Diff: Microduino_Stepper_PWM.h

Revision:

2:99785a1007a4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Microduino_Stepper_PWM.h	Tue Jun 07 05:26:03 2016 +0000
@@ -0,0 +1,106 @@
+// Microduino_Stepper.cpp
+//
+// Copyright (C) 2009-2013 Shenyang
+// $Id: Microduino_Stepper.cpp,v 1.00 2016/04/07 $
+
+#ifndef __MICRODUINO_STEPPER_H__
+#define __MICRODUINO_STEPPER_H__
+
+//#include "MicroduinoPinNames.h"
+#include "mbed.h"
+#include <stdlib.h>
+//#include <Arduino.h>
+
+//#define _useTimer1
+#define MAX_SPEED_S     4096
+#define TIMER_COMP  327680/MAX_SPEED_S
+
+
+//#define PIN_SET(pin) (*portOutputRegister(digitalPinToPort(pin)) |= digitalPinToBitMask(pin))
+//#define PIN_CLR(pin) (*portOutputRegister(digitalPinToPort(pin)) &= ~digitalPinToBitMask(pin))
+
+#define MAX_STEPPERS        4
+#define INVALID_STEPPER     255
+
+#if 0
+#define PIN_EN      4      //PORTB,0
+#define PIN_DIRA    A0    //PORTA,7
+#define PIN_STEPA   5   //PORTB,1
+#define PIN_DIRB    A1    //PORTA,6
+#define PIN_STEPB   6   //PORTB,2
+#define PIN_DIRC    A2    //PORTA,5
+#define PIN_STEPC   7   //PORTB,3
+#define PIN_DIRD    A3    //PORTA,4
+#define PIN_STEPD   8   //PORTD,6
+#elif 0
+#define PIN_EN      D4
+#define PIN_DIRA    A0
+#define PIN_STEPA   D5
+#define PIN_DIRB    A1
+#define PIN_STEPB   D6
+#define PIN_DIRC    A2
+#define PIN_STEPC   D7
+#define PIN_DIRD    A3
+#define PIN_STEPD   D8
+#else
+#define PIN_EN      P0_25
+#define PIN_DIRA    P0_7
+#define PIN_STEPA   P0_24
+#define PIN_DIRB    P0_6
+#define PIN_STEPB   P0_1
+#define PIN_DIRC    P0_14
+#define PIN_STEPC   P0_20
+#define PIN_DIRD    P0_23
+#define PIN_STEPD   P0_19
+#endif
+
+#define DEFAULT_ACCEL 120
+
+/* PWM的周期越小，频率越大，测试时发现这款步进电机的最大频率是2500Hz，也就是说周期为400us
+ * 频率频率越大，步进电机的速度越大，至于脉冲的宽度，1us即可
+ */
+#define PERIOD_MAX    2000
+#define PERIOD_MIN    450
+
+void stepperAllEnable();
+void stepperAllDisable();
+
+class Stepper
+{
+public:
+
+    Stepper(PinName dirPin, PinName stepPin);
+
+    uint8_t begin();
+
+    void setSpeed(int16_t _speed);
+
+    void setMaxAccel(uint16_t _accel);
+
+    int16_t getSpeed();
+
+    uint16_t getMaxAccel();
+
+    void computeStep();
+
+private:
+    pwmout_t    pwmStep;
+    gpio_t      dirOUT;
+    //gpio_t      stepOUT;
+    uint8_t     stepperIndex;
+    //uint8_t     dirPin;
+    //uint8_t     stepPin;
+    int16_t     speed;
+    uint16_t    maxAccel;
+    uint16_t    period;
+    //uint16_t    counter;
+
+};
+
+typedef struct {
+    //uint8_t isActive = false;
+    uint8_t isActive;
+    Stepper *stepper;
+} Stepper_t;
+
+#endif // __MICRODUINO_STEPPER_H__