Andrew's git - arduino-weather.git/blob - libraries/Mitov/Mitov

   1////////////////////////////////////////////////////////////////////////////////
   2//                                                                            //
   3//     This software is supplied under the terms of a license agreement or    //
   4//     nondisclosure agreement with Mitov Software and may not be copied      //
   5//     or disclosed except in accordance with the terms of that agreement.    //
   6//         Copyright(c) 2002-2016 Mitov Software. All Rights Reserved.        //
   7//                                                                            //
   8////////////////////////////////////////////////////////////////////////////////
   9
  10#ifndef _MITOV_STEPPER_h
  11#define _MITOV_STEPPER_h
  12
  13#include <Mitov.h>
  14
  15namespace Mitov
  16{
  17
  18/*
  19        enum StepperMotorType =
  20        {
  21                smtDirectional,
  22                smtFull2Wire,
  23                smtFull3Wire,
  24                smtFull4Wire,
  25                smtHalf3Wire,
  26                smtHalf4Wire
  27        };
  28*/
  29        const unsigned char C_StepperBits4[] =
  30        {
  31                        0b1100,
  32                        0b0110,
  33                        0b0011,
  34                        0b1001
  35        };
  36
  37        const unsigned char C_StepperBits8[] =
  38        {
  39                        0b1000,
  40                        0b1100,
  41                        0b0100,
  42                        0b0110,
  43                        0b0010,
  44                        0b0011,
  45                        0b0001,
  46                        0b1001
  47        };
  48//---------------------------------------------------------------------------
  49        template <int C_NUMOUTPINS> class BasicStepperMotor : public OpenWire::Component
  50        {
  51        public:
  52                OpenWire::SourcePin     OutputPins[ C_NUMOUTPINS ];
  53                OpenWire::SinkPin       StepInputPin;
  54
  55        protected:
  56                unsigned long   FLastTime = 0;
  57                uint8_t FStep : 4;
  58
  59        public:
  60                bool    Enabled : 1;
  61                bool    Reversed : 1;
  62                float   StepsPerSecond = 300.f;
  63
  64        protected:
  65                virtual void UpdatePins() = 0;
  66
  67                void DoStepReceive( void *_Data )
  68                {
  69                        Step();
  70                }
  71
  72                void SetPinsValue( unsigned char AValue )
  73                {
  74                        for( int i = 0; i < C_NUMOUTPINS; ++i )
  75                        {
  76                                bool APinValue = ( AValue & 1 );
  77                                OutputPins[ i ].Notify( &APinValue );
  78                                AValue >>= 1;
  79                        }
  80                }
  81
  82                virtual void SystemLoopBegin( unsigned long currentMicros ) override
  83                {
  84                        if( !Enabled )
  85                                FLastTime = currentMicros;
  86
  87                        else
  88                        {
  89                                unsigned long APeriod = ( 1000000 / abs( StepsPerSecond )) + 0.5;
  90                                if( ( currentMicros - FLastTime ) >= APeriod )
  91                                {
  92                                        FLastTime += APeriod;
  93                                        if(( StepsPerSecond > 0 ) ^ Reversed )
  94                                                ++FStep;
  95
  96                                        else
  97                                                --FStep;
  98
  99                                        UpdatePins();
 100                                }
 101                        }
 102                }
 103
 104                public:
 105                        BasicStepperMotor() : 
 106                                Enabled( true ),
 107                                Reversed( true ),
 108                                FStep( 0 )
 109                        {
 110                                StepInputPin.SetCallback( this, (OpenWire::TOnPinReceive)&BasicStepperMotor::DoStepReceive );
 111                        }
 112
 113        public:
 114                void Step()
 115                {
 116                        if( Reversed ) //^ ( StepsPerSecond > 0 ) )
 117                                --FStep;
 118
 119                        else
 120                                ++FStep;
 121
 122                        UpdatePins();
 123                }
 124        };
 125//---------------------------------------------------------------------------
 126        class StepperMotorDirectional : public BasicStepperMotor<2>
 127        {
 128        };
 129//---------------------------------------------------------------------------
 130        template <int C_NUMOUTPINS> class BasicStepperMotorHalfStep : public BasicStepperMotor<C_NUMOUTPINS>
 131        {
 132        public:
 133                bool    HalfStep = true;
 134
 135        };
 136//---------------------------------------------------------------------------
 137        class StepperMotor2Wire : public BasicStepperMotorHalfStep<2>
 138        {
 139        };
 140//---------------------------------------------------------------------------
 141        class StepperMotor4Wire : public BasicStepperMotorHalfStep<4>
 142        {
 143        protected:
 144                virtual void UpdatePins() override
 145                {
 146                        unsigned char AValue = HalfStep ? C_StepperBits8[ FStep & 0b0111 ] : C_StepperBits4[ FStep & 0b0011 ];
 147                        SetPinsValue( AValue );
 148                }
 149
 150        };
 151//---------------------------------------------------------------------------
 152}
 153
 154#endif