Stepper Motor Driver Pc Linux Os
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How to Control a Stepper Motor with a PC Running Linux OS
A stepper motor is a type of electric motor that can rotate in precise steps. It is widely used in robotics, CNC machines, 3D printers and other applications that require precise motion control. To drive a stepper motor, you need a stepper motor driver, which is an electronic device that converts the signals from a controller into pulses that move the motor coils.
In this article, we will show you how to control a stepper motor with a PC running Linux OS using a kernel module called kstepper. Kstepper is a stepper motor driver for Linux kernel developed by Claudio Mignanti. It uses the available GPIO pins on the PC to send pulses to the motor. You can find more information about kstepper on its GitHub page[^1^].
Requirements
To follow this tutorial, you will need:
A PC running Linux OS with GPIO pins (for example, a Raspberry Pi)
A stepper motor (for example, a NEMA 17)
A stepper motor driver board (for example, a DRV8825)
A power supply for the motor (for example, a 12V DC adapter)
Some jumper wires and a breadboard
Wiring
The first step is to wire the stepper motor driver board to the PC and the motor. The wiring diagram is shown below:
The GPIO pins used in this example are:
FunctionGPIO pin
Step17
Direction18
Enable27
Limit switch 122
Limit switch 223
You can change these pins according to your preference, but you will need to modify the kstepper code accordingly.
Installation
The next step is to install the kstepper module on your PC. You can download the source code from GitHub[^1^] and compile it with the following commands:
git clone https://github.com/claudyus/kstepper.git
cd kstepper
make
sudo insmod kstepper.ko
This will load the module into the kernel and create a device file called /dev/kstepper0. You can check if the module is loaded correctly by typing:
dmesg grep kstepper
You should see something like this:
[ 123.456789] kstepper: loading out-of-tree module taints kernel.
[ 123.456789] kstepper: module verification failed: signature and/or required key missing - tainting kernel
[ 123.456789] kstepper: init
[ 123.456789] kstepper: registered device /dev/kstepper0
[ 123.456789] kstepper: init done
Usage
The last step is to control the stepper motor with some commands. You can use the ioctl interface of kstepper to send commands to the device file. For example, you can use the following Python script to move the motor one step forward:
import fcntl
# open device file
dev = open(\"/dev/kstepper0\", \"r\")
# define command codes
KSTEPPER_SET_DIR = 0x01 # set direction (0 or 1)
KSTEPPER_SET_EN = 0x02 # set enable (0 or 1)
KSTEPPER_SET_STEP = 0x03 # set step (0 or 1)
KSTEPPER_SET_SPEED = 0x04 # set speed (in Hz)
KSTEPPER_GET_LIMIT ec8f644aee