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MotorDriver.ino
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MotorDriver.ino
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/**
* MotorDriver
* This file is a part of ScrewD (Arduino Implementation)
*
* For project description read (https://bitbucket.org/rijulg/smart-screwdriver/overview)
*
* @author Rijul Gupta ([email protected])
* @since June 2017
*
* ScrewD is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* ScrewD is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* For the GNU General Public License associated with ScrewD,
* visit <http://www.gnu.org/licenses/>.
*/
#define pin_xStep 2
#define pin_xDir 3
#define pin_xMS1 4
#define pin_xMS2 5
#define pin_xEnable 56
#define pin_xSleep 57
#define pin_yStep 6
#define pin_yDir 7
#define pin_yMS1 8
#define pin_yMS2 9
#define pin_yEnable 54
#define pin_ySleep 55
enum portStates{ enableX=0, enableY=1, enableBoth=2, disableBoth=3};
enum motorModes{ fullStep=0, halfStep=1, quarterStep=2, eigthStep=3};
/*
* delay used in step loop
* Optimized for fullStep mode
*/
double baseStepDelay = 2830;
double xStepDelay = 2830;
double yStepDelay = 2830;
unsigned long xSteps = 0;
unsigned long ySteps = 0;
unsigned int masterClock = VARIANT_MCK;
/**
* getMotorStatus
* Reads all the pins of the motor driver
* and returns a compiled result as a string
* @return String motor driver status
*/
String getMotorStatus(){
String log2 = "xEnable:"+String(digitalRead(pin_xEnable),DEC);
log2 += " :: yEnable:"+String(digitalRead(pin_yEnable),DEC);
log2 += " :: xSleep:"+String(digitalRead(pin_xSleep),DEC);
log2 += " :: ySleep:"+String(digitalRead(pin_ySleep),DEC);
log2 += " :: xMS1:"+String(digitalRead(pin_xMS1),DEC);
log2 += " :: xMS2:"+String(digitalRead(pin_xMS2),DEC);
log2 += " :: yMS1:"+String(digitalRead(pin_yMS1),DEC);
log2 += " :: yMS2:"+String(digitalRead(pin_yMS2),DEC);
log2 += " :: xStep:"+String(digitalRead(pin_xStep),DEC);
log2 += " :: xDir:"+String(digitalRead(pin_xDir),DEC);
log2 += " :: yStep:"+String(digitalRead(pin_yStep),DEC);
log2 += " :: yDir:"+String(digitalRead(pin_yDir),DEC);
log2 += " :: xSteps:"+String(xSteps,DEC);
log2 += " :: ySteps:"+String(ySteps,DEC);
return log2;
}
/**
* initMotorDriver
* initializes the motor driver
*/
void initMotorDriver(){
pinMode(pin_xStep,OUTPUT);
pinMode(pin_xDir,OUTPUT);
pinMode(pin_xMS1,OUTPUT);
pinMode(pin_xMS2,OUTPUT);
pinMode(pin_xEnable,OUTPUT);
pinMode(pin_xSleep,OUTPUT);
pinMode(pin_yStep,OUTPUT);
pinMode(pin_yDir,OUTPUT);
pinMode(pin_yMS1,OUTPUT);
pinMode(pin_yMS2,OUTPUT);
pinMode(pin_yEnable,OUTPUT);
pinMode(pin_ySleep,OUTPUT);
pmc_set_writeprotect(false);
pmc_enable_periph_clk(ID_TC0);
pmc_enable_periph_clk(ID_TC1);
TC_Configure(TC0, 0, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_ACPC_TOGGLE | TC_CMR_TCCLKS_TIMER_CLOCK1);
TC_Configure(TC0, 1, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_ACPC_TOGGLE | TC_CMR_TCCLKS_TIMER_CLOCK1);
TC0->TC_CHANNEL[0].TC_IER = TC_IER_CPCS;
TC0->TC_CHANNEL[1].TC_IER = TC_IER_CPCS;
NVIC_EnableIRQ(TC0_IRQn);
NVIC_EnableIRQ(TC1_IRQn);
}
/**
* MotorStatus
* logs the motor status as long as the
* motors are running
*/
void MotorStatus(){
if(xSteps<1 || ySteps<1) return;
log("MotorDriver.status",getMotorStatus());
}
/*
* setDelay
* multiplies the base delay with given multiplier
* @param multiplier
*/
void setDelay(char port, double multiplier){
if(multiplier<=0) return;
switch(port){
case 'X':
case 'x':
xStepDelay = baseStepDelay*multiplier;
break;
case 'Y':
case 'y':
yStepDelay = baseStepDelay*multiplier;
break;
}
}
/**
* setMotorMode
* @param port char which port to set
* @param mode int which mode to set {motorModes}
*/
void setMotorMode(char port, int mode){
switch(port){
case 'X':
case 'x':
switch(mode){
case fullStep:
digitalWrite(pin_xMS1,LOW);
digitalWrite(pin_xMS2,LOW);
break;
case halfStep:
digitalWrite(pin_xMS1,HIGH);
digitalWrite(pin_xMS2,LOW);
break;
case quarterStep:
digitalWrite(pin_xMS1,LOW);
digitalWrite(pin_xMS2,HIGH);
break;
case eigthStep:
digitalWrite(pin_xMS1,HIGH);
digitalWrite(pin_xMS2,HIGH);
break;
}
break;
case 'Y':
case 'y':
switch(mode){
case fullStep:
digitalWrite(pin_yMS1,LOW);
digitalWrite(pin_yMS2,LOW);
break;
case halfStep:
digitalWrite(pin_yMS1,HIGH);
digitalWrite(pin_yMS2,LOW);
break;
case quarterStep:
digitalWrite(pin_yMS1,LOW);
digitalWrite(pin_yMS2,HIGH);
break;
case eigthStep:
digitalWrite(pin_yMS1,HIGH);
digitalWrite(pin_yMS2,HIGH);
break;
}
break;
}
}
/*
* setMotorPorts
* @param ports int ports to enable/disable {portStates}
*/
void setMotorPorts(int portState){
switch(portState){
case disableBoth:
digitalWrite(pin_xEnable,HIGH);
digitalWrite(pin_yEnable,HIGH);
break;
case enableBoth:
digitalWrite(pin_xEnable,LOW);
digitalWrite(pin_yEnable,LOW);
break;
case enableX:
digitalWrite(pin_xEnable,LOW);
digitalWrite(pin_yEnable,HIGH);
break;
case enableY:
digitalWrite(pin_xEnable,HIGH);
digitalWrite(pin_yEnable,LOW);
break;
}
}
/**
* sleepPort
* @param port char port to put to sleep
*/
void sleepPort(char port){
switch(port){
case 'X':
case 'x':
digitalWrite(pin_xSleep,LOW);
break;
case 'Y':
case 'y':
digitalWrite(pin_ySleep,LOW);
break;
}
}
/**
* stepMotor
* runs the motor through specified steps in given direction
* steps the global steps variable to be used by the interrupt handlers
* sets double the value because to run one step the pin needs to be set High and then Low
* @param port char which port to run
* @param direction bool direction to run on port {0 = Counter Clockwise, 1 = Clockwise}
* @param steps int number of steps to run on port
*/
void stepMotor(char port, bool direction, unsigned long steps){
if(steps<1)
return;
switch(port){
case 'X':
case 'x':
digitalWrite(pin_xDir,direction);
if(xSteps==0){
TC_SetRC(TC0,0,(int)(masterClock * xStepDelay / 1000000));
TC_Start(TC0,0);
}
xSteps = 2*steps;
break;
case 'Y':
case 'y':
digitalWrite(pin_yDir,direction);
if(ySteps==0){
TC_SetRC(TC0,1,(int)(masterClock * yStepDelay / 1000000));
TC_Start(TC0,1);
}
ySteps = 2*steps;
break;
}
}
/*
* handler for xPort
* runs on timer 0 channel 0
* interrupt = compare RA
*/
void TC0_Handler(){
TC_GetStatus(TC0,0);
digitalWrite(pin_xStep, !digitalRead(pin_xStep));
if(xSteps<=0){
TC_Stop(TC0,0);
return;
}
xSteps--;
}
/*
* handler for yPort
* runs on timer 0 channel 1
* interrupt = compare RC
*/
void TC1_Handler(){
TC_GetStatus(TC0,1);
digitalWrite(pin_yStep, !digitalRead(pin_yStep));
if(ySteps<=0){
TC_Stop(TC0,1);
return;
}
ySteps--;
}
/**
* stopAllMotors
* stops both the motor ports
*/
void stopAllMotors(){
TC_Stop(TC0,1);
TC_Stop(TC0,0);
xSteps=0;
ySteps=0;
}
/**
* wakePort
* @param port char port to put to wake
*/
void wakePort(char port){
switch(port){
case 'X':
case 'x':
digitalWrite(pin_xSleep,HIGH);
break;
case 'Y':
case 'y':
digitalWrite(pin_ySleep,HIGH);
break;
}
}