Andy K
Provides an API software interface to TIMER2 to control upto four stepper motors.
Diff: inc/SimpleStepperOutput.h
- Revision:
- 0:7393c52297ee
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/inc/SimpleStepperOutput.h Mon May 02 10:02:18 2011 +0000
@@ -0,0 +1,339 @@
+/****************************************************************************
+ * Product: LIB17 Open Source Library
+ *
+ * Steller Technologies Limited
+ * ----------------------------
+ *
+ * Copyright (C) 2002-2011 Steller Technologies Limited. All rights reserved.
+ *
+ * This software may be distributed and modified under the terms of the GNU
+ * General Public License version 2 (GPL) as published by the Free Software
+ * Foundation and appearing in the file GPL.TXT included in the packaging of
+ * this file. Please note that GPL Section 2[b] requires that all works based
+ * on this software must also be made publicly available under the terms of
+ * the GPL ("Copyleft").
+ *
+ * Alternatively, this software may be distributed and modified under the
+ * terms of Steller Technologies Limited commercial licenses, which expressly
+ * supersede the GPL and are specifically designed for licensees interested in
+ * retaining the proprietary status of their code.
+ *
+ * $Id:$
+ *
+ ***************************************************************************/
+
+/**
+ * @defgroup SimpleStepperOutput SimpleStepperOutput functions
+ */
+
+#ifndef AJK_SIMPLESTEPPEROUTPUT_H
+#define AJK_SIMPLESTEPPEROUTPUT_H
+
+#ifndef __ARMCC_VERSION
+#include "SimpleStepperMbed.h"
+#else
+#include "mbed.h"
+#endif
+
+
+namespace AjK {
+
+/** SimpleStepperOutput - Adds pin output objects.
+ *
+ * The Mbed library supplies the DigitalIn and DigitalOut objects to allow you
+ * to specify ins and outs.
+ *
+ * SimpleStepperOutput allows library objects to implement pins without the requirement
+ * to link against the Mbed library. This increase portability when using
+ * alternate compilers (such as the Code Red GCC C++ compiler for LPCXpresso).
+ *
+ * @ingroup SimpleStepperOutput
+ */
+class SimpleStepperOutput {
+public:
+ enum Direction {
+ Out = 0
+ , In
+ };
+
+protected:
+ PinName pin;
+ uint32_t mask;
+ uint32_t fiodir;
+ uint32_t fiomask;
+ uint32_t fiopin;
+ uint32_t fioset;
+ uint32_t fioclr;
+
+ inline void setpin(PinName p) { pin = p; }
+ inline void setmask(PinName p) { mask = (uint32_t)(1UL << ((uint32_t)p & 0x1F)); }
+ inline void setDir(PinName p) { fiodir = (uint32_t)(p & ~0x1F) + 0x00; }
+ inline void setMask(PinName p) { fiomask = (uint32_t)(p & ~0x1F) + 0x10; }
+ inline void setPin(PinName p) { fiopin = (uint32_t)(p & ~0x1F) + 0x14; }
+ inline void setSet(PinName p) { fioset = (uint32_t)(p & ~0x1F) + 0x18; }
+ inline void setClr(PinName p) { fioclr = (uint32_t)(p & ~0x1F) + 0x1C; }
+
+ inline void pinUp() { *((volatile uint32_t *)fioset) = mask; }
+ inline void pinDn() { *((volatile uint32_t *)fioclr) = mask; }
+ inline uint32_t pinIs() { return *((volatile uint32_t *)(fiopin)) & mask; }
+
+public:
+
+ /** Constructor
+ * @ingroup SimpleStepperOutput
+ */
+ SimpleStepperOutput(PinName p, Direction d = Out, PinMode m = PullDown) { init(p, d, m); };
+
+ /** write
+ *
+ * Writes a value to the pin.
+ *
+ * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
+ * @ingroup SimpleStepperOutput
+ * @param i Zero makes the pin 0v, non-zero makes the pin 1.
+ */
+ void write(int i) { if (i!=0) { pinUp(); } else { pinDn(); } }
+
+ /** read
+ *
+ * Reads the value on the pin.
+ *
+ * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
+ * @ingroup SimpleStepperOutput
+ * @return int 0v returns zero, otherwise returns 1.
+ */
+ int read(void) { return pinIs() ? 1 : 0; };
+
+ /** output
+ *
+ * Setup the pin to be an output.
+ *
+ * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
+ * @ingroup SimpleStepperOutput
+ * @ingroup API
+ * @return int 0v returns zero, otherwise returns 1.
+ */
+ void output(void) { *((volatile uint32_t *)fiodir) |= mask; }
+
+ /** input
+ *
+ * Setup the pin to be an input.
+ *
+ * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
+ * @ingroup SimpleStepperOutput
+ * @return int 0v returns zero, otherwise returns 1.
+ */
+ void input(void) { *((volatile uint32_t *)fiodir) &= ~mask; }
+
+ /** getPin
+ *
+ * Get the PinName this object is operating on.
+ *
+ * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
+ * @ingroup SimpleStepperOutput
+ * @return int 0v returns zero, otherwise returns 1.
+ */
+ PinName getPin(void) { return pin; }
+
+ /** getDirection
+ *
+ * Get the operational direction this pin is setup for.
+ *
+ * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
+ * @ingroup SimpleStepperOutput
+ * @return int 0v returns zero, otherwise returns 1.
+ */
+ int getDirection(void) { return *((volatile uint32_t *)fiomask) & mask ? 1 : 0; }
+
+ /** operator int()
+ *
+ * Reads the value on the pin.
+ *
+ * @see read
+ * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
+ * @ingroup SimpleStepperOutput
+ * @return int 0v returns zero, otherwise returns 1.
+ */
+ operator int() { return read(); }
+
+ /** operator=
+ *
+ * Writes a value to the pin.
+ *
+ * @see write
+ * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
+ * @ingroup SimpleStepperOutput
+ */
+ SimpleStepperOutput& operator= (int value) { write(value); return *this; }
+
+ /** operator=
+ *
+ * Writes a value to the pin.
+ *
+ * @see write
+ * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
+ * @ingroup SimpleStepperOutput
+ */
+ SimpleStepperOutput& operator= (SimpleStepperOutput& rhs) { write(rhs.read()); return *this; }
+
+ /** getMask
+ *
+ * Get the mask value for this pin.
+ *
+ * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
+ * @ingroup SimpleStepperOutput
+ * @return uint32_t The mask value used by this pin.
+ */
+ uint32_t getMask(void) { return mask; }
+
+ /** getFiodir
+ *
+ * Get the FIODIR register for the port the pin is on.
+ *
+ * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
+ * @ingroup SimpleStepperOutput
+ * @return uint32_t The register value.
+ */
+ uint32_t getFiodir(void) { return fiodir; }
+
+ /** getFiomask
+ *
+ * Get the FIOMASK register for the port the pin is on.
+ *
+ * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
+ * @ingroup SimpleStepperOutput
+ * @return uint32_t The register value.
+ */
+ uint32_t getFiomask(void) { return fiomask; }
+
+ /** getFiopin
+ *
+ * Get the FIOPIN register for the port the pin is on.
+ *
+ * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
+ * @ingroup SimpleStepperOutput
+ * @return uint32_t The register value.
+ */
+ uint32_t getFiopin(void) { return fiopin; }
+
+ /** getFioset
+ *
+ * Get the FIOSET register for the port the pin is on.
+ *
+ * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
+ * @ingroup SimpleStepperOutput
+ * @return uint32_t The register value.
+ */
+ uint32_t getFioset(void) { return fioset; }
+
+ /** getFioclr
+ *
+ * Get the FIOCLR register for the port the pin is on.
+ *
+ * @see http://cornflakes.wikidot.com/lib17:core:lib17-dio
+ * @ingroup SimpleStepperOutput
+ * @return uint32_t The register value.
+ */
+ uint32_t getFioclr(void) { return fioclr; }
+
+
+protected:
+ void init(PinName p, Direction d, PinMode m)
+ {
+ // We rely on the fact that by default the LPC1768
+ // sets all pins to be GPIO. The user will change
+ // that if they need to. So we don't bother trying
+ // to setup PINSELx
+
+ // psel(); // Not used, see above.
+
+ setpin(p);
+ setmask(p);
+ setDir(p);
+ setMask(p);
+ setPin(p);
+ setSet(p);
+ setClr(p);
+
+ if (d == Out) output();
+ else mode( m );
+ }
+
+protected:
+ void psel(void)
+ {
+ uint32_t ppsel, pumask;
+
+ if (pin >= P0_0 && pin <= P0_15) ppsel = (uint32_t)(&LPC_PINCON->PINSEL0);
+ else if (pin >= P0_16 && pin <= P0_31) ppsel = (uint32_t)(&LPC_PINCON->PINSEL1);
+ else if (pin >= P1_0 && pin <= P1_15) ppsel = (uint32_t)(&LPC_PINCON->PINSEL2);
+ else if (pin >= P1_16 && pin <= P1_31) ppsel = (uint32_t)(&LPC_PINCON->PINSEL3);
+ else if (pin >= P2_0 && pin <= P2_15) ppsel = (uint32_t)(&LPC_PINCON->PINSEL4);
+ else if (pin >= P3_16 && pin <= P3_31) ppsel = (uint32_t)(&LPC_PINCON->PINSEL7);
+ else if (pin >= P4_16 && pin <= P4_31) ppsel = (uint32_t)(&LPC_PINCON->PINSEL9);
+ else return;
+
+ pumask = ~(3UL << ((pin & 0x1F)>>1));
+ *((volatile uint32_t *)ppsel) &= pumask;
+ }
+
+public:
+ void mode(PinMode m)
+ {
+ uint32_t ppmod, pumask;
+
+ if (m == OpenDrain) {
+ openDrain(1);
+ }
+ else {
+ if (pin >= P0_0 && pin <= P0_15) {
+ ppmod = (uint32_t)(&LPC_PINCON->PINMODE0);
+ pumask = ((m & 0x3) << ( ((pin & 0x1F)-0)*2) );
+ }
+ else if (pin >= P0_16 && pin <= P0_31) {
+ ppmod = (uint32_t)(&LPC_PINCON->PINMODE1);
+ pumask = ((m & 0x3) << ( ((pin & 0x1F)-16)*2) );
+ }
+ else if (pin >= P1_0 && pin <= P1_15) {
+ ppmod = (uint32_t)(&LPC_PINCON->PINMODE2);
+ pumask = ((m & 0x3) << ( ((pin & 0x1F)-0)*2) );
+ }
+ else if (pin >= P1_16 && pin <= P1_31) {
+ ppmod = (uint32_t)(&LPC_PINCON->PINMODE3);
+ pumask = ((m & 0x3) << ( ((pin & 0x1F)-16)*2) );
+ }
+ else if (pin >= P2_0 && pin <= P2_15) {
+ ppmod = (uint32_t)(&LPC_PINCON->PINMODE4);
+ pumask = ((m & 0x3) << ( ((pin & 0x1F)-0)*2) );
+ }
+ else if (pin >= P3_16 && pin <= P3_31) {
+ ppmod = (uint32_t)(&LPC_PINCON->PINMODE7);
+ pumask = ((m & 0x3) << ( ((pin & 0x1F)-16)*2) );
+ }
+ else if (pin >= P4_16 && pin <= P4_31) {
+ ppmod = (uint32_t)(&LPC_PINCON->PINMODE9);
+ pumask = ((m & 0x3) << ( ((pin & 0x1F)-16)*2) );
+ }
+ else return;
+
+ *((volatile uint32_t *)ppmod) |= pumask;
+ }
+ }
+
+public:
+ void openDrain(int i = 1)
+ {
+ if (pin >= P0_0 && pin <= P0_31) { if (i) LPC_PINCON->PINMODE_OD0 |= mask; else LPC_PINCON->PINMODE_OD0 &= ~mask; }
+ else if (pin >= P1_0 && pin <= P1_31) { if (i) LPC_PINCON->PINMODE_OD1 |= mask; else LPC_PINCON->PINMODE_OD1 &= ~mask; }
+ else if (pin >= P2_0 && pin <= P2_31) { if (i) LPC_PINCON->PINMODE_OD2 |= mask; else LPC_PINCON->PINMODE_OD2 &= ~mask; }
+ else if (pin >= P3_16 && pin <= P3_31) { if (i) LPC_PINCON->PINMODE_OD3 |= mask; else LPC_PINCON->PINMODE_OD3 &= ~mask; }
+ else if (pin >= P4_16 && pin <= P4_31) { if (i) LPC_PINCON->PINMODE_OD4 |= mask; else LPC_PINCON->PINMODE_OD4 &= ~mask; }
+ }
+
+};
+
+}; /* namespace AjK ends. */
+
+using namespace AjK;
+
+#endif /* AJK_SIMPLESTEPPEROUTPUT_H */