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 10:aa68441705b2, committed 2016-01-04

Comitter:
Davidroid
Date:
Mon Jan 04 16:10:54 2016 +0000
Parent:
9:d70452d7a1e1
Child:
11:1aca63b2f034
Commit message:
+ Added check on expansion board's stackability.

Changed in this revision

BSP/x_nucleo_ihm02a1_class.cpp Show annotated file Show diff for this revision Revisions of this file
BSP/x_nucleo_ihm02a1_class.h Show annotated file Show diff for this revision Revisions of this file 
--- a/BSP/x_nucleo_ihm02a1_class.cpp	Fri Dec 11 17:23:31 2015 +0000
+++ b/BSP/x_nucleo_ihm02a1_class.cpp	Mon Jan 04 16:10:54 2016 +0000
@@ -52,9 +52,9 @@
 #include "x_nucleo_ihm02a1_class.h"
 
 
-/* Static variables ----------------------------------------------------------*/
+/* Variables -----------------------------------------------------------------*/
 
-/* Number of instantiated expansion boards. */
+/* Number of expansion boards. */
 uint8_t X_NUCLEO_IHM02A1::number_of_boards = 0;
 
 
@@ -72,6 +72,11 @@
  */
 X_NUCLEO_IHM02A1::X_NUCLEO_IHM02A1(MICROSTEPPING_MOTOR_InitTypeDef *init_0, MICROSTEPPING_MOTOR_InitTypeDef *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi) : dev_spi(spi)
 {
+    /* Checking stackability. */
+    if (!(number_of_boards < EXPBRD_MOUNTED_NR_MAX))
+        error("Instantiation of the X_NUCLEO_IHM02A1 expansion board failed: it can be stacked up to %d times.\r\n", EXPBRD_MOUNTED_NR_MAX);
+    X_NUCLEO_IHM02A1_Id = number_of_boards++;
+
     /* SPI communication. */
     if (dev_spi == NULL)
         dev_spi = new DevSPI(X_NUCLEO_IHM02A1_PIN_SPI_MOSI, X_NUCLEO_IHM02A1_PIN_SPI_MISO, X_NUCLEO_IHM02A1_PIN_SPI_SCLK);
@@ -84,7 +89,6 @@
      *   component_1 = new COMPONENT_1(COMPONENT_1_SPI_SSEL, *dev_spi);       *
      *   component_2 = new COMPONENT_2(COMPONENT_2_SPI_SSEL, *dev_spi);       *
      *------------------------------------------------------------------------*/
-    X_NUCLEO_IHM02A1_Id = number_of_boards++;
     components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
     components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
 
@@ -92,7 +96,7 @@
     init_components[0] = init_0;
     init_components[1] = init_1;
     if (!Init())
-        error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\n");
+        error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\r\n");
 }
 
 /**
@@ -109,6 +113,11 @@
  */
 X_NUCLEO_IHM02A1::X_NUCLEO_IHM02A1(MICROSTEPPING_MOTOR_InitTypeDef *init_0, MICROSTEPPING_MOTOR_InitTypeDef *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk)
 {
+    /* Checking stackability. */
+    if (!(number_of_boards < EXPBRD_MOUNTED_NR_MAX))
+        error("Instantiation of the X_NUCLEO_IHM02A1 expansion board failed: it can be stacked up to %d times.\r\n", EXPBRD_MOUNTED_NR_MAX);
+    X_NUCLEO_IHM02A1_Id = number_of_boards++;
+
     /* SPI communication. */
     dev_spi = new DevSPI(mosi, miso, sclk);
 
@@ -120,7 +129,6 @@
      *   component_1 = new COMPONENT_1(COMPONENT_1_SPI_SSEL, *dev_spi);       *
      *   component_2 = new COMPONENT_2(COMPONENT_2_SPI_SSEL, *dev_spi);       *
      *------------------------------------------------------------------------*/
-    X_NUCLEO_IHM02A1_Id = number_of_boards++;
     components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
     components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
 
@@ -128,7 +136,7 @@
     init_components[0] = init_0;
     init_components[1] = init_1;
     if (!Init())
-        error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\n");
+        error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\r\n");
 }
 
 /**

--- a/BSP/x_nucleo_ihm02a1_class.h	Fri Dec 11 17:23:31 2015 +0000
+++ b/BSP/x_nucleo_ihm02a1_class.h	Mon Jan 04 16:10:54 2016 +0000
@@ -203,13 +203,15 @@
     /* Results of prepared actions. */
     uint32_t results[L6470DAISYCHAINSIZE];
 
-    /* Data. */
-    /* ACTION 11 -------------------------------------------------------------*
-     * Declare here the component's data, one variable per line.              *
+    /* ACTION 6 --------------------------------------------------------------*
+     * Declare here the component's static and non-static data, one variable  *
+     * per line.                                                              *
      *                                                                        *
      * Example:                                                               *
-     *   uint8_t ExpansionBoard_Id;                                           *
+     *   int instance_id;                                                     *
+     *   static int number_of_instances;                                      *
      *------------------------------------------------------------------------*/
+    /* Data. */
     uint8_t X_NUCLEO_IHM02A1_Id;
 
     /* Static data. */