From 5a551a37206561a4a572ffb550af8d4559027e28 Mon Sep 17 00:00:00 2001
From: Emilio Corigliano <emilio.corigliano@skywarder.eu>
Date: Wed, 14 Jun 2023 21:22:41 +0000
Subject: [PATCH] [CountedPWM][Stepper][StepperPWM] Enhanced PWM module to
implement a non-blocking Stepper driver
---
.vscode/settings.json | 2 +
CMakeLists.txt | 8 +-
cmake/boardcore.cmake | 3 +
src/shared/actuators/Stepper.cpp | 163 +++++++++++++++
src/shared/actuators/Stepper.h | 208 ++++++-------------
src/shared/actuators/StepperPWM.cpp | 99 +++++++++
src/shared/actuators/StepperPWM.h | 104 ++++++++++
src/shared/drivers/timer/CountedPWM.cpp | 147 +++++++++++++
src/shared/drivers/timer/CountedPWM.h | 198 ++++++++++++++++++
src/tests/actuators/test-stepper-pwm.cpp | 147 +++++++++++++
src/tests/actuators/test-stepper.cpp | 95 ++++++---
src/tests/drivers/timer/test-counted-pwm.cpp | 93 +++++++++
12 files changed, 1092 insertions(+), 175 deletions(-)
create mode 100644 src/shared/actuators/Stepper.cpp
create mode 100644 src/shared/actuators/StepperPWM.cpp
create mode 100644 src/shared/actuators/StepperPWM.h
create mode 100644 src/shared/drivers/timer/CountedPWM.cpp
create mode 100644 src/shared/drivers/timer/CountedPWM.h
create mode 100644 src/tests/actuators/test-stepper-pwm.cpp
create mode 100644 src/tests/drivers/timer/test-counted-pwm.cpp
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 544586127..66dd1b582 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -228,6 +228,8 @@
"mavlinkdriver",
"MEKF",
"microcontrollers",
+ "Microstep",
+ "Microsteps",
"MINC",
"miosix",
"mkdir",
diff --git a/CMakeLists.txt b/CMakeLists.txt
index fed706ded..885933511 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -138,7 +138,10 @@ add_executable(test-buzzer src/tests/actuators/test-buzzer.cpp)
sbs_target(test-buzzer stm32f429zi_hre_test_stand)
add_executable(test-stepper src/tests/actuators/test-stepper.cpp)
-sbs_target(test-stepper stm32f429zi_stm32f4discovery)
+sbs_target(test-stepper stm32f767zi_nucleo)
+
+add_executable(test-stepper-pwm src/tests/actuators/test-stepper-pwm.cpp)
+sbs_target(test-stepper-pwm stm32f767zi_nucleo)
#-----------------------------------------------------------------------------#
# Tests - Algorithms #
@@ -218,6 +221,9 @@ sbs_target(test-MBLoadCell stm32f407vg_stm32f4discovery)
add_executable(test-pwm src/tests/drivers/timer/test-pwm.cpp)
sbs_target(test-pwm stm32f429zi_stm32f4discovery)
+add_executable(test-counted-pwm src/tests/drivers/timer/test-counted-pwm.cpp)
+sbs_target(test-counted-pwm stm32f429zi_stm32f4discovery)
+
add_executable(test-spi src/tests/drivers/spi/test-spi.cpp)
sbs_target(test-spi stm32f407vg_stm32f4discovery)
diff --git a/cmake/boardcore.cmake b/cmake/boardcore.cmake
index 1972d025d..43a510b06 100644
--- a/cmake/boardcore.cmake
+++ b/cmake/boardcore.cmake
@@ -30,6 +30,8 @@ foreach(OPT_BOARD ${BOARDS})
# Actuators
${SBS_BASE}/src/shared/actuators/HBridge/HBridge.cpp
${SBS_BASE}/src/shared/actuators/Servo/Servo.cpp
+ ${SBS_BASE}/src/shared/actuators/Stepper.cpp
+ ${SBS_BASE}/src/shared/actuators/StepperPWM.cpp
# Algorithms
${SBS_BASE}/src/shared/algorithms/ADA/ADA.cpp
@@ -52,6 +54,7 @@ foreach(OPT_BOARD ${BOARDS})
${SBS_BASE}/src/shared/drivers/canbus/CanProtocol/CanProtocol.cpp
${SBS_BASE}/src/shared/drivers/interrupt/external_interrupts.cpp
${SBS_BASE}/src/shared/drivers/timer/PWM.cpp
+ ${SBS_BASE}/src/shared/drivers/timer/CountedPWM.cpp
${SBS_BASE}/src/shared/drivers/timer/TimestampTimer.cpp
${SBS_BASE}/src/shared/drivers/runcam/Runcam.cpp
${SBS_BASE}/src/shared/drivers/spi/SPITransaction.cpp
diff --git a/src/shared/actuators/Stepper.cpp b/src/shared/actuators/Stepper.cpp
new file mode 100644
index 000000000..00a2166cd
--- /dev/null
+++ b/src/shared/actuators/Stepper.cpp
@@ -0,0 +1,163 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Authors: Alberto Nidasio, Emilio Corigliano
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+#include "Stepper.h"
+
+namespace Boardcore
+{
+
+Stepper::Stepper(miosix::GpioPin stepPin, miosix::GpioPin directionPin,
+ float speed, float stepAngle, bool revertDirection,
+ uint16_t microStep, PinConfiguration pinConfiguration,
+ miosix::GpioPin enablePin)
+ : stepPin(stepPin), directionPin(directionPin), speed(speed),
+ stepAngle(stepAngle), revertDirection(revertDirection),
+ microStep(microStep), pinConfig(pinConfiguration), enablePin(enablePin),
+ currentDirection(Direction::CLOCKWISE)
+{
+ if (this->speed < 0)
+ this->speed = 0;
+
+ Stepper::setMicroStepping(microStep);
+
+ // Start with the motor disabled
+ disable();
+}
+
+void Stepper::enable()
+{
+ if (pinConfig == PinConfiguration::COMMON_CATHODE)
+ {
+ enablePin.low();
+ }
+ else
+ {
+ enablePin.high();
+ }
+}
+
+void Stepper::disable()
+{
+ if (pinConfig == PinConfiguration::COMMON_CATHODE)
+ {
+ enablePin.high();
+ }
+ else
+ {
+ enablePin.low();
+ }
+}
+
+void Stepper::setDirection()
+{
+ // Following the connections written in the stepper-driver datasheet for
+ // moving the stepper clockwise we have that:
+ // directionPin high: stepper turns clockwise;
+ // directionPin low: stepper turns counterclockwise;
+ //
+ // The revertDirection flag is used just for accounting for an inverted
+ // polarity in the configuration.
+ if (currentDirection == Direction::CLOCKWISE)
+ {
+ // To set the stepper-driver to turn CLOCKWISE we have to set the pin
+ // high in common cathode mode and low in common anode mode (the
+ // resulting potential difference should lead to a high logic value)
+ if ((!revertDirection &&
+ (pinConfig == PinConfiguration::COMMON_CATHODE)) ||
+ (revertDirection && (pinConfig == PinConfiguration::COMMON_ANODE)))
+ {
+ directionPin.high();
+ }
+ else
+ {
+ directionPin.low();
+ }
+ }
+ else
+ {
+ // To set the stepper-driver to turn COUNTER-CLOCKWISE we have to set
+ // the pin low in common cathode mode and high in common anode mode (the
+ // resulting potential difference should lead to a low logic value)
+ if ((!revertDirection &&
+ (pinConfig == PinConfiguration::COMMON_CATHODE)) ||
+ (revertDirection && (pinConfig == PinConfiguration::COMMON_ANODE)))
+ {
+ directionPin.low();
+ }
+ else
+ {
+ directionPin.high();
+ }
+ }
+}
+
+void Stepper::move(int16_t steps)
+{
+ if (speed == 0)
+ return;
+
+ unsigned int halfStepDelay = 1e6 / (speed * 360 / stepAngle * microStep);
+ int16_t stepsAbs;
+ if (steps > 0)
+ {
+ // Go forward
+ currentDirection = Direction::CLOCKWISE;
+ setDirection();
+ stepsAbs = steps;
+ }
+ else
+ {
+ // Go backwards
+ currentDirection = Direction::COUNTER_CLOCKWISE;
+ setDirection();
+ stepsAbs = -steps;
+ }
+
+ miosix::delayUs(halfStepDelay);
+
+ for (int i = 0; i < stepsAbs; i++)
+ {
+ if (pinConfig == PinConfiguration::COMMON_CATHODE)
+ {
+ stepPin.high();
+ }
+ else
+ {
+ stepPin.low();
+ }
+
+ miosix::delayUs(halfStepDelay);
+
+ if (pinConfig == PinConfiguration::COMMON_CATHODE)
+ {
+ stepPin.low();
+ }
+ else
+ {
+ stepPin.high();
+ }
+ miosix::delayUs(halfStepDelay);
+ }
+
+ currentPositionDeg += steps * stepAngle / microStep;
+}
+
+} // namespace Boardcore
\ No newline at end of file
diff --git a/src/shared/actuators/Stepper.h b/src/shared/actuators/Stepper.h
index b08639af1..d93a5c7dc 100644
--- a/src/shared/actuators/Stepper.h
+++ b/src/shared/actuators/Stepper.h
@@ -1,5 +1,5 @@
/* Copyright (c) 2022 Skyward Experimental Rocketry
- * Author: Alberto Nidasio
+ * Authors: Alberto Nidasio, Emilio Corigliano
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -32,13 +32,10 @@ namespace Boardcore
class Stepper
{
public:
- enum class Microstep
+ enum class PinConfiguration
{
- MICROSTEP_1,
- MICROSTEP_2,
- MICROSTEP_4,
- MICROSTEP_8,
- MICROSTEP_16,
+ COMMON_ANODE, ///< All + signals connected to Vdd (3v3)
+ COMMON_CATHODE, ///< All - signals connected to Gnd
};
/**
@@ -53,14 +50,12 @@ public:
* @param stepAngle Angle covered by one motor step.
* @param revertDirection Whether or not revert the direction signal.
*/
- Stepper(miosix::GpioPin stepPin, miosix::GpioPin directionPin,
- float speed = 1, float stepAngle = 1.8,
- bool revertDirection = false,
- Microstep microstep = Microstep::MICROSTEP_1,
- miosix::GpioPin enablePin = MockGpioPin(),
- miosix::GpioPin ms1Pin = MockGpioPin(),
- miosix::GpioPin ms2Pin = MockGpioPin(),
- miosix::GpioPin ms3Pin = MockGpioPin());
+ Stepper(
+ miosix::GpioPin stepPin, miosix::GpioPin directionPin, float speed = 1,
+ float stepAngle = 1.8, bool revertDirection = false,
+ uint16_t microStep = 1,
+ PinConfiguration pinConfiguration = PinConfiguration::COMMON_CATHODE,
+ miosix::GpioPin enablePin = MockGpioPin());
void enable();
@@ -68,24 +63,28 @@ public:
/**
* @brief Changes the stepper motor speed.
+ *
+ * @param speed Speed in rotation per second. [rev/s]
*/
- void setSpeed(float speed);
+ virtual void setSpeed(float speed);
/**
- * @brief Set the motor driver microstepping configuration.
+ * @brief Set the motor driver micro stepping configuration.
+ *
+ * This method has no effect if micro steps are changed via physical
+ * switches.
*/
- void setMicrostepping(Microstep microstep);
+ virtual void setMicroStepping(uint16_t microStep);
/**
- * @brief Zeros the driver's internal position.
- *
+ * @brief Overrides the driver's internal position counter.
*/
- void zeroPosition();
+ void zeroPosition(float degrees = 0);
/**
* @brief Move the stepper motor by the specified amount of steps.
*/
- void move(int32_t steps);
+ virtual void move(int16_t steps);
/**
* @brief Move the stepper motor by the specified amount of degrees.
@@ -97,168 +96,89 @@ public:
*
* Note that this function uses delayUs, thus it blocks execution based on
* the stepper motor speed and movement.
- *
- * @param degrees Position in steps.
*/
- void setPosition(int32_t steps);
+ virtual void setPosition(int16_t steps);
/**
* @brief Set the position of the stepper motor.
*
* Note that this function uses delayUs, thus it blocks execution based on
* the stepper motor speed and movement.
- *
- * @param degrees Position in degrees.
*/
void setPositionDeg(float degrees);
- uint32_t getCurrentPosition();
+ int16_t getCurrentPosition();
- float getCurrentDegPosition();
+ /**
+ * @brief Returns the current absolute position of the stepper in degrees
+ * [deg].
+ */
+ virtual float getCurrentDegPosition();
-private:
- int getMicrosteppingValue();
+protected:
+ /**
+ * @brief Sets the directionPin to the right value to go in the direction
+ * stored in `currentDirection`.
+ */
+ void setDirection();
+
+ enum Direction : int8_t
+ {
+ CLOCKWISE = 1, // To move the stepper clockwise seeing it from the top
+ // of the stepper
+ COUNTER_CLOCKWISE = -1, // To move the stepper counter-clockwise seeing
+ // it from the top of the stepper
+ };
+
+ // This class is not copyable!
+ Stepper& operator=(const Stepper&) = delete;
+ Stepper(const Stepper& p) = delete;
miosix::GpioPin stepPin;
miosix::GpioPin directionPin;
- float speed;
- float stepAngle; ///< Degrees per step.
+ float speed; // [rev/s]
+ float stepAngle; // [deg/step]
bool revertDirection;
- Microstep microstep;
+ uint16_t microStep;
+ PinConfiguration pinConfig;
miosix::GpioPin enablePin;
- miosix::GpioPin ms1Pin;
- miosix::GpioPin ms2Pin;
- miosix::GpioPin ms3Pin;
- int32_t currentPosition = 0;
+ Direction currentDirection; // Direction of the stepper
+ float currentPositionDeg = 0; // Absolute position counter [degrees]
};
-inline Stepper::Stepper(miosix::GpioPin stepPin, miosix::GpioPin directionPin,
- float speed, float stepAngle, bool revertDirection,
- Microstep microstep, miosix::GpioPin enablePin,
- miosix::GpioPin ms1Pin, miosix::GpioPin ms2Pin,
- miosix::GpioPin ms3Pin)
- : stepPin(stepPin), directionPin(directionPin), speed(speed),
- stepAngle(stepAngle), revertDirection(revertDirection),
- microstep(microstep), enablePin(enablePin), ms1Pin(ms1Pin),
- ms2Pin(ms2Pin), ms3Pin(ms3Pin)
-{
- if (speed < 0)
- speed = 0;
-
- setMicrostepping(microstep);
-
- // Start with the motor disabled
- disable();
-}
-
-inline void Stepper::enable() { enablePin.low(); }
-
-inline void Stepper::disable() { enablePin.high(); }
-
inline void Stepper::setSpeed(float speed) { this->speed = speed; }
-inline void Stepper::setMicrostepping(Microstep microstep)
+inline void Stepper::setMicroStepping(uint16_t microStep)
{
- this->microstep = microstep;
-
- switch (microstep)
- {
- case Microstep::MICROSTEP_1:
- ms1Pin.low();
- ms2Pin.low();
- ms3Pin.low();
- break;
- case Microstep::MICROSTEP_2:
- ms1Pin.high();
- ms2Pin.low();
- ms3Pin.low();
- break;
- case Microstep::MICROSTEP_4:
- ms1Pin.low();
- ms2Pin.high();
- ms3Pin.low();
- break;
- case Microstep::MICROSTEP_8:
- ms1Pin.high();
- ms2Pin.high();
- ms3Pin.low();
- break;
- case Microstep::MICROSTEP_16:
- ms1Pin.high();
- ms2Pin.high();
- ms3Pin.high();
- break;
- }
+ this->microStep = microStep;
}
-void Stepper::zeroPosition() { currentPosition = 0; }
-
-inline void Stepper::move(int32_t steps)
+inline void Stepper::zeroPosition(float degrees)
{
- if (speed == 0)
- return;
-
- unsigned int halfStepDelay =
- 1e6 / (speed * 360 / stepAngle * getMicrosteppingValue());
-
- if (revertDirection == (steps >= 0))
- directionPin.low();
- else
- directionPin.high();
- miosix::delayUs(halfStepDelay);
-
- int32_t stepsAbs = steps > 0 ? steps : -steps;
- for (int i = 0; i < stepsAbs; i++)
- {
- stepPin.high();
- miosix::delayUs(halfStepDelay);
- stepPin.low();
- miosix::delayUs(halfStepDelay);
- }
-
- currentPosition += steps;
+ currentPositionDeg = degrees;
}
inline void Stepper::moveDeg(float degrees)
{
- move(degrees / stepAngle * getMicrosteppingValue());
+ move(degrees * microStep / stepAngle);
}
-inline void Stepper::setPosition(int32_t steps)
+inline void Stepper::setPosition(int16_t steps)
{
- move(steps - currentPosition);
+ setPositionDeg(steps * stepAngle / microStep);
}
inline void Stepper::setPositionDeg(float position)
{
- setPosition(position / stepAngle * getMicrosteppingValue());
+ moveDeg(position - getCurrentDegPosition());
}
-inline uint32_t Stepper::getCurrentPosition() { return currentPosition; }
-
-inline float Stepper::getCurrentDegPosition()
+inline int16_t Stepper::getCurrentPosition()
{
- return currentPosition * stepAngle / getMicrosteppingValue();
+ return getCurrentDegPosition() * microStep / stepAngle;
}
-inline int Stepper::getMicrosteppingValue()
-{
- switch (microstep)
- {
- case Microstep::MICROSTEP_1:
- return 1;
- case Microstep::MICROSTEP_2:
- return 2;
- case Microstep::MICROSTEP_4:
- return 4;
- case Microstep::MICROSTEP_8:
- return 8;
- case Microstep::MICROSTEP_16:
- return 16;
- }
-
- return 1;
-}
+inline float Stepper::getCurrentDegPosition() { return currentPositionDeg; }
-} // namespace Boardcore
+} // namespace Boardcore
\ No newline at end of file
diff --git a/src/shared/actuators/StepperPWM.cpp b/src/shared/actuators/StepperPWM.cpp
new file mode 100644
index 000000000..e9eccf5ff
--- /dev/null
+++ b/src/shared/actuators/StepperPWM.cpp
@@ -0,0 +1,99 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Authors: Alberto Nidasio, Emilio Corigliano
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+#include "StepperPWM.h"
+
+namespace Boardcore
+{
+
+StepperPWM::StepperPWM(CountedPWM &pwm, miosix::GpioPin stepPin,
+ miosix::GpioPin directionPin, float speed,
+ float stepAngle, bool revertDirection,
+ uint16_t microStep, PinConfiguration pinConfiguration,
+ miosix::GpioPin enablePin)
+ : Stepper(stepPin, directionPin, speed, stepAngle, revertDirection,
+ microStep, pinConfiguration, enablePin),
+ pwm(pwm)
+{
+ if (this->speed < 0)
+ this->speed = 0;
+
+ Stepper::setDirection();
+ StepperPWM::setMicroStepping(microStep);
+
+ // Start with the motor disabled
+ disable();
+}
+
+void StepperPWM::setSpeed(float speed)
+{
+ this->speed = speed;
+ pwm.setFrequency(speed * 360 / stepAngle * microStep);
+}
+
+void StepperPWM::setMicroStepping(uint16_t microStep)
+{
+ // Resize the pulses to generate and the current pulses generated to use the
+ // new microsteps (keeping constant the angle of movement)
+ pwm.updateTargetCount(pwm.getTargetCount() * this->microStep / microStep);
+ pwm.updateCurrentCount(pwm.getCurrentCount() * this->microStep / microStep);
+
+ Stepper::setMicroStepping(microStep);
+ pwm.setFrequency(speed * 360 / stepAngle * microStep);
+}
+
+void StepperPWM::move(int16_t steps)
+{
+ if (speed == 0 || steps == 0)
+ return;
+
+ // First update currentPositionDeg. This method corrects the initial
+ // position saved with the current state of the CountTimer counter register,
+ // so that we account only for the pulses actually generated.
+ currentPositionDeg = getCurrentDegPosition();
+
+ if (steps > 0)
+ {
+ // Go forward
+ currentDirection = Direction::CLOCKWISE;
+ Stepper::setDirection();
+
+ // Move
+ pwm.generatePulses(steps);
+ }
+ else
+ {
+ // Go backwards
+ currentDirection = Direction::COUNTER_CLOCKWISE;
+ Stepper::setDirection();
+
+ // Move
+ pwm.generatePulses(-steps);
+ }
+}
+
+float StepperPWM::getCurrentDegPosition()
+{
+ return currentPositionDeg +
+ currentDirection * pwm.getCurrentCount() * stepAngle / microStep;
+}
+
+} // namespace Boardcore
\ No newline at end of file
diff --git a/src/shared/actuators/StepperPWM.h b/src/shared/actuators/StepperPWM.h
new file mode 100644
index 000000000..6c91c24b7
--- /dev/null
+++ b/src/shared/actuators/StepperPWM.h
@@ -0,0 +1,104 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Authors: Alberto Nidasio, Emilio Corigliano
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <interfaces-impl/gpio_impl.h>
+#include <interfaces/delays.h>
+#include <utils/TestUtils/MockGpioPin.h>
+
+#include "Stepper.h"
+#include "drivers/timer/CountedPWM.h"
+
+namespace Boardcore
+{
+
+class StepperPWM : public Stepper
+{
+public:
+ /**
+ * @brief Construct a new StepperPWM object.
+ *
+ * By default the direction pin is held low when moving forward.
+ * If the given speed is negative the motor wont move.
+ *
+ * @param pwm The CountedPWM object that will generate the N steps.
+ * @param stepPin Pin connected to the step signal of the driver.
+ * @param directionPin Pin connected to the direction signal of the driver.
+ * @param speed Number of rotations per second.
+ * @param stepAngle Angle covered by one motor step.
+ * @param revertDirection Whether or not revert the direction signal.
+ */
+ StepperPWM(
+ CountedPWM &pwm, miosix::GpioPin stepPin, miosix::GpioPin directionPin,
+ float speed = 1, float stepAngle = 1.8, bool revertDirection = false,
+ uint16_t microStep = 1,
+ PinConfiguration pinConfiguration = PinConfiguration::COMMON_CATHODE,
+ miosix::GpioPin enablePin = MockGpioPin());
+
+ /**
+ * @brief Changes the stepper motor speed.
+ *
+ * @param speed Speed in rotation per second. [rev/s]
+ */
+ void setSpeed(float speed) override;
+
+ /**
+ * @brief Set the motor driver micro stepping configuration.
+ *
+ * If micro steps are changed via physical switches we have to call this
+ * method with the correct configuration to keep consistency in the speed of
+ * the stepper.
+ * @param microStep The micro steps that the stepper performs.
+ */
+ void setMicroStepping(uint16_t microStep) override;
+
+ /**
+ * @brief Move the stepper motor by the specified amount of steps.
+ */
+ void move(int16_t steps) override;
+
+ /**
+ * @brief Returns the current angle of the stepper.
+ *
+ * To calculate the correct angle of the stepper we add the angle reached in
+ * the last actuation (saved in the variable `currentPositionDeg`) with the
+ * conversion in angle of the actual stepper position (so, the number of
+ * pulses actuated by the timer till now, that corresponds to the counter
+ * register of the CounterTimer).
+ *
+ * Notice that on each actuation (calling one of the move or setPosition
+ * methods) we save the angle reached using this method.
+ */
+ float getCurrentDegPosition() override;
+
+private:
+ // This class is not copyable!
+ StepperPWM &operator=(const StepperPWM &) = delete;
+ StepperPWM(const StepperPWM &p) = delete;
+
+ void setDirection();
+
+ CountedPWM &pwm;
+};
+
+} // namespace Boardcore
\ No newline at end of file
diff --git a/src/shared/drivers/timer/CountedPWM.cpp b/src/shared/drivers/timer/CountedPWM.cpp
new file mode 100644
index 000000000..8c49b3e85
--- /dev/null
+++ b/src/shared/drivers/timer/CountedPWM.cpp
@@ -0,0 +1,147 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Authors: Emilio Corigliano, Alberto Nidasio
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "CountedPWM.h"
+
+namespace Boardcore
+{
+
+CountedPWM::CountedPWM(TIM_TypeDef* const pulseTimer,
+ TimerUtils::Channel const pulseChannel,
+ TimerUtils::TriggerSource const pulseTriggerSource,
+ TIM_TypeDef* const counterTimer,
+ TimerUtils::Channel const counterChannel,
+ TimerUtils::TriggerSource const counterTriggerSource)
+ : pulseTimer(pulseTimer), pulseChannel(pulseChannel),
+ pulseTriggerSource(pulseTriggerSource), counterTimer(counterTimer),
+ counterChannel(counterChannel), counterTriggerSource(counterTriggerSource)
+{
+ // Erase the previous timer configuration
+ this->pulseTimer.reset();
+ this->counterTimer.reset();
+
+ configureTimers();
+
+ // Keep the timers always enabled. The clock of the pwm timer will be
+ // enabled based on the output of the counter timer
+ this->pulseTimer.enable();
+ this->counterTimer.enable();
+}
+
+CountedPWM::~CountedPWM()
+{
+ pulseTimer.reset();
+ counterTimer.reset();
+}
+
+void CountedPWM::setFrequency(unsigned int pulseFrequency)
+{
+ this->pulseFrequency = pulseFrequency;
+ pulseTimer.setFrequency(pulseFrequency * dutyCycleResolution);
+ pulseTimer.setAutoReloadRegister(
+ TimerUtils::getFrequency(pulseTimer.getTimer()) / pulseFrequency);
+}
+
+void CountedPWM::setDutyCycle(float dutyCycle)
+{
+ if (dutyCycle >= 0 && dutyCycle <= 1)
+ {
+ this->dutyCycle = dutyCycle;
+ pulseTimer.setCaptureCompareRegister(
+ pulseChannel,
+ static_cast<uint16_t>(
+ dutyCycle * pulseTimer.readAutoReloadRegister() + 0.5));
+ }
+}
+
+void CountedPWM::setDutyCycleResolution(unsigned int dutyCycleResolution)
+{
+ this->dutyCycleResolution = dutyCycleResolution;
+ setFrequency(pulseFrequency);
+}
+
+void CountedPWM::generatePulses(uint16_t pulses)
+{
+ // Reset the counters
+ pulseTimer.setCounter(0);
+ counterTimer.setCounter(0);
+
+ // Set the capture and compare register to the number of pulses to generate
+ counterTimer.setCaptureCompareRegister(counterChannel, pulses);
+}
+
+bool CountedPWM::isGenerating()
+{
+ return counterTimer.readCounter() !=
+ counterTimer.readCaptureCompareRegister(counterChannel);
+}
+
+void CountedPWM::configureTimers()
+{
+ // PWM timer
+ {
+ setFrequency(pulseFrequency);
+
+ // Output/Master: Select TRGO source
+ pulseTimer.setMasterMode(masterModeFromChannel(pulseChannel));
+
+ // Input/Slave: Enable the pulseTimer when the output from the
+ // counterTimer is high
+ pulseTimer.setTriggerSource(pulseTriggerSource);
+ pulseTimer.setSlaveMode(TimerUtils::SlaveMode::GATED_MODE);
+
+ // Capture Compare Channel setup in PWM mode
+ pulseTimer.setOutputCompareMode(
+ pulseChannel, TimerUtils::OutputCompareMode::PWM_MODE_1);
+ setDutyCycle(dutyCycle);
+ pulseTimer.enableCaptureCompareOutput(pulseChannel);
+
+ // Force the timer to update its configuration
+ pulseTimer.generateUpdate();
+ }
+
+ // Counter timer
+ {
+ counterTimer.setAutoReloadRegister(-1);
+
+ // Output/Master: Select TRGO source
+ counterTimer.setMasterMode(masterModeFromChannel(counterChannel));
+
+ // Input/Slave: Use the output from counterTimer as clock for pulseTimer
+ counterTimer.setTriggerSource(counterTriggerSource);
+ counterTimer.setSlaveMode(TimerUtils::SlaveMode::EXTERNAL_CLOCK_MODE_1);
+
+ // Capture Compare Channel setup in PWM mode
+ counterTimer.setOutputCompareMode(
+ counterChannel, TimerUtils::OutputCompareMode::PWM_MODE_1);
+ counterTimer.setCaptureCompareRegister(counterChannel, 0);
+ counterTimer.enableCaptureCompareOutput(counterChannel);
+
+ // The output is enabled also for the counterTimer if the user wants to
+ // output an enable signal
+
+ // Force the timer to update its configuration
+ counterTimer.generateUpdate();
+ }
+}
+
+} // namespace Boardcore
\ No newline at end of file
diff --git a/src/shared/drivers/timer/CountedPWM.h b/src/shared/drivers/timer/CountedPWM.h
new file mode 100644
index 000000000..30fe01640
--- /dev/null
+++ b/src/shared/drivers/timer/CountedPWM.h
@@ -0,0 +1,198 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Authors: Emilio Corigliano, Alberto Nidasio
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <assert.h>
+#include <drivers/timer/GeneralPurposeTimer.h>
+
+#include "PWM.h"
+#include "utils/Debug.h"
+
+namespace Boardcore
+{
+
+/**
+ * @brief This class generates a PWM signal for a chosen number of pulses.
+ *
+ * Two timers are used: PulseTimer and CounterTimer.
+ *
+ * +------------+ OverflowEvent UpdateCounter +--------------+
+ * | PulseTimer | ------------------------------> | CounterTimer |
+ * | | | |
+ * | | | |
+ * | PWM, GATED | <------------------------------ | ExtClkMode |
+ * +------------+ StopCounter OverflowEvent +--------------+
+ *
+ * As seen in the previous scheme, PulseTimer generates the PWM signal. This
+ * is seen both as output on the respective GPIO and as input for the
+ * CounterTimer. So, in this way, CounterTimer counts the pulses generated and,
+ * when a threshold is passed, the CounterTimer changes its output polarity.
+ * Since PulseTimer has as GATED input the CounterTimer, when the N pulses are
+ * exceeded, the PulseTimer is stopped and no other cycles are generated. This
+ * works because since we disable the PulseTimer, the CounterTimer doesn't
+ * exceed the Capture and Compare value set (which corresponds to the wanted
+ * pulses).
+ *
+ * The requirement for this technique to work is that the two timers should have
+ * an "internal trigger input" (ITR) connection to each other.
+ */
+class CountedPWM
+{
+public:
+ /**
+ * @brief Constructor that initializes the timers.
+ *
+ * In particular, the pulseTimer will be used to create the output PWM
+ * signal while the counterTimer will just count for the occurred pulses.
+ * The PWM signal will be transmitted on the `pulseChannel` channel while
+ * the counterTimer signal will be accessible on the `counterChannel`
+ * channel (for debug purposes).
+ * @param pulseTimer Timer used for the generation of the PWM signal.
+ * @param pulseChannel Channel of pulseTimer on which the PWM signal will be
+ * generated.
+ * @param pulseTriggerSource The corresponding ITR mode of the pulseTimer
+ * for having as external trigger input the counterTimer.
+ * @param counterTimer Timer used for counting the pulses generated by the
+ * PWM.
+ * @param counterChannel Channel of pulseTimer on which the counter signal
+ * will be visible.
+ * @param counterTriggerSource The corresponding ITR mode of the
+ * counterTimer for having as external trigger input the pulseTimer.
+ */
+ CountedPWM(TIM_TypeDef* const pulseTimer,
+ TimerUtils::Channel const pulseChannel,
+ TimerUtils::TriggerSource const pulseTriggerSource,
+ TIM_TypeDef* const counterTimer,
+ TimerUtils::Channel const counterChannel,
+ TimerUtils::TriggerSource const counterTriggerSource);
+
+ ~CountedPWM();
+
+ void setFrequency(unsigned int pulseFrequency);
+
+ /**
+ * @brief Sets the duty cycle for the specified channel.
+ *
+ * Changes the duty cycle only if the specified value is in the range [0,1].
+ *
+ * @param dutyCycle Relative duty cycle, ranges from 0 to 1.
+ */
+ void setDutyCycle(float dutyCycle);
+
+ /**
+ * @brief Sets the granularity of the PulseTimer duty cycle. So it sets the
+ * Auto Reload Register of the PulseTimer.
+ */
+ void setDutyCycleResolution(unsigned int dutyCycleResolution);
+
+ /**
+ * @brief Triggers the generation of a specific number of PWM periods.
+ *
+ * Note that the function returns immediately and the PWM signal is
+ * generated in background by the timers.
+ *
+ * @param pulses The number of pulses to generate.
+ */
+ void generatePulses(uint16_t pulses);
+
+ /**
+ * @brief Returns whether the timers are generating the PWM signal or not.
+ */
+ bool isGenerating();
+
+ /**
+ * @brief Allows to update the target periods count while the timers are
+ * generating the signal.
+ */
+ void updateTargetCount(uint16_t pulses);
+
+ /**
+ * @brief Allows to get the target periods count while the timers are
+ * generating the signal.
+ */
+ uint16_t getTargetCount();
+
+ /**
+ * @brief Allows to update the current periods count while the timers are
+ * generating the signal.
+ */
+ void updateCurrentCount(uint16_t count);
+
+ /**
+ * @brief Returns the number of periods counted until now.
+ */
+ uint16_t getCurrentCount();
+
+ /**
+ * @brief Stops the PWM signal generation if it is ongoing.
+ */
+ void stop();
+
+private:
+ // This class is not copyable!
+ CountedPWM& operator=(const CountedPWM&) = delete;
+ CountedPWM(const CountedPWM& p) = delete;
+
+ void configureTimers();
+
+ GP16bitTimer pulseTimer;
+ TimerUtils::Channel pulseChannel;
+ TimerUtils::TriggerSource pulseTriggerSource;
+
+ GP16bitTimer counterTimer;
+ TimerUtils::Channel counterChannel;
+ TimerUtils::TriggerSource counterTriggerSource;
+
+ unsigned int pulseFrequency = 50; ///< Frequency of the pulses [Hz]
+ float dutyCycle = 0.5; ///< DutyCycle of the pulses [%]
+ unsigned int dutyCycleResolution =
+ 20000; ///< Basically this is the Auto Reload Register of the
+ ///< PulseTimer
+};
+
+inline void CountedPWM::updateTargetCount(uint16_t pulses)
+{
+ counterTimer.setCaptureCompareRegister(counterChannel, pulses);
+}
+
+inline uint16_t CountedPWM::getTargetCount()
+{
+ return counterTimer.readCaptureCompareRegister(counterChannel);
+}
+
+inline void CountedPWM::updateCurrentCount(uint16_t count)
+{
+ return counterTimer.setCounter(count);
+}
+
+inline uint16_t CountedPWM::getCurrentCount()
+{
+ return counterTimer.readCounter();
+}
+
+inline void CountedPWM::stop()
+{
+ counterTimer.setCaptureCompareRegister(counterChannel, getCurrentCount());
+}
+
+} // namespace Boardcore
\ No newline at end of file
diff --git a/src/tests/actuators/test-stepper-pwm.cpp b/src/tests/actuators/test-stepper-pwm.cpp
new file mode 100644
index 000000000..f1a2101a4
--- /dev/null
+++ b/src/tests/actuators/test-stepper-pwm.cpp
@@ -0,0 +1,147 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Emilio Corigliano
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include <actuators/StepperPWM.h>
+#include <drivers/timer/CountedPWM.h>
+#include <miosix.h>
+
+#include <thread>
+
+using namespace miosix;
+using namespace Boardcore;
+
+GpioPin directionPin = GpioPin(GPIOC_BASE, 12);
+GpioPin enablePin = GpioPin(GPIOC_BASE, 10);
+
+GpioPin stepPin = GpioPin(GPIOB_BASE, 4);
+GpioPin ms1Pin = GpioPin(GPIOE_BASE, 6);
+GpioPin ms2Pin = GpioPin(GPIOE_BASE, 2);
+GpioPin ms3Pin = GpioPin(GPIOE_BASE, 4);
+
+void setMicroStepping(StepperPWM& stepper, int16_t microStep)
+{
+ switch (microStep)
+ {
+ case 1:
+ ms1Pin.low();
+ ms2Pin.low();
+ ms3Pin.low();
+ break;
+ case 2:
+ ms1Pin.high();
+ ms2Pin.low();
+ ms3Pin.low();
+ break;
+ case 4:
+ ms1Pin.low();
+ ms2Pin.high();
+ ms3Pin.low();
+ break;
+ case 8:
+ ms1Pin.high();
+ ms2Pin.high();
+ ms3Pin.low();
+ break;
+ case 16:
+ ms1Pin.high();
+ ms2Pin.high();
+ ms3Pin.high();
+ break;
+ default:
+ printf("Microsteps value not available!\n");
+ return;
+ }
+ stepper.setMicroStepping(microStep);
+}
+
+void doRoutine(StepperPWM& stepper)
+{
+ stepper.enable();
+
+ for (int i = 1; i < 5; i++)
+ {
+ stepper.setSpeed(i);
+
+ stepper.setPositionDeg(180);
+ delayMs(2 * 1000);
+ stepper.setPositionDeg(90);
+ delayMs(2 * 1000);
+ stepper.setPositionDeg(180);
+ delayMs(2 * 1000);
+ stepper.setPositionDeg(90);
+ delayMs(2 * 1000);
+ stepper.setPosition(0);
+ delayMs(2 * 1000);
+ stepper.moveDeg(-180);
+ delayMs(2 * 1000);
+ stepper.moveDeg(-360);
+ delayMs(2 * 1000);
+ stepper.setPosition(0);
+ delayMs(5 * 1000);
+ }
+
+ stepper.disable();
+}
+
+int main()
+{
+ // Configure stepper motor pins
+ directionPin.mode(Mode::OUTPUT);
+ enablePin.mode(Mode::OUTPUT);
+ ms3Pin.mode(Mode::OUTPUT);
+ ms2Pin.mode(Mode::OUTPUT);
+ ms1Pin.mode(Mode::OUTPUT);
+ stepPin.mode(Mode::ALTERNATE);
+ stepPin.alternateFunction(2);
+
+ CountedPWM pwm(
+ TIM3, TimerUtils::Channel::CHANNEL_1, TimerUtils::TriggerSource::ITR3,
+ TIM4, TimerUtils::Channel::CHANNEL_1, TimerUtils::TriggerSource::ITR2);
+
+ StepperPWM stepper(pwm, stepPin, directionPin, 1, 1.8, false, 8,
+ Stepper::PinConfiguration::COMMON_CATHODE, enablePin);
+ setMicroStepping(stepper, 8);
+
+ printf("The stepper is now disabled, waiting 2 seconds...\n");
+ delayMs(2 * 1000);
+
+ std::thread th(
+ [&stepper]()
+ {
+ while (true)
+ {
+ printf("Current position: %.2f\n",
+ stepper.getCurrentDegPosition());
+ Thread::sleep(100);
+ }
+ });
+ th.detach();
+
+ while (true)
+ {
+ printf("Press something to start\n");
+ scanf("%*s");
+
+ doRoutine(stepper);
+ Thread::sleep(10 * 1000);
+ }
+}
\ No newline at end of file
diff --git a/src/tests/actuators/test-stepper.cpp b/src/tests/actuators/test-stepper.cpp
index 707f22789..6ee595f8c 100644
--- a/src/tests/actuators/test-stepper.cpp
+++ b/src/tests/actuators/test-stepper.cpp
@@ -25,15 +25,51 @@
using namespace miosix;
using namespace Boardcore;
-miosix::GpioPin directionPin = miosix::GpioPin(GPIOC_BASE, 13);
-miosix::GpioPin stepPin = miosix::GpioPin(GPIOC_BASE, 14);
-miosix::GpioPin resetPin = miosix::GpioPin(GPIOE_BASE, 5);
-miosix::GpioPin ms1Pin = miosix::GpioPin(GPIOE_BASE, 6);
-miosix::GpioPin ms2Pin = miosix::GpioPin(GPIOE_BASE, 2);
-miosix::GpioPin ms3Pin = miosix::GpioPin(GPIOE_BASE, 4);
-miosix::GpioPin enablePin = miosix::GpioPin(GPIOC_BASE, 15);
-
-void doRoutine(Stepper stepper)
+GpioPin directionPin = GpioPin(GPIOC_BASE, 12);
+GpioPin stepPin = GpioPin(GPIOB_BASE, 4);
+GpioPin enablePin = GpioPin(GPIOC_BASE, 10);
+GpioPin resetPin = GpioPin(GPIOE_BASE, 5);
+GpioPin ms1Pin = GpioPin(GPIOE_BASE, 6);
+GpioPin ms2Pin = GpioPin(GPIOE_BASE, 2);
+GpioPin ms3Pin = GpioPin(GPIOE_BASE, 4);
+
+void setMicroStepping(Stepper& stepper, int16_t microStep)
+{
+ switch (microStep)
+ {
+ case 1:
+ ms1Pin.low();
+ ms2Pin.low();
+ ms3Pin.low();
+ break;
+ case 2:
+ ms1Pin.high();
+ ms2Pin.low();
+ ms3Pin.low();
+ break;
+ case 4:
+ ms1Pin.low();
+ ms2Pin.high();
+ ms3Pin.low();
+ break;
+ case 8:
+ ms1Pin.high();
+ ms2Pin.high();
+ ms3Pin.low();
+ break;
+ case 16:
+ ms1Pin.high();
+ ms2Pin.high();
+ ms3Pin.high();
+ break;
+ default:
+ printf("Microsteps value not available!\n");
+ return;
+ }
+ stepper.setMicroStepping(microStep);
+}
+
+void doRoutine(Stepper& stepper)
{
stepper.enable();
@@ -71,18 +107,17 @@ void doRoutine(Stepper stepper)
int main()
{
- directionPin.mode(miosix::Mode::OUTPUT);
- stepPin.mode(miosix::Mode::OUTPUT);
- resetPin.mode(miosix::Mode::OUTPUT);
+ directionPin.mode(Mode::OUTPUT);
+ stepPin.mode(Mode::OUTPUT);
+ resetPin.mode(Mode::OUTPUT);
resetPin.high();
- ms3Pin.mode(miosix::Mode::OUTPUT);
- ms2Pin.mode(miosix::Mode::OUTPUT);
- ms1Pin.mode(miosix::Mode::OUTPUT);
- enablePin.mode(miosix::Mode::OUTPUT);
+ ms3Pin.mode(Mode::OUTPUT);
+ ms2Pin.mode(Mode::OUTPUT);
+ ms1Pin.mode(Mode::OUTPUT);
+ enablePin.mode(Mode::OUTPUT);
- Stepper stepper(stepPin, directionPin, 1, 1.8, false,
- Stepper::Microstep::MICROSTEP_1, enablePin, ms1Pin, ms2Pin,
- ms3Pin);
+ Stepper stepper(stepPin, directionPin, 1, 1.8, false, 8,
+ Stepper::PinConfiguration::COMMON_CATHODE, enablePin);
printf("The stepper is now disabled, waiting 2 seconds...\n");
delayMs(2 * 1000);
@@ -90,38 +125,38 @@ int main()
while (true)
{
printf("Press something to start\n");
- getchar();
+ scanf("%*s");
- printf("\t1x microstepping\n");
- stepper.setMicrostepping(Stepper::Microstep::MICROSTEP_1);
+ printf("\t1x micro stepping\n");
+ setMicroStepping(stepper, 8);
doRoutine(stepper);
printf("The stepper is now disabled\n");
delayMs(1000);
- printf("\t2x microstepping\n");
- stepper.setMicrostepping(Stepper::Microstep::MICROSTEP_2);
+ printf("\t2x micro stepping\n");
+ setMicroStepping(stepper, 8);
doRoutine(stepper);
printf("The stepper is now disabled\n");
delayMs(1000);
- printf("\t4x microstepping\n");
- stepper.setMicrostepping(Stepper::Microstep::MICROSTEP_4);
+ printf("\t4x micro stepping\n");
+ setMicroStepping(stepper, 8);
doRoutine(stepper);
printf("The stepper is now disabled\n");
delayMs(1000);
- printf("\t8x microstepping\n");
- stepper.setMicrostepping(Stepper::Microstep::MICROSTEP_8);
+ printf("\t8x micro stepping\n");
+ setMicroStepping(stepper, 8);
doRoutine(stepper);
printf("The stepper is now disabled\n");
delayMs(1000);
- printf("\t16x microstepping\n");
- stepper.setMicrostepping(Stepper::Microstep::MICROSTEP_16);
+ printf("\t16x micro stepping\n");
+ setMicroStepping(stepper, 8);
doRoutine(stepper);
printf("The stepper is now disabled\n");
}
diff --git a/src/tests/drivers/timer/test-counted-pwm.cpp b/src/tests/drivers/timer/test-counted-pwm.cpp
new file mode 100644
index 000000000..497f33a86
--- /dev/null
+++ b/src/tests/drivers/timer/test-counted-pwm.cpp
@@ -0,0 +1,93 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Authors: Emilio Corigliano, Alberto Nidasio
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include <drivers/timer/CountedPWM.h>
+#include <miosix.h>
+
+#include <thread>
+
+using namespace miosix;
+using namespace Boardcore;
+
+/**
+ * This test shows how to use a CountedPWM to generate N pulses all done by
+ * hardware!
+ */
+
+typedef Gpio<GPIOB_BASE, 4> tim3ch1; // AF2
+typedef Gpio<GPIOD_BASE, 12> tim4ch1; // AF2
+
+int main()
+{
+ tim3ch1::mode(Mode::ALTERNATE);
+ tim3ch1::alternateFunction(2);
+
+ tim4ch1::mode(Mode::ALTERNATE);
+ tim4ch1::alternateFunction(2);
+
+ CountedPWM pwm(
+ TIM3, TimerUtils::Channel::CHANNEL_1, TimerUtils::TriggerSource::ITR3,
+ TIM4, TimerUtils::Channel::CHANNEL_1, TimerUtils::TriggerSource::ITR2);
+ pwm.setFrequency(2);
+ pwm.setDutyCycle(0.5);
+
+ std::thread th(
+ [&]()
+ {
+ while (true)
+ {
+ printf("[%.2f] Counter: %d\tTarget: %ld\tIs generating: %d\n",
+ getTick() / 1000.0, pwm.getCurrentCount(), TIM4->CCR1,
+ pwm.isGenerating());
+ Thread::sleep(250);
+ }
+ });
+ th.detach();
+
+ Thread::sleep(1000);
+
+ pwm.generatePulses(4);
+ Thread::sleep(1000);
+ pwm.generatePulses(6);
+ Thread::sleep(1000);
+ pwm.generatePulses(3);
+
+ Thread::sleep(5 * 1000);
+
+ pwm.generatePulses(4);
+ Thread::sleep(1000);
+ pwm.updateTargetCount(6);
+
+ Thread::sleep(5 * 1000);
+
+ pwm.generatePulses(6);
+ while (pwm.getCurrentCount() < 3)
+ ;
+ pwm.stop();
+
+ pwm.setFrequency(10);
+ while (true)
+ {
+ pwm.generatePulses(8);
+ Thread::sleep(2500);
+ }
+}
--
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