| /* |
| * Author: Jon Trulson <jtrulson@ics.com> |
| * Copyright (c) 2015 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 <unistd.h> |
| #include <math.h> |
| #include <iostream> |
| #include <string> |
| |
| #include "adafruitms1438.h" |
| |
| using namespace upm; |
| using namespace std; |
| |
| |
| AdafruitMS1438::AdafruitMS1438(int bus, uint8_t address) : |
| m_pca9685(new PCA9685(bus, address)) |
| { |
| setupPinMaps(); |
| |
| // set a default period of 50Hz |
| setPWMPeriod(50); |
| |
| // disable all PWM's (4 of them). They are shared with each other |
| // (stepper/DC), so just disable the DC motors here |
| disableMotor(MOTOR_M1); |
| disableMotor(MOTOR_M2); |
| disableMotor(MOTOR_M3); |
| disableMotor(MOTOR_M4); |
| |
| // Set all 'on time' registers to 0 |
| m_pca9685->ledOnTime(PCA9685_ALL_LED, 0); |
| |
| // set the default stepper config at 200 steps per rev |
| stepConfig(STEPMOTOR_M12, 200); |
| stepConfig(STEPMOTOR_M34, 200); |
| } |
| |
| AdafruitMS1438::~AdafruitMS1438() |
| { |
| delete m_pca9685; |
| } |
| |
| void AdafruitMS1438::initClock(STEPMOTORS_T motor) |
| { |
| gettimeofday(&m_stepConfig[motor].startTime, NULL); |
| } |
| |
| uint32_t AdafruitMS1438::getMillis(STEPMOTORS_T motor) |
| { |
| struct timeval elapsed, now; |
| uint32_t elapse; |
| |
| // get current time |
| gettimeofday(&now, NULL); |
| |
| struct timeval startTime = m_stepConfig[motor].startTime; |
| |
| // compute the delta since m_startTime |
| if( (elapsed.tv_usec = now.tv_usec - startTime.tv_usec) < 0 ) |
| { |
| elapsed.tv_usec += 1000000; |
| elapsed.tv_sec = now.tv_sec - startTime.tv_sec - 1; |
| } |
| else |
| { |
| elapsed.tv_sec = now.tv_sec - startTime.tv_sec; |
| } |
| |
| elapse = (uint32_t)((elapsed.tv_sec * 1000) + (elapsed.tv_usec / 1000)); |
| |
| // never return 0 |
| if (elapse == 0) |
| elapse = 1; |
| |
| return elapse; |
| } |
| |
| // setup the pin mappings of the pca9685 outputs to the proper motor controls |
| void AdafruitMS1438::setupPinMaps() |
| { |
| // first the dc motors |
| m_dcMotors[0] = (DC_PINMAP_T){ 8, 10, 9 }; |
| m_dcMotors[1] = (DC_PINMAP_T){ 13, 11, 12 }; |
| m_dcMotors[2] = (DC_PINMAP_T){ 2, 4, 3 }; |
| m_dcMotors[3] = (DC_PINMAP_T){ 7, 5, 6 }; |
| |
| // now the 2 steppers |
| m_stepMotors[0] = (STEPPER_PINMAP_T){ 8, 10, 9, |
| 13, 11, 12 }; |
| m_stepMotors[1] = (STEPPER_PINMAP_T){ 2, 4, 3, |
| 7, 5, 6 }; |
| } |
| |
| void AdafruitMS1438::setPWMPeriod(float hz) |
| { |
| // must be in sleep mode to set the prescale register |
| m_pca9685->setModeSleep(true); |
| m_pca9685->setPrescaleFromHz(hz); |
| m_pca9685->setModeSleep(false); |
| } |
| |
| void AdafruitMS1438::enableMotor(DCMOTORS_T motor) |
| { |
| m_pca9685->ledFullOff(m_dcMotors[motor].pwm, false); |
| } |
| |
| void AdafruitMS1438::disableMotor(DCMOTORS_T motor) |
| { |
| m_pca9685->ledFullOff(m_dcMotors[motor].pwm, true); |
| } |
| |
| void AdafruitMS1438::enableStepper(STEPMOTORS_T motor) |
| { |
| m_pca9685->ledFullOff(m_stepMotors[motor].pwmA, false); |
| m_pca9685->ledFullOff(m_stepMotors[motor].pwmB, false); |
| } |
| |
| void AdafruitMS1438::disableStepper(STEPMOTORS_T motor) |
| { |
| m_pca9685->ledFullOff(m_stepMotors[motor].pwmA, true); |
| m_pca9685->ledFullOff(m_stepMotors[motor].pwmB, true); |
| } |
| |
| void AdafruitMS1438::setMotorSpeed(DCMOTORS_T motor, int speed) |
| { |
| if (speed < 0) |
| speed = 0; |
| |
| if (speed > 100) |
| speed = 100; |
| |
| float percent = float(speed) / 100.0; |
| |
| // make sure that the FullOn bit is turned off, or the speed setting |
| // (PWM duty cycle) won't have any effect. |
| m_pca9685->ledFullOn(m_dcMotors[motor].pwm, false); |
| |
| // set the PWM duty cycle |
| m_pca9685->ledOffTime(m_dcMotors[motor].pwm, int(4095.0 * percent)); |
| } |
| |
| void AdafruitMS1438::setStepperSpeed(STEPMOTORS_T motor, int speed) |
| { |
| m_stepConfig[motor].stepDelay = 60 * 1000 / |
| m_stepConfig[motor].stepsPerRev / speed; |
| } |
| |
| void AdafruitMS1438::setMotorDirection(DCMOTORS_T motor, DIRECTION_T dir) |
| { |
| if (dir & 0x01) |
| { |
| m_pca9685->ledFullOn(m_dcMotors[motor].in1, true); |
| m_pca9685->ledFullOff(m_dcMotors[motor].in1, false); |
| } |
| else |
| { |
| m_pca9685->ledFullOff(m_dcMotors[motor].in1, true); |
| m_pca9685->ledFullOn(m_dcMotors[motor].in1, false); |
| } |
| |
| if (dir & 0x02) |
| { |
| m_pca9685->ledFullOn(m_dcMotors[motor].in2, true); |
| m_pca9685->ledFullOff(m_dcMotors[motor].in2, false); |
| } |
| else |
| { |
| m_pca9685->ledFullOff(m_dcMotors[motor].in2, true); |
| m_pca9685->ledFullOn(m_dcMotors[motor].in2, false); |
| } |
| } |
| |
| void AdafruitMS1438::setStepperDirection(STEPMOTORS_T motor, DIRECTION_T dir) |
| { |
| switch (dir) |
| { |
| case DIR_CW: |
| m_stepConfig[motor].stepDirection = 1; |
| break; |
| case DIR_CCW: |
| m_stepConfig[motor].stepDirection = -1; |
| break; |
| default: // default to 1 if DIR_NONE specified |
| m_stepConfig[motor].stepDirection = 1; |
| break; |
| } |
| } |
| |
| void AdafruitMS1438::stepConfig(STEPMOTORS_T motor, unsigned int stepsPerRev) |
| { |
| m_stepConfig[motor].stepsPerRev = stepsPerRev; |
| m_stepConfig[motor].currentStep = 0; |
| m_stepConfig[motor].stepDelay = 0; |
| m_stepConfig[motor].stepDirection = 1; // forward |
| |
| // now, setup the control pins - we want both FULL ON and FULL OFF. |
| // Since FULL OFF has precedence, we can then control the steps by |
| // just turning on/off the FULL OFF bit for the relevant outputs |
| |
| m_pca9685->ledFullOff(m_stepMotors[motor].pwmA, true); |
| m_pca9685->ledFullOn(m_stepMotors[motor].pwmA, true); |
| |
| m_pca9685->ledFullOff(m_stepMotors[motor].pwmB, true); |
| m_pca9685->ledFullOn(m_stepMotors[motor].pwmB, true); |
| |
| m_pca9685->ledFullOff(m_stepMotors[motor].in1A, true); |
| m_pca9685->ledFullOn(m_stepMotors[motor].in1A, true); |
| |
| m_pca9685->ledFullOff(m_stepMotors[motor].in2A, true); |
| m_pca9685->ledFullOn(m_stepMotors[motor].in2A, true); |
| |
| m_pca9685->ledFullOff(m_stepMotors[motor].in1B, true); |
| m_pca9685->ledFullOn(m_stepMotors[motor].in1B, true); |
| |
| m_pca9685->ledFullOff(m_stepMotors[motor].in2B, true); |
| m_pca9685->ledFullOn(m_stepMotors[motor].in2B, true); |
| } |
| |
| void AdafruitMS1438::stepperStep(STEPMOTORS_T motor) |
| { |
| int step = m_stepConfig[motor].currentStep % 4; |
| |
| // Step I0 I1 I2 I3 |
| // 1 1 0 1 0 |
| // 2 0 1 1 0 |
| // 3 0 1 0 1 |
| // 4 1 0 0 1 |
| |
| // we invert the logic since we are essentially toggling an OFF bit, |
| // not an ON bit. |
| switch (step) |
| { |
| case 0: // 1010 |
| m_pca9685->ledFullOff(m_stepMotors[motor].in1A, false); |
| m_pca9685->ledFullOff(m_stepMotors[motor].in2A, true); |
| m_pca9685->ledFullOff(m_stepMotors[motor].in1B, false); |
| m_pca9685->ledFullOff(m_stepMotors[motor].in2B, true); |
| break; |
| case 1: // 0110 |
| m_pca9685->ledFullOff(m_stepMotors[motor].in1A, true); |
| m_pca9685->ledFullOff(m_stepMotors[motor].in2A, false); |
| m_pca9685->ledFullOff(m_stepMotors[motor].in1B, false); |
| m_pca9685->ledFullOff(m_stepMotors[motor].in2B, true); |
| break; |
| case 2: //0101 |
| m_pca9685->ledFullOff(m_stepMotors[motor].in1A, true); |
| m_pca9685->ledFullOff(m_stepMotors[motor].in2A, false); |
| m_pca9685->ledFullOff(m_stepMotors[motor].in1B, true); |
| m_pca9685->ledFullOff(m_stepMotors[motor].in2B, false); |
| break; |
| case 3: //1001 |
| m_pca9685->ledFullOff(m_stepMotors[motor].in1A, false); |
| m_pca9685->ledFullOff(m_stepMotors[motor].in2A, true); |
| m_pca9685->ledFullOff(m_stepMotors[motor].in1B, true); |
| m_pca9685->ledFullOff(m_stepMotors[motor].in2B, false); |
| break; |
| } |
| } |
| |
| void AdafruitMS1438::stepperSteps(STEPMOTORS_T motor, unsigned int steps) |
| { |
| while (steps > 0) |
| { |
| if (getMillis(motor) >= m_stepConfig[motor].stepDelay) |
| { |
| // reset the clock |
| initClock(motor); |
| |
| m_stepConfig[motor].currentStep += m_stepConfig[motor].stepDirection; |
| |
| if (m_stepConfig[motor].stepDirection == 1) |
| { |
| if (m_stepConfig[motor].currentStep >= |
| m_stepConfig[motor].stepsPerRev) |
| m_stepConfig[motor].currentStep = 0; |
| } |
| else |
| { |
| if (m_stepConfig[motor].currentStep <= 0) |
| m_stepConfig[motor].currentStep = |
| m_stepConfig[motor].stepsPerRev; |
| } |
| |
| steps--; |
| stepperStep(motor); |
| } |
| } |
| } |
| |