File content as of revision 24:932ea7bdc850:

/**
 * @file CreaMot.h
 * \brief File contains Crealab CreaMot Library.
 
 * CreaMot.h contains the class CreaMot, and related enums and structs.
 * Includes only "mbed.h".
 *
 * MotStatus structure is dissolved into the CreaMot Class
 *
 * Rotation directions are now consistently called Clockwise, and Counterclockwise (CCW), 
 * instead of mix them with Left and Right. 
 * Doxygens Tags are preceeded by either a backslash @\ or by an at symbol @@.

 * @author Tarek Lule, Francois Druilhe, et al.
 * @date 01. Nov. 2018.
 * @see https://os.mbed.com/users/sepp_nepp/code/MotorLib/  */
 
 // -------------------- CreaMot ---------------------------
 
#ifndef CREAMOT_H
#define CREAMOT_H

#include "mbed.h"

#define MOTOR_STEP_TIME_MIN_US 700      /**< Shortest Time between two CreaMot steps = 0.7ms, was MOTOR_STEP_TIME_MIN*/
#define MOTOR_STEP_TIME_DEFAULT_US 5000 /**< Default Time between two CreaMot steps = 5ms, was MOTOR_STEP_TIME_DEFAULT*/
#define MOTOR_STEPS_FOR_A_TURN 4096     /**< Default number of CreaMot steps to complete a turn = 4096 steps  */
#define CLOCKWISE true                  /**< Constant for Clockwise direction */
#define COUNTERCLOCKWISE false          /**< Constant for Counter-Clockwise direction */
#define MAX_SPEED_CM_SEC 30.0f    /**< Clamp maximum advancement speed = 30cm/sec, was MAX_SPEED */
#define MIN_SPEED_CM_SEC 0.001f   /**< Clamp minimum advancement speed = 10um/sec */
#define PI 3.141592f    /** PI needed to calcuate from angle to distances */
#define PI_OVER_180 (PI/180.0f)  /** needed to translate from angle to circumference */

/** \enum motStates 
* \brief Possible States of CreaMot state machine
* 
* Motor_CALIB is deprecated, was removed from the enum structure */
typedef enum {
    Motor_OFF = 0,  /**< All phase currents is off, replaces Motor_STOP. */  
    Motor_ZERO,     /**< CreaMot at phase position 0 and ON, only reached by call of Zero() procedure. */  
    Motor_ON,       /**< Phases are engaged, but CreaMot state machine stopped, replaces Motor_PAUSE. */  
    Motor_RUN       /**< Phases are engaged, and CreaMot state machine runs*/  
} motStates;

/** \enum motCmands 
* \brief Commands that are handled by the CreaMot state machine
*
* These Commands are issued asynchonously by calling CreaMot class methods.
* They are executed in the state machine called by the ticker handler.
*
* OFF and STOP commands do not go through the state machine.
*
* MOTOR_restart is equivalent to and replaced by MOTOR_run.
*/
typedef enum {
    MOTOR_nop = 0,  /**< No active command to execute. */
    MOTOR_run,      /**< Run CreaMot until Nsteps are achieved. */
    MOTOR_stop,     /**< Stop immediately all activity, turn off CreaMot. */
    MOTOR_pause     /**< CreaMot is temporarily paused from the state run. */
} motCmands;

/** ATTENTION UNDER CONSTRUCTION, DO NOT YET USE.
*
* Class of a Four Phase Stepper CreaMot.
*
* Perform Runs for number of steps, or given amount angle, but also Low-Level steps. 
*
* High-Level Run functions have 'Run' in their name.
* They rely on tickers and return immediately after ticker is set up. 
* A state-machine evaluates the one ongoing command versus the CreaMot state at every tick.
* When End of Run is detected tickers stop, and CreaMot turns off. 
*
* To define the speed of the CreaMot set the variable StepTime_us, either by
*    a) Using the createor CreaMot(...., uint32_t AStepTime_us);
*    b) Calling function setStepTime_us(uint32_t AStepTime_us); any time
*    c) or leave it to the default value MOTOR_STEP_TIME_DEFAULT_US = 5000
*
* To be able to run the CreaMot for a given angle, set the number of steps per full turn
*    with the function "setStepsFullTurn"
*    That value defaults to MOTOR_STEPS_FOR_A_TURN = 4096
*
* To be able to run the CreaMot for a given perimeter distance in centimeters, 
*    set the wheel diameter with the function setDiamCM( float Adiam_cm); 
*
* Callbacks can be attached to react to 'end of run' events. 
*
*Attention: the attached Callback is called within a Ticker Callback.
*    Your code you execute in the Callback should be short, must not use waits, or any long routines.
*    Do not call any CreaMot run commands in the callback, as it creates conflict situations.
*    Long Callback code may impair this and any other Ticker functions that run in your application.
*
*Low-Level functions directly talk to the hardware without ticker. 
*   Use of Low-Level functions while tickers still run may lead to unexpected behavior. 
*
* NB: all times are uint32_t, step numbers are int32_t
*/
class CreaMot
{
public:
    /** CreaMot Class Creator
    *
    * Creates the class, initiallizes all fields, creates Phase Pins.  
    * Time between two steps defaults here to MOTOR_STEP_TIME_DEFAULT_US = 5000usec.
    * Pin names are used to create digital outputs: Pin0 = new DigitalOut(_MPh0)
    *
    @code
       PinName MotPhases[] = {PB_1, PB_15, PB_14, PB_13};
       CreaMot MotorName(MotPhases); // Call this creator for example like this:  
    @endcode 
    * 
    * @param _MPh Array of Names of the 4 Digital Pins of type PinNames 
    */
    CreaMot(PinName _MPh[4] );
    
    /** CreaMot Class Creator
    *
    * Creates the class, initiallizes all fields, creates Phase Pins.  
    * Time between two steps defaults here to MOTOR_STEP_TIME_DEFAULT_US=5000usec.
    * Pin names are used to create digital outputs: Pin0 = new DigitalOut(_MPh0)
    *
    @code
      // Call this creator for example like this:
       CreaMot MotorName(PB_1, PB_15, PB_14, PB_13);
    @endcode 
    * 
    * @param <_MPh0, _MPh1, _MPh2, _MPh3> List of Names of the 4 Digital Pins of type PinNames    
    */
    CreaMot(PinName _MPh0, PinName _MPh1, PinName _MPh2, PinName _MPh3);
    
    /** CreaMot Class Creator
    *
    * Creates the class, initiallizes all fields, creates Phase Pins.  
    * Time between two steps is passed as parameter.
    * Pin names are used to create digital outputs: Pin0 = new DigitalOut(_MPh0)
    *
    @code
      // Call this creator for example like this:
       CreaMot MotorName(PB_1, PB_15, PB_14, PB_13, 6000);
    @endcode 
    *
    * @param <_MPh0, _MPh1, _MPh2, _MPh3> List of Names of the 4 Digital Pins of type PinNames    
    * @param <AStepTime_us> the time in usec between two steps, thats used initially.   
    */
    CreaMot(PinName _MPh0, PinName _MPh1, PinName _MPh2, PinName _MPh3, uint32_t AStepTime_us);

private:
    // deprecated: void initialization(PinName _MPh0, PinName _MPh1, PinName _MPh2, PinName _MPh3, uint32_t AStepTime_us);
    void initialization(PinName _MPh[4], uint32_t AStepTime_us);

public:
    /** Attach a basic Callback function.
    *
    * A callback is called when the current Command reaches it's requested end.
    * Not called when the CreaMot is stopped by a call of Stop Function, or any other events.
    * For use see precautions at Class description above. 
    * Formerly called setMotorCallback()
    *
    @code
    // Simple callback function, state variable endMove can be polled elsewhere
    void CallBackFunction()
    { endMove=true; }

    // main routine
    void main()
    {   ...
        // Attach callback function:
        MotorInstance->callbackSet(CallBackFunction);
        ...
        while (true) {
            ....
        if (endMove) // poll the endMove flag
               { ... } // react to Movement End
               
            ....
        }
    }
    @endcode
    * @param <*CBfunction> Callback function, must not be member of a class.

    */
    void callbackSet(void (*CBfunction)(void)) {_callback = CBfunction;};


    /** Attach a Callback function, member of a class.
    * Only called when a Run Command reaches it's requested end.
    * Not called when the CreaMot is stopped by a call of Stop Function, or any other events.
    * For use see precautions at Class description above. 
    * @param <*object> Class pointer which possesses callback member.
    * @param <*CBmember> Pointer to callback function, member of Class.
    * 
    @code
    // Class Creator:
     AClass::AClass(Class Creation Parameters)
    {   ...
        // Attach callback function:
        MotorInstance->setMotorCallback(this, &AClass::CallBackMemberFunction);
        ...  
    }

    // Simple callback function, state variable endMove can be polled by main thread
    void AClass::CallBackMemberFunction()
    {  endMove=true;  }
    @endcode
    */
    template<typename T>
    void callbackSet(T *object, void (T::*CBmember)(void)) {
        _callback = callback(object,CBmember);
    }

    /** Remove the Callback function that may have been attached previously. */
    void callbackRemove() { _callback = NULL; };

public: 
    // *********************************************************************
    //  all following functions use wheel diameter to achieve cm distance
    // *********************************************************************

    /** High Level: Run CreaMot for a given number of centimeters.
    *
    * Runs CreaMot for a given wheel circumference in cimeters in given direction. 
    * You must setup the perimeter and diameter with setDiam(Adiam_cm) in advance, otherwise no reaction.
    * Call Pause() or Stop() to pause or end the CreaMot run prematurely.
    * While run: Uses ticker; State: first Motor_ON then Motor_RUN; cmd=MOTOR_run.
    * At end: calls attached Callback, stops ticker; State: Motor_OFF; cmd=MOTOR_stop then MOTOR_nop.
    * @param[in] <AClockWise> Given Direction, true for CLOCKWISE, false for COUNTERCLOCKWISE.
    * @param[in] <Dist_cm> Circumference to rotate for, in cm, Dist_cm<0 are run in opposite direction.
    */
    void RunDist_cm  (bool AClockWise, float Dist_cm);
   
    /** High Level: Run CreaMot for a given number of centimeters in default direction.
    * Same as RunDist_cm(AClockWise,Dist_cm) but uses Default diretion.*/
    void RunDist_cm  (float Dist_cm);
    
    /** High Level: Run CreaMot for a turn angle around a turn_radius_cm  in default direction
    *
    * Runs CreaMot for a given turn angle in degrees with a given turn radius.
    *   in default direction. Negative angles are rotated in opposite direction. 
    *   turn-radius must be positive. Zero or negative radius are not executed. 
    * You must setup the perimeter and diameter with setDiam(Adiam_cm) in advance, otherwise no reaction.
    * Call Pause() or Stop() to pause or end the CreaMot run prematurely.
    * While run: Uses ticker; State: first Motor_ON then Motor_RUN; cmd=MOTOR_run.
    * At end: calls attached Callback, stops ticker; State: Motor_OFF; cmd=MOTOR_stop then MOTOR_nop.
    * @param[in] <turn_angle_deg> Given turn angle in degrees that should be run
    * @param[in] <turn_radius_cm> Given Trun radius that should be run */
    void RunTurnAngle(float turn_angle_deg, float turn_radius_cm); 

    /** Additional geometric information: set the wheel diameter, also sets perimeter and degrees per cm.*/
    void setDiamCM( float Adiam_cm); 

    /** Set CreaMot speed in centimeter/sec, based on perimeter in cm */
    void setSpeed_cm_sec(float speed_cm_sec);

    /** Default rotation direction that serves as local storage, but not as actual direction */
    bool defaultDirection;
    
    /** State value that is used and managed by the class owner.
    * Used for example by Creabot library to indicate if this is the left or right CreaMot. */
    char StateValue;
private:

    /** Additional geometric information: wheel diameter in centimeter */
    float diam_cm;

    /** Additional geometric information: wheel perimeter in centimeter */
    float perim_cm;

    /** Additional geometric information: rotation angle in degrees per cm circumference */
    float degree_per_cm;

public: 
    // *****************************************************************
    //  following functions are agnostic of wheel dimensions in centimeters
    // *****************************************************************

   /** High Level: Run CreaMot for a given angle.
    *
    * Runs CreaMot for a given angle in given direction. 
    * Angles<0 are run in opposite direction.
    * Call Pause() or Stop() to pause or end the CreaMot run prematurely.
    * While running: Uses ticker; 
    * State: first Motor_ON then Motor_RUN; cmd=MOTOR_run.
    * At end: calls attached Callback, stops ticker; State: Motor_OFF; cmd=MOTOR_stop then MOTOR_nop.
    * @param[in] <AClockWise> Given Direction, true for CLOCKWISE, false for COUNTERCLOCKWISE.
    * @param[in] <angle_deg> Angle>0 to rotate for, in degrees, Angles<0 are run in opposite direction.     
    */
   void RunDegrees  (bool AClockWise, float angle_deg);
   
   /** High Level: Run CreaMot for a given angle in default direction
   * for details see RunDegrees  (bool AClockWise, float angle_deg);
   */
   void RunDegrees  (float angle_deg);

    /** High Level: Run CreaMot for a number of Steps.
    * 
    * During Run: Uses ticker; State: first Motor_ON then Motor_RUN; cmd=MOTOR_run.
    * Call Pause() or Stop() to pause or end the run prematurely.
    * At the end: calls the Callback, stops ticker; State: Motor_OFF.
    * @param[in] <AClockWise> Given Direction, true for CLOCKWISE, false for COUNTERCLOCKWISE.
    * @param[in] <Nsteps> Number of steps to run for; Nsteps<0 are run in opposite direction!    
    */
   void RunSteps (bool AClockWise, int32_t Nsteps);

    /** High Level: Run CreaMot "unlimited"
    *
    * Runs CreaMot with out limit in given direction, precisely runs 4Billion Steps.
    * While run: Uses ticker; State: first Motor_ON then Motor_RUN; cmd=MOTOR_run.
    * Call Pause() or Stop() to pause or end the CreaMot run.
    * @param[in] <AClockWise> Given Direction, true for CLOCKWISE, false for COUNTERCLOCKWISE.
    */
    void RunInfinite (bool AClockWise);

    /** High Level: Pause a CreaMot Run.
     * Put CreaMot into Pause state, Run is suspended, but only effective if Status.cmd=MOTOR_run.
     * Retains the number of steps that remain to be run if restarting run.
     * While paused: still uses ticker; State: Motor_RUN; cmd=MOTOR_pause.
     * Use RestartRun(); to continue. */
    void PauseRun();

    /** High Level: Restart a Paused Run.
     * Restart the Run that was launched before calling PuaseRun. 
     * Only effective if Status.cmd=MOTOR_pause, otherwise no re/action.
     * Status afterwards is same as afterRun commands. */
    void RestartRun();

    /** High Level: End any Run.
    * Force stop of any ongoing run, but does not call the Callback function.
    * Only effective if Status.cmd=MOTOR_run, otherwise no re/action.
    * Emits first cmd=MOTOR_stop then cmd=MOTOR_nop.
    * Aftewards: ticker is detached; State: Motor_OFF; */
    void StopRun();
    
public: // All the ticker timing related parameters

    /** MidLevel: Get number of Steps per Full turn
    
    * Defaults to MOTOR_STEPS_FOR_A_TURN = 4096.
    * Used by RunDegrees() to translate from angle in degrees to number of steps.
    * Old Name was: getCalibration, but that was not a good explicit name. 
    * @return  uint32_t The number of motor steps needed for a full turn. */
    uint32_t getStepsFullTurn();

    /** MidLevel: Set number of Steps per Full turn.
    
    * Defaults is MOTOR_STEPS_FOR_A_TURN = 4096.
    * Used by RunDegrees() to translate from degrees to number of steps.
    * Old Name was: setCalibration, but not good explicit name.
    * @param <StepsFullTurn> Number of steps needed to complete a full CreaMot turn
    */
    void setStepsFullTurn(uint32_t StepsFullTurn);

    /** Mid Level: Get the CreaMot step time. 
    
    * Step time is time between two CreaMot steps, and is given in microseconds
    * and is passed to the ticker as delay time. 
    * So the larger the value the slower the CreaMot speed.  
    * Defaults to MOTOR_STEP_TIME_DEFAULT_US = 5000.
    * @return  uint32_t The structure of CreaMot status registers.
    */
    uint32_t getStepTime_us();
    
    /** Set the time in microseconds between two CreaMot steps.
    *  Defaults to MOTOR_STEP_TIME_DEFAULT_US = 5000usec.
    *  Filters values below Minimum Value = 700.
    *  Passed to the ticker as delay time.
    *  Can be called while ticker is running, and takes immediate effect. 
    *  Was previously called setStepTime(), but was not clear which units.  
    * @param <AStepTime_us> the time in microseconds between two CreaMot steps
    */
    void setStepTime_us(uint32_t AStepTime_us);

    /** Set the time in seconds to get one full turn, rotation of 360°.
    * was previously called setSpeed().  
    * @param <Seconds_Per_Turn> Period of Rotation, e.g. if =20.0 then CreaMot will do 360° in 20 seconds.
    */
    void setRotationPeriodSec(float Seconds_Per_Turn) ;


    motStates   CurrState;  /**< General state that the CreaMot state machine is in.*/
    motCmands   CurrCmd;    /**< Command asked to be executed currently by the state machine.*/

private:
    void setCommand(motCmands aCmd, bool aClockWise, int32_t  aNSteps); 
                        /**< Helper; set Command, Direction and NSteps in one call. */

    // all the  Ticker and Timing procedures, used to run the CreaMot for a duration
    void StartTick();
    void ProcessMotorStateMachine();
    // The call back function pointer that is called when the Processor
    // State Machine reaches its end.
    Callback<void()> _callback;
    void StopTick();
    timestamp_t StepTime_us;    // Time in µs for one CreaMot step
    Ticker      MotorSysTick;   // System Timer for CreaMot
    uint32_t    Steps_FullTurn; // Number of step for a complete turn
    bool        ClockWise;  /**< Direction that the CreaMot is asked to run. True if Clockwise */
    int32_t     NStepsToDo; /**< Number of steps remain for the CreaMot to run. 
                                NSteps=0: all steps finished; NSteps<0: indicates to run "forever" */
    bool        TickIsAttached; /**< Indicates if Ticker is attached.
                            Ticker is automatically attached while CreaMot runs, or paused; 
                            detaches when finished a run, or stopped.  */
    
public: // all the low level direct CreaMot HW access, States are immediately reached    

    /** Low Level: Run one full turn clockwise then anticlockwise. 
    * After: State: Motor_OFF.
    * Blocking function, returns back only after end of full movement. 
    */
    void MotorTest();

    /** Low Level: turn off all CreaMot Phases
    * No more current flows, reduces holding force.
    * After: State: Motor_OFF.
    * StepPhases memorizes the last used phase.
    * Equivalent what previously the function "void Stop();" did .  */
    void MotorOFF();
    
    /** Low Level: turn on the CreaMot Phases in the last used phase.
    * The last used phase is held in StepPhases.
    * After: State: Motor_ON, or Motor_ZERO if StepPhases==0
    * Equivalent to what previously the function "void Start();" did.  */
    void MotorON();
    
    /** Low Level: Advance CreaMot one step, rotates in direction of variable AClockWise. */
    void StepOnce();
    
    /** Low Level: Advance CreaMot one step, rotates CounterClockwise. */
    void StepCCW();
    
    /** Low Level: Advance CreaMot one step, rotates Clockwise. */
    void StepClkW();
    
    /** Low Level: turn on the CreaMot Phases in Zero Position. 
     * After: State: Motor_ZERO, StepPhases==0
     */
    void MotorZero();
    
private:

    /** Low Level: Engage CreaMot Phases according to MotorIndex. */
    void SetPhases(); 

    DigitalOut *MPh[4];       // Digital outputs, one per phase
    int        StepPhase;     // CreaMot Phase Variable, counts up and down with every step
};

#endif