Code Body

To use this file copy and paste this: // #URL-lib "http://pin1.org/forthlib/flb/I2C/BV4213.flb" into BV Terminal 3 or here to download.

// HISTORY: // March 2008 * error with VER, fixed

// REQUIRES: // #URL-lib "http://pin1.org/forthlib/flb/General/soft1.flb" // #URL-lib "http://pin1.org/forthlib/flb/General/pinsel.flb" // #URL-lib "http://pin1.org/forthlib/flb/I2C/i2c.flb"

// CONSTANTS: integer device // holds i2c address // holds stepper parameters integer steps integer direction integer speedval integer hf integer rampval

Full Contents of File

// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
// BV4213 Motor controller
// This has an I2c interface and also a step and direction
// interface. When using the I2C interface it can also do PWM
// Capable of driving 4 dc motors 1 way, 2 DC motors fwd and rev
// or 1 stepper motor
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *

// HISTORY:
// March 2008 * error with VER, fixed

// REQUIRES:
// #URL-lib "http://pin1.org/forthlib/flb/General/soft1.flb"
// #URL-lib "http://pin1.org/forthlib/flb/General/pinsel.flb"
// #URL-lib "http://pin1.org/forthlib/flb/I2C/i2c.flb"

// CONSTANTS:
i n t e g e r d e v i c e // holds i2c address
// holds stepper parameters
i n t e g e r s t e p s
i n t e g e r d i r e c t i o n
i n t e g e r s p e e d v a l
i n t e g e r h f
i n t e g e r r a m p v a l

: i2s d e v i c e s ; // all words begin with this
// --------- Stepper control --------------------------

: a20 i 2 s &2 0 s b p ; // start - continuous step
: a21 i 2 s &2 1 s b p ; // stop
: a21a i 2 s &2 1 s b 1 s b p ; // stop with break
: a22 ( steps -- ) i 2 s &2 2 s b d u p &f f 0 0 a n d 8 r s h i f t s b &f f a n d s b p ;
// gets stepper parameters and puts them in the integer variables
: a24 ( -- [integers] ) i 2 s &2 4 s b d e v i c e 1 + r s
r n 8 l s h i f t r n + // steps
3 f o r r n n e x t r l p
=> r a m p v a l => h f => s p e e d v a l => d i r e c t i o n => s t e p s ;
: steps?a 2 4 s t e p s ; // # steps to go
// stores parameters
: a23 ( [integers] -- ) i 2 s &2 3 s b d i r e c t i o n s b s p e e d v a l s b
h f s b r a m p v a l s b p ;
: dir ( 1|0 -- ) => d i r e c t i o n a 2 3 ; // set direction
: speed ( n -- ) => s p e e d v a l a 2 3 ; // set speed
: h/f ( 0|1 -- ) => h f a 2 3 ; // set half or full step
: ramp ( n -- ) => 0 m a x 8 m i n r a m p v a l a 2 3 ; // set ramp up 0-8

// ---------------- DC Motor --------------------------
: a1 ( 0|1 -- ) i 2 s 1 s b s b p ; // enable y1,y2
: a2 ( 0|1 -- ) i 2 s 2 s b s b p ; // enable y1,y2
: a3 ( 0|1 -- ) i 2 s 3 s b s b p ; // power off / on
: a4 ( 0-4 -- ) i 2 s 4 s b s b p ; // differential Y1,y2
: a5 ( 0-4 -- ) i 2 s 5 s b s b p ; // diferentail Y3,Y4
: a11 ( 0|1 -- ) i 2 s &1 1 s b s b p ; // Yn output
: a12 ( 0|1 -- ) i 2 s &1 2 s b s b p ; // Yn output
: a13 ( 0|1 -- ) i 2 s &1 3 s b s b p ; // Yn output
: a14 ( 0|1 -- ) i 2 s &1 4 s b s b p ; // Yn output
: a15 ( n -- ) i 2 s &1 5 s b s b p ; // pwm for channel a 0-255
: a16 ( n -- ) i 2 s &1 6 s b s b p ; // pwm for channel b 0-255

// -------------- Direct stepping ---------------------
// This is the direct stepping interface, the port connections
// used are as below. Note, this is a simple interface and so
// there few words serve as an illustration only.
-1 8 c o n s t a n t d i r s // p1.18
-1 7 c o n s t a n t c l k // p1.17
-1 6 c o n s t a n t e n a b l e // p1.16

// set up all pins for o/p
: setup
d i r s i o -o u t c l k i o -o u t e n a b l e i o -o u t
0 e n a b l e p ! ; // and anable

: dirss ( 0|1 -- ) d i r s p ! ;
: t10 1 0 0 f o r 1 0 m s 0 c l k p ! 1 0 m s 1 c l k p ! n e x t ;

// ============= System commands =========================

// prints firmware version
: ver
d e v i c e s &9 0 s b 1 0 s b d e v i c e 1 + r s // read eeprom at 8
c r ." V e r " r n . [c h a r ] . e m i t r l e m i t p
;
// a55 will test if device is working and return t/f
: a55 ( -- t/f ) d e v i c e s &5 5 s b d e v i c e 1 + r s r n 1 = r n 2 = a n d r l 3 = a n d p ;

// read eeprom
// # number of bytes to read and
// from is starting address of eeprom
: a90 ( #, from -- values )
d e v i c e s &9 0 s b s b d e v i c e 1 + r s
1 - f o r r n n e x t
r l p ;

// write all of the byts that are on the stack to eerpm
// starting at address start. Note start has to be last value on stack
: a91 ( [ .. ] start -- )
d e v i c e s &9 1 s b s b
d e p t h f o r s b n e x t
p ;

: a94 ( -- ) d e v i c e s &9 4 s b p ; // sleep
: a95 ( -- ) d e v i c e s &9 5 s b p ; // reset
: a96 ( -- ) d e v i c e s &9 6 s b p ; // restore factory defaults
// imediately sets new i2c address to eeprom
: a99 ( new -- ) d e v i c e s &9 9 s b d u p s b &5 5 s b &a a s b d e v i c e s b => d e v i c e p ;

// use this first to establish i2C address if device and
// to initialise i2c system with default speed, if sucess requirn -1
: 4213-init ( device -- -1|0 )
=> d e v i c e // set address
i 2 -i n i t // initialise host i2c
a 5 5 // check interface
i f
a 2 4 // fill parameter integers
-1 // leave true
e l s e
0 // leave false
t h e n
;