auto-sync

firmware/hw_layer/hw_layer.mk

@@ -21,5 +21,6 @@ HW_LAYER_SRC_CPP = $(PROJECT_DIR)/hw_layer/hardware.cpp \
 	$(PROJECT_DIR)/hw_layer/pwm_generator.cpp \
 	$(PROJECT_DIR)/hw_layer/trigger_input.cpp \
 	$(PROJECT_DIR)/hw_layer/HIP9011.cpp \
+	$(PROJECT_DIR)/hw_layer/stepper.cpp \
 	$(PROJECT_DIR)/hw_layer/stm32f4/mpu_util.cpp
 	

firmware/hw_layer/pin_repository.h

@@ -1,13 +1,11 @@
-/*
- * pin_repository.h
- *
- * @date Jan 15, 2013
- * @author Andrey Belomutskiy, (c) 2012-2014
- */
-
 /**
  * @file    pin_repository.h
  * @brief   I/O pin registry header
+ *
+ *
+ *
+ * @date Jan 15, 2013
+ * @author Andrey Belomutskiy, (c) 2012-2014
  */
 
 #ifndef PIN_REPOSITORY_H_

firmware/hw_layer/stepper.cpp

@@ -0,0 +1,45 @@
+/**
+ * @file	stepper.cpp
+ *
+ * http://rusefi.com/wiki/index.php?title=Hardware:Stepper_motor
+ *
+ * @date Dec 24, 2014
+ * @author Andrey Belomutskiy, (c) 2012-2014
+ */
+
+#include "stepper.h"
+#include "pin_repository.h"
+
+#define ST_DELAY_MS 20
+
+#define ST_COUNT 200
+
+static msg_t stThread(StepperMotor *motor) {
+	chRegSetThreadName("stepper");
+
+	// let's part the motor in a known position to begin with
+	for (int i = 0; i < ST_COUNT; i++) {
+		motor->pulse();
+	}
+
+}
+
+void StepperMotor::pulse() {
+	palWritePad(stepPort, stepPin, true);
+	chThdSleepMilliseconds(ST_DELAY_MS);
+	palWritePad(stepPort, stepPin, false);
+	chThdSleepMilliseconds(ST_DELAY_MS);
+}
+
+
+void StepperMotor::initialize(brain_pin_e stepPin, brain_pin_e directionPin) {
+	position = 0;
+
+	stepPort = getHwPort(stepPin);
+	this->stepPin = getHwPin(stepPin);
+
+	mySetPadMode("st step", stepPort, this->stepPin, PAL_MODE_OUTPUT_PUSHPULL);
+	mySetPadMode("st dir", getHwPort(directionPin), getHwPin(directionPin), PAL_MODE_OUTPUT_PUSHPULL);
+
+	chThdCreateStatic(stThreadStack, sizeof(stThreadStack), NORMALPRIO, (tfunc_t) stThread, this);
+}

firmware/hw_layer/stepper.h

@@ -0,0 +1,29 @@
+/**
+ * @file	stepper.h
+ *
+ * @date Dec 24, 2014
+ * @author Andrey Belomutskiy, (c) 2012-2014
+ */
+#ifndef STEPPER_H_
+#define STEPPER_H_
+
+#include "main.h"
+
+class StepperMotor {
+public:
+	void initialize(brain_pin_e stepPin, brain_pin_e directionPin);
+	void pulse();
+private:
+
+	GPIO_TypeDef * stepPort;
+	ioportmask_t stepPin;
+	GPIO_TypeDef * directionPort;
+	ioportmask_t directionPin;
+
+	int position;
+
+	THD_WORKING_AREA(stThreadStack, UTILITY_THREAD_STACK_SIZE);
+
+};
+
+#endif /* STEPPER_H_ */