David Lowe / stepper

Modified phase table in stepper.cpp to enable stepping a bipolar motor using a twin H-bridge driver.

Fork of stepper by Kenji Arai

Corrected single-stepping, now walking up or down just one phase table. Compile-time options for driving bipolar motor in any of single-phase, two-phase, or half-stepping. Coils remain engaged at end of specifed movement command - de-energize coils by issuing a motor.move(0) while already stopped.

stepper.cpp@4:5b596b405573, 2014-12-21 (annotated)

Committer:
gregeric
Date:
Sun Dec 21 11:11:56 2014 +0000
Revision:
4:5b596b405573
Parent:
3:96bfb8b476f8
Child:
5:f2bbcd06019e
Allow sequential single-stepping (keep record of phase).; Walk up or down one phase table to correctly single step either direction.; Motor in stop condition engages coils - release by issuing 0-step move while already stopped.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kenjiArai 0:7b0c724fa658 1 /*
kenjiArai 0:7b0c724fa658 2 * mbed library program
kenjiArai 0:7b0c724fa658 3 * Stepping Motor
kenjiArai 0:7b0c724fa658 4 *
kenjiArai 0:7b0c724fa658 5 * Copyright (c) 2014 Kenji Arai / JH1PJL
kenjiArai 0:7b0c724fa658 6 * http://www.page.sannet.ne.jp/kenjia/index.html
kenjiArai 0:7b0c724fa658 7 * http://mbed.org/users/kenjiArai/
kenjiArai 0:7b0c724fa658 8 * Created: August 20th, 2014
kenjiArai 0:7b0c724fa658 9 * Revised: August 23rd, 2014
kenjiArai 0:7b0c724fa658 10 *
kenjiArai 0:7b0c724fa658 11 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
kenjiArai 0:7b0c724fa658 12 * INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE
kenjiArai 0:7b0c724fa658 13 * AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
kenjiArai 0:7b0c724fa658 14 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
kenjiArai 0:7b0c724fa658 15 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
kenjiArai 0:7b0c724fa658 16 */
kenjiArai 0:7b0c724fa658 17
kenjiArai 0:7b0c724fa658 18 #include "mbed.h"
gregeric 4:5b596b405573 19 #include "stepper.h"
gregeric 3:96bfb8b476f8 20
gregeric 4:5b596b405573 21 //uncomment one option
gregeric 4:5b596b405573 22 //#define BIPOLAR_STEPPER_1PH
gregeric 4:5b596b405573 23 //#define BIPOLAR_STEPPER_2PH
gregeric 4:5b596b405573 24 #define BIPOLAR_STEPPER_12S
gregeric 4:5b596b405573 25 //#define UNIPOLAR_STEPPER_2PH
gregeric 3:96bfb8b476f8 26
gregeric 2:fd11d89b8ce0 27 /*
gregeric 4:5b596b405573 28 * Firing sequence for bi-polar (4 wires) stepper (2x H-Bridge driver required eg L298)
gregeric 3:96bfb8b476f8 29 */
gregeric 4:5b596b405573 30 #ifdef BIPOLAR_STEPPER_1PH
gregeric 4:5b596b405573 31 //single phase A+, B+, A-, B-
gregeric 4:5b596b405573 32 //motor wiring on H-bridge: A A' B B'
gregeric 3:96bfb8b476f8 33 const uint8_t pase_cw[4][4] = {{1, 0, 0, 0}, {0, 0, 1, 0}, {0, 1, 0, 0}, {0, 0, 0, 1}};
gregeric 4:5b596b405573 34 #endif
gregeric 4:5b596b405573 35
gregeric 4:5b596b405573 36 #ifdef BIPOLAR_STEPPER_2PH
gregeric 4:5b596b405573 37 //double phase A+B+, A-B+, A-B-, A+B-
gregeric 4:5b596b405573 38 const uint8_t pase_cw[4][4] = {{1, 0, 1, 0}, {0, 1, 1, 0}, {0, 1, 0, 1}, {1, 0, 0, 1}};
gregeric 4:5b596b405573 39 #endif
gregeric 4:5b596b405573 40
gregeric 4:5b596b405573 41 #ifdef BIPOLAR_STEPPER_12S
gregeric 4:5b596b405573 42 //half step A+B+, A+, A+B-, B-, A-B-, A-, A-B+, B+
gregeric 4:5b596b405573 43 const uint8_t pase_cw[8][4] = {{1, 0, 1, 0}, {1, 0, 0, 0}, {1, 0, 0, 1}, {0, 0, 0, 1}, {0, 1, 0, 1}, {0, 1, 0, 0}, {0, 1, 1, 0}, {0, 0, 1, 0}};
gregeric 4:5b596b405573 44 #endif
gregeric 4:5b596b405573 45
gregeric 3:96bfb8b476f8 46 /*
gregeric 3:96bfb8b476f8 47 * Firing sequence for uni-polar (5+ wires) stepper (4x open-collector drivers required).
gregeric 3:96bfb8b476f8 48 */
gregeric 4:5b596b405573 49 #ifdef UNIPOLAR_STEPPER_2PH
kenjiArai 0:7b0c724fa658 50 const uint8_t pase_cw[4][4] = {{1, 1, 0, 0}, {0, 1, 1, 0}, {0, 0, 1, 1}, {1, 0, 0, 1}};
gregeric 3:96bfb8b476f8 51 #endif
gregeric 2:fd11d89b8ce0 52
kenjiArai 0:7b0c724fa658 53 extern uint8_t pls_width[];
kenjiArai 0:7b0c724fa658 54
kenjiArai 0:7b0c724fa658 55 STEPPER::STEPPER (PinName xp, PinName xn, PinName yp, PinName yn):
kenjiArai 0:7b0c724fa658 56 _xp(xp), _xn(xn), _yp(yp), _yn(yn) {
kenjiArai 0:7b0c724fa658 57 init();
kenjiArai 0:7b0c724fa658 58 }
kenjiArai 0:7b0c724fa658 59
kenjiArai 0:7b0c724fa658 60 void STEPPER::move (int32_t steps){
kenjiArai 0:7b0c724fa658 61 if (steps < 0){
kenjiArai 0:7b0c724fa658 62 inf.direction = D_CCW;
kenjiArai 0:7b0c724fa658 63 steps = -steps;
kenjiArai 0:7b0c724fa658 64 } else {
kenjiArai 0:7b0c724fa658 65 inf.direction = D_CW;
kenjiArai 0:7b0c724fa658 66 }
kenjiArai 0:7b0c724fa658 67 inf.total_step = steps;
kenjiArai 0:7b0c724fa658 68 setup_mtr_drv_dt(&inf, &cntl);
kenjiArai 0:7b0c724fa658 69 }
kenjiArai 0:7b0c724fa658 70
kenjiArai 0:7b0c724fa658 71 void STEPPER::set_max_speed (uint32_t time_base_us){
kenjiArai 0:7b0c724fa658 72 if (time_base_us < (MT_PLS_WIDTH_MIN * 1000)){
kenjiArai 0:7b0c724fa658 73 time_base_us = (MT_PLS_WIDTH_MIN * 1000);
kenjiArai 0:7b0c724fa658 74 }
kenjiArai 0:7b0c724fa658 75 _smdrv.attach_us(this, &STEPPER::millisec_inteval, time_base_us);
kenjiArai 0:7b0c724fa658 76 }
kenjiArai 0:7b0c724fa658 77
kenjiArai 0:7b0c724fa658 78 uint8_t STEPPER::status (void){
kenjiArai 0:7b0c724fa658 79 return cntl.state;
kenjiArai 0:7b0c724fa658 80 }
kenjiArai 0:7b0c724fa658 81
kenjiArai 0:7b0c724fa658 82 void STEPPER::init(void){
kenjiArai 0:7b0c724fa658 83 busy_sm_drv = 0;
kenjiArai 0:7b0c724fa658 84 _xp = 0;
kenjiArai 0:7b0c724fa658 85 _xn = 0;
kenjiArai 0:7b0c724fa658 86 _yp = 0;
kenjiArai 0:7b0c724fa658 87 _yn = 0;
kenjiArai 0:7b0c724fa658 88 }
kenjiArai 0:7b0c724fa658 89
kenjiArai 0:7b0c724fa658 90 void STEPPER::set4ports (uint32_t step, int8_t dir){
kenjiArai 0:7b0c724fa658 91 uint8_t i;
kenjiArai 0:7b0c724fa658 92
gregeric 4:5b596b405573 93 i = (uint8_t)(step % (sizeof(pase_cw)/4) );
gregeric 4:5b596b405573 94 // if (dir == D_CW) {
kenjiArai 0:7b0c724fa658 95 _xp = pase_cw[i][0];
kenjiArai 0:7b0c724fa658 96 _xn = pase_cw[i][1];
kenjiArai 0:7b0c724fa658 97 _yp = pase_cw[i][2];
kenjiArai 0:7b0c724fa658 98 _yn = pase_cw[i][3];
gregeric 4:5b596b405573 99 /* } else {
kenjiArai 0:7b0c724fa658 100 _xp = pase_ccw[i][0];
kenjiArai 0:7b0c724fa658 101 _xn = pase_ccw[i][1];
kenjiArai 0:7b0c724fa658 102 _yp = pase_ccw[i][2];
kenjiArai 0:7b0c724fa658 103 _yn = pase_ccw[i][3];
kenjiArai 0:7b0c724fa658 104 }
gregeric 4:5b596b405573 105 */
kenjiArai 0:7b0c724fa658 106 }
kenjiArai 0:7b0c724fa658 107
kenjiArai 0:7b0c724fa658 108 void STEPPER::setup_mtr_drv_dt(Motor_Inf *mi, Motor_Control *mt){
kenjiArai 0:7b0c724fa658 109 busy_sm_drv = 1;
gregeric 4:5b596b405573 110
gregeric 4:5b596b405573 111 //stop command, 0 step
kenjiArai 0:7b0c724fa658 112 if (mi->total_step == 0){
kenjiArai 0:7b0c724fa658 113 if (mt->state != M_STOP){
kenjiArai 0:7b0c724fa658 114 mt->state = M_CHANGE;
kenjiArai 0:7b0c724fa658 115 mt->change_cnt = 5;
kenjiArai 0:7b0c724fa658 116 mt->pls_width = 0;
kenjiArai 0:7b0c724fa658 117 mt->ongoing = 0;
kenjiArai 0:7b0c724fa658 118 mt->up_cnt = 0;
kenjiArai 0:7b0c724fa658 119 mt->up_cnt_keep = 0;
kenjiArai 0:7b0c724fa658 120 mt->down_cnt = 0;
kenjiArai 0:7b0c724fa658 121 mt->continue_cnt = 0;
kenjiArai 0:7b0c724fa658 122 }
gregeric 4:5b596b405573 123 else init();// already stopped, interpret as: release HOLD currents, power down coils, motor freewheeling.
kenjiArai 0:7b0c724fa658 124 busy_sm_drv = 0;
kenjiArai 0:7b0c724fa658 125 return;
kenjiArai 0:7b0c724fa658 126 }
gregeric 4:5b596b405573 127
gregeric 4:5b596b405573 128 //already travelling full speed, new step in same direction
kenjiArai 0:7b0c724fa658 129 if ((mt->state == M_CONTINUE) && ( mt->direction == mi->direction)){
gregeric 4:5b596b405573 130 if (mi->total_step < MT_SLOP_STEP){ //step len shorter than ramp down ledn
kenjiArai 0:7b0c724fa658 131 mt->up_cnt = 0;
kenjiArai 0:7b0c724fa658 132 mt->up_cnt_keep = 0;
kenjiArai 0:7b0c724fa658 133 mt->down_cnt = mi->total_step;
kenjiArai 0:7b0c724fa658 134 mt->continue_cnt = 0;
kenjiArai 0:7b0c724fa658 135 mt->state = M_DOWN;
kenjiArai 0:7b0c724fa658 136 mt->ongoing = 0;
kenjiArai 0:7b0c724fa658 137 } else {
kenjiArai 0:7b0c724fa658 138 mt->up_cnt = 0;
kenjiArai 0:7b0c724fa658 139 mt->up_cnt_keep = 0;
kenjiArai 0:7b0c724fa658 140 mt->down_cnt = MT_SLOP_STEP -1;
kenjiArai 0:7b0c724fa658 141 mt->continue_cnt = mi->total_step - (MT_SLOP_STEP - 1);
kenjiArai 0:7b0c724fa658 142 }
gregeric 4:5b596b405573 143 }
gregeric 4:5b596b405573 144 else {
gregeric 4:5b596b405573 145 //already moving, reverse direction required
kenjiArai 0:7b0c724fa658 146 if ((mt->state == M_CONTINUE) && ( mt->direction != mi->direction)){
kenjiArai 0:7b0c724fa658 147 mt->state = M_CHANGE;
kenjiArai 0:7b0c724fa658 148 mt->change_cnt = 5;
gregeric 4:5b596b405573 149 } else {//motor was at rest?
gregeric 4:5b596b405573 150 //mt->motor_step = 0; // don't destroy knowledge of current phase
kenjiArai 0:7b0c724fa658 151 mt->state = M_UP;
kenjiArai 0:7b0c724fa658 152 }
kenjiArai 0:7b0c724fa658 153 mt->pls_width = 0;
kenjiArai 0:7b0c724fa658 154 mt->ongoing = 0;
kenjiArai 0:7b0c724fa658 155 mt->direction = mi->direction;
kenjiArai 0:7b0c724fa658 156 if (mi->total_step < MT_MIN_STEP){
kenjiArai 0:7b0c724fa658 157 if (mi->total_step == MT_MIN_STEP - 1){
kenjiArai 0:7b0c724fa658 158 mt->up_cnt = MT_SLOP_STEP;
kenjiArai 0:7b0c724fa658 159 } else {
kenjiArai 0:7b0c724fa658 160 mt->up_cnt = mi->total_step / 2;
gregeric 4:5b596b405573 161 if (mt->up_cnt==0) mt->up_cnt=1;
kenjiArai 0:7b0c724fa658 162 }
kenjiArai 0:7b0c724fa658 163 mt->up_cnt_keep = mt->up_cnt;
kenjiArai 0:7b0c724fa658 164 mt->down_cnt = mi->total_step - mt->up_cnt;
kenjiArai 0:7b0c724fa658 165 mt->continue_cnt = 0;
kenjiArai 0:7b0c724fa658 166 } else {
kenjiArai 0:7b0c724fa658 167 mt->up_cnt = MT_SLOP_STEP;
kenjiArai 0:7b0c724fa658 168 mt->up_cnt_keep = mt->up_cnt;
kenjiArai 0:7b0c724fa658 169 mt->down_cnt = MT_SLOP_STEP -1 ;
kenjiArai 0:7b0c724fa658 170 mt->continue_cnt = mi->total_step - MT_SLOP_STEP - (MT_SLOP_STEP - 1);
kenjiArai 0:7b0c724fa658 171 }
kenjiArai 0:7b0c724fa658 172 }
kenjiArai 0:7b0c724fa658 173 busy_sm_drv = 0;
kenjiArai 0:7b0c724fa658 174 }
kenjiArai 0:7b0c724fa658 175
kenjiArai 0:7b0c724fa658 176 void STEPPER::millisec_inteval() {
kenjiArai 0:7b0c724fa658 177 if (busy_sm_drv == 1){ return;}
kenjiArai 0:7b0c724fa658 178 switch (cntl.state){
kenjiArai 0:7b0c724fa658 179 case M_STOP:
gregeric 4:5b596b405573 180 /*
gregeric 4:5b596b405573 181 * continue to energize coils: hold current position
kenjiArai 0:7b0c724fa658 182 _xp = 0;
kenjiArai 0:7b0c724fa658 183 _xn = 0;
kenjiArai 0:7b0c724fa658 184 _yp = 0;
kenjiArai 0:7b0c724fa658 185 _yn = 0;
gregeric 4:5b596b405573 186 */
kenjiArai 0:7b0c724fa658 187 break;
kenjiArai 0:7b0c724fa658 188 case M_UP:
kenjiArai 0:7b0c724fa658 189 if (cntl.ongoing){
kenjiArai 0:7b0c724fa658 190 if (--cntl.pls_width == 0){
kenjiArai 0:7b0c724fa658 191 if (--cntl.up_cnt == 0){
kenjiArai 0:7b0c724fa658 192 cntl.ongoing = 0;
kenjiArai 0:7b0c724fa658 193 if (cntl.continue_cnt == 0){
kenjiArai 0:7b0c724fa658 194 cntl.state = M_DOWN;
gregeric 4:5b596b405573 195 if (cntl.down_cnt==0) cntl.state=M_STOP;
kenjiArai 0:7b0c724fa658 196 } else {
kenjiArai 0:7b0c724fa658 197 cntl.state = M_CONTINUE;
kenjiArai 0:7b0c724fa658 198 }
kenjiArai 0:7b0c724fa658 199 } else {
gregeric 4:5b596b405573 200 cntl.motor_step+=inf.direction;
kenjiArai 0:7b0c724fa658 201 set4ports(cntl.motor_step, cntl.direction);
kenjiArai 0:7b0c724fa658 202 cntl.pls_width = pls_width[cntl.up_cnt_keep - cntl.up_cnt];
kenjiArai 0:7b0c724fa658 203 }
kenjiArai 0:7b0c724fa658 204 } else {
kenjiArai 0:7b0c724fa658 205 break;
kenjiArai 0:7b0c724fa658 206 }
kenjiArai 0:7b0c724fa658 207 } else { // 1st entry from M_STOP
gregeric 4:5b596b405573 208 cntl.motor_step+=inf.direction;
kenjiArai 0:7b0c724fa658 209 set4ports(cntl.motor_step, cntl.direction);
kenjiArai 0:7b0c724fa658 210 cntl.pls_width = pls_width[cntl.up_cnt_keep - cntl.up_cnt];
kenjiArai 0:7b0c724fa658 211 cntl.ongoing = 1;
kenjiArai 0:7b0c724fa658 212 }
kenjiArai 0:7b0c724fa658 213 break;
kenjiArai 0:7b0c724fa658 214 case M_CONTINUE:
gregeric 4:5b596b405573 215 cntl.motor_step+=inf.direction;
kenjiArai 0:7b0c724fa658 216 set4ports(cntl.motor_step, cntl.direction);
kenjiArai 0:7b0c724fa658 217 if (--cntl.continue_cnt == 0){
kenjiArai 0:7b0c724fa658 218 cntl.ongoing = 0;
kenjiArai 0:7b0c724fa658 219 cntl.state = M_DOWN;
kenjiArai 0:7b0c724fa658 220 }
kenjiArai 0:7b0c724fa658 221 break;
kenjiArai 0:7b0c724fa658 222 case M_DOWN:
kenjiArai 0:7b0c724fa658 223 if (cntl.ongoing){
kenjiArai 0:7b0c724fa658 224 if (--cntl.pls_width == 0){
kenjiArai 0:7b0c724fa658 225 if (--cntl.down_cnt == 0){
kenjiArai 0:7b0c724fa658 226 cntl.ongoing = 0;
kenjiArai 0:7b0c724fa658 227 cntl.state = M_STOP;
kenjiArai 0:7b0c724fa658 228 }else {
gregeric 4:5b596b405573 229 cntl.motor_step+=inf.direction;
kenjiArai 0:7b0c724fa658 230 set4ports(cntl.motor_step, cntl.direction);
kenjiArai 0:7b0c724fa658 231 cntl.pls_width = pls_width[cntl.down_cnt];
kenjiArai 0:7b0c724fa658 232 }
kenjiArai 0:7b0c724fa658 233 } else {
kenjiArai 0:7b0c724fa658 234 break;
kenjiArai 0:7b0c724fa658 235 }
kenjiArai 0:7b0c724fa658 236 } else { // 1st entry from M_UP or M_CONTINUE
gregeric 4:5b596b405573 237 cntl.motor_step+=inf.direction;
kenjiArai 0:7b0c724fa658 238 set4ports(cntl.motor_step, cntl.direction);
kenjiArai 0:7b0c724fa658 239 cntl.pls_width = pls_width[cntl.down_cnt];
kenjiArai 0:7b0c724fa658 240 cntl.ongoing = 1;
kenjiArai 0:7b0c724fa658 241 }
kenjiArai 0:7b0c724fa658 242 break;
kenjiArai 0:7b0c724fa658 243 case M_CHANGE:
kenjiArai 0:7b0c724fa658 244 if (cntl.ongoing){
kenjiArai 0:7b0c724fa658 245 if (--cntl.pls_width == 0){
kenjiArai 0:7b0c724fa658 246 if (--cntl.change_cnt == 0){
kenjiArai 0:7b0c724fa658 247 cntl.ongoing = 0;
kenjiArai 0:7b0c724fa658 248 if (cntl.up_cnt == 0){
kenjiArai 0:7b0c724fa658 249 cntl.state = M_STOP;
kenjiArai 0:7b0c724fa658 250 } else {
kenjiArai 0:7b0c724fa658 251 cntl.state = M_UP;
kenjiArai 0:7b0c724fa658 252 }
kenjiArai 0:7b0c724fa658 253 }else {
gregeric 4:5b596b405573 254 cntl.motor_step+=inf.direction;
gregeric 4:5b596b405573 255 set4ports(cntl.motor_step, D_CW);
kenjiArai 0:7b0c724fa658 256 cntl.pls_width = pls_width[cntl.change_cnt];
kenjiArai 0:7b0c724fa658 257 }
kenjiArai 0:7b0c724fa658 258 } else {
kenjiArai 0:7b0c724fa658 259 break;
kenjiArai 0:7b0c724fa658 260 }
kenjiArai 0:7b0c724fa658 261 } else { // 1st entry
gregeric 4:5b596b405573 262 cntl.motor_step+=inf.direction;
kenjiArai 0:7b0c724fa658 263 cntl.pls_width = pls_width[cntl.change_cnt];
kenjiArai 0:7b0c724fa658 264 cntl.ongoing = 1;
kenjiArai 0:7b0c724fa658 265 }
kenjiArai 0:7b0c724fa658 266 break;
kenjiArai 0:7b0c724fa658 267 default :
kenjiArai 0:7b0c724fa658 268 cntl.state = M_STOP;
kenjiArai 0:7b0c724fa658 269 }
kenjiArai 0:7b0c724fa658 270 }