From 9863a4e0a13f4e3739652105ac7c728857f1cc4f Mon Sep 17 00:00:00 2001
From: Emilio Corigliano <emilio.corigliano@skywarder.eu>
Date: Sat, 1 Jul 2023 08:22:41 +0000
Subject: [PATCH] [Stepper] Updated Stepper with a state getter
---
cmake/boardcore.cmake | 4 +-
.../actuators/{ => stepper}/Stepper.cpp | 17 +++++-
src/shared/actuators/{ => stepper}/Stepper.h | 14 +++++
src/shared/actuators/stepper/StepperData.h | 54 +++++++++++++++++++
.../actuators/{ => stepper}/StepperPWM.cpp | 2 +-
.../actuators/{ => stepper}/StepperPWM.h | 0
src/shared/logger/LogTypes.h | 2 +
src/tests/actuators/test-stepper-pwm.cpp | 2 +-
src/tests/actuators/test-stepper.cpp | 2 +-
9 files changed, 91 insertions(+), 6 deletions(-)
rename src/shared/actuators/{ => stepper}/Stepper.cpp (91%)
rename src/shared/actuators/{ => stepper}/Stepper.h (94%)
create mode 100644 src/shared/actuators/stepper/StepperData.h
rename src/shared/actuators/{ => stepper}/StepperPWM.cpp (98%)
rename src/shared/actuators/{ => stepper}/StepperPWM.h (100%)
diff --git a/cmake/boardcore.cmake b/cmake/boardcore.cmake
index 85fa903a8..6fd4ba2d0 100644
--- a/cmake/boardcore.cmake
+++ b/cmake/boardcore.cmake
@@ -30,8 +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
+ ${SBS_BASE}/src/shared/actuators/stepper/Stepper.cpp
+ ${SBS_BASE}/src/shared/actuators/stepper/StepperPWM.cpp
# Algorithms
${SBS_BASE}/src/shared/algorithms/ADA/ADA.cpp
diff --git a/src/shared/actuators/Stepper.cpp b/src/shared/actuators/stepper/Stepper.cpp
similarity index 91%
rename from src/shared/actuators/Stepper.cpp
rename to src/shared/actuators/stepper/Stepper.cpp
index 00a2166cd..d76f6dfeb 100644
--- a/src/shared/actuators/Stepper.cpp
+++ b/src/shared/actuators/stepper/Stepper.cpp
@@ -52,6 +52,7 @@ void Stepper::enable()
{
enablePin.high();
}
+ enabled = true;
}
void Stepper::disable()
@@ -64,6 +65,7 @@ void Stepper::disable()
{
enablePin.low();
}
+ enabled = false;
}
void Stepper::setDirection()
@@ -111,7 +113,7 @@ void Stepper::setDirection()
void Stepper::move(int16_t steps)
{
- if (speed == 0)
+ if (!enabled || speed == 0 || steps == 0)
return;
unsigned int halfStepDelay = 1e6 / (speed * 360 / stepAngle * microStep);
@@ -160,4 +162,17 @@ void Stepper::move(int16_t steps)
currentPositionDeg += steps * stepAngle / microStep;
}
+bool Stepper::isEnabled() { return enabled; }
+
+StepperData Stepper::getState(float moveDeg)
+{
+ return {TimestampTimer::getTimestamp(),
+ static_cast<unsigned int>(stepPin.getPort()),
+ stepPin.getNumber(),
+ enabled,
+ getCurrentDegPosition(),
+ speed,
+ moveDeg};
+}
+
} // namespace Boardcore
\ No newline at end of file
diff --git a/src/shared/actuators/Stepper.h b/src/shared/actuators/stepper/Stepper.h
similarity index 94%
rename from src/shared/actuators/Stepper.h
rename to src/shared/actuators/stepper/Stepper.h
index d93a5c7dc..6e9d25dca 100644
--- a/src/shared/actuators/Stepper.h
+++ b/src/shared/actuators/stepper/Stepper.h
@@ -22,10 +22,13 @@
#pragma once
+#include <drivers/timer/TimestampTimer.h>
#include <interfaces-impl/gpio_impl.h>
#include <interfaces/delays.h>
#include <utils/TestUtils/MockGpioPin.h>
+#include "StepperData.h"
+
namespace Boardcore
{
@@ -115,6 +118,16 @@ public:
*/
virtual float getCurrentDegPosition();
+ /**
+ * @brief Returns whether the stepper is enabled or not.
+ */
+ bool isEnabled();
+
+ /**
+ * @brief Returns the current position and the current timestamp.
+ */
+ StepperData getState(float moveDeg);
+
protected:
/**
* @brief Sets the directionPin to the right value to go in the direction
@@ -138,6 +151,7 @@ protected:
miosix::GpioPin directionPin;
float speed; // [rev/s]
float stepAngle; // [deg/step]
+ bool enabled = false;
bool revertDirection;
uint16_t microStep;
PinConfiguration pinConfig;
diff --git a/src/shared/actuators/stepper/StepperData.h b/src/shared/actuators/stepper/StepperData.h
new file mode 100644
index 000000000..096f48f2c
--- /dev/null
+++ b/src/shared/actuators/stepper/StepperData.h
@@ -0,0 +1,54 @@
+/* Copyright (c) 2022 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.
+ */
+
+#pragma once
+
+#include <ostream>
+
+namespace Boardcore
+{
+
+struct StepperData
+{
+ uint64_t timestamp;
+ unsigned int pulsePinPort;
+ unsigned int pulsePinNumber;
+ bool enabled;
+ float positionDeg;
+ float speed;
+ float moveDeg;
+
+ static std::string header()
+ {
+ return "timestamp,pulsePinPort,pulsePinNumber,enabled,positionDeg,"
+ "speed,moveDeg\n";
+ }
+
+ void print(std::ostream& os) const
+ {
+ os << timestamp << "," << pulsePinPort << "," << pulsePinNumber << ","
+ << enabled << "," << positionDeg << "," << speed << "," << moveDeg
+ << "\n";
+ }
+};
+
+} // namespace Boardcore
diff --git a/src/shared/actuators/StepperPWM.cpp b/src/shared/actuators/stepper/StepperPWM.cpp
similarity index 98%
rename from src/shared/actuators/StepperPWM.cpp
rename to src/shared/actuators/stepper/StepperPWM.cpp
index e9eccf5ff..4f04532df 100644
--- a/src/shared/actuators/StepperPWM.cpp
+++ b/src/shared/actuators/stepper/StepperPWM.cpp
@@ -62,7 +62,7 @@ void StepperPWM::setMicroStepping(uint16_t microStep)
void StepperPWM::move(int16_t steps)
{
- if (speed == 0 || steps == 0)
+ if (!enabled || speed == 0 || steps == 0)
return;
// First update currentPositionDeg. This method corrects the initial
diff --git a/src/shared/actuators/StepperPWM.h b/src/shared/actuators/stepper/StepperPWM.h
similarity index 100%
rename from src/shared/actuators/StepperPWM.h
rename to src/shared/actuators/stepper/StepperPWM.h
diff --git a/src/shared/logger/LogTypes.h b/src/shared/logger/LogTypes.h
index be18505e7..4d36569c9 100644
--- a/src/shared/logger/LogTypes.h
+++ b/src/shared/logger/LogTypes.h
@@ -23,6 +23,7 @@
#pragma once
#include <actuators/Servo/ServoData.h>
+#include <actuators/stepper/StepperData.h>
#include <algorithms/ADA/ADAData.h>
#include <algorithms/NAS/NASState.h>
#include <diagnostic/CpuMeter/CpuMeter.h>
@@ -80,6 +81,7 @@ namespace LogTypes
void registerTypes(Deserializer& ds)
{
+ ds.registerType<StepperData>();
ds.registerType<ServoData>();
ds.registerType<ADAState>();
ds.registerType<NASState>();
diff --git a/src/tests/actuators/test-stepper-pwm.cpp b/src/tests/actuators/test-stepper-pwm.cpp
index f1a2101a4..a9e23e585 100644
--- a/src/tests/actuators/test-stepper-pwm.cpp
+++ b/src/tests/actuators/test-stepper-pwm.cpp
@@ -20,7 +20,7 @@
* THE SOFTWARE.
*/
-#include <actuators/StepperPWM.h>
+#include <actuators/stepper/StepperPWM.h>
#include <drivers/timer/CountedPWM.h>
#include <miosix.h>
diff --git a/src/tests/actuators/test-stepper.cpp b/src/tests/actuators/test-stepper.cpp
index 6ee595f8c..91caa0bb3 100644
--- a/src/tests/actuators/test-stepper.cpp
+++ b/src/tests/actuators/test-stepper.cpp
@@ -20,7 +20,7 @@
* THE SOFTWARE.
*/
-#include <actuators/Stepper.h>
+#include <actuators/stepper/Stepper.h>
using namespace miosix;
using namespace Boardcore;
--
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