NUMBER_OF_DEVICES                 (1)
+   
+/// The maximum number of Brush DC motors connected to the Stspin240 or Stspin250
+#define MAX_NUMBER_OF_BRUSH_DC_MOTORS                    (2)
+
+/// Frequency of PWM of Input Bridge A in Hz up to 100000Hz
+#define STSPIN240_250_CONF_PARAM_FREQ_PWM_A  (20000)
+
+/// Frequency of PWM of Input Bridge B in Hz up to 100000Hz
+/// On the X-NUCLEO-IHM01A12 expansion board the PWM_A and PWM_B
+/// share the same timer, so the frequency must be the same     
+#define STSPIN240_250_CONF_PARAM_FREQ_PWM_B  (20000)
+       
+/// Frequency of PWM used for Ref pinin Hz up to 100000Hz
+#define STSPIN240_250_CONF_PARAM_FREQ_PWM_REF  (20000)
+
+/// Duty cycle of PWM used for Ref pin (from 0 to 100)
+#define STSPIN240_250_CONF_PARAM_DC_PWM_REF  (50)   
+    
+/// Dual Bridge configuration  (0 for mono, 1 for dual brush dc (STSPIN240 only)
+#define STSPIN240_250_CONF_PARAM_DUAL_BRIDGE_ENABLING    (0)
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+#ifdef __cplusplus
+  }
+#endif
+
+#endif /* __STSPIN240_250_CONFIG_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
\ No newline at end of file