leducp commented on PR #10902:
URL: https://github.com/apache/nuttx/pull/10902#issuecomment-1761553966
> > > @leducp really cool idea!
> > > Please include later an apps/example/stepper and some basic
documentation
> >
> >
> > Do you have any advice to show how to integrate it in a board? For now I
have a raw example in the rp2040_bringup.c file, but this is temporary and
shall not be merged. I could add snippet in a documentation file maybe? Or in
the example folder?
>
> Just some basic application example to control the direction, then number
of steps to each direction and also changing the micro-stepping values. Just
print some text before executing each action to let the user know what is
supposed to happen.
```c
int main(int argc, FAR char *argv[])
{
int rc;
if (argc < 2)
{
printf("usage: stepper count (positive: CW, negative: CCW)");
return 1;
}
int count = atoi(argv[1]);
int fd = open("/dev/stepper0", O_RDWR);
if (fd < 0)
{
printf("Oops: %s\n", strerror(errno));
exit(1);
}
printf("GO -> %d\n", count);
rc = ioctl(fd, STEPIOC_MICROSTEPPING, 8);
if (rc < 0)
{
printf("STEPIOC_MICROSTEPPING: %s\n", strerror(errno));
exit(2);
}
struct stepper_state_s state;
struct stepper_job_s job;
job.steps = count;
job.speed = 8000; /* step / s */
rc = write(fd, &job, sizeof(struct stepper_job_s)); /* blocking */
if (rc != sizeof(struct stepper_job_s))
{
printf("write: %s\n", strerror(errno));
}
rc = read(fd, &state, sizeof(struct stepper_state_s));
if (rc != sizeof(struct stepper_state_s))
{
printf("read: %s\n", strerror(errno));
}
printf("Current position: %ld\n", state.position);
return 0;
}
```
It may need a bit more refine but theses should do the trick I think.
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