ArduinoStepperDriver/StepperDriver.cpp at master · DIMRobotics/ArduinoStepperDriver · GitHub

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#include"StepperDriver.h"
#include<avr/interrupt.h>
#include<util/atomic.h>

staticvolatilestructstepper_motor _motors[NUM_AXIS];
staticvolatileuint8_t _num_motors = 0;

void_StepperDriver::init()
{
/* Configure timer */
/* Timer2, prescaler /1, enable overflow interrupt */
TCCR2A = 0; /* huh, we need to disable all PWMs */
TCCR2B = (1<<CS20); /* prescaler */
TIMSK2 = (1<<TOIE2); /* overflow interrupt */
}

axis_t_StepperDriver::newAxis(uint8_t step, uint8_t dir, uint8_t enable, uint16_t steps)
{
/* Library is limited in number of axis.
 * If you need to control more axis, change NUM_AXIS
 * in header file, but be careful! You are still limited
 * in memory! */
if (_num_motors == NUM_AXIS)
return255;

 _motors[_num_motors].step = step;
 _motors[_num_motors].dir = dir;
 _motors[_num_motors].enable = enable;
 _motors[_num_motors].steps = steps;

pinMode(step, OUTPUT);
pinMode(dir, OUTPUT);
if (enable != 255)
pinMode(enable, OUTPUT);

return _num_motors++;
}

axis_t_StepperDriver::newAxis(uint8_t step, uint8_t dir, uint16_t steps)
{
returnnewAxis(step, dir, 255, steps); /* auto-ignoring ENABLE pin feature */
}

void_StepperDriver::enable(axis_t axis)
{
if (axis >= _num_motors)
return;

if (_motors[axis].enable != 255)
 #ifdef INVERSE_ENABLE_LEVELS
digitalWrite(_motors[axis].enable, HIGH);
 #else
digitalWrite(_motors[axis].enable, LOW);
 #endif
}

void_StepperDriver::disable(axis_t axis)
{
if (axis >= _num_motors)
return;

if (_motors[axis].enable != 255)
 #ifdef INVERSE_ENABLE_LEVELS
digitalWrite(_motors[axis].enable, LOW);
 #else
digitalWrite(_motors[axis].enable, HIGH);
 #endif
}

void_StepperDriver::setDir(axis_t axis, uint8_t dir)
{
if (axis >= _num_motors)
return;

digitalWrite(_motors[axis].dir, dir);
 _motors[axis]._dir = dir == FORWARD ? 1 : -1;
}

void_StepperDriver::setDelay(axis_t axis, uint16_t delay)
{
if (axis >= _num_motors)
return;

if (delay != 0 && delay < 16)
 delay = 16;

ATOMIC_BLOCK(ATOMIC_RESTORESTATE)
 {
 _motors[axis]._base_delay = delay / 16; /* this division is for conversion to microseconds */
 _motors[axis]._rq_path = 0;
 }
}

void_StepperDriver::setSpeed(axis_t axis, uint16_t value)
{
if (axis >= _num_motors)
return;

if (value != 0)
 value = 60000000 / _motors[axis].steps / value;
setDelay(axis, value);
}

void_StepperDriver::write(axis_t axis, int32_t value)
{
if (axis >= _num_motors)
return;

if (value < 0) {
 value = -value;
setDir(axis, BACKWARD);
 } else {
setDir(axis, FORWARD);
 }

setSpeed(axis, (uint16_t) value);
}

void_StepperDriver::write(axis_t axis, int32_t speed, uint32_t path)
{
if (axis >= _num_motors)
return;

write(axis, speed);
ATOMIC_BLOCK(ATOMIC_RESTORESTATE)
 {
 _motors[axis]._rq_path = path;
 }
}

void_StepperDriver::stop(axis_t axis)
{
write(axis, 0);
}

uint8_t_StepperDriver::busy(axis_t axis)
{
if (axis >= _num_motors)
return0;

uint8_t ret;

ATOMIC_BLOCK(ATOMIC_RESTORESTATE)
 {
 ret = _motors[axis]._base_delay > 0;
 }

return ret;
}

void_StepperDriver::wait(axis_t axis)
{
if (axis >= _num_motors || getPath(axis) == 0)
return;

while (busy(axis))
asmvolatile ("nop");
}

void_StepperDriver::move(axis_t axis, int32_t speed, uint32_t path)
{
write(axis, speed, path);
wait(axis);
}

int32_t_StepperDriver::getPath(axis_t axis)
{
if (axis >= _num_motors)
return0;

int32_t val;
ATOMIC_BLOCK(ATOMIC_RESTORESTATE)
 {
 val = _motors[axis].path;
 }

return val;
}

void_StepperDriver::resetPath(axis_t axis)
{
if (axis >= _num_motors)
return;

ATOMIC_BLOCK(ATOMIC_RESTORESTATE)
 {
 _motors[axis].path = 0;
 }
}

_StepperDriver StepperDriver;

/*
 * Special interrupt service functions
*/

staticinlinevoidtoggle(volatilestructstepper_motor *s)
{
if (s->_base_delay) {
if (s->_state)
digitalWrite(s->step, HIGH);
else
digitalWrite(s->step, LOW);

 s->path += s->_dir;
 s->_state = !(s->_state);

if (s->_rq_path > 0) { /* path limit detector */
 s->_rq_path--;
if (s->_rq_path == 0)
 s->_base_delay = 0;
 }
 }
}

staticinlinevoidtimer_interrupt()
{
for (uint8_t i=0; i<_num_motors; i++) {
if (_motors[i]._delay != 0) {
 _motors[i]._delay--;
 } else {
toggle(&_motors[i]);
 _motors[i]._delay = _motors[i]._base_delay;
 }
 }
}

ISR(TIMER2_OVF_vect)
{
timer_interrupt();
}