NXP
Stepper motor driver for FRDM-33879A-EVB (MC33879A). See application note AN5221 at www.nxp.com for more information.
Dependencies: mbed
Fork of
FRDM-33879A-EVB_Stepper_Motor_Control
by 
Freescale
The sample code provided is described in NXP's application note AN5221 found at http://www.nxp.com/products/power-management/engine-and-dc-motor-control/h-bridges/evaluation-kit-33879configurable-octal-serial-switch:FRDM-33879A-EVB. It drives a stepper motor using a configurable switch.
STEPPER MOTOR DRIVER
-> 5 seconds CW, 5 seconds CCW
-> 250ms steps
-> green LED indicates forward direction
-> red LED indicates backward direction
main.cpp
- Committer:
- mareikeFSL
- Date:
- 2015-12-14
- Revision:
- 0:ffe2ac8461c1
File content as of revision 0:ffe2ac8461c1:
/*------------------------------------------------------------------------------------*/
/* Stepper motor driver for FRDM-33879A-EVB (MC33879A) */
/* See application note AN5221 at www.nxp.com for more information */
/*------------------------------------------------------------------------------------*/
/*--COMPANY-----AUTHOR------DATE------------REVISION----NOTES-------------------------*/
/* NXP mareikeFSL 2015.12.14 rev 1.0 initial */
/* */
/*------------------------------------------------------------------------------------*/
/* STEPPER MOTOR DRIVER */
/* -> 5 seconds CW, 5 seconds CCW */
/* -> 250ms steps */
/* -> green LED indicates forward direction */
/* -> red LED indicates backward direction */
/*------------------------------------------------------------------------------------*/
/*--SPI-------------------------------------------------------------------------------*/
/* CLK (CLK) = PTD1 (J2/12) */
/* MOSI (MOSI) = PTD2 (J2/8) */
/* MISO (MISO) = PTD3 (J2/10) */
/*------------------------------------------------------------------------------------*/
/*--GPIO------------------------------------------------------------------------------*/
/* CS (CS) = PTD0 (J2/6) */
/* IO12 (EN) = PTA1 (J1/2) */
/* PWM0 (IN5) = PTA12 (J1/8) */
/* PWM1 (IN6) = PTA5 (J1/12) */
/*------------------------------------------------------------------------------------*/
/*--INCLUDES--------------------------------------------------------------------------*/
#include "mbed.h"
/*--DEFINES---------------------------------------------------------------------------*/
/*--INITS-----------------------------------------------------------------------------*/
SPI spi(PTD2, PTD3, PTD1); //mosi, miso, clk
DigitalOut cs(PTD0); //cs
DigitalOut en(PTA1); //en
DigitalOut in5(PTA12); //in5
DigitalOut in6(PTA5); //in6
Ticker timer1; //direction timer
Ticker timer2; //step timer
DigitalOut cw(LED_GREEN); //forward LED
DigitalOut ccw(LED_RED); //backward LED
/*--CONSTANTS-------------------------------------------------------------------------*/
unsigned const ClockwiseA = 0x55; //turn on 1-7, 3-5
unsigned const ClockwiseB = 0x69; //turn on 1-7, 4-6
unsigned const ClockwiseC = 0xAA; //turn on 2-8, 4-6
unsigned const ClockwiseD = 0x96; //turn on 2-8, 3-5
/*--VARIABLES-------------------------------------------------------------------------*/
unsigned short direction = 1; //direction of motor
unsigned short step = 0; //step of stepper motor
/*--FUNCTION DECLARATIONS-------------------------------------------------------------*/
void init_spi(void); //initializes SPI
void send_spi(unsigned const word); //sends SPI commands
void reverse(void); //changes LED color
void turn_motor(void); //spins motor
int main(void); //main
/*--FUNCTION DEFINITIONS--------------------------------------------------------------*/
/***************************************************************************INIT_SPI***/
void init_spi(void)
{
spi.format(8,1); //8-bit transfer, mode 1 (POL 0, PHA 1)
spi.frequency(4000000); //freq
} //end init_spi()
/***************************************************************************SEND_SPI***/
void send_spi(unsigned const word)
{
cs = 0; //set cs low
spi.write(0x00); //send 0x00
spi.write(word); //send 0xXX
cs = 1; //set cs high
} //end send_spi()
/****************************************************************************REVERSE***/
void reverse(void)
{
direction = !direction; //switch direction
if(direction)
{
cw = 0; //turn on green LED
ccw = 1; //turn off red LED
}
else
{
cw = 1; //turn off green LED
ccw = 0; //turn on red LED
}
} //end reverse()
/*************************************************************************TURN_MOTOR***/
void turn_motor(void)
{
switch(step%4)
{
case 0:
send_spi(ClockwiseA); //send 0x0055
if(direction)
step++; //if forward, increase step
else
step--; //if backward, decrease step
break;
case 1:
send_spi(ClockwiseB); //send 0x0069
if(direction) step++; //if forward, increase step
else step--; //if backward, decrease step
break;
case 2:
send_spi(ClockwiseC); //send 0x00AA
if(direction)
step++; //if forward, increase step
else
step--; //if backward, decrease step
break;
case 3:
send_spi(ClockwiseD); //send 0x0096
if(direction)
step++; //if forward, increase step
else
step--; //if backward, decrease step
break;
default:
break;
} //end switch
} //end turn_motor()
/*******************************************************************************MAIN***/
int main(void)
{
cw = 1; //turn off green LED
ccw = 1; //turn off red LED
cs = 1; //set cs high
reverse(); //set initial direction
init_spi(); //initialize SPI
in5 = 0; //set in5 PWM low (not in use)
in6 = 0; //set in6 PWM low (not in use)
en = 1; //set en high (enable device)
timer1.attach(&reverse, 5); //reverse direction every 5 seconds
timer2.attach_us(&turn_motor, 250000); //step every 250ms seconds
while(true){}
} //end main()