Merge branch 'V0.7---Beta'

MicroBahner · Jan 20, 2017 · 9f44b9a · 9f44b9a
2 parents 78a054c + d58285a
commit 9f44b9a
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diff --git a/MobaTools-06.pdf b/MobaTools-06.pdf
diff --git a/MobaTools-07 -en.pdf b/MobaTools-07 -en.pdf
diff --git a/MobaTools-07.pdf b/MobaTools-07.pdf
diff --git a/MobaTools.cpp b/MobaTools.cpp
@@ -1,9 +1,12 @@
 
 /*
-  MobaTools V0.6
+  MobaTools V0.7
    (C) 08-2015 fpm fpm@mnet-online.de
    
-  
+  History:
+  V0.7 Allow nested Interrupts with the servos. This allows more precise other
+        interrupts e.g. for NmraDCC Library.
+       A4988 stepper driver IC is supported (needs only 2 ports: step and direction)
 
   This library is free software; you can redistribute it and/or
   modify it under the terms of the GNU General Public
@@ -81,8 +84,8 @@
         #define SET_TP4 
         #define CLR_TP4 
     #endif 
-    static char dbgbuf[80];
-    #define DebugPrint( ... ) sprintf( dbgbuf, "DBG: " __VA_ARGS__ ); Serial.println( dbgbuf );
+    #define DB_PRINT( x, ... ) { sprintf_P( dbgBuf, PSTR( x ), __VA_ARGS__ ) ; Serial.println( dbgBuf ); }
+    static char dbgBuf[80];
 #else
     #define MODE_TP1 
     #define SET_TP1 
@@ -97,7 +100,7 @@
     #define SET_TP4 
     #define CLR_TP4 
 
-    #define DebugPrint( ... ) ;
+    #define DB_PRINT ;
 #endif
 
 
@@ -176,6 +179,14 @@ ISR ( TIMER1_COMPB_vect)
     CLR_TP2;
     for ( i=0; i<stepperCount; i++ ) {
         // für maximal 4 Motore
+        if ( stepperData[i].output == A4988_PINS ) {
+            // reset step pulse - pulse is max one cycle lenght
+            #ifdef FAST_PORTWRT
+            *stepperData[i].portPins[0].Adr &= ~stepperData[i].portPins[0].Mask;
+            #else
+            digitalWrite( stepperData[i].pins[0], LOW );
+            #endif
+        }
         if ( stepperData[i].activ && stepperData[i].stepCnt > 0 ) {
             // only active motors
             stepperData[i].cycCnt+=cyclesLastIRQ;
@@ -237,6 +248,30 @@ ISR ( TIMER1_COMPB_vect)
                     }
                     stepperData[i].lastPattern = stepPattern[ stepperData[i].patternIx ];
                     break;
+                  case A4988_PINS : // output step-pulse and direction
+                    // direction first
+                    if ( stepperData[i].patternIxInc > 0 ) {
+                        // turn forward 
+                        #ifdef FAST_PORTWRT
+                        *stepperData[i].portPins[1].Adr |= stepperData[i].portPins[1].Mask;
+                        #else
+                        digitalWrite( stepperData[i].pins[1], HIGH );
+                        #endif
+                    } else {
+                        // turn backwards
+                        #ifdef FAST_PORTWRT
+                        *stepperData[i].portPins[1].Adr &= ~stepperData[i].portPins[1].Mask;
+                        #else
+                        digitalWrite( stepperData[i].pins[1], LOW );
+                        #endif
+                    }    
+                    // Set step pulse ( will be resettet in next IRQ )
+                    #ifdef FAST_PORTWRT
+                    *stepperData[i].portPins[0].Adr |= stepperData[i].portPins[0].Mask;
+                    #else
+                    digitalWrite( stepperData[i].pins[0], HIGH );
+                    #endif
+
                   default:
                     // should never be reached
                     break;
@@ -344,9 +379,11 @@ ISR ( TIMER1_COMPA_vect)
 #else // create overlapping servo pulses
 // Positions of servopulses within 20ms cycle are variable, max 2 pulses at the same time
 // 27.9.15 with variable overlap, depending on length of next pulse: 16 Servos
+// 2.1.16 Enable interrupts after timecritical path (e.g. starting/stopping servo pulses)
+//        so other timecritical tasks can interrupt (nested interrupts)
 static bool searchNextPulse() {
     while ( pulseIx < servoCount && servoData[pulseIx].soll < 0 ) {
-        SET_TP2;
+        //SET_TP2;
         pulseIx++;
         CLR_TP2;
     }
@@ -389,9 +426,10 @@ ISR ( TIMER1_COMPA_vect)
             // next starttime must behind actual timervalue and endtime of next pulse must
             // lay after endtime of runningpuls + safetymargin (it may be necessary to start
             // another pulse between these 2 ends)
+            word tmpTCNT1 = TCNT1 + MARGINTICS/2;
+            sei();
             CLR_TP3 ;
-            OCR1A = max ( ((long)activePulseOff + (long) MARGINTICS - (long) nextPulseLength), ( TCNT1 + MARGINTICS/2 ) );
-            SET_TP3; // Oszimessung Dauer der ISR-Routine
+            OCR1A = max ( ((long)activePulseOff + (long) MARGINTICS - (long) nextPulseLength), ( tmpTCNT1 ) );
         } else {
             // we are at the end, no need to start another pulse in this cycle
             if ( activePulseOff ) {
@@ -425,6 +463,8 @@ ISR ( TIMER1_COMPA_vect)
                 digitalWrite( servoData[nextPulseIx].pin, HIGH );
                 #endif
             }
+            sei(); // the following isn't time critical, so allow nested interrupts
+            SET_TP3;
             // the 'nextPulse' we have started now, is from now on the 'activePulse', the running activPulse is now the
             // pulse to stop next.
             stopPulseIx = activePulseIx; // because there was a 'nextPulse' there is also an 'activPulse' which is the next to stop
@@ -448,16 +488,17 @@ ISR ( TIMER1_COMPA_vect)
                     digitalWrite( servoData[pulseIx].pin, HIGH );
                     #endif
                 }
+                word tmpTCNT1 = TCNT1;
+                sei(); // the following isn't time critical, so allow nested interrupts
+                SET_TP3;
                 // look for second pulse
                 pulseIx++;
                 if ( searchNextPulse() ) {
-                CLR_TP1;
                     // there is a second pulse - this is the 'nextPulse'
                     nextPulseLength = servoData[pulseIx].ist;
                     nextPulseIx = pulseIx++;
                     // set Starttime for 2. pulse in sequence
-                    OCR1A = max ( ((long)activePulseOff + (long) MARGINTICS - (long) nextPulseLength), ( TCNT1 + MARGINTICS/2 ) );
-                SET_TP1;
+                    OCR1A = max ( ((long)activePulseOff + (long) MARGINTICS - (long) nextPulseLength), ( tmpTCNT1 + MARGINTICS/2 ) );
                 } else {
                     // no next pulse, there is only one pulse
                     OCR1A = activePulseOff;
@@ -484,7 +525,7 @@ ISR ( TIMER1_COMPA_vect)
                 IrqType = POFF;
             }
         }
-        CLR_TP1; // Oszimessung Dauer der ISR-Routine
+        CLR_TP1; CLR_TP3; // Oszimessung Dauer der ISR-Routine
 
     } //end of 'pulse ON'
 }
@@ -562,7 +603,7 @@ void Stepper4::initialize ( int steps360, uint8_t mode, uint8_t minStepTime ) {
         // create new instance
         stepperIx = stepperCount++ ;
         stepsRev = steps360;       // number of steps for full rotation in fullstep mode
-        if ( mode != FULLSTEP  ) mode = HALFSTEP;
+        if ( mode != FULLSTEP && mode != A4988 ) mode = HALFSTEP;
         // initialize data for interrupts
         stepperData[stepperIx].stepCnt = 0;         // don't move
         stepMode = mode;
@@ -589,6 +630,16 @@ long Stepper4::getSFZ() {
 }
 
 // public functions -------------------
+uint8_t Stepper4::attach( byte stepP, byte dirP ) {
+    // step motor driver A4988 is used
+    byte pins[2];
+    if ( stepMode != A4988 ) return 0;    // false mode
+    DB_PRINT( "Attach4988, S=%d, D=%d", stepP, dirP );
+
+    pins[0] = stepP;
+    pins[1] = dirP;
+    return Stepper4::attach( A4988_PINS, pins );
+}
 uint8_t Stepper4::attach( byte pin1, byte pin2, byte pin3, byte pin4 ) {
     byte pins[4];
     pins[0] = pin1;
@@ -598,11 +649,11 @@ uint8_t Stepper4::attach( byte pin1, byte pin2, byte pin3, byte pin4 ) {
     return Stepper4::attach( SINGLE_PINS, pins );
 }
 uint8_t Stepper4::attach(byte outArg) {
-    return Stepper4::attach( outArg, NULL );
+    return Stepper4::attach( outArg, (byte *)NULL );
 }
 
 uint8_t Stepper4::attach( byte outArg, byte pins[] ) {
-    // outArg must be one of PIN8_11 ... SPI_4 or SINGLE_PINS
+    // outArg must be one of PIN8_11 ... SPI_4 or SINGLE_PINS, A4988_PINS
     if ( stepMode == NOSTEP ) return 0; // Invalid object
     uint8_t attachOK = true;
     switch ( outArg ) {
@@ -654,7 +705,23 @@ uint8_t Stepper4::attach( byte outArg, byte pins[] ) {
             digitalWrite( pins[i], LOW );
         }
         break;
-      default:
+      case A4988_PINS:
+        // 2 single output pins (step and direction) - as yet there is no check if they are allowed!
+        for ( byte i = 0; i<2; i++ ) {
+            #ifdef FAST_PORTWRT
+            // compute portadress and bitnumber
+            stepperData[stepperIx].portPins[i].Adr = (byte *) pgm_read_word_near(&port_to_output_PGM[pgm_read_byte_near(&digital_pin_to_port_PGM[ pins[i]])]);
+            stepperData[stepperIx].portPins[i].Mask = pgm_read_byte_near(&digital_pin_to_bit_mask_PGM[pins[i]]);
+            #else // store pins directly
+            stepperData[stepperIx].pins[i] = pins[i];
+            #endif
+            stepMode = HALFSTEP;                      // There are no real stepmodes in A4988 - mode
+            stepperData[stepperIx].patternIxInc = 1;  // defines direction
+            pinMode( pins[i], OUTPUT );
+            digitalWrite( pins[i], LOW );
+        }
+        break;
+     default:
         // invalid Arg
         attachOK = false;
     }
@@ -669,7 +736,7 @@ uint8_t Stepper4::attach( byte outArg, byte pins[] ) {
             TIMSK1 |= _BV(OCIE1B) ; 
         #endif
     }
-
+    DB_PRINT( "attach: output=%d, attachOK=%d", stepperData[stepperIx].output, attachOK );
     //Serial.print( "Attach Stepper, Ix= "); Serial.println( stepperIx );
     return attachOK;
 }
@@ -703,7 +770,7 @@ void Stepper4::setZero() {
 
 void Stepper4::write(long angleArg ) {
     // set next position as angle, measured from last setZero() - point
-    //DebugPrint( "Pin: " ,pin);DebugPrint("Wert: ", angleArg);
+    DB_PRINT("write: %d", angleArg);
     Stepper4::write( angleArg, 1 );
 }
 
@@ -714,7 +781,7 @@ void Stepper4::write( long angleArg, byte fact ) {
     bool negative;
     int angel2steps;
     negative =  ( angleArg < 0 ) ;
-    DebugPrint( "angleArg: ",angleArg ); //DebugPrint( " getSFZ: ", getSFZ() );
+    DB_PRINT( "angleArg: %d",angleArg ); //DB_PRINT( " getSFZ: ", getSFZ() );
     //Serial.print( "Write: " ); Serial.println( angleArg );
     angel2steps =  ( (abs(angleArg) * (long)stepsRev*10) / ( 360L * fact) +5) /10 ;
     if ( negative ) angel2steps = -angel2steps;
@@ -752,7 +819,7 @@ void Stepper4::doSteps( long stepValue ) {
     if ( stepMode == NOSTEP ) return ; // Invalid object
     //Serial.print( "doSteps: " ); Serial.println( stepValue );
     stepsToMove = stepValue;
-     //DebugPrintln( " stepsToMove: ",stepsToMove );
+     DB_PRINT( " stepsToMove: %d ",stepsToMove );
     if ( stepValue > 0 ) stepperData[stepperIx].patternIxInc = abs( stepperData[stepperIx].patternIxInc );
     else stepperData[stepperIx].patternIxInc = -abs( stepperData[stepperIx].patternIxInc );
     uint8_t oldSREG = SREG;
@@ -858,7 +925,7 @@ uint8_t Servo8::attach( int pinArg, int pmin, int pmax, bool autoOff ) {
     // set pulselength for angle 0 and 180
     if ( pmin >= MINPULSEWIDTH && pmin <= MAXPULSEWIDTH) min16 = pmin/16;
     if ( pmax >= MINPULSEWIDTH && pmax <= MAXPULSEWIDTH ) max16 = pmax/16;
-	DebugPrint( "pin: %d, pmin:%d pmax%d autoOff=%d, min16=%d, max16=%d", pinArg, pmin, pmax, autoOff, min16, max16);
+	DB_PRINT( "pin: %d, pmin:%d pmax%d autoOff=%d, min16=%d, max16=%d", pinArg, pmin, pmax, autoOff, min16, max16);
 
     // intialize objectspecific global data
     lastPos = 3000 ;    // initalize to middle position
@@ -872,8 +939,8 @@ uint8_t Servo8::attach( int pinArg, int pmin, int pmax, bool autoOff ) {
     // compute portaddress and bitmask related to pin number
     servoData[servoIndex].portAdr = (byte *) pgm_read_word_near(&port_to_output_PGM[pgm_read_byte_near(&digital_pin_to_port_PGM[ pinArg])]);
     servoData[servoIndex].bitMask = pgm_read_byte_near(&digital_pin_to_bit_mask_PGM[pinArg]);
-    DebugPrint( "Idx: %d Portadr: 0x%x, Bitmsk: 0x%x", servoIndex, servoData[servoIndex].portAdr, servoData[servoIndex].bitMask );
-	DebugPrint( "Stack=0x%04x, &sIx=0x%04x", ((SPH&0x7)<<8)|SPL, &servoIndex );
+    DB_PRINT( "Idx: %d Portadr: 0x%x, Bitmsk: 0x%x", servoIndex, servoData[servoIndex].portAdr, servoData[servoIndex].bitMask );
+	DB_PRINT( "Stack=0x%04x, &sIx=0x%04x", ((SPH&0x7)<<8)|SPL, &servoIndex );
     #endif
     pin = pinArg;
     angle = NO_ANGLE;
@@ -905,10 +972,10 @@ void Servo8::write(int angleArg)
     // values between 0 and 180 are interpreted as degrees,
     // values between MINPULSEWIDTH and MAXPULSEWIDTH are interpreted as microseconds
     static int newpos;
-	DebugPrint( "Write: angleArg=%d, Soll=%d", angleArg, servoData[servoIndex].soll );
+	DB_PRINT( "Write: angleArg=%d, Soll=%d", angleArg, servoData[servoIndex].soll );
     if ( pin > 0 ) { // only if servo is attached
         //Serial.print( "Pin:" );Serial.print(pin);Serial.print("Wert:");Serial.println(angleArg);
-		DebugPrint( "Stack=0x%04x, &sIx=0x%04x", ((SPH&0x7)<<8)|SPL, &servoIndex );
+		DB_PRINT( "Stack=0x%04x, &sIx=0x%04x", ((SPH&0x7)<<8)|SPL, &servoIndex );
         if ( angleArg < 0) angleArg = 0;
         if ( angleArg <= 180) {
             // pulse width as degrees
@@ -935,7 +1002,7 @@ void Servo8::write(int angleArg)
             cli();
             servoData[servoIndex].soll= newpos ; // .ist - value is still -1 (invalid) -> will jump to .soll immediately
             SREG = oldSREG;
-			DebugPrint( "FirstWrite: Ix=%d,%d Soll=%d", servoIndex, this->servoIndex, servoData[servoIndex].soll );
+			DB_PRINT( "FirstWrite: Ix=%d,%d Soll=%d", servoIndex, this->servoIndex, servoData[servoIndex].soll );
 
         }
         else if ( newpos != servoData[servoIndex].soll ) {
@@ -945,7 +1012,7 @@ void Servo8::write(int angleArg)
             cli();
             servoData[servoIndex].soll= newpos ;
             SREG = oldSREG;
-			DebugPrint( "NextWrite: Ix= %d,%d Soll=%d, On=%d", servoIndex, this->servoIndex, servoData[servoIndex].soll, servoData[servoIndex].on );
+			DB_PRINT( "NextWrite: Ix= %d,%d Soll=%d, On=%d", servoIndex, this->servoIndex, servoData[servoIndex].soll, servoData[servoIndex].on );
         }
     }
 }

diff --git a/MobaTools.h b/MobaTools.h
@@ -24,13 +24,22 @@
   Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 */
 
+/* 02-11-16 Updating Stepper driver:
+   - stepper motor can be connected ba means of a4988 stepper motor driver IC
+     this uses only 2 pins: STEP and DIRECTION
+*/
 #include <inttypes.h>
 #include <Arduino.h>
 
+#ifndef __AVR_MEGA__
+#error "Only AVR AtMega processors are supported"
+#endif
+
 #define Servo2	Servo8		// Kompatibilität zu Version 01 und 02
 //defines used in user programs
 #define HALFSTEP    1
 #define FULLSTEP    2
+#define A4988       3   // using motordriver A4988
 #define NOSTEP      0   // invalid-flag
 
 #define NO_OUTPUT   0
@@ -41,6 +50,7 @@
 #define SPI_3        5
 #define SPI_4        6
 #define SINGLE_PINS  7
+#define A4988_PINS  8
 
 // for formatted printing to Serial( just like fprintf )
 // you need to define txtbuf with proper length to use this
@@ -93,12 +103,15 @@ typedef struct {    // portaddress and bitmask for direkt pin set/reset
 typedef struct {
   volatile long stepCnt;        // nmbr of steps to take
   volatile int8_t patternIx;    // Pattern-Index of actual Step (0-7)
-  int8_t patternIxInc;          // halfstep: +/-1, fullstep: +/-2, sign defines direction
+  int8_t patternIxInc;          // halfstep: +/-1, fullstep: +/-2, A4988 +3/-3/
+                                // sign defines direction
   uint16_t cycSteps;            // nbr of IRQ cycles per step ( speed of motor )
+  uint16_t rCycSteps;           // nbr of IRQ cycles per step during start/stop ramp
+  uint16_t rStepDec;            // count of steps until decrementing cycle ( during start ramp )
   volatile uint16_t cycCnt;     // counting cycles until cycStep
   volatile long stepsFromZero;  // distance from last reference point ( always as steps in HALFSTEP mode )
                                 // in FULLSTEP mode this is twice the real step number
-  byte output  :6 ;             // PORTB(pin8-11), PORTD (pin4-7), SPI0,SPI1,SPI2,SPI3
+  byte output  :6 ;             // PORTB(pin8-11), PORTD (pin4-7), SPI0,SPI1,SPI2,SPI3, SINGLE_PINS, A4988_PINS
   byte activ :1;  
   byte endless :1;              // turn endless
   #ifdef FAST_PORTWRT
@@ -126,7 +139,7 @@ typedef union { // used output channels as bit und byte
 typedef struct {
   int soll = -1;     // Position, die der Servo anfahren soll ( in Tics )
   volatile int ist;      // Position, die der Servo derzeit einnimt ( in Tics )
-  byte inc;     // Schrittweite je Zyklus um Ist an Soll anzugleichen
+  int inc;     // Schrittweite je Zyklus um Ist an Soll anzugleichen
   byte offcnt;  // counter to switch off pulses if length doesn't change
   #ifdef FAST_PORTWRT
   byte* portAdr; // port adress related to pin number
@@ -155,7 +168,9 @@ class Stepper4
     int stepsRev;                   // steps per full rotation
     int stepsToMove;                // from last point
     uint8_t stepMode;               // FULLSTEP or HALFSTEP
-    uint8_t minCycSteps;            // minimum time between 2 steps
+    uint8_t minCycSteps;            // minimum time between 2 steps without ramp
+                                    // ramp starts with this speed if wanted speed ist faster
+    uint8_t minrCycSteps;           // absolute minimum time between 2 steps even with ramp
     static outUsed_t outputsUsed;
     long getSFZ();                  // get step-distance from last reference point
     void initialize(int,uint8_t,uint8_t);
@@ -166,6 +181,7 @@ class Stepper4
     Stepper4(int steps, uint8_t mode, uint8_t minStepTime ); // min StepTim in ms
 
     uint8_t attach( byte,byte,byte,byte); //single pins definition for output
+    uint8_t attach( byte stepP, byte dirP); // Port for step and direction in A4988 mode
     uint8_t attach(byte outArg);    // stepMode defaults to halfstep
     uint8_t attach(byte outArg, byte*  ); 
                                     // returns 0 on failure

diff --git a/ToDo.rtf b/ToDo.rtf
diff --git a/library.properties b/library.properties
@@ -1,5 +1,5 @@
 name=MobaTools
-version=0.6.0
+version=0.7.0
 author=MicroBahner
 maintainer=
 sentence=Special functions for model railroaders, for arduino uno, mini, nano, micro and mega