Trikarus/firmware_smartstepper_trikarus/stepper_nano_zero/fet_driver.h
2020-07-20 22:21:36 +02:00

125 lines
4.2 KiB
C++

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#ifndef FET_DRIVER_H_
#define FET_DRIVER_H_
#include <Arduino.h>
#include "board.h"
#include "angle.h"
#include "sine.h"
#ifdef NEMA_23_10A_HW
#define FET_DRIVER_NUM_MICROSTEPS (SINE_STEPS/4) //number of steps to use for microstepping, default is 256
#define FET_DRIVER_NUM_ZERO_AVG (100)
#define FET_ADC_TO_MA(x) (((x)*2537)/1000)
#define FET_MA_TO_ADC(x) (((x)*1000)/2537)
//prvent someone for making a mistake with the code
#if ((FET_DRIVER_NUM_MICROSTEPS*4) != SINE_STEPS)
#error "SINE_STEPS must be 4x of Micro steps for the move function"
#endif
/*
* When it comes to the stepper driver if we use angles
* we will always have a rounding error. For example
* a 0-65536(360) angle for 1.8 degree step is 327.68 so
* if you increment 200 of these as 327 you have a 13.6 error
* after one rotation.
* If you use floating point the effect is the same but takes longer.
*
* The only error-less accumulation system is to use native units, ie full
* steps and microsteps.
*
*/
class FetDriver
{
static FetDriver *ptrInstance;
private:
uint32_t lastStepMicros; // time in microseconds that last step happened
int32_t PWM_Table_B[512];
int32_t PWM_Table_A[512];
bool forwardRotation=true;
volatile bool enabled=true;
volatile int32_t adc;
volatile int32_t coilB_value=0;
volatile int32_t coilB_Zero=-1;
volatile int32_t coilB_SetPoint=100;
volatile int32_t coilB_error=0;
volatile int32_t coilA_value=0;
volatile int32_t coilA_Zero=-1;
volatile int32_t coilA_SetPoint=200;
volatile int32_t coilA_error=0;
void ctrl_update(uint16_t channel, uint16_t value);
void measureCoilB_zero(void);
void measureCoilA_zero(void);
void CalTableB(int32_t maxMA);
void CalTableA(int32_t maxMA);
int coilA_PWM(int32_t value);
void coilB_PWM(int32_t value);
int32_t getCoilB_mA(void);
int32_t getCoilA_mA(void);
public:
static void ADC_Callback(uint16_t channel, uint16_t value);
void begin(void);
//moves motor where the modulo of A4954_NUM_MICROSTEPS is a full step.
int32_t move(int32_t stepAngle, uint32_t mA);
uint32_t microsSinceStep(void) {return micros()-lastStepMicros;};
void setRotationDirection(bool forward) {forwardRotation=forward;};
void enable(bool enable) {enabled=enable;};
void limitCurrent(uint8_t x) {return;};
};
#endif //#ifdef NEMA_23_10A_HW
#endif /* FET_DRIVER_H_ */