Li Weiyi / Mbed 2 deprecated BalanceCar

虽然移植完毕，但是不work。需要细调……

Dependencies:   mbed

Microduino_Stepper.h@3:c6caae712d5d, 2016-06-07 (annotated)

Committer:
lixianyu
Date:
Tue Jun 07 08:14:15 2016 +0000
Revision:
3:c6caae712d5d
Parent:
2:99785a1007a4 
??????????work? ?????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lixianyu 0:a4d8f5b3c546 1 // Microduino_Stepper.cpp
lixianyu 0:a4d8f5b3c546 2 //
lixianyu 0:a4d8f5b3c546 3 // Copyright (C) 2009-2013 Shenyang
lixianyu 0:a4d8f5b3c546 4 // $Id: Microduino_Stepper.cpp,v 1.00 2016/04/07 $
lixianyu 2:99785a1007a4 5 #if 0
lixianyu 0:a4d8f5b3c546 6 #ifndef __MICRODUINO_STEPPER_H__
lixianyu 0:a4d8f5b3c546 7 #define __MICRODUINO_STEPPER_H__
lixianyu 0:a4d8f5b3c546 8
lixianyu 2:99785a1007a4 9 //#include "MicroduinoPinNames.h"
lixianyu 0:a4d8f5b3c546 10 #include "mbed.h"
lixianyu 0:a4d8f5b3c546 11 #include <stdlib.h>
lixianyu 0:a4d8f5b3c546 12 //#include <Arduino.h>
lixianyu 0:a4d8f5b3c546 13
lixianyu 0:a4d8f5b3c546 14 //#define _useTimer1
lixianyu 0:a4d8f5b3c546 15 #define MAX_SPEED_S 4096
lixianyu 0:a4d8f5b3c546 16 #define TIMER_COMP 327680/MAX_SPEED_S
lixianyu 0:a4d8f5b3c546 17
lixianyu 0:a4d8f5b3c546 18
lixianyu 0:a4d8f5b3c546 19 #define PIN_SET(pin) (*portOutputRegister(digitalPinToPort(pin)) |= digitalPinToBitMask(pin))
lixianyu 0:a4d8f5b3c546 20 #define PIN_CLR(pin) (*portOutputRegister(digitalPinToPort(pin)) &= ~digitalPinToBitMask(pin))
lixianyu 0:a4d8f5b3c546 21
lixianyu 0:a4d8f5b3c546 22 #define MAX_STEPPERS 4
lixianyu 0:a4d8f5b3c546 23 #define INVALID_STEPPER 255
lixianyu 0:a4d8f5b3c546 24
lixianyu 0:a4d8f5b3c546 25 #if 0
lixianyu 0:a4d8f5b3c546 26 #define PIN_EN 4 //PORTB,0
lixianyu 0:a4d8f5b3c546 27 #define PIN_DIRA A0 //PORTA,7
lixianyu 0:a4d8f5b3c546 28 #define PIN_STEPA 5 //PORTB,1
lixianyu 0:a4d8f5b3c546 29 #define PIN_DIRB A1 //PORTA,6
lixianyu 0:a4d8f5b3c546 30 #define PIN_STEPB 6 //PORTB,2
lixianyu 0:a4d8f5b3c546 31 #define PIN_DIRC A2 //PORTA,5
lixianyu 0:a4d8f5b3c546 32 #define PIN_STEPC 7 //PORTB,3
lixianyu 0:a4d8f5b3c546 33 #define PIN_DIRD A3 //PORTA,4
lixianyu 0:a4d8f5b3c546 34 #define PIN_STEPD 8 //PORTD,6
lixianyu 2:99785a1007a4 35 #elif 0
lixianyu 0:a4d8f5b3c546 36 #define PIN_EN D4
lixianyu 0:a4d8f5b3c546 37 #define PIN_DIRA A0
lixianyu 0:a4d8f5b3c546 38 #define PIN_STEPA D5
lixianyu 0:a4d8f5b3c546 39 #define PIN_DIRB A1
lixianyu 0:a4d8f5b3c546 40 #define PIN_STEPB D6
lixianyu 0:a4d8f5b3c546 41 #define PIN_DIRC A2
lixianyu 0:a4d8f5b3c546 42 #define PIN_STEPC D7
lixianyu 0:a4d8f5b3c546 43 #define PIN_DIRD A3
lixianyu 0:a4d8f5b3c546 44 #define PIN_STEPD D8
lixianyu 2:99785a1007a4 45 #else
lixianyu 2:99785a1007a4 46 #define PIN_EN P0_25
lixianyu 2:99785a1007a4 47 #define PIN_DIRA P0_7
lixianyu 2:99785a1007a4 48 #define PIN_STEPA P0_24
lixianyu 2:99785a1007a4 49 #define PIN_DIRB P0_6
lixianyu 2:99785a1007a4 50 #define PIN_STEPB P0_1
lixianyu 2:99785a1007a4 51 #define PIN_DIRC P0_14
lixianyu 2:99785a1007a4 52 #define PIN_STEPC P0_20
lixianyu 2:99785a1007a4 53 #define PIN_DIRD P0_23
lixianyu 2:99785a1007a4 54 #define PIN_STEPD P0_19
lixianyu 0:a4d8f5b3c546 55 #endif
lixianyu 0:a4d8f5b3c546 56
lixianyu 0:a4d8f5b3c546 57 #define DEFAULT_ACCEL 120
lixianyu 0:a4d8f5b3c546 58
lixianyu 0:a4d8f5b3c546 59 void stepperAllEnable();
lixianyu 0:a4d8f5b3c546 60 void stepperAllDisable();
lixianyu 0:a4d8f5b3c546 61
lixianyu 0:a4d8f5b3c546 62 class Stepper
lixianyu 0:a4d8f5b3c546 63 {
lixianyu 0:a4d8f5b3c546 64 public:
lixianyu 0:a4d8f5b3c546 65
lixianyu 0:a4d8f5b3c546 66 Stepper(uint8_t _dirPin, uint8_t _stepPin);
lixianyu 0:a4d8f5b3c546 67
lixianyu 0:a4d8f5b3c546 68 uint8_t begin();
lixianyu 0:a4d8f5b3c546 69
lixianyu 0:a4d8f5b3c546 70 void setSpeed(int16_t _speed);
lixianyu 0:a4d8f5b3c546 71
lixianyu 0:a4d8f5b3c546 72 void setMaxAccel(uint16_t _accel);
lixianyu 0:a4d8f5b3c546 73
lixianyu 0:a4d8f5b3c546 74 int16_t getSpeed();
lixianyu 0:a4d8f5b3c546 75
lixianyu 0:a4d8f5b3c546 76 uint16_t getMaxAccel();
lixianyu 0:a4d8f5b3c546 77
lixianyu 0:a4d8f5b3c546 78 void computeStep();
lixianyu 0:a4d8f5b3c546 79
lixianyu 0:a4d8f5b3c546 80 private:
lixianyu 0:a4d8f5b3c546 81
lixianyu 0:a4d8f5b3c546 82 gpio_t dirOUT;
lixianyu 0:a4d8f5b3c546 83 gpio_t stepOUT;
lixianyu 0:a4d8f5b3c546 84 uint8_t stepperIndex;
lixianyu 0:a4d8f5b3c546 85 uint8_t dirPin;
lixianyu 0:a4d8f5b3c546 86 uint8_t stepPin;
lixianyu 0:a4d8f5b3c546 87 int16_t speed;
lixianyu 0:a4d8f5b3c546 88 uint16_t maxAccel;
lixianyu 0:a4d8f5b3c546 89 uint16_t period;
lixianyu 0:a4d8f5b3c546 90 uint16_t counter;
lixianyu 0:a4d8f5b3c546 91
lixianyu 0:a4d8f5b3c546 92 };
lixianyu 0:a4d8f5b3c546 93
lixianyu 0:a4d8f5b3c546 94 typedef struct {
lixianyu 0:a4d8f5b3c546 95 //uint8_t isActive = false;
lixianyu 0:a4d8f5b3c546 96 uint8_t isActive;
lixianyu 0:a4d8f5b3c546 97 Stepper *stepper;
lixianyu 0:a4d8f5b3c546 98 } Stepper_t;
lixianyu 0:a4d8f5b3c546 99
lixianyu 0:a4d8f5b3c546 100 #endif
lixianyu 2:99785a1007a4 101 #endif