mirror of
https://github.com/tinygo-org/drivers.git
synced 2026-08-09 09:23:39 +00:00
more drivers are now cross platform
This commit is contained in:
soypat
deadprogram
+55
-116
@@ -1,10 +1,12 @@
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//go:build baremetal
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// Package easystepper provides a simple driver to rotate a 4-wire stepper motor.
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package easystepper // import "tinygo.org/x/drivers/easystepper"
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import (
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"errors"
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"machine"
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"time"
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"tinygo.org/x/drivers"
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)
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// StepMode determines the coil sequence used to perform a single step
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@@ -30,28 +32,10 @@ func (sm StepMode) stepCount() uint {
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}
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}
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// DeviceConfig contains the configuration data for a single easystepper driver
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type DeviceConfig struct {
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// Pin1 ... Pin4 determines the pins to configure and use for the device
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Pin1, Pin2, Pin3, Pin4 machine.Pin
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// StepCount is the number of steps required to perform a full revolution of the stepper motor
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StepCount uint
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// RPM determines the speed of the stepper motor in 'Revolutions per Minute'
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RPM uint
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// Mode determines the coil sequence used to perform a single step
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Mode StepMode
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}
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// DualDeviceConfig contains the configuration data for a dual easystepper driver
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type DualDeviceConfig struct {
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DeviceConfig
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// Pin5 ... Pin8 determines the pins to configure and use for the second device
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Pin5, Pin6, Pin7, Pin8 machine.Pin
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}
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// Device holds the pins and the delay between steps
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type Device struct {
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pins [4]machine.Pin
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pins [4]drivers.PinOutput
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config func()
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stepDelay time.Duration
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stepNumber uint8
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stepMode StepMode
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@@ -62,51 +46,6 @@ type DualDevice struct {
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devices [2]*Device
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}
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// New returns a new single easystepper driver given a DeviceConfig
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func New(config DeviceConfig) (*Device, error) {
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if config.StepCount == 0 || config.RPM == 0 {
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return nil, errors.New("config.StepCount and config.RPM must be > 0")
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}
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return &Device{
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pins: [4]machine.Pin{config.Pin1, config.Pin2, config.Pin3, config.Pin4},
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stepDelay: time.Second * 60 / time.Duration((config.StepCount * config.RPM)),
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stepMode: config.Mode,
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}, nil
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}
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// Configure configures the pins of the Device
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func (d *Device) Configure() {
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for _, pin := range d.pins {
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pin.Configure(machine.PinConfig{Mode: machine.PinOutput})
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}
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}
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// NewDual returns a new dual easystepper driver given 8 pins, number of steps and rpm
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func NewDual(config DualDeviceConfig) (*DualDevice, error) {
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// Create the first device
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dev1, err := New(config.DeviceConfig)
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if err != nil {
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return nil, err
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}
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// Create the second device
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config.DeviceConfig.Pin1 = config.Pin5
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config.DeviceConfig.Pin2 = config.Pin6
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config.DeviceConfig.Pin3 = config.Pin7
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config.DeviceConfig.Pin4 = config.Pin8
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dev2, err := New(config.DeviceConfig)
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if err != nil {
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return nil, err
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}
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// Return composite dual device
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return &DualDevice{devices: [2]*Device{dev1, dev2}}, nil
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}
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// Configure configures the pins of the DualDevice
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func (d *DualDevice) Configure() {
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d.devices[0].Configure()
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d.devices[1].Configure()
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}
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// Move rotates the motor the number of given steps
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// (negative steps will rotate it the opposite direction)
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func (d *Device) Move(steps int32) {
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@@ -126,7 +65,7 @@ func (d *Device) Move(steps int32) {
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// Off turns off all motor pins
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func (d *Device) Off() {
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for _, pin := range d.pins {
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pin.Low()
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pin(false)
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}
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}
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@@ -187,28 +126,28 @@ func (d *Device) stepMotor(step uint8) {
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func (d *Device) stepMotor4(step uint8) {
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switch step {
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case 0:
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d.pins[0].High()
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d.pins[1].Low()
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d.pins[2].High()
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d.pins[3].Low()
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d.pins[0](true)
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d.pins[1](false)
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d.pins[2](true)
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d.pins[3](false)
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break
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case 1:
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d.pins[0].Low()
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d.pins[1].High()
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d.pins[2].High()
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d.pins[3].Low()
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d.pins[0](false)
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d.pins[1](true)
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d.pins[2](true)
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d.pins[3](false)
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break
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case 2:
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d.pins[0].Low()
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d.pins[1].High()
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d.pins[2].Low()
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d.pins[3].High()
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d.pins[0](false)
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d.pins[1](true)
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d.pins[2](false)
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d.pins[3](true)
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break
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case 3:
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d.pins[0].High()
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d.pins[1].Low()
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d.pins[2].Low()
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d.pins[3].High()
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d.pins[0](true)
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d.pins[1](false)
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d.pins[2](false)
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d.pins[3](true)
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break
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}
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d.stepNumber = step
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@@ -218,45 +157,45 @@ func (d *Device) stepMotor4(step uint8) {
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func (d *Device) stepMotor8(step uint8) {
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switch step {
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case 0:
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d.pins[0].High()
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d.pins[2].Low()
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d.pins[1].Low()
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d.pins[3].Low()
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d.pins[0](true)
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d.pins[2](false)
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d.pins[1](false)
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d.pins[3](false)
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case 1:
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d.pins[0].High()
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d.pins[2].High()
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d.pins[1].Low()
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d.pins[3].Low()
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d.pins[0](true)
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d.pins[2](true)
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d.pins[1](false)
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d.pins[3](false)
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case 2:
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d.pins[0].Low()
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d.pins[2].High()
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d.pins[1].Low()
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d.pins[3].Low()
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d.pins[0](false)
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d.pins[2](true)
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d.pins[1](false)
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d.pins[3](false)
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case 3:
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d.pins[0].Low()
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d.pins[2].High()
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d.pins[1].High()
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d.pins[3].Low()
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d.pins[0](false)
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d.pins[2](true)
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d.pins[1](true)
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d.pins[3](false)
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case 4:
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d.pins[0].Low()
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d.pins[2].Low()
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d.pins[1].High()
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d.pins[3].Low()
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d.pins[0](false)
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d.pins[2](false)
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d.pins[1](true)
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d.pins[3](false)
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case 5:
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d.pins[0].Low()
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d.pins[2].Low()
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d.pins[1].High()
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d.pins[3].High()
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d.pins[0](false)
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d.pins[2](false)
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d.pins[1](true)
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d.pins[3](true)
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case 6:
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d.pins[0].Low()
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d.pins[2].Low()
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d.pins[1].Low()
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d.pins[3].High()
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d.pins[0](false)
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d.pins[2](false)
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d.pins[1](false)
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d.pins[3](true)
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case 7:
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d.pins[0].High()
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d.pins[2].Low()
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d.pins[1].Low()
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d.pins[3].High()
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d.pins[0](true)
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d.pins[2](false)
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d.pins[1](false)
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d.pins[3](true)
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}
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d.stepNumber = step
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}
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@@ -0,0 +1,83 @@
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//go:build baremetal
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package easystepper
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import (
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"errors"
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"machine"
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"time"
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"tinygo.org/x/drivers"
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"tinygo.org/x/drivers/internal/legacy"
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)
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// New returns a new single easystepper driver given a DeviceConfig
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func New(config DeviceConfig) (*Device, error) {
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if config.StepCount == 0 || config.RPM == 0 {
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return nil, errors.New("config.StepCount and config.RPM must be > 0")
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}
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return &Device{
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pins: [4]drivers.PinOutput{config.Pin1.Set, config.Pin2.Set, config.Pin3.Set, config.Pin4.Set},
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stepDelay: time.Second * 60 / time.Duration((config.StepCount * config.RPM)),
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stepMode: config.Mode,
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config: func() {
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legacy.ConfigurePinOut(config.Pin1)
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legacy.ConfigurePinOut(config.Pin2)
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legacy.ConfigurePinOut(config.Pin3)
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legacy.ConfigurePinOut(config.Pin4)
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},
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}, nil
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}
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// Configure configures the pins of the Device
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func (d *Device) Configure() {
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if d.config == nil {
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panic(legacy.ErrConfigBeforeInstantiated)
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}
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d.config()
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}
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// Configure configures the pins of the DualDevice
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func (d *DualDevice) Configure() {
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d.devices[0].Configure()
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d.devices[1].Configure()
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}
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// NewDual returns a new dual easystepper driver given 8 pins, number of steps and rpm
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func NewDual(config DualDeviceConfig) (*DualDevice, error) {
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// Create the first device
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dev1, err := New(config.DeviceConfig)
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if err != nil {
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return nil, err
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}
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// Create the second device
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config.DeviceConfig.Pin1 = config.Pin5
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config.DeviceConfig.Pin2 = config.Pin6
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config.DeviceConfig.Pin3 = config.Pin7
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config.DeviceConfig.Pin4 = config.Pin8
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dev2, err := New(config.DeviceConfig)
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if err != nil {
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return nil, err
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}
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// Return composite dual device
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return &DualDevice{devices: [2]*Device{dev1, dev2}}, nil
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}
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// DeviceConfig contains the configuration data for a single easystepper driver
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type DeviceConfig struct {
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// Pin1 ... Pin4 determines the pins to configure and use for the device
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Pin1, Pin2, Pin3, Pin4 machine.Pin
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// StepCount is the number of steps required to perform a full revolution of the stepper motor
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StepCount uint
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// RPM determines the speed of the stepper motor in 'Revolutions per Minute'
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RPM uint
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// Mode determines the coil sequence used to perform a single step
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Mode StepMode
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}
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// DualDeviceConfig contains the configuration data for a dual easystepper driver
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type DualDeviceConfig struct {
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DeviceConfig
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// Pin5 ... Pin8 determines the pins to configure and use for the second device
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Pin5, Pin6, Pin7, Pin8 machine.Pin
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}
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@@ -0,0 +1,26 @@
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package easystepper
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import (
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"errors"
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"time"
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"tinygo.org/x/drivers"
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)
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func NewCrossPlatform(stepcount, rpm uint, mode StepMode, pins [4]drivers.PinOutput) (*Device, error) {
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if stepcount == 0 || rpm == 0 {
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return nil, errors.New("zero rpm and/or stepcount")
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}
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for i := range pins {
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if pins[i] == nil {
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return nil, errors.New("nil pin")
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}
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}
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d := &Device{
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pins: pins,
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stepDelay: time.Second * 60 / time.Duration((stepcount * rpm)),
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stepMode: mode,
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config: func() {},
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}
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return d, nil
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}
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