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:

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

• HelloWorld_IHM01A1
• HelloWorld_IHM01A1_2Motors
• MotorControl_IHM01A1
• MemsMotorControl
• MemsMotorControl_IHM01A1_IKS01A2

--- a/Components/l6474/l6474_class.h	Thu Nov 26 16:00:28 2015 +0000
+++ b/Components/l6474/l6474_class.h	Fri Nov 27 10:00:22 2015 +0000
@@ -143,13 +143,17 @@
      *   }                                                                    *
      *------------------------------------------------------------------------*/
     /**
-     * @brief  Initializing the component.
+     * @brief  Initializing the component in FULL STEP mode.
      * @param  init Pointer to device specific initalization structure.
      * @retval "0" in case of success, an error code otherwise.
      */
     virtual int Init(void *init)
     {
-        return (int) L6474_Init((MOTOR_InitTypeDef *) init);
+        DrvStatusTypeDef ret = L6474_Init((MOTOR_InitTypeDef *) init);
+        if (ret != COMPONENT_OK)
+            return (int) ret;
+        L6474_SelectStepMode(STEP_MODE_FULL);
+        return (int) COMPONENT_OK;
     }
 
     /**