0.1.2 DRV8825

Author: RobTillaart

libraries/DRV8825/DRV8825.cpp

@@ -1,7 +1,7 @@
 //
 //    FILE: DRV8825.cpp
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.1.1
+// VERSION: 0.1.2
 // PURPOSE: Arduino library for DRV8825 stepper motor driver
 //    DATE: 2022-07-07
 //     URL: https://github.com/RobTillaart/DRV8825
@@ -10,6 +10,9 @@
 //  0.1.1   2022-07-08  update readme.md
 //                      add setPosition() + getPosition();
 //                      minor optimizations
+//  0.1.2   2022-07-14  add support for SLP RST and EN pin
+//                      update documentation
+//                      update build-CI
 
 
 #include "DRV8825.h"
@@ -20,15 +23,35 @@ DRV8825::DRV8825()
 }
 
 
-bool DRV8825::begin(uint8_t dirPin, uint8_t stepPin)
+bool DRV8825::begin(uint8_t DIR, uint8_t STEP, uint8_t EN, uint8_t RST, uint8_t SLP)
 {
-  _directionPin = dirPin;
-  _stepPin      = stepPin;
+  _directionPin = DIR;
+  _stepPin      = STEP;
+
   pinMode(_directionPin, OUTPUT);
   pinMode(_stepPin, OUTPUT);
+  digitalWrite(_directionPin, LOW);
+  digitalWrite(_stepPin, LOW);
 
-  digitalWrite(_directionPin, LOW);  // TODO check
-  digitalWrite(_stepPin, LOW);       // TODO check
+  //  handle conditional parameters
+  if (EN != 255)
+  {
+    _enablePin = EN;
+    pinMode(_enablePin, OUTPUT);
+    digitalWrite(_enablePin, LOW);  //  page 3
+  }
+  if (RST != 255)
+  {
+    _resetPin = RST;
+    pinMode(_resetPin, OUTPUT);
+    digitalWrite(_resetPin, LOW);    //  page 3
+  }
+  if (SLP != 255)
+  {
+    _sleepPin = SLP;
+    pinMode(_sleepPin, OUTPUT);
+    digitalWrite(_sleepPin, HIGH);   //  page 3
+  }
   return true;
 }
 
@@ -126,6 +149,69 @@ uint16_t DRV8825::getPosition()
   return _pos;
 }
 
+//  Table page 3
+void DRV8825::enable()
+{
+  if (_enablePin != 255)
+  {
+    digitalWrite(_enablePin, LOW);
+  }
+}
+
+void DRV8825::disable()
+{
+  if (_enablePin != 255)
+  {
+    digitalWrite(_enablePin, HIGH);
+  }
+}
+
+bool DRV8825::isEnabled()
+{
+  if (_enablePin != 255)
+  {
+    return (digitalRead(_enablePin) == LOW);
+  }
+  return true;
+}
+
+
+void DRV8825::reset()
+{
+  if (_resetPin != 255)
+  {
+    digitalWrite(_resetPin, HIGH);
+    delay(1);
+    digitalWrite(_resetPin, LOW);
+  }
+}
+
+
+void DRV8825::sleep()
+{
+  if (_sleepPin != 255)
+  {
+    digitalWrite(_sleepPin, LOW);
+  }
+}
+
+void DRV8825::wakeup()
+{
+  if (_sleepPin != 255)
+  {
+    digitalWrite(_sleepPin, HIGH);
+  }
+}
+
+bool DRV8825::isSleeping()
+{
+  if (_sleepPin != 255)
+  {
+    return (digitalRead(_sleepPin) == LOW);
+  }
+  return false;
+}
+
 
 //  -- END OF FILE --
 

libraries/DRV8825/DRV8825.h

@@ -2,7 +2,7 @@
 //
 //    FILE: DRV8825.h
 //  AUTHOR: Rob Tillaart
-// VERSION: 0.1.1
+// VERSION: 0.1.2
 // PURPOSE: Arduino library for DRV8825 stepper motor driver
 //    DATE: 2022-07-07
 //     URL: https://github.com/RobTillaart/DRV8825
@@ -23,7 +23,7 @@ class DRV8825
 public:
   DRV8825();
 
-  bool     begin(uint8_t dirPin, uint8_t stepPin);
+  bool     begin(uint8_t DIR, uint8_t STEP, uint8_t EN = 255, uint8_t RST = 255, uint8_t SLP = 255);
 
   //       DIRECTION
   //       0 = DRV8825_CLOCK_WISE
@@ -51,15 +51,33 @@ class DRV8825
   void     setStepPulseLength(uint16_t us = 2);
   uint16_t getStepPulseLength();
 
+  //       ENABLE pin should be set.
+  void     enable();
+  void     disable();
+  bool     isEnabled();
+
+  //       RESET pin should be set.
+  void     reset();
+
+  //       SLEEP pin should be set.
+  void     sleep();
+  void     wakeup();
+  bool     isSleeping();
+
 
 protected:
-  uint16_t _stepsPerRotation = 0;
   uint8_t  _directionPin     = 255;
   uint8_t  _stepPin          = 255;
+  uint8_t  _enablePin        = 255;
+  uint8_t  _resetPin         = 255;
+  uint8_t  _sleepPin         = 255;
+
   uint8_t  _direction        = DRV8825_CLOCK_WISE;
+
+  uint16_t _stepsPerRotation = 0;
   uint32_t _steps            = 0;
-  uint16_t _us               = 2;
   uint16_t _pos              = 0;
+  uint16_t _us               = 2;
 };
 
 

libraries/DRV8825/README.md

@@ -15,7 +15,7 @@ Arduino library for DRV8825 stepper motor driver.
 
 **DRV8825** is a library for DRV8825 stepper motor driver.
 
-**Warning: experimental**
+**Warning: experimental** needs testing.
 
 The DRV8825 stepper motor library controls a stepper motor with
 a direction signal and a step pulse.
@@ -44,8 +44,10 @@ const uint8_t DRV8825_COUNTERCLOCK_WISE  = 1;  //  HIGH
 ### Constructor
 
 - **DRV8825()** Constructor.
-- **bool begin(uint8_t dirPin, uint8_t stepPin)** set the direction pin and step pin.
+- **bool begin(uint8_t DIR, uint8_t STEP, uint8_t EN = 255, uint8_t RST = 255, uint8_t SLP = 255)** set the direction pin and step pin.
 Both pins are set to LOW. For direction this means DRV8825_CLOCK_WISE.
+Optional the enable, reset and sleep pin can be set.
+If these are set to 255 the related functions won't do anything.
 
 
 ### Direction
@@ -109,9 +111,72 @@ Normally these need not to be changed.
 Default the value = 2.
 
 
+### Enable (EN)
+
+- **void enable()** sets the enable line LOW.
+- **void disable()** sets the enable line HIGH.
+- **bool isEnabled()** reads back the line state.
+True means enabled.
+
+After **enable()** the system needs 650 ns before **step()**
+can be called. See 7.6 Timing Requirements.
+
+
+### Reset (RST)
+
+- **void reset()** sends a reset pulse to the device.
+
+
+### Sleep (SLP)
+
+- **void sleep()** sets the enable line LOW.
+- **void wakeup()** sets the enable line HIGH.
+- **bool isSleeping()** reads back the line state.
+True means enabled.
+
+After **wakeup()** the system needs **1700 us** before **step()**
+can be called. See 7.6 Timing Requirements.
+
+
+### MicroSteps
+
+The pins M0, M1 and M2 are to be used to set micro steps.
+This library does not allow them to be set from code as
+normally these won't change in a project.
+
+|  STEP MODE  |  M2  |  M1  |  M0  |
+|:-----------:|:----:|:----:|:----:|
+|    full     |   0  |   0  |   0  |
+|    half     |   0  |   0  |   1  |
+|    1/4      |   0  |   1  |   0  |
+|    1/8      |   0  |   1  |   1  |
+|    1/16     |   1  |   0  |   0  |
+|    1/32     |   1  |   0  |   1  |
+|    1/32     |   1  |   1  |   0  |
+|    1/32     |   1  |   1  |   1  |
+
+Check datasheet for details.
+
+
+### Fault (FLT)
+
+The FLT pin indicates that an error has occurred. 
+The library does not monitor this pin as that would need a background process.
+The user is advised to check this pin at regular intervals
+or connect the FLT pin to an interrupt pin of the processor. 
+
+- LOW  == fault condition (overtemp, overcurrent)
+- HIGH == OK
+
+The device does not provide means to interpret the type of 
+error, but one could at least call **disable()**.
+
+Check datasheet for the details.
+
+
 ## Operational
 
-The base functions are:
+The minimal code is:
 
 ```cpp
 DRV8825 stepper;
@@ -143,19 +208,12 @@ Some will only be worked on if requested and time permits.
 
 #### must
 
+- test test test
 - add examples
 - update documentation
 - investigate other pins
-  - M0..M2              8.3.5 micro steps
   - decay mode          8.3.3 there are 3 modi)
-  - fault pin     FLT   input to detect errors
-  - sleep pin     SLP   8.3.6
-  - enable pin    EN    8.3.6
-  - reset pin     RST   8.3.6
   - other?
-- if stepsPerRotation is set to zero, should pos be set to zero?
-  - NB it will not be updated any more.
-- do we need steps counter?
 
 #### should
 
@@ -164,10 +222,8 @@ Some will only be worked on if requested and time permits.
   - blocking
   - max 1 rotation?
   - optimize "position admin"
-- gotoPosition(pos)..
-  - needs steps(n) above.
-- investigate other similar STEP/DIR controllers
-  - DRV88xx series?
+- should begin return bool?
+
 
 #### could
 
@@ -176,11 +232,20 @@ Some will only be worked on if requested and time permits.
   - only when needed?
   - 8825 as derived? or as base class?
   - which others are similar?
-- investigate controlling a DRV8825 with an PCF8574
-  - pins needed (M0..M2, SLP, RST, EN, DIR, STEP)
-  - first need a decent basic library.
+    - A4988, DRV8824, more?
 
 #### wont
 
 - left() + right();
+- if stepsPerRotation is set to zero, should pos be set to zero?
+  - NB it will not be updated any more.
+  - leaving it as is, could allow "creative calibration"
+- investigate controlling a DRV8825 with an PCF8574
+  - pins needed (M0..M2, SLP, RST, EN, DIR, STEP)
+  - first need a decent basic library.
+  - would be a class on its own.
+- gotoPosition(pos)..
+  - needs steps(n) above? for loop!
+  - shortest angle/path or via current CW/CCW mode.
+  - user can implement his own strategy.
 

libraries/DRV8825/keywords.txt

@@ -19,6 +19,14 @@ getSteps	KEYWORD2
 setStepPulseLength	KEYWORD2
 getStepPulseLength	KEYWORD2
 
+enable	KEYWORD2
+disable	KEYWORD2
+isEnabled	KEYWORD2
+reset	KEYWORD2
+sleep	KEYWORD2
+wakeup	KEYWORD2
+isSleeping	KEYWORD2
+
 
 # Constants (LITERAL1)
 DRV8825_LIB_VERSION	LITERAL1

libraries/DRV8825/library.json

@@ -15,7 +15,7 @@
     "type": "git",
     "url": "https://github.com/RobTillaart/DRV8825.git"
   },
-  "version": "0.1.1",
+  "version": "0.1.2",
   "license": "MIT",
   "frameworks": "arduino",
   "platforms": "*",

libraries/DRV8825/library.properties

@@ -1,5 +1,5 @@
 name=DRV8825
-version=0.1.1
+version=0.1.2
 author=Rob Tillaart <[email protected]>
 maintainer=Rob Tillaart <[email protected]>
 sentence=Arduino library for DRV8825 stepper motor driver.