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Merge pull request #216 from PropGit/master
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Updated Greg LaPolla's ILI9341 and added Bill Tuss's Stepper objects.
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PropGit authored Feb 23, 2021
2 parents f6c5421 + 3d1c159 commit 1468c8b
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docs/assets/P2_Silicon-1.JPG filter=lfs diff=lfs merge=lfs -text
*.zip filter=lfs diff=lfs merge=lfs -text
*.pdf filter=lfs diff=lfs merge=lfs -text
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2 changes: 2 additions & 0 deletions docs/p2.md
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Expand Up @@ -211,6 +211,8 @@ by Dave Hein
## Recent Activity
##### _Full details [here](https://github.com/parallaxinc/propeller/pulls?q=is%3Aclosed)._

* Added Bill Tuss's [Stepper Motor Driver](https://github.com/parallaxinc/propeller/tree/master/libraries/community/p2/All/Stepper)
* Updated Greg LaPolla's P2 [ILI9341](https://github.com/parallaxinc/propeller/tree/master/libraries/community/p2/All/ili9341) object
* Added Jon "JonnyMac" McPhalen's [DHTxx Temperature/Humidity](https://github.com/parallaxinc/propeller/tree/master/libraries/community/p2/All/jm_dhtxx) object
* Added object from Greg LaPolla's
* P1 [ADS1118 C](https://github.com/parallaxinc/propeller/tree/master/libraries/community/p1/All/ads1118/C)
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23 changes: 23 additions & 0 deletions libraries/community/p2/All/Stepper/README.md
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# Stepper Motor Driver Ver 2

## Author
Bill Tuss (forum: btuss)

## Language
Spin2, PASM2

## Created:
February 9, 2021

## Category
Motor control

## Description
This object implements a step motor driver.
The trajectory is sinusoidal, ramp up, a period at constant speed, ramp down.
A STOP input is monitored that will decelerate the motor to a stop in a controlled fashion.
There are two versions. One for drivers that use step and direction inputs and one for drivers with cw and ccw inputs.
A demo program in spin2 is included.

## License
MIT (see end of source code)
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322 changes: 322 additions & 0 deletions libraries/community/p2/All/Stepper/Step_driver2_cc.spin2
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{P2 Stepper motor driver }


CON


VAR
long cog ' cog flag/id

long CP 'current position
long SPD 'Speed in steps/sec
long STM 'steps to move +/- Routine clears this after values are read
long Asteps 'Number of steps for acceleration phase
long Offset 'degrees at ends of range to skip


long MODEb 'mode bits
'b0 = 0 - stopped, 1 - moving
'b1 = 1 - accel
'b2 = 1 - decel
'b3 = 1 - at slew speed
'b4 = direction, 1=cw
'b5 1 = decel to stop

long sspn 'SSPIN - set to 0 to stop, 1 to start
long cwpin 'cw pin to driver
long ccwpin 'ccw pin to driver
long frequency 'clock frequency
long del
long vel
long as
long ds
long ss
long stn


PUB start(sp, cw, ccw): result
stop()
longmove(@sspn, @sp, 3) ' save pins
frequency := clkfreq
cog := COGINIT(COGEXEC_NEW,@_begin,@cp) +1
return cog

PUB stop()

'' Stop stepper driver
'' -- frees a cog if driver was running

if (cog) ' cog active?
cogstop(cog-1) ' yes, shut it down
cog := 0 ' and mark stopped

PUB move(sp,st)| t

asteps := sp/10 +2 'effectively sets max acceleration
t := abs(st/2)
offset := 40
if asteps > t
asteps := t 'limits accel/ decel steps to 1/2 the total steps
ss := abs(st) - (asteps*2)
if ss == 0
sp := 10*(asteps -2) 'limit acceleration for short moves

longmove(@spd, @sp, 2) 'copy values - start the move

PUB getpos(): result
return @cp

PUB getsteps(): result
return @stm

PUB getmode(): result
return @modeb

PUB getoff(): result
return @offset

PUB getvel(): result
return @vel

PUB getas(): result
return @asteps

PUB getss(): result
return @ss


DAT ORG 0

_begin mov ptrb, ptra
add ptrb, #24 '4 bytes * 6 longs
setq #4-1
rdlong sspin,ptrb[0] 'get three pin numbers and frequency

drvl cwpn
drvl ccwpn

_stopped rdlong steps, ptra[2] wz 'wait for steps to be non zero
if_z jmp #_stopped

setq #5-1 'get 5 parameters from hub
rdlong cpos, ptra[0]

wrlong #0, ptra[2] 'set steps to zero to indicate we received them

' wrlong astps, ptra[12]
' wrlong angoff, ptra[13]

drvl cwpn
drvl ccwpn
mov stepp, cwpn 'anticipate cw
mov mode, #0
abs steps wc 'convert neg steps to pos
muxc mode, #16
if_nc jmp #_dirset 'set direction pin based on c D[31]
mov stepp, ccwpn 'if ccw swap the pins
_dirset wrlong mode, ptra[5] 'output the mode with dir bit set

_setup mov halfsp, speed
shr halfsp, #1 'make half speed variable

mov stepn, #0
mov stom, steps
mov newmin, angoff
mov newrange, n360
sub newrange, angoff
sub newrange, angoff 'newrange = angoff to (360-angoff)
shl newmin, #7 'partial multiply x128 11930464/128 = 93206 remaining
mov xsteps, #0
mov t3, astps
shl t3, #1 'x2 - accel and decel
cmp t3, stom wc 'more than accel + decel steps?
if_nc jmp #_waitstart
mov xsteps, steps
sub xsteps, t3 'xsteps = excess steps above accel +decel or zero
mov stom, t3


'******************************************************************************************************

_waitstart testp sspin wc 'wait for start pin = 1
if_nc jmp #_waitstart

or mode, #%011 'moving, accel
wrlong mode, ptra[5]
call #_dostep 'output a step

_mainloop testp sspin wc 'still in run mode?
if_c jmp #_mlp1 'yes, keep running
'if stop pressed
or mode, #%100000 'turn on decel_to_stop
sub steps, xsteps
mov xsteps, #0

_mlp1 cmp astps, stepn wz 'done accelerating?
if_z jmp # _mlp2
if_nz call #_waitstep
jmp #_mainloop

_mlp2 cmp xsteps, #1 wz 'wait till the last at_speed step
if_z jmp #_checknextmove

_mlp3 tjz xsteps, #_mlp5 'if xsteps = 0, decelerate
_mlp4 andn mode, #%01110 'acceleration done
or mode, #%01000 'set mode -> at speed
jmp #_mlp6

_mlp5 andn mode, #%01110
or mode, #%00100 'set mode -> decel
wrlong t2, ptra[11] 'output top speed

_mlp6 wrlong mode, ptra[5]
call #_waitstep
jmp #_mainloop

'******************************************************************************************************

_checknextmove
rdlong steps2, ptra[2] wz
if_z jmp #_mlp3 'no new move to consider

mov t1, #0 'else- check if direction is same
abs steps2 wc 'convert neg steps to pos
muxc t1, #16 'set direction bit
mov t2, mode
and t2, #%10000 'clear all but direction bit
cmp t1, t2 wz ' is direction the same as current
if_nz jmp #_mlp3 'direction is different we need to stop before starting next move

rdlong speed2, ptra[1]
cmp speed, speed2 wz 'is speed the same
if_nz jmp #_mlp3 'not the same, can't continue

_same_speed add steps, steps2 'add new steps to current steps
add xsteps, steps2 'new steps are all at_speed steps
wrlong #0, ptra[2] 'set steps to zero to indicate we received them
jmp #_mlp4

'*****************************************************************************************************

_waitstep waitct2 'wait for the delay period to end
'then start another pulse
_dostep tjnz steps, #_dostep1 'zero steps left, we're done
pop t1 'pop the unused return address
and mode, #%0100000 'indicate stopped but leave b5 set if decelerate_to_stop
wrlong cpos, ptra[0]
wrlong mode, ptra[5]
jmp #_stopped

_dostep1 drvh stepp 'step pin high
getct cv
addct1 cv,delayh 'start the pulse high timer

testb mode, #4 wc 'check the direction bit
sumc cpos, #1 'add/subtract from current position
wrlong cpos, ptra[0] 'update current position

waitct1
drvl stepp 'step pulse end

_ws1 testb mode, #3 wc 'at speed?
if_c sub xsteps, #1 'yes, dec xsteps
if_c jmp #_ws2 'yes, keep old delay

call #_getdelay 'get new delay if accel or decel

_ws2 addct2 cv, delay 'start the delay timer
sub steps, #1 'decrement the steps to go
testb mode, #3 wc 'mode = at speed?
if_nc add stepn, #1 'inc stepn if not
ret

_getdelay qmul stepn, newrange 'scale step to range angoff - (360 - angoff)
getqx t1
shl t1, #7 'partial multiply *32
qdiv t1, stom
getqx newvalue
add newvalue, newmin 'new value is converted oldvalue
qmul newvalue, mult 'finish multiply * 93206
getqx newvalue
qrotate halfsp, newvalue 'get cosine of vector
getqx t1
mov t2, halfsp
sub t2, t1 'get velocity

fges t2, #1 'avoid divide by zero
qdiv freq, t2 'delay = frequency/ velocity
getqx delay
fles delay, maxdelay
ret


'-----------------------------------------------------------------------------------------------

delayh long 1000 'step output high time 1000/200_000_000 = 5�s
delay long 1 'delay between steps - calculated
n360 long 360 'the number 360
mult long 93206 '372827 * 32 = 11930464 * 360 = FFFFFFFF = 4294967295 = 359.999999999degress
maxdelay long 95000000

cpos res 1 'current position - steps
speed res 1 'speed -steps/sec
steps res 1 'steps to move
astps res 1 'accel/ decel steps
angoff res 1

mode res 1 'b0 = 0 - stopped, 1 - moving
'b1 = 1 - accel
'b2 = 1 - decel
'b3 = 1 - at slew speed
'b4 = 1 direction = cw

sspin res 1 'start =1 stop =0 pin (input)
cwpn res 1 'output to driver
ccwpn res 1 ' "
freq res 1 'system clock frequency

stepp res 1 'depending on direction, either cwpn or ccwpn

t1 res 1 'temp variables
t2 res 1
t3 res 1
cv res 1 'counter value

stepn res 1 'step number
oldval res 1
newmin res 1
newvalue res 1 'converted old value
newrange res 1
halfsp res 1 'speed/2
stom res 1 'steps to move
xsteps res 1 'excess steps = total steps - (2*asteps)

steps2 res 1 'second move steps and speed
speed2 res 1

fit 150

con { license }

{{

Terms of Use: MIT License

Permission is hereby granted, free of charge, to any person obtaining a copy of this
software and associated documentation files (the "Software"), to deal in the Software
without restriction, including without limitation the rights to use, copy, modify,
merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
permit persons to whom the Software is furnished to do so, subject to the following
conditions:

The above copyright notice and this permission notice shall be included in all copies
or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
PARTICULAR PURPOSE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF
CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

}}
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