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uln200xa: Initial implementation

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This driver was tested on a Grove Geared Stepper with Driver, the
uln2003a paired with a 28BYJ-48 unipolar stepper motor.

Signed-off-by: Jon Trulson <jtrulson@ics.com>
Signed-off-by: John Van Drasek <john.r.van.drasek@intel.com>
This commit is contained in:
Jon Trulson
2015-04-08 17:33:24 -06:00
committed by John Van Drasek
parent 8bf92be1ab
commit 2a3485cf98
9 changed files with 623 additions and 0 deletions
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5
src/uln200xa/CMakeLists.txt Normal file
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set (libname "uln200xa")
set (libdescription "upm uln200xa darlington stepper driver")
set (module_src ${libname}.cxx)
set (module_h ${libname}.h)
upm_module_init()

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src/uln200xa/jsupm_uln200xa.i Normal file
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%module jsupm_uln200xa
%include "../upm.i"
%{
#include "uln200xa.h"
%}
%include "uln200xa.h"

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src/uln200xa/pyupm_uln200xa.i Normal file
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%module pyupm_uln200xa
%include "../upm.i"
%feature("autodoc", "3");
%include "uln200xa.h"
%{
#include "uln200xa.h"
%}

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src/uln200xa/uln200xa.cxx Normal file
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/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2015 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#include <iostream>
#include "uln200xa.h"
using namespace upm;
using namespace std;
ULN200XA::ULN200XA(int stepsPerRev, int i1, int i2, int i3, int i4)
{
m_stepsPerRev = stepsPerRev;
m_currentStep = 0;
m_stepDelay = 0;
m_stepDirection = 1; // default is forward
if ( !(m_stepI1 = mraa_gpio_init(i1)) )
{
cerr << __FUNCTION__ << ": mraa_gpio_init(i1) failed" << endl;
return;
}
mraa_gpio_dir(m_stepI1, MRAA_GPIO_OUT);
if ( !(m_stepI2 = mraa_gpio_init(i2)) )
{
cerr << __FUNCTION__ << ": mraa_gpio_init(i2) failed" << endl;
mraa_gpio_close(m_stepI1);
return;
}
mraa_gpio_dir(m_stepI2, MRAA_GPIO_OUT);
if ( !(m_stepI3 = mraa_gpio_init(i3)) )
{
cerr << __FUNCTION__ << ": mraa_gpio_init(i3) failed" << endl;
mraa_gpio_close(m_stepI1);
mraa_gpio_close(m_stepI2);
return;
}
mraa_gpio_dir(m_stepI3, MRAA_GPIO_OUT);
if ( !(m_stepI4 = mraa_gpio_init(i4)) )
{
cerr << __FUNCTION__ << ": mraa_gpio_init(i4) failed" << endl;
mraa_gpio_close(m_stepI1);
mraa_gpio_close(m_stepI2);
mraa_gpio_close(m_stepI3);
return;
}
mraa_gpio_dir(m_stepI4, MRAA_GPIO_OUT);
// set default speed to 1
setSpeed(1);
}
void ULN200XA::initClock()
{
gettimeofday(&m_startTime, NULL);
}
uint32_t ULN200XA::getMillis()
{
struct timeval elapsed, now;
uint32_t elapse;
// get current time
gettimeofday(&now, NULL);
// compute the delta since m_startTime
if( (elapsed.tv_usec = now.tv_usec - m_startTime.tv_usec) < 0 )
{
elapsed.tv_usec += 1000000;
elapsed.tv_sec = now.tv_sec - m_startTime.tv_sec - 1;
}
else
{
elapsed.tv_sec = now.tv_sec - m_startTime.tv_sec;
}
elapse = (uint32_t)((elapsed.tv_sec * 1000) + (elapsed.tv_usec / 1000));
// never return 0
if (elapse == 0)
elapse = 1;
return elapse;
}
ULN200XA::~ULN200XA()
{
mraa_gpio_close(m_stepI1);
mraa_gpio_close(m_stepI2);
mraa_gpio_close(m_stepI3);
mraa_gpio_close(m_stepI4);
}
void ULN200XA::setSpeed(int speed)
{
m_stepDelay = 60 * 1000 / m_stepsPerRev / speed;
}
void ULN200XA::setDirection(ULN200XA_DIRECTION_T dir)
{
switch (dir)
{
case DIR_CW:
m_stepDirection = 1;
break;
case DIR_CCW:
m_stepDirection = -1;
break;
}
}
void ULN200XA::stepperStep()
{
int step = m_currentStep % 8;
// This motor requires a different sequencing order in 8-steps than
// usual.
// Step I0 I1 I2 I3
// 1 0 0 0 1
// 2 0 0 1 1
// 3 0 0 1 0
// 4 0 1 1 0
// 5 0 1 0 0
// 6 1 1 0 0
// 7 1 0 0 0
// 8 1 0 0 1
switch (step)
{
case 0: // 0001
mraa_gpio_write(m_stepI1, 0);
mraa_gpio_write(m_stepI2, 0);
mraa_gpio_write(m_stepI3, 0);
mraa_gpio_write(m_stepI4, 1);
break;
case 1: // 0011
mraa_gpio_write(m_stepI1, 0);
mraa_gpio_write(m_stepI2, 0);
mraa_gpio_write(m_stepI3, 1);
mraa_gpio_write(m_stepI4, 1);
break;
case 2: // 0010
mraa_gpio_write(m_stepI1, 0);
mraa_gpio_write(m_stepI2, 0);
mraa_gpio_write(m_stepI3, 1);
mraa_gpio_write(m_stepI4, 0);
break;
case 3: // 0110
mraa_gpio_write(m_stepI1, 0);
mraa_gpio_write(m_stepI2, 1);
mraa_gpio_write(m_stepI3, 1);
mraa_gpio_write(m_stepI4, 0);
break;
case 4: // 0100
mraa_gpio_write(m_stepI1, 0);
mraa_gpio_write(m_stepI2, 1);
mraa_gpio_write(m_stepI3, 0);
mraa_gpio_write(m_stepI4, 0);
break;
case 5: // 1100
mraa_gpio_write(m_stepI1, 1);
mraa_gpio_write(m_stepI2, 1);
mraa_gpio_write(m_stepI3, 0);
mraa_gpio_write(m_stepI4, 0);
break;
case 6: // 1000
mraa_gpio_write(m_stepI1, 1);
mraa_gpio_write(m_stepI2, 0);
mraa_gpio_write(m_stepI3, 0);
mraa_gpio_write(m_stepI4, 0);
break;
case 7: // 1001
mraa_gpio_write(m_stepI1, 1);
mraa_gpio_write(m_stepI2, 0);
mraa_gpio_write(m_stepI3, 0);
mraa_gpio_write(m_stepI4, 1);
break;
}
}
void ULN200XA::stepperSteps(unsigned int steps)
{
while (steps > 0)
{
if (getMillis() >= m_stepDelay)
{
// reset the clock
initClock();
m_currentStep += m_stepDirection;
if (m_stepDirection == 1)
{
if (m_currentStep >= m_stepsPerRev)
m_currentStep = 0;
}
else
{
if (m_currentStep <= 0)
m_currentStep = m_stepsPerRev;
}
steps--;
stepperStep();
}
}
}
void ULN200XA::release()
{
mraa_gpio_write(m_stepI1, 0);
mraa_gpio_write(m_stepI2, 0);
mraa_gpio_write(m_stepI3, 0);
mraa_gpio_write(m_stepI4, 0);
}

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src/uln200xa/uln200xa.h Normal file
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/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2015 Intel Corporation.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/
#pragma once
#include <stdint.h>
#include <sys/time.h>
#include <mraa/gpio.h>
#include <mraa/pwm.h>
namespace upm {
/**
* @brief UPM support for the ULN200XA series of Darlington Stepper drivers
* @defgroup uln200xa libupm-uln200xa
* @ingroup seeed gpio motor
*/
/**
* @sensor uln200xa
* @library uln200xa
* @comname ULN200XA Stepper Driver
* @altname uln2001a uln2002a uln2003a uln2004a
* @type motor
* @man seeed
* @con gpio
* @web http://www.seeedstudio.com/depot/Gear-Stepper-Motor-with-Driver-p-1685.html?cPath=39_40
*
* @brief UPM module for the ULN200XA Darlington Stepper driver
*
* This module was developed on a ULBN2003A Stepper Driver. It
* should support the uln2001a, 2002a, 2003a, and 2004a devices, for
* use in driving a unipolar stepper motor, the 28BYJ-48.
*
* Example driving a stepper motor
* @snippet uln200xa.cxx Interesting
*/
class ULN200XA {
public:
/**
* Enum to specify the direction of a motor
*/
typedef enum {
DIR_CW = 0x01,
DIR_CCW = 0x02
} ULN200XA_DIRECTION_T;
/**
* ULN200XA constructor
*
* @param stepsPerRev number of steps per full revolution
* @param i1 digital pin to use for stepper input 1
* @param i2 digital pin to use for stepper input 2
* @param i3 digital pin to use for stepper input 3
* @param i4 digital pin to use for stepper input 4
*/
ULN200XA(int stepsPerRev, int i1, int i2, int i3, int i4);
/**
* ULN200XA Destructor
*/
~ULN200XA();
/**
* Return the number of milliseconds elapsed since initClock()
* was last called.
*
* @return elapsed milliseconds
*/
uint32_t getMillis();
/**
* Reset the Clock
*
*/
void initClock();
/**
* set the speed of the stepper in RPM (Rotation Per Minute
*
* @param speed speed to set the motor to in RPM's
*/
void setSpeed(int speed);
/**
* set the direction of the motor, clockwise or counter clockwise
*
* @param dir direction to set the motor to
*/
void setDirection(ULN200XA_DIRECTION_T dir);
/**
* step the stepper motor a specified number of steps
*
* @param steps number of steps to move the stepper motor
*/
void stepperSteps(unsigned int steps);
/**
* release the stepper, by removing power
*
*/
void release();
private:
struct timeval m_startTime;
// stepper (4-wire)
mraa_gpio_context m_stepI1;
mraa_gpio_context m_stepI2;
mraa_gpio_context m_stepI3;
mraa_gpio_context m_stepI4;
// steps per revolution
int m_stepsPerRev;
int m_currentStep;
uint32_t m_stepDelay;
/**
* step the motor one tick
*
*/
void stepperStep();
/**
* step direction - 1 = forward, -1 = backward
*
*/
int m_stepDirection;
};
}