ST
Library to handle the X_NUCLEO_IHM02A1 Motor Control Expansion Board based on the L6470 component.
Dependencies: X_NUCLEO_COMMON ST_INTERFACES
Dependents: HelloWorld_IHM02A1 ConcorsoFinal HelloWorld_IHM02A1_mbedOS HelloWorld_IHM02A1-Serialinterpreter ... more
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X_NUCLEO_IHM02A1
by 
ST Expansion SW Team
Motor Control Library
Introduction
Library to handle the X-NUCLEO-IHM02A1 Motor Control Expansion Board based on the the L6470 component.
Daisy-Chain Configuration
The two L6470 components mounted on this board are connected in daisy-chain configuration. This board can be stacked up to four times so that the eight L6470 components will be connected two-by-two in daisy-chain configuration.
Concerning the SSEL pin of the SPI communication, each expansion board must be in one of the following configuration:
SB_23resistor connected only: SSEL on pinA2;SB_7resistor connected only: SSEL on pinD2;SB_8resistor connected only: SSEL on pinD10;SB_9resistor connected only: SSEL on pinD5.
Arduino Connector Compatibility Warning
X-NUCLEO-IHM02A1 is Arduino compatible with one exception: instead of using D13 pin to drive the SPI clock, it uses D3 pin, hence the default configuration for this library is with the SPI clock on D3 pin.
To be fully Arduino compatible the following patch is required:
- to remove the
SB34resistor; - to solder the
SB12resistor.
Alternatively, you can route the Nucleo board’s D13 pin directly to the expansion board’s D3 pin with a wire.
In case you patch your expansion board or route the pin, the SPI clock will be driven on D13 pin rather than on D3 pin, and you have also to initialize the sclk PinName variable with D13 rather than D3.
This patch is known to be required, for example, on the following boards: NUCLEO-F103RB, NUCLEO-F302RB, NUCLEO-F411RE, and NUCLEO-F429ZI.
If you use D13 pin for the SPI clock, please be aware that on STM32 Nucleo boards you may not drive the LED, otherwise you will get a conflict: the LED on STM32 Nucleo boards is connected to the D13 pin.
Example Applications
Revision 24:ff67801d7cd7, committed 2017-03-13
- Comitter:
- Davidroid
- Date:
- Mon Mar 13 17:52:38 2017 +0000
- Parent:
- 23:cf489f2ab072
- Commit message:
- Typo corrected.
Changed in this revision
diff -r cf489f2ab072 -r ff67801d7cd7 BSP/XNucleoIHM02A1.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/BSP/XNucleoIHM02A1.cpp Mon Mar 13 17:52:38 2017 +0000
@@ -0,0 +1,220 @@
+/**
+ ******************************************************************************
+ * @file XNucleoIHM02A1.cpp
+ * @author AST / Software Platforms and Cloud
+ * @version V1.0
+ * @date November 3rd, 2015
+ * @brief Implementation file for the X_NUCLEO_IHM02A1 expansion board.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 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.
+ *
+ ******************************************************************************
+ */
+
+
+/* Generated with STM32CubeTOO -----------------------------------------------*/
+
+
+/* Includes ------------------------------------------------------------------*/
+
+/* ACTION 1 ------------------------------------------------------------------*
+ * Include here platform specific header files. *
+ *----------------------------------------------------------------------------*/
+#include "mbed.h"
+#include "DevSPI.h"
+/* ACTION 2 ------------------------------------------------------------------*
+ * Include here expansion board specific header files. *
+ *----------------------------------------------------------------------------*/
+#include "XNucleoIHM02A1.h"
+
+
+/* Variables -----------------------------------------------------------------*/
+
+/* Number of expansion boards. */
+uint8_t XNucleoIHM02A1::number_of_boards = 0;
+
+
+/* Methods -------------------------------------------------------------------*/
+
+/**
+ * @brief Constructor.
+ * @param init_0 pointer to the initialization structure of the first motor.
+ * @param init_1 pointer to the initialization structure of the second motor.
+ * @param flag_irq pin name of the FLAG pin of the component.
+ * @param busy_irq pin name of the BUSY pin of the component.
+ * @param standby_reset pin name of the STBY\RST pin of the component.
+ * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
+ * @param spi SPI device to be used for communication.
+ */
+XNucleoIHM02A1::XNucleoIHM02A1(L6470_init_t *init_0, L6470_init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi) : dev_spi(spi)
+{
+ /* Checking stackability. */
+ if (!(number_of_boards < EXPBRD_MOUNTED_NR_MAX)) {
+ error("Instantiation of the X_NUCLEO_IHM02A1 expansion board failed: it can be stacked up to %d times.\r\n", EXPBRD_MOUNTED_NR_MAX);
+ }
+ instance_id = number_of_boards++;
+
+ /* SPI communication. */
+ if (dev_spi == NULL) {
+ dev_spi = new DevSPI(X_NUCLEO_IHM02A1_PIN_SPI_MOSI, X_NUCLEO_IHM02A1_PIN_SPI_MISO, X_NUCLEO_IHM02A1_PIN_SPI_SCLK);
+ }
+
+ /* Instantiating the components. */
+ /* ACTION 3 --------------------------------------------------------------*
+ * Instantiate here the expansion board's components. *
+ * *
+ * Example: *
+ * component_1 = new COMPONENT_1(ssel, *dev_spi); *
+ * component_2 = new COMPONENT_2(ssel, *dev_spi); *
+ *------------------------------------------------------------------------*/
+ components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
+ components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
+
+ /* Initializing the components. */
+ init_components[0] = init_0;
+ init_components[1] = init_1;
+ if (!init()) {
+ error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\r\n");
+ }
+}
+
+/**
+ * @brief Constructor.
+ * @param init_0 pointer to the initialization structure of the first motor.
+ * @param init_1 pointer to the initialization structure of the second motor.
+ * @param flag_irq pin name of the FLAG pin of the component.
+ * @param busy_irq pin name of the BUSY pin of the component.
+ * @param standby_reset pin name of the STBY\RST pin of the component.
+ * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
+ * @param mosi pin name of the MOSI pin of the SPI device to be used for communication.
+ * @param miso pin name of the MISO pin of the SPI device to be used for communication.
+ * @param sclk pin name of the SCLK pin of the SPI device to be used for communication.
+ */
+XNucleoIHM02A1::XNucleoIHM02A1(L6470_init_t *init_0, L6470_init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk)
+{
+ /* Checking stackability. */
+ if (!(number_of_boards < EXPBRD_MOUNTED_NR_MAX)) {
+ error("Instantiation of the X_NUCLEO_IHM02A1 expansion board failed: it can be stacked up to %d times.\r\n", EXPBRD_MOUNTED_NR_MAX);
+ }
+ instance_id = number_of_boards++;
+
+ /* SPI communication. */
+ dev_spi = new DevSPI(mosi, miso, sclk);
+
+ /* Instantiating the components. */
+ /* ACTION 3 --------------------------------------------------------------*
+ * Instantiate here the expansion board's components. *
+ * *
+ * Example: *
+ * component_1 = new COMPONENT_1(ssel, *dev_spi); *
+ * component_2 = new COMPONENT_2(ssel, *dev_spi); *
+ *------------------------------------------------------------------------*/
+ components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
+ components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
+
+ /* Initializing the components. */
+ init_components[0] = init_0;
+ init_components[1] = init_1;
+ if (!init()) {
+ error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\r\n");
+ }
+}
+
+/**
+ * @brief Initializing the X_NUCLEO_IHM02A1 board.
+ * @retval true if initialization is successful, false otherwise.
+ */
+bool XNucleoIHM02A1::init(void)
+{
+ /* Initializing the components. */
+ /* ACTION 4 --------------------------------------------------------------*
+ * Initialize here the expansion board's components. *
+ * *
+ * Example: *
+ * return (init_COMPONENT_1() && init_COMPONENT_2()); *
+ *------------------------------------------------------------------------*/
+ return (init_L6470_0() && init_L6470_1());
+}
+
+/* ACTION 5 ------------------------------------------------------------------*
+ * Implement here an initialization method for each expansion board's *
+ * component. *
+ * *
+ * Example: *
+ * bool ExpansionBoard::init_COMPONENT_1(void) *
+ * { *
+ * // Verifying identity. *
+ * uint8_t id = 0; *
+ * int ret = component_1->read_id(&id); *
+ * if ((ret != COMPONENT_OK) || (id != I_AM_COMPONENT_1)) *
+ * { *
+ * delete component_1; *
+ * component_1 = NULL; *
+ * return true; *
+ * } *
+ * *
+ * // Configuration. *
+ * COMPONENT_init_t init; *
+ * init.property_1 = COMPONENT_1_PROPERY_1_INIT; *
+ * init.property_N = COMPONENT_1_PROPERY_N_INIT; *
+ * *
+ * // Initialization. *
+ * if (component_1->init(&init) != COMPONENT_OK) *
+ * return false; *
+ * *
+ * return true; *
+ * } *
+ *----------------------------------------------------------------------------*/
+/**
+ * @brief Initialize the L6470 component.
+ * @retval true if initialization is successful, false otherwise.
+ */
+bool XNucleoIHM02A1::init_L6470_0(void)
+{
+ /* Initialization. */
+ if (l6470_0->init((void *) init_components[0]) != COMPONENT_OK) {
+ return false;
+ }
+
+ return true;
+}
+
+/**
+ * @brief Initialize the L6470 component.
+ * @retval true if initialization is successful, false otherwise.
+ */
+bool XNucleoIHM02A1::init_L6470_1(void)
+{
+ /* Initialization. */
+ if (l6470_1->init((void *) init_components[1]) != COMPONENT_OK) {
+ return false;
+ }
+
+ return true;
+}
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff -r cf489f2ab072 -r ff67801d7cd7 BSP/XNucleoIHM02A1.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/BSP/XNucleoIHM02A1.h Mon Mar 13 17:52:38 2017 +0000
@@ -0,0 +1,224 @@
+/**
+ ******************************************************************************
+ * @file XNucleoIHM02A1.h
+ * @author AST / Software Platforms and Cloud
+ * @version V1.0
+ * @date November 3rd, 2015
+ * @brief Class header file for the X-NUCLEO-IHM02A1 expansion board.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 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.
+ *
+ ******************************************************************************
+ */
+
+
+/* Generated with STM32CubeTOO -----------------------------------------------*/
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+
+#ifndef __X_NUCLEO_IHM02A1_CLASS_H
+#define __X_NUCLEO_IHM02A1_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+/* ACTION 1 ------------------------------------------------------------------*
+ * Include here platform specific header files. *
+ *----------------------------------------------------------------------------*/
+#include "mbed.h"
+#include "DevSPI.h"
+/* ACTION 2 ------------------------------------------------------------------*
+ * Include here expansion board configuration's header files. *
+ *----------------------------------------------------------------------------*/
+#include "x_nucleo_ihm02a1_config.h"
+/* ACTION 3 ------------------------------------------------------------------*
+ * Include here expansion board's components' header files. *
+ * *
+ * Example: *
+ * #include "COMPONENT_1.h" *
+ * #include "COMPONENT_2.h" *
+ *----------------------------------------------------------------------------*/
+#include "L6470.h"
+
+
+/* Classes -------------------------------------------------------------------*/
+
+/** Class representing a X-NUCLEO-IHM02A1 board.
+ */
+class XNucleoIHM02A1
+{
+public:
+
+ /*** Constructor, Destructor, and Initialization Methods ***/
+
+ /**
+ * @brief Constructor.
+ * @param init_0 pointer to the initialization structure of the first motor.
+ * @param init_1 pointer to the initialization structure of the second motor.
+ * @param flag_irq pin name of the FLAG pin of the component.
+ * @param busy_irq pin name of the BUSY pin of the component.
+ * @param standby_reset pin name of the STBY\RST pin of the component.
+ * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
+ * @param spi SPI device to be used for communication.
+ */
+ XNucleoIHM02A1(L6470_init_t *init_0, L6470_init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi);
+
+ /**
+ * @brief Constructor.
+ * @param init_0 pointer to the initialization structure of the first motor.
+ * @param init_1 pointer to the initialization structure of the second motor.
+ * @param flag_irq pin name of the FLAG pin of the component.
+ * @param busy_irq pin name of the BUSY pin of the component.
+ * @param standby_reset pin name of the STBY\RST pin of the component.
+ * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
+ * @param mosi pin name of the MOSI pin of the SPI device to be used for communication.
+ * @param miso pin name of the MISO pin of the SPI device to be used for communication.
+ * @param sclk pin name of the SCLK pin of the SPI device to be used for communication.
+ */
+ XNucleoIHM02A1(L6470_init_t *init_0, L6470_init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk);
+
+ /**
+ * @brief Destructor.
+ */
+ ~XNucleoIHM02A1(void) {}
+
+ /**
+ * @brief Initializing the X-NUCLEO-IHM02A1 board.
+ * @retval true if initialization is successful, false otherwise.
+ */
+ bool init(void);
+
+
+ /*** Other Public Expansion Board Related Methods ***/
+
+ /**
+ * @brief Getting the array of components.
+ * @param None.
+ * @retval The array of components.
+ */
+ L6470 **get_components(void)
+ {
+ return components;
+ }
+
+ /**
+ * @brief Performing the actions set on the motors with calls to a number of
+ * "Prepare<Action>()" methods, one for each motor of the daisy-chain.
+ * @param None.
+ * @retval A pointer to the results returned by the components, i.e. an
+ * integer value for each of them.
+ */
+ virtual uint32_t* perform_prepared_actions(void)
+ {
+ /* Performing pre-actions, if needed. */
+ for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
+ /*
+ "GetPosition()" is needed by "PrepareSetMark()" at the time when the
+ prepared actions get performed.
+ */
+ if (components[m]->get_prepared_action() == L6470::PREPARED_SET_MARK) {
+ components[m]->prepare_set_mark((uint32_t) components[m]->get_position());
+ }
+ }
+
+ /* Performing the prepared actions and getting back raw data. */
+ uint8_t *raw_data = components[0]->perform_prepared_actions();
+
+ /* Processing raw data. */
+ for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
+ results[m] = components[m]->get_result(raw_data);
+ }
+
+ /* Returning results. */
+ return results;
+ }
+
+
+ /*** Public Expansion Board Related Attributes ***/
+
+ /* ACTION 4 --------------------------------------------------------------*
+ * Declare here a public attribute for each expansion board's component. *
+ * You will have to call these attributes' public methods within your *
+ * main program. *
+ * *
+ * Example: *
+ * COMPONENT_1 *component_1; *
+ * COMPONENT_2 *component_2; *
+ *------------------------------------------------------------------------*/
+ L6470 *l6470_0;
+ L6470 *l6470_1;
+
+
+protected:
+
+ /*** Protected Expansion Board Related Initialization Methods ***/
+
+ /* ACTION 5 --------------------------------------------------------------*
+ * Declare here a protected initialization method for each expansion *
+ * board's component. *
+ * *
+ * Example: *
+ * bool init_COMPONENT_1(void); *
+ * bool init_COMPONENT_2(void); *
+ *------------------------------------------------------------------------*/
+ bool init_L6470_0(void);
+ bool init_L6470_1(void);
+
+
+ /*** Component's Instance Variables ***/
+
+ /* IO Device. */
+ DevSPI *dev_spi;
+
+ /* Components. */
+ L6470 *components[L6470DAISYCHAINSIZE];
+
+ /* Components' initialization. */
+ L6470_init_t *init_components[L6470DAISYCHAINSIZE];
+
+ /* Results of prepared actions. */
+ uint32_t results[L6470DAISYCHAINSIZE];
+
+ /* ACTION 6 --------------------------------------------------------------*
+ * Declare here the component's static and non-static data, one variable *
+ * per line. *
+ * *
+ * Example: *
+ * int instance_id; *
+ * static int number_of_instances; *
+ *------------------------------------------------------------------------*/
+ /* Data. */
+ uint8_t instance_id;
+
+ /* Static data. */
+ static uint8_t number_of_boards;
+};
+
+#endif /* __X_NUCLEO_IHM02A1_CLASS_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff -r cf489f2ab072 -r ff67801d7cd7 BSP/XNucleoIhm02a1.cpp
--- a/BSP/XNucleoIhm02a1.cpp Fri Mar 10 15:23:54 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,220 +0,0 @@
-/**
- ******************************************************************************
- * @file XNucleoIhm02a1.cpp
- * @author AST / Software Platforms and Cloud
- * @version V1.0
- * @date November 3rd, 2015
- * @brief Implementation file for the X_NUCLEO_IHM02A1 expansion board.
- ******************************************************************************
- * @attention
- *
- * <h2><center>© COPYRIGHT(c) 2015 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.
- *
- ******************************************************************************
- */
-
-
-/* Generated with STM32CubeTOO -----------------------------------------------*/
-
-
-/* Includes ------------------------------------------------------------------*/
-
-/* ACTION 1 ------------------------------------------------------------------*
- * Include here platform specific header files. *
- *----------------------------------------------------------------------------*/
-#include "mbed.h"
-#include "DevSPI.h"
-/* ACTION 2 ------------------------------------------------------------------*
- * Include here expansion board specific header files. *
- *----------------------------------------------------------------------------*/
-#include "XNucleoIhm02a1.h"
-
-
-/* Variables -----------------------------------------------------------------*/
-
-/* Number of expansion boards. */
-uint8_t XNucleoIhm02a1::number_of_boards = 0;
-
-
-/* Methods -------------------------------------------------------------------*/
-
-/**
- * @brief Constructor.
- * @param init_0 pointer to the initialization structure of the first motor.
- * @param init_1 pointer to the initialization structure of the second motor.
- * @param flag_irq pin name of the FLAG pin of the component.
- * @param busy_irq pin name of the BUSY pin of the component.
- * @param standby_reset pin name of the STBY\RST pin of the component.
- * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
- * @param spi SPI device to be used for communication.
- */
-XNucleoIhm02a1::XNucleoIhm02a1(L6470_init_t *init_0, L6470_init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi) : dev_spi(spi)
-{
- /* Checking stackability. */
- if (!(number_of_boards < EXPBRD_MOUNTED_NR_MAX)) {
- error("Instantiation of the X_NUCLEO_IHM02A1 expansion board failed: it can be stacked up to %d times.\r\n", EXPBRD_MOUNTED_NR_MAX);
- }
- instance_id = number_of_boards++;
-
- /* SPI communication. */
- if (dev_spi == NULL) {
- dev_spi = new DevSPI(X_NUCLEO_IHM02A1_PIN_SPI_MOSI, X_NUCLEO_IHM02A1_PIN_SPI_MISO, X_NUCLEO_IHM02A1_PIN_SPI_SCLK);
- }
-
- /* Instantiating the components. */
- /* ACTION 3 --------------------------------------------------------------*
- * Instantiate here the expansion board's components. *
- * *
- * Example: *
- * component_1 = new COMPONENT_1(ssel, *dev_spi); *
- * component_2 = new COMPONENT_2(ssel, *dev_spi); *
- *------------------------------------------------------------------------*/
- components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
- components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
-
- /* Initializing the components. */
- init_components[0] = init_0;
- init_components[1] = init_1;
- if (!init()) {
- error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\r\n");
- }
-}
-
-/**
- * @brief Constructor.
- * @param init_0 pointer to the initialization structure of the first motor.
- * @param init_1 pointer to the initialization structure of the second motor.
- * @param flag_irq pin name of the FLAG pin of the component.
- * @param busy_irq pin name of the BUSY pin of the component.
- * @param standby_reset pin name of the STBY\RST pin of the component.
- * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
- * @param mosi pin name of the MOSI pin of the SPI device to be used for communication.
- * @param miso pin name of the MISO pin of the SPI device to be used for communication.
- * @param sclk pin name of the SCLK pin of the SPI device to be used for communication.
- */
-XNucleoIhm02a1::XNucleoIhm02a1(L6470_init_t *init_0, L6470_init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk)
-{
- /* Checking stackability. */
- if (!(number_of_boards < EXPBRD_MOUNTED_NR_MAX)) {
- error("Instantiation of the X_NUCLEO_IHM02A1 expansion board failed: it can be stacked up to %d times.\r\n", EXPBRD_MOUNTED_NR_MAX);
- }
- instance_id = number_of_boards++;
-
- /* SPI communication. */
- dev_spi = new DevSPI(mosi, miso, sclk);
-
- /* Instantiating the components. */
- /* ACTION 3 --------------------------------------------------------------*
- * Instantiate here the expansion board's components. *
- * *
- * Example: *
- * component_1 = new COMPONENT_1(ssel, *dev_spi); *
- * component_2 = new COMPONENT_2(ssel, *dev_spi); *
- *------------------------------------------------------------------------*/
- components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
- components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
-
- /* Initializing the components. */
- init_components[0] = init_0;
- init_components[1] = init_1;
- if (!init()) {
- error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\r\n");
- }
-}
-
-/**
- * @brief Initializing the X_NUCLEO_IHM02A1 board.
- * @retval true if initialization is successful, false otherwise.
- */
-bool XNucleoIhm02a1::init(void)
-{
- /* Initializing the components. */
- /* ACTION 4 --------------------------------------------------------------*
- * Initialize here the expansion board's components. *
- * *
- * Example: *
- * return (init_COMPONENT_1() && init_COMPONENT_2()); *
- *------------------------------------------------------------------------*/
- return (init_L6470_0() && init_L6470_1());
-}
-
-/* ACTION 5 ------------------------------------------------------------------*
- * Implement here an initialization method for each expansion board's *
- * component. *
- * *
- * Example: *
- * bool ExpansionBoard::init_COMPONENT_1(void) *
- * { *
- * // Verifying identity. *
- * uint8_t id = 0; *
- * int ret = component_1->read_id(&id); *
- * if ((ret != COMPONENT_OK) || (id != I_AM_COMPONENT_1)) *
- * { *
- * delete component_1; *
- * component_1 = NULL; *
- * return true; *
- * } *
- * *
- * // Configuration. *
- * COMPONENT_init_t init; *
- * init.property_1 = COMPONENT_1_PROPERY_1_INIT; *
- * init.property_N = COMPONENT_1_PROPERY_N_INIT; *
- * *
- * // Initialization. *
- * if (component_1->init(&init) != COMPONENT_OK) *
- * return false; *
- * *
- * return true; *
- * } *
- *----------------------------------------------------------------------------*/
-/**
- * @brief Initialize the L6470 component.
- * @retval true if initialization is successful, false otherwise.
- */
-bool XNucleoIhm02a1::init_L6470_0(void)
-{
- /* Initialization. */
- if (l6470_0->init((void *) init_components[0]) != COMPONENT_OK) {
- return false;
- }
-
- return true;
-}
-
-/**
- * @brief Initialize the L6470 component.
- * @retval true if initialization is successful, false otherwise.
- */
-bool XNucleoIhm02a1::init_L6470_1(void)
-{
- /* Initialization. */
- if (l6470_1->init((void *) init_components[1]) != COMPONENT_OK) {
- return false;
- }
-
- return true;
-}
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff -r cf489f2ab072 -r ff67801d7cd7 BSP/XNucleoIhm02a1.h
--- a/BSP/XNucleoIhm02a1.h Fri Mar 10 15:23:54 2017 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,224 +0,0 @@
-/**
- ******************************************************************************
- * @file XNucleoIhm02a1.h
- * @author AST / Software Platforms and Cloud
- * @version V1.0
- * @date November 3rd, 2015
- * @brief Class header file for the X-NUCLEO-IHM02A1 expansion board.
- ******************************************************************************
- * @attention
- *
- * <h2><center>© COPYRIGHT(c) 2015 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.
- *
- ******************************************************************************
- */
-
-
-/* Generated with STM32CubeTOO -----------------------------------------------*/
-
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-
-#ifndef __X_NUCLEO_IHM02A1_CLASS_H
-#define __X_NUCLEO_IHM02A1_CLASS_H
-
-
-/* Includes ------------------------------------------------------------------*/
-
-/* ACTION 1 ------------------------------------------------------------------*
- * Include here platform specific header files. *
- *----------------------------------------------------------------------------*/
-#include "mbed.h"
-#include "DevSPI.h"
-/* ACTION 2 ------------------------------------------------------------------*
- * Include here expansion board configuration's header files. *
- *----------------------------------------------------------------------------*/
-#include "x_nucleo_ihm02a1_config.h"
-/* ACTION 3 ------------------------------------------------------------------*
- * Include here expansion board's components' header files. *
- * *
- * Example: *
- * #include "COMPONENT_1.h" *
- * #include "COMPONENT_2.h" *
- *----------------------------------------------------------------------------*/
-#include "L6470.h"
-
-
-/* Classes -------------------------------------------------------------------*/
-
-/** Class representing a X-NUCLEO-IHM02A1 board.
- */
-class XNucleoIhm02a1
-{
-public:
-
- /*** Constructor, Destructor, and Initialization Methods ***/
-
- /**
- * @brief Constructor.
- * @param init_0 pointer to the initialization structure of the first motor.
- * @param init_1 pointer to the initialization structure of the second motor.
- * @param flag_irq pin name of the FLAG pin of the component.
- * @param busy_irq pin name of the BUSY pin of the component.
- * @param standby_reset pin name of the STBY\RST pin of the component.
- * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
- * @param spi SPI device to be used for communication.
- */
- XNucleoIhm02a1(L6470_init_t *init_0, L6470_init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi);
-
- /**
- * @brief Constructor.
- * @param init_0 pointer to the initialization structure of the first motor.
- * @param init_1 pointer to the initialization structure of the second motor.
- * @param flag_irq pin name of the FLAG pin of the component.
- * @param busy_irq pin name of the BUSY pin of the component.
- * @param standby_reset pin name of the STBY\RST pin of the component.
- * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
- * @param mosi pin name of the MOSI pin of the SPI device to be used for communication.
- * @param miso pin name of the MISO pin of the SPI device to be used for communication.
- * @param sclk pin name of the SCLK pin of the SPI device to be used for communication.
- */
- XNucleoIhm02a1(L6470_init_t *init_0, L6470_init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk);
-
- /**
- * @brief Destructor.
- */
- ~XNucleoIhm02a1(void) {}
-
- /**
- * @brief Initializing the X-NUCLEO-IHM02A1 board.
- * @retval true if initialization is successful, false otherwise.
- */
- bool init(void);
-
-
- /*** Other Public Expansion Board Related Methods ***/
-
- /**
- * @brief Getting the array of components.
- * @param None.
- * @retval The array of components.
- */
- L6470 **get_components(void)
- {
- return components;
- }
-
- /**
- * @brief Performing the actions set on the motors with calls to a number of
- * "Prepare<Action>()" methods, one for each motor of the daisy-chain.
- * @param None.
- * @retval A pointer to the results returned by the components, i.e. an
- * integer value for each of them.
- */
- virtual uint32_t* perform_prepared_actions(void)
- {
- /* Performing pre-actions, if needed. */
- for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
- /*
- "GetPosition()" is needed by "PrepareSetMark()" at the time when the
- prepared actions get performed.
- */
- if (components[m]->get_prepared_action() == L6470::PREPARED_SET_MARK) {
- components[m]->prepare_set_mark((uint32_t) components[m]->get_position());
- }
- }
-
- /* Performing the prepared actions and getting back raw data. */
- uint8_t *raw_data = components[0]->perform_prepared_actions();
-
- /* Processing raw data. */
- for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
- results[m] = components[m]->get_result(raw_data);
- }
-
- /* Returning results. */
- return results;
- }
-
-
- /*** Public Expansion Board Related Attributes ***/
-
- /* ACTION 4 --------------------------------------------------------------*
- * Declare here a public attribute for each expansion board's component. *
- * You will have to call these attributes' public methods within your *
- * main program. *
- * *
- * Example: *
- * COMPONENT_1 *component_1; *
- * COMPONENT_2 *component_2; *
- *------------------------------------------------------------------------*/
- L6470 *l6470_0;
- L6470 *l6470_1;
-
-
-protected:
-
- /*** Protected Expansion Board Related Initialization Methods ***/
-
- /* ACTION 5 --------------------------------------------------------------*
- * Declare here a protected initialization method for each expansion *
- * board's component. *
- * *
- * Example: *
- * bool init_COMPONENT_1(void); *
- * bool init_COMPONENT_2(void); *
- *------------------------------------------------------------------------*/
- bool init_L6470_0(void);
- bool init_L6470_1(void);
-
-
- /*** Component's Instance Variables ***/
-
- /* IO Device. */
- DevSPI *dev_spi;
-
- /* Components. */
- L6470 *components[L6470DAISYCHAINSIZE];
-
- /* Components' initialization. */
- L6470_init_t *init_components[L6470DAISYCHAINSIZE];
-
- /* Results of prepared actions. */
- uint32_t results[L6470DAISYCHAINSIZE];
-
- /* ACTION 6 --------------------------------------------------------------*
- * Declare here the component's static and non-static data, one variable *
- * per line. *
- * *
- * Example: *
- * int instance_id; *
- * static int number_of_instances; *
- *------------------------------------------------------------------------*/
- /* Data. */
- uint8_t instance_id;
-
- /* Static data. */
- static uint8_t number_of_boards;
-};
-
-#endif /* __X_NUCLEO_IHM02A1_CLASS_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
X-NUCLEO-IHM02A1 Two Axis Stepper Motor Driver