Diff: stepper.h

Revision:

0:7b0c724fa658

Child:

1:94f55ebfe2db

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/stepper.h	Sat Aug 23 06:34:07 2014 +0000
@@ -0,0 +1,127 @@
+/*
+ * mbed library program 
+ *      Stepping Motor
+ *
+ * Copyright (c) 2014 Kenji Arai / JH1PJL
+ *  http://www.page.sannet.ne.jp/kenjia/index.html
+ *  http://mbed.org/users/kenjiArai/
+ *      Created: August    20th, 2014
+ *      Revised: August    23rd, 2014
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
+ * INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE
+ * AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#ifndef        MBED_STEPPER
+#define        MBED_STEPPER
+
+#include "mbed.h"
+
+#define MT_SLOP_STEP            10
+#define MT_MIN_STEP             (MT_SLOP_STEP+MT_SLOP_STEP)
+#define MT_PLS_WIDTH_MIN        2      // 2mS
+
+/** Bipolar Type Stepping Motor Driver using 4 Outputs(DigitalOut) with timer interrupt(Ticker)
+ *
+ * Driver circuit: Low side driver (4ch for one Stepper) e.g. TD62003AP
+ *  CAUTION: This is only for Unipolar Type Stepping Motor!
+ *           Cannot use for Bipolar Type
+ *      Plese refer http://en.wikipedia.org/wiki/Stepper_motor
+ *
+ * @code
+ * #include "mbed.h"
+ * #include "stepper.h"
+ *
+ * #define TIMEBASE  15000      // 15mS
+ *
+ * STEPPER sm(D5, D4, D3, D2);
+ *
+ * uint8_t pls_width[10] = {5, 4, 3, 2, 1, 1, 1, 1, 1, 1 };
+ *
+ * int main() {
+ *   sm_r.set_max_speed(TIMEBASE);
+ *   sm.move(+100);
+ *   while (sm.status){ ;}
+ *   sm.move(-1000);
+ *   wait(10);
+ *   sm.move(0);
+ *   while(true){;}
+ * }
+ * @endcode
+ */
+
+class STEPPER {
+public:
+    // Please copy following part in to your main.cpp
+    /** pulse width definition -> Use for start and stop phase
+      *  = data * TIMEBASE -> e.g following data = 5 then 5*15000/1000 = 75mS
+      */
+    //uint8_t pls_width[MT_SLOP_STEP] = {5, 4, 3, 2, 1, 1, 1, 1, 1, 1 };
+
+    /** Motor Status */
+    enum MOTOR_STATE { M_STOP = 0, M_UP, M_CONTINUE, M_DOWN, M_CHANGE, M_UNKOWN = 0xff};
+    
+    /** Configure data pin
+      * @param data SDA and SCL pins
+      */
+    STEPPER (PinName xp, PinName xn, PinName yp, PinName yn);
+
+    /** Move steps
+      * @param number of steps
+      * @return none
+      */
+    void move (int32_t steps);
+
+    /** Set time period (max speed of stepper)
+      * @param time: e.g. 10mS(=10000) -> 100 PPS(Puls per Sec)
+      * @return none
+      */
+    void set_max_speed (uint32_t time_base_us);
+
+    /** Check status
+      * @param none
+      * @return running(= 1), stopped(= 0)
+      */
+    uint8_t status (void);
+
+protected:
+    // Rotation Direction
+    enum { D_CCW = -1, D_UNKOWN = 0, D_CW = 1};
+    
+    typedef struct{
+        int8_t direction;
+        uint32_t total_step;
+    } Motor_Inf;
+    
+    typedef struct{
+        uint8_t  state;
+        int8_t   direction;
+        uint8_t  up_cnt;
+        uint8_t  up_cnt_keep;
+        uint8_t  down_cnt;
+        uint8_t  change_cnt;
+        uint8_t  pls_width;
+        uint8_t  ongoing;
+        uint32_t continue_cnt;
+        uint32_t motor_step;  
+    } Motor_Control;
+
+    DigitalOut _xp, _xn, _yp, _yn;
+    Ticker _smdrv;
+    
+    void init();
+    void set4ports (uint32_t step, int8_t dir);
+    void setup_mtr_drv_dt(Motor_Inf *mi, Motor_Control *mt);
+    void millisec_inteval();
+
+private:
+    uint8_t busy_sm_drv;
+    Motor_Inf inf;   
+    Motor_Control cntl;
+
+};
+   
+#endif  //  MBED_STEPPER