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 19:b684efb6ba93, committed 2016-09-27

Comitter:
Davidroid
Date:
Tue Sep 27 11:46:57 2016 +0000
Parent:
18:ddf3d5dc8137
Child:
20:e6fa636dbdea
Commit message:
ST_INTERFACES added.

Changed in this revision

Components/Interfaces/Component_class.h Show diff for this revision Revisions of this file
Components/Interfaces/StepperMotor_class.h 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
ST_INTERFACES.lib Show annotated file Show diff for this revision Revisions of this file 
--- a/Components/Interfaces/Component_class.h	Fri Apr 08 13:02:16 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,75 +0,0 @@
-/**
- ******************************************************************************
- * @file    Component_class.h
- * @author  AST
- * @version V1.0.0
- * @date    April 13th, 2015
- * @brief   This file contains the abstract class describing the interface of a
- *          generic component.
- ******************************************************************************
- * @attention
- *
- * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
- *
- * 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 __COMPONENT_CLASS_H
-#define __COMPONENT_CLASS_H
-
-
-/* Includes ------------------------------------------------------------------*/
-
-#include <stdint.h>
-
-
-/* Classes  ------------------------------------------------------------------*/
-
-/** An abstract class for Generic components.
- */
-class Component
-{
-public:
-    /**
-     * @brief     Initializing the component.
-     * @param[in] init pointer to device specific initalization structure.
-     * @retval    "0" in case of success, an error code otherwise.
-     */
-    virtual int Init(void *init) = 0;
-
-    /**
-     * @brief      Getting the ID of the component.
-     * @param[out] id pointer to an allocated variable to store the ID into.
-     * @retval     "0" in case of success, an error code otherwise.
-     */
-    virtual int ReadID(uint8_t *id) = 0;
-};
-
-#endif /* __COMPONENT_CLASS_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

--- a/Components/Interfaces/StepperMotor_class.h	Fri Apr 08 13:02:16 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,271 +0,0 @@
-/**
- ******************************************************************************
- * @file    StepperMotor_class.h
- * @author  Davide Aliprandi, STMicroelectronics
- * @version V1.1.0
- * @date    April 6th, 2016
- * @brief   This file contains the abstract class describing the interface of a
- *          stepper-motor component.
- ******************************************************************************
- * @attention
- *
- * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
- *
- * 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 from recursive inclusion --------------------------------*/
-
-#ifndef __STEPPERMOTOR_CLASS_H
-#define __STEPPERMOTOR_CLASS_H
-
-
-/* Includes ------------------------------------------------------------------*/
-
-#include "Component_class.h"
-
-
-/* Classes  ------------------------------------------------------------------*/
-
-/** An abstract class for StepperMotor components.
- */
-class StepperMotor : public Component
-{
-public:
-    /**
-     * @brief Rotation modes.
-     */
-    typedef enum
-    {
-        BWD = 0, /* Backward. */
-        FWD = 1  /* Forward. */
-    } direction_t;
-
-    /**
-     * @brief Step modes.
-     */
-    typedef enum
-    {
-        STEP_MODE_FULL = 0, /* Full-step. */
-        STEP_MODE_HALF,     /* Half-step. */
-        STEP_MODE_1_4,      /* 1/4 microstep. */
-        STEP_MODE_1_8,      /* 1/8 microstep. */
-        STEP_MODE_1_16,     /* 1/16 microstep. */
-        STEP_MODE_1_32,     /* 1/32 microstep. */
-        STEP_MODE_1_64,     /* 1/64 microstep. */
-        STEP_MODE_1_128,    /* 1/128 microstep. */
-        STEP_MODE_1_256,    /* 1/256 microstep. */
-        STEP_MODE_UNKNOWN,  /* Unknown. */
-        STEP_MODE_WAVE      /* Full-step one-phase-on. */
-    } step_mode_t;
-
-    /**
-     * @brief  Getting the status.
-     * @param  None.
-     * @retval The status.
-     */
-    virtual unsigned int GetStatus(void) = 0;
-
-    /**
-     * @brief  Getting the position.
-     * @param  None.
-     * @retval The position.
-     */
-    virtual signed int GetPosition(void) = 0;
-
-    /**
-     * @brief  Getting the marked position.
-     * @param  None.
-     * @retval The marked position.
-     */
-    virtual signed int GetMark(void) = 0;
-
-    /**
-     * @brief  Getting the current speed in pps.
-     * @param  None.
-     * @retval The current speed in pps.
-     */
-    virtual unsigned int GetSpeed(void) = 0;
-
-    /**
-     * @brief  Getting the maximum speed in pps.
-     * @param  None.
-     * @retval The maximum speed in pps.
-     */
-    virtual unsigned int GetMaxSpeed(void) = 0;
-
-    /**
-     * @brief  Getting the minimum speed in pps.
-     * @param  None.
-     * @retval The minimum speed in pps.
-     */
-    virtual unsigned int GetMinSpeed(void) = 0;
-
-    /**
-     * @brief  Getting the acceleration in pps^2.
-     * @param  None.
-     * @retval The acceleration in pps^2.
-     */
-    virtual unsigned int GetAcceleration(void) = 0;
-
-    /**
-     * @brief  Getting the deceleration in pps^2.
-     * @param  None.
-     * @retval The deceleration in pps^2.
-     */
-    virtual unsigned int GetDeceleration(void) = 0;
-
-    /**
-     * @brief  Getting the direction of rotation.
-     * @param  None.
-     * @retval The direction of rotation.
-     */
-    virtual direction_t GetDirection(void) = 0;
-
-    /**
-     * @brief  Setting the current position to be the home position.
-     * @param  None.
-     * @retval None.
-     */
-    virtual void SetHome(void) = 0;
-
-    /**
-     * @brief  Setting the current position to be the marked position.
-     * @param  None.
-     * @retval None.
-     */
-    virtual void SetMark(void) = 0;
-
-    /**
-     * @brief  Setting the maximum speed in pps.
-     * @param  speed The maximum speed in pps.
-     * @retval "true" in case of success, "false" otherwise.
-     */
-    virtual bool SetMaxSpeed(unsigned int speed) = 0;
-
-    /**
-     * @brief  Setting the minimum speed in pps.
-     * @param  speed The minimum speed in pps.
-     * @retval "true" in case of success, "false" otherwise.
-     */
-    virtual bool SetMinSpeed(unsigned int speed) = 0;
-
-    /**
-     * @brief  Setting the acceleration in pps^2.
-     * @param  acceleration The acceleration in pps^2.
-     * @retval "true" in case of success, "false" otherwise.
-     */
-    virtual bool SetAcceleration(unsigned int acceleration) = 0;
-
-    /**
-     * @brief  Setting the deceleration in pps^2.
-     * @param  deceleration The deceleration in pps^2.
-     * @retval "true" in case of success, "false" otherwise.
-     */
-    virtual bool SetDeceleration(unsigned int deceleration) = 0;
-
-    /**
-     * @brief  Setting the Step Mode.
-     * @param  step_mode The Step Mode.
-     * @retval "true" in case of success, "false" otherwise.
-     */
-    virtual bool SetStepMode(step_mode_t step_mode) = 0;
-
-    /**
-     * @brief  Going to a specified position.
-     * @param  position The desired position.
-     * @retval None.
-     */
-    virtual void GoTo(signed int position) = 0;
-
-    /**
-     * @brief  Going to the home position.
-     * @param  None.
-     * @retval None.
-     */
-    virtual void GoHome(void) = 0;
-
-    /**
-     * @brief  Going to the marked position.
-     * @param  None.
-     * @retval None.
-     */
-    virtual void GoMark(void) = 0;
-
-    /**
-     * @brief  Running the motor towards a specified direction.
-     * @param  direction The direction of rotation.
-     * @retval None.
-     */
-    virtual void Run(direction_t direction) = 0;
-
-    /**
-     * @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;
-
-    /**
-     * @brief  Stopping the motor through an immediate deceleration up to zero speed.
-     * @param  None.
-     * @retval None.
-     */
-    virtual void SoftStop(void) = 0;
-
-    /**
-     * @brief  Stopping the motor through an immediate infinite deceleration.
-     * @param  None.
-     * @retval None.
-     */
-    virtual void HardStop(void) = 0;
-
-    /**
-     * @brief  Disabling the power bridge after performing a deceleration to zero.
-     * @param  None.
-     * @retval None.
-     */
-    virtual void SoftHiZ(void) = 0;
-
-    /**
-     * @brief  Disabling the power bridge immediately.
-     * @param  None.
-     * @retval None.
-     */
-    virtual void HardHiZ(void) = 0;
-
-    /**
-     * @brief  Waiting while the motor is active.
-     * @param  None.
-     * @retval None.
-     */
-    virtual void WaitWhileActive(void) = 0;
-};
-
-#endif /* __STEPPERMOTOR_CLASS_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ 

--- a/Components/l6470/l6470_class.h	Fri Apr 08 13:02:16 2016 +0000
+++ b/Components/l6470/l6470_class.h	Tue Sep 27 11:46:57 2016 +0000
@@ -68,10 +68,10 @@
  * Include here interface specific header files.                              *
  *                                                                            *
  * Example:                                                                   *
- *   #include "../Interfaces/Humidity_class.h"                                *
- *   #include "../Interfaces/Temperature_class.h"                             *
+ *   #include "HumiditySensor.h"                                              *
+ *   #include "TemperatureSensor.h"                                           *
  *----------------------------------------------------------------------------*/
-#include "../Interfaces/StepperMotor_class.h"
+#include "StepperMotor.h"
 
 
 /* Classes -------------------------------------------------------------------*/

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ST_INTERFACES.lib	Tue Sep 27 11:46:57 2016 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/Davidroid/code/ST_INTERFACES/#a7810e7acf8d