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Posted to commits@nuttx.apache.org by "leducp (via GitHub)" <gi...@apache.org> on 2023/10/15 08:14:32 UTC
[PR] Add stepper example [nuttx-apps]
leducp opened a new pull request, #2118:
URL: https://github.com/apache/nuttx-apps/pull/2118
## Summary
Add a stepper example.
## Impact
## Testing
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Re: [PR] Add stepper example [nuttx-apps]
Posted by "xiaoxiang781216 (via GitHub)" <gi...@apache.org>.
xiaoxiang781216 merged PR #2118:
URL: https://github.com/apache/nuttx-apps/pull/2118
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Re: [PR] Add stepper example [nuttx-apps]
Posted by "raiden00pl (via GitHub)" <gi...@apache.org>.
raiden00pl commented on PR #2118:
URL: https://github.com/apache/nuttx-apps/pull/2118#issuecomment-1764952674
> Thank you for correction @raiden00pl
In fact only the libs are there, the examples still in apps/examples. Maybe we could separate examples by type.
good idea. `examples/foc` is quite a large app now (and will be bigger) and it's more like the reference design of the FOC motor controller based on NuttX than just a simple example. So it should be moved somewhere else anyway. When I find a moment, I'll create and issue to discuss the problem.
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Re: [PR] Add stepper example [nuttx-apps]
Posted by "xiaoxiang781216 (via GitHub)" <gi...@apache.org>.
xiaoxiang781216 commented on PR #2118:
URL: https://github.com/apache/nuttx-apps/pull/2118#issuecomment-1770233112
please rebase your patch, ci break is fixed with the recent patch.
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Re: [PR] Add stepper example [nuttx-apps]
Posted by "acassis (via GitHub)" <gi...@apache.org>.
acassis commented on PR #2118:
URL: https://github.com/apache/nuttx-apps/pull/2118#issuecomment-1764916053
> > @leducp I think it is a good idea to move this example to apps/industrial as there is already the foc/ example. Categorizing the example makes things easier to users.
>
> that's not true :) `industrial/foc` is FOC library that can be used to build custom FOC applications. FOC example is still in `example/foc`
Thank you for correction @raiden00pl
In fact only the libs are there, the examples still in apps/examples. Maybe we could separate examples by type.
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Re: [PR] Add stepper example [nuttx-apps]
Posted by "xiaoxiang781216 (via GitHub)" <gi...@apache.org>.
xiaoxiang781216 commented on PR #2118:
URL: https://github.com/apache/nuttx-apps/pull/2118#issuecomment-1768584058
@leducp please rebase your change, the ci break is fixed by: https://github.com/apache/nuttx-apps/pull/2131
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Re: [PR] Add stepper example [nuttx-apps]
Posted by "leducp (via GitHub)" <gi...@apache.org>.
leducp commented on code in PR #2118:
URL: https://github.com/apache/nuttx-apps/pull/2118#discussion_r1363480378
##########
examples/stepper/stepper.c:
##########
@@ -0,0 +1,151 @@
+/****************************************************************************
+ * apps/examples/stepper/stepper.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <sys/ioctl.h>
+#include <fcntl.h>
+#include <stdio.h>
+#include <stdbool.h>
+
+#include <nuttx/motor/stepper.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+struct stepper_args
+{
+ FAR const char * path;
+ int microstep;
+ int speed;
+ int steps;
+};
+
+static int parse_args(int argc, FAR char *argv[],
+ FAR struct stepper_args *args)
+{
+ if (argc < 3)
+ {
+ return -1;
+ }
+
+ args->path = argv[1];
+ args->microstep = -1;
+ args->speed = 200;
+
+ for (int i = 2; i < argc; ++i)
Review Comment:
My bad, old habits
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Re: [PR] Add stepper example [nuttx-apps]
Posted by "xiaoxiang781216 (via GitHub)" <gi...@apache.org>.
xiaoxiang781216 commented on code in PR #2118:
URL: https://github.com/apache/nuttx-apps/pull/2118#discussion_r1359891267
##########
examples/stepper/stepper.c:
##########
@@ -0,0 +1,144 @@
+//***************************************************************************
Review Comment:
change ALL // to c comment
##########
examples/stepper/CMakeLists.txt:
##########
@@ -0,0 +1,31 @@
+# ##############################################################################
+# apps/examples/stepper/CMakeLists.txt
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more contributor
+# license agreements. See the NOTICE file distributed with this work for
+# additional information regarding copyright ownership. The ASF licenses this
+# file to you under the Apache License, Version 2.0 (the "License"); you may not
+# use this file except in compliance with the License. You may obtain a copy of
+# the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations under
+# the License.
+#
+# ##############################################################################
+
+if(CONFIG_EXAMPLES_HELLOXX)
+ nuttx_add_application(
+ NAME
+ stepper
+ STACKSIZE
+ ${CONFIG_DEFAULT_TASK_STACKSIZE}
+ MODULE
+ ${CONFIG_EXAMPLES_STEPPER}
+ SRCS
+ stepper_main.c)
Review Comment:
```suggestion
stepper.c)
```
##########
examples/stepper/CMakeLists.txt:
##########
@@ -0,0 +1,31 @@
+# ##############################################################################
+# apps/examples/stepper/CMakeLists.txt
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more contributor
+# license agreements. See the NOTICE file distributed with this work for
+# additional information regarding copyright ownership. The ASF licenses this
+# file to you under the Apache License, Version 2.0 (the "License"); you may not
+# use this file except in compliance with the License. You may obtain a copy of
+# the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations under
+# the License.
+#
+# ##############################################################################
+
+if(CONFIG_EXAMPLES_HELLOXX)
Review Comment:
```suggestion
if(CONFIG_EXAMPLES_STEPPER)
```
##########
examples/stepper/Kconfig:
##########
@@ -0,0 +1,11 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+config EXAMPLES_STEPPER
+ tristate "Stepper controller test"
+ default n
+ depends on HAVE_CXX
Review Comment:
remove
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Re: [PR] Add stepper example [nuttx-apps]
Posted by "acassis (via GitHub)" <gi...@apache.org>.
acassis commented on code in PR #2118:
URL: https://github.com/apache/nuttx-apps/pull/2118#discussion_r1360825996
##########
examples/stepper/stepper.c:
##########
@@ -0,0 +1,151 @@
+/****************************************************************************
+ * apps/examples/stepper/stepper.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <sys/ioctl.h>
+#include <fcntl.h>
+#include <stdio.h>
+#include <stdbool.h>
+
+#include <nuttx/motor/stepper.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+struct stepper_args
+{
+ FAR const char * path;
Review Comment:
```suggestion
FAR const char *path;
##########
examples/stepper/stepper.c:
##########
@@ -0,0 +1,151 @@
+/****************************************************************************
+ * apps/examples/stepper/stepper.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <sys/ioctl.h>
+#include <fcntl.h>
+#include <stdio.h>
+#include <stdbool.h>
+
+#include <nuttx/motor/stepper.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+struct stepper_args
+{
+ FAR const char * path;
+ int microstep;
+ int speed;
+ int steps;
+};
+
+static int parse_args(int argc, FAR char *argv[],
+ FAR struct stepper_args *args)
+{
+ if (argc < 3)
+ {
+ return -1;
+ }
+
+ args->path = argv[1];
+ args->microstep = -1;
+ args->speed = 200;
+
+ for (int i = 2; i < argc; ++i)
+ {
+ if (strncmp("-m", argv[i], 2) == 0)
+ {
+ i++;
+ if (i >= argc)
+ {
+ return -1;
+ }
+
+ args->microstep = atoi(argv[i]);
+ i++;
+ }
+
+ if (strncmp("-s", argv[i], 2) == 0)
+ {
+ i++;
+ if (i >= argc)
+ {
+ return -1;
+ }
+
+ args->speed = atoi(argv[i]);
+ i++;
+ }
+ }
+
+ args->steps = atoi(argv[argc - 1]);
+ return 0;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+int main(int argc, FAR char *argv[])
+{
+ struct stepper_args args;
+ struct stepper_status_s status;
+ struct stepper_job_s job;
+ int fd;
+ int rc;
+
+ if (parse_args(argc, argv, &args) < 0)
+ {
+ printf("usage:\n"
+ "stepper path\n"
+ " [-m microstep (sticky)]\n"
+ " [-s speed in steps/s (default 200)]\n"
+ " steps (positive: CW, negative: CCW)\n");
+ return 1;
+ }
+
+ fd = open(args.path, O_RDWR);
+ if (fd < 0)
+ {
+ printf("Oops: %s\n", strerror(errno));
+ exit(1);
+ }
+
+ if (args.microstep > 0)
+ {
+ printf("Set microstepping to %d\n", args.microstep);
+ rc = ioctl(fd, STEPIOC_MICROSTEPPING, args.microstep);
+ if (rc < 0)
+ {
+ printf("STEPIOC_MICROSTEPPING: %s\n", strerror(errno));
+ exit(2);
+ }
+ }
+
+ job.steps = args.steps;
+ job.speed = args.speed;
+
+ printf("GO -> %ld @ %ld steps/s\n", job.steps, job.speed);
+
+ /* Move the stepper */
+
+ rc = write(fd, &job, sizeof(struct stepper_job_s)); /* blocking */
+ if (rc != sizeof(struct stepper_job_s))
+ {
+ printf("write: %s\n", strerror(errno));
+ }
+
+ /* Retrieve the absolute position since boot */
+
+ rc = read(fd, &status, sizeof(struct stepper_status_s));
+ if (rc != sizeof(struct stepper_status_s))
+ {
+ printf("read: %s\n", strerror(errno));
+ }
+
+ printf("Current position: %ld\n", status.position);
Review Comment:
Maybe it could be interesting to print the: "Position before stepper motor moving: " and "Position after stepper motor moving: " for diagnostic purposes.
##########
examples/stepper/stepper.c:
##########
@@ -0,0 +1,151 @@
+/****************************************************************************
+ * apps/examples/stepper/stepper.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <sys/ioctl.h>
+#include <fcntl.h>
+#include <stdio.h>
+#include <stdbool.h>
+
+#include <nuttx/motor/stepper.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+struct stepper_args
+{
+ FAR const char * path;
+ int microstep;
+ int speed;
+ int steps;
+};
+
+static int parse_args(int argc, FAR char *argv[],
+ FAR struct stepper_args *args)
+{
+ if (argc < 3)
+ {
+ return -1;
+ }
+
+ args->path = argv[1];
+ args->microstep = -1;
+ args->speed = 200;
+
+ for (int i = 2; i < argc; ++i)
Review Comment:
Please use C89, don't declare "i" in the for loop, declare it at begging of the function.
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Re: [PR] Add stepper example [nuttx-apps]
Posted by "raiden00pl (via GitHub)" <gi...@apache.org>.
raiden00pl commented on PR #2118:
URL: https://github.com/apache/nuttx-apps/pull/2118#issuecomment-1764737245
> @leducp I think it is a good idea to move this example to apps/industrial as there is already the foc/ example. Categorizing the example makes things easier to users.
that's not true :) `industrial/foc` is FOC library that can be used to build custom FOC applications. FOC example is still in `example/foc`
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Re: [PR] Add stepper example [nuttx-apps]
Posted by "acassis (via GitHub)" <gi...@apache.org>.
acassis commented on PR #2118:
URL: https://github.com/apache/nuttx-apps/pull/2118#issuecomment-1764696936
@leducp I think it is a good idea to move this example to apps/industrial as there is already the foc/ example. Categorizing the example makes things easier to users.
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Re: [PR] Add stepper example [nuttx-apps]
Posted by "leducp (via GitHub)" <gi...@apache.org>.
leducp commented on PR #2118:
URL: https://github.com/apache/nuttx-apps/pull/2118#issuecomment-1770592133
> please rebase your patch, ci break is fixed with the recent patch.
done :)
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