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Add stepper example

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This commit is contained in:
Philippe Leduc 2023-10-12 20:09:13 +02:00 committed by Xiang Xiao
parent aad2bcb621
commit 3d80541769
5 changed files with 261 additions and 0 deletions
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31
examples/stepper/CMakeLists.txt Normal file
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# ##############################################################################
# apps/examples/stepper/CMakeLists.txt
#
# 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.
#
# ##############################################################################
if(CONFIG_EXAMPLES_STEPPER)
nuttx_add_application(
NAME
stepper
STACKSIZE
${CONFIG_DEFAULT_TASK_STACKSIZE}
MODULE
${CONFIG_EXAMPLES_STEPPER}
SRCS
stepper.c)
endif()

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examples/stepper/Kconfig Normal file
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#
# For a description of the syntax of this configuration file,
# see the file kconfig-language.txt in the NuttX tools repository.
#
config EXAMPLES_STEPPER
tristate "Stepper controller test"
default n
---help---
Enable the stepper controller test

23
examples/stepper/Make.defs Normal file
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############################################################################
# apps/examples/stepper/Make.defs
#
# 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.
#
############################################################################
ifneq ($(CONFIG_EXAMPLES_STEPPER),)
CONFIGURED_APPS += $(APPDIR)/examples/stepper
endif

34
examples/stepper/Makefile Normal file
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############################################################################
# apps/examples/stepper/Makefile
#
# 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.
#
############################################################################
include $(APPDIR)/Make.defs
# Stepper example
MAINSRC = stepper.c
# stepper built-in application info
PROGNAME = stepper
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = $(CONFIG_DEFAULT_TASK_STACKSIZE)
MODULE = $(CONFIG_EXAMPLES_STEPPER)
include $(APPDIR)/Application.mk

163
examples/stepper/stepper.c Normal file
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/****************************************************************************
* apps/examples/stepper/stepper.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 <sys/ioctl.h>
#include <fcntl.h>
#include <stdio.h>
#include <stdbool.h>
#include <nuttx/motor/stepper.h>
/****************************************************************************
* Private Functions
****************************************************************************/
struct stepper_args
{
FAR const char *path;
int microstep;
int speed;
int steps;
};
static int parse_args(int argc, FAR char *argv[],
FAR struct stepper_args *args)
{
int i;
if (argc < 3)
{
return -1;
}
args->path = argv[1];
args->microstep = -1;
args->speed = 200;
for (i i = 2; i < argc; ++i)
{
if (strncmp("-m", argv[i], 2) == 0)
{
i++;
if (i >= argc)
{
return -1;
}
args->microstep = atoi(argv[i]);
i++;
}
if (strncmp("-s", argv[i], 2) == 0)
{
i++;
if (i >= argc)
{
return -1;
}
args->speed = atoi(argv[i]);
i++;
}
}
args->steps = atoi(argv[argc - 1]);
return 0;
}
/****************************************************************************
* Public Functions
****************************************************************************/
int main(int argc, FAR char *argv[])
{
struct stepper_args args;
struct stepper_status_s status;
struct stepper_job_s job;
int fd;
int rc;
if (parse_args(argc, argv, &args) < 0)
{
printf("usage:\n"
"stepper path\n"
" [-m microstep (sticky)]\n"
" [-s speed in steps/s (default 200)]\n"
" steps (positive: CW, negative: CCW)\n");
return 1;
}
fd = open(args.path, O_RDWR);
if (fd < 0)
{
printf("Oops: %s\n", strerror(errno));
exit(1);
}
if (args.microstep > 0)
{
printf("Set microstepping to %d\n", args.microstep);
rc = ioctl(fd, STEPIOC_MICROSTEPPING, args.microstep);
if (rc < 0)
{
printf("STEPIOC_MICROSTEPPING: %s\n", strerror(errno));
exit(2);
}
}
job.steps = args.steps;
job.speed = args.speed;
/* Retrieve the absolute position - before movement */
rc = read(fd, &status, sizeof(struct stepper_status_s));
if (rc != sizeof(struct stepper_status_s))
{
printf("read: %s\n", strerror(errno));
}
printf("Position before stepper motor moving: %ld\n", status.position);
/* Move the stepper */
printf("GO -> %ld @ %ld steps/s\n", job.steps, job.speed);
rc = write(fd, &job, sizeof(struct stepper_job_s)); /* blocking */
if (rc != sizeof(struct stepper_job_s))
{
printf("write: %s\n", strerror(errno));
}
/* Retrieve the absolute position - after movement */
rc = read(fd, &status, sizeof(struct stepper_status_s));
if (rc != sizeof(struct stepper_status_s))
{
printf("read: %s\n", strerror(errno));
}
printf("Position after stepper motor moving: %ld\n", status.position);
return 0;
}