116 lines
2.9 KiB
C
116 lines
2.9 KiB
C
/*********************************************************************************
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* MIT License
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*
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* Copyright (c) 2023 Gregg E. Berman
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*
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* https://github.com/HomeSpan/HomeSpan
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*
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********************************************************************************/
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#include "extras/StepperControl.h"
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//////////////////////////
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struct Stepper_TB6612 : StepperControl {
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int pins[4];
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uint8_t phase;
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uint8_t nPhases;
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uint32_t runCode;
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//////////////////////////
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Stepper_TB6612(int a1Pin, int a2Pin, int b1Pin, int b2Pin) : StepperControl(){
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pins[3]=a1Pin;
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pins[2]=a2Pin;
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pins[1]=b1Pin;
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pins[0]=b2Pin;
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for(int i=0;i<4;i++)
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pinMode(pins[i],OUTPUT);
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setStepType(FULL_STEP_TWO_PHASE);
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}
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//////////////////////////
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void onEnable() override {
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setPinCode((runCode>>(phase*4)) & 0xF);
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}
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//////////////////////////
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void onDisable() override {
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setPinCode(0);
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}
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//////////////////////////
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void onBrake() override {
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setPinCode(0xF);
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}
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//////////////////////////
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void onStep(boolean direction){
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if(direction)
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phase=(phase+1)%nPhases;
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else
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phase=(phase+nPhases-1)%nPhases;
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setPinCode((runCode>>(phase*4)) & 0xF);
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}
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//////////////////////////
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void setPinCode(uint8_t pinCode){
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for(int i=0;i<4;i++)
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digitalWrite(pins[i],(pinCode>>i)&1);
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}
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//////////////////////////
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void setStepType(int mode) override {
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switch(mode){
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case FULL_STEP_ONE_PHASE:
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phase=0;
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nPhases=4;
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runCode=0x2418;
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break;
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case FULL_STEP_TWO_PHASE:
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phase=0;
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nPhases=4;
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runCode=0x659A;
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break;
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case HALF_STEP:
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phase=0;
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nPhases=8;
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runCode=0x2645198A;
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break;
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default:
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ESP_LOGE(TAG,"Unknown StepType=%d. Stepper Unchanged",mode);
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}
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}
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};
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//////////////////////////
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