#ifndef MYSTEPPERDRIVER_H #define MYSTEPPERDRIVER_H // ******************************************************************************************************************* // * Arduino UNO and MEGA2560 Interrupt Driven (non-blocking) Stepper Motor Driver using the Arduino Motor Shield V3 * // * * // * Project files: * // * 1. myStepperDriver.cpp Stepper Motor Interrupt Controlled Source Code. * // * 2. myStepperDriver.h This header file. * // * 3. stepMotorDriver.ino Arduino template file how to use the driver. * // * 4. Documentation.xlsx Explains the motor driver use. * // * 5. Depending on the Arduino used, the HW Timer can be selected: * // * +--------+-------------------+--------------------+ * // * | Timer | Arduino Uno | Arduino Mega | * // * +--------+-------------------+--------------------+ * // * | Timer0 | Reserved by Arduino time/millis etc. | (*) On Arduino Uno, the only suitable timer available * // * | Timer1 | Mandatory Use (*) | Option #1 (*) | is Timer 1. On Arduino Mega, one may select below * // * | Timer2 | Not usable (8bit) | options MOTOR_TIMER1 up to 5 to select any of the * // * | Timer3 | Not available | Option #2 (*) | suitable timers. * // * | Timer4 | Not available | Option #3 (*) | * // * | Timer5 | Not available | Option #4 (*) | * // * +--------+-------------------+--------------------+ * // * The GNU GPL applies to all provided files. Use at own risk but free of any charge. * // * Contact: egi1965@gmail.com * // * Note the source is prepared for use with doxygen, but this is not finally tested at this time, not guaranteed. * // ******************************************************************************************************************* // \ingroup LowLevel #if defined (__AVR_ATmega168__) || defined(__AVR_ATmega168P__) || defined(__AVR_ATmega328P__) #define _ARDUINO_UNO_ #define MOTOR_TIMER1 //Default Timer used on Uno. #endif #if defined (__AVR_ATmega1280__) || defined (__AVR_ATmega2560__) #define _ARDUINO_MEGA_ //#define MOTOR_TIMER1 //Default Timer used on Uno. //#define MOTOR_TIMER3 //(ONLY) ONE IS ALLOWED TO BE DEFINED AT ANY TIME. #define MOTOR_TIMER4 //#define MOTOR_TIMER5 #endif #if !defined (_ARDUINO_UNO_) && !defined (_ARDUINO_MEGA_) #error Board not supported #endif #define ARDUINO_MOTOR_SHIELD //Uncomment for use with Arduino Motor Shield. #ifndef ARDUINO_MOTOR_SHIELD #define MOTOR_IOPORT_L //This can be *_A ... *_L (any port that has sufficient outputs available). #define MOTOR_PATTERN0 (B00001001) //These patterns are applied in sequence. #define MOTOR_PATTERN1 (B00000011) #define MOTOR_PATTERN2 (B00000110) #define MOTOR_PATTERN3 (B00001100) #define MOTOR_OUTPUTS (B00001111) //Set all the bits that are output for the motor driver. #endif #define MOTOR_CTRL_DIRECTION (B00000001) #define MOTOR_CTRL_FASTER (B00000010) //Use this to make the motor spin faster (SUB from timer). #define MOTOR_CTRL_SLOWER (B00000000) //Default is CTRL_SLOWER. If one wants to use in control feel free (has no real effect). #define MOTOR_CTRL_ENDPOINT_MILLIS (B00000100) //Endpoint is ms instead of steps. #define MOTOR_CTRL_VARIABLE_PWR (B00010000) //Shifts the correction factor left (SLOWER) or right (FASTER). Limits usable modCounts to ~31. #define MOTOR_CTRL_SPEED_VARIABLE (B00100000) //Variable speed ADD/SUB a user parameter to the virtual 32bit timer. #define MOTOR_CTRL_IRQ_TIMING (B01000000) //User does NOT call motorTimerUpdateCheck from own code. #define MOTOR_CTRL_DRV_EN (B10000000) //Enable the L298 Driver outputs. #define MOTOR_CTRL_IRQ_TIMING_VARIABLE (B01100000) //Combines IRQ_TIMING & SPEED_VARIABLE. #define MOTOR_STAT_REACHED (B00000001) //Motor has reached last set target conditions. #define MOTOR_STAT_REACH_CALLED (B00000010) //The "Reached Position" callback has been executed once. #define MOTOR_STAT_SPINNING (B00000100) //Steps are sent to the motor at this time. #define MOTOR_STAT_SPIN_FIXED (B00001000) //Motor RPM is no longer changed (in case it was initialized variable). #define MOTOR_STAT_TIMER_DIV_CALLED (B00010000) //Motor divider (32bit virtual timer TOP value) does not fit - error callback executed. #define MOTOR_STAT_TIMER_DIV_ERROR (B00100000) //Motor divider (32bit virtual timer TOP value) does not fit in the timer hardware. #define MOTOR_STAT_FAULT_CALLED (B01000000) //The fault callback has been executed. #define MOTOR_STAT_FAULT (B10000000) //Motor fault condition is detected (ex. exceeding 25kHz stepping frequency). #define MOTOR_ENABLE_A ( 3) //Arduino Digital pin for Motor Enable 1st coil. #define MOTOR_BREAK_B ( 8) //Arduino Digital pin for Motor Enable 2nd coil. #define MOTOR_BREAK_A ( 9) //Arduino Digital pin to drive the L298 2nd input inverter (must be kept LOW) of 1st driver block. #define MOTOR_ENABLE_B (11) //Arduino Digital pin to drive the L298 2nd input inverter (must be kept LOW) of 2nd driver block. #define MOTOR_DIR_A (12) //Arduino Digital pin to drive the L298 1st input of 2nd driver block. #define MOTOR_DIR_B (13) //Arduino Digital pin to drive the L298 1st input of 2nd driver block. //#define DEBUG_BAUDRATE (115200) //Undefine to disable debug messages. #ifdef DEBUG_BAUDRATE //#define DEBUG_LOW void serDbgPrint (const char* formatString, ...); void debugDump (bool only_if_speed_variable = false); #define DEBUGPRINT(a) serDbgPrint a #define DEBUGPRINTLL(a) //serDbgPrint a #else #define DEBUGPRINT(a) #define DEBUGPRINTLL(a) #endif uint32_t //Timer TOP virtual 32-bit value. motorTimerCalcPerSecond (uint16_t motorPulses); //Amount of stepper pulses to the motor per second. uint32_t //Returns the amount of I/O clocks per second. motorTimerGetIOclocksPerSecond (); //Can be used to calculate the timer divider (= virtual 32bit TOP register). int8_t motorSetSpeed (uint8_t control = 0, //MOTOR_CTRL parameters. uint32_t timerTop32virtual = 0UL, //Virtual 32-bit timer TOP to apply motor steps; 0 = STOP motor. uint32_t stepCountLimit = 0, //MOTOR_CTRL_ENDPOINT_MILLIS == '0': Stop after this amount of steps (0 = no limit). //MOTOR_CTRL_ENDPOINT_MILLIS == '1': Stop after this amount of millis since the start. uint32_t timerModification = 0, //Virtual 32-bit correction on timerTop32Virtual. uint16_t timerUpd_ms = 0, //Every xx ms, the correction is applied. uint16_t modCounts = 0); //After this amount of mods has been reached, mod stops. void //The user can define "void positionReached ()" function. motorCallBackPositionReached (void (*userFunction) ()); //This function gets called when the targetted motor position is reached AND. //the MOTOR_CTR_IRQ_TIMING bit is NOT set (user calls motorTimerUpdateCheck regularly). //User function should not be blocking, but return asap. void //The user can define "void motorFault ()" function. motorCallBackFault (void (*userFunction) ()); //This function gets called when a motor fault / controlling error is encountered AND //the MOTOR_CTR_IRQ_TIMING bit is NOT set (user calls motorTimerUpdateCheck regularly). //User function should not be blocking, but return asap. void motorShieldInit (); void //The user must call this function every 1-10 ms (every 1ms is best). However, if this cannot motorTimerUpdateCheck (); //be guaranteed and the IRQ service routine execution may be slower, one can set MOTOR_CTRL_IRQ_TIMING. //The motor driver than performs the check on its own. uint8_t motorReadStatus (); //Reads motor status (any MOTOR_STAT* combination may be returned). #endif