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Two channel stepper motor controller
Hýbl, Matouš ; Arm, Jakub (oponent) ; Žalud, Luděk (vedoucí práce)
The goal of this thesis is the development of a dual-channel stepper motor controller. Both the development of electronics and software is described. The electronics of the controller is based on the STM32F405 microcontroller, and Trinamic manufactured stepper motor controller ICs. For communication with higher-level systems, the controller utilizes the CANOpen protocol, I\textsuperscript{2}C, and USB buses. The whole electronics was designed in the KiCAD EDA and utilizes a 4-layer PCB and contemporary manufacturing technologies. As for the software, both firmware and control software were developed. Both of these pieces of software utilize the Rust programming language, which focuses on memory safety, performance and provides useful zero-cost abstraction. The Secondary goal of this thesis is to show how the language can be utilized for low-level embedded software development. The firmware of the controller implements independent motion control for each of the axes with both velocity and position control and provides failsafe mechanisms for cases of communication failures. The controller is meant to be used by the Robotics and AI research group and by students of the DCI, FEEC BUT.
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Two channel stepper motor controller
Hýbl, Matouš ; Arm, Jakub (oponent) ; Žalud, Luděk (vedoucí práce)
The goal of this thesis is the development of a dual-channel stepper motor controller. Both the development of electronics and software is described. The electronics of the controller is based on the STM32F405 microcontroller, and Trinamic manufactured stepper motor controller ICs. For communication with higher-level systems, the controller utilizes the CANOpen protocol, I\textsuperscript{2}C, and USB buses. The whole electronics was designed in the KiCAD EDA and utilizes a 4-layer PCB and contemporary manufacturing technologies. As for the software, both firmware and control software were developed. Both of these pieces of software utilize the Rust programming language, which focuses on memory safety, performance and provides useful zero-cost abstraction. The Secondary goal of this thesis is to show how the language can be utilized for low-level embedded software development. The firmware of the controller implements independent motion control for each of the axes with both velocity and position control and provides failsafe mechanisms for cases of communication failures. The controller is meant to be used by the Robotics and AI research group and by students of the DCI, FEEC BUT.
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