ST / X_NUCLEO_IHM01A1

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

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_config.h

Revision:
35:974ca699c792
Parent:
34:27da297c361c
--- a/Components/l6474/L6474_config.h	Fri Mar 10 14:07:49 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,229 +0,0 @@
-/**
- ******************************************************************************
- * @file    L6474_target_config.h
- * @author  IPC Rennes
- * @version V1.5.0
- * @date    November 12, 2014
- * @brief   Predefines values for the L6474 registers
- * and for the devices parameters
- * @note    (C) COPYRIGHT 2014 STMicroelectronics
- ******************************************************************************
- * @attention
- *
- * <h2><center>&copy; COPYRIGHT(c) 2014 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 __L6474_TARGET_CONFIG_H
-#define __L6474_TARGET_CONFIG_H
-
-#ifdef __cplusplus
- extern "C" {
-#endif 
-
-
-/* Definitions ---------------------------------------------------------------*/
-
-/** @addtogroup BSP
-  * @{
-  */   
-
-/** @addtogroup L6474
-  * @{
-  */   
-
-/** @addtogroup L6474_Exported_Constants
-  * @{
-  */   
-
-/** @defgroup Predefined_L6474_Registers_Values
-  * @{
-  */   
-   
-/// The maximum number of devices in the daisy chain
-#define MAX_NUMBER_OF_DEVICES                 (3)
-
-/************************ Speed Profile  *******************************/
-
-/// Acceleration rate in step/s2 for device 0 (must be greater than 0)
-#define L6474_CONF_PARAM_ACC_DEVICE_0        (160)
-/// Acceleration rate in step/s2 for device 1 (must be greater than 0)
-#define L6474_CONF_PARAM_ACC_DEVICE_1        (160)
-/// Acceleration rate in step/s2 for device 2 (must be greater than 0)
-#define L6474_CONF_PARAM_ACC_DEVICE_2        (160)
-
-/// Deceleration rate in step/s2 for device 0 (must be greater than 0)
-#define L6474_CONF_PARAM_DEC_DEVICE_0        (160)
-/// Deceleration rate in step/s2 for device 1 (must be greater than 0)
-#define L6474_CONF_PARAM_DEC_DEVICE_1        (160)
-/// Deceleration rate in step/s2 for device 2 (must be greater than 0)
-#define L6474_CONF_PARAM_DEC_DEVICE_2        (160)
-
-/// Maximum speed in step/s for device 0 (30 step/s < Maximum speed <= 10 000 step/s )
-#define L6474_CONF_PARAM_MAX_SPEED_DEVICE_0  (1600)
-/// Maximum speed in step/s for device 1 (30 step/s < Maximum speed <= 10 000 step/s )
-#define L6474_CONF_PARAM_MAX_SPEED_DEVICE_1  (1600)
-/// Maximum speed in step/s for device 2 (30 step/s < Maximum speed <= 10 000 step/s )
-#define L6474_CONF_PARAM_MAX_SPEED_DEVICE_2  (1600)
-
-/// Minimum speed in step/s for device 0 (30 step/s <= Minimum speed < 10 000 step/s)
-#define L6474_CONF_PARAM_MIN_SPEED_DEVICE_0  (800)
-/// Minimum speed in step/s for device 1 (30 step/s <= Minimum speed < 10 000 step/s)
-#define L6474_CONF_PARAM_MIN_SPEED_DEVICE_1  (800)
-/// Minimum speed in step/s for device 2 (30 step/s <= Minimum speed < 10 000 step/s)
-#define L6474_CONF_PARAM_MIN_SPEED_DEVICE_2  (800)
-
-
-/************************ Phase Current Control *******************************/
-
-// Current value that is assigned to the torque regulation DAC
-/// TVAL register value for device 0 (range 31.25mA to 4000mA)
-#define L6474_CONF_PARAM_TVAL_DEVICE_0  (250)
-/// TVAL register value for device 1 (range 31.25mA to 4000mA)
-#define L6474_CONF_PARAM_TVAL_DEVICE_1  (250)
-/// TVAL register value for device 2 (range 31.25mA to 4000mA)
-#define L6474_CONF_PARAM_TVAL_DEVICE_2  (250)
-
-/// Fall time value (T_FAST field of T_FAST register) for device 0 (range 2us to 32us)
-#define L6474_CONF_PARAM_FAST_STEP_DEVICE_0  (L6474_FAST_STEP_12us)
-/// Fall time value (T_FAST field of T_FAST register) for device 1 (range 2us to 32us)
-#define L6474_CONF_PARAM_FAST_STEP_DEVICE_1  (L6474_FAST_STEP_12us)
-/// Fall time value (T_FAST field of T_FAST register) for device 2 (range 2us to 32us)
-#define L6474_CONF_PARAM_FAST_STEP_DEVICE_2  (L6474_FAST_STEP_12us)
-
-/// Maximum fast decay time (T_OFF field of T_FAST register) for device 0 (range 2us to 32us)
-#define L6474_CONF_PARAM_TOFF_FAST_DEVICE_0  (L6474_TOFF_FAST_8us)
-/// Maximum fast decay time (T_OFF field of T_FAST register) for device 1 (range 2us to 32us)
-#define L6474_CONF_PARAM_TOFF_FAST_DEVICE_1  (L6474_TOFF_FAST_8us)
-/// Maximum fast decay time (T_OFF field of T_FAST register) for device 2 (range 2us to 32us)
-#define L6474_CONF_PARAM_TOFF_FAST_DEVICE_2  (L6474_TOFF_FAST_8us)
-
-/// Minimum ON time (TON_MIN register) for device 0 (range 0.5us to 64us)
-#define L6474_CONF_PARAM_TON_MIN_DEVICE_0 (3)
-/// Minimum ON time (TON_MIN register) for device 1 (range 0.5us to 64us)
-#define L6474_CONF_PARAM_TON_MIN_DEVICE_1 (3)
-/// Minimum ON time (TON_MIN register) for device 2 (range 0.5us to 64us)
-#define L6474_CONF_PARAM_TON_MIN_DEVICE_2 (3)
-
-/// Minimum OFF time (TOFF_MIN register) for device 0 (range 0.5us to 64us)
-#define L6474_CONF_PARAM_TOFF_MIN_DEVICE_0 (21)
-/// Minimum OFF time (TOFF_MIN register) for device 1 (range 0.5us to 64us)
-#define L6474_CONF_PARAM_TOFF_MIN_DEVICE_1 (21)
-/// Minimum OFF time (TOFF_MIN register) for device 2 (range 0.5us to 64us)
-#define L6474_CONF_PARAM_TOFF_MIN_DEVICE_2 (21)
-
-/******************************* Others ***************************************/
-
-/// Overcurrent threshold settings for device 0 (OCD_TH register)
-#define L6474_CONF_PARAM_OCD_TH_DEVICE_0  (L6474_OCD_TH_750mA)
-/// Overcurrent threshold settings for device 1 (OCD_TH register)
-#define L6474_CONF_PARAM_OCD_TH_DEVICE_1  (L6474_OCD_TH_750mA)
-/// Overcurrent threshold settings for device 2 (OCD_TH register)
-#define L6474_CONF_PARAM_OCD_TH_DEVICE_2  (L6474_OCD_TH_750mA)
-
-/// Alarm settings for device 0 (ALARM_EN register)
-#define L6474_CONF_PARAM_ALARM_EN_DEVICE_0  (L6474_ALARM_EN_OVERCURRENT |\
-                                             L6474_ALARM_EN_THERMAL_SHUTDOWN |\
-                                             L6474_ALARM_EN_THERMAL_WARNING |\
-                                             L6474_ALARM_EN_UNDERVOLTAGE |\
-                                             L6474_ALARM_EN_SW_TURN_ON |\
-                                             L6474_ALARM_EN_WRONG_NPERF_CMD)
-
-///Alarm settings for device 1 (ALARM_EN register)
-#define L6474_CONF_PARAM_ALARM_EN_DEVICE_1  (L6474_ALARM_EN_OVERCURRENT |\
-                                             L6474_ALARM_EN_THERMAL_SHUTDOWN |\
-                                             L6474_ALARM_EN_THERMAL_WARNING |\
-                                             L6474_ALARM_EN_UNDERVOLTAGE |\
-                                             L6474_ALARM_EN_SW_TURN_ON |\
-                                             L6474_ALARM_EN_WRONG_NPERF_CMD)
-
-/// Alarm settings for device 2 (ALARM_EN register)
-#define L6474_CONF_PARAM_ALARM_EN_DEVICE_2  (L6474_ALARM_EN_OVERCURRENT |\
-                                             L6474_ALARM_EN_THERMAL_SHUTDOWN |\
-                                             L6474_ALARM_EN_THERMAL_WARNING |\
-                                             L6474_ALARM_EN_UNDERVOLTAGE |\
-                                             L6474_ALARM_EN_SW_TURN_ON |\
-                                             L6474_ALARM_EN_WRONG_NPERF_CMD)
-
-/// Step selection settings for device 0 (STEP_SEL field of STEP_MODE register)
-#define L6474_CONF_PARAM_STEP_SEL_DEVICE_0  (L6474_STEP_SEL_1_16)
-/// Step selection settings for device 1 (STEP_SEL field of STEP_MODE register)
-#define L6474_CONF_PARAM_STEP_SEL_DEVICE_1  (L6474_STEP_SEL_1_16)
-/// Step selection settings for device 2 (STEP_SEL field of STEP_MODE register)
-#define L6474_CONF_PARAM_STEP_SEL_DEVICE_2  (L6474_STEP_SEL_1_16)
-
-/// Synch. selection settings for device 0 (SYNC_SEL field of STEP_MODE register)
-#define L6474_CONF_PARAM_SYNC_SEL_DEVICE_0  (L6474_SYNC_SEL_1_2)
-/// Synch. selection settings for device 1 (SYNC_SEL field of STEP_MODE register)
-#define L6474_CONF_PARAM_SYNC_SEL_DEVICE_1  (L6474_SYNC_SEL_1_2)
-/// Synch. selection settings for device 2 (SYNC_SEL field of STEP_MODE register)
-#define L6474_CONF_PARAM_SYNC_SEL_DEVICE_2  (L6474_SYNC_SEL_1_2)
-
-/// Target Swicthing Period for device 0 (field TOFF of CONFIG register)
-#define L6474_CONF_PARAM_TOFF_DEVICE_0  (L6474_CONFIG_TOFF_044us)
-/// Target Swicthing Period for device 1 (field TOFF of CONFIG register)
-#define L6474_CONF_PARAM_TOFF_DEVICE_1  (L6474_CONFIG_TOFF_044us)
-/// Target Swicthing Period for device 2 (field TOFF of CONFIG register)
-#define L6474_CONF_PARAM_TOFF_DEVICE_2  (L6474_CONFIG_TOFF_044us)
-
-/// Slew rate for device 0 (POW_SR field of CONFIG register)
-#define L6474_CONF_PARAM_SR_DEVICE_0  (L6474_CONFIG_SR_320V_us)
-/// Slew rate for device 1 (POW_SR field of CONFIG register)
-#define L6474_CONF_PARAM_SR_DEVICE_1  (L6474_CONFIG_SR_320V_us)
-/// Slew rate for device 2 (POW_SR field of CONFIG register)
-#define L6474_CONF_PARAM_SR_DEVICE_2  (L6474_CONFIG_SR_320V_us)
-
-/// Over current shutwdown enabling for device 0 (OC_SD field of CONFIG register)
-#define L6474_CONF_PARAM_OC_SD_DEVICE_0  (L6474_CONFIG_OC_SD_ENABLE)
-/// Over current shutwdown enabling for device 1 (OC_SD field of CONFIG register)
-#define L6474_CONF_PARAM_OC_SD_DEVICE_1  (L6474_CONFIG_OC_SD_ENABLE)
-/// Over current shutwdown enabling for device 2 (OC_SD field of CONFIG register)
-#define L6474_CONF_PARAM_OC_SD_DEVICE_2  (L6474_CONFIG_OC_SD_ENABLE)
-
-/// Torque regulation method for device 0 (EN_TQREG field of CONFIG register)
-#define L6474_CONF_PARAM_TQ_REG_DEVICE_0  (L6474_CONFIG_EN_TQREG_TVAL_USED)
-///Torque regulation method for device 1 (EN_TQREG field of CONFIG register)
-#define L6474_CONF_PARAM_TQ_REG_DEVICE_1  (L6474_CONFIG_EN_TQREG_TVAL_USED)
-/// Torque regulation method for device 2 (EN_TQREG field of CONFIG register)
-#define L6474_CONF_PARAM_TQ_REG_DEVICE_2  (L6474_CONFIG_EN_TQREG_TVAL_USED)
-
-/// Clock setting for device 0 (OSC_CLK_SEL field of CONFIG register)
-#define L6474_CONF_PARAM_CLOCK_SETTING_DEVICE_0  (L6474_CONFIG_INT_16MHZ)
-/// Clock setting for device 1 (OSC_CLK_SEL field of CONFIG register)
-#define L6474_CONF_PARAM_CLOCK_SETTING_DEVICE_1  (L6474_CONFIG_INT_16MHZ)
-/// Clock setting for device 2 (OSC_CLK_SEL field of CONFIG register)
-#define L6474_CONF_PARAM_CLOCK_SETTING_DEVICE_2  (L6474_CONFIG_INT_16MHZ)
-
-#ifdef __cplusplus
-  }
-#endif
-
-#endif /* __L6474_TARGET_CONFIG_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/