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Dual Axis Stepper Driver

Logic to control the DRV8824/25 motor driver board. The original application is to control a dual axis CNC frame using two steppers per axis. However, the code could be adapted for use in any stepper application.

Src

The main src files are:

  • stepper.c Stepper driver. Includes functions to step an arbitrary amount of steps or milimeters (given a set gear circumference).
  • queue.c Simple queue structure that can be used to make sequentially steps. Note that both the x and y axis can step in parallel.
  • stepper_control.c Functions to control stepper motors for chess robot. Makes use of queue to add moves and converts square Universal Chess Interface coordinates to millimeters/steps.
  • gpio.c General GPIO control functions STM32 microcontrollers.

Testing

Run make test_queue. This will download the Unity testing framework and run the the unit tests in test_queue.c.