Diff: Microduino_Stepper.cpp

Revision:

0:a4d8f5b3c546

Child:

2:99785a1007a4

diff -r 000000000000 -r a4d8f5b3c546 Microduino_Stepper.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Microduino_Stepper.cpp	Sat Jun 04 03:16:52 2016 +0000
@@ -0,0 +1,161 @@
+// Microduino_Stepper.cpp
+//
+// Copyright (C) 2009-2013 Shenyang
+// $Id: Microduino_Stepper.cpp,v 1.00 2016/04/07 $
+
+#include "Microduino_Stepper.h"
+extern Timer g_Timer;
+DigitalOut gSteperE(PIN_EN);
+Ticker g_Ticker;
+static Stepper_t steppers[MAX_STEPPERS];
+
+uint8_t StepperCount = 0;
+
+// Some debugging assistance
+
+void stepperAllEnable()
+{
+    //digitalWrite(PIN_EN, LOW);
+    gSteperE = 0;
+}
+
+void stepperAllDisable()
+{
+    //digitalWrite(PIN_EN, HIGH);
+    gSteperE = 1;
+}
+
+static inline void handle_interrupts()
+{
+    for(uint8_t channel=0; channel < MAX_STEPPERS; channel++) {
+        if(steppers[channel].isActive)
+            steppers[channel].stepper->computeStep();
+    }
+}
+
+#if 0
+static void initISR()
+{
+#if defined(_useTimer1)
+    cli();
+    TCCR1A = 0;
+    TCCR1B = _BV(WGM12)|_BV(CS11);
+    OCR1A = TIMER_COMP;
+    TCNT1 = 0;
+    TIMSK1 = _BV(OCIE1A);
+    sei();
+#endif
+    pinMode(PIN_EN, OUTPUT);
+    stepperAllEnable();
+}
+
+#if defined(_useTimer1)
+ISR(TIMER1_COMPA_vect)
+{
+    handle_interrupts();
+}
+#endif
+#endif
+
+static void timerHandle()
+{
+    for (uint8_t channel=0; channel < MAX_STEPPERS; channel++) {
+        if(steppers[channel].isActive)
+            steppers[channel].stepper->computeStep();
+    }
+}
+
+static bool isTimerActive()
+{
+    for(uint8_t channel=0; channel <MAX_STEPPERS ; channel++) {
+        if(steppers[channel].isActive == true)
+            return  true;
+    }
+    return false;
+}
+/****************** end of static functions ******************************/
+
+Stepper::Stepper(uint8_t _dirPin, uint8_t _stepPin)
+{
+    if(StepperCount < MAX_STEPPERS) {
+        this->stepperIndex = StepperCount++;
+    } else {
+        this->stepperIndex = INVALID_STEPPER;
+    }
+    dirPin = _dirPin;
+    stepPin = _stepPin;
+    speed = 0;
+    period = 0;
+    counter = 0;
+    steppers[this->stepperIndex].isActive = false;
+}
+
+uint8_t Stepper::begin()
+{
+    if (this->stepperIndex < MAX_STEPPERS) {
+#if 0
+        pinMode(dirPin, OUTPUT);
+        pinMode(stepPin, OUTPUT);
+#else
+        gpio_init_out(&dirOUT, (PinName)dirPin);
+        gpio_init_out(&stepOUT, (PinName)stepPin);
+#endif
+        setMaxAccel(DEFAULT_ACCEL);
+        if (isTimerActive() == false) {
+            //initISR();
+            //pinMode(PIN_EN, OUTPUT);
+			g_Ticker.attach_us(&timerHandle, 25);
+            stepperAllEnable();
+        }
+        steppers[this->stepperIndex].isActive = true;
+        steppers[this->stepperIndex].stepper = this;
+    }
+    return this->stepperIndex;
+}
+#define constrain(x,a,b) ((x) < (a) ? (a) : ((x) > (b) ? (b) : (x)))
+void Stepper::setSpeed(int16_t _speed)
+{
+    speed += constrain((_speed-speed), -(int16_t)maxAccel, (int16_t)maxAccel);
+    if (speed == 0) {
+        period = 0;
+    } else {
+        period = MAX_SPEED_S / abs(speed);
+    }
+    //(speed>0) ? PIN_CLR(dirPin) : PIN_SET(dirPin);
+    if (speed > 0) {
+        gpio_write(&dirOUT, 0);
+    } else {
+        gpio_write(&dirOUT, 1);
+    }
+}
+
+void Stepper::setMaxAccel(uint16_t _accel)
+{
+    maxAccel = _accel;
+}
+
+int16_t Stepper::getSpeed()
+{
+    return  speed;
+}
+
+uint16_t Stepper::getMaxAccel()
+{
+    return  maxAccel;
+}
+
+void Stepper::computeStep()
+{
+    counter++;
+    if(counter > period) {
+        counter = 0;
+        if(period > 0) {
+            //PIN_SET(stepPin);
+            gpio_write(&stepOUT, 1);
+            //delayMicroseconds(1);
+            wait_us(1);
+            //PIN_CLR(stepPin);
+            gpio_write(&stepOUT, 0);
+        }
+    }
+}