Stepper.cpp

00001 
00002 
00003 
00004 #include "mbed.h"
00005 #include "Stepper.h"
00006 
00007 
00008 /* .......................................
00009 
00010     ? Pars Expanded Byte(s)
00011     
00012     Assuming Port expander is used;
00013     
00014     then on ISR, read chip registors ..
00015     -> code -> 
00016   ........................................  */
00017 
00018 
00019 
00020 Stepper::Stepper(PinName Step, PinName Dir, PinName En, 
00021                  PinName Endstop_Left, 
00022                  PinName Endstop_Right, 
00023                  
00024                  bool Invert_Dir, 
00025                  bool Invert_ESL, 
00026                  bool Invert_ESR)
00027 
00028 
00029             : _Step (Step),  _Dir(Dir), _En(En), _Endstop_Left(Endstop_Left), _Endstop_Right(Endstop_Right)
00030 {            
00031 
00032                 // Assume End Stop Left is MIN,
00033                 // and End Stop Right is MAX endstop.
00034                 
00035                  _Invert_Dir = Invert_Dir, 
00036                  _Invert_ESL = Invert_ESL, 
00037                  _Invert_ESR = Invert_ESR;            
00038            
00039 {
00040     //  bool read_1();
00041         if (Endstop_Left   != NC) 
00042         {
00043             ESL = true; 
00044             _Endstop_Left.mode (PullUp);
00045         }
00046         else 
00047         {
00048             ESL = false;
00049         }
00050         if (Endstop_Right  != NC) 
00051         {
00052             ESR = true; 
00053             _Endstop_Right.mode (PullUp);
00054         }
00055         else 
00056         {
00057             ESR = false;
00058         }
00059         
00060         // Set default val;ues .. no potr Endstops
00061         //Port_MASK_L = 0;
00062         //Port_INV_MASK_L = 0;
00063 
00064     } 
00065 }  
00066 
00067 // ------------------------------------------------------------------------------------
00068 
00069 
00070 bool Stepper::Pulse()
00071 {
00072 //    if (Step == NC)
00073 //    {
00074 //        return false;
00075 //    }
00076 //    else
00077         // Enable motor .. if not enabled .. short delay befor moveing ..
00078         
00079         if (_En) 
00080         {
00081             _En = 0;
00082             wait (0.005);   // 5 mSec.
00083         }
00084         
00085         _En = 0;
00086         
00087         
00088         {
00089             _Step = 1;
00090             wait_us (2);
00091             _Step = 0;
00092             return true;
00093         }
00094 }
00095 
00096 // ------------------------------------------------------------------------------------
00097 
00098 
00099 void Stepper::Enable (bool OnOff)
00100 {
00101     _En = !OnOff;
00102 }
00103 
00104 // ------------------------------------------------------------------------------------
00105 
00106 bool Stepper::Set_Dir (bool Dir2Set)
00107 {
00108 //    if (Dir == NC)
00109 //    {
00110 //        return false;
00111 //    }
00112 //    else
00113     {
00114         if (Dir2Set)
00115         {
00116             _Invert_Dir ? _Dir = 0 : _Dir = 1;
00117         }
00118         else
00119         {
00120             _Invert_Dir ? _Dir = 1 : _Dir = 0;
00121         }
00122         
00123         return true;
00124     }
00125 }
00126 
00127 
00128 // ------------------------------------------------------------------------------------
00129 
00130 // test if ENDSTOP is enabled ....  _Endstop_Left
00131 
00132 bool Stepper::ESL_Fitted()
00133 {
00134 //    (ESL) ? return true : return false;
00135     if (ESL) 
00136     return true;
00137     else
00138     return false;
00139 }
00140 
00141 //
00142 
00143 bool Stepper::ESR_Fitted()
00144 {
00145     //ESR ? return true : return false;
00146     if (ESR)
00147     return true;
00148     else
00149     return false;
00150 }
00151 
00152 // ...............................................................................
00153 
00154 bool Stepper::ESL_Activeated()
00155 {
00156     bool retval;
00157     
00158     if (_Invert_ESL)
00159     {
00160         if (_Endstop_Left)  retval = true; else retval = false;
00161     }
00162     else
00163     {
00164         if (_Endstop_Left)  retval = false; else retval = true; // 
00165     }
00166     
00167     if (retval)
00168     {
00169         //StepCount = 0;  // might be very bad for H-BOT
00170     }
00171      
00172     return retval;
00173 }
00174 
00175 //
00176 
00177 bool Stepper::ESR_Activeated()
00178 {
00179     if (_Invert_ESR)
00180     {
00181         if(_Endstop_Right) return true; else return false;
00182     }
00183     else
00184     {
00185         if(_Endstop_Right) return false; else return true;
00186     }
00187 }
00188 // ------------------------------------------------------------------------------------
00189 
00190 // test if endstop is triggerd.
00191 // ** will return false if not triggerd AND false if pin is NC
00192 // ** user should test if connected befor in a nested routeen from MAIN !!
00193 
00194 
00195 
00196 bool Stepper::ESL_Port(int PORT_In)
00197 {
00198     bool Ret = false;
00199     
00200     if (!Port_MASK_L)
00201     {
00202         Ret = false;
00203     }
00204     else
00205     {
00206         if (PORT_In && Port_MASK_L)
00207         {
00208             (Port_INV_MASK_L) ? Ret = true : Ret = false;
00209         }
00210         else
00211         {
00212             (Port_INV_MASK_L) ? Ret = false : Ret = true;
00213         }
00214     }
00215 
00216     return (Ret);
00217 }
00218 
00219 
00220 // .............................
00221 
00222     void Stepper::ESL_Set_MASK (int Port_MASK_L_in) 
00223     {
00224     Port_MASK_L = Port_MASK_L_in;
00225     }
00226     
00227     void Stepper::ESL_Set_INV_MASK (int Port_INV_MASK_L_in) 
00228     {
00229     Port_INV_MASK_L = Port_INV_MASK_L_in;
00230     }
00231 
00232 
00233 
00234 
00235 
00236 
00237 
00238 
00239 
00240 
00241 
00242 
00243 /*  **********************************************************************
00244 
00245 **
00246 *   `   want an entity for a SINGLE Stepper motor, and assosiated things ..
00247 
00248         PINS:
00249             step,
00250             Direction,
00251             Enable,
00252             
00253             endstop_left
00254             endstop_right
00255             
00256             Direction_Invert (T/F)
00257             
00258         calls:
00259             step
00260             Endstop_Detected           
00261 **
00262 *
00263 *
00264         Vars:
00265             Number of steps to take
00266 *
00267 *
00268 **
00269 *       also need to be able to tell if endstops are defined
00270 *
00271 *
00272 
00273     if (ESR  != NC) ESR_En = true; else ESR_En = false; // 44;
00274     
00275     // got 340 with g1 defined ..
00276     // got 44 with NO define :)
00277 
00278 ***************************
00279 
00280         if (Endstop_Right_Enabled)
00281         {
00282         
00283         }
00284         else
00285         {
00286         
00287         }
00288 
00289 * ********************************************************************* */