From 1e2fa1db8f6763347bf77f4ab4f0c0dd3788909e Mon Sep 17 00:00:00 2001
From: jonny_l480 <jonny@wwad.de>
Date: Sat, 22 Apr 2023 20:47:39 +0200
Subject: [PATCH] Add basic control task without timer (works, but dropped)

basic task for controlling the stepper
(no accel / decel etc)
works at current speed settings but long moves trigger watchdog
so dropped this idea and using timer as before
---
 main/guide-stepper.cpp |  6 ++---
 main/main.cpp          |  9 ++++---
 main/stepper.cpp       | 56 ++++++++++++++++++++++++++++++++++++++++++
 main/stepper.hpp       |  4 +++
 4 files changed, 69 insertions(+), 6 deletions(-)

diff --git a/main/guide-stepper.cpp b/main/guide-stepper.cpp
index 4542668..47f2e1b 100644
--- a/main/guide-stepper.cpp
+++ b/main/guide-stepper.cpp
@@ -188,15 +188,15 @@ void task_stepper_test(void *pvParameter)
 		}
 		if (SW_PRESET1.risingEdge) {
 			buzzer.beep(2, 300, 100);
-			stepper_setTargetSteps(1000);
+			stepperSw_setTargetSteps(1000);
 		}
 		if (SW_PRESET2.risingEdge) {
 			buzzer.beep(1, 500, 100);
-			stepper_setTargetSteps(10000);
+			stepperSw_setTargetSteps(10000);
 		}
 		if (SW_PRESET3.risingEdge) {
 			buzzer.beep(1, 100, 100);
-			stepper_setTargetSteps(60000);
+			stepperSw_setTargetSteps(30000);
 		}
 	}
 }
diff --git a/main/main.cpp b/main/main.cpp
index 0533bd5..3b424fc 100644
--- a/main/main.cpp
+++ b/main/main.cpp
@@ -17,6 +17,8 @@ extern "C"
 #include "guide-stepper.hpp"
 #include "encoder.hpp"
 
+#include "stepper.hpp"
+
 
 //=================================
 //=========== functions ===========
@@ -92,13 +94,14 @@ extern "C" void app_main()
 
 #ifdef STEPPER_TEST
     //create task for stepper testing
-    xTaskCreate(task_stepper_test, "task_stepper_test", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
+    xTaskCreate(task_stepperCtrlSw, "task stepper control software", configMINIMAL_STACK_SIZE * 3, NULL, configMAX_PRIORITIES - 1, NULL);
+    xTaskCreate(task_stepper_test, "task_stepper_test", configMINIMAL_STACK_SIZE * 3, NULL, 2, NULL);
 #else
     //create task for controlling the machine
-    xTaskCreate(task_control, "task_control", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
+    xTaskCreate(task_control, "task_control", configMINIMAL_STACK_SIZE * 3, NULL, 4, NULL);
 
     //create task for controlling the stepper
-    xTaskCreate(task_stepper_ctl, "task_stepper_ctl", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
+    xTaskCreate(task_stepper_ctl, "task_stepper_ctl", configMINIMAL_STACK_SIZE * 3, NULL, 2, NULL);
 #endif
 
     //create task for handling the buzzer
diff --git a/main/stepper.cpp b/main/stepper.cpp
index 2305ccb..be7b0d2 100644
--- a/main/stepper.cpp
+++ b/main/stepper.cpp
@@ -2,6 +2,7 @@
 
 #include "config.hpp"
 
+#include <inttypes.h>
 
 //config from config.hpp
 //#define STEPPER_STEP_PIN GPIO_NUM_18    //mos1
@@ -11,6 +12,7 @@
 extern "C" {
 #include "driver/timer.h"
 #include "driver/gpio.h"
+#include "esp_log.h"
 }
 
 #define TIMER_F 1000000ULL
@@ -24,6 +26,60 @@ bool timerIsRunning = false;
 bool timer_isr(void *arg);
 
 
+
+
+
+//stepper driver in software for testing (no timer/interrupt):
+uint64_t stepsTarget = 0;
+void task_stepperCtrlSw(void *pvParameter)
+{
+	uint64_t stepsNow = 0;
+	int increment = 1;
+
+	while(1){
+		int64_t delta = stepsTarget - stepsNow;
+
+		//at position, nothing to do
+		if (delta == 0){
+			ESP_LOGW(TAG, "delta =0 waiting for change");
+			vTaskDelay(300 / portTICK_PERIOD_MS);
+			continue;
+		}
+
+		//define direction
+		if (delta > 0){
+			gpio_set_level(STEPPER_DIR_PIN, 0);
+			increment = 1;
+		} else {
+			gpio_set_level(STEPPER_DIR_PIN, 1);
+			increment = -1;
+		}
+
+		//do one step
+		//note: triggers watchdog at long movements
+		stepsNow += increment;
+		gpio_set_level(STEPPER_STEP_PIN, 1);
+		ets_delay_us(30);
+		gpio_set_level(STEPPER_STEP_PIN, 0);
+		ets_delay_us(90); //speed
+	}
+}
+
+void stepperSw_setTargetSteps(uint64_t target){
+	stepsTarget = target;
+	char buffer[20];
+	snprintf(buffer, sizeof(buffer), "%" PRIu64, target);
+	ESP_LOGW(TAG, "set target steps to %s", buffer);
+}
+
+
+
+
+
+
+
+
+
 typedef struct {
 	int targetSteps;        // Target step count
 	int currentSteps;       // Current step count
diff --git a/main/stepper.hpp b/main/stepper.hpp
index 4e9292d..545dce3 100644
--- a/main/stepper.hpp
+++ b/main/stepper.hpp
@@ -6,6 +6,10 @@ void stepper_setTargetSteps(int steps);
 
 void stepper_toggleDirection();
 
+//control stepper without timer (software)
+void task_stepperCtrlSw(void *pvParameter);
+void stepperSw_setTargetSteps(uint64_t target);
+
 //typedef struct
 //{
 //    uint8_t stepPin;           /** step signal pin */