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incubator-nuttx/drivers/motor/a4988.c

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/****************************************************************************
* drivers/motor/a4988.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/kmalloc.h>
#include <nuttx/motor/a4988.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/signal.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Types
****************************************************************************/
struct a4988_dev_s
{
FAR struct a4988_ops_s *ops; /* A4988 ops */
uint8_t auto_idle; /* If true, go in idle mode between movement */
};
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
static int a4988_setup(FAR struct stepper_lowerhalf_s *dev);
static int a4988_shutdown(FAR struct stepper_lowerhalf_s *dev);
static int a4988_work(FAR struct stepper_lowerhalf_s *dev,
FAR struct stepper_job_s const *param);
static int a4988_update_status(FAR struct stepper_lowerhalf_s *dev);
static int a4988_clear(FAR struct stepper_lowerhalf_s *dev, uint8_t fault);
static int a4988_idle(FAR struct stepper_lowerhalf_s *dev, uint8_t idle);
static int a4988_microstepping(FAR struct stepper_lowerhalf_s *dev,
uint16_t resolution);
static int a4988_ioctl(FAR struct stepper_lowerhalf_s *dev, int cmd,
unsigned long arg);
/****************************************************************************
* Private Data
****************************************************************************/
static const struct stepper_ops_s g_a4988_ops =
{
a4988_setup, /* setup */
a4988_shutdown, /* shutdown */
a4988_work, /* work */
a4988_update_status, /* update status */
a4988_clear, /* clear */
a4988_idle, /* idle */
a4988_microstepping, /* microstepping */
a4988_ioctl /* ioctl */
};
/****************************************************************************
* Private Functions
****************************************************************************/
static int a4988_setup(FAR struct stepper_lowerhalf_s *dev)
{
FAR struct a4988_dev_s *priv = (FAR struct a4988_dev_s *)dev->priv;
priv->ops->idle(false);
priv->ops->enable(true);
return 0;
}
static int a4988_shutdown(FAR struct stepper_lowerhalf_s *dev)
{
FAR struct a4988_dev_s *priv = (FAR struct a4988_dev_s *)dev->priv;
priv->ops->idle(true);
priv->ops->enable(false);
return 0;
}
static int a4988_work(FAR struct stepper_lowerhalf_s *dev,
FAR struct stepper_job_s const *job)
{
FAR struct a4988_dev_s *priv = (FAR struct a4988_dev_s *)dev->priv;
int delay;
int count;
if (job->steps == 0)
{
/* Nothing to do */
return 0;
}
/* Compute delay between pulse */
delay = USEC_PER_SEC / job->speed;
if (delay < 1)
{
delay = 1;
stpwarn("Delay is clamped to 1 us\n");
}
stpinfo("Delay is %ld us\n", delay);
/* Set direction */
if (job->steps > 0)
{
priv->ops->direction(true);
count = job->steps;
}
else
{
priv->ops->direction(false);
count = -job->steps;
}
if (priv->auto_idle)
{
priv->ops->idle(false);
nxsig_usleep(USEC_PER_MSEC);
}
dev->status.state = STEPPER_STATE_RUN;
for (int32_t i = 0; i < count; ++i)
{
priv->ops->step(true);
up_udelay(1);
priv->ops->step(false);
up_udelay(delay);
}
dev->status.state = STEPPER_STATE_READY;
if (priv->auto_idle)
{
priv->ops->idle(true);
}
/* Update steps done (a4988 cannot detect miss steps) */
dev->status.position += job->steps;
return 0;
}
static int a4988_update_status(FAR struct stepper_lowerhalf_s *dev)
{
/* No state to fetch */
return 0;
}
static int a4988_clear(FAR struct stepper_lowerhalf_s *dev, uint8_t fault)
{
/* No fault to clear ever */
return 0;
}
static int a4988_idle(FAR struct stepper_lowerhalf_s *dev, uint8_t idle)
{
FAR struct a4988_dev_s *priv = (FAR struct a4988_dev_s *)dev->priv;
if (idle == STEPPER_AUTO_IDLE)
{
priv->auto_idle = true;
return 0;
}
priv->auto_idle = false;
if (idle == STEPPER_ENABLE_IDLE)
{
priv->ops->idle(true);
dev->status.state = STEPPER_STATE_IDLE;
}
else
{
priv->ops->idle(false);
nxsig_usleep(USEC_PER_MSEC);
dev->status.state = STEPPER_STATE_READY;
}
return 0;
}
static int a4988_microstepping(FAR struct stepper_lowerhalf_s *dev,
uint16_t resolution)
{
FAR struct a4988_dev_s *priv = (FAR struct a4988_dev_s *)dev->priv;
switch (resolution)
{
case 1:
{
priv->ops->microstepping(false, false, false);
}
break;
case 2:
{
priv->ops->microstepping(true, false, false);
}
break;
case 4:
{
priv->ops->microstepping(false, true, false);
}
break;
case 8:
{
priv->ops->microstepping(true, true, false);
}
break;
case 16:
{
priv->ops->microstepping(true, true, true);
}
break;
default:
{
return -EINVAL;
}
}
return 0;
}
static int a4988_ioctl(FAR struct stepper_lowerhalf_s *dev, int cmd,
unsigned long arg)
{
return -ENOSYS;
}
/****************************************************************************
* Public Functions
****************************************************************************/
int a4988_register(FAR const char *devpath, FAR struct a4988_ops_s *ops)
{
FAR struct a4988_dev_s *priv;
FAR struct stepper_lowerhalf_s *lower;
int ret = 0;
/* Sanity check */
DEBUGASSERT(ops != NULL);
/* Initialize the a4988 dev structure */
priv = kmm_malloc(sizeof(struct a4988_dev_s));
if (priv == NULL)
{
stperr("Failed to allocate instance\n");
return -ENOMEM;
}
priv->ops = ops;
lower = kmm_malloc(sizeof(struct stepper_lowerhalf_s));
if (priv == NULL)
{
stperr("Failed to allocate instance\n");
kmm_free(priv);
return -ENOMEM;
}
lower->priv = priv;
lower->status.fault = STEPPER_FAULT_CLEAR;
lower->status.state = STEPPER_STATE_READY;
lower->status.position = 0;
lower->ops = &g_a4988_ops;
/* Initialize lower layer (only once) */
priv->ops->initialize();
/* Register the character driver */
ret = stepper_register(devpath, lower);
if (ret < 0)
{
stperr("Failed to register driver: %d\n", ret);
kmm_free(priv);
kmm_free(lower);
return ret;
}
stpinfo("a4988 registered at %s\n", devpath);
return ret;
}
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