Stepper supports microstepping via JSON and theoretically UDP

See OpenMYR#35
dennismphil · Jun 19, 2016 · 5d1469b · 5d1469b
1 parent 59087ac
commit 5d1469b
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Showing 2 changed files with 32 additions and 6 deletions.
diff --git a/src/command_layer.c b/src/command_layer.c
@@ -165,6 +165,21 @@ void ICACHE_FLASH_ATTR json_process_command(char *json_input)
 						{
 							break;
 						}
+						case 'U':
+						{
+							os_printf("U\n");
+							struct stepper_command_packet parsed_motor_command;
+							parsed_motor_command.port = 0;
+							parsed_motor_command.opcode = json_opcode;
+							parsed_motor_command.motor_id = 0;
+							parsed_motor_command.queue = (*(json_input + tokens[place+4].start) == '1') ? 0x01 : 0x00;
+							parsed_motor_command.step_num = 0;
+							unsigned short ustep_setting = *(json_input + tokens[place+5].start) - 48;
+							parsed_motor_command.step_rate = ntohs(ustep_setting);
+							motor_process_command(&parsed_motor_command, dummy_ip);
+							place += 6;
+							break;
+						}
 						case 'B':
 							//servo bounds
 						{
@@ -246,6 +261,10 @@ void issue_command(char motor_id)
             //ntohl(command.step_num), ntohs(command.step_rate));
 	    opcode_goto(ntohl(command[motor_id].step_num), ntohs(command[motor_id].step_rate), motor_id);
     }
+    else if(command[motor_id].opcode == 'U')
+    {
+    	change_motor_setting(MICROSTEPPING, ntohs(command[motor_id].step_rate));
+    }
     else
     {
         os_printf("Opcode not found!\n");

diff --git a/src/stepper_driver.c b/src/stepper_driver.c
@@ -18,16 +18,15 @@
 #define GPIO_STEP_ENABLE 5
 #define GPIO_STEP_DIR 13
 #define GPIO_USTEP_A 0
-#define GPIO_USTEP_B 14
-#define GPIO_USTEP_C 12
+#define GPIO_IO_A 14
+#define GPIO_IO_B 12
 
 #define GPIO_USTEP_A_MASK 0x0001
 #define GPIO_STEP_MASK 0x0010
 #define GPIO_STEP_ENABLE_MASK 0x0020
-#define GPIO_USTEP_C_MASK 0x1000
+#define GPIO_IO_B_MASK 0x1000
 #define GPIO_STEP_DIR_MASK 0x2000
-#define GPIO_USTEP_B_MASK 0x4000
-#define GPIO_USTEP_ALL_MASK 0x5001 
+#define GPIO_IO_A_MASK 0x4000
 #define GPIO_NOSTEP_MASK 0x7021
 #define GPIO_NODIR_MASK 0x5031
 #define GPIO_ALL_MASK 0x7031
@@ -55,7 +54,7 @@ void init_motor_gpio()
 
 	GPIO_REG_WRITE(GPIO_ENABLE_W1TS_ADDRESS, GPIO_ALL_MASK);
 	GPIO_REG_WRITE(GPIO_ENABLE_W1TC_ADDRESS, ~GPIO_ALL_MASK);
-	GPIO_MASK_WRITE(GPIO_USTEP_ALL_MASK);
+	GPIO_MASK_WRITE(GPIO_USTEP_A_MASK);
 }
 
 void step_driver ( void )
@@ -157,6 +156,14 @@ void ICACHE_FLASH_ATTR change_motor_setting(config_setting input, int data)
 		case MAX_SERVO_BOUND:
 			break;
 		case MICROSTEPPING:
+			if(data > 0)
+			{
+				GPIO_MASK_WRITE(GPIO_REG_READ(GPIO_OUT_ADDRESS) | GPIO_USTEP_A_MASK);
+			}
+			else
+			{
+				GPIO_MASK_WRITE(GPIO_REG_READ(GPIO_OUT_ADDRESS) & (~GPIO_USTEP_A_MASK));
+			}
 			break;
 	}
 }