ST
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
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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_23resistor connected only: SSEL on pinA2;SB_7resistor connected only: SSEL on pinD2;SB_8resistor connected only: SSEL on pinD10;SB_9resistor connected only: SSEL on pinD5.
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
SB34resistor; - to solder the
SB12resistor.
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/l6470/l6470_class.h
- Revision:
- 17:4b3dc908724f
- Parent:
- 15:31785d1acd4b
- Child:
- 18:ddf3d5dc8137
--- a/Components/l6470/l6470_class.h Fri Mar 11 15:49:04 2016 +0000
+++ b/Components/l6470/l6470_class.h Thu Apr 07 16:55:51 2016 +0000
@@ -194,14 +194,40 @@
return (unsigned int) L6470_GetStatus();
}
- /**
+ /**
* @brief Getting a parameter.
- * @param parameter The parameter's identifier (or its register address).
+ * @param parameter A parameter's register address.
* @retval The parameter's value.
+ * @note The parameter can be one of the following:
+ * + L6470_ABS_POS_ID
+ * + L6470_EL_POS_ID
+ * + L6470_MARK_ID
+ * + L6470_SPEED_ID
+ * + L6470_ACC_ID
+ * + L6470_DEC_ID
+ * + L6470_MAX_SPEED_ID
+ * + L6470_MIN_SPEED_ID
+ * + L6470_FS_SPD_ID
+ * + L6470_KVAL_HOLD_ID
+ * + L6470_KVAL_RUN_ID
+ * + L6470_KVAL_ACC_ID
+ * + L6470_KVAL_DEC_ID
+ * + L6470_INT_SPEED_ID
+ * + L6470_ST_SLP_ID
+ * + L6470_FN_SLP_ACC_ID
+ * + L6470_FN_SLP_DEC_ID
+ * + L6470_K_THERM_ID
+ * + L6470_ADC_OUT_ID
+ * + L6470_OCD_TH_ID
+ * + L6470_STALL_TH_ID
+ * + L6470_STEP_MODE_ID
+ * + L6470_ALARM_EN_ID
+ * + L6470_CONFIG_ID
+ * + L6470_STATUS_ID
*/
- virtual float GetParameter(unsigned int parameter)
+ virtual unsigned int GetParameter(unsigned int parameter)
{
- return (float) L6470_GetParam((eL6470_RegId_t) parameter);
+ return (unsigned int) L6470_GetParam((eL6470_RegId_t) parameter);
}
/**
@@ -285,12 +311,61 @@
}
/**
- * @brief Setting a parameter.
- * @param parameter The parameter's identifier (or its register address).
- * @param value The parameter's value.
- * @retval None.
+ * @brief Setting a parameter.
+ * @param parameter A parameter's register address.
+ * @param value The parameter's value.
+ * @retval None.
+ * @note The parameter can be one of the following:
+ * + L6470_ABS_POS_ID
+ * + L6470_EL_POS_ID
+ * + L6470_MARK_ID
+ * + L6470_SPEED_ID
+ * + L6470_ACC_ID
+ * + L6470_DEC_ID
+ * + L6470_MAX_SPEED_ID
+ * + L6470_MIN_SPEED_ID
+ * + L6470_FS_SPD_ID
+ * + L6470_KVAL_HOLD_ID
+ * + L6470_KVAL_RUN_ID
+ * + L6470_KVAL_ACC_ID
+ * + L6470_KVAL_DEC_ID
+ * + L6470_INT_SPEED_ID
+ * + L6470_ST_SLP_ID
+ * + L6470_FN_SLP_ACC_ID
+ * + L6470_FN_SLP_DEC_ID
+ * + L6470_K_THERM_ID
+ * + L6470_ADC_OUT_ID
+ * + L6470_OCD_TH_ID
+ * + L6470_STALL_TH_ID
+ * + L6470_STEP_MODE_ID
+ * + L6470_ALARM_EN_ID
+ * + L6470_CONFIG_ID
+ * + L6470_STATUS_ID
+ * @warning Some registers can only be written in particular conditions (see L6470's datasheet).
+ * Any attempt to write one of those registers when the conditions are not satisfied
+ * causes the command to be ignored and the NOTPERF_CMD flag to rise at the end of the
+ * last argument byte. Any attempt to set an inexistent register (wrong address value)
+ * causes the command to be ignored and the WRONG_CMD flag to rise.
+ * For example, setting some parameters requires first to disable the power bridge;
+ * this can be done through the SoftHiZ() method.
+ * They are the following:
+ * + L6470_ABS_POS_ID
+ * + L6470_EL_POS_ID
+ * + L6470_SPEED_ID
+ * + L6470_ACC_ID
+ * + L6470_DEC_ID
+ * + L6470_MAX_SPEED_ID
+ * + L6470_MIN_SPEED_ID
+ * + L6470_INT_SPEED_ID
+ * + L6470_ST_SLP_ID
+ * + L6470_FN_SLP_ACC_ID
+ * + L6470_FN_SLP_DEC_ID
+ * + L6470_ADC_OUT_ID
+ * + L6470_STEP_MODE_ID
+ * + L6470_CONFIG_ID
+ * + L6470_STATUS_ID
*/
- virtual void SetParameter(unsigned int parameter, float value)
+ virtual void SetParameter(unsigned int parameter, unsigned int value)
{
L6470_SetParam((eL6470_RegId_t) parameter, (uint32_t) value);
}
@@ -328,41 +403,64 @@
/**
* @brief Setting the maximum speed in pps.
* @param speed The maximum speed in pps.
- * @retval None.
+ * @retval "true" in case of success, "false" otherwise.
*/
- virtual void SetMaxSpeed(unsigned int speed)
+ virtual bool SetMaxSpeed(unsigned int speed)
{
L6470_SetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) L6470_Step_s_2_MaxSpeed((float) speed));
+ return true;
}
/**
* @brief Setting the minimum speed in pps.
* @param speed The minimum speed in pps.
- * @retval None.
+ * @retval "true" in case of success, "false" otherwise.
*/
- virtual void SetMinSpeed(unsigned int speed)
+ virtual bool SetMinSpeed(unsigned int speed)
{
L6470_SetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) L6470_Step_s_2_MinSpeed((float) speed));
+ return true;
}
/**
* @brief Setting the acceleration in pps^2.
* @param acceleration The acceleration in pps^2.
- * @retval None.
+ * @retval "true" in case of success, "false" otherwise.
*/
- virtual void SetAcceleration(unsigned int acceleration)
+ virtual bool SetAcceleration(unsigned int acceleration)
{
L6470_SetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) L6470_Step_s2_2_Acc((float) acceleration));
+ return true;
}
/**
* @brief Setting the deceleration in pps^2.
* @param deceleration The deceleration in pps^2.
- * @retval None.
+ * @retval "true" in case of success, "false" otherwise.
*/
- virtual void SetDeceleration(unsigned int deceleration)
+ virtual bool SetDeceleration(unsigned int deceleration)
{
L6470_SetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) L6470_Step_s2_2_Dec((float) deceleration));
+ return true;
+ }
+
+ /**
+ * @brief Setting the Step Mode.
+ * @param step_mode The Step Mode.
+ * @retval "true" in case of success, "false" otherwise.
+ * @warning Setting the step mode implies first disabling the power bridge through
+ * the SoftHiZ() method.
+ * @warning Every time step mode is changed, the values of the home
+ * and mark positions lose meaning and are reset.
+ */
+ virtual bool SetStepMode(step_mode_t step_mode)
+ {
+ if ((eMotorStepMode_t) step_mode > MICROSTEP_1_128)
+ return false;
+
+ SoftHiZ();
+ L6470_SetParam((eL6470_RegId_t) L6470_STEP_MODE_ID, (eMotorStepMode_t) step_mode);
+ return true;
}
/**
@@ -508,12 +606,15 @@
}
/**
- * @brief Switching to step-clock mode.
- * @param direction The direction of rotation.
- * @retval None.
- */
+ * @brief Switching to step-clock mode.
+ * @param direction The direction of rotation.
+ * @retval None.
+ * @warning Setting the step-clock mode implies first disabling the power bridge through
+ * the SoftHiZ() method.
+ */
virtual void StepClock(direction_t direction)
{
+ SoftHiZ();
L6470_StepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
}
@@ -554,11 +655,37 @@
prepared_action = PREPARED_NO_ACTION;
}
- /**
+ /**
* @brief Preparing the command to get a parameter.
- * @param parameter The parameter's identifier (or its register address).
+ * @param parameter A parameter's register address.
* @retval None.
* @note The command will be sent by issuing "PerformAction()".
+ * The parameter can be one of the following:
+ * + L6470_ABS_POS_ID
+ * + L6470_EL_POS_ID
+ * + L6470_MARK_ID
+ * + L6470_SPEED_ID
+ * + L6470_ACC_ID
+ * + L6470_DEC_ID
+ * + L6470_MAX_SPEED_ID
+ * + L6470_MIN_SPEED_ID
+ * + L6470_FS_SPD_ID
+ * + L6470_KVAL_HOLD_ID
+ * + L6470_KVAL_RUN_ID
+ * + L6470_KVAL_ACC_ID
+ * + L6470_KVAL_DEC_ID
+ * + L6470_INT_SPEED_ID
+ * + L6470_ST_SLP_ID
+ * + L6470_FN_SLP_ACC_ID
+ * + L6470_FN_SLP_DEC_ID
+ * + L6470_K_THERM_ID
+ * + L6470_ADC_OUT_ID
+ * + L6470_OCD_TH_ID
+ * + L6470_STALL_TH_ID
+ * + L6470_STEP_MODE_ID
+ * + L6470_ALARM_EN_ID
+ * + L6470_CONFIG_ID
+ * + L6470_STATUS_ID
*/
virtual void PrepareGetParameter(unsigned int parameter)
{
@@ -670,10 +797,59 @@
/**
* @brief Preparing the command to set a parameter.
- * @param parameter The parameter's identifier (or its register address).
+ * @param parameter A parameter's register address.
* @param value The parameter's value.
* @retval None.
* @note The command will be sent by issuing "PerformAction()".
+ * The parameter can be one of the following:
+ * + L6470_ABS_POS_ID
+ * + L6470_EL_POS_ID
+ * + L6470_MARK_ID
+ * + L6470_SPEED_ID
+ * + L6470_ACC_ID
+ * + L6470_DEC_ID
+ * + L6470_MAX_SPEED_ID
+ * + L6470_MIN_SPEED_ID
+ * + L6470_FS_SPD_ID
+ * + L6470_KVAL_HOLD_ID
+ * + L6470_KVAL_RUN_ID
+ * + L6470_KVAL_ACC_ID
+ * + L6470_KVAL_DEC_ID
+ * + L6470_INT_SPEED_ID
+ * + L6470_ST_SLP_ID
+ * + L6470_FN_SLP_ACC_ID
+ * + L6470_FN_SLP_DEC_ID
+ * + L6470_K_THERM_ID
+ * + L6470_ADC_OUT_ID
+ * + L6470_OCD_TH_ID
+ * + L6470_STALL_TH_ID
+ * + L6470_STEP_MODE_ID
+ * + L6470_ALARM_EN_ID
+ * + L6470_CONFIG_ID
+ * + L6470_STATUS_ID
+ * @warning Some registers can only be written in particular conditions (see L6470's datasheet).
+ * Any attempt to write one of those registers when the conditions are not satisfied
+ * causes the command to be ignored and the NOTPERF_CMD flag to rise at the end of the
+ * last argument byte. Any attempt to set an inexistent register (wrong address value)
+ * causes the command to be ignored and the WRONG_CMD flag to rise.
+ * For example, setting some parameters requires first to disable the power bridge;
+ * this can be done through the SoftHiZ() method.
+ * They are the following:
+ * + L6470_ABS_POS_ID
+ * + L6470_EL_POS_ID
+ * + L6470_SPEED_ID
+ * + L6470_ACC_ID
+ * + L6470_DEC_ID
+ * + L6470_MAX_SPEED_ID
+ * + L6470_MIN_SPEED_ID
+ * + L6470_INT_SPEED_ID
+ * + L6470_ST_SLP_ID
+ * + L6470_FN_SLP_ACC_ID
+ * + L6470_FN_SLP_DEC_ID
+ * + L6470_ADC_OUT_ID
+ * + L6470_STEP_MODE_ID
+ * + L6470_CONFIG_ID
+ * + L6470_STATUS_ID
*/
virtual void PrepareSetParameter(unsigned int parameter, unsigned int value)
{
@@ -946,10 +1122,12 @@
}
/**
- * @brief Preparing the command to switch to step-clock mode.
- * @param direction The direction of rotation.
- * @retval None.
- * @note The command will be sent by issuing "PerformAction()".
+ * @brief Preparing the command to switch to step-clock mode.
+ * @param direction The direction of rotation.
+ * @retval None.
+ * @warning Setting the step-clock mode requires an explicit action by the user to first
+ * disable the power bridge through the SoftHiZ() method.
+ * @note The command will be sent by issuing "PerformAction()".
*/
virtual void PrepareStepClock(direction_t direction)
{
X-NUCLEO-IHM02A1 Two Axis Stepper Motor Driver