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X-NUCLEO-IHM04A1
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‎.github/workflows/Continuous-Integration.yml‎

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name: X-NUCLEO-IHM04A1 Continuous Integration
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on:
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push:
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branches:
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- main
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paths-ignore:
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- '*'
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- '**.md'
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- '**.txt'
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pull_request:
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paths-ignore:
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- '*'
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- '**.md'
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- '**.txt'
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jobs:
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astyle_check:
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runs-on: ubuntu-latest
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name: AStyle check
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steps:
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# First of all, clone the repo using the checkout action.
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- name: Checkout
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uses: actions/checkout@main
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- name: Astyle check
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id: Astyle
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uses: stm32duino/actions/astyle-check@main
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# Use the output from the `Astyle` step
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- name: Astyle Errors
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if: failure()
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run: |
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cat ${{ steps.Astyle.outputs.astyle-result }}
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exit 1
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codespell:
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name: Check for spelling errors
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runs-on: ubuntu-latest
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steps:
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- name: Checkout
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uses: actions/checkout@main
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# See: https://github.com/codespell-project/actions-codespell/blob/master/README.md
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- name: Spell check
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uses: codespell-project/actions-codespell@master
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with:
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check_filenames: true
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check_hidden: true
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# In the event of a false positive, add the word in all lower case to this file:
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ignore_words_file: ./extras/codespell-ignore-words-list.txt
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lib_build:
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runs-on: ubuntu-latest
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name: Library compilation
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steps:
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# First of all, clone the repo using the checkout action.
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- name: Checkout
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uses: actions/checkout@main
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- name: Compilation
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id: compile
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uses: stm32duino/actions/compile-examples@main
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with:
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board-pattern: "NUCLEO_L476RG"
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# Use the output from the `Compilation` step
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- name: Compilation Errors
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if: failure()
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run: |
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cat ${{ steps.compile.outputs.compile-result }}
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exit 1

‎README.md‎

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# X-NUCLEO-IHM04A1
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Arduino library to support dual brush DC motor driver based on L6206 component
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The X-NUCLEO-IHM04A1 is a dual brush DC motor drive expansion board based on the L6206
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(DMOS dual full bridge driver) to drive dual bipolar DC or quad unipolar DC motors.
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It provides an affordable and easy-to-use solution for driving DC motors in your STM32 Nucleo project.
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The X-NUCLEO-IHM04A1 is compatible with the Arduino UNO R3 connector,
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and supports the addition of other expansion boards with a single STM32 Nucleo board.
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The user can also mount the ST Morpho connector.
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## Examples
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There are 3 examples with the X-NUCLEO-IHM04A1 library.
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Each one provides a simple example of usage of the X-NUCLEO-IHM04A1 board.
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* X_NUCLEO_IHM04A1_2BiDir: This application shows how to use two brush DC motors connected to the board,
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moving the rotors with several speed values, direction of rotations, etc.
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* X_NUCLEO_IHM04A1_1BiDir: This application is similar to the previous one, but, at every bridge,
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the two half-bridges are connected in parallel so that the dissipation in the device
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will be reduced, but the peak current rating is not increased.
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This example uses 1 brush DC motor in bidirectional mode.
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* X_NUCLEO_IHM04A1_4UniDir: This application shows how use the board to control 4 brush DC motors in unidirectional mode.
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## Documentation
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You can find the source files at
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https://github.com/stm32duino/X-NUCLEO-IHM04A1
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The L6206 datasheet is available at
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https://www.st.com/en/motor-drivers/l6206.html
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Information about the IHM04A1 can be found at
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https://www.st.com/en/evaluation-tools/x-nucleo-ihm04a1.html

‎astyle.out‎

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Formatted C:\Users\coduttie\X-NUCLEO-IHM04A1\examples\X_NUCLEO_IHM04A1_4UniDir\X_NUCLEO_IHM04A1_4UniDir.cpp

‎examples/X_NUCLEO_IHM04A1_1BiDir/X_NUCLEO_IHM04A1_1BiDir.ino‎

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/**
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******************************************************************************
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* @file X_NUCLEO_IHM15A1_HelloWorld.ino
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* @author STMicroelectronics
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* @version V1.0.0
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* @date 12 January 2022
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* @brief Arduino test application for the STMicroelectronics X-NUCLEO-IHM15A1
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* Motor Control Expansion Board: control of 2 DC Brush motors.
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******************************************************************************
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* @attention
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*
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* <h2><center>&copy; COPYRIGHT(c) 2022 STMicroelectronics</center></h2>
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*
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* Redistribution and use in source and binary forms, with or without modification,
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* are permitted provided that the following conditions are met:
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* 1. Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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* 3. Neither the name of STMicroelectronics nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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******************************************************************************
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*/
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/* Includes ------------------------------------------------------------------*/
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/* Arduino specific header files. */
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#include "Arduino.h"
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/* Component specific header files. */
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#include "l6206.h"
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/* Definitions ---------------------------------------------------------------*/
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#define SerialPort Serial
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/* Variables -----------------------------------------------------------------*/
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L6206_Init_t gMotorInitStruct = {
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.config = L6206_CONF_PARAM_PARALLE_BRIDGES,
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.pwmFreq = {L6206_CONF_PARAM_FREQ_PWM1A, L6206_CONF_PARAM_FREQ_PWM2A, L6206_CONF_PARAM_FREQ_PWM1B, L6206_CONF_PARAM_FREQ_PWM2B}
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};
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/* Motor Control Component. */
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L6206 *motor;
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static volatile uint16_t gLastError;
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/* Functions -----------------------------------------------------------------*/
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/**
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* @brief This is an example of error handler.
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* @param[in] error Number of the error
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* @retval None
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* @note If needed, implement it, and then attach it:
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* + motor->attach_error_handler(&my_error_handler);
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*/
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void my_error_handler(uint16_t error)
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{
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/* Printing to the console. */
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char report[256];
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sprintf(report, "Error 0x%x detected\r\n\n", error);
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SerialPort.print(report);
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uint32_t blinkDelay = 0;
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/* Backup error number */
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gLastError = error;
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switch (gLastError) {
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case 0XBAD0: blinkDelay = 100;
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// fail on Bridge A: fast LED blinking -> 100ms
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motor->disable_bridge(0);
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motor->hard_stop(1);
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break;
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case 0XBAD1: blinkDelay = 500;
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// fail on Bridge B: LED blinking -> 500ms
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motor->disable_bridge(1);
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motor->hard_stop(0);
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break;
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case 0XBADB: blinkDelay = 2000;
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// fail on Bridge A: slow LED blinking -> 2s
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motor->disable_bridge(0);
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motor->disable_bridge(1);
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break;
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default:
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blinkDelay = 10;
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}
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/* Infinite loop */
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while (1) {
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delay(blinkDelay);
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digitalWrite(LED_BUILTIN, HIGH);
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delay(blinkDelay);
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digitalWrite(LED_BUILTIN, LOW);
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}
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}
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/**
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* @brief This is an example of user handler for the flag interrupt.
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* @param None
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* @retval None
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*/
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void my_flag_irq_handler(void)
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{
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/* Code to be customised */
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/************************/
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/****** Code to be customised... *******/
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/**
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*********************************************************************
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* In this example the code checks on which bridge the FAULT occurred.
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* Then an error code is generated according to the FAULT detected and
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* the error handler is called.
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*********************************************************************
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*/
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SerialPort.print(" WARNING: \"FLAG\" interrupt triggered.\r\n");
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/* Get the state of bridge A */
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uint16_t bridgeStateA = 1;
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uint16_t bridgeStateB = 1;
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if (motor->get_device_state(0) != INACTIVE) {
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bridgeStateA = motor->get_bridge_status(BRIDGE_A);
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}
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if (motor->get_device_state(1) != INACTIVE) {
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bridgeStateB = motor->get_bridge_status(BRIDGE_B);
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}
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if (bridgeStateA == 0 && bridgeStateB != 0) {
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/* Bridge A was disabled due to overcurrent */
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/* When motor was running */
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my_error_handler(0XBAD0);
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} else if (bridgeStateA != 0 && bridgeStateB == 0) {
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/* Bridges B was disabled due to overcurrent */
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/* When motor was running */
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my_error_handler(0XBAD1);
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} else if (bridgeStateA == 0 && bridgeStateB == 0) {
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/* Both Bridges B was disabled due to overcurrent */
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/* over temperature or UVLO when motor was running */
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my_error_handler(0XBADB);
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}
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}
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/* setup ----------------------------------------------------------------------*/
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void setup()
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{
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// Led.
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pinMode(LED_BUILTIN, OUTPUT);
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/* Initialize Serial Port */
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SerialPort.begin(115200);
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/* Printing to the console. */
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SerialPort.println("STARTING DEMO PROGRAM");
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/* Initialization of the motor driver*/
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/* Please, be careful that pins can change if you change the Nucleo board */
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/* Give a look at the DataSheet of the Nucleo to find a correct configuration */
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motor = new L6206(D2, A4, D5, D4, A0, A1);
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if (motor->init(&gMotorInitStruct) != COMPONENT_OK) {
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exit(EXIT_FAILURE);
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}
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/* Attaching and enabling an interrupt handler. */
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motor->attach_flag_irq(&my_flag_irq_handler);
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/* Attaching an error handler */
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motor->attach_error_handler(&my_error_handler);
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/* Printing to the console. */
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SerialPort.print("Motor Control Application Example for 1 bidirectional brush DC motors\r\n");
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motor->set_dual_full_bridge_config(PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR);
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/* Set PWM Frequency of bridge A inputs to 10000 Hz */
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motor->set_bridge_input_pwm_freq(BRIDGE_A, 10000);
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/* Set PWM Frequency of bridge B inputs to 10000 Hz */
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motor->set_bridge_input_pwm_freq(BRIDGE_B, 10000);
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}
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/* loop ----------------------------------------------------------------------*/
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void loop()
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{
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static uint8_t demoStep = 0;
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switch (demoStep) {
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case 0: {
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SerialPort.print("STEP 0: Motor(0) FWD Speed=100%%\r\n");
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/* Set speed of motor 0 to 100 % */
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motor->set_speed(0, 100);
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/* start motor 0 to run forward*/
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/* if chip is in standby mode */
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/* it is automatically awakened */
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motor->run(0, BDCMotor::FWD);
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break;
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}
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case 1: {
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SerialPort.print("STEP 1: Motor(0) FWD Speed=75%%\r\n");
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/* Set speed of motor 0 to 75 % */
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motor->set_speed(0, 75);
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break;
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}
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case 2: {
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SerialPort.print("STEP 2: Motor(0) FWD Speed=50%%\r\n");
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/* Set speed of motor 0 to 50 % */
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motor->set_speed(0, 50);
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break;
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}
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case 3: {
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SerialPort.print("STEP 3: Motor(0) FWD Speed=25%% \r\n");
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/* Set speed of motor 0 to 25 % */
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motor->set_speed(0, 25);
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break;
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}
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case 4: {
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SerialPort.print("STEP 4: Motor(0) Stopped\r\n");
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/* Stop Motor 0 */
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motor->hard_stop(0);
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break;
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}
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case 5: {
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SerialPort.print("STEP 5: Motor(0) BWD Speed=25%%\r\n");
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/* Set speed of motor 0 to 25 % */
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motor->set_speed(0, 25);
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/* start motor 0 to run backward */
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motor->run(0, BDCMotor::BWD);
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break;
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}
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case 6: {
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SerialPort.print("STEP 6: Motor(0) BWD Speed=50%%\r\n");
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/* Set speed of motor 0 to 50 % */
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motor->set_speed(0, 50);
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break;
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}
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case 7: {
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SerialPort.print("STEP 7: Motor(0) BWD Speed=75%%\r\n");
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/* Set speed of motor 0 to 75 % */
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motor->set_speed(0, 75);
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break;
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}
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case 8: {
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SerialPort.print("STEP 8: Motor(0) BWD Speed=100%%\r\n");
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/* Set speed of motor 0 to 100 % */
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motor->set_speed(0, 100);
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break;
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}
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case 9:
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default: {
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SerialPort.print("STEP 9: Stop motor and disable bridge\r\n");
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/* Stop both motors and disable bridge */
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motor->hard_hiz(0);
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break;
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}
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}
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/* Wait for 2 seconds */
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delay(2000);
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/* Increment demostep*/
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demoStep = (demoStep + 1) % 10;
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}

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