ST » Code » 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

HelloWorld_IHM02A1

BSP/x_nucleo_ihm02a1_class.cpp@15:31785d1acd4b, 2016-02-15 (annotated)

Committer:: Davidroid
Date:: Mon Feb 15 15:55:48 2016 +0000
Revision:: 15:31785d1acd4b
Parent:: 14:e614697ebf34
Child:: 21:1b7f3e002688

+ Updated some comments.

Who changed what in which revision?

User	Revision	Line number	New 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>© 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	10:aa68441705b2	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	10:aa68441705b2	78	X_NUCLEO_IHM02A1_Id = number_of_boards++;
Davidroid	10:aa68441705b2	79
Davidroid	3:e3f6f4474d98	80	/* SPI communication. */
Davidroid	3:e3f6f4474d98	81	if (dev_spi == NULL)
Davidroid	3:e3f6f4474d98	82	dev_spi = new DevSPI(X_NUCLEO_IHM02A1_PIN_SPI_MOSI, X_NUCLEO_IHM02A1_PIN_SPI_MISO, X_NUCLEO_IHM02A1_PIN_SPI_SCLK);
Davidroid	3:e3f6f4474d98	83
Davidroid	0:92706998571a	84	/* Instantiating the components. */
Davidroid	0:92706998571a	85	/* ACTION 3 --------------------------------------------------------------*
Davidroid	0:92706998571a	86	* Instantiate here the expansion board's components. *
Davidroid	0:92706998571a	87	* *
Davidroid	0:92706998571a	88	* Example: *
Davidroid	14:e614697ebf34	89	* component_1 = new COMPONENT_1(ssel, dev_spi);
Davidroid	14:e614697ebf34	90	* component_2 = new COMPONENT_2(ssel, dev_spi);
Davidroid	0:92706998571a	91	------------------------------------------------------------------------/
Davidroid	1:b78dab6d2c58	92	components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
Davidroid	1:b78dab6d2c58	93	components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
Davidroid	3:e3f6f4474d98	94
Davidroid	3:e3f6f4474d98	95	/* Initializing the components. */
Davidroid	9:d70452d7a1e1	96	init_components[0] = init_0;
Davidroid	9:d70452d7a1e1	97	init_components[1] = init_1;
Davidroid	3:e3f6f4474d98	98	if (!Init())
Davidroid	10:aa68441705b2	99	error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\r\n");
Davidroid	0:92706998571a	100	}
Davidroid	0:92706998571a	101
Davidroid	0:92706998571a	102	/**
Davidroid	3:e3f6f4474d98	103	* @brief Constructor.
Davidroid	9:d70452d7a1e1	104	* @param init_0 pointer to the initialization structure of the first motor.
Davidroid	9:d70452d7a1e1	105	* @param init_1 pointer to the initialization structure of the second motor.
Davidroid	0:92706998571a	106	* @param flag_irq pin name of the FLAG pin of the component.
Davidroid	1:b78dab6d2c58	107	* @param busy_irq pin name of the BUSY pin of the component.
Davidroid	0:92706998571a	108	* @param standby_reset pin name of the STBY\RST pin of the component.
Davidroid	0:92706998571a	109	* @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
Davidroid	0:92706998571a	110	* @param mosi pin name of the MOSI pin of the SPI device to be used for communication.
Davidroid	0:92706998571a	111	* @param miso pin name of the MISO pin of the SPI device to be used for communication.
Davidroid	0:92706998571a	112	* @param sclk pin name of the SCLK pin of the SPI device to be used for communication.
Davidroid	0:92706998571a	113	*/
Davidroid	14:e614697ebf34	114	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	115	{
Davidroid	10:aa68441705b2	116	/* Checking stackability. */
Davidroid	10:aa68441705b2	117	if (!(number_of_boards < EXPBRD_MOUNTED_NR_MAX))
Davidroid	10:aa68441705b2	118	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	10:aa68441705b2	119	X_NUCLEO_IHM02A1_Id = number_of_boards++;
Davidroid	10:aa68441705b2	120
Davidroid	3:e3f6f4474d98	121	/* SPI communication. */
Davidroid	3:e3f6f4474d98	122	dev_spi = new DevSPI(mosi, miso, sclk);
Davidroid	0:92706998571a	123
Davidroid	3:e3f6f4474d98	124	/* Instantiating the components. */
Davidroid	3:e3f6f4474d98	125	/* ACTION 3 --------------------------------------------------------------*
Davidroid	3:e3f6f4474d98	126	* Instantiate here the expansion board's components. *
Davidroid	3:e3f6f4474d98	127	* *
Davidroid	3:e3f6f4474d98	128	* Example: *
Davidroid	14:e614697ebf34	129	* component_1 = new COMPONENT_1(ssel, dev_spi);
Davidroid	14:e614697ebf34	130	* component_2 = new COMPONENT_2(ssel, dev_spi);
Davidroid	3:e3f6f4474d98	131	------------------------------------------------------------------------/
Davidroid	3:e3f6f4474d98	132	components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
Davidroid	3:e3f6f4474d98	133	components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
Davidroid	0:92706998571a	134
Davidroid	3:e3f6f4474d98	135	/* Initializing the components. */
Davidroid	9:d70452d7a1e1	136	init_components[0] = init_0;
Davidroid	9:d70452d7a1e1	137	init_components[1] = init_1;
Davidroid	3:e3f6f4474d98	138	if (!Init())
Davidroid	10:aa68441705b2	139	error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\r\n");
Davidroid	0:92706998571a	140	}
Davidroid	0:92706998571a	141
Davidroid	0:92706998571a	142	/**
Davidroid	0:92706998571a	143	* @brief Initializing the X_NUCLEO_IHM02A1 board.
Davidroid	0:92706998571a	144	* @retval true if initialization is successful, false otherwise.
Davidroid	0:92706998571a	145	*/
Davidroid	0:92706998571a	146	bool X_NUCLEO_IHM02A1::Init(void)
Davidroid	0:92706998571a	147	{
Davidroid	0:92706998571a	148	/* Initializing the components. */
Davidroid	0:92706998571a	149	/* ACTION 4 --------------------------------------------------------------*
Davidroid	0:92706998571a	150	* Initialize here the expansion board's components. *
Davidroid	0:92706998571a	151	* *
Davidroid	0:92706998571a	152	* Example: *
Davidroid	0:92706998571a	153	* return (Init_COMPONENT_1() && Init_COMPONENT_2()); *
Davidroid	0:92706998571a	154	------------------------------------------------------------------------/
Davidroid	0:92706998571a	155	return (Init_L6470_0() && Init_L6470_1());
Davidroid	0:92706998571a	156	}
Davidroid	0:92706998571a	157
Davidroid	0:92706998571a	158	/* ACTION 5 ------------------------------------------------------------------*
Davidroid	0:92706998571a	159	* Implement here an initialization method for each expansion board's *
Davidroid	0:92706998571a	160	* component. *
Davidroid	0:92706998571a	161	* *
Davidroid	0:92706998571a	162	* Example: *
Davidroid	0:92706998571a	163	* bool EXPANSION_BOARD::Init_COMPONENT_1(void) *
Davidroid	0:92706998571a	164	* { *
Davidroid	0:92706998571a	165	* // Verifying identity. *
Davidroid	0:92706998571a	166	* uint8_t id = 0; *
Davidroid	0:92706998571a	167	* int ret = component_1->ReadID(&id); *
Davidroid	0:92706998571a	168	* if ((ret != COMPONENT_OK) \|\| (id != I_AM_COMPONENT_1)) *
Davidroid	0:92706998571a	169	* { *
Davidroid	0:92706998571a	170	* delete component_1; *
Davidroid	0:92706998571a	171	* component_1 = NULL; *
Davidroid	0:92706998571a	172	* return true; *
Davidroid	0:92706998571a	173	* } *
Davidroid	0:92706998571a	174	* *
Davidroid	0:92706998571a	175	* // Configuration. *
Davidroid	14:e614697ebf34	176	* COMPONENT_Init_t InitStructure; *
Davidroid	0:92706998571a	177	* InitStructure.Property_1 = COMPONENT_1_PROPERY_1_INIT; *
Davidroid	0:92706998571a	178	* InitStructure.Property_N = COMPONENT_1_PROPERY_N_INIT; *
Davidroid	0:92706998571a	179	* *
Davidroid	0:92706998571a	180	* // Initialization. *
Davidroid	0:92706998571a	181	* if (component_1->Init(&InitStructure) != COMPONENT_OK) *
Davidroid	0:92706998571a	182	* return false; *
Davidroid	0:92706998571a	183	* *
Davidroid	0:92706998571a	184	* return true; *
Davidroid	0:92706998571a	185	* } *
Davidroid	0:92706998571a	186	----------------------------------------------------------------------------/
Davidroid	0:92706998571a	187	/**
Davidroid	0:92706998571a	188	* @brief Initialize the L6470 component.
Davidroid	0:92706998571a	189	* @retval true if initialization is successful, false otherwise.
Davidroid	0:92706998571a	190	*/
Davidroid	0:92706998571a	191	bool X_NUCLEO_IHM02A1::Init_L6470_0(void)
Davidroid	0:92706998571a	192	{
Davidroid	0:92706998571a	193	/* Initialization. */
Davidroid	9:d70452d7a1e1	194	if (l6470_0->Init((void *) init_components[0]) != COMPONENT_OK)
Davidroid	0:92706998571a	195	return false;
Davidroid	0:92706998571a	196
Davidroid	0:92706998571a	197	return true;
Davidroid	0:92706998571a	198	}
Davidroid	0:92706998571a	199
Davidroid	0:92706998571a	200	/**
Davidroid	0:92706998571a	201	* @brief Initialize the L6470 component.
Davidroid	0:92706998571a	202	* @retval true if initialization is successful, false otherwise.
Davidroid	0:92706998571a	203	*/
Davidroid	0:92706998571a	204	bool X_NUCLEO_IHM02A1::Init_L6470_1(void)
Davidroid	0:92706998571a	205	{
Davidroid	0:92706998571a	206	/* Initialization. */
Davidroid	14:e614697ebf34	207	if (l6470_1->Init((void *) init_components[1]) != COMPONENT_OK)
Davidroid	0:92706998571a	208	return false;
Davidroid	0:92706998571a	209
Davidroid	0:92706998571a	210	return true;
Davidroid	0:92706998571a	211	}
Davidroid	0:92706998571a	212
Davidroid	0:92706998571a	213	/********************** (C) COPYRIGHT STMicroelectronics *END OF FILE**/

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Type:	Library
Created:	20 Jan 2016
Imports:	242
Forks:	2
Commits:	25
Dependents:	13
Dependencies:	2
Followers:	410

The code in this repository is Apache licensed.

Components

X-NUCLEO-IHM02A1 Two Axis Stepper Motor Driver