348 lines
8.7 KiB
C
348 lines
8.7 KiB
C
/****************************************************************************
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* drivers/motor/drv8825.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/kmalloc.h>
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#include <nuttx/motor/drv8825.h>
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#include <errno.h>
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#include <debug.h>
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#include <nuttx/signal.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Private Types
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****************************************************************************/
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struct drv8825_dev_s
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{
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FAR struct drv8825_ops_s *ops; /* drv8825 ops */
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uint8_t auto_idle; /* If true, go in idle mode between movement */
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};
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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static int drv8825_setup(FAR struct stepper_lowerhalf_s *dev);
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static int drv8825_shutdown(FAR struct stepper_lowerhalf_s *dev);
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static int drv8825_work(FAR struct stepper_lowerhalf_s *dev,
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FAR struct stepper_job_s const *param);
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static int drv8825_update_status(FAR struct stepper_lowerhalf_s *dev);
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static int drv8825_clear(FAR struct stepper_lowerhalf_s *dev, uint8_t fault);
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static int drv8825_idle(FAR struct stepper_lowerhalf_s *dev, uint8_t idle);
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static int drv8825_microstepping(FAR struct stepper_lowerhalf_s *dev,
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uint16_t resolution);
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static int drv8825_ioctl(FAR struct stepper_lowerhalf_s *dev, int cmd,
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unsigned long arg);
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/****************************************************************************
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* Private Data
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****************************************************************************/
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static const struct stepper_ops_s g_drv8825_ops =
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{
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drv8825_setup, /* setup */
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drv8825_shutdown, /* shutdown */
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drv8825_work, /* work */
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drv8825_update_status, /* update status */
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drv8825_clear, /* clear */
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drv8825_idle, /* idle */
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drv8825_microstepping, /* microstepping */
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drv8825_ioctl /* ioctl */
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};
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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static int drv8825_setup(FAR struct stepper_lowerhalf_s *dev)
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{
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FAR struct drv8825_dev_s *priv = (FAR struct drv8825_dev_s *)dev->priv;
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priv->ops->idle(false);
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priv->ops->enable(true);
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return 0;
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}
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static int drv8825_shutdown(FAR struct stepper_lowerhalf_s *dev)
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{
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FAR struct drv8825_dev_s *priv = (FAR struct drv8825_dev_s *)dev->priv;
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priv->ops->idle(true);
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priv->ops->enable(false);
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return 0;
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}
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static int drv8825_work(FAR struct stepper_lowerhalf_s *dev,
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FAR struct stepper_job_s const *job)
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{
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FAR struct drv8825_dev_s *priv = (FAR struct drv8825_dev_s *)dev->priv;
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int delay;
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int count;
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if (priv->ops->fault())
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{
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/* In fault: do not proceed */
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return -EIO;
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}
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if (job->steps == 0)
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{
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/* Nothing to do */
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return 0;
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}
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/* Compute delay between pulse */
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delay = USEC_PER_SEC / job->speed;
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if (delay < 2)
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{
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delay = 2;
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stpwarn("Delay is clamped to 2 us\n");
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}
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stpinfo("Delay is %ld us\n", delay);
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/* Set direction */
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if (job->steps > 0)
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{
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priv->ops->direction(true);
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count = job->steps;
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}
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else
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{
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priv->ops->direction(false);
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count = -job->steps;
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}
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if (priv->auto_idle)
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{
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priv->ops->idle(false);
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nxsig_usleep(USEC_PER_MSEC * 2);
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}
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dev->status.state = STEPPER_STATE_RUN;
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for (int32_t i = 0; i < count; ++i)
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{
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priv->ops->step(true);
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up_udelay(2);
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priv->ops->step(false);
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up_udelay(delay);
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}
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dev->status.state = STEPPER_STATE_READY;
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if (priv->auto_idle)
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{
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priv->ops->idle(true);
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}
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/* Update steps done (drv8825 cannot detect miss steps) */
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dev->status.position += job->steps;
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return 0;
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}
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static int drv8825_update_status(FAR struct stepper_lowerhalf_s *dev)
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{
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FAR struct drv8825_dev_s *priv = (FAR struct drv8825_dev_s *)dev->priv;
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if (priv->ops->fault())
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{
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/* The same pin is used for overtemp and overcurrent fault.
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* Since the current implementation is blocking and fetching
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* is on demand (no interrupt), it is impossible to detect
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* overcurrent.
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*/
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dev->status.fault = STEPPER_FAULT_OVERTEMP;
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dev->status.state = STEPPER_STATE_FAULT;
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}
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return 0;
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}
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static int drv8825_clear(FAR struct stepper_lowerhalf_s *dev, uint8_t fault)
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{
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/* No fault to clear ever */
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dev->status.fault &= ~fault;
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if (dev->status.fault == STEPPER_FAULT_CLEAR)
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{
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dev->status.state = STEPPER_STATE_READY;
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}
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return 0;
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}
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static int drv8825_idle(FAR struct stepper_lowerhalf_s *dev, uint8_t idle)
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{
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FAR struct drv8825_dev_s *priv = (FAR struct drv8825_dev_s *)dev->priv;
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if (idle == STEPPER_AUTO_IDLE)
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{
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priv->auto_idle = true;
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return 0;
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}
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priv->auto_idle = false;
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if (idle == STEPPER_ENABLE_IDLE)
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{
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priv->ops->idle(true);
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dev->status.state = STEPPER_STATE_IDLE;
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}
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else
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{
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priv->ops->idle(false);
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nxsig_usleep(USEC_PER_MSEC * 2);
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dev->status.state = STEPPER_STATE_READY;
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}
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return 0;
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}
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static int drv8825_microstepping(FAR struct stepper_lowerhalf_s *dev,
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uint16_t resolution)
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{
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FAR struct drv8825_dev_s *priv = (FAR struct drv8825_dev_s *)dev->priv;
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switch (resolution)
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{
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case 1:
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{
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priv->ops->microstepping(false, false, false);
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}
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break;
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case 2:
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{
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priv->ops->microstepping(true, false, false);
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}
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break;
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case 4:
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{
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priv->ops->microstepping(false, true, false);
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}
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break;
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case 8:
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{
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priv->ops->microstepping(true, true, false);
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}
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break;
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case 16:
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{
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priv->ops->microstepping(false, false, true);
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}
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break;
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case 32:
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{
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priv->ops->microstepping(true, true, true);
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}
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break;
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default:
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{
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return -EINVAL;
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}
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}
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return 0;
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}
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static int drv8825_ioctl(FAR struct stepper_lowerhalf_s *dev, int cmd,
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unsigned long arg)
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{
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return -ENOSYS;
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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int drv8825_register(FAR const char *devpath, FAR struct drv8825_ops_s *ops)
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{
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FAR struct drv8825_dev_s *priv;
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FAR struct stepper_lowerhalf_s *lower;
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int ret = 0;
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/* Sanity check */
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DEBUGASSERT(ops != NULL);
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/* Initialize the drv8825 dev structure */
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priv = kmm_malloc(sizeof(struct drv8825_dev_s));
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if (priv == NULL)
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{
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stperr("Failed to allocate instance\n");
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return -ENOMEM;
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}
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priv->ops = ops;
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lower = kmm_malloc(sizeof(struct stepper_lowerhalf_s));
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if (priv == NULL)
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{
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stperr("Failed to allocate instance\n");
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kmm_free(priv);
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return -ENOMEM;
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}
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lower->priv = priv;
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lower->status.fault = STEPPER_FAULT_CLEAR;
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lower->status.state = STEPPER_STATE_READY;
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lower->status.position = 0;
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lower->ops = &g_drv8825_ops;
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/* Initialize lower layer (only once) */
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priv->ops->initialize();
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/* Register the character driver */
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ret = stepper_register(devpath, lower);
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if (ret < 0)
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{
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stperr("Failed to register driver: %d\n", ret);
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kmm_free(priv);
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kmm_free(lower);
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return ret;
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}
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stpinfo("drv8825 registered at %s\n", devpath);
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return ret;
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}
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