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Fix feature: extend movement works now! (test mode)

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while currently in stepper test mode the extend feature works as
intended now.
you can trigger movement using the buttons and repeating
presses while still moving (coast, accel or decel) extends the movement
without stopping or accelerating again.

Note reversing the direction while still moving is not handled and results
in immediate direction change and distance that makes no sense.

also added alot of debug output and switched to debug level
This commit is contained in:
jonny_l480
2023-03-24 15:00:39 +01:00
parent 5d7c67ab9a
commit 1c59e0097b
3 changed files with 34 additions and 14 deletions
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30
components/DendoStepper/DendoStepper.cpp
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@@ -132,15 +132,15 @@ esp_err_t DendoStepper::runPos(int32_t relative)
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)", ctrl.stepsRemaining, relative);
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
ctrl.status = ACC;
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
}
@@ -388,8 +388,16 @@ 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;
ctrl.stepCnt = 0; //FIXME bugs when set 0 while ISR reads/runs? mutex
//steps from ctrl.speed -> 0:
ctrl.decSteps = 0.5 * ctrl.dec * (ctrl.speed / ctrl.dec) * (ctrl.speed / ctrl.dec);
@@ -397,6 +405,7 @@ void DendoStepper::calc(uint32_t targetSteps)
//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))
{
@@ -415,12 +424,21 @@ void DendoStepper::calc(uint32_t targetSteps)
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;
printf("CALC: speedNow=%.1f, speedTarget=%.1f, accEnd=%d, coastEnd=%d, accSteps=%d, accInc=%.3f\n",
ESP_LOGD("DendoStepper", "DEBUG: accSteps: %d currspeed: %lf, ctrlSpeed: %lf\n", ctrl.accSteps, ctrl.currentSpeed, ctrl.speed);
ESP_LOGD("DendoStepper", "CALC: 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);
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);
}