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@1:b78dab6d2c58, 2015-11-25 (annotated)

Committer:: Davidroid
Date:: Wed Nov 25 11:59:37 2015 +0000
Revision:: 1:b78dab6d2c58
Parent:: 0:92706998571a
Child:: 3:e3f6f4474d98

+ Implemented all the StepperMotor's APIs.

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	0:92706998571a	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	0:92706998571a	52	----------------------------------------------------------------------------/
Davidroid	0:92706998571a	53	#include "mbed.h"
Davidroid	0:92706998571a	54	#include "DevSPI.h"
Davidroid	0:92706998571a	55	/* ACTION 2 ------------------------------------------------------------------*
Davidroid	0:92706998571a	56	* Include here expansion board specific header files. *
Davidroid	0:92706998571a	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	0:92706998571a	77	/* Instance, Initialization and Destructor Methods */
Davidroid	0:92706998571a	78
Davidroid	0:92706998571a	79	/**
Davidroid	0:92706998571a	80	* @brief Getting a singleton instance of X_NUCLEO_IHM02A1 class.
Davidroid	0:92706998571a	81	* @param flag_irq pin name of the FLAG pin of the component.
Davidroid	1:b78dab6d2c58	82	* @param busy_irq pin name of the BUSY pin of the component.
Davidroid	0:92706998571a	83	* @param standby_reset pin name of the STBY\RST pin of the component.
Davidroid	0:92706998571a	84	* @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
Davidroid	0:92706998571a	85	* @param spi SPI device to be used for communication.
Davidroid	0:92706998571a	86	* @retval a singleton instance of X_NUCLEO_IHM02A1 class.
Davidroid	0:92706998571a	87	*/
Davidroid	1:b78dab6d2c58	88	static X_NUCLEO_IHM02A1 Instance(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI spi = NULL);
Davidroid	0:92706998571a	89
Davidroid	0:92706998571a	90	/**
Davidroid	0:92706998571a	91	* @brief Getting a singleton instance of X_NUCLEO_IHM02A1 class.
Davidroid	0:92706998571a	92	* @param flag_irq pin name of the FLAG pin of the component.
Davidroid	1:b78dab6d2c58	93	* @param busy_irq pin name of the BUSY pin of the component.
Davidroid	0:92706998571a	94	* @param standby_reset pin name of the STBY\RST pin of the component.
Davidroid	0:92706998571a	95	* @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
Davidroid	0:92706998571a	96	* @param mosi pin name of the MOSI pin of the SPI device to be used for communication.
Davidroid	0:92706998571a	97	* @param miso pin name of the MISO pin of the SPI device to be used for communication.
Davidroid	0:92706998571a	98	* @param sclk pin name of the SCLK pin of the SPI device to be used for communication.
Davidroid	0:92706998571a	99	* @retval a singleton instance of X_NUCLEO_IHM02A1 class.
Davidroid	0:92706998571a	100	*/
Davidroid	1:b78dab6d2c58	101	static X_NUCLEO_IHM02A1 *Instance(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName miso, PinName mosi, PinName sclk);
Davidroid	0:92706998571a	102
Davidroid	0:92706998571a	103	/**
Davidroid	0:92706998571a	104	* @brief Initializing the X_NUCLEO_IHM02A1 board.
Davidroid	0:92706998571a	105	* @retval true if initialization is successful, false otherwise.
Davidroid	0:92706998571a	106	*/
Davidroid	0:92706998571a	107	bool Init(void);
Davidroid	0:92706998571a	108
Davidroid	0:92706998571a	109	/**
Davidroid	0:92706998571a	110	* @brief Destructor.
Davidroid	0:92706998571a	111	*/
Davidroid	0:92706998571a	112	~X_NUCLEO_IHM02A1(void) {}
Davidroid	0:92706998571a	113
Davidroid	1:b78dab6d2c58	114	/**
Davidroid	1:b78dab6d2c58	115	* @brief Getting the array of components.
Davidroid	1:b78dab6d2c58	116	* @param None.
Davidroid	1:b78dab6d2c58	117	* @retval The array of components.
Davidroid	1:b78dab6d2c58	118	*/
Davidroid	1:b78dab6d2c58	119	L6470 **GetComponents(void)
Davidroid	1:b78dab6d2c58	120	{
Davidroid	1:b78dab6d2c58	121	return components;
Davidroid	1:b78dab6d2c58	122	}
Davidroid	1:b78dab6d2c58	123
Davidroid	1:b78dab6d2c58	124	/**
Davidroid	1:b78dab6d2c58	125	* @brief Performing the actions set on the motors with calls to a number of
Davidroid	1:b78dab6d2c58	126	* "Prepare<Action>()" methods, one for each motor of the daisy-chain.
Davidroid	1:b78dab6d2c58	127	* @param None.
Davidroid	1:b78dab6d2c58	128	* @retval A pointer to the results returned by the components, i.e. an
Davidroid	1:b78dab6d2c58	129	* integer value for each of them.
Davidroid	1:b78dab6d2c58	130	*/
Davidroid	1:b78dab6d2c58	131	virtual uint32_t* PerformPreparedActions(void)
Davidroid	1:b78dab6d2c58	132	{
Davidroid	1:b78dab6d2c58	133	/* Performing pre-actions, if needed. */
Davidroid	1:b78dab6d2c58	134	for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid	1:b78dab6d2c58	135	{
Davidroid	1:b78dab6d2c58	136	/*
Davidroid	1:b78dab6d2c58	137	"GetPosition()" is needed by "PrepareSetMark()" at the time when the
Davidroid	1:b78dab6d2c58	138	prepared actions get performed.
Davidroid	1:b78dab6d2c58	139	*/
Davidroid	1:b78dab6d2c58	140	if (components[m]->GetPreparedAction() == L6470::PREPARED_SET_MARK)
Davidroid	1:b78dab6d2c58	141	components[m]->PrepareSetMark((uint32_t) components[m]->GetPosition());
Davidroid	1:b78dab6d2c58	142	}
Davidroid	1:b78dab6d2c58	143
Davidroid	1:b78dab6d2c58	144	/* Performing the prepared actions and getting back raw data. */
Davidroid	1:b78dab6d2c58	145	uint8_t *raw_data = components[0]->PerformPreparedActions();
Davidroid	1:b78dab6d2c58	146
Davidroid	1:b78dab6d2c58	147	/* Processing raw data. */
Davidroid	1:b78dab6d2c58	148	for (int m = 0; m < L6470DAISYCHAINSIZE; m++)
Davidroid	1:b78dab6d2c58	149	results[m] = components[m]->GetResult(raw_data);
Davidroid	1:b78dab6d2c58	150
Davidroid	1:b78dab6d2c58	151	/* Returning results. */
Davidroid	1:b78dab6d2c58	152	return results;
Davidroid	1:b78dab6d2c58	153	}
Davidroid	1:b78dab6d2c58	154
Davidroid	0:92706998571a	155
Davidroid	0:92706998571a	156	/* Public Expansion Board Related Attributes */
Davidroid	0:92706998571a	157
Davidroid	0:92706998571a	158	/* ACTION 4 --------------------------------------------------------------*
Davidroid	0:92706998571a	159	* Declare here a public attribute for each expansion board's component. *
Davidroid	0:92706998571a	160	* You will have to call these attributes' public methods within your *
Davidroid	0:92706998571a	161	* main program. *
Davidroid	0:92706998571a	162	* *
Davidroid	0:92706998571a	163	* Example: *
Davidroid	0:92706998571a	164	* COMPONENT_1 component_1;
Davidroid	0:92706998571a	165	* COMPONENT_2 component_2;
Davidroid	0:92706998571a	166	------------------------------------------------------------------------/
Davidroid	0:92706998571a	167	L6470 *l6470_0;
Davidroid	0:92706998571a	168	L6470 *l6470_1;
Davidroid	0:92706998571a	169
Davidroid	0:92706998571a	170	/* Static data. */
Davidroid	0:92706998571a	171	static const MICROSTEPPING_MOTOR_InitTypeDef MotorParameterInitData[EXPBRD_MOUNTED_NR_MAX][L6470DAISYCHAINSIZE];
Davidroid	0:92706998571a	172
Davidroid	0:92706998571a	173
Davidroid	0:92706998571a	174	protected:
Davidroid	0:92706998571a	175
Davidroid	0:92706998571a	176	/* Protected Constructor Method */
Davidroid	0:92706998571a	177
Davidroid	0:92706998571a	178	/**
Davidroid	0:92706998571a	179	* @brief Constructor.
Davidroid	0:92706998571a	180	* @param flag_irq pin name of the FLAG pin of the component.
Davidroid	1:b78dab6d2c58	181	* @param busy_irq pin name of the BUSY pin of the component.
Davidroid	0:92706998571a	182	* @param standby_reset pin name of the STBY\RST pin of the component.
Davidroid	0:92706998571a	183	* @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
Davidroid	0:92706998571a	184	* @param spi SPI device to be used for communication.
Davidroid	0:92706998571a	185	*/
Davidroid	1:b78dab6d2c58	186	X_NUCLEO_IHM02A1(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi);
Davidroid	0:92706998571a	187
Davidroid	0:92706998571a	188
Davidroid	0:92706998571a	189	/* Protected Expansion Board Related Initialization Methods */
Davidroid	0:92706998571a	190
Davidroid	0:92706998571a	191	/* ACTION 5 --------------------------------------------------------------*
Davidroid	0:92706998571a	192	* Declare here a protected initialization method for each expansion *
Davidroid	0:92706998571a	193	* board's component. *
Davidroid	0:92706998571a	194	* *
Davidroid	0:92706998571a	195	* Example: *
Davidroid	0:92706998571a	196	* bool Init_COMPONENT_1(void); *
Davidroid	0:92706998571a	197	* bool Init_COMPONENT_2(void); *
Davidroid	0:92706998571a	198	------------------------------------------------------------------------/
Davidroid	0:92706998571a	199	bool Init_L6470_0(void);
Davidroid	0:92706998571a	200	bool Init_L6470_1(void);
Davidroid	0:92706998571a	201
Davidroid	0:92706998571a	202
Davidroid	0:92706998571a	203	/* Component's Instance Variables */
Davidroid	0:92706998571a	204
Davidroid	0:92706998571a	205	/* Singleton instance of X_NUCLEO_IHM02A1 class. */
Davidroid	0:92706998571a	206	static X_NUCLEO_IHM02A1 *_instance;
Davidroid	0:92706998571a	207
Davidroid	0:92706998571a	208	/* IO Device. */
Davidroid	0:92706998571a	209	DevSPI *dev_spi;
Davidroid	0:92706998571a	210
Davidroid	1:b78dab6d2c58	211	/* Components. */
Davidroid	1:b78dab6d2c58	212	L6470 *components[L6470DAISYCHAINSIZE];
Davidroid	1:b78dab6d2c58	213
Davidroid	1:b78dab6d2c58	214	/* Results of prepared actions. */
Davidroid	1:b78dab6d2c58	215	uint32_t results[L6470DAISYCHAINSIZE];
Davidroid	1:b78dab6d2c58	216
Davidroid	0:92706998571a	217	/* Data. */
Davidroid	0:92706998571a	218	/* ACTION 11 -------------------------------------------------------------*
Davidroid	0:92706998571a	219	* Declare here the component's data, one variable per line. *
Davidroid	0:92706998571a	220	* *
Davidroid	0:92706998571a	221	* Example: *
Davidroid	0:92706998571a	222	* uint8_t ExpansionBoard_Id; *
Davidroid	0:92706998571a	223	------------------------------------------------------------------------/
Davidroid	0:92706998571a	224	uint8_t X_NUCLEO_IHM02A1_Id;
Davidroid	0:92706998571a	225
Davidroid	0:92706998571a	226	/* Static data. */
Davidroid	0:92706998571a	227	static uint8_t number_of_boards;
Davidroid	0:92706998571a	228	};
Davidroid	0:92706998571a	229
Davidroid	0:92706998571a	230	#endif // __X_NUCLEO_IHM02A1_CLASS_H
Davidroid	0:92706998571a	231
Davidroid	0:92706998571a	232	/********************** (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