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Extra resources for Real-Time Systems Development

Sample text

This excitation sequence for half stepping involves driving two stator coils simultaneously. Alternative stepping patterns are provided in the example program at the end of this chapter. 13 Lifecycle of a professional programmer There is quite a common professional pattern to the way practising programmers deal with real-time systems. Their first project starts as a simple sequential loop of procedures with extra interrupt routines and ad hoc global status flags introduced as the development progresses.

This is usually termed the Bodge method of system development, bottom-up from beginning to end. The second project can be a disastrous attempt to apply a more theoretical ideal to the practical lessons learnt from the first experience. 5 person-months. The code grows and grows, the design gets reworked many times, and the test schedule never gets finished. Perhaps we can call this phase the Bloat phase. After this, the only sane decision left for the third project is to reuse wellproven software.

To reduce the complexity of the transistor drive circuitry needed to achieve this, it is common to wind the coils with a centre tap, a scheme known as a bifilar winding. The centre tap is normally connected to the positive power supply voltage, with the two end taps feeding down to earth through NPN power transistors, or N channel FETs. These can then be switched on and off by a microcontroller. A more common axial construction found in small stepper motors is shown below. This uses multiple stator pole fingers arranged as interlocking ‘crowns’ which, when excited, produce a ring of N–S–N–S poles all around Magnetic rotor Coil 1 Coil 2 Stator magnetic poles ABC Exploded view of a small stepper motor Coil 1 Coil 2 S N A B V+ C S N D E F V+ Activation of bifilar stator coils DEF Implementing simple real-time systems 41 the rotor.

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