MotorDriver Class Reference

#include <motor_driver.h>

Inheritance diagram for MotorDriver:

Collaboration diagram for MotorDriver:

Public Member Functions
	MotorDriver (std::shared_ptr< Logging > &logging)
	Initializes motor drive TMC2209, and required pins. More...
	MotorDriver (std::shared_ptr< Logging > &logging, CONFIG_SET::CALIB_PARAMS calib_param)
	Initializes motor drive TMC2209, and required pins. More...
	~MotorDriver ()
	Cleans and disables motor driver. More...
CONFIG_SET::DRIVER_STATUS	GetStatus ()
	Returns the status of the motor driver, by checking if the motor is running or the driver is in fault, or the motor is available for next request. More...
int	GetSteps ()
	Returns the current steps of motor. More...
int	GetPercentage ()
	Returns the current percentage of motor. More...
bool	FulfillRequest (CONFIG_SET::MOTION_REQUEST request)
	This is the primary contact function for external requests, it will handle all requests from the controller or anywhere else, run the thread for supplying steps. More...
bool	CancelCurrentRequest ()
	Cancels current request. More...
void	UpdateCalibParams (CONFIG_SET::CALIB_PARAMS calib_param)
	Updates calibration parameters to be used by motor driver. More...
void	StopHandler ()
	Stop handler thread. More...

Static Public Member Functions
static void	InterruptForIndex ()
	Runs on a timer, supplies step and direction signal to motor driver. More...

Private Member Functions
void	Handler ()
	Motor Driver class handler, communicates with driver and is responsible for reading latest motion request, cancellationof request, and acting upon it i.e. moving the motor and stopping it when stall is detected, or motor reached destination or stop is requested or timer limit is reached. More...
bool	EnableDriver (bool enable)
	Enable Motor Driver Give argument as true for enabling, false for disabling the driver. More...
void	InitializeDriver ()
	Sets needed parameters for the driver. More...
void	StartMotor ()
	Responsible for starting the motor, i.e. setups the driver and sets required velocity of motor. More...
void	StopMotor ()
	Responsible for stopping the motor, i.e. disables the driver and sets velocity of motor to zero. More...
void	StartHandler ()
	Starts handler thread. More...
void	ResetSteps ()
	Reset the current steps of motor. More...

Private Attributes
CONFIG_SET::DRIVER_STATUS	driver_status_
CONFIG_SET::CALIB_PARAMS	calib_params_
std::shared_ptr< Logging >	logger_
bool	is_motor_running_ = false
hw_timer_t *	step_timer_ = NULL
int	expected_step_ = 0
bool	blind_traversal_requested_ = false
bool	stop_requested_ = false
bool	keep_handler_running_ = false
std::time_t	last_motor_start_time_sec_ = std::time(nullptr)
std::unique_ptr< std::thread >	handler_thread_ {nullptr}

Static Private Attributes
static int	full_rot_step_count_ = (4 * CONFIG_SET::MOTOR_DRIVER_MICROSTEP)
static int	current_step_ = 0
static bool	direction_ = false

Constructor & Destructor Documentation

MotorDriver() [1/2]

MotorDriver::MotorDriver

(

std::shared_ptr< Logging > &

logging

)

Initializes motor drive TMC2209, and required pins.

MotorDriver() [2/2]

MotorDriver::MotorDriver	(	std::shared_ptr< Logging > &	logging,
		CONFIG_SET::CALIB_PARAMS	calib_param
	)

Initializes motor drive TMC2209, and required pins.

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~MotorDriver()

MotorDriver::~MotorDriver

(

)

Cleans and disables motor driver.

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Member Function Documentation

CancelCurrentRequest()

bool MotorDriver::CancelCurrentRequest

(

)

Cancels current request.

Returns

true: Cancellation successful

false: otherwise

EnableDriver()

bool MotorDriver::EnableDriver ( bool  enable )

private

Enable Motor Driver Give argument as true for enabling, false for disabling the driver.

Returns

true : if successful

false : otherwise

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FulfillRequest()

bool MotorDriver::FulfillRequest

(

CONFIG_SET::MOTION_REQUEST

request

)

This is the primary contact function for external requests, it will handle all requests from the controller or anywhere else, run the thread for supplying steps.

Returns

true : request accepted

false : rejected

GetPercentage()

int MotorDriver::GetPercentage

(

)

Returns the current percentage of motor.

Returns

current percentage

GetStatus()

CONFIG_SET::DRIVER_STATUS MotorDriver::GetStatus

(

)

Returns the status of the motor driver, by checking if the motor is running or the driver is in fault, or the motor is available for next request.

Returns

CONFIG_SET::DRIVER_STATUS

GetSteps()

int MotorDriver::GetSteps

(

)

Returns the current steps of motor.

Returns

current_steps

Handler()

void MotorDriver::Handler ( )

private

Motor Driver class handler, communicates with driver and is responsible for reading latest motion request, cancellationof request, and acting upon it i.e. moving the motor and stopping it when stall is detected, or motor reached destination or stop is requested or timer limit is reached.

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InitializeDriver()

void MotorDriver::InitializeDriver ( )

private

Sets needed parameters for the driver.

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InterruptForIndex()

void IRAM_ATTR MotorDriver::InterruptForIndex ( )

static

Runs on a timer, supplies step and direction signal to motor driver.

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ResetSteps()

void MotorDriver::ResetSteps ( )

private

Reset the current steps of motor.

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StartHandler()

void MotorDriver::StartHandler ( )

private

Starts handler thread.

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StartMotor()

void MotorDriver::StartMotor ( )

private

Responsible for starting the motor, i.e. setups the driver and sets required velocity of motor.

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StopHandler()

void MotorDriver::StopHandler

(

)

Stop handler thread.

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StopMotor()

void MotorDriver::StopMotor ( )

private

Responsible for stopping the motor, i.e. disables the driver and sets velocity of motor to zero.

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UpdateCalibParams()

void MotorDriver::UpdateCalibParams

(

CONFIG_SET::CALIB_PARAMS

calib_param

)

Updates calibration parameters to be used by motor driver.

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Member Data Documentation

blind_traversal_requested_

bool MotorDriver::blind_traversal_requested_ = false

private

calib_params_

CONFIG_SET::CALIB_PARAMS MotorDriver::calib_params_

private

current_step_

int MotorDriver::current_step_ = 0

staticprivate

direction_

bool MotorDriver::direction_ = false

staticprivate

driver_status_

CONFIG_SET::DRIVER_STATUS MotorDriver::driver_status_

private

expected_step_

int MotorDriver::expected_step_ = 0

private

full_rot_step_count_

int MotorDriver::full_rot_step_count_ = (4 * CONFIG_SET::MOTOR_DRIVER_MICROSTEP)

staticprivate

handler_thread_

std::unique_ptr<std::thread> MotorDriver::handler_thread_ {nullptr}

private

is_motor_running_

bool MotorDriver::is_motor_running_ = false

private

keep_handler_running_

bool MotorDriver::keep_handler_running_ = false

private

last_motor_start_time_sec_

std::time_t MotorDriver::last_motor_start_time_sec_ = std::time(nullptr)

private

logger_

std::shared_ptr<Logging> MotorDriver::logger_

private

step_timer_

hw_timer_t* MotorDriver::step_timer_ = NULL

private

stop_requested_

bool MotorDriver::stop_requested_ = false

private

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The documentation for this class was generated from the following files:

• mvp/src/motor_driver/motor_driver.h
• mvp/src/motor_driver/motor_driver.cpp