Step motor adapter for RPi

Step motor adapter for RPi-standard minicomputers

Brief

The purpose of this project is to control 3 step motors and 1 gripper (or any other on-off device) with simple commands sent through UART interface.

This project is a part of engineering thesis developed by Paweł Klisz for Wyższa Szkoła Techniczna in Katowice, Poland.

Software development

To develop firmware for this project following tools were used:

• Visual Studio Code (IDE) - version 1.43.2
• Embedded C++20
• Embedded C18
• GoogleTest - version 1.10.x
• CMake - version 3.16.2
• Ninja
• ARM GNU Embedded Toolchain (GCC, GXX and ASM compilers) - GNU version 9.2.1
• Segger J-Link EDU for debugging

Extensions used for Visual Studio Code IDE:

• CMake tools - provides support for CMake in VSCode
• GoogleTest Adapter - user-friendly presentation of unit test results
• ARM - ARM syntax highlighting for VSCode
• Cortex-Debug - adds debugging capability of ARM devices in VSCode
• LinkerScript - adds GNU linker script support
• DoxyGen Documentation Generator - autocompletes doxygen templates, in order to speed up the documentation creation, in more user-friendly way

Hardware development

Custom board was developed for this project. Following tools were used:

• Altium Designer 18.1

TODO:

• change assembler startup file to cpp files contained in target/micro
• cleanup ,,drivers''
• create DoxyGen documentation and create UML diagrams / write something about architecture
• integrate CppCheck to check compliance with MISRA
• Add photos to this file

Books / resources

I'd like to list resources that helped me developing that board:

• ,,Real Time C++", Christopher Kormanyos
• ,,Test-Driven Development for Embedded C", James W. Grenning
• ,,Making Embedded Systems", Elecia White
• PW-Sat2 - polish students' satelite
• ,,Clean code", Robert C. Martin