SimpleSteppers - Provides an API software interface to TIMER2 to c…

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Provides an API software interface to TIMER2 to control upto four stepper motors.

inc/SimpleSteppers.h@0:7393c52297ee, 2011-05-02 (annotated)

Committer:: AjK
Date:: Mon May 02 10:02:18 2011 +0000
Revision:: 0:7393c52297ee
Child:: 1:1030a91cbf4c

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User	Revision	Line number	New contents of line
AjK	0:7393c52297ee	1	/*
AjK	0:7393c52297ee	2	Copyright (c) 2011 Andy Kirkham
AjK	0:7393c52297ee	3
AjK	0:7393c52297ee	4	Permission is hereby granted, free of charge, to any person obtaining a copy
AjK	0:7393c52297ee	5	of this software and associated documentation files (the "Software"), to deal
AjK	0:7393c52297ee	6	in the Software without restriction, including without limitation the rights
AjK	0:7393c52297ee	7	to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
AjK	0:7393c52297ee	8	copies of the Software, and to permit persons to whom the Software is
AjK	0:7393c52297ee	9	furnished to do so, subject to the following conditions:
AjK	0:7393c52297ee	10
AjK	0:7393c52297ee	11	The above copyright notice and this permission notice shall be included in
AjK	0:7393c52297ee	12	all copies or substantial portions of the Software.
AjK	0:7393c52297ee	13
AjK	0:7393c52297ee	14	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
AjK	0:7393c52297ee	15	IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
AjK	0:7393c52297ee	16	FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AjK	0:7393c52297ee	17	AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
AjK	0:7393c52297ee	18	LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
AjK	0:7393c52297ee	19	OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
AjK	0:7393c52297ee	20	THE SOFTWARE.
AjK	0:7393c52297ee	21	*/
AjK	0:7393c52297ee	22
AjK	0:7393c52297ee	23	#ifndef AJK_SIMPLESTEPPERS_H
AjK	0:7393c52297ee	24	#define AJK_SIMPLESTEPPERS_H
AjK	0:7393c52297ee	25
AjK	0:7393c52297ee	26	#define SIMPLESTEPPER_F 100000
AjK	0:7393c52297ee	27	#include "LPC17xx.h"
AjK	0:7393c52297ee	28	#include "core_cm3.h"
AjK	0:7393c52297ee	29	#include <stdint.h>
AjK	0:7393c52297ee	30
AjK	0:7393c52297ee	31	#ifndef __ARMCC_VERSION
AjK	0:7393c52297ee	32	#include "SimpleStepperMbed.h"
AjK	0:7393c52297ee	33	#else
AjK	0:7393c52297ee	34	#include "mbed.h"
AjK	0:7393c52297ee	35	#endif
AjK	0:7393c52297ee	36
AjK	0:7393c52297ee	37	#include "SimpleStepperOutput.h"
AjK	0:7393c52297ee	38
AjK	0:7393c52297ee	39	namespace AjK {
AjK	0:7393c52297ee	40
AjK	0:7393c52297ee	41	// Forward reference the main controller.
AjK	0:7393c52297ee	42	class SimpleStepperController;
AjK	0:7393c52297ee	43
AjK	0:7393c52297ee	44	/** SimpleStepper
AjK	0:7393c52297ee	45	*
AjK	0:7393c52297ee	46	* SimpleStepper is a class designed to handle the pulse and direction
AjK	0:7393c52297ee	47	* signals for a stepper motor. A simple API is exposed to allow the
AjK	0:7393c52297ee	48	* setting of the pulse width and the number of pulses per second.
AjK	0:7393c52297ee	49	*
AjK	0:7393c52297ee	50	* Note, SimpleStepper uses the SimpleStepperController class to manage
AjK	0:7393c52297ee	51	* the TIMER2. SimpleStepperController and SimpleStepper take total
AjK	0:7393c52297ee	52	* control of the LPC17xx's TIMER2. Your application or other library that
AjK	0:7393c52297ee	53	* your application uses, should use TIMER2.
AjK	0:7393c52297ee	54	*
AjK	0:7393c52297ee	55	* @include example1.h
AjK	0:7393c52297ee	56	*/
AjK	0:7393c52297ee	57	class SimpleStepper {
AjK	0:7393c52297ee	58
AjK	0:7393c52297ee	59	public:
AjK	0:7393c52297ee	60	enum MAT { MAT2_0, MAT2_1, MAT2_2, MAT2_3 };
AjK	0:7393c52297ee	61	enum MATCH_OP { NothingOnMatch, ClrOnMatch, SetOnMatch, ToggleOnMatch };
AjK	0:7393c52297ee	62	enum PULSE_STATE { PulseIdle, PulseAssert, PulseDeassert };
AjK	0:7393c52297ee	63	enum STEPPER_STATE { Stopped, ConstantSpeed };
AjK	0:7393c52297ee	64
AjK	0:7393c52297ee	65	protected:
AjK	0:7393c52297ee	66	SimpleStepperController *_simpleStepperController;
AjK	0:7393c52297ee	67	SimpleStepperOutput *_direction;
AjK	0:7393c52297ee	68
AjK	0:7393c52297ee	69	PinName _pulse;
AjK	0:7393c52297ee	70	MAT _pulseMAT;
AjK	0:7393c52297ee	71	uint32_t _operShift;
AjK	0:7393c52297ee	72	uint32_t _pMR;
AjK	0:7393c52297ee	73	uint32_t _match_shift;
AjK	0:7393c52297ee	74	uint32_t _EMmask;
AjK	0:7393c52297ee	75	uint32_t _EMCshift;
AjK	0:7393c52297ee	76	int _pulseLen;
AjK	0:7393c52297ee	77	int _pulseSense;
AjK	0:7393c52297ee	78	int _directionSense;
AjK	0:7393c52297ee	79	int _commandSpeed;
AjK	0:7393c52297ee	80	int64_t _pulseCounter;
AjK	0:7393c52297ee	81	int64_t _pulseWrapPos;
AjK	0:7393c52297ee	82	int64_t _pulseWrapNeg;
AjK	0:7393c52297ee	83	uint32_t _currentMatch;
AjK	0:7393c52297ee	84
AjK	0:7393c52297ee	85	bool _maintainPositionData;
AjK	0:7393c52297ee	86
AjK	0:7393c52297ee	87	PULSE_STATE _pulseState;
AjK	0:7393c52297ee	88
AjK	0:7393c52297ee	89	STEPPER_STATE _stepperState;
AjK	0:7393c52297ee	90
AjK	0:7393c52297ee	91	void init(void);
AjK	0:7393c52297ee	92
AjK	0:7393c52297ee	93	void isr(uint32_t);
AjK	0:7393c52297ee	94
AjK	0:7393c52297ee	95	void next_step(void);
AjK	0:7393c52297ee	96
AjK	0:7393c52297ee	97	public:
AjK	0:7393c52297ee	98	friend class SimpleStepperController;
AjK	0:7393c52297ee	99
AjK	0:7393c52297ee	100	/** Constructor
AjK	0:7393c52297ee	101	*
AjK	0:7393c52297ee	102	* PinName pulse can be p5, p6, p7 or p8
AjK	0:7393c52297ee	103	* SimpleStepperOutput *direction is a pointer to an output.
AjK	0:7393c52297ee	104	*
AjK	0:7393c52297ee	105	* @param PinName The output for the pulse output.
AjK	0:7393c52297ee	106	* @param SimpleStepperOutput *direction The output pin for direction control
AjK	0:7393c52297ee	107	*/
AjK	0:7393c52297ee	108	SimpleStepper(PinName pulse, SimpleStepperOutput *direction = 0);
AjK	0:7393c52297ee	109
AjK	0:7393c52297ee	110	/** Constructor
AjK	0:7393c52297ee	111	*
AjK	0:7393c52297ee	112	* PinName pulse can be p5, p6, p7 or p8
AjK	0:7393c52297ee	113	* SimpleStepperOutput *direction is a pointer to an output.
AjK	0:7393c52297ee	114	*
AjK	0:7393c52297ee	115	* @param SimpleStepperController *con A pointer to a base controller.
AjK	0:7393c52297ee	116	* @param PinName The output for the pulse output.
AjK	0:7393c52297ee	117	* @param SimpleStepperOutput *direction The output pin for direction control
AjK	0:7393c52297ee	118	*/
AjK	0:7393c52297ee	119	SimpleStepper(SimpleStepperController con, PinName pulse, SimpleStepperOutput direction);
AjK	0:7393c52297ee	120
AjK	0:7393c52297ee	121	/** setPulseSense
AjK	0:7393c52297ee	122	*
AjK	0:7393c52297ee	123	* Set's the logic value that pulse asserted assumes. Default is 1.
AjK	0:7393c52297ee	124	*
AjK	0:7393c52297ee	125	* 1 means pulse goes from 0 to 1 and remains 1 for pulseLen time then goes to 0.
AjK	0:7393c52297ee	126	* 0 means pulse goes from 1 to 0 and remains 0 for pulseLen time then goes to 1.
AjK	0:7393c52297ee	127	*
AjK	0:7393c52297ee	128	* @param int What is the logic sense for the pulse output.
AjK	0:7393c52297ee	129	*/
AjK	0:7393c52297ee	130	void setPulseSense(int i = 1) { _pulseSense = i; }
AjK	0:7393c52297ee	131
AjK	0:7393c52297ee	132	/** setDirectionSense
AjK	0:7393c52297ee	133	*
AjK	0:7393c52297ee	134	* Set's the logic value that direction forward assumes. Default is 1.
AjK	0:7393c52297ee	135	*
AjK	0:7393c52297ee	136	* 1 means that the direction output is 1 for forward and 0 for reverse.
AjK	0:7393c52297ee	137	* 0 means that the direction output is 0 for forward and 1 for reverse.
AjK	0:7393c52297ee	138	*
AjK	0:7393c52297ee	139	* Additionally, for position:-
AjK	0:7393c52297ee	140	* 1 means forward pulses are counted upwards, reverse means counted downwards.
AjK	0:7393c52297ee	141	* 0 means forward pulses are counted downwards, reverse means counted upwards.
AjK	0:7393c52297ee	142	*
AjK	0:7393c52297ee	143	* @param int What is the logic sense for the direction output.
AjK	0:7393c52297ee	144	*/
AjK	0:7393c52297ee	145	void setDirectionSense(int i = 1) { _directionSense = i; }
AjK	0:7393c52297ee	146
AjK	0:7393c52297ee	147	/** setPulseLen
AjK	0:7393c52297ee	148	*
AjK	0:7393c52297ee	149	* Used to set the pulse length. Default pulse length is 50us.
AjK	0:7393c52297ee	150	* If no arg supplied returns the current pulse length.
AjK	0:7393c52297ee	151	* <b>Note,</b> the length is specified as 10us increments.
AjK	0:7393c52297ee	152	* The default is 5 which is 50us
AjK	0:7393c52297ee	153	* @param int pulse length
AjK	0:7393c52297ee	154	* @return int the value of the pulse length.
AjK	0:7393c52297ee	155	*/
AjK	0:7393c52297ee	156	int setPulseLen(int i = 0) { if (i) _pulseLen = i; return _pulseLen; }
AjK	0:7393c52297ee	157
AjK	0:7393c52297ee	158	/** setSpeed
AjK	0:7393c52297ee	159	*
AjK	0:7393c52297ee	160	* Set the motor speed in pulses per second. Zero stops all motor pulses.
AjK	0:7393c52297ee	161	*
AjK	0:7393c52297ee	162	* With the default pulseLen of 50us (5 timer "ticks") the maximum speed
AjK	0:7393c52297ee	163	* that can be set is 10000 pulses per second (pps) which will produce a square
AjK	0:7393c52297ee	164	* wave with 50% duty cycle. Pushing it beyond will give a square wave a duty
AjK	0:7393c52297ee	165	* cycle shifts so that the off time between pulses becomes shorter than the on
AjK	0:7393c52297ee	166	* pulse length.
AjK	0:7393c52297ee	167	*
AjK	0:7393c52297ee	168	* The pulseLen can be adjusted using setPulseLen() down even more to eek out
AjK	0:7393c52297ee	169	* some extra bandwidth. However, you really should be checking both the datasheet
AjK	0:7393c52297ee	170	* for your stepper motor amplifier and stepper motor. Running a stepper motor at
AjK	0:7393c52297ee	171	* such high speed may have electrical and mechanical issues.
AjK	0:7393c52297ee	172	*
AjK	0:7393c52297ee	173	* The arg raw is used when you want to "sync" channels. Suppose for example you
AjK	0:7393c52297ee	174	* have the following code to set the speed to two front wheels:-
AjK	0:7393c52297ee	175	* @code
AjK	0:7393c52297ee	176	* stepper0.setSpeed(100);
AjK	0:7393c52297ee	177	* stepper1.setSpeed(100);
AjK	0:7393c52297ee	178	* @endcode
AjK	0:7393c52297ee	179	*
AjK	0:7393c52297ee	180	* The problem here is they will be a few "clock ticks" out from each other as the
AjK	0:7393c52297ee	181	* TIMER2 TC increments between the two calls. If you wanted to make two motors sync
AjK	0:7393c52297ee	182	* together you can pass in the raw value of TIMER2 TC to make both functions calculate
AjK	0:7393c52297ee	183	* the same stepp values and so sync together:-
AjK	0:7393c52297ee	184	* @code
AjK	0:7393c52297ee	185	* uint32_t i = LPC_TIM2->TC; // Capture TC.
AjK	0:7393c52297ee	186	* stepper0.setSpeed(100, i);
AjK	0:7393c52297ee	187	* stepper1.setSpeed(100, i);
AjK	0:7393c52297ee	188	* @endcode
AjK	0:7393c52297ee	189	*
AjK	0:7393c52297ee	190	* The above code forces setSpeed() to calculate both axis in sync with respect to
AjK	0:7393c52297ee	191	* a common TC value.
AjK	0:7393c52297ee	192	*
AjK	0:7393c52297ee	193	* @param int steps_per_second Number of pulses per second required.
AjK	0:7393c52297ee	194	*/
AjK	0:7393c52297ee	195	void setSpeed(int steps_per_second = 0, uint32_t raw = 0);
AjK	0:7393c52297ee	196
AjK	0:7393c52297ee	197	/** setSpeed
AjK	0:7393c52297ee	198	*
AjK	0:7393c52297ee	199	* Set the motor speed in pulses per second. Zero stops all motor pulses.
AjK	0:7393c52297ee	200	* @param double steps_per_second Number of pulses per second required.
AjK	0:7393c52297ee	201	*/
AjK	0:7393c52297ee	202	void setSpeed(double steps_per_second = 0, uint32_t raw = 0);
AjK	0:7393c52297ee	203
AjK	0:7393c52297ee	204	/** setInterval
AjK	0:7393c52297ee	205	*
AjK	0:7393c52297ee	206	* Set the motor speed pulse interval. Zero stops all motor pulses.
AjK	0:7393c52297ee	207	* @param int interval
AjK	0:7393c52297ee	208	*/
AjK	0:7393c52297ee	209	void setInterval(int i = 0, uint32_t raw = 0);
AjK	0:7393c52297ee	210
AjK	0:7393c52297ee	211	/** getPosition
AjK	0:7393c52297ee	212	*
AjK	0:7393c52297ee	213	* Get the current position (the pulse counter).
AjK	0:7393c52297ee	214	*
AjK	0:7393c52297ee	215	* @return int64_t The current position as maintained by the interrupts.
AjK	0:7393c52297ee	216	*/
AjK	0:7393c52297ee	217	int64_t getPosition(void) { return _pulseCounter; }
AjK	0:7393c52297ee	218
AjK	0:7393c52297ee	219	/** setWrapPos
AjK	0:7393c52297ee	220	*
AjK	0:7393c52297ee	221	* Set the value that we should wrap the pulse position counter.
AjK	0:7393c52297ee	222	* Zero (default) means no wrap occurs.
AjK	0:7393c52297ee	223	*
AjK	0:7393c52297ee	224	* @param int64_t The value to wrap to NEG at.
AjK	0:7393c52297ee	225	*/
AjK	0:7393c52297ee	226	void setWrapPos(int64_t i = 0) { _pulseWrapPos = i; }
AjK	0:7393c52297ee	227
AjK	0:7393c52297ee	228	/** setWrapNeg
AjK	0:7393c52297ee	229	*
AjK	0:7393c52297ee	230	* Set the value that we should wrap the pulse position counter.
AjK	0:7393c52297ee	231	* Zero (default) means no wrap occurs.
AjK	0:7393c52297ee	232	*
AjK	0:7393c52297ee	233	* @param int64_t The value to wrap to POS at.
AjK	0:7393c52297ee	234	*/
AjK	0:7393c52297ee	235	void setWrapNeg(int64_t i = 0) { _pulseWrapNeg = i; }
AjK	0:7393c52297ee	236
AjK	0:7393c52297ee	237	/** setMaintainPositionData
AjK	0:7393c52297ee	238	*
AjK	0:7393c52297ee	239	* Setting this false removes the maintainence of positional data.
AjK	0:7393c52297ee	240	* This allows the interrupt service routine to not perform these
AjK	0:7393c52297ee	241	* steps (if not required) thus making the ISR run slightly fatser.
AjK	0:7393c52297ee	242	* You might want to do this if positional data isn't required.
AjK	0:7393c52297ee	243	*/
AjK	0:7393c52297ee	244	void setMaintainPositionData(bool b) { _maintainPositionData = b; }
AjK	0:7393c52297ee	245
AjK	0:7393c52297ee	246	};
AjK	0:7393c52297ee	247
AjK	0:7393c52297ee	248	class SimpleStepperController {
AjK	0:7393c52297ee	249	protected:
AjK	0:7393c52297ee	250	SimpleStepper *_stepper[4];
AjK	0:7393c52297ee	251
AjK	0:7393c52297ee	252	public:
AjK	0:7393c52297ee	253	friend class SimpleStepper;
AjK	0:7393c52297ee	254
AjK	0:7393c52297ee	255	SimpleStepperController();
AjK	0:7393c52297ee	256	~SimpleStepperController();
AjK	0:7393c52297ee	257	void isr(void);
AjK	0:7393c52297ee	258	};
AjK	0:7393c52297ee	259
AjK	0:7393c52297ee	260	}; // namespace AjK ends
AjK	0:7393c52297ee	261
AjK	0:7393c52297ee	262	#endif

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Type:	Library
Created:	02 May 2011
Imports:	558
Forks:	0
Commits:	5
Dependents:	1
Dependencies:	0
Followers:	15

inc/SimpleSteppers.h@0:7393c52297ee, 2011-05-02 (annotated)

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