Jeroen Lodder / Mbed 2 deprecated StepperMotor_Bipolar

Bipolar Full H Bridge Stepper Motor Control

Dependencies:   mbed

Full H Bridge Stepper Motor Demo software

Simple demo playing binary control lookup tables for dual full h bridge with driver.

http://en.wikipedia.org/wiki/H_bridge

Information

This demo requires a dual full h bridge (with mosfet driver, if separate mosfets are used) Not an integrated motor control IC

Inputs and Outputs

Input p18: Step pulse (if enabled) p19: Speed analog (if enabled) p20: Direction

Output p21: L1 p22: L2 p23: H1 p24: H2 p25: H3 p26: H4 p27: L3 p28: L4

Dual H Bridge

------------------------------------------ V+
 |			|		 |			|		
 \H1		\H2		 \H3		\H4	
 |----MA----|		 |----MB----|		
 \L1		\L2		 \L3		\L4	
 |			|		 |			|		
 ----------------------------------------- V-

main.cpp@0:896d8456cb58, 2013-09-30 (annotated)

Committer:
jeroen3
Date:
Mon Sep 30 08:01:26 2013 +0000
Revision:
0:896d8456cb58
Initial release

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jeroen3 0:896d8456cb58 1 /**
jeroen3 0:896d8456cb58 2 * @file main.cpp
jeroen3 0:896d8456cb58 3 * @brief Bipolar Steppr Motor Control with dual H Bridge
jeroen3 0:896d8456cb58 4 * @details Software plays stepper motor lookup tables for dual h bridge control.
jeroen3 0:896d8456cb58 5 *
jeroen3 0:896d8456cb58 6 *
jeroen3 0:896d8456cb58 7 * @Author Jeroen Lodder
jeroen3 0:896d8456cb58 8 * @Date September 2013
jeroen3 0:896d8456cb58 9 * @version 1
jeroen3 0:896d8456cb58 10 *
jeroen3 0:896d8456cb58 11 */
jeroen3 0:896d8456cb58 12
jeroen3 0:896d8456cb58 13 #include "mbed.h"
jeroen3 0:896d8456cb58 14
jeroen3 0:896d8456cb58 15 /* IO declarations */
jeroen3 0:896d8456cb58 16 /* LED coil indicators */
jeroen3 0:896d8456cb58 17 BusOut leds(LED1, LED2, LED3, LED4);
jeroen3 0:896d8456cb58 18 /* H Bridge output IO */
jeroen3 0:896d8456cb58 19 BusOut motor(p21, p22, p23, p24, p25, p26, p27, p28);
jeroen3 0:896d8456cb58 20 /* MOSFET io
jeroen3 0:896d8456cb58 21 * FET L1 L2 H1 H2 H3 H4 L3 L4
jeroen3 0:896d8456cb58 22 * Motor MA MB
jeroen3 0:896d8456cb58 23 * mbed p21 p22 p23 p24 p25 p26 p27 p28
jeroen3 0:896d8456cb58 24 * ------------------------ V+
jeroen3 0:896d8456cb58 25 * | | | |
jeroen3 0:896d8456cb58 26 * \H1 \H2 \H3 \H4
jeroen3 0:896d8456cb58 27 * |--MA--| |--MB--|
jeroen3 0:896d8456cb58 28 * \L1 \L2 \L3 \L4
jeroen3 0:896d8456cb58 29 * | | | |
jeroen3 0:896d8456cb58 30 * ------------------------ V-
jeroen3 0:896d8456cb58 31 */
jeroen3 0:896d8456cb58 32
jeroen3 0:896d8456cb58 33 /* Single phase control */
jeroen3 0:896d8456cb58 34 const uint8_t motortable_singlephase[4] = {
jeroen3 0:896d8456cb58 35 0x09 ,
jeroen3 0:896d8456cb58 36 0x90 ,
jeroen3 0:896d8456cb58 37 0x06 ,
jeroen3 0:896d8456cb58 38 0x60
jeroen3 0:896d8456cb58 39 };
jeroen3 0:896d8456cb58 40
jeroen3 0:896d8456cb58 41 /* Dual phase motor control */
jeroen3 0:896d8456cb58 42 const uint8_t motortable_dualphase[4] = {
jeroen3 0:896d8456cb58 43 0x99 ,
jeroen3 0:896d8456cb58 44 0x96 ,
jeroen3 0:896d8456cb58 45 0x66 ,
jeroen3 0:896d8456cb58 46 0x69
jeroen3 0:896d8456cb58 47 };
jeroen3 0:896d8456cb58 48
jeroen3 0:896d8456cb58 49 /* Half step motor control */
jeroen3 0:896d8456cb58 50 const uint8_t motortable_half_step[8] = {
jeroen3 0:896d8456cb58 51 0x09 ,
jeroen3 0:896d8456cb58 52 0x99 ,
jeroen3 0:896d8456cb58 53 0x90 ,
jeroen3 0:896d8456cb58 54 0x96 ,
jeroen3 0:896d8456cb58 55 0x06 ,
jeroen3 0:896d8456cb58 56 0x66 ,
jeroen3 0:896d8456cb58 57 0x60 ,
jeroen3 0:896d8456cb58 58 0x69
jeroen3 0:896d8456cb58 59 };
jeroen3 0:896d8456cb58 60
jeroen3 0:896d8456cb58 61 /* LED coil indicators tables */
jeroen3 0:896d8456cb58 62 const uint8_t ledtable_singlephase[4] = { 0x4,0x2,0x8,0x1 };
jeroen3 0:896d8456cb58 63 const uint8_t ledtable_dualphase[4] = { 0x6,0xA,0x9,0x5 };
jeroen3 0:896d8456cb58 64 const uint8_t ledtable_half_step[8] = { 0x4,0x6,0x2,0xA,0x8,0x9,0x1,0x5 };
jeroen3 0:896d8456cb58 65
jeroen3 0:896d8456cb58 66 /* Fet driver definitions */
jeroen3 0:896d8456cb58 67 /* Turn off time fet driver in micro seconds (uS) */
jeroen3 0:896d8456cb58 68 #define TURN_ON_TIME_FET_DRIVER 750
jeroen3 0:896d8456cb58 69
jeroen3 0:896d8456cb58 70 /* Control definitions */
jeroen3 0:896d8456cb58 71 /* Mutliplier of speed wait time setting */
jeroen3 0:896d8456cb58 72 #define SPEED_SCALING 0.05
jeroen3 0:896d8456cb58 73
jeroen3 0:896d8456cb58 74 int main(void) {
jeroen3 0:896d8456cb58 75 /* Control declarations */
jeroen3 0:896d8456cb58 76 /* Direction LUT are played */
jeroen3 0:896d8456cb58 77 DigitalIn direction( p20 );
jeroen3 0:896d8456cb58 78 /* Step pulse input if step mode */
jeroen3 0:896d8456cb58 79 DigitalIn step( p18 );
jeroen3 0:896d8456cb58 80 /* Speed potmeter input */
jeroen3 0:896d8456cb58 81 AnalogIn speed( p19 );
jeroen3 0:896d8456cb58 82
jeroen3 0:896d8456cb58 83 /* config variables */
jeroen3 0:896d8456cb58 84 /* Autostep or stepmode with step input */
jeroen3 0:896d8456cb58 85 uint8_t autostep = 1;
jeroen3 0:896d8456cb58 86 /* Halfstep or Dual phase mode */
jeroen3 0:896d8456cb58 87 uint8_t halfstep = 0;
jeroen3 0:896d8456cb58 88
jeroen3 0:896d8456cb58 89
jeroen3 0:896d8456cb58 90 /* Stepper motor control loop */
jeroen3 0:896d8456cb58 91 while(1) {
jeroen3 0:896d8456cb58 92 if( halfstep ){
jeroen3 0:896d8456cb58 93 if(direction){
jeroen3 0:896d8456cb58 94 for(int i=0; i<8; i++) {
jeroen3 0:896d8456cb58 95 leds = ledtable_half_step[i];
jeroen3 0:896d8456cb58 96 motor = 0;
jeroen3 0:896d8456cb58 97 wait_us(TURN_ON_TIME_FET_DRIVER);
jeroen3 0:896d8456cb58 98 motor = motortable_half_step[i];
jeroen3 0:896d8456cb58 99 /* Delay */
jeroen3 0:896d8456cb58 100 if(!autostep){
jeroen3 0:896d8456cb58 101 while(!step);
jeroen3 0:896d8456cb58 102 wait(0.001);
jeroen3 0:896d8456cb58 103 while(step);
jeroen3 0:896d8456cb58 104 }else{
jeroen3 0:896d8456cb58 105 wait((speed*SPEED_SCALING)+0.001);
jeroen3 0:896d8456cb58 106 }
jeroen3 0:896d8456cb58 107 }
jeroen3 0:896d8456cb58 108 }else{
jeroen3 0:896d8456cb58 109 for(int i=7; i>-1; i--) {
jeroen3 0:896d8456cb58 110 leds = ledtable_half_step[i];
jeroen3 0:896d8456cb58 111 motor = 0;
jeroen3 0:896d8456cb58 112 wait_us(TURN_ON_TIME_FET_DRIVER);
jeroen3 0:896d8456cb58 113 motor = motortable_half_step[i];
jeroen3 0:896d8456cb58 114 /* Delay */
jeroen3 0:896d8456cb58 115 if(!autostep){
jeroen3 0:896d8456cb58 116 while(!step);
jeroen3 0:896d8456cb58 117 wait(0.001);
jeroen3 0:896d8456cb58 118 while(step);
jeroen3 0:896d8456cb58 119 }else{
jeroen3 0:896d8456cb58 120 wait((speed*SPEED_SCALING)+0.001);
jeroen3 0:896d8456cb58 121 }
jeroen3 0:896d8456cb58 122 }
jeroen3 0:896d8456cb58 123 }
jeroen3 0:896d8456cb58 124 }else{ /* Half step */
jeroen3 0:896d8456cb58 125 if(direction){
jeroen3 0:896d8456cb58 126 for(int i=0; i<4; i++) {
jeroen3 0:896d8456cb58 127 leds = ledtable_dualphase[i];
jeroen3 0:896d8456cb58 128 motor = 0;
jeroen3 0:896d8456cb58 129 wait_us(TURN_ON_TIME_FET_DRIVER);
jeroen3 0:896d8456cb58 130 motor = motortable_dualphase[i];
jeroen3 0:896d8456cb58 131 /* Delay */
jeroen3 0:896d8456cb58 132 if(!autostep){
jeroen3 0:896d8456cb58 133 while(!step);
jeroen3 0:896d8456cb58 134 wait(0.001);
jeroen3 0:896d8456cb58 135 while(step);
jeroen3 0:896d8456cb58 136 }else{
jeroen3 0:896d8456cb58 137 wait((speed*SPEED_SCALING)+0.001);
jeroen3 0:896d8456cb58 138 }
jeroen3 0:896d8456cb58 139 }
jeroen3 0:896d8456cb58 140 }else{
jeroen3 0:896d8456cb58 141 for(int i=3; i>-1; i--) {
jeroen3 0:896d8456cb58 142 leds = ledtable_dualphase[i];
jeroen3 0:896d8456cb58 143 motor = 0;
jeroen3 0:896d8456cb58 144 wait_us(TURN_ON_TIME_FET_DRIVER);
jeroen3 0:896d8456cb58 145 motor = motortable_dualphase[i];
jeroen3 0:896d8456cb58 146 /* Delay */
jeroen3 0:896d8456cb58 147 if(!autostep){
jeroen3 0:896d8456cb58 148 while(!step);
jeroen3 0:896d8456cb58 149 wait(0.001);
jeroen3 0:896d8456cb58 150 while(step);
jeroen3 0:896d8456cb58 151 }else{
jeroen3 0:896d8456cb58 152 wait((speed*SPEED_SCALING)+0.001);
jeroen3 0:896d8456cb58 153 }
jeroen3 0:896d8456cb58 154 }
jeroen3 0:896d8456cb58 155 }
jeroen3 0:896d8456cb58 156 }
jeroen3 0:896d8456cb58 157 }
jeroen3 0:896d8456cb58 158 }