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.

Committer:
gregeric
Date:
Thu Dec 18 19:49:42 2014 +0000
Revision:
3:96bfb8b476f8
Parent:
2:fd11d89b8ce0
Child:
4:5b596b405573
Unipolar/bipolar motor configuration switchable by #define in stepper.cpp

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 3:96bfb8b476f8 20
gregeric 3:96bfb8b476f8 21 #define BIPOLAR_STEPPER
gregeric 3:96bfb8b476f8 22
gregeric 3:96bfb8b476f8 23 #ifdef BIPOLAR_STEPPER
gregeric 2:fd11d89b8ce0 24 /*
gregeric 3:96bfb8b476f8 25 * Firing sequence A+, B+, A-, B- for bi-polar (4 wires) stepper (2x H-Bridge driver required eg L298)
gregeric 3:96bfb8b476f8 26 */
gregeric 3:96bfb8b476f8 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 3:96bfb8b476f8 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 3:96bfb8b476f8 29 #else
gregeric 3:96bfb8b476f8 30 /*
gregeric 3:96bfb8b476f8 31 * Firing sequence for uni-polar (5+ wires) stepper (4x open-collector drivers required).
gregeric 3:96bfb8b476f8 32 */
kenjiArai 0:7b0c724fa658 33 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 34 const uint8_t pase_ccw[4][4] = {{1, 1, 0, 0}, {1, 0, 0, 1}, {0, 0, 1, 1}, {0, 1, 1, 0}};
gregeric 3:96bfb8b476f8 35 #endif
gregeric 2:fd11d89b8ce0 36
kenjiArai 0:7b0c724fa658 37 extern uint8_t pls_width[];
kenjiArai 0:7b0c724fa658 38
kenjiArai 0:7b0c724fa658 39 STEPPER::STEPPER (PinName xp, PinName xn, PinName yp, PinName yn):
kenjiArai 0:7b0c724fa658 40 _xp(xp), _xn(xn), _yp(yp), _yn(yn) {
kenjiArai 0:7b0c724fa658 41 init();
kenjiArai 0:7b0c724fa658 42 }
kenjiArai 0:7b0c724fa658 43
kenjiArai 0:7b0c724fa658 44 void STEPPER::move (int32_t steps){
kenjiArai 0:7b0c724fa658 45 if (steps < 0){
kenjiArai 0:7b0c724fa658 46 inf.direction = D_CCW;
kenjiArai 0:7b0c724fa658 47 steps = -steps;
kenjiArai 0:7b0c724fa658 48 } else {
kenjiArai 0:7b0c724fa658 49 inf.direction = D_CW;
kenjiArai 0:7b0c724fa658 50 }
kenjiArai 0:7b0c724fa658 51 inf.total_step = steps;
kenjiArai 0:7b0c724fa658 52 setup_mtr_drv_dt(&inf, &cntl);
kenjiArai 0:7b0c724fa658 53 }
kenjiArai 0:7b0c724fa658 54
kenjiArai 0:7b0c724fa658 55 void STEPPER::set_max_speed (uint32_t time_base_us){
kenjiArai 0:7b0c724fa658 56 if (time_base_us < (MT_PLS_WIDTH_MIN * 1000)){
kenjiArai 0:7b0c724fa658 57 time_base_us = (MT_PLS_WIDTH_MIN * 1000);
kenjiArai 0:7b0c724fa658 58 }
kenjiArai 0:7b0c724fa658 59 _smdrv.attach_us(this, &STEPPER::millisec_inteval, time_base_us);
kenjiArai 0:7b0c724fa658 60 }
kenjiArai 0:7b0c724fa658 61
kenjiArai 0:7b0c724fa658 62 uint8_t STEPPER::status (void){
kenjiArai 0:7b0c724fa658 63 return cntl.state;
kenjiArai 0:7b0c724fa658 64 }
kenjiArai 0:7b0c724fa658 65
kenjiArai 0:7b0c724fa658 66 void STEPPER::init(void){
kenjiArai 0:7b0c724fa658 67 busy_sm_drv = 0;
kenjiArai 0:7b0c724fa658 68 _xp = 0;
kenjiArai 0:7b0c724fa658 69 _xn = 0;
kenjiArai 0:7b0c724fa658 70 _yp = 0;
kenjiArai 0:7b0c724fa658 71 _yn = 0;
kenjiArai 0:7b0c724fa658 72 }
kenjiArai 0:7b0c724fa658 73
kenjiArai 0:7b0c724fa658 74 void STEPPER::set4ports (uint32_t step, int8_t dir){
kenjiArai 0:7b0c724fa658 75 uint8_t i;
kenjiArai 0:7b0c724fa658 76
kenjiArai 0:7b0c724fa658 77 i = (uint8_t)(step % 4);
kenjiArai 0:7b0c724fa658 78 if (dir == D_CW) {
kenjiArai 0:7b0c724fa658 79 _xp = pase_cw[i][0];
kenjiArai 0:7b0c724fa658 80 _xn = pase_cw[i][1];
kenjiArai 0:7b0c724fa658 81 _yp = pase_cw[i][2];
kenjiArai 0:7b0c724fa658 82 _yn = pase_cw[i][3];
kenjiArai 0:7b0c724fa658 83 } else {
kenjiArai 0:7b0c724fa658 84 _xp = pase_ccw[i][0];
kenjiArai 0:7b0c724fa658 85 _xn = pase_ccw[i][1];
kenjiArai 0:7b0c724fa658 86 _yp = pase_ccw[i][2];
kenjiArai 0:7b0c724fa658 87 _yn = pase_ccw[i][3];
kenjiArai 0:7b0c724fa658 88 }
kenjiArai 0:7b0c724fa658 89 }
kenjiArai 0:7b0c724fa658 90
kenjiArai 0:7b0c724fa658 91 void STEPPER::setup_mtr_drv_dt(Motor_Inf *mi, Motor_Control *mt){
kenjiArai 0:7b0c724fa658 92 busy_sm_drv = 1;
kenjiArai 0:7b0c724fa658 93 if (mi->total_step == 0){
kenjiArai 0:7b0c724fa658 94 if (mt->state != M_STOP){
kenjiArai 0:7b0c724fa658 95 mt->state = M_CHANGE;
kenjiArai 0:7b0c724fa658 96 mt->change_cnt = 5;
kenjiArai 0:7b0c724fa658 97 mt->pls_width = 0;
kenjiArai 0:7b0c724fa658 98 mt->ongoing = 0;
kenjiArai 0:7b0c724fa658 99 mt->up_cnt = 0;
kenjiArai 0:7b0c724fa658 100 mt->up_cnt_keep = 0;
kenjiArai 0:7b0c724fa658 101 mt->down_cnt = 0;
kenjiArai 0:7b0c724fa658 102 mt->continue_cnt = 0;
kenjiArai 0:7b0c724fa658 103 }
kenjiArai 0:7b0c724fa658 104 busy_sm_drv = 0;
kenjiArai 0:7b0c724fa658 105 return;
kenjiArai 0:7b0c724fa658 106 }
kenjiArai 0:7b0c724fa658 107 if ((mt->state == M_CONTINUE) && ( mt->direction == mi->direction)){
kenjiArai 0:7b0c724fa658 108 if (mi->total_step < MT_SLOP_STEP){
kenjiArai 0:7b0c724fa658 109 mt->up_cnt = 0;
kenjiArai 0:7b0c724fa658 110 mt->up_cnt_keep = 0;
kenjiArai 0:7b0c724fa658 111 mt->down_cnt = mi->total_step;
kenjiArai 0:7b0c724fa658 112 mt->continue_cnt = 0;
kenjiArai 0:7b0c724fa658 113 mt->state = M_DOWN;
kenjiArai 0:7b0c724fa658 114 mt->ongoing = 0;
kenjiArai 0:7b0c724fa658 115 } else {
kenjiArai 0:7b0c724fa658 116 mt->up_cnt = 0;
kenjiArai 0:7b0c724fa658 117 mt->up_cnt_keep = 0;
kenjiArai 0:7b0c724fa658 118 mt->down_cnt = MT_SLOP_STEP -1;
kenjiArai 0:7b0c724fa658 119 mt->continue_cnt = mi->total_step - (MT_SLOP_STEP - 1);
kenjiArai 0:7b0c724fa658 120 }
kenjiArai 0:7b0c724fa658 121 } else {
kenjiArai 0:7b0c724fa658 122 if ((mt->state == M_CONTINUE) && ( mt->direction != mi->direction)){
kenjiArai 0:7b0c724fa658 123 mt->state = M_CHANGE;
kenjiArai 0:7b0c724fa658 124 mt->change_cnt = 5;
kenjiArai 0:7b0c724fa658 125 } else {
kenjiArai 0:7b0c724fa658 126 mt->motor_step = 0;
kenjiArai 0:7b0c724fa658 127 mt->state = M_UP;
kenjiArai 0:7b0c724fa658 128 }
kenjiArai 0:7b0c724fa658 129 mt->pls_width = 0;
kenjiArai 0:7b0c724fa658 130 mt->ongoing = 0;
kenjiArai 0:7b0c724fa658 131 mt->direction = mi->direction;
kenjiArai 0:7b0c724fa658 132 if (mi->total_step < MT_MIN_STEP){
kenjiArai 0:7b0c724fa658 133 if (mi->total_step == MT_MIN_STEP - 1){
kenjiArai 0:7b0c724fa658 134 mt->up_cnt = MT_SLOP_STEP;
kenjiArai 0:7b0c724fa658 135 } else {
kenjiArai 0:7b0c724fa658 136 mt->up_cnt = mi->total_step / 2;
kenjiArai 0:7b0c724fa658 137 }
kenjiArai 0:7b0c724fa658 138 mt->up_cnt_keep = mt->up_cnt;
kenjiArai 0:7b0c724fa658 139 mt->down_cnt = mi->total_step - mt->up_cnt;
kenjiArai 0:7b0c724fa658 140 mt->continue_cnt = 0;
kenjiArai 0:7b0c724fa658 141 } else {
kenjiArai 0:7b0c724fa658 142 mt->up_cnt = MT_SLOP_STEP;
kenjiArai 0:7b0c724fa658 143 mt->up_cnt_keep = mt->up_cnt;
kenjiArai 0:7b0c724fa658 144 mt->down_cnt = MT_SLOP_STEP -1 ;
kenjiArai 0:7b0c724fa658 145 mt->continue_cnt = mi->total_step - MT_SLOP_STEP - (MT_SLOP_STEP - 1);
kenjiArai 0:7b0c724fa658 146 }
kenjiArai 0:7b0c724fa658 147 }
kenjiArai 0:7b0c724fa658 148 busy_sm_drv = 0;
kenjiArai 0:7b0c724fa658 149 }
kenjiArai 0:7b0c724fa658 150
kenjiArai 0:7b0c724fa658 151 void STEPPER::millisec_inteval() {
kenjiArai 0:7b0c724fa658 152 if (busy_sm_drv == 1){ return;}
kenjiArai 0:7b0c724fa658 153 switch (cntl.state){
kenjiArai 0:7b0c724fa658 154 case M_STOP:
kenjiArai 0:7b0c724fa658 155 _xp = 0;
kenjiArai 0:7b0c724fa658 156 _xn = 0;
kenjiArai 0:7b0c724fa658 157 _yp = 0;
kenjiArai 0:7b0c724fa658 158 _yn = 0;
kenjiArai 0:7b0c724fa658 159 break;
kenjiArai 0:7b0c724fa658 160 case M_UP:
kenjiArai 0:7b0c724fa658 161 if (cntl.ongoing){
kenjiArai 0:7b0c724fa658 162 if (--cntl.pls_width == 0){
kenjiArai 0:7b0c724fa658 163 if (--cntl.up_cnt == 0){
kenjiArai 0:7b0c724fa658 164 cntl.ongoing = 0;
kenjiArai 0:7b0c724fa658 165 if (cntl.continue_cnt == 0){
kenjiArai 0:7b0c724fa658 166 cntl.state = M_DOWN;
kenjiArai 0:7b0c724fa658 167 } else {
kenjiArai 0:7b0c724fa658 168 cntl.state = M_CONTINUE;
kenjiArai 0:7b0c724fa658 169 }
kenjiArai 0:7b0c724fa658 170 } else {
kenjiArai 0:7b0c724fa658 171 set4ports(cntl.motor_step, cntl.direction);
kenjiArai 0:7b0c724fa658 172 cntl.motor_step++;
kenjiArai 0:7b0c724fa658 173 cntl.pls_width = pls_width[cntl.up_cnt_keep - cntl.up_cnt];
kenjiArai 0:7b0c724fa658 174 }
kenjiArai 0:7b0c724fa658 175 } else {
kenjiArai 0:7b0c724fa658 176 break;
kenjiArai 0:7b0c724fa658 177 }
kenjiArai 0:7b0c724fa658 178 } else { // 1st entry from M_STOP
kenjiArai 0:7b0c724fa658 179 set4ports(cntl.motor_step, cntl.direction);
kenjiArai 0:7b0c724fa658 180 cntl.motor_step++;
kenjiArai 0:7b0c724fa658 181 cntl.pls_width = pls_width[cntl.up_cnt_keep - cntl.up_cnt];
kenjiArai 0:7b0c724fa658 182 cntl.ongoing = 1;
kenjiArai 0:7b0c724fa658 183 }
kenjiArai 0:7b0c724fa658 184 break;
kenjiArai 0:7b0c724fa658 185 case M_CONTINUE:
kenjiArai 0:7b0c724fa658 186 set4ports(cntl.motor_step, cntl.direction);
kenjiArai 0:7b0c724fa658 187 cntl.motor_step++;
kenjiArai 0:7b0c724fa658 188 if (--cntl.continue_cnt == 0){
kenjiArai 0:7b0c724fa658 189 cntl.ongoing = 0;
kenjiArai 0:7b0c724fa658 190 cntl.state = M_DOWN;
kenjiArai 0:7b0c724fa658 191 }
kenjiArai 0:7b0c724fa658 192 break;
kenjiArai 0:7b0c724fa658 193 case M_DOWN:
kenjiArai 0:7b0c724fa658 194 if (cntl.ongoing){
kenjiArai 0:7b0c724fa658 195 if (--cntl.pls_width == 0){
kenjiArai 0:7b0c724fa658 196 if (--cntl.down_cnt == 0){
kenjiArai 0:7b0c724fa658 197 cntl.ongoing = 0;
kenjiArai 0:7b0c724fa658 198 cntl.state = M_STOP;
kenjiArai 0:7b0c724fa658 199 }else {
kenjiArai 0:7b0c724fa658 200 set4ports(cntl.motor_step, cntl.direction);
kenjiArai 0:7b0c724fa658 201 cntl.motor_step++;
kenjiArai 0:7b0c724fa658 202 cntl.pls_width = pls_width[cntl.down_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_UP or M_CONTINUE
kenjiArai 0:7b0c724fa658 208 set4ports(cntl.motor_step, cntl.direction);
kenjiArai 0:7b0c724fa658 209 cntl.motor_step++;
kenjiArai 0:7b0c724fa658 210 cntl.pls_width = pls_width[cntl.down_cnt];
kenjiArai 0:7b0c724fa658 211 cntl.ongoing = 1;
kenjiArai 0:7b0c724fa658 212 }
kenjiArai 0:7b0c724fa658 213 break;
kenjiArai 0:7b0c724fa658 214 case M_CHANGE:
kenjiArai 0:7b0c724fa658 215 if (cntl.ongoing){
kenjiArai 0:7b0c724fa658 216 if (--cntl.pls_width == 0){
kenjiArai 0:7b0c724fa658 217 if (--cntl.change_cnt == 0){
kenjiArai 0:7b0c724fa658 218 cntl.ongoing = 0;
kenjiArai 0:7b0c724fa658 219 if (cntl.up_cnt == 0){
kenjiArai 0:7b0c724fa658 220 cntl.state = M_STOP;
kenjiArai 0:7b0c724fa658 221 } else {
kenjiArai 0:7b0c724fa658 222 cntl.state = M_UP;
kenjiArai 0:7b0c724fa658 223 }
kenjiArai 0:7b0c724fa658 224 }else {
kenjiArai 0:7b0c724fa658 225 if (cntl.direction == D_CW){
kenjiArai 0:7b0c724fa658 226 set4ports(cntl.motor_step, D_CCW);
kenjiArai 0:7b0c724fa658 227 } else {
kenjiArai 0:7b0c724fa658 228 set4ports(cntl.motor_step, D_CW);
kenjiArai 0:7b0c724fa658 229 }
kenjiArai 0:7b0c724fa658 230 cntl.motor_step++;
kenjiArai 0:7b0c724fa658 231 cntl.pls_width = pls_width[cntl.change_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
kenjiArai 0:7b0c724fa658 237 if (cntl.direction == D_CW){
kenjiArai 0:7b0c724fa658 238 set4ports(cntl.motor_step, D_CCW);
kenjiArai 0:7b0c724fa658 239 } else {
kenjiArai 0:7b0c724fa658 240 set4ports(cntl.motor_step, D_CW);
kenjiArai 0:7b0c724fa658 241 }
kenjiArai 0:7b0c724fa658 242 cntl.motor_step++;
kenjiArai 0:7b0c724fa658 243 cntl.pls_width = pls_width[cntl.change_cnt];
kenjiArai 0:7b0c724fa658 244 cntl.ongoing = 1;
kenjiArai 0:7b0c724fa658 245 }
kenjiArai 0:7b0c724fa658 246 break;
kenjiArai 0:7b0c724fa658 247 default :
kenjiArai 0:7b0c724fa658 248 cntl.state = M_STOP;
kenjiArai 0:7b0c724fa658 249 }
kenjiArai 0:7b0c724fa658 250 }