527 lines
17 KiB
C++
527 lines
17 KiB
C++
#include "motor_cluster.hpp"
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#include "pwm.hpp"
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#include <cstdio>
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namespace motor {
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MotorCluster::MotorCluster(PIO pio, uint sm, uint pin_mask, CalibrationType default_type, float freq, bool auto_phase, PWMCluster::Sequence *seq_buffer, PWMCluster::TransitionData *dat_buffer)
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: pwms(pio, sm, pin_mask, seq_buffer, dat_buffer), pwm_frequency(freq) {
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create_motor_states(default_type, auto_phase);
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}
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MotorCluster::MotorCluster(PIO pio, uint sm, uint pin_base, uint pin_count, CalibrationType default_type, float freq, bool auto_phase, PWMCluster::Sequence *seq_buffer, PWMCluster::TransitionData *dat_buffer)
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: pwms(pio, sm, pin_base, pin_count, seq_buffer, dat_buffer), pwm_frequency(freq) {
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create_motor_states(default_type, auto_phase);
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}
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MotorCluster::MotorCluster(PIO pio, uint sm, const uint8_t *pins, uint32_t length, CalibrationType default_type, float freq, bool auto_phase, PWMCluster::Sequence *seq_buffer, PWMCluster::TransitionData *dat_buffer)
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: pwms(pio, sm, pins, length, seq_buffer, dat_buffer), pwm_frequency(freq) {
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create_motor_states(default_type, auto_phase);
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}
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MotorCluster::MotorCluster(PIO pio, uint sm, std::initializer_list<uint8_t> pins, CalibrationType default_type, float freq, bool auto_phase, PWMCluster::Sequence *seq_buffer, PWMCluster::TransitionData *dat_buffer)
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: pwms(pio, sm, pins, seq_buffer, dat_buffer), pwm_frequency(freq) {
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create_motor_states(default_type, auto_phase);
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}
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MotorCluster::MotorCluster(PIO pio, uint sm, uint pin_mask, const Calibration& calibration, float freq, bool auto_phase, PWMCluster::Sequence *seq_buffer, PWMCluster::TransitionData *dat_buffer)
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: pwms(pio, sm, pin_mask, seq_buffer, dat_buffer), pwm_frequency(freq) {
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create_motor_states(calibration, auto_phase);
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}
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MotorCluster::MotorCluster(PIO pio, uint sm, uint pin_base, uint pin_count, const Calibration& calibration, float freq, bool auto_phase, PWMCluster::Sequence *seq_buffer, PWMCluster::TransitionData *dat_buffer)
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: pwms(pio, sm, pin_base, pin_count, seq_buffer, dat_buffer), pwm_frequency(freq) {
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create_motor_states(calibration, auto_phase);
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}
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MotorCluster::MotorCluster(PIO pio, uint sm, const uint8_t *pins, uint32_t length, const Calibration& calibration, float freq, bool auto_phase, PWMCluster::Sequence *seq_buffer, PWMCluster::TransitionData *dat_buffer)
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: pwms(pio, sm, pins, length, seq_buffer, dat_buffer), pwm_frequency(freq) {
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create_motor_states(calibration, auto_phase);
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}
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MotorCluster::MotorCluster(PIO pio, uint sm, std::initializer_list<uint8_t> pins, const Calibration& calibration, float freq, bool auto_phase, PWMCluster::Sequence *seq_buffer, PWMCluster::TransitionData *dat_buffer)
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: pwms(pio, sm, pins, seq_buffer, dat_buffer), pwm_frequency(freq) {
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create_motor_states(calibration, auto_phase);
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}
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MotorCluster::~MotorCluster() {
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delete[] states;
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delete[] motor_phases;
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}
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bool MotorCluster::init() {
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bool success = false;
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if(pwms.init()) {
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// Calculate a suitable pwm wrap period for this frequency
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uint32_t period; uint32_t div256;
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if(pimoroni::PWMCluster::calculate_pwm_factors(pwm_frequency, period, div256)) {
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pwm_period = period;
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// Update the pwm before setting the new wrap
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uint8_t motor_count = pwms.get_chan_count();
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for(uint8_t motor = 0; motor < motor_count; motor++) {
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pwms.set_chan_level(motor, 0, false);
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pwms.set_chan_offset(motor, (uint32_t)(motor_phases[motor] * (float)pwm_period), false);
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}
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// Set the new wrap (should be 1 less than the period to get full 0 to 100%)
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pwms.set_wrap(pwm_period, true); // NOTE Minus 1 not needed here. Maybe should change Wrap behaviour so it is needed, for consistency with hardware pwm?
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// Apply the new divider
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// This is done after loading new PWM speeds to avoid a lockup condition
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uint8_t div = div256 >> 8;
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uint8_t mod = div256 % 256;
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pwms.set_clkdiv_int_frac(div, mod);
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success = true;
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}
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}
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return success;
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}
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uint8_t MotorCluster::count() const {
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return pwms.get_chan_count();
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}
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uint8_t MotorCluster::pin(uint8_t motor) const {
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return pwms.get_chan_pin(motor);
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}
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void MotorCluster::enable(uint8_t motor, bool load) {
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assert(motor < pwms.get_chan_count());
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float new_pulse = states[motor].enable();
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apply_pulse(motor, new_pulse, load);
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}
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void MotorCluster::enable(const uint8_t *motors, uint8_t length, bool load) {
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assert(motors != nullptr);
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for(uint8_t i = 0; i < length; i++) {
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enable(motors[i], false);
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}
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if(load)
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pwms.load_pwm();
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}
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void MotorCluster::enable(std::initializer_list<uint8_t> motors, bool load) {
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for(auto motor : motors) {
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enable(motor, false);
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}
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if(load)
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pwms.load_pwm();
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}
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void MotorCluster::enable_all(bool load) {
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uint8_t motor_count = pwms.get_chan_count();
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for(uint8_t motor = 0; motor < motor_count; motor++) {
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enable(motor, false);
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}
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if(load)
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pwms.load_pwm();
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}
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void MotorCluster::disable(uint8_t motor, bool load) {
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assert(motor < pwms.get_chan_count());
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float new_pulse = states[motor].disable();
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apply_pulse(motor, new_pulse, load);
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}
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void MotorCluster::disable(const uint8_t *motors, uint8_t length, bool load) {
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assert(motors != nullptr);
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for(uint8_t i = 0; i < length; i++) {
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disable(motors[i], false);
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}
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if(load)
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pwms.load_pwm();
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}
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void MotorCluster::disable(std::initializer_list<uint8_t> motors, bool load) {
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for(auto motor : motors) {
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disable(motor, false);
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}
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if(load)
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pwms.load_pwm();
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}
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void MotorCluster::disable_all(bool load) {
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uint8_t motor_count = pwms.get_chan_count();
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for(uint8_t motor = 0; motor < motor_count; motor++) {
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disable(motor, false);
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}
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if(load)
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pwms.load_pwm();
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}
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bool MotorCluster::is_enabled(uint8_t motor) const {
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assert(motor < pwms.get_chan_count());
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return states[motor].is_enabled();
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}
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float MotorCluster::pulse(uint8_t motor) const {
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assert(motor < pwms.get_chan_count());
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return states[motor].get_pulse();
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}
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void MotorCluster::pulse(uint8_t motor, float pulse, bool load) {
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assert(motor < pwms.get_chan_count());
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float new_pulse = states[motor].set_pulse_with_return(pulse);
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apply_pulse(motor, new_pulse, load);
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}
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void MotorCluster::pulse(const uint8_t *motors, uint8_t length, float pulse, bool load) {
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assert(motors != nullptr);
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for(uint8_t i = 0; i < length; i++) {
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this->pulse(motors[i], pulse, false);
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}
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if(load)
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pwms.load_pwm();
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}
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void MotorCluster::pulse(std::initializer_list<uint8_t> motors, float pulse, bool load) {
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for(auto motor : motors) {
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this->pulse(motor, pulse, false);
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}
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if(load)
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pwms.load_pwm();
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}
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void MotorCluster::all_to_pulse(float pulse, bool load) {
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uint8_t motor_count = pwms.get_chan_count();
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for(uint8_t motor = 0; motor < motor_count; motor++) {
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this->pulse(motor, pulse, false);
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}
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if(load)
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pwms.load_pwm();
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}
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float MotorCluster::speed(uint8_t motor) const {
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assert(motor < pwms.get_chan_count());
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return states[motor].get_speed();
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}
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void MotorCluster::speed(uint8_t motor, float speed, bool load) {
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assert(motor < pwms.get_chan_count());
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float new_pulse = states[motor].set_speed_with_return(speed);
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apply_pulse(motor, new_pulse, load);
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}
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void MotorCluster::speed(const uint8_t *motors, uint8_t length, float speed, bool load) {
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assert(motors != nullptr);
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for(uint8_t i = 0; i < length; i++) {
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this->speed(motors[i], speed, false);
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}
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if(load)
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pwms.load_pwm();
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}
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void MotorCluster::speed(std::initializer_list<uint8_t> motors, float speed, bool load) {
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for(auto motor : motors) {
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this->speed(motor, speed, false);
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}
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if(load)
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pwms.load_pwm();
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}
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void MotorCluster::all_to_speed(float speed, bool load) {
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uint8_t motor_count = pwms.get_chan_count();
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for(uint8_t motor = 0; motor < motor_count; motor++) {
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this->speed(motor, speed, false);
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}
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if(load)
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pwms.load_pwm();
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}
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float MotorCluster::phase(uint8_t motor) const {
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assert(motor < pwms.get_chan_count());
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return motor_phases[motor];
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}
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void MotorCluster::phase(uint8_t motor, float phase, bool load) {
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assert(motor < pwms.get_chan_count());
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motor_phases[motor] = MIN(MAX(phase, 0.0f), 1.0f);
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pwms.set_chan_offset(motor, (uint32_t)(motor_phases[motor] * (float)pwms.get_wrap()), load);
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}
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void MotorCluster::phase(const uint8_t *motors, uint8_t length, float phase, bool load) {
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assert(motors != nullptr);
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for(uint8_t i = 0; i < length; i++) {
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this->phase(motors[i], phase, false);
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}
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if(load)
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pwms.load_pwm();
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}
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void MotorCluster::phase(std::initializer_list<uint8_t> motors, float phase, bool load) {
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for(auto motor : motors) {
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this->phase(motor, phase, false);
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}
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if(load)
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pwms.load_pwm();
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}
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void MotorCluster::all_to_phase(float phase, bool load) {
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uint8_t motor_count = pwms.get_chan_count();
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for(uint8_t motor = 0; motor < motor_count; motor++) {
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this->phase(motor, phase, false);
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}
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if(load)
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pwms.load_pwm();
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}
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float MotorCluster::frequency() const {
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return pwm_frequency;
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}
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bool MotorCluster::frequency(float freq) {
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bool success = false;
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if((freq >= MotorState::MIN_FREQUENCY) && (freq <= MotorState::MAX_FREQUENCY)) {
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// Calculate a suitable pwm wrap period for this frequency
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uint32_t period; uint32_t div256;
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if(pimoroni::PWMCluster::calculate_pwm_factors(freq, period, div256)) {
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pwm_period = period;
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pwm_frequency = freq;
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// Update the pwm before setting the new wrap
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uint8_t motor_count = pwms.get_chan_count();
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for(uint motor = 0; motor < motor_count; motor++) {
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if(states[motor].is_enabled()) {
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apply_pulse(motor, states[motor].get_pulse(), false);
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}
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pwms.set_chan_offset(motor, (uint32_t)(motor_phases[motor] * (float)pwm_period), false);
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}
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// Set the new wrap (should be 1 less than the period to get full 0 to 100%)
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pwms.set_wrap(pwm_period, true);
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// Apply the new divider
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uint16_t div = div256 >> 8;
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uint8_t mod = div256 % 256;
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pwms.set_clkdiv_int_frac(div, mod);
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success = true;
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}
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}
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return success;
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}
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float MotorCluster::min_speed(uint8_t motor) const {
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assert(is_assigned(motor));
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return states[motor].get_min_speed();
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}
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float MotorCluster::mid_speed(uint8_t motor) const {
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assert(is_assigned(motor));
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return states[motor].get_mid_speed();
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}
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float MotorCluster::max_speed(uint8_t motor) const {
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assert(is_assigned(motor));
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return states[motor].get_max_speed();
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}
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void MotorCluster::to_min(uint8_t motor, bool load) {
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assert(is_assigned(motor));
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float new_pulse = states[motor].to_min_with_return();
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apply_pulse(motor, new_pulse, load);
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}
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void MotorCluster::to_min(const uint8_t *motors, uint8_t length, bool load) {
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assert(motors != nullptr);
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for(uint8_t i = 0; i < length; i++) {
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to_min(motors[i], false);
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}
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if(load)
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pwms.load_pwm();
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}
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void MotorCluster::to_min(std::initializer_list<uint8_t> motors, bool load) {
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for(auto motor : motors) {
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to_min(motor, false);
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}
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if(load)
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pwms.load_pwm();
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}
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void MotorCluster::all_to_min(bool load) {
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uint8_t motor_count = pwms.get_chan_count();
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for(uint8_t motor = 0; motor < motor_count; motor++) {
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to_min(motor, false);
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}
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if(load)
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pwms.load_pwm();
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}
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void MotorCluster::to_mid(uint8_t motor, bool load) {
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assert(is_assigned(motor));
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float new_pulse = states[motor].to_mid_with_return();
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apply_pulse(motor, new_pulse, load);
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}
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void MotorCluster::to_mid(const uint8_t *motors, uint8_t length, bool load) {
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assert(motors != nullptr);
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for(uint8_t i = 0; i < length; i++) {
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to_mid(motors[i], false);
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}
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if(load)
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pwms.load_pwm();
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}
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void MotorCluster::to_mid(std::initializer_list<uint8_t> motors, bool load) {
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for(auto motor : motors) {
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to_mid(motor, false);
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}
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if(load)
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pwms.load_pwm();
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}
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void MotorCluster::all_to_mid(bool load) {
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uint8_t motor_count = pwms.get_chan_count();
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for(uint8_t motor = 0; motor < motor_count; motor++) {
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to_mid(motor, false);
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}
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if(load)
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pwms.load_pwm();
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}
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void MotorCluster::to_max(uint8_t motor, bool load) {
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assert(is_assigned(motor));
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float new_pulse = states[motor].to_max_with_return();
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apply_pulse(motor, new_pulse, load);
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}
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void MotorCluster::to_max(const uint8_t *motors, uint8_t length, bool load) {
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assert(motors != nullptr);
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for(uint8_t i = 0; i < length; i++) {
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to_max(motors[i], false);
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}
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if(load)
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pwms.load_pwm();
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}
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void MotorCluster::to_max(std::initializer_list<uint8_t> motors, bool load) {
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for(auto motor : motors) {
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to_max(motor, false);
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}
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if(load)
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pwms.load_pwm();
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}
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void MotorCluster::all_to_max(bool load) {
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uint8_t motor_count = pwms.get_chan_count();
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for(uint8_t motor = 0; motor < motor_count; motor++) {
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to_max(motor, false);
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}
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if(load)
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pwms.load_pwm();
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}
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void MotorCluster::to_percent(uint8_t motor, float in, float in_min, float in_max, bool load) {
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assert(is_assigned(motor));
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float new_pulse = states[motor].to_percent_with_return(in, in_min, in_max);
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apply_pulse(motor, new_pulse, load);
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}
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void MotorCluster::to_percent(const uint8_t *motors, uint8_t length, float in, float in_min, float in_max, bool load) {
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assert(motors != nullptr);
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for(uint8_t i = 0; i < length; i++) {
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to_percent(motors[i], in, in_min, in_max, false);
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}
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if(load)
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pwms.load_pwm();
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}
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void MotorCluster::to_percent(std::initializer_list<uint8_t> motors, float in, float in_min, float in_max, bool load) {
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for(auto motor : motors) {
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to_percent(motor, in, in_min, in_max, false);
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}
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if(load)
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pwms.load_pwm();
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}
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void MotorCluster::all_to_percent(float in, float in_min, float in_max, bool load) {
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uint8_t motor_count = pwms.get_chan_count();
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for(uint8_t motor = 0; motor < motor_count; motor++) {
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to_percent(motor, in, in_min, in_max, false);
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}
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if(load)
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pwms.load_pwm();
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}
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void MotorCluster::to_percent(uint8_t motor, float in, float in_min, float in_max, float speed_min, float speed_max, bool load) {
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assert(is_assigned(motor));
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float new_pulse = states[motor].to_percent_with_return(in, in_min, in_max, speed_min, speed_max);
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apply_pulse(motor, new_pulse, load);
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}
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void MotorCluster::to_percent(const uint8_t *motors, uint8_t length, float in, float in_min, float in_max, float speed_min, float speed_max, bool load) {
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assert(motors != nullptr);
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for(uint8_t i = 0; i < length; i++) {
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to_percent(motors[i], in, in_min, in_max, speed_min, speed_max, false);
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}
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if(load)
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pwms.load_pwm();
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}
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|
|
|
void MotorCluster::to_percent(std::initializer_list<uint8_t> motors, float in, float in_min, float in_max, float speed_min, float speed_max, bool load) {
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|
for(auto motor : motors) {
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|
to_percent(motor, in, in_min, in_max, speed_min, speed_max, false);
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}
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|
if(load)
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|
pwms.load_pwm();
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|
}
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|
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|
void MotorCluster::all_to_percent(float in, float in_min, float in_max, float speed_min, float speed_max, bool load) {
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|
uint8_t motor_count = pwms.get_chan_count();
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|
for(uint8_t motor = 0; motor < motor_count; motor++) {
|
|
to_percent(motor, in, in_min, in_max, speed_min, speed_max, false);
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|
}
|
|
if(load)
|
|
pwms.load_pwm();
|
|
}
|
|
|
|
Calibration& MotorCluster::calibration(uint8_t motor) {
|
|
assert(is_assigned(motor));
|
|
return states[motor].calibration();
|
|
}
|
|
|
|
const Calibration& MotorCluster::calibration(uint8_t motor) const {
|
|
assert(is_assigned(motor));
|
|
return states[motor].calibration();
|
|
}
|
|
|
|
void MotorCluster::load() {
|
|
pwms.load_pwm();
|
|
}
|
|
|
|
void MotorCluster::apply_pulse(uint8_t motor, float pulse, bool load) {
|
|
pwms.set_chan_level(motor, MotorState::pulse_to_level(pulse, pwm_period, pwm_frequency), load);
|
|
}
|
|
|
|
void MotorCluster::create_motor_states(CalibrationType default_type, bool auto_phase) {
|
|
uint8_t motor_count = pwms.get_chan_count();
|
|
if(motor_count > 0) {
|
|
states = new MotorState[motor_count];
|
|
motor_phases = new float[motor_count];
|
|
|
|
for(uint motor = 0; motor < motor_count; motor++) {
|
|
states[motor] = MotorState(default_type);
|
|
motor_phases[motor] = (auto_phase) ? (float)motor / (float)motor_count : 0.0f;
|
|
}
|
|
}
|
|
}
|
|
|
|
void MotorCluster::create_motor_states(const Calibration& calibration, bool auto_phase) {
|
|
uint8_t motor_count = pwms.get_chan_count();
|
|
if(motor_count > 0) {
|
|
states = new MotorState[motor_count];
|
|
motor_phases = new float[motor_count];
|
|
|
|
for(uint motor = 0; motor < motor_count; motor++) {
|
|
states[motor] = MotorState(calibration);
|
|
motor_phases[motor] = (auto_phase) ? (float)motor / (float)motor_count : 0.0f;
|
|
}
|
|
}
|
|
}
|
|
}; |