Add initial board, HAL, and executor modules
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@@ -0,0 +1,213 @@
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#include "aw8646.h"
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#include "config.h"
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#include "esp_log.h"
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#include "io_expansion_board.h"
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// Define AW8646 specific pins for Board v1.1.16
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// P0_0 -> DRV_T0
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// P0_6 -> DRV_T1
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// Only if NFC_RST_PIN is defined (implying it's moved to GPIO, freeing up P0_0)
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#ifdef NFC_RST_PIN
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#define AW8646_USE_CURRENT_CONTROL
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#define AW8646_T0_PIN 0
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#define AW8646_T0_PORT OUTPUT_PORT0
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#define AW8646_T1_PIN 6
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#define AW8646_T1_PORT OUTPUT_PORT0
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#endif
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Aw8646Driver::Aw8646Driver(IOExpansionBoard &ioExp) : io_expansion_(ioExp)
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{
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}
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esp_err_t Aw8646Driver::Init()
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{
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esp_err_t err = ESP_OK;
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// 1. 默认处于休眠和禁用状态，防止发热！
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err = io_expansion_.SetMotorSleepMode(
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STEPPER_MOTOR_SLEEP,
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STEPPER_MOTOR_SLEEP_PORT,
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STEPPER_MOTOR_SLEEP_PIN
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);
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if (err != ESP_OK) {
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ESP_LOGE(TAG, "Failed to set sleep mode: 0x%x", err);
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return err;
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}
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// 2. Disable Enable Pin (High = Disable for AW8646)
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err = io_expansion_.SetMotorEnableMode(
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true, // High -> Disable
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STEPPER_MOTOR_ENABLE_PORT,
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STEPPER_MOTOR_ENABLE_PIN
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);
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if (err != ESP_OK) {
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ESP_LOGE(TAG, "Failed to set enable mode: 0x%x", err);
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return err;
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}
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#ifdef AW8646_USE_CURRENT_CONTROL
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// 3. Initialize T0 and T1 pins for Current Control
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// Default to Low (0, 0) for now.
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uint8_t output0_val = 0;
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err = io_expansion_.IoexpandReadReg(OUTPUT_PORT0, &output0_val);
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if (err == ESP_OK) {
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output0_val &= ~(1 << AW8646_T0_PIN); // Set T0 Low
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output0_val &= ~(1 << AW8646_T1_PIN); // Set T1 Low
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err = io_expansion_.IoexpandWriteReg(OUTPUT_PORT0, output0_val);
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if (err != ESP_OK) {
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ESP_LOGE(TAG, "Failed to set T0/T1: 0x%x", err);
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}
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} else {
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ESP_LOGE(TAG, "Failed to read port 0: 0x%x", err);
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}
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#endif
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// 4. Set Microsteps (Default to 1/8 step)
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err = SetMicrosteps(8);
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if (err != ESP_OK) {
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ESP_LOGE(TAG, "Failed to set microsteps: 0x%x", err);
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return err;
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}
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// 5. Set Default Direction
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err = SetDirection(true);
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if (err != ESP_OK) {
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ESP_LOGE(TAG, "Failed to set direction: 0x%x", err);
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return err;
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}
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ESP_LOGI(TAG, "AW8646 Driver Initialized (EN Logic Inverted, T0/T1 Configured)");
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return ESP_OK;
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}
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esp_err_t Aw8646Driver::Enable(bool enable)
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{
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esp_err_t err = ESP_OK;
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if (enable)
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{
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ESP_LOGD(TAG, "Enabling AW8646 (sleep + enable=Low)");
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// Ensure Sleep is High (Work)
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err = io_expansion_.SetMotorSleepMode(
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STEPPER_MOTOR_WORK,
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STEPPER_MOTOR_SLEEP_PORT,
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STEPPER_MOTOR_SLEEP_PIN
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);
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if (err != ESP_OK) return err;
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// Enable Pin: Low to Enable
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err = io_expansion_.SetMotorEnableMode(
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false, // Low -> Enable
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STEPPER_MOTOR_ENABLE_PORT,
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STEPPER_MOTOR_ENABLE_PIN
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);
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}
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else
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{
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ESP_LOGD(TAG, "Disabling AW8646 (disable=High + sleep)");
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// Enable Pin: High to Disable
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err = io_expansion_.SetMotorEnableMode(
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true, // High -> Disable
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STEPPER_MOTOR_ENABLE_PORT,
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STEPPER_MOTOR_ENABLE_PIN
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);
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if (err != ESP_OK) return err;
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// Sleep Pin: Low to Sleep
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err = io_expansion_.SetMotorSleepMode(
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STEPPER_MOTOR_SLEEP,
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STEPPER_MOTOR_SLEEP_PORT,
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STEPPER_MOTOR_SLEEP_PIN
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);
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}
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return err;
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}
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esp_err_t Aw8646Driver::SetDirection(bool dir)
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{
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uint8_t mode = dir ? STEPPER_MOTOR_RIGHT : STEPPER_MOTOR_LEFT;
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return io_expansion_.StepperMotorSetDir(
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mode,
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STEPPER_MOTOR_DIR_PORT,
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STEPPER_MOTOR_DIR_PIN
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);
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}
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esp_err_t Aw8646Driver::Sleep(bool sleep)
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{
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uint8_t mode = sleep ? STEPPER_MOTOR_SLEEP : STEPPER_MOTOR_WORK;
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return io_expansion_.SetMotorSleepMode(
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mode,
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STEPPER_MOTOR_SLEEP_PORT,
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STEPPER_MOTOR_SLEEP_PIN
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);
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}
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esp_err_t Aw8646Driver::SetTriLevelPin(uint8_t port_reg, uint8_t config_reg, uint8_t pin, int state)
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{
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uint8_t val;
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esp_err_t err = ESP_OK;
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if (state == 2) { // Hi-Z -> Input
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// Set as Input
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err = io_expansion_.IoexpandReadReg(config_reg, &val);
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if (err != ESP_OK) return err;
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val |= (1 << pin); // Set Input
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err = io_expansion_.IoexpandWriteReg(config_reg, val);
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} else { // 0 or 1 -> Output
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// Set as Output
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err = io_expansion_.IoexpandReadReg(config_reg, &val);
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if (err != ESP_OK) return err;
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val &= ~(1 << pin); // Set Output
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err = io_expansion_.IoexpandWriteReg(config_reg, val);
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if (err != ESP_OK) return err;
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// Set Level
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err = io_expansion_.IoexpandReadReg(port_reg, &val);
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if (err != ESP_OK) return err;
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if (state == 1) val |= (1 << pin);
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else val &= ~(1 << pin);
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err = io_expansion_.IoexpandWriteReg(port_reg, val);
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}
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return err;
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}
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esp_err_t Aw8646Driver::SetMicrosteps(int microsteps)
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{
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// AW8646 Microstep Table (Rising Edge Only)
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// 1 (Full): MODE1=0, MODE0=0
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// 2 (1/2): MODE1=0, MODE0=Z (Hi-Z)
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// 4 (1/4): MODE1=0, MODE0=1
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// 8 (1/8): MODE1=Z, MODE0=0
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// 16 (1/16): MODE1=Z, MODE0=1
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// 32 (1/32): MODE1=1, MODE0=Z
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int m1 = 0;
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int m0 = 0;
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switch(microsteps) {
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case 1: m1 = 0; m0 = 0; break;
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case 2: m1 = 0; m0 = 2; break; // Z
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case 4: m1 = 0; m0 = 1; break;
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case 8: m1 = 2; m0 = 0; break; // Z
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case 16: m1 = 2; m0 = 1; break; // Z
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case 32: m1 = 1; m0 = 2; break; // Z
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default:
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ESP_LOGW(TAG, "Unsupported microsteps: %d, defaulting to 1/8", microsteps);
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m1 = 2; m0 = 0;
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break;
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}
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ESP_LOGI(TAG, "Setting Microsteps to 1/%d (M1=%d, M0=%d)", microsteps, m1, m0);
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esp_err_t err;
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err = SetTriLevelPin(STEPPER_MOTOR_M1_MADE_PORT, STEPPER_MOTOR_M1_CONFIG, STEPPER_MOTOR_M1_PIN, m1);
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if (err != ESP_OK) return err;
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err = SetTriLevelPin(STEPPER_MOTOR_M0_MADE_PORT, STEPPER_MOTOR_M0_CONFIG, STEPPER_MOTOR_M0_PIN, m0);
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return err;
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}
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@@ -0,0 +1,27 @@
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#ifndef AW8646_DRIVER_H
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#define AW8646_DRIVER_H
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#include "stepper_driver.h"
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#include "io_expansion_board.h"
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#include "esp_log.h"
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class Aw8646Driver : public StepperDriver
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{
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public:
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explicit Aw8646Driver(IOExpansionBoard &ioExp);
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virtual ~Aw8646Driver() = default;
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esp_err_t Init() override;
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esp_err_t Enable(bool enable) override;
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esp_err_t SetDirection(bool dir) override;
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esp_err_t Sleep(bool sleep) override;
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esp_err_t SetMicrosteps(int microsteps) override;
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private:
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esp_err_t SetTriLevelPin(uint8_t port_reg, uint8_t config_reg, uint8_t pin, int state);
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IOExpansionBoard &io_expansion_;
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const char* TAG = "Aw8646Driver";
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};
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#endif // AW8646_DRIVER_H
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Binary file not shown.
@@ -0,0 +1,147 @@
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#include "drv8428.h"
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#include "config.h"
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Drv8428Driver::Drv8428Driver(IOExpansionBoard &ioExp) : io_expansion_(ioExp)
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{
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}
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esp_err_t Drv8428Driver::Init()
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{
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esp_err_t err = ESP_OK;
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// 1. Set Sleep Mode to WORK (wake up initially to configure?)
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// Actually BoardSweekar::StepperMotorInit sets it to WORK then ENABLE_DISABLE.
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// Let's follow that.
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err = io_expansion_.SetMotorSleepMode(
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STEPPER_MOTOR_WORK,
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STEPPER_MOTOR_SLEEP_PORT,
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STEPPER_MOTOR_SLEEP_PIN
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);
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if (err != ESP_OK) {
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ESP_LOGE(TAG, "Failed to set sleep mode: 0x%x", err);
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return err;
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}
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// 2. Disable Enable Pin
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err = io_expansion_.SetMotorEnableMode(
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STEPPER_MOTOR_ENABLE_DISABLE,
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STEPPER_MOTOR_ENABLE_PORT,
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STEPPER_MOTOR_ENABLE_PIN
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);
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if (err != ESP_OK) {
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ESP_LOGE(TAG, "Failed to set enable mode: 0x%x", err);
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return err;
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}
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// 3. Set Microsteps (Defaulting to 1/8 as per original code which passed 4? need to verify)
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// BoardSweekar passed 4.
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// "io_expansion_.SetStepperMicrostepMode(4, ...)"
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// Let's assume 4 maps to 1/8 or whatever.
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err = SetMicrosteps(4);
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if (err != ESP_OK) {
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ESP_LOGE(TAG, "Failed to set microsteps: 0x%x", err);
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return err;
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}
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// 4. Set Default Direction
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err = SetDirection(true); // Default to "UP" or whatever true means
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if (err != ESP_OK) {
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ESP_LOGE(TAG, "Failed to set direction: 0x%x", err);
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return err;
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}
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ESP_LOGI(TAG, "DRV8428 Driver Initialized");
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return ESP_OK;
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}
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esp_err_t Drv8428Driver::Enable(bool enable)
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{
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esp_err_t err = ESP_OK;
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if (enable)
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{
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ESP_LOGD(TAG, "Enabling stepper motor (sleep + enable)");
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// 1. Set sleep mode to WORK
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err = io_expansion_.SetMotorSleepMode(
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STEPPER_MOTOR_WORK,
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STEPPER_MOTOR_SLEEP_PORT,
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STEPPER_MOTOR_SLEEP_PIN
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);
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if (err != ESP_OK) return err;
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// 2. Set enable mode to ENABLE
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err = io_expansion_.SetMotorEnableMode(
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STEPPER_MOTOR_ENABLE_ENABLE,
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STEPPER_MOTOR_ENABLE_PORT,
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STEPPER_MOTOR_ENABLE_PIN
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);
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}
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else
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{
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ESP_LOGD(TAG, "Disabling stepper motor (disable + sleep)");
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// 1. Disable enable pin
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err = io_expansion_.SetMotorEnableMode(
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STEPPER_MOTOR_ENABLE_DISABLE,
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STEPPER_MOTOR_ENABLE_PORT,
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STEPPER_MOTOR_ENABLE_PIN
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);
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if (err != ESP_OK) return err;
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// 2. Set sleep mode to SLEEP
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err = io_expansion_.SetMotorSleepMode(
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STEPPER_MOTOR_SLEEP,
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STEPPER_MOTOR_SLEEP_PORT,
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STEPPER_MOTOR_SLEEP_PIN
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);
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}
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return err;
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}
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esp_err_t Drv8428Driver::SetDirection(bool dir)
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{
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// dir: true=UP, false=DOWN (based on original StepperMotor::SetDir logic)
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// Original: dir ? STEPPER_MOTOR_RIGHT : STEPPER_MOTOR_LEFT
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// Wait, StepperMotor::SetDir used STEPPER_MOTOR_RIGHT for true.
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// STEPPER_MOTOR_RIGHT is a macro, likely 1 or 0.
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uint8_t mode = dir ? STEPPER_MOTOR_RIGHT : STEPPER_MOTOR_LEFT;
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return io_expansion_.StepperMotorSetDir(
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mode,
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STEPPER_MOTOR_DIR_PORT,
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STEPPER_MOTOR_DIR_PIN
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);
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}
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esp_err_t Drv8428Driver::Sleep(bool sleep)
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{
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// This is explicitly setting sleep mode, might be redundant with Enable(false)
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// but useful if we want to sleep without disabling or vice versa if supported.
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// For DRV8428, Enable(false) sets Sleep to SLEEP.
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uint8_t mode = sleep ? STEPPER_MOTOR_SLEEP : STEPPER_MOTOR_WORK;
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return io_expansion_.SetMotorSleepMode(
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mode,
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STEPPER_MOTOR_SLEEP_PORT,
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STEPPER_MOTOR_SLEEP_PIN
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);
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}
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esp_err_t Drv8428Driver::SetMicrosteps(int microsteps)
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{
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// Original code used hardcoded ports for microsteps.
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// io_expansion_.SetStepperMicrostepMode(4, STEPPER_MOTOR_M0_MADE_PORT, STEPPER_MOTOR_M0_PIN,
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// STEPPER_MOTOR_M1_MADE_PORT, STEPPER_MOTOR_M1_PIN);
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// We can just pass the value 'microsteps' if it corresponds to the index expected by SetStepperMicrostepMode.
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// Or we might need a mapping.
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// Assuming 'microsteps' passed here is the raw value/index for now.
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io_expansion_.SetStepperMicrostepMode(
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(uint8_t)microsteps,
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STEPPER_MOTOR_M0_MADE_PORT, STEPPER_MOTOR_M0_PIN,
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STEPPER_MOTOR_M1_MADE_PORT, STEPPER_MOTOR_M1_PIN
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);
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return ESP_OK;
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}
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@@ -0,0 +1,25 @@
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#ifndef DRV8428_DRIVER_H
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#define DRV8428_DRIVER_H
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#include "stepper_driver.h"
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#include "io_expansion_board.h"
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#include "esp_log.h"
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class Drv8428Driver : public StepperDriver
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{
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public:
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explicit Drv8428Driver(IOExpansionBoard &ioExp);
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virtual ~Drv8428Driver() = default;
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esp_err_t Init() override;
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esp_err_t Enable(bool enable) override;
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esp_err_t SetDirection(bool dir) override;
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esp_err_t Sleep(bool sleep) override;
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esp_err_t SetMicrosteps(int microsteps) override;
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private:
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IOExpansionBoard &io_expansion_;
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const char* TAG = "Drv8428Driver";
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};
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#endif // DRV8428_DRIVER_H
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@@ -0,0 +1,17 @@
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# main/04_hal/stepper_driver/module.cmake
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# 判断 menuconfig 中的开关
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if(NOT CONFIG_ENABLE_HAL_STEPPER_DRIVER AND NOT EARLY_EXPANSION)
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message(STATUS " [Skip] stepper_driver module disabled by menuconfig.")
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return()
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endif()
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list(APPEND MODULE_SRCS
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"04_hal/stepper_driver/drv8428.cc"
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"04_hal/stepper_driver/aw8646.cc"
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)
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list(APPEND MODULE_INCLUDE_DIRS
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"04_hal/stepper_driver"
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)
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@@ -0,0 +1,54 @@
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#ifndef STEPPER_DRIVER_H
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#define STEPPER_DRIVER_H
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#include <cstdint>
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#include "esp_err.h"
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/**
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* @brief Abstract base class for stepper motor driver chips.
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*
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* This interface abstracts the low-level control of the stepper motor driver,
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* such as enabling/disabling, setting direction, sleep mode, and microstepping configuration.
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* It does NOT handle step generation (that is handled by the StepperMotor class using GPTimer).
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*/
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class StepperDriver
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{
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public:
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virtual ~StepperDriver() = default;
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/**
|
||||
* @brief Initialize the driver hardware (GPIOs, IO Expander, etc.)
|
||||
* @return ESP_OK on success
|
||||
*/
|
||||
virtual esp_err_t Init() = 0;
|
||||
|
||||
/**
|
||||
* @brief Enable or disable the motor driver output.
|
||||
* @param enable true to enable, false to disable
|
||||
* @return ESP_OK on success
|
||||
*/
|
||||
virtual esp_err_t Enable(bool enable) = 0;
|
||||
|
||||
/**
|
||||
* @brief Set the motor direction.
|
||||
* @param dir true for one direction (e.g. UP/CW), false for the other (e.g. DOWN/CCW)
|
||||
* @return ESP_OK on success
|
||||
*/
|
||||
virtual esp_err_t SetDirection(bool dir) = 0;
|
||||
|
||||
/**
|
||||
* @brief Set the motor driver to sleep mode to save power.
|
||||
* @param sleep true to sleep, false to wake up
|
||||
* @return ESP_OK on success
|
||||
*/
|
||||
virtual esp_err_t Sleep(bool sleep) = 0;
|
||||
|
||||
/**
|
||||
* @brief Set microstepping mode.
|
||||
* @param microsteps Microstepping value (e.g., 1, 2, 4, 8, 16, 32, etc.)
|
||||
* @return ESP_OK on success
|
||||
*/
|
||||
virtual esp_err_t SetMicrosteps(int microsteps) = 0;
|
||||
};
|
||||
|
||||
#endif // STEPPER_DRIVER_H
|
||||
Reference in new issue
Block a user