/* * Author: Jon Trulson * 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. */ #include #include #include "uln200xa.h" static void uln200xa_stepper_step(const uln200xa_context dev); uln200xa_context uln200xa_init(int stepsPerRev, unsigned int i1, unsigned int i2, unsigned int i3, unsigned int i4) { uln200xa_context dev = (uln200xa_context)malloc(sizeof(struct _uln200xa_context)); if (!dev) return NULL; dev->stepI1 = NULL; dev->stepI2 = NULL; dev->stepI3 = NULL; dev->stepI4 = NULL; dev->stepsPerRev = stepsPerRev; dev->currentStep = 0; dev->stepDelay = 0; dev->stepDirection = 1; // default is forward // make sure MRAA is initialized int mraa_rv; if ((mraa_rv = mraa_init()) != MRAA_SUCCESS) { printf("%s: mraa_init() failed (%d).\n", __FUNCTION__, mraa_rv); uln200xa_close(dev); return NULL; } // MRAA contexts... if ( !(dev->stepI1 = mraa_gpio_init(i1)) ) { printf("%s: mraa_gpio_init(i1) failed\n", __FUNCTION__); uln200xa_close(dev); return NULL; } mraa_gpio_dir(dev->stepI1, MRAA_GPIO_OUT); if ( !(dev->stepI2 = mraa_gpio_init(i2)) ) { printf("%s: mraa_gpio_init(i2) failed\n", __FUNCTION__); uln200xa_close(dev); return NULL; } mraa_gpio_dir(dev->stepI2, MRAA_GPIO_OUT); if ( !(dev->stepI3 = mraa_gpio_init(i3)) ) { printf("%s: mraa_gpio_init(i3) failed\n", __FUNCTION__); uln200xa_close(dev); return NULL; } mraa_gpio_dir(dev->stepI3, MRAA_GPIO_OUT); if ( !(dev->stepI4 = mraa_gpio_init(i4)) ) { printf("%s: mraa_gpio_init(i4) failed\n", __FUNCTION__); uln200xa_close(dev); return NULL; } mraa_gpio_dir(dev->stepI4, MRAA_GPIO_OUT); // set default speed to 1 uln200xa_set_speed(dev, 1); return dev; } void uln200xa_close(uln200xa_context dev) { assert(dev != NULL); uln200xa_release(dev); if (dev->stepI1) mraa_gpio_close(dev->stepI1); if (dev->stepI2) mraa_gpio_close(dev->stepI2); if (dev->stepI3) mraa_gpio_close(dev->stepI3); if (dev->stepI4) mraa_gpio_close(dev->stepI4); free(dev); } void uln200xa_set_speed(const uln200xa_context dev, unsigned int speed) { assert(dev != NULL); dev->stepDelay = 60 * 1000 / dev->stepsPerRev / speed; } void uln200xa_set_direction(const uln200xa_context dev, ULN200XA_DIRECTION_T dir) { assert(dev != NULL); switch (dir) { case ULN200XA_DIR_CW: dev->stepDirection = 1; break; case ULN200XA_DIR_CCW: dev->stepDirection = -1; break; } } static void uln200xa_stepper_step(const uln200xa_context dev) { assert(dev != NULL); int step = dev->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(dev->stepI1, 0); mraa_gpio_write(dev->stepI2, 0); mraa_gpio_write(dev->stepI3, 0); mraa_gpio_write(dev->stepI4, 1); break; case 1: // 0011 mraa_gpio_write(dev->stepI1, 0); mraa_gpio_write(dev->stepI2, 0); mraa_gpio_write(dev->stepI3, 1); mraa_gpio_write(dev->stepI4, 1); break; case 2: // 0010 mraa_gpio_write(dev->stepI1, 0); mraa_gpio_write(dev->stepI2, 0); mraa_gpio_write(dev->stepI3, 1); mraa_gpio_write(dev->stepI4, 0); break; case 3: // 0110 mraa_gpio_write(dev->stepI1, 0); mraa_gpio_write(dev->stepI2, 1); mraa_gpio_write(dev->stepI3, 1); mraa_gpio_write(dev->stepI4, 0); break; case 4: // 0100 mraa_gpio_write(dev->stepI1, 0); mraa_gpio_write(dev->stepI2, 1); mraa_gpio_write(dev->stepI3, 0); mraa_gpio_write(dev->stepI4, 0); break; case 5: // 1100 mraa_gpio_write(dev->stepI1, 1); mraa_gpio_write(dev->stepI2, 1); mraa_gpio_write(dev->stepI3, 0); mraa_gpio_write(dev->stepI4, 0); break; case 6: // 1000 mraa_gpio_write(dev->stepI1, 1); mraa_gpio_write(dev->stepI2, 0); mraa_gpio_write(dev->stepI3, 0); mraa_gpio_write(dev->stepI4, 0); break; case 7: // 1001 mraa_gpio_write(dev->stepI1, 1); mraa_gpio_write(dev->stepI2, 0); mraa_gpio_write(dev->stepI3, 0); mraa_gpio_write(dev->stepI4, 1); break; 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); }