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/*
*
* RepRap, The Replicating Rapid Prototyper Project
*
* http://reprap.org/
*
* RepRap is copyright (C) 2005-6 University of Bath, the RepRap
* researchers (see the project's People webpage), and other contributors.
*
* RepRap is free; you can redistribute it and/or modify it under the
* terms of the GNU Library General Public Licence as published by the
* Free Software Foundation; either version 2 of the Licence, or (at your
* option) any later version.
*
* RepRap 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 Library General Public
* Licence for more details.
*
* For this purpose the words "software" and "library" in the GNU Library
* General Public Licence are taken to mean any and all computer programs
* computer files data results documents and other copyright information
* available from the RepRap project.
*
* You should have received a copy of the GNU Library General Public
* Licence along with RepRap (in reports, it will be one of the
* appendices, for example); if not, write to the Free Software
* Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA, or see
*
* http://www.gnu.org/
*
*/
#include "stepmotor.h"
#include "serial.h"
// Simple stepper controller.
//
// This is for a common ground, 4 coil stepper.
//
// A total of 8 steps are achieved for finer movement by also making
// use of "half-steps".
//
// Other stepper motor types are supported by changing the
// stepCount value and the stepValue function. Currently
// stepCount must be a power of 2.
#define stepCount 8
volatile static byte coilPosition = 0;
// Non-zero indicates seeking is in progress (and its speed)
enum functions {
func_idle,
func_forward,
func_reverse,
func_seek
};
volatile static byte function = func_idle;
volatile static byte speed = 0;
volatile static union addressableInt {
int ival;
byte bytes[2];
} currentPosition, seekPosition;
void init()
{
/// @todo Remove some of these when intialisers fixed
speed = 0;
function = func_idle;
coilPosition = 0;
currentPosition.bytes[0] = 0;
currentPosition.bytes[1] = 0;
seekPosition.bytes[0] = 0;
seekPosition.bytes[1] = 0;
}
byte stepValue()
{
switch(coilPosition) {
case 0:
return BIN(00010000);
case 1:
return BIN(00110000);
case 2:
return BIN(00100000);
case 3:
return BIN(01100000);
case 4:
return BIN(01000000);
case 5:
return BIN(11000000);
case 6:
return BIN(10000000);
case 7:
return BIN(10010000);
}
return 0;
}
#pragma save
#pragma nooverlay
void forward1()
{
currentPosition.ival++;
coilPosition = (coilPosition + 1) & (stepCount - 1);
PORTB = stepValue();
_asm /// @todo Remove when sdcc bug fixed
BANKSEL _coilPosition;
_endasm;
}
#pragma restore
#pragma save
#pragma nooverlay
void reverse1()
{
currentPosition.ival--;
coilPosition = (coilPosition + stepCount - 1) & (stepCount - 1);
PORTB = stepValue();
_asm /// @todo Remove when sdcc bug fixed
BANKSEL _coilPosition;
_endasm;
}
#pragma restore
#pragma save
#pragma nooverlay
void setTimer(byte newspeed)
{
speed = newspeed;
if (speed) {
TMR1H = speed;
TMR1L = 0;
TMR1ON = 1;
} else {
TMR1ON = 0;
}
_asm /// @todo Remove when sdcc bug fixed
BANKSEL _coilPosition;
_endasm;
}
#pragma restore
#pragma save
#pragma nooverlay
void timerTick()
{
switch(function) {
case func_idle:
TMR1ON = 0;
break;
case func_forward:
forward1();
break;
case func_reverse:
reverse1();
break;
case func_seek:
if (currentPosition.ival < seekPosition.ival) {
forward1();
} else if (currentPosition.ival > seekPosition.ival) {
reverse1();
} else {
// Reached, switch to 0 speed
speed = 0;
// Uncomment next line to remove torque on arrival
//PORTB = 0;
}
break;
}
setTimer(speed);
_asm /// @todo Remove when sdcc bug fixed
BANKSEL _coilPosition;
_endasm;
}
#pragma restore
void processCommand()
{
switch(buffer[0]) {
case 0:
sendReply();
sendDataByte(0); // Response type 0
sendDataByte(0); // Minor
sendDataByte(1); // Major
endMessage();
break;
case 1:
// Forward speed
function = func_forward;
setTimer(buffer[1]);
break;
case 2:
// Reverse speed
function = func_reverse;
setTimer(buffer[1]);
break;
case 3:
// Set (reset) position counter
currentPosition.bytes[0] = buffer[1];
currentPosition.bytes[1] = buffer[2];
break;
case 4:
// Get position counter
sendReply();
sendDataByte(4);
sendDataByte(currentPosition.bytes[0]);
sendDataByte(currentPosition.bytes[1]);
endMessage();
break;
case 5:
// Goto position
seekPosition.bytes[0] = buffer[2];
seekPosition.bytes[1] = buffer[3];
function = func_seek;
setTimer(buffer[1]);
break;
case 6:
// Free motor (release torque)
PORTB = 0;
function = func_idle;
break;
}
_asm /// @todo Remove when sdcc bug fixed
BANKSEL _coilPosition;
_endasm;
}
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