Merge pull request #1092 from WildernessLabs/feature/stepper-online

stepper online motor and controller

Source/Meadow.Foundation.Peripherals/Motors.StepperOnline/Driver/Controllers/BLD510B.cs

@@ -0,0 +1,278 @@
+using Meadow.Modbus;
+using Meadow.Peripherals;
+using System;
+using System.Threading.Tasks;
+
+namespace Meadow.Foundation.MotorControllers.StepperOnline;
+
+public class BLD510B : ModbusPolledDevice
+{
+    public event EventHandler<ErrorConditions> ErrorConditionsChanged;
+
+    private ErrorConditions _lastError;
+    private ushort _state;
+
+    /// <summary>
+    /// The default Modbus address for the V10x device.
+    /// </summary>
+    public const int DefaultModbusAddress = 1;
+
+    /// <summary>
+    /// The default baud rate for communication with the V10x device.
+    /// </summary>
+    public const int DefaultBaudRate = 9600;
+
+    public BLD510B(ModbusRtuClient client, byte modbusAddress = 0x01, TimeSpan? refreshPeriod = null)
+        : base(client, modbusAddress, refreshPeriod)
+    {
+        MapHoldingRegistersToField(
+            startRegister: 0x801b,
+            registerCount: 1,
+            fieldName: nameof(_state),
+            conversionFunction: StateCheckerFunction
+            );
+    }
+
+    public async Task<bool> GetStartStopTerminal()
+    {
+        var r = await ReadHoldingRegisters(0x8000, 1);
+
+        return ((r[0] >> 8) & 1) != 0;
+    }
+
+    public async Task SetStartStopTerminal(bool startEnabled)
+    {
+        var current = (int)(await ReadHoldingRegisters(0x8000, 1))[0];
+        if (startEnabled)
+        { // set bit 0
+            current = current | (1 << 8);
+        }
+        else
+        {
+            current = current & ~(1 << 8);
+        }
+        await WriteHoldingRegister(0x8000, (ushort)current);
+    }
+
+    public async Task<RotationDirection> GetDirectionTerminal()
+    {
+        var r = await ReadHoldingRegisters(0x8000, 1);
+        return ((r[0] >> 9) & 1) == 0 ? RotationDirection.Clockwise : RotationDirection.CounterClockwise;
+    }
+
+    public async Task SetDirectionTerminal(RotationDirection direction)
+    {
+        int current = ReadHoldingRegisters(0x8000, 1).Result[0];
+        if (direction == RotationDirection.Clockwise)
+        { // clear bit 1
+            current = current & ~(1 << 9);
+        }
+        else
+        {
+            current = current | (1 << 9);
+        }
+        await WriteHoldingRegister(0x8000, (ushort)current);
+    }
+
+    public async Task<bool> GetBrakeTerminal()
+    {
+        var r = await ReadHoldingRegisters(0x8000, 1);
+        return ((r[0] >> 10) & 1) != 0;
+    }
+
+    public async Task SetBrakeTerminal(bool brakeEnabled)
+    {
+        int current = ReadHoldingRegisters(0x8000, 1).Result[0];
+        if (brakeEnabled)
+        { // set bit 2
+            current = current | (1 << 10);
+        }
+        else
+        {
+            current = current & ~(1 << 10);
+        }
+        await WriteHoldingRegister(0x8000, (ushort)current);
+    }
+
+    public async Task<SpeedControl> GetSpeedControl()
+    {
+        var r = await ReadHoldingRegisters(0x8000, 1);
+        return (SpeedControl)((r[0] >> 11) & 1);
+    }
+
+    public async Task SetSpeedControl(SpeedControl speedControl)
+    {
+        int current = ReadHoldingRegisters(0x8000, 1).Result[0];
+        if (speedControl == SpeedControl.AnalogPot)
+        { // clear bit 4
+            current = current & ~(1 << 11);
+        }
+        else
+        {
+            current = current | (1 << 11);
+        }
+        await WriteHoldingRegister(0x8000, (ushort)current);
+    }
+
+    public async Task<byte> GetNumberOfMotorPolePairs()
+    {
+        var r = await ReadHoldingRegisters(0x8000, 1);
+        return (byte)(r[0] & 0xff);
+    }
+
+    public async Task SetNumberOfMotorPolePairs(byte numberOfMotorPolePairs)
+    {
+        var current = (int)(await ReadHoldingRegisters(0x8000, 1))[0];
+        current &= 0xff00;
+        current |= numberOfMotorPolePairs;
+        // always disable EN if we're doing this operation
+        current &= ~(1 << 8);
+        await WriteHoldingRegister(0x8000, (ushort)current);
+    }
+
+    public async Task<byte> GetStartupTorque()
+    {
+        var r = await ReadHoldingRegisters(0x8002, 1);
+        return (byte)(r[0] >> 8);
+    }
+
+    public async Task SetStartupTorque(byte value)
+    {
+        var r = await ReadHoldingRegisters(0x8002, 1);
+        var current = r[0] & 0x00ff;
+        current |= value << 8;
+        await WriteHoldingRegister(0x8002, (ushort)current);
+    }
+
+    public async Task<byte> GetStartupSpeed()
+    {
+        var r = await ReadHoldingRegisters(0x8002, 1);
+        return (byte)(r[0] & 0xff);
+    }
+
+    public async Task SetStartupSpeed(byte value)
+    {
+        var r = await ReadHoldingRegisters(0x8002, 1);
+        var current = r[0] & 0xff00;
+        current |= value;
+        await WriteHoldingRegister(0x8002, (ushort)current);
+    }
+
+    public async Task<TimeSpan> GetAccelerationTime()
+    {
+        var r = await ReadHoldingRegisters(0x8003, 1);
+        return TimeSpan.FromSeconds((r[0] >> 8) / 10d);
+    }
+
+    public async Task SetAccelerationTime(TimeSpan value)
+    {
+        if (value.TotalSeconds < 0 || value.TotalSeconds > 25.5) throw new ArgumentOutOfRangeException();
+        var r = await ReadHoldingRegisters(0x8002, 1);
+        var current = r[0] & 0x00ff;
+        current |= (byte)(value.TotalSeconds * 10) << 8;
+        await WriteHoldingRegister(0x8003, (ushort)current);
+    }
+
+    public async Task<TimeSpan> GetDecelerationTime()
+    {
+        var r = await ReadHoldingRegisters(0x8003, 1);
+        return TimeSpan.FromSeconds((r[0] & 0xff) / 10d);
+    }
+
+    public async Task SetDecelerationTime(TimeSpan value)
+    {
+        if (value.TotalSeconds < 0 || value.TotalSeconds > 25.5) throw new ArgumentOutOfRangeException();
+        var r = await ReadHoldingRegisters(0x8003, 1);
+        var current = r[0] & 0xff00;
+        current |= (byte)(value.TotalSeconds * 10);
+        await WriteHoldingRegister(0x8003, (ushort)current);
+    }
+
+    public async Task<byte> GetMaxCurrent()
+    {
+        var r = await ReadHoldingRegisters(0x8004, 1);
+        return (byte)(r[0] >> 8);
+    }
+
+    public async Task SetMaxCurrent(byte value)
+    {
+        var r = await ReadHoldingRegisters(0x8004, 1);
+        var current = r[0] & 0x00ff;
+        current |= value << 8;
+        await WriteHoldingRegister(0x8004, (ushort)current);
+    }
+
+    public async Task<MotorType> GetMotorType()
+    {
+        var r = await ReadHoldingRegisters(0x8004, 1);
+        return (MotorType)(r[0] & 0xff);
+    }
+
+    public async Task SetMotorType(MotorType value)
+    {
+        var r = await ReadHoldingRegisters(0x8004, 1);
+        var current = r[0] & 0xff00;
+        current |= (int)value;
+        await WriteHoldingRegister(0x8004, (ushort)current);
+    }
+
+    /// <summary>
+    /// The desired speed when using control mode of RS485, this is ignored when control is analog
+    /// </summary>
+    public async Task<ushort> GetDesiredSpeed()
+    {
+        var r = await ReadHoldingRegisters(0x8005, 1);
+        return r[0];
+    }
+
+    public async Task SetDesiredSpeed(ushort speed)
+    {
+        // swap endianness
+        var s = speed << 8 | speed >> 8;
+        await WriteHoldingRegister(0x8005, (ushort)s);
+    }
+
+    public async Task<byte> GetModbusAddress()
+    {
+        var r = await ReadHoldingRegisters(0x8007, 1);
+        return (byte)r[0];
+    }
+
+    public async Task SetModbusAddress(byte value)
+    {
+        if (value <= 0 || value > 250) throw new ArgumentOutOfRangeException();
+
+        await WriteHoldingRegister(0x8007, value);
+    }
+
+    public async Task<ushort> GetActualSpeed()
+    {
+        ushort[] data;
+        do
+        {
+            data = await ReadHoldingRegisters(0x8018, 1);
+        } while (data.Length == 0);
+
+        // swap endianness
+        return (ushort)(data[0] >> 8 | data[0] << 8);
+    }
+
+    public ErrorConditions ErrorConditions
+    {
+        get => _lastError;
+    }
+
+    private object StateCheckerFunction(ushort[] data)
+    {
+        // we use this function to set events
+        var state = (ErrorConditions)(data[0] >> 8);
+
+        if (state != _lastError)
+        {
+            _lastError = state;
+            ErrorConditionsChanged?.Invoke(this, state);
+        }
+
+        return data[0];
+    }
+}

Source/Meadow.Foundation.Peripherals/Motors.StepperOnline/Driver/ErrorConditions.cs

@@ -0,0 +1,15 @@
+using System;
+
+namespace Meadow.Foundation.MotorControllers.StepperOnline;
+
+[Flags]
+public enum ErrorConditions
+{
+    None = 0x00,
+    LockedRotor = 0x01,
+    OverCurrent = 0x02,
+    HallValueAbnormal = 0x04,
+    BusVoltageLow = 0x08,
+    BusVoltageHigh = 0x10,
+    CurrentPeak = 0x20
+}

Source/Meadow.Foundation.Peripherals/Motors.StepperOnline/Driver/MotorType.cs

@@ -0,0 +1,7 @@
+namespace Meadow.Foundation.MotorControllers.StepperOnline;
+
+public enum MotorType
+{
+    Sensored = 0x0f,
+    Sensorless = 0x10
+}

Source/Meadow.Foundation.Peripherals/Motors.StepperOnline/Driver/Motors.StepperOnline.csproj

@@ -0,0 +1,33 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <TargetFramework>netstandard2.1</TargetFramework>
+    <Nullable>enable</Nullable>
+    <LangVersion>11</LangVersion>
+      <AssemblyName>Motors.StepperOnline</AssemblyName>
+
+      <PackageLicenseExpression>Apache-2.0</PackageLicenseExpression>
+      <GenerateDocumentationFile>true</GenerateDocumentationFile>
+      <PackageIcon>icon.png</PackageIcon>
+      <Authors>Wilderness Labs, Inc</Authors>
+      <TargetFramework>netstandard2.1</TargetFramework>
+      <OutputType>Library</OutputType>
+      <Company>Wilderness Labs, Inc</Company>
+      <PackageProjectUrl>http://developer.wildernesslabs.co/Meadow/Meadow.Foundation/</PackageProjectUrl>
+      <PackageId>Meadow.Foundation.Motors.StepperOnline</PackageId>
+      <RepositoryUrl>https://github.com/WildernessLabs/Meadow.Foundation</RepositoryUrl>
+      <PackageTags>Meadow.Foundation,Stepper Online,BLDC Motor </PackageTags>
+      <GeneratePackageOnBuild>true</GeneratePackageOnBuild>
+      <Description>Drivers for motors and moto controllers from Stepper Online</Description>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <ProjectReference Include="..\..\..\..\..\Meadow.Modbus\src\Meadow.Modbus\Meadow.Modbus.csproj" />
+  </ItemGroup>
+
+    <ItemGroup>
+        <None Include=".\Readme.md" Pack="true" PackagePath="" />
+        <None Include="..\..\..\icon.png" Pack="true" PackagePath="" />
+        <ProjectReference Include="..\..\..\Meadow.Foundation.Core\Meadow.Foundation.Core.csproj" />
+    </ItemGroup>
+</Project>