International Journal on Future Revolution in Computer Science & Communication Engineering ISSN: 2454-4248

Volume: 4 Issue: 3 72 – 80
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Interfacing a Stepper Motor with ARM Controller LPC2148

Md. Moyeed Abrar

Assistant Professor, Department of Computer Science & Engineering.
Khaja Banda Nawaz College of Engineering
Kalaburagi, Karnataka, India
E-mail: [email protected]

Abstract—Another useful machine interfaced to the computer system is the Stepper motor. A Stepper motor is a digital motor because each
input pulse results in discrete output or discrete steps as it traverses through 360 0 which means the shaft rotation by definite angle called step angle.
Stepper motors are DC motors that move in discrete steps. They possess multiple coils that are organized in groups referred to as phases. By
energizing each phase in sequence, the motor will rotate one step at a time. Stepper motors are available in various sizes and styles as well as
electrical characteristics. Nowadays, the use of ARM controllers is in limelight. The ARM controllers are basically designed to target the 32 bit
microcontrollers. These controllers provide excellent performance and are available with latest and enhanced features. The ARM controllers are
suitable for 32 bit embedded applications. The state of the art presented in this paper is the interfacing of Stepper motor with ARM controller LPC
2148.
Keywords-Stepper motor, discrete steps, shaft rotation, step angle, 32 bit embedded applications, ARM controller LPC2148, interfacing.
__________________________________________________*****_________________________________________________

I. INTRODUCTION
A Stepper motor is an electrical machine that translates the
electrical pulses into mechanical movement. Stepper motors are
also referred to as stepping motors or step motors because they
rotate through a fixed angular step in response to each input
current pulse from its controller. Stepper motors are designed
to develop torques ranging from 1 µNm (in tiny wrist watch
motor of 3 mm diameter) up to 40 Nm in a motor of 15 cm
used for machine tool applications. The output power of
stepper motor ranges from about 1 Watt to about 2500 Watt.
The only moving part in a stepper motor is its rotor which has
no windings. Hence it does not require commutator and
brushes. In applications such as disk drives, dot matrix printers
and robotics, the stepper motor is used for position control. A
common stepper motor is geared to move perhaps 150 per step
in inexpensive motor, to 10 per step in a more costly, high
precision stepper motor. In all cases, these steps are gained
through many magnetic poles and/or gearing. Every Stepper
motor has a permanent magnet rotor (also known as the shaft)
surrounded by the stator. This is depicted in fig.1
The most common stepper motors have four stator
windings that are paired with a Center tapped common as Fig.1 Internal schematic of Stepper motor
shown in fig.2. This type of stepper motor is commonly
referred to as a four phase stepper motor. The center tap allows
the change of current direction in each of two coils when a
winding is grounded, which results in a polarity change of the
stator.
The internal construction of the stepper motor, to be more
precise the number of teeth on the stator and the rotor, decides
how much movement is associated with a single step. The step
angle is the minimum degree of rotation associated with a
single step. Various motors have different step angles. Table
1illustrates some step angles for various motors. The term steps
per revolution is the total number of steps needed to rotate one
complete rotation or 360 degrees. (For example, 180 steps x 2
degrees = 360). [1] [2].

Fig.2 Four phase stepper motor

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International Journal on Future Revolution in Computer Science & Communication Engineering ISSN: 2454-4248
Volume: 4 Issue: 3 72 – 80
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TABLE I. STEP ANGLES FOR VARIOUS MOTORS  40 KB of on-chip static RAM and 512 KB of on-chip
flash memory. 128-bit wide interface/accelerator
SL.NO STEP ANGLE STEPS PER REVOLUTION enables high-speed 60 MHz operation.
 The LPC2148 provides 100000 erase/write cycles and
1.
0.72 500 20 years of Data-retention.
2.  In-System Programming/In-Application Programming
1.8 200
(ISP/IAP) via on-chip boot loader software. Single
3. flash sector or full chip erase takes 400ms and Flash
2.0 180
programming takes 1ms per 256-byte line. USB 2.0
4. 2.5 144 Full speed compliant device controller with 2 KB of
5. endpoint RAM. In addition, the LPC2148 provides 8
5.0 72
KB of on-chip RAM accessible to USB by DMA.
6. 7.5 48  Embedded ICE-RT and Embedded Trace Macro cell
(ETM) interfaces offer real time debugging with on-
7. chip Real Monitor software and high-speed real-time
15 24
tracing of instruction execution.
In this paper the interfacing of a Stepper motor with Arm  Two 10-bit ADCs provide a total of 14 analog inputs,
controller LPC 2148 is presented. The rest of the paper is with conversion times as low as 2.44μs per channel.
organized into sections as follows: section II describes the  Single 10-bit DAC provides variable analog output.
overview of ARM controller LPC2148. Section III focuses on  Two 32-bit Timers/External event Counters (with four
the system design. Results and discussion are reported in Capture and four Compare channels each), PWM unit
section IV. Finally section V summarizes the paper and
(six outputs) and watchdog.
presents the concluding remark.
 Low power Real-Time Clock (RTC) with independent
II. OVERVIEW OF ARM CONTROLLER LPC2148 power and 32 kHz clock input.
The ARM7TDMI-S LPC2148 is a general-purpose 32-bit  Multiple serial interfaces including two UARTs
microprocessor, which offers high performance and very low (16C550 equivalent), two Fast I2C bus (400 kbit/s),
power consumption. The ARM controller is based on Reduced SPI and SSP with buffering and variable data length
Instruction Set (RISC) architecture, And the instruction set and capabilities.
related decode mechanism are much simpler than those of  Vectored interrupt controller (VIC) with configurable
micro programmed Complex Instruction Set Computers. This priorities and vector addresses. Up to 45 numbers of 5
simplicity results in a high instruction throughput and V tolerant fast general purpose I/O pins in a tiny
impressive real-time interrupt response from a small and cost- LQFP64 package.
effective processor Core.  Up to nine edge or level sensitive external interrupt
Pipeline techniques are employed so that all parts of the pins available.
processing and memory systems can operate continuously.  60 MHz maximum CPU clock available from
Typically, while one instruction is being executed, its successor programmable on-chip PLL with settling time of 100
is being decoded, and a third instruction is being fetched from μs.
memory.  On-chip integrated oscillator operates with an external
The ARM7TDMI-S processor also employs a unique crystal in range from 1 MHz to 30 MHz and with an
architectural strategy known as THUMB, which makes it external oscillator up to 50 MHz
ideally suited to high-volume applications with memory  Power saving modes include Idle and Power-down.
restrictions, or applications where code density is an issue. The  Individual power enable/disable of peripheral
key idea behind THUMB is that of a super reduced instruction functions as well as peripheral clock scaling for
set. Essentially, the ARM7TDMI-S processor has two additional power optimization.
Instruction sets:  Processor wake-up from Power-down mode via
 The standard 32-bit ARM instruction set. external interrupt, USB, Brown-Out Detect (BOD) or
 A 16-bit THUMB instruction set. Real-Time Clock (RTC).
The THUMB set‟s 16-bit instruction length allows it to  Single power supply chip with Power-On Reset (POR)
approach twice the density of standard ARM code while and BOD circuits: CPU operating voltage range of 3.0
retaining most of the Arm‟s performance advantage over a V to 3.6 V (3.3 V+- 10 %) with 5 V tolerant I/O pads
traditional 16-bit processor using 16-bit registers. This is [3].
possible because THUMB code operates on the same 32-bit
register set as ARM code. THUMB code is able to provide up
to 65% of the code size of ARM, and 160% of the performance III. SYSTEM DESIGN
of an equivalent ARM Processor connected to a 16-bit memory
system [1], [3]. A. Board specifications of the Arm evaluation system
The important features of the 16 bit /32 bit LPC2148 Arm The board has important features which are listed as
Microcontroller. follows
 PHILIPS LPC2148 is a 16-bit or 32-bit  LPC2148 16/32 bit ARM7TDMI-S with 512K bytes
Microcontroller in a LQFP64-pin Package. program flash, 42K bytes RAM.
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International Journal on Future Revolution in Computer Science & Communication Engineering ISSN: 2454-4248
Volume: 4 Issue: 3 72 – 80
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 LCD 16x2 alphanumeric display. B. System specifications
 Stepper motor interface with direction and speed The system specifications are illustrated in table 1.
control.
TABLE II. SYSTEM SPECIFICATIONS
 Temperature sensor interface using internal DAC.
 12 MHz crystal for easy communication set up. SL.NO SPECIFICATIONS
 External interrupt through key with LED indication.
 Standard JTAG connector with ARM 2x10 pin layout 1.
Domain: Microprocessors and Microcontrollers, Arm
controllers, Assembly language Programming.
for programming/debugging with ARM-JTAG.
Arm Microcontroller: LPC2148 32-bit RISC microcontroller
 Reset push button for resetting the controller. 2.
from NXP founded by Philips.
 Standard 26-pin FRC connectors to connect to on-
board interface 3. Stepper motor: 1Ampere, 5 volts, 1.80 , step angle
 Dip switch for enabling ISP. Desktop computer: Dual core, 1 GB RAM, processor speed
4.
 One on board voltage regulator for generating 3.3V. 2.5 GHz
Input to this will be from external +5V DC power
5. Port line: P0.20-P0.23
supply through a 9-pin DSUB connector.
 One RS232 interface circuit with 9 pin DSUB 6. Software: Keil µ vision-4
connector, using UART0. This is used by the boot
In-system Programming (ISP): Flash magic software can be
loader program to program the LPC2148 flash 7. used to download the HEX files to the flash magic of the
memory without external programmer. User can also controller.
use this as other UART0 application program. Serial communication: RS 232 cross cable connections
8. required for establishing communication between the
 One RS232 interface circuit with 3 way male evaluation board and a display terminal/host computer.
reliamate connector using UART1. This is used as Applications: Rotation of stepper motor in clockwise and
9. Anticlockwise direction.
additional UART to communicate with external
peripheral via serial communication interface.
C. Stepper Motor interface
The photographic view of the ARM-09 NXP LPC2148
The Stepper motor can be interfaced to the board by connecting
Microcontroller board is shown in fig.3
it into the Power Mate PM1. It is interfaced through the high
current driver ULN2803. These lines will have high current
(max 300 mA) with low voltage level of 0.7V. The rotating
direction of the stepper motor can be changed through
software. Port lines used for Stepper motor are P0.20 –P0.23.
The circuit schematic for the Stepper motor interface system is
shown in fig.4

Fig.3 photographic view of the ARM-09 NXP LPC2148

Microcontroller board Fig.4 Stepper motor schematic

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International Journal on Future Revolution in Computer Science & Communication Engineering ISSN: 2454-4248
Volume: 4 Issue: 3 72 – 80
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The photographic view of the Stepper motor used in the On the desktop computer my computer icon was right clicked
system is illustrated in fig 5. and manage option was chosen and further the device
manager option was selected and then the ports option was
clicked which depicted the communication port as port 1 and
the USB to serial port as port 3. The keil µ-vision 4 software
was used to write the C program for the rotation of the stepper
motor in anticlockwise and clockwise direction interfaced with
ARM-09 NXP LPC2148 Microcontroller board [7]. The
following sequence of steps was followed in order to get the
desired output.
The keil µ-vision 4 software was opened by double clicking on
the keil µ-vision 4 icon located on the desktop screen [7]. The
project option was right clicked and then new µ-vision project
was chosen as illustrated in fig.7

Fig.5 Photographic view of stepper motor

D. System set up
The experimental set and its conduction were done in the
Microprocessors laboratory. The system consists of a Desktop
computer, the ARM-09 NXP LPC2148 Microcontroller board,
adapter, USB cable and RS 232 cable and the Stepper motor.
The desktop computer was switched ON. The adapter was
plugged in the socket and the adapter pin was connected to the
slot provided on the ARM-09 NXP LPC2148 Microcontroller
board. The USB cable was connected to the USB port of the
desktop computer and the other end of the USB cable, that is, Fig.7 selecting new µ-vision project
the male connector was connected to the female connector of Create New project window appears on the screen. A folder
the RS232 cable and the male connector of the RS232 cable with the name EXPERIMENT STEPPERMOTOR was created
was connected to the female connector provided on the ARM- on the desktop and the file named ELECTRICALMOTOR was
09 NXP LPC2148 Microcontroller board. Lastly the female saved in the folder EXPERIMENT STEPPERMOTOR. This is
power mate of the Stepper motor was also connected to the shown in fig.8
male power mate PM1present on the ARM-09 NXP LPC2148
Microcontroller board. Fig.6 illustrates the photographic view
of the system.

Fig.8 creation of folder and naming the file.

Another new window named Select Device for Target „Target
1‟appeared where the user has to select the ARM
Fig.6 photographic view of the system
microcontroller. The NXP series founded by Philips was
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International Journal on Future Revolution in Computer Science & Communication Engineering ISSN: 2454-4248
Volume: 4 Issue: 3 72 – 80
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chosen and in this category the LPC2148 was selected. The After the creation of project, the file option was chosen and
LPC2148 features were displayed and OK option was clicked. New was selected to open the editor window. This is illustrated
This is depicted in fig.9 in fig.12

Fig.9 selecting the microcontroller LPC2148 Fig.12 selecting the new file
A new window appears named µ-vision copy startup project The program was written in embedded C language for rotation
folder and Add file to the project with two options Yes and No. of stepper motor in anticlockwise and clockwise direction by
The Yes option was chosen. This is shown in fig. 10 50 steps. After the completion of program the next step was to
save the program. In order to do this save icon was clicked as
shown in fig.13

Fig.10 selecting yes option

In the project window Target was created as Target-1. The + Fig.13 saving the program
sign of Target 1 was clicked as a result of which the source As save icon was clicked a new window appears where the file
group-1 was shown immediately below the Target-1. This is name was given as ROTATING.C. The file extension .C is
shown in fig.11 mandatory. This is depicted in fig.14

Fig.11 creation of source group-1 Fig.14 naming the file as ROTATING.C

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International Journal on Future Revolution in Computer Science & Communication Engineering ISSN: 2454-4248
Volume: 4 Issue: 3 72 – 80
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Color syntax highlighting was enabled once the file The most important task was to compile the files. In order for
ROTATING.C was saved as shown in fig.15 compilation the translate option was clicked as depicted in
fig.18

Fig.15 color syntax highlighting after saving the file

The source group 1 located below the Target 1 in the project Fig.18 choosing translate option for compilation
window was right clicked and the option Add existing files in The build output window was checked where the message was
Group „Source Group 1‟ was selected in order to add the .C displayed as „ROTATING.C‟ 0 errors and 0 warnings, which
source file to the group. After adding this source file this file ensured that the program was error free. This is shown in fig.19
was viewed in the project window. This is illustrated in fig.16

Fig.16 adding existing files to source group-1. Fig.19 obtaining the error free program
A new window named Add Files to Group „Source Group 1‟ In the project window Target-1 was right clicked and the
appeared where the file ROTATING was selected and then options for Target, Target 1 was chosen as shown in fig.20
Add and Close options were clicked sequentially. This is
shown in fig.17

Fig.20 choosing options for Target, Target-1

A new window appeared named options for Target „Target 1‟
Fig.17 selection of file ROTATING where first Target option was selected. In this Target option the
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International Journal on Future Revolution in Computer Science & Communication Engineering ISSN: 2454-4248
Volume: 4 Issue: 3 72 – 80
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following were selected Xtal 12.0 MHz; use Micro Lib, IROM Finally, to come out of this window OK option was clicked.
1 (starting 0x0 size 0x80000) and IRAM 1(starting Lastly, Rebuild icon was clicked for building all the source
0x40000000 size 0x8000). This is shown in fig.21 files such as .C, .h etc. as shown in fig.24

Fig.21 enabling Xtal 12.0 MHz, Micro lib, IROM and IRAM 1 Fig.24 selecting rebuild option for building source file
In the same window the next option chosen was output, where This created the .HEX file as 0 Error(s), 0 Warning(s) and this
create hex file option was enabled by selecting it as illustrated was displayed in the Build output window as shown in fig.25
in fig.22

Fig.22 selecting create hex file option

Next in the same window linker option was chosen and here Fig.25 creation of .Hex file
Use memory layout from Target Dialog was enabled by
selecting it. This is depicted in fig.23 IV. RESULTS AND DISCUSSION
The desired output in the form of rotation of Stepper motor in
clockwise and anticlockwise direction by 50 steps is obtained.
The flash magic software was opened by double clicking the
flash magic icon located on the desktop. The five mandatory
steps were done in order to get the final output on the LCD
screen on the ARM-09 NXP LPC2148 Microcontroller board.
STEP1: COMMUNICATIONS
In this step the following selections are done
 Device : LPC2148
 Com port: COM 3 (as the USB cable is connected to
this port)
 Baud rate : 19200
 Interface : None (ISP)
 Oscillator : 12 MHz
This is shown in fig.26
Fig.23 enabling use memory layout from target dialog
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International Journal on Future Revolution in Computer Science & Communication Engineering ISSN: 2454-4248
Volume: 4 Issue: 3 72 – 80
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STEP4: OPTIONS
In this step Verify after programming was enabled by selecting
this option as illustrated in fig.29

Fig.26 STEP1: COMMUNICATION

STEP2: ERASE
In this step Erase blocks used by hex file was enabled by
selecting this option as illustrated in fig.27 Fig. 29 STEP4: OPTIONS
STEP5: START
In this step the start option was clicked to download the Hex
file to the controller on the ARM-09 NXP LPC2148
Microcontroller board as shown in fig.30

Fig.27 STEP2: ERASE

STEP3: HEX FILE
Browse option was clicked in order to download the hex
file. In our proposed system the hex file with the name Fig.30 STEP5: START
ELECTRICALMOTOR.hex was located in the folder named As soon as step 5 was completed the stepper motor started
EXPERIMENT STEPPERMOTOR on the desktop. This is rotating.
shown in fig.28
V. CONCLUSION
The stepper motor was interfaced with the Arm controller LPC
2148. The software used for interfacing was Keil 4 µ-vision.
Care was taken in properly making the hardware connections.
The stepper motor was found rotating in clockwise and
anticlockwise direction. This process is continuous in loop.
Based on the program changes the stepper motor can be made
to rotate in three ways. First, it can be made to rotate only in
clockwise direction. Second it can be made to rotate in
anticlockwise direction and finally it can be made to rotate in
both clockwise and anticlockwise direction by N-steps. The
entire system is very stable, simple to use and is cost effective.
ACKNOWLEDGMENT
First of all I would like to thank Almighty Allah by the
Fig.28 STEP3: COMMUNICATION grace of whom I reached the stage of completion of this work.
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International Journal on Future Revolution in Computer Science & Communication Engineering ISSN: 2454-4248
Volume: 4 Issue: 3 72 – 80
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This avenue has been a turning point in my career to mold me motors as Actuators of Control Valves”, IEEE transaction on
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Ruksar Fatima and Dr. Asma Parveen H.O.D Computer system of Stepper Motor using DTMF Technology”,
Science and Engineering department of my esteemed International Journal of Control and Automation, Vol.4 No.2
June 2011, pp.35-42.
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