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.h@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.h
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 Class header 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	/* Define to prevent recursive inclusion -------------------------------------*/
Davidroid	0:92706998571a	43
Davidroid	0:92706998571a	44	#ifndef __X_NUCLEO_IHM02A1_CLASS_H
Davidroid	0:92706998571a	45	#define __X_NUCLEO_IHM02A1_CLASS_H
Davidroid	0:92706998571a	46
Davidroid	0:92706998571a	47
Davidroid	0:92706998571a	48	/* Includes ------------------------------------------------------------------*/
Davidroid	0:92706998571a	49
Davidroid	0:92706998571a	50	/* ACTION 1 ------------------------------------------------------------------*
Davidroid	0:92706998571a	51	* Include here platform specific header files. *
Davidroid	14:e614697ebf34	52	----------------------------------------------------------------------------/
Davidroid	0:92706998571a	53	#include "mbed.h"
Davidroid	0:92706998571a	54	#include "DevSPI.h"
Davidroid	0:92706998571a	55	/* ACTION 2 ------------------------------------------------------------------*
Davidroid	14:e614697ebf34	56	* Include here expansion board configuration's header files. *
Davidroid	14:e614697ebf34	57	----------------------------------------------------------------------------/
Davidroid	0:92706998571a	58	#include "x_nucleo_ihm02a1_config.h"
Davidroid	0:92706998571a	59	/* ACTION 3 ------------------------------------------------------------------*
Davidroid	0:92706998571a	60	* Include here expansion board's components' header files. *
Davidroid	0:92706998571a	61	* *
Davidroid	0:92706998571a	62	* Example: *
Davidroid	0:92706998571a	63	* #include "component_1_class.h" *
Davidroid	0:92706998571a	64	* #include "component_2_class.h" *
Davidroid	0:92706998571a	65	----------------------------------------------------------------------------/
Davidroid	0:92706998571a	66	#include "l6470_class.h"
Davidroid	0:92706998571a	67
Davidroid	0:92706998571a	68
Davidroid	0:92706998571a	69	/* Classes -------------------------------------------------------------------*/
Davidroid	0:92706998571a	70
Davidroid	0:92706998571a	71	/** Class representing a X_NUCLEO_IHM02A1 board.
Davidroid	0:92706998571a	72	*/
Davidroid	0:92706998571a	73	class X_NUCLEO_IHM02A1
Davidroid	0:92706998571a	74	{
Davidroid	0:92706998571a	75	public:
Davidroid	0:92706998571a	76
Davidroid	3:e3f6f4474d98	77	/* Constructor, Destructor, and Initialization Methods */
Davidroid	0:92706998571a	78
Davidroid	0:92706998571a	79	/**
Davidroid	3:e3f6f4474d98	80	* @brief Constructor.
Davidroid	9:d70452d7a1e1	81	* @param init_0 pointer to the initialization structure of the first motor.
Davidroid	9:d70452d7a1e1	82	* @param init_1 pointer to the initialization structure of the second motor.
Davidroid	0:92706998571a	83	* @param flag_irq pin name of the FLAG pin of the component.
Davidroid	1:b78dab6d2c58	84	* @param busy_irq pin name of the BUSY pin of the component.
Davidroid	0:92706998571a	85	* @param standby_reset pin name of the STBY\RST pin of the component.
Davidroid	0:92706998571a	86	* @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
Davidroid	0:92706998571a	87	* @param spi SPI device to be used for communication.
Davidroid	0:92706998571a	88	*/
Davidroid	14:e614697ebf34	89	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);
Davidroid	0:92706998571a	90
Davidroid	0:92706998571a	91	/**
Davidroid	3:e3f6f4474d98	92	* @brief Constructor.
Davidroid	9:d70452d7a1e1	93	* @param init_0 pointer to the initialization structure of the first motor.
Davidroid	9:d70452d7a1e1	94	* @param init_1 pointer to the initialization structure of the second motor.
Davidroid	0:92706998571a	95	* @param flag_irq pin name of the FLAG pin of the component.
Davidroid	1:b78dab6d2c58	96	* @param busy_irq pin name of the BUSY pin of the component.
Davidroid	0:92706998571a	97	* @param standby_reset pin name of the STBY\RST pin of the component.
Davidroid	0:92706998571a	98	* @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
Davidroid	0:92706998571a	99	* @param mosi pin name of the MOSI pin of the SPI device to be used for communication.
Davidroid	0:92706998571a	100	* @param miso pin name of the MISO pin of the SPI device to be used for communication.
Davidroid	0:92706998571a	101	* @param sclk pin name of the SCLK pin of the SPI device to be used for communication.
Davidroid	0:92706998571a	102	*/
Davidroid	14:e614697ebf34	103	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	3:e3f6f4474d98	104
Davidroid	3:e3f6f4474d98	105	/**
Davidroid	3:e3f6f4474d98	106	* @brief Destructor.
Davidroid	3:e3f6f4474d98	107	*/
Davidroid	3:e3f6f4474d98	108	~X_NUCLEO_IHM02A1(void) {}
Davidroid	0:92706998571a	109
Davidroid	0:92706998571a	110	/**
Davidroid	0:92706998571a	111	* @brief Initializing the X_NUCLEO_IHM02A1 board.
Davidroid	0:92706998571a	112	* @retval true if initialization is successful, false otherwise.
Davidroid	0:92706998571a	113	*/
Davidroid	0:92706998571a	114	bool Init(void);
Davidroid	0:92706998571a	115
Davidroid	3:e3f6f4474d98	116
Davidroid	3:e3f6f4474d98	117	/* Other Public Expansion Board Related Methods */
Davidroid	0:92706998571a	118
Davidroid	1:b78dab6d2c58	119	/**
Davidroid	1:b78dab6d2c58	120	* @brief Getting the array of components.
Davidroid	1:b78dab6d2c58	121	* @param None.
Davidroid	1:b78dab6d2c58	122	* @retval The array of components.
Davidroid	1:b78dab6d2c58	123	*/
Davidroid	1:b78dab6d2c58	124	L6470 **GetComponents(void)
Davidroid	1:b78dab6d2c58	125	{
Davidroid	1:b78dab6d2c58	126	return components;
Davidroid	1:b78dab6d2c58	127	}
Davidroid	1:b78dab6d2c58	128
Davidroid	1:b78dab6d2c58	129	/**
Davidroid	1:b78dab6d2c58	130	* @brief Performing the actions set on the motors with calls to a number of
Davidroid	1:b78dab6d2c58	131	* "Prepare<Action>()" methods, one for each motor of the daisy-chain.
Davidroid	1:b78dab6d2c58	132	* @param None.
Davidroid	1:b78dab6d2c58	133	* @retval A pointer to the results returned by the components, i.e. an
Davidroid	1:b78dab6d2c58	134	* integer value for each of them.
Davidroid	1:b78dab6d2c58	135	*/
Davidroid	1:b78dab6d2c58	136	virtual uint32_t* PerformPreparedActions(void)
Davidroid	1:b78dab6d2c58	137	{
Davidroid	1:b78dab6d2c58	138	/* Performing pre-actions, if needed. */
Davidroid	1:b78dab6d2c58	139	for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid	1:b78dab6d2c58	140	{
Davidroid	1:b78dab6d2c58	141	/*
Davidroid	1:b78dab6d2c58	142	"GetPosition()" is needed by "PrepareSetMark()" at the time when the
Davidroid	1:b78dab6d2c58	143	prepared actions get performed.
Davidroid	1:b78dab6d2c58	144	*/
Davidroid	1:b78dab6d2c58	145	if (components[m]->GetPreparedAction() == L6470::PREPARED_SET_MARK)
Davidroid	1:b78dab6d2c58	146	components[m]->PrepareSetMark((uint32_t) components[m]->GetPosition());
Davidroid	1:b78dab6d2c58	147	}
Davidroid	1:b78dab6d2c58	148
Davidroid	1:b78dab6d2c58	149	/* Performing the prepared actions and getting back raw data. */
Davidroid	1:b78dab6d2c58	150	uint8_t *raw_data = components[0]->PerformPreparedActions();
Davidroid	1:b78dab6d2c58	151
Davidroid	1:b78dab6d2c58	152	/* Processing raw data. */
Davidroid	1:b78dab6d2c58	153	for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid	1:b78dab6d2c58	154	results[m] = components[m]->GetResult(raw_data);
Davidroid	1:b78dab6d2c58	155
Davidroid	1:b78dab6d2c58	156	/* Returning results. */
Davidroid	1:b78dab6d2c58	157	return results;
Davidroid	1:b78dab6d2c58	158	}
Davidroid	1:b78dab6d2c58	159
Davidroid	0:92706998571a	160
Davidroid	0:92706998571a	161	/* Public Expansion Board Related Attributes */
Davidroid	0:92706998571a	162
Davidroid	0:92706998571a	163	/* ACTION 4 --------------------------------------------------------------*
Davidroid	0:92706998571a	164	* Declare here a public attribute for each expansion board's component. *
Davidroid	0:92706998571a	165	* You will have to call these attributes' public methods within your *
Davidroid	0:92706998571a	166	* main program. *
Davidroid	0:92706998571a	167	* *
Davidroid	0:92706998571a	168	* Example: *
Davidroid	0:92706998571a	169	* COMPONENT_1 component_1;
Davidroid	0:92706998571a	170	* COMPONENT_2 component_2;
Davidroid	0:92706998571a	171	------------------------------------------------------------------------/
Davidroid	0:92706998571a	172	L6470 *l6470_0;
Davidroid	0:92706998571a	173	L6470 *l6470_1;
Davidroid	0:92706998571a	174
Davidroid	0:92706998571a	175
Davidroid	0:92706998571a	176	protected:
Davidroid	0:92706998571a	177
Davidroid	0:92706998571a	178	/* Protected Expansion Board Related Initialization Methods */
Davidroid	0:92706998571a	179
Davidroid	0:92706998571a	180	/* ACTION 5 --------------------------------------------------------------*
Davidroid	0:92706998571a	181	* Declare here a protected initialization method for each expansion *
Davidroid	0:92706998571a	182	* board's component. *
Davidroid	0:92706998571a	183	* *
Davidroid	0:92706998571a	184	* Example: *
Davidroid	0:92706998571a	185	* bool Init_COMPONENT_1(void); *
Davidroid	0:92706998571a	186	* bool Init_COMPONENT_2(void); *
Davidroid	0:92706998571a	187	------------------------------------------------------------------------/
Davidroid	0:92706998571a	188	bool Init_L6470_0(void);
Davidroid	0:92706998571a	189	bool Init_L6470_1(void);
Davidroid	0:92706998571a	190
Davidroid	0:92706998571a	191
Davidroid	0:92706998571a	192	/* Component's Instance Variables */
Davidroid	0:92706998571a	193
Davidroid	0:92706998571a	194	/* IO Device. */
Davidroid	0:92706998571a	195	DevSPI *dev_spi;
Davidroid	0:92706998571a	196
Davidroid	1:b78dab6d2c58	197	/* Components. */
Davidroid	1:b78dab6d2c58	198	L6470 *components[L6470DAISYCHAINSIZE];
Davidroid	1:b78dab6d2c58	199
Davidroid	9:d70452d7a1e1	200	/* Components' initialization. */
Davidroid	14:e614697ebf34	201	L6470_Init_t *init_components[L6470DAISYCHAINSIZE];
Davidroid	9:d70452d7a1e1	202
Davidroid	1:b78dab6d2c58	203	/* Results of prepared actions. */
Davidroid	1:b78dab6d2c58	204	uint32_t results[L6470DAISYCHAINSIZE];
Davidroid	1:b78dab6d2c58	205
Davidroid	10:aa68441705b2	206	/* ACTION 6 --------------------------------------------------------------*
Davidroid	10:aa68441705b2	207	* Declare here the component's static and non-static data, one variable *
Davidroid	10:aa68441705b2	208	* per line. *
Davidroid	0:92706998571a	209	* *
Davidroid	0:92706998571a	210	* Example: *
Davidroid	10:aa68441705b2	211	* int instance_id; *
Davidroid	10:aa68441705b2	212	* static int number_of_instances; *
Davidroid	0:92706998571a	213	------------------------------------------------------------------------/
Davidroid	10:aa68441705b2	214	/* Data. */
Davidroid	0:92706998571a	215	uint8_t X_NUCLEO_IHM02A1_Id;
Davidroid	0:92706998571a	216
Davidroid	0:92706998571a	217	/* Static data. */
Davidroid	0:92706998571a	218	static uint8_t number_of_boards;
Davidroid	0:92706998571a	219	};
Davidroid	0:92706998571a	220
Davidroid	14:e614697ebf34	221	#endif /* __X_NUCLEO_IHM02A1_CLASS_H */
Davidroid	0:92706998571a	222
Davidroid	14:e614697ebf34	223	/********************** (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