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revert mutex, fix state reset, logging, slower

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stepsRemaining not necessary in ISR
comment out forced stop at runAbs
statusPrev not needed
TODO: ISR defines state every time, no need to adjust manually while running
adjust calc function to handle remaining steps

Test: broken - slow moves mork but when "extending" movement it just
vibrates
This commit is contained in:
jonny_l480
2023-03-13 18:26:50 +01:00
parent 45409676a0
commit 0a05340763
3 changed files with 37 additions and 31 deletions
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55
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
@@ -120,18 +123,19 @@ esp_err_t DendoStepper::runPos(int32_t relative)
if (ctrl.status == DISABLED) // if motor is disabled, enable it
enableMotor();
bool newDir = (relative < 0); // CCW if <0, else set CW
printf("runpos start -- steps: %d, remaining: %d, status: %d, olddir: %d, newdir: %d\n", relative, ctrl.stepsRemaining, ctrl.status, ctrl.dir, newDir);
if (!relative) // why would u call it with 0 wtf
return ESP_ERR_NOT_SUPPORTED;
if (ctrl.status > IDLE) { //currently moving
bool newDir = (relative < 0); // CCW if <0, else set CW
if (ctrl.dir == newDir){ //current direction is the same
ctrl.statusPrev = ctrl.status; //update previous status
//ctrl.statusPrev = ctrl.status; //update previous status
ctrl.status = ctrl.status==COAST ? COAST : ACC; //stay at coast otherwise switch to ACC
xSemaphoreTake(semaphore_isrVariables, portMAX_DELAY);
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)", ctrl.stepsRemaining, relative);
xSemaphoreGive(semaphore_isrVariables);
ESP_ERROR_CHECK(timer_set_alarm_value(conf.timer_group, conf.timer_idx, ctrl.stepInterval)); // set HW timer alarm to stepinterval
} else { //direction has changed
//direction change not supported TODO wait for decel finish / queue?
STEP_LOGE("DendoStepper", "DIRECTION HOT-CHANGE NOT SUPPORTED - Finising previous move, this command will be ignored");
@@ -139,17 +143,16 @@ esp_err_t DendoStepper::runPos(int32_t relative)
}
}
else { //current state is IDLE
ctrl.statusPrev = ctrl.status; //update previous status
//ctrl.statusPrev = ctrl.status; //update previous status
ctrl.status = ACC;
setDir(relative < 0); // set CCW if <0, else set CW
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
}
printf("runpos end -- steps: %d, status: %d, olddir: %d, newdir: %d\n", relative, ctrl.status, ctrl.dir, newDir);
currentPos += relative; //(target position / not actual)
ESP_ERROR_CHECK(timer_set_alarm_value(conf.timer_group, conf.timer_idx, ctrl.stepInterval)); // set HW timer alarm to stepinterval
//TODO timer has to be stopped before update if already running?
ESP_ERROR_CHECK(timer_start(conf.timer_group, conf.timer_idx)); // start the timer
return ESP_OK;
}
@@ -164,13 +167,13 @@ esp_err_t DendoStepper::runPosMm(int32_t relative)
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 (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;
@@ -309,7 +312,7 @@ 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.statusPrev = ctrl.status; //update previous status
ctrl.status = IDLE;
ctrl.stepCnt = 0;
gpio_set_level((gpio_num_t)conf.stepPin, 0);
@@ -344,15 +347,15 @@ bool DendoStepper::xISR()
//}
//CUSTOM: track remaining steps for eventually resuming
xSemaphoreTake(semaphore_isrVariables, portMAX_DELAY);
ctrl.stepsRemaining = ctrl.stepCnt - ctrl.stepCnt;
xSemaphoreGive(semaphore_isrVariables);
//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.statusPrev = ctrl.status; //update previous status
ctrl.status = IDLE;
ctrl.stepCnt = 0;
return 0;
@@ -361,19 +364,19 @@ 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.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.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.statusPrev = ctrl.status; //update previous status
ctrl.status = COAST; // we are coasting
}
@@ -381,12 +384,14 @@ bool DendoStepper::xISR()
// set alarm to calculated interval and disable pin
GPIO.out_w1tc = (1ULL << conf.stepPin);
timer_set_alarm_value(conf.timer_group, conf.timer_idx, ctrl.stepInterval);
ctrl.stepCnt++;
return 1;
}
void DendoStepper::calc(uint32_t targetSteps)
{
//CUSTOM reset counter if already moving
ctrl.stepCnt = 0;
//steps from ctrl.speed -> 0:
ctrl.decSteps = 0.5 * ctrl.dec * (ctrl.speed / ctrl.dec) * (ctrl.speed / ctrl.dec);
//steps from 0 -> ctrl.speed: