Ibiltari Nora / stepper

Threaded version

stepper.cpp@3:e98454afa038, 2019-08-28 (annotated)

Committer:
ibiltari
Date:
Wed Aug 28 19:02:39 2019 +0000
Revision:
3:e98454afa038
Parent:
2:ad11f550b379 
Treads init;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
franzachatz 0:27b548e34acc 1 /* mbed Stepper Library
franzachatz 0:27b548e34acc 2 * Copyright (c) 2010 fachatz
franzachatz 0:27b548e34acc 3 *
franzachatz 0:27b548e34acc 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
franzachatz 0:27b548e34acc 5 * of this software and associated documentation files (the "Software"), to deal
franzachatz 0:27b548e34acc 6 * in the Software without restriction, including without limitation the rights
franzachatz 0:27b548e34acc 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
franzachatz 0:27b548e34acc 8 * copies of the Software, and to permit persons to whom the Software is
franzachatz 0:27b548e34acc 9 * furnished to do so, subject to the following conditions:
franzachatz 0:27b548e34acc 10 *
franzachatz 0:27b548e34acc 11 * The above copyright notice and this permission notice shall be included in
franzachatz 0:27b548e34acc 12 * all copies or substantial portions of the Software.
franzachatz 0:27b548e34acc 13 *
franzachatz 0:27b548e34acc 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
franzachatz 0:27b548e34acc 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
franzachatz 0:27b548e34acc 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
franzachatz 0:27b548e34acc 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
franzachatz 0:27b548e34acc 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
franzachatz 0:27b548e34acc 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
franzachatz 0:27b548e34acc 20 * THE SOFTWARE.
franzachatz 0:27b548e34acc 21 */
franzachatz 0:27b548e34acc 22 #include "stepper.h"
franzachatz 0:27b548e34acc 23 #include "mbed.h"
franzachatz 0:27b548e34acc 24
franzachatz 0:27b548e34acc 25 // define the Stepper Motor save start/stop speed
ibiltari 3:e98454afa038 26 #define START_STOP_SPEED 500
franzachatz 0:27b548e34acc 27
franzachatz 0:27b548e34acc 28 // define Library version number
franzachatz 2:ad11f550b379 29 #define VERSION 0.3
franzachatz 0:27b548e34acc 30
franzachatz 0:27b548e34acc 31 // led4, used for testing the direction signal
franzachatz 0:27b548e34acc 32
ibiltari 3:e98454afa038 33 stepper::stepper(PinName clk, PinName dir) : _clk(clk), _dir(dir), s_thread(osPriorityNormal) {
franzachatz 0:27b548e34acc 34 _clk = 0, _dir = 0;
ibiltari 3:e98454afa038 35 s_thread.start(this, &stepper::run);
franzachatz 0:27b548e34acc 36 }
franzachatz 0:27b548e34acc 37
franzachatz 0:27b548e34acc 38 void stepper::step(int n_steps, bool direction, int speed, bool accel) {
ibiltari 3:e98454afa038 39 if(accel) s_accelspeed = START_STOP_SPEED;
ibiltari 3:e98454afa038 40 else s_accelspeed = speed;
ibiltari 3:e98454afa038 41 s_speed = speed;
ibiltari 3:e98454afa038 42 s_direction = direction;
ibiltari 3:e98454afa038 43 s_accel = accel;
ibiltari 3:e98454afa038 44 s_n_steps = n_steps;
ibiltari 3:e98454afa038 45
ibiltari 3:e98454afa038 46 }
ibiltari 3:e98454afa038 47 void stepper::run() {
ibiltari 3:e98454afa038 48 printf("stepper thread running");
ibiltari 3:e98454afa038 49 while (true) {
ibiltari 3:e98454afa038 50 if (s_n_steps != 0){
ibiltari 3:e98454afa038 51 for(int i=0; i<s_n_steps; i++)
ibiltari 3:e98454afa038 52 {
ibiltari 3:e98454afa038 53 if(s_accel)//linear acceleration
ibiltari 3:e98454afa038 54 {
ibiltari 3:e98454afa038 55 if(i < START_STOP_SPEED) if (--s_accelspeed == s_speed) s_accelspeed ++;
ibiltari 3:e98454afa038 56 if(i > (s_n_steps-START_STOP_SPEED)) if(++s_accelspeed == START_STOP_SPEED) s_accelspeed--;
ibiltari 3:e98454afa038 57 }
ibiltari 3:e98454afa038 58 _dir = s_direction;
ibiltari 3:e98454afa038 59 _clk = 1;
ibiltari 3:e98454afa038 60 wait_us(1);
ibiltari 3:e98454afa038 61 _clk = 0;
ibiltari 3:e98454afa038 62 wait_us(1);
ibiltari 3:e98454afa038 63 wait_us(s_accelspeed);
ibiltari 3:e98454afa038 64 }
ibiltari 3:e98454afa038 65 s_n_steps = 0;
ibiltari 3:e98454afa038 66 }
ibiltari 3:e98454afa038 67
ibiltari 3:e98454afa038 68
ibiltari 3:e98454afa038 69 ThisThread::sleep_for(10);
franzachatz 0:27b548e34acc 70 }
ibiltari 3:e98454afa038 71
franzachatz 0:27b548e34acc 72 }
franzachatz 0:27b548e34acc 73
franzachatz 0:27b548e34acc 74 // version() returns the version number of the library
franzachatz 0:27b548e34acc 75 float stepper::version(void) {
franzachatz 0:27b548e34acc 76 return VERSION;
ibiltari 3:e98454afa038 77 }