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

Components/Interfaces/StepperMotor_class.h@5:3cde564db574, 2015-12-01 (annotated)

Committer:
Davidroid
Date:
Tue Dec 01 14:06:31 2015 +0000
Revision:
5:3cde564db574
Parent:
4:381d76f5b0b4
Child:
11:1aca63b2f034
+ Added SoftHiz() and HardHiz() to the StepperMotor Interface.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Davidroid 0:92706998571a 1 /**
Davidroid 0:92706998571a 2 ******************************************************************************
Davidroid 0:92706998571a 3 * @file StepperMotor_class.h
Davidroid 4:381d76f5b0b4 4 * @author Davide Aliprandi, STMicrolectronics
Davidroid 0:92706998571a 5 * @version V1.0.0
Davidroid 0:92706998571a 6 * @date November 12th, 2015
Davidroid 0:92706998571a 7 * @brief This file contains the abstract class describing the interface of a
Davidroid 1:b78dab6d2c58 8 * stepper-motor component.
Davidroid 0:92706998571a 9 ******************************************************************************
Davidroid 0:92706998571a 10 * @attention
Davidroid 0:92706998571a 11 *
Davidroid 0:92706998571a 12 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Davidroid 0:92706998571a 13 *
Davidroid 0:92706998571a 14 * Redistribution and use in source and binary forms, with or without modification,
Davidroid 0:92706998571a 15 * are permitted provided that the following conditions are met:
Davidroid 0:92706998571a 16 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 0:92706998571a 17 * this list of conditions and the following disclaimer.
Davidroid 0:92706998571a 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid 0:92706998571a 19 * this list of conditions and the following disclaimer in the documentation
Davidroid 0:92706998571a 20 * and/or other materials provided with the distribution.
Davidroid 0:92706998571a 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid 0:92706998571a 22 * may be used to endorse or promote products derived from this software
Davidroid 0:92706998571a 23 * without specific prior written permission.
Davidroid 0:92706998571a 24 *
Davidroid 0:92706998571a 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 0:92706998571a 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 0:92706998571a 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid 0:92706998571a 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid 0:92706998571a 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid 0:92706998571a 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid 0:92706998571a 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid 0:92706998571a 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid 0:92706998571a 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid 0:92706998571a 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid 0:92706998571a 35 *
Davidroid 0:92706998571a 36 ******************************************************************************
Davidroid 0:92706998571a 37 */
Davidroid 0:92706998571a 38
Davidroid 0:92706998571a 39
Davidroid 0:92706998571a 40 /* Define to prevent from recursive inclusion --------------------------------*/
Davidroid 0:92706998571a 41
Davidroid 0:92706998571a 42 #ifndef __STEPPERMOTOR_CLASS_H
Davidroid 0:92706998571a 43 #define __STEPPERMOTOR_CLASS_H
Davidroid 0:92706998571a 44
Davidroid 0:92706998571a 45
Davidroid 0:92706998571a 46 /* Includes ------------------------------------------------------------------*/
Davidroid 0:92706998571a 47
Davidroid 0:92706998571a 48 #include <Component_class.h>
Davidroid 0:92706998571a 49
Davidroid 0:92706998571a 50
Davidroid 0:92706998571a 51 /* Classes ------------------------------------------------------------------*/
Davidroid 0:92706998571a 52
Davidroid 0:92706998571a 53 /** An abstract class for StepperMotor components.
Davidroid 0:92706998571a 54 */
Davidroid 0:92706998571a 55 class StepperMotor : public Component
Davidroid 0:92706998571a 56 {
Davidroid 0:92706998571a 57 public:
Davidroid 4:381d76f5b0b4 58 /**
Davidroid 4:381d76f5b0b4 59 * @brief Rotation modes.
Davidroid 4:381d76f5b0b4 60 */
Davidroid 0:92706998571a 61 typedef enum
Davidroid 0:92706998571a 62 {
Davidroid 0:92706998571a 63 BWD = 0, /* Backward. */
Davidroid 0:92706998571a 64 FWD = 1 /* Forward. */
Davidroid 0:92706998571a 65 } direction_t;
Davidroid 0:92706998571a 66
Davidroid 0:92706998571a 67 /**
Davidroid 1:b78dab6d2c58 68 * @brief Getting the status.
Davidroid 0:92706998571a 69 * @param None.
Davidroid 1:b78dab6d2c58 70 * @retval The status.
Davidroid 0:92706998571a 71 */
Davidroid 0:92706998571a 72 virtual unsigned int GetStatus(void) = 0;
Davidroid 0:92706998571a 73
Davidroid 1:b78dab6d2c58 74 /**
Davidroid 0:92706998571a 75 * @brief Getting a parameter.
Davidroid 1:b78dab6d2c58 76 * @param parameter The parameter's identifier (or its register address).
Davidroid 1:b78dab6d2c58 77 * @retval The parameter's value.
Davidroid 0:92706998571a 78 */
Davidroid 0:92706998571a 79 virtual unsigned int GetParameter(unsigned int parameter) = 0;
Davidroid 0:92706998571a 80
Davidroid 1:b78dab6d2c58 81 /**
Davidroid 1:b78dab6d2c58 82 * @brief Getting the position.
Davidroid 1:b78dab6d2c58 83 * @param None.
Davidroid 1:b78dab6d2c58 84 * @retval The position.
Davidroid 1:b78dab6d2c58 85 */
Davidroid 0:92706998571a 86 virtual signed int GetPosition(void) = 0;
Davidroid 0:92706998571a 87
Davidroid 1:b78dab6d2c58 88 /**
Davidroid 1:b78dab6d2c58 89 * @brief Getting the marked position.
Davidroid 1:b78dab6d2c58 90 * @param None.
Davidroid 1:b78dab6d2c58 91 * @retval The marked position.
Davidroid 1:b78dab6d2c58 92 */
Davidroid 0:92706998571a 93 virtual signed int GetMark(void) = 0;
Davidroid 0:92706998571a 94
Davidroid 1:b78dab6d2c58 95 /**
Davidroid 1:b78dab6d2c58 96 * @brief Getting the current speed in pps.
Davidroid 1:b78dab6d2c58 97 * @param None.
Davidroid 1:b78dab6d2c58 98 * @retval The current speed in pps.
Davidroid 1:b78dab6d2c58 99 */
Davidroid 0:92706998571a 100 virtual unsigned int GetSpeed(void) = 0;
Davidroid 0:92706998571a 101
Davidroid 1:b78dab6d2c58 102 /**
Davidroid 1:b78dab6d2c58 103 * @brief Getting the maximum speed in pps.
Davidroid 1:b78dab6d2c58 104 * @param None.
Davidroid 1:b78dab6d2c58 105 * @retval The maximum speed in pps.
Davidroid 1:b78dab6d2c58 106 */
Davidroid 0:92706998571a 107 virtual unsigned int GetMaxSpeed(void) = 0;
Davidroid 0:92706998571a 108
Davidroid 1:b78dab6d2c58 109 /**
Davidroid 1:b78dab6d2c58 110 * @brief Getting the minimum speed in pps.
Davidroid 1:b78dab6d2c58 111 * @param None.
Davidroid 1:b78dab6d2c58 112 * @retval The minimum speed in pps.
Davidroid 1:b78dab6d2c58 113 */
Davidroid 0:92706998571a 114 virtual unsigned int GetMinSpeed(void) = 0;
Davidroid 0:92706998571a 115
Davidroid 1:b78dab6d2c58 116 /**
Davidroid 1:b78dab6d2c58 117 * @brief Getting the acceleration in pps^2.
Davidroid 1:b78dab6d2c58 118 * @param None.
Davidroid 1:b78dab6d2c58 119 * @retval The acceleration in pps^2.
Davidroid 1:b78dab6d2c58 120 */
Davidroid 0:92706998571a 121 virtual unsigned int GetAcceleration(void) = 0;
Davidroid 0:92706998571a 122
Davidroid 1:b78dab6d2c58 123 /**
Davidroid 1:b78dab6d2c58 124 * @brief Getting the deceleration in pps^2.
Davidroid 1:b78dab6d2c58 125 * @param None.
Davidroid 1:b78dab6d2c58 126 * @retval The deceleration in pps^2.
Davidroid 1:b78dab6d2c58 127 */
Davidroid 0:92706998571a 128 virtual unsigned int GetDeceleration(void) = 0;
Davidroid 0:92706998571a 129
Davidroid 1:b78dab6d2c58 130 /**
Davidroid 1:b78dab6d2c58 131 * @brief Getting the direction of rotation.
Davidroid 1:b78dab6d2c58 132 * @param None.
Davidroid 1:b78dab6d2c58 133 * @retval The direction of rotation.
Davidroid 1:b78dab6d2c58 134 */
Davidroid 0:92706998571a 135 virtual direction_t GetDirection(void) = 0;
Davidroid 0:92706998571a 136
Davidroid 0:92706998571a 137 /**
Davidroid 0:92706998571a 138 * @brief Setting a parameter.
Davidroid 1:b78dab6d2c58 139 * @param parameter The parameter's identifier (or its register address).
Davidroid 1:b78dab6d2c58 140 * @param value The parameter's value.
Davidroid 0:92706998571a 141 * @retval None.
Davidroid 0:92706998571a 142 */
Davidroid 0:92706998571a 143 virtual void SetParameter(unsigned int parameter, unsigned int value) = 0;
Davidroid 0:92706998571a 144
Davidroid 1:b78dab6d2c58 145 /**
Davidroid 1:b78dab6d2c58 146 * @brief Setting the current position to be the home position.
Davidroid 1:b78dab6d2c58 147 * @param None.
Davidroid 1:b78dab6d2c58 148 * @retval None.
Davidroid 1:b78dab6d2c58 149 */
Davidroid 0:92706998571a 150 virtual void SetHome(void) = 0;
Davidroid 0:92706998571a 151
Davidroid 1:b78dab6d2c58 152 /**
Davidroid 1:b78dab6d2c58 153 * @brief Setting the current position to be the marked position.
Davidroid 1:b78dab6d2c58 154 * @param None.
Davidroid 1:b78dab6d2c58 155 * @retval None.
Davidroid 1:b78dab6d2c58 156 */
Davidroid 0:92706998571a 157 virtual void SetMark(void) = 0;
Davidroid 0:92706998571a 158
Davidroid 1:b78dab6d2c58 159 /**
Davidroid 1:b78dab6d2c58 160 * @brief Setting the maximum speed in pps.
Davidroid 1:b78dab6d2c58 161 * @param speed The maximum speed in pps.
Davidroid 1:b78dab6d2c58 162 * @retval None.
Davidroid 1:b78dab6d2c58 163 */
Davidroid 0:92706998571a 164 virtual void SetMaxSpeed(unsigned int speed) = 0;
Davidroid 0:92706998571a 165
Davidroid 1:b78dab6d2c58 166 /**
Davidroid 1:b78dab6d2c58 167 * @brief Setting the minimum speed in pps.
Davidroid 1:b78dab6d2c58 168 * @param speed The minimum speed in pps.
Davidroid 1:b78dab6d2c58 169 * @retval None.
Davidroid 1:b78dab6d2c58 170 */
Davidroid 0:92706998571a 171 virtual void SetMinSpeed(unsigned int speed) = 0;
Davidroid 0:92706998571a 172
Davidroid 1:b78dab6d2c58 173 /**
Davidroid 1:b78dab6d2c58 174 * @brief Setting the acceleration in pps^2.
Davidroid 1:b78dab6d2c58 175 * @param acceleration The acceleration in pps^2.
Davidroid 1:b78dab6d2c58 176 * @retval None.
Davidroid 1:b78dab6d2c58 177 */
Davidroid 0:92706998571a 178 virtual void SetAcceleration(unsigned int acceleration) = 0;
Davidroid 0:92706998571a 179
Davidroid 1:b78dab6d2c58 180 /**
Davidroid 1:b78dab6d2c58 181 * @brief Setting the deceleration in pps^2.
Davidroid 1:b78dab6d2c58 182 * @param deceleration The deceleration in pps^2.
Davidroid 1:b78dab6d2c58 183 * @retval None.
Davidroid 1:b78dab6d2c58 184 */
Davidroid 0:92706998571a 185 virtual void SetDeceleration(unsigned int deceleration) = 0;
Davidroid 0:92706998571a 186
Davidroid 1:b78dab6d2c58 187 /**
Davidroid 1:b78dab6d2c58 188 * @brief Going to a specified position.
Davidroid 1:b78dab6d2c58 189 * @param position The desired position.
Davidroid 1:b78dab6d2c58 190 * @retval None.
Davidroid 1:b78dab6d2c58 191 */
Davidroid 0:92706998571a 192 virtual void GoTo(signed int position) = 0;
Davidroid 0:92706998571a 193
Davidroid 1:b78dab6d2c58 194 /**
Davidroid 1:b78dab6d2c58 195 * @brief Going to the home position.
Davidroid 1:b78dab6d2c58 196 * @param None.
Davidroid 1:b78dab6d2c58 197 * @retval None.
Davidroid 1:b78dab6d2c58 198 */
Davidroid 0:92706998571a 199 virtual void GoHome(void) = 0;
Davidroid 0:92706998571a 200
Davidroid 1:b78dab6d2c58 201 /**
Davidroid 1:b78dab6d2c58 202 * @brief Going to the marked position.
Davidroid 1:b78dab6d2c58 203 * @param None.
Davidroid 1:b78dab6d2c58 204 * @retval None.
Davidroid 1:b78dab6d2c58 205 */
Davidroid 0:92706998571a 206 virtual void GoMark(void) = 0;
Davidroid 0:92706998571a 207
Davidroid 1:b78dab6d2c58 208 /**
Davidroid 1:b78dab6d2c58 209 * @brief Running the motor towards a specified direction.
Davidroid 1:b78dab6d2c58 210 * @param direction The direction of rotation.
Davidroid 1:b78dab6d2c58 211 * @retval None.
Davidroid 1:b78dab6d2c58 212 */
Davidroid 0:92706998571a 213 virtual void Run(direction_t direction) = 0;
Davidroid 0:92706998571a 214
Davidroid 1:b78dab6d2c58 215 /**
Davidroid 1:b78dab6d2c58 216 * @brief Moving the motor towards a specified direction for a certain number of steps.
Davidroid 1:b78dab6d2c58 217 * @param direction The direction of rotation.
Davidroid 1:b78dab6d2c58 218 * @param steps The desired number of steps.
Davidroid 1:b78dab6d2c58 219 * @retval None.
Davidroid 1:b78dab6d2c58 220 */
Davidroid 0:92706998571a 221 virtual void Move(direction_t direction, unsigned int steps) = 0;
Davidroid 0:92706998571a 222
Davidroid 1:b78dab6d2c58 223 /**
Davidroid 5:3cde564db574 224 * @brief Stopping the motor through an immediate deceleration up to zero speed.
Davidroid 1:b78dab6d2c58 225 * @param None.
Davidroid 1:b78dab6d2c58 226 * @retval None.
Davidroid 1:b78dab6d2c58 227 */
Davidroid 0:92706998571a 228 virtual void SoftStop(void) = 0;
Davidroid 0:92706998571a 229
Davidroid 1:b78dab6d2c58 230 /**
Davidroid 5:3cde564db574 231 * @brief Stopping the motor through an immediate infinite deceleration.
Davidroid 1:b78dab6d2c58 232 * @param None.
Davidroid 1:b78dab6d2c58 233 * @retval None.
Davidroid 1:b78dab6d2c58 234 */
Davidroid 0:92706998571a 235 virtual void HardStop(void) = 0;
Davidroid 0:92706998571a 236
Davidroid 1:b78dab6d2c58 237 /**
Davidroid 5:3cde564db574 238 * @brief Disabling the power bridge after performing a deceleration to zero.
Davidroid 5:3cde564db574 239 * @param None.
Davidroid 5:3cde564db574 240 * @retval None.
Davidroid 5:3cde564db574 241 */
Davidroid 5:3cde564db574 242 virtual void SoftHiZ(void) = 0;
Davidroid 5:3cde564db574 243
Davidroid 5:3cde564db574 244 /**
Davidroid 5:3cde564db574 245 * @brief Disabling the power bridge immediately.
Davidroid 5:3cde564db574 246 * @param None.
Davidroid 5:3cde564db574 247 * @retval None.
Davidroid 5:3cde564db574 248 */
Davidroid 5:3cde564db574 249 virtual void HardHiZ(void) = 0;
Davidroid 5:3cde564db574 250
Davidroid 5:3cde564db574 251 /**
Davidroid 1:b78dab6d2c58 252 * @brief Waiting while the motor is active.
Davidroid 1:b78dab6d2c58 253 * @param None.
Davidroid 1:b78dab6d2c58 254 * @retval None.
Davidroid 1:b78dab6d2c58 255 */
Davidroid 0:92706998571a 256 virtual void WaitWhileActive(void) = 0;
Davidroid 0:92706998571a 257 };
Davidroid 0:92706998571a 258
Davidroid 0:92706998571a 259 #endif /* __STEPPERMOTOR_CLASS_H */
Davidroid 0:92706998571a 260
Davidroid 0:92706998571a 261 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/