Added step/dir interface

Author: askuric

examples/utils/communication_test/commander_extend_example/commander_extend_example.ino renamed to examples/utils/communication_test/commander/commander_extend_example/commander_extend_example.ino

@@ -0,0 +1,36 @@
+/**
+ * A simple example of reading step/dir communication 
+ *  - this example uses hadware interrupts
+*/
+
+#include <SimpleFOC.h>
+
+// angle 
+float received_angle = 0;
+
+// StepDirListener( step_pin, dir_pin, counts_per_revolution)
+StepDirListener step_dir = StepDirListener(2, 3, 200);
+void onStep() { step_dir.handle(); }
+
+void setup() {
+
+  Serial.begin(115200);
+  
+  // init step and dir pins
+  step_dir.init();
+  // enable interrupts 
+  step_dir.enableInterrupt(onStep);
+  // attach the variable to be updated on each step (optional) 
+  // the same can be done asynchronously by caling step_dir.getValue();
+  step_dir.attach(&received_angle);
+    
+  Serial.println(F("Step/Dir listenning."));
+  _delay(1000);
+}
+
+void loop() {
+  Serial.print(received_angle); 
+  Serial.print("\t");
+  Serial.println(step_dir.getValue());
+  _delay(500);
+}

examples/utils/communication_test/commander_no_serial/commander_no_serial.ino renamed to examples/utils/communication_test/commander/commander_no_serial/commander_no_serial.ino

@@ -0,0 +1,44 @@
+/**
+ * A simple example of reading step/dir communication 
+ *  - this example uses software interrupts - this code is intended primarily 
+ *    for Arduino UNO/Mega and similar boards with very limited number of interrupt pins
+*/
+
+#include <SimpleFOC.h>
+// software interrupt library
+#include <PciManager.h>
+#include <PciListenerImp.h>
+
+
+// angle 
+float received_angle = 0;
+
+// StepDirListener( step_pin, dir_pin, counts_per_revolution)
+StepDirListener step_dir = StepDirListener(4, 5, 200);
+void onStep() { step_dir.handle(); }
+
+// If no available hadware interrupt pins use the software interrupt
+PciListenerImp listenStep(step_dir.pin_step, onStep);
+
+void setup() {
+
+  Serial.begin(115200);
+  
+  // init step and dir pins
+  step_dir.init();
+  // enable software interrupts
+  PciManager.registerListener(&listenStep);
+  // attach the variable to be updated on each step (optional) 
+  // the same can be done asynchronously by caling step_dir.getValue();
+  step_dir.attach(&received_angle);
+    
+  Serial.println(F("Step/Dir listenning."));
+  _delay(1000);
+}
+
+void loop() {
+    Serial.print(received_angle); 
+    Serial.print("\t");
+    Serial.println(step_dir.getValue());
+    _delay(500);
+}

examples/utils/communication_test/commander_tune_custom_loop/commander_tune_custom_loop.ino renamed to examples/utils/communication_test/commander/commander_tune_custom_loop/commander_tune_custom_loop.ino

@@ -0,0 +1,98 @@
+/**
+ * A position control example using step/dir interface to update the motor position
+ */
+
+#include <SimpleFOC.h>
+
+// BLDC motor & driver instance
+BLDCMotor motor = BLDCMotor(11);
+BLDCDriver3PWM driver = BLDCDriver3PWM(10, 5, 6, 8);
+
+// Stepper motor & driver instance
+//StepperMotor motor = StepperMotor(50);
+//StepperDriver4PWM driver = StepperDriver4PWM(9, 5, 10, 6,  8);
+
+// encoder instance
+Encoder encoder = Encoder(2, 3, 500);
+// channel A and B callbacks
+void doA() { encoder.handleA(); }
+void doB() { encoder.handleB(); }
+
+// StepDirListener( step_pin, dir_pin, counts_per_revolution)
+StepDirListener step_dir = StepDirListener(A4, A5, 200);
+void onStep() { step_dir.handle(); }
+
+void setup() {
+
+  // initialize encoder sensor hardware
+  encoder.init();
+  encoder.enableInterrupts(doA, doB);
+  // link the motor to the sensor
+  motor.linkSensor(&encoder);
+
+  // driver config
+  // power supply voltage [V]
+  driver.voltage_power_supply = 12;
+  driver.init();
+  // link the motor and the driver
+  motor.linkDriver(&driver);
+
+  // aligning voltage [V]
+  motor.voltage_sensor_align = 3;
+  // index search velocity [rad/s]
+  motor.velocity_index_search = 3;
+
+  // set motion control loop to be used
+  motor.controller = MotionControlType::angle;
+
+  // contoller configuration
+  // default parameters in defaults.h
+  // velocity PI controller parameters
+  motor.PID_velocity.P = 0.2;
+  motor.PID_velocity.I = 20;
+  motor.PID_velocity.D = 0;
+  // default voltage_power_supply
+  motor.voltage_limit = 12;
+  // jerk control using voltage voltage ramp
+  // default value is 300 volts per sec  ~ 0.3V per millisecond
+  motor.PID_velocity.output_ramp = 1000;
+
+  // velocity low pass filtering time constant
+  motor.LPF_velocity.Tf = 0.01;
+
+  // angle P controller
+  motor.P_angle.P = 10;
+  //  maximal velocity of the position control
+  motor.velocity_limit = 100;
+
+  // use monitoring with serial
+  Serial.begin(115200);
+  // comment out if not needed
+  motor.useMonitoring(Serial);
+
+  // initialize motor
+  motor.init();
+  // align encoder and start FOC
+  motor.initFOC();
+
+  // init step and dir pins
+  step_dir.init();
+  // enable interrupts 
+  step_dir.enableInterrupt(onStep);
+  // attach the variable to be updated on each step (optional) 
+  // the same can be done asynchronously by caling motor.move(step_dir.getValue());
+  step_dir.attach(&motor.target);
+    
+  Serial.println(F("Motor ready."));
+  Serial.println(F("Listening to step/dir commands!"));
+  _delay(1000);
+}
+
+void loop() {
+
+  // main FOC algorithm function
+  motor.loopFOC();
+
+  // Motion control function
+  motor.move();
+}

examples/utils/communication_test/step_dir/step_dir_listener_simple/step_dir_listener_simple.ino

@@ -19,6 +19,7 @@ LowPassFilter	KEYWORD1
 InlineCurrentSense	KEYWORD1   
 CurrentSense	KEYWORD1   
 Commander	KEYWORD1   
+StepDirListener	KEYWORD1   
 
 
 initFOC	KEYWORD2
@@ -83,6 +84,11 @@ driverAlign	KEYWORD2
 driverSync	KEYWORD2
 add	KEYWORD2
 run	KEYWORD2
+attach	KEYWORD2
+enableInterrupt	KEYWORD2
+getValue	KEYWORD2
+handle	KEYWORD2
+
 
 
 current	KEYWORD2

examples/utils/communication_test/step_dir/step_dir_listener_software_interrupt/step_dir_listener_software_interrupt.ino

@@ -109,5 +109,6 @@ void loop() {
 #include "drivers/StepperDriver2PWM.h"
 #include "current_sense/InlineCurrentSense.h"
 #include "communication/Commander.h"
+#include "communication/StepDirListener.h"
 
 #endif

examples/utils/communication_test/step_dir/step_dir_motor_example/step_dir_motor_example.ino

@@ -0,0 +1,40 @@
+#include "StepDirListener.h"
+
+StepDirListener::StepDirListener(int _pinStep, int _pinDir, float _step_per_rotation){
+
+    pin_step = _pinStep;
+    pin_dir = _pinDir;
+
+    step_per_rotation = _step_per_rotation;
+
+}
+
+void StepDirListener::init(){
+    pinMode(pin_dir, INPUT);
+    pinMode(pin_step, INPUT_PULLUP);
+    count = 0;
+}
+
+void StepDirListener::enableInterrupt(void (*doA)()){
+    attachInterrupt(digitalPinToInterrupt(pin_step), doA, CHANGE);
+}
+
+void StepDirListener::attach(float* variable){
+    attached_variable = variable;
+}
+
+void StepDirListener::handle(){
+  bool step = digitalRead(pin_step);
+  if(step && step != step_active){
+     if(digitalRead(pin_dir)) 
+        count++;
+     else 
+        count--;
+   }
+   step_active = step;
+   if(attached_variable) *attached_variable = getValue();
+}
+
+float StepDirListener::getValue(){
+    return (float) count / step_per_rotation * _2PI;
+}

keywords.txt

@@ -0,0 +1,29 @@
+#ifndef STEPDIR_H
+#define STEPDIR_H
+
+#include "Arduino.h"
+#include "../common/foc_utils.h"
+
+class StepDirListener
+{
+  public:
+    StepDirListener(int pinStep, int pinDir, float step_per_rotation);
+    void enableInterrupt(void (*doA)());
+    void init();
+    void handle();
+
+    float getValue();
+
+    void attach(float* variable);
+
+    int pin_step;
+    int pin_dir;
+    long count;
+
+  private:
+    float* attached_variable = nullptr;
+    long step_per_rotation;
+    bool step_active = 0;
+};
+
+#endif