stepper.h

00001 /*
00002  * mbed library program 
00003  *      Stepping Motor
00004  *
00005  * Copyright (c) 2014 Kenji Arai / JH1PJL
00006  *  http://www.page.sannet.ne.jp/kenjia/index.html
00007  *  http://mbed.org/users/kenjiArai/
00008  *      Created: August    20th, 2014
00009  *      Revised: August    23rd, 2014
00010  *
00011  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
00012  * INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE
00013  * AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
00014  * DAMAGES OR OTHER  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00015  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
00016  */
00017 
00018 #ifndef        MBED_STEPPER
00019 #define        MBED_STEPPER
00020 
00021 #include "mbed.h"
00022 
00023 #define MT_SLOP_STEP            10
00024 #define MT_MIN_STEP             (MT_SLOP_STEP+MT_SLOP_STEP)
00025 #define MT_PLS_WIDTH_MIN        2      // 2mS
00026 
00027 /** Unipolar Type Stepping Motor Driver using 4 Outputs(DigitalOut) with timer interrupt(Ticker)
00028  *
00029  * Driver circuit: Low side driver (4ch for one Stepper) e.g. TD62003AP
00030  *  CAUTION: This is only for Unipolar Type Stepping Motor!
00031  *           Cannot use for Bipolar Type
00032  *      Plese refer http://en.wikipedia.org/wiki/Stepper_motor
00033  *
00034  * @code
00035  * #include "mbed.h"
00036  * #include "stepper.h"
00037  *
00038  * #define TIMEBASE  15000      // 15mS
00039  *
00040  * STEPPER sm(D5, D4, D3, D2);
00041  *
00042  * uint8_t pls_width[10] = {5, 4, 3, 2, 1, 1, 1, 1, 1, 1 };
00043  *
00044  * int main() {
00045  *   sm_r.set_max_speed(TIMEBASE);
00046  *   sm.move(+100);
00047  *   while (sm.status){ ;}
00048  *   sm.move(-1000);
00049  *   wait(10);
00050  *   sm.move(0);
00051  *   while(true){;}
00052  * }
00053  * @endcode
00054  */
00055 
00056 class STEPPER {
00057 public:
00058     // Please copy following pls_width[] part in to your main.cpp
00059     /** pulse width definition -> Use for start and stop phase
00060       *  = data * TIMEBASE -> e.g following data = 5 then 5*15000/1000 = 75mS
00061       */
00062     //uint8_t pls_width[MT_SLOP_STEP] = {5, 4, 3, 2, 1, 1, 1, 1, 1, 1 };
00063 
00064     /** Motor Status */
00065     enum MOTOR_STATE { M_STOP = 0, M_UP, M_CONTINUE, M_DOWN, M_CHANGE, M_UNKOWN = 0xff};
00066     
00067     /** Configure data pin
00068       * @param data SDA and SCL pins
00069       */
00070     STEPPER (PinName xp, PinName xn, PinName yp, PinName yn);
00071 
00072     /** Move steps
00073       * @param number of steps
00074       * @return none
00075       */
00076     void move (int32_t steps);
00077 
00078     /** Set time period (max speed of stepper)
00079       * @param time: e.g. 10mS(=10000) -> 100 PPS(Puls per Sec)
00080       * @return none
00081       */
00082     void set_max_speed (uint32_t time_base_us);
00083 
00084     /** Check status
00085       * @param none
00086       * @return running(= 1), stopped(= 0)
00087       */
00088       //surely other states can be returned too eg UP, CONTINUE, CHANGE, DOWN?
00089     uint8_t status (void);
00090     
00091     /** De-energize coils
00092       * @param none
00093       * @return none
00094       */
00095     void stop();
00096 
00097 
00098 protected:
00099     // Rotation Direction
00100     enum { D_CCW = -1, D_UNKOWN = 0, D_CW = 1};
00101     
00102     typedef struct{
00103         int8_t direction;
00104         uint32_t total_step;
00105     } Motor_Inf;
00106     
00107     typedef struct{
00108         uint8_t  state;
00109         int8_t   direction;
00110         uint8_t  up_cnt;
00111         uint8_t  up_cnt_keep;
00112         uint8_t  down_cnt;
00113         uint8_t  change_cnt;
00114         uint8_t  pls_width;
00115         uint8_t  ongoing;
00116         uint32_t continue_cnt;
00117         uint8_t motor_step; //keeps track of phase only, no need of uint32_t  
00118     } Motor_Control;
00119 
00120     DigitalOut _xp, _xn, _yp, _yn;
00121     Ticker _smdrv;
00122     
00123     void set4ports (void);
00124     void setup_mtr_drv_dt(Motor_Inf *mi, Motor_Control *mt);
00125     void millisec_inteval();
00126 
00127 private:
00128     uint8_t busy_sm_drv;
00129     Motor_Inf inf;   
00130     Motor_Control cntl;
00131 
00132 };
00133    
00134 #endif  //  MBED_STEPPER