StepperDriver

STM32 library to use the stepper motor drivers

Download Normal Version : StepMotor

Release

• Version : 1.0.0

• Type : Embedded Software

• Support :

  + ARM STM32 Series   

• Program Language : C++

• Properties :

• Changes :

• Required Library/Driver :

Overview

Initialization and de-initialization functions:

void Init(GPIO_TypeDef *enGPIO, uint32_t enPIN, GPIO_TypeDef *dirGPIO, uint32_t dirPIN, GPIO_TypeDef *clkGPIO, uint32_t clkPIN, uint16_t  numberOfSteps, uint16_t  rpm);

Operation functions:

void SetSpeed(uint16_t rpm);
void Step(int16_t step);
void Step(int16_t step, StepperRun_T func);
void StepAngle(float ang);
void StepAngle(float ang, StepperRun_T func);

Macros:

non   

Guide

This library can be used as follows:

1. Add .h and source file in project.

2. Create Stepper object and initialize it, for example:

• Mode 1 (constructor):

  • Initializer:

    Stepper(GPIO_TypeDef *enGPIO, uint32_t enPIN, GPIO_TypeDef *dirGPIO, uint32_t dirPIN, GPIO_TypeDef *clkGPIO, uint32_t clkPIN, uint16_t  numberOfSteps, uint16_t  rpm);

  • Parameters:

    • enGPIO : 'enable pin' GPIO
    • enPIN : enable pin
    • dirGPIO : 'direction pin' GPIO
    • dirPIN : direction pin
    • clkGPIO : 'pulse pin' GPIO
    • clkPIN : pulse pin
    • numberOfSteps : number of stepper motor steps
    • rpm : speed of stepper motor

  • Example:

    Stepper myMotor(&GPIOA, GPIO_PIN_0, &GPIOA, GPIO_PIN_1, &GPIOA, GPIO_PIN_2, 400, 30);

• Mode 2 (initializer function):

  • Initializer:

    Stepper::Init(GPIO_TypeDef *enGPIO, uint32_t enPIN, GPIO_TypeDef *dirGPIO, uint32_t dirPIN, GPIO_TypeDef *clkGPIO, uint32_t clkPIN, uint16_t  numberOfSteps, uint16_t  rpm);

  • Parameters:

    • enGPIO : 'enable pin' GPIO
    • enPIN : enable pin
    • dirGPIO : 'direction pin' GPIO
    • dirPIN : direction pin
    • clkGPIO : 'pulse pin' GPIO
    • clkPIN : pulse pin
    • numberOfSteps : number of stepper motor steps
    • rpm : speed of stepper motor

  • Example:

    Stepper myMotor;
    
    myMotor.Init(&GPIOA, GPIO_PIN_0, &GPIOA, GPIO_PIN_1, &GPIOA, GPIO_PIN_2, 400, 30);

3. Using operation methods, for example:

myMotor.Step(10);
myMotor.StepAngle(-50);

Examples

Example 1: Simple mode

int main()
{
   //Your codes
   GPIO_Init(); // Initialize gpio for connect to driver
   
   Stepper myMotor;
   myMotor.Init(&GPIOA, GPIO_PIN_0, &GPIOA, GPIO_PIN_1, &GPIOA, GPIO_PIN_2, 400, 30);
   
   while(1)
   {
      myMotor.StepAngle(60);
      HAL_Delay(100);
      myMotor.StepAngle(-50);
      HAL_Delay(100);
   }
}

Example 2: Advanced mode

void stepperEvent(uint16_t currentStep)
{
   print(currentStep);
}

int main()
{
   //Your codes
   GPIO_Init(); // Initialize gpio for connect to driver
   
   Stepper myMotor;
   myMotor.Init(&GPIOA, GPIO_PIN_0, &GPIOA, GPIO_PIN_1, &GPIOA, GPIO_PIN_2, 400, 30);
   
   while(1)
   {
      myMotor.Step(10, stepperEvent);
      HAL_Delay(100);
      myMotor.StepAngle(-9, stepperEvent);
      HAL_Delay(100);
   }
}

Tests performed:

• Run on STM32 Fx cores

Developers:

• Majid Derhambakhsh