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.h
- Revision:
- 14:e614697ebf34
- Parent:
- 11:1aca63b2f034
- Child:
- 16:0d5be428b264
--- a/Components/l6470/l6470.h Tue Jan 19 16:07:00 2016 +0000
+++ b/Components/l6470/l6470.h Tue Feb 09 16:01:30 2016 +0000
@@ -1,39 +1,41 @@
/**
- ******************************************************************************
- * @file L6470.h
- * @date 01/10/2014 12:00:00
- * @brief This file contains definitions, exported variables and function
- * prototypes related to the L6470.
- ******************************************************************************
- *
- * COPYRIGHT(c) 2014 STMicroelectronics
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- * 3. Neither the name of STMicroelectronics nor the names of its contributors
- * may be used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
+ ******************************************************************************
+ * @file L6470.h
+ * @date 01/10/2014 12:00:00
+ * @brief This file contains definitions, exported variables and function
+ * prototypes related to the L6470.
+ ******************************************************************************
+ *
+ * COPYRIGHT(c) 2014 STMicroelectronics
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
/* Define to prevent recursive inclusion -------------------------------------*/
+
#ifndef __L6470_H
#define __L6470_H
@@ -41,9 +43,86 @@
extern "C" {
#endif
+
/* Includes ------------------------------------------------------------------*/
+
#include "microstepping_motor.h"
+
+/* Definitions ---------------------------------------------------------------*/
+
+/** @addtogroup BSP
+ * @{
+ */
+
+/** @addtogroup Components
+ * @{
+ */
+
+/** @addtogroup L6470
+ * @{
+ */
+
+/** @defgroup L6470_Exported_Defines L6470_Exported_Defines
+ * @{
+ */
+
+/**
+ * @defgroup L6470_Exported_Constants
+ * @brief L6470 Exported Constants.
+ * @{
+ */
+
+/**
+ * @defgroup L6470_Register_Max_Values
+ * @brief Maximum values for L6470 registers.
+ * @{
+ */
+
+#define L6470_MAX_POSITION (0x1FFFFF) //!< Max position
+#define L6470_MIN_POSITION (-(0x200000)) //!< Min position
+#define L6470_POSITION_RANGE ((uint32_t)(L6470_MAX_POSITION - L6470_MIN_POSITION)) //!< Position range
+#define L6470_MAX_SPEED (0xFFFFF) //!< max value of SPEED
+#define L6470_MAX_ACC (0xFFF) //!< max value of ACC
+#define L6470_MAX_DEC (0xFFF) //!< max value of DEC
+#define L6470_MAX_MAX_SPEED (0x3FF) //!< max value of MAX_SPEED
+#define L6470_MAX_MIN_SPEED (0xFFF) //!< max value of MIN_SPEED
+#define L6470_MAX_FS_SPD (0x3FF) //!< max value of FS_SPD
+#define L6470_MAX_INT_SPEED (0x3FFF) //!< max value of INT_SPEED
+#define L6470_MAX_ST_SLP (0xFF) //!< max value of ST_SLP
+#define L6470_MAX_FN_SLP_ACC (0xFF) //!< max value of FN_SLP_ACC
+#define L6470_MAX_FN_SLP_DEC (0xFF) //!< max value of FN_SLP_DEC
+#define L6470_MAX_OCD_TH (0xF) //!< max value of OCD_TH
+#define L6470_MAX_STALL_TH (0x7F) //!< max value of STALL_TH
+
+/**
+ * @}
+ */ /* End of L6470_Register_Max_Values */
+
+#define L6470REGIDSIZE 25 //!< Max number of identifiers of L6470 Registers
+#define L6470APPCMDIDSIZE 19 //!< Max number of identifiers of L6470 Application Commands
+#define L6470DIRIDSIZE 2 //!< Max number of identifiers of L6470 directions
+#define L6470ACTIDSIZE 2 //!< Max number of identifiers of actions to perform about ABS_POS register
+#define L6470MAXSPICMDBYTESIZE 4 //!< Max number of byte to send via SPI to perform an application command
+#define L6470DAISYCHAINSIZE 2 //!< Max number of identifiers of L6470 in daisy chain configuration
+
+#define L6470_MAX_SPEED_VALUE ((float)15610) //!< max value for the speed in step/s
+#define L6470_MAX_ACC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
+#define L6470_MAX_DEC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
+#define L6470_MAX_DEC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
+
+#define OCD_TH_STEP ((float)375) //!< Minimum step for OCD_TH register in mAmpere
+#define STALL_TH_STEP ((float)31.25) //!< Minimum step for STALL_TH register in mAmpere
+
+#define L6470_ACC_CONV ((float)0.068719) //!< Conversion factor for acceleration value from step/s^2 to the right value
+#define L6470_DEC_CONV ((float)0.068719) //!< Conversion factor for deceleration value from step/s^2 to the right value
+#define L6470_MAXSPEED_CONV ((float)0.065536) //!< Conversion factor for max speed value from step/s to the right value
+#define L6470_MINSPEED_CONV ((float)4.194304) //!< Conversion factor for min speed value from step/s to the right value
+#define L6470_SPEED_CONV ((float)67.108864) //!< Conversion factor for speed value from step/s to the right value
+
+
+/* Types ---------------------------------------------------------------------*/
+
/**
* @addtogroup BSP
* @{
@@ -119,63 +198,20 @@
* @}
*/ /* End of L6470_Exported_Types */
-/**
- * @defgroup L6470_Exported_Constants
- * @brief L6470 Exported Constants.
- * @{
- */
-
-/**
- * @defgroup L6470_Register_Max_Values
- * @brief Maximum values for L6470 registers.
- * @{
- */
-
-#define L6470_MAX_POSITION (0x1FFFFF) //!< Max position
-#define L6470_MIN_POSITION (-(0x200000)) //!< Min position
-#define L6470_POSITION_RANGE ((uint32_t)(L6470_MAX_POSITION - L6470_MIN_POSITION)) //!< Position range
-#define L6470_MAX_SPEED (0xFFFFF) //!< max value of SPEED
-#define L6470_MAX_ACC (0xFFF) //!< max value of ACC
-#define L6470_MAX_DEC (0xFFF) //!< max value of DEC
-#define L6470_MAX_MAX_SPEED (0x3FF) //!< max value of MAX_SPEED
-#define L6470_MAX_MIN_SPEED (0xFFF) //!< max value of MIN_SPEED
-#define L6470_MAX_FS_SPD (0x3FF) //!< max value of FS_SPD
-#define L6470_MAX_INT_SPEED (0x3FFF) //!< max value of INT_SPEED
-#define L6470_MAX_ST_SLP (0xFF) //!< max value of ST_SLP
-#define L6470_MAX_FN_SLP_ACC (0xFF) //!< max value of FN_SLP_ACC
-#define L6470_MAX_FN_SLP_DEC (0xFF) //!< max value of FN_SLP_DEC
-#define L6470_MAX_OCD_TH (0xF) //!< max value of OCD_TH
-#define L6470_MAX_STALL_TH (0x7F) //!< max value of STALL_TH
-
-/**
- * @}
- */ /* End of L6470_Register_Max_Values */
-
-#define L6470REGIDSIZE 25 //!< Max number of identifiers of L6470 Registers
-#define L6470APPCMDIDSIZE 19 //!< Max number of identifiers of L6470 Application Commands
-#define L6470DIRIDSIZE 2 //!< Max number of identifiers of L6470 directions
-#define L6470ACTIDSIZE 2 //!< Max number of identifiers of actions to perform about ABS_POS register
-#define L6470MAXSPICMDBYTESIZE 4 //!< Max number of byte to send via SPI to perform an application command
-#define L6470DAISYCHAINSIZE 2 //!< Max number of identifiers of L6470 in daisy chain configuration
-
-#define L6470_MAX_SPEED_VALUE ((float)15610) //!< max value for the speed in step/s
-#define L6470_MAX_ACC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
-#define L6470_MAX_DEC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
-#define L6470_MAX_DEC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
-
-#define OCD_TH_STEP ((float)375) //!< Minimum step for OCD_TH register in mAmpere
-#define STALL_TH_STEP ((float)31.25) //!< Minimum step for STALL_TH register in mAmpere
-
-#define L6470_ACC_CONV ((float)0.068719) //!< Conversion factor for acceleration value from step/s^2 to the right value
-#define L6470_DEC_CONV ((float)0.068719) //!< Conversion factor for deceleration value from step/s^2 to the right value
-#define L6470_MAXSPEED_CONV ((float)0.065536) //!< Conversion factor for max speed value from step/s to the right value
-#define L6470_MINSPEED_CONV ((float)4.194304) //!< Conversion factor for min speed value from step/s to the right value
-#define L6470_SPEED_CONV ((float)67.108864) //!< Conversion factor for speed value from step/s to the right value
-
-
/**
- * @brief L6470 driver initialization structure definition.
- */
+ * @brief L6470 driver initialization structure definition.
+ */
+/* ACTION --------------------------------------------------------------------*
+ * Declare here the component's initialization structure, if any, one *
+ * variable per line without initialization. *
+ * *
+ * Example: *
+ * typedef struct *
+ * { *
+ * int frequency; *
+ * int update_mode; *
+ * } COMPONENT_Init_t; *
+ *----------------------------------------------------------------------------*/
typedef struct
{
float motorvoltage; //!< motor supply voltage in V
@@ -202,11 +238,11 @@
uint8_t step_sel; //!< step mode selection
uint8_t alarmen; //!< alarm conditions enable
uint16_t config; //!< ic configuration
-} L6470_InitTypeDef;
+} L6470_Init_t;
/**
- * @brief L6470 driver data structure definition.
- */
+ * @brief L6470 driver data structure definition.
+ */
/* ACTION --------------------------------------------------------------------*
* Declare here the structure of component's data, if any, one variable per *
* line without initialization. *
@@ -218,8 +254,8 @@
* int T1_out; *
* float T0_degC; *
* float T1_degC; *
- * } COMPONENT_DrvDataTypeDef; *
- * ---------------------------------------------------------------------------*/
+ * } COMPONENT_Data_t; *
+ *----------------------------------------------------------------------------*/
typedef struct
{
uint8_t L6470_Id; //!< The L6470 identifier inside the daisy chain
@@ -233,7 +269,7 @@
eFlagStatus_t L6470_DaisyChain_HalfPrepared; /* = ZERO_F; */ //!< Boolean variable used when more than one L6470 into the daisy chain is going to be addressed for commanding
sL6470_StatusRegister_t L6470_StatusRegister; //!< To store the received L6470_StatusRegister
sL6470_StatusRegister_t *pL6470_StatusRegister; /* = &L6470_StatusRegister; */ //!< Pointer to the L6470_StatusRegister variable
-} L6470_DrvDataTypeDef;
+} L6470_Data_t;
/* Functions -----------------------------------------------------------------*/
@@ -250,15 +286,19 @@
* @{
*/
-/** @defgroup L6470_IO_Functions L6470_IO_Functions
+/** @defgroup L6470_Imported_Functions L6470_Imported_Functions
* @{
*/
+
/* ACTION --------------------------------------------------------------------*
- * Declare here extern I/O functions you need and implemented them in a glue *
- * logic file on the target environment, for example within the expansion *
- * board "*.c" file. E.g.: *
- * extern DrvStatusTypeDef COMPONENT_IO_Read (handle, buf, regadd, bytes); *
- * extern DrvStatusTypeDef COMPONENT_IO_Write(handle, buf, regadd, bytes); *
+ * Declare here extern platform-dependent APIs you might need (e.g.: I/O and *
+ * interrupt related functions), and implement them in a glue-logic file on *
+ * the target environment, for example within the "x_nucleo_board.c" file. *
+ * E.g.: *
+ * extern Status_t COMPONENT_IO_Init (void *handle); *
+ * extern Status_t COMPONENT_IO_Read (handle, buf, regadd, bytes); *
+ * extern Status_t COMPONENT_IO_Write(handle, buf, regadd, bytes); *
+ * extern void COMPONENT_IO_ITConfig(void); *
*----------------------------------------------------------------------------*/
extern void L6470_DISABLE(void);
extern void L6470_ENABLE(void);
@@ -266,22 +306,6 @@
extern void L6470_nCS_HIGH(void);
extern void L6470_SPI_Communication(uint8_t *pTxData, uint8_t *pRxData, uint16_t Size, uint32_t Timeout);
-/**
- * @}
- */ /* End of L6470_Exported_Variables */
-
-/**
- * @}
- */ /* End of L6470 */
-
-/**
- * @}
- */ /* End of Components */
-
-/**
- * @}
- */ /* End of BSP */
-
#ifdef __cplusplus
}
#endif
X-NUCLEO-IHM02A1 Two Axis Stepper Motor Driver