Merge pull request #75 from ramboerik/feature-stm32f4

Added support for stm32f4

Author: luni64

.gitignore

@@ -1,4 +1,4 @@
-# Windows image file caches 
+# Windows image file caches
 Thumbs.db
 ehthumbs.db
 
@@ -52,3 +52,7 @@ $RECYCLE.BIN/
 Network Trash Folder
 Temporary Items
 .apdisk
+
+
+.pio
+.vscode

README.md

@@ -7,7 +7,7 @@ Please note: This is version 2 of the library. This version has a new user inter
 
 
 ## Purpose of the Library
-**TeensyStep** is an efficient Arduino library compatible with Teensy 3.0, 3.1, 3.2, 3.5 and 3.6. The library is able to handle synchronous and independent movement and continuous rotation of steppers with pulse rates of up to 300'000 steps per second. The following table shows a summary of the **TeensyStep** specification:
+**TeensyStep** is an efficient Arduino library compatible with Teensy 3.0, 3.1, 3.2, 3.5, 3.6 and STM32F4. The library is able to handle synchronous and independent movement and continuous rotation of steppers with pulse rates of up to 300'000 steps per second. The following table shows a summary of the **TeensyStep** specification:
 
 | Description                                | Specification             | Default          |
 |:-------------------------------------------|:-------------------------:|:----------------:|

library.json

@@ -1,7 +1,7 @@
 {
   "name": "TeensyStep",
-  "keywords": "teensy, stepper, motor, high-speed",
-  "description": "High speed stepper driver for teensy boards (T3.0 - T3.6)",
+  "keywords": "teensy, stm32f4, stepper, motor, high-speed",
+  "description": "High speed stepper driver for teensy boards (T3.0 - T3.6) and STM32F4",
   "repository":
   {
     "type": "git",
@@ -17,5 +17,5 @@
   "homepage": "https://luni64.github.io/TeensyStep",
   "version": "2.1",
   "frameworks": "arduino",
-  "platforms": "Teensy"
+  "platforms": ["Teensy", "stm32"]
 }

library.properties

@@ -2,7 +2,7 @@ name=TeensyStep
 version=2.1
 author=Lutz Niggl <lutz.niggl@lunoptics.com>
 maintainer=Lutz Niggl <lutz.niggl@lunoptics.com>
-sentence=High speed stepper driver for PJRC Teensy boards (T3.0 - T3.6)
+sentence=High speed stepper driver for PJRC Teensy boards (T3.0 - T3.6) and STM32F4
 paragraph= Step rates up to 300000stp/sec. Accelerated and synchronized movement of up to 10 steppers. Due to the low processor load it can easily be used togehter with sensors, displays, serial communication ...
 category=Device Control
 url=https://luni64.github.io/TeensyStep/

src/ErrorHandler.cpp

@@ -1,12 +1,12 @@
-#include "ErrorHandler.h"
 #include <Arduino.h>
+#include "ErrorHandler.h"
 
 namespace TeensyStep
-{    
-    static Stream* stream;   
+{
+    static Stream* stream;
 
     static void vHandler(int module, int code)
-    {       
+    {
         const char* mod;
         const char* txt;
 
@@ -20,16 +20,16 @@ namespace TeensyStep
                     case pitErr::argErr:      txt = "BUG, argument error"; break;
                     case pitErr::notAllocated:txt = "BUG, timer not allocated"; break;
                     default:                  txt = "unknown"; break;
-                }                
-                break;           
+                }
+                break;
 
             case errModule::MC: //------------------------------------------
                 mod = "CTRL";
                 switch ((mcErr)code)
                 {
                     case mcErr::alrdyMoving:  txt = "Started while moving"; break;
                     default:                  txt = "unknown"; break;
-                }                
+                }
                 break;
 
             default: //------------------------------------------------------
@@ -41,7 +41,7 @@ namespace TeensyStep
 
         while (true)
         {
-            digitalWriteFast(LED_BUILTIN, !digitalReadFast(LED_BUILTIN));
+            digitalToggle(LED_BUILTIN);
             delay(50);
         }
     }
@@ -53,4 +53,4 @@ namespace TeensyStep
     }
 
     errCallback_t* ErrorHandler::callback = nullptr;
-}
+}

src/ErrorHandler.h

@@ -12,7 +12,7 @@ namespace TeensyStep
     {
      public:
         static int error(errModule module, int code)
-        {            
+        {
             if (callback != nullptr) callback((int)module, code);
             return code;
         }
@@ -27,19 +27,19 @@ namespace TeensyStep
     enum class errModule {
         PIT = 1,
         MC,
-        RB 
+        RB
     };
 
     enum class pitErr {
         OK,
         argErr,
         notAllocated,
         outOfTimers,
-        
+
     };
 
     enum class mcErr {
         OK,
-        alrdyMoving,        
+        alrdyMoving,
     };
-}
+}

src/RotateControlBase.h

@@ -1,8 +1,8 @@
 #pragma once
 
-#include "MotorControlBase.h"
-#include "core_pins.h"
 #include <algorithm>
+#include <Arduino.h>
+#include "MotorControlBase.h"
 
 namespace TeensyStep
 {
@@ -166,4 +166,4 @@ namespace TeensyStep
             delay(1);
         }
     }
-}
+}

src/Stepper.cpp

@@ -1,5 +1,5 @@
+#include <Arduino.h>
 #include "Stepper.h"
-#include "core_pins.h"
 
 namespace TeensyStep
 {
@@ -18,6 +18,7 @@ namespace TeensyStep
 
     Stepper& Stepper::setStepPinPolarity(int polarity)
     {
+#if defined(__MK20DX128__) || defined(__MK20DX256__) || defined(__MK64FX512__) || defined(__MK66FX1M0__)
         // Calculate adresses of bitbanded pin-set and pin-clear registers
         uint32_t pinRegAddr = (uint32_t)digital_pin_to_info_PGM[stepPin].reg; //GPIO_PDOR
         uint32_t* pinSetReg = (uint32_t*)(pinRegAddr + 4 * 32);               //GPIO_PSOR = GPIO_PDOR + 4
@@ -33,12 +34,18 @@ namespace TeensyStep
             stepPinActiveReg = pinSetReg;
             stepPinInactiveReg = pinClearReg;
         }
+#else
+        this->polarity = polarity;
+#endif
+        clearStepPin(); // set step pin to inactive state
+        return *this;
         clearStepPin(); // set step pin to inactive state
         return *this;
     }
 
     Stepper& Stepper::setInverseRotation(bool reverse)
     {
+#if defined(__MK20DX128__) || defined(__MK20DX256__) || defined(__MK64FX512__) || defined(__MK66FX1M0__)
         // Calculate adresses of bitbanded pin-set and pin-clear registers
         uint32_t pinRegAddr = (uint32_t)digital_pin_to_info_PGM[dirPin].reg; //GPIO_PDOR
         uint32_t* pinSetReg = (uint32_t*)(pinRegAddr + 4 * 32);              //GPIO_PSOR = GPIO_PDOR + 4
@@ -53,6 +60,9 @@ namespace TeensyStep
             dirPinCwReg = pinSetReg;
             dirPinCcwReg = pinClearReg;
         }
+#else
+        this->reverse = reverse;
+#endif
         return *this;
     }
 

src/Stepper.h

@@ -55,10 +55,15 @@ namespace TeensyStep
         static bool cmpVmax(const Stepper* a, const Stepper* b) { return std::abs(a->vMax) > std::abs(b->vMax); }
 
         // Pin & Dir registers
+#if defined(__MK20DX128__) || defined(__MK20DX256__) || defined(__MK64FX512__) || defined(__MK66FX1M0__)
         volatile uint32_t* stepPinActiveReg;
         volatile uint32_t* stepPinInactiveReg;
         volatile uint32_t* dirPinCwReg;
         volatile uint32_t* dirPinCcwReg;
+#else
+        volatile uint8_t polarity;
+        volatile uint8_t reverse;
+#endif
         const int stepPin, dirPin;
 
         // Friends
@@ -73,12 +78,13 @@ namespace TeensyStep
     };
 
     // Inline implementation -----------------------------------------
-
+#if defined(__MK20DX128__) || defined(__MK20DX256__) || defined(__MK64FX512__) || defined(__MK66FX1M0__)
     void Stepper::doStep()
     {
         *stepPinActiveReg = 1;
         current += dir;
     }
+
     void Stepper::clearStepPin() const
     {
         *stepPinInactiveReg = 1;
@@ -87,11 +93,29 @@ namespace TeensyStep
     void Stepper::setDir(int d)
     {
         dir = d;
-        dir == 1 ? * dirPinCwReg = 1 : * dirPinCcwReg = 1;
+        dir == 1 ? *dirPinCwReg = 1 : *dirPinCcwReg = 1;
+    }
+#else
+    void Stepper::doStep()
+    {
+        digitalWrite(stepPin, polarity);
+        current += dir;
+    }
+
+    void Stepper::clearStepPin() const
+    {
+        digitalWrite(stepPin, !polarity);
+    }
+
+    void Stepper::setDir(int d)
+    {
+        dir = d;
+        digitalWrite(dirPin, dir == 1 ? reverse : !reverse);
     }
+#endif
 
     void Stepper::toggleDir()
     {
         setDir(-dir);
     }
-}
+}

src/TeensyStep.h

@@ -22,8 +22,8 @@
 
 //STM32 ====================================================================================================
 
-#elif defined(__STM32_TBD__)
-#include "timers/STM32/TimerField.h"
+#elif defined(STM32F4xx)
+#include "timer/stm32/TimerField.h"
 
 //Some other hardware ======================================================================================
 

src/accelerators/LinStepAccelerator.h

@@ -68,7 +68,7 @@ int32_t LinStepAccelerator::prepareMovement(int32_t currentPos, int32_t targetPo
         // hack, call some error callback instead
         while (1)
         {
-            digitalWriteFast(LED_BUILTIN, !digitalReadFast(LED_BUILTIN));
+            digitalToggle(LED_BUILTIN);
             delay(25);
         }
     }
@@ -123,4 +123,4 @@ uint32_t LinStepAccelerator::initiateStopping(int32_t curPos)
     {
         return ds - stepsDone; // return steps to go
     }
-}
+}

src/accelerators/SinRotAccelerator.h

@@ -29,7 +29,7 @@ class SinRotAccelerator
 
     inline float signed_sqrt(int32_t x) // signed square root
     {
-        return x > 0 ? sqrtf(x) : -sqrtf(-x);
+        return x > 0 ? sqrt(x) : -sqrt(-x);
     }
 };
 

src/timer/TimerFieldBase.h

@@ -3,7 +3,7 @@
 class ITimerField
 {
 public:
-  ITimerField(TF_Handler *);
+  ITimerField(TeensyStep::TF_Handler *);
 
   virtual bool begin()=0;
   virtual void end()=0;
@@ -19,4 +19,4 @@ class ITimerField
 
   virtual void setPulseWidth(unsigned delay)=0;
   virtual void triggerDelay()=0;
-};
+};

src/timer/generic/TickTimer.cpp

@@ -5,5 +5,6 @@ void std::__throw_bad_function_call()
     while(1);
 }
 
+float PeriodicTimer::minFrequency = (float)F_CPU / std::numeric_limits<uint32_t>::max();
 TimerBase* TimerControl::firstTimer = nullptr;
-TimerBase* TimerControl::lastTimer = nullptr;
+TimerBase* TimerControl::lastTimer = nullptr;