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

Components/l6474/L6474_config.h

Committer:
Davidroid
Date:
2017-03-10
Revision:
34:27da297c361c
Parent:
33:8daea0279301

File content as of revision 34:27da297c361c:

/**
 ******************************************************************************
 * @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****/