Library to handle the X_NUCLEO_IHM02A1 Motor Control Expansion Board based on the L6470 component.
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Motor Control Library
Library to handle the X-NUCLEO-IHM02A1 Motor Control Expansion Board based on the the L6470 component.
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 pin
SB_7resistor connected only: SSEL on pin
SB_8resistor connected only: SSEL on pin
SB_9resistor connected only: SSEL on pin
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
To be fully Arduino compatible the following patch is required:
- to remove the
- to solder the
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
This patch is known to be required, for example, on the following boards:
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
2017-03-13, by Davidroid [Mon, 13 Mar 2017 17:52:38 +0000] rev 24
2017-03-10, by Davidroid [Fri, 10 Mar 2017 15:23:54 +0000] rev 23
Aligned to ARM mbed coding style.
2017-03-10, by firstname.lastname@example.org [Fri, 10 Mar 2017 11:09:21 +0100] rev 22
Aligning to ARM mbed coding style.
2017-03-01, by Davidroid [Wed, 01 Mar 2017 17:52:33 +0000] rev 21
Fitting mbed coding style.
2016-09-27, by Davidroid [Tue, 27 Sep 2016 13:57:51 +0000] rev 20
2016-09-27, by Davidroid [Tue, 27 Sep 2016 11:46:57 +0000] rev 19
2016-04-08, by Davidroid [Fri, 08 Apr 2016 13:02:16 +0000] rev 18
+ Some comments updated.
2016-04-07, by Davidroid [Thu, 07 Apr 2016 16:55:51 +0000] rev 17
+ StepperMotor interface updated: step-modes added, getter/setter methods for parameters removed.
2016-03-11, by Davidroid [Fri, 11 Mar 2016 15:49:04 +0000] rev 16
+ Updated with the new version of common libraries.
2016-02-15, by Davidroid [Mon, 15 Feb 2016 15:55:48 +0000] rev 15
+ Updated some comments.