-
Notifications
You must be signed in to change notification settings - Fork 2
/
MotorDriver.cpp
232 lines (194 loc) · 6.17 KB
/
MotorDriver.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
/* Copyright (c) 2020, Adrian Przekwas
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation and/or
* other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its contributors
* may be used to endorse or promote products derived from this software without
* specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
* ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "MotorDriver.h"
MotorDriver::MotorDriver(QObject *parent) : QObject(parent)
{
mWorker = new MotorWorker(this);
qDebug() << "degPerStepAzi" << degPerStepAzi;
qDebug() << "degPerStepAlt" << degPerStepAlt;
connect(this, SIGNAL(setStepperAlt(double)), mWorker, SLOT(setPositionAlt(double)));
connect(this, SIGNAL(setStepperAzi(double)), mWorker, SLOT(setPositionAzi(double)));
}
void MotorDriver::setDriver(int driverId)
{
/*this method starts or restarts driver's thread after setting the driver's identifier
*should be used after user changes the driver in preferences*/
if (mWorker->isRunning())
{
mWorker->stop();
}
while (mWorker->isRunning())
{
}
mWorker->setDriver(driverId);
mWorker->start();
}
void MotorDriver::startDriver()
{
mWorker->disableSteppers(false);
}
void MotorDriver::stopDriver()
{
mWorker->disableSteppers(true);
}
void MotorDriver::pauseDriver(bool val)
{
mWorker->setPaused(val);
}
void MotorDriver::setTargetAltitude (double val)
{
targetAltitude = val;
updateAltitudeStepperTarget();
}
void MotorDriver::setTargetAzimuth (double val)
{
targetAzimuth = val;
updateAzimuthStepperTarget();
}
void MotorDriver::updateAltitudeStepperTarget()
{
double currentStepTargetDiff = 0.0;
if (targetAltitude > oldTargetAltitude)
{
altHTmp = altHyster;
}
else if (targetAltitude < oldTargetAltitude)
{
altHTmp = - altHyster;
}
currentStepTargetDiff = (targetAltitude + manualAltitudeCorrection + altHTmp - currAltitude) / degPerStepAlt;
emit setStepperAlt(currentStepTargetDiff);
//qDebug() << "Altitude Target Step" << currentStepTargetDiff;
oldTargetAltitude = targetAltitude;
}
void MotorDriver::updateAzimuthStepperTarget()
{
double currentStepTargetDiff = 0.0;
if (targetAzimuth > oldTargetAzimuth)
{
aziHTmp = aziHyster;
}
else if (targetAzimuth < oldTargetAzimuth)
{
aziHTmp = - aziHyster;
}
currentStepTargetDiff = (targetAzimuth + manualAzimuthCorrection + aziHTmp - currAzimuth) / degPerStepAzi;
emit setStepperAzi(currentStepTargetDiff);
//qDebug() << "Azimuth Target Step" << currentStepTargetDiff;
oldTargetAzimuth = targetAzimuth;
}
void MotorDriver::setCurrAltitude (double val)
{
currAltitude = val;
}
void MotorDriver::setCurrAzimuth (double val)
{
currAzimuth = val;
}
void MotorDriver::setDegPerStepAzi(double val)
{
degPerStepAzi = val;
qDebug() << "Degs per Step Azimuth: " << degPerStepAzi;
}
void MotorDriver::setDegPerStepAlt(double val)
{
degPerStepAlt = val;
qDebug() << "Degs per Step Altitude: " << degPerStepAlt;
}
void MotorDriver::setHysterAzi(double val)
{
aziHyster = val / 100 * degPerStepAzi;
qDebug() << "Azimuth hysteresis: " << aziHyster;
}
void MotorDriver::setHysterAlt(double val)
{
altHyster = val / 100 * degPerStepAlt;
qDebug() << "Altitude hysteresis: " << altHyster;
}
/*Fast Decay is DRV8814 specific
* In fast decay mode, once the PWM chopping current level has been reached, the H-bridge reverses state to
*allow winding current to flow in a reverse direction. As the winding current approaches zero, the bridge is
*disabled to prevent any reverse current flow.
*In slow decay mode, winding current is re-circulated by enabling both of the low-side FETs in the bridge.
*/
void MotorDriver::setFastDecay(bool val)
{
mWorker->setFastDecay(val);
}
/*altMoveStep is incremental used eg for gamepad input
setManualAltiduteCorrection is absolute*/
void MotorDriver::altMoveStep(double val)
{
manualAltitudeCorrection += (val * degPerStepAlt);
updateAltitudeStepperTarget();
emit showManualAltCorr(manualAltitudeCorrection);
}
void MotorDriver::aziMoveStep(double val)
{
manualAzimuthCorrection += (val * degPerStepAzi);
updateAzimuthStepperTarget();
emit showManualAziCorr(manualAzimuthCorrection);
}
void MotorDriver::setManualAltCorr (double val)
{
manualAltitudeCorrection = val;
emit showManualAltCorr(manualAltitudeCorrection);
}
void MotorDriver::setManualAziCorr (double val)
{
manualAzimuthCorrection = val;
emit showManualAziCorr(manualAzimuthCorrection);
}
void MotorDriver::setSpeedAzi(int val)
{
mWorker->setMaxSpeedAzi(val);
}
void MotorDriver::setSpeedAlt(int val)
{
mWorker->setMaxSpeedAlt(val);
}
void MotorDriver::setHoldPWM(int val)
{
mWorker->setHoldPWM(val);
}
void MotorDriver::setRunPWM(int val)
{
mWorker->setRunPWM(val);
}
void MotorDriver::enableShutterMode(bool val)
{
mWorker->enableShutterMode(val);
}
MotorDriver::~MotorDriver()
{
mWorker->stop();
while(mWorker->isRunning())
{
}
}