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UM1911用户手册(DM00207127).pdf
Heading1 - 1 What is STM32Cube?
Heading2 - 1.1 STM32Cube overview
Heading2 - 1.2 STM32Cube architecture
Heading1 - 2 X-CUBE-SPN3 software expansion for STM32Cube
Heading2 - 2.1 Overview
Heading2 - 2.2 Architecture
Heading2 - 2.3 Folder structure
Heading3 - 2.3.1 BSP folder
Heading3 - 2.3.2 Projects folder
Heading2 - 2.4 Software required resources
Heading2 - 2.5 APIs
Heading3 - 2.5.1 BSP_MotorControl_AttachBusyInterrupt()
Heading3 - 2.5.2 BSP_MotorControl_AttachErrorHandler()
Heading3 - 2.5.3 BSP_MotorControl_AttachFlagInterrupt()
Heading3 - 2.5.4 BSP_MotorControl_BusyInterruptHandler()
Heading3 - 2.5.5 BSP_MotorControl_CheckBusyHw()
Heading3 - 2.5.6 BSP_MotorControl_CheckStatusHw()
Heading3 - 2.5.7 BSP_MotorControl_CmdGetParam()
Heading3 - 2.5.8 BSP_MotorControl_CmdGetStatus()
Heading3 - 2.5.9 BSP_MotorControl_CmdGoToDir()
Heading3 - 2.5.10 BSP_MotorControl_CmdGoUntil()
Heading3 - 2.5.11 BSP_MotorControl_CmdHardHiZ()
Heading3 - 2.5.12 BSP_MotorControl_CmdNop()
Heading3 - 2.5.13 BSP_MotorControl_CmdReleaseSw()
Heading3 - 2.5.14 BSP_MotorControl_CmdResetDevice()
Heading3 - 2.5.15 BSP_MotorControl_CmdResetPos()
Heading3 - 2.5.16 BSP_MotorControl_CmdRun()
Heading3 - 2.5.17 BSP_MotorControl_CmdSetParam()
Heading3 - 2.5.18 BSP_MotorControl_CmdSoftHiZ()
Heading3 - 2.5.19 BSP_MotorControl_CmdSoftStop()
Heading3 - 2.5.20 BSP_MotorControl_CmdStepClock()
Heading3 - 2.5.21 BSP_MotorControl_ErrorHandler()
Heading3 - 2.5.22 BSP_MotorControl_FetchAndClearAllStatus()
Heading3 - 2.5.23 BSP_MotorControl_FlagInterruptHandler()
Heading3 - 2.5.24 BSP_MotorControl_GetBoardId()
Heading3 - 2.5.25 BSP_MotorControl_GetFetchedStatus()
Heading3 - 2.5.26 BSP_MotorControl_GetFwVersion()
Heading3 - 2.5.27 BSP_MotorControl_GetMark()
Heading3 - 2.5.28 BSP_MotorControl_GetNbDevices()
Heading3 - 2.5.29 BSP_MotorControl_GetPosition()
Heading3 - 2.5.30 BSP_MotorControl_GoHome()
Heading3 - 2.5.31 BSP_MotorControl_GoMark()
Heading3 - 2.5.32 BSP_MotorControl_GoTo()
Heading3 - 2.5.33 BSP_MotorControl_HardStop()
Heading3 - 2.5.34 BSP_MotorControl_Init()
Heading3 - 2.5.35 BSP_MotorControl_IsDeviceBusy()
Heading3 - 2.5.36 BSP_MotorControl_Move()
Heading3 - 2.5.37 BSP_MotorControl_QueueCommands()
Heading3 - 2.5.38 BSP_MotorControl_ReleaseReset()
Heading3 - 2.5.39 BSP_MotorControl_Reset()
Heading3 - 2.5.40 BSP_MotorControl_SelectStepMode()
Heading3 - 2.5.41 BSP_MotorControl_SendQueuedCommands()
Heading3 - 2.5.42 BSP_MotorControl_SetHome()
Heading3 - 2.5.43 BSP_MotorControl_SetMark()
Heading3 - 2.5.44 BSP_MotorControl_StartStepClock()
Heading3 - 2.5.45 BSP_MotorControl_StopStepClock()
Heading3 - 2.5.46 BSP_MotorControl_WaitForAllDevicesNotBusy()
Heading3 - 2.5.47 BSP_MotorControl_WaitWhileActive()
Heading2 - 2.6 Sample application description
Heading1 - 3 System setup guide
Heading2 - 3.1 Hardware description
Heading3 - 3.1.1 STM32 Nucleo platform
Heading3 - 3.1.2 X-NUCLEO-IHM03A1 expansion board
Heading3 - 3.1.3 Miscellaneous HW components
Heading2 - 3.2 Software description
Heading2 - 3.3 Hardware and software setup
Heading3 - 3.3.1 Common setup to drive 1, 2 or 3 motors
Heading3 - 3.3.2 Setup to drive 1 motor
Heading3 - 3.3.3 Setup to drive 2 motors
Heading3 - 3.3.4 Setup to drive 3 motors
Heading1 - 4 Acronyms and abbreviations
Heading1 - 5 Revision history
UM1911
User manual
Getting started with the X-CUBE-SPN3 high power stepper motor
driver software expansion for STM32Cube
Introduction
This user manual presents how to use the X-CUBE-SPN3 expansion software within the
STM32Cube software environment. Combined with the use of one or several X-NUCLEO-
IHM03A1 boards, this software allows an STM32 Nucleo board to control one or more
stepper motors. The X-NUCLEO-IHM03A1 high power stepper motor driver expansion
board is designed around STMicroelectronics’ powerSTEP01, a system-in-package micro-
stepping controller with power MOSFETs.
This document does not cover the powerSTEP01 device operation. For this please refer to
the powerSTEP01 datasheet “DS9836: System-in-package integrating microstepping
controller and 10 A power MOSFETs”, which is available on www.st.com
The software is based on STM32Cube technology and expands STM32Cube based
packages.
July 2015
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Contents
Contents
UM1911
1
2
What is STM32Cube? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
STM32Cube overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.1
1.2
STM32Cube architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
X-CUBE-SPN3 software expansion for STM32Cube . . . . . . . . . . . . . . . 7
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.1
2.2
2.3
2.4
2.5
Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Folder structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
BSP folder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.3.1
2.3.2
Projects folder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Software required resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
APIs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
BSP_MotorControl_AttachBusyInterrupt() . . . . . . . . . . . . . . . . . . . . . . . 13
2.5.1
2.5.2
BSP_MotorControl_AttachErrorHandler() . . . . . . . . . . . . . . . . . . . . . . . 14
BSP_MotorControl_AttachFlagInterrupt() . . . . . . . . . . . . . . . . . . . . . . . 15
2.5.3
BSP_MotorControl_BusyInterruptHandler() . . . . . . . . . . . . . . . . . . . . . 16
2.5.4
2.5.5
BSP_MotorControl_CheckBusyHw() . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
BSP_MotorControl_CheckStatusHw() . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.5.6
BSP_MotorControl_CmdGetParam() . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.5.7
2.5.8
BSP_MotorControl_CmdGetStatus() . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
BSP_MotorControl_CmdGoToDir() . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.5.9
BSP_MotorControl_CmdGoUntil() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.5.10
2.5.11
BSP_MotorControl_CmdHardHiZ() . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
BSP_MotorControl_CmdNop() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.5.12
BSP_MotorControl_CmdReleaseSw() . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.5.13
2.5.14
BSP_MotorControl_CmdResetDevice() . . . . . . . . . . . . . . . . . . . . . . . . 24
BSP_MotorControl_CmdResetPos() . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.5.15
BSP_MotorControl_CmdRun() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
2.5.16
2.5.17
BSP_MotorControl_CmdSetParam() . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
BSP_MotorControl_CmdSoftHiZ() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.5.18
BSP_MotorControl_CmdSoftStop() . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.5.19
2.5.20
BSP_MotorControl_CmdStepClock() . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
BSP_MotorControl_ErrorHandler() . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2.5.21
2.5.22
BSP_MotorControl_FetchAndClearAllStatus() . . . . . . . . . . . . . . . . . . . 31
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2.5.23
BSP_MotorControl_FlagInterruptHandler() . . . . . . . . . . . . . . . . . . . . . . 31
2.5.24
BSP_MotorControl_GetBoardId() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
2.5.25
BSP_MotorControl_GetFetchedStatus() . . . . . . . . . . . . . . . . . . . . . . . . 33
2.5.26
BSP_MotorControl_GetFwVersion() . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
2.5.27
BSP_MotorControl_GetMark() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
2.5.28
BSP_MotorControl_GetNbDevices() . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
2.5.29
BSP_MotorControl_GetPosition() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
2.5.30
BSP_MotorControl_GoHome() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
2.5.31
BSP_MotorControl_GoMark() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
2.5.32
BSP_MotorControl_GoTo() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
2.5.33
BSP_MotorControl_HardStop() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2.5.34
BSP_MotorControl_Init() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2.5.35
BSP_MotorControl_IsDeviceBusy() . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
2.5.36
BSP_MotorControl_Move() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
2.5.37
BSP_MotorControl_QueueCommands() . . . . . . . . . . . . . . . . . . . . . . . . 42
2.5.38
BSP_MotorControl_ReleaseReset() . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
2.5.39
BSP_MotorControl_Reset() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
2.5.40
BSP_MotorControl_SelectStepMode() . . . . . . . . . . . . . . . . . . . . . . . . . 44
2.5.41
BSP_MotorControl_SendQueuedCommands() . . . . . . . . . . . . . . . . . . . 45
2.5.42
BSP_MotorControl_SetHome() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
2.5.43
BSP_MotorControl_SetMark() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
2.5.44
BSP_MotorControl_StartStepClock() . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
2.5.45
BSP_MotorControl_StopStepClock() . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
2.5.46
BSP_MotorControl_WaitForAllDevicesNotBusy() . . . . . . . . . . . . . . . . . 49
2.5.47
BSP_MotorControl_WaitWhileActive() . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Sample application description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
2.6
3
System setup guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Hardware description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
3.1
STM32 Nucleo platform . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
3.1.1
X-NUCLEO-IHM03A1 expansion board . . . . . . . . . . . . . . . . . . . . . . . . 52
3.1.2
3.1.3
Miscellaneous HW components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Software description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
3.2
3.3
Hardware and software setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
3.3.1
Common setup to drive 1, 2 or 3 motors . . . . . . . . . . . . . . . . . . . . . . . . 54
Setup to drive 1 motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
3.3.2
3.3.3
Setup to drive 2 motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
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5
UM1911
3.3.4
Setup to drive 3 motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Acronyms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
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1.1
What is STM32Cube?
What is STM32Cube?
STM32Cube overview
The STM32Cube™ initiative was originated by STMicroelectronics to ease developers’ life
by reducing development effort, time and cost. STM32Cube covers the STM32 portfolio.
STM32Cube version 1.x includes:
•
The STM32CubeMX, a graphical software configuration tool that allows the generation
of C initialization code using graphical wizards
A comprehensive embedded software platform, delivered per series (such as
STM32CubeF4 for the STM32F4 series)
The STM32Cube HAL, an STM32 abstraction layer embedded software, which
ensures maximized portability across the STM32 portfolio
A consistent set of middleware components such as RTOS, USB, TCP/IP, graphics
All embedded software utilities with a full set of examples
•
•
•
•
Information about the STM32Cube is available at: http://www.st.com/stm32cube.
1.2
STM32Cube architecture
The STM32Cube firmware solution is built on three independent levels that can easily
interact with each other, as shown in the diagram below:
Figure 1. Firmware architecture
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UM1911
Level 0: This level is divided into three sub-layers:
•
Board support package (BSP): this layer offers a set of APIs relative to the hardware
components in the hardware boards (audio codec, IO expander, touchscreen, SRAM
driver, LCD drivers, etc.) and is composed of two parts:
–
Component: the driver relative to the external device on the board and not related
to the STM32. The component driver provides specific APIs to the BSP driver
external components and could be portable to any other board.
BSP driver: permits linking of the component driver to a specific board and
provides a set of user-friendly APIs. The API naming rule is
BSP_FUNCT_Action(): ex. BSP_LED_Init(),BSP_LED_On()
–
It’s based on modular architecture allowing easy porting to any hardware simply by
implementing the low level routines.
•
Hardware abstraction layer (HAL): this layer provides the low level drivers and the
hardware interfacing methods to interact with the upper layers (application, libraries
and stacks). It provides generic, multi-instance and functionality-oriented APIs which
permit offloading of the user’s application implementation by providing a ready-to-use
process. For example, for the communication peripherals (I²S, UART, etc.) it provides
APIs that allow initialization and configuration of the peripheral, management of data
transfer based on polling, interrupt or DMA processes, and management of
communication errors that may arise during communication. The HAL driver APIs are
split into two categories: generic APIs which provide common and generic functions to
all the STM32 series, and extension APIs which provides customized functions for a
specific family or a specific part number.
Basic peripheral usage examples: this layer encloses the examples build over the
STM32 peripheral using only the HAL and BSP resources.
•
•
Level 1: This level is divided into two sub-layers:
•
Middleware components: set of libraries covering USB host and device libraries
STemWin, FreeRTOS, FatFS, LwIP and PolarSSL. Horizontal interaction between the
components of this layer is done directly by calling the feature APIs while the vertical
interaction with the low level drivers is done through specific callbacks and static
macros implemented in the library system call interface. For example, the FatFs
implements the disk I/O driver to access the microSD drive or the USB mass storage
class.
Examples based on the middleware components: each middleware component comes
with one or more examples (also called Applications) showing how to use it. Integration
examples that use several middleware components are provided as well.
Level 2: This level is composed of a single layer which is a global real-time and graphical
demonstration based on the middleware service layer, the low level abstraction layer and
the basic peripheral usage applications for board-based functionalities.
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2.1
X-CUBE-SPN3 software expansion for STM32Cube
X-CUBE-SPN3 software expansion for STM32Cube
Overview
X-CUBE-SPN3 is a software package that expands the functionality provided by
STM32Cube. The key features of the package are:
•
•
•
•
•
powerSTEP01 read/write registers
Nucleo and expansion board configuration (GPIOs, PWMs, IRQs, etc.)
Application commands
FLAG and BUSY interrupt handling (alarm reporting)
Daisy chain handling
The registers allow the user to easily:
•
set or monitor the motor positions
•
set home position and mark another position
•
set minimum and maximum speed
•
monitor current speed
•
set acceleration and deceleration
•
set parameters for voltage mode driving
•
read the ADCIN voltage
•
set the overcurrent threshold
•
set the step mode and control method
•
enable/disable alarms
•
set current control parameters for gate driving
•
configure various operating options
•
read system status
The application commands allow the user to easily:
•
•
•
•
handle micro-stepping (up to 1/128)
handle step-clock
perform various positioning, moves and stops
get system status
When starting the powerSTEP01 driver, the user specifies the number of powerSTEP01
devices connected to the STM32 Nucleo board (i.e. the number of X-NUCLEO-IHM03A1
expansion boards). Once set, the number of devices must not be changed.
Depending on the number of devices, the driver:
•
•
•
•
•
sets up the required GPIOs to handle the motor direction and FLAG and BUSY
interrupts
starts the SPI driver to communicate with the powerSTEP01 devices
releases the reset of each of the powerSTEP01 devices
disables the power bridge and clears the status flags of the powerSTEP01 devices
loads the registers of each powerSTEP01 device with the predefined values from
“powerstep01_target_config.h”, in order to program speed profile boundaries, step
mode, voltage or current mode, current decay settings, overcurrent protection, etc.
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Once the initialization is done, the user can modify the powerSTEP01 registers as desired.
Most of the functions of the driver take a device ID (from 0 to 254) as input parameter. It
gives the user the possibility to specify which of the device configurations to modify.
The user can also write callback functions and attach them to:
•
the flag interrupt handler depending on the actions to perform when an alarms is
reported (read the flags, clear and read the flags, etc.)
the busy interrupt handler which is called each time the busy pin position is changed
the error handler which is called by the library when it reports an error.
•
•
Then, the user can request the movement of one or several motors (still using the principle
of device ID). This request can be to:
•
•
•
•
•
move for a given number of steps in a specified direction
go to a specific position
run until reception of a new instruction
go at a constant speed until an external switch is closed triggering a soft stop
go at minimum speed until an external switch is opened triggering a hard stop
The speed profile is completely handled by the powerstep01. The motor starts moving by
using the programmed minimum speed (set in MIN_SPEED register). At each step, the
speed is increased using the acceleration value (ACC register).
If the target position of a motion command is far enough, the motor will perform a
trapezoidal move:
•
•
•
•
accelerating phase using the device acceleration parameter
steady phase where the motor turns at maximum speed
decelerating phase using the device deceleration parameter
stop at the targeted position
Otherwise, if the target position does not allow it to reach the max speed, the motor will
perform a triangular move:
•
•
•
accelerating phase using the device acceleration parameter
decelerating phase using the device deceleration parameter
stop at the targeted position
A motion command can be stopped at any moment:
•
either by a soft stop or softHiz, which progressively decreases the speed using the
deceleration parameter. Once the minimum speed is reached, the motor is stopped.
or by a hard stop or hardHiz command which immediately stops the motor.
•
When the motor is stopped using the softHiz or hardHiz command, the power bridge is
automatically disabled.
To avoid sending a new command to a device before the completion of the previous one, the
driver offers a Powerstep01_WaitWhileActive() command which locks program execution
until the motor stops moving.
The library also offers the possibility to change the step mode (from full step until 1/128
micro-step mode) for a given device. When the step mode is changed, the current position
(ABS_POSITION register) is automatically reset.
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