upm/src/uln200xa/uln200xa.c
Jon Trulson 58dfa9d95a uln200xa: C implementation and examples
Signed-off-by: Jon Trulson <jtrulson@ics.com>
2016-10-24 16:05:39 -06:00

261 lines
7.0 KiB
C

/*
* 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.
*/
#include <assert.h>
#include <upm_utilities.h>
#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);
}