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8105846
Driver DRV8825 for stepper motor was added
Naglfario 7482dd2
license header added to assemblyinfo
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typo fix
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documentation patch
Naglfario 343b376
Merge branch 'develop' into device_drv8825
Ellerbach 220f8cd
work on review by @Ellerbach
Naglfario 39f1f2c
Merge branch 'device_drv8825' of https://github.com/Naglfario/nanoFra…
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work on review by @Ellerbach
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// Licensed to the .NET Foundation under one or more agreements. | ||
// The .NET Foundation licenses this file to you under the MIT license. | ||
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namespace Iot.Device.Drv8825 | ||
{ | ||
/// <summary> | ||
/// Motor rotation direction. | ||
/// </summary> | ||
public enum Direction | ||
{ | ||
/// <summary> | ||
/// Rotation in the same direction as a clock's hands. | ||
/// </summary> | ||
Clockwise, | ||
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/// <summary> | ||
/// Rotation in the opposite direction to the movement of the hands of a clock. | ||
/// </summary> | ||
Counterclockwise | ||
} | ||
} |
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// Licensed to the .NET Foundation under one or more agreements. | ||
// The .NET Foundation licenses this file to you under the MIT license. | ||
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using System; | ||
using System.Device; | ||
using System.Device.Gpio; | ||
using System.Threading; | ||
using UnitsNet; | ||
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namespace Iot.Device.Drv8825 | ||
{ | ||
/// <summary> | ||
/// Class for controlling Drv8825 stepper motor driver. | ||
/// </summary> | ||
public class Drv8825 : IDisposable | ||
{ | ||
private readonly ushort _fullStepsPerRotation; | ||
private readonly GpioPin _stepPin; | ||
private readonly GpioPin _dirPin; | ||
private readonly GpioPin? _sleepPin; | ||
private readonly bool _shouldDisposeGpioController; | ||
private readonly MicrostepsController _microstepsController; | ||
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private GpioController? _gpioController; | ||
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/// <summary> | ||
/// Gets or sets the delay that allows the driver to recognize a step. By default, it is 5 MICROseconds. | ||
/// It is not recommended to set this delay less than 2 microseconds, | ||
/// otherwise the motor will "miss"(skip) some steps. | ||
/// And it is not recommended to set this delay more than 50 microseconds, | ||
/// otherwise the morot will stop recognize steps. | ||
/// </summary> | ||
public TimeSpan StepDelay { get; set; } = TimeSpan.FromTicks(5 * 10L); | ||
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/// <summary> | ||
/// Gets or sets delay between each step (or microstep). | ||
/// </summary> | ||
public TimeSpan DelayBetweenSteps { get; set; } = TimeSpan.Zero; | ||
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/// <summary> | ||
/// Initializes a new instance of the <see cref="Drv8825" /> class. | ||
/// </summary> | ||
/// <param name="stepPin">Microcontroller pin connected to STEP driver pin. Used to set steps count.</param> | ||
/// <param name="dirPin">Microcontroller pin connected to DIR driver pin. Used to set rotation direction.</param> | ||
/// <param name="sleepPin">Microcontroller pin connected to SLP driver pin. Used to wake up and put the driver to sleep. Usually SLP need to connect with RST pin.</param> | ||
/// <param name="fullStepsPerRotation">How many steps your motor need to make full rotation. For example, Nema 17 takes 200 full steps to complete full rotation.</param> | ||
/// <param name="gpioController">GPIO controller. If it not passed, then it be created here.</param> | ||
/// <param name="shouldDisposeGpioController">True to dispose the Gpio Controller when this class wiill be disposed.</param> | ||
/// <param name="m0Pin">Microcontroller pin connected to M0 driver pin. Can be used to microsteps control. 0 if not connected.</param> | ||
/// <param name="m1Pin">Microcontroller pin connected to M1 driver pin. Can be used to microsteps control. 0 if not connected.</param> | ||
/// <param name="m2Pin">Microcontroller pin connected to M2 driver pin. Can be used to microsteps control. 0 if not connected.</param> | ||
public Drv8825( | ||
byte stepPin, | ||
byte dirPin, | ||
byte sleepPin = 0, | ||
ushort fullStepsPerRotation = 200, | ||
GpioController? gpioController = null, | ||
bool shouldDisposeGpioController = true, | ||
byte m0Pin = 0, | ||
byte m1Pin = 0, | ||
byte m2Pin = 0) | ||
{ | ||
_fullStepsPerRotation = fullStepsPerRotation; | ||
_gpioController = gpioController ?? new GpioController(); | ||
_shouldDisposeGpioController = shouldDisposeGpioController || gpioController is null; | ||
_stepPin = _gpioController.OpenPin(stepPin, PinMode.Output); | ||
_dirPin = _gpioController.OpenPin(dirPin, PinMode.Output); | ||
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if (sleepPin > 0) | ||
{ | ||
_sleepPin = _gpioController.OpenPin(sleepPin, PinMode.Output); | ||
} | ||
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_microstepsController = new MicrostepsController(_gpioController, m0Pin, m1Pin, m2Pin); | ||
} | ||
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/// <summary> | ||
/// Switch driver to working mode. | ||
/// </summary> | ||
/// <exception cref="InvalidOperationException">Throws when sleep pin doesn't passed.</exception> | ||
public void WakeUp() | ||
{ | ||
if (_sleepPin == null) | ||
{ | ||
throw new InvalidOperationException("Sleep pin does not passed. Try to create driver class with sleepPin param"); | ||
} | ||
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_sleepPin.Write(PinValue.High); | ||
} | ||
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/// <summary> | ||
/// Switch driver to sleep mode. | ||
/// </summary> | ||
/// <param name="millisecondsDelay">The number of milliseconds to wait before going to sleep. Use if you want give to driver time to process all previously sent steps.</param> | ||
/// <exception cref="InvalidOperationException">Throws when sleep pin doesn't passed.</exception> | ||
public void Sleep(int millisecondsDelay = 0) | ||
{ | ||
if (_sleepPin == null) | ||
{ | ||
throw new InvalidOperationException("Sleep pin does not passed. Try to create driver class with sleepPin param"); | ||
} | ||
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if (millisecondsDelay > 0) | ||
{ | ||
Thread.Sleep(millisecondsDelay); | ||
} | ||
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_sleepPin.Write(PinValue.Low); | ||
} | ||
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/// <summary> | ||
/// Rotates a stepper motor. | ||
/// </summary> | ||
/// <param name="angle">Angle to rotate.</param> | ||
/// <param name="stepSize">Step size.</param> | ||
public void Rotate(Angle angle, StepSize stepSize = StepSize.FullStep) | ||
{ | ||
if (angle.Degrees == 0) | ||
{ | ||
return; | ||
} | ||
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_dirPin.Write(angle.Degrees > 0 ? PinValue.High : PinValue.Low); | ||
var degreeForStepsCalculation = angle.Degrees < 0 ? -angle.Degrees : angle.Degrees; | ||
var pulses = degreeForStepsCalculation / 360 * _fullStepsPerRotation * (byte)stepSize; | ||
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_microstepsController.Set(stepSize); | ||
Rotate((int)pulses); | ||
} | ||
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/// <summary> | ||
/// Rotates a stepper motor. | ||
/// </summary> | ||
/// <param name="steps">Steps count.</param> | ||
/// <param name="direction">True to go forward, false to go back(or vice versa if you connect the motor in the opposite direction).</param> | ||
/// <param name="size">Step size.</param> | ||
public virtual void Rotate( | ||
int steps, | ||
Direction direction = Direction.Clockwise, | ||
StepSize size = StepSize.FullStep) | ||
{ | ||
if (steps == 0) | ||
{ | ||
return; | ||
} | ||
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_microstepsController.Set(size); | ||
_dirPin.Write(direction == Direction.Clockwise ? PinValue.High : PinValue.Low); | ||
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Rotate(steps); | ||
} | ||
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/// <summary> | ||
/// <inheritdoc/> | ||
/// </summary> | ||
public void Dispose() | ||
{ | ||
if (_shouldDisposeGpioController) | ||
{ | ||
_gpioController?.Dispose(); | ||
} | ||
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_gpioController = null; | ||
} | ||
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/// <summary> | ||
/// Controls the speed of rotation. | ||
/// </summary> | ||
private void SleepBetweenSteps() | ||
{ | ||
if (DelayBetweenSteps == TimeSpan.Zero) | ||
{ | ||
return; | ||
} | ||
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Thread.Sleep(DelayBetweenSteps); | ||
} | ||
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/// <summary> | ||
/// Rotates a stepper motor. | ||
/// </summary> | ||
/// <param name="steps">Steps count.</param> | ||
private void Rotate(int steps) | ||
{ | ||
for (var i = 0; i < steps; i++) | ||
{ | ||
_stepPin.Write(PinValue.High); | ||
Thread.Sleep(StepDelay); | ||
_stepPin.Write(PinValue.Low); | ||
SleepBetweenSteps(); | ||
} | ||
} | ||
} | ||
} |
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@@ -0,0 +1,39 @@ | ||
<?xml version="1.0" encoding="utf-8"?> | ||
<package xmlns="http://schemas.microsoft.com/packaging/2012/06/nuspec.xsd"> | ||
<metadata> | ||
<id>nanoFramework.Iot.Device.Drv8825</id> | ||
<version>$version$</version> | ||
<title>nanoFramework.Iot.Device.Drv8825</title> | ||
<authors>nanoframework</authors> | ||
<requireLicenseAcceptance>false</requireLicenseAcceptance> | ||
<license type="file">LICENSE.md</license> | ||
<releaseNotes> | ||
</releaseNotes> | ||
<readme>docs\README.md</readme> | ||
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<projectUrl>https://github.com/nanoframework/nanoFramework.IoT.Device</projectUrl> | ||
<icon>images\nf-logo.png</icon> | ||
<repository type="git" url="https://github.com/nanoframework/nanoFramework.IoT.Device" commit="$commit$" /> | ||
<copyright>Copyright (c) .NET Foundation and Contributors</copyright> | ||
<description>This package includes the .NET IoT Core binding Iot.Device.Drv8825 for .NET nanoFramework C# projects.</description> | ||
<summary>Iot.Device.Drv8825 assembly for .NET nanoFramework C# projects</summary> | ||
<tags>nanoFramework C# csharp netmf netnf Iot.Device.Drv8825 Drv8825</tags> | ||
<dependencies> | ||
<dependency id="nanoFramework.CoreLibrary" version="1.17.11" /> | ||
<dependency id="nanoFramework.Runtime.Events" version="1.11.32" /> | ||
<dependency id="nanoFramework.System.Device.Gpio" version="1.1.57" /> | ||
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<file src="bin\Release\Iot.Device.Drv8825.pe" target="lib\Iot.Device.Drv8825.pe" /> | ||
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<file src="..\..\assets\nf-logo.png" target="images" /> | ||
<file src="..\..\LICENSE.md" target="" /> | ||
</files> | ||
</package> |
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# Visual Studio Version 17 | ||
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MinimumVisualStudioVersion = 10.0.40219.1 | ||
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Project("{11A8DD76-328B-46DF-9F39-F559912D0360}") = "Drv8825.samples", "samples\Drv8825.samples.nfproj", "{E8798205-E0D7-443F-B96A-8F752B7EF454}" | ||
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{E8798205-E0D7-443F-B96A-8F752B7EF454}.Debug|Any CPU.Build.0 = Debug|Any CPU | ||
{E8798205-E0D7-443F-B96A-8F752B7EF454}.Debug|Any CPU.Deploy.0 = Debug|Any CPU | ||
{E8798205-E0D7-443F-B96A-8F752B7EF454}.Release|Any CPU.ActiveCfg = Release|Any CPU | ||
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EndGlobalSection | ||
EndGlobal |
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