for further information contact your local stmicroe lectronics sales office. november 2014 docid027149 rev 1 1/5 X-CUBE-SPN1 stm32cube software expansion for the x-nucleo-ihm01 a1 expansion board data brief features driver layer for complete management of the l6474 microstepping motor driver integrated in the x-nucleo-ihm01a1 expansion board examples for controlling up to three stepper motors easy portability across different mcu families, thanks to stm32cube free, user-friendly license terms description the X-CUBE-SPN1 software package is an expansion for stm32cube, associated with the x-nucleo-ihm01a1 expansion board. it is compatible with the nucleo stm32f401, the nucleo stm32f030 and the nucleo stm32l053 when they are equipped with one or more (up to 3) x-nucleo-ihm01a1 boards. the source code of this package is based on stm32cube to ease portability across different stm32 mcu families. www.st.com
detailed description X-CUBE-SPN1 2/5 docid027149 rev 1 1 detailed description the X-CUBE-SPN1 software package allows complete ma nagement of the l6474 fully integrated microstepping motor driver, by providing complete apis. it offers the following features: l6474 registers read, write nucleo and expansion board configuration (gpios, pw ms, irqs, etc.) speed profile configuration motion commands flag interrupts handling (alarms reporting) microstepping handling daisy chaining handling by starting the l6474 driver, the user specifies th e number of l6474 chips which are connected to the nucleo board (i.e. the number of x -nucleo-ihm01a1 expansion boards). once set, the number of devices must not b e changed. depending on the devices number, the driver: sets up the required gpios to handle the motor dire ctions and the flag interrupt initializes the pwms that will act as step clock ge nerators initializes the speed profile (acceleration, decele ration, min and max speed) of each device by using the parameters of the file easyspi n_target_config.h starts the spi driver to communicate with the l6474 chips releases the reset of each of the l6474 chips disables the power bridge and clear the status flag s of the l6474 chips loads the registers of each l6474 chips with the pr edefined values from easyspin_target_config.h once the initialization is complete, the user can m odify the l6474 registers and speed profile configurations as desired. most of the func tions of the driver take a device id (from 0 to 2) as input parameter. it gives the user the pos sibility to specify which of the device configurations to modify. the user can also write a callback function and att ach it to the flag interrupt handler, depending of the actions to be performed when an al arm is reported (read the flags, clear and read the flags, etc.) then, the user can request to move one or several m otors (using the same principle of device id). this request can be: to move for a given number of steps in a specified direction to go to a specific position to run until reception of a new instruction on reception of this request, the driver enables th e pwm which is used as the step clock of the corresponding l6474. at each pulse period, the motor will perform one st ep and an isr (interrupt service routine) is triggered on the microcontroller side.
docid027149 rev 1 3/5 X-CUBE-SPN1 detailed description 5 this isr is used by the fw to count the number of p erformed steps and to update the speed. indeed, the motor starts moving by using the minimum speed parameter. at each step, the speed is increased using the acceleration parameter. if the target position is far enough, the motor wil l perform a trapezoidal move: acceleration phase using the device acceleration pa rameter steady phase where the motor turns at max speed deceleration phase using the device deceleration pa rameter stop at the targeted position otherwise, if the target position does not allow it to reach maximum speed, the motor will perform a triangular move: acceleration phase using the device acceleration pa rameter deceleration phase using the device deceleration pa rameter stop at the targeted position a moving command can be stopped at any moment: either by a soft stop or softhiz which progressivel y decreases the speed using the deceleration parameter. once the minimum speed is r eached, the motor is stopped. or by a hard stop or hardhiz command which immediat ely stops the motor. when the motor is stopped using the softhiz or hard hiz command, the power bridge is automatically disabled. to avoid sending a new command to a device before t he completion of the previous one, the driver offers a easyspin_waitwhileactive() command which locks the program execution until the motor stops moving. the driver also offers the possibility to change th e step mode (from full step to 1/16 microstep mode) for a given device. when the step m ode is changed, the current position (abs_position register) is automatically reset, but it is up to the user to update the speed profile (max and min speed, acceleration decelerati on).
revision history X-CUBE-SPN1 4/5 docid027149 rev 1 2 revision history table 1. document revision history date revision changes 07-nov-2014 1 initial release.
docid027149 rev 1 5/5 X-CUBE-SPN1 5 important notice C please read carefully stmicroelectronics nv and its subsidiaries (st) r eserve the right to make changes, corrections, enha ncements, modifications, and improvements to st products and/or to this document at any time without notice. purchasers should obta in the latest relevant information on st products before placing orders. st products are sold pursuant to sts terms and conditions of sale in place at the time of order acknowledgement. purchasers are solely responsible for the choice, s election, and use of st products and st assumes no liability for application assistance or the design of purchasers products. no license, express or implied, to any intellectual property right is granted by st herein. resale of st products with provisions different fro m the information set forth herein shall void any w arranty granted by st for such product. st and the st logo are trademarks of st. all other product or service names are the property of their respective owners. information in this document supersedes and replace s information previously supplied in any prior vers ions of this document. ? 2014 stmicroelectronics C all rights reserved
|
