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Corwin Perren
b300c76103
These are all design documents that I thought I had lost. It's may make me cringe, but it's still cool to use it to see how far I've come.
120 lines
2.9 KiB
C++
120 lines
2.9 KiB
C++
/*
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* StepperClass.cpp
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*
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* Created: 8/1/2014 5:13:57 PM
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* Author: corwin
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*/
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#include "StepperClass.h"
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// default constructor
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StepperClass::StepperClass(volatile uint8_t *enport, volatile uint8_t *enddr, int enpin,
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volatile uint8_t *dirport, volatile uint8_t *dirddr, int dirpin,
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volatile uint8_t *stepport, volatile uint8_t *stepddr, int steppin,
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volatile uint8_t *faultport, volatile uint8_t *faultddr, int faultpin,
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volatile uint8_t *m0port, volatile uint8_t *m0ddr, int m0pin,
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volatile uint8_t *m1port, volatile uint8_t *m1ddr, int m1pin,
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volatile uint8_t *m2port, volatile uint8_t *m2ddr, int m2pin
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)
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{
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enPort = enport;
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enDDR = enddr;
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enPin = enpin;
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_setupPinAsOutput(enDDR, enPin);
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_disableStepper();
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dirPort = dirport;
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dirDDR = dirddr;
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dirPin = dirpin;
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_setupPinAsOutput(enDDR, enPin);
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_setPinLow(dirPort, dirPin);
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stepPort = stepport;
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stepDDR = stepddr;
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stepPin = steppin;
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_setupPinAsOutput(enDDR, enPin);
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_setPinLow(stepPort, stepPin);
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faultPort = faultport;
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faultDDR = faultddr;
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faultPin = faultpin;
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_setupPinAsInput(faultPort, faultDDR, faultPin, false);
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m0Port = m0port;
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m0DDR = m0ddr;
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m0Pin = m0pin;
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_setupPinAsOutput(enDDR, enPin);
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_setPinHigh(m0Port, m0Pin);
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m1Port = m1port;
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m1DDR = m1ddr;
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m1Pin = m1pin;
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_setupPinAsOutput(enDDR, enPin);
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_setPinLow(m1Port, m1Pin);
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m2Port = m2port;
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m2DDR = m2ddr;
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m2Pin = m2pin;
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_setupPinAsOutput(enDDR, enPin);
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_setPinLow(m2Port, m2Pin);
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TCCR1A = 0; //Set output compare mode for channel A and B to normal operation and waveform generation to normal
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TCCR1B = ((1 << WGM12) | (1 << CS10) | (1 << CS11)); //Set clk prescalar for timer to clk/1024 and enable clear on timer compare match
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TCNT1 = 0; //Zero the count register
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TIMSK1 = (1 << OCIE1A); //Set interrupt flag to trigger on counter 1 overflow
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OCR1A = 2000; //Set the count value based on what's needed to update at a specific number of fps
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} //StepperClass
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// default destructor
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StepperClass::~StepperClass()
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{
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} //~StepperClass
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void StepperClass::_setupPinAsOutput(volatile uint8_t *ddr, int pin)
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{
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*ddr |= (1 << pin);
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}
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void StepperClass::_setupPinAsInput(volatile uint8_t *port, volatile uint8_t *ddr, int pin, bool enablePullup = false)
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{
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*ddr &= ~(1 << pin);
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if(enablePullup){
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*port |= (1 << pin);
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}
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}
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void StepperClass::_enableStepper()
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{
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*enPort &= ~(1 << enPin);
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}
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void StepperClass::_disableStepper()
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{
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*enPort |= (1 << enPin);
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}
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void StepperClass::_setPinLow(volatile uint8_t *port, int pin)
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{
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*port &= ~(1 << pin);
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}
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void StepperClass::_setPinHigh(volatile uint8_t *port, int pin)
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{
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*port |= (1 << pin);
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}
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void StepperClass::OneStep()
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{
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_setPinHigh(stepPort, stepPin);
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_delay_us(2);
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_setPinLow(stepPort, stepPin);
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}
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void StepperClass::SetRPM(int rpm)
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{
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OCR1B = 35000;//(long(STEPPER_RPM_CONSTANT)/rpm); //Set the count value based on what's needed to update at a specific number of fps
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}
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