392 lines
8.6 KiB
C
392 lines
8.6 KiB
C
|
/*
|
||
|
|
* Module for interfacing with Switec instrument steppers (and
|
||
|
|
* similar devices). These are the steppers that are used in automotive
|
||
|
|
* instrument panels and the like. Run off 5 volts at low current.
|
||
|
|
*
|
||
|
|
* Code inspired by:
|
||
|
|
*
|
||
|
|
* SwitecX25 Arduino Library
|
||
|
|
* Guy Carpenter, Clearwater Software - 2012
|
||
|
|
*
|
||
|
|
* Licensed under the BSD2 license, see license.txt for details.
|
||
|
|
*
|
||
|
|
* NodeMcu integration by Philip Gladstone, N1DQ
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include "platform.h"
|
||
|
|
#include "c_types.h"
|
||
|
|
#include "../libc/c_stdlib.h"
|
||
|
|
#include "../libc/c_stdio.h"
|
||
|
|
#include "driver/switec.h"
|
||
|
|
#include "ets_sys.h"
|
||
|
|
#include "os_type.h"
|
||
|
|
#include "osapi.h"
|
||
|
|
#include "hw_timer.h"
|
||
|
|
#include "user_interface.h"
|
||
|
|
#include "task/task.h"
|
||
|
|
|
||
|
|
#define N_STATES 6
|
||
|
|
//
|
||
|
|
// First pin passed to setup corresponds to bit 3
|
||
|
|
// On the motor, the pins are arranged
|
||
|
|
//
|
||
|
|
// 4 1
|
||
|
|
//
|
||
|
|
// 3 2
|
||
|
|
//
|
||
|
|
// The direction of rotation can be reversed by reordering the pins
|
||
|
|
//
|
||
|
|
// State 3 2 1 0 A B Value
|
||
|
|
// 0 1 0 0 1 - - 0x9
|
||
|
|
// 1 0 0 0 1 . - 0x1
|
||
|
|
// 2 0 1 1 1 + . 0x7
|
||
|
|
// 3 0 1 1 0 + + 0x6
|
||
|
|
// 4 1 1 1 0 . + 0xE
|
||
|
|
// 5 1 0 0 0 - . 0x8
|
||
|
|
static const uint8_t stateMap[N_STATES] = {0x9, 0x1, 0x7, 0x6, 0xE, 0x8};
|
||
|
|
|
||
|
|
typedef struct {
|
||
|
|
uint8_t current_state;
|
||
|
|
uint8_t stopped;
|
||
|
|
int8_t dir;
|
||
|
|
uint32_t mask;
|
||
|
|
uint32_t pinstate[N_STATES];
|
||
|
|
uint32_t next_time;
|
||
|
|
int16_t target_step;
|
||
|
|
int16_t current_step;
|
||
|
|
uint16_t vel;
|
||
|
|
uint16_t max_vel;
|
||
|
|
uint16_t min_delay;
|
||
|
|
task_handle_t task_number;
|
||
|
|
} DATA;
|
||
|
|
|
||
|
|
static DATA *data[SWITEC_CHANNEL_COUNT];
|
||
|
|
static volatile char timer_active;
|
||
|
|
|
||
|
|
#define MAXVEL 255
|
||
|
|
|
||
|
|
// Note that this has to be global so that the compiler does not
|
||
|
|
// put it into ROM.
|
||
|
|
uint8_t switec_accel_table[][2] = {
|
||
|
|
{ 20, 3000 >> 4},
|
||
|
|
{ 50, 1500 >> 4},
|
||
|
|
{ 100, 1000 >> 4},
|
||
|
|
{ 150, 800 >> 4},
|
||
|
|
{ MAXVEL, 600 >> 4}
|
||
|
|
};
|
||
|
|
|
||
|
|
static void ICACHE_RAM_ATTR timer_interrupt(os_param_t);
|
||
|
|
|
||
|
|
#define TIMER_OWNER ((os_param_t) 'S')
|
||
|
|
|
||
|
|
|
||
|
|
// Just takes the channel number
|
||
|
|
int switec_close(uint32_t channel)
|
||
|
|
{
|
||
|
|
if (channel >= sizeof(data) / sizeof(data[0])) {
|
||
|
|
return -1;
|
||
|
|
}
|
||
|
|
|
||
|
|
DATA *d = data[channel];
|
||
|
|
|
||
|
|
if (!d) {
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (!d->stopped) {
|
||
|
|
return -1;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Set pins as input
|
||
|
|
gpio_output_set(0, 0, 0, d->mask);
|
||
|
|
|
||
|
|
data[channel] = NULL;
|
||
|
|
c_free(d);
|
||
|
|
|
||
|
|
// See if there are any other channels active
|
||
|
|
for (channel = 0; channel < sizeof(data)/sizeof(data[0]); channel++) {
|
||
|
|
if (data[channel]) {
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// If not, then disable the interrupt
|
||
|
|
if (channel >= sizeof(data) / sizeof(data[0])) {
|
||
|
|
platform_hw_timer_close(TIMER_OWNER);
|
||
|
|
}
|
||
|
|
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
static __attribute__((always_inline)) inline void write_io(DATA *d)
|
||
|
|
{
|
||
|
|
uint32_t pin_state = d->pinstate[d->current_state];
|
||
|
|
|
||
|
|
gpio_output_set(pin_state, d->mask & ~pin_state, 0, 0);
|
||
|
|
}
|
||
|
|
|
||
|
|
static __attribute__((always_inline)) inline void step_up(DATA *d)
|
||
|
|
{
|
||
|
|
d->current_step++;
|
||
|
|
d->current_state = (d->current_state + 1) % N_STATES;
|
||
|
|
write_io(d);
|
||
|
|
}
|
||
|
|
|
||
|
|
static __attribute__((always_inline)) inline void step_down(DATA *d)
|
||
|
|
{
|
||
|
|
d->current_step--;
|
||
|
|
d->current_state = (d->current_state + N_STATES - 1) % N_STATES;
|
||
|
|
write_io(d);
|
||
|
|
}
|
||
|
|
|
||
|
|
static void ICACHE_RAM_ATTR timer_interrupt(os_param_t p)
|
||
|
|
{
|
||
|
|
// This function really is running at interrupt level with everything
|
||
|
|
// else masked off. It should take as little time as necessary.
|
||
|
|
//
|
||
|
|
(void) p;
|
||
|
|
|
||
|
|
int i;
|
||
|
|
uint32_t delay = 0xffffffff;
|
||
|
|
|
||
|
|
// Loop over the channels to figure out which one needs action
|
||
|
|
for (i = 0; i < sizeof(data) / sizeof(data[0]); i++) {
|
||
|
|
DATA *d = data[i];
|
||
|
|
if (!d || d->stopped) {
|
||
|
|
continue;
|
||
|
|
}
|
||
|
|
|
||
|
|
uint32_t now = system_get_time();
|
||
|
|
if (now < d->next_time) {
|
||
|
|
int need_to_wait = d->next_time - now;
|
||
|
|
if (need_to_wait < delay) {
|
||
|
|
delay = need_to_wait;
|
||
|
|
}
|
||
|
|
continue;
|
||
|
|
}
|
||
|
|
|
||
|
|
// This channel is past it's action time. Need to process it
|
||
|
|
|
||
|
|
// Are we done yet?
|
||
|
|
if (d->current_step == d->target_step && d->vel == 0) {
|
||
|
|
d->stopped = 1;
|
||
|
|
d->dir = 0;
|
||
|
|
task_post_low(d->task_number, 0);
|
||
|
|
continue;
|
||
|
|
}
|
||
|
|
|
||
|
|
// if stopped, determine direction
|
||
|
|
if (d->vel == 0) {
|
||
|
|
d->dir = d->current_step < d->target_step ? 1 : -1;
|
||
|
|
// do not set to 0 or it could go negative in case 2 below
|
||
|
|
d->vel = 1;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Move the pointer by one step in the correct direction
|
||
|
|
if (d->dir > 0) {
|
||
|
|
step_up(d);
|
||
|
|
} else {
|
||
|
|
step_down(d);
|
||
|
|
}
|
||
|
|
|
||
|
|
// determine delta, number of steps in current direction to target.
|
||
|
|
// may be negative if we are headed away from target
|
||
|
|
int delta = d->dir > 0 ? d->target_step - d->current_step : d->current_step - d->target_step;
|
||
|
|
|
||
|
|
if (delta > 0) {
|
||
|
|
// case 1 : moving towards target (maybe under accel or decel)
|
||
|
|
if (delta <= d->vel) {
|
||
|
|
// time to declerate
|
||
|
|
d->vel--;
|
||
|
|
} else if (d->vel < d->max_vel) {
|
||
|
|
// accelerating
|
||
|
|
d->vel++;
|
||
|
|
} else {
|
||
|
|
// at full speed - stay there
|
||
|
|
}
|
||
|
|
} else {
|
||
|
|
// case 2 : at or moving away from target (slow down!)
|
||
|
|
d->vel--;
|
||
|
|
}
|
||
|
|
|
||
|
|
// vel now defines delay
|
||
|
|
uint8_t row = 0;
|
||
|
|
// this is why vel must not be greater than the last vel in the table.
|
||
|
|
while (switec_accel_table[row][0] < d->vel) {
|
||
|
|
row++;
|
||
|
|
}
|
||
|
|
|
||
|
|
uint32_t micro_delay = switec_accel_table[row][1] << 4;
|
||
|
|
if (micro_delay < d->min_delay) {
|
||
|
|
micro_delay = d->min_delay;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Figure out when we next need to take action
|
||
|
|
d->next_time = d->next_time + micro_delay;
|
||
|
|
if (d->next_time < now) {
|
||
|
|
d->next_time = now + micro_delay;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Figure out how long to wait
|
||
|
|
int need_to_wait = d->next_time - now;
|
||
|
|
if (need_to_wait < delay) {
|
||
|
|
delay = need_to_wait;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
if (delay < 1000000) {
|
||
|
|
if (delay < 50) {
|
||
|
|
delay = 50;
|
||
|
|
}
|
||
|
|
timer_active = 1;
|
||
|
|
platform_hw_timer_arm_us(TIMER_OWNER, delay);
|
||
|
|
} else {
|
||
|
|
timer_active = 0;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
// The pin numbers are actual platform GPIO numbers
|
||
|
|
int switec_setup(uint32_t channel, int *pin, int max_deg_per_sec, task_handle_t task_number )
|
||
|
|
{
|
||
|
|
if (channel >= sizeof(data) / sizeof(data[0])) {
|
||
|
|
return -1;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (data[channel]) {
|
||
|
|
if (switec_close(channel)) {
|
||
|
|
return -1;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
DATA *d = (DATA *) c_zalloc(sizeof(DATA));
|
||
|
|
if (!d) {
|
||
|
|
return -1;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (!data[0] && !data[1] && !data[2]) {
|
||
|
|
// We need to stup the timer as no channel was active before
|
||
|
|
// no autoreload
|
||
|
|
if (!platform_hw_timer_init(TIMER_OWNER, FRC1_SOURCE, FALSE)) {
|
||
|
|
// Failed to get the timer
|
||
|
|
c_free(d);
|
||
|
|
return -1;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
data[channel] = d;
|
||
|
|
int i;
|
||
|
|
|
||
|
|
for (i = 0; i < 4; i++) {
|
||
|
|
// Build the mask for the pins to be output pins
|
||
|
|
d->mask |= 1 << pin[i];
|
||
|
|
|
||
|
|
int j;
|
||
|
|
// Now build the hi states for the pins according to the 6 phases above
|
||
|
|
for (j = 0; j < N_STATES; j++) {
|
||
|
|
if (stateMap[j] & (1 << (3 - i))) {
|
||
|
|
d->pinstate[j] |= 1 << pin[i];
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
d->max_vel = MAXVEL;
|
||
|
|
if (max_deg_per_sec == 0) {
|
||
|
|
max_deg_per_sec = 400;
|
||
|
|
}
|
||
|
|
d->min_delay = 1000000 / (3 * max_deg_per_sec);
|
||
|
|
d->task_number = task_number;
|
||
|
|
|
||
|
|
#ifdef SWITEC_DEBUG
|
||
|
|
for (i = 0; i < 4; i++) {
|
||
|
|
c_printf("pin[%d]=%d\n", i, pin[i]);
|
||
|
|
}
|
||
|
|
|
||
|
|
c_printf("Mask=0x%x\n", d->mask);
|
||
|
|
for (i = 0; i < N_STATES; i++) {
|
||
|
|
c_printf("pinstate[%d]=0x%x\n", i, d->pinstate[i]);
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
// Set all pins as outputs
|
||
|
|
gpio_output_set(0, 0, d->mask, 0);
|
||
|
|
|
||
|
|
platform_hw_timer_set_func(TIMER_OWNER, timer_interrupt, 0);
|
||
|
|
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
// All this does is to assert that the current position is 0
|
||
|
|
int switec_reset(uint32_t channel)
|
||
|
|
{
|
||
|
|
if (channel >= sizeof(data) / sizeof(data[0])) {
|
||
|
|
return -1;
|
||
|
|
}
|
||
|
|
|
||
|
|
DATA *d = data[channel];
|
||
|
|
|
||
|
|
if (!d || !d->stopped) {
|
||
|
|
return -1;
|
||
|
|
}
|
||
|
|
|
||
|
|
d->current_step = d->target_step = 0;
|
||
|
|
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Just takes the channel number and the position
|
||
|
|
int switec_moveto(uint32_t channel, int pos)
|
||
|
|
{
|
||
|
|
if (channel >= sizeof(data) / sizeof(data[0])) {
|
||
|
|
return -1;
|
||
|
|
}
|
||
|
|
|
||
|
|
DATA *d = data[channel];
|
||
|
|
|
||
|
|
if (!d) {
|
||
|
|
return -1;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (pos < 0) {
|
||
|
|
// This ensures that we don't slam into the endstop
|
||
|
|
d->max_vel = 50;
|
||
|
|
} else {
|
||
|
|
d->max_vel = MAXVEL;
|
||
|
|
}
|
||
|
|
|
||
|
|
d->target_step = pos;
|
||
|
|
|
||
|
|
// If the pointer is not moving, setup so that we start it
|
||
|
|
if (d->stopped) {
|
||
|
|
// reset the timer to avoid possible time overflow giving spurious deltas
|
||
|
|
d->next_time = system_get_time() + 1000;
|
||
|
|
d->stopped = false;
|
||
|
|
|
||
|
|
if (!timer_active) {
|
||
|
|
timer_interrupt(0);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Get the current position, direction and target position
|
||
|
|
int switec_getpos(uint32_t channel, int32_t *pos, int32_t *dir, int32_t *target)
|
||
|
|
{
|
||
|
|
if (channel >= sizeof(data) / sizeof(data[0])) {
|
||
|
|
return -1;
|
||
|
|
}
|
||
|
|
|
||
|
|
DATA *d = data[channel];
|
||
|
|
|
||
|
|
if (!d) {
|
||
|
|
return -1;
|
||
|
|
}
|
||
|
|
|
||
|
|
*pos = d->current_step;
|
||
|
|
*dir = d->stopped ? 0 : d->dir;
|
||
|
|
*target = d->target_step;
|
||
|
|
|
||
|
|
return 0;
|
||
|
|
}
|