Kenji Arai / Mbed 2 deprecated NucleoL152_stepper_w_lib

Unipolar Stepping motor drive sample program

Dependencies:   mbed stepper

Please refer my notebook.
http://mbed.org/users/kenjiArai/notebook/stepping-motor-control-unipolar-type/
I have tested the program following mbed boards.

  • mbed ST Nucleo L152RE
  • mbed ST Nucleo F401RE
  • mbed LPC1114FN28

main.cpp@3:c5d6501ad6a4, 2014-08-24 (annotated)

Committer:
kenjiArai
Date:
Sun Aug 24 00:13:31 2014 +0000
Revision:
3:c5d6501ad6a4
Parent:
2:b9a28dff5ffb 
small modification (change port)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kenjiArai 0:3755d18774e2 1 /*
kenjiArai 2:b9a28dff5ffb 2 * mbed Application program for the mbed ST Nucleo L152RE & L401RE
kenjiArai 1:ae17617b23fa 3 * Stepping Motor
kenjiArai 0:3755d18774e2 4 *
kenjiArai 0:3755d18774e2 5 * Copyright (c) 2014 Kenji Arai / JH1PJL
kenjiArai 0:3755d18774e2 6 * http://www.page.sannet.ne.jp/kenjia/index.html
kenjiArai 0:3755d18774e2 7 * http://mbed.org/users/kenjiArai/
kenjiArai 1:ae17617b23fa 8 * Created: July 12th, 2014
kenjiArai 3:c5d6501ad6a4 9 * Revised: August 24th, 2014
kenjiArai 0:3755d18774e2 10 *
kenjiArai 0:3755d18774e2 11 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
kenjiArai 0:3755d18774e2 12 * INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE
kenjiArai 0:3755d18774e2 13 * AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
kenjiArai 0:3755d18774e2 14 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
kenjiArai 0:3755d18774e2 15 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
kenjiArai 0:3755d18774e2 16 */
kenjiArai 2:b9a28dff5ffb 17 //
kenjiArai 2:b9a28dff5ffb 18 // Stepping Motor SPG27-1702 COPAL ELECTRONICS
kenjiArai 2:b9a28dff5ffb 19 // http://akizukidenshi.com/catalog/g/gP-05708/
kenjiArai 2:b9a28dff5ffb 20 // Drive voltage: 5V Driver IC: TD62003AP
kenjiArai 2:b9a28dff5ffb 21 //
kenjiArai 2:b9a28dff5ffb 22 // CAUTION: This is only for Unipolar Type Stepping Motor!
kenjiArai 2:b9a28dff5ffb 23 // Cannot use for Bipolar Type
kenjiArai 2:b9a28dff5ffb 24 // Plese refer http://en.wikipedia.org/wiki/Stepper_motor
kenjiArai 2:b9a28dff5ffb 25 //
kenjiArai 0:3755d18774e2 26
kenjiArai 0:3755d18774e2 27 // Include ---------------------------------------------------------------------------------------
kenjiArai 2:b9a28dff5ffb 28 #include "mbed.h"
kenjiArai 2:b9a28dff5ffb 29 #include "stepper.h"
kenjiArai 0:3755d18774e2 30
kenjiArai 1:ae17617b23fa 31 // Object ----------------------------------------------------------------------------------------
kenjiArai 2:b9a28dff5ffb 32 #if defined(TARGET_LPC1114)
kenjiArai 2:b9a28dff5ffb 33 Serial pc(dp16,dp15); // Communication with Host
kenjiArai 3:c5d6501ad6a4 34 STEPPER sm_r(dp1, dp2, dp4, dp6);
kenjiArai 2:b9a28dff5ffb 35 STEPPER sm_l(dp17,dp18,dp25,dp26);
kenjiArai 2:b9a28dff5ffb 36 #elif defined(TARGET_NUCLEO_L152RE) || defined(TARGET_STM32F401RE)
kenjiArai 2:b9a28dff5ffb 37 Serial pc(SERIAL_TX, SERIAL_RX); // Communication with Host
kenjiArai 2:b9a28dff5ffb 38 STEPPER sm_r(D5, D4, D3, D2);
kenjiArai 2:b9a28dff5ffb 39 STEPPER sm_l(D9, D8, D7, D6);
kenjiArai 1:ae17617b23fa 40 #endif
kenjiArai 1:ae17617b23fa 41
kenjiArai 2:b9a28dff5ffb 42 // Definition ------------------------------------------------------------------------------------
kenjiArai 2:b9a28dff5ffb 43 #define TIMEBASE 18000
kenjiArai 2:b9a28dff5ffb 44
kenjiArai 2:b9a28dff5ffb 45 #define FIXED_STEPS 480
kenjiArai 0:3755d18774e2 46
kenjiArai 2:b9a28dff5ffb 47 #define BAUD(x) pc.baud(x)
kenjiArai 2:b9a28dff5ffb 48 #define GETC(x) pc.getc(x)
kenjiArai 2:b9a28dff5ffb 49 #define PUTC(x) pc.putc(x)
kenjiArai 2:b9a28dff5ffb 50 #define PRINTF(...) pc.printf(__VA_ARGS__)
kenjiArai 2:b9a28dff5ffb 51 #define READABLE(x) pc.readable(x)
kenjiArai 1:ae17617b23fa 52
kenjiArai 1:ae17617b23fa 53 // RAM -------------------------------------------------------------------------------------------
kenjiArai 2:b9a28dff5ffb 54 char lb[32];
kenjiArai 1:ae17617b23fa 55
kenjiArai 2:b9a28dff5ffb 56 uint8_t pls_width[MT_SLOP_STEP] = {5, 4, 3, 2, 1, 1, 1, 1, 1, 1 };
kenjiArai 1:ae17617b23fa 57
kenjiArai 1:ae17617b23fa 58 // ROM / Constant data ---------------------------------------------------------------------------
kenjiArai 2:b9a28dff5ffb 59 static char *const msg0 = "\r\nStepping Motor Control by JH1PJL, created on "__DATE__"\r\n";
kenjiArai 0:3755d18774e2 60
kenjiArai 0:3755d18774e2 61 // Function prototypes ---------------------------------------------------------------------------
kenjiArai 2:b9a28dff5ffb 62 void help(void);
kenjiArai 2:b9a28dff5ffb 63 void get_line (char *buff, int len);
kenjiArai 2:b9a28dff5ffb 64 int xatoi (char **str, int32_t *res);
kenjiArai 0:3755d18774e2 65
kenjiArai 0:3755d18774e2 66 //-------------------------------------------------------------------------------------------------
kenjiArai 0:3755d18774e2 67 // Control Program
kenjiArai 0:3755d18774e2 68 //-------------------------------------------------------------------------------------------------
kenjiArai 2:b9a28dff5ffb 69 // Main control -----------------------------------------------------------------------------------
kenjiArai 2:b9a28dff5ffb 70 int main() {
kenjiArai 2:b9a28dff5ffb 71 int32_t p1;
kenjiArai 2:b9a28dff5ffb 72 uint8_t cnt = 0;
kenjiArai 2:b9a28dff5ffb 73 char *ptr;
kenjiArai 2:b9a28dff5ffb 74 char c;
kenjiArai 1:ae17617b23fa 75
kenjiArai 2:b9a28dff5ffb 76 sm_r.set_max_speed(TIMEBASE);
kenjiArai 2:b9a28dff5ffb 77 sm_l.set_max_speed(TIMEBASE);
kenjiArai 2:b9a28dff5ffb 78 PRINTF(msg0);
kenjiArai 2:b9a28dff5ffb 79 for (;;) {
kenjiArai 2:b9a28dff5ffb 80 PUTC('>');
kenjiArai 2:b9a28dff5ffb 81 ptr = lb;
kenjiArai 2:b9a28dff5ffb 82 get_line(ptr, sizeof(lb));
kenjiArai 2:b9a28dff5ffb 83 switch (*ptr++){
kenjiArai 2:b9a28dff5ffb 84 case 'b' :
kenjiArai 2:b9a28dff5ffb 85 if (xatoi(&ptr, &p1)) {
kenjiArai 2:b9a28dff5ffb 86 sm_r.move(p1);
kenjiArai 2:b9a28dff5ffb 87 sm_l.move(p1);
kenjiArai 2:b9a28dff5ffb 88 }
kenjiArai 2:b9a28dff5ffb 89 PRINTF("\rR turn: %\+-d\r\n", p1);
kenjiArai 2:b9a28dff5ffb 90 PRINTF("L turn: %\+-d\r\n", p1);
kenjiArai 1:ae17617b23fa 91 break;
kenjiArai 2:b9a28dff5ffb 92 case 't' :
kenjiArai 2:b9a28dff5ffb 93 if (xatoi(&ptr, &p1)) {
kenjiArai 2:b9a28dff5ffb 94 sm_r.move(p1);
kenjiArai 2:b9a28dff5ffb 95 sm_l.move(-p1);
kenjiArai 1:ae17617b23fa 96 }
kenjiArai 2:b9a28dff5ffb 97 PRINTF("\rR turn: %\+-d\r\n", p1);
kenjiArai 2:b9a28dff5ffb 98 PRINTF("L turn: %\+-d\r\n", -p1);
kenjiArai 2:b9a28dff5ffb 99 break;
kenjiArai 2:b9a28dff5ffb 100 case 'r' :
kenjiArai 2:b9a28dff5ffb 101 if (xatoi(&ptr, &p1)) {
kenjiArai 2:b9a28dff5ffb 102 sm_r.move(p1);
kenjiArai 1:ae17617b23fa 103 }
kenjiArai 2:b9a28dff5ffb 104 PRINTF("\rR turn: %\+-d\r\n", p1);
kenjiArai 2:b9a28dff5ffb 105 break;
kenjiArai 2:b9a28dff5ffb 106 case 'l' :
kenjiArai 2:b9a28dff5ffb 107 if (xatoi(&ptr, &p1)) {
kenjiArai 2:b9a28dff5ffb 108 sm_l.move(p1);
kenjiArai 1:ae17617b23fa 109 }
kenjiArai 2:b9a28dff5ffb 110 PRINTF("\rL turn: %\+-d\r\n", p1);
kenjiArai 2:b9a28dff5ffb 111 break;
kenjiArai 2:b9a28dff5ffb 112 case 's' :
kenjiArai 2:b9a28dff5ffb 113 PRINTF("\rR ");
kenjiArai 2:b9a28dff5ffb 114 if (sm_r.status()){
kenjiArai 2:b9a28dff5ffb 115 PRINTF("running");
kenjiArai 2:b9a28dff5ffb 116 } else {
kenjiArai 2:b9a28dff5ffb 117 PRINTF("stooped");
kenjiArai 1:ae17617b23fa 118 }
kenjiArai 2:b9a28dff5ffb 119 PRINTF("\r\nL ");
kenjiArai 2:b9a28dff5ffb 120 if (sm_l.status()){
kenjiArai 2:b9a28dff5ffb 121 PRINTF("running");
kenjiArai 1:ae17617b23fa 122 } else {
kenjiArai 2:b9a28dff5ffb 123 PRINTF("stopped");
kenjiArai 1:ae17617b23fa 124 }
kenjiArai 2:b9a28dff5ffb 125 PRINTF("\r\n");
kenjiArai 1:ae17617b23fa 126 break;
kenjiArai 2:b9a28dff5ffb 127 case 0x0d :
kenjiArai 2:b9a28dff5ffb 128 if (cnt & 1){ // cnt = 1 or 3
kenjiArai 2:b9a28dff5ffb 129 if (cnt == 3){ // cnt = 3
kenjiArai 2:b9a28dff5ffb 130 sm_l.move(-FIXED_STEPS);
kenjiArai 2:b9a28dff5ffb 131 c = '-';
kenjiArai 2:b9a28dff5ffb 132 cnt = 0;
kenjiArai 2:b9a28dff5ffb 133 } else { // cnt = 1
kenjiArai 2:b9a28dff5ffb 134 sm_l.move(FIXED_STEPS);
kenjiArai 2:b9a28dff5ffb 135 c = '+';
kenjiArai 2:b9a28dff5ffb 136 cnt++;
kenjiArai 2:b9a28dff5ffb 137 }
kenjiArai 2:b9a28dff5ffb 138 PRINTF("\rL turn: %c%d\r\n", c, FIXED_STEPS);
kenjiArai 2:b9a28dff5ffb 139 } else { // cnt = 0 or 2
kenjiArai 2:b9a28dff5ffb 140 if (cnt == 2){ // cnt = 2
kenjiArai 2:b9a28dff5ffb 141 sm_r.move(-FIXED_STEPS);
kenjiArai 2:b9a28dff5ffb 142 c = '-';
kenjiArai 2:b9a28dff5ffb 143 } else { // cnt = 0
kenjiArai 2:b9a28dff5ffb 144 sm_r.move(FIXED_STEPS);
kenjiArai 2:b9a28dff5ffb 145 c = '+';
kenjiArai 2:b9a28dff5ffb 146 }
kenjiArai 2:b9a28dff5ffb 147 cnt++;
kenjiArai 2:b9a28dff5ffb 148 PRINTF("\rR turn: %c%d\r\n", c, FIXED_STEPS);
kenjiArai 1:ae17617b23fa 149 }
kenjiArai 2:b9a28dff5ffb 150 break;
kenjiArai 2:b9a28dff5ffb 151 case '?' :
kenjiArai 2:b9a28dff5ffb 152 help();
kenjiArai 1:ae17617b23fa 153 break;
kenjiArai 2:b9a28dff5ffb 154 default:
kenjiArai 2:b9a28dff5ffb 155 PRINTF("\r?\r\n");
kenjiArai 2:b9a28dff5ffb 156 help();
kenjiArai 1:ae17617b23fa 157 }
kenjiArai 0:3755d18774e2 158 }
kenjiArai 0:3755d18774e2 159 }
kenjiArai 0:3755d18774e2 160
kenjiArai 2:b9a28dff5ffb 161 void help(void){
kenjiArai 2:b9a28dff5ffb 162 PRINTF("\rRight motor: r +/-step e.g. r +100\r\n");
kenjiArai 2:b9a28dff5ffb 163 PRINTF("Left motor: l +/-step e.g. l -100\r\n");
kenjiArai 2:b9a28dff5ffb 164 PRINTF("Turn motors: t +/-step e.g. t 100\r\n");
kenjiArai 2:b9a28dff5ffb 165 PRINTF("Both motors: b +/-step e.g. b -100\r\n");
kenjiArai 2:b9a28dff5ffb 166 PRINTF("Check Status: s\r\n");
kenjiArai 2:b9a28dff5ffb 167 PRINTF("fixed data & reverse hit <Enter> key\r\n");
kenjiArai 2:b9a28dff5ffb 168 }
kenjiArai 2:b9a28dff5ffb 169
kenjiArai 2:b9a28dff5ffb 170 // Com line control -------------------------------------------------------------------------------
kenjiArai 2:b9a28dff5ffb 171 // Change string -> number
kenjiArai 2:b9a28dff5ffb 172 int xatoi (char **str, int32_t *res){
kenjiArai 2:b9a28dff5ffb 173 unsigned long val;
kenjiArai 2:b9a28dff5ffb 174 unsigned char c, radix, s = 0;
kenjiArai 1:ae17617b23fa 175
kenjiArai 2:b9a28dff5ffb 176 while ((c = **str) == ' '){ (*str)++;}
kenjiArai 2:b9a28dff5ffb 177 if (c == '-') {
kenjiArai 2:b9a28dff5ffb 178 s = 1;
kenjiArai 2:b9a28dff5ffb 179 c = *(++(*str));
kenjiArai 2:b9a28dff5ffb 180 } else if (c == '+') {
kenjiArai 2:b9a28dff5ffb 181 s = 0;
kenjiArai 2:b9a28dff5ffb 182 c = *(++(*str));
kenjiArai 2:b9a28dff5ffb 183 }
kenjiArai 2:b9a28dff5ffb 184 if (c == '0') {
kenjiArai 2:b9a28dff5ffb 185 c = *(++(*str));
kenjiArai 2:b9a28dff5ffb 186 if (c <= ' ') { *res = 0; return 1; }
kenjiArai 2:b9a28dff5ffb 187 if (c == 'x') {
kenjiArai 2:b9a28dff5ffb 188 radix = 16;
kenjiArai 2:b9a28dff5ffb 189 c = *(++(*str));
kenjiArai 2:b9a28dff5ffb 190 } else {
kenjiArai 2:b9a28dff5ffb 191 if (c == 'b') {
kenjiArai 2:b9a28dff5ffb 192 radix = 2;
kenjiArai 2:b9a28dff5ffb 193 c = *(++(*str));
kenjiArai 2:b9a28dff5ffb 194 } else {
kenjiArai 2:b9a28dff5ffb 195 if ((c >= '0')&&(c <= '9')){ radix = 8;
kenjiArai 2:b9a28dff5ffb 196 } else { return 0;}
kenjiArai 2:b9a28dff5ffb 197 }
kenjiArai 2:b9a28dff5ffb 198 }
kenjiArai 2:b9a28dff5ffb 199 } else {
kenjiArai 2:b9a28dff5ffb 200 if ((c < '1')||(c > '9')){ return 0;}
kenjiArai 2:b9a28dff5ffb 201 radix = 10;
kenjiArai 2:b9a28dff5ffb 202 }
kenjiArai 2:b9a28dff5ffb 203 val = 0;
kenjiArai 2:b9a28dff5ffb 204 while (c > ' ') {
kenjiArai 2:b9a28dff5ffb 205 if (c >= 'a'){ c -= 0x20;}
kenjiArai 2:b9a28dff5ffb 206 c -= '0';
kenjiArai 2:b9a28dff5ffb 207 if (c >= 17){
kenjiArai 2:b9a28dff5ffb 208 c -= 7;
kenjiArai 2:b9a28dff5ffb 209 if (c <= 9){ return 0;}
kenjiArai 2:b9a28dff5ffb 210 }
kenjiArai 2:b9a28dff5ffb 211 if (c >= radix){ return 0;}
kenjiArai 2:b9a28dff5ffb 212 val = val * radix + c;
kenjiArai 2:b9a28dff5ffb 213 c = *(++(*str));
kenjiArai 2:b9a28dff5ffb 214 }
kenjiArai 2:b9a28dff5ffb 215 if (s){ val = -val;}
kenjiArai 2:b9a28dff5ffb 216 *res = val;
kenjiArai 2:b9a28dff5ffb 217 return 1;
kenjiArai 2:b9a28dff5ffb 218 }
kenjiArai 2:b9a28dff5ffb 219
kenjiArai 2:b9a28dff5ffb 220 // Get key input data
kenjiArai 2:b9a28dff5ffb 221 void get_line (char *buff, int len){
kenjiArai 1:ae17617b23fa 222 char c;
kenjiArai 2:b9a28dff5ffb 223 int idx = 0;
kenjiArai 1:ae17617b23fa 224
kenjiArai 1:ae17617b23fa 225 for (;;) {
kenjiArai 2:b9a28dff5ffb 226 c = GETC();
kenjiArai 2:b9a28dff5ffb 227 if (c == '\r') {
kenjiArai 2:b9a28dff5ffb 228 buff[idx++] = c;
kenjiArai 2:b9a28dff5ffb 229 break;
kenjiArai 2:b9a28dff5ffb 230 }
kenjiArai 2:b9a28dff5ffb 231 if ((c == '\b') && idx) {
kenjiArai 2:b9a28dff5ffb 232 idx--;
kenjiArai 2:b9a28dff5ffb 233 PUTC(c);
kenjiArai 2:b9a28dff5ffb 234 PUTC(' ');
kenjiArai 2:b9a28dff5ffb 235 PUTC(c);
kenjiArai 2:b9a28dff5ffb 236 }
kenjiArai 2:b9a28dff5ffb 237 if (((uint8_t)c >= ' ') && (idx < len - 1)) {
kenjiArai 2:b9a28dff5ffb 238 buff[idx++] = c;
kenjiArai 2:b9a28dff5ffb 239 PUTC(c);
kenjiArai 1:ae17617b23fa 240 }
kenjiArai 1:ae17617b23fa 241 }
kenjiArai 2:b9a28dff5ffb 242 buff[idx] = 0;
kenjiArai 2:b9a28dff5ffb 243 PUTC('\n');
kenjiArai 1:ae17617b23fa 244 }