Initial commit

.gitignore

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+
+main
+
+# Created by https://www.toptal.com/developers/gitignore/api/c++
+# Edit at https://www.toptal.com/developers/gitignore?templates=c++
+
+### C++ ###
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+# End of https://www.toptal.com/developers/gitignore/api/c++

drivers/a4988.cpp

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+#include <include/a4988.h>
+#include <pigpio.h>
+#include <queue>
+#include <cmath>
+#include <thread>
+
+#include <iostream>
+
+namespace simon {
+  c_allegro_4988::c_allegro_4988(a4988_settings_t* pset)
+    : m_pset(pset), m_initialized(false), m_alive(true)
+  {
+
+  }
+  void c_allegro_4988::run(void)
+  {
+    if (!m_initialized) {
+      initialize();
+    }
+    while(m_alive)
+    {
+      std::cout << "In thread" << std::endl;
+      if (!m_queue.empty()) {
+        auto& move = m_queue.front();
+        if (!set_pwm_freq(std::round(1e6/move.period_us))) {
+          // TODO: proper error handling
+        }
+        gpioHardwarePWM(m_pset->gpio_step, m_pwm_freq, PI_HW_PWM_RANGE/2);
+        gpioWrite(m_pset->gpio_dir, move.dir);
+        std::cout << move.period_us << " - " << move.steps << std::endl;
+        auto t_sleep = move.period_us*move.steps;
+        std::this_thread::sleep_for(std::chrono::microseconds(t_sleep));
+        gpioHardwarePWM(m_pset->gpio_step, m_pwm_freq, 0);
+        m_queue.pop();
+      }
+      else {
+        m_alive = false;
+      }
+    }
+  }
+  void c_allegro_4988::post(move_t move)
+  {
+    m_queue.push(move);
+  }
+  void c_allegro_4988::initialize(void)
+  {
+    // TODO: proper error management throwing exceptions
+    if(m_pset == nullptr) {
+      return;
+    }
+    // Configure clock source for PWM
+    gpioCfgClock(CFG_SAMPLE_RATE_US, CFG_PERIPHERAL_SRC_PCM, CFG_DEPRECATED_ARG);
+    // Initialize pigpio library
+    gpioInitialise();
+    // Configure as outputs
+    gpioSetMode(m_pset->gpio_en, PI_OUTPUT);
+    gpioSetMode(m_pset->gpio_dir, PI_OUTPUT);
+    // Initialize outputs
+    enable();
+    gpioWrite(m_pset->gpio_dir, 0);
+    // Set PWM to 0
+    m_pwm_freq = 1000;
+    gpioHardwarePWM(m_pset->gpio_step, m_pwm_freq, 0);
+    m_initialized = true;
+  }
+  int c_allegro_4988::enable(void)
+  {
+    // TODO: proper error handling
+    gpioWrite(m_pset->gpio_en, 0);
+    return 0;
+  }
+  int c_allegro_4988::disable(void)
+  {
+    // TODO: proper error handling
+    gpioWrite(m_pset->gpio_en, 1);
+    return 0;
+  }
+  int c_allegro_4988::set_pwm_freq(const unsigned pwm_freq)
+  {
+    if (pwm_freq > PI_HW_PWM_MAX_FREQ) {
+      return 1;
+    }
+    m_pwm_freq = pwm_freq;
+    return 0;
+  }
+
+}

include/a4988.h

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+#ifndef INCLUDED_DRIVER_ALLEGRO_4988
+#define INCLUDED_DRIVER_ALLEGRO_4988
+
+#define CFG_SAMPLE_RATE_US      5
+#define CFG_PERIPHERAL_SRC_PCM  1
+#define CFG_DEPRECATED_ARG      0
+
+#include <queue>
+
+namespace simon {
+
+  typedef struct
+  {
+      const unsigned gpio_en;
+      const unsigned gpio_step;
+      const unsigned gpio_dir;
+      const bool gpio_microsteps[3];
+    } a4988_settings_t;
+
+  typedef struct
+  {
+    unsigned steps;
+    bool dir;
+    unsigned period_us;
+  } move_t;
+
+
+  class c_allegro_4988
+  {
+    public:
+      c_allegro_4988(a4988_settings_t* set);
+      int enable(void);
+      int disable(void);
+      void post(move_t move);
+      void run(void);
+    private:
+      a4988_settings_t* m_pset;
+      bool m_initialized;
+      std::queue<move_t> m_queue;
+      unsigned m_pwm_freq;
+      bool m_alive;
+    private:
+      void initialize(void);
+      int set_pwm_freq(const unsigned pwm_freq);
+  };
+
+} // namespace simon
+
+#endif /*INCLUDED_DRIVER_ALLEGRO_4988*/

main.cpp

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+#include <iostream>
+#include <include/a4988.h>
+#include <thread>
+#include <functional>
+
+int main()
+{
+  using namespace simon;
+  a4988_settings_t a4988_set{
+    .gpio_en = 17,
+    .gpio_step = 18,
+    .gpio_dir = 22,
+    .gpio_microsteps{
+      true, true, true
+    }
+  };
+  c_allegro_4988 a4988(&a4988_set);
+  move_t move{32768, true, 100};
+  std::thread t1(std::bind(&c_allegro_4988::run, &a4988));
+  a4988.post(move);
+  t1.join();
+  std::cout << "Hello camera" << std::endl;
+  return 0;
+}