Jeroen Lodder
Design-in of LPC11U24 (lqfp48) of mbed as Steppermotor controller with USB control.
Mbed repository of Stepper Motor Control board. Using mbed LPC11U24 chip with HID USB.
Hardware in copy repo on bitbucket https://bitbucket.org/jeroen3/stepper-motor-board
Diff: smc.h
- Revision:
- 0:d0306c0cbee6
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/smc.h Mon Oct 28 18:26:28 2013 +0000
@@ -0,0 +1,267 @@
+/**
+ * @file SMC.h
+ * @brief Stepper motor control module
+ *
+ * @author Jeroen Lodder
+ * @date Oktober 2013
+ *
+ * @{
+ */
+#ifndef StepperMotorControl_H_
+#define StepperMotorControl_H_
+
+#include <stdint.h>
+
+/**
+ * @brief Motor control microstepping with Sine or Triangle
+ * @{
+ */
+#define LUT_SINE 1
+#define LUT_TRIANGLE 0
+#if (LUT_SINE == LUT_TRIANGLE)
+ #error At least one LUT needs to Enabled or Disabled, not both.
+#endif
+ /**
+ * @}
+ */
+
+/* Api */
+void SMC_init(void);
+int SMC_step(int steps, uint8_t dir, uint32_t time_ms, uint8_t free);
+uint32_t SMC_idle(void);
+void SMC_deinit(void);
+void SMC_brake(void);
+void SMC_free(void);
+void SMC_pause(void);
+void SMC_continue(void);
+int SMC_getState(void);
+void SMC_egg(void);
+
+/* Example of MOSFET bridges
+ * ------------------------ V+
+ * | | | |
+ * \H1 \H2 \H3 \H4
+ * |--MA--| |--MB--|
+ * \L1 \L2 \L3 \L4
+ * | | | |
+ * ------------------------ V-
+ */
+
+/**
+ * @brief Motor control lookup tables
+ * @{
+ */
+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,
+};
+
+#if (LUT_SINE == 1)
+ const 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
+ };
+
+ const 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.
+ };
+
+ const 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
+ };
+
+ const 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 // LUT_SINE
+#if (LUT_TRIANGLE == 1)
+ const uint16_t LUT_L1[32] = {
+ 0 ,
+ 64 ,
+ 128,
+ 192,
+ 256,
+ 320,
+ 384,
+ 448,
+ 512,
+ 448,
+ 384,
+ 320,
+ 256,
+ 192,
+ 128,
+ 64 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0
+ };
+
+ const uint16_t LUT_L2[32] = {
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 64 ,
+ 128,
+ 192,
+ 256,
+ 320,
+ 384,
+ 448,
+ 512,
+ 448,
+ 384,
+ 320,
+ 256,
+ 192,
+ 128,
+ 64
+ };
+
+ const uint16_t LUT_L3[32] = {
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 64 ,
+ 128,
+ 192,
+ 256,
+ 320,
+ 384,
+ 448,
+ 512,
+ 448,
+ 384,
+ 320,
+ 256,
+ 192,
+ 128,
+ 64 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0
+ };
+
+ const uint16_t LUT_L4[32] = {
+ 512,
+ 448,
+ 384,
+ 320,
+ 256,
+ 192,
+ 128,
+ 64 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 0 ,
+ 64 ,
+ 128,
+ 192,
+ 256,
+ 320,
+ 384,
+ 448
+ };
+#endif //LUT_TRIANGLE
+ /**
+ * @}
+ */
+#endif //StepperMotorControl_H_
+/**
+ *@}
+ */
+