Steppers for STM32

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Install

1. Clone repo to Libs/ folder of your project

cd Libs
git clone https://github.com/nrf24l01/st_stepper

2. Configure CMAKE to include Libs/stepper/ folder in your include paths, and source stepper.c file in your build

target_sources(${CMAKE_PROJECT_NAME} PRIVATE Libs/stepper/stepper.c)
target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE Libs/stepper)

3. Ensure that stm32f4xx_hal.h and stm32f411xe.h is accessible from your project
4. Include stepper.h in your code where you want to use stepper functions

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Docs

Modes

• KEEP_SPEED - just rotate with given speed(STEPPER_MODE_KEEP_SPEED)
• FOLLOW_POSE - rotate to given position/angle with given speed and acceleration(STEPPER_MODE_FOLLOW_POSE)

API

Create stepper object

ATTENTION steps_per_revolution - steps per one full revolution(360deg) htim - any timer, timer_frequency - timer freq, in tics per us(MHz/1000000)

• 2 wire driver without enable pin

  Stepper* stepper_create_2wire(uint16_t steps_per_revolution,
                              GPIO_TypeDef *step_pin_GPIOx, uint16_t step_pin_Pin,
                              GPIO_TypeDef *dir_pin_GPIOx, uint16_t dir_pin_Pin,
                              TIM_HandleTypeDef *htim, uint32_t timer_frequency);

• 2 wire driver with enable pin

  Stepper* stepper_create_2wire_en(uint16_t steps_per_revolution,
                                   GPIO_TypeDef *step_pin_GPIOx, uint16_t step_pin_Pin,
                                   GPIO_TypeDef *dir_pin_GPIOx, uint16_t dir_pin_Pin,
                                   GPIO_TypeDef *enable_pin_GPIOx, uint16_t enable_pin_Pin,
                                   TIM_HandleTypeDef *htim, uint32_t timer_frequency, Stepper_EnMode en_mode);

  enable_pin_GPIOx, enable_pin_Pin - GPIO port and pin for enable pin en_mode - STEPPER_NORMAL_EN if stepper is locked when enable pin is HIGH, STEPPER_INVERTED_EN if stepper is locked when enable pin is LOW
• 4 wire driver without enable pin

  Stepper* stepper_create_4wire(uint16_t steps_per_revolution,
                                GPIO_TypeDef *pin1_GPIOx, uint16_t pin1_Pin,
                                GPIO_TypeDef *pin2_GPIOx, uint16_t pin2_Pin,
                                GPIO_TypeDef *pin3_GPIOx, uint16_t pin3_Pin,
                                GPIO_TypeDef *pin4_GPIOx, uint16_t pin4_Pin,
                                TIM_HandleTypeDef *htim, uint32_t timer_frequency);

• 4 wire driver with enable pin

  Stepper* stepper_create_4wire_en(uint16_t steps_per_revolution,
                                   GPIO_TypeDef *pin1_GPIOx, uint16_t pin1_Pin,
                                   GPIO_TypeDef *pin2_GPIOx, uint16_t pin2_Pin,
                                   GPIO_TypeDef *pin3_GPIOx, uint16_t pin3_Pin,
                                   GPIO_TypeDef *pin4_GPIOx, uint16_t pin4_Pin,
                                   GPIO_TypeDef *enable_pin_GPIOx, uint16_t enable_pin_Pin,
                                   TIM_HandleTypeDef *htim, uint32_t timer_frequency, Stepper_EnMode en_mode);

  enable_pin_GPIOx, enable_pin_Pin - GPIO port and pin for enable pin en_mode - STEPPER_NORMAL_EN if stepper is locked when enable pin is HIGH, STEPPER_INVERTED_EN if stepper is locked when enable pin is LOW

Core functionality

• TICK Main method, should be called as often as possible (e.g. in a timer interrupt)

  bool stepper_tick(Stepper *stepper);

  returns true if stepper is moving, false otherwise
• Get step interval Can be used to know how often you need to call tick

  uint32_t stepper_get_step_interval(Stepper *stepper);

  returns step interval in microseconds
• Get stepper state

  bool stepper_get_state(Stepper *stepper);

  returns true if stepper is moving, false otherwise

Stepper odometry functions

• Set current position

  void stepper_set_position(Stepper *stepper, int32_t position);

  position - new position in steps
• Set current angle

  void stepper_set_angle(Stepper *stepper, float deg);

  deg - new angle in degrees
• Get current position

  int32_t stepper_get_position(Stepper *stepper);

  returns current position in steps
• Get current angle

  float stepper_get_angle(Stepper *stepper);

  returns current angle in degrees

Stepper mode control functions

• Set stepper mode

  void stepper_set_mode(Stepper *stepper, Stepper_Mode mode);

  mode - new stepper mode, either STEPPER_MODE_KEEP_SPEED or STEPPER_MODE_FOLLOW_POSE

KEEP_SPEED mode functions

• Set speed

  void stepper_set_speed(Stepper *stepper, uint32_t speed);

  speed - speed in steps per second
• Set speed in degrees per second

  void stepper_set_speed_deg(Stepper *stepper, float speed_deg);

  speed_deg - speed in degrees per second
• Get speed

  uint32_t stepper_get_speed(Stepper *stepper);

  returns speed in steps per second
• Get speed in degrees per second

  float stepper_get_speed_deg(Stepper *stepper);

  returns speed in degrees per second

FOLLOW_POSE mode target functions

• Set target position

  void stepper_set_target(Stepper *stepper, int32_t target, Stepper_MovementType mode);

  target - target position in steps mode - either STEPPER_ABSOLUTE for absolute positioning or STEPPER_RELATIVE for relative positioning
• Set target angle

  void stepper_set_target_angle(Stepper *stepper, float target_deg, Stepper_MovementType mode);

  target_deg - target angle in degrees mode - either STEPPER_ABSOLUTE for absolute positioning or STEPPER_RELATIVE for relative positioning
• Get target position

  int32_t stepper_get_target(Stepper *stepper);

  returns target position in steps
• Get target angle

  float stepper_get_target_angle(Stepper *stepper);

  returns target angle in degrees

Stepper FOLLOW_POSE speed functions

• Set max speed

  void stepper_set_max_speed(Stepper *stepper, uint32_t max_speed);

  max_speed - max speed in steps per second
• Set max speed in degrees per second

  void stepper_set_max_speed_deg(Stepper *stepper, float max_speed_deg);

  max_speed_deg - max speed in degrees per second
• Set acceleration

  void stepper_set_acceleration(Stepper *stepper, uint32_t acceleration);

  acceleration - acceleration in steps per second squared
• Set acceleration in degrees per second squared

  void stepper_set_acceleration_deg(Stepper *stepper, float acceleration_deg);

  acceleration_deg - acceleration in degrees per second squared

Stepper power functions

• Enable stepper

  void stepper_enable(Stepper *stepper);

• Disable stepper

  void stepper_disable(Stepper *stepper);

• Auto power management

  void stepper_auto_power(Stepper *stepper, bool enable);

  enable - true to enable auto power management, false to disable

Stepper stop functions

• Stop stepper Smooth stop for stepper

  void stepper_stop(Stepper *stepper);

• Emergency stop stepper Immediate stop for stepper

  void stepper_immediate_stop(Stepper *stepper);

• Stepper reset Immediate stop and reset current to 0 for stepper

  void stepper_reset(Stepper *stepper);