Multichannel Stepper speed api based on waveform generator

stepperapi.cpp

#include "stepperapi.h" 
#include "Arduino.h" 
#include "core_esp8266_waveform.h"

static bool
stepperStartCore(int pinPulse, uint32_t analogFreq) 
{

  if (analogFreq == 0) 
    return stopWaveform(pinPulse); //for frequency = 0, stop the pulse train
 
  if (analogFreq > 40000) 
    analogFreq = 40000; //clamp to 40KHz at the high end

  
  uint32_t analogPeriod = microsecondsToClockCycles(1000000UL) / analogFreq;

  constexpr uint32_t analogScale = 1023;  //set up in setup(), 255 default if not set up

  uint32_t high = analogPeriod / (2 * analogScale);
  uint32_t low = analogPeriod - high;
  pinMode(pinPulse, OUTPUT);
  if ((low == 0) || (high == 0))
    return false; //error
 
  return startWaveformClockCycles(pinPulse, high, low, 0); //return whether start succeeded
} 

bool
stepperStart(int pinEn, int pinPulse, uint32_t analogFreq) 
{
  //enable stepper
  pinMode(pinEn, OUTPUT);
  digitalWrite(pinEn, HIGH);

  return stepperStartCore(pinPulse, analogFreq);
} 

bool
stepperStop(int pinEn, int pinPulse) 
{
  if(!stopWaveform(pinPulse))
    return false;

  //Disable stepper 
  pinMode(pinEn, OUTPUT);
  digitalWrite(pinEn, LOW);
  return true;
} 

bool 
stepperUpdateSpeed(int pinPulse, uint32_t newAnalogFreq) 
{
  //update directly, no need to stop (see analogWrite() function body)
  return stepperStartCore(pinPulse, newAnalogFreq);
} 

stepperapi.h

#ifndef __STEPPERAPI_H__
#define __STEPPERAPI_H__

#include <cstdint>

bool
stepperStart(int pinEn, int pinPulse, uint32_t analogFreq);
bool
stepperStop(int pinEn, int pinPulse);
bool 
stepperUpdateSpeed(int pinPulse, uint32_t newAnalogFreq); 

#endif

stepperclass.h

#ifndef __STEPPERCLASS_H__
#define __STEPPERCLASS_H__

#include "stepperapi.h"

class Stepper
{
private:
  int pinEn;
  int pinPulse;
  bool running;
  
public:
  Stepper(int pinEn, int pinPulse)
    : pinEn(pinEn), 
      pinPulse(pinPulse),
      running(false)
  {}

  //disables the pins
  ~Stepper()
  {
    if(running)
    {
      stepperStop(pinEn, pinPulse);
      releasePins();
    }
  }

  //Enables the pins for OUTPUT
  bool start(uint32_t speed)
  {
    if(stepperStart(pinEn, pinPulse, speed))
    {
      running = true;
      return true;
    }
    return false;
  }

  //disables the stepper (En=false)
  //Does not release the pins, i.e.: they remain in OUTPUT mode
  bool stop()
  {
    if(stepperStop(pinEn, pinPulse)
    {
      running = false;
      return true;
    }
    return false;
  }
  
  //speed=0 stops the pulse without doing EN=false
  bool updateSpeed(uint32_t speed)
  {
    return stepperUpdateSpeed(pinPulse, speed);
  }
  
  //Disables the pins, i.e. they go back to INPUT mode and therefore float
  void releasePins()
  {
      pinMode(pinEn, INPUT);
      pinMode(pinPulse, INPUT);
  }
  
  bool isRunning()
  {
    return running;
  }
};

#endif

stepperwaveformgenerator.ino

#include "Arduino.h" 
#include "stepperclass.h"

namespace
{
constexpr int pinEnS1 = 5;
constexpr int pinPulseS1 = 4;
constexpr int pinEnS2 = 0;
constexpr int pinPulseS2 = 2;
constexpr int pinEnS3 = 16;
constexpr int pinPulseS3 = 13;

constexpr int pinAlarm = 12;
constexpr int pinLinkageSensor = 14;
constexpr int pinRelay = 15;

Stepper stepper1(pinEnS1, pinPulseS1);
Stepper stepper2(pinEnS2, pinPulseS2);
Stepper stepper3(pinEnS3, pinPulseS3);

bool startFlag1 = false;
bool startFlag2 = false;
bool startFlag3 = false;
bool stopFlag1 = false;
bool stopFlag2 = false;
bool stopFlag3 = false;
bool updateFlag1 = false;
bool updateFlag2 = false;
bool updateFlag3 = false;

//The unit of these speeds is Hz, i.e.: pulses/second
uint32 speed1;
uint32 speed2;
uint32 speed3;
  
}

void
handleStepper(Stepper &stepper, bool &startFlag, bool &stopFlag, bool &updateFlag, uint32_t speed)
{
  if(startFlag) //from ui
  {
    if(!stepper.start(speed)) 
    {
       //error starting
    }
    startFlag = false;
  } 
  if(stopFlag) //from ui
  {
    if(!stepper.stop())
    {
       //error stopping 
    }
    stopFlag = false;
  } 
  if(updateFlag) //from ui
  {
    if(!stepper.updateSpeed(speed))
    {
      //error updating speed 
    }
    updateFlag = false;
  }  
}


void
setup() 
{
  //set up wifi, webserver, etc
}

void
loop() 
{
  //startFlag, stopFlag, speed would be initially set from a webserver handler
  //updateFlag and speed would then be set whenever a speed update is available,
  //e.g.: gps gives new position => calculate speed set point in Hz (speedX = setPointVariableX / 10) => updateFlag = true
  
  handleStepper(stepper1, startFlag1, stopFlag1, updateFlag1, speed1);
  handleStepper(stepper2, startFlag2, stopFlag2, updateFlag2, speed2);
  handleStepper(stepper3, startFlag3, stopFlag3, updateFlag3, speed3);
} 

Updated:

• to stop a stepper from moving, call stepper.updateSpeed(0)
• to stop using a stepper, call stepper.stop(), this sets pinEn LOW
• calling stepper.updateSpeed() should now have the pulse train change smoothly on the next low->high transition

Found a coupkle of typo's but this one is out of my league.

Arduino: 1.8.12 (Linux), Board: "LOLIN(WEMOS) D1 R2 & mini, 80 MHz, Flash, Legacy (new can return nullptr), All SSL ciphers (most compatible), 4MB (FS:3MB OTA:~512KB), v2 Lower Memory, Disabled, None, Only Sketch, 921600"

/home/chris/Arduino/libraries/stepperapi/stepperapi.cpp: In function 'bool stepperStartCore(int, uint32_t)':
/home/chris/Arduino/libraries/stepperapi/stepperapi.cpp:10:33: error: 'stopWaveForm' was not declared in this scope
return stopWaveForm(pinPulse); //for frequency = 0, stop the pulse train
^
exit status 1
Error compiling for board LOLIN(WEMOS) D1 R2 & mini.

This report would have more information with
"Show verbose output during compilation"
option enabled in File -> Preferences.

also a typo: F->f
what are the others?

line 43 in .ino needs another )