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uln200xa: C implementation and examples
Signed-off-by: Jon Trulson <jtrulson@ics.com>
This commit is contained in:
Jon Trulson
parent
7e0862cecc
commit
58dfa9d95a
@ -32,7 +32,7 @@ int main ()
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{
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//! [Interesting]
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// Instantiate a Stepper motor on a ULN200XA Dual H-Bridge.
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// Instantiate a Stepper motor on a ULN200XA Darlington controller.
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// This was tested with the Grove Gear Stepper Motor with Driver
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@ -41,13 +41,13 @@ int main ()
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upm::ULN200XA* uln200xa = new upm::ULN200XA(4096, 8, 9, 10, 11);
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uln200xa->setSpeed(5);
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uln200xa->setDirection(upm::ULN200XA::DIR_CW);
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uln200xa->setDirection(ULN200XA_DIR_CW);
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cout << "Rotating 1 revolution clockwise." << endl;
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uln200xa->stepperSteps(4096);
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cout << "Sleeping for 2 seconds..." << endl;
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sleep(2);
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cout << "Rotating 1/2 revolution counter clockwise." << endl;
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uln200xa->setDirection(upm::ULN200XA::DIR_CCW);
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uln200xa->setDirection(ULN200XA_DIR_CCW);
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uln200xa->stepperSteps(2048);
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// turn off the power
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@ -129,6 +129,7 @@ add_example (rotaryencoder)
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add_example (rpr220)
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add_example (md)
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add_example (linefinder)
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add_example (uln200xa)
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# Custom examples
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add_custom_example (nmea_gps_i2c-example-c nmea_gps_i2c.c nmea_gps)
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69
examples/c/uln200xa.c
Normal file
69
examples/c/uln200xa.c
Normal file
@ -0,0 +1,69 @@
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/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2016 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <unistd.h>
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#include <stdio.h>
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#include <upm_utilities.h>
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#include "uln200xa.h"
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int main ()
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{
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//! [Interesting]
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// Instantiate a Stepper motor on a ULN200XA Darlington controller.
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// This was tested with the Grove Gear Stepper Motor with Driver
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// Wire the pins so that I1 is pin D8, I2 is pin D9, I3 is pin D10 and
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// I4 is pin D11
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uln200xa_context motor = uln200xa_init(4096, 8, 9, 10, 11);
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if (!motor)
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{
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printf("uln200xa_init() failed\n");
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return 1;
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}
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uln200xa_set_speed(motor, 5);
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uln200xa_set_direction(motor, ULN200XA_DIR_CW);
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printf("Rotating 1 revolution clockwise.\n");
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uln200xa_stepper_steps(motor, 4096);
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printf("Sleeping for 2 seconds...\n");
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upm_delay(2);
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printf("Rotating 1/2 revolution counter clockwise.\n");
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uln200xa_set_direction(motor, ULN200XA_DIR_CCW);
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uln200xa_stepper_steps(motor, 2048);
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// turn off the power
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uln200xa_release(motor);
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printf("Exiting...\n");
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uln200xa_close(motor);
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//! [Interesting]
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return 0;
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}
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@ -22,7 +22,6 @@
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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//NOT TESTED!!!
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public class ULN200XASample {
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public static void main(String[] args) throws InterruptedException {
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@ -34,14 +33,14 @@ public class ULN200XASample {
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uln200xa.setSpeed(5);
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System.out.println("Rotating 1 revolution clockwise.");
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uln200xa.setDirection(upm_uln200xa.ULN200XA.ULN200XA_DIRECTION_T.DIR_CW);
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uln200xa.setDirection(upm_uln200xa.ULN200XA_DIRECTION_T.ULN200XA_DIR_CW);
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uln200xa.stepperSteps(4096);
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System.out.println("Sleeping for 2 seconds...");
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Thread.sleep(2000);
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System.out.println("Rotating 1/2 revolution counter clockwise.");
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uln200xa.setDirection(upm_uln200xa.ULN200XA.ULN200XA_DIRECTION_T.DIR_CCW);
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uln200xa.setDirection(upm_uln200xa.ULN200XA_DIRECTION_T.ULN200XA_DIR_CCW);
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uln200xa.stepperSteps(2048);
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// turn off the power
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@ -1,6 +1,6 @@
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/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2015 Intel Corporation.
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* Copyright (c) 2015-2016 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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@ -33,7 +33,7 @@ var myUln200xa_obj = new Uln200xa_lib.ULN200XA(4096, 8, 9, 10, 11);
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myUln200xa_obj.goForward = function()
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{
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myUln200xa_obj.setSpeed(5); // 5 RPMs
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myUln200xa_obj.setDirection(Uln200xa_lib.ULN200XA.DIR_CW);
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myUln200xa_obj.setDirection(Uln200xa_lib.ULN200XA_DIR_CW);
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console.log("Rotating 1 revolution clockwise.");
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myUln200xa_obj.stepperSteps(4096);
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};
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@ -41,7 +41,7 @@ myUln200xa_obj.goForward = function()
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myUln200xa_obj.reverseDirection = function()
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{
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console.log("Rotating 1/2 revolution counter clockwise.");
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myUln200xa_obj.setDirection(Uln200xa_lib.ULN200XA.DIR_CCW);
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myUln200xa_obj.setDirection(Uln200xa_lib.ULN200XA_DIR_CCW);
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myUln200xa_obj.stepperSteps(2048);
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};
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@ -1,6 +1,6 @@
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#!/usr/bin/python
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# Author: Jon Trulson <jtrulson@ics.com>
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# Copyright (c) 2015 Intel Corporation.
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# Copyright (c) 2015-2016 Intel Corporation.
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#
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# Permission is hereby granted, free of charge, to any person obtaining
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# a copy of this software and associated documentation files (the
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@ -48,7 +48,7 @@ def main():
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signal.signal(signal.SIGINT, SIGINTHandler)
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myUln200xa.setSpeed(5) # 5 RPMs
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myUln200xa.setDirection(upmULN200XA.ULN200XA.DIR_CW)
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myUln200xa.setDirection(upmULN200XA.ULN200XA_DIR_CW)
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print("Rotating 1 revolution clockwise.")
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myUln200xa.stepperSteps(4096)
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@ -57,7 +57,7 @@ def main():
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time.sleep(2)
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print("Rotating 1/2 revolution counter clockwise.")
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myUln200xa.setDirection(upmULN200XA.ULN200XA.DIR_CCW)
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myUln200xa.setDirection(upmULN200XA.ULN200XA_DIR_CCW)
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myUln200xa.stepperSteps(2048)
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# release
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@ -1,5 +1,8 @@
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set (libname "uln200xa")
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set (libdescription "Uln200xa darlington stepper driver")
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set (module_src ${libname}.cxx)
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set (module_hpp ${libname}.hpp)
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upm_module_init()
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upm_mixed_module_init (NAME uln200xa
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DESCRIPTION "Uln200xa darlington stepper driver"
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C_HDR uln200xa.h
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C_SRC uln200xa.c
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CPP_HDR uln200xa.hpp
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CPP_SRC uln200xa.cxx
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CPP_WRAPS_C
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REQUIRES mraa)
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@ -1,11 +1,12 @@
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%module javaupm_uln200xa
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%include "../upm.i"
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%include "uln200xa.h"
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%include "uln200xa.hpp"
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%{
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#include "uln200xa.hpp"
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%}
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%include "uln200xa.hpp"
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%pragma(java) jniclasscode=%{
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static {
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@ -1,8 +1,9 @@
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%module jsupm_uln200xa
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%include "../upm.i"
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%include "uln200xa.h"
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%include "uln200xa.hpp"
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%{
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#include "uln200xa.hpp"
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%}
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%include "uln200xa.hpp"
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@ -5,6 +5,7 @@
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%feature("autodoc", "3");
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%include "uln200xa.h"
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%include "uln200xa.hpp"
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%{
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#include "uln200xa.hpp"
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260
src/uln200xa/uln200xa.c
Normal file
260
src/uln200xa/uln200xa.c
Normal file
@ -0,0 +1,260 @@
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/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2016 Intel Corporation.
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*
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* Permission is hereby granted, free of charge, to any person obtaining
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* a copy of this software and associated documentation files (the
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* "Software"), to deal in the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*/
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#include <assert.h>
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#include <upm_utilities.h>
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#include "uln200xa.h"
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static void uln200xa_stepper_step(const uln200xa_context dev);
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uln200xa_context uln200xa_init(int stepsPerRev, unsigned int i1,
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unsigned int i2, unsigned int i3,
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unsigned int i4)
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{
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uln200xa_context dev =
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(uln200xa_context)malloc(sizeof(struct _uln200xa_context));
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if (!dev)
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return NULL;
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dev->stepI1 = NULL;
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dev->stepI2 = NULL;
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dev->stepI3 = NULL;
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dev->stepI4 = NULL;
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dev->stepsPerRev = stepsPerRev;
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dev->currentStep = 0;
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dev->stepDelay = 0;
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dev->stepDirection = 1; // default is forward
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// make sure MRAA is initialized
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int mraa_rv;
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if ((mraa_rv = mraa_init()) != MRAA_SUCCESS)
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{
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printf("%s: mraa_init() failed (%d).\n", __FUNCTION__, mraa_rv);
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uln200xa_close(dev);
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return NULL;
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}
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// MRAA contexts...
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if ( !(dev->stepI1 = mraa_gpio_init(i1)) )
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{
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printf("%s: mraa_gpio_init(i1) failed\n",
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__FUNCTION__);
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uln200xa_close(dev);
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return NULL;
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}
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mraa_gpio_dir(dev->stepI1, MRAA_GPIO_OUT);
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if ( !(dev->stepI2 = mraa_gpio_init(i2)) )
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{
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printf("%s: mraa_gpio_init(i2) failed\n",
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__FUNCTION__);
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uln200xa_close(dev);
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return NULL;
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}
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mraa_gpio_dir(dev->stepI2, MRAA_GPIO_OUT);
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if ( !(dev->stepI3 = mraa_gpio_init(i3)) )
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{
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printf("%s: mraa_gpio_init(i3) failed\n",
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__FUNCTION__);
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uln200xa_close(dev);
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return NULL;
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}
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mraa_gpio_dir(dev->stepI3, MRAA_GPIO_OUT);
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if ( !(dev->stepI4 = mraa_gpio_init(i4)) )
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{
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printf("%s: mraa_gpio_init(i4) failed\n",
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__FUNCTION__);
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uln200xa_close(dev);
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return NULL;
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}
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mraa_gpio_dir(dev->stepI4, MRAA_GPIO_OUT);
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// set default speed to 1
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uln200xa_set_speed(dev, 1);
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return dev;
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}
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void uln200xa_close(uln200xa_context dev)
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{
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assert(dev != NULL);
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uln200xa_release(dev);
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if (dev->stepI1)
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mraa_gpio_close(dev->stepI1);
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if (dev->stepI2)
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mraa_gpio_close(dev->stepI2);
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if (dev->stepI3)
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mraa_gpio_close(dev->stepI3);
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if (dev->stepI4)
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mraa_gpio_close(dev->stepI4);
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free(dev);
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}
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void uln200xa_set_speed(const uln200xa_context dev, unsigned int speed)
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{
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assert(dev != NULL);
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dev->stepDelay = 60 * 1000 / dev->stepsPerRev / speed;
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}
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void uln200xa_set_direction(const uln200xa_context dev,
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ULN200XA_DIRECTION_T dir)
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{
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assert(dev != NULL);
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switch (dir)
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{
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case ULN200XA_DIR_CW:
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dev->stepDirection = 1;
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break;
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case ULN200XA_DIR_CCW:
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dev->stepDirection = -1;
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break;
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}
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}
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static void uln200xa_stepper_step(const uln200xa_context dev)
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{
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assert(dev != NULL);
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int step = dev->currentStep % 8;
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// This motor requires a different sequencing order in 8-steps than
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// usual.
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// Step I0 I1 I2 I3
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// 1 0 0 0 1
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// 2 0 0 1 1
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// 3 0 0 1 0
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// 4 0 1 1 0
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// 5 0 1 0 0
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// 6 1 1 0 0
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// 7 1 0 0 0
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// 8 1 0 0 1
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switch (step)
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{
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case 0: // 0001
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mraa_gpio_write(dev->stepI1, 0);
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mraa_gpio_write(dev->stepI2, 0);
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mraa_gpio_write(dev->stepI3, 0);
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mraa_gpio_write(dev->stepI4, 1);
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break;
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case 1: // 0011
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mraa_gpio_write(dev->stepI1, 0);
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mraa_gpio_write(dev->stepI2, 0);
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mraa_gpio_write(dev->stepI3, 1);
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mraa_gpio_write(dev->stepI4, 1);
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break;
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case 2: // 0010
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mraa_gpio_write(dev->stepI1, 0);
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mraa_gpio_write(dev->stepI2, 0);
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mraa_gpio_write(dev->stepI3, 1);
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mraa_gpio_write(dev->stepI4, 0);
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break;
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case 3: // 0110
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mraa_gpio_write(dev->stepI1, 0);
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mraa_gpio_write(dev->stepI2, 1);
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mraa_gpio_write(dev->stepI3, 1);
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mraa_gpio_write(dev->stepI4, 0);
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break;
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case 4: // 0100
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mraa_gpio_write(dev->stepI1, 0);
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mraa_gpio_write(dev->stepI2, 1);
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mraa_gpio_write(dev->stepI3, 0);
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mraa_gpio_write(dev->stepI4, 0);
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break;
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case 5: // 1100
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mraa_gpio_write(dev->stepI1, 1);
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mraa_gpio_write(dev->stepI2, 1);
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mraa_gpio_write(dev->stepI3, 0);
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mraa_gpio_write(dev->stepI4, 0);
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break;
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case 6: // 1000
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mraa_gpio_write(dev->stepI1, 1);
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mraa_gpio_write(dev->stepI2, 0);
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mraa_gpio_write(dev->stepI3, 0);
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mraa_gpio_write(dev->stepI4, 0);
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break;
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case 7: // 1001
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mraa_gpio_write(dev->stepI1, 1);
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mraa_gpio_write(dev->stepI2, 0);
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mraa_gpio_write(dev->stepI3, 0);
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mraa_gpio_write(dev->stepI4, 1);
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break;
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default:
|
||||
// can't happen
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void uln200xa_stepper_steps(const uln200xa_context dev, unsigned int steps)
|
||||
{
|
||||
assert(dev != NULL);
|
||||
|
||||
while (steps > 0)
|
||||
{
|
||||
upm_delay_ms(dev->stepDelay);
|
||||
dev->currentStep += dev->stepDirection;
|
||||
|
||||
if (dev->stepDirection == 1)
|
||||
{
|
||||
if (dev->currentStep >= dev->stepsPerRev)
|
||||
dev->currentStep = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
if (dev->currentStep <= 0)
|
||||
dev->currentStep = dev->stepsPerRev;
|
||||
}
|
||||
|
||||
steps--;
|
||||
uln200xa_stepper_step(dev);
|
||||
}
|
||||
}
|
||||
|
||||
void uln200xa_release(const uln200xa_context dev)
|
||||
{
|
||||
assert(dev !=NULL);
|
||||
|
||||
// we do these check since this is also called from
|
||||
// uln200xa_close() and we can't be sure that all of the contexts
|
||||
// have been created yet.
|
||||
if (dev->stepI1)
|
||||
mraa_gpio_write(dev->stepI1, 0);
|
||||
if (dev->stepI2)
|
||||
mraa_gpio_write(dev->stepI2, 0);
|
||||
if (dev->stepI3)
|
||||
mraa_gpio_write(dev->stepI3, 0);
|
||||
if (dev->stepI4)
|
||||
mraa_gpio_write(dev->stepI4, 0);
|
||||
}
|
||||
@ -1,6 +1,6 @@
|
||||
/*
|
||||
* Author: Jon Trulson <jtrulson@ics.com>
|
||||
* Copyright (c) 2015 Intel Corporation.
|
||||
* Copyright (c) 2015-2016 Intel Corporation.
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining
|
||||
* a copy of this software and associated documentation files (the
|
||||
@ -31,218 +31,36 @@
|
||||
using namespace upm;
|
||||
using namespace std;
|
||||
|
||||
ULN200XA::ULN200XA(int stepsPerRev, int i1, int i2, int i3, int i4)
|
||||
ULN200XA::ULN200XA(int stepsPerRev, unsigned int i1, unsigned int i2,
|
||||
unsigned int i3, unsigned int i4) :
|
||||
m_uln200xa(uln200xa_init(stepsPerRev, i1, i2, i3, i4))
|
||||
{
|
||||
m_stepsPerRev = stepsPerRev;
|
||||
m_currentStep = 0;
|
||||
m_stepDelay = 0;
|
||||
m_stepDirection = 1; // default is forward
|
||||
|
||||
if ( !(m_stepI1 = mraa_gpio_init(i1)) )
|
||||
{
|
||||
throw std::invalid_argument(std::string(__FUNCTION__) +
|
||||
": mraa_gpio_init(i1) failed, invalid pin?");
|
||||
return;
|
||||
if (!m_uln200xa)
|
||||
throw std::runtime_error(std::string(__FUNCTION__) +
|
||||
": uln200xa_init() failed");
|
||||
}
|
||||
mraa_gpio_dir(m_stepI1, MRAA_GPIO_OUT);
|
||||
|
||||
if ( !(m_stepI2 = mraa_gpio_init(i2)) )
|
||||
{
|
||||
throw std::invalid_argument(std::string(__FUNCTION__) +
|
||||
": mraa_gpio_init(i2) failed, invalid pin?");
|
||||
mraa_gpio_close(m_stepI1);
|
||||
return;
|
||||
}
|
||||
mraa_gpio_dir(m_stepI2, MRAA_GPIO_OUT);
|
||||
|
||||
if ( !(m_stepI3 = mraa_gpio_init(i3)) )
|
||||
{
|
||||
throw std::invalid_argument(std::string(__FUNCTION__) +
|
||||
": mraa_gpio_init(i3) failed, invalid pin?");
|
||||
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)) )
|
||||
{
|
||||
throw std::invalid_argument(std::string(__FUNCTION__) +
|
||||
": mraa_gpio_init(i4) failed, invalid pin?");
|
||||
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);
|
||||
uln200xa_close(m_uln200xa);
|
||||
}
|
||||
|
||||
void ULN200XA::setSpeed(int speed)
|
||||
void ULN200XA::setSpeed(unsigned int speed)
|
||||
{
|
||||
m_stepDelay = 60 * 1000 / m_stepsPerRev / speed;
|
||||
uln200xa_set_speed(m_uln200xa, 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;
|
||||
}
|
||||
uln200xa_set_direction(m_uln200xa, dir);
|
||||
}
|
||||
|
||||
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();
|
||||
}
|
||||
}
|
||||
uln200xa_stepper_steps(m_uln200xa, steps);
|
||||
}
|
||||
|
||||
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);
|
||||
uln200xa_release(m_uln200xa);
|
||||
}
|
||||
|
||||
122
src/uln200xa/uln200xa.h
Normal file
122
src/uln200xa/uln200xa.h
Normal file
@ -0,0 +1,122 @@
|
||||
/*
|
||||
* Author: Jon Trulson <jtrulson@ics.com>
|
||||
* Copyright (c) 2016 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 <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <upm.h>
|
||||
|
||||
#include <mraa/gpio.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
|
||||
/**
|
||||
* @file uln200xa.h
|
||||
* @library uln200xa
|
||||
* @brief C API for the uln200xa driver
|
||||
*
|
||||
* @include uln200xa.c
|
||||
*/
|
||||
|
||||
/**
|
||||
* Device context
|
||||
*/
|
||||
typedef struct _uln200xa_context {
|
||||
mraa_gpio_context stepI1; // In1
|
||||
mraa_gpio_context stepI2;
|
||||
mraa_gpio_context stepI3;
|
||||
mraa_gpio_context stepI4;
|
||||
|
||||
int stepsPerRev;
|
||||
int currentStep;
|
||||
uint32_t stepDelay;
|
||||
int stepDirection;
|
||||
|
||||
} *uln200xa_context;
|
||||
|
||||
/**
|
||||
* Enum to specify the direction of a motor
|
||||
*/
|
||||
typedef enum {
|
||||
ULN200XA_DIR_CW = 0x01,
|
||||
ULN200XA_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
|
||||
* @return Device context
|
||||
*/
|
||||
uln200xa_context uln200xa_init(int stepsPerRev, unsigned int i1,
|
||||
unsigned int i2, unsigned int i3,
|
||||
unsigned int i4);
|
||||
|
||||
/**
|
||||
* ULN200XA destructor
|
||||
*/
|
||||
void uln200xa_close(uln200xa_context dev);
|
||||
|
||||
/**
|
||||
* Sets the speed of the stepper motor in revolutions per minute (RPM)
|
||||
*
|
||||
* @param dev Device context
|
||||
* @param speed Speed to set the motor to, in RPM
|
||||
*/
|
||||
void uln200xa_set_speed(const uln200xa_context dev, unsigned int speed);
|
||||
|
||||
/**
|
||||
* Sets the direction of the motor, clockwise or counterclockwise
|
||||
*
|
||||
* @param dev Device context
|
||||
* @param dir Direction to set the motor to
|
||||
*/
|
||||
void uln200xa_set_direction(const uln200xa_context dev,
|
||||
ULN200XA_DIRECTION_T dir);
|
||||
|
||||
/**
|
||||
* Steps the stepper motor a specified number of steps
|
||||
*
|
||||
* @param dev Device context
|
||||
* @param steps Number of steps to move the stepper motor
|
||||
*/
|
||||
void uln200xa_stepper_steps(const uln200xa_context dev, unsigned int steps);
|
||||
|
||||
/**
|
||||
* Releases the stepper motor by removing power
|
||||
*
|
||||
* @param dev Device context
|
||||
*/
|
||||
void uln200xa_release(const uln200xa_context dev);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
@ -1,6 +1,6 @@
|
||||
/*
|
||||
* Author: Jon Trulson <jtrulson@ics.com>
|
||||
* Copyright (c) 2015 Intel Corporation.
|
||||
* Copyright (c) 2015-2016 Intel Corporation.
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining
|
||||
* a copy of this software and associated documentation files (the
|
||||
@ -23,11 +23,7 @@
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
#include <stdint.h>
|
||||
#include <sys/time.h>
|
||||
|
||||
#include <mraa/gpio.h>
|
||||
#include <mraa/pwm.h>
|
||||
#include <uln200xa.h>
|
||||
|
||||
namespace upm {
|
||||
|
||||
@ -62,14 +58,6 @@ namespace upm {
|
||||
class ULN200XA {
|
||||
public:
|
||||
|
||||
/**
|
||||
* Enum to specify the direction of a motor
|
||||
*/
|
||||
typedef enum {
|
||||
DIR_CW = 0x01,
|
||||
DIR_CCW = 0x02
|
||||
} ULN200XA_DIRECTION_T;
|
||||
|
||||
/**
|
||||
* ULN200XA constructor
|
||||
*
|
||||
@ -79,33 +67,20 @@ namespace upm {
|
||||
* @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(int stepsPerRev, unsigned int i1, unsigned int i2,
|
||||
unsigned int i3, unsigned int i4);
|
||||
|
||||
/**
|
||||
* ULN200XA destructor
|
||||
*/
|
||||
~ULN200XA();
|
||||
|
||||
/**
|
||||
* Returns the number of milliseconds elapsed since initClock()
|
||||
* was last called.
|
||||
*
|
||||
* @return Elapsed milliseconds
|
||||
*/
|
||||
uint32_t getMillis();
|
||||
|
||||
/**
|
||||
* Resets the clock
|
||||
*
|
||||
*/
|
||||
void initClock();
|
||||
|
||||
/**
|
||||
* Sets the speed of the stepper motor in revolutions per minute (RPM)
|
||||
*
|
||||
* @param speed Speed to set the motor to, in RPM
|
||||
*/
|
||||
void setSpeed(int speed);
|
||||
void setSpeed(unsigned int speed);
|
||||
|
||||
/**
|
||||
* Sets the direction of the motor, clockwise or counterclockwise
|
||||
@ -127,31 +102,10 @@ namespace upm {
|
||||
*/
|
||||
void release();
|
||||
|
||||
protected:
|
||||
uln200xa_context m_uln200xa;
|
||||
|
||||
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;
|
||||
|
||||
/**
|
||||
* Steps the stepper motor one tick
|
||||
*
|
||||
*/
|
||||
void stepperStep();
|
||||
|
||||
/**
|
||||
* Defines the step direction: 1 = forward, -1 = backward
|
||||
*
|
||||
*/
|
||||
int m_stepDirection;
|
||||
};
|
||||
}
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user