stepper9

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Stepper 9 Click

Stepper 9 Click is a compact add-on board that contains a bipolar stepper motor driver. This board features the TB67S581FNG, a two-phase bipolar stepping motor driver from Toshiba Semiconductor. Fabricated with the BiCD process, it supports a PWM constant-current control drive and steps resolution from full to 1/32 for less motor noise and smoother control. It has a wide operating voltage range of 8.2V to 44V with a maximum output current capacity of 2A, decay modes selection function, protection, and several anomaly detection indicators.

Click Product page

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Click library

• Author : Stefan Filipovic
• Date : Oct 2022.
• Type : I2C type

Software Support

We provide a library for the Stepper 9 Click as well as a demo application (example), developed using MikroElektronika compilers. The demo can run on all the main MikroElektronika development boards.

Package can be downloaded/installed directly from NECTO Studio Package Manager(recommended way), downloaded from our LibStock™ or found on Mikroe github account.

Library Description

This library contains API for Stepper 9 Click driver.

Standard key functions :

• stepper9_cfg_setup Config Object Initialization function.

void stepper9_cfg_setup ( stepper9_cfg_t *cfg );

• stepper9_init Initialization function.

err_t stepper9_init ( stepper9_t *ctx, stepper9_cfg_t *cfg );

• stepper9_default_cfg Click Default Configuration function.

err_t stepper9_default_cfg ( stepper9_t *ctx );

Example key functions :

• stepper9_set_direction This function sets the motor direction by setting the DIR pin logic state.

void stepper9_set_direction ( stepper9_t *ctx, uint8_t dir );

• stepper9_drive_motor This function drives the motor for the specific number of steps at the selected speed.

void stepper9_drive_motor ( stepper9_t *ctx, uint32_t steps, uint8_t speed );

• stepper9_set_step_mode This function sets the step mode resolution settings.

err_t stepper9_set_step_mode ( stepper9_t *ctx, uint8_t mode );

Example Description

This example demonstrates the use of the Stepper 9 Click board by driving the motor in both directions for a desired number of steps.

The demo application is composed of two sections :

Application Init

Initializes the driver and performs the Click default configuration.

void application_init ( void )
{
    log_cfg_t log_cfg;  /**< Logger config object. */
    stepper9_cfg_t stepper9_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.
    stepper9_cfg_setup( &stepper9_cfg );
    STEPPER9_MAP_MIKROBUS( stepper9_cfg, MIKROBUS_1 );
    if ( I2C_MASTER_ERROR == stepper9_init( &stepper9, &stepper9_cfg ) ) 
    {
        log_error( &logger, " Communication init." );
        for ( ; ; );
    }
    
    if ( STEPPER9_ERROR == stepper9_default_cfg ( &stepper9 ) )
    {
        log_error( &logger, " Default configuration." );
        for ( ; ; );
    }
    
    log_info( &logger, " Application Task " );
}

Application Task

Drives the motor clockwise for 200 full steps and then counter-clockiwse for 400 quarter steps with 2 seconds delay before changing the direction. All data is being logged on the USB UART where you can track the program flow.

void application_task ( void )
{
    log_printf ( &logger, " Move 200 full steps clockwise \r\n\n" );
    stepper9_set_step_mode ( &stepper9, STEPPER9_MODE_FULL_STEP );
    stepper9_set_direction ( &stepper9, STEPPER9_DIR_CW );
    stepper9_drive_motor ( &stepper9, 200, STEPPER9_SPEED_FAST );
    Delay_ms ( 1000 );
    Delay_ms ( 1000 );
    
    log_printf ( &logger, " Move 400 quarter steps counter-clockwise \r\n\n" );
    stepper9_set_step_mode ( &stepper9, STEPPER9_MODE_QUARTER_STEP );
    stepper9_set_direction ( &stepper9, STEPPER9_DIR_CCW );
    stepper9_drive_motor ( &stepper9, 400, STEPPER9_SPEED_VERY_FAST );
    Delay_ms ( 1000 );
    Delay_ms ( 1000 );
}

The full application code, and ready to use projects can be installed directly from NECTO Studio Package Manager(recommended way), downloaded from our LibStock™ or found on Mikroe github account.

Other Mikroe Libraries used in the example:

• MikroSDK.Board
• MikroSDK.Log
• Click.Stepper9

Additional notes and informations

Depending on the development board you are using, you may need USB UART Click, USB UART 2 Click or RS232 Click to connect to your PC, for development systems with no UART to USB interface available on the board. UART terminal is available in all MikroElektronika compilers.

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