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Merge branch 'dev' into stepper

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This commit is contained in:
jonny_ji7 2023-04-25 19:07:39 +02:00
commit 04d9a4e12d
4 changed files with 219 additions and 52 deletions
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157
components/DendoStepper/DendoStepper.cpp
View File

@ -55,6 +55,9 @@ void DendoStepper::init(uint8_t stepP, uint8_t dirP, uint8_t enP, timer_group_t
void DendoStepper::init()
{
ESP_LOGW("DendoStepper", "semaphore init");
semaphore_isrVariables = xSemaphoreCreateBinary();
xSemaphoreGive(semaphore_isrVariables);
uint64_t mask = (1ULL << conf.stepPin) | (1ULL << conf.dirPin) | (1ULL << conf.enPin); // put output gpio pins in bitmask
gpio_config_t gpio_conf = {
// config gpios
@ -114,25 +117,36 @@ timer_avail:
ESP_ERROR_CHECK(timer_isr_callback_add(conf.timer_group, conf.timer_idx, xISRwrap, this, 0)); // add callback fn to run when alarm is triggrd
}
esp_err_t DendoStepper::runPos(int32_t relative)
{
if (!relative) // why would u call it with 0 wtf
return ESP_ERR_NOT_SUPPORTED;
if (ctrl.status > IDLE)
{ // we are running, we need to adjust steps accordingly, for now just stop the movement
STEP_LOGW("DendoStepper", "Finising previous move, this command will be ignored");
return ESP_ERR_NOT_SUPPORTED;
}
//TODO only enable when actually moving
if (ctrl.status == DISABLED) // if motor is disabled, enable it
enableMotor();
ctrl.status = ACC;
setDir(relative < 0); // set CCW if <0, else set CW
currentPos += relative;
calc(abs(relative)); // calculate velocity profile
ESP_ERROR_CHECK(timer_set_alarm_value(conf.timer_group, conf.timer_idx, ctrl.stepInterval)); // set HW timer alarm to stepinterval
ESP_ERROR_CHECK(timer_start(conf.timer_group, conf.timer_idx)); // start the timer
setDir(relative < 0); // set CCW if <0, else set CW
if (!relative) // why would u call it with 0 wtf
return ESP_ERR_NOT_SUPPORTED;
if (ctrl.status > IDLE) { //currently moving
//ctrl.status = ctrl.status==COAST ? COAST : ACC; //stay at coast otherwise switch to ACC
ctrl.stepsRemaining = ctrl.stepsToGo - ctrl.stepCnt;
calc(abs(relative) + ctrl.stepsRemaining); //calculate new velolcity profile for new+remaining steps
ESP_LOGW("DendoStepper", "EXTEND running movement (stepsRemaining: %d + stepsNew: %d - current state: %d)", ctrl.stepsRemaining, abs(relative), (int)ctrl.status);
ESP_ERROR_CHECK(timer_set_alarm_value(conf.timer_group, conf.timer_idx, ctrl.stepInterval)); // set HW timer alarm to stepinterval
}
else { //current state is IDLE
//ctrl.statusPrev = ctrl.status; //update previous status
calc(abs(relative)); // calculate velocity profile
ctrl.status = ACC;
ESP_ERROR_CHECK(timer_set_alarm_value(conf.timer_group, conf.timer_idx, ctrl.stepInterval)); // set HW timer alarm to stepinterval
ESP_ERROR_CHECK(timer_start(conf.timer_group, conf.timer_idx)); // start the timer
}
//printf("runpos end -- steps: %d, status: %d, olddir: %d, newdir: %d\n", relative, ctrl.status, ctrl.dir, newDir);
currentPos += relative; //(target position / not actual)
return ESP_OK;
}
@ -145,26 +159,31 @@ esp_err_t DendoStepper::runPosMm(int32_t relative)
return runPos(relative * ctrl.stepsPerMm);
}
//customized: if already running and direction is the same immediately pass to runPos
esp_err_t DendoStepper::runAbs(uint32_t position)
{
if (getState() > IDLE) // we are already moving, so stop it
stop();
while (getState() > IDLE)
{
// waiting for idle, watchdog should take care of inf loop if it occurs
vTaskDelay(1);
} // shouldnt take long tho
if (position == currentPos) // we cant go anywhere
return 0;
//exit if nothing to do
if (position == currentPos) return 0; //already at position
//calculate steps necessary
int32_t relativeSteps = 0;
relativeSteps = (int32_t)position - currentPos;
//wait if direction needs to change
if (getState() > IDLE){//already moving
bool newDir = (relativeSteps < 0); // CCW if <0, else set CW
if (ctrl.dir != newDir){ //direction differs
STEP_LOGE("DendoStepper", "DIRECTION HOT-CHANGE NOT SUPPORTED - Waiting for move to finish...");
while (getState() > IDLE) vTaskDelay(5); //wait for move to finish
}
}
//call runPos with new target position
ESP_LOGI("DendoStepper", "Cur: %llu move %d", currentPos, relativeSteps);
return runPos(relativeSteps); // run to new position
}
esp_err_t DendoStepper::runAbsMm(uint32_t position)
{
if (ctrl.stepsPerMm == 0)
@ -195,6 +214,37 @@ void DendoStepper::setSpeedMm(uint32_t speed, uint16_t accT, uint16_t decT)
STEP_LOGI("DendoStepper", "Speed set: v=%d mm/s t+=%d s t-=%d s", speed, accT, decT);
}
//CUSTOM - change speed while running
//FIXME: this approach does not work, since calc function would have to be run after change, this will mess up target steps...
//void DendoStepper::changeSpeed(uint32_t speed)
//{
// //TODO reduce duplicate code (e.g. call setSpeed function)
// //change speed
// ctrl.speed = speed;
// //change status to ACC/DEC
// STEP_LOGI("DendoStepper", "Speed changed: from v=%.2f rad/s to v=%.2f rad/s", ctrl.speed, speed);
// if (speed > ctrl.speed) ctrl.status = ACC;
// if (speed < ctrl.speed) ctrl.status = DEC;
//}
//
//void DendoStepper::changeSpeedMm(uint32_t speed)
//{
// //TODO reduce duplicate code (e.g. call setSpeedMm function)
// if (ctrl.stepsPerMm == 0)
// {
// STEP_LOGE("DendoStepper", "Steps per millimeter not set, cannot set the speed!");
// }
// //calc new speed
// float speedNew = speed * ctrl.stepsPerMm;
// //change status to ACC/DEC
// if (speedNew > ctl.speed) ctrl.status = ACC;
// if (speedNew < ctl.speed) ctrl.status = DEC;
// //update speed, log output
// ctrl.speed = speedNew;
// STEP_LOGI("DendoStepper", "Speed changed: from v=%.2f rad/s to v=%.2f rad/s", ctrl.speed, speedNew);
//}
void DendoStepper::setStepsPerMm(uint16_t steps)
{
ctrl.stepsPerMm = steps;
@ -261,6 +311,7 @@ void DendoStepper::stop()
}
ctrl.runInfinite = false;
timer_pause(conf.timer_group, conf.timer_idx); // stop the timer
//ctrl.statusPrev = ctrl.status; //update previous status
ctrl.status = IDLE;
ctrl.stepCnt = 0;
gpio_set_level((gpio_num_t)conf.stepPin, 0);
@ -287,10 +338,23 @@ bool DendoStepper::xISR()
ctrl.stepCnt++;
////CUSTOM: track actual precice current position
//if (ctrl.dir) {
// ctrl.posActual ++;
//} else {
// ctrl.posActual --;
//}
//CUSTOM: track remaining steps for eventually resuming
//xSemaphoreTake(semaphore_isrVariables, portMAX_DELAY);
//ctrl.stepsRemaining = ctrl.stepCnt - ctrl.stepCnt;
//xSemaphoreGive(semaphore_isrVariables);
// we are done
if (ctrl.stepsToGo == ctrl.stepCnt && !ctrl.runInfinite)
{
timer_pause(conf.timer_group, conf.timer_idx); // stop the timer
//ctrl.statusPrev = ctrl.status; //update previous status
ctrl.status = IDLE;
ctrl.stepCnt = 0;
return 0;
@ -299,16 +363,19 @@ bool DendoStepper::xISR()
if (ctrl.stepCnt > 0 && ctrl.stepCnt < ctrl.accEnd)
{ // we are accelerating
ctrl.currentSpeed += ctrl.accInc;
//ctrl.statusPrev = ctrl.status; //update previous status
ctrl.status = ACC; // we are accelerating, note that*/
}
else if (ctrl.stepCnt > ctrl.coastEnd && !ctrl.runInfinite)
{ // we must be deccelerating then
ctrl.currentSpeed -= ctrl.decInc;
//ctrl.statusPrev = ctrl.status; //update previous status
ctrl.status = DEC; // we are deccelerating
}
else
{
ctrl.currentSpeed = ctrl.targetSpeed;
//ctrl.statusPrev = ctrl.status; //update previous status
ctrl.status = COAST; // we are coasting
}
@ -321,17 +388,33 @@ bool DendoStepper::xISR()
void DendoStepper::calc(uint32_t targetSteps)
{
//only set initial speed if IDLE
if(ctrl.status == 1){
ctrl.currentSpeed = 0;
ESP_LOGD("DendoStepper", "calc-start: reset speed to 0 (start from idle) %lf\n", ctrl.currentSpeed);
}
else{
ESP_LOGD("DendoStepper", "calc start: NOT resetting speed (extend from ACC/DEC/COAST): %lf\n", ctrl.currentSpeed);
}
//CUSTOM reset counter if already moving
ctrl.stepCnt = 0; //FIXME bugs when set 0 while ISR reads/runs? mutex
ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc);
//steps from ctrl.speed -> 0:
ctrl.decSteps = 0.5 * ctrl.dec * (ctrl.speed / ctrl.dec) * (ctrl.speed / ctrl.dec);
ESP_LOGD("DendoStepper", "decSteps: %d currspeed: %lf, ctrlSpeed: %lf\n", ctrl.decSteps, ctrl.currentSpeed, ctrl.speed);
//steps from 0 -> ctrl.speed:
//ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc);
//steps from ctrl.currentSpeed -> ctrl.speed:
ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc) * (ctrl.speed - ctrl.currentSpeed) / ctrl.speed;
ESP_LOGD("DendoStepper", "accSteps: %d currspeed: %lf, ctrlSpeed: %lf\n", ctrl.accSteps, ctrl.currentSpeed, ctrl.speed);
if (targetSteps < (ctrl.decSteps + ctrl.accSteps))
{
ESP_LOGI("Dendostepper", "Computing new speed");
ctrl.speed = sqrt(2 * targetSteps * ((ctrl.dec * ctrl.acc) / (ctrl.dec + ctrl.acc)));
ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc);
//ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc);
ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc) * (ctrl.speed - ctrl.currentSpeed) / ctrl.speed;
ctrl.decSteps = 0.5 * ctrl.dec * (ctrl.speed / ctrl.dec) * (ctrl.speed / ctrl.dec);
}
@ -339,13 +422,27 @@ void DendoStepper::calc(uint32_t targetSteps)
ctrl.coastEnd = targetSteps - ctrl.decSteps;
ctrl.targetSpeed = ctrl.speed;
ctrl.accInc = ctrl.targetSpeed / (double)ctrl.accSteps;
ctrl.accInc = (ctrl.targetSpeed - ctrl.currentSpeed) / (double)ctrl.accSteps;
ctrl.decInc = ctrl.targetSpeed / (double)ctrl.decSteps;
ctrl.currentSpeed = ctrl.accInc;
//only set initial speed if IDLE
if(ctrl.status == 1){
ctrl.currentSpeed = ctrl.accInc;
ESP_LOGD("DendoStepper", "`reset curr speeed to accinc: %lf\n", ctrl.currentSpeed);
ESP_LOGD("DendoStepper", "status=%d setting speed to initial value: %lf\n",ctrl.status, ctrl.currentSpeed);
}
else{
ESP_LOGD("DendoStepper", "status=%d NOT resetting speed to initial value %lf\n",ctrl.status, ctrl.currentSpeed);
}
ctrl.stepInterval = TIMER_F / ctrl.currentSpeed;
ctrl.stepsToGo = targetSteps;
STEP_LOGI("calc", "acc end:%u coastend:%u stepstogo:%u speed:%f acc:%f int: %u", ctrl.accEnd, ctrl.coastEnd, ctrl.stepsToGo, ctrl.speed, ctrl.acc, ctrl.stepInterval);
//debug log output
ESP_LOGD("DendoStepper", "accSteps: %d, accInc: %lf, decSteps: %d, decInc: %lf",
ctrl.accSteps, ctrl.accInc, ctrl.decSteps, ctrl.decInc);
ESP_LOGD("DendoStepper", "speedNow=%.1f, speedTarget=%.1f, accEnd=%d, coastEnd=%d, accSteps=%d, accInc=%.3f\n",
ctrl.currentSpeed, ctrl.targetSpeed, ctrl.accEnd, ctrl.coastEnd, ctrl.accSteps, ctrl.accInc);
ESP_LOGD("DendoStepper", "acc end:%u coastend:%u stepstogo:%u speed:%f acc:%f int: %u",
ctrl.accEnd, ctrl.coastEnd, ctrl.stepsToGo, ctrl.speed, ctrl.acc, ctrl.stepInterval);
}

10
components/DendoStepper/include/DendoStepper.h
View File

@ -29,6 +29,7 @@
#include "freertos/task.h"
#include "esp_timer.h"
#include "math.h"
#include "freertos/semphr.h"
//#define STEP_DEBUG
@ -94,6 +95,9 @@ typedef struct
float dec = 100; // decceleration in rad*second^-2
uint32_t accSteps = 0;
uint32_t decSteps = 0;
int32_t stepsRemaining = 0;
//uint64_t posActual = 0; //actual current pos incremented at every step
uint8_t statusPrev = DISABLED; //FIXME currently unused
uint8_t status = DISABLED;
bool dir = CW;
bool runInfinite = false;
@ -108,6 +112,7 @@ private:
ctrl_var_t ctrl;
esp_timer_handle_t dyingTimer;
TaskHandle_t enTask;
SemaphoreHandle_t semaphore_isrVariables = NULL;
uint64_t currentPos = 0; // absolute position
bool timerStarted = 0;
@ -208,6 +213,9 @@ public:
*/
void setSpeedMm(uint32_t speed, uint16_t accT, uint16_t decT);
//CUSTOM: change speed while running
void changeSpeedMm(uint32_t speed);
/**
* @brief Set steps per 1 mm of linear movement
*
@ -272,4 +280,4 @@ public:
void stop();
};
#endif
#endif

98
main/guide-stepper.cpp
View File

@ -11,6 +11,7 @@ extern "C"
#include "config.hpp"
#include "guide-stepper.hpp"
#include "encoder.hpp"
#include "gpio_evaluateSwitch.hpp"
@ -23,7 +24,7 @@ extern "C"
#define STEPPER_TEST_TRAVEL 65 //mm
//
#define MIN_MM 0
#define MAX_MM 60
#define MAX_MM 110 //60
#define POS_MAX_STEPS MAX_MM * STEPPER_STEPS_PER_MM
#define POS_MIN_STEPS MIN_MM * STEPPER_STEPS_PER_MM
@ -31,8 +32,9 @@ extern "C"
#define SPEED_MIN 2.0 //mm/s
#define SPEED_MAX 60.0 //mm/s
#define ACCEL_MS 100.0 //ms from 0 to max
#define DECEL_MS 90.0 //ms from max to 0
#define SPEED 10 //35, 100, 50 rev
#define ACCEL_MS 800.0 //ms from 0 to max
#define DECEL_MS 500.0 //ms from max to 0
#define STEPPER_STEPS_PER_ROT 1600
#define STEPPER_STEPS_PER_MM STEPPER_STEPS_PER_ROT/4
@ -50,6 +52,7 @@ static DendoStepper step;
static const char *TAG = "stepper"; //tag for logging
static bool stepp_direction = true;
static bool dir = true, dirPrev; //TODO local variables in travelSteps?
static uint32_t posNow = 0;
@ -65,13 +68,23 @@ void travelSteps(int stepsTarget){
stepsToGo = abs(stepsTarget);
if(stepsTarget < 0) stepp_direction = !stepp_direction; //invert direction in reverse mode
while (stepsToGo != 0){
//--- wait if direction changed ---
//if (dirPrev != dir){
// ESP_LOGW(TAG, " dir-change detected - waiting for move to finish \n ");
// while(step.getState() != 1) vTaskDelay(1); //wait for move to finish
//}
//--- currently moving right ---
if (stepp_direction == true){ //currently moving right
remaining = POS_MAX_STEPS - posNow; //calc remaining distance fom current position to limit
if (stepsToGo > remaining){ //new distance will exceed limit
step.runAbs (POS_MAX_STEPS); //move to limit
while(step.getState() != 1) vTaskDelay(1); //wait for move to finish
dirPrev = dir;
dir = 1;
//while(step.getState() != 1) vTaskDelay(1); //wait for move to finish
posNow = POS_MAX_STEPS;
stepp_direction = false; //change current direction for next iteration
stepsToGo = stepsToGo - remaining; //decrease target length by already traveled distance
@ -79,7 +92,10 @@ void travelSteps(int stepsTarget){
}
else { //target distance does not reach the limit
step.runAbs (posNow + stepsToGo); //move by (remaining) distance to reach target length
while(step.getState() != 1) vTaskDelay(1); //wait for move to finish
dirPrev = dir;
dir = 1;
//-- dont wait for move to finish since moves in same direction get merged --
//while(step.getState() != 1) vTaskDelay(1); //wait for move to finish
ESP_LOGD(TAG, "moving to %d\n", posNow+stepsToGo);
posNow += stepsToGo;
stepsToGo = 0; //finished, reset target length (could as well exit loop/break)
@ -91,7 +107,9 @@ void travelSteps(int stepsTarget){
remaining = posNow - POS_MIN_STEPS;
if (stepsToGo > remaining){
step.runAbs (POS_MIN_STEPS);
while(step.getState() != 1) vTaskDelay(2); //wait for move to finish
dirPrev = dir;
dir = 0;
//while(step.getState() != 1) vTaskDelay(2); //wait for move to finish
posNow = POS_MIN_STEPS;
stepp_direction = true;
stepsToGo = stepsToGo - remaining;
@ -99,7 +117,10 @@ void travelSteps(int stepsTarget){
}
else {
step.runAbs (posNow - stepsToGo); //when moving left the coordinate has to be decreased
while(step.getState() != 1) vTaskDelay(2); //wait for move to finish
dirPrev = dir;
dir = 0;
//-- dont wait for move to finish since moves in same direction get merged --
//while(step.getState() != 1) vTaskDelay(2); //wait for move to finish
ESP_LOGD(TAG, "moving to %d\n", posNow - stepsToGo);
posNow -= stepsToGo;
stepsToGo = 0;
@ -168,18 +189,57 @@ void task_stepper_test(void *pvParameter)
{
init_stepper();
home();
step.setSpeedMm(SPEED, ACCEL_MS, DECEL_MS);
//--- move from left to right repeatedly ---
// while (1) {
// updateSpeedFromAdc();
// step.runPosMm(STEPPER_TEST_TRAVEL);
// while(step.getState() != 1) vTaskDelay(2);
// ESP_LOGI(TAG, "finished moving right => moving left");
while (1) {
updateSpeedFromAdc();
step.runPosMm(STEPPER_TEST_TRAVEL);
while(step.getState() != 1) vTaskDelay(2);
ESP_LOGI(TAG, "finished moving right => moving left");
// 10updateSpeedFromAdc();
// step.runPosMm(-STEPPER_TEST_TRAVEL);
// while(step.getState() != 1) vTaskDelay(2); //1=idle
// ESP_LOGI(TAG, "finished moving left => moving right");
// }
updateSpeedFromAdc();
step.runPosMm(-STEPPER_TEST_TRAVEL);
while(step.getState() != 1) vTaskDelay(2); //1=idle
ESP_LOGI(TAG, "finished moving left => moving right");
}
//--- control stepper using preset buttons ---
while(1){
vTaskDelay(20 / portTICK_PERIOD_MS);
//------ handle switches ------
//run handle functions for all switches
SW_START.handle();
SW_RESET.handle();
SW_SET.handle();
SW_PRESET1.handle();
SW_PRESET2.handle();
SW_PRESET3.handle();
SW_CUT.handle();
SW_AUTO_CUT.handle();
if (SW_RESET.risingEdge) {
ESP_LOGI(TAG, "button - stop stepper\n ");
buzzer.beep(1, 1000, 100);
step.stop();
}
if (SW_PRESET1.risingEdge) {
ESP_LOGI(TAG, "button - moving right\n ");
buzzer.beep(2, 300, 100);
step.setSpeedMm(SPEED, ACCEL_MS, DECEL_MS);
step.runPosMm(15);
}
if (SW_PRESET3.risingEdge) {
ESP_LOGI(TAG, "button - moving left\n ");
buzzer.beep(1, 500, 100);
step.setSpeedMm(SPEED, ACCEL_MS, DECEL_MS);
step.runPosMm(-15);
}
if (SW_PRESET2.risingEdge) {
buzzer.beep(1, 100, 100);
ESP_LOGW(TAG, "button - current state: %d\n, pos: %llu", (int)step.getState(), step.getPositionMm());
}
}
}
@ -216,6 +276,8 @@ void task_stepper_ctl(void *pvParameter)
//read potentiometer and normalize (0-1) to get a variable for testing
potiModifier = (float) gpio_readAdc(ADC_CHANNEL_POTI) / 4095; //0-4095 -> 0-1
//ESP_LOGI(TAG, "current poti-modifier = %f", potiModifier);
ESP_LOGI(TAG, "delaying stepper-ctl task by %.1f ms (poti value)", 2000 * potiModifier);
vTaskDelay(2000 * potiModifier / portTICK_PERIOD_MS);
//calculate steps to move
cableLen = (double)encStepsDelta * 1000 / ENCODER_STEPS_PER_METER;
@ -231,7 +293,7 @@ void task_stepper_ctl(void *pvParameter)
ESP_LOGD(TAG, "cablelen=%.2lf, turns=%.2lf, travelMm=%.3lf, travelStepsExact: %.3lf, travelStepsFull=%d, partialStep=%.3lf", cableLen, turns, travelMm, travelStepsExact, travelStepsFull, travelStepsPartial);
ESP_LOGI(TAG, "MOVING %d steps", travelStepsFull);
//TODO: calculate variable speed for smoother movement? for example intentionally lag behind and calculate speed according to buffered data
step.setSpeedMm(35, 100, 50);
step.setSpeedMm(SPEED, ACCEL_MS, DECEL_MS);
//testing: get speed from poti
//step.setSpeedMm(35, 1000*potiModifier+1, 1000*potiModifier+1);
travelSteps(travelStepsExact);

6
main/main.cpp
View File

@ -87,7 +87,7 @@ extern "C" void app_main()
esp_log_level_set("switches-analog", ESP_LOG_WARN);
esp_log_level_set("control", ESP_LOG_INFO);
esp_log_level_set("stepper", ESP_LOG_DEBUG);
esp_log_level_set("Dendostepper", ESP_LOG_WARN); //stepper lib
esp_log_level_set("DendoStepper", ESP_LOG_DEBUG); //stepper lib
esp_log_level_set("calc", ESP_LOG_WARN); //stepper lib
#ifdef STEPPER_TEST
@ -98,11 +98,11 @@ extern "C" void app_main()
xTaskCreate(task_control, "task_control", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
//create task for controlling the machine
xTaskCreate(task_stepper_ctl, "task_stepper_ctl", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
xTaskCreate(task_stepper_ctl, "task_stepper_ctl", configMINIMAL_STACK_SIZE * 5, NULL, 5, NULL);
#endif
//create task for handling the buzzer
xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
#endif
//beep at startup
buzzer.beep(3, 70, 50);