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/Interfaces/StepperMotor_class.h

Revision:
1:b78dab6d2c58
Parent:
0:92706998571a
Child:
4:381d76f5b0b4
--- a/Components/Interfaces/StepperMotor_class.h	Fri Nov 20 18:07:45 2015 +0000
+++ b/Components/Interfaces/StepperMotor_class.h	Wed Nov 25 11:59:37 2015 +0000
@@ -5,7 +5,7 @@
  * @version V1.0.0
  * @date    November 12th, 2015
  * @brief   This file contains the abstract class describing the interface of a
- *          steppermotor component.
+ *          stepper-motor component.
  ******************************************************************************
  * @attention
  *
@@ -63,91 +63,180 @@
     } direction_t;
 
     /**
-     * @brief Getting the status.
+     * @brief  Getting the status.
      * @param  None.
-     * @retval None.
+     * @retval The status.
      */
     virtual unsigned int GetStatus(void) = 0;
 
-   /**
+    /**
      * @brief  Getting a parameter.
-     * @param  parameter register adress.
-     * @retval a register value.
+     * @param  parameter The parameter's identifier (or its register address).
+     * @retval The parameter's value.
      */
     virtual unsigned int GetParameter(unsigned int parameter) = 0;
 
-    /* Return the current position. */
+    /**
+     * @brief  Getting the position.
+     * @param  None.
+     * @retval The position.
+     */
     virtual signed int GetPosition(void) = 0;
 
-    /* Return the mark position. */
+    /**
+     * @brief  Getting the marked position.
+     * @param  None.
+     * @retval The marked position.
+     */
     virtual signed int GetMark(void) = 0;
 
-    /* Return the current speed in pps. */
+    /**
+     * @brief  Getting the current speed in pps.
+     * @param  None.
+     * @retval The current speed in pps.
+     */
     virtual unsigned int GetSpeed(void) = 0;
 
-    /* Return the maximum speed in pps. */
+    /**
+     * @brief  Getting the maximum speed in pps.
+     * @param  None.
+     * @retval The maximum speed in pps.
+     */
     virtual unsigned int GetMaxSpeed(void) = 0;
 
-    /* Return the minimum speed in pps. */
+    /**
+     * @brief  Getting the minimum speed in pps.
+     * @param  None.
+     * @retval The minimum speed in pps.
+     */
     virtual unsigned int GetMinSpeed(void) = 0;
 
-    /* Return the acceleration in pps^2. */
+    /**
+     * @brief  Getting the acceleration in pps^2.
+     * @param  None.
+     * @retval The acceleration in pps^2.
+     */
     virtual unsigned int GetAcceleration(void) = 0;
 
-    /* Return the deceleration in pps^2. */
+    /**
+     * @brief  Getting the deceleration in pps^2.
+     * @param  None.
+     * @retval The deceleration in pps^2.
+     */
     virtual unsigned int GetDeceleration(void) = 0;
 
-    /* Get the current direction of rotation. */
+    /**
+     * @brief  Getting the direction of rotation.
+     * @param  None.
+     * @retval The direction of rotation.
+     */
     virtual direction_t GetDirection(void) = 0;
 
    /**
      * @brief  Setting a parameter.
-     * @param  parameter register adress.
-     * @param  value value to be set.
+     * @param  parameter The parameter's identifier (or its register address).
+     * @param  value The parameter's value.
      * @retval None.
      */
     virtual void SetParameter(unsigned int parameter, unsigned int value) = 0;
 
-    /* Set the current position to be the home position. */
+    /**
+     * @brief  Setting the current position to be the home position.
+     * @param  None.
+     * @retval None.
+     */
     virtual void SetHome(void) = 0;
 
-    /* Set the current position to be the mark position. */
+    /**
+     * @brief  Setting the current position to be the marked position.
+     * @param  None.
+     * @retval None.
+     */
     virtual void SetMark(void) = 0;
 
-    /* Set the maximum speed in pps. */
+    /**
+     * @brief  Setting the maximum speed in pps.
+     * @param  speed The maximum speed in pps.
+     * @retval None.
+     */
     virtual void SetMaxSpeed(unsigned int speed) = 0;
 
-    /* Set the minimum speed in pps. */
+    /**
+     * @brief  Setting the minimum speed in pps.
+     * @param  speed The minimum speed in pps.
+     * @retval None.
+     */
     virtual void SetMinSpeed(unsigned int speed) = 0;
 
-    /* Set the acceleration in pps^2. */
+    /**
+     * @brief  Setting the acceleration in pps^2.
+     * @param  acceleration The acceleration in pps^2.
+     * @retval None.
+     */
     virtual void SetAcceleration(unsigned int acceleration) = 0;
 
-    /* Set the deceleration in pps^2. */
+    /**
+     * @brief  Setting the deceleration in pps^2.
+     * @param  deceleration The deceleration in pps^2.
+     * @retval None.
+     */
     virtual void SetDeceleration(unsigned int deceleration) = 0;
 
-    /* Go to the specified position. */
+    /**
+     * @brief  Going to a specified position.
+     * @param  position The desired position.
+     * @retval None.
+     */
     virtual void GoTo(signed int position) = 0;
 
-    /* Go to the home position. */
+    /**
+     * @brief  Going to the home position.
+     * @param  None.
+     * @retval None.
+     */
     virtual void GoHome(void) = 0;
 
-    /* Go to the marked position. */
+    /**
+     * @brief  Going to the marked position.
+     * @param  None.
+     * @retval None.
+     */
     virtual void GoMark(void) = 0;
 
-    /* Run the motor towards a specified direction. */
+    /**
+     * @brief  Running the motor towards a specified direction.
+     * @param  direction The direction of rotation.
+     * @retval None.
+     */
     virtual void Run(direction_t direction) = 0;
 
-    /* Run the motor towards a specified direction for a specified number of steps. */
+    /**
+     * @brief  Moving the motor towards a specified direction for a certain number of steps.
+     * @param  direction The direction of rotation.
+     * @param  steps The desired number of steps.
+     * @retval None.
+     */
     virtual void Move(direction_t direction, unsigned int steps) = 0;
 
-    /* Stop the motor. */
+    /**
+     * @brief  Stopping the motor.
+     * @param  None.
+     * @retval None.
+     */
     virtual void SoftStop(void) = 0;
 
-    /* Stop the motor and disable the power bridge. */
+    /**
+     * @brief  Stopping the motor and disabling the power bridge.
+     * @param  None.
+     * @retval None.
+     */
     virtual void HardStop(void) = 0;
 
-    /* Wait while the motor is active. */
+    /**
+     * @brief  Waiting while the motor is active.
+     * @param  None.
+     * @retval None.
+     */
     virtual void WaitWhileActive(void) = 0;
 };