David Lowe / Mbed 2 deprecated Nucleo_BSP_IHM01A1

X-CUBE-SPN1-20150128 example source code for one motor compiled under mbed. Tested OK on Nucleo F401. l6474.cpp is modified from original with defines in l6474_target_config.h to select the original behaviour (motor de-energised when halted), or new mode to continue powering with a (reduced) current in the coils (braking/position hold capability). On F401 avoid using mbed's InterruptIn on pins 10-15 (any port). Beware of other conflicts! L0 & F0 are included but untested.

Dependencies:   mbed

Diff: IHM01A1/l6474.cpp

Revision:
6:19c1b4a04c24
Parent:
0:b9444a40a999
diff -r 615cacd7d036 -r 19c1b4a04c24 IHM01A1/l6474.cpp
--- a/IHM01A1/l6474.cpp	Fri Sep 18 12:10:45 2015 +0000
+++ b/IHM01A1/l6474.cpp	Tue Oct 13 10:46:01 2015 +0000
@@ -556,6 +556,13 @@
     {
     /* Stop movement and disable power stage*/
     L6474_HardStop(loop);
+#ifdef L6474_CONF_BRAKE_WHEN_HALTED
+    /* Disable corresponding PWM */
+    BSP_MotorControlBoard_PwmStop(loop);
+
+    /* Disable power stage */
+    L6474_CmdDisable(loop);
+#endif
   }
     L6474_Reset();
   BSP_MotorControlBoard_Delay(1); // Reset pin must be forced low for at least 10us