initial commit

iAccelStepper.cpp

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+#include "iAccelStepper.h"
+
+#include "driverlib/timer.h"
+
+volatile boolean state[3];
+static iAccelStepper* me[3];
+static unsigned int all_instances;
+
+void iAccelStepper::ISR(void) {
+ TimerIntClear(g_ulTIMERBase[id], TIMER_TIMA_TIMEOUT);
+ if(state[id]) {
+ if(_direction == DIRECTION_CW)
+ // Clockwise
+ ++_currentPos;
+ else
+ // Anticlockwise
+ --_currentPos;
+ // prepare for the next period
+ computeNewSpeed();
+ digitalWrite(_pin[1], _direction);
+ TimerLoadSet(g_ulTIMERBase[id], TIMER_A, 1);
+ TimerEnable(g_ulTIMERBase[id], TIMER_A);
+ } else {
+ // switch off timer at the falling edge
+ if(_stepInterval == 0) {
+ TimerDisable(g_ulTIMERBase[id], TIMER_A);
+ digitalWrite(GREEN_LED, 0);
+ running = false;
+ } else {
+ TimerLoadSet(g_ulTIMERBase[id], TIMER_A, (80*_stepInterval)-1);
+ TimerEnable(g_ulTIMERBase[id], TIMER_A);
+ }
+ }
+ digitalWrite(_pin[0], state[id]);
+ state[id] ^= 1;
+}
+
+void timerISR0(void) { me[0]->ISR(); }
+void timerISR1(void) { me[1]->ISR(); }
+void timerISR2(void) { me[2]->ISR(); }
+//void timerISR3(void) { me[3]->ISR(); }
+//void timerISR4(void) { me[4]->ISR(); }
+
+typedef void (*ISR_ptr_t)(void);
+//ISR_ptr_t timerISR_ptr[5] = { &timerISR0, &timerISR1, timerISR2, timerISR3, timerISR4 };
+ISR_ptr_t timerISR_ptr[3] = { timerISR0, timerISR1, timerISR2 };
+
+void iAccelStepper::begin(uint8_t pin1, uint8_t pin2)
+{
+ // STEP DIR
+ AccelStepper::begin(AccelStepper::DRIVER, pin1, pin2);
+
+ if(all_instances < 3) {
+ id = all_instances;
+ Serial.println("configure timer");
+ // Configure timer
+ SysCtlPeripheralEnable(g_ulTIMERPeriph[id]);
+ Serial.println("configure sysctl");
+
+ TimerConfigure(g_ulTIMERBase[id], TIMER_CFG_ONE_SHOT);
+ Serial.println("configure timerconfigure");
+
+ TimerIntEnable(g_ulTIMERBase[id], TIMER_TIMA_TIMEOUT);
+ Serial.println("configure timerintenable");
+
+ TimerIntRegister(g_ulTIMERBase[id], TIMER_A, timerISR_ptr[id]);
+
+ me[id] = this;
+ state[id] = false;
+ running = false;
+ ++all_instances;
+ }
+}
+
+void iAccelStepper::move(long relative)
+{
+ moveTo(_currentPos + relative);
+}
+
+void iAccelStepper::moveTo(long absolute)
+{
+ AccelStepper::moveTo(absolute);
+
+ if(!running && (distanceToGo() != 0)) {
+ digitalWrite(_pin[1], _direction);
+ computeNewSpeed();
+ state[id] = true;
+ digitalWrite(_pin[0], state[id]);
+ running = true;
+ TimerLoadSet(g_ulTIMERBase[id], TIMER_A, 1);
+ TimerEnable(g_ulTIMERBase[id], TIMER_A);
+ digitalWrite(GREEN_LED, 1);
+ }
+}

iAccelStepper.h

@@ -0,0 +1,60 @@
+#ifndef iAccelStepper_h
+#define iAccelStepper_h
+
+#include <Energia.h>
+#include "AccelStepper.h"
+
+#include "driverlib/sysctl.h"
+
+//*****************************************************************************
+//
+// The list of Timer peripherals.
+//
+//*****************************************************************************
+static const unsigned long g_ulTIMERPeriph[3] =
+{
+#if defined(PART_TM4C1233H6PM) || defined(PART_LM4F120H5QR)
+// SYSCTL_PERIPH_TIMER0, // wiring_analog.c analogWrite()
+ SYSCTL_PERIPH_TIMER1,
+ SYSCTL_PERIPH_TIMER2,
+ SYSCTL_PERIPH_TIMER3
+// SYSCTL_PERIPH_TIMER4, // Tone.c
+// SYSCTL_PERIPH_TIMER5, // wiring.c - millis() micros()
+// SYSCTL_PERIPH_TIMER6,
+// SYSCTL_PERIPH_TIMER7
+#else
+ #error "**** No PART defined or unsupported PART ****"
+#endif
+};
+
+static const unsigned long g_ulTIMERBase[3] =
+{
+#if defined(PART_TM4C1233H6PM) || defined(PART_LM4F120H5QR)
+// TIMER0_BASE, // wiring_analog.c analogWrite()
+ TIMER1_BASE,
+ TIMER2_BASE,
+ TIMER3_BASE
+// TIMER4_BASE, // Tone.c
+// TIMER5_BASE, // wiring.c - millis() micros()
+// TIMER6_BASE,
+// TIMER7_BASE
+#else
+ #error "**** No PART defined or unsupported PART ****"
+#endif
+};
+
+class iAccelStepper : public AccelStepper
+{
+public:
+ iAccelStepper() : AccelStepper() {};
+ void begin(uint8_t pin1 = 2, uint8_t pin2 = 3);
+ void moveTo(long absolute);
+ void move(long relative);
+ boolean run(void) { return running; };
+ void ISR(void);
+private:
+ boolean running;
+ unsigned int id;
+};
+
+#endif