Microduino_Stepper_PWM.cpp

00001 // Microduino_Stepper.cpp
00002 //
00003 // Copyright (C) 2009-2013 Shenyang
00004 // $Id: Microduino_Stepper.cpp,v 1.00 2016/04/07 $
00005 
00006 #include "Microduino_Stepper_PWM.h"
00007 extern Timer g_Timer;
00008 extern Serial mpc;
00009 DigitalOut gSteperE(PIN_EN);
00010 Ticker g_Ticker;
00011 static Stepper_t steppers[MAX_STEPPERS] = {
00012     {false,NULL},{false,NULL},{false,NULL},{false,NULL}
00013 };
00014 
00015 uint8_t StepperCount = 0;
00016 
00017 // Some debugging assistance
00018 
00019 void stepperAllEnable()
00020 {
00021     //digitalWrite(PIN_EN, LOW);
00022     gSteperE = 0;
00023 }
00024 
00025 void stepperAllDisable()
00026 {
00027     //digitalWrite(PIN_EN, HIGH);
00028     gSteperE = 1;
00029 }
00030 
00031 #if 0
00032 static inline void handle_interrupts()
00033 {
00034     for(uint8_t channel=0; channel < MAX_STEPPERS; channel++) {
00035         if(steppers[channel].isActive)
00036             steppers[channel].stepper->computeStep();
00037     }
00038 }
00039 #endif
00040 
00041 #if 0
00042 static void initISR()
00043 {
00044 #if defined(_useTimer1)
00045     cli();
00046     TCCR1A = 0;
00047     TCCR1B = _BV(WGM12)|_BV(CS11);
00048     OCR1A = TIMER_COMP;
00049     TCNT1 = 0;
00050     TIMSK1 = _BV(OCIE1A);
00051     sei();
00052 #endif
00053     pinMode(PIN_EN, OUTPUT);
00054     stepperAllEnable();
00055 }
00056 
00057 #if defined(_useTimer1)
00058 ISR(TIMER1_COMPA_vect)
00059 {
00060     handle_interrupts();
00061 }
00062 #endif
00063 #endif
00064 
00065 static void timerHandle()
00066 {
00067     for (uint8_t channel=0; channel < MAX_STEPPERS; channel++) {
00068         if(steppers[channel].isActive)
00069             steppers[channel].stepper->computeStep();
00070     }
00071 }
00072 
00073 static bool isTimerActive()
00074 {
00075     for(uint8_t channel=0; channel <MAX_STEPPERS ; channel++) {
00076         if(steppers[channel].isActive == true)
00077             return  true;
00078     }
00079     return false;
00080 }
00081 /****************** end of static functions ******************************/
00082 
00083 Stepper::Stepper(PinName dirPin, PinName stepPin)
00084 {
00085     if(StepperCount < MAX_STEPPERS) {
00086         this->stepperIndex = StepperCount++;
00087     } else {
00088         this->stepperIndex = INVALID_STEPPER;
00089     }
00090     gpio_init_out(&dirOUT, dirPin);
00091     
00092     period = PERIOD_MIN;
00093     pwmout_init(&pwmStep, stepPin);
00094     pwmout_period_us(&pwmStep, period);
00095     pwmout_pulsewidth_us(&pwmStep, 2);
00096     speed = 0;
00097     
00098     steppers[this->stepperIndex].isActive = false;
00099 }
00100 
00101 uint8_t Stepper::begin()
00102 {
00103     if (this->stepperIndex < MAX_STEPPERS) {
00104         setMaxAccel(DEFAULT_ACCEL);
00105         if (isTimerActive() == false) {
00106             //initISR();
00107             //pinMode(PIN_EN, OUTPUT);
00108             //g_Ticker.attach_us(&timerHandle, 40);
00109             stepperAllEnable();
00110             //mpc.printf("isTimerActive==false\r\n");
00111         }
00112         steppers[this->stepperIndex].isActive = true;
00113         steppers[this->stepperIndex].stepper = this;
00114         //pwmout_pulsewidth_us(&pwmStep, 1); // Stepper will work.
00115     }
00116     return this->stepperIndex;
00117 }
00118 
00119 extern long map(long x, long in_min, long in_max, long out_min, long out_max);
00120 #define constrain(x,a,b) ((x) < (a) ? (a) : ((x) > (b) ? (b) : (x)))
00121 void Stepper::setSpeed(int16_t _speed)
00122 {
00123     //mpc.printf("Enter setSpeed(%d)\r\n", _speed);
00124     speed += constrain((_speed-speed), -(int16_t)maxAccel, (int16_t)maxAccel);
00125     if (speed == 0) {
00126         //pwmout_pulsewidth_us(&pwmStep, 0);
00127         stepperAllDisable();
00128         return;
00129     } else if (speed > 0) {
00130         gpio_write(&dirOUT, 0);
00131         period = map(speed, 1, 1200, PERIOD_MAX, PERIOD_MIN);
00132         //pwmout_period_us(&pwmStep, period);
00133     }
00134     else {
00135         gpio_write(&dirOUT, 1);
00136         period = map(speed, -1200, -1, PERIOD_MAX, PERIOD_MIN);
00137         pwmout_period_us(&pwmStep, period);
00138     }
00139     //stepperAllEnable();
00140     //pwmout_period_us(&pwmStep, period);
00141     //mpc.printf("speed : %d, period : %d\r\n", speed, period);
00142 }
00143 
00144 void Stepper::setMaxAccel(uint16_t _accel)
00145 {
00146     maxAccel = _accel;
00147 }
00148 
00149 int16_t Stepper::getSpeed()
00150 {
00151     return  speed;
00152 }
00153 
00154 uint16_t Stepper::getMaxAccel()
00155 {
00156     return  maxAccel;
00157 }
00158 
00159 #if 0
00160 void Stepper::computeStep()
00161 {
00162     counter++;
00163     if(counter > period) {
00164         counter = 0;
00165         if(period > 0) {
00166             //PIN_SET(stepPin);
00167             gpio_write(&stepOUT, 1);
00168             //delayMicroseconds(1);
00169             wait_us(1);
00170             //PIN_CLR(stepPin);
00171             gpio_write(&stepOUT, 0);
00172         }
00173     }
00174 }
00175 #endif