ST / X_NUCLEO_IHM01A1

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Dependencies:   X_NUCLEO_COMMON ST_INTERFACES

Dependents:   Stepper_Matlab_Control SunTracker_BLE Stepper_Matlab_Control MemsMotorControl ... more

Fork of X_NUCLEO_IHM01A1 by ST Expansion SW Team

Motor Control Library

Introduction

Library to handle the X-NUCLEO-IHM01A1 Motor Control Expansion Board based on the the L6474 component.

Daisy-Chain Configuration

This board can be stacked up to three times so that the L6474 components will be connected in daisy-chain configuration. For this purpose, some resistors must be correctly connected on the boards as depicted here below:

/media/uploads/Davidroid/daisychaintable.png

Platform compatibility

  • NUCLEO boards have been tested with the default configuration provided by the HelloWorld_IHM01A1 example.
  • LPCXpresso11U68 board has been tested with the following patch:
    • to connect with a wire from the LPCX’s D4 pin to the IHM01A1’s D9 pin;
    • to initialize the pwm PinName variable with D4 rather than D9.
  • FRDM-K64F board has been tested with the following patch:
    • to connect with a wire from the FRDM’s D4 pin to the IHM01A1’s D8 pin;
    • to initialize the standby_reset PinName variable with D4 rather than D8.

Example Applications

Diff: Components/l6474/l6474_class.h

Revision:
32:6e5198e46287
Parent:
30:a05820cfdba9
--- a/Components/l6474/l6474_class.h	Fri Oct 28 13:31:51 2016 +0000
+++ b/Components/l6474/l6474_class.h	Tue Feb 28 16:12:31 2017 +0000
@@ -98,8 +98,9 @@
     L6474(PinName flag_irq, PinName standby_reset, PinName direction, PinName pwm, PinName ssel, DevSPI &spi) : StepperMotor(), flag_irq(flag_irq), standby_reset(standby_reset), direction(direction), pwm(pwm), ssel(ssel), dev_spi(spi)
     {
         /* Checking stackability. */
-        if (!(number_of_devices < MAX_NUMBER_OF_DEVICES))
+        if (!(number_of_devices < MAX_NUMBER_OF_DEVICES)) {
             error("Instantiation of the L6474 component failed: it can be stacked up to %d times.\r\n", MAX_NUMBER_OF_DEVICES);
+        }
 
         /* ACTION 4 ----------------------------------------------------------*
          * Initialize here the component's member variables, one variable per *
@@ -216,8 +217,7 @@
         unsigned int register_value = (unsigned int) L6474_CmdGetParam((L6474_Registers_t) parameter);
         float value;
 
-        switch ((L6474_Registers_t) parameter)
-        {
+        switch ((L6474_Registers_t) parameter) {
             case L6474_TVAL:
                 value = L6474_Par_to_Tval_Current((float) register_value);
                 break;
@@ -368,8 +368,7 @@
     {
         float register_value;
 
-        switch ((L6474_Registers_t) parameter)
-        {
+        switch ((L6474_Registers_t) parameter) {
             case L6474_TVAL:
                 register_value = L6474_Tval_Current_to_Par(value);
                 break;
@@ -590,8 +589,9 @@
      */
     virtual bool SetStepMode(step_mode_t step_mode)
     {
-        if ((motorStepMode_t) step_mode > STEP_MODE_1_16)
+        if ((motorStepMode_t) step_mode > STEP_MODE_1_16) {
             return false;
+        }
 
         SoftHiZ();
         L6474_SelectStepMode((motorStepMode_t) step_mode);
@@ -783,8 +783,9 @@
      */
     Status_t Read(uint8_t* pBuffer, uint16_t NumBytesToRead)
     {
-        if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0)
+        if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0) {
             return COMPONENT_ERROR;
+        }
         return COMPONENT_OK;
     }
     
@@ -796,8 +797,9 @@
      */
     Status_t Write(uint8_t* pBuffer, uint16_t NumBytesToWrite)
     {
-        if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0)
+        if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0) {
             return COMPONENT_ERROR;
+        }
         return COMPONENT_OK;
     }
 
@@ -810,8 +812,9 @@
      */
     Status_t ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes)
     {
-        if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0)
+        if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0) {
             return COMPONENT_ERROR;
+        }
         return COMPONENT_OK;
     }