STSPIN220 Stepper Motor Driver Component

This ESP-IDF component provides a driver for the STSPIN220 low-voltage stepper motor driver.

Features

• Full-step and microstepping support (up to 1/256 step)
• Speed control (RPM)
• Direction control
• Enable/disable motor
• Fault detection and clearing
• Standby mode
• Blocking and non-blocking stepping functions

Installation

Add this component to your ESP-IDF project:

idf.py add-dependency "stspin220"

Or manually copy the component files to your project's components/ directory.

Usage

Initialization

#include "stspin220.h"

stspin220_t motor = {
    .number_of_steps = 200,  // Steps per revolution for your motor
    .step_pin        = 4,
    .dir_pin         = 5,
    .mode1_pin       = 12,
    .mode2_pin       = 13,
    .en_fault_pin    = 14,
    .stby_reset_pin  = 15
};

void app_main(void)
{
    stspin220_init(&motor);
}

Basic Stepping

// Set microstepping mode
stspin220_set_step_mode(&motor, STSPIN220_STEP_1_16);

// Set speed in RPM
stspin220_set_speed(&motor, 60);

// Step 200 full steps (considering microstepping)
stspin220_step(&motor, 200 * 16);  // For 1/16 microstepping

Blocking Stepping

// Step 100 steps with 1ms delay between each step
stspin220_step_blocking(&motor, 100, 1000);

Motor Control

// Enable/disable motor
stspin220_enable(&motor, true);

// Check if motor is enabled
bool enabled = stspin220_is_enabled(&motor);

// Put motor in standby
stspin220_standby(&motor, true);

// Check for faults
if (stspin220_is_fault(&motor)) {
    stspin220_clear_fault(&motor);
}

// Reset motor
stspin220_reset(&motor);

API Reference

Types

• stspin220_step_mode_t: Enumeration for microstepping modes
• stspin220_t: Structure containing motor configuration and state

Functions

• void stspin220_init(stspin220_t *dev): Initialize the motor driver
• void stspin220_set_speed(stspin220_t *dev, int32_t rpm): Set motor speed in RPM
• void stspin220_step(stspin220_t *dev, int32_t steps): Step the motor (non-blocking)
• void stspin220_single_step(stspin220_t *dev): Perform a single step
• void stspin220_step_blocking(stspin220_t *dev, int32_t steps, uint32_t delay_us): Step the motor with blocking delay
• bool stspin220_set_step_mode(stspin220_t *dev, stspin220_step_mode_t mode): Set microstepping mode
• int stspin220_microsteps_per_step(stspin220_t *dev): Get microsteps per full step
• void stspin220_enable(stspin220_t *dev, bool state): Enable or disable motor
• bool stspin220_is_enabled(stspin220_t *dev): Check if motor is enabled
• void stspin220_standby(stspin220_t *dev, bool state): Put motor in standby mode
• bool stspin220_is_fault(stspin220_t *dev): Check for motor fault
• void stspin220_clear_fault(stspin220_t *dev): Clear motor fault
• void stspin220_reset(stspin220_t *dev): Reset the motor driver

Microstepping Modes

• STSPIN220_STEP_FULL: Full step
• STSPIN220_STEP_1_2: 1/2 step
• STSPIN220_STEP_1_4: 1/4 step
• STSPIN220_STEP_1_8: 1/8 step
• STSPIN220_STEP_1_16: 1/16 step
• STSPIN220_STEP_1_32: 1/32 step
• STSPIN220_STEP_1_64: 1/64 step
• STSPIN220_STEP_1_128: 1/128 step
• STSPIN220_STEP_1_256: 1/256 step

Dependencies

• ESP-IDF >= 4.0
• driver
• esp_timer

License

[Specify your license here]

Examples

See the examples/ directory for usage examples.