StepperMotor.h

00001 /* Copyright (C) 2012 mbed.org, MIT License
00002  *
00003  * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
00004  * and associated documentation files (the "Software"), to deal in the Software without restriction,
00005  * including without limitation the rights to use, copy, modify, merge, publish, distribute,
00006  * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
00007  * furnished to do so, subject to the following conditions:
00008  *
00009  * The above copyright notice and this permission notice shall be included in all copies or
00010  * substantial portions of the Software.
00011  *
00012  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
00013  * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
00014  * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
00015  * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00016  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
00017  */
00018 
00019 
00020 #ifndef MBED_STEPPER_MOTOR_H
00021 #define MBED_STEPPER_MOTOR_H
00022 
00023 #include "mbed.h"
00024 
00025 typedef enum {PWM_ON, PWM_OFF} pwm_state;
00026 typedef enum {CLOCK_WISE, ANTI_CLOCK_WISE} motor_dir;
00027 
00028 struct speed_data_t {
00029     int max_pulse_count;
00030     int pwm_ratio;
00031     uint8_t *clockwise_ptn;
00032     uint8_t *anticlockwise_ptn;
00033     int ptn_count;
00034 };
00035 
00036 #define PULSE_INTERVAL        14        // 13us
00037 
00038 class StepperMotor
00039 {
00040 public:
00041     StepperMotor(PinName x_pin_no, PinName y_pin_no, PinName nx_pin_no, PinName ny_pin_no);
00042     ~StepperMotor();
00043 
00044     void SetSpeed(int speed, motor_dir direction);
00045     void PulseEnable(void);
00046     void PulseDisable(void);
00047 
00048 private:
00049     pwm_state    state;
00050     motor_dir    direction;
00051     int         ptn_index;
00052     int         ptn_count;
00053     int         pwm_ratio;
00054     int         pwm_on_count;
00055     int         pwm_off_count;
00056     int         max_pulse_count;
00057     int         pulse_count;
00058     uint8_t     *ptn;
00059     uint8_t     ptn_data;
00060 
00061     DigitalOut _x;
00062     DigitalOut _y;
00063     DigitalOut _nx;
00064     DigitalOut _ny;
00065 
00066     Ticker Pulse;
00067 
00068     void SetPulse14us(void);
00069     void PulseOut(void);
00070     void PulseStop(void);
00071 };
00072 
00073 #endif