Working software

implementation/software/.gitignore

@@ -0,0 +1 @@
+bin/*

implementation/software/Makefile

@@ -0,0 +1,10 @@
+APPLICATION = stepper
+
+BOARD ?= nucleo-f411re
+
+RIOTBASE ?= /home/wouter/Development/RIOT/
+
+USEMODULE += xtimer
+
+
+include $(RIOTBASE)/Makefile.include

implementation/software/design/design_spec.md

@@ -76,7 +76,6 @@ or [gb_math.h](https://github.com/gingerBill/gb/blob/master/gb_math.h)
 
 
 ## Kinematics struct
-
 * ArmLengthA float
 * Motor motor1
 * ArmLengthB float

implementation/software/include/sensor.h

@@ -1,9 +1,11 @@
 
 
-#infdef SENSOR_H
+#ifndef SENSOR_H
 #define SENSOR_H
 
 #include <stdint.h>
+#include <limits.h>
+#include "periph/adc.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -18,7 +20,7 @@ typedef struct {
 
 typedef struct {
     sensor_params_t p;
-} sensor_t
+} sensor_t;
 
 /**
  * @brief Initializes the sensor

implementation/software/include/sensor_params.h

@@ -6,7 +6,6 @@ extern "C" {
 #endif
 
 #include "board.h"
-#include "adc.h"
 
 #ifndef SENSOR_PARAMS
 #define SENSOR_PARAMS \

implementation/software/include/stepper.h

@@ -1,14 +1,25 @@
 
 
-#infdef STEPPER_H
+#ifndef STEPPER_H
 #define STEPPER_H
 
 #include <stdint.h>
+#include "periph/gpio.h"
+#include "periph/uart.h"
+#include "sensor.h"
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
+#define STEPPER_PARAM_VEL_MAX (25)
+#define STEPPER_PARAM_ACC_MAX (200)
+#define STEPPER_PARAM_VELOCITY_DEFAULT (0)
+#define STEPPER_PARAM_MICROSTEP_DEFAULT (16)
+#define STEPPER_PARAM_DIVISION_DEFAULT (200)
+#define STEPPER_PARAM_ANGLE_DEFAULT (0)
+#define STEPPER_PARAM_HOMING_ANGLE_DEFAULT (20)
+
 /**
  * @brief   Status and error codes
  */
@@ -25,14 +36,13 @@ extern "C" {
         STEPPER_REVERSE = 0x1,
     } stepper_direction_t;
 
-
 /**
  * @brief   Data structure holding the device parameters needed for initialization
  */
 typedef struct {
     gpio_t step_pin;
     gpio_t dir_pin;
-    uint8_t addr;
+    uint8_t uart;
     uint8_t vel_max;
     uint8_t acc_max;
     uint8_t microstep;
@@ -48,7 +58,7 @@ typedef struct {
  */
 typedef struct {
     stepper_params_t p;
-} stepper_t
+} stepper_t;
 
 int stepper_init(stepper_t *dev, const stepper_params_t *params);
 

implementation/software/include/stepper_params.h

@@ -7,53 +7,52 @@ extern "C" {
 
 #include "board.h"
 
-#ifndef STEPPER_STEP_PIN      
-#define STEPPER_STEP_PIN      GPIO_PIN(0, 0)
+#ifndef STEPPER_PARAM_STEP_PIN      
+#define STEPPER_PARAM_STEP_PIN      GPIO_PIN(0, 0)
 #endif
-#ifndef STEPPER_DIR_PIN       
-#define STEPPER_DIR_PIN       GPIO_PIn(0, 1)
+#ifndef STEPPER_PARAM_DIR_PIN       
+#define STEPPER_PARAM_DIR_PIN       GPIO_PIN(0, 1)
 #endif
-#ifndef STEPPER_UART          
-#define STEPPER_UART          UART(0)
+#ifndef STEPPER_PARAM_UART          
+#define STEPPER_PARAM_UART          UART_DEV(0)
 #endif
-#ifndef STEPPER_VEL_MAX       
-#define STEPPER_VEL_MAX       STEPPER_VEL_MAX_DEFAULT
+#ifndef STEPPER_PARAM_VEL_MAX       
+#define STEPPER_PARAM_VEL_MAX       STEPPER_PARAM_VEL_MAX_DEFAULT
 #endif
-#ifndef STEPPER_ACC_MAX       
-#define STEPPER_ACC_MAX       STEPPER_ACC_MAX_DEFAULT
+#ifndef STEPPER_PARAM_ACC_MAX       
+#define STEPPER_PARAM_ACC_MAX       STEPPER_PARAM_ACC_MAX_DEFAULT
 #endif
-#ifndef STEPPER_MICROSTEP     
-#define STEPPER_MICROSTEP     STEPPER_MICROSTEP_DEFAULT
+#ifndef STEPPER_PARAM_MICROSTEP     
+#define STEPPER_PARAM_MICROSTEP     STEPPER_PARAM_MICROSTEP_DEFAULT
 #endif
-#ifndef STEPPER_DIVISION      
-#define STEPPER_DIVISION      STEPPER_DIVISION_DEFAULT
+#ifndef STEPPER_PARAM_DIVISION      
+#define STEPPER_PARAM_DIVISION      STEPPER_PARAM_DIVISION_DEFAULT
 #endif
-#ifndef STEPPER_ANGLE         
-#define STEPPER_ANGLE         STEPPER_ANGLE_DEFAULT
+#ifndef STEPPER_PARAM_ANGLE         
+#define STEPPER_PARAM_ANGLE         STEPPER_PARAM_ANGLE_DEFAULT
 #endif
-#ifndef STEPPER_VELOCITY      
-#define STEPPER_VELOCITY      STEPPER_VELOCITY_DEFAULT
+#ifndef STEPPER_PARAM_VELOCITY      
+#define STEPPER_PARAM_VELOCITY      STEPPER_PARAM_VELOCITY_DEFAULT
 #endif
-#ifndef STEPPER_SENSOR        
-#define STEPPER_SENSOR        STEPPER_SENSOR_DEFAULT
+#ifndef STEPPER_PARAM_SENSOR        
+#define STEPPER_PARAM_SENSOR        STEPPER_PARAM_SENSOR_DEFAULT
 #endif
-#ifndef STEPPER_HOMING_ANGLE  
-#define STEPPER_HOMING_ANGLE  STEPPER_HOMING_ANGLE_DEFAULT
+#ifndef STEPPER_PARAM_HOMING_ANGLE  
+#define STEPPER_PARAM_HOMING_ANGLE  STEPPER_PARAM_HOMING_ANGLE_DEFAULT
 #endif
 
 #ifndef STEPPER_PARAMS
 #define STEPPER_PARAMS \
-    {   .step_pin        = stepper_param_step_pin, \
-        .dir_pin         = stepper_param_dir_pin,  \
-        .addr            = stepper_param_addr,     \
-        .vel_max         = stepper_param_vel_max,  \
-        .acc_max         = stepper_param_acc_max,  \
-        .microstep       = stepper_param_microstep,  \
-        .division        = stepper_param_division,  \
-        .angle           = stepper_param_angle,  \
-        .velocity        = stepper_param_velocity,  \
-        .sensor          = stepper_param_sensor,  \
-        .homing_angle    = stepper_param_homing_angle, \
+    {   .step_pin        = STEPPER_PARAM_STEP_PIN,     \
+        .dir_pin         = STEPPER_PARAM_DIR_PIN,      \
+        .uart            = STEPPER_PARAM_UART,         \
+        .vel_max         = STEPPER_PARAM_VEL_MAX,      \
+        .acc_max         = STEPPER_PARAM_ACC_MAX,      \
+        .microstep       = STEPPER_PARAM_MICROSTEP,    \
+        .division        = STEPPER_PARAM_DIVISION,     \
+        .angle           = STEPPER_PARAM_ANGLE,        \
+        .velocity        = STEPPER_PARAM_VELOCITY,     \
+        .homing_angle    = STEPPER_PARAM_HOMING_ANGLE, \
     }
 #endif
 

implementation/software/main.c

@@ -0,0 +1,20 @@
+#include <stdlib.h>
+#include <stdio.h>
+
+#include "include/stepper.h"
+#include "include/stepper_params.h"
+#include "include/sensor.h"
+#include "xtimer.h"
+
+int main(void)
+{
+    
+    stepper_t dev;
+    stepper_init(&dev, &stepper_params[0]);
+    while (1) {
+    xtimer_usleep(100000);
+    stepper_step(&dev, STEPPER_FORWARD);
+    }
+
+    return 0;
+}

implementation/software/src/stepper.c → implementation/software/stepper.c

@@ -2,19 +2,26 @@
 #include "periph/gpio.h"
 #include "periph/uart.h"
 
-#include "stepper.h"
-#include "sensor.h"
+#include "include/stepper.h"
+#include "include/stepper_params.h"
+#include "include/sensor.h"
 
 #define ENABLE_DEBUG (0)
 #include "debug.h"
 
 
+#define STEP_PIN (dev->p.step_pin)
+#define DIR_PIN (dev->p.dir_pin)
+
 int stepper_init(stepper_t *dev, const stepper_params_t *params)
 {
     assert(dev && params);
 
     dev->p = *params;
 
+    gpio_init(STEP_PIN, GPIO_OUT);
+    
+
 
     return STEPPER_OK;
 }
@@ -22,6 +29,11 @@ int stepper_init(stepper_t *dev, const stepper_params_t *params)
 
 int stepper_step(stepper_t *dev, stepper_direction_t *direction)
 {
+    assert(direction);
+    gpio_toggle(STEP_PIN);
+
+    return STEPPER_OK;
+}