mirror of
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922e0cc26b
To make room for UPM C and C++ sensor code to coexist, all UPM
C++ headers have been renamed from h -> hpp. This commit contains
updates to documentation, includes, cmake collateral, examples, and
swig interface files.
* Renamed all cxx/cpp header files which contain the string
'copyright intel' from .h -> .hpp (if not already hpp).
* Replaced all references to .h with .hpp in documentation,
source files, cmake collateral, example code, and swig interface
files.
* Replaced cmake variable module_h with module_hpp.
* Intentionally left upm.h since this file currently does not
contain code (documentation only).
Signed-off-by: Noel Eck <noel.eck@intel.com>
346 lines
8.1 KiB
C++
346 lines
8.1 KiB
C++
/*
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* Author: Jon Trulson <jtrulson@ics.com>
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* Copyright (c) 2015 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 <iostream>
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#include <string>
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#include <stdexcept>
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#include "l298.hpp"
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using namespace upm;
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using namespace std;
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// constructor for the DC motor(s) mode
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L298::L298(int pwmA, int dir1, int dir2)
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{
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// No stepper in this mode
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m_stepper = false;
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// disable until complete
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m_motor = false;
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if ( !(m_pwm = mraa_pwm_init(pwmA)) )
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{
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throw std::invalid_argument(std::string(__FUNCTION__) +
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": mraa_pwm_init() failed, invalid pin?");
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return;
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}
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if ( !(m_dir1 = mraa_gpio_init(dir1)) )
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{
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throw std::invalid_argument(std::string(__FUNCTION__) +
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": mraa_gpio_init(dir1) failed, invalid pin?");
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mraa_pwm_close(m_pwm);
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return;
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}
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mraa_gpio_dir(m_dir1, MRAA_GPIO_OUT);
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if ( !(m_dir2 = mraa_gpio_init(dir2)) )
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{
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throw std::invalid_argument(std::string(__FUNCTION__) +
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": mraa_gpio_init(dir2) failed, invalid pin?");
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mraa_pwm_close(m_pwm);
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mraa_gpio_close(m_dir1);
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return;
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}
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mraa_gpio_dir(m_dir2, MRAA_GPIO_OUT);
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setPeriodMS(L298_DEFAULT_PWM_PERIOD);
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setDirection(DIR_NONE);
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setSpeed(0);
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m_motor = true;
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}
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// constructor for the stepper mode
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L298::L298(int stepsPerRev, int en, int i1, int i2, int i3, int i4)
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{
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// no DC motors in this mode
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m_motor = false;
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// disable until complete
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m_stepper = false;
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m_stepsPerRev = stepsPerRev;
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m_currentStep = 0;
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m_stepDelay = 0;
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m_stepDirection = 1; // default is forward
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// init the gpio's we will need
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if ( !(m_stepEnable = mraa_gpio_init(en)) )
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{
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throw std::invalid_argument(std::string(__FUNCTION__) +
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": mraa_gpio_init(en) failed, invalid pin?");
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return;
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}
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mraa_gpio_dir(m_stepEnable, MRAA_GPIO_OUT);
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if ( !(m_stepI1 = mraa_gpio_init(i1)) )
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{
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throw std::invalid_argument(std::string(__FUNCTION__) +
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": mraa_gpio_init(i1) failed, invalid pin?");
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return;
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}
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mraa_gpio_dir(m_stepI1, MRAA_GPIO_OUT);
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if ( !(m_stepI2 = mraa_gpio_init(i2)) )
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{
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throw std::invalid_argument(std::string(__FUNCTION__) +
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": mraa_gpio_init(i2) failed, invalid pin?");
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mraa_gpio_close(m_stepI1);
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return;
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}
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mraa_gpio_dir(m_stepI2, MRAA_GPIO_OUT);
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if ( !(m_stepI3 = mraa_gpio_init(i3)) )
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{
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throw std::invalid_argument(std::string(__FUNCTION__) +
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": mraa_gpio_init(i3) failed, invalid pin?");
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mraa_gpio_close(m_stepI1);
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mraa_gpio_close(m_stepI2);
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return;
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}
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mraa_gpio_dir(m_stepI3, MRAA_GPIO_OUT);
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if ( !(m_stepI4 = mraa_gpio_init(i4)) )
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{
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throw std::invalid_argument(std::string(__FUNCTION__) +
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": mraa_gpio_init(i4) failed, invalid pin?");
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mraa_gpio_close(m_stepI1);
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mraa_gpio_close(m_stepI2);
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mraa_gpio_close(m_stepI3);
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return;
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}
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mraa_gpio_dir(m_stepI4, MRAA_GPIO_OUT);
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m_stepper = true;
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}
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void L298::initClock()
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{
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gettimeofday(&m_startTime, NULL);
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}
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uint32_t L298::getMillis()
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{
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struct timeval elapsed, now;
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uint32_t elapse;
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// get current time
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gettimeofday(&now, NULL);
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// compute the delta since m_startTime
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if( (elapsed.tv_usec = now.tv_usec - m_startTime.tv_usec) < 0 )
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{
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elapsed.tv_usec += 1000000;
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elapsed.tv_sec = now.tv_sec - m_startTime.tv_sec - 1;
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}
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else
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{
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elapsed.tv_sec = now.tv_sec - m_startTime.tv_sec;
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}
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elapse = (uint32_t)((elapsed.tv_sec * 1000) + (elapsed.tv_usec / 1000));
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// never return 0
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if (elapse == 0)
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elapse = 1;
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return elapse;
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}
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L298::~L298()
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{
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if (m_stepper)
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{
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enable(false);
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mraa_gpio_close(m_stepEnable);
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mraa_gpio_close(m_stepI1);
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mraa_gpio_close(m_stepI2);
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mraa_gpio_close(m_stepI3);
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mraa_gpio_close(m_stepI4);
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}
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if (m_motor)
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{
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setDirection(DIR_NONE);
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setSpeed(0);
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enable(false);
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mraa_pwm_close(m_pwm);
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mraa_gpio_close(m_dir1);
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mraa_gpio_close(m_dir2);
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}
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}
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void L298::setPeriodMS(int ms)
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{
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if (m_motor)
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{
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if (mraa_pwm_period_ms(m_pwm, ms) != MRAA_SUCCESS)
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throw std::invalid_argument(std::string(__FUNCTION__) +
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": mraa_pwm_period_ms() failed");
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}
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}
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void L298::enable(bool enable)
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{
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if (m_motor)
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{
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mraa_pwm_enable(m_pwm, ((enable) ? 1 : 0));
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}
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if (m_stepper)
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{
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mraa_gpio_write(m_stepEnable, ((enable) ? 1 : 0));
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}
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}
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void L298::setSpeed(int speed)
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{
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if (m_motor)
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{
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if (speed < 0)
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speed = 0;
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if (speed > 100)
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speed = 100;
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float percent = float(speed) / 100.0;
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if (m_motor)
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{
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mraa_pwm_write(m_pwm, percent);
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}
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}
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if (m_stepper)
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{
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m_stepDelay = 60 * 1000 / m_stepsPerRev / speed;
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}
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}
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void L298::setDirection(L298_DIRECTION_T dir)
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{
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if (m_motor)
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{
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if (dir & 0x01)
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mraa_gpio_write(m_dir1, 1);
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else
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mraa_gpio_write(m_dir1, 0);
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if (dir & 0x02)
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mraa_gpio_write(m_dir2, 1);
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else
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mraa_gpio_write(m_dir2, 0);
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}
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if (m_stepper)
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{
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switch (dir)
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{
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case DIR_CW:
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m_stepDirection = 1;
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break;
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case DIR_CCW:
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m_stepDirection = -1;
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break;
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default: // default to 1 if DIR_NONE specified
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m_stepDirection = 1;
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break;
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}
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}
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}
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void L298::stepperStep()
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{
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int step = m_currentStep % 4;
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// Step I0 I1 I2 I3
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// 1 1 0 1 0
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// 2 0 1 1 0
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// 3 0 1 0 1
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// 4 1 0 0 1
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switch (step)
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{
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case 0: // 1010
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mraa_gpio_write(m_stepI1, 1);
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mraa_gpio_write(m_stepI2, 0);
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mraa_gpio_write(m_stepI3, 1);
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mraa_gpio_write(m_stepI4, 0);
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break;
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case 1: // 0110
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mraa_gpio_write(m_stepI1, 0);
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mraa_gpio_write(m_stepI2, 1);
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mraa_gpio_write(m_stepI3, 1);
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mraa_gpio_write(m_stepI4, 0);
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break;
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case 2: //0101
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mraa_gpio_write(m_stepI1, 0);
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mraa_gpio_write(m_stepI2, 1);
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mraa_gpio_write(m_stepI3, 0);
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mraa_gpio_write(m_stepI4, 1);
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break;
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case 3: //1001
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mraa_gpio_write(m_stepI1, 1);
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mraa_gpio_write(m_stepI2, 0);
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mraa_gpio_write(m_stepI3, 0);
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mraa_gpio_write(m_stepI4, 1);
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break;
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}
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}
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void L298::stepperSteps(unsigned int steps)
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{
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while (steps > 0)
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{
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if (getMillis() >= m_stepDelay)
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{
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// reset the clock
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initClock();
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m_currentStep += m_stepDirection;
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if (m_stepDirection == 1)
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{
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if (m_currentStep >= m_stepsPerRev)
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m_currentStep = 0;
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}
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else
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{
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if (m_currentStep <= 0)
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m_currentStep = m_stepsPerRev;
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}
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steps--;
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stepperStep();
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// cerr << "STEPNUM: " << m_currentStep << endl;
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}
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}
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}
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