ST X-NUCLEO-IHM14A1 User manual

Version 1.0 (Oct 18, 2017)
Quick Start Guide
Stepper motor driver expansion board based on STSPIN820 for STM32
Nucleo
(X-NUCLEO-IHM14A1)

Quick Start Guide Contents 2
X-NUCLEO-IHM14A1: Stepper motor driver expansion board
Hardware and Software overview
Setup & Demo Examples
Documents & Related Resources
STM32 Open Development Environment: Overview

Arduino UNO R3 connector
Low voltage stepper motor driver expansion board
Hardware overview 3
X-NUCLEO-IHM14A1 Hardware Description
•The X-NUCLEO-IHM14A1 motor driver expansion
board is based on the STSPIN820 monolithic driver
for stepper motors.
•It represents an affordable, easy-to-use solution for
driving stepper motors in your STM32 Nucleo project,
implementing motor driving applications such as
2D/3D printers, robotics and security cameras.
•The STSPIN820 implements a PWM current control
with constant OFF time adjustable via an external
resistor and a microstepping resolution up to the
256th step.
•The X-NUCLEO-IHM14A1 expansion board is
compatible with the Arduino UNO R3 connector and
the ST morpho connector, so it can be plugged to the
STM32 Nucleo development board and stacked with
additional X-NUCLEO expansion boards.
(*) Not mounted
STSPIN820 ST morpho connector*
Key Products on board
STSPIN820
Advanced 256 microsteps integrated motor driver
with step-clock and direction interface
Supply and motor connector
Latest info available at www.st.com
X-NUCLEO-IHM14A1

Low voltage stepper motor driver expansion board
Software overview 4
X-CUBE-SPN14 Software Description
The X-CUBE-SPN14 expansion package for STM32Cube
gives you full control of stepper motor operations. When
combined with one or more X-NUCLEO-IHM14A1 expansion
boards, this software allows a compatible STM32 Nucleo board
to control one or more stepper motors. It is built on top of
STM32Cube software technology for easy portability across
different STM32 microcontrollers. The software comes with a
sample implementation for one stepper motor. It is compatible
with STM32 NUCLEO-F401RE, NUCLEO-F334R8, NUCLEO-
F030R8 or NUCLEO-L053R8 boards with an X-NUCLEO-
IHM14A1 expansion board mounted on top.
Key features
•A driver layer for complete management of the STSPIN820
(low power stepper motor driver) device integrated in
theXNUCLEOIHM14A1 expansion board
•Device parameter read and write modes, GPIO, PWM and
IRQ configuration, micro-stepping, direction position, speed,
acceleration, deceleration and torque controls; automatic
full-step switch management, high impedance or hold stop
mode selection, enable and stand-by management
•Fault interrupt handling
•Single stepper motor control sample application
•Easy portability across different MCU families, thanks to
STM32Cube
•Free, user-friendly license terms
Latest info available at www.st.com
X-CUBE-SPN14
Overall Software Architecture

Quick Start Guide Contents 5
X-NUCLEO-IHM14A1: Stepper motor driver expansion board
Hardware and Software overview
Setup & Demo Examples
Documents & Related Resources
STM32 Open Development Environment: Overview

NUCLEO-F401RE
NUCLEO-F334R8
NUCLEO-F030R8
NUCLEO-L053R8
Setup & Demo examples
Hardware prerequisites
•1x Stepper motor expansion board
(X-NUCLEO-IHM14A1)
•1x STM32 Nucleo development board
(NUCLEO-F401RE or NUCLEO-F334R8 or NUCLEO-F030R8 or NUCLEO-L053R8)
•1x stepper motor
•1x external DC power supply with two electric cables (*)
•1x Windows 8/7 - Laptop/PC
•1x USB type A to Mini-B USB cable
6
(*) Power stage supply voltage from 7 V to 45 V
Mini USB Cable X-NUCLEO-IHM14A1 Stepper motor

Setup & demo examples
Software prerequisites
•STSW-LINK009: ST-LINK/V2-1 USB driver
•STSW-LINK007: ST-LINK/V2-1 firmware upgrade
•A Windows PC with one of the supported development toolchains:
•KEIL: MDK-ARM
•IAR: EWARM
•GCC-based IDE: System Workbench for STM32
•X-CUBE-SPN14: software expansion for STM32Cube
7

Stepper motor driver expansion board
Start coding in just a few minutes with X-CUBE-SPN14 8
3On the X-NUCLEO-IHM14A1
•Tune VREF potentiometer to adjust the
reference voltage.
Driving one stepper motor with X-NUCLEO-IHM14A1 and X-CUBE-SPN14
1Plug the X-NUCLEO-IHM14A1 on the STM32 Nucleo board using theArduino UNO
R3 connector and connect the stepper motor (A+/- and B+/-) and the power supply
(VIN\GND) to the CN1 connector.
2Connect the STM32 Nucleo board to the PC through the USB cable.

Stepper motor driver expansion board
Start coding in just a few minutes with X-CUBE-SPN14 9
4Depending on your STM32 Nucleo board, from the examples folder
(\stm32_cube\Projects\Multi\Examples\MotionControl\IHM14A1_ExampleFor1Motor)
open the software project from:
•\YourToolChainName\STM32F401RE-Nucleo for Nucleo based on STM32F401
•\YourToolChainName\STM32F334R8-Nucleo for Nucleo based on STM32F334
•\YourToolChainName\STM32F030R8-Nucleo for Nucleo based on STM32F030
•\YourToolChainName\STM32L053R8-Nucleo for Nucleo based on STM32L053
5Open the file:
stm32_cube\Drivers\BSP\Components\STSPIN820\STSPIN820_target_config.h.
and modify the parameters according to your target configuration.
6Build the project and download it into the STM32 memory.
7Run the example. The motor automatically starts (see main.c for a detailed
demo sequence).

Documents & related resources
X-NUCLEO-IHM14A1:
•Gerber files, BOM, and schematics
•DB3416:Stepper motor driver expansion board based on STSPIN820 for STM32 Nucleo–Data
brief
•UM2299: Getting started with the X-NUCLEO-IHM14A1 stepper motor driver expansion board
based on STSPIN820 for STM32 Nucleo –User manual
X-CUBE-SPN14:
•DB3417:Stepper motor driver software expansion for STM32Cube –Data brief
•UM2300: Getting started with X-CUBE-SPN14 stepper motor driver software expansion for
STM32Cube –User manual
•Software setup file
10
All documents are available in the DESIGN tab of the related products webpage
Consult www.st.com for the complete list

Quick Start Guide Contents 11
X-NUCLEO-IHM14A1: Stepper motor driver expansion board
Hardware and Software overview
Setup & Demo Examples
Documents & Related Resources
STM32 Open Development Environment: Overview

STM32 Open Development Environment
Fast, affordable Prototyping and Development 12
•The STM32 Open Development Environment (ODE) consists of a set of stackable boards
and a modular open SW environment designed around the STM32 microcontroller family.
www.st.com/stm32ode
Function Packs
(FP)
STM32Cube
development software
STM32 Nucleo
expansion boards
(X-NUCLEO)
STM32 Nucleo
development boards
STM32Cube
expansion software
(X-CUBE)

Power supply
through USB or
external source
Integrated debugging
and programming
ST-LINK probe
STM32 microcontroller
Complete product range
from ultra-low power to high-performance
ST morpho extension header
STM32 Nucleo
Development Boards (NUCLEO)
•A comprehensive range of affordable development boards for all the STM32
microcontroller series, with unlimited unified expansion capabilities and integrated
debugger/programmer functionality.
13
www.st.com/stm32nucleo
Arduino™ UNO R3 extension headers

Move/ActuatePower InteractConnect
Sense
STM32 Nucleo
Expansion Boards (X-NUCLEO)
•Boards with additional functionality that can be plugged directly on top of the STM32
Nucleo development board directly or stacked on another expansion board.
14
DIL24 support for
new devices
Motion MEMS sensors
Environmental sensors
www.st.com/x-nucleo
Example of STM32 expansion board (X-NUCLEO-IKS01A1)

STM32 Open Development Environment
Software components
•STM32Cube software (CUBE) -A set
of free tools and embedded software bricks
to enable fast and easy development on
the STM32, including a Hardware
Abstraction Layer and middleware bricks.
•STM32Cube expansion software
(X-CUBE) -Expansion software provided
free for use with the STM32 Nucleo
expansion board and fully compatible with
the STM32Cube software framework. It
provides abstracted access to expansion
board functionality through high-level APIs
and sample applications.
15
www.st.com/x-cube
•Compatibility with multiple Development Environments - The STM32 Open Development
Environment is compatible with a number of IDEs including IAR EWARM, Keil MDK, and GCC-based
environments. Users can choose from three IDEs from leading vendors, which are free of charge and
deployed in close cooperation with ST. These include Eclipse-based IDEs such as Ac6 System
Workbench for STM32 and the MDK-ARM environment.
Tools&IDEs
Application examples
(e.g.basedon ST OpenSoftwareX)
Hardware
SampleapplicationsApplications
IAREWARM,KeilMDK-ARM,GCC-basedIDEs
(e.g.Ac6SystemWorkbenchforSTM32)
STM32CubeHardwareAbstractionLayer(HAL)
STM32Cube
middleware
Upperlevel middleware
(e.g.ST OpenSoftwareX)
Middleware
Hardware
Abstraction
STM32Cubeexpansionmiddleware
STM32 Nucleo expansion boards (X-NUCLEO)
STM32 Nucleo developer boards
OPEN LICENSE MODELS: STM32Cube software and sample applications are covered by a
mix of fully open source BSD license and ST licenses with very permissive terms. www.st.com/stm32cube

STM32 Open Development Environment
Building block approach 16
The building blocks Your need Our answer
Move /
Actuate
Connect
Power
Sense
Process
Inertial modules, magnetometer
Proximity, microphone
Pressure, temperature, humidity
Bluetooth LE, Sub-GHz radio
NFC, Wi-Fi, GNSS
Energy management & battery
General-purpose microcontrollers
Stepper motor driver
DC & BLDC motor driver
Audio amplifier
COLLECT
TRANSMIT
ACCESS
CREATE
POWER
PROCESS
Software
Secure microcontrollers
Touch controller
Operation Amplifier
Accelerometer, gyroscope
Translate
Industrial input / output
www.st.com/stm32ode