Aula Jazmati
Published © MIT

Power Up: DC Motor Control with Raspberry Pi & H18R1X

Take control of your DC motor projects with ease using Raspberry Pi, Python, and the Hexabitz Dual H-Bridge Motor Driver (H18R1X). 🚀🔧

IntermediateWork in progress2 hours73

Things used in this project

Hardware components

4-Pin USB-Serial Prototype Cable
Hexabitz 4-Pin USB-Serial Prototype Cable
×1
STLINK-V3MODS Programmer (H40Rx)
Hexabitz STLINK-V3MODS Programmer (H40Rx)
×1
BitzClamp
Hexabitz BitzClamp
×1
Dual H-Bridge Motor Driver (H18R1x)
Hexabitz Dual H-Bridge Motor Driver (H18R1x)
×1
DC Motor, 12 V
DC Motor, 12 V
×1
Raspberry Pi Interface Module (HF1R0x)
Hexabitz Raspberry Pi Interface Module (HF1R0x)
×1
Raspberry Pi 3 Model B+
Raspberry Pi 3 Model B+
×1
Jumper wires (generic)
Jumper wires (generic)
×1

Software apps and online services

STM32CUBEPROG
STMicroelectronics STM32CUBEPROG

Hand tools and fabrication machines

Solder Wire, Lead Free
Solder Wire, Lead Free
Soldering iron (generic)
Soldering iron (generic)

Story

Read more

Schematics

H18R1x_Factsheet

Code

Hexabitz Motor Control Interface Code

Python
Hexabitz Motor Control Interface Final Code ^_^
#By Aula Jazmati
import tkinter as tk
import RPi.GPIO as GPIO
import time
import serial
import struct
import serial
import math
from ctypes import c_uint32
ser = serial.Serial(
    port='/dev/ttyS0',
    baudrate=921600,
    parity=serial.PARITY_NONE,
    stopbits=serial.STOPBITS_ONE,
    bytesize=serial.EIGHTBITS,
    timeout=1
)

def calculate_crc32mpeg2(msg_buffer, size, reflected_input):
    crc32_initial = 0xFFFFFFFF
    crc32_polynomial = 0x04C11DB7
    crc32 = crc32_initial
    crc32_bytes_count = size
    
    while(size % 4 != 0):
        size += 1
        msg_buffer.append(0x0)
        
    # check whether the reflected data is enabled
    if 1 == reflected_input:
        # calculate the words count in the provided message
        words_count = math.ceil(size / 4)
        # if words_count < 2:
        #    words_count = 2

        # initialize a temporary list array
        temp_array = [0] * words_count * 4

        # reverse the bytes order of each word of the input message
        words_shift = 0
        for _ in range(words_count):
            bytes_shift = 4
            if bytes_shift > (size - words_shift):
                bytes_shift = size - words_shift

            # rotate inside the current word
            for bytes_counter in range(bytes_shift):
                temp_array[words_shift + bytes_counter] = msg_buffer[words_shift + bytes_shift - 1]
                bytes_shift -= 1
            # increase the word shift by 4
            words_shift += 4
        crc32_bytes_count = words_shift

    for i in range(crc32_bytes_count):
        # XOR next byte to upper bits of CRC
        if 1 == reflected_input:
            crc32 ^= (temp_array[i] << 24)
        else:
            crc32 ^= (msg_buffer[i] << 24)

        for _ in range(8):              # Do it eight times (number of bits in one byte).
            # the next variables are converted to c_uint32 so as not to exceed the value of 32-bit (0xFFFFFFFF).
            msb = c_uint32(crc32 >> 31)         
            crc32_c = c_uint32(crc32 << 1)
            # the previous variables are converted back to python type int to be consistent.
            crc32 = int(crc32_c.value)
            crc32 ^= ((0 - msb.value) & crc32_polynomial)
    return crc32
MAX_MESSAGE_SIZE = 255
MAX_PARAMS_PER_MESSAGE = 10
BOS_RESPONSE = 0  # Replace with actual value
BOS_TRACE = 0  # Replace with actual value
BOS_BROADCAST = 0xFF  # Replace with actual value
Raspberrypi_id = 1  # Replace with actual Raspberry Pi ID
#H18R1 Messages Codes
CODE_H18R1_Turn_ON = 1200
CODE_H18R1_Turn_OFF = 1201
# Functions to control the motor
def send_control_message_to_module(dst, code, fb,m):
    message = [0] * 13
    extend_options = False
    extend_code = False
    # Try to open serial port
    # HZ Delimiter
    message[0] = ord('H')
    message[1] = ord('Z')

    # Header
    message[3] = dst
    message[4] = Raspberrypi_id
    message[5]= 0x2
    ptmsb = (code>> 8) & 0xff
    ptlsb = code & 0xff 
    message[6] = (ptlsb)
    message[7] = (ptmsb) 
    #message[6] = 0xb0   
    #message[7] = 0x4
    message[8] = fb
    message[9] = m
    length = 10        
    message[2]= 7    
    s = len(message[:length])
    CRC32 = calculate_crc32mpeg2(message[:length], s, 1)
    CRC8 = CRC32 & 0xFF
    crc = format(CRC8 , 'X')
    message[10] = CRC8 
# Transmit the message from this port
    ser.write(message)
    ser.flushOutput()


def send_stop_message_to_module(dst, code, m):
    message = [0] * 12
    extend_options = False
    extend_code = False
    # Try to open serial port
    # HZ Delimiter
    message[0] = ord('H')
    message[1] = ord('Z')

    # Header
    message[3] = dst
    message[4] = Raspberrypi_id
    message[5]= 0x2
    ptmsb = (code>> 8) & 0xff
    ptlsb = code & 0xff 
    message[6] = (ptlsb)
    message[7] = (ptmsb) 
    #message[6] = 0xb1   
    #message[7] = 0x4
    message[8] = m
    length = 9 
    message[2]= 6    
    s = len(message[:length])
    CRC32 = calculate_crc32mpeg2(message[:length], s, 1)
    CRC8 = CRC32 & 0xFF
    crc = format(CRC8 , 'X')
    message[9] = CRC8
# Transmit the message from this port
    ser.write(message)
    ser.flushOutput()
def forward():
    print('F')
    send_control_message_to_module(1, CODE_H18R1_Turn_ON, 1,1)

def backward():
    print('B')
    send_control_message_to_module(1, CODE_H18R1_Turn_ON, 2,1)

def stop():
    print('S')
    send_stop_message_to_module(1, CODE_H18R1_Turn_OFF, 1)

# Create the interface using Tkinter
root = tk.Tk()
root.title("Motor Control")
root.geometry("400x300")
root.configure(bg="#282c34")

# Header Label
header_label = tk.Label(root, text="Hexabitz Motor Control Interface", font=("Helvetica", 16, "bold"), bg="#282c34", fg="#61dafb")
header_label.pack(pady=20)

# Forward button
forward_button = tk.Button(root, text="Forward", command=forward, bg="#4CAF50", fg="white", font=("Helvetica", 12, "bold"), padx=20, pady=10, relief="groove")
forward_button.pack(pady=10)

# Backward button
backward_button = tk.Button(root, text="Backward", command=backward, bg="#2196F3", fg="white", font=("Helvetica", 12, "bold"), padx=20, pady=10, relief="groove")
backward_button.pack(pady=10)

# Stop button
stop_button = tk.Button(root, text="Stop", command=stop, bg="#f44336", fg="white", font=("Helvetica", 12, "bold"), padx=20, pady=10, relief="groove")
stop_button.pack(pady=10)

# Footer Label
footer_label = tk.Label(root, text="Enjoy controlling your motor!", font=("Helvetica", 14, "italic"), bg="#282c34", fg="#aab0b6")
footer_label.pack(pady=20)

# Start the interface
root.mainloop()

Hexabitz Motor Control Interface GUI TEST

Python
GUI TEST
import tkinter as tk
# Functions to control the motor
def forward():
    print('F')

def backward():
    print('B')

def stop():
    print('S')

# Create the interface using Tkinter
root = tk.Tk()
root.title("Motor Control")
root.geometry("400x300")
root.configure(bg="#282c34")

# Header Label
header_label = tk.Label(root, text="Hexabitz Motor Control Interface", font=("Helvetica", 16, "bold"), bg="#282c34", fg="#61dafb")
header_label.pack(pady=20)

# Forward button
forward_button = tk.Button(root, text="Forward", command=forward, bg="#4CAF50", fg="white", font=("Helvetica", 12, "bold"), padx=20, pady=10, relief="groove")
forward_button.pack(pady=10)

# Backward button
backward_button = tk.Button(root, text="Backward", command=backward, bg="#2196F3", fg="white", font=("Helvetica", 12, "bold"), padx=20, pady=10, relief="groove")
backward_button.pack(pady=10)

# Stop button
stop_button = tk.Button(root, text="Stop", command=stop, bg="#f44336", fg="white", font=("Helvetica", 12, "bold"), padx=20, pady=10, relief="groove")
stop_button.pack(pady=10)

# Footer Label
footer_label = tk.Label(root, text="Enjoy controlling your motor!", font=("Helvetica", 14, "italic"), bg="#282c34", fg="#aab0b6")
footer_label.pack(pady=20)

# Start the interface
root.mainloop()

H18R1x_Firmware

Credits

Aula Jazmati

Aula Jazmati

52 projects • 215 followers
💡🕊️

Comments

Related channels and tags
  • Displays
  • Hexabitz
  • Home Automation
  • Raspberry Pi
  • STMicroelectronics