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@0:92706998571a, 2015-11-20 (annotated)

Committer:
Davidroid
Date:
Fri Nov 20 18:07:45 2015 +0000
Revision:
0:92706998571a
Child:
1:b78dab6d2c58
Library to handle the X_NUCLEO_IHM02A1 Motor Control Expansion Board based on the the L6470 component.

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 0:92706998571a 4 * @author AST
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 0:92706998571a 8 * steppermotor 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 0:92706998571a 58 /** Rotation modes. */
Davidroid 0:92706998571a 59 typedef enum
Davidroid 0:92706998571a 60 {
Davidroid 0:92706998571a 61 BWD = 0, /* Backward. */
Davidroid 0:92706998571a 62 FWD = 1 /* Forward. */
Davidroid 0:92706998571a 63 } direction_t;
Davidroid 0:92706998571a 64
Davidroid 0:92706998571a 65 /**
Davidroid 0:92706998571a 66 * @brief Getting the status.
Davidroid 0:92706998571a 67 * @param None.
Davidroid 0:92706998571a 68 * @retval None.
Davidroid 0:92706998571a 69 */
Davidroid 0:92706998571a 70 virtual unsigned int GetStatus(void) = 0;
Davidroid 0:92706998571a 71
Davidroid 0:92706998571a 72 /**
Davidroid 0:92706998571a 73 * @brief Getting a parameter.
Davidroid 0:92706998571a 74 * @param parameter register adress.
Davidroid 0:92706998571a 75 * @retval a register value.
Davidroid 0:92706998571a 76 */
Davidroid 0:92706998571a 77 virtual unsigned int GetParameter(unsigned int parameter) = 0;
Davidroid 0:92706998571a 78
Davidroid 0:92706998571a 79 /* Return the current position. */
Davidroid 0:92706998571a 80 virtual signed int GetPosition(void) = 0;
Davidroid 0:92706998571a 81
Davidroid 0:92706998571a 82 /* Return the mark position. */
Davidroid 0:92706998571a 83 virtual signed int GetMark(void) = 0;
Davidroid 0:92706998571a 84
Davidroid 0:92706998571a 85 /* Return the current speed in pps. */
Davidroid 0:92706998571a 86 virtual unsigned int GetSpeed(void) = 0;
Davidroid 0:92706998571a 87
Davidroid 0:92706998571a 88 /* Return the maximum speed in pps. */
Davidroid 0:92706998571a 89 virtual unsigned int GetMaxSpeed(void) = 0;
Davidroid 0:92706998571a 90
Davidroid 0:92706998571a 91 /* Return the minimum speed in pps. */
Davidroid 0:92706998571a 92 virtual unsigned int GetMinSpeed(void) = 0;
Davidroid 0:92706998571a 93
Davidroid 0:92706998571a 94 /* Return the acceleration in pps^2. */
Davidroid 0:92706998571a 95 virtual unsigned int GetAcceleration(void) = 0;
Davidroid 0:92706998571a 96
Davidroid 0:92706998571a 97 /* Return the deceleration in pps^2. */
Davidroid 0:92706998571a 98 virtual unsigned int GetDeceleration(void) = 0;
Davidroid 0:92706998571a 99
Davidroid 0:92706998571a 100 /* Get the current direction of rotation. */
Davidroid 0:92706998571a 101 virtual direction_t GetDirection(void) = 0;
Davidroid 0:92706998571a 102
Davidroid 0:92706998571a 103 /**
Davidroid 0:92706998571a 104 * @brief Setting a parameter.
Davidroid 0:92706998571a 105 * @param parameter register adress.
Davidroid 0:92706998571a 106 * @param value value to be set.
Davidroid 0:92706998571a 107 * @retval None.
Davidroid 0:92706998571a 108 */
Davidroid 0:92706998571a 109 virtual void SetParameter(unsigned int parameter, unsigned int value) = 0;
Davidroid 0:92706998571a 110
Davidroid 0:92706998571a 111 /* Set the current position to be the home position. */
Davidroid 0:92706998571a 112 virtual void SetHome(void) = 0;
Davidroid 0:92706998571a 113
Davidroid 0:92706998571a 114 /* Set the current position to be the mark position. */
Davidroid 0:92706998571a 115 virtual void SetMark(void) = 0;
Davidroid 0:92706998571a 116
Davidroid 0:92706998571a 117 /* Set the maximum speed in pps. */
Davidroid 0:92706998571a 118 virtual void SetMaxSpeed(unsigned int speed) = 0;
Davidroid 0:92706998571a 119
Davidroid 0:92706998571a 120 /* Set the minimum speed in pps. */
Davidroid 0:92706998571a 121 virtual void SetMinSpeed(unsigned int speed) = 0;
Davidroid 0:92706998571a 122
Davidroid 0:92706998571a 123 /* Set the acceleration in pps^2. */
Davidroid 0:92706998571a 124 virtual void SetAcceleration(unsigned int acceleration) = 0;
Davidroid 0:92706998571a 125
Davidroid 0:92706998571a 126 /* Set the deceleration in pps^2. */
Davidroid 0:92706998571a 127 virtual void SetDeceleration(unsigned int deceleration) = 0;
Davidroid 0:92706998571a 128
Davidroid 0:92706998571a 129 /* Go to the specified position. */
Davidroid 0:92706998571a 130 virtual void GoTo(signed int position) = 0;
Davidroid 0:92706998571a 131
Davidroid 0:92706998571a 132 /* Go to the home position. */
Davidroid 0:92706998571a 133 virtual void GoHome(void) = 0;
Davidroid 0:92706998571a 134
Davidroid 0:92706998571a 135 /* Go to the marked position. */
Davidroid 0:92706998571a 136 virtual void GoMark(void) = 0;
Davidroid 0:92706998571a 137
Davidroid 0:92706998571a 138 /* Run the motor towards a specified direction. */
Davidroid 0:92706998571a 139 virtual void Run(direction_t direction) = 0;
Davidroid 0:92706998571a 140
Davidroid 0:92706998571a 141 /* Run the motor towards a specified direction for a specified number of steps. */
Davidroid 0:92706998571a 142 virtual void Move(direction_t direction, unsigned int steps) = 0;
Davidroid 0:92706998571a 143
Davidroid 0:92706998571a 144 /* Stop the motor. */
Davidroid 0:92706998571a 145 virtual void SoftStop(void) = 0;
Davidroid 0:92706998571a 146
Davidroid 0:92706998571a 147 /* Stop the motor and disable the power bridge. */
Davidroid 0:92706998571a 148 virtual void HardStop(void) = 0;
Davidroid 0:92706998571a 149
Davidroid 0:92706998571a 150 /* Wait while the motor is active. */
Davidroid 0:92706998571a 151 virtual void WaitWhileActive(void) = 0;
Davidroid 0:92706998571a 152 };
Davidroid 0:92706998571a 153
Davidroid 0:92706998571a 154 #endif /* __STEPPERMOTOR_CLASS_H */
Davidroid 0:92706998571a 155
Davidroid 0:92706998571a 156 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/