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

Diff: Components/Common/microstepping_motor.h

Revision:
11:1aca63b2f034
Parent:
1:b78dab6d2c58
Child:
14:e614697ebf34
--- a/Components/Common/microstepping_motor.h	Mon Jan 04 16:10:54 2016 +0000
+++ b/Components/Common/microstepping_motor.h	Thu Jan 14 10:00:31 2016 +0000
@@ -274,37 +274,6 @@
 } sL6470_StatusRegister_t;
 
 /**
-  * @brief  Motor Parameter Data  
-  */ 
-typedef struct
-{
-  float     motorvoltage;           //!< motor supply voltage in V
-  float     fullstepsperrevolution; //!< min number of steps per revolution for the motor
-  float     phasecurrent;           //!< max motor phase voltage in A
-  float     phasevoltage;           //!< max motor phase voltage in V
-  float     speed;                  //!< motor initial speed [step/s]
-  float     acc;                    //!< motor acceleration [step/s^2] (comment for infinite acceleration mode)
-  float     dec;                    //!< motor deceleration [step/s^2] (comment for infinite deceleration mode)
-  float     maxspeed;               //!< motor maximum speed [step/s]
-  float     minspeed;               //!< motor minimum speed [step/s]
-  float     fsspd;                  //!< motor full-step speed threshold [step/s]
-  float     kvalhold;               //!< holding kval [V]
-  float     kvalrun;                //!< constant speed kval [V]
-  float     kvalacc;                //!< acceleration starting kval [V]
-  float     kvaldec;                //!< deceleration starting kval [V]
-  float     intspeed;               //!< intersect speed for bemf compensation curve slope changing [step/s]
-  float     stslp;                  //!< start slope [s/step]
-  float     fnslpacc;               //!< acceleration final slope [s/step]
-  float     fnslpdec;               //!< deceleration final slope [s/step]
-  uint8_t   kterm;                  //!< thermal compensation factor (range [0, 15])
-  float     ocdth;                  //!< ocd threshold [ma] (range [375 ma, 6000 ma])
-  float     stallth;                //!< stall threshold [ma] (range [31.25 ma, 4000 ma])
-  uint8_t   step_sel;               //!< step mode selection
-  uint8_t   alarmen;                //!< alarm conditions enable
-  uint16_t  config;                 //!< ic configuration
-} MICROSTEPPING_MOTOR_InitTypeDef;
-
-/**
   * @brief Stepper Motor Registers
   */
 typedef struct
@@ -350,11 +319,11 @@
    * specified exactly in the given way.                                    *
    *                                                                        *
    * Example:                                                               *
-   *   DrvStatusTypeDef (*Init)(void *handle, INTERFACE_InitTypeDef *init); *
+   *   DrvStatusTypeDef (*Init)(void *handle, void *init);                  *
    *   DrvStatusTypeDef (*ReadID)(void *handle, uint8_t *id);               *
    *------------------------------------------------------------------------*/
   /* Generic */
-  DrvStatusTypeDef (*Init)(void *handle, MICROSTEPPING_MOTOR_InitTypeDef *init);
+  DrvStatusTypeDef (*Init)(void *handle, void *init);
   DrvStatusTypeDef (*ReadID)(void *handle, uint8_t *id);
   
   /* ACTION ----------------------------------------------------------------*
@@ -466,7 +435,6 @@
 typedef struct __StepperMotorDriver_HandleTypeDef
 {
   uint8_t DaisyChainPosition;
-  void (*Config)(MICROSTEPPING_MOTOR_InitTypeDef*);
   MICROSTEPPING_MOTOR_DrvVTableTypeDef *Command;
 } StepperMotorDriverHandle_t;
 
@@ -476,7 +444,6 @@
 typedef struct __StepperMotorBoard_HandleTypeDef
 {
   uint8_t StackedPosition;
-  void (*Config)(MICROSTEPPING_MOTOR_InitTypeDef*);
   MICROSTEPPING_MOTOR_EB_DrvVTableTypeDef *Command;
   StepperMotorDriverHandle_t *StepperMotorDriverHandle[2];
   uint8_t (*Select)(uint8_t);