Add stepper example

examples/stepper/CMakeLists.txt

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+# ##############################################################################
+# 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_STEPPER)
+ nuttx_add_application(
+ NAME
+ stepper
+ STACKSIZE
+ ${CONFIG_DEFAULT_TASK_STACKSIZE}
+ MODULE
+ ${CONFIG_EXAMPLES_STEPPER}
+ SRCS
+ stepper.c)
+endif()

examples/stepper/Kconfig

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+#
+# 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
+ ---help---
+ Enable the stepper controller test

examples/stepper/Make.defs

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+############################################################################
+# apps/examples/stepper/Make.defs
+#
+# 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.
+#
+############################################################################
+
+ifneq ($(CONFIG_EXAMPLES_STEPPER),)
+CONFIGURED_APPS += $(APPDIR)/examples/stepper
+endif

examples/stepper/Makefile

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+############################################################################
+# apps/examples/stepper/Makefile
+#
+# 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.
+#
+############################################################################
+
+include $(APPDIR)/Make.defs
+
+# Stepper example
+
+MAINSRC = stepper.c
+
+# stepper built-in application info
+
+PROGNAME = stepper
+PRIORITY = SCHED_PRIORITY_DEFAULT
+STACKSIZE = $(CONFIG_DEFAULT_TASK_STACKSIZE)
+MODULE = $(CONFIG_EXAMPLES_STEPPER)
+
+include $(APPDIR)/Application.mk

examples/stepper/stepper.c

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+/****************************************************************************
+ * 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)
+{
+ int i;
+
+ if (argc < 3)
+ {
+ return -1;
+ }
+
+ args->path = argv[1];
+ args->microstep = -1;
+ args->speed = 200;
+
+ for (i 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;
+
+ /* Retrieve the absolute position - before movement */
+
+ rc = read(fd, &status, sizeof(struct stepper_status_s));
+ if (rc != sizeof(struct stepper_status_s))
+ {
+ printf("read: %s\n", strerror(errno));
+ }
+
+ printf("Position before stepper motor moving: %ld\n", status.position);
+
+ /* Move the stepper */
+
+ printf("GO -> %ld @ %ld steps/s\n", job.steps, job.speed);
+
+ 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 - after movement */
+
+ rc = read(fd, &status, sizeof(struct stepper_status_s));
+ if (rc != sizeof(struct stepper_status_s))
+ {
+ printf("read: %s\n", strerror(errno));
+ }
+
+ printf("Position after stepper motor moving: %ld\n", status.position);
+
+ return 0;
+}