From 1d53d3467c85cc2b23a011b07430567a45268dc4 Mon Sep 17 00:00:00 2001
From: jonny_l480 <jonny@wwad.de>
Date: Mon, 10 Apr 2023 22:28:18 +0200
Subject: [PATCH] Stepper driver from scratch, test with buttons - WIP
- Add stepper driver code from scratch
- Remove / comment out code that used DendoStepper library
- Test custom driver with buttons (guide-stepper.cpp)
untested limited features
---
main/CMakeLists.txt | 1 +
main/config.hpp | 2 +-
main/guide-stepper.cpp | 326 ++++++++++++++++++++++-------------------
main/main.cpp | 4 +-
main/stepper.cpp | 163 +++++++++++++++++++++
main/stepper.hpp | 40 +++++
6 files changed, 380 insertions(+), 156 deletions(-)
create mode 100644 main/stepper.cpp
create mode 100644 main/stepper.hpp
diff --git a/main/CMakeLists.txt b/main/CMakeLists.txt
index d2b02cb..1fd9e2c 100644
--- a/main/CMakeLists.txt
+++ b/main/CMakeLists.txt
@@ -8,6 +8,7 @@ idf_component_register(
"display.cpp"
"cutter.cpp"
"switchesAnalog.cpp"
+ "stepper.cpp"
"guide-stepper.cpp"
"encoder.cpp"
INCLUDE_DIRS
diff --git a/main/config.hpp b/main/config.hpp
index dcd474b..95ca28b 100644
--- a/main/config.hpp
+++ b/main/config.hpp
@@ -85,7 +85,7 @@ extern "C" {
//----- stepper config -----
//--------------------------
//enable stepper test mode (dont start control and encoder task)
-//#define STEPPER_TEST
+#define STEPPER_TEST
#define STEPPER_STEP_PIN GPIO_NUM_18 //mos1
#define STEPPER_DIR_PIN GPIO_NUM_16 //ST3
#define STEPPER_EN_PIN GPIO_NUM_0 //not connected (-> stepper always on)
diff --git a/main/guide-stepper.cpp b/main/guide-stepper.cpp
index 37cd5de..25da8ea 100644
--- a/main/guide-stepper.cpp
+++ b/main/guide-stepper.cpp
@@ -7,7 +7,7 @@ extern "C"
#include "driver/adc.h"
}
-#include "DendoStepper.h"
+#include "stepper.hpp"
#include "config.hpp"
#include "guide-stepper.hpp"
#include "encoder.hpp"
@@ -46,7 +46,6 @@ extern "C"
//----------------------
//----- variables ------
//----------------------
-static DendoStepper step;
static const char *TAG = "stepper"; //tag for logging
static bool stepp_direction = true;
@@ -57,96 +56,98 @@ static uint32_t posNow = 0;
//----------------------
//----- functions ------
//----------------------
-//move axis certain Steps (relative) between left and right or reverse when negative
-void travelSteps(int stepsTarget){
- //posNow = step.getPositionMm(); //not otherwise controlled, so no update necessary
- int stepsToGo, remaining;
-
- stepsToGo = abs(stepsTarget);
- if(stepsTarget < 0) stepp_direction = !stepp_direction; //invert direction in reverse mode
-
- while (stepsToGo != 0){
- //--- currently moving right ---
- if (stepp_direction == true){ //currently moving right
- remaining = POS_MAX_STEPS - posNow; //calc remaining distance fom current position to limit
- if (stepsToGo > remaining){ //new distance will exceed limit
- step.runAbs (POS_MAX_STEPS); //move to limit
- while(step.getState() != 1) vTaskDelay(1); //wait for move to finish
- posNow = POS_MAX_STEPS;
- stepp_direction = false; //change current direction for next iteration
- stepsToGo = stepsToGo - remaining; //decrease target length by already traveled distance
- ESP_LOGI(TAG, " --- moved to max -> change direction (L) --- \n ");
- }
- else { //target distance does not reach the limit
- step.runAbs (posNow + stepsToGo); //move by (remaining) distance to reach target length
- while(step.getState() != 1) vTaskDelay(1); //wait for move to finish
- ESP_LOGD(TAG, "moving to %d\n", posNow+stepsToGo);
- posNow += stepsToGo;
- stepsToGo = 0; //finished, reset target length (could as well exit loop/break)
- }
- }
-
- //--- currently moving left ---
- else {
- remaining = posNow - POS_MIN_STEPS;
- if (stepsToGo > remaining){
- step.runAbs (POS_MIN_STEPS);
- while(step.getState() != 1) vTaskDelay(2); //wait for move to finish
- posNow = POS_MIN_STEPS;
- stepp_direction = true;
- stepsToGo = stepsToGo - remaining;
- ESP_LOGI(TAG, " --- moved to min -> change direction (R) --- \n ");
- }
- else {
- step.runAbs (posNow - stepsToGo); //when moving left the coordinate has to be decreased
- while(step.getState() != 1) vTaskDelay(2); //wait for move to finish
- ESP_LOGD(TAG, "moving to %d\n", posNow - stepsToGo);
- posNow -= stepsToGo;
- stepsToGo = 0;
- }
- }
- }
- if(stepsTarget < 0) stepp_direction = !stepp_direction; //undo inversion of stepp_direction after reverse mode is finished
- return;
-}
-
-
-//move axis certain Mm (relative) between left and right or reverse when negative
-void travelMm(int length){
- travelSteps(length * STEPPER_STEPS_PER_MM);
-}
-
-
-//define zero/start position
-//currently crashes into hardware limitation for certain time
-//TODO: limit switch
-void home() {
- ESP_LOGW(TAG, "auto-home...");
- step.setSpeedMm(100, 500, 10);
- step.runInf(1);
- vTaskDelay(1500 / portTICK_PERIOD_MS);
- step.stop();
- step.resetAbsolute();
- ESP_LOGW(TAG, "auto-home finished");
-}
+////move axis certain Steps (relative) between left and right or reverse when negative
+//void travelSteps(int stepsTarget){
+// //posNow = step.getPositionMm(); //not otherwise controlled, so no update necessary
+// int stepsToGo, remaining;
+//
+// stepsToGo = abs(stepsTarget);
+// if(stepsTarget < 0) stepp_direction = !stepp_direction; //invert direction in reverse mode
+//
+// while (stepsToGo != 0){
+// //--- currently moving right ---
+// if (stepp_direction == true){ //currently moving right
+// remaining = POS_MAX_STEPS - posNow; //calc remaining distance fom current position to limit
+// if (stepsToGo > remaining){ //new distance will exceed limit
+// //....step.runAbs (POS_MAX_STEPS); //move to limit
+// //....while(step.getState() != 1) vTaskDelay(1); //wait for move to finish
+// posNow = POS_MAX_STEPS;
+// stepp_direction = false; //change current direction for next iteration
+// stepsToGo = stepsToGo - remaining; //decrease target length by already traveled distance
+// ESP_LOGI(TAG, " --- moved to max -> change direction (L) --- \n ");
+// }
+// else { //target distance does not reach the limit
+// //....step.runAbs (posNow + stepsToGo); //move by (remaining) distance to reach target length
+// //....while(step.getState() != 1) vTaskDelay(1); //wait for move to finish
+// ESP_LOGD(TAG, "moving to %d\n", posNow+stepsToGo);
+// posNow += stepsToGo;
+// stepsToGo = 0; //finished, reset target length (could as well exit loop/break)
+// }
+// }
+//
+// //--- currently moving left ---
+// else {
+// remaining = posNow - POS_MIN_STEPS;
+// if (stepsToGo > remaining){
+// //....step.runAbs (POS_MIN_STEPS);
+// //....while(step.getState() != 1) vTaskDelay(2); //wait for move to finish
+// posNow = POS_MIN_STEPS;
+// stepp_direction = true;
+// stepsToGo = stepsToGo - remaining;
+// ESP_LOGI(TAG, " --- moved to min -> change direction (R) --- \n ");
+// }
+// else {
+// //....step.runAbs (posNow - stepsToGo); //when moving left the coordinate has to be decreased
+// while(step.getState() != 1) vTaskDelay(2); //wait for move to finish
+// ESP_LOGD(TAG, "moving to %d\n", posNow - stepsToGo);
+// posNow -= stepsToGo;
+// stepsToGo = 0;
+// }
+// }
+// }
+// if(stepsTarget < 0) stepp_direction = !stepp_direction; //undo inversion of stepp_direction after reverse mode is finished
+// return;
+//}
+//
+//
+////move axis certain Mm (relative) between left and right or reverse when negative
+//void travelMm(int length){
+// travelSteps(length * STEPPER_STEPS_PER_MM);
+//}
+//
+//
+////define zero/start position
+////currently crashes into hardware limitation for certain time
+////TODO: limit switch
+//void home() {
+// ESP_LOGW(TAG, "auto-home...");
+// //....step.setSpeedMm(100, 500, 10);
+// //....step.runInf(1);
+// vTaskDelay(1500 / portTICK_PERIOD_MS);
+// //....step.stop();
+// //....step.resetAbsolute();
+// ESP_LOGW(TAG, "auto-home finished");
+//}
//initialize/configure stepper instance
void init_stepper() {
- ESP_LOGW(TAG, "initializing stepper...");
- DendoStepper_config_t step_cfg = {
- .stepPin = STEPPER_STEP_PIN,
- .dirPin = STEPPER_DIR_PIN,
- .enPin = STEPPER_EN_PIN,
- .timer_group = TIMER_GROUP_0,
- .timer_idx = TIMER_0,
- .miStep = MICROSTEP_32,
- .stepAngle = 1.8};
- step.config(&step_cfg);
- step.init();
+// ESP_LOGW(TAG, "initializing stepper...");
+// DendoStepper_config_t step_cfg = {
+// .stepPin = STEPPER_STEP_PIN,
+// .dirPin = STEPPER_DIR_PIN,
+// .enPin = STEPPER_EN_PIN,
+// .timer_group = TIMER_GROUP_0,
+// .timer_idx = TIMER_0,
+// .miStep = MICROSTEP_32,
+// .stepAngle = 1.8};
+// //....step.config(&step_cfg);
+// //....step.init();
+//
+// //....step.setSpeed(1000, 1000, 1000); //random default speed
+// //....step.setStepsPerMm(STEPPER_STEPS_PER_MM); //guide: 4mm/rot
- step.setSpeed(1000, 1000, 1000); //random default speed
- step.setStepsPerMm(STEPPER_STEPS_PER_MM); //guide: 4mm/rot
+ stepper_init();
}
@@ -155,7 +156,7 @@ void updateSpeedFromAdc() {
int potiRead = gpio_readAdc(ADC_CHANNEL_POTI); //0-4095 GPIO34
double poti = potiRead/4095.0;
int speed = poti*(SPEED_MAX-SPEED_MIN) + SPEED_MIN;
- step.setSpeedMm(speed, ACCEL_MS, DECEL_MS);
+ //....step.setSpeedMm(speed, ACCEL_MS, DECEL_MS);
ESP_LOGW(TAG, "poti: %d (%.2lf%%), set speed to: %d", potiRead, poti*100, speed);
}
@@ -166,80 +167,99 @@ void updateSpeedFromAdc() {
//----------------------------
void task_stepper_test(void *pvParameter)
{
- init_stepper();
- home();
+ stepper_init();
+ while(1){
+ vTaskDelay(20 / portTICK_PERIOD_MS);
- while (1) {
- updateSpeedFromAdc();
- step.runPosMm(STEPPER_TEST_TRAVEL);
- while(step.getState() != 1) vTaskDelay(2);
- ESP_LOGI(TAG, "finished moving right => moving left");
+ //------ handle switches ------
+ //run handle functions for all switches
+ SW_START.handle();
+ SW_RESET.handle();
+ SW_SET.handle();
+ SW_PRESET1.handle();
+ SW_PRESET2.handle();
+ SW_PRESET3.handle();
+ SW_CUT.handle();
+ SW_AUTO_CUT.handle();
- updateSpeedFromAdc();
- step.runPosMm(-STEPPER_TEST_TRAVEL);
- while(step.getState() != 1) vTaskDelay(2); //1=idle
- ESP_LOGI(TAG, "finished moving left => moving right");
- }
+ if (SW_RESET.risingEdge) {
+ stepper_toggleDirection();
+ buzzer.beep(1, 1000, 100);
+ }
+ if (SW_PRESET1.risingEdge) {
+ buzzer.beep(2, 300, 100);
+ stepper_setTargetSteps(100);
+ }
+ if (SW_PRESET2.risingEdge) {
+ buzzer.beep(1, 500, 100);
+ stepper_setTargetSteps(1000);
+ }
+ if (SW_PRESET3.risingEdge) {
+ buzzer.beep(1, 100, 100);
+ stepper_setTargetSteps(6000);
+ }
+ }
}
+
//----------------------------
//----- TASK stepper-ctl -----
//----------------------------
void task_stepper_ctl(void *pvParameter)
{
- //variables
- int encStepsNow = 0; //get curret steps of encoder
- int encStepsPrev = 0; //steps at last check
- int encStepsDelta = 0; //steps changed since last iteration
-
- double cableLen = 0;
- double travelStepsExact = 0; //steps axis has to travel
- double travelStepsPartial = 0;
- int travelStepsFull = 0;
- double travelMm = 0;
- double turns = 0;
-
- float potiModifier;
-
- init_stepper();
- home();
-
- while(1){
- //get current length
- encStepsNow = encoder_getSteps();
-
- //calculate change
- encStepsDelta = encStepsNow - encStepsPrev; //FIXME MAJOR BUG: when resetting encoder/length in control task, diff will be huge!
-
- //read potentiometer and normalize (0-1) to get a variable for testing
- potiModifier = (float) gpio_readAdc(ADC_CHANNEL_POTI) / 4095; //0-4095 -> 0-1
- //ESP_LOGI(TAG, "current poti-modifier = %f", potiModifier);
-
- //calculate steps to move
- cableLen = (double)encStepsDelta * 1000 / ENCODER_STEPS_PER_METER;
- turns = cableLen / (PI * D_REEL);
- travelMm = turns * D_CABLE;
- travelStepsExact = travelMm * STEPPER_STEPS_PER_MM + travelStepsPartial; //convert mm to steps and add not moved partial steps
- travelStepsPartial = 0;
- travelStepsFull = (int)travelStepsExact;
-
- //move axis when ready to move at least 1 step
- if (abs(travelStepsFull) > 1){
- travelStepsPartial = fmod(travelStepsExact, 1); //save remaining partial steps to be added in the next iteration
- ESP_LOGD(TAG, "cablelen=%.2lf, turns=%.2lf, travelMm=%.3lf, travelStepsExact: %.3lf, travelStepsFull=%d, partialStep=%.3lf", cableLen, turns, travelMm, travelStepsExact, travelStepsFull, travelStepsPartial);
- ESP_LOGI(TAG, "MOVING %d steps", travelStepsFull);
- //TODO: calculate variable speed for smoother movement? for example intentionally lag behind and calculate speed according to buffered data
- step.setSpeedMm(35, 100, 50);
- //testing: get speed from poti
- //step.setSpeedMm(35, 1000*potiModifier+1, 1000*potiModifier+1);
- travelSteps(travelStepsExact);
- encStepsPrev = encStepsNow; //update previous length
- }
- else {
- //TODO use encoder queue to only run this check at encoder event?
- vTaskDelay(2);
- }
- }
+// //variables
+// int encStepsNow = 0; //get curret steps of encoder
+// int encStepsPrev = 0; //steps at last check
+// int encStepsDelta = 0; //steps changed since last iteration
+//
+// double cableLen = 0;
+// double travelStepsExact = 0; //steps axis has to travel
+// double travelStepsPartial = 0;
+// int travelStepsFull = 0;
+// double travelMm = 0;
+// double turns = 0;
+//
+// float potiModifier;
+//
+// init_stepper();
+// home();
+//
+// while(1){
+// //get current length
+// encStepsNow = encoder_getSteps();
+//
+// //calculate change
+// encStepsDelta = encStepsNow - encStepsPrev; //FIXME MAJOR BUG: when resetting encoder/length in control task, diff will be huge!
+//
+// //read potentiometer and normalize (0-1) to get a variable for testing
+// potiModifier = (float) gpio_readAdc(ADC_CHANNEL_POTI) / 4095; //0-4095 -> 0-1
+// //ESP_LOGI(TAG, "current poti-modifier = %f", potiModifier);
+//
+// //calculate steps to move
+// cableLen = (double)encStepsDelta * 1000 / ENCODER_STEPS_PER_METER;
+// turns = cableLen / (PI * D_REEL);
+// travelMm = turns * D_CABLE;
+// travelStepsExact = travelMm * STEPPER_STEPS_PER_MM + travelStepsPartial; //convert mm to steps and add not moved partial steps
+// travelStepsPartial = 0;
+// travelStepsFull = (int)travelStepsExact;
+//
+// //move axis when ready to move at least 1 step
+// if (abs(travelStepsFull) > 1){
+// travelStepsPartial = fmod(travelStepsExact, 1); //save remaining partial steps to be added in the next iteration
+// ESP_LOGD(TAG, "cablelen=%.2lf, turns=%.2lf, travelMm=%.3lf, travelStepsExact: %.3lf, travelStepsFull=%d, partialStep=%.3lf", cableLen, turns, travelMm, travelStepsExact, travelStepsFull, travelStepsPartial);
+// ESP_LOGI(TAG, "MOVING %d steps", travelStepsFull);
+// //TODO: calculate variable speed for smoother movement? for example intentionally lag behind and calculate speed according to buffered data
+// //....step.setSpeedMm(35, 100, 50);
+// //testing: get speed from poti
+// //step.setSpeedMm(35, 1000*potiModifier+1, 1000*potiModifier+1);
+// travelSteps(travelStepsExact);
+// encStepsPrev = encStepsNow; //update previous length
+// }
+// else {
+// //TODO use encoder queue to only run this check at encoder event?
+// vTaskDelay(2);
+// }
+// }
}
diff --git a/main/main.cpp b/main/main.cpp
index 7872214..0533bd5 100644
--- a/main/main.cpp
+++ b/main/main.cpp
@@ -97,12 +97,12 @@ extern "C" void app_main()
//create task for controlling the machine
xTaskCreate(task_control, "task_control", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
- //create task for controlling the machine
+ //create task for controlling the stepper
xTaskCreate(task_stepper_ctl, "task_stepper_ctl", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
+#endif
//create task for handling the buzzer
xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
-#endif
//beep at startup
buzzer.beep(3, 70, 50);
diff --git a/main/stepper.cpp b/main/stepper.cpp
new file mode 100644
index 0000000..9c4b54a
--- /dev/null
+++ b/main/stepper.cpp
@@ -0,0 +1,163 @@
+//custom driver for stepper motor
+
+#include "config.hpp"
+
+
+//config from config.hpp
+//#define STEPPER_STEP_PIN GPIO_NUM_18 //mos1
+//#define STEPPER_DIR_PIN GPIO_NUM_16 //ST3
+//
+
+extern "C" {
+#include "driver/timer.h"
+#include "driver/gpio.h"
+}
+
+#define TIMER_F 1000000ULL
+#define TICK_PER_S TIMER_S
+#define NS_TO_T_TICKS(x) (x)
+
+static const char *TAG = "stepper-ctl"; //tag for logging
+bool direction = 0;
+
+bool timer_isr(void *arg);
+
+
+typedef struct {
+ int targetSteps; // Target step count
+ int currentSteps; // Current step count
+ int acceleration; // Acceleration (in steps per second^2)
+ int deceleration; // Deceleration (in steps per second^2)
+ gpio_num_t pulsePin; // Pin for pulse signal
+ gpio_num_t directionPin; // Pin for direction signal
+ timer_group_t timerGroup; // Timer group
+ timer_idx_t timerIdx; // Timer index
+ bool isAccelerating; // Flag to indicate if accelerating
+ bool isDecelerating; // Flag to indicate if decelerating
+ int initialSpeed; // Initial speed (in steps per second)
+ int targetSpeed; // Target speed (in steps per second)
+ int currentSpeed; // Current speed (in steps per second)
+} StepperControl;
+
+StepperControl ctrl; // Create an instance of StepperControl struct
+
+
+
+void stepper_setTargetSteps(int steps){
+ ESP_LOGW(TAG, "set target steps to %d", steps);
+ //TODO switch dir pin in isr? not in sync with count
+ if(steps < 0){
+ gpio_set_level(ctrl.directionPin, 1);
+ } else {
+ gpio_set_level(ctrl.directionPin, 0);
+ }
+
+ ctrl.targetSteps = abs(steps);
+}
+
+void stepper_toggleDirection(){
+ direction = !direction;
+ gpio_set_level(ctrl.directionPin, 1);
+ ESP_LOGW(TAG, "toggle direction -> %d", direction);
+}
+
+
+
+
+
+
+
+void stepper_init(){
+ ESP_LOGW(TAG, "init - configure struct...");
+ // Set values in StepperControl struct
+ ctrl.targetSteps = 0;
+ ctrl.currentSteps = 0;
+ ctrl.acceleration = 50;
+ ctrl.deceleration = 50;
+ ctrl.pulsePin = STEPPER_STEP_PIN;
+ ctrl.directionPin = STEPPER_DIR_PIN;
+ ctrl.timerGroup = TIMER_GROUP_0;
+ ctrl.timerIdx = TIMER_0;
+ ctrl.isAccelerating = true;
+ ctrl.isDecelerating = false;
+ ctrl.initialSpeed = 0; // Set initial speed as needed
+ ctrl.targetSpeed = 500; // Set target speed as needed
+ ctrl.currentSpeed = ctrl.initialSpeed;
+
+ // Configure pulse and direction pins as outputs
+ ESP_LOGW(TAG, "init - configure gpio pins...");
+ gpio_set_direction(ctrl.pulsePin, GPIO_MODE_OUTPUT);
+ gpio_set_direction(ctrl.directionPin, GPIO_MODE_OUTPUT);
+
+
+ ESP_LOGW(TAG, "init - initialize/configure timer...");
+ timer_config_t timer_conf = {
+ .alarm_en = TIMER_ALARM_EN, // we need alarm
+ .counter_en = TIMER_PAUSE, // dont start now lol
+ .intr_type = TIMER_INTR_LEVEL, // interrupt
+ .counter_dir = TIMER_COUNT_UP, // count up duh
+ .auto_reload = TIMER_AUTORELOAD_EN, // reload pls
+ .divider = 80000000ULL / TIMER_F, // ns resolution
+ };
+
+
+ ESP_ERROR_CHECK(timer_init(ctrl.timerGroup, ctrl.timerIdx, &timer_conf)); // init the timer
+ ESP_ERROR_CHECK(timer_set_counter_value(ctrl.timerGroup, ctrl.timerIdx, 0)); // set it to 0
+ //ESP_ERROR_CHECK(timer_isr_callback_add(ctrl.timerGroup, ctrl.timerIdx, timer_isr, )); // add callback fn to run when alarm is triggrd
+ ESP_ERROR_CHECK(timer_isr_callback_add(ctrl.timerGroup, ctrl.timerIdx, timer_isr, (void *)ctrl.timerIdx, 0));
+}
+
+
+
+
+bool timer_isr(void *arg) {
+ // Cast arg to an integer type that has the same size as timer_idx_t
+ uintptr_t arg_val = (uintptr_t)arg;
+ // Cast arg_val to timer_idx_t
+ timer_idx_t timer_idx = (timer_idx_t)arg_val;
+ int32_t step_diff = ctrl.targetSteps - ctrl.currentSteps;
+
+ if (timer_idx == ctrl.timerIdx) {
+ if (ctrl.currentSteps < ctrl.targetSteps) {
+ // Check if accelerating
+ if (ctrl.isAccelerating) {
+ if (ctrl.currentSpeed < ctrl.targetSpeed) {
+ // Increase speed if not yet at target speed
+ ctrl.currentSpeed += ctrl.acceleration;
+ } else {
+ // Reached target speed, clear accelerating flag
+ ctrl.isAccelerating = false;
+ }
+ }
+
+ // Check if decelerating
+ if (ctrl.isDecelerating) {
+ if (ctrl.currentSpeed > ctrl.targetSpeed) {
+ // Decrease speed if not yet at target speed
+ ctrl.currentSpeed -= ctrl.deceleration;
+ } else {
+ // Reached target speed, clear decelerating flag
+ ctrl.isDecelerating = false;
+ }
+ }
+
+ // Generate pulse for stepper motor
+ gpio_set_level(ctrl.pulsePin, 1);
+ ets_delay_us(500); // Adjust delay as needed
+ gpio_set_level(ctrl.pulsePin, 0);
+
+ // Update current step count
+ ctrl.currentSteps++;
+
+ // Update timer period based on current speed
+ timer_set_alarm_value(ctrl.timerGroup, ctrl.timerIdx, TIMER_BASE_CLK / ctrl.currentSpeed);
+ } else {
+ // Reached target step count, stop timer
+ timer_pause(ctrl.timerGroup, ctrl.timerIdx);
+ ESP_LOGW(TAG,"finished, pausing timer");
+ }
+ }
+ return 1;
+}
+
+
diff --git a/main/stepper.hpp b/main/stepper.hpp
new file mode 100644
index 0000000..4e9292d
--- /dev/null
+++ b/main/stepper.hpp
@@ -0,0 +1,40 @@
+
+
+void stepper_init();
+
+void stepper_setTargetSteps(int steps);
+
+void stepper_toggleDirection();
+
+//typedef struct
+//{
+// uint8_t stepPin; /** step signal pin */
+// uint8_t dirPin; /** dir signal pin */
+// timer_group_t timer_group; /** timer group, useful if we are controlling more than 2 steppers */
+// timer_idx_t timer_idx; /** timer index, useful if we are controlling 2steppers */
+// float stepAngle; /** one step angle in degrees (usually 1.8deg), used in steps per rotation calculation */
+//} stepper_config_t;
+//
+//typedef struct
+//{
+// uint32_t stepInterval = 40000; // step interval in ns/25
+// double targetSpeed = 0; // target speed in steps/s
+// double currentSpeed = 0;
+// double accInc = 0;
+// double decInc = 0;
+// uint32_t stepCnt = 0; // step counter
+// uint32_t accEnd; // when to end acc and start coast
+// uint32_t coastEnd; // when to end coast and start decel
+// uint32_t stepsToGo = 0; // steps we need to take
+// float speed = 100; // speed in rad/s
+// float acc = 100; // acceleration in rad*second^-2
+// float dec = 100; // decceleration in rad*second^-2
+// uint32_t accSteps = 0;
+// uint32_t decSteps = 0;
+// uint8_t status = DISABLED;
+// bool dir = CW;
+// bool runInfinite = false;
+// uint16_t stepsPerRot; // steps per one revolution, 360/stepAngle * microstep
+// uint16_t stepsPerMm = 0; /** Steps per one milimiter, if the motor is performing linear movement */
+//} ctrl_var_t;
+