├── .gitignore ├── Cargo.toml ├── LICENSE-APACHE ├── LICENSE-MIT ├── README.md └── src └── lib.rs /.gitignore: -------------------------------------------------------------------------------- 1 | *.iml 2 | *.ipr 3 | *.iws 4 | /target 5 | **/*.rs.bk 6 | Cargo.lock 7 | -------------------------------------------------------------------------------- /Cargo.toml: -------------------------------------------------------------------------------- 1 | [package] 2 | name = "stepper-driver" 3 | description = "A49xx and DRV88xx stepper motor driver." 4 | categories = ["embedded", "no-std"] 5 | keywords = ["cortex-m", "driver", "stepper", "motor", "embedded-hal"] 6 | repository = "https://github.com/dethoter/stepper-driver" 7 | readme = "README.md" 8 | 9 | license = "MIT OR Apache-2.0" 10 | authors = ["Evgen Druzhynin "] 11 | version = "0.1.0" 12 | 13 | [dependencies] 14 | embedded-hal = "0.1.2" 15 | -------------------------------------------------------------------------------- /LICENSE-APACHE: -------------------------------------------------------------------------------- 1 | Apache License 2 | Version 2.0, January 2004 3 | http://www.apache.org/licenses/ 4 | 5 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 6 | 7 | 1. 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IN NO EVENT 21 | SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY 22 | CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION 23 | OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR 24 | IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER 25 | DEALINGS IN THE SOFTWARE. 26 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # A49xx/DRV88xx stepper motor driver 2 | 3 | Stepper motor driver that supports A49xx and DRV88xx families of 4 | stepper drivers. 5 | 6 | ## Example 7 | 8 | ```rust 9 | #![deny(unsafe_code)] 10 | #![deny(warnings)] 11 | #![no_std] 12 | 13 | extern crate panic_abort; 14 | extern crate cortex_m; 15 | extern crate embedded_hal; 16 | extern crate tm4c123x_hal as hal; 17 | extern crate stepper_rs; 18 | 19 | use hal::delay::Delay; 20 | use hal::gpio::GpioExt; 21 | use hal::sysctl::SysctlExt; 22 | 23 | fn main() { 24 | let p = hal::Peripherals::take().unwrap(); 25 | let sysctl = p.SYSCTL.constrain(); 26 | let portc = p.GPIO_PORTC.split(&sysctl.power_control); 27 | let clocks = sysctl.clock_setup.freeze(); 28 | 29 | let cp = cortex_m::Peripherals::take().unwrap(); 30 | let mut driver = stepper_rs::MotorDriver::a4988( 31 | Delay::new(cp.SYST, &clocks), 32 | portc.pc6.into_push_pull_output(), 33 | portc.pc7.into_push_pull_output(), 34 | 200, 35 | 16, 36 | 100f32 37 | ); 38 | 39 | loop { 40 | driver.set_speed(100f32); 41 | driver.set_direction(true); 42 | driver.move_instant(600); 43 | driver.set_direction(false); 44 | driver.move_instant(600); 45 | 46 | driver.set_speed(300f32); 47 | driver.set_direction(true); 48 | driver.move_smooth(1600, 150, 150); 49 | driver.set_direction(false); 50 | driver.move_smooth(1600, 150, 150); 51 | } 52 | } 53 | ``` 54 | 55 | ## TODO 56 | 57 | - [ ] Implement EN pin handling (enable/disable the driver) 58 | - [ ] Implement driver specific functions (for example, setting a step 59 | division by pins) 60 | - [ ] Refactor `hal::delay` into properly configured timer when 61 | [embedded-hal](https://github.com/japaric/embedded-hal) will get more 62 | consistent `CountDowm::Time` restrictions. 63 | 64 | ## License 65 | Licensed at your option under either of 66 | 67 | - [Apache License, Version 2.0](http://www.apache.org/licenses/LICENSE-2.0) 68 | - [MIT license](http://opensource.org/licenses/MIT) 69 | -------------------------------------------------------------------------------- /src/lib.rs: -------------------------------------------------------------------------------- 1 | //! A49xx, DRV88xx stepper motor driver. 2 | //! 3 | //! This is an implementation of the [`embedded-hal`] traits for the A49xx and DRV88xx families of 4 | //! stepper motor drivers. 5 | //! 6 | //! [`embedded-hal`]: https://github.com/japaric/embedded-hal 7 | //! 8 | //! # Examples 9 | //! 10 | //! ```rust,no-run 11 | //! #![deny(unsafe_code)] 12 | //! #![deny(warnings)] 13 | //! #![no_std] 14 | //! 15 | //! extern crate panic_abort; 16 | //! extern crate cortex_m; 17 | //! extern crate embedded_hal; 18 | //! extern crate tm4c123x_hal as hal; 19 | //! extern crate stepper_rs; 20 | //! 21 | //! use hal::delay::Delay; 22 | //! use hal::gpio::GpioExt; 23 | //! use hal::sysctl::SysctlExt; 24 | //! 25 | //! fn main() { 26 | //! let p = hal::Peripherals::take().unwrap(); 27 | //! let sysctl = p.SYSCTL.constrain(); 28 | //! let portc = p.GPIO_PORTC.split(&sysctl.power_control); 29 | //! let clocks = sysctl.clock_setup.freeze(); 30 | //! 31 | //! let cp = cortex_m::Peripherals::take().unwrap(); 32 | //! let mut driver = stepper_rs::MotorDriver::a4988( 33 | //! Delay::new(cp.SYST, &clocks), 34 | //! portc.pc6.into_push_pull_output(), 35 | //! portc.pc7.into_push_pull_output(), 36 | //! 200, 37 | //! 16, 38 | //! 100f32 39 | //! ); 40 | //! 41 | //! loop { 42 | //! driver.set_speed(100f32); 43 | //! driver.set_direction(true); 44 | //! driver.move_instant(600); 45 | //! driver.set_direction(false); 46 | //! driver.move_instant(600); 47 | //! 48 | //! driver.set_speed(300f32); 49 | //! driver.set_direction(true); 50 | //! driver.move_smooth(1600, 150, 150); 51 | //! driver.set_direction(false); 52 | //! driver.move_smooth(1600, 150, 150); 53 | //! } 54 | //! } 55 | //! ``` 56 | 57 | #![no_std] 58 | 59 | #![deny(missing_debug_implementations)] 60 | #![deny(missing_docs)] 61 | #![deny(warnings)] 62 | #![deny(trivial_casts)] 63 | #![deny(trivial_numeric_casts)] 64 | #![deny(unsafe_code)] 65 | #![deny(unstable_features)] 66 | #![deny(unused_import_braces)] 67 | #![deny(unused_qualifications)] 68 | 69 | extern crate embedded_hal as hal; 70 | 71 | use core::marker::PhantomData; 72 | use hal::digital::OutputPin; 73 | use hal::blocking::delay::DelayUs; 74 | 75 | // TODO: support EN pin 76 | //trait Enablable { 77 | // pub fn enable(); 78 | // pub fn disable(); 79 | //} 80 | 81 | /// Stepping mode (1:step_division) 82 | static STEP_DIVISION: [u8; 8] = [1,2,4,8,16,32,64,128]; 83 | 84 | /// A stepper motor driver generic struct 85 | #[derive(Debug)] 86 | pub struct MotorDriver 87 | where 88 | D: DelayUs, 89 | DIR: OutputPin, 90 | STEP: OutputPin, 91 | CHIP: Params, 92 | { 93 | delay: D, 94 | dir_pin: DIR, 95 | step_pin: STEP, 96 | // TODO: support EN pin 97 | // enable_pin: OutputPin, 98 | // TODO: support driver specific stepping mode 99 | // driver_impl: Some(), 100 | _chip: PhantomData, 101 | 102 | /// usually 200 103 | number_of_steps: u16, 104 | /// stepping mode (1:step_division) [1,2,4,8,16,32,64,128] 105 | step_division: u8, 106 | /// step pulse duration (microseconds) 107 | step_interval: u32, 108 | } 109 | 110 | impl MotorDriver 111 | where 112 | D: DelayUs, 113 | DIR: OutputPin, 114 | STEP: OutputPin, 115 | CHIP: Params, 116 | { 117 | /// Sets the speed in revolutions per minute (1-200 is a reasonable range) 118 | pub fn set_speed(&mut self, rpm: f32) { 119 | self.step_interval = 120 | (60000000f32 / self.number_of_steps as f32 / rpm / self.step_division as f32) as u32; 121 | } 122 | 123 | /// Moves the motor steps_to_move steps 124 | pub fn move_instant(&mut self, steps_to_move: u64) { 125 | let steps_to_move = steps_to_move * self.step_division as u64; 126 | (0..steps_to_move).for_each(|_| self.step(None)); 127 | } 128 | 129 | /// Moves the motor smoothly `steps_to_move` steps. 130 | /// Increasing speed during the `steps_acc` and decreasing during `steps_dec` steps. 131 | pub fn move_smooth(&mut self, 132 | steps_to_move: u64, 133 | steps_acc: u64, 134 | steps_dec: u64) { 135 | let steps_to_move = (steps_to_move - steps_acc - steps_dec) * self.step_division as u64; 136 | let steps_acc = steps_acc * self.step_division as u64; 137 | let steps_dec = steps_dec * self.step_division as u64; 138 | 139 | (1..=steps_acc).for_each(|i| self.step(Some((i, steps_acc)))); 140 | (0..steps_to_move).for_each(|_| self.step(None)); 141 | (1..=steps_dec).rev().for_each(|i| self.step(Some((i, steps_dec)))); 142 | } 143 | 144 | /// Set the direction 145 | pub fn set_direction(&mut self, clock_work: bool) { 146 | if clock_work { 147 | self.dir_pin.set_low(); 148 | } else { 149 | self.dir_pin.set_high(); 150 | } 151 | } 152 | 153 | /// Toggle step and yield to step control. 154 | /// 155 | /// !!!FIXME!!! 156 | /// Super naive implementation due to limitaions of the `embedded-hal` crate. 157 | /// One should use a timer instead of delay when `timer` and `time` API stabilize. 158 | fn step(&mut self, s: Option<(u64, u64)>) { 159 | self.step_pin.set_high(); 160 | 161 | let mut step_interval = self.step_interval; 162 | if let Some((s1, s2)) = s { 163 | let r1: f64 = s1 as f64 / s2 as f64; 164 | let r2: f64 = 0.1 + 0.2*r1 + 2.2*r1*r1 - 1.5*r1*r1*r1; 165 | step_interval = (self.step_interval as f64 / r2) as u32; 166 | } 167 | 168 | // Wait at least step_min_time 169 | self.delay.delay_us(CHIP::STEP_MIN_TIME); 170 | self.step_pin.set_low(); 171 | 172 | // Wait the rest of step_interval but at least step_min_time 173 | let rest = if step_interval > CHIP::STEP_MIN_TIME { 174 | step_interval - CHIP::STEP_MIN_TIME 175 | } else { 176 | CHIP::STEP_MIN_TIME 177 | }; 178 | self.delay.delay_us(rest); 179 | } 180 | 181 | /// Generic version of constructor 182 | fn new(delay: D, 183 | mut dir_pin: DIR, 184 | mut step_pin: STEP, 185 | number_of_steps: u16, 186 | step_division: u8, 187 | rpm: f32) -> Self { 188 | dir_pin.set_high(); 189 | step_pin.set_low(); 190 | 191 | MotorDriver { 192 | delay, 193 | dir_pin, 194 | step_pin, 195 | _chip: PhantomData, 196 | number_of_steps, 197 | step_division, 198 | step_interval: (60000000f32 / number_of_steps as f32 199 | / rpm / step_division as f32) as u32, 200 | } 201 | } 202 | } 203 | 204 | /// Trait for motor driver parameters. 205 | /// Currently only `STEP_MIN_TIME`. 206 | pub trait Params { 207 | /// STEP high/low min value (microseconds) 208 | const STEP_MIN_TIME: u32; 209 | } 210 | 211 | macro_rules! driver { 212 | ($name:ident, $time:expr) => { 213 | #[allow(non_camel_case_types)] 214 | #[derive(Debug)] 215 | struct $name; 216 | 217 | impl Params for $name { 218 | const STEP_MIN_TIME: u32 = $time; 219 | } 220 | 221 | impl MotorDriver 222 | where 223 | D: DelayUs, 224 | DIR: OutputPin, 225 | STEP: OutputPin 226 | { 227 | /// Specialized constructor 228 | pub fn $name(delay: D, 229 | dir_pin: DIR, 230 | step_pin: STEP, 231 | number_of_steps: u16, 232 | mut step_division: u8, 233 | rpm: f32) -> Self { 234 | if !STEP_DIVISION.contains(&step_division) { 235 | step_division = 1; 236 | } 237 | 238 | Self::new(delay, dir_pin, step_pin, number_of_steps, step_division, rpm) 239 | } 240 | } 241 | }; 242 | } 243 | 244 | driver!(a4988, 1); 245 | driver!(drv8825, 2); 246 | driver!(drv8834, 2); 247 | driver!(drv8880, 1); 248 | --------------------------------------------------------------------------------