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Add more debug output ISSUES

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- Add debug output in calc
- disable test mode for testing with encoder
- set loglevel to DEBUG

extend feature currently only works well in testing mode with buttons
issues when running with encoder:
 movement gets extended extremely often due to encoder travel
 interval and rarely does reach target - compared to trigger with
 buttons
 -> while debugging noticed that the current speed gets negative
 and the xISR gets stuck so moves infinitely or not at all

 ideas:
 - rounding issue?
 - SPEED increment also has to be adjusted or set to 0 as step
   increment?
This commit is contained in:
jonny_l480 2023-03-26 11:41:46 +02:00
parent 1c59e0097b
commit 279ac0e07e
4 changed files with 11 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
components/DendoStepper/DendoStepper.cpp
View File

@ -174,7 +174,7 @@ esp_err_t DendoStepper::runAbs(uint32_t position)
bool newDir = (relativeSteps < 0); // CCW if <0, else set CW bool newDir = (relativeSteps < 0); // CCW if <0, else set CW
if (ctrl.dir != newDir){ //direction differs if (ctrl.dir != newDir){ //direction differs
STEP_LOGE("DendoStepper", "DIRECTION HOT-CHANGE NOT SUPPORTED - Waiting for move to finish..."); STEP_LOGE("DendoStepper", "DIRECTION HOT-CHANGE NOT SUPPORTED - Waiting for move to finish...");
while (getState() > IDLE) vTaskDelay(1); //wait for move to finish while (getState() > IDLE) vTaskDelay(5); //wait for move to finish
} }
} }
@ -401,6 +401,7 @@ void DendoStepper::calc(uint32_t targetSteps)
//steps from ctrl.speed -> 0: //steps from ctrl.speed -> 0:
ctrl.decSteps = 0.5 * ctrl.dec * (ctrl.speed / ctrl.dec) * (ctrl.speed / ctrl.dec); 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: //steps from 0 -> ctrl.speed:
//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);
//steps from ctrl.currentSpeed -> ctrl.speed: //steps from ctrl.currentSpeed -> ctrl.speed:
@ -437,8 +438,11 @@ void DendoStepper::calc(uint32_t targetSteps)
ctrl.stepInterval = TIMER_F / ctrl.currentSpeed; ctrl.stepInterval = TIMER_F / ctrl.currentSpeed;
ctrl.stepsToGo = targetSteps; ctrl.stepsToGo = targetSteps;
ESP_LOGD("DendoStepper", "DEBUG: accSteps: %d currspeed: %lf, ctrlSpeed: %lf\n", ctrl.accSteps, ctrl.currentSpeed, ctrl.speed); //debug log output
ESP_LOGD("DendoStepper", "CALC: speedNow=%.1f, speedTarget=%.1f, accEnd=%d, coastEnd=%d, accSteps=%d, accInc=%.3f\n", 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); 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); 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);
} }

2
main/config.hpp
View File

@ -85,7 +85,7 @@ extern "C" {
//----- stepper config ----- //----- stepper config -----
//-------------------------- //--------------------------
//enable stepper test mode (dont start control and encoder task) //enable stepper test mode (dont start control and encoder task)
#define STEPPER_TEST //#define STEPPER_TEST
#define STEPPER_STEP_PIN GPIO_NUM_18 //mos1 #define STEPPER_STEP_PIN GPIO_NUM_18 //mos1
#define STEPPER_DIR_PIN GPIO_NUM_16 //ST3 #define STEPPER_DIR_PIN GPIO_NUM_16 //ST3
#define STEPPER_EN_PIN GPIO_NUM_0 //not connected (-> stepper always on) #define STEPPER_EN_PIN GPIO_NUM_0 //not connected (-> stepper always on)

2
main/guide-stepper.cpp
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@ -34,7 +34,7 @@ extern "C"
#define SPEED 10 //35, 100, 50 rev #define SPEED 10 //35, 100, 50 rev
#define ACCEL_MS 800.0 //ms from 0 to max #define ACCEL_MS 800.0 //ms from 0 to max
#define DECEL_MS 800.0 //ms from max to 0 #define DECEL_MS 500.0 //ms from max to 0
#define STEPPER_STEPS_PER_ROT 1600 #define STEPPER_STEPS_PER_ROT 1600
#define STEPPER_STEPS_PER_MM STEPPER_STEPS_PER_ROT/4 #define STEPPER_STEPS_PER_MM STEPPER_STEPS_PER_ROT/4

2
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("switches-analog", ESP_LOG_WARN);
esp_log_level_set("control", ESP_LOG_INFO); esp_log_level_set("control", ESP_LOG_INFO);
esp_log_level_set("stepper", ESP_LOG_DEBUG); esp_log_level_set("stepper", ESP_LOG_DEBUG);
esp_log_level_set("Dendostepper", ESP_LOG_DEBUG); //stepper lib esp_log_level_set("DendoStepper", ESP_LOG_DEBUG); //stepper lib
esp_log_level_set("calc", ESP_LOG_WARN); //stepper lib esp_log_level_set("calc", ESP_LOG_WARN); //stepper lib
#ifdef STEPPER_TEST #ifdef STEPPER_TEST