devyte/stepperapi.cpp

## stepperapi.cpp
#include "stepperapi.h"
#include "Arduino.h"
#include "core_esp8266_waveform.h"

static bool
stepperStartCore(int pinPulse, uint32_t analogFreq)
{

  if (analogFreq == 0)
    return stopWaveform(pinPulse); //for frequency = 0, stop the pulse train

  if (analogFreq > 40000)
    analogFreq = 40000; //clamp to 40KHz at the high end


  uint32_t analogPeriod = microsecondsToClockCycles(1000000UL) / analogFreq;

  constexpr uint32_t analogScale = 1023;  //set up in setup(), 255 default if not set up

  uint32_t high = analogPeriod / (2 * analogScale);
  uint32_t low = analogPeriod - high;
  pinMode(pinPulse, OUTPUT);
  if ((low == 0) || (high == 0))
    return false; //error

  return startWaveformClockCycles(pinPulse, high, low, 0); //return whether start succeeded
}

bool
stepperStart(int pinEn, int pinPulse, uint32_t analogFreq)
{
  //enable stepper
  pinMode(pinEn, OUTPUT);
  digitalWrite(pinEn, HIGH);

  return stepperStartCore(pinPulse, analogFreq);
}

bool
stepperStop(int pinEn, int pinPulse)
{
  if(!stopWaveform(pinPulse))
    return false;

  //Disable stepper
  pinMode(pinEn, OUTPUT);
  digitalWrite(pinEn, LOW);
  return true;
}

bool
stepperUpdateSpeed(int pinPulse, uint32_t newAnalogFreq)
{
  //update directly, no need to stop (see analogWrite() function body)
  return stepperStartCore(pinPulse, newAnalogFreq);
}


## stepperapi.h
#ifndef __STEPPERAPI_H__
#define __STEPPERAPI_H__

#include <cstdint>

bool
stepperStart(int pinEn, int pinPulse, uint32_t analogFreq);
bool
stepperStop(int pinEn, int pinPulse);
bool
stepperUpdateSpeed(int pinPulse, uint32_t newAnalogFreq);

#endif

## stepperclass.h
#ifndef __STEPPERCLASS_H__
#define __STEPPERCLASS_H__

#include "stepperapi.h"

class Stepper
{
private:
  int pinEn;
  int pinPulse;
  bool running;

public:
  Stepper(int pinEn, int pinPulse)
    : pinEn(pinEn),
      pinPulse(pinPulse),
      running(false)
  {}

  //disables the pins
  ~Stepper()
  {
    if(running)
    {
      stepperStop(pinEn, pinPulse);
      releasePins();
    }
  }

  //Enables the pins for OUTPUT
  bool start(uint32_t speed)
  {
    if(stepperStart(pinEn, pinPulse, speed))
    {
      running = true;
      return true;
    }
    return false;
  }

  //disables the stepper (En=false)
  //Does not release the pins, i.e.: they remain in OUTPUT mode
  bool stop()
  {
    if(stepperStop(pinEn, pinPulse)
    {
      running = false;
      return true;
    }
    return false;
  }

  //speed=0 stops the pulse without doing EN=false
  bool updateSpeed(uint32_t speed)
  {
    return stepperUpdateSpeed(pinPulse, speed);
  }

  //Disables the pins, i.e. they go back to INPUT mode and therefore float
  void releasePins()
  {
      pinMode(pinEn, INPUT);
      pinMode(pinPulse, INPUT);
  }

  bool isRunning()
  {
    return running;
  }
};

#endif

## stepperwaveformgenerator.ino
#include "Arduino.h"
#include "stepperclass.h"

namespace
{
constexpr int pinEnS1 = 5;
constexpr int pinPulseS1 = 4;
constexpr int pinEnS2 = 0;
constexpr int pinPulseS2 = 2;
constexpr int pinEnS3 = 16;
constexpr int pinPulseS3 = 13;

constexpr int pinAlarm = 12;
constexpr int pinLinkageSensor = 14;
constexpr int pinRelay = 15;

Stepper stepper1(pinEnS1, pinPulseS1);
Stepper stepper2(pinEnS2, pinPulseS2);
Stepper stepper3(pinEnS3, pinPulseS3);

bool startFlag1 = false;
bool startFlag2 = false;
bool startFlag3 = false;
bool stopFlag1 = false;
bool stopFlag2 = false;
bool stopFlag3 = false;
bool updateFlag1 = false;
bool updateFlag2 = false;
bool updateFlag3 = false;

//The unit of these speeds is Hz, i.e.: pulses/second
uint32 speed1;
uint32 speed2;
uint32 speed3;

}

void
handleStepper(Stepper &stepper, bool &startFlag, bool &stopFlag, bool &updateFlag, uint32_t speed)
{
  if(startFlag) //from ui
  {
    if(!stepper.start(speed))
    {
       //error starting
    }
    startFlag = false;
  }
  if(stopFlag) //from ui
  {
    if(!stepper.stop())
    {
       //error stopping
    }
    stopFlag = false;
  }
  if(updateFlag) //from ui
  {
    if(!stepper.updateSpeed(speed))
    {
      //error updating speed
    }
    updateFlag = false;
  }
}


void
setup()
{
  //set up wifi, webserver, etc
}

void
loop()
{
  //startFlag, stopFlag, speed would be initially set from a webserver handler
  //updateFlag and speed would then be set whenever a speed update is available,
  //e.g.: gps gives new position => calculate speed set point in Hz (speedX = setPointVariableX / 10) => updateFlag = true

  handleStepper(stepper1, startFlag1, stopFlag1, updateFlag1, speed1);
  handleStepper(stepper2, startFlag2, stopFlag2, updateFlag2, speed2);
  handleStepper(stepper3, startFlag3, stopFlag3, updateFlag3, speed3);
}
	#include "stepperapi.h"
	#include "Arduino.h"
	#include "core_esp8266_waveform.h"

	static bool
	stepperStartCore(int pinPulse, uint32_t analogFreq)
	{

	if (analogFreq == 0)
	return stopWaveform(pinPulse); //for frequency = 0, stop the pulse train

	if (analogFreq > 40000)
	analogFreq = 40000; //clamp to 40KHz at the high end


	uint32_t analogPeriod = microsecondsToClockCycles(1000000UL) / analogFreq;

	constexpr uint32_t analogScale = 1023; //set up in setup(), 255 default if not set up

	uint32_t high = analogPeriod / (2 * analogScale);
	uint32_t low = analogPeriod - high;
	pinMode(pinPulse, OUTPUT);
	if ((low == 0) \|\| (high == 0))
	return false; //error

	return startWaveformClockCycles(pinPulse, high, low, 0); //return whether start succeeded
	}

	bool
	stepperStart(int pinEn, int pinPulse, uint32_t analogFreq)
	{
	//enable stepper
	pinMode(pinEn, OUTPUT);
	digitalWrite(pinEn, HIGH);

	return stepperStartCore(pinPulse, analogFreq);
	}

	bool
	stepperStop(int pinEn, int pinPulse)
	{
	if(!stopWaveform(pinPulse))
	return false;

	//Disable stepper
	pinMode(pinEn, OUTPUT);
	digitalWrite(pinEn, LOW);
	return true;
	}

	bool
	stepperUpdateSpeed(int pinPulse, uint32_t newAnalogFreq)
	{
	//update directly, no need to stop (see analogWrite() function body)
	return stepperStartCore(pinPulse, newAnalogFreq);
	}
	#ifndef __STEPPERAPI_H__
	#define __STEPPERAPI_H__

	#include <cstdint>

	bool
	stepperStart(int pinEn, int pinPulse, uint32_t analogFreq);
	bool
	stepperStop(int pinEn, int pinPulse);
	bool
	stepperUpdateSpeed(int pinPulse, uint32_t newAnalogFreq);

	#endif
	#ifndef __STEPPERCLASS_H__
	#define __STEPPERCLASS_H__

	#include "stepperapi.h"

	class Stepper
	{
	private:
	int pinEn;
	int pinPulse;
	bool running;

	public:
	Stepper(int pinEn, int pinPulse)
	: pinEn(pinEn),
	pinPulse(pinPulse),
	running(false)
	{}

	//disables the pins
	~Stepper()
	{
	if(running)
	{
	stepperStop(pinEn, pinPulse);
	releasePins();
	}
	}

	//Enables the pins for OUTPUT
	bool start(uint32_t speed)
	{
	if(stepperStart(pinEn, pinPulse, speed))
	{
	running = true;
	return true;
	}
	return false;
	}

	//disables the stepper (En=false)
	//Does not release the pins, i.e.: they remain in OUTPUT mode
	bool stop()
	{
	if(stepperStop(pinEn, pinPulse)
	{
	running = false;
	return true;
	}
	return false;
	}

	//speed=0 stops the pulse without doing EN=false
	bool updateSpeed(uint32_t speed)
	{
	return stepperUpdateSpeed(pinPulse, speed);
	}

	//Disables the pins, i.e. they go back to INPUT mode and therefore float
	void releasePins()
	{
	pinMode(pinEn, INPUT);
	pinMode(pinPulse, INPUT);
	}

	bool isRunning()
	{
	return running;
	}
	};

	#endif
	#include "Arduino.h"
	#include "stepperclass.h"

	namespace
	{
	constexpr int pinEnS1 = 5;
	constexpr int pinPulseS1 = 4;
	constexpr int pinEnS2 = 0;
	constexpr int pinPulseS2 = 2;
	constexpr int pinEnS3 = 16;
	constexpr int pinPulseS3 = 13;

	constexpr int pinAlarm = 12;
	constexpr int pinLinkageSensor = 14;
	constexpr int pinRelay = 15;

	Stepper stepper1(pinEnS1, pinPulseS1);
	Stepper stepper2(pinEnS2, pinPulseS2);
	Stepper stepper3(pinEnS3, pinPulseS3);

	bool startFlag1 = false;
	bool startFlag2 = false;
	bool startFlag3 = false;
	bool stopFlag1 = false;
	bool stopFlag2 = false;
	bool stopFlag3 = false;
	bool updateFlag1 = false;
	bool updateFlag2 = false;
	bool updateFlag3 = false;

	//The unit of these speeds is Hz, i.e.: pulses/second
	uint32 speed1;
	uint32 speed2;
	uint32 speed3;

	}

	void
	handleStepper(Stepper &stepper, bool &startFlag, bool &stopFlag, bool &updateFlag, uint32_t speed)
	{
	if(startFlag) //from ui
	{
	if(!stepper.start(speed))
	{
	//error starting
	}
	startFlag = false;
	}
	if(stopFlag) //from ui
	{
	if(!stepper.stop())
	{
	//error stopping
	}
	stopFlag = false;
	}
	if(updateFlag) //from ui
	{
	if(!stepper.updateSpeed(speed))
	{
	//error updating speed
	}
	updateFlag = false;
	}
	}


	void
	setup()
	{
	//set up wifi, webserver, etc
	}

	void
	loop()
	{
	//startFlag, stopFlag, speed would be initially set from a webserver handler
	//updateFlag and speed would then be set whenever a speed update is available,
	//e.g.: gps gives new position => calculate speed set point in Hz (speedX = setPointVariableX / 10) => updateFlag = true

	handleStepper(stepper1, startFlag1, stopFlag1, updateFlag1, speed1);
	handleStepper(stepper2, startFlag2, stopFlag2, updateFlag2, speed2);
	handleStepper(stepper3, startFlag3, stopFlag3, updateFlag3, speed3);
	}