File content as of revision 0:8e4a6920a484:

 /**    
 * @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);
    }
}