fatigue_motion.hpp

Go to the documentation of this file.

 
#pragma once
 
#include "tmc51x0.hpp"
#include "test_config/esp32_tmc51x0_bus.hpp"
#include "test_config/esp32_tmc_mutex.hpp"  // Required for Esp32TmcMutex member variable
#include <cstdint>
#include <cstdbool>
#include <cmath>
 
namespace FatigueTest {
 
class FatigueTestMotion {
public:
    struct Status {
        bool running;                      
        bool bounded;                      
        float vmax_rpm;                   
        float amax_rev_s2;                
        float estimated_frequency_hz;     
        float min_degrees_from_center;    
        float max_degrees_from_center;    
        uint32_t current_cycles;          
        uint32_t target_cycles;           
        uint32_t dwell_min_ms;            
        uint32_t dwell_max_ms;            
        float global_min_degrees;         
        float global_max_degrees;         
    };
 
    FatigueTestMotion(tmc51x0::TMC51x0<Esp32SPI>* driver, Esp32TmcMutex& driver_mutex) noexcept;
 
    ~FatigueTestMotion() noexcept;
 
    void SetGlobalBounds(float min_bound_degrees, float max_bound_degrees) noexcept;
 
    void GetGlobalBoundsDegrees(float& min_degrees, float& max_degrees) const noexcept;
 
    void SetUnbounded(float current_position_degrees, float default_range_degrees = 175.0f) noexcept;
    
    // Local bounds and motion parameters
    bool SetLocalBoundsFromCenterDegrees(float min_degrees_from_center, float max_degrees_from_center, 
                                         float edge_backoff_deg = 3.5f) noexcept;
 
    void GetLocalBoundsFromCenterDegrees(float& min_degrees, float& max_degrees) const noexcept;
 
    bool SetMaxVelocity(float vmax_rpm) noexcept;
 
    float GetMaxVelocity() const noexcept;
 
    bool SetAcceleration(float amax_rev_s2) noexcept;
 
    float GetAcceleration() const noexcept;
 
    float GetEstimatedCycleFrequency() const noexcept;
 
    bool SetDwellTimes(uint32_t dwell_at_min_ms, uint32_t dwell_at_max_ms) noexcept;
 
    void GetDwellTimes(uint32_t& dwell_at_min_ms, uint32_t& dwell_at_max_ms) const noexcept;
    
    // Cycle control
    bool SetTargetCycles(uint32_t cycles) noexcept;
 
    uint32_t GetCurrentCycles() const noexcept;
 
    uint32_t GetTargetCycles() const noexcept;
 
    bool IsCycleComplete() const noexcept;
 
    void ResetCycles() noexcept;
    
    // Motion control
    bool Start() noexcept;
 
    void Pause() noexcept;
 
    void Stop() noexcept;
 
    bool IsRunning() const noexcept;
 
    void Update() noexcept;
    
    // Status
    Status GetStatus() const noexcept;
 
    bool IsBounded() const noexcept;
 
private:
    tmc51x0::TMC51x0<Esp32SPI>* driver_;
    
    // Bounds (all in degrees)
    float global_min_bound_;
    float global_max_bound_;
    float local_min_bound_;
    float local_max_bound_;
    float home_position_;
    bool bounded_;
    
    // Motion parameters (directly user-controlled)
    float amplitude_;
    float vmax_rpm_;                 // User-set max velocity (RPM) - direct to TMC5160
    float amax_rev_s2_;              // User-set acceleration (rev/s²) - direct to TMC5160
    uint32_t dwell_at_min_ms_;
    uint32_t dwell_at_max_ms_;
    bool running_;
    uint64_t start_time_us_;
    
    // Cycle tracking
    uint32_t target_cycles_;
    uint32_t current_cycles_;
    bool cycle_complete_;
    
    // State machine for point-to-point motion
    enum class MotionState { MOVING_TO_MIN, MOVING_TO_MAX, DWELL_AT_MIN, DWELL_AT_MAX, PAUSED, STOPPED };
    MotionState state_;
    uint32_t dwell_start_time_ms_;
    
    // Derived parameters (calculated from user inputs)
    float estimated_frequency_hz_;   // Estimated cycle frequency based on vmax/amax/distance
    
    // Thread safety - reference to external mutex that protects ALL driver SPI access
    Esp32TmcMutex& driver_mutex_;
    
    // Internal methods
    void RecalculateEstimatedFrequency() noexcept;
    void ClipLocalBoundsToGlobal() noexcept;
};
 
} // namespace FatigueTest
 
// Include implementation
// Note: esp32_tmc_mutex.hpp is already included above (required for Esp32TmcMutex member variable)
#ifndef FATIGUE_MOTION_HEADER_INCLUDED
#define FATIGUE_MOTION_HEADER_INCLUDED
// NOLINTNEXTLINE(bugprone-suspicious-include) - Intentional: implementation file
#include "fatigue_motion_impl.hpp"
#undef FATIGUE_MOTION_HEADER_INCLUDED
#endif // FATIGUE_MOTION_HEADER_INCLUDED