aruna::driver::Stepper Class Reference

#include <Stepper.h>

Inheritance diagram for aruna::driver::Stepper:

Collaboration diagram for aruna::driver::Stepper:

Public Member Functions
	Stepper (uint8_t *pins, size_t pins_count, movement::axis_mask_t axis, bool active_high)
	Stepper motor. More...
void	set_speed (int16_t speed)
	Set speed of the stepper motor. More...
void	do_steps (int32_t steps)
	Do an x number of steps. More...
	~Stepper ()
	destructor. More...
Public Member Functions inherited from aruna::movement::Actuator
	Actuator (axis_mask_t axis=axis_mask_t::NONE)
	Actuator object, used by the movement module for vehicle movement. More...
virtual	~Actuator ()
err_t	set_axis (axis_mask_t new_axis)
	Set the axis that this Actuator is capable in moving in. More...
axis_mask_t	get_axis ()
	get the movement modes that this driver supports. More...
err_t	set (axis_mask_t axisMask, int16_t speed)
	Set the speed of the motors directly. More...
uint16_t	get_speed ()
	Get the current speed of Actuator. More...

Private Member Functions
err_t	init_pins ()
	initialize the pins for output More...
err_t	clear_pins ()
	reset the pins back to initial state (run when program is finished) More...
virtual err_t	init_pin (uint8_t pin_nr)=0
	init single pin as output More...
virtual err_t	set_pin (uint8_t pin_nr, bool value)=0
	set pin level high or low More...
virtual err_t	clear_pin (uint8_t pin_nr)
	clear single pin after program is finished More...
err_t	do_step (movement::axis_mask_t direction)
	Do a single step in a direction. More...
uint8_t	get_pin (movement::axis_mask_t direction, uint8_t n=0)
	pop pin from circular array buffer. More...
void	timer_task ()
	task to set the next phase on time. More...
err_t	_set (movement::axis_mask_t axisMask, int16_t speed) override
	Implementation of axis movement, this function is called from set(...). More...

Static Private Member Functions
static void	_timer_task_wrapper (void *_this)
	wrapper for timer_task(), as FreeRTOS only wants to create tasks from static functions More...

Private Attributes
SemaphoreHandle_t	asked_set_mutex = NULL
uint16_t	asked_speed
movement::axis_mask_t	asked_direction
size_t	active_pin_index = 0
TaskHandle_t	timer_task_handle
const uint8_t *	pins
const size_t	pins_count = 0
const bool	active_high
log::channel_t *	log

Additional Inherited Members
Public Attributes inherited from aruna::movement::Actuator
err_t	startup_error = err_t::NOT_STARTED
	error when constructing gets put here, read before usage. More...
Static Protected Member Functions inherited from aruna::movement::Actuator
static double	convert_range (uint16_t input, float range_max=100.f, float range_min=0.f)
	Convert uint16 to a new range. More...

Detailed Description

Definition at line 18 of file Stepper.h.

Constructor & Destructor Documentation

Stepper()

Stepper::Stepper	(	uint8_t *	pins,
		size_t	pins_count,
		movement::axis_mask_t	axis,
		bool	active_high
	)

Stepper motor.

Parameters

pins,pointer	GPIO number array, used in order for phase shifting
pins_count,number	of entries in pins
axis,axis	mask to work on
active_high,should	the current phase be high and other low or current phase low and other pins high

Definition at line 28 of file Stepper.cpp.

        : Actuator(axis), pins(pins), pins_count(pins_count),
          active_high(active_high) {
//  TODO creating two stepper object causes error on registering log
//  TODO break_on_idle bool parameter. If true: lock motor when speed is zero; false: release motor is speed is zero.
    log = new log::channel_t("stepper");

    asked_set_mutex = xSemaphoreCreateMutex();
    if (asked_set_mutex == NULL) {
        log->error("failed to create mutex");
    }
    if (xTaskCreate(_timer_task_wrapper, "stepper timer", 2048, this, 10, &timer_task_handle) != pdTRUE)
        log->error("failed to create stepper timer task");
    startup_error = init_pins();

}

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~Stepper()

Stepper::~Stepper

(

)

destructor.

Definition at line 46 of file Stepper.cpp.

                  {
    clear_pins();
    vTaskDelete(timer_task_handle);
}

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Member Function Documentation

_set()

aruna::err_t Stepper::_set ( movement::axis_mask_t  axisMask, int16_t  speed  )

overrideprivatevirtual

Implementation of axis movement, this function is called from set(...).

Only gets called when axisMask match axis of Actuator.

Parameters

axisMask	axis (can be multiple) to set speed to.
speed	desired speed.

Returns

err_t::OK if successful, others when not...

Implements aruna::movement::Actuator.

Definition at line 9 of file Stepper.cpp.

                                                                    {

    set_speed(speed);
    return err_t::OK;
}

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_timer_task_wrapper()

void Stepper::_timer_task_wrapper ( void *  _this )

staticprivate

wrapper for timer_task(), as FreeRTOS only wants to create tasks from static functions

Parameters

_this

current object to timer_task() can be called

Definition at line 101 of file Stepper.cpp.

                                             {
    (static_cast<Stepper *>(_this))->timer_task();
}

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clear_pin()

virtual err_t aruna::driver::Stepper::clear_pin ( uint8_t  pin_nr )

inlineprivatevirtual

clear single pin after program is finished

Parameters

pin_nr

pin to clear

Returns

err_t

Reimplemented in aruna::driver::ESP32_Stepper.

Definition at line 62 of file Stepper.h.

                                                    {
                return err_t::OK;
            }

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clear_pins()

aruna::err_t Stepper::clear_pins ( )

private

reset the pins back to initial state (run when program is finished)

Returns

err_t

Definition at line 117 of file Stepper.cpp.

                               {
    err_t msg = err_t::OK;
    for (int i = 0; i < pins_count; ++i) {
        msg = clear_pin(pins[i]);
        if (msg != err_t::OK) {
            log->error("failed to close pin %i: %s", pins[i], err_to_char.at(msg));
        }
    }
    return msg;
}

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do_step()

aruna::err_t Stepper::do_step ( movement::axis_mask_t  direction )

private

Do a single step in a direction.

Parameters

direction

PLUS or MINUS

Returns

err_t

Definition at line 15 of file Stepper.cpp.

                                                         {
// TODO half stepping
    err_t last_err_msg;
    for (int i = 0; i < pins_count; ++i) {
        if (i == active_pin_index)
            continue;
        last_err_msg = set_pin(pins[i], !active_high);
    }
    last_err_msg = set_pin(get_pin(direction), active_high);

    return last_err_msg;
}

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do_steps()

void Stepper::do_steps

(

int32_t

steps

)

Do an x number of steps.

Parameters

steps

amount of steps to take

Definition at line 138 of file Stepper.cpp.

                                    {
//    TODO
}

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get_pin()

uint8_t Stepper::get_pin ( movement::axis_mask_t  direction, uint8_t  n = 0  )

private

pop pin from circular array buffer.

Parameters

direction,direction	to pop
n,offset	of current active pin, default 0

Returns

pin_nr

Definition at line 51 of file Stepper.cpp.

                                                                 {
    uint8_t ret_val = pins[active_pin_index + n];
//        circular buffer
    if (n == 0 and direction == movement::axis_mask_t::DIRECTION_PLUS) {
//        move to next pin
        active_pin_index = (active_pin_index + 1) >= pins_count ? 0 : active_pin_index + 1;
    } else if (n == 0 and direction == movement::axis_mask_t::DIRECTION_MIN) {
//        move to prev pin
        active_pin_index = ((int32_t) (active_pin_index - 1)) < 0 ? pins_count - 1 : active_pin_index - 1;
    }
    return ret_val;
}

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init_pin()

virtual err_t aruna::driver::Stepper::init_pin ( uint8_t  pin_nr )

privatepure virtual

init single pin as output

Parameters

pin_nr,pin

to initialize

Returns

err_t

Implemented in aruna::driver::ESP32_Stepper.

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init_pins()

aruna::err_t Stepper::init_pins ( )

private

initialize the pins for output

Returns

err_t

Definition at line 106 of file Stepper.cpp.

                              {
    err_t msg = err_t::OK;
    for (int i = 0; i < pins_count; ++i) {
        msg = init_pin(pins[i]);
        if (msg != err_t::OK) {
            log->error("failed to init pin %i: %s", pins[i], err_to_char.at(msg));
        }
    }
    return msg;
}

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set_pin()

virtual err_t aruna::driver::Stepper::set_pin ( uint8_t  pin_nr, bool  value  )

privatepure virtual

set pin level high or low

Parameters

pin_nr,pin	to set
value,bool.	true for high, false for low

Returns

err_t

Implemented in aruna::driver::ESP32_Stepper.

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set_speed()

void Stepper::set_speed

(

int16_t

speed

)

Set speed of the stepper motor.

Parameters

speed

use minus to go the other way.

Definition at line 128 of file Stepper.cpp.

                                     {
    if (xSemaphoreTake(asked_set_mutex, portMAX_DELAY) != pdTRUE)
        log->error("failed to take mutex");
    asked_speed = speed;
    asked_direction = speed >=0 ? movement::axis_mask_t::DIRECTION_PLUS : movement::axis_mask_t::DIRECTION_MIN;
    if (xSemaphoreGive(asked_set_mutex) != pdTRUE)
        log->error("failed to give mutex");
    xTaskNotifyGive(timer_task_handle);
}

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timer_task()

void Stepper::timer_task ( )

private

task to set the next phase on time.

Definition at line 64 of file Stepper.cpp.

                         {
    uint16_t speed = 0;
    movement::axis_mask_t direction = movement::axis_mask_t::DIRECTION_PLUS;
    uint16_t delay_ms = 0;
    bool first_time = true;
    err_t err_msg;
    while (true) {

        if (speed == 0)
//            wait indefenitly if speed is zero
            ulTaskNotifyTake(pdTRUE, portMAX_DELAY);

        if (ulTaskNotifyTake(pdTRUE, 0) or first_time) {
            first_time = false;
//        update our variables
            if (xSemaphoreTake(asked_set_mutex, portMAX_DELAY) != pdTRUE) {
                log->error("failed to take mutex");
            }
            speed = asked_speed;
            direction = asked_direction;
            if (xSemaphoreGive(asked_set_mutex) != pdTRUE) {
                log->error("failed to give mutex");
            }
//            TODO refine delay to more reasonable speeds
            delay_ms = 65536 - speed;

        }
//        loop the pins!
        err_msg = do_step(direction);
        if (err_msg != err_t::OK)
            log->error("failed to step: %s", err_to_char.at(err_msg));
        vTaskDelay(delay_ms / portTICK_PERIOD_MS);

    }

}

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Member Data Documentation

active_high

const bool aruna::driver::Stepper::active_high

private

Definition at line 27 of file Stepper.h.

active_pin_index

size_t aruna::driver::Stepper::active_pin_index = 0

private

Definition at line 23 of file Stepper.h.

asked_direction

movement::axis_mask_t aruna::driver::Stepper::asked_direction

private

Definition at line 22 of file Stepper.h.

asked_set_mutex

SemaphoreHandle_t aruna::driver::Stepper::asked_set_mutex = NULL

private

Definition at line 20 of file Stepper.h.

asked_speed

uint16_t aruna::driver::Stepper::asked_speed

private

Definition at line 21 of file Stepper.h.

log

log::channel_t* aruna::driver::Stepper::log

private

Definition at line 28 of file Stepper.h.

pins

const uint8_t* aruna::driver::Stepper::pins

private

Definition at line 25 of file Stepper.h.

pins_count

const size_t aruna::driver::Stepper::pins_count = 0

private

Definition at line 26 of file Stepper.h.

timer_task_handle

TaskHandle_t aruna::driver::Stepper::timer_task_handle

private

Definition at line 24 of file Stepper.h.

---

The documentation for this class was generated from the following files:

• include/aruna/driver/Stepper.h
• src/driver/Stepper.cpp