doc: renamed project
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SylvanArnold
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Sylvan Arnold
Sylvan Arnold
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298
pico-sensor/McuLib/src/McuX12_017.c
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298
pico-sensor/McuLib/src/McuX12_017.c
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/*
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* Copyright (c) 2019, Erich Styger
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*
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* SPDX-License-Identifier: BSD-3-Clause
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*
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* Driver for the X12.017 Quad-Stepper motor driver
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*/
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#include "McuX12_017config.h"
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#include "McuX12_017.h"
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#include "McuLib.h"
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#include "McuGPIO.h"
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#include "McuWait.h"
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#include "McuUtility.h"
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#if MCUULN2003_CONFIG_USE_FREERTOS_HEAP
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#include "McuRTOS.h"
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#else
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#include <stdlib.h> /* for malloc()/free() */
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#endif
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typedef struct {
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int32_t pos; /* current position */
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bool isForward; /* if current direction is forward */
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bool isInverted; /* if motor direction is inverted */
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McuGPIO_Handle_t dir; /* direction pin, shall be LOW if not used */
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McuGPIO_Handle_t step; /* step pin, shall be LOW if not used */
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} X12_Motor_t;
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typedef struct { /* descriptor for X12.017 stepper motor driver */
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bool hasReset;
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McuGPIO_Handle_t reset; /* LOW active, shall be low at power-on */
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X12_Motor_t m[X12_017_NOF_M]; /* each X12.017 can have up to 4 stepper motors */
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} McuX12_Device_t;
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/* default configuration, used for initializing the config */
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static const McuX12_017_Config_t defaultConfig =
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{
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.hasReset = false,
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/* reset pin */
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.hw_reset = {
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#if McuLib_CONFIG_NXP_SDK_USED && !McuLib_CONFIG_IS_KINETIS_KE
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.gpio = NULL,
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#elif McuLib_CONFIG_CPU_IS_STM32
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.gpio = NULL,
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#endif
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#if McuLib_CONFIG_CPU_IS_KINETIS
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.port = NULL,
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#elif McuLib_CONFIG_CPU_IS_LPC
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.port = 0,
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#endif
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.pin = 0,
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},
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.motor[X12_017_M0] = {
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.isInverted = false,
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},
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.motor[X12_017_M1] = {
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.isInverted = false,
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},
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#if McuX12_017_CONFIG_QUAD_DRIVER
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.motor[X12_017_M2] = {
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.isInverted = false,
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},
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.motor[X12_017_M3] = {
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.isInverted = false,
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},
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#endif
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};
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void McuX12_017_GetDefaultConfig(McuX12_017_Config_t *config) {
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memcpy(config, &defaultConfig, sizeof(*config));
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}
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McuX12_017_Handle_t McuX12_017_DeinitDevice(McuX12_017_Handle_t device) {
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McuX12_Device_t *dev = (McuX12_Device_t*)device;
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if (dev->hasReset) {
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McuGPIO_DeinitGPIO(dev->reset);
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}
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for(int i=0; i<4; i++) {
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McuGPIO_DeinitGPIO(dev->m[i].dir);
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McuGPIO_DeinitGPIO(dev->m[i].step);
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}
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#if McuX12_017_CONFIG_USE_FREERTOS_HEAP
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vPortFree(dev);
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#else
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free(dev);
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#endif
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return NULL;
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}
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McuX12_017_Handle_t McuX12_017_InitDevice(McuX12_017_Config_t *config) {
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McuGPIO_Config_t gpio_config; /* config for the SDK */
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McuX12_Device_t *handle;
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#if McuX12_017_CONFIG_USE_FREERTOS_HEAP
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handle = (McuX12_Device_t*)pvPortMalloc(sizeof(McuX12_Device_t)); /* get a new device descriptor */
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#else
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handle = (McuX12_Device_t*)malloc(sizeof(McuX12_Device_t)); /* get a new device descriptor */
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#endif
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assert(handle!=NULL);
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if (handle!=NULL) { /* if malloc failed, will return NULL pointer */
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memset(handle, 0, sizeof(McuX12_Device_t)); /* init all fields */
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handle->hasReset = config->hasReset;
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McuGPIO_GetDefaultConfig(&gpio_config);
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if (config->hasReset) { /* reset pin */
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gpio_config.isInput = false; /* reset pin is output only */
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memcpy(&gpio_config.hw, &config->hw_reset, sizeof(gpio_config.hw)); /* copy hardware info */
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gpio_config.isHighOnInit = false; /* driver reset pin is LOW by default */
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handle->reset = McuGPIO_InitGPIO(&gpio_config); /* create gpio handle */
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}
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for(McuX12_017_Motor_e i=0; i<X12_017_NOF_M; i++) {
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/* step pin */
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gpio_config.isInput = false; /* step pin is output only */
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memcpy(&gpio_config.hw, &config->motor[i].hw_step, sizeof(gpio_config.hw)); /* copy hardware info */
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gpio_config.isHighOnInit = false;
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handle->m[i].step = McuGPIO_InitGPIO(&gpio_config); /* create gpio handle */
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/* direction pin */
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handle->m[i].isInverted = config->motor[i].isInverted;
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handle->m[i].isForward = true;
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handle->m[i].pos = 0;
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/* direction pin */
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gpio_config.isInput = false; /* direction pin is output only */
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memcpy(&gpio_config.hw, &config->motor[i].hw_dir, sizeof(gpio_config.hw)); /* copy hardware info */
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gpio_config.isHighOnInit = false;
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handle->m[i].dir = McuGPIO_InitGPIO(&gpio_config); /* create gpio handle */
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McuX12_017_SetForward(handle, i); /* make sure that motor is initialized with direction */
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}
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}
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return handle;
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}
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void McuX12_017_ResetDriver(McuX12_017_Handle_t device) {
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/* RESET line shall be low during power-on (e.g. with pull-down resistor), then can be released after 1ms after power-on */
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McuX12_Device_t *dev = (McuX12_Device_t*)device;
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if (dev->hasReset) {
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McuGPIO_SetLow(dev->reset);
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McuWait_Waitms(1);
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McuGPIO_SetHigh(dev->reset); /* reset is low active */
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McuWait_Waitus(10);
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}
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}
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void McuX12_017_SetResetLine(McuX12_017_Handle_t device, bool setHigh) {
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/* RESET is low-active */
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McuX12_Device_t *dev = (McuX12_Device_t*)device;
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if (dev!=NULL && dev->hasReset) {
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McuGPIO_SetValue(dev->reset, setHigh);
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}
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}
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void McuX12_017_SetForward(McuX12_017_Handle_t device, McuX12_017_Motor_e motor) {
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McuX12_Device_t *dev = (McuX12_Device_t*)device;
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McuGPIO_SetValue(dev->m[motor].dir, !dev->m[motor].isInverted);
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dev->m[motor].isForward = true;
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McuWait_Waitus(10);
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}
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void McuX12_017_SetBackward(McuX12_017_Handle_t device, McuX12_017_Motor_e motor) {
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McuX12_Device_t *dev = (McuX12_Device_t*)device;
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McuGPIO_SetValue(dev->m[motor].dir, dev->m[motor].isInverted);
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dev->m[motor].isForward = false;
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McuWait_Waitus(10);
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}
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void McuX12_017_Step(McuX12_017_Handle_t device, McuX12_017_Motor_e motor) {
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McuX12_Device_t *dev = (McuX12_Device_t*)device;
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McuGPIO_SetHigh(dev->m[motor].step);
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McuWait_Waitus(10);
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McuGPIO_SetLow(dev->m[motor].step);
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McuWait_Waitus(100);
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if (dev->m[motor].isForward) {
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dev->m[motor].pos++;
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} else {
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dev->m[motor].pos--;
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}
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}
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void McuX12_017_DoSteps(McuX12_017_Handle_t device, McuX12_017_Motor_e motor, int32_t steps) {
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McuX12_Device_t *dev = (McuX12_Device_t*)device;
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if (steps>=0 && !dev->m[motor].isForward) {
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McuX12_017_SetForward(device, motor);
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} else if (steps<0 && dev->m[motor].isForward) {
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McuX12_017_SetBackward(device, motor);
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}
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if (steps<0) {
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steps = -steps;
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}
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while(steps>0) {
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McuX12_017_Step(device, motor);
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steps--;
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}
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}
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void McuX12_017_SingleStep(McuX12_017_Handle_t device, McuX12_017_Motor_e motor, int step) {
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McuX12_Device_t *dev = (McuX12_Device_t*)device;
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if (step<=0 && dev->m[motor].isForward) { /* change direction */
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McuX12_017_SetBackward(dev, motor);
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} else if (step>0 && !dev->m[motor].isForward) { /* change direction */
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McuX12_017_SetForward(dev, motor);
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}
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McuGPIO_SetHigh(dev->m[motor].step); /* do step, next statements will do an implicit delay */
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/* change position information */
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if (dev->m[motor].isForward) {
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dev->m[motor].pos++;
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} else {
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dev->m[motor].pos--;
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}
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McuGPIO_SetLow(dev->m[motor].step);
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}
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int32_t X12_017_GetPos(McuX12_017_Handle_t device, McuX12_017_Motor_e motor) {
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McuX12_Device_t *dev = (McuX12_Device_t*)device;
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return dev->m[motor].pos;
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}
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void X12_017_SetPos(McuX12_017_Handle_t device, McuX12_017_Motor_e motor, int32_t pos) {
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McuX12_Device_t *dev = (McuX12_Device_t*)device;
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dev->m[motor].pos = pos;
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}
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void McuX12_017_GetDeviceStatusString(McuX12_017_Handle_t device, unsigned char *buf, size_t bufSize) {
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McuX12_Device_t *dev = (McuX12_Device_t*)device;
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*buf = '\0';
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McuUtility_strcat(buf, bufSize, (unsigned char*)"reset:");
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if (dev->hasReset) {
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McuUtility_strcat(buf, bufSize, (unsigned char*)"y, ");
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} else {
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McuUtility_strcat(buf, bufSize, (unsigned char*)"n, ");
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}
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for(McuX12_017_Motor_e m=X12_017_M0; m<X12_017_NOF_M; m++) {
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McuUtility_strcat(buf, bufSize, (unsigned char*)"m[");
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McuUtility_strcatNum32u(buf, bufSize, m);
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McuUtility_strcat(buf, bufSize, (unsigned char*)"]: pos:");
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McuUtility_strcatNum32s(buf, bufSize, dev->m[m].pos);
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McuUtility_strcat(buf, bufSize, (unsigned char*)" fw:");
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if (dev->m[m].isForward) {
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McuUtility_strcat(buf, bufSize, (unsigned char*)"y ");
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} else {
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McuUtility_strcat(buf, bufSize, (unsigned char*)"n ");
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}
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McuUtility_strcat(buf, bufSize, (unsigned char*)"inv:");
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if (dev->m[m].isInverted) {
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McuUtility_strcat(buf, bufSize, (unsigned char*)"y ");
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} else {
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McuUtility_strcat(buf, bufSize, (unsigned char*)"n ");
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}
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}
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}
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void McuX12_017_DisableDevice(McuX12_017_Handle_t device) {
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McuX12_Device_t *x12 = (McuX12_Device_t*)device;
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if (x12->hasReset) {
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McuGPIO_SetAsInput(x12->reset);
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}
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for(int i=0; i<X12_017_NOF_M; i++) {
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McuGPIO_SetAsInput(x12->m[i].dir);
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McuGPIO_SetAsInput(x12->m[i].step);
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}
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}
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void McuX12_017_EnableDevice(McuX12_017_Handle_t device) {
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McuX12_Device_t *x12 = (McuX12_Device_t*)device;
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if (x12->hasReset) {
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McuGPIO_SetAsOutput(x12->reset, true);
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}
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for(int i=0; i<X12_017_NOF_M; i++) {
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if (x12->m[i].isForward) { /* set pin according to current direction state */
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McuGPIO_SetAsOutput(x12->m[i].dir, !x12->m[i].isInverted);
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} else {
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McuGPIO_SetAsOutput(x12->m[i].dir, x12->m[i].isInverted);
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}
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McuGPIO_SetAsOutput(x12->m[i].step, false);
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}
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}
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void McuX12_017_Deinit(void) {
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/* nothing needed */
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}
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void McuX12_017_Init(void) {
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/* nothing needed */
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}
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