From 2651a83ce783a30a668dbe023df5e7e624a72c36 Mon Sep 17 00:00:00 2001 From: jonny_ji7 Date: Tue, 21 Feb 2023 21:14:16 +0100 Subject: [PATCH] Add stepper library for esp-idf --- components/DendoStepper/CMakeLists.txt | 1 + components/DendoStepper/DendoStepper.cpp | 351 +++++++++ components/DendoStepper/LICENSE | 674 ++++++++++++++++++ components/DendoStepper/README.md | 139 ++++ components/DendoStepper/component.mk | 0 components/DendoStepper/example/.gitignore | 3 + .../DendoStepper/example/CMakeLists.txt | 9 + components/DendoStepper/example/README.md | 32 + .../DendoStepper/example/main/CMakeLists.txt | 3 + components/DendoStepper/example/main/main.cpp | 49 ++ .../DendoStepper/include/DendoStepper.h | 275 +++++++ docs/MKS SERVO28C-servo-driver.pdf | Bin 0 -> 625935 bytes 12 files changed, 1536 insertions(+) create mode 100644 components/DendoStepper/CMakeLists.txt create mode 100644 components/DendoStepper/DendoStepper.cpp create mode 100644 components/DendoStepper/LICENSE create mode 100644 components/DendoStepper/README.md create mode 100644 components/DendoStepper/component.mk create mode 100644 components/DendoStepper/example/.gitignore create mode 100644 components/DendoStepper/example/CMakeLists.txt create mode 100644 components/DendoStepper/example/README.md create mode 100644 components/DendoStepper/example/main/CMakeLists.txt create mode 100644 components/DendoStepper/example/main/main.cpp create mode 100644 components/DendoStepper/include/DendoStepper.h create mode 100644 docs/MKS SERVO28C-servo-driver.pdf diff --git a/components/DendoStepper/CMakeLists.txt b/components/DendoStepper/CMakeLists.txt new file mode 100644 index 0000000..cc99d4a --- /dev/null +++ b/components/DendoStepper/CMakeLists.txt @@ -0,0 +1 @@ +idf_component_register(SRCS DendoStepper.cpp INCLUDE_DIRS include) \ No newline at end of file diff --git a/components/DendoStepper/DendoStepper.cpp b/components/DendoStepper/DendoStepper.cpp new file mode 100644 index 0000000..6443845 --- /dev/null +++ b/components/DendoStepper/DendoStepper.cpp @@ -0,0 +1,351 @@ +#include "DendoStepper.h" +#include "esp_log.h" + +#define STEP_DEBUG + +#ifdef STEP_DEBUG +#define STEP_LOGI(...) ESP_LOGI(__VA_ARGS__) +#define STEP_LOGW(...) ESP_LOGW(__VA_ARGS__) +#define STEP_LOGE(...) ESP_LOGE(__VA_ARGS__) +#else +#define STEP_LOGI(...) while (0) +#define STEP_LOGW(...) while (0) +#define STEP_LOGE(...) ESP_LOGE(__VA_ARGS__) +#endif + +bool state = 0; + +// PUBLIC definitions + +DendoStepper::DendoStepper() +{ +} + +void DendoStepper::config(DendoStepper_config_t *config) +{ + memcpy(&conf, config, sizeof(conf)); +} + +void DendoStepper::disableMotor() +{ + setEn(true); + STEP_LOGI("DendoStepper", "Disabled"); + ctrl.status = DISABLED; +} + +void DendoStepper::enableMotor() +{ + setEn(false); + ctrl.status = IDLE; + STEP_LOGI("DendoStepper", "Enabled"); + timerStarted = 0; +} + +void DendoStepper::init(uint8_t stepP, uint8_t dirP, uint8_t enP, timer_group_t group, timer_idx_t index, microStepping_t microstepping = MICROSTEP_1, uint16_t stepsPerRot = 200) +{ + conf.stepPin = stepP; + conf.dirPin = dirP; + conf.enPin = enP; + conf.timer_group = group; + conf.timer_idx = index; + conf.miStep = microstepping; + ctrl.status = 0; + init(); +} + +void DendoStepper::init() +{ + uint64_t mask = (1ULL << conf.stepPin) | (1ULL << conf.dirPin) | (1ULL << conf.enPin); // put output gpio pins in bitmask + gpio_config_t gpio_conf = { + // config gpios + .pin_bit_mask = mask, + .mode = GPIO_MODE_OUTPUT, + .pull_up_en = GPIO_PULLUP_DISABLE, + .pull_down_en = GPIO_PULLDOWN_DISABLE, + .intr_type = GPIO_INTR_DISABLE, + }; + // set the gpios as per gpio_conf + ESP_ERROR_CHECK(gpio_config(&gpio_conf)); + + 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 + }; + + // calculate stepsPerRot + ctrl.stepsPerRot = (360.0 / conf.stepAngle) * conf.miStep; + + STEP_LOGI("DendoStepper", "Steps per one rotation:%d", ctrl.stepsPerRot); + + if (conf.timer_group != TIMER_GROUP_MAX && conf.timer_idx != TIMER_MAX) + { + // timer was configured explixitly in config structure, we dont need to do it here + goto timer_avail; + } + + // try to find free timer + timer_config_t temp; + for (int i = 0; i < 1; i++) + { + for (int j = 0; j < 1; j++) + { + timer_get_config((timer_group_t)i, (timer_idx_t)j, &temp); + if (temp.alarm_en == TIMER_ALARM_DIS) + { + // if the alarm is disabled, chances are no other dendostepper instance is using it + conf.timer_group = (timer_group_t)i; + conf.timer_idx = (timer_idx_t)j; + goto timer_avail; + } + } + } + + // if we got here it means that there isnt any free timer available + STEP_LOGE("DendoStepper", "No free timer available, this stepper wont work"); + return; + +timer_avail: + ESP_ERROR_CHECK(timer_init(conf.timer_group, conf.timer_idx, &timer_conf)); // init the timer + ESP_ERROR_CHECK(timer_set_counter_value(conf.timer_group, conf.timer_idx, 0)); // set it to 0 + ESP_ERROR_CHECK(timer_isr_callback_add(conf.timer_group, conf.timer_idx, xISRwrap, this, 0)); // add callback fn to run when alarm is triggrd +} + +esp_err_t DendoStepper::runPos(int32_t relative) +{ + if (!relative) // why would u call it with 0 wtf + return ESP_ERR_NOT_SUPPORTED; + if (ctrl.status > IDLE) + { // we are running, we need to adjust steps accordingly, for now just stop the movement + STEP_LOGW("DendoStepper", "Finising previous move, this command will be ignored"); + return ESP_ERR_NOT_SUPPORTED; + } + + if (ctrl.status == DISABLED) // if motor is disabled, enable it + enableMotor(); + ctrl.status = ACC; + setDir(relative < 0); // set CCW if <0, else set CW + currentPos += relative; + calc(abs(relative)); // calculate velocity profile + ESP_ERROR_CHECK(timer_set_alarm_value(conf.timer_group, conf.timer_idx, ctrl.stepInterval)); // set HW timer alarm to stepinterval + ESP_ERROR_CHECK(timer_start(conf.timer_group, conf.timer_idx)); // start the timer + + return ESP_OK; +} + +esp_err_t DendoStepper::runPosMm(int32_t relative) +{ + if (ctrl.stepsPerMm == 0) + { + STEP_LOGE("DendoStepper", "Steps per millimeter not set, cannot move!"); + } + return runPos(relative * ctrl.stepsPerMm); +} + +esp_err_t DendoStepper::runAbs(uint32_t position) +{ + if (getState() > IDLE) // we are already moving, so stop it + stop(); + while (getState() > IDLE) + { + // waiting for idle, watchdog should take care of inf loop if it occurs + vTaskDelay(1); + } // shouldnt take long tho + + if (position == currentPos) // we cant go anywhere + return 0; + + int32_t relativeSteps = 0; + relativeSteps = (int32_t)position - currentPos; + + ESP_LOGI("DendoStepper", "Cur: %llu move %d", currentPos, relativeSteps); + return runPos(relativeSteps); // run to new position +} + +esp_err_t DendoStepper::runAbsMm(uint32_t position) +{ + if (ctrl.stepsPerMm == 0) + { + STEP_LOGE("DendoStepper", "Steps per millimeter not set, cannot move!"); + } + return runAbs(position * ctrl.stepsPerMm); +} + +void DendoStepper::setSpeed(uint32_t speed, uint16_t accT, uint16_t decT) +{ + ctrl.speed = speed; + ctrl.acc = ctrl.speed / (accT / 4000.0); + ctrl.dec = ctrl.speed / (decT / 4000.0); + STEP_LOGI("DendoStepper", "Speed set: %d steps/s t+=%d s t-=%d s", speed, accT, decT); +} + +void DendoStepper::setSpeedMm(uint32_t speed, uint16_t accT, uint16_t decT) +{ + if (ctrl.stepsPerMm == 0) + { + STEP_LOGE("DendoStepper", "Steps per millimeter not set, cannot set the speed!"); + } + ctrl.speed = speed * ctrl.stepsPerMm; + + ctrl.acc = ctrl.speed / (accT / 4000.0); + ctrl.dec = ctrl.speed / (decT / 4000.0); + STEP_LOGI("DendoStepper", "Speed set: v=%d mm/s t+=%d s t-=%d s", speed, accT, decT); +} + +void DendoStepper::setStepsPerMm(uint16_t steps) +{ + ctrl.stepsPerMm = steps; +} + +uint16_t DendoStepper::getStepsPerMm() +{ + return ctrl.stepsPerMm; +} + +uint8_t DendoStepper::getState() +{ + return ctrl.status; +} + +uint64_t DendoStepper::getPosition() +{ + return currentPos; +} + +uint64_t DendoStepper::getPositionMm() +{ + return getPosition() / ctrl.stepsPerMm; +} + +void DendoStepper::resetAbsolute() +{ + currentPos = 0; +} + +void DendoStepper::runInf(bool direction) +{ + if (ctrl.status > IDLE) + { + STEP_LOGE("DendoStepper", "Motor is moving, this command will be ignored"); + return; + } + if (ctrl.status == DISABLED) + { + enableMotor(); + } + ctrl.runInfinite = true; + setDir(direction); + calc(UINT32_MAX); + ESP_ERROR_CHECK(timer_set_alarm_value(conf.timer_group, conf.timer_idx, ctrl.stepInterval)); // set HW timer alarm to stepinterval + ESP_ERROR_CHECK(timer_start(conf.timer_group, conf.timer_idx)); // start the timer +} + +uint16_t DendoStepper::getSpeed() +{ + return ctrl.speed; +} + +float DendoStepper::getAcc() +{ + return ctrl.acc; +} + +void DendoStepper::stop() +{ + if (ctrl.status <= IDLE) + { + return; + } + ctrl.runInfinite = false; + timer_pause(conf.timer_group, conf.timer_idx); // stop the timer + ctrl.status = IDLE; + ctrl.stepCnt = 0; + gpio_set_level((gpio_num_t)conf.stepPin, 0); +} + +// PRIVATE definitions + +void DendoStepper::setEn(bool state) +{ + ESP_ERROR_CHECK(gpio_set_level((gpio_num_t)conf.enPin, state)); +} + +void DendoStepper::setDir(bool state) +{ + ctrl.dir = state; + ESP_ERROR_CHECK(gpio_set_level((gpio_num_t)conf.dirPin, state)); +} + +/* Timer callback, used for generating pulses and calculating speed profile in real time */ +bool DendoStepper::xISR() +{ + GPIO.out_w1ts = (1ULL << conf.stepPin); + // add and substract one step + + ctrl.stepCnt++; + + // we are done + if (ctrl.stepsToGo == ctrl.stepCnt && !ctrl.runInfinite) + { + timer_pause(conf.timer_group, conf.timer_idx); // stop the timer + ctrl.status = IDLE; + ctrl.stepCnt = 0; + return 0; + } + + if (ctrl.stepCnt > 0 && ctrl.stepCnt < ctrl.accEnd) + { // we are accelerating + ctrl.currentSpeed += ctrl.accInc; + ctrl.status = ACC; // we are accelerating, note that*/ + } + else if (ctrl.stepCnt > ctrl.coastEnd && !ctrl.runInfinite) + { // we must be deccelerating then + ctrl.currentSpeed -= ctrl.decInc; + ctrl.status = DEC; // we are deccelerating + } + else + { + ctrl.currentSpeed = ctrl.targetSpeed; + ctrl.status = COAST; // we are coasting + } + + ctrl.stepInterval = TIMER_F / ctrl.currentSpeed; + // set alarm to calculated interval and disable pin + GPIO.out_w1tc = (1ULL << conf.stepPin); + timer_set_alarm_value(conf.timer_group, conf.timer_idx, ctrl.stepInterval); + return 1; +} + +void DendoStepper::calc(uint32_t targetSteps) +{ + + ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc); + + ctrl.decSteps = 0.5 * ctrl.dec * (ctrl.speed / ctrl.dec) * (ctrl.speed / ctrl.dec); + + if (targetSteps < (ctrl.decSteps + ctrl.accSteps)) + { + ESP_LOGI("Dendostepper", "Computing new speed"); + + ctrl.speed = sqrt(2 * targetSteps * ((ctrl.dec * ctrl.acc) / (ctrl.dec + ctrl.acc))); + ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc); + ctrl.decSteps = 0.5 * ctrl.dec * (ctrl.speed / ctrl.dec) * (ctrl.speed / ctrl.dec); + } + + ctrl.accEnd = ctrl.accSteps; + ctrl.coastEnd = targetSteps - ctrl.decSteps; + ctrl.targetSpeed = ctrl.speed; + + ctrl.accInc = ctrl.targetSpeed / (double)ctrl.accSteps; + ctrl.decInc = ctrl.targetSpeed / (double)ctrl.decSteps; + + ctrl.currentSpeed = ctrl.accInc; + + ctrl.stepInterval = TIMER_F / ctrl.currentSpeed; + ctrl.stepsToGo = targetSteps; + + STEP_LOGI("calc", "acc end:%u coastend:%u stepstogo:%u speed:%f acc:%f int: %u", ctrl.accEnd, ctrl.coastEnd, ctrl.stepsToGo, ctrl.speed, ctrl.acc, ctrl.stepInterval); +} diff --git a/components/DendoStepper/LICENSE b/components/DendoStepper/LICENSE new file mode 100644 index 0000000..f288702 --- /dev/null +++ b/components/DendoStepper/LICENSE @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/components/DendoStepper/README.md b/components/DendoStepper/README.md new file mode 100644 index 0000000..1ab6242 --- /dev/null +++ b/components/DendoStepper/README.md @@ -0,0 +1,139 @@ +# DendoStepper + +Work in progress, maybe unstable. Opening issues is more than welcome. +This library takes care of pulse generating for stepper motor drivers with STEP/DIR interface. Pulse generating utilizes general purpose timers to achieve some usable accuracy and smoothness. +Currently supports only linear acceleration and deceleration. + +### Known limitations +- maximum number of controlled stepper motors is 4, this is limited by number of general purpose timers +- If the motor is moving, it is not possible to move it to another direction. + +## Usage + +```c++ +typedef struct +{ + uint8_t stepPin; /** step signal pin */ + uint8_t dirPin; /** dir signal pin */ + uint8_t enPin; /** enable 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 */ + microStepping_t miStep; /** microstepping configured on driver - used in distance calculation */ + float stepAngle; /** one step angle in degrees (usually 1.8deg), used in steps per rotation calculation */ +} DendoStepper_config_t; + +enum microStepping_t +{ + MICROSTEP_1 = 0x1, + MICROSTEP_2, + MICROSTEP_4 = 0x4, + MICROSTEP_8 = 0x8, + MICROSTEP_16 = 0x10, + MICROSTEP_32 = 0x20, + MICROSTEP_64 = 0x40, + MICROSTEP_128 = 0x80, + MICROSTEP_256 = 0x100, +}; + +``` +Configuration struct, can be allocated on stack or heap. + +```c++ +void init(); +``` +Initializes GPIO and Timer peripherals, registers ISR. Expects populated config struct is alreay passed to the class using config() + +```c++ +void config(DendoStepper_config_t* config); +``` +Configures the class as per passed config struct pointer. + +```c++ +void setStepsPerMm(uint16_t steps); +uint16_t getStepsPerMm(); +``` +Sets or gets steps needed to move one millimiter, useful if stepper is moving along linear axis. + +```c++ +void setSpeed(uint16_t speed,uint16_t accT, uint16_t decT); +uint16_t getSpeed(); +float getAcc(); +``` +Sets maximum speed in steps per second, acceleration and deceleration time in milliseconds. +Gets speed in steps per second +Gets acceleration in steps per second per second + +```c++ +void setSpeedMm(uint16_t speed,uint16_t accT, uint16_t decT); +``` +Sets maximum speed in mm/s, acceleration and deceleration time in milliseconds. Expects already defined steps per millimeter with setStepsPerMm() + +```c++ +void runPos(int32_t relative); +``` +Runs motor to position relative from current position in steps, respecting constraints set with setSpeed() + +```c++ +void runPosMm(int32_t relative); +``` +Runs motor to position relative from current position in millimeters, respecting constraints set with setSpeed() +Expects already defined steps per millimeter with setStepsPerMm() + +```c++ + bool runAbsolute(uint32_t position); +``` +Runs motor in absolute coordinate plane. Unit: steps (should be constrained with home switch) + +```c++ + bool runAbsoluteMm(uint32_t position); +``` +Runs motor in absolute coordinate plane. Unit: millimeters (should be constrained with home switch) +Expects already defined steps per millimeter with setStepsPerMm() + +```c++ + bool runInf(bool direction); +``` +Runs motor infintely in desired direction with constrains set using setSpeed(). + +```c++ +void disableMotor(); +void enableMotor(); +``` +Disables and enables motor via EN pin + +```c++ +uint8_t getState(); + +enum motor_status{ + DISABLED, + IDLE, + ACC, + COAST, + DEC, +}; +``` +Returns current state of motor, return type is enum motor_status + + +```c++ +void resetAbsolute(); +``` +Resets absolute position to 0. Called for ex. when endswitch is hit. + +```c++ +void getPosition(); +``` +Gets current position in absolute coordinate plane in steps. + +```c++ +void getPositionMm(); +``` +Gets current position in absolute coordinate plane in millimeters. +Expects already defined steps per millimeter with setStepsPerMm() + +```c++ +void stop(); +``` +Stops the motor dead on the spot. No deceleration is performed this way. Eg. e-stop. + + diff --git a/components/DendoStepper/component.mk b/components/DendoStepper/component.mk new file mode 100644 index 0000000..e69de29 diff --git a/components/DendoStepper/example/.gitignore b/components/DendoStepper/example/.gitignore new file mode 100644 index 0000000..51c9513 --- /dev/null +++ b/components/DendoStepper/example/.gitignore @@ -0,0 +1,3 @@ +build/ +sdkconfig +sdkconfig.old \ No newline at end of file diff --git a/components/DendoStepper/example/CMakeLists.txt b/components/DendoStepper/example/CMakeLists.txt new file mode 100644 index 0000000..89dea37 --- /dev/null +++ b/components/DendoStepper/example/CMakeLists.txt @@ -0,0 +1,9 @@ +# For more information about build system see +# https://docs.espressif.com/projects/esp-idf/en/latest/api-guides/build-system.html +# The following five lines of boilerplate have to be in your project's +# CMakeLists in this exact order for cmake to work correctly +cmake_minimum_required(VERSION 3.5) + +include($ENV{IDF_PATH}/tools/cmake/project.cmake) +set(EXTRA_COMPONENT_DIRS "../") +project(example) \ No newline at end of file diff --git a/components/DendoStepper/example/README.md b/components/DendoStepper/example/README.md new file mode 100644 index 0000000..455eb90 --- /dev/null +++ b/components/DendoStepper/example/README.md @@ -0,0 +1,32 @@ +# _Sample project_ + +(See the README.md file in the upper level 'examples' directory for more information about examples.) + +This is the simplest buildable example. The example is used by command `idf.py create-project` +that copies the project to user specified path and set it's name. For more information follow the [docs page](https://docs.espressif.com/projects/esp-idf/en/latest/api-guides/build-system.html#start-a-new-project) + + + +## How to use example +We encourage the users to use the example as a template for the new projects. +A recommended way is to follow the instructions on a [docs page](https://docs.espressif.com/projects/esp-idf/en/latest/api-guides/build-system.html#start-a-new-project). + +## Example folder contents + +The project **sample_project** contains one source file in C language [main.c](main/main.c). The file is located in folder [main](main). + +ESP-IDF projects are built using CMake. The project build configuration is contained in `CMakeLists.txt` +files that provide set of directives and instructions describing the project's source files and targets +(executable, library, or both). + +Below is short explanation of remaining files in the project folder. + +``` +├── CMakeLists.txt +├── main +│   ├── CMakeLists.txt +│   └── main.c +└── README.md This is the file you are currently reading +``` +Additionally, the sample project contains Makefile and component.mk files, used for the legacy Make based build system. +They are not used or needed when building with CMake and idf.py. diff --git a/components/DendoStepper/example/main/CMakeLists.txt b/components/DendoStepper/example/main/CMakeLists.txt new file mode 100644 index 0000000..0ce183c --- /dev/null +++ b/components/DendoStepper/example/main/CMakeLists.txt @@ -0,0 +1,3 @@ +idf_component_register(SRCS "main.cpp" + INCLUDE_DIRS "." + REQUIRES DendoStepper freertos) \ No newline at end of file diff --git a/components/DendoStepper/example/main/main.cpp b/components/DendoStepper/example/main/main.cpp new file mode 100644 index 0000000..774b458 --- /dev/null +++ b/components/DendoStepper/example/main/main.cpp @@ -0,0 +1,49 @@ +#include +#include "DendoStepper.h" +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" +#include "esp_log.h" + +DendoStepper step; +DendoStepper step1; + +extern "C" void app_main(void) +{ + DendoStepper_config_t step_cfg = { + .stepPin = 16, + .dirPin = 17, + .enPin = 15, + .timer_group = TIMER_GROUP_0, + .timer_idx = TIMER_0, + .miStep = MICROSTEP_32, + .stepAngle = 1.8}; + + DendoStepper_config_t step1_cfg = { + .stepPin = 18, + .dirPin = 19, + .enPin = 20, + .timer_group = TIMER_GROUP_0, + .timer_idx = TIMER_1, + .miStep = MICROSTEP_32, + .stepAngle = 1.8}; + + step.config(&step_cfg); + step1.config(&step1_cfg); + + step.init(); + step1.init(); + + step.setSpeed(10000, 1000, 1000); + step1.setSpeed(20000, 1000, 1000); + + // step.runInf(true); + step.setStepsPerMm(10); + + while (1) + { + step.runPosMm(500); + step1.runPos(10000); + vTaskDelay(1000); + // step.runAbs(5000); + } +} \ No newline at end of file diff --git a/components/DendoStepper/include/DendoStepper.h b/components/DendoStepper/include/DendoStepper.h new file mode 100644 index 0000000..9846412 --- /dev/null +++ b/components/DendoStepper/include/DendoStepper.h @@ -0,0 +1,275 @@ +#pragma once + +/* ESP-IDF library for bipolar stepper motor drivers with STEP/DIR interface + Copyright (C) 2022 Denis Voltmann + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef DENDOSTEPPER_H +#define DENDOSTEPPER_H + +#include "stdint.h" +#include "stdio.h" +#include +#include "driver/timer.h" +#include "driver/gpio.h" +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" +#include "esp_timer.h" +#include "math.h" + +//#define STEP_DEBUG + +#define NS_TO_T_TICKS(x) (x) +#define TIMER_F 1000000ULL +#define TICK_PER_S TIMER_F + +enum motor_status +{ + DISABLED, + IDLE, + ACC, + COAST, + DEC +}; + +enum dir +{ + CW, + CCW +}; + +enum microStepping_t +{ + MICROSTEP_1 = 0x1, + MICROSTEP_2, + MICROSTEP_4 = 0x4, + MICROSTEP_8 = 0x8, + MICROSTEP_16 = 0x10, + MICROSTEP_32 = 0x20, + MICROSTEP_64 = 0x40, + MICROSTEP_128 = 0x80, + MICROSTEP_256 = 0x100, +}; + +/** + * @brief Configuration structure + */ +typedef struct +{ + uint8_t stepPin; /** step signal pin */ + uint8_t dirPin; /** dir signal pin */ + uint8_t enPin; /** enable 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 */ + microStepping_t miStep; /** microstepping configured on driver - used in distance calculation */ + float stepAngle; /** one step angle in degrees (usually 1.8deg), used in steps per rotation calculation */ +} DendoStepper_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; + +class DendoStepper +{ +private: + DendoStepper_config_t conf; + ctrl_var_t ctrl; + esp_timer_handle_t dyingTimer; + TaskHandle_t enTask; + uint64_t currentPos = 0; // absolute position + bool timerStarted = 0; + + /** @brief PRIVATE: Step interval calculation + * @param speed maximum movement speed + * @param accTimeMs acceleration time in ms + * @param target target position + */ + void calc(uint32_t); + + /** @brief sets En GPIO + * @param state 0-LOW,1-HIGH + * @return void + */ + void setEn(bool); + + /** @brief sets Dir GPIO + * @param state 0-CW 1-CCW + */ + void setDir(bool); + + /** @brief static wrapper for ISR function + * @param _this DendoStepper* this pointer + * @return bool + */ + static bool xISRwrap(void *_this) + { + return static_cast(_this)->xISR(); + } + + /** @brief enableMotor wrapper + */ + static void _disableMotor(void *_this) + { + static_cast(_this)->disableMotor(); + } + + bool xISR(); + +public: + /** @brief Costructor - conf variables to be passed later + */ + DendoStepper(); + + /** @brief Configuration of library, used with constructor w/o params + * @param config DendoStepper_config_t structure pointer - can be freed after this call + */ + void config(DendoStepper_config_t *config); + + /** @brief initialize GPIO and Timer peripherals + * @param stepP step pulse pin + * @param dirP direction signal pin + * @param enP enable signal Pin + * @param group timer group to use (0 or 1) + * @param index which timer to use (0 or 1) + * @param microstepping microstepping performed by the driver, used for more accuracy + * @param stepsPerRot how many steps it takes for the motor to move 2Pi rads. this can be also used instead of microstepping parameter + */ + void init(uint8_t, uint8_t, uint8_t, timer_group_t, timer_idx_t, microStepping_t microstep, uint16_t stepsPerRot); + + /** @brief initialize GPIO and Timer peripherals, class must be configured beforehand with @attention config() + */ + void init(); + + /** @brief runs motor to relative position in steps + * @param relative number of steps to run, negative is reverse + */ + esp_err_t runPos(int32_t relative); + + /** @brief runs motor to relative position in mm + * @param relative number of mm to run, negative is reverse + */ + esp_err_t runPosMm(int32_t relative); + + /** @brief run motor to position in absolute coordinates (steps) + * @param postition absolute position in steps from home position (must be positive); + * @return ESP_OK if motor can run immediately, ESP_ERR if it is currently moving + */ + esp_err_t runAbs(uint32_t position); + + /** @brief run motor to position in absolute coordinates (millimiters) + * @param postition absolute position in mm from home position (must be positive); + * @return ESP_OK if motor can run immediately, ESP_ERR if it is currently moving + */ + esp_err_t runAbsMm(uint32_t position); + + /** @brief sets motor speed + * @param speed speed in steps per second + * @param accT acceleration time in ms + * @param decT deceleration time in ms + */ + void setSpeed(uint32_t speed, uint16_t accT, uint16_t decT); + + /** @brief sets motor speed and accel in millimeters/second + * @param speed speed mm*s^-1 + * @param accT acceleration time in ms + * @param accT deceleration time in ms + */ + void setSpeedMm(uint32_t speed, uint16_t accT, uint16_t decT); + + /** + * @brief Set steps per 1 mm of linear movement + * + * @param steps steps needed to move one millimiter + */ + void setStepsPerMm(uint16_t steps); + + /** + * @brief get steps per 1mm settings + * + */ + uint16_t getStepsPerMm(); + + /** @brief set EN pin 1, stops movement + */ + void disableMotor(); + + /** @brief set EN pin to 0, enables movement + */ + void enableMotor(); + + /** @brief returns current state + * @return motor_status enum + */ + uint8_t getState(); + + /** @brief run motor to position in absolute coordinates (millimiters) + * @param postition absolute position in steps from home position (must be positive); + * @return ESP_OK if motor can run immediately, ESP_ERR if it is currently moving + */ + esp_err_t runAbsoluteMm(uint32_t position); + + /** @brief returns current absolute position + * @return current absolute postion in steps + */ + uint64_t getPosition(); + + /** @brief returns current absolute position + * @return current absolute postion in steps + */ + uint64_t getPositionMm(); + + /** @brief resets absolute pos to 0 + */ + void resetAbsolute(); + + /** @brief + * + */ + void runInf(bool direction); + + /** @brief returns current speed in steps per second + */ + uint16_t getSpeed(); + + /** @brief returns current acceleration time in ms + */ + float getAcc(); + + /** @brief stops the motor dead, but stays enabled + */ + void stop(); +}; + +#endif \ No newline at end of file diff --git a/docs/MKS 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