File content as of revision 0:5253455d51ec:

#include "StepperMotor.h"
#include "mbed.h"

//Table for motor steps
static uint8_t ptn_ClockWise_1x1[]     = {0x01, 0x02, 0x04, 0x08};
static uint8_t ptn_AntiClockWise_1x1[] = {0x08, 0x04, 0x02, 0x01};

static uint8_t ptn_ClockWise_2x2[]     = {0x03, 0x06, 0x0C, 0x09};
static uint8_t ptn_AntiClockWise_2x2[] = {0x09, 0x0C, 0x06, 0x03};

static uint8_t ptn_ClockWise_1x2[]     = {0x03, 0x02, 0x06, 0x04, 0x0C, 0x08, 0x09, 0x01};
static uint8_t ptn_AntiClockWise_1x2[] = {0x01, 0x09, 0x08, 0x0C, 0x04, 0x06, 0x02, 0x03};

static speed_data_t speed_data [] =
{
    {     1,0,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},   // 0
    {1000*2,5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},   // 1
    {500*2, 5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},   // 2
    {333*2, 5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},   // 3
    {250*2, 5,ptn_ClockWise_1x2,ptn_AntiClockWise_1x2,8},   // 4
    {200,   7,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},   // 5
    {167,   8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},   // 6
    {143,   8,ptn_ClockWise_1x1,ptn_AntiClockWise_1x1,4},   // 7
    {125,   9,ptn_ClockWise_1x1,ptn_AntiClockWise_2x2,4},   // 8
    {111,  10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4},   // 9
    {100,  10,ptn_ClockWise_2x2,ptn_AntiClockWise_2x2,4}    // 10
};



// Constractor
StepperMotor::StepperMotor(PinName x_pin_no, PinName y_pin_no, PinName nx_pin_no, PinName ny_pin_no)
        : _x(x_pin_no), _y(y_pin_no), _nx(nx_pin_no), _ny(ny_pin_no) {
}

// Destrutctor
StepperMotor::~StepperMotor() {
}

//
void StepperMotor::PulseEnable(void) {
    Pulse.attach_us(this,&StepperMotor::SetPulse14us,PULSE_INTERVAL);
}

//
void StepperMotor::PulseDisable(void) {
    Pulse.detach();
}

void StepperMotor::SetSpeed(int speed, motor_dir direction) {

    if (speed > 10) speed = 10;
    if (speed < 0) speed =0;


    pwm_ratio = speed_data[speed].pwm_ratio;
    max_pulse_count = speed_data[speed].max_pulse_count;
    
    if (direction == CLOCK_WISE) {
        ptn = speed_data[speed].clockwise_ptn;
    }
    else {
        ptn = speed_data[speed].anticlockwise_ptn;        
    }
    ptn_count = speed_data[speed].ptn_count;

    pulse_count = 0;
    ptn_index = 0;

    pwm_on_count = pwm_ratio;
    pwm_off_count = 10 - pwm_ratio;

    state = PWM_ON;
}


/* private functions */

void StepperMotor::SetPulse14us(void) {

    if (++pulse_count == max_pulse_count) {
        pulse_count = 0;

        if (++ptn_index == ptn_count) {
            ptn_index = 0;
        }
        ptn_data = ptn[ptn_index];
    }

    if (pwm_ratio == 10) {
        PulseOut();
    } else if (pwm_ratio == 0) {
        PulseStop();
    } else {
        switch (state) {
            case PWM_ON:
                if (--pwm_on_count !=0) {
                    PulseOut();
                } else {
                    pwm_on_count = pwm_ratio;
                    state = PWM_OFF;
                }
                break;
            case PWM_OFF:
                if (--pwm_off_count != 0) {
                    PulseStop();
                } else {
                    pwm_off_count = 10 - pwm_ratio;
                    state = PWM_ON;
                }
                break;
        }
    }
}

void StepperMotor::PulseOut(void) {
    //X
    if ((ptn_data & 0x01) == 0x01) {
        _x = 1;
    } else {
        _x = 0;
    }
    //Y
    if ((ptn_data & 0x02) == 0x02) {
        _y = 1;
    } else {
        _y = 0;
    }
    //Negative X
    if ((ptn_data & 0x04) == 0x04) {
        _nx = 1;
    } else {
        _nx = 0;
    }
    //Negative Y
    if ((ptn_data & 0x08) == 0x08) {
        _ny = 1;
    } else {
        _ny = 0;
    }
}

void StepperMotor::PulseStop(void) {
    _x = 0;
    _y = 0;
    _nx = 0;
    _ny = 0;
}