Jeroen Lodder
Bipolar Full H Bridge Stepper Motor Control
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-
Diff: main.cpp
- Revision:
- 0:896d8456cb58
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Sep 30 08:01:26 2013 +0000
@@ -0,0 +1,158 @@
+ /**
+ * @file main.cpp
+ * @brief Bipolar Steppr Motor Control with dual H Bridge
+ * @details Software plays stepper motor lookup tables for dual h bridge control.
+ *
+ *
+ * @Author Jeroen Lodder
+ * @Date September 2013
+ * @version 1
+ *
+ */
+
+#include "mbed.h"
+
+/* IO declarations */
+ /* LED coil indicators */
+ BusOut leds(LED1, LED2, LED3, LED4);
+ /* H Bridge output IO */
+ BusOut motor(p21, p22, p23, p24, p25, p26, p27, p28);
+ /* MOSFET io
+ * FET L1 L2 H1 H2 H3 H4 L3 L4
+ * Motor MA MB
+ * mbed p21 p22 p23 p24 p25 p26 p27 p28
+ * ------------------------ V+
+ * | | | |
+ * \H1 \H2 \H3 \H4
+ * |--MA--| |--MB--|
+ * \L1 \L2 \L3 \L4
+ * | | | |
+ * ------------------------ V-
+ */
+
+/* Single phase control */
+const uint8_t motortable_singlephase[4] = {
+ 0x09 ,
+ 0x90 ,
+ 0x06 ,
+ 0x60
+};
+
+/* Dual phase motor control */
+const uint8_t motortable_dualphase[4] = {
+ 0x99 ,
+ 0x96 ,
+ 0x66 ,
+ 0x69
+};
+
+/* Half step motor control */
+const uint8_t motortable_half_step[8] = {
+ 0x09 ,
+ 0x99 ,
+ 0x90 ,
+ 0x96 ,
+ 0x06 ,
+ 0x66 ,
+ 0x60 ,
+ 0x69
+};
+
+/* LED coil indicators tables */
+const uint8_t ledtable_singlephase[4] = { 0x4,0x2,0x8,0x1 };
+const uint8_t ledtable_dualphase[4] = { 0x6,0xA,0x9,0x5 };
+const uint8_t ledtable_half_step[8] = { 0x4,0x6,0x2,0xA,0x8,0x9,0x1,0x5 };
+
+/* Fet driver definitions */
+ /* Turn off time fet driver in micro seconds (uS) */
+ #define TURN_ON_TIME_FET_DRIVER 750
+
+/* Control definitions */
+ /* Mutliplier of speed wait time setting */
+ #define SPEED_SCALING 0.05
+
+int main(void) {
+/* Control declarations */
+ /* Direction LUT are played */
+ DigitalIn direction( p20 );
+ /* Step pulse input if step mode */
+ DigitalIn step( p18 );
+ /* Speed potmeter input */
+ AnalogIn speed( p19 );
+
+/* config variables */
+ /* Autostep or stepmode with step input */
+ uint8_t autostep = 1;
+ /* Halfstep or Dual phase mode */
+ uint8_t halfstep = 0;
+
+
+/* Stepper motor control loop */
+ while(1) {
+ if( halfstep ){
+ if(direction){
+ for(int i=0; i<8; i++) {
+ leds = ledtable_half_step[i];
+ motor = 0;
+ wait_us(TURN_ON_TIME_FET_DRIVER);
+ motor = motortable_half_step[i];
+ /* Delay */
+ if(!autostep){
+ while(!step);
+ wait(0.001);
+ while(step);
+ }else{
+ wait((speed*SPEED_SCALING)+0.001);
+ }
+ }
+ }else{
+ for(int i=7; i>-1; i--) {
+ leds = ledtable_half_step[i];
+ motor = 0;
+ wait_us(TURN_ON_TIME_FET_DRIVER);
+ motor = motortable_half_step[i];
+ /* Delay */
+ if(!autostep){
+ while(!step);
+ wait(0.001);
+ while(step);
+ }else{
+ wait((speed*SPEED_SCALING)+0.001);
+ }
+ }
+ }
+ }else{ /* Half step */
+ if(direction){
+ for(int i=0; i<4; i++) {
+ leds = ledtable_dualphase[i];
+ motor = 0;
+ wait_us(TURN_ON_TIME_FET_DRIVER);
+ motor = motortable_dualphase[i];
+ /* Delay */
+ if(!autostep){
+ while(!step);
+ wait(0.001);
+ while(step);
+ }else{
+ wait((speed*SPEED_SCALING)+0.001);
+ }
+ }
+ }else{
+ for(int i=3; i>-1; i--) {
+ leds = ledtable_dualphase[i];
+ motor = 0;
+ wait_us(TURN_ON_TIME_FET_DRIVER);
+ motor = motortable_dualphase[i];
+ /* Delay */
+ if(!autostep){
+ while(!step);
+ wait(0.001);
+ while(step);
+ }else{
+ wait((speed*SPEED_SCALING)+0.001);
+ }
+ }
+ }
+ }
+ }
+}