Merge branch 'brake' into dev - brake relay support
brake-mode support in BRAKE state relays are powered that connects a brake resistor (not tested with actual motors) Also brake mode is currently not used at all
This commit is contained in:
jonny_jr9
commit
66fc0cf4e9
@ -1,3 +1,4 @@
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#include "config.hpp"
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//===================================
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@ -6,8 +7,9 @@
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//--- configure left motor (hardware) ---
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single100a_config_t configDriverLeft = {
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.gpio_pwm = GPIO_NUM_26,
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.gpio_a = GPIO_NUM_6,
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.gpio_a = GPIO_NUM_4,
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.gpio_b = GPIO_NUM_16,
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.gpio_brakeRelay = GPIO_NUM_5, //power mosfet 2
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.ledc_timer = LEDC_TIMER_0,
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.ledc_channel = LEDC_CHANNEL_0,
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.aEnabledPinState = false, //-> pins inverted (mosfets)
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@ -21,6 +23,7 @@ single100a_config_t configDriverRight = {
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.gpio_pwm = GPIO_NUM_27,
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.gpio_a = GPIO_NUM_2,
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.gpio_b = GPIO_NUM_15,
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.gpio_brakeRelay = GPIO_NUM_18, //power mosfet 1
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.ledc_timer = LEDC_TIMER_1,
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.ledc_channel = LEDC_CHANNEL_1,
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.aEnabledPinState = false, //-> pins inverted (mosfets)
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@ -35,7 +38,7 @@ single100a_config_t configDriverRight = {
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motorctl_config_t configMotorControlLeft = {
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.msFadeAccel = 1900, //acceleration of the motor (ms it takes from 0% to 100%)
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.msFadeDecel = 1000, //deceleration of the motor (ms it takes from 100% to 0%)
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.currentLimitEnabled = true,
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.currentLimitEnabled = false,
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.currentSensor_adc = ADC1_CHANNEL_0, //GPIO36
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.currentSensor_ratedCurrent = 50,
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.currentMax = 30,
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@ -46,7 +49,7 @@ motorctl_config_t configMotorControlLeft = {
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motorctl_config_t configMotorControlRight = {
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.msFadeAccel = 1900, //acceleration of the motor (ms it takes from 0% to 100%)
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.msFadeDecel = 1000, //deceleration of the motor (ms it takes from 100% to 0%)
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.currentLimitEnabled = true,
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.currentLimitEnabled = false,
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.currentSensor_adc = ADC1_CHANNEL_3, //GPIO39
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.currentSensor_ratedCurrent = 50,
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.currentMax = 30,
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@ -70,7 +73,7 @@ fan_config_t configCooling = {
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//=================================
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//===== create global object s =====
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//===== create global objects =====
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//=================================
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//TODO outsource global variables to e.g. global.cpp and only config options here?
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@ -28,12 +28,17 @@ extern "C"
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//disables other functionality
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//#define UART_TEST_ONLY
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//==========================
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//======= BRAKE TEST =======
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//==========================
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//only run brake-test (ignore uart input)
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#define BRAKE_TEST_ONLY
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//tag for logging
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static const char * TAG = "main";
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#ifndef UART_TEST_ONLY
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//====================================
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//========== motorctl task ===========
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@ -92,8 +97,8 @@ void setLoglevels(void){
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//--- set loglevel for individual tags ---
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esp_log_level_set("main", ESP_LOG_INFO);
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esp_log_level_set("buzzer", ESP_LOG_ERROR);
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//esp_log_level_set("motordriver", ESP_LOG_INFO);
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//esp_log_level_set("motor-control", ESP_LOG_DEBUG);
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esp_log_level_set("motordriver", ESP_LOG_VERBOSE);
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esp_log_level_set("motor-control", ESP_LOG_INFO);
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//esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
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//esp_log_level_set("joystickCommands", ESP_LOG_DEBUG);
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esp_log_level_set("button", ESP_LOG_INFO);
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@ -150,15 +155,52 @@ extern "C" void app_main(void) {
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//-------------------------------------------
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//--- create tasks for uart communication ---
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//-------------------------------------------
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#ifndef BRAKE_TEST_ONLY
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uart_init();
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xTaskCreate(task_uartReceive, "task_uartReceive", 4096, NULL, 10, NULL);
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xTaskCreate(task_uartSend, "task_uartSend", 4096, NULL, 10, NULL);
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#endif
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//--- main loop ---
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//does nothing except for testing things
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while(1){
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vTaskDelay(500 / portTICK_PERIOD_MS);
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#ifdef BRAKE_TEST_ONLY
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//test relays at standstill
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ESP_LOGW("brake-test", "test relays via motorctl");
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//turn on
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motorRight.setTarget(motorstate_t::BRAKE, 0);
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vTaskDelay(500 / portTICK_PERIOD_MS);
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motorRight.setTarget(motorstate_t::BRAKE, 0);
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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//turn off
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motorRight.setTarget(motorstate_t::IDLE, 0);
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vTaskDelay(500 / portTICK_PERIOD_MS);
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motorRight.setTarget(motorstate_t::IDLE, 0);
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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//go forward and brake
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ESP_LOGW("brake-test", "go forward 30%% then brake");
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motorRight.setTarget(motorstate_t::FWD, 30);
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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motorRight.setTarget(motorstate_t::BRAKE, 0);
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vTaskDelay(3000 / portTICK_PERIOD_MS);
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//brake partial
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ESP_LOGW("brake-test", "go forward 30%% then brake partial 10%%, hold for 5sec");
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motorRight.setTarget(motorstate_t::FWD, 30);
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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motorRight.setTarget(motorstate_t::BRAKE, 10);
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vTaskDelay(5000 / portTICK_PERIOD_MS);
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//reset to idle
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motorRight.setTarget(motorstate_t::IDLE, 0);
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#endif
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//--- test controlledMotor --- (ramp)
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// //brake for 1 s
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@ -5,6 +5,7 @@
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//tag for logging
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static const char * TAG = "motor-control";
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#define TIMEOUT_IDLE_WHEN_NO_COMMAND 8000
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//=============================
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//======== constructor ========
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@ -79,7 +80,7 @@ void controlledMotor::handle(){
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//--- receive commands from queue ---
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if( xQueueReceive( commandQueue, &commandReceive, ( TickType_t ) 0 ) )
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{
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ESP_LOGD(TAG, "Read command from queue: state=%s, duty=%.2f", motorstateStr[(int)commandReceive.state], commandReceive.duty);
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ESP_LOGI(TAG, "Read command from queue: state=%s, duty=%.2f", motorstateStr[(int)commandReceive.state], commandReceive.duty);
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state = commandReceive.state;
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dutyTarget = commandReceive.duty;
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receiveTimeout = false;
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@ -92,7 +93,8 @@ void controlledMotor::handle(){
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case motorstate_t::BRAKE:
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//update state
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state = motorstate_t::BRAKE;
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dutyTarget = 0;
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//dutyTarget = 0;
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dutyTarget = fabs(commandReceive.duty);
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break;
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case motorstate_t::IDLE:
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dutyTarget = 0;
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@ -108,11 +110,12 @@ void controlledMotor::handle(){
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//--- timeout, no data ---
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//turn motors off if no data received for long time (e.g. no uart data / control offline)
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if ((esp_log_timestamp() - timestamp_commandReceived) > 3000 && !receiveTimeout){
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//TODO no timeout when braking?
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if ((esp_log_timestamp() - timestamp_commandReceived) > TIMEOUT_IDLE_WHEN_NO_COMMAND && !receiveTimeout){
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receiveTimeout = true;
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state = motorstate_t::IDLE;
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dutyTarget = 0;
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ESP_LOGE(TAG, "TIMEOUT, no target data received for more than 3s -> switch to IDLE");
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ESP_LOGE(TAG, "TIMEOUT, no target data received for more than %ds -> switch to IDLE", TIMEOUT_IDLE_WHEN_NO_COMMAND/1000);
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}
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//--- calculate increment ---
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@ -131,14 +134,15 @@ void controlledMotor::handle(){
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dutyIncrementDecel = 100;
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}
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//--- BRAKE ---
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//brake immediately, update state, duty and exit this cycle of handle function
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if (state == motorstate_t::BRAKE){
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motor.set(motorstate_t::BRAKE, 0);
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dutyNow = 0;
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return; //no need to run the fade algorithm
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}
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//--- BRAKE ---
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//brake immediately, update state, duty and exit this cycle of handle function
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if (state == motorstate_t::BRAKE){
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ESP_LOGD(TAG, "braking - skip fading");
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motor.set(motorstate_t::BRAKE, dutyTarget);
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//dutyNow = 0;
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return; //no need to run the fade algorithm
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}
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//--- calculate difference ---
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@ -1,4 +1,6 @@
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#include "motordrivers.hpp"
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#include "esp_log.h"
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#include "types.hpp"
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//TODO: move from ledc to mcpwm?
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//https://docs.espressif.com/projects/esp-idf/en/v4.3/esp32/api-reference/peripherals/mcpwm.html#
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@ -10,6 +12,8 @@
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//tag for logging
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static const char * TAG = "motordriver";
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//ms to wait in IDLE before BRAKE until relay actually switched
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#define BRAKE_RELAY_DELAY_MS 300
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//====================================
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@ -61,11 +65,13 @@ void single100a::init(){
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gpio_set_direction(config.gpio_a, GPIO_MODE_OUTPUT);
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gpio_pad_select_gpio(config.gpio_b);
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gpio_set_direction(config.gpio_b, GPIO_MODE_OUTPUT);
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gpio_pad_select_gpio(config.gpio_brakeRelay);
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gpio_set_direction(config.gpio_brakeRelay, GPIO_MODE_OUTPUT);
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//--- calculate max duty according to selected resolution ---
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dutyMax = pow(2, ledc_timer.duty_resolution) -1;
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ESP_LOGI(TAG, "initialized single100a driver");
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ESP_LOGI(TAG, "resolution=%dbit, dutyMax value=%d, resolution=%.4f %%", ledc_timer.duty_resolution, dutyMax, 100/(float)dutyMax);
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ESP_LOGW(TAG, "initialized single100a driver");
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ESP_LOGW(TAG, "resolution=%dbit, dutyMax value=%d, resolution=%.4f %%", ledc_timer.duty_resolution, dutyMax, 100/(float)dutyMax);
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}
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@ -80,7 +86,7 @@ void single100a::set(motorstate_t state_f, float duty_f){
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uint32_t dutyScaled;
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if (duty_f > 100) { //target duty above 100%
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dutyScaled = dutyMax;
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} else if (duty_f <= 0) { //target at or below 0%
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} else if (duty_f < 0) { //target at or below 0%
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state_f = motorstate_t::IDLE;
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dutyScaled = 0;
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} else { //target duty 0-100%
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@ -88,7 +94,18 @@ void single100a::set(motorstate_t state_f, float duty_f){
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dutyScaled = duty_f / 100 * dutyMax;
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}
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ESP_LOGV(TAG, "target-state=%s, duty=%d/%d, duty_input=%.3f%%", motorstateStr[(int)state_f], dutyScaled, dutyMax, duty_f);
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//TODO: only when previous mode was BRAKE?
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if (state_f != motorstate_t::BRAKE){
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//reset brake wait state
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brakeWaitingForRelay = false;
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//turn of brake relay
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gpio_set_level(config.gpio_brakeRelay, 0);
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}
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//put the single100a h-bridge module in the desired state update duty-cycle
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//TODO maybe outsource mode code from once switch case? e.g. idle() brake()...
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switch (state_f){
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case motorstate_t::IDLE:
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ledc_set_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel, dutyScaled);
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@ -100,13 +117,37 @@ void single100a::set(motorstate_t state_f, float duty_f){
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gpio_set_level(config.gpio_a, config.aEnabledPinState);
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gpio_set_level(config.gpio_b, config.bEnabledPinState);
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break;
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case motorstate_t::BRAKE:
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ledc_set_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel, 0);
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ledc_update_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel);
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//brake:
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gpio_set_level(config.gpio_a, !config.aEnabledPinState);
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gpio_set_level(config.gpio_b, !config.bEnabledPinState);
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break;
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case motorstate_t::BRAKE:
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//prevent full short (no brake resistors) due to slow relay, also reduces switching load
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if (!brakeWaitingForRelay){
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ESP_LOGW(TAG, "BRAKE: turned on relay, waiting in IDLE for %d ms, then apply brake", BRAKE_RELAY_DELAY_MS);
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//switch driver to IDLE for now
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gpio_set_level(config.gpio_a, config.aEnabledPinState);
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gpio_set_level(config.gpio_b, config.bEnabledPinState);
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//start brake relay
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gpio_set_level(config.gpio_brakeRelay, 1);
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timestamp_brakeRelayPowered = esp_log_timestamp();
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brakeWaitingForRelay = true;
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}
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//check if delay for relay to switch has passed
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else if ((esp_log_timestamp() - timestamp_brakeRelayPowered) > BRAKE_RELAY_DELAY_MS) {
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ESP_LOGD(TAG, "applying brake with brake-resistors at duty=%.2f%%", duty_f);
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//switch driver to BRAKE
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gpio_set_level(config.gpio_a, !config.aEnabledPinState);
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gpio_set_level(config.gpio_b, !config.bEnabledPinState);
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//apply duty
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//FIXME switch between BREAK and IDLE with PWM and ignore pwm-pin? (needs test)
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ledc_set_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel, dutyScaled);
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ledc_update_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel);
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} else {
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//waiting... stay in IDLE
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ESP_LOGD(TAG, "waiting for brake relay to close (IDLE)...");
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gpio_set_level(config.gpio_a, config.aEnabledPinState);
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gpio_set_level(config.gpio_b, config.bEnabledPinState);
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}
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break;
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case motorstate_t::FWD:
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ledc_set_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel, dutyScaled);
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ledc_update_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel);
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@ -114,6 +155,7 @@ void single100a::set(motorstate_t state_f, float duty_f){
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gpio_set_level(config.gpio_a, config.aEnabledPinState);
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gpio_set_level(config.gpio_b, !config.bEnabledPinState);
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break;
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case motorstate_t::REV:
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ledc_set_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel, dutyScaled);
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ledc_update_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel);
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@ -122,5 +164,4 @@ void single100a::set(motorstate_t state_f, float duty_f){
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gpio_set_level(config.gpio_b, config.bEnabledPinState);
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break;
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}
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ESP_LOGD(TAG, "set module to state=%s, duty=%d/%d, duty_input=%.3f%%", motorstateStr[(int)state_f], dutyScaled, dutyMax, duty_f);
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}
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@ -29,6 +29,7 @@ typedef struct single100a_config_t {
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gpio_num_t gpio_pwm;
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gpio_num_t gpio_a;
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gpio_num_t gpio_b;
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gpio_num_t gpio_brakeRelay;
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ledc_timer_t ledc_timer;
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ledc_channel_t ledc_channel;
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bool aEnabledPinState;
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@ -59,4 +60,6 @@ class single100a {
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single100a_config_t config;
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uint32_t dutyMax;
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motorstate_t state = motorstate_t::IDLE;
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bool brakeWaitingForRelay = false;
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uint32_t timestamp_brakeRelayPowered;
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};
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