Microduino_Stepper.h

00001 // Microduino_Stepper.cpp
00002 //
00003 // Copyright (C) 2009-2013 Shenyang
00004 // $Id: Microduino_Stepper.cpp,v 1.00 2016/04/07 $
00005 #if 0
00006 #ifndef __MICRODUINO_STEPPER_H__
00007 #define __MICRODUINO_STEPPER_H__
00008 
00009 //#include "MicroduinoPinNames.h"
00010 #include "mbed.h"
00011 #include <stdlib.h>
00012 //#include <Arduino.h>
00013 
00014 //#define _useTimer1
00015 #define MAX_SPEED_S     4096
00016 #define TIMER_COMP  327680/MAX_SPEED_S
00017 
00018 
00019 #define PIN_SET(pin) (*portOutputRegister(digitalPinToPort(pin)) |= digitalPinToBitMask(pin))
00020 #define PIN_CLR(pin) (*portOutputRegister(digitalPinToPort(pin)) &= ~digitalPinToBitMask(pin))
00021 
00022 #define MAX_STEPPERS        4
00023 #define INVALID_STEPPER     255
00024 
00025 #if 0
00026 #define PIN_EN      4      //PORTB,0
00027 #define PIN_DIRA    A0    //PORTA,7
00028 #define PIN_STEPA   5   //PORTB,1
00029 #define PIN_DIRB    A1    //PORTA,6
00030 #define PIN_STEPB   6   //PORTB,2
00031 #define PIN_DIRC    A2    //PORTA,5
00032 #define PIN_STEPC   7   //PORTB,3
00033 #define PIN_DIRD    A3    //PORTA,4
00034 #define PIN_STEPD   8   //PORTD,6
00035 #elif 0
00036 #define PIN_EN      D4
00037 #define PIN_DIRA    A0
00038 #define PIN_STEPA   D5
00039 #define PIN_DIRB    A1
00040 #define PIN_STEPB   D6
00041 #define PIN_DIRC    A2
00042 #define PIN_STEPC   D7
00043 #define PIN_DIRD    A3
00044 #define PIN_STEPD   D8
00045 #else
00046 #define PIN_EN      P0_25
00047 #define PIN_DIRA    P0_7
00048 #define PIN_STEPA   P0_24
00049 #define PIN_DIRB    P0_6
00050 #define PIN_STEPB   P0_1
00051 #define PIN_DIRC    P0_14
00052 #define PIN_STEPC   P0_20
00053 #define PIN_DIRD    P0_23
00054 #define PIN_STEPD   P0_19
00055 #endif
00056 
00057 #define DEFAULT_ACCEL 120
00058 
00059 void stepperAllEnable();
00060 void stepperAllDisable();
00061 
00062 class Stepper
00063 {
00064 public:
00065 
00066     Stepper(uint8_t _dirPin, uint8_t _stepPin);
00067 
00068     uint8_t begin();
00069 
00070     void setSpeed(int16_t _speed);
00071 
00072     void setMaxAccel(uint16_t _accel);
00073 
00074     int16_t getSpeed();
00075 
00076     uint16_t getMaxAccel();
00077 
00078     void computeStep();
00079 
00080 private:
00081 
00082     gpio_t      dirOUT;
00083     gpio_t      stepOUT;
00084     uint8_t     stepperIndex;
00085     uint8_t     dirPin;
00086     uint8_t     stepPin;
00087     int16_t     speed;
00088     uint16_t    maxAccel;
00089     uint16_t    period;
00090     uint16_t    counter;
00091 
00092 };
00093 
00094 typedef struct {
00095     //uint8_t isActive = false;
00096     uint8_t isActive;
00097     Stepper *stepper;
00098 } Stepper_t;
00099 
00100 #endif
00101 #endif