Switch to Helper method (library version for use with Marlin PR #13498)

examples/two_motors_synchronized/two_motors_synchronized.ino

@@ -37,146 +37,174 @@
 #define MISO_PIN   13
 #define RESET_PIN  14
 
-class TwoMotors : public L64XXHelper {
-public:
-  TwoMotors() { L64XX::set_helper(*this); }
-
-  /**
-   * Initialize pins for non-library SPI software
-   */
-  static void spi_init() {
-    pinMode(SS_PIN, OUTPUT);
-    pinMode(SCK_PIN, OUTPUT);
-    pinMode(MOSI_PIN, OUTPUT);
-    digitalWrite(SS_PIN, HIGH);
+uint8_t L6470_SpiTransfer_Mode_3(uint8_t b) { // using Mode 3
+  uint8_t bits = 8;
+  do {
+    digitalWrite(SCK_PIN, LOW);
+    digitalWrite(MOSI_PIN, b & 0x80);
+    //DELAY_NS(125);
     digitalWrite(SCK_PIN, HIGH);
-    digitalWrite(MOSI_PIN, HIGH);
-    pinMode(MISO_PIN, INPUT);
-  }
-
-  static inline uint8_t transfer(uint8_t data, const int16_t ss_pin) { }
-
-  /**
-   * Used in all non-motion commands/transfers
-   * Send/receive one uint8_t to the target device. All other devices get a NOOP command.
-   * Data for the last device in the chain is sent out first!
-   */
-  static inline uint8_t transfer(uint8_t data, const int16_t ss_pin, const uint8_t chain_position) {
-    #define CMD_NOP 0
-    uint8_t data_out = 0;
-    data--;
-    // first device in chain has data sent last
-    digitalWrite(ss_pin, LOW);
-
-    for (uint8_t i = L64XX::chain[0]; i >= 1; i--) {
-      uint8_t temp = L6470_SpiTransfer_Mode_3(uint8_t(i == chain_position ? data : CMD_NOP));
-      if (L64XX::chain[i] == chain_position) data_out = temp;
-    }
-
-    digitalWrite(ss_pin, HIGH);
-    return data_out;
-  }
+    b <<= 1;        // little setup time
+    b |= (digitalRead(MISO_PIN) != 0);
+  } while (--bits);
+  //DELAY_NS(125);
+  return b;
+}
 
-  static inline uint8_t L6470_SpiTransfer_Mode_3(uint8_t b) { // using Mode 3
-    uint8_t bits = 8;
-    do {
-      digitalWrite(SCK_PIN, LOW);
-      digitalWrite(MOSI_PIN, b & 0x80);
-      //DELAY_NS(125);
-      digitalWrite(SCK_PIN, HIGH);
-      b <<= 1;        // little setup time
-      b |= (digitalRead(MISO_PIN) != 0);
-    } while (--bits);
-    //DELAY_NS(125);
-    return b;
-  }
+/**
+ * Initialize pins for non-library SPI software
+ */
+static void spi_init() {
+  pinMode(SS_PIN, OUTPUT);
+  pinMode(SCK_PIN, OUTPUT);
+  pinMode(MOSI_PIN, OUTPUT);
+  digitalWrite(SS_PIN, HIGH);
+  digitalWrite(SCK_PIN, HIGH);
+  digitalWrite(MOSI_PIN, HIGH);
+  pinMode(MISO_PIN, INPUT);
+}
 
-  /**
-   * This is the routine that sends the motion commands.
-   *
-   * This routine sends a buffer of data to be filled by the application. The
-   * library is not involved with it.
-   */
-  static inline void Buffer_Transfer(uint8_t buffer[], const uint8_t length) {
-    //uint8_t buffer[number of steppers + 1];
-      // [0] - not used
-      // [1] - command for first device
-      // [2] - command for second device
-
-    // first device in chain has data sent last
-    digitalWrite(SS_PIN, LOW);
-    for (uint8_t i = length; i >= 1; i--)
-      buffer[i] = L6470_SpiTransfer_Mode_3(uint8_t (buffer[i]));
-    digitalWrite(SS_PIN, HIGH);
-  }
+/**
+ * Used in all non-motion commands/transfers
+ *
+ * Send/receive one uint8_t to the target device. All other devices get a NOOP command.
+ *
+ * Data for the last device in the chain is sent out first!
+ *
+ * The library will automatically link to "uint8_t L64XX::transfer(uint8_t,int16_t,uint8_t)"
+ */
 
-  static inline void goTo(long location_1, long location_2) {
-    // the command string to move a stepper to an absolute position is
-    // four uint8_t long so four arraya are used for convenience
+ uint8_t L64XX::transfer(uint8_t data, const int16_t ss_pin, const uint8_t chain_position) {
 
-    uint8_t buffer_command[3] = { dSPIN_GOTO, dSPIN_GOTO };  // create and fill buffer with commands
+  #define CMD_NOP 0
+  uint8_t data_out = 0;
+  data--;
+  // first device in chain has data sent last
+  digitalWrite(ss_pin, LOW);
 
-    if (location_1 > 0x3FFFFF) location_1 = 0x3FFFFF;  // limit to 22 bits
-    if (location_1 > 0x3FFFFF) location_1 = 0x3FFFFF;
+  for (uint8_t i = L64XX::chain[0]; i >= 1; i--) {
+    uint8_t temp = L6470_SpiTransfer_Mode_3(uint8_t(i == chain_position ? data : CMD_NOP));
+    if (L64XX::chain[i] == chain_position) data_out = temp;
+  }
 
-    uint8_t addr21_16[3] = { 0, uint8_t(location_1 >> 16), uint8_t(location_2 >> 16) };
-    uint8_t addr15_8[3]  = { 0, uint8_t(location_1 >>  8), uint8_t(location_2 >>  8) };
-    uint8_t addr7_0[3]   = { 0, uint8_t(location_1)      , uint8_t(location_2)       };
+  digitalWrite(ss_pin, HIGH);
+  return data_out;
+}
 
-    Buffer_Transfer(buffer_command, L64XX::chain[0]);  // send the commands
-    Buffer_Transfer(addr21_16     , L64XX::chain[0]);  // send the MSB of the position
-    Buffer_Transfer(addr15_8      , L64XX::chain[0]);
-    Buffer_Transfer(addr7_0       , L64XX::chain[0]);  // this one results in the motors moving
-  }
+uint8_t L64XX::transfer(uint8_t data, const int16_t ss_pin) { }
 
-  static inline void _setup() {
-    pinMode(RESET_PIN,OUTPUT);        // Reset all drivers
-    digitalWrite(RESET_PIN, LOW);     // Do this before any setup commands are sent to the drivers
-    delay(10);
-    digitalWrite(RESET_PIN, HIGH);
-
-    stepperA.set_chain_info(56, 1);   // Completely setup chain[] before
-    stepperB.set_chain_info(56, 2);   // Any SPI traffic is sent
-
-    stepperA.init();
-    stepperA.setAcc(100);             // Set acceleration
-    stepperA.setMaxSpeed(800);
-    stepperA.setMinSpeed(1);
-    stepperA.setMicroSteps(2);        // 1,2,4,8,16,32,64 or 128
-    stepperA.setThresholdSpeed(1000);
-    stepperA.setOverCurrent(6000);    // Set overcurrent protection
-    stepperA.setStallCurrent(3000);
-
-    stepperB.init();
-    stepperB.setAcc(100);             // Set acceleration
-    stepperB.setMaxSpeed(800);
-    stepperB.setMinSpeed(1);
-    stepperB.setMicroSteps(2);        // 1,2,4,8,16,32,64 or 128
-    stepperB.setThresholdSpeed(1000);
-    stepperB.setOverCurrent(6000);    // Set overcurrent protection
-    stepperB.setStallCurrent(3000);
-
-    goTo(200,200);                    // Spin the motors at the same time
-  }
+/**
+ * This is the routine that sends the motion commands.
+ *
+ * This routine sends a buffer of data that is filled by the application.  The
+ * library is not involved with it.
+ */
 
-  static inline void _loop() {
-    while (stepperB.isBusy()) delay(10);
-    goTo(-200,-200);
-    while (stepperB.isBusy()) delay(10);
-    goTo(2000,2000);
-  }
+//uint8_t buffer[number of steppers + 1];
+  // [0] - not used
+  // [1] - command for first device
+  // [2] - command for second device
 
-private:
-  static L6470 stepperA;
-  static L6480 stepperB;
-  static powerSTEP01 stepperC;
-};
+void Buffer_Transfer(uint8_t buffer[] , uint8_t length) {
+  // first device in chain has data sent last
+  digitalWrite(SS_PIN, LOW);
+  for (uint8_t i = length; i >= 1; i--)
+    buffer[i] = L6470_SpiTransfer_Mode_3(uint8_t (buffer[i]));
+  digitalWrite(SS_PIN, HIGH);
+}
 
-L6470 TwoMotors::stepperA(SS_PIN);
-L6480 TwoMotors::stepperB(SS_PIN);
-powerSTEP01 TwoMotors::stepperC(SS_PIN);
+/**
+ * Initialize pins for non-library SPI software
+ *
+ * The library will automatically link to "void L64XX::spi_init()"
+ */
 
-TwoMotors two_motors;
+void L64XX::spi_init() {
+  pinMode(SS_PIN, OUTPUT);
+  pinMode(SCK_PIN, OUTPUT);
+  pinMode(MOSI_PIN, OUTPUT);
+  digitalWrite(SS_PIN, HIGH);
+  digitalWrite(SCK_PIN, HIGH);
+  digitalWrite(MOSI_PIN, HIGH);
+  pinMode(MISO_PIN, INPUT);
+}
+
+void goTo(long location_1, long location_2) {
+  // the command string to move a stepper to an absolute position is
+  // four uint8_t long so four arraya are used for convenience
+
+  uint8_t buffer_command[3] = { dSPIN_GOTO, dSPIN_GOTO };  // create and fill buffer with commands
+
+  if (location_1 > 0x3FFFFF) location_1 = 0x3FFFFF;  // limit to 22 bits
+  if (location_1 > 0x3FFFFF) location_1 = 0x3FFFFF;
+
+  uint8_t addr21_16[3] = { 0, uint8_t(location_1 >> 16), uint8_t(location_2 >> 16) };
+  uint8_t addr15_8[3]  = { 0, uint8_t(location_1 >>  8), uint8_t(location_2 >>  8) };
+  uint8_t addr7_0[3]   = { 0, uint8_t(location_1)      , uint8_t(location_2)       };
+
+  Buffer_Transfer(buffer_command, L64XX::chain[0]);  // send the commands
+  Buffer_Transfer(addr21_16     , L64XX::chain[0]);  // send the MSB of the position
+  Buffer_Transfer(addr15_8      , L64XX::chain[0]);
+  Buffer_Transfer(addr7_0       , L64XX::chain[0]);  // this one results in the motors moving
+}
+
+//////////////////////////////////////////////////////////////////////
+
+void setup() {
+
+  Serial.begin(115200);
+
+  L6470 stepperA(SS_PIN, spi_init, transfer, chain_transfer);
+  //L6480 stepperB(SS_PIN, spi_init, transfer, chain_transfer);
+  //powerSTEP01 stepperC(SS_PIN);
+
+  return;
+
+  /*
+  pinMode(RESET_PIN,OUTPUT);        // Reset all drivers
+  digitalWrite(RESET_PIN, LOW);     // Do this before any setup commands are sent to the drivers
+  delay(10);
+  digitalWrite(RESET_PIN, HIGH);
+
+  stepperA.set_chain_info(56, 1);   // Completely setup chain[] before
+  stepperB.set_chain_info(56, 2);   // Any SPI traffic is sent
+
+  stepperA.init();
+  stepperA.setAcc(100);             // Set acceleration
+  stepperA.setMaxSpeed(800);
+  stepperA.setMinSpeed(1);
+  stepperA.setMicroSteps(2);        // 1,2,4,8,16,32,64 or 128
+  stepperA.setThresholdSpeed(1000);
+  stepperA.setOverCurrent(6000);    // Set overcurrent protection
+  stepperA.setStallCurrent(3000);
+
+  stepperB.init();
+  stepperB.setAcc(100);             // Set acceleration
+  stepperB.setMaxSpeed(800);
+  stepperB.setMinSpeed(1);
+  stepperB.setMicroSteps(2);        // 1,2,4,8,16,32,64 or 128
+  stepperB.setThresholdSpeed(1000);
+  stepperB.setOverCurrent(6000);    // Set overcurrent protection
+  stepperB.setStallCurrent(3000);
+
+  goTo(200,200);                    // Spin the motors at the same time
+  */
+}
+
+void loop() {
+
+  static uint32_t next_ms = millis() + 500UL;
+  uint32_t ms = millis();
+  if (ms >= next_ms) {
+    Serial.println("tick");
+    next_ms = ms + 500UL;
+  }
 
-void setup() { two_motors._setup(); }
-void loop() { two_motors._loop(); }
+  return;
+  /*
+  while (stepperB.isBusy()) delay(10);
+  goTo(-200,-200);
+  while (stepperB.isBusy()) delay(10);
+  goTo(2000,2000);
+  */
+}

library.json

@@ -7,7 +7,7 @@
     "type": "git",
     "url": "https://github.com/ameyer/Arduino-L6470.git"
   },
-  "version": "0.7.0",
+  "version": "0.8.0",
   "authors":
   [
     {

library.properties

@@ -1,5 +1,5 @@
 name=Arduino-L6470
-version=0.7.0
+version=0.8.0
 author=Adam Meyer <[email protected]>
 maintainer=Adam Meyer <[email protected]>, Scott Lahteine <[email protected]>
 sentence=L6470 stepper driver library