MityDSP::tcDspStepper Class Reference

Instances of this class handle configuring, and enabling the MityDSP base Stepper Motor Controller core I/O interface. More...

#include <core/DspStepper.h>

List of all members.

Public Member Functions
	tcDspStepper (void apAddress, tcDspStepperConfig =NULL)
	This constructor is used to open a Stepper core instance.
	~tcDspStepper ()
	Destructor.
virtual int	SetPulseParams (unsigned int MinPulseRate, unsigned int MaxPulseRate, unsigned int AccelRate)
	Configure the minimum and maximum pulse rate, and set the acceleration parameter used when transitioning to and from steady state conditions.
virtual int	LocateSwitchPosition (SEM_Handle *DoneSem, teStepperSwitchPos Pos, teStepperDir TravelDir=eeFORWARD)
	Locate a specified switch contact position.
virtual int	GotoSwitchPosition (SEM_Handle *DoneSem, teStepperSwitchPos Pos)
	Move to a specified switch contact position.
virtual int	Move (SEM_Handle *DoneSem, teStepperDir aeDir, unsigned int TvlCnt, teStepperSwitchPos StopPos=eeNONE, bool HardStop=false)
	Move to a specified location.
bool	GetSwitchCondition (teStepperSwitchPos Position)
	Get Switch Closure Latch State.
int	GetStepCounter (void)
	Get current value of step counter.
void	GetTravelResult (unsigned int &TvlCnt, unsigned int &Overshoot)
	Returns the results from the last Move Command (or Locate).
bool	IsBusy (void)
	Get state of the motion device.
bool	GetSwitchLocation (teStepperSwitchPos Pos, int &Position)
	Get the stored location of a contact position.
virtual void	SetReset (bool Enable)
	Force a reset to the stepper controller.
virtual void	SetSleep (bool Enable)
	Force the stepper controller to enter a low power sleep mode.
virtual void	SetEnable (bool Enable)
	Enable the Stepper Outputs.
virtual bool	GetReset (void)
	Check if motion controller is in Reset condition.
virtual bool	GetSleep (void)
	Check if motion controller is in Sleep condition.
virtual bool	GetEnable (void)
	Check if motion controller is Enabled.
virtual void	Abort (void)
	Terminates any motion command.
void	SetClockFreq (float Value_Hz)
	Set the base frequency of the controller.
float	GetClockFreq (void)
	Get the base frequency of the controller.
void	SetNumCyclesOnSeek (int NumCycles)
	Sets the number of iterations that a motor will try to seek to a switch position in the event of overshooting.
void	SetSwitchLocation (teStepperSwitchPos Pos, int Position)
	Provides capability for software to override switch locations.
virtual void	SetContinuousMode (bool Enable)
	Enable/Disable Continuous running of motor.
void	ClearContactLatches (void)
	Clear latched contact states from status.
virtual bool	ReadyToMove (void)
	Check if motion controller is ready to execute a motion command.
virtual teStepperMicroStepSize	GetMicroStepSize (void)
	Get the MicroStepping size of the attached controller.
virtual bool	SetMicroStepSize (teStepperMicroStepSize Size)
	Set the MicroStepping size of the attached controller.
virtual teStepperCurrentLevel	GetCurrentLevel (void)
	Get the High Current Setting of the attached controller.
virtual bool	SetCurrentLevel (teStepperCurrentLevel Current)
	Set the High Current Setting of the attached controller.
Public Attributes
unsigned int	mnInterruptCount
	for debug
Protected Member Functions
void	StepperISRHandler (void)
	Stepper Controller ISR handler (object method).
Static Protected Member Functions
static int	interrupt_dispatch (Arg ahMyObject)
	Static interrupt dispatch routine.
Protected Attributes
unsigned int	mnNumSeekCycles
	number of iterations to gyrate on contact position
volatile bool	mbBusy
	when true, a command is still being processed
teStepperCommand	meCurrentCommand
	current operation being performed
SEM_Handle *	mpActiveUserSem
	Pointer to user register semaphore for current command.
SEM_Handle	mhMySemaphore
	Pointer to internal semaphore for controller interrupts.
volatile unsigned int *	mpMyBaseReg
	PWM Core base register.
unsigned short	mnMyIntMask
	PWM Core interrupt mask.
int	mnMyIntLevel
	PWM Core interrupt level.
int	mnMyIntVector
	PWM Core interrupt vector.
float	mnBaseClockFreq
	Hz.
bool	mbAutoDisable
	when true, controller will disable outputs upon cmd completion
int	mnStartPosition
	the value of the counter at start of command
teStepperDir	meInitialDir
	initial direction of command
unsigned int	mnCyclesRun
	number of cycles currently executed
volatile int	maHomePositions [DSP_STEPPER_NUM_HOME_POS]
	tracks last known location of given home position
volatile bool	maHomePositionValid [DSP_STEPPER_NUM_HOME_POS]
	when true, indicates position was located since init.

Detailed Description

Instances of this class handle configuring, and enabling the MityDSP base Stepper Motor Controller core I/O interface.

Each Stepper Core provides for motion control of 1 discrete motor. The routing of the motor pulse outputs is application specific. See the application FPGA hardware design notes for further information.

See also:: tcDspStepper Page

Constructor & Destructor Documentation

tcDspStepper::tcDspStepper	(	void *	apAddress,
		tcDspStepperConfig *	apConfig = `NULL`
	)

This constructor is used to open a Stepper core instance.

The base address and default configuration data are provided.

Parameters:

`[in]`	apAddress	The base address of the GPIO core.
`[in]`	apConfig	The configuration structure (optional).

Returns:: None.

See also:: DspStepper.h

tcDspStepper::~tcDspStepper ( )

Destructor.

Member Function Documentation

int tcDspStepper::SetPulseParams	(	unsigned int	MinPulseRate,
		unsigned int	MaxPulseRate,
		unsigned int	AccelRate
	)			`[virtual]`

Configure the minimum and maximum pulse rate, and set the acceleration parameter used when transitioning to and from steady state conditions.

Parameters:

`[in]`	MinPulseRate	Initial pulse rate (Hz) applied immediately following start of motion or immediately prior to stop of motion. (must be > 0)
`[in]`	MaxPulseRate	Maximum pulse rate (Hz)applied for motion. (must be >= MinPulseRate)
`[in]`	AccelRate	Rate at which stepper pulse output rate will be increased (Hz/sec) during initial acceleration and final deceleration. (can be 0 if MaxPulseRate=MinPulseRate, otherwise should be Non-Zero).

Returns:: 0 on success. Non-Zero for invalid parameters or if unit is Busy.

Note:: Due to clock quantization, the closest possible values to those specified will be applied. Use GetPulseParams() to determine exact values assigned.

int tcDspStepper::LocateSwitchPosition	(	SEM_Handle *	DoneSem,
		teStepperSwitchPos	Pos,
		teStepperDir	TravelDir = `eeFORWARD`
	)			`[virtual]`

Locate a specified switch contact position.

This command will cause the motor to seek a contact position over the entire distance of travel. The module will first move in the direction specified by traveldir until it reaches the contact position. If the contact was seen but overshot (due to decelerration), the unit will reverse direction and proceed at half speed to try to stop directly on the constact position. This will continue until the number of cycles on seek (see SetNumCyclesOnSeek() has expired. Following a successful seek the GetSwitchLocation() call will return true.

If the contact was not seen and the motor reaches the end of travel, the direction will be reversed and the process repeated. If the motor reaches the end of travel in the other direction or an ESTOP condition is detected, then the process is terminated.

Upon completion of the process, the DoneSem will be flagged.

Parameters:

`[in]`	DoneSem	Pointer to application semaphore. Can be NULL (process may be checked by polling on IsBusy().
`[in]`	Pos	Contact to seek.
`[in]`	TravelDir	Initial direction to seek.

Returns:: 0 on successful initiation of command. Non-Zero for invalid parameters or if unit is Busy.

Note:: eeSTOP is an illegal parameter for this operation.; it may be advisable to use a slower speed for this process in order to reduce the intertia upon indicent on the end of the travel bounds.

int tcDspStepper::GotoSwitchPosition	(	SEM_Handle *	DoneSem,
		teStepperSwitchPos	Pos
	)			`[virtual]`

Move to a specified switch contact position.

This command will cause the motor to travel to move to a specified contact position: if the contact position was successfully determined using LocateSwitchPosition(), the controller will compute the travel distance and direction based on the current step count and initiate motion to that step location. If the contact position was not previously determined, this routine will return immediately will a failed code. This process will also terminate if the ESTOP condition is detected or a end travel condition is detected.

Upon completion of the process, the DoneSem will be flagged.

Parameters:

`[in]`	DoneSem	Pointer to application semaphore. Can be NULL (process may be checked by polling on IsBusy().
`[in]`	Pos	Contact to seek.

Returns:: 0 on successful initiation of command. Non-Zero for if Pos location is unknown.

Note:: eeSTOP is an illegal parameter for this operation.; Users of this command may wish to check it the desired contact was latched to ensure that the motor did indeed travel to the correct switch location.; Motion will also terminate if the desired switch location was latched prior to reaching the stored step location. To check for this condition, use GetTravelResults and check for non-zero Overshoot.

int tcDspStepper::Move	(	SEM_Handle *	DoneSem,
		teStepperDir	aeDir,
		unsigned int	TvlCnt,
		teStepperSwitchPos	StopPos = `eeNONE`,
		bool	HardStop = `false`
	)			`[virtual]`

Move to a specified location.

This command will cause the motor to travel a specified number of microstep counts. Optionally, the user may request early termination upon detection of a switch contact.

Upon completion of the process, the DoneSem will be flagged.

Parameters:

`[in]`	DoneSem	Pointer to application semaphore. Can be NULL (process may be checked by polling on IsBusy().
`[in]`	aeDir	This direction to move.
`[in]`	TvlCnt	The number of counts to travel, must be less than or equal to TVL_MAX_COUNT. If TVL_CONTINUOUS, the motor will travel until aborted or a stop condition (ESTOP or boundary stop) is detected.
`[in]`	StopPos	Optional stop contact closure sense.
`[in]`	HardStop	If this option is set, the motor controller will not decelerate the pulse rate if the specified StopPos contact closure is sensed, but rather stop immediately.

Returns:: 0 on successful initiation of command. Non-Zero on error.

Note:: eeSTOP is an illegal parameter for this operation.

bool tcDspStepper::GetSwitchCondition ( teStepperSwitchPos Position )

Get Switch Closure Latch State.

Parameters:

[in] Position ID to check

Returns:: true if the the contact was closed and latched.

int tcDspStepper::GetStepCounter ( void )

Get current value of step counter.

Returns:: counter value

void tcDspStepper::GetTravelResult	(	unsigned int &	TvlCnt,
		unsigned int &	Overshoot
	)

Returns the results from the last Move Command (or Locate).

Parameters:

`[out]`	TvlCnt	The number of steps traveled in the command
`[out]`	Overshoot	The number of steps overshot from a specified sensed contact. If a specifiec contact was not detected in the move or no contact was specified, then the Overshoot is 0. If the last command was a Locate or Seek, the Overshoot will be the amount of steps of overshoot from the last executed iteration.

Returns:: None

Note:: This routine assumes that the travel did not exceed the maximum count size (2^32).

bool tcDspStepper::IsBusy ( void )

Get state of the motion device.

Returns:: true if the motion controller is Busy. False if it is idle.

bool tcDspStepper::GetSwitchLocation	(	teStepperSwitchPos	Pos,
		int &	Position
	)

Get the stored location of a contact position.

Parameters:

`[in]`	Pos	Identity of the switch position to return
`[out]`	Position	Position in steps relative to the stepcount of switch.

Returns:: true if the position data is valid. false if the position data has not been validated.

Note:: This will return unknown results if the contact position has never been located since power up.

void tcDspStepper::SetReset ( bool Enable ) [virtual]

Force a reset to the stepper controller.

If a command is currently being executed, the command will be aborted prior to issuing the reset control.

Parameters:

[in] Enable When true holds controller in reset condition.

Returns:: None.

Note:: While in reset, the stepper controller will not assert any holding voltages on the coil outputs. The stepper will "free wheel" in this condition.

void tcDspStepper::SetSleep ( bool Enable ) [virtual]

Force the stepper controller to enter a low power sleep mode.

If a command is currently being executed, the command will be aborted prior to issuing the reset control.

Parameters:

[in] Enable When true holds controller in sleep condition.

Returns:: None.

Note:: While in reset, the stepper controller will not assert any holding voltages on the coil outputs. The stepper will "free wheel" in this condition.

void tcDspStepper::SetEnable ( bool Enable ) [virtual]

Enable the Stepper Outputs.

This routine may be called to energize the stepper output coils while not executing a motion command. Any motion commands which may be running are aborted if this call is made (the motion methods provided automatically control the enable lines upon command startup).

Parameters:

[in] Enable When true holds controller in enabled condition.

Returns:: None.

bool tcDspStepper::GetReset ( void ) [virtual]

Check if motion controller is in Reset condition.

Returns:: true if reset condition is active

bool tcDspStepper::GetSleep ( void ) [virtual]

Check if motion controller is in Sleep condition.

Returns:: true if sleep condition is active.

bool tcDspStepper::GetEnable ( void ) [virtual]

Check if motion controller is Enabled.

Returns:: true if enabled

void tcDspStepper::Abort ( void ) [virtual]

Terminates any motion command.

Returns:: None

void tcDspStepper::SetClockFreq ( float Value_Hz )

Set the base frequency of the controller.

Parameters:

[in] Value_Hz The base clock frequency

Returns:: None.

float tcDspStepper::GetClockFreq ( void )

Get the base frequency of the controller.

Returns:: The base clock frequency [Hz]

void tcDspStepper::SetNumCyclesOnSeek ( int NumCycles )

Sets the number of iterations that a motor will try to seek to a switch position in the event of overshooting.

Parameters:

[in] NumCycles Number of cycles to retry (minimum = 0).

Returns:: None

void tcDspStepper::SetSwitchLocation	(	teStepperSwitchPos	Pos,
		int	Position
	)

Provides capability for software to override switch locations.

Useful if switch positions are known and relocating them is not required.

Parameters:

`[in]`	Pos	The switch position to override.
`[in]`	Position	The position of the switch being overridden.

Returns:: None.

Warning:: Incorrect use of this routine may result in unknown behaviour of the controller.

void tcDspStepper::SetContinuousMode ( bool Enable ) [virtual]

Enable/Disable Continuous running of motor.

The motor will ignor the travel count command and run forever until:

a boundary contact is hit
an ESTOP condition is detected
the user disables the motor

Parameters:

[in] Enable true to enable continuous mode, false to disable it

Returns:: None.

void tcDspStepper::ClearContactLatches ( void )

Clear latched contact states from status.

If any contact is active, the latches will relatch and read 1 immediately.

Returns:: None.

bool tcDspStepper::ReadyToMove ( void ) [virtual]

Check if motion controller is ready to execute a motion command.

Returns:: true if reset is disabled, enable is enabled, and sleep is disabled and not busy with another command.

teStepperMicroStepSize tcDspStepper::GetMicroStepSize ( void ) [virtual]

Get the MicroStepping size of the attached controller.

Returns:: The stepping size of the controller

bool tcDspStepper::SetMicroStepSize ( teStepperMicroStepSize Size ) [virtual]

Set the MicroStepping size of the attached controller.

Parameters:

[in] Size The new step size for the controller.

Returns:: true for sucessful change false for failure

teStepperCurrentLevel tcDspStepper::GetCurrentLevel ( void ) [virtual]

Get the High Current Setting of the attached controller.

Returns:: the current value type of the controller

bool tcDspStepper::SetCurrentLevel ( teStepperCurrentLevel Current ) [virtual]

Set the High Current Setting of the attached controller.

Parameters:

[in] Current The new current level setting

Returns:: true if setting was changed false if failed

int tcDspStepper::interrupt_dispatch ( Arg ahMyObject ) [static, protected]

Static interrupt dispatch routine.

Required because of the hidden this pointer associated with a member function, which cannot be passed directly to the interrupt dispatcher.

Parameters:

[in] ahMyObject The "this->" pointer for the instance of tcDspStepper associated with this ISR.

Returns:: 0

void tcDspStepper::StepperISRHandler ( void ) [protected]

Stepper Controller ISR handler (object method).

This function is called to handle interrupts issued by the stepper controller. The ISR is will handle Move and Goto commands by simply clearing the busy state and clearing the pending interrupt from the stepper core. For Seek commands, the ISR will perform the needed logic to determine/store detected contact positions or re-initiate move commands as required to complete the Seek operation.