| /* |
| * 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 <iostream> |
| #include <string> |
| #include <stdexcept> |
| |
| #include "uln200xa.h" |
| |
| using namespace upm; |
| using namespace std; |
| |
| ULN200XA::ULN200XA(int stepsPerRev, int i1, int i2, int i3, int i4) |
| { |
| m_stepsPerRev = stepsPerRev; |
| m_currentStep = 0; |
| m_stepDelay = 0; |
| m_stepDirection = 1; // default is forward |
| |
| if ( !(m_stepI1 = mraa_gpio_init(i1)) ) |
| { |
| throw std::invalid_argument(std::string(__FUNCTION__) + |
| ": mraa_gpio_init(i1) failed, invalid pin?"); |
| return; |
| } |
| mraa_gpio_dir(m_stepI1, MRAA_GPIO_OUT); |
| |
| if ( !(m_stepI2 = mraa_gpio_init(i2)) ) |
| { |
| throw std::invalid_argument(std::string(__FUNCTION__) + |
| ": mraa_gpio_init(i2) failed, invalid pin?"); |
| mraa_gpio_close(m_stepI1); |
| return; |
| } |
| mraa_gpio_dir(m_stepI2, MRAA_GPIO_OUT); |
| |
| if ( !(m_stepI3 = mraa_gpio_init(i3)) ) |
| { |
| throw std::invalid_argument(std::string(__FUNCTION__) + |
| ": mraa_gpio_init(i3) failed, invalid pin?"); |
| mraa_gpio_close(m_stepI1); |
| mraa_gpio_close(m_stepI2); |
| return; |
| } |
| mraa_gpio_dir(m_stepI3, MRAA_GPIO_OUT); |
| |
| if ( !(m_stepI4 = mraa_gpio_init(i4)) ) |
| { |
| throw std::invalid_argument(std::string(__FUNCTION__) + |
| ": mraa_gpio_init(i4) failed, invalid pin?"); |
| mraa_gpio_close(m_stepI1); |
| mraa_gpio_close(m_stepI2); |
| mraa_gpio_close(m_stepI3); |
| |
| return; |
| } |
| mraa_gpio_dir(m_stepI4, MRAA_GPIO_OUT); |
| |
| // set default speed to 1 |
| setSpeed(1); |
| } |
| |
| void ULN200XA::initClock() |
| { |
| gettimeofday(&m_startTime, NULL); |
| } |
| |
| uint32_t ULN200XA::getMillis() |
| { |
| struct timeval elapsed, now; |
| uint32_t elapse; |
| |
| // get current time |
| gettimeofday(&now, NULL); |
| |
| // compute the delta since m_startTime |
| if( (elapsed.tv_usec = now.tv_usec - m_startTime.tv_usec) < 0 ) |
| { |
| elapsed.tv_usec += 1000000; |
| elapsed.tv_sec = now.tv_sec - m_startTime.tv_sec - 1; |
| } |
| else |
| { |
| elapsed.tv_sec = now.tv_sec - m_startTime.tv_sec; |
| } |
| |
| elapse = (uint32_t)((elapsed.tv_sec * 1000) + (elapsed.tv_usec / 1000)); |
| |
| // never return 0 |
| if (elapse == 0) |
| elapse = 1; |
| |
| return elapse; |
| } |
| |
| |
| ULN200XA::~ULN200XA() |
| { |
| mraa_gpio_close(m_stepI1); |
| mraa_gpio_close(m_stepI2); |
| mraa_gpio_close(m_stepI3); |
| mraa_gpio_close(m_stepI4); |
| } |
| |
| void ULN200XA::setSpeed(int speed) |
| { |
| m_stepDelay = 60 * 1000 / m_stepsPerRev / speed; |
| } |
| |
| void ULN200XA::setDirection(ULN200XA_DIRECTION_T dir) |
| { |
| switch (dir) |
| { |
| case DIR_CW: |
| m_stepDirection = 1; |
| break; |
| case DIR_CCW: |
| m_stepDirection = -1; |
| break; |
| } |
| } |
| |
| void ULN200XA::stepperStep() |
| { |
| int step = m_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(m_stepI1, 0); |
| mraa_gpio_write(m_stepI2, 0); |
| mraa_gpio_write(m_stepI3, 0); |
| mraa_gpio_write(m_stepI4, 1); |
| break; |
| case 1: // 0011 |
| mraa_gpio_write(m_stepI1, 0); |
| mraa_gpio_write(m_stepI2, 0); |
| mraa_gpio_write(m_stepI3, 1); |
| mraa_gpio_write(m_stepI4, 1); |
| break; |
| case 2: // 0010 |
| mraa_gpio_write(m_stepI1, 0); |
| mraa_gpio_write(m_stepI2, 0); |
| mraa_gpio_write(m_stepI3, 1); |
| mraa_gpio_write(m_stepI4, 0); |
| break; |
| case 3: // 0110 |
| mraa_gpio_write(m_stepI1, 0); |
| mraa_gpio_write(m_stepI2, 1); |
| mraa_gpio_write(m_stepI3, 1); |
| mraa_gpio_write(m_stepI4, 0); |
| break; |
| case 4: // 0100 |
| mraa_gpio_write(m_stepI1, 0); |
| mraa_gpio_write(m_stepI2, 1); |
| mraa_gpio_write(m_stepI3, 0); |
| mraa_gpio_write(m_stepI4, 0); |
| break; |
| case 5: // 1100 |
| mraa_gpio_write(m_stepI1, 1); |
| mraa_gpio_write(m_stepI2, 1); |
| mraa_gpio_write(m_stepI3, 0); |
| mraa_gpio_write(m_stepI4, 0); |
| break; |
| case 6: // 1000 |
| mraa_gpio_write(m_stepI1, 1); |
| mraa_gpio_write(m_stepI2, 0); |
| mraa_gpio_write(m_stepI3, 0); |
| mraa_gpio_write(m_stepI4, 0); |
| break; |
| case 7: // 1001 |
| mraa_gpio_write(m_stepI1, 1); |
| mraa_gpio_write(m_stepI2, 0); |
| mraa_gpio_write(m_stepI3, 0); |
| mraa_gpio_write(m_stepI4, 1); |
| break; |
| } |
| } |
| |
| void ULN200XA::stepperSteps(unsigned int steps) |
| { |
| while (steps > 0) |
| { |
| if (getMillis() >= m_stepDelay) |
| { |
| // reset the clock |
| initClock(); |
| |
| m_currentStep += m_stepDirection; |
| |
| if (m_stepDirection == 1) |
| { |
| if (m_currentStep >= m_stepsPerRev) |
| m_currentStep = 0; |
| } |
| else |
| { |
| if (m_currentStep <= 0) |
| m_currentStep = m_stepsPerRev; |
| } |
| |
| steps--; |
| stepperStep(); |
| } |
| } |
| } |
| |
| void ULN200XA::release() |
| { |
| mraa_gpio_write(m_stepI1, 0); |
| mraa_gpio_write(m_stepI2, 0); |
| mraa_gpio_write(m_stepI3, 0); |
| mraa_gpio_write(m_stepI4, 0); |
| } |