A:/eclipse/mhvlib/MHV_StepperMotorUnipolar.cpp

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/*
 * Copyright (c) 2011, Make, Hack, Void Inc
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *  * Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *  * Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *  * Neither the name of the Make, Hack, Void nor the
 *    names of its contributors may be used to endorse or promote products
 *    derived from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL MAKE, HACK, VOID BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

#include <MHV_StepperMotorUnipolar.h>
#include <avr/pgmspace.h>

// coil patterns for wave drive
const uint8_t wavedrive[] PROGMEM = {
//      Phase  xxxx DCBA
                0x01, 0x02, 0x04, 0x08
};

// coil patterns for full step drive
const uint8_t fulldrive[] PROGMEM = {
//      Phase  xxxx DCBA
                0x03, 0x06, 0x0c, 0x09
};

// coil patterns for half step drive
const uint8_t halfdrive[] PROGMEM = {
//      Phase  xxxx DCBA
                0x01, 0x03, 0x02, 0x06, 0x04, 0x0c, 0x08, 0x09
};



MHV_StepperMotorUnipolar::MHV_StepperMotorUnipolar(MHV_RTC &rtc, MHV_STEPPER_MODE mode, MHV_DECLARE_PIN(phaseA)) :
                MHV_StepperMotor(rtc),
                _phaseAOut(phaseAOut),
                _phaseAPin(phaseAPin),
                _phaseMask(0x0f << phaseAPin),
                _mode(mode),
                _state(0),
                _steps((MHV_STEPPER_MODE_HALF == _mode) ? 8 : 4) {
//      mhv_setOutput(MHV_PIN_PARMS(phaseA));
        mhv_setOutput(phaseADir, phaseAOut, phaseAIn, phaseAPin + 0, phaseAPinchangeInterrupt);
        mhv_setOutput(phaseADir, phaseAOut, phaseAIn, phaseAPin + 1, phaseAPinchangeInterrupt);
        mhv_setOutput(phaseADir, phaseAOut, phaseAIn, phaseAPin + 2, phaseAPinchangeInterrupt);
        mhv_setOutput(phaseADir, phaseAOut, phaseAIn, phaseAPin + 3, phaseAPinchangeInterrupt);

        setOutput();
}

void MHV_StepperMotorUnipolar::setOutput() {
        uint8_t coilPattern = 0;

        switch (_mode) {
        case MHV_STEPPER_MODE_WAVE:
                coilPattern = pgm_read_byte(wavedrive + _state);
                break;
        case MHV_STEPPER_MODE_FULL:
                coilPattern = pgm_read_byte(fulldrive + _state);
                break;
        case MHV_STEPPER_MODE_HALF:
                coilPattern = pgm_read_byte(halfdrive + _state);
                break;
        }

        coilPattern <<= _phaseAPin;
        *_phaseAOut = (*_phaseAOut & ~_phaseMask) | coilPattern;
}

void MHV_StepperMotorUnipolar::step(bool forwards) {
        if (forwards) {
                if (++_state >= _steps) {
                        _state = 0;
                }
        } else {
                if (--_state < 0) {
                        _state = _steps - 1;
                }
        }

        setOutput();
}