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Naglfario
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Ellerbach
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Driver DRV8825 for stepper motor was added (#1407)
Co-authored-by: Laurent Ellerbach <laurelle@microsoft.com>
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‎devices/Drv8825/Direction.cs

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// Licensed to the .NET Foundation under one or more agreements.
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// The .NET Foundation licenses this file to you under the MIT license.
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namespace Iot.Device.Drv8825
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{
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/// <summary>
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/// Motor rotation direction.
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/// </summary>
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public enum Direction
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{
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/// <summary>
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/// Rotation in the same direction as a clock's hands.
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/// </summary>
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Clockwise,
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/// <summary>
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/// Rotation in the opposite direction to the movement of the hands of a clock.
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/// </summary>
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Counterclockwise
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}
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}

‎devices/Drv8825/Drv8825.cs

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// Licensed to the .NET Foundation under one or more agreements.
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// The .NET Foundation licenses this file to you under the MIT license.
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using System;
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using System.Device;
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using System.Device.Gpio;
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using System.Threading;
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using UnitsNet;
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namespace Iot.Device.Drv8825
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{
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/// <summary>
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/// Class for controlling Drv8825 stepper motor driver.
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/// </summary>
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public class Drv8825 : IDisposable
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{
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private readonly ushort _fullStepsPerRotation;
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private readonly GpioPin _stepPin;
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private readonly GpioPin _dirPin;
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private readonly GpioPin? _sleepPin;
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private readonly bool _shouldDisposeGpioController;
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private readonly MicrostepsController _microstepsController;
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private GpioController? _gpioController;
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/// <summary>
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/// Gets or sets the delay that allows the driver to recognize a step. By default, it is 5 microseconds.
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/// It is not recommended to set this delay less than 2 microseconds,
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/// otherwise the motor will "miss"(skip) some steps.
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/// And it is not recommended to set this delay more than 50 microseconds,
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/// otherwise the morot will stop recognize steps.
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/// </summary>
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public TimeSpan StepDelay { get; set; } = TimeSpan.FromTicks(5 * 10L);
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/// <summary>
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/// Gets or sets delay between each step (or microstep).
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/// </summary>
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public TimeSpan DelayBetweenSteps { get; set; } = TimeSpan.Zero;
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/// <summary>
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/// Initializes a new instance of the <see cref="Drv8825" /> class.
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/// </summary>
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/// <param name="stepPin">Microcontroller pin connected to STEP driver pin. Used to set steps count.</param>
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/// <param name="dirPin">Microcontroller pin connected to DIR driver pin. Used to set rotation direction.</param>
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/// <param name="sleepPin">Microcontroller pin connected to SLP driver pin. Used to wake up and put the driver to sleep. Usually SLP need to connect with RST pin.</param>
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/// <param name="fullStepsPerRotation">How many steps your motor need to make full rotation. For example, Nema 17 takes 200 full steps to complete full rotation.</param>
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/// <param name="gpioController">GPIO controller. If it not passed, then it be created here.</param>
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/// <param name="shouldDisposeGpioController">True to dispose the Gpio Controller when this class wiill be disposed.</param>
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/// <param name="m0Pin">Microcontroller pin connected to M0 driver pin. Can be used to microsteps control. 0 if not connected.</param>
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/// <param name="m1Pin">Microcontroller pin connected to M1 driver pin. Can be used to microsteps control. 0 if not connected.</param>
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/// <param name="m2Pin">Microcontroller pin connected to M2 driver pin. Can be used to microsteps control. 0 if not connected.</param>
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public Drv8825(
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byte stepPin,
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byte dirPin,
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byte sleepPin = 0,
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ushort fullStepsPerRotation = 200,
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GpioController? gpioController = null,
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bool shouldDisposeGpioController = true,
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byte m0Pin = 0,
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byte m1Pin = 0,
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byte m2Pin = 0)
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{
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_fullStepsPerRotation = fullStepsPerRotation;
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_gpioController = gpioController ?? new GpioController();
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_shouldDisposeGpioController = shouldDisposeGpioController || gpioController is null;
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_stepPin = _gpioController.OpenPin(stepPin, PinMode.Output);
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_dirPin = _gpioController.OpenPin(dirPin, PinMode.Output);
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if (sleepPin > 0)
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{
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_sleepPin = _gpioController.OpenPin(sleepPin, PinMode.Output);
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}
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_microstepsController = new MicrostepsController(_gpioController, m0Pin, m1Pin, m2Pin);
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}
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/// <summary>
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/// Switch driver to working mode.
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/// </summary>
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/// <exception cref="InvalidOperationException">Throws when sleep pin doesn't passed.</exception>
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public void WakeUp()
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{
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if (_sleepPin == null)
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{
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throw new InvalidOperationException("Sleep pin does not passed. Try to create driver class with sleepPin param");
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}
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_sleepPin.Write(PinValue.High);
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}
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/// <summary>
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/// Switch driver to sleep mode.
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/// </summary>
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/// <param name="millisecondsDelay">The number of milliseconds to wait before going to sleep. Use if you want give to driver time to process all previously sent steps.</param>
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/// <exception cref="InvalidOperationException">Throws when sleep pin doesn't passed.</exception>
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public void Sleep(int millisecondsDelay = 0)
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{
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if (_sleepPin == null)
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{
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throw new InvalidOperationException("Sleep pin does not passed. Try to create driver class with sleepPin param");
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}
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if (millisecondsDelay > 0)
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{
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Thread.Sleep(millisecondsDelay);
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}
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_sleepPin.Write(PinValue.Low);
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}
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/// <summary>
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/// Rotates a stepper motor.
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/// </summary>
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/// <param name="angle">Angle to rotate.</param>
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/// <param name="stepSize">Step size.</param>
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public void Rotate(Angle angle, StepSize stepSize = StepSize.FullStep)
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{
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if (angle.Degrees == 0)
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{
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return;
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}
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_dirPin.Write(angle.Degrees > 0 ? PinValue.High : PinValue.Low);
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var degreeForStepsCalculation = angle.Degrees < 0 ? -angle.Degrees : angle.Degrees;
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var pulses = degreeForStepsCalculation / 360 * _fullStepsPerRotation * (byte)stepSize;
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_microstepsController.Set(stepSize);
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Rotate((int)pulses);
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}
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/// <summary>
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/// Rotates a stepper motor.
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/// </summary>
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/// <param name="steps">Steps count.</param>
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/// <param name="direction">True to go forward, false to go back(or vice versa if you connect the motor in the opposite direction).</param>
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/// <param name="size">Step size.</param>
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public virtual void Rotate(
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int steps,
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Direction direction = Direction.Clockwise,
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StepSize size = StepSize.FullStep)
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{
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if (steps == 0)
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{
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return;
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}
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_microstepsController.Set(size);
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_dirPin.Write(direction == Direction.Clockwise ? PinValue.High : PinValue.Low);
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Rotate(steps);
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}
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/// <summary>
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/// <inheritdoc/>
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/// </summary>
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public void Dispose()
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{
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if (_shouldDisposeGpioController)
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{
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_gpioController?.Dispose();
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}
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_gpioController = null;
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}
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/// <summary>
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/// Controls the speed of rotation.
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/// </summary>
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private void SleepBetweenSteps()
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{
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if (DelayBetweenSteps == TimeSpan.Zero)
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{
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return;
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}
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Thread.Sleep(DelayBetweenSteps);
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}
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/// <summary>
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/// Rotates a stepper motor.
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/// </summary>
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/// <param name="steps">Steps count.</param>
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private void Rotate(int steps)
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{
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for (var i = 0; i < steps; i++)
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{
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_stepPin.Write(PinValue.High);
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Thread.Sleep(StepDelay);
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_stepPin.Write(PinValue.Low);
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SleepBetweenSteps();
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}
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}
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}
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}

‎devices/Drv8825/Drv8825.nfproj

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‎devices/Drv8825/Drv8825.nuspec

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<package xmlns="http://schemas.microsoft.com/packaging/2012/06/nuspec.xsd">
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<metadata>
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<id>nanoFramework.Iot.Device.Drv8825</id>
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<version>$version$</version>
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<title>nanoFramework.Iot.Device.Drv8825</title>
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<authors>nanoframework</authors>
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<requireLicenseAcceptance>false</requireLicenseAcceptance>
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<license type="file">LICENSE.md</license>
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<releaseNotes>
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</releaseNotes>
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<readme>docs\README.md</readme>
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<developmentDependency>false</developmentDependency>
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<projectUrl>https://github.com/nanoframework/nanoFramework.IoT.Device</projectUrl>
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<icon>images\nf-logo.png</icon>
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<repository type="git" url="https://github.com/nanoframework/nanoFramework.IoT.Device" commit="$commit$" />
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<copyright>Copyright (c) .NET Foundation and Contributors</copyright>
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<description>This package includes the .NET IoT Core binding Iot.Device.Drv8825 for .NET nanoFramework C# projects.</description>
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<summary>Iot.Device.Drv8825 assembly for .NET nanoFramework C# projects</summary>
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<tags>nanoFramework C# csharp netmf netnf Iot.Device.Drv8825 Drv8825</tags>
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<dependencies>
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<dependency id="nanoFramework.CoreLibrary" version="1.17.11" />
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<dependency id="nanoFramework.Runtime.Events" version="1.11.32" />
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<dependency id="nanoFramework.System.Device.Gpio" version="1.1.57" />
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‎devices/Drv8825/Drv8825.sln

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‎devices/Drv8825/Drv8825_circuit_bb.jpeg

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