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/*
* 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);
}
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