191 lines
4.8 KiB
Lua
191 lines
4.8 KiB
Lua
-- DRV8825 driver
|
|
-- Provides gpio init, enable, disable, direction, and pulse counting for steps
|
|
-- The DVR8825 runs over normal GPIO
|
|
|
|
local m = {}
|
|
|
|
m.pinStep = 4
|
|
m.pinDir = 0 -- it is 0 cuz that is bootstrap pin which inconsequential on direction pin
|
|
m.pinSleep = 16
|
|
|
|
-- Loopback pulse in from m.pinStep
|
|
-- You need to connect a physical wire from m.pinStep 4 to pin 36 for step counting to work
|
|
m.pinPulseIn = 36 -- 36 (sens_vp)
|
|
|
|
-- Microsteps pins in case you want to manage microsteps from gpio
|
|
m.pinM0 = 17
|
|
m.pinM1 = 18
|
|
m.pinM2 = 19
|
|
|
|
-- Min/max steps allowed 32768 + or - is allowed
|
|
m.stepMax = 32000
|
|
m.stepMin = -32000
|
|
|
|
m.isDebug = false
|
|
|
|
-- Pulse counter object
|
|
m.pcnt = nil
|
|
|
|
m._isInitted = false
|
|
m._onLimit = nil
|
|
|
|
-- Pass in a table of settings
|
|
-- @param tbl.initStepDirEnPins Defaults to false
|
|
-- @param tbl.pinStep Defaults to 4
|
|
-- @param tbl.pinDir Defaults to 0
|
|
-- @param tbl.pinEn Defaults to 16
|
|
-- @param tbl.isDebug Defaults to false. Turn on for extra logging.
|
|
-- @param tbl.onLimit Callback when stepMax or stepMin is hit
|
|
-- @param tbl.stepLimitMax Defaults to 32000
|
|
-- @param tbl.stepLimitMin Defaults to -32000
|
|
-- Example motor.init({initStepDirEnPins=true, })
|
|
function m.init(tbl)
|
|
|
|
if m._isInitted then
|
|
print("DRV8825 already initted")
|
|
return
|
|
end
|
|
|
|
m._isInitted = true
|
|
|
|
if tbl.pinStep ~= nil then m.pinStep = tbl.pinStep end
|
|
if tbl.pinDir ~= nil then m.pinDir = tbl.pinDir end
|
|
if tbl.pinEn ~= nil then m.pinSleep = tbl.pinEn end
|
|
if tbl.isDebug == true then m.isDebug = true end
|
|
if tbl.onLimit ~= nil then m._onLimit = tbl.onLimit end
|
|
if tbl.stepLimitMax ~= nil then m.stepMax = tbl.stepLimitMax end
|
|
if tbl.stepLimitMin ~= nil then m.stepMin = tbl.stepLimitMin end
|
|
|
|
-- defaults to false
|
|
if tbl.initStepDirEnPins == true then
|
|
|
|
|
|
gpio.config({
|
|
gpio= {
|
|
m.pinStep, m.pinSleep, m.pinDir,
|
|
m.pinM0, m.pinM1, m.pinM2
|
|
},
|
|
dir=gpio.IN_OUT,
|
|
})
|
|
|
|
gpio.write(m.pinStep, 0)
|
|
|
|
m.disable()
|
|
|
|
m.dirFwd()
|
|
|
|
-- for full steps, all low
|
|
-- for max micro-stepping, all high
|
|
gpio.write(m.pinM0, 0)
|
|
gpio.write(m.pinM1, 0)
|
|
gpio.write(m.pinM2, 0)
|
|
|
|
end
|
|
|
|
-- Start counting pulses on the loopback signal
|
|
m.initPulseCtr()
|
|
print("initted pulse ctr")
|
|
|
|
end
|
|
|
|
function m.initPulseCtr()
|
|
|
|
-- Setup the pulse counter to watch the steps
|
|
-- Adhere to the direction pin as well to know automatically fwd/rev
|
|
-- so our steps are accurate to where the motor is
|
|
m.pcnt = pulsecnt.create(0, m.onPulseCnt, false)
|
|
m.pcnt:chan0Config(
|
|
m.pinPulseIn, -- 36 (sens_vp), 39 (sens_vn), m.pinStep, m.pinPulseIn, --pinPulseIn --pulse_gpio_num
|
|
m.pinDir, --ctrl_gpio_num If no control is desired specify PCNT_PIN_NOT_USED
|
|
pulsecnt.PCNT_COUNT_INC, --pos_mode PCNT positive edge count mode
|
|
pulsecnt.PCNT_COUNT_DIS, --neg_mode PCNT negative edge count mode
|
|
pulsecnt.PCNT_MODE_REVERSE, --lctrl_mode PCNT_MODE_KEEP, PCNT_MODE_REVERSE, PCNT_MODE_DISABLE
|
|
pulsecnt.PCNT_MODE_KEEP, --hctrl_mode PCNT_MODE_KEEP, PCNT_MODE_REVERSE, PCNT_MODE_DISABLE
|
|
-32768, --counter_l_lim
|
|
32767 --counter_h_lim
|
|
)
|
|
m.pcnt:setThres(m.stepMin, m.stepMax)
|
|
m.pcnt:clear()
|
|
|
|
end
|
|
|
|
function m.onPulseCnt(unit, isThr0, isThr1, isLLim, isHLim, isZero)
|
|
|
|
print("Got pulse counter.")
|
|
print("unit:", unit, "isThr0:", isThr0, "isThr1:", isThr1)
|
|
print("isLLim:", isLLim, "isHLim:", isHLim, "isZero:", isZero)
|
|
|
|
if isThr0 or isThr1 then
|
|
m.disable()
|
|
|
|
-- if callback from user, then call it
|
|
if m.onLimit ~= nil then
|
|
m.onLimit(isThr0, isThr1)
|
|
end
|
|
|
|
-- m.pause()
|
|
-- m.stop()
|
|
if isThr0 then
|
|
print("Hit endstop in negative direction")
|
|
else
|
|
print("Hit endstop in positive direction")
|
|
end
|
|
end
|
|
|
|
end
|
|
|
|
|
|
m.DIR_FWD = 1
|
|
m.DIR_REV = 0
|
|
m._dir = nil
|
|
function m.setDir(dir)
|
|
if dir == m.DIR_FWD then
|
|
if m._dir == m.DIR_FWD then
|
|
-- already set. ignore.
|
|
if m.isDebug then print("Dir fwd already set. Ignoring.") end
|
|
return
|
|
end
|
|
gpio.write(m.pinDir,1)
|
|
m._dir = m.DIR_FWD
|
|
if m.isDebug then print("Set dir fwd") end
|
|
else
|
|
if m._dir == m.DIR_REV then
|
|
-- already set. ignore.
|
|
if m.isDebug then print("Dir rev already set. Ignoring.") end
|
|
return
|
|
end
|
|
gpio.write(m.pinDir,0)
|
|
m._dir = m.DIR_REV
|
|
if m.isDebug then print("Set dir rev") end
|
|
end
|
|
end
|
|
|
|
function m.dirFwd()
|
|
m.setDir(m.DIR_FWD)
|
|
end
|
|
|
|
function m.dirRev()
|
|
m.setDir(m.DIR_REV)
|
|
end
|
|
|
|
function m.dirToggle()
|
|
if m._dir == m.DIR_FWD then
|
|
m.dirRev()
|
|
else
|
|
m.dirFwd()
|
|
end
|
|
end
|
|
|
|
function m.disable()
|
|
-- drv8825 low makes sleep / high make active
|
|
gpio.write(m.pinSleep, 0)
|
|
if m.isDebug then print("Sleeping motor (disable)") end
|
|
end
|
|
|
|
function m.enable()
|
|
-- drv8825 low makes sleep / high make active
|
|
gpio.write(m.pinSleep, 1)
|
|
if m.isDebug then print("Waking motor (enable)") end
|
|
end
|
|
|
|
return m |