Jeroen Lodder
Full H Bridge Microstepping Stepper Motor Demo software
Revision 0:8e4a6920a484, committed 2013-10-08
- Comitter:
- jeroen3
- Date:
- Tue Oct 08 19:51:11 2013 +0000
- Commit message:
- Initial
Changed in this revision
diff -r 000000000000 -r 8e4a6920a484 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Oct 08 19:51:11 2013 +0000
@@ -0,0 +1,189 @@
+ /**
+ * @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"
+#include "smclut.h"
+
+
+ /* MOSFET io
+ * FET L1 L2 H1 H2 H3 H4 L3 L4
+ * Motor MA MB
+ * mbed p21 p22 p25 p26 p27 p28 p23 p24
+ * ------------------------ V+
+ * | | | |
+ * \H1 \H2 \H3 \H4
+ * |--MA--| |--MB--|
+ * \L1 \L2 \L3 \L4
+ * | | | |
+ * ------------------------ V-
+ */
+
+/* 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 0.5
+
+/* Motor control definitions */
+ #define PWM_PERIOD 512 // Q15
+ #define PWM_AMPLITIUDE 1 // 0 to 1, equals torque
+ #define PHASE_SHIFT 1 // Shift in rads
+
+#define PI 3.14159265359
+
+AnalogOut signal(p18);
+Serial pc(USBTX, USBRX);
+
+/* IO declarations */
+ /* LED coil indicators */
+ DigitalOut LED_H1(LED1);
+ DigitalOut LED_H2(LED2);
+ DigitalOut LED_H3(LED3);
+ DigitalOut LED_H4(LED4);
+ #define SetLed() LED_H1 = FET_H1; \
+ LED_H2 = FET_H2; \
+ LED_H3 = FET_H3; \
+ LED_H4 = FET_H4;
+
+ /* H Bridge output IO */
+ PwmOut FET_L1( p21 ); // MA
+ PwmOut FET_L2( p22 ); // MA
+
+ PwmOut FET_L3( p23 ); // MB
+ PwmOut FET_L4( p24 ); // MB
+
+ DigitalOut FET_H1( p25 ); // MA
+ DigitalOut FET_H2( p26 ); // MA
+
+ DigitalOut FET_H3( p27 ); // MB
+ DigitalOut FET_H4( p28 ); // MB
+
+ /* Motor Control Ticker */
+ Ticker smc;
+ volatile int smc_walker = 0;
+ volatile int smc_dir = 1;
+ volatile int smc_steps = -1;
+ volatile int smc_free = 1;
+
+
+void smc_routine(){
+ #define i smc_walker
+
+ // Phase 1 A
+ // If sin +, H1->L2
+ // If sin -, H2->L1
+ FET_H1 = LUT_H1[i];
+ FET_H2 = LUT_H2[i];
+ FET_L1.pulsewidth_us( LUT_L1[i] );
+ FET_L2.pulsewidth_us( LUT_L2[i] );
+
+ // Phase 1 A
+ // If sin +, H1->L2
+ // If sin -, H2->L1
+ FET_H3 = LUT_H3[i];
+ FET_H4 = LUT_H4[i];
+ FET_L3.pulsewidth_us( LUT_L3[i] );
+ FET_L4.pulsewidth_us( LUT_L4[i] );
+
+// uint8_t bridge = ( FET_H1.read() << 7 )|
+// ( isPositive(FET_L1.read()) << 6 )|
+// ( FET_H2.read() << 5 )|
+// ( isPositive(FET_L2.read()) << 4 )|
+// ( FET_H3.read() << 3 )|
+// ( isPositive(FET_L3.read()) << 2 )|
+// ( FET_H4.read() << 1 )|
+// ( isPositive(FET_L4.read()) << 0 );
+ SetLed();
+ #undef i
+
+ /* Walk */
+ smc_walker += smc_dir;
+ if(smc_walker > 31)
+ smc_walker = 0;
+ if(smc_walker < 0)
+ smc_walker = 31;
+ /* Coutdown */
+ if(smc_steps != -1){
+ if(smc_steps == 0){
+ if(smc_free){
+ // motor free
+ FET_L1 = 1;
+ FET_L2 = 1;
+ FET_L3 = 1;
+ FET_L4 = 1;
+ FET_H1 = 0;
+ FET_H2 = 0;
+ FET_H3 = 0;
+ FET_H4 = 0;
+ }else{
+ // motor locked
+ }
+ SetLed();
+ smc.detach();
+ }
+ smc_steps--;
+ }
+}
+
+void smc_dostep(int steps, int dir, float time_ms, int free){
+ // steps = number of microsteps (8 microsteps per full step)
+ // dir = -1 or 1
+ // time_us = completion time in s
+ smc_steps = steps;
+ smc_dir = dir;
+ smc_free = free;
+ smc.attach_us(&smc_routine, (time_ms*1000)/steps);
+}
+
+
+int main(void) {
+ pc.baud(115200);
+ pc.printf("hi\r\n");
+
+/* Control declarations */
+ /* Direction LUT are played */
+ //DigitalIn direction( p20 );
+ /* Step pulse input if step mode */
+ //DigitalIn step( p18 );
+ /* Speed potmeter input */
+ //AnalogIn speed( p19 );
+
+ //AnalogIn phase( p17 );
+
+ /* PWM init */
+ FET_L1.period_us(PWM_PERIOD);
+ FET_L2.period_us(PWM_PERIOD);
+ FET_L3.period_us(PWM_PERIOD);
+ FET_L4.period_us(PWM_PERIOD);
+ FET_L1 = 1;
+ FET_L2 = 1;
+ FET_L3 = 1;
+ FET_L4 = 1;
+ FET_H1 = 0;
+ FET_H2 = 0;
+ FET_H3 = 0;
+ FET_H4 = 0;
+ SetLed();
+
+ //smc.attach_us(&smc_routine, 6000);
+ smc_dostep(1600, 1, 1000.0, 1);
+
+
+ /* Stepper motor control loop */
+ while(1){
+ while(!pc.readable());
+ while(pc.readable()) pc.getc();
+ smc_dostep(16, 1, 100.0, 0);
+ }
+}
diff -r 000000000000 -r 8e4a6920a484 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Oct 08 19:51:11 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/a9913a65894f \ No newline at end of file
diff -r 000000000000 -r 8e4a6920a484 smclut.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/smclut.h Tue Oct 08 19:51:11 2013 +0000
@@ -0,0 +1,73 @@
+#ifndef _SMCLUT_H_
+#define _SMCLUT_H_
+
+#include <stdint.h>
+
+const uint16_t LUT_H1[32] = {
+0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1
+};
+
+const uint16_t LUT_H2[32] = {
+0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,
+0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+};
+
+const uint16_t LUT_H3[32] = {
+1,1,1,1,1,1,1,1,0,0,0,0,0,0,0,0,
+0,0,0,0,0,0,0,0,0,1,1,1,1,1,1,1
+};
+
+
+const uint16_t LUT_H4[32] = {
+0,0,0,0,0,0,0,0,0,1,1,1,1,1,1,1,
+1,1,1,1,1,1,1,1,0,0,0,0,0,0,0,0,
+};
+
+
+uint16_t LUT_L1[32] = {
+0 ,102,194 ,286 ,
+363 ,424,471 ,501 ,
+512 ,501,471 ,424 ,
+363 ,286,194 ,102 ,
+0 ,0 ,0 ,0 ,
+0 ,0 ,0 ,0 ,
+0 ,0 ,0 ,0 ,
+0 ,0 ,0 ,0
+};
+
+uint16_t LUT_L2[32] = {
+0 ,0 ,0 ,0 ,
+0 ,0 ,0 ,0 ,
+0 ,0 ,0 ,0 ,
+0 ,0 ,0 ,0 ,
+0 ,102 ,194,286 ,
+363 ,424 ,471 ,501 ,
+512 ,501 ,471 ,424 ,
+363 ,286 ,194 ,102.
+};
+
+uint16_t LUT_L3[32] = {
+0 ,0 ,0 ,0 ,
+0 ,0 ,0 ,0 ,
+0 ,102 ,194 ,286 ,
+363 ,424 ,471 ,501 ,
+512 ,501 ,471 ,424 ,
+363 ,286 ,194 ,102 ,
+0 ,0 ,0 ,0 ,
+0 ,0 ,0 ,0
+};
+
+uint16_t LUT_L4[32] = {
+512 ,501,471 ,424 ,
+363 ,286,194 ,102 ,
+0 ,0 ,0 ,0 ,
+0 ,0 ,0 ,0 ,
+0 ,0 ,0 ,0 ,
+0 ,0 ,0 ,0 ,
+0 ,102,194 ,286 ,
+363 ,424,471 ,501
+};
+
+
+#endif