Миграция FastAccelStepper на ESP-IDF 6

src/RampControl.h

@@ -0,0 +1,79 @@
+#ifndef RAMP_CONTROL_H
+#define RAMP_CONTROL_H
+
+#include "fas_arch/common.h"
+
+struct ramp_ro_s {
+  struct ramp_config_s config;
+  uint32_t target_pos;
+  bool force_stop : 1;
+  bool force_immediate_stop : 1;
+  bool incomplete_immediate_stop : 1;
+  inline void init() {
+    config.init();
+    force_stop = false;
+    force_immediate_stop = false;
+  }
+  inline int32_t targetPosition() { return target_pos; }
+  inline void setTargetPosition(int32_t pos) { target_pos = pos; }
+  inline void advanceTargetPositionWithinInterruptDisabledScope(int32_t delta) {
+    target_pos += delta;
+  }
+  inline void immediateStop() { force_immediate_stop = true; }
+  inline bool isImmediateStopInitiated() { return force_immediate_stop; }
+  inline void clearImmediateStop() { force_immediate_stop = false; }
+  inline void initiateStop() { force_stop = true; }
+  inline bool isStopInitiated() { return force_stop; }
+  inline void setKeepRunning() { config.parameters.keep_running = true; }
+  inline bool isRunningContinuously() { return config.parameters.keep_running; }
+};
+
+struct ramp_rw_s {
+  volatile uint8_t ramp_state;
+  // the speed is linked on both ramp slopes to this variable as per (if no
+  // cubic ramp)
+  //       s = v²/2a   =>   v = sqrt(2*a*s)
+  uint32_t performed_ramp_up_steps;
+  // Are the ticks stored of the last previous step, if pulse time requires
+  // more than one command
+  uint32_t pause_ticks_left;
+  // Current ticks for ongoing step
+  uint32_t curr_ticks;
+  inline void stopRamp() {
+    ramp_state = RAMP_STATE_IDLE;  // this prevents fill_queue to be executed
+    pause_ticks_left = 0;
+    performed_ramp_up_steps = 0;
+    curr_ticks = TICKS_FOR_STOPPED_MOTOR;
+#ifdef TEST
+    printf("stopRamp() called\n");
+#endif
+  }
+  inline void init() { stopRamp(); }
+  inline uint8_t rampState() {
+    // reading one byte is atomic
+    return ramp_state;
+  }
+  inline void startRampIfNotRunning(uint32_t s_jump) {
+#ifdef TEST
+    printf("startRampIfNotRunning(%d) called\n", s_jump);
+#endif
+    // called with interrupts disabled
+    if (ramp_state == RAMP_STATE_IDLE) {
+      curr_ticks = TICKS_FOR_STOPPED_MOTOR;
+      // ramp_state value is significant to start the ramp generator.
+      // so initialize curr_ticks before
+      ramp_state = RAMP_STATE_ACCELERATE;
+    }
+  }
+};
+
+class NextCommand {
+ public:
+  struct stepper_command_s command;
+  struct ramp_rw_s rw;  // new _rw, if command has been queued
+};
+
+void init_ramp_module();
+void _getNextCommand(const struct ramp_ro_s *ramp, const struct ramp_rw_s *rw,
+                     const struct queue_end_s *queue_end, NextCommand *command);
+#endif