STM32_HAL_AccelStepper

STM32 HAL based AccelStepper library.

This is STM32 HAL based AccelStepper library. Library allows you to control stepper as easy as you can do it with Arduino AccelStepper library.

Prerequisites

In order to be able to use this library you have to install STM32_HAL_micros library. All the information as well as installation instaructions you can find here:

https://github.com/vverenich/STM32_HAL_micros/tree/main

Installation

1. Copy the src/ folder to your project
2. Edit Pin.h file at the following location:

// Replace it with the actual path to main.h
#include "../Core/Inc/main.h"

3. Edit AccelStepper.cpp file at the following ocation:

// Replace it with the actual path to main.h
#include "../../Core/Inc/main.h"
// Replace it with the actual path to micros.h
#include "../../Core/Inc/micros.h"

Example

#include <string.h>

#include <memory>

// Replace it with the actual path to main.h
#include "main.h"
// Replace it with the actual path to AccelStepper.h
#include "AccelStepper.h"


Pin EN_Pin{GPIOD, GPIO_PIN_5};
Pin STEP_Pin{GPIOD, GPIO_PIN_6};
Pin DIR_Pin{GPIOD, GPIO_PIN_7};

std::unique_ptr<AccelStepper> accelStepper{nullptr};

void setupCpp() {
    // Enable stepper 
    HAL_GPIO_WritePin(EN_Pin.m_GPIOx, EN_Pin.m_GPIO_Pin, GPIO_PIN_RESET);
    
    accelStepper = std::make_unique<AccelStepper>(AccelStepper::DRIVER, STEP_Pin, DIR_Pin);
        
        
    accelStepper->setMaxSpeed(1000);
    accelStepper->setAcceleration(50);
    accelStepper->moveTo(2000);
}

void loopCpp() {
    if (!accelStepper->run()) {
        accelStepper->moveTo(-accelStepper->currentPosition());
    }
}

extern "C" {

void setup() {
    setupCpp();
}

void loop() {
    loopCpp();
}
}