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@2:fd11d89b8ce0, 2014-12-18 (annotated)

Committer:
gregeric
Date:
Thu Dec 18 17:52:40 2014 +0000
Revision:
2:fd11d89b8ce0
Parent:
0:7b0c724fa658
Child:
3:96bfb8b476f8
Phase sequence modified for bipolar stepper type, requiring one h-bridge driver for each coil.

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"
kenjiArai 0:7b0c724fa658 19 #include "stepper.h"
gregeric 2:fd11d89b8ce0 20 /*
gregeric 2:fd11d89b8ce0 21 //Firing sequence for uni-polar (5+ wires) stepper (4x open-collector drivers required).
kenjiArai 0:7b0c724fa658 22 const uint8_t pase_cw[4][4] = {{1, 1, 0, 0}, {0, 1, 1, 0}, {0, 0, 1, 1}, {1, 0, 0, 1}};
kenjiArai 0:7b0c724fa658 23 const uint8_t pase_ccw[4][4] = {{1, 1, 0, 0}, {1, 0, 0, 1}, {0, 0, 1, 1}, {0, 1, 1, 0}};
gregeric 2:fd11d89b8ce0 24 */
gregeric 2:fd11d89b8ce0 25 //Firing sequence for bi-polar (4 wires) stepper (2x H-Bridge driver required eg L298
gregeric 2:fd11d89b8ce0 26 //A+, B+, A-, B-)
gregeric 2:fd11d89b8ce0 27 const uint8_t pase_cw[4][4] = {{1, 0, 0, 0}, {0, 0, 1, 0}, {0, 1, 0, 0}, {0, 0, 0, 1}};
gregeric 2:fd11d89b8ce0 28 const uint8_t pase_ccw[4][4] = {{1, 0, 0, 0}, {0, 0, 0, 1}, {0, 1, 0, 0}, {0, 0, 1, 0}};
gregeric 2:fd11d89b8ce0 29
kenjiArai 0:7b0c724fa658 30 extern uint8_t pls_width[];
kenjiArai 0:7b0c724fa658 31
kenjiArai 0:7b0c724fa658 32 STEPPER::STEPPER (PinName xp, PinName xn, PinName yp, PinName yn):
kenjiArai 0:7b0c724fa658 33 _xp(xp), _xn(xn), _yp(yp), _yn(yn) {
kenjiArai 0:7b0c724fa658 34 init();
kenjiArai 0:7b0c724fa658 35 }
kenjiArai 0:7b0c724fa658 36
kenjiArai 0:7b0c724fa658 37 void STEPPER::move (int32_t steps){
kenjiArai 0:7b0c724fa658 38 if (steps < 0){
kenjiArai 0:7b0c724fa658 39 inf.direction = D_CCW;
kenjiArai 0:7b0c724fa658 40 steps = -steps;
kenjiArai 0:7b0c724fa658 41 } else {
kenjiArai 0:7b0c724fa658 42 inf.direction = D_CW;
kenjiArai 0:7b0c724fa658 43 }
kenjiArai 0:7b0c724fa658 44 inf.total_step = steps;
kenjiArai 0:7b0c724fa658 45 setup_mtr_drv_dt(&inf, &cntl);
kenjiArai 0:7b0c724fa658 46 }
kenjiArai 0:7b0c724fa658 47
kenjiArai 0:7b0c724fa658 48 void STEPPER::set_max_speed (uint32_t time_base_us){
kenjiArai 0:7b0c724fa658 49 if (time_base_us < (MT_PLS_WIDTH_MIN * 1000)){
kenjiArai 0:7b0c724fa658 50 time_base_us = (MT_PLS_WIDTH_MIN * 1000);
kenjiArai 0:7b0c724fa658 51 }
kenjiArai 0:7b0c724fa658 52 _smdrv.attach_us(this, &STEPPER::millisec_inteval, time_base_us);
kenjiArai 0:7b0c724fa658 53 }
kenjiArai 0:7b0c724fa658 54
kenjiArai 0:7b0c724fa658 55 uint8_t STEPPER::status (void){
kenjiArai 0:7b0c724fa658 56 return cntl.state;
kenjiArai 0:7b0c724fa658 57 }
kenjiArai 0:7b0c724fa658 58
kenjiArai 0:7b0c724fa658 59 void STEPPER::init(void){
kenjiArai 0:7b0c724fa658 60 busy_sm_drv = 0;
kenjiArai 0:7b0c724fa658 61 _xp = 0;
kenjiArai 0:7b0c724fa658 62 _xn = 0;
kenjiArai 0:7b0c724fa658 63 _yp = 0;
kenjiArai 0:7b0c724fa658 64 _yn = 0;
kenjiArai 0:7b0c724fa658 65 }
kenjiArai 0:7b0c724fa658 66
kenjiArai 0:7b0c724fa658 67 void STEPPER::set4ports (uint32_t step, int8_t dir){
kenjiArai 0:7b0c724fa658 68 uint8_t i;
kenjiArai 0:7b0c724fa658 69
kenjiArai 0:7b0c724fa658 70 i = (uint8_t)(step % 4);
kenjiArai 0:7b0c724fa658 71 if (dir == D_CW) {
kenjiArai 0:7b0c724fa658 72 _xp = pase_cw[i][0];
kenjiArai 0:7b0c724fa658 73 _xn = pase_cw[i][1];
kenjiArai 0:7b0c724fa658 74 _yp = pase_cw[i][2];
kenjiArai 0:7b0c724fa658 75 _yn = pase_cw[i][3];
kenjiArai 0:7b0c724fa658 76 } else {
kenjiArai 0:7b0c724fa658 77 _xp = pase_ccw[i][0];
kenjiArai 0:7b0c724fa658 78 _xn = pase_ccw[i][1];
kenjiArai 0:7b0c724fa658 79 _yp = pase_ccw[i][2];
kenjiArai 0:7b0c724fa658 80 _yn = pase_ccw[i][3];
kenjiArai 0:7b0c724fa658 81 }
kenjiArai 0:7b0c724fa658 82 }
kenjiArai 0:7b0c724fa658 83
kenjiArai 0:7b0c724fa658 84 void STEPPER::setup_mtr_drv_dt(Motor_Inf *mi, Motor_Control *mt){
kenjiArai 0:7b0c724fa658 85 busy_sm_drv = 1;
kenjiArai 0:7b0c724fa658 86 if (mi->total_step == 0){
kenjiArai 0:7b0c724fa658 87 if (mt->state != M_STOP){
kenjiArai 0:7b0c724fa658 88 mt->state = M_CHANGE;
kenjiArai 0:7b0c724fa658 89 mt->change_cnt = 5;
kenjiArai 0:7b0c724fa658 90 mt->pls_width = 0;
kenjiArai 0:7b0c724fa658 91 mt->ongoing = 0;
kenjiArai 0:7b0c724fa658 92 mt->up_cnt = 0;
kenjiArai 0:7b0c724fa658 93 mt->up_cnt_keep = 0;
kenjiArai 0:7b0c724fa658 94 mt->down_cnt = 0;
kenjiArai 0:7b0c724fa658 95 mt->continue_cnt = 0;
kenjiArai 0:7b0c724fa658 96 }
kenjiArai 0:7b0c724fa658 97 busy_sm_drv = 0;
kenjiArai 0:7b0c724fa658 98 return;
kenjiArai 0:7b0c724fa658 99 }
kenjiArai 0:7b0c724fa658 100 if ((mt->state == M_CONTINUE) && ( mt->direction == mi->direction)){
kenjiArai 0:7b0c724fa658 101 if (mi->total_step < MT_SLOP_STEP){
kenjiArai 0:7b0c724fa658 102 mt->up_cnt = 0;
kenjiArai 0:7b0c724fa658 103 mt->up_cnt_keep = 0;
kenjiArai 0:7b0c724fa658 104 mt->down_cnt = mi->total_step;
kenjiArai 0:7b0c724fa658 105 mt->continue_cnt = 0;
kenjiArai 0:7b0c724fa658 106 mt->state = M_DOWN;
kenjiArai 0:7b0c724fa658 107 mt->ongoing = 0;
kenjiArai 0:7b0c724fa658 108 } else {
kenjiArai 0:7b0c724fa658 109 mt->up_cnt = 0;
kenjiArai 0:7b0c724fa658 110 mt->up_cnt_keep = 0;
kenjiArai 0:7b0c724fa658 111 mt->down_cnt = MT_SLOP_STEP -1;
kenjiArai 0:7b0c724fa658 112 mt->continue_cnt = mi->total_step - (MT_SLOP_STEP - 1);
kenjiArai 0:7b0c724fa658 113 }
kenjiArai 0:7b0c724fa658 114 } else {
kenjiArai 0:7b0c724fa658 115 if ((mt->state == M_CONTINUE) && ( mt->direction != mi->direction)){
kenjiArai 0:7b0c724fa658 116 mt->state = M_CHANGE;
kenjiArai 0:7b0c724fa658 117 mt->change_cnt = 5;
kenjiArai 0:7b0c724fa658 118 } else {
kenjiArai 0:7b0c724fa658 119 mt->motor_step = 0;
kenjiArai 0:7b0c724fa658 120 mt->state = M_UP;
kenjiArai 0:7b0c724fa658 121 }
kenjiArai 0:7b0c724fa658 122 mt->pls_width = 0;
kenjiArai 0:7b0c724fa658 123 mt->ongoing = 0;
kenjiArai 0:7b0c724fa658 124 mt->direction = mi->direction;
kenjiArai 0:7b0c724fa658 125 if (mi->total_step < MT_MIN_STEP){
kenjiArai 0:7b0c724fa658 126 if (mi->total_step == MT_MIN_STEP - 1){
kenjiArai 0:7b0c724fa658 127 mt->up_cnt = MT_SLOP_STEP;
kenjiArai 0:7b0c724fa658 128 } else {
kenjiArai 0:7b0c724fa658 129 mt->up_cnt = mi->total_step / 2;
kenjiArai 0:7b0c724fa658 130 }
kenjiArai 0:7b0c724fa658 131 mt->up_cnt_keep = mt->up_cnt;
kenjiArai 0:7b0c724fa658 132 mt->down_cnt = mi->total_step - mt->up_cnt;
kenjiArai 0:7b0c724fa658 133 mt->continue_cnt = 0;
kenjiArai 0:7b0c724fa658 134 } else {
kenjiArai 0:7b0c724fa658 135 mt->up_cnt = MT_SLOP_STEP;
kenjiArai 0:7b0c724fa658 136 mt->up_cnt_keep = mt->up_cnt;
kenjiArai 0:7b0c724fa658 137 mt->down_cnt = MT_SLOP_STEP -1 ;
kenjiArai 0:7b0c724fa658 138 mt->continue_cnt = mi->total_step - MT_SLOP_STEP - (MT_SLOP_STEP - 1);
kenjiArai 0:7b0c724fa658 139 }
kenjiArai 0:7b0c724fa658 140 }
kenjiArai 0:7b0c724fa658 141 busy_sm_drv = 0;
kenjiArai 0:7b0c724fa658 142 }
kenjiArai 0:7b0c724fa658 143
kenjiArai 0:7b0c724fa658 144 void STEPPER::millisec_inteval() {
kenjiArai 0:7b0c724fa658 145 if (busy_sm_drv == 1){ return;}
kenjiArai 0:7b0c724fa658 146 switch (cntl.state){
kenjiArai 0:7b0c724fa658 147 case M_STOP:
kenjiArai 0:7b0c724fa658 148 _xp = 0;
kenjiArai 0:7b0c724fa658 149 _xn = 0;
kenjiArai 0:7b0c724fa658 150 _yp = 0;
kenjiArai 0:7b0c724fa658 151 _yn = 0;
kenjiArai 0:7b0c724fa658 152 break;
kenjiArai 0:7b0c724fa658 153 case M_UP:
kenjiArai 0:7b0c724fa658 154 if (cntl.ongoing){
kenjiArai 0:7b0c724fa658 155 if (--cntl.pls_width == 0){
kenjiArai 0:7b0c724fa658 156 if (--cntl.up_cnt == 0){
kenjiArai 0:7b0c724fa658 157 cntl.ongoing = 0;
kenjiArai 0:7b0c724fa658 158 if (cntl.continue_cnt == 0){
kenjiArai 0:7b0c724fa658 159 cntl.state = M_DOWN;
kenjiArai 0:7b0c724fa658 160 } else {
kenjiArai 0:7b0c724fa658 161 cntl.state = M_CONTINUE;
kenjiArai 0:7b0c724fa658 162 }
kenjiArai 0:7b0c724fa658 163 } else {
kenjiArai 0:7b0c724fa658 164 set4ports(cntl.motor_step, cntl.direction);
kenjiArai 0:7b0c724fa658 165 cntl.motor_step++;
kenjiArai 0:7b0c724fa658 166 cntl.pls_width = pls_width[cntl.up_cnt_keep - cntl.up_cnt];
kenjiArai 0:7b0c724fa658 167 }
kenjiArai 0:7b0c724fa658 168 } else {
kenjiArai 0:7b0c724fa658 169 break;
kenjiArai 0:7b0c724fa658 170 }
kenjiArai 0:7b0c724fa658 171 } else { // 1st entry from M_STOP
kenjiArai 0:7b0c724fa658 172 set4ports(cntl.motor_step, cntl.direction);
kenjiArai 0:7b0c724fa658 173 cntl.motor_step++;
kenjiArai 0:7b0c724fa658 174 cntl.pls_width = pls_width[cntl.up_cnt_keep - cntl.up_cnt];
kenjiArai 0:7b0c724fa658 175 cntl.ongoing = 1;
kenjiArai 0:7b0c724fa658 176 }
kenjiArai 0:7b0c724fa658 177 break;
kenjiArai 0:7b0c724fa658 178 case M_CONTINUE:
kenjiArai 0:7b0c724fa658 179 set4ports(cntl.motor_step, cntl.direction);
kenjiArai 0:7b0c724fa658 180 cntl.motor_step++;
kenjiArai 0:7b0c724fa658 181 if (--cntl.continue_cnt == 0){
kenjiArai 0:7b0c724fa658 182 cntl.ongoing = 0;
kenjiArai 0:7b0c724fa658 183 cntl.state = M_DOWN;
kenjiArai 0:7b0c724fa658 184 }
kenjiArai 0:7b0c724fa658 185 break;
kenjiArai 0:7b0c724fa658 186 case M_DOWN:
kenjiArai 0:7b0c724fa658 187 if (cntl.ongoing){
kenjiArai 0:7b0c724fa658 188 if (--cntl.pls_width == 0){
kenjiArai 0:7b0c724fa658 189 if (--cntl.down_cnt == 0){
kenjiArai 0:7b0c724fa658 190 cntl.ongoing = 0;
kenjiArai 0:7b0c724fa658 191 cntl.state = M_STOP;
kenjiArai 0:7b0c724fa658 192 }else {
kenjiArai 0:7b0c724fa658 193 set4ports(cntl.motor_step, cntl.direction);
kenjiArai 0:7b0c724fa658 194 cntl.motor_step++;
kenjiArai 0:7b0c724fa658 195 cntl.pls_width = pls_width[cntl.down_cnt];
kenjiArai 0:7b0c724fa658 196 }
kenjiArai 0:7b0c724fa658 197 } else {
kenjiArai 0:7b0c724fa658 198 break;
kenjiArai 0:7b0c724fa658 199 }
kenjiArai 0:7b0c724fa658 200 } else { // 1st entry from M_UP or M_CONTINUE
kenjiArai 0:7b0c724fa658 201 set4ports(cntl.motor_step, cntl.direction);
kenjiArai 0:7b0c724fa658 202 cntl.motor_step++;
kenjiArai 0:7b0c724fa658 203 cntl.pls_width = pls_width[cntl.down_cnt];
kenjiArai 0:7b0c724fa658 204 cntl.ongoing = 1;
kenjiArai 0:7b0c724fa658 205 }
kenjiArai 0:7b0c724fa658 206 break;
kenjiArai 0:7b0c724fa658 207 case M_CHANGE:
kenjiArai 0:7b0c724fa658 208 if (cntl.ongoing){
kenjiArai 0:7b0c724fa658 209 if (--cntl.pls_width == 0){
kenjiArai 0:7b0c724fa658 210 if (--cntl.change_cnt == 0){
kenjiArai 0:7b0c724fa658 211 cntl.ongoing = 0;
kenjiArai 0:7b0c724fa658 212 if (cntl.up_cnt == 0){
kenjiArai 0:7b0c724fa658 213 cntl.state = M_STOP;
kenjiArai 0:7b0c724fa658 214 } else {
kenjiArai 0:7b0c724fa658 215 cntl.state = M_UP;
kenjiArai 0:7b0c724fa658 216 }
kenjiArai 0:7b0c724fa658 217 }else {
kenjiArai 0:7b0c724fa658 218 if (cntl.direction == D_CW){
kenjiArai 0:7b0c724fa658 219 set4ports(cntl.motor_step, D_CCW);
kenjiArai 0:7b0c724fa658 220 } else {
kenjiArai 0:7b0c724fa658 221 set4ports(cntl.motor_step, D_CW);
kenjiArai 0:7b0c724fa658 222 }
kenjiArai 0:7b0c724fa658 223 cntl.motor_step++;
kenjiArai 0:7b0c724fa658 224 cntl.pls_width = pls_width[cntl.change_cnt];
kenjiArai 0:7b0c724fa658 225 }
kenjiArai 0:7b0c724fa658 226 } else {
kenjiArai 0:7b0c724fa658 227 break;
kenjiArai 0:7b0c724fa658 228 }
kenjiArai 0:7b0c724fa658 229 } else { // 1st entry
kenjiArai 0:7b0c724fa658 230 if (cntl.direction == D_CW){
kenjiArai 0:7b0c724fa658 231 set4ports(cntl.motor_step, D_CCW);
kenjiArai 0:7b0c724fa658 232 } else {
kenjiArai 0:7b0c724fa658 233 set4ports(cntl.motor_step, D_CW);
kenjiArai 0:7b0c724fa658 234 }
kenjiArai 0:7b0c724fa658 235 cntl.motor_step++;
kenjiArai 0:7b0c724fa658 236 cntl.pls_width = pls_width[cntl.change_cnt];
kenjiArai 0:7b0c724fa658 237 cntl.ongoing = 1;
kenjiArai 0:7b0c724fa658 238 }
kenjiArai 0:7b0c724fa658 239 break;
kenjiArai 0:7b0c724fa658 240 default :
kenjiArai 0:7b0c724fa658 241 cntl.state = M_STOP;
kenjiArai 0:7b0c724fa658 242 }
kenjiArai 0:7b0c724fa658 243 }