Merge branch 'release/1.1.1'

.gitignore

@@ -26,3 +26,10 @@
 *.exe
 *.out
 *.app
+
+# Eclipse
+.*project
+
+# VScode
+.vscode
+

keywords.txt

@@ -1,6 +1,7 @@
 StepperDriver KEYWORD1
 
 BasicStepperDriver KEYWORD1
+DRV8880 KEYWORD1
 DRV8834 KEYWORD1
 DRV8824 KEYWORD1
 DRV8825 KEYWORD1
@@ -14,6 +15,7 @@ move KEYWORD2
 rotate KEYWORD2
 setRPM KEYWORD2
 getRPM KEYWORD2
+setCurrent KEYWORD2
 enable KEYWORD2
 disable KEYWORD2
 startMove KEYWORD2

library.properties

@@ -1,9 +1,9 @@
 name=StepperDriver
-version=1.1.0
+version=1.1.1
 author=Laurentiu Badea
 maintainer=Laurentiu Badea
 sentence=A4988, DRV8825 and generic two-pin stepper motor driver library.
-paragraph=Control steppers via a driver board providing STEP+DIR. Microstepping is supported. Acceleration is supported. Supported drivers are A4988, DRV8824, DRV8825, DRV8834.
+paragraph=Control steppers via a driver board providing STEP+DIR. Microstepping is supported. Acceleration is supported. Supported drivers are A4988, DRV8824, DRV8825, DRV8834, DRV8880.
 category=Device Control
 url=https://github.com/laurb9/StepperDriver
 architectures=*

src/DRV8880.cpp

@@ -0,0 +1,120 @@
+/*
+ * DRV8880 - 2A Stepper Motor Driver with AutoTune and Torque Control
+ *
+ * Copyright (C)2017 Laurentiu Badea
+ *
+ * This file may be redistributed under the terms of the MIT license.
+ * A copy of this license has been included with this distribution in the file LICENSE.
+ */
+#include "DRV8880.h"
+
+/*
+ * Basic connection: only DIR, STEP are connected.
+ * Microstepping controls should be hardwired.
+ */
+DRV8880::DRV8880(short steps, short dir_pin, short step_pin)
+:BasicStepperDriver(steps, dir_pin, step_pin)
+{}
+
+DRV8880::DRV8880(short steps, short dir_pin, short step_pin, short enable_pin)
+:BasicStepperDriver(steps, dir_pin, step_pin, enable_pin)
+{}
+
+/*
+ * Fully wired. All the necessary control pins for DRV8880 are connected.
+ */
+DRV8880::DRV8880(short steps, short dir_pin, short step_pin, short m0, short m1)
+:BasicStepperDriver(steps, dir_pin, step_pin), m0(m0), m1(m1)
+{}
+
+DRV8880::DRV8880(short steps, short dir_pin, short step_pin, short enable_pin, short m0, short m1)
+:BasicStepperDriver(steps, dir_pin, step_pin, enable_pin), m0(m0), m1(m1)
+{}
+
+DRV8880::DRV8880(short steps, short dir_pin, short step_pin, short m0, short m1, short trq0, short trq1)
+:BasicStepperDriver(steps, dir_pin, step_pin), m0(m0), m1(m1), trq0(trq0), trq1(trq1)
+{}
+
+DRV8880::DRV8880(short steps, short dir_pin, short step_pin, short enable_pin, short m0, short m1, short trq0, short trq1)
+:BasicStepperDriver(steps, dir_pin, step_pin, enable_pin), m0(m0), m1(m1), trq0(trq0), trq1(trq1)
+{}
+
+void DRV8880::begin(short rpm, short microsteps){
+    BasicStepperDriver::begin(rpm, microsteps);
+    setCurrent(100);
+}
+
+short DRV8880::getMaxMicrostep(){
+    return DRV8880::MAX_MICROSTEP;
+}
+
+/*
+ * Set microstepping mode (1:divisor)
+ * Allowed ranges for DRV8880 are 1:1 to 1:16
+ * If the control pins are not connected, we recalculate the timing only
+ */
+short DRV8880::setMicrostep(short microsteps){
+    BasicStepperDriver::setMicrostep(microsteps);
+
+    if (!IS_CONNECTED(m0) || !IS_CONNECTED(m1)){
+        return this->microsteps;
+    }
+
+    /*
+     * Step mode truth table
+     * M1 M0    step mode
+     *  0  0     1
+     *  1  0     2
+     *  1  1     4
+     *  0  Z     8
+     *  1  Z    16
+     *
+     *  0  1     2 (non-circular, not implemented)
+     *  Z = high impedance mode (M0 is tri-state)
+     */
+
+    pinMode(m1, OUTPUT);
+    pinMode(m0, OUTPUT);
+    switch(this->microsteps){
+        case 1:
+            digitalWrite(m1, LOW);
+            digitalWrite(m0, LOW);
+            break;
+        case 2:
+            digitalWrite(m1, HIGH);
+            digitalWrite(m0, LOW);
+            break;
+        case 4:
+            digitalWrite(m1, HIGH);
+            digitalWrite(m0, HIGH);
+            break;
+        case 8:
+            digitalWrite(m1, LOW);
+            pinMode(m0, INPUT); // Z - high impedance
+            break;
+        case 16:
+            digitalWrite(m1, HIGH);
+            pinMode(m0, INPUT); // Z - high impedance
+            break;
+    }
+    return this->microsteps;
+}
+
+void DRV8880::setCurrent(short percent){
+    /*
+     * Torque DAC Settings table
+     * TRQ1 TRQ0 Current scalar
+     *  1     1       25%
+     *  1     0       50%
+     *  0     1       75%
+     *  0     0      100%
+     */
+    if (!IS_CONNECTED(trq1) || !IS_CONNECTED(trq0)){
+        return;
+    }
+    pinMode(trq1, OUTPUT);
+    pinMode(trq0, OUTPUT);
+    percent = (100-percent)/25;
+    digitalWrite(trq1, percent & 2);
+    digitalWrite(trq0, percent & 1);
+}

src/DRV8880.h

@@ -0,0 +1,63 @@
+/*
+ * DRV8880 - 2A Stepper Motor Driver with AutoTune and Torque Control
+ *
+ * Copyright (C)2017 Laurentiu Badea
+ *
+ * This file may be redistributed under the terms of the MIT license.
+ * A copy of this license has been included with this distribution in the file LICENSE.
+ */
+#ifndef DRV8880_H
+#define DRV8880_H
+#include <Arduino.h>
+#include "BasicStepperDriver.h"
+
+class DRV8880 : public BasicStepperDriver {
+protected:
+    short m0 = PIN_UNCONNECTED;
+    short m1 = PIN_UNCONNECTED;
+    short trq0 = PIN_UNCONNECTED;
+    short trq1 = PIN_UNCONNECTED;
+    // tWH(STEP) pulse duration, STEP high, min value
+    static const int step_high_min = 0;   // 0.47us
+    // tWL(STEP) pulse duration, STEP low, min value
+    static const int step_low_min = 0;    // 0.47us
+    // tWAKE wakeup time, nSLEEP inactive to STEP
+    static const int wakeup_time = 1500;
+    // also 200ns between ENBL/DIR/Mx changes and STEP HIGH
+
+    // Get max microsteps supported by the device
+    short getMaxMicrostep() override;
+
+private:
+    // microstep range (1, 16, 32 etc)
+    static const short MAX_MICROSTEP = 16;
+
+public:
+    /*
+     * Basic connection: only DIR, STEP are connected.
+     * Microstepping controls should be hardwired.
+     */
+    DRV8880(short steps, short dir_pin, short step_pin);
+    DRV8880(short steps, short dir_pin, short step_pin, short enable_pin);
+    /*
+     * DIR, STEP and microstep control M0, M1
+     */
+    DRV8880(short steps, short dir_pin, short step_pin, short m0, short m1);
+    DRV8880(short steps, short dir_pin, short step_pin, short enable_pin, short m0, short m1);
+    /*
+     * Fully Wired - DIR, STEP, microstep and current control
+     */
+    DRV8880(short steps, short dir_pin, short step_pin, short m0, short m1, short trq0, short trq1);
+    DRV8880(short steps, short dir_pin, short step_pin, short enable_pin, short m0, short m1, short trq0, short trq1);
+
+    void begin(short rpm=60, short microsteps=1);
+
+    short setMicrostep(short microsteps) override;
+
+    /*
+     * Torque DAC Control
+     * current percent value must be 25, 50, 75 or 100.
+     */
+    void setCurrent(short percent=100);
+};
+#endif // DRV8880_H