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

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IHM01A1_Board_Private_Functions
Functions

IHM01A1_Board_Private_Functions
[BSP, STM32F4XX_NUCLEO_IHM01A1]

Functions

void BSP_MotorControlBoard_Delay (uint32_t delay)
 This function provides an accurate delay in milliseconds.
void BSP_MotorControlBoard_DisableIrq (void)
 This function disable the interruptions.
void BSP_MotorControlBoard_EnableIrq (void)
 This function enable the interruptions.
void BSP_MotorControlBoard_GpioInit (uint8_t nbDevices)
 Initiliases the GPIOs used by the L6474s.
void BSP_MotorControlBoard_Pwm1SetFreq (uint16_t newFreq)
 Sets the frequency of PWM1 used by device 0.
void BSP_MotorControlBoard_Pwm2SetFreq (uint16_t newFreq)
 Sets the frequency of PWM2 used by device 1.
void BSP_MotorControlBoard_Pwm3SetFreq (uint16_t newFreq)
 Sets the frequency of PWM3 used by device 2.
void BSP_MotorControlBoard_PwmInit (uint8_t deviceId)
 Initialises the PWM uses by the specified device.
void BSP_MotorControlBoard_PwmStop (uint8_t deviceId)
 Stops the PWM uses by the specified device.
void BSP_MotorControlBoard_ReleaseReset (void)
 Releases the L6474 reset (pin set to High) of all devices.
void BSP_MotorControlBoard_Reset (void)
 Resets the L6474 (reset pin set to low) of all devices.
void BSP_MotorControlBoard_SetDirectionGpio (uint8_t deviceId, uint8_t gpioState)
 Set the GPIO used for the direction.
uint8_t BSP_MotorControlBoard_SpiInit (void)
 Initialise the SPI used by L6474.
uint8_t BSP_MotorControlBoard_SpiWriteBytes (uint8_t *pByteToTransmit, uint8_t *pReceivedByte, uint8_t nbDevices)
 Write and read SPI byte to the L6474.

Function Documentation

void BSP_MotorControlBoard_Delay ( uint32_t  delay )

This function provides an accurate delay in milliseconds.

Parameters:
[in]delaytime length in milliseconds
Return values:
None

Definition at line 99 of file stm32f0xx_nucleo_ihm01a1.cpp.

void BSP_MotorControlBoard_DisableIrq ( void   )

This function disable the interruptions.

Parameters:
None
Return values:
None

Definition at line 109 of file stm32f0xx_nucleo_ihm01a1.cpp.

void BSP_MotorControlBoard_EnableIrq ( void   )

This function enable the interruptions.

Parameters:
None
Return values:
None

Definition at line 119 of file stm32f0xx_nucleo_ihm01a1.cpp.

void BSP_MotorControlBoard_GpioInit ( uint8_t  nbDevices )

Initiliases the GPIOs used by the L6474s.

Parameters:
[in]nbDevicesnumber of L6474 devices
Return values:
None

Definition at line 129 of file stm32f0xx_nucleo_ihm01a1.cpp.

void BSP_MotorControlBoard_Pwm1SetFreq ( uint16_t  newFreq )

Sets the frequency of PWM1 used by device 0.

Parameters:
[in]newFreqin Hz
Return values:
None
Note:
The frequency is directly the current speed of the device

Definition at line 200 of file stm32f0xx_nucleo_ihm01a1.cpp.

void BSP_MotorControlBoard_Pwm2SetFreq ( uint16_t  newFreq )

Sets the frequency of PWM2 used by device 1.

Parameters:
[in]newFreqin Hz
Return values:
None
Note:
The frequency is directly the current speed of the device

Definition at line 216 of file stm32f0xx_nucleo_ihm01a1.cpp.

void BSP_MotorControlBoard_Pwm3SetFreq ( uint16_t  newFreq )

Sets the frequency of PWM3 used by device 2.

Parameters:
[in]newFreqin Hz
Return values:
None
Note:
The frequency is directly the current speed of the device

Definition at line 231 of file stm32f0xx_nucleo_ihm01a1.cpp.

void BSP_MotorControlBoard_PwmInit ( uint8_t  deviceId )

Initialises the PWM uses by the specified device.

Parameters:
[in]deviceId(from 0 to 2)
Return values:
None
Note:
Device 0 uses PWM1 based on timer 1 Device 1 uses PWM 2 based on timer 2 Device 2 uses PWM3 based timer 0

Definition at line 250 of file stm32f0xx_nucleo_ihm01a1.cpp.

void BSP_MotorControlBoard_PwmStop ( uint8_t  deviceId )

Stops the PWM uses by the specified device.

Parameters:
[in]deviceId(from 0 to 2)
Return values:
None

Definition at line 302 of file stm32f0xx_nucleo_ihm01a1.cpp.

void BSP_MotorControlBoard_ReleaseReset ( void   )

Releases the L6474 reset (pin set to High) of all devices.

Parameters:
None
Return values:
None

Definition at line 328 of file stm32f0xx_nucleo_ihm01a1.cpp.

void BSP_MotorControlBoard_Reset ( void   )

Resets the L6474 (reset pin set to low) of all devices.

Parameters:
None
Return values:
None

Definition at line 338 of file stm32f0xx_nucleo_ihm01a1.cpp.

void BSP_MotorControlBoard_SetDirectionGpio ( uint8_t  deviceId,
uint8_t  gpioState 
)

Set the GPIO used for the direction.

Parameters:
[in]deviceId(from 0 to 2)
[in]gpioStatestate of the direction gpio (0 to reset, 1 to set)
Return values:
None

Definition at line 349 of file stm32f0xx_nucleo_ihm01a1.cpp.

uint8_t BSP_MotorControlBoard_SpiInit ( void   )

Initialise the SPI used by L6474.

Parameters:
None
Return values:
HAL_OKif SPI transaction is OK, HAL_KO else

Definition at line 372 of file stm32f0xx_nucleo_ihm01a1.cpp.

uint8_t BSP_MotorControlBoard_SpiWriteBytes ( uint8_t *  pByteToTransmit,
uint8_t *  pReceivedByte,
uint8_t  nbDevices 
)

Write and read SPI byte to the L6474.

Parameters:
[in]pByteToTransmitpointer to the byte to transmit
[in]pReceivedBytepointer to the received byte
[in]nbDevicesNumber of device in the SPI chain
Return values:
HAL_OKif SPI transaction is OK, HAL_KO else

Definition at line 402 of file stm32f0xx_nucleo_ihm01a1.cpp.

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