stepper16

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Stepper 16 Click

Stepper 16 Click demo application is developed using the NECTO Studio, ensuring compatibility with mikroSDK's open-source libraries and tools. Designed for plug-and-play implementation and testing, the demo is fully compatible with all development, starter, and mikromedia boards featuring a mikroBUS™ socket.

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Click Library

• Author : Luka Filipovic
• Date : May 2021.
• Type : SPI type

Software Support

Example Description

This example showcases the device's ability to control the motor. It initializes the device for control and moves the motor in two directions in a variety of speeds and step resolutions for 360 degrees.

Example Libraries

• MikroSDK.Board
• MikroSDK.Log
• Click.Stepper16

Example Key Functions

• stepper16_cfg_setup Config Object Initialization function.

void stepper16_cfg_setup ( stepper16_cfg_t *cfg );

• stepper16_init Initialization function.

err_t stepper16_init ( stepper16_t *ctx, stepper16_cfg_t *cfg );

• stepper16_default_cfg Click Default Configuration function.

err_t stepper16_default_cfg ( stepper16_t *ctx );

• stepper16_hard_reset Resets device.

void stepper16_hard_reset ( stepper16_t *ctx );

• stepper16_set_step_resolution Set step resolution.

void stepper16_set_step_resolution ( stepper16_t *ctx, uint8_t step_res );

• stepper16_move_motor_angle Move motor in angle value.

void stepper16_move_motor_angle ( stepper16_t *ctx, float degree, uint8_t speed );

Application Init

Initializes UART and SPI communication modules, and additional
pins for motor control, resets device, set's default configuration, and reads its ID and sets

void application_init ( void ) 
{
    uint16_t read_data = 0;
    log_cfg_t log_cfg;  /**< Logger config object. */
    stepper16_cfg_t stepper16_cfg;  /**< Click config object. */

    /** 
     * Logger initialization.
     * Default baud rate: 115200
     * Default log level: LOG_LEVEL_DEBUG
     * @note If USB_UART_RX and USB_UART_TX 
     * are defined as HAL_PIN_NC, you will 
     * need to define them manually for log to work. 
     * See @b LOG_MAP_USB_UART macro definition for detailed explanation.
     */
    LOG_MAP_USB_UART( log_cfg );
    log_init( &logger, &log_cfg );
    log_info( &logger, " Application Init " );

    // Click initialization.
    stepper16_cfg_setup( &stepper16_cfg );
    STEPPER16_MAP_MIKROBUS( stepper16_cfg, MIKROBUS_1 );
    err_t init_flag  = stepper16_init( &stepper16, &stepper16_cfg );
    if ( init_flag == SPI_MASTER_ERROR ) 
    {
        log_error( &logger, " Application Init Error. " );
        log_info( &logger, " Please, run program again... " );

        for ( ; ; );
    }
    
    stepper16_default_cfg ( &stepper16 );
    check_error( &stepper16 );
    stepper16_generic_read( &stepper16, STEPPER16_REG_SR4, &read_data );
    check_error( &stepper16 );
    log_info( &logger, "DEV ID: %d ", ( read_data >> 3 ) );
    log_info( &logger, "REV ID: %d ", ( read_data & 3 ) );

    log_info( &logger, " Application Task " );
    stepper16_set_dir( &stepper16, 1 );
}

Application Task

First it move motor clockwise for 360 degrees in medium speed and full step resolution. Then changes direction and moves motor for 180 degrees in slow speed and quarter step, and additional 180 degrees in fast speed and 1/16 step resolution.

void application_task ( void ) 
{
    static uint8_t direction = 1;
    log_printf( &logger, "> Move 360deg in CW direction.\r\n" );
    stepper16_set_step_resolution( &stepper16, STEPPER16_STEP_RES_FULL );
    check_error( &stepper16 );
    stepper16_move_motor_angle( &stepper16, 360, STEPPER16_SPEED_MEDIUM );
    direction = !direction;
    stepper16_set_dir( &stepper16, direction );
    Delay_ms ( 500 );
    log_printf( &logger, "> Move 180deg in CCW direction.\r\n" );
    stepper16_set_step_resolution( &stepper16, STEPPER16_STEP_RES_QUARTER );
    check_error( &stepper16 );
    stepper16_move_motor_angle( &stepper16, 180, STEPPER16_SPEED_SLOW );
    Delay_ms ( 1000 );
    log_printf( &logger, "> Move 180deg in CCW direcion.\r\n" );
    stepper16_set_step_resolution( &stepper16, STEPPER16_STEP_RES_1div16 );
    check_error( &stepper16 );
    stepper16_move_motor_angle( &stepper16, 180, STEPPER16_SPEED_FAST );
    direction = !direction;
    stepper16_set_dir( &stepper16, direction );
    Delay_ms ( 1000 );
    Delay_ms ( 1000 );
}

Note

Device is powered by externam VM so for communication to work Click board should be connected on power supply from 6V to 29V. At the start of application user should reset device and read it's Status register 1 to clear it. After that it can communicate with device and control it noramaly.

Application Output

This Click board can be interfaced and monitored in two ways:

• Application Output - Use the "Application Output" window in Debug mode for real-time data monitoring. Set it up properly by following this tutorial.
• UART Terminal - Monitor data via the UART Terminal using a USB to UART converter. For detailed instructions, check out this tutorial.

Additional Notes and Information

The complete application code and a ready-to-use project are available through the NECTO Studio Package Manager for direct installation in the NECTO Studio. The application code can also be found on the MIKROE GitHub account.

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