ATY_LIB/MOTOR_STEP_O_ATY.c

/**
* @file MOTOR_STEP_O_ATY.c
*
* @param Project DEVICE_GENERAL_ATY_LIB
*
* @author ATY
*
* @copyright
*       - Copyright 2017 - 2026 MZ-ATY
*       - This code follows:
*           - MZ-ATY Various Contents Joint Statement -
*               <a href="https://mengze.top/MZ-ATY_VCJS">
*                        https://mengze.top/MZ-ATY_VCJS</a>
*           - CC 4.0 BY-NC-SA -
*               <a href="https://creativecommons.org/licenses/by-nc-sa/4.0/">
*                        https://creativecommons.org/licenses/by-nc-sa/4.0/</a>
*       - Your use will be deemed to have accepted the terms of this statement.
*
* @brief functions of open loop stepper motor control for C platform
*
* @note Slave Mode: Disable
*       Trigger Source: Disable
*       Clock Source: Internal Clock
*       Channel2: PWM Generation CH2
*       Prescaler: 71
*       Counter Mode: Up
*       Counter Period: 999
*       Internal Clock Division: No Division
*       auto-reload preload: Disable
*       Master/Slave Mode (MSM bit): Disable
*       Trigger Event Selection: Update Event
*       PWM Generation Channel 2 Mode: PWM mode 2
*       Pulse: 499
*       Output compare preload: Enable
*       Fast Mode: Disable
*       CH Polarity: High
*       CH Idle State: Reset
*
*       htim1.Init.Prescaler = 71;
*       htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
*       htim1.Init.Period = 999;
*       htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
*       htim1.Init.RepetitionCounter = 0;
*       htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
*       sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
*       sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE;
*       sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
*       sConfigOC.OCMode = TIM_OCMODE_PWM2;
*       sConfigOC.Pulse = 499;
*       sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
*       sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
*       sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
*       sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
*       sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
*       htim2.Init.Prescaler = 0;
*       htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
*       htim2.Init.Period = 65535;
*       htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
*       htim2.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
*       sSlaveConfig.SlaveMode = TIM_SLAVEMODE_GATED;
*       sSlaveConfig.InputTrigger = TIM_TS_ITR0;
*       sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
*       sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
*
* @version
*       - 1_00_260109 > ATY
*           -# Preliminary version
********************************************************************************
*/

#ifndef __MOTOR_STEP_O_ATY_C
#define __MOTOR_STEP_O_ATY_C

#include "MOTOR_STEP_O_ATY.h"
#define MOTOR_STEP_O_ATY_TAG "\r\n[MOTOR_STEP_O_ATY] "

/******************************* For user *************************************/

/******************************************************************************/

/**
 * @brief open loop stepper motor control
 *
 * @param dev
 * @param mode
 * @param enable
 * @param direction
 * @param stepCount
 * @param frequency
 * @param dutyCycle
 * @param speed
 * @return uint8_t 0: no update, 1: update, only for register update, en and dir is hardware
 * @note - Frequency and speed are mutually exclusive set, when set one, another
 *       is auto calculate and update, speed has higher priority.
 *       - When use speed, dutyCycle will set to 50% automatically.
 *       - This function based on diff input and dev registers, so do not forget
 *       update input registers back after update, like MSO_1_ValueUpdateBack().
 */
uint8_t MSO_Cycle(struct MOTOR_STEP_O_ATY_Dev* dev,
    uint8_t mode, uint8_t enable, uint8_t direction,
    uint16_t stepCount,
    float frequency, float dutyCycle, float speed){
    uint8_t regUpdateFlag = 0;

    if(mode != dev->mode){
        dev->mode = mode;
        regUpdateFlag = 1;
    }

    if(enable != dev->enable){
        dev->enable = enable;
        dev->enSet(dev->enable);
        if(regUpdateFlag == 0) regUpdateFlag = 2;
    }
    if(direction != dev->direction){
        dev->direction = direction;
        dev->dirSet(dev->direction);
        if(regUpdateFlag == 0) regUpdateFlag = 2;
    }

    if(stepCount != dev->stepCount){
        dev->stepCount = stepCount;
        if(regUpdateFlag == 0) regUpdateFlag = 2;
        if(dev->mode == MOTOR_OPEN_MODE_COUNT)
            regUpdateFlag = 1;
    }

    if(speed != dev->speed){
        dev->speed = speed;
        dev->frequency = (dev->speed * (dev->fullSteps
            * dev->microstepping) / 60.0);
        dev->dutyCycle = 50.0;
        if(regUpdateFlag == 0) regUpdateFlag = 2;

        if(dev->mode == MOTOR_OPEN_MODE_NOCOUNT
            || (dev->mode == MOTOR_OPEN_MODE_COUNT && dev->stepCount == 1))
            regUpdateFlag = 1;
    }
    else if(frequency != dev->frequency
        || dutyCycle != dev->dutyCycle){
        dev->frequency = frequency;
        dev->dutyCycle = dutyCycle;
        if(dev->dutyCycle < 0) dev->dutyCycle = 0;
        else if(dev->dutyCycle > 100) dev->dutyCycle = 100;
        dev->speed = (dev->frequency * 60.0
            / (dev->fullSteps * dev->microstepping));
        if(regUpdateFlag == 0) regUpdateFlag = 2;

        if(dev->mode == MOTOR_OPEN_MODE_NOCOUNT
            || (dev->mode == MOTOR_OPEN_MODE_COUNT && dev->stepCount == 1))
            regUpdateFlag = 1;
    }

    if(regUpdateFlag == 1 && dev->mode == MOTOR_OPEN_MODE_COUNT){
        dev->pwmSetCount(dev->frequency, dev->dutyCycle, dev->stepCount);
    }
    else if(regUpdateFlag == 1 && dev->mode == MOTOR_OPEN_MODE_NOCOUNT){
        dev->pwmSet(dev->frequency, dev->dutyCycle);
    }
    return regUpdateFlag;
}

#endif /* __MOTOR_STEP_O_ATY_C */


/************************************ etc *************************************/
/* init
#define MS_1_TIM htim1
#define MS_1_TIM_CHANNEL TIM_CHANNEL_2
#define MS_1_TIM_IT_CC TIM_IT_CC2
#define MS_1_COUNT_TIM htim2
// MOTOR Open ------------------------------------------------------------------
#include "MOTOR_STEP_O_ATY.h"
uint8_t MSO_1_EnSet(uint8_t en){
    HAL_GPIO_WritePin(MS_EN_GPIO_Port, MS_EN_Pin,
        (en == 0) ? GPIO_PIN_SET : GPIO_PIN_RESET);
    return __ATY_OK;
}
uint8_t MSO_1_DirSet(uint8_t dir){
    HAL_GPIO_WritePin(MS_DIRO_GPIO_Port, MS_DIRO_Pin,
        (dir == __ATY_PN_P) ? GPIO_PIN_SET : GPIO_PIN_RESET);
    return __ATY_OK;
}
void MSO_1_PWM_NoCount(float freq, float dutycycle){
    uint32_t ticksPeriod = 1000000U / freq;
    uint32_t ticksPulse = ticksPeriod * (100.0 - dutycycle) / 100.0;
    HAL_TIM_PWM_Stop(&MS_1_TIM, MS_1_TIM_CHANNEL);
    __HAL_TIM_SET_COUNTER(&MS_1_TIM, 0);
    __HAL_TIM_SET_AUTORELOAD(&MS_1_TIM, ticksPeriod - 1);
    __HAL_TIM_SET_COMPARE(&MS_1_TIM, MS_1_TIM_CHANNEL, ticksPulse - 1);
    HAL_TIM_PWM_Start(&MS_1_TIM, MS_1_TIM_CHANNEL);
}
void MSO_1_PWM_Count(float freq, float dutycycle, uint16_t step){
    uint32_t ticksPeriod = 1000000U / freq;
    uint32_t ticksPulse = ticksPeriod * (100.0 - dutycycle) / 100.0;
    HAL_TIM_PWM_Stop(&MS_1_TIM, MS_1_TIM_CHANNEL);
    HAL_TIM_Base_Stop_IT(&MS_1_COUNT_TIM);
    __HAL_TIM_SET_COUNTER(&MS_1_TIM, 0);
    // Set 1 to make sure the system can generate one pulse
    __HAL_TIM_SET_COUNTER(&MS_1_COUNT_TIM, 1);
    if(step != 0){
        // init counter 1, then do not need -1
        __HAL_TIM_SET_AUTORELOAD(&MS_1_COUNT_TIM, step);
        __HAL_TIM_SET_AUTORELOAD(&MS_1_TIM, ticksPeriod - 1);
        __HAL_TIM_SET_COMPARE(&MS_1_TIM, MS_1_TIM_CHANNEL, ticksPulse - 1);
        HAL_TIM_Base_Start_IT(&MS_1_COUNT_TIM);
        HAL_TIM_PWM_Start(&MS_1_TIM, MS_1_TIM_CHANNEL);
    }
}
struct MOTOR_STEP_O_ATY_Dev MOTOR_STEP_O_ATY_Dev_1 = {
    .enSet = MSO_1_EnSet,
    .dirSet = MSO_1_DirSet,

    .pwmSet = MSO_1_PWM_NoCount,
    .pwmSetCount = MSO_1_PWM_Count,

    .mode = 0xFF,
    .enable = 0xFF,
    .direction = 0xFF,
    .stepCount = 0xFFFF,
    .frequency = -1.0,
    .dutyCycle = -1.0,
    .speed = -1.0,

    .fullSteps = 200,
    .microstepping = 8,

    .lock = __ATY_UNLOCKED
};
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef* htim){
    if(htim == &htim4){
        UserTimerLoop_Cycle1ms(&HW_TIMER_ATY_Dev_4);
    }
    if((uint8_t)RGF_MOTOR_MODE == 0 && htim == &MS_1_COUNT_TIM){
        HAL_TIM_PWM_Stop(&MS_1_TIM, MS_1_TIM_CHANNEL);
        HAL_TIM_Base_Stop_IT(&MS_1_COUNT_TIM);
        RGF_MOTOR_STEP_COUNT = 0;
        MOTOR_STEP_O_ATY_Dev_1.stepCount = 0;
    }
}
void MSO_1_ValueUpdateBack(struct MOTOR_STEP_O_ATY_Dev* dev){
    RGF_MOTOR_MODE = dev->mode;
    RGF_MOTOR_ENABLE = dev->enable;
    RGF_MOTOR_DIRECTION = dev->direction;
    // RGF_MOTOR_STEP_COUNT = dev->stepCount;
    RGF_MOTOR_FREQUENCY = dev->frequency;
    RGF_MOTOR_DUTY_CYCLE = dev->dutyCycle;
    RGF_MOTOR_SPEED = dev->speed;
}
void MSO_1_Init(void){
    RGF_MOTOR_MODE = MOTOR_OPEN_MODE_COUNT;
    RGF_MOTOR_ENABLE = 1;
    RGF_MOTOR_DIRECTION = __ATY_PN_P;
    RGF_MOTOR_STEP_COUNT = 10000;
    RGF_MOTOR_FREQUENCY = (1600.0 / 60.0);
    RGF_MOTOR_DUTY_CYCLE = 50.0;
    RGF_MOTOR_SPEED = 200.0;
    // Prevent from getting into an interruption from the very beginning
    __HAL_TIM_CLEAR_FLAG(&MS_1_COUNT_TIM, TIM_FLAG_UPDATE);
}
*/

/* use
MSO_1_Init();

// 100ms cycle
if(MSO_Cycle(&MOTOR_STEP_O_ATY_Dev_1,
    (uint8_t)RGF_MOTOR_MODE,
    (uint8_t)RGF_MOTOR_ENABLE,
    (uint8_t)RGF_MOTOR_DIRECTION,
    (uint16_t)RGF_MOTOR_STEP_COUNT,
    RGF_MOTOR_FREQUENCY,
    RGF_MOTOR_DUTY_CYCLE,
    RGF_MOTOR_SPEED) != 0){
    MSO_1_ValueUpdateBack(&MOTOR_STEP_O_ATY_Dev_1);
}
*/

/******************************************************************************/

/******************************** End Of File *********************************/