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