mirror of
https://github.com/eclipse/upm.git
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261 lines
7.0 KiB
C
261 lines
7.0 KiB
C
/*
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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:
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// can't happen
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break;
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}
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}
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void uln200xa_stepper_steps(const uln200xa_context dev, unsigned int steps)
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{
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assert(dev != NULL);
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while (steps > 0)
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{
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upm_delay_ms(dev->stepDelay);
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dev->currentStep += dev->stepDirection;
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if (dev->stepDirection == 1)
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{
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if (dev->currentStep >= dev->stepsPerRev)
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dev->currentStep = 0;
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}
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else
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{
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if (dev->currentStep <= 0)
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dev->currentStep = dev->stepsPerRev;
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}
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steps--;
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uln200xa_stepper_step(dev);
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}
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}
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void uln200xa_release(const uln200xa_context dev)
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{
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assert(dev !=NULL);
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// we do these check since this is also called from
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// uln200xa_close() and we can't be sure that all of the contexts
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// have been created yet.
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if (dev->stepI1)
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mraa_gpio_write(dev->stepI1, 0);
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if (dev->stepI2)
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mraa_gpio_write(dev->stepI2, 0);
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if (dev->stepI3)
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mraa_gpio_write(dev->stepI3, 0);
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if (dev->stepI4)
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mraa_gpio_write(dev->stepI4, 0);
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}
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