Arkadi Rafalovich
Control Stepper Motor using Matlab via Serial port
Dependencies: BufferedSerial X_NUCLEO_IHM01A1 mbed
Revision 0:ad32f7e53ed6, committed 2016-01-26
- Comitter:
- Arkadi
- Date:
- Tue Jan 26 10:22:39 2016 +0000
- Child:
- 1:fd0fbabd0c8f
- Commit message:
- Stepper Control Through Matlab application
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BufferedSerial.lib Tue Jan 26 10:22:39 2016 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/sam_grove/code/BufferedSerial/#779304f9c5d2
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/X_NUCLEO_IHM01A1.lib Tue Jan 26 10:22:39 2016 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/teams/ST/code/X_NUCLEO_IHM01A1/#83138e702683
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Jan 26 10:22:39 2016 +0000
@@ -0,0 +1,198 @@
+////////////////////////////////////////
+// Control Stepper motor using matlab //
+// Arkadiraf@gmail.com - 24/1/2016 //
+////////////////////////////////////////
+/*
+ Parts:
+ Nucleo STM32F401RE
+ X-Nucleo-IHM01A1 Stepper Driver shield
+
+*/
+
+// Libraries:
+#include "mbed.h"
+#include "BufferedSerial.h" // solves issues of loosing data. alternative doing it yourself
+#include "l6474_class.h" // stepper library
+
+/////////////
+// Objects //
+////////////
+
+// create serial object
+//Serial pc(SERIAL_TX, SERIAL_RX);
+BufferedSerial pc(USBTX, USBRX);
+
+// Pinouts:
+DigitalOut myled(LED1);
+
+// Stepper Pins
+DigitalOut StepDir(D7);
+DigitalOut StepPWM(D9);
+
+// Define Stepper Ticker
+Ticker StepperTicker;
+
+// Define Ticker
+Ticker SensorSampleTicker;
+
+// define millis ticker
+volatile uint32_t MillisValue = 0;
+Ticker MillisTicket;
+
+///////////////
+// variables //
+///////////////
+char BufferCMD[64]={0};
+uint16_t BufferIndex=0;
+volatile bool Sensor_Sample_Flag=0;
+#define Sample_Interval 10000 // interval in us, (10ms, 100Hz)
+float CMDValue=0; // CMD at which speed to run
+char inbyte=' ';
+
+// Stepper Variables:
+#define STEPS2ROTATION 3200.0f // 200 steps rotation 16 microsteps
+/* Initialization parameters. */
+// not sure if it acctually uses it
+L6474_InitTypeDef init =
+{
+ 50, /* Acceleration rate in step/s2. Range: (0..+inf). */
+ 50, /* Deceleration rate in step/s2. Range: (0..+inf). */
+ 3500, /* Maximum speed in step/s. Range: (30..10000]. */
+ 30, /* Minimum speed in step/s. Range: [30..10000). */
+ 500, /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
+ L6474_OCD_TH_1500mA, /* Overcurrent threshold (OCD_TH register). */
+ L6474_CONFIG_OC_SD_ENABLE, /* Overcurrent shutwdown (OC_SD field of CONFIG register). */
+ L6474_CONFIG_EN_TQREG_TVAL_USED, /* Torque regulation method (EN_TQREG field of CONFIG register). */
+ L6474_STEP_SEL_1_16, /* Step selection (STEP_SEL field of STEP_MODE register). */
+ L6474_SYNC_SEL_1_2, /* Sync selection (SYNC_SEL field of STEP_MODE register). */
+ L6474_FAST_STEP_12us, /* Fall time value (T_FAST field of T_FAST register). Range: 2us to 32us. */
+ L6474_TOFF_FAST_8us, /* Maximum fast decay time (T_OFF field of T_FAST register). Range: 2us to 32us. */
+ 3, /* Minimum ON time in us (TON_MIN register). Range: 0.5us to 64us. */
+ 21, /* Minimum OFF time in us (TOFF_MIN register). Range: 0.5us to 64us. */
+ L6474_CONFIG_TOFF_044us, /* Target Swicthing Period (field TOFF of CONFIG register). */
+ L6474_CONFIG_SR_320V_us, /* Slew rate (POW_SR field of CONFIG register). */
+ L6474_CONFIG_INT_16MHZ, /* Clock setting (OSC_CLK_SEL field of CONFIG register). */
+ L6474_ALARM_EN_OVERCURRENT |
+ L6474_ALARM_EN_THERMAL_SHUTDOWN |
+ L6474_ALARM_EN_THERMAL_WARNING |
+ L6474_ALARM_EN_UNDERVOLTAGE |
+ L6474_ALARM_EN_SW_TURN_ON |
+ L6474_ALARM_EN_WRONG_NPERF_CMD /* Alarm (ALARM_EN register). */
+};
+
+
+/* Motor Control Component. */
+L6474 *StepperMotor;
+
+// variable to store stepper position
+volatile int32_t StepperPos=0;
+
+
+////////////////
+// Functions: //
+////////////////
+// Ticker function
+void Stepper_PWM() {
+ StepPWM=!StepPWM;
+ if (StepPWM==1){ //If change to high, step performed Update Stepper Position
+ if (StepDir==1){
+ StepperPos++;
+ }else{
+ StepperPos--;
+ }
+ }
+}
+
+// Ticker function
+void Sensor_Sample() {
+ Sensor_Sample_Flag=1;
+}
+
+// millis ticker // its roughly gets the job done, so hell why not... (Better solution is to use SysTick)
+void MillisCounter ()
+{
+ MillisValue++;
+}
+
+// Main Code:
+int main() {
+ // Setup:
+ pc.baud(921600);
+
+ //Attach ticker object:
+ SensorSampleTicker.attach_us(&Sensor_Sample, Sample_Interval); // create 10Khz Ticker
+
+ // Attach millis ticker:
+ MillisTicket.attach_us(&MillisCounter, 1000); // create 1Khz Ticker (1ms increment)
+
+ // Initialize Stepper:
+ /* Initializing SPI bus. */
+ DevSPI dev_spi(D11, D12, D13);
+
+ /* Initializing Motor Control Component. */
+ //StepperMotor = new L6474(D2, D8, D7, D9, D10, dev_spi);
+ StepperMotor = new L6474(D2, D8, D3, D4, D10, dev_spi); // initialization with different Step pin and Dir Pin, Interference with external control
+ if (StepperMotor->Init() != COMPONENT_OK)
+ exit(EXIT_FAILURE);
+
+ /*----- Changing motor setting. -----*/
+
+ /* Setting High Impedance State to update L6474's registers. */
+ StepperMotor->SoftHiZ();
+ // Disabling motor
+ StepperMotor->Disable();
+ /* Changing step mode. */
+ StepperMotor->SetStepMode(STEP_MODE_1_16);
+ /* Increasing the torque regulation current to 500mA. */
+ StepperMotor->SetParameter(L6474_TVAL, 500);
+
+ // Enabling motor
+ StepperMotor->Enable();
+
+ /* Waiting 1 second. */
+ wait_ms(1000);
+
+ ////////////
+ // Loop : //
+ ////////////
+ while(1){
+
+ // receive Motor Command
+ while (pc.readable()) {
+ inbyte=pc.getc();
+ //pc.printf("%c" ,inbyte); // debug check/
+ BufferCMD[BufferIndex]=inbyte;
+ BufferIndex++;
+ // parse incoming message format: "$<value>\r\n"
+ if (inbyte=='$'){ // start of message
+ BufferIndex=0; // initialize to start of parser
+ }else if(inbyte=='\r'){ // end of message
+ CMDValue=atof(BufferCMD);
+ BufferIndex=0;
+ //pc.printf("CMD: %f \r\n" ,CMDValue); // debug check/
+ //pc.printf("CMD: %s \r\n" ,BufferCMD); // debug check/
+
+ /* Update Stepper Commad */
+ if (CMDValue>0){
+ StepDir=1;
+ }else{
+ StepDir=0;
+ CMDValue=-CMDValue;
+ }
+ if (CMDValue<1.0f){ // Stops
+ StepperTicker.detach();
+ }else{
+ StepperTicker.attach(&Stepper_PWM,2.0f/CMDValue); // Set Stepper Freq, 2.0f/Freq : 2 calls to ticker object performs a step
+ }
+
+ }//end parser
+ }//end serial
+
+ if(Sensor_Sample_Flag){ // sample data and stream out.
+ Sensor_Sample_Flag=0;
+ /* Stream Data */
+ pc.printf("VAL:%d,%d\r\n" ,MillisValue,StepperPos); // Stream data
+ }// End sampling and stream data
+ }// end loop
+}// end main
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Jan 26 10:22:39 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/6f327212ef96 \ No newline at end of file