Add initial board, HAL, and executor modules

2026-05-07 17:24:10 +08:00
1 parent 3b9e129c88
commit 0b2eebe76d
@@ -0,0 +1,147 @@
+#include "drv8428.h"
+#include "config.h"
+
+Drv8428Driver::Drv8428Driver(IOExpansionBoard &ioExp) : io_expansion_(ioExp)
+{
+}
+
+esp_err_t Drv8428Driver::Init()
+{
+    esp_err_t err = ESP_OK;
+
+    // 1. Set Sleep Mode to WORK (wake up initially to configure?)
+    // Actually BoardSweekar::StepperMotorInit sets it to WORK then ENABLE_DISABLE.
+    // Let's follow that.
+    err = io_expansion_.SetMotorSleepMode(
+        STEPPER_MOTOR_WORK,
+        STEPPER_MOTOR_SLEEP_PORT,
+        STEPPER_MOTOR_SLEEP_PIN
+    );
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "Failed to set sleep mode: 0x%x", err);
+        return err;
+    }
+
+    // 2. Disable Enable Pin
+    err = io_expansion_.SetMotorEnableMode(
+        STEPPER_MOTOR_ENABLE_DISABLE,
+        STEPPER_MOTOR_ENABLE_PORT,
+        STEPPER_MOTOR_ENABLE_PIN
+    );
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "Failed to set enable mode: 0x%x", err);
+        return err;
+    }
+
+    // 3. Set Microsteps (Defaulting to 1/8 as per original code which passed 4? need to verify)
+    // BoardSweekar passed 4.
+    // "io_expansion_.SetStepperMicrostepMode(4, ...)"
+    // Let's assume 4 maps to 1/8 or whatever.
+    err = SetMicrosteps(4);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "Failed to set microsteps: 0x%x", err);
+        return err;
+    }
+
+    // 4. Set Default Direction
+    err = SetDirection(true); // Default to "UP" or whatever true means
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "Failed to set direction: 0x%x", err);
+        return err;
+    }
+
+    ESP_LOGI(TAG, "DRV8428 Driver Initialized");
+    return ESP_OK;
+}
+
+esp_err_t Drv8428Driver::Enable(bool enable)
+{
+    esp_err_t err = ESP_OK;
+    if (enable)
+    {
+        ESP_LOGD(TAG, "Enabling stepper motor (sleep + enable)");
+        
+        // 1. Set sleep mode to WORK
+        err = io_expansion_.SetMotorSleepMode(
+            STEPPER_MOTOR_WORK,
+            STEPPER_MOTOR_SLEEP_PORT,
+            STEPPER_MOTOR_SLEEP_PIN
+        );
+        if (err != ESP_OK) return err;
+        
+        // 2. Set enable mode to ENABLE
+        err = io_expansion_.SetMotorEnableMode(
+            STEPPER_MOTOR_ENABLE_ENABLE,
+            STEPPER_MOTOR_ENABLE_PORT,
+            STEPPER_MOTOR_ENABLE_PIN
+        );
+    }
+    else
+    {
+        ESP_LOGD(TAG, "Disabling stepper motor (disable + sleep)");
+        
+        // 1. Disable enable pin
+        err = io_expansion_.SetMotorEnableMode(
+            STEPPER_MOTOR_ENABLE_DISABLE,
+            STEPPER_MOTOR_ENABLE_PORT,
+            STEPPER_MOTOR_ENABLE_PIN
+        );
+        if (err != ESP_OK) return err;
+        
+        // 2. Set sleep mode to SLEEP
+        err = io_expansion_.SetMotorSleepMode(
+            STEPPER_MOTOR_SLEEP,
+            STEPPER_MOTOR_SLEEP_PORT,
+            STEPPER_MOTOR_SLEEP_PIN
+        );
+    }
+    return err;
+}
+
+esp_err_t Drv8428Driver::SetDirection(bool dir)
+{
+    // dir: true=UP, false=DOWN (based on original StepperMotor::SetDir logic)
+    // Original: dir ? STEPPER_MOTOR_RIGHT : STEPPER_MOTOR_LEFT
+    // Wait, StepperMotor::SetDir used STEPPER_MOTOR_RIGHT for true.
+    // STEPPER_MOTOR_RIGHT is a macro, likely 1 or 0.
+    
+    uint8_t mode = dir ? STEPPER_MOTOR_RIGHT : STEPPER_MOTOR_LEFT;
+    
+    return io_expansion_.StepperMotorSetDir(
+        mode,
+        STEPPER_MOTOR_DIR_PORT,
+        STEPPER_MOTOR_DIR_PIN
+    );
+}
+
+esp_err_t Drv8428Driver::Sleep(bool sleep)
+{
+    // This is explicitly setting sleep mode, might be redundant with Enable(false)
+    // but useful if we want to sleep without disabling or vice versa if supported.
+    // For DRV8428, Enable(false) sets Sleep to SLEEP.
+    
+    uint8_t mode = sleep ? STEPPER_MOTOR_SLEEP : STEPPER_MOTOR_WORK;
+    return io_expansion_.SetMotorSleepMode(
+        mode,
+        STEPPER_MOTOR_SLEEP_PORT,
+        STEPPER_MOTOR_SLEEP_PIN
+    );
+}
+
+esp_err_t Drv8428Driver::SetMicrosteps(int microsteps)
+{
+    // Original code used hardcoded ports for microsteps.
+    // io_expansion_.SetStepperMicrostepMode(4, STEPPER_MOTOR_M0_MADE_PORT, STEPPER_MOTOR_M0_PIN, 
+    //                                     STEPPER_MOTOR_M1_MADE_PORT, STEPPER_MOTOR_M1_PIN);
+    
+    // We can just pass the value 'microsteps' if it corresponds to the index expected by SetStepperMicrostepMode.
+    // Or we might need a mapping.
+    // Assuming 'microsteps' passed here is the raw value/index for now.
+    
+    io_expansion_.SetStepperMicrostepMode(
+        (uint8_t)microsteps, 
+        STEPPER_MOTOR_M0_MADE_PORT, STEPPER_MOTOR_M0_PIN, 
+        STEPPER_MOTOR_M1_MADE_PORT, STEPPER_MOTOR_M1_PIN
+    );
+    return ESP_OK;
+}