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
Revision 0:ffe2ac8461c1, committed 2015-12-14
- Comitter:
- mareikeFSL
- Date:
- Mon Dec 14 16:58:53 2015 +0000
- Commit message:
- Initial upload
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| mbed.bld | Show annotated file Show diff for this revision Revisions of this file |
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Dec 14 16:58:53 2015 +0000
@@ -0,0 +1,167 @@
+/*------------------------------------------------------------------------------------*/
+/* 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()
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Dec 14 16:58:53 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/34e6b704fe68 \ No newline at end of file