Diff: Microduino_Stepper.h

Revision:

0:a4d8f5b3c546

Child:

2:99785a1007a4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Microduino_Stepper.h	Sat Jun 04 03:16:52 2016 +0000
@@ -0,0 +1,90 @@
+// 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 "mbed.h"
+#include "MicroduinoPinNames.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
+#else
+#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
+#endif
+
+#define DEFAULT_ACCEL 120
+
+void stepperAllEnable();
+void stepperAllDisable();
+
+class Stepper
+{
+public:
+
+    Stepper(uint8_t _dirPin, uint8_t _stepPin);
+
+    uint8_t begin();
+
+    void setSpeed(int16_t _speed);
+
+    void setMaxAccel(uint16_t _accel);
+
+    int16_t getSpeed();
+
+    uint16_t getMaxAccel();
+
+    void computeStep();
+
+private:
+
+	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