Add stepper motor driver firmware to sra-board-component

.github/workflows/test-build-app.yaml

@@ -9,7 +9,7 @@ jobs:
       image: espressif/idf:release-v4.4
     strategy:
       matrix:
-        test-apps: [bar_graph, lsa, motor_driver_normal, motor_driver_parallel, mpu6050, servos, switches, oled]
+        test-apps: [bar_graph, lsa, motor_driver_normal, motor_driver_parallel, mpu6050, servos, switches, oled, stepper_motor]
     steps:
       - name: Force Install GIT latest
         run: |

CMakeLists.txt

@@ -1,4 +1,4 @@
-set(srcs "src/i2cdev.c" "src/adc.c" "src/bar_graph.c" "src/switches.c" "src/lsa.c" "src/motor_driver.c" "src/mpu6050.c" "src/servo.c" "src/utils.c")
+set(srcs "src/i2cdev.c" "src/adc.c" "src/bar_graph.c" "src/switches.c" "src/lsa.c" "src/motor_driver.c" "src/mpu6050.c" "src/servo.c" "src/utils.c" "src/stepper.c")
 set(include_dirs include)
 
 if(CONFIG_ENABLE_OLED)

README.md

@@ -130,6 +130,7 @@ _For more examples, please refer to the [Documentation](https://sravjti.tech/sra
 |  [Servos](https://github.com/SRA-VJTI/sra-board-component/tree/main/examples/servos) 	|  Servos are used in the locomotion of bots like [Wall-E](https://github.com/SRA-VJTI/Wall-E_v2.1) . This example is for using the servo port on SRA Board to run servos 	|
 | [Switches](https://github.com/SRA-VJTI/sra-board-component/tree/main/examples/switches) | Manual Switches provide the traditional comfort to toggle the input variables. This example is for using four user switches present on SRA Board |
 | [OLED](https://github.com/SRA-VJTI/sra-board-component/tree/main/examples/oled) | Example for initialising the OLED and diplaying the "Hello World" on the screen |
+| [Stepper Motor](https://github.com/SRA-VJTI/sra-board-component/tree/main/examples/stepper_motor) | Example for testing the stepper motor driver A4988 along with a bipolar stepper motor using ESP32 |
 
 <!-- ROADMAP -->
 ## Roadmap

examples/README.md

@@ -47,4 +47,10 @@ Example for using two motor drivers present on SRA Board in both parallel and no
 
 - Manual Switches provide the traditional comfort to toggle the input variables
 
-- [Example](https://github.com/SRA-VJTI/sra-board-component/tree/main/examples/switches) for using four user switches present on SRA Board
+- [Example](https://github.com/SRA-VJTI/sra-board-component/tree/main/examples/switches) for using four user switches present on SRA Board
+
+### Stepper Motor
+
+- Stepper motors are used in application involving powerful and precise rotary movements
+
+- [Example](https://github.com/SRA-VJTI/sra-board-component/tree/main/examples/stepper_motor)

examples/stepper_motor/CMakeLists.txt

@@ -0,0 +1,8 @@
+# The following lines of boilerplate have to be in your project's
+# CMakeLists in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.5)
+
+set(EXTRA_COMPONENT_DIRS ../../.)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(stepper_motor)

examples/stepper_motor/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2023 Society of Robotics and Automation
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

examples/stepper_motor/Makefile

@@ -0,0 +1,9 @@
+#
+# This is a project Makefile. It is assumed the directory this Makefile resides in is a
+# project subdirectory.
+#
+
+PROJECT_NAME := stepper_motor
+
+include $(IDF_PATH)/make/project.mk
+

examples/stepper_motor/main/CMakeLists.txt

@@ -0,0 +1,8 @@
+# Edit following two lines to set component requirements (see docs)
+set(COMPONENT_REQUIRES )
+set(COMPONENT_PRIV_REQUIRES )
+
+set(COMPONENT_SRCS "main.c")
+set(COMPONENT_ADD_INCLUDEDIRS "")
+
+register_component()

examples/stepper_motor/main/component.mk

@@ -0,0 +1,8 @@
+#
+# Main component makefile.
+#
+# This Makefile can be left empty. By default, it will take the sources in the 
+# src/ directory, compile them and link them into lib(subdirectory_name).a 
+# in the build directory. This behaviour is entirely configurable,
+# please read the ESP-IDF documents if you need to do this.
+#

examples/stepper_motor/main/main.c

@@ -0,0 +1,59 @@
+/*
+ * MIT License
+ *
+ * Copyright (c)  2023 Society of Robotics and Automation
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#include <stdio.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "sra_board.h"
+
+static const char *TAG = "STEPPER_DEBUG";
+
+static const stepper_config_t stepper_1 = {
+    .step_pin = STEP,
+    .dir_pin = DIR,
+    .accl_decel = 0.001,
+    .min_step_interval_us = MIN_STEP_INTERVAL,
+    .steps_per_revolution = 200,
+    .current_step_count = 0,
+};
+
+void run_motor(void *arg)
+{
+    while (1)
+    {
+        ESP_LOGI(TAG, "Inside task");
+        move_to_step(&stepper_1, 10000);
+        ESP_LOGI(TAG, "Done 1");
+        vTaskDelay(1000 / portTICK_PERIOD_MS);
+        move_to_step(&stepper_1, 0);
+        ESP_LOGI(TAG, "Done 2");
+        vTaskDelay(1000 / portTICK_PERIOD_MS);
+    }
+}
+
+void app_main(void)
+{
+    init_stepper(&stepper_1);
+    xTaskCreatePinnedToCore(&run_motor, "Homing Task", 4096, NULL, 1, NULL, 0);
+}

examples/stepper_motor/sdkconfigs.defaults

@@ -0,0 +1 @@
+CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU0=n

include/pin_defs.h

@@ -105,4 +105,7 @@
 #define SERVO_D 18
 /////////////////////////////
 
+#define STEP 14
+#define DIR 27
+
 #endif

include/sra_board.h

@@ -34,6 +34,7 @@
 #include "servo.h"
 #include "pin_defs.h"
 #include "utils.h"
+#include "stepper.h"
 
 #ifdef CONFIG_ENABLE_OLED
 #include "oled.h"

include/stepper.h

@@ -0,0 +1,127 @@
+/*
+ * MIT License
+ *
+ * Copyright (c)  2023 Society of Robotics and Automation
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+#ifndef STEPPER_H
+#define STEPPER_H
+
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include "driver/gpio.h"
+#include "esp_timer.h"
+#include "esp32/rom/ets_sys.h"
+#include "esp_log.h"
+#include "esp_err.h"
+#include "esp_sleep.h"
+#include "pin_defs.h"
+
+#define MIN_STEP_INTERVAL 1000
+
+typedef struct
+{
+    int step_pin;             // Stepping Signal Pin of ESP32.
+    int dir_pin;              // Direction signal Pin of ESP32.
+    int min_step_interval_us; // minimum step interval in microseconds
+    int steps_per_revolution; // Number of Step pulses per revolution.
+    int prev_delay;           // Internal varaible to store previous pulse interval.
+    int dir;                  // Internal variable to store the direction of stepper.
+    float accl_decel;         // Accelaration/Decelaration value.
+    bool movement_done;       // To check if movement is done.
+    long current_step_count;  // Internal variable to store current position of stepper motor.
+} stepper_config_t;
+
+/** @struct stepper_config_t
+ *  @brief This structure contains the configuration of stepper.
+ *  @var stepper_config_t::step_pin
+ *  Member 'step_pin' contains the gpio pin number to which step signal pin of stepper motor driver is connected
+ *  @var stepper_config_t::dir_pin
+ *  Member 'dir_pin' contains the gpio pin number to which direction signal pin of stepper motor driver is connected
+ *  @var stepper_config_t::min_step_interval_us
+ *  Member 'min_step_interval_us' contains the minimum pulse interval for the step signal of stepper motor
+ *  @var stepper_config_t::steps_per_revolution
+ *  Member 'steps_per_revolution' contains number of step pulses per revolution.
+ *  @var stepper_config_t::prev_delay
+ *  Member 'prev_delay' contains internal varaible to store previous pulse interval.
+ *  @var stepper_config_t::dir
+ *  Member 'dir' contains internal variable to store the direction of stepper.
+ *  @var stepper_config_t::accl_decel
+ *  Member 'accl_decel' contains accelaration/decelaration value.
+ *  @var stepper_config_t::movement_done
+ *  Member 'movement_done' contains variable to check if movement is done.
+ *  @var stepper_config_t::current_step_count
+ *  Member 'current_step_count' contains internal variable to store current position of stepper motor.
+ */
+
+/**
+ * @brief Initiates and configures ESP32 for stepper control
+
+ * @param stepper pointer to stepper_config_t struct
+
+ * @return esp_err_t i.e it shows if pins are configured successfully or not.
+ **/
+esp_err_t init_stepper(stepper_config_t *stepper);
+
+/**
+ * @brief calculates first pulse interval delay as per the accelaration value.
+
+ * @param stepper pointer to stepper_config_t struct
+
+ * @return int containing first pulse interval delay as per the accelaration value.
+ **/
+static int calc_first_delay_in_millis(stepper_config_t *stepper);
+
+/**
+ * @brief calculates delay for next step interval for accelaration.
+
+ * @param stepper pointer to stepper_config_t struct
+
+ * @param n count of the previous step that was executed.
+
+ * @return int containing delay for next step interval for accelaration.
+ **/
+static int cal_delay_accl(stepper_config_t *stepper, int n);
+
+/**
+ * @brief calculates delay for next step interval for decelaration.
+
+ * @param stepper pointer to stepper_config_t struct
+
+ * @param n count of the previous step that was executed.
+
+ * @return int containing delay for next step interval for decelaration.
+ **/
+static int cal_delay_decel(stepper_config_t *stepper, int n);
+
+/**
+ * @brief moves stepper to a specified position as per number of steps.
+
+ * @param stepper pointer to stepper_config_t struct.
+ * @param pos_step step position to which stepper should be moved.
+
+ * @return esp_err_t i.e it shows if stepper has moved successfully or not.
+ **/
+esp_err_t move_to_step(stepper_config_t *stepper, float pos_step);
+
+#endif