ST / X_NUCLEO_IHM02A1

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

Fork of 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_23 resistor connected only: SSEL on pin A2;
  • SB_7 resistor connected only: SSEL on pin D2;
  • SB_8 resistor connected only: SSEL on pin D10;
  • SB_9 resistor connected only: SSEL on pin D5.

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 SB34 resistor;
  • to solder the SB12 resistor.

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

BSP/x_nucleo_ihm02a1_class.cpp@21:1b7f3e002688, 2017-03-01 (annotated)

Committer:
Davidroid
Date:
Wed Mar 01 17:52:33 2017 +0000
Revision:
21:1b7f3e002688
Parent:
15:31785d1acd4b 
Fitting mbed coding style.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Davidroid 0:92706998571a 1 /**
Davidroid 0:92706998571a 2 ******************************************************************************
Davidroid 0:92706998571a 3 * @file x_nucleo_ihm02a1_class.cpp
Davidroid 0:92706998571a 4 * @author AST / Software Platforms and Cloud
Davidroid 0:92706998571a 5 * @version V1.0
Davidroid 0:92706998571a 6 * @date November 3rd, 2015
Davidroid 0:92706998571a 7 * @brief Implementation file for the X_NUCLEO_IHM02A1 expansion board.
Davidroid 0:92706998571a 8 ******************************************************************************
Davidroid 0:92706998571a 9 * @attention
Davidroid 0:92706998571a 10 *
Davidroid 0:92706998571a 11 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Davidroid 0:92706998571a 12 *
Davidroid 0:92706998571a 13 * Redistribution and use in source and binary forms, with or without modification,
Davidroid 0:92706998571a 14 * are permitted provided that the following conditions are met:
Davidroid 0:92706998571a 15 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 0:92706998571a 16 * this list of conditions and the following disclaimer.
Davidroid 0:92706998571a 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid 0:92706998571a 18 * this list of conditions and the following disclaimer in the documentation
Davidroid 0:92706998571a 19 * and/or other materials provided with the distribution.
Davidroid 0:92706998571a 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid 0:92706998571a 21 * may be used to endorse or promote products derived from this software
Davidroid 0:92706998571a 22 * without specific prior written permission.
Davidroid 0:92706998571a 23 *
Davidroid 0:92706998571a 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 0:92706998571a 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 0:92706998571a 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid 0:92706998571a 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid 0:92706998571a 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid 0:92706998571a 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid 0:92706998571a 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid 0:92706998571a 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid 0:92706998571a 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid 0:92706998571a 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid 0:92706998571a 34 *
Davidroid 0:92706998571a 35 ******************************************************************************
Davidroid 0:92706998571a 36 */
Davidroid 0:92706998571a 37
Davidroid 0:92706998571a 38
Davidroid 15:31785d1acd4b 39 /* Generated with STM32CubeTOO -----------------------------------------------*/
Davidroid 0:92706998571a 40
Davidroid 0:92706998571a 41
Davidroid 0:92706998571a 42 /* Includes ------------------------------------------------------------------*/
Davidroid 0:92706998571a 43
Davidroid 0:92706998571a 44 /* ACTION 1 ------------------------------------------------------------------*
Davidroid 0:92706998571a 45 * Include here platform specific header files. *
Davidroid 14:e614697ebf34 46 *----------------------------------------------------------------------------*/
Davidroid 0:92706998571a 47 #include "mbed.h"
Davidroid 0:92706998571a 48 #include "DevSPI.h"
Davidroid 0:92706998571a 49 /* ACTION 2 ------------------------------------------------------------------*
Davidroid 0:92706998571a 50 * Include here expansion board specific header files. *
Davidroid 14:e614697ebf34 51 *----------------------------------------------------------------------------*/
Davidroid 0:92706998571a 52 #include "x_nucleo_ihm02a1_class.h"
Davidroid 0:92706998571a 53
Davidroid 0:92706998571a 54
Davidroid 10:aa68441705b2 55 /* Variables -----------------------------------------------------------------*/
Davidroid 0:92706998571a 56
Davidroid 10:aa68441705b2 57 /* Number of expansion boards. */
Davidroid 0:92706998571a 58 uint8_t X_NUCLEO_IHM02A1::number_of_boards = 0;
Davidroid 0:92706998571a 59
Davidroid 0:92706998571a 60
Davidroid 0:92706998571a 61 /* Methods -------------------------------------------------------------------*/
Davidroid 0:92706998571a 62
Davidroid 0:92706998571a 63 /**
Davidroid 0:92706998571a 64 * @brief Constructor.
Davidroid 9:d70452d7a1e1 65 * @param init_0 pointer to the initialization structure of the first motor.
Davidroid 9:d70452d7a1e1 66 * @param init_1 pointer to the initialization structure of the second motor.
Davidroid 0:92706998571a 67 * @param flag_irq pin name of the FLAG pin of the component.
Davidroid 1:b78dab6d2c58 68 * @param busy_irq pin name of the BUSY pin of the component.
Davidroid 0:92706998571a 69 * @param standby_reset pin name of the STBY\RST pin of the component.
Davidroid 0:92706998571a 70 * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 71 * @param spi SPI device to be used for communication.
Davidroid 0:92706998571a 72 */
Davidroid 14:e614697ebf34 73 X_NUCLEO_IHM02A1::X_NUCLEO_IHM02A1(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)
Davidroid 0:92706998571a 74 {
Davidroid 10:aa68441705b2 75 /* Checking stackability. */
Davidroid 21:1b7f3e002688 76 if (!(number_of_boards < EXPBRD_MOUNTED_NR_MAX)) {
Davidroid 10:aa68441705b2 77 error("Instantiation of the X_NUCLEO_IHM02A1 expansion board failed: it can be stacked up to %d times.\r\n", EXPBRD_MOUNTED_NR_MAX);
Davidroid 21:1b7f3e002688 78 }
Davidroid 10:aa68441705b2 79 X_NUCLEO_IHM02A1_Id = number_of_boards++;
Davidroid 10:aa68441705b2 80
Davidroid 3:e3f6f4474d98 81 /* SPI communication. */
Davidroid 21:1b7f3e002688 82 if (dev_spi == NULL) {
Davidroid 3:e3f6f4474d98 83 dev_spi = new DevSPI(X_NUCLEO_IHM02A1_PIN_SPI_MOSI, X_NUCLEO_IHM02A1_PIN_SPI_MISO, X_NUCLEO_IHM02A1_PIN_SPI_SCLK);
Davidroid 21:1b7f3e002688 84 }
Davidroid 3:e3f6f4474d98 85
Davidroid 0:92706998571a 86 /* Instantiating the components. */
Davidroid 0:92706998571a 87 /* ACTION 3 --------------------------------------------------------------*
Davidroid 0:92706998571a 88 * Instantiate here the expansion board's components. *
Davidroid 0:92706998571a 89 * *
Davidroid 0:92706998571a 90 * Example: *
Davidroid 14:e614697ebf34 91 * component_1 = new COMPONENT_1(ssel, *dev_spi); *
Davidroid 14:e614697ebf34 92 * component_2 = new COMPONENT_2(ssel, *dev_spi); *
Davidroid 0:92706998571a 93 *------------------------------------------------------------------------*/
Davidroid 1:b78dab6d2c58 94 components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
Davidroid 1:b78dab6d2c58 95 components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
Davidroid 3:e3f6f4474d98 96
Davidroid 3:e3f6f4474d98 97 /* Initializing the components. */
Davidroid 9:d70452d7a1e1 98 init_components[0] = init_0;
Davidroid 9:d70452d7a1e1 99 init_components[1] = init_1;
Davidroid 21:1b7f3e002688 100 if (!Init()) {
Davidroid 10:aa68441705b2 101 error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\r\n");
Davidroid 21:1b7f3e002688 102 }
Davidroid 0:92706998571a 103 }
Davidroid 0:92706998571a 104
Davidroid 0:92706998571a 105 /**
Davidroid 3:e3f6f4474d98 106 * @brief Constructor.
Davidroid 9:d70452d7a1e1 107 * @param init_0 pointer to the initialization structure of the first motor.
Davidroid 9:d70452d7a1e1 108 * @param init_1 pointer to the initialization structure of the second motor.
Davidroid 0:92706998571a 109 * @param flag_irq pin name of the FLAG pin of the component.
Davidroid 1:b78dab6d2c58 110 * @param busy_irq pin name of the BUSY pin of the component.
Davidroid 0:92706998571a 111 * @param standby_reset pin name of the STBY\RST pin of the component.
Davidroid 0:92706998571a 112 * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 113 * @param mosi pin name of the MOSI pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 114 * @param miso pin name of the MISO pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 115 * @param sclk pin name of the SCLK pin of the SPI device to be used for communication.
Davidroid 0:92706998571a 116 */
Davidroid 14:e614697ebf34 117 X_NUCLEO_IHM02A1::X_NUCLEO_IHM02A1(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)
Davidroid 0:92706998571a 118 {
Davidroid 10:aa68441705b2 119 /* Checking stackability. */
Davidroid 21:1b7f3e002688 120 if (!(number_of_boards < EXPBRD_MOUNTED_NR_MAX)) {
Davidroid 10:aa68441705b2 121 error("Instantiation of the X_NUCLEO_IHM02A1 expansion board failed: it can be stacked up to %d times.\r\n", EXPBRD_MOUNTED_NR_MAX);
Davidroid 21:1b7f3e002688 122 }
Davidroid 10:aa68441705b2 123 X_NUCLEO_IHM02A1_Id = number_of_boards++;
Davidroid 10:aa68441705b2 124
Davidroid 3:e3f6f4474d98 125 /* SPI communication. */
Davidroid 3:e3f6f4474d98 126 dev_spi = new DevSPI(mosi, miso, sclk);
Davidroid 0:92706998571a 127
Davidroid 3:e3f6f4474d98 128 /* Instantiating the components. */
Davidroid 3:e3f6f4474d98 129 /* ACTION 3 --------------------------------------------------------------*
Davidroid 3:e3f6f4474d98 130 * Instantiate here the expansion board's components. *
Davidroid 3:e3f6f4474d98 131 * *
Davidroid 3:e3f6f4474d98 132 * Example: *
Davidroid 14:e614697ebf34 133 * component_1 = new COMPONENT_1(ssel, *dev_spi); *
Davidroid 14:e614697ebf34 134 * component_2 = new COMPONENT_2(ssel, *dev_spi); *
Davidroid 3:e3f6f4474d98 135 *------------------------------------------------------------------------*/
Davidroid 3:e3f6f4474d98 136 components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
Davidroid 3:e3f6f4474d98 137 components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
Davidroid 0:92706998571a 138
Davidroid 3:e3f6f4474d98 139 /* Initializing the components. */
Davidroid 9:d70452d7a1e1 140 init_components[0] = init_0;
Davidroid 9:d70452d7a1e1 141 init_components[1] = init_1;
Davidroid 21:1b7f3e002688 142 if (!Init()) {
Davidroid 10:aa68441705b2 143 error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\r\n");
Davidroid 21:1b7f3e002688 144 }
Davidroid 0:92706998571a 145 }
Davidroid 0:92706998571a 146
Davidroid 0:92706998571a 147 /**
Davidroid 0:92706998571a 148 * @brief Initializing the X_NUCLEO_IHM02A1 board.
Davidroid 0:92706998571a 149 * @retval true if initialization is successful, false otherwise.
Davidroid 0:92706998571a 150 */
Davidroid 0:92706998571a 151 bool X_NUCLEO_IHM02A1::Init(void)
Davidroid 0:92706998571a 152 {
Davidroid 0:92706998571a 153 /* Initializing the components. */
Davidroid 0:92706998571a 154 /* ACTION 4 --------------------------------------------------------------*
Davidroid 0:92706998571a 155 * Initialize here the expansion board's components. *
Davidroid 0:92706998571a 156 * *
Davidroid 0:92706998571a 157 * Example: *
Davidroid 0:92706998571a 158 * return (Init_COMPONENT_1() && Init_COMPONENT_2()); *
Davidroid 0:92706998571a 159 *------------------------------------------------------------------------*/
Davidroid 0:92706998571a 160 return (Init_L6470_0() && Init_L6470_1());
Davidroid 0:92706998571a 161 }
Davidroid 0:92706998571a 162
Davidroid 0:92706998571a 163 /* ACTION 5 ------------------------------------------------------------------*
Davidroid 0:92706998571a 164 * Implement here an initialization method for each expansion board's *
Davidroid 0:92706998571a 165 * component. *
Davidroid 0:92706998571a 166 * *
Davidroid 0:92706998571a 167 * Example: *
Davidroid 0:92706998571a 168 * bool EXPANSION_BOARD::Init_COMPONENT_1(void) *
Davidroid 0:92706998571a 169 * { *
Davidroid 0:92706998571a 170 * // Verifying identity. *
Davidroid 0:92706998571a 171 * uint8_t id = 0; *
Davidroid 0:92706998571a 172 * int ret = component_1->ReadID(&id); *
Davidroid 0:92706998571a 173 * if ((ret != COMPONENT_OK) || (id != I_AM_COMPONENT_1)) *
Davidroid 0:92706998571a 174 * { *
Davidroid 0:92706998571a 175 * delete component_1; *
Davidroid 0:92706998571a 176 * component_1 = NULL; *
Davidroid 0:92706998571a 177 * return true; *
Davidroid 0:92706998571a 178 * } *
Davidroid 0:92706998571a 179 * *
Davidroid 0:92706998571a 180 * // Configuration. *
Davidroid 14:e614697ebf34 181 * COMPONENT_Init_t InitStructure; *
Davidroid 0:92706998571a 182 * InitStructure.Property_1 = COMPONENT_1_PROPERY_1_INIT; *
Davidroid 0:92706998571a 183 * InitStructure.Property_N = COMPONENT_1_PROPERY_N_INIT; *
Davidroid 0:92706998571a 184 * *
Davidroid 0:92706998571a 185 * // Initialization. *
Davidroid 0:92706998571a 186 * if (component_1->Init(&InitStructure) != COMPONENT_OK) *
Davidroid 0:92706998571a 187 * return false; *
Davidroid 0:92706998571a 188 * *
Davidroid 0:92706998571a 189 * return true; *
Davidroid 0:92706998571a 190 * } *
Davidroid 0:92706998571a 191 *----------------------------------------------------------------------------*/
Davidroid 0:92706998571a 192 /**
Davidroid 0:92706998571a 193 * @brief Initialize the L6470 component.
Davidroid 0:92706998571a 194 * @retval true if initialization is successful, false otherwise.
Davidroid 0:92706998571a 195 */
Davidroid 0:92706998571a 196 bool X_NUCLEO_IHM02A1::Init_L6470_0(void)
Davidroid 0:92706998571a 197 {
Davidroid 0:92706998571a 198 /* Initialization. */
Davidroid 21:1b7f3e002688 199 if (l6470_0->Init((void *) init_components[0]) != COMPONENT_OK) {
Davidroid 0:92706998571a 200 return false;
Davidroid 21:1b7f3e002688 201 }
Davidroid 0:92706998571a 202
Davidroid 0:92706998571a 203 return true;
Davidroid 0:92706998571a 204 }
Davidroid 0:92706998571a 205
Davidroid 0:92706998571a 206 /**
Davidroid 0:92706998571a 207 * @brief Initialize the L6470 component.
Davidroid 0:92706998571a 208 * @retval true if initialization is successful, false otherwise.
Davidroid 0:92706998571a 209 */
Davidroid 0:92706998571a 210 bool X_NUCLEO_IHM02A1::Init_L6470_1(void)
Davidroid 0:92706998571a 211 {
Davidroid 0:92706998571a 212 /* Initialization. */
Davidroid 21:1b7f3e002688 213 if (l6470_1->Init((void *) init_components[1]) != COMPONENT_OK) {
Davidroid 0:92706998571a 214 return false;
Davidroid 21:1b7f3e002688 215 }
Davidroid 0:92706998571a 216
Davidroid 0:92706998571a 217 return true;
Davidroid 0:92706998571a 218 }
Davidroid 0:92706998571a 219
Davidroid 0:92706998571a 220 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/