bc014befb7
Major changes in motorctl and control to optimize performance
by freeing unnecessary cpu usage by motorctl task
Needs testing on actual hardware!
motorctl:
- slow down handle loop when duty is at target (wait for new command)
- create separate task for each motor
- setTarget method also accepts motorCommand directly now
control.cpp:
- redurce stress on motorctl by removing unnecessary commands
- set motors to idle at mode change only, instead of every iteration (IDLE, MENU, ADJUST)
- HTTP, JOYSTICK: only update motors when stick data actually changed
- simplify code
- add method for idling both motors
- use motorcommands directly in setTarget()
http:cpp:
- dont block control task with getData() method
- handle timeout independent of one queue event
- prevents unresponsive system for http-timeout when changing mode from HTTP
109 lines
4.1 KiB
C++
109 lines
4.1 KiB
C++
#pragma once
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extern "C"
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{
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/queue.h"
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#include "esp_log.h"
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#include "esp_timer.h"
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#include "nvs_flash.h"
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#include "nvs.h"
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}
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#include "motordrivers.hpp"
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#include "currentsensor.hpp"
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//=======================================
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//====== struct/type declarations ======
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//=======================================
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//outsourced to common/types.hpp
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#include "types.hpp"
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typedef void (*motorSetCommandFunc_t)(motorCommand_t cmd);
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//===================================
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//====== controlledMotor class ======
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//===================================
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class controlledMotor {
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public:
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//--- functions ---
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controlledMotor(motorSetCommandFunc_t setCommandFunc, motorctl_config_t config_control, nvs_handle_t * nvsHandle); //constructor with structs for configuring motordriver and parameters for control TODO: add configuration for currentsensor
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void handle(); //controls motor duty with fade and current limiting feature (has to be run frequently by another task)
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void setTarget(motorstate_t state_f, float duty_f = 0); //adds target command to queue for handle function
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void setTarget(motorCommand_t command);
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motorCommand_t getStatus(); //get current status of the motor (returns struct with state and duty)
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uint32_t getFade(fadeType_t fadeType); //get currently set acceleration or deceleration fading time
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uint32_t getFadeDefault(fadeType_t fadeType); //get acceleration or deceleration fading time from config
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void setFade(fadeType_t fadeType, bool enabled); //enable/disable acceleration or deceleration fading
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void setFade(fadeType_t fadeType, uint32_t msFadeNew); //set acceleration or deceleration fade time
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bool toggleFade(fadeType_t fadeType); //toggle acceleration or deceleration on/off
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float getCurrentA() {return cSensor.read();}; //read current-sensor of this motor (Ampere)
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char * getName() const {return config.name;};
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//TODO set current limit method
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private:
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//--- functions ---
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void init(); // creates command-queue and initializes config values
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void loadAccelDuration(void); // load stored value for msFadeAccel from nvs
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void loadDecelDuration(void);
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void writeAccelDuration(uint32_t newValue); // write value to nvs and update local variable
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void writeDecelDuration(uint32_t newValue);
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//--- objects ---
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//queue for sending commands to the separate task running the handle() function very fast
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QueueHandle_t commandQueue = NULL;
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//current sensor
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currentSensor cSensor;
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//function pointer that sets motor duty (driver)
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motorSetCommandFunc_t motorSetCommand;
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//--- variables ---
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//TODO add name for logging?
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//struct for storing control specific parameters
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motorctl_config_t config;
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motorstate_t state = motorstate_t::IDLE;
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//handle for using the nvs flash (persistent config variables)
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nvs_handle_t * nvsHandle;
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float currentMax;
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float currentNow;
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float dutyTarget = 0;
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float dutyNow = 0;
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float dutyIncrementAccel;
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float dutyIncrementDecel;
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float dutyDelta;
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uint32_t timeoutWaitForCommand = 0;
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uint32_t msFadeAccel;
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uint32_t msFadeDecel;
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uint32_t ramp;
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int64_t timestampLastRunUs = 0;
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bool deadTimeWaiting = false;
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uint32_t timestampsModeLastActive[4] = {};
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motorstate_t statePrev = motorstate_t::FWD;
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struct motorCommand_t commandReceive = {};
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struct motorCommand_t commandSend = {};
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uint32_t timestamp_commandReceived = 0;
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bool receiveTimeout = false;
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};
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//====================================
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//========== motorctl task ===========
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//====================================
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// note: pointer to a 'controlledMotor' object has to be provided as task-parameter
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// runs handle method of certain motor repeatedly:
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// receives commands from control via queue, handle ramp and current, apply new duty by passing it to method of motordriver (ptr)
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void task_motorctl( void * controlledMotor );
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