#ifndef __STEPMOTORDRIVERA4988_H__ #define __STEPMOTORDRIVERA4988_H__ #include "arduino.h" /******************************************************************************************************** * Remove the comments from the intended motor drivers. There are maximal 4 stepper motors each driven by A4988. * The STEP pin has a fixed position since the 16bit hardware timers are used to generate these STEP pulses. * (that pin is limit by the AVR designers). See the documentation. * Note the number correlates to the used 16bit AVR timer. If this timer is used by anything else in your application * you should not use that specific timer since it will lead to conflicts. */ //#define MOTOR_TIMER_1 //[Uno] D9 PB1/OC1A - [Mega] D11 PB5/OC1A. //#define MOTOR_TIMER_3 //Not available - [Mega] D5 PE3/OC3A. //#define MOTOR_TIMER_4 //Not available - [Mega] D6 PH3/OC4A. #define MOTOR_TIMER_5 //Not available - [Mega] D46 PL3/OC5A. /******************************************************************************************************** * Enumerations. */ enum MOTORSTEPSELECTION { MOTORSTEP_FULL, MOTORSTEP_HALF, MOTORSTEP_QUARTER, MOTORSTEP_EIGHT, MOTORSTEP_SIXTEENTH, }; enum MOTORUPDATE { MOTORUPDATE_NOW, MOTORUPDATE_SYNCHRONIZED, }; /******************************************************************************************************** * Generic prototypes. These are shared for every available motor. */ int8_t stepMotorInit (); //Set I/O configuration, enable the A4988. uint32_t motorTimerGetIOclocksPerSecond (); //Returns the amount of IO Clocks per second (in most cases this will be 16000000). uint32_t motorTimerRPMtoTimerTop32 (float rpm, unsigned int steps_revolution);//Returns the virtual 32bit Timer output compare value for a certain RPM and steps per revolution. //Note: since this function is not aware what motor is used, the steps must be multiplied vs. the mode. //Ex. A 200 step/revolution motor in half step mode requires 400 steps per revolution. /******************************************************************************************************** * Note one may opt to hard-wire A4988 MSx, Enable, Sleep & Reset pins instead of connecting to the Arduino (to reduce used I/O pins). * Comment out the #defines and the code will exclude to drive those pins. Take care one should not select A4988 Microstep mode that is * not possible to drive because of hard-wired A4988 pins! Reducing the pins will also reduce the code size, since there is no need anymore * generate object code to drive these pins. */ #ifdef MOTOR_TIMER_1 int8_t stepMotor1TimerUpdate (uint32_t timTop32); //Step pulses on Digital D11 (Mega) or D9 (Uno). int8_t stepMotor1SetStepMode (MOTORSTEPSELECTION sel, MOTORUPDATE u = MOTORUPDATE_SYNCHRONIZED); int8_t stepMotor1Status (); //Return motor spinnig (=10), position reached (=1), driver active motor not spinning (=0), A4988 not driving (=-1), A4988 Sleeping (=-2). void stepMotor1Sleep (); //Deactivate motor driver power stage. void stepMotor1WakeUp (); //Activate motor driver power stage. void stepMotor1DriverEnable (); //Drive the enable pin active. void stepMotor1DriverDisable (); //Drive the enable pin inactive. void stepMotor1Reset (); //Reset A4988 and reset counters. void stepMotor1EndPointEnable (int32_t endpoint); //Enable certain endpoint (=motor steps). void stepMotor1EndPointDisable (); //Disable endpoint detecttion. void stepMotor1Direction (uint8_t dl); //Set direction pin high or low. int32_t stepMotor1GetPosition (); //Readback present motor position in full steps. //#define A4988_1_SLEEP 44 //Update these Digital I/O pins vs your motor connection. //#define A4988_1_MS1 45 //#define A4988_1_MS2 46 //#define A4988_1_MS3 47 //#define A4988_1_ENABLE 49 //#define A4988_1_RESET 50 #define A4988_1_DIR 48 #endif #ifdef MOTOR_TIMER_3 //Not available on Uno. int8_t stepMotor3TimerUpdate (uint32_t timTop32); //Step pulses on Digital D5 (Mega). int8_t stepMotor3SetStepMode (MOTORSTEPSELECTION sel, MOTORUPDATE u = MOTORUPDATE_SYNCHRONIZED); int8_t stepMotor3Status (); void stepMotor3Sleep (); void stepMotor3WakeUp (); void stepMotor3DriverEnable (); void stepMotor3DriverDisable (); void stepMotor3Reset (); void stepMotor3EndPointEnable (int32_t endpoint); void stepMotor3EndPointDisable (); void stepMotor3Direction (uint8_t dl); int32_t stepMotor3GetPosition (); //#define A4988_3_SLEEP 37 //Update these Digital I/O pins vs your motor connection. //#define A4988_3_MS1 38 //#define A4988_3_MS2 39 //#define A4988_3_MS3 40 //#define A4988_3_ENABLE 42 //#define A4988_3_RESET 43 #define A4988_3_DIR 41 #endif #ifdef MOTOR_TIMER_4 //Not available on Uno. int8_t stepMotor4TimerUpdate (uint32_t timTop32); //Step pulses on Digital D6 (Mega). int8_t stepMotor4SetStepMode (MOTORSTEPSELECTION sel, MOTORUPDATE u = MOTORUPDATE_SYNCHRONIZED); int8_t stepMotor4Status (); void stepMotor4Sleep (); void stepMotor4WakeUp (); void stepMotor4DriverEnable (); void stepMotor4DriverDisable (); void stepMotor4Reset (); void stepMotor4EndPointEnable (int32_t endpoint); void stepMotor4EndPointDisable (); void stepMotor4Direction (uint8_t dl); int32_t stepMotor4GetPosition (); //#define A4988_4_SLEEP 29 //Update these Digital I/O pins vs your motor connection. //#define A4988_4_MS1 30 //#define A4988_4_MS2 31 //#define A4988_4_MS3 32 //#define A4988_4_ENABLE 34 //#define A4988_4_RESET 35 #define A4988_4_DIR 33 #endif #ifdef MOTOR_TIMER_5 //Not available on Uno. int8_t stepMotor5TimerUpdate (uint32_t timTop32); //Step pulses on Digital D46 (Mega). int8_t stepMotor5SetStepMode (MOTORSTEPSELECTION sel, MOTORUPDATE u = MOTORUPDATE_SYNCHRONIZED); int8_t stepMotor5Status (); void stepMotor5Sleep (); void stepMotor5WakeUp (); void stepMotor5DriverEnable (); void stepMotor5DriverDisable (); void stepMotor5Reset (); void stepMotor5EndPointEnable (int32_t endpoint); void stepMotor5EndPointDisable (); void stepMotor5Direction (uint8_t dl); int32_t stepMotor5GetPosition (); #define A4988_5_SLEEP 22 //Update these Digital I/O pins vs your motor connection. #define A4988_5_MS1 23 #define A4988_5_MS2 24 #define A4988_5_MS3 25 #define A4988_5_ENABLE 27 #define A4988_5_RESET 28 #define A4988_5_DIR 26 #endif #endif