first commit

include/motor.hpp

@@ -0,0 +1,64 @@
+#pragma once
+#include <Arduino.h>
+
+class Motor {
+    private: GPIO_TypeDef* gpio;
+    private: int pinMask, lastStepTime;
+    private: int sequence[4], currentStep;
+    private: int maxSteps, stepCount;
+
+    public: Motor(GPIO_TypeDef* gpio,
+        int pinOffset, int maxSteps) {
+        /* Initialize sequence and mask */
+        sequence[0] = 0x0003 << pinOffset;
+        sequence[1] = 0x0006 << pinOffset;
+        sequence[2] = 0x000C << pinOffset;
+        sequence[3] = 0x0009 << pinOffset;
+        pinMask = 0x000F << pinOffset;
+
+        /* Set initial values */
+        lastStepTime = millis();
+        this -> maxSteps = maxSteps;
+        this -> gpio = gpio;
+        currentStep = 0;
+        stepCount = 0;
+    }
+
+    public: void begin() {
+        /* A bad solution to a non-existing problem */
+        if(gpio == GPIOA) RCC->AHBENR |= RCC_AHBENR_GPIOAEN;
+        else if(gpio == GPIOB) RCC->AHBENR |= RCC_AHBENR_GPIOBEN;
+        else if(gpio == GPIOC) RCC->AHBENR |= RCC_AHBENR_GPIOCEN;
+        else if(gpio == GPIOD) RCC->AHBENR |= RCC_AHBENR_GPIODEN;
+        else if(gpio == GPIOF) RCC->AHBENR |= RCC_AHBENR_GPIOFEN;
+
+        /* Set initial values */
+        lastStepTime = millis();
+        gpio -> MODER = 0x5555555;
+        gpio -> ODR = 0;
+        currentStep = 0;
+        stepCount = 0;
+    }
+
+    private: void step(bool clockwise, int delay) {
+        /* Progress sequence and thus turn motor */
+        if(millis() - lastStepTime < delay) return;
+        int next = (currentStep + 1) % 4, back = (currentStep + 3) % 4;
+        gpio -> ODR = (gpio -> ODR & ~pinMask) | sequence[currentStep];
+        currentStep = clockwise ? next : back;
+        stepCount += clockwise ? 1 : -1;
+        lastStepTime = millis();
+    }
+
+    public: int angle() {
+        /* Calculate rotation angle */
+        float count = (float) stepCount;
+        return (count / maxSteps) * 360;
+    }
+
+    public: void update(int target, int delay) {
+        /* Rotate motor towards given angle */
+        if(angle() == target) return;
+        step(angle() < target, delay);
+    }
+};