refactoring codebase

arduino_code/Test/src/motor.cpp

@@ -0,0 +1,134 @@
+#include "motor.h"
+#include "config.h"
+#include <driver/timer.h>
+
+volatile bool motor_enabled_logic = false;
+volatile unsigned long current_step_interval_us = 100000;
+volatile unsigned long total_steps = 0;
+
+static int target_rpm = 0;
+static int current_rpm_display = 0;
+
+static hw_timer_t *stepTimer = NULL;
+static bool is_ramping = false;
+static unsigned long ramp_start_ms = 0;
+static float start_speed_sps = 0;
+static float end_speed_sps = 0;
+
+// --- ISR ---
+void IRAM_ATTR onStepTimer() {
+    if (digitalRead(EN_PIN) == LOW && motor_enabled_logic) {
+        GPIO.out_w1ts = (1 << STEP_PIN);
+        ets_delay_us(1);
+        GPIO.out_w1tc = (1 << STEP_PIN);
+        total_steps++;
+    }
+}
+
+unsigned long getStepIntervalUs() {
+    return current_step_interval_us;
+}
+
+// --- Private Helpers ---
+static void updateRamp() {
+    unsigned long now = millis();
+    unsigned long elapsed = now - ramp_start_ms;
+
+    if (elapsed >= RAMP_DURATION_MS) {
+        is_ramping = false;
+        current_step_interval_us = (end_speed_sps > 0) ? (1000000UL / (unsigned long)end_speed_sps) : 100000;
+        
+        if (end_speed_sps <= 0) {
+            motor_enabled_logic = false;
+        } else {
+            motor_enabled_logic = true;
+        }
+        
+        timerAlarmWrite(stepTimer, current_step_interval_us, true);
+        return;
+    }
+
+    float progress = (float)elapsed / RAMP_DURATION_MS;
+    float current_sps = start_speed_sps + (end_speed_sps - start_speed_sps) * progress;
+    if (current_sps < 1) current_sps = 1;
+
+    unsigned long new_interval = 1000000UL / (unsigned long)current_sps;
+    if (new_interval < 10) new_interval = 10;
+
+    current_step_interval_us = new_interval;
+    timerAlarmWrite(stepTimer, new_interval, true);
+
+    unsigned long total_steps_per_rev = (unsigned long)STEPS_PER_REVOLUTION * MICROSTEP_FACTOR;
+    current_rpm_display = ((unsigned long)current_sps * 60) / total_steps_per_rev;
+}
+
+// --- Public API ---
+void motorInit() {
+    pinMode(DIR_PIN, OUTPUT);
+    pinMode(STEP_PIN, OUTPUT);
+    pinMode(EN_PIN, OUTPUT);
+    
+    digitalWrite(EN_PIN, HIGH);
+    digitalWrite(DIR_PIN, HIGH);
+    digitalWrite(STEP_PIN, LOW);
+
+    stepTimer = timerBegin(0, 80, true);
+    timerAttachInterrupt(stepTimer, &onStepTimer, true);
+    timerAlarmWrite(stepTimer, 100000, true);
+    timerAlarmEnable(stepTimer);
+}
+
+void motorLoop() {
+    if (is_ramping) {
+        updateRamp();
+    }
+}
+
+void resetSteps() {
+    taskDISABLE_INTERRUPTS();
+    total_steps = 0;
+    taskENABLE_INTERRUPTS();
+}
+
+unsigned long getMotorSteps() {
+    unsigned long steps;
+    taskDISABLE_INTERRUPTS();
+    steps = total_steps;
+    taskENABLE_INTERRUPTS();
+    return steps;
+}
+
+int getCurrentRPM() {
+    return current_rpm_display;
+}
+
+bool isMotorRunning() {
+    return (motor_enabled_logic && current_step_interval_us < 100000);
+}
+
+void setTargetRPM(int rpm) {
+    target_rpm = rpm;
+    
+    // Сброс шагов при старте с нуля
+    if (rpm > 0 && current_rpm_display < 5) {
+        resetSteps();
+    }
+
+    unsigned long total_steps_per_rev = (unsigned long)STEPS_PER_REVOLUTION * MICROSTEP_FACTOR;
+    
+    if (current_step_interval_us > 0 && current_step_interval_us < 100000) {
+        start_speed_sps = 1000000.0f / current_step_interval_us;
+    } else {
+        start_speed_sps = 0;
+    }
+
+    if (rpm > 0) {
+        end_speed_sps = ((float)rpm * total_steps_per_rev) / 60.0f;
+    } else {
+        end_speed_sps = 0;
+    }
+
+    ramp_start_ms = millis();
+    is_ramping = true;
+    motor_enabled_logic = true;
+}