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

Committer:
Davidroid
Date:
Wed Nov 25 11:59:37 2015 +0000
Revision:
1:b78dab6d2c58
Parent:
0:92706998571a
Child:
4:381d76f5b0b4
+ Implemented all the StepperMotor's APIs.

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 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 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 1:b78dab6d2c58 66 * @brief Getting the status.
Davidroid 0:92706998571a 67 * @param None.
Davidroid 1:b78dab6d2c58 68 * @retval The status.
Davidroid 0:92706998571a 69 */
Davidroid 0:92706998571a 70 virtual unsigned int GetStatus(void) = 0;
Davidroid 0:92706998571a 71
Davidroid 1:b78dab6d2c58 72 /**
Davidroid 0:92706998571a 73 * @brief Getting a parameter.
Davidroid 1:b78dab6d2c58 74 * @param parameter The parameter's identifier (or its register address).
Davidroid 1:b78dab6d2c58 75 * @retval The parameter's value.
Davidroid 0:92706998571a 76 */
Davidroid 0:92706998571a 77 virtual unsigned int GetParameter(unsigned int parameter) = 0;
Davidroid 0:92706998571a 78
Davidroid 1:b78dab6d2c58 79 /**
Davidroid 1:b78dab6d2c58 80 * @brief Getting the position.
Davidroid 1:b78dab6d2c58 81 * @param None.
Davidroid 1:b78dab6d2c58 82 * @retval The position.
Davidroid 1:b78dab6d2c58 83 */
Davidroid 0:92706998571a 84 virtual signed int GetPosition(void) = 0;
Davidroid 0:92706998571a 85
Davidroid 1:b78dab6d2c58 86 /**
Davidroid 1:b78dab6d2c58 87 * @brief Getting the marked position.
Davidroid 1:b78dab6d2c58 88 * @param None.
Davidroid 1:b78dab6d2c58 89 * @retval The marked position.
Davidroid 1:b78dab6d2c58 90 */
Davidroid 0:92706998571a 91 virtual signed int GetMark(void) = 0;
Davidroid 0:92706998571a 92
Davidroid 1:b78dab6d2c58 93 /**
Davidroid 1:b78dab6d2c58 94 * @brief Getting the current speed in pps.
Davidroid 1:b78dab6d2c58 95 * @param None.
Davidroid 1:b78dab6d2c58 96 * @retval The current speed in pps.
Davidroid 1:b78dab6d2c58 97 */
Davidroid 0:92706998571a 98 virtual unsigned int GetSpeed(void) = 0;
Davidroid 0:92706998571a 99
Davidroid 1:b78dab6d2c58 100 /**
Davidroid 1:b78dab6d2c58 101 * @brief Getting the maximum speed in pps.
Davidroid 1:b78dab6d2c58 102 * @param None.
Davidroid 1:b78dab6d2c58 103 * @retval The maximum speed in pps.
Davidroid 1:b78dab6d2c58 104 */
Davidroid 0:92706998571a 105 virtual unsigned int GetMaxSpeed(void) = 0;
Davidroid 0:92706998571a 106
Davidroid 1:b78dab6d2c58 107 /**
Davidroid 1:b78dab6d2c58 108 * @brief Getting the minimum speed in pps.
Davidroid 1:b78dab6d2c58 109 * @param None.
Davidroid 1:b78dab6d2c58 110 * @retval The minimum speed in pps.
Davidroid 1:b78dab6d2c58 111 */
Davidroid 0:92706998571a 112 virtual unsigned int GetMinSpeed(void) = 0;
Davidroid 0:92706998571a 113
Davidroid 1:b78dab6d2c58 114 /**
Davidroid 1:b78dab6d2c58 115 * @brief Getting the acceleration in pps^2.
Davidroid 1:b78dab6d2c58 116 * @param None.
Davidroid 1:b78dab6d2c58 117 * @retval The acceleration in pps^2.
Davidroid 1:b78dab6d2c58 118 */
Davidroid 0:92706998571a 119 virtual unsigned int GetAcceleration(void) = 0;
Davidroid 0:92706998571a 120
Davidroid 1:b78dab6d2c58 121 /**
Davidroid 1:b78dab6d2c58 122 * @brief Getting the deceleration in pps^2.
Davidroid 1:b78dab6d2c58 123 * @param None.
Davidroid 1:b78dab6d2c58 124 * @retval The deceleration in pps^2.
Davidroid 1:b78dab6d2c58 125 */
Davidroid 0:92706998571a 126 virtual unsigned int GetDeceleration(void) = 0;
Davidroid 0:92706998571a 127
Davidroid 1:b78dab6d2c58 128 /**
Davidroid 1:b78dab6d2c58 129 * @brief Getting the direction of rotation.
Davidroid 1:b78dab6d2c58 130 * @param None.
Davidroid 1:b78dab6d2c58 131 * @retval The direction of rotation.
Davidroid 1:b78dab6d2c58 132 */
Davidroid 0:92706998571a 133 virtual direction_t GetDirection(void) = 0;
Davidroid 0:92706998571a 134
Davidroid 0:92706998571a 135 /**
Davidroid 0:92706998571a 136 * @brief Setting a parameter.
Davidroid 1:b78dab6d2c58 137 * @param parameter The parameter's identifier (or its register address).
Davidroid 1:b78dab6d2c58 138 * @param value The parameter's value.
Davidroid 0:92706998571a 139 * @retval None.
Davidroid 0:92706998571a 140 */
Davidroid 0:92706998571a 141 virtual void SetParameter(unsigned int parameter, unsigned int value) = 0;
Davidroid 0:92706998571a 142
Davidroid 1:b78dab6d2c58 143 /**
Davidroid 1:b78dab6d2c58 144 * @brief Setting the current position to be the home position.
Davidroid 1:b78dab6d2c58 145 * @param None.
Davidroid 1:b78dab6d2c58 146 * @retval None.
Davidroid 1:b78dab6d2c58 147 */
Davidroid 0:92706998571a 148 virtual void SetHome(void) = 0;
Davidroid 0:92706998571a 149
Davidroid 1:b78dab6d2c58 150 /**
Davidroid 1:b78dab6d2c58 151 * @brief Setting the current position to be the marked position.
Davidroid 1:b78dab6d2c58 152 * @param None.
Davidroid 1:b78dab6d2c58 153 * @retval None.
Davidroid 1:b78dab6d2c58 154 */
Davidroid 0:92706998571a 155 virtual void SetMark(void) = 0;
Davidroid 0:92706998571a 156
Davidroid 1:b78dab6d2c58 157 /**
Davidroid 1:b78dab6d2c58 158 * @brief Setting the maximum speed in pps.
Davidroid 1:b78dab6d2c58 159 * @param speed The maximum speed in pps.
Davidroid 1:b78dab6d2c58 160 * @retval None.
Davidroid 1:b78dab6d2c58 161 */
Davidroid 0:92706998571a 162 virtual void SetMaxSpeed(unsigned int speed) = 0;
Davidroid 0:92706998571a 163
Davidroid 1:b78dab6d2c58 164 /**
Davidroid 1:b78dab6d2c58 165 * @brief Setting the minimum speed in pps.
Davidroid 1:b78dab6d2c58 166 * @param speed The minimum speed in pps.
Davidroid 1:b78dab6d2c58 167 * @retval None.
Davidroid 1:b78dab6d2c58 168 */
Davidroid 0:92706998571a 169 virtual void SetMinSpeed(unsigned int speed) = 0;
Davidroid 0:92706998571a 170
Davidroid 1:b78dab6d2c58 171 /**
Davidroid 1:b78dab6d2c58 172 * @brief Setting the acceleration in pps^2.
Davidroid 1:b78dab6d2c58 173 * @param acceleration The acceleration in pps^2.
Davidroid 1:b78dab6d2c58 174 * @retval None.
Davidroid 1:b78dab6d2c58 175 */
Davidroid 0:92706998571a 176 virtual void SetAcceleration(unsigned int acceleration) = 0;
Davidroid 0:92706998571a 177
Davidroid 1:b78dab6d2c58 178 /**
Davidroid 1:b78dab6d2c58 179 * @brief Setting the deceleration in pps^2.
Davidroid 1:b78dab6d2c58 180 * @param deceleration The deceleration in pps^2.
Davidroid 1:b78dab6d2c58 181 * @retval None.
Davidroid 1:b78dab6d2c58 182 */
Davidroid 0:92706998571a 183 virtual void SetDeceleration(unsigned int deceleration) = 0;
Davidroid 0:92706998571a 184
Davidroid 1:b78dab6d2c58 185 /**
Davidroid 1:b78dab6d2c58 186 * @brief Going to a specified position.
Davidroid 1:b78dab6d2c58 187 * @param position The desired position.
Davidroid 1:b78dab6d2c58 188 * @retval None.
Davidroid 1:b78dab6d2c58 189 */
Davidroid 0:92706998571a 190 virtual void GoTo(signed int position) = 0;
Davidroid 0:92706998571a 191
Davidroid 1:b78dab6d2c58 192 /**
Davidroid 1:b78dab6d2c58 193 * @brief Going to the home position.
Davidroid 1:b78dab6d2c58 194 * @param None.
Davidroid 1:b78dab6d2c58 195 * @retval None.
Davidroid 1:b78dab6d2c58 196 */
Davidroid 0:92706998571a 197 virtual void GoHome(void) = 0;
Davidroid 0:92706998571a 198
Davidroid 1:b78dab6d2c58 199 /**
Davidroid 1:b78dab6d2c58 200 * @brief Going to the marked position.
Davidroid 1:b78dab6d2c58 201 * @param None.
Davidroid 1:b78dab6d2c58 202 * @retval None.
Davidroid 1:b78dab6d2c58 203 */
Davidroid 0:92706998571a 204 virtual void GoMark(void) = 0;
Davidroid 0:92706998571a 205
Davidroid 1:b78dab6d2c58 206 /**
Davidroid 1:b78dab6d2c58 207 * @brief Running the motor towards a specified direction.
Davidroid 1:b78dab6d2c58 208 * @param direction The direction of rotation.
Davidroid 1:b78dab6d2c58 209 * @retval None.
Davidroid 1:b78dab6d2c58 210 */
Davidroid 0:92706998571a 211 virtual void Run(direction_t direction) = 0;
Davidroid 0:92706998571a 212
Davidroid 1:b78dab6d2c58 213 /**
Davidroid 1:b78dab6d2c58 214 * @brief Moving the motor towards a specified direction for a certain number of steps.
Davidroid 1:b78dab6d2c58 215 * @param direction The direction of rotation.
Davidroid 1:b78dab6d2c58 216 * @param steps The desired number of steps.
Davidroid 1:b78dab6d2c58 217 * @retval None.
Davidroid 1:b78dab6d2c58 218 */
Davidroid 0:92706998571a 219 virtual void Move(direction_t direction, unsigned int steps) = 0;
Davidroid 0:92706998571a 220
Davidroid 1:b78dab6d2c58 221 /**
Davidroid 1:b78dab6d2c58 222 * @brief Stopping the motor.
Davidroid 1:b78dab6d2c58 223 * @param None.
Davidroid 1:b78dab6d2c58 224 * @retval None.
Davidroid 1:b78dab6d2c58 225 */
Davidroid 0:92706998571a 226 virtual void SoftStop(void) = 0;
Davidroid 0:92706998571a 227
Davidroid 1:b78dab6d2c58 228 /**
Davidroid 1:b78dab6d2c58 229 * @brief Stopping the motor and disabling the power bridge.
Davidroid 1:b78dab6d2c58 230 * @param None.
Davidroid 1:b78dab6d2c58 231 * @retval None.
Davidroid 1:b78dab6d2c58 232 */
Davidroid 0:92706998571a 233 virtual void HardStop(void) = 0;
Davidroid 0:92706998571a 234
Davidroid 1:b78dab6d2c58 235 /**
Davidroid 1:b78dab6d2c58 236 * @brief Waiting while the motor is active.
Davidroid 1:b78dab6d2c58 237 * @param None.
Davidroid 1:b78dab6d2c58 238 * @retval None.
Davidroid 1:b78dab6d2c58 239 */
Davidroid 0:92706998571a 240 virtual void WaitWhileActive(void) = 0;
Davidroid 0:92706998571a 241 };
Davidroid 0:92706998571a 242
Davidroid 0:92706998571a 243 #endif /* __STEPPERMOTOR_CLASS_H */
Davidroid 0:92706998571a 244
Davidroid 0:92706998571a 245 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/