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

Files at this revision

API Documentation at this revision

Revision 12:a942d51c488b, committed 2016-01-15

Comitter:
Davidroid
Date:
Fri Jan 15 17:05:43 2016 +0000
Parent:
11:1aca63b2f034
Child:
13:25a579b9b7c3
Commit message:
+ Typos corrected.

Changed in this revision

Components/Interfaces/Component_class.h Show annotated file Show diff for this revision Revisions of this file
Components/Interfaces/StepperMotor_class.h Show annotated file Show diff for this revision Revisions of this file
Components/l6470/l6470_class.cpp Show annotated file Show diff for this revision Revisions of this file
Components/l6470/l6470_class.h Show annotated file Show diff for this revision Revisions of this file 
--- a/Components/Interfaces/Component_class.h	Thu Jan 14 10:00:31 2016 +0000
+++ b/Components/Interfaces/Component_class.h	Fri Jan 15 17:05:43 2016 +0000
@@ -1,7 +1,7 @@
 /**
  ******************************************************************************
  * @file    Component_class.h
- * @author  Davide Aliprandi, STMicrolectronics
+ * @author  Davide Aliprandi, STMicroelectronics
  * @version V1.0.0
  * @date    April 13th, 2015
  * @brief   This file contains the abstract class describing the interface of a

--- a/Components/Interfaces/StepperMotor_class.h	Thu Jan 14 10:00:31 2016 +0000
+++ b/Components/Interfaces/StepperMotor_class.h	Fri Jan 15 17:05:43 2016 +0000
@@ -1,7 +1,7 @@
 /**
  ******************************************************************************
  * @file    StepperMotor_class.h
- * @author  Davide Aliprandi, STMicrolectronics
+ * @author  Davide Aliprandi, STMicroelectronics
  * @version V1.0.0
  * @date    November 12th, 2015
  * @brief   This file contains the abstract class describing the interface of a

--- a/Components/l6470/l6470_class.cpp	Thu Jan 14 10:00:31 2016 +0000
+++ b/Components/l6470/l6470_class.cpp	Fri Jan 15 17:05:43 2016 +0000
@@ -1443,10 +1443,9 @@
 
 /**
   * @brief  Configures the L6470 registers.
-  * @param  StepperMotorDriverHandle_t* The pointer to the stepper motor driver handle structure.
-  * @param  MotorParameterData_t* The pointer to the related parameter data structure.
+  * @param  init The pointer to the initialization structure.
   */
-DrvStatusTypeDef L6470::L6470_Config(L6470_InitTypeDef *MotorParameterData)
+DrvStatusTypeDef L6470::L6470_Config(void *init)
 {
   /* Disable the L6470. */
   L6470_DISABLE();
@@ -1461,6 +1460,7 @@
   GetStatus();
 
   /* Prepare the 'Register' field of StepperMotorDriverHandle */
+  L6470_InitTypeDef *MotorParameterData = (L6470_InitTypeDef *) init;
   StepperMotorRegister.ACC = L6470_Step_s2_2_Acc(MotorParameterData->acc);
   StepperMotorRegister.DEC = L6470_Step_s2_2_Dec(MotorParameterData->dec);
   StepperMotorRegister.MAX_SPEED = L6470_Step_s_2_MaxSpeed(MotorParameterData->maxspeed);

--- a/Components/l6470/l6470_class.h	Thu Jan 14 10:00:31 2016 +0000
+++ b/Components/l6470/l6470_class.h	Fri Jan 15 17:05:43 2016 +0000
@@ -1,7 +1,7 @@
 /**
  ******************************************************************************
  * @file    l6470_class.h
- * @author  Davide Aliprandi, STMicrolectronics
+ * @author  Davide Aliprandi, STMicroelectronics
  * @version V1.0.0
  * @date    November 12th, 2015
  * @brief   This file contains the class of an L6470 Motor Control component.