1/*
2 * Author: Jon Trulson <jtrulson@ics.com>
3 * Copyright (c) 2015 Intel Corporation.
4 *
5 * Permission is hereby granted, free of charge, to any person obtaining
6 * a copy of this software and associated documentation files (the
7 * "Software"), to deal in the Software without restriction, including
8 * without limitation the rights to use, copy, modify, merge, publish,
9 * distribute, sublicense, and/or sell copies of the Software, and to
10 * permit persons to whom the Software is furnished to do so, subject to
11 * the following conditions:
12 *
13 * The above copyright notice and this permission notice shall be
14 * included in all copies or substantial portions of the Software.
15 *
16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
18 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
19 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
20 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
21 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
22 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
23 */
24
25#include <iostream>
26#include <string>
27#include <stdexcept>
28
29#include "uln200xa.h"
30
31using namespace upm;
32using namespace std;
33
34ULN200XA::ULN200XA(int stepsPerRev, int i1, int i2, int i3, int i4)
35{
36  m_stepsPerRev = stepsPerRev;
37  m_currentStep = 0;
38  m_stepDelay = 0;
39  m_stepDirection = 1;          // default is forward
40
41  if ( !(m_stepI1 = mraa_gpio_init(i1)) )
42    {
43      throw std::invalid_argument(std::string(__FUNCTION__) +
44                                  ": mraa_gpio_init(i1) failed, invalid pin?");
45      return;
46    }
47  mraa_gpio_dir(m_stepI1, MRAA_GPIO_OUT);
48
49  if ( !(m_stepI2 = mraa_gpio_init(i2)) )
50    {
51      throw std::invalid_argument(std::string(__FUNCTION__) +
52                                  ": mraa_gpio_init(i2) failed, invalid pin?");
53      mraa_gpio_close(m_stepI1);
54      return;
55    }
56  mraa_gpio_dir(m_stepI2, MRAA_GPIO_OUT);
57
58  if ( !(m_stepI3 = mraa_gpio_init(i3)) )
59    {
60      throw std::invalid_argument(std::string(__FUNCTION__) +
61                                  ": mraa_gpio_init(i3) failed, invalid pin?");
62      mraa_gpio_close(m_stepI1);
63      mraa_gpio_close(m_stepI2);
64      return;
65    }
66  mraa_gpio_dir(m_stepI3, MRAA_GPIO_OUT);
67
68  if ( !(m_stepI4 = mraa_gpio_init(i4)) )
69    {
70      throw std::invalid_argument(std::string(__FUNCTION__) +
71                                  ": mraa_gpio_init(i4) failed, invalid pin?");
72      mraa_gpio_close(m_stepI1);
73      mraa_gpio_close(m_stepI2);
74      mraa_gpio_close(m_stepI3);
75
76      return;
77    }
78  mraa_gpio_dir(m_stepI4, MRAA_GPIO_OUT);
79
80  // set default speed to 1
81  setSpeed(1);
82}
83
84void ULN200XA::initClock()
85{
86  gettimeofday(&m_startTime, NULL);
87}
88
89uint32_t ULN200XA::getMillis()
90{
91  struct timeval elapsed, now;
92  uint32_t elapse;
93
94  // get current time
95  gettimeofday(&now, NULL);
96
97  // compute the delta since m_startTime
98  if( (elapsed.tv_usec = now.tv_usec - m_startTime.tv_usec) < 0 )
99    {
100      elapsed.tv_usec += 1000000;
101      elapsed.tv_sec = now.tv_sec - m_startTime.tv_sec - 1;
102    }
103  else
104    {
105      elapsed.tv_sec = now.tv_sec - m_startTime.tv_sec;
106    }
107
108  elapse = (uint32_t)((elapsed.tv_sec * 1000) + (elapsed.tv_usec / 1000));
109
110  // never return 0
111  if (elapse == 0)
112    elapse = 1;
113
114  return elapse;
115}
116
117
118ULN200XA::~ULN200XA()
119{
120  mraa_gpio_close(m_stepI1);
121  mraa_gpio_close(m_stepI2);
122  mraa_gpio_close(m_stepI3);
123  mraa_gpio_close(m_stepI4);
124}
125
126void ULN200XA::setSpeed(int speed)
127{
128  m_stepDelay = 60 * 1000 / m_stepsPerRev / speed;
129}
130
131void ULN200XA::setDirection(ULN200XA_DIRECTION_T dir)
132{
133  switch (dir)
134    {
135    case DIR_CW:
136      m_stepDirection = 1;
137      break;
138    case DIR_CCW:
139      m_stepDirection = -1;
140      break;
141    }
142}
143
144void ULN200XA::stepperStep()
145{
146  int step = m_currentStep % 8;
147
148  // This motor requires a different sequencing order in 8-steps than
149  // usual.
150
151  //   Step I0 I1 I2 I3
152  //     1  0  0  0  1
153  //     2  0  0  1  1
154  //     3  0  0  1  0
155  //     4  0  1  1  0
156  //     5  0  1  0  0
157  //     6  1  1  0  0
158  //     7  1  0  0  0
159  //     8  1  0  0  1
160
161  switch (step)
162    {
163    case 0:    // 0001
164      mraa_gpio_write(m_stepI1, 0);
165      mraa_gpio_write(m_stepI2, 0);
166      mraa_gpio_write(m_stepI3, 0);
167      mraa_gpio_write(m_stepI4, 1);
168      break;
169    case 1:    // 0011
170      mraa_gpio_write(m_stepI1, 0);
171      mraa_gpio_write(m_stepI2, 0);
172      mraa_gpio_write(m_stepI3, 1);
173      mraa_gpio_write(m_stepI4, 1);
174      break;
175    case 2:    // 0010
176      mraa_gpio_write(m_stepI1, 0);
177      mraa_gpio_write(m_stepI2, 0);
178      mraa_gpio_write(m_stepI3, 1);
179      mraa_gpio_write(m_stepI4, 0);
180      break;
181    case 3:    // 0110
182      mraa_gpio_write(m_stepI1, 0);
183      mraa_gpio_write(m_stepI2, 1);
184      mraa_gpio_write(m_stepI3, 1);
185      mraa_gpio_write(m_stepI4, 0);
186      break;
187    case 4:    // 0100
188      mraa_gpio_write(m_stepI1, 0);
189      mraa_gpio_write(m_stepI2, 1);
190      mraa_gpio_write(m_stepI3, 0);
191      mraa_gpio_write(m_stepI4, 0);
192      break;
193    case 5:    // 1100
194      mraa_gpio_write(m_stepI1, 1);
195      mraa_gpio_write(m_stepI2, 1);
196      mraa_gpio_write(m_stepI3, 0);
197      mraa_gpio_write(m_stepI4, 0);
198      break;
199    case 6:    // 1000
200      mraa_gpio_write(m_stepI1, 1);
201      mraa_gpio_write(m_stepI2, 0);
202      mraa_gpio_write(m_stepI3, 0);
203      mraa_gpio_write(m_stepI4, 0);
204      break;
205    case 7:    // 1001
206      mraa_gpio_write(m_stepI1, 1);
207      mraa_gpio_write(m_stepI2, 0);
208      mraa_gpio_write(m_stepI3, 0);
209      mraa_gpio_write(m_stepI4, 1);
210      break;
211    }
212}
213
214void ULN200XA::stepperSteps(unsigned int steps)
215{
216  while (steps > 0)
217    {
218      if (getMillis() >= m_stepDelay)
219        {
220          // reset the clock
221          initClock();
222
223          m_currentStep += m_stepDirection;
224
225          if (m_stepDirection == 1)
226            {
227              if (m_currentStep >= m_stepsPerRev)
228                m_currentStep = 0;
229            }
230          else
231            {
232              if (m_currentStep <= 0)
233                m_currentStep = m_stepsPerRev;
234            }
235
236          steps--;
237          stepperStep();
238        }
239    }
240}
241
242void ULN200XA::release()
243{
244  mraa_gpio_write(m_stepI1, 0);
245  mraa_gpio_write(m_stepI2, 0);
246  mraa_gpio_write(m_stepI3, 0);
247  mraa_gpio_write(m_stepI4, 0);
248}
249