Stepper optimization

_Boards/Atmel/Board_Mega/MFBoards.h

@@ -48,10 +48,6 @@
 #define MAX_INPUT_SHIFTERS  4
 #define MAX_DIGIN_MUX       4
 
-#define STEPS         64
-#define STEPPER_SPEED 400 // 300 already worked, 467, too?
-#define STEPPER_ACCEL 800
-
 #define MOBIFLIGHT_TYPE     "MobiFlight Mega"
 #define MOBIFLIGHT_SERIAL   "1234567890"
 #define MOBIFLIGHT_NAME     "MobiFlight Mega"

_Boards/Atmel/Board_ProMicro/MFBoards.h

@@ -48,10 +48,6 @@
 #define MAX_INPUT_SHIFTERS  2
 #define MAX_DIGIN_MUX       3
 
-#define STEPS         64
-#define STEPPER_SPEED 400 // 300 already worked, 467, too?
-#define STEPPER_ACCEL 800
-
 #define MOBIFLIGHT_TYPE     "MobiFlight Micro"
 #define MOBIFLIGHT_SERIAL   "0987654321"
 #define MOBIFLIGHT_NAME     "MobiFlight Micro"

_Boards/Atmel/Board_Uno/MFBoards.h

@@ -48,10 +48,6 @@
 #define MAX_INPUT_SHIFTERS  2
 #define MAX_DIGIN_MUX       3
 
-#define STEPS         64
-#define STEPPER_SPEED 400 // 300 already worked, 467, too?
-#define STEPPER_ACCEL 800
-
 #define MOBIFLIGHT_TYPE     "MobiFlight Uno"
 #define MOBIFLIGHT_SERIAL   "0987654321"
 #define MOBIFLIGHT_NAME     "MobiFlight Uno"

platformio.ini

@@ -28,7 +28,7 @@ lib_deps_Atmel =
 	arduino-libraries/Servo @ 1.1.8
 build_flags =
 	-DMF_REDUCE_FUNCT_LEDCONTROL
-	-DMAXCALLBACKS=30
+	-DMAXCALLBACKS=35
 	-DSERIAL_RX_BUFFER_SIZE=96
 	-DMESSENGERBUFFERSIZE=96
 	-DMAXSTREAMBUFFERSIZE=96

src/CommandMessenger.cpp

@@ -58,6 +58,7 @@ void attachCommandCallbacks()
     cmdMessenger.attach(kSetStepper, Stepper::OnSet);
     cmdMessenger.attach(kResetStepper, Stepper::OnReset);
     cmdMessenger.attach(kSetZeroStepper, Stepper::OnSetZero);
+    cmdMessenger.attach(kSetStepperSpeedAccel, Stepper::OnSetSpeedAccel);
 #endif
 
 #if MF_SERVO_SUPPORT == 1

src/Config.cpp

@@ -232,10 +232,10 @@ void readConfig()
 {
     if (configLength == 0) // do nothing if no config is available
         return;
-    uint16_t addreeprom   = MEM_OFFSET_CONFIG; // define first memory location where config is saved in EEPROM
-    uint16_t addrbuffer   = 0;                 // and start with first memory location from nameBuffer
-    char     params[6]    = "";
-    uint8_t  command      = readUintFromEEPROM(&addreeprom); // read the first value from EEPROM, it's a device definition
+    uint16_t addreeprom   = MEM_OFFSET_CONFIG;               // define first memory location where config is saved in EEPROM
+    uint16_t addrbuffer   = 0;                               // and start with first memory location from nameBuffer
+    char     params[8]    = "";                              // buffer for reading parameters from EEPROM and sending to ::Add() function of device
+    char     command      = readUintFromEEPROM(&addreeprom); // read the first value from EEPROM, it's a device definition
     bool     copy_success = true;                            // will be set to false if copying input names to nameBuffer exceeds array dimensions
                                                              // not required anymore when pins instead of names are transferred to the UI
 
@@ -270,7 +270,7 @@ void readConfig()
 #endif
 
 #if MF_STEPPER_SUPPORT == 1
-        case kTypeStepperDeprecated:
+        case kTypeStepperDeprecated1:
             // this is for backwards compatibility
             params[0] = readUintFromEEPROM(&addreeprom); // Pin1 number
             params[1] = readUintFromEEPROM(&addreeprom); // Pin2 number
@@ -280,10 +280,8 @@ void readConfig()
             Stepper::Add(params[0], params[1], params[2], params[3], 0);
             copy_success = readEndCommandFromEEPROM(&addreeprom); // check EEPROM until end of name
             break;
-#endif
 
-#if MF_STEPPER_SUPPORT == 1
-        case kTypeStepper:
+        case kTypeStepperDeprecated2:
             params[0] = readUintFromEEPROM(&addreeprom); // Pin1 number
             params[1] = readUintFromEEPROM(&addreeprom); // Pin2 number
             params[2] = readUintFromEEPROM(&addreeprom); // Pin3 number
@@ -292,6 +290,21 @@ void readConfig()
             Stepper::Add(params[0], params[1], params[2], params[3], params[4]);
             copy_success = readEndCommandFromEEPROM(&addreeprom); // check EEPROM until end of name
             break;
+
+        case kTypeStepper:
+            params[0] = readUintFromEEPROM(&addreeprom); // Pin1 number
+            params[1] = readUintFromEEPROM(&addreeprom); // Pin2 number
+            params[2] = readUintFromEEPROM(&addreeprom); // Pin3 number
+            params[3] = readUintFromEEPROM(&addreeprom); // Pin4 number
+            params[4] = readUintFromEEPROM(&addreeprom); // Button number
+            params[5] = readUintFromEEPROM(&addreeprom); // Stepper Mode
+            params[6] = readUintFromEEPROM(&addreeprom); // backlash
+            params[7] = readUintFromEEPROM(&addreeprom); // deactivate output
+            // there is an additional 9th parameter stored in the config (profileID) which is not needed in the firmware
+            // and therefor not read in, it is just skipped like the name with reading until end of command
+            Stepper::Add(params[0], params[1], params[2], params[3], params[4], params[5], params[6], params[7]);
+            copy_success = readEndCommandFromEEPROM(&addreeprom); // check EEPROM until end of name
+            break;
 #endif
 
 #if MF_SERVO_SUPPORT == 1

src/MF_Stepper/MFStepper.cpp

@@ -7,45 +7,96 @@
 #include "mobiflight.h"
 #include "MFStepper.h"
 
+enum { // enumeration for stepper mode
+    FULL4WIRE,
+    HALF4WIRE,
+    DRIVER
+};
+
+enum {
+    MOVE_CCW,
+    MOVE_CW
+};
+
 MFStepper::MFStepper()
 {
     _initialized = false;
 }
 
-void MFStepper::attach(uint8_t pin1, uint8_t pin2, uint8_t pin3, uint8_t pin4, uint8_t btnPin5)
+void MFStepper::attach(uint8_t pin1, uint8_t pin2, uint8_t pin3, uint8_t pin4, uint8_t btnPin5, uint8_t mode, int8_t backlash, bool deactivateOutput)
 {
     if (!FitInMemory(sizeof(AccelStepper))) {
         // Error Message to Connector
         cmdMessenger.sendCmd(kStatus, F("MFStepper does not fit in Memory"));
         return;
     }
-    if (pin2 == pin4 && pin1 == pin3) // if pin1/2 are identical to pin3/4
-    {                                 // init new stepper with external driver (step and direction)
+    uint16_t maxSpeed = 0;
+    uint16_t Accel    = 0;
+
+    switch (mode) {
+    case FULL4WIRE:
+        maxSpeed = STEPPER_SPEED;
+        Accel    = STEPPER_ACCEL;
+        if (pin1 == pin3 && pin2 == pin4) // for backwards compatibility
+            _stepper = new (allocateMemory(sizeof(AccelStepper))) AccelStepper(AccelStepper::DRIVER, pin1, pin2);
+        else
+            _stepper = new (allocateMemory(sizeof(AccelStepper))) AccelStepper(AccelStepper::FULL4WIRE, pin4, pin2, pin1, pin3);
+        break;
+    case HALF4WIRE:
+        _stepper = new (allocateMemory(sizeof(AccelStepper))) AccelStepper(AccelStepper::HALF4WIRE, pin4, pin2, pin1, pin3);
+        maxSpeed = STEPPER_SPEED;
+        Accel    = STEPPER_ACCEL;
+        break;
+    case DRIVER:
         _stepper = new (allocateMemory(sizeof(AccelStepper))) AccelStepper(AccelStepper::DRIVER, pin1, pin2);
-    } else { // otherwise init new stepper in full 4 wire mode
-        _stepper = new (allocateMemory(sizeof(AccelStepper))) AccelStepper(AccelStepper::FULL4WIRE, pin4, pin2, pin1, pin3);
+        maxSpeed = STEPPER_SPEED;
+        Accel    = STEPPER_ACCEL;
+        break;
+    default:
+        _initialized = false;
+        return;
+        break;
     }
+
+    _stepper->setMaxSpeed(maxSpeed);
+    _stepper->setAcceleration(Accel);
     _zeroPin      = btnPin5;
     _zeroPinState = HIGH;
 
     if (_zeroPin) {
-        pinMode(_zeroPin, INPUT_PULLUP); // set pin to input
+        pinMode(_zeroPin, INPUT_PULLUP);
     }
-    _initialized = true;
-    _resetting   = false;
+
+    _backlash         = backlash;
+    _deactivateOutput = deactivateOutput;
+    _initialized      = true;
+    _resetting        = false;
+    _isStopped        = true;
+    _inMove           = MOVE_CW;
 }
 
 void MFStepper::detach()
 {
     _initialized = false;
 }
 
-void MFStepper::moveTo(long absolute)
+void MFStepper::moveTo(long newPosition)
 {
-    _resetting = false;
-    if (_targetPos != absolute) {
-        _targetPos = absolute;
-        _stepper->moveTo(absolute);
+    _resetting           = false;
+    long currentPosition = _stepper->currentPosition();
+
+    if (_targetPos != newPosition) {
+        if (_deactivateOutput && _isStopped) {
+            _stepper->enableOutputs();
+            _isStopped = false;
+        }
+        if (_inMove == MOVE_CW && newPosition < currentPosition && newPosition < _targetPos)
+            _inMove = MOVE_CCW;
+        if (_inMove == MOVE_CCW && newPosition > currentPosition && newPosition > _targetPos)
+            _inMove = MOVE_CW;
+
+        _stepper->moveTo(newPosition + _backlash * _inMove);
+        _targetPos = newPosition;
     }
 }
 
@@ -57,6 +108,9 @@ uint8_t MFStepper::getZeroPin()
 void MFStepper::setZero()
 {
     _stepper->setCurrentPosition(0);
+    if (_inMove == MOVE_CW) {
+        _stepper->moveTo(-_backlash);
+    }
 }
 
 void MFStepper::setZeroInReset()
@@ -80,6 +134,10 @@ void MFStepper::update()
 {
     _stepper->run();
     checkZeroPin();
+    if (_stepper->currentPosition() == (_targetPos + _backlash * _inMove) && _deactivateOutput) {
+        _stepper->disableOutputs();
+        _isStopped = true;
+    }
 }
 
 void MFStepper::reset()
@@ -99,14 +157,22 @@ void MFStepper::reset()
     _stepper->moveTo(-100000);
 }
 
-void MFStepper::setMaxSpeed(float speed)
+void MFStepper::setMaxSpeed(uint16_t speed)
 {
     _stepper->setMaxSpeed(speed);
 }
 
-void MFStepper::setAcceleration(float acceleration)
+void MFStepper::setAcceleration(uint16_t acceleration)
 {
     _stepper->setAcceleration(acceleration);
 }
 
+void MFStepper::powerSavingMode(bool state)
+{
+    if (state)
+        _stepper->disableOutputs();
+    else
+        _stepper->enableOutputs();
+}
+
 // MFStepper.cpp

src/MF_Stepper/MFStepper.h

@@ -11,17 +11,21 @@
 
 class MFStepper
 {
+#define STEPPER_SPEED 400
+#define STEPPER_ACCEL 800
+
 public:
     MFStepper();
-    void    attach(uint8_t pin1 = 1, uint8_t pin2 = 2, uint8_t pin3 = 3, uint8_t pin4 = 4, uint8_t btnPin1 = 0);
+    void    attach(uint8_t pin1 = 1, uint8_t pin2 = 2, uint8_t pin3 = 3, uint8_t pin4 = 4, uint8_t btnPin1 = 0, uint8_t mode = 0, int8_t backlash = 0, bool deactivateOutput = false);
     void    detach();
     void    update();
     void    reset();
     void    moveTo(long absolute);
-    void    setMaxSpeed(float speed);
-    void    setAcceleration(float acceleration);
+    void    setMaxSpeed(uint16_t speed);
+    void    setAcceleration(uint16_t acceleration);
     void    setZero();
     uint8_t getZeroPin();
+    void    powerSavingMode(bool state);
 
 private:
     bool          _initialized;
@@ -30,9 +34,13 @@ class MFStepper
     uint8_t       _zeroPin;
     uint8_t       _zeroPinState;
     long          _targetPos;
+    uint8_t       _backlash;
+    bool          _deactivateOutput;
+    bool          _inMove;
+    bool          _isStopped;
 
-    void          checkZeroPin(void);
-    void          setZeroInReset(void);
+    void checkZeroPin(void);
+    void setZeroInReset(void);
 };
 
 // MFStepper.h

src/MF_Stepper/Stepper.cpp

@@ -13,7 +13,7 @@ namespace Stepper
     MFStepper *steppers[MAX_STEPPERS];
     uint8_t    steppersRegistered = 0;
 
-    void Add(int pin1, int pin2, int pin3, int pin4, int btnPin1)
+    void Add(uint8_t pin1, uint8_t pin2, uint8_t pin3, uint8_t pin4, uint8_t btnPin1, uint8_t mode, int8_t backlash, bool deactivateOutput)
     {
         if (steppersRegistered == MAX_STEPPERS)
             return;
@@ -23,11 +23,10 @@ namespace Stepper
             cmdMessenger.sendCmd(kStatus, F("Stepper does not fit in Memory!"));
             return;
         }
+
         steppers[steppersRegistered] = new (allocateMemory(sizeof(MFStepper))) MFStepper;
-        steppers[steppersRegistered]->attach(pin1, pin2, pin3, pin4, btnPin1);
-        steppers[steppersRegistered]->setMaxSpeed(STEPPER_SPEED);
-        steppers[steppersRegistered]->setAcceleration(STEPPER_ACCEL);
-        // autoreset is not released yet
+        steppers[steppersRegistered]->attach(pin1, pin2, pin3, pin4, btnPin1, mode, backlash, deactivateOutput);
+
         if (btnPin1 > 0) {
             // this triggers the auto reset if we need to reset
             steppers[steppersRegistered]->reset();
@@ -54,8 +53,8 @@ namespace Stepper
 
     void OnSet()
     {
-        int  stepper = cmdMessenger.readInt16Arg();
-        long newPos  = cmdMessenger.readInt32Arg();
+        uint8_t stepper = (uint8_t)cmdMessenger.readInt16Arg();
+        long    newPos  = cmdMessenger.readInt32Arg();
 
         if (stepper >= steppersRegistered)
             return;
@@ -65,7 +64,7 @@ namespace Stepper
 
     void OnReset()
     {
-        int stepper = cmdMessenger.readInt16Arg();
+        uint8_t stepper = (uint8_t)cmdMessenger.readInt16Arg();
 
         if (stepper >= steppersRegistered)
             return;
@@ -75,20 +74,40 @@ namespace Stepper
 
     void OnSetZero()
     {
-        int stepper = cmdMessenger.readInt16Arg();
+        uint8_t stepper = (uint8_t)cmdMessenger.readInt16Arg();
 
         if (stepper >= steppersRegistered)
             return;
         steppers[stepper]->setZero();
         setLastCommandMillis();
     }
 
+    void OnSetSpeedAccel()
+    {
+        uint8_t  stepper  = (uint8_t)cmdMessenger.readInt16Arg();
+        uint16_t maxSpeed = cmdMessenger.readInt16Arg();
+        uint16_t maxAccel = cmdMessenger.readInt16Arg();
+
+        if (stepper >= steppersRegistered)
+            return;
+        steppers[stepper]->setMaxSpeed(maxSpeed);
+        steppers[stepper]->setAcceleration(maxAccel);
+    }
+
     void update()
     {
         for (uint8_t i = 0; i < steppersRegistered; i++) {
             steppers[i]->update();
         }
     }
+
+    void PowerSave(bool state)
+    {
+        for (uint8_t i = 0; i < steppersRegistered; ++i) {
+            steppers[i]->powerSavingMode(state);
+        }
+    }
+
 } // namespace
 
 // Stepper.cpp