j/cable-length-cutter
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Outsource global variables, Optimize comments

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- outsource global variables and objects
    - move from config.hpp to global.cpp / hpp
    - rename config.hpp, thus change all includes
- re-arrange includes -> in source files instead of header

- optimize / make function comment titles more consistent
- optimize comments overall

- add several temporary files to gitignore
- fix unused variable compiler warnings
This commit is contained in:
jonny 2024-03-10 12:55:13 +01:00
parent 4c149a7743
commit 4aab1e1343
20 changed files with 203 additions and 145 deletions
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14
.gitignore vendored
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@ -1,15 +1,29 @@
# ESP-IDF default build directory # ESP-IDF default build directory
build build
sdkconfig.old
dependencies.lock
# VIM files # VIM files
*.swp *.swp
*.swo *.swo
**/.cache
# VS-code
settings.json
# drawio files # drawio files
*.bkp *.bkp
# freecad backup files # freecad backup files
*.FCStd1 *.FCStd1
*.FCBak
# stl files are usually temporary
*.stl
# kicad backup files # kicad backup files
pcb/*/*backups/ pcb/*/*backups/
# other
octave-workspace
del
screenshots

2
main/CMakeLists.txt
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@ -1,7 +1,7 @@
idf_component_register( idf_component_register(
SRCS SRCS
"main.cpp" "main.cpp"
"config.cpp" "global.cpp"
"control.cpp" "control.cpp"
"buzzer.cpp" "buzzer.cpp"
"vfd.cpp" "vfd.cpp"

2
main/buzzer.cpp
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@ -1,5 +1,5 @@
#include "buzzer.hpp" #include "buzzer.hpp"
#include "config.hpp" #include "config.h"
static const char *TAG_BUZZER = "buzzer"; static const char *TAG_BUZZER = "buzzer";

36
main/config.hpp → main/config.h
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@ -1,11 +1,8 @@
#pragma once #pragma once
extern "C" {
#include "driver/adc.h"
}
#include "gpio_evaluateSwitch.hpp"
#include "buzzer.hpp"
#include "switchesAnalog.hpp"
#include "esp_idf_version.h"
//note: global variables and objects were moved to global.hpp
//=================================== //===================================
//===== define output gpio pins ===== //===== define output gpio pins =====
@ -49,6 +46,7 @@ extern "C" {
#define SW_CUT sw_gpio_33 #define SW_CUT sw_gpio_33
#define SW_AUTO_CUT sw_gpio_32 #define SW_AUTO_CUT sw_gpio_32
//#define ? sw_gpio_34 //#define ? sw_gpio_34
//note: actual objects are created in global.cpp
@ -68,6 +66,7 @@ extern "C" {
#define DISPLAY_PIN_NUM_CLK GPIO_NUM_22 #define DISPLAY_PIN_NUM_CLK GPIO_NUM_22
#define DISPLAY_PIN_NUM_CS GPIO_NUM_27 #define DISPLAY_PIN_NUM_CS GPIO_NUM_27
#define DISPLAY_DELAY 2000 #define DISPLAY_DELAY 2000
#define DISPLAY_BRIGHTNESS 8
//-------------------------- //--------------------------
//----- encoder config ----- //----- encoder config -----
@ -100,7 +99,7 @@ extern "C" {
//-------------------------- //--------------------------
//------ calibration ------- //------ calibration -------
//-------------------------- //--------------------------
//enable mode encoder test for calibration //enable mode encoder test for calibration (determine ENCODER_STEPS_PER_METER)
//if defined, displays always show length and steps instead of the normal messages //if defined, displays always show length and steps instead of the normal messages
//#define ENCODER_TEST //#define ENCODER_TEST
@ -118,26 +117,3 @@ extern "C" {
//============================
//===== global variables =====
//============================
//create global evaluated switch objects
//--- switches on digital gpio pins ---
//extern gpio_evaluatedSwitch sw_gpio_39;
extern gpio_evaluatedSwitch sw_gpio_34;
extern gpio_evaluatedSwitch sw_gpio_32;
extern gpio_evaluatedSwitch sw_gpio_33;
extern gpio_evaluatedSwitch sw_gpio_25;
extern gpio_evaluatedSwitch sw_gpio_26;
extern gpio_evaluatedSwitch sw_gpio_14;
//--- switches connected to 4-sw-to-analog stripboard ---
extern gpio_evaluatedSwitch sw_gpio_analog_0;
extern gpio_evaluatedSwitch sw_gpio_analog_1;
extern gpio_evaluatedSwitch sw_gpio_analog_2;
extern gpio_evaluatedSwitch sw_gpio_analog_3;
//create global buzzer object
extern buzzer_t buzzer;

74
main/control.cpp
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@ -1,22 +1,47 @@
#include "control.hpp" extern "C"
{
#include <stdio.h>
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
#include <esp_idf_version.h>
#include "freertos/queue.h"
#include "esp_system.h"
#include "esp_log.h"
#include "driver/adc.h"
#include "max7219.h"
}
#include <cmath>
#include "config.h"
#include "gpio_evaluateSwitch.hpp"
#include "gpio_adc.hpp"
#include "buzzer.hpp"
#include "vfd.hpp"
#include "display.hpp"
#include "cutter.hpp"
#include "encoder.hpp" #include "encoder.hpp"
#include "guide-stepper.hpp" #include "guide-stepper.hpp"
#include "global.hpp"
#include "control.hpp"
//-------------------- //-----------------------------------------
//---- variables ----- //--------------- variables ---------------
//-------------------- //-----------------------------------------
static const char *TAG = "control"; //tag for logging static const char *TAG = "control"; //tag for logging
//control
const char* systemStateStr[7] = {"COUNTING", "WINDING_START", "WINDING", "TARGET_REACHED", "AUTO_CUT_WAITING", "CUTTING", "MANUAL"}; const char* systemStateStr[7] = {"COUNTING", "WINDING_START", "WINDING", "TARGET_REACHED", "AUTO_CUT_WAITING", "CUTTING", "MANUAL"};
systemState_t controlState = systemState_t::COUNTING; systemState_t controlState = systemState_t::COUNTING;
static uint32_t timestamp_lastStateChange = 0; static uint32_t timestamp_lastStateChange = 0;
//display
static char buf_disp1[10];// 8 digits + decimal point + \0 static char buf_disp1[10];// 8 digits + decimal point + \0
static char buf_disp2[10];// 8 digits + decimal point + \0 static char buf_disp2[10];// 8 digits + decimal point + \0
static char buf_tmp[15]; static char buf_tmp[15];
//track length
static int lengthNow = 0; //length measured in mm static int lengthNow = 0; //length measured in mm
static int lengthTarget = 5000; //default target length in mm static int lengthTarget = 5000; //default target length in mm
static int lengthRemaining = 0; //(target - now) length needed for reaching the target static int lengthRemaining = 0; //(target - now) length needed for reaching the target
@ -31,9 +56,9 @@ static bool autoCutEnabled = false; //store state of toggle switch (no hotswitch
//-------------------- //-----------------------------------------
//---- functions ----- //--------------- functions ---------------
//-------------------- //-----------------------------------------
//======================== //========================
//===== change State ===== //===== change State =====
@ -57,12 +82,13 @@ void changeState (systemState_t stateNew) {
//================================= //=================================
//===== handle Stop Condition ===== //===== handle Stop Condition =====
//================================= //=================================
//function that checks whether start button is released or target is reached (used in multiple states) //function that checks whether start button is released or target is reached
//returns true when stopped, false when no action //and takes according action if so (used in multiple states)
//returns true when stop condition was met, false when no action required
bool handleStopCondition(handledDisplay * displayTop, handledDisplay * displayBot){ bool handleStopCondition(handledDisplay * displayTop, handledDisplay * displayBot){
//--- stop conditions --- //--- stop conditions ---
//stop conditions that are checked in any mode //stop conditions that are checked in any mode
//target reached //target reached -> reached state, stop motor, display message
if (lengthRemaining <= 0 ) { if (lengthRemaining <= 0 ) {
changeState(systemState_t::TARGET_REACHED); changeState(systemState_t::TARGET_REACHED);
vfd_setState(false); vfd_setState(false);
@ -71,7 +97,7 @@ bool handleStopCondition(handledDisplay * displayTop, handledDisplay * displayBo
buzzer.beep(2, 100, 100); buzzer.beep(2, 100, 100);
return true; return true;
} }
//start button released //start button released -> idle state, stop motor, display message
else if (SW_START.state == false) { else if (SW_START.state == false) {
changeState(systemState_t::COUNTING); changeState(systemState_t::COUNTING);
vfd_setState(false); vfd_setState(false);
@ -120,7 +146,6 @@ void setDynSpeedLvl(uint8_t lvlMax = 3){
//task that controls the entire machine //task that controls the entire machine
void task_control(void *pvParameter) void task_control(void *pvParameter)
{ {
//-- initialize display -- //-- initialize display --
max7219_t two7SegDisplays = display_init(); max7219_t two7SegDisplays = display_init();
//create two separate custom handled display instances //create two separate custom handled display instances
@ -132,13 +157,16 @@ void task_control(void *pvParameter)
//currently show name and date and scrolling 'hello' //currently show name and date and scrolling 'hello'
display_ShowWelcomeMsg(two7SegDisplays); display_ShowWelcomeMsg(two7SegDisplays);
// ##############################
//===== loop ===== // ######## control loop ########
// ##############################
// repeatedly handle the machine
while(1){ while(1){
vTaskDelay(10 / portTICK_PERIOD_MS); vTaskDelay(10 / portTICK_PERIOD_MS);
//------ handle switches ------ //------ handle switches ------
//run handle functions for all switches //run handle functions for all switches used here
SW_START.handle(); SW_START.handle();
SW_RESET.handle(); SW_RESET.handle();
SW_SET.handle(); SW_SET.handle();
@ -224,7 +252,7 @@ void task_control(void *pvParameter)
buzzer.beep(3, 100, 60); buzzer.beep(3, 100, 60);
} }
//##### custom target length using poti ##### //##### SET switch #####
//set target length to poti position when SET switch is pressed //set target length to poti position when SET switch is pressed
if (SW_SET.state == true) { if (SW_SET.state == true) {
//read adc //read adc
@ -409,11 +437,11 @@ void task_control(void *pvParameter)
} }
#ifdef ENCODER_TEST
//-------------------------- //--------------------------
//------ encoder test ------ //------ encoder test ------
//-------------------------- //--------------------------
#ifdef ENCODER_TEST //mode for calibrating the cable length measurement (determine ENCODER_STEPS_PER_METER in config.h)
//run display handle functions //run display handle functions
displayTop.handle(); displayTop.handle();
displayBot.handle(); displayBot.handle();
@ -432,7 +460,7 @@ void task_control(void *pvParameter)
lengthBeeped = lengthNow; lengthBeeped = lengthNow;
} }
} }
#else #else //not in encoder calibration mode
//-------------------------- //--------------------------
//-------- display1 -------- //-------- display1 --------
@ -452,7 +480,6 @@ void task_control(void *pvParameter)
displayTop.showString(buf_disp1); displayTop.showString(buf_disp1);
} }
//-------------------------- //--------------------------
//-------- display2 -------- //-------- display2 --------
//-------------------------- //--------------------------
@ -485,6 +512,7 @@ void task_control(void *pvParameter)
displayBot.showString(buf_tmp); displayBot.showString(buf_tmp);
} }
#endif // end else ifdef ENCODER_TEST
//---------------------------- //----------------------------
//------- control lamp ------- //------- control lamp -------
@ -501,10 +529,6 @@ void task_control(void *pvParameter)
gpio_set_level(GPIO_LAMP, 0); gpio_set_level(GPIO_LAMP, 0);
} }
#endif
} //end while(1) } //end while(1)
} //end task_control } //end task_control

26
main/control.hpp
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@ -1,34 +1,12 @@
#pragma once #pragma once
extern "C"
{
#include <stdio.h>
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
#include <esp_idf_version.h>
#include "freertos/queue.h"
#include "esp_system.h"
#include "esp_log.h"
#include "driver/adc.h"
#include "max7219.h"
}
#include <cmath>
#include "config.hpp"
#include "gpio_evaluateSwitch.hpp"
#include "gpio_adc.hpp"
#include "buzzer.hpp"
#include "vfd.hpp"
#include "display.hpp"
#include "cutter.hpp"
//enum describing the state of the system //enum describing the state of the system
enum class systemState_t {COUNTING, WINDING_START, WINDING, TARGET_REACHED, AUTO_CUT_WAITING, CUTTING, MANUAL}; enum class systemState_t {COUNTING, WINDING_START, WINDING, TARGET_REACHED, AUTO_CUT_WAITING, CUTTING, MANUAL};
//array with enum as strings for logging states //array with enum as strings for logging states
extern const char* systemStateStr[7]; extern const char* systemStateStr[7];
//task that controls the entire machine (has to be created as task in main function) //task that controls the entire machine (has to be created as task in main function)
void task_control(void *pvParameter); void task_control(void *pvParameter);

7
main/cutter.cpp
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@ -1,4 +1,6 @@
#include "cutter.hpp" #include "cutter.hpp"
#include "config.h"
#include "global.hpp"
const char* cutter_stateStr[5] = {"IDLE", "START", "CUTTING", "CANCELED", "TIMEOUT"}; //define strings for logging the state const char* cutter_stateStr[5] = {"IDLE", "START", "CUTTING", "CANCELED", "TIMEOUT"}; //define strings for logging the state
@ -39,7 +41,6 @@ void cutter_stop(){
if(cutter_state != cutter_state_t::IDLE){ if(cutter_state != cutter_state_t::IDLE){
setState(cutter_state_t::CANCELED); setState(cutter_state_t::CANCELED);
} }
//starts motor on state change
} }
@ -131,7 +132,6 @@ void cutter_handle(){
//SW_CUTTER_POS.minOnMs = 10; //SW_CUTTER_POS.minOnMs = 10;
//SW_CUTTER_POS.minOffMs = 10; //SW_CUTTER_POS.minOffMs = 10;
switch(cutter_state){ switch(cutter_state){
case cutter_state_t::IDLE: case cutter_state_t::IDLE:
case cutter_state_t::TIMEOUT: case cutter_state_t::TIMEOUT:
@ -142,14 +142,13 @@ void cutter_handle(){
case cutter_state_t::START: case cutter_state_t::START:
//--- moved away from idle position --- //--- moved away from idle position ---
//if (gpio_get_level(GPIO_CUTTER_POS_SW) == 0){ //contact closed //if (gpio_get_level(GPIO_CUTTER_POS_SW) == 0){ //contact closed
if (SW_CUTTER_POS.state == true) { //contact closed -> not at idle pos if (SW_CUTTER_POS.state == true) { //contact closed -> not at idle pos anymore
setState(cutter_state_t::CUTTING); setState(cutter_state_t::CUTTING);
} }
//--- timeout --- //--- timeout ---
else { else {
checkTimeout(); checkTimeout();
} }
break; break;
case cutter_state_t::CUTTING: case cutter_state_t::CUTTING:

33
main/display.cpp
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@ -1,5 +1,6 @@
#include "display.hpp" #include "display.hpp"
#include "config.h"
//=== variables === //=== variables ===
static const char *TAG = "display"; //tag for logging static const char *TAG = "display"; //tag for logging
@ -34,7 +35,7 @@ max7219_t display_init(){
ESP_ERROR_CHECK(max7219_init_desc(&dev, HOST, MAX7219_MAX_CLOCK_SPEED_HZ, DISPLAY_PIN_NUM_CS)); ESP_ERROR_CHECK(max7219_init_desc(&dev, HOST, MAX7219_MAX_CLOCK_SPEED_HZ, DISPLAY_PIN_NUM_CS));
ESP_ERROR_CHECK(max7219_init(&dev)); ESP_ERROR_CHECK(max7219_init(&dev));
//0...15 //0...15
ESP_ERROR_CHECK(max7219_set_brightness(&dev, 8)); //TODO add this to config ESP_ERROR_CHECK(max7219_set_brightness(&dev, DISPLAY_BRIGHTNESS));
return dev; return dev;
//display = dev; //display = dev;
ESP_LOGI(TAG, "initializing display - done"); ESP_LOGI(TAG, "initializing display - done");
@ -50,7 +51,7 @@ void display_ShowWelcomeMsg(max7219_t dev){
//show name and date //show name and date
ESP_LOGI(TAG, "showing startup message..."); ESP_LOGI(TAG, "showing startup message...");
max7219_clear(&dev); max7219_clear(&dev);
max7219_draw_text_7seg(&dev, 0, "CUTTER 29.09.2022"); max7219_draw_text_7seg(&dev, 0, "CUTTER 15.03.2024");
// 1234567812 34 5678 // 1234567812 34 5678
vTaskDelay(pdMS_TO_TICKS(700)); vTaskDelay(pdMS_TO_TICKS(700));
//scroll "hello" over 2 displays //scroll "hello" over 2 displays
@ -64,7 +65,7 @@ void display_ShowWelcomeMsg(max7219_t dev){
//noticed rare bug that one display does not initialize / is not configured correctly after start //noticed rare bug that one display does not initialize / is not configured correctly after start
//initialize display again after the welcome message in case it did not work the first time //initialize display again after the welcome message in case it did not work the first time
ESP_ERROR_CHECK(max7219_init(&dev)); ESP_ERROR_CHECK(max7219_init(&dev));
ESP_ERROR_CHECK(max7219_set_brightness(&dev, 8)); //TODO add this to config ESP_ERROR_CHECK(max7219_set_brightness(&dev, DISPLAY_BRIGHTNESS));
} }
@ -83,9 +84,9 @@ handledDisplay::handledDisplay(max7219_t displayDevice, uint8_t posStart_f) {
//-------------------------------- //================================
//---------- showString ---------- //========== showString ==========
//-------------------------------- //================================
//function that displays a given string on the display //function that displays a given string on the display
void handledDisplay::showString(const char * buf, uint8_t pos_f){ void handledDisplay::showString(const char * buf, uint8_t pos_f){
//calculate actual absolute position //calculate actual absolute position
@ -103,11 +104,11 @@ void handledDisplay::showString(const char * buf, uint8_t pos_f){
//TODO: blinkStrings() and blink() are very similar - can be optimized? //TODO: blinkStrings() and blink() are very similar - can be optimized?
//only difficulty currently is the reset behaivor of blinkStrings through showString (blink does not reset) //only difficulty is the reset behaivor of blinkStrings through showString (blink does not reset)
//---------------------------------- //==================================
//---------- blinkStrings ---------- //========== blinkStrings ==========
//---------------------------------- //==================================
//function switches between two strings in a given interval //function switches between two strings in a given interval
void handledDisplay::blinkStrings(const char * strOn_f, const char * strOff_f, uint32_t msOn_f, uint32_t msOff_f){ void handledDisplay::blinkStrings(const char * strOn_f, const char * strOff_f, uint32_t msOn_f, uint32_t msOff_f){
//copy/update variables //copy/update variables
@ -130,9 +131,9 @@ void handledDisplay::blinkStrings(const char * strOn_f, const char * strOff_f, u
//------------------------------- //===============================
//------------ blink ------------ //============ blink ============
//------------------------------- //===============================
//function triggers certain count and interval of off durations //function triggers certain count and interval of off durations
void handledDisplay::blink(uint8_t count_f, uint32_t msOn_f, uint32_t msOff_f, const char * strOff_f) { void handledDisplay::blink(uint8_t count_f, uint32_t msOn_f, uint32_t msOff_f, const char * strOff_f) {
//copy/update parameters //copy/update parameters
@ -156,9 +157,9 @@ void handledDisplay::blink(uint8_t count_f, uint32_t msOn_f, uint32_t msOff_f, c
//-------------------------------- //================================
//------------ handle ------------ //============ handle ============
//-------------------------------- //================================
//function that handles time based modes //function that handles time based modes
//writes text to the 7 segment display depending on the current mode //writes text to the 7 segment display depending on the current mode
void handledDisplay::handle() { void handledDisplay::handle() {

5
main/display.hpp
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@ -16,9 +16,8 @@ extern "C"
#include <cstring> #include <cstring>
#include "config.hpp"
//function for initializing the display using configuration from macros in config.hpp //function for initializing the display using configuration from macros in config.h
max7219_t display_init(); max7219_t display_init();
//show welcome message on the entire display //show welcome message on the entire display
@ -44,8 +43,8 @@ class handledDisplay {
//TODO: blinkStrings and blink are very similar - optimize? //TODO: blinkStrings and blink are very similar - optimize?
//TODO: add 'scroll string' method //TODO: add 'scroll string' method
private:
private:
//--- variables --- //--- variables ---
//config //config
max7219_t dev; max7219_t dev;

20
main/encoder.cpp
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@ -8,6 +8,8 @@ extern "C" {
} }
#include "encoder.hpp" #include "encoder.hpp"
#include "config.h"
#include "global.hpp"
//---------------------------- //----------------------------
@ -17,10 +19,14 @@ static rotary_encoder_info_t encoder; //encoder device/info
QueueHandle_t encoder_queue = NULL; //encoder event queue QueueHandle_t encoder_queue = NULL; //encoder event queue
//------------------------- //-------------------------
//------- functions ------- //------- functions -------
//------------------------- //-------------------------
//--- encoder_init ---
//======================
//==== encoder_init ====
//======================
//initialize encoder and return event queue //initialize encoder and return event queue
QueueHandle_t encoder_init(){ QueueHandle_t encoder_init(){
// esp32-rotary-encoder requires that the GPIO ISR service is installed before calling rotary_encoder_register() // esp32-rotary-encoder requires that the GPIO ISR service is installed before calling rotary_encoder_register()
@ -41,7 +47,9 @@ QueueHandle_t encoder_init(){
} }
//--- encoder_getSteps --- //========================
//=== encoder_getSteps ===
//========================
//get steps counted since last reset //get steps counted since last reset
int encoder_getSteps(){ int encoder_getSteps(){
// Poll current position and direction // Poll current position and direction
@ -52,14 +60,18 @@ int encoder_getSteps(){
} }
//--- encoder_getLenMm --- //========================
//=== encoder_getLenMm ===
//========================
//get current length in Mm since last reset //get current length in Mm since last reset
int encoder_getLenMm(){ int encoder_getLenMm(){
return (float)encoder_getSteps() * 1000 / ENCODER_STEPS_PER_METER; return (float)encoder_getSteps() * 1000 / ENCODER_STEPS_PER_METER;
} }
//--- encoder_reset --- //=======================
//==== encoder_reset ====
//=======================
//reset counted steps / length to 0 //reset counted steps / length to 0
void encoder_reset(){ void encoder_reset(){
rotary_encoder_reset(&encoder); rotary_encoder_reset(&encoder);

2
main/encoder.hpp
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@ -6,7 +6,6 @@ extern "C" {
#include <freertos/task.h> #include <freertos/task.h>
} }
#include "config.hpp"
//---------------------------- //----------------------------
@ -34,7 +33,6 @@ int encoder_getSteps();
int encoder_getLenMm(); int encoder_getLenMm();
//--- encoder_reset --- //--- encoder_reset ---
//reset counted steps / length to 0 //reset counted steps / length to 0
void encoder_reset(); void encoder_reset();

3
main/config.cpp → main/global.cpp
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@ -1,4 +1,5 @@
#include "config.hpp" #include "global.hpp"
#include "config.h"
//--- inputs --- //--- inputs ---

33
main/global.hpp Normal file
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@ -0,0 +1,33 @@
#pragma once
extern "C" {
#include "driver/adc.h"
}
#include "gpio_evaluateSwitch.hpp"
#include "buzzer.hpp"
#include "switchesAnalog.hpp"
//note: in the actual code macro variables to these objects from config.h are used as the objects names
//============================
//===== global variables =====
//============================
//create global evaluated switch objects for all available pins
//--- switches on digital gpio pins ---
//extern gpio_evaluatedSwitch sw_gpio_39;
extern gpio_evaluatedSwitch sw_gpio_34;
extern gpio_evaluatedSwitch sw_gpio_32;
extern gpio_evaluatedSwitch sw_gpio_33;
extern gpio_evaluatedSwitch sw_gpio_25;
extern gpio_evaluatedSwitch sw_gpio_26;
extern gpio_evaluatedSwitch sw_gpio_14;
//--- switches connected to 4-sw-to-analog stripboard ---
extern gpio_evaluatedSwitch sw_gpio_analog_0;
extern gpio_evaluatedSwitch sw_gpio_analog_1;
extern gpio_evaluatedSwitch sw_gpio_analog_2;
extern gpio_evaluatedSwitch sw_gpio_analog_3;
//create global buzzer object
extern buzzer_t buzzer;

60
main/guide-stepper.cpp
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@ -9,7 +9,8 @@ extern "C"
} }
#include "stepper.hpp" #include "stepper.hpp"
#include "config.hpp" #include "config.h"
#include "global.hpp"
#include "guide-stepper.hpp" #include "guide-stepper.hpp"
#include "encoder.hpp" #include "encoder.hpp"
@ -18,18 +19,18 @@ extern "C"
//--------------------- //---------------------
//--- configuration --- //--- configuration ---
//--------------------- //---------------------
//also see config.hpp //also see config.h
//for pin definition //for pin definition
#define STEPPER_TEST_TRAVEL 65 //mm #define STEPPER_TEST_TRAVEL 65 // mm
#define MIN_MM 0 #define MIN_MM 0
#define MAX_MM 97 //actual reel is 110, but currently guide turned out to stay at max position for too long TODO: cad: guide rolls closer together #define MAX_MM 97 //actual reel is 110, but currently guide turned out to stay at max position for too long TODO: cad: guide rolls closer together
#define POS_MAX_STEPS MAX_MM * STEPPER_STEPS_PER_MM #define POS_MAX_STEPS MAX_MM * STEPPER_STEPS_PER_MM
#define POS_MIN_STEPS MIN_MM * STEPPER_STEPS_PER_MM #define POS_MIN_STEPS MIN_MM * STEPPER_STEPS_PER_MM
#define SPEED_MIN 2.0 //mm/s #define SPEED_MIN 2.0 // mm/s
#define SPEED_MAX 70.0 //mm/s #define SPEED_MAX 70.0 // mm/s
#define LAYER_THICKNESS_MM 5 //height of one cable layer on reel -> increase in radius #define LAYER_THICKNESS_MM 5 //height of one cable layer on reel -> increase in radius
#define D_CABLE 6 #define D_CABLE 6
@ -44,11 +45,11 @@ extern "C"
//---------------------- //----------------------
//----- variables ------ //----- variables ------
//---------------------- //----------------------
typedef enum axisDirection_t {LEFT = 0, RIGHT} axisDirection_t; typedef enum axisDirection_t {AXIS_MOVING_LEFT = 0, AXIS_MOVING_RIGHT} axisDirection_t;
static const char *TAG = "stepper-ctrl"; //tag for logging static const char *TAG = "stepper-ctrl"; //tag for logging
static axisDirection_t currentAxisDirection = RIGHT; static axisDirection_t currentAxisDirection = AXIS_MOVING_RIGHT;
static uint32_t posNow = 0; static uint32_t posNow = 0;
static int layerCount = 0; static int layerCount = 0;
@ -72,6 +73,9 @@ void guide_moveToZero(){
} }
//---------------------
//---- travelSteps ----
//---------------------
//move axis certain Steps (relative) between left and right or reverse when negative //move axis certain Steps (relative) between left and right or reverse when negative
void travelSteps(int stepsTarget){ void travelSteps(int stepsTarget){
//TODO simplify this function, one simple calculation of new position? //TODO simplify this function, one simple calculation of new position?
@ -83,18 +87,18 @@ void travelSteps(int stepsTarget){
// invert direction in reverse mode (cable gets spooled off reel) // invert direction in reverse mode (cable gets spooled off reel)
if (stepsTarget < 0) { if (stepsTarget < 0) {
currentAxisDirection = (currentAxisDirection == LEFT) ? RIGHT : LEFT; //toggle between RIGHT<->Left currentAxisDirection = (currentAxisDirection == AXIS_MOVING_LEFT) ? AXIS_MOVING_RIGHT : AXIS_MOVING_LEFT; //toggle between RIGHT<->Left
} }
while (stepsToGo != 0){ while (stepsToGo != 0){
//--- currently moving right --- //--- currently moving right ---
if (currentAxisDirection == RIGHT){ //currently moving right if (currentAxisDirection == AXIS_MOVING_RIGHT){ //currently moving right
remaining = POS_MAX_STEPS - posNow; //calc remaining distance fom current position to limit remaining = POS_MAX_STEPS - posNow; //calc remaining distance fom current position to limit
if (stepsToGo > remaining){ //new distance will exceed limit if (stepsToGo > remaining){ //new distance will exceed limit
stepper_setTargetPosSteps(POS_MAX_STEPS); //move to limit stepper_setTargetPosSteps(POS_MAX_STEPS); //move to limit
stepper_waitForStop(1000); stepper_waitForStop(1000);
posNow = POS_MAX_STEPS; posNow = POS_MAX_STEPS;
currentAxisDirection = LEFT; //change current direction for next iteration currentAxisDirection = AXIS_MOVING_LEFT; //change current direction for next iteration
//increment/decrement layer count depending on current cable direction //increment/decrement layer count depending on current cable direction
layerCount += (stepsTarget > 0) - (stepsTarget < 0); layerCount += (stepsTarget > 0) - (stepsTarget < 0);
if (layerCount < 0) layerCount = 0; //negative layers are not possible if (layerCount < 0) layerCount = 0; //negative layers are not possible
@ -110,13 +114,13 @@ void travelSteps(int stepsTarget){
} }
//--- currently moving left --- //--- currently moving left ---
else if (currentAxisDirection == LEFT){ else if (currentAxisDirection == AXIS_MOVING_LEFT){
remaining = posNow - POS_MIN_STEPS; remaining = posNow - POS_MIN_STEPS;
if (stepsToGo > remaining){ if (stepsToGo > remaining){
stepper_setTargetPosSteps(POS_MIN_STEPS); stepper_setTargetPosSteps(POS_MIN_STEPS);
stepper_waitForStop(1000); stepper_waitForStop(1000);
posNow = POS_MIN_STEPS; posNow = POS_MIN_STEPS;
currentAxisDirection = RIGHT; //switch direction currentAxisDirection = AXIS_MOVING_RIGHT; //switch direction
//increment/decrement layer count depending on current cable direction //increment/decrement layer count depending on current cable direction
layerCount += (stepsTarget > 0) - (stepsTarget < 0); layerCount += (stepsTarget > 0) - (stepsTarget < 0);
if (layerCount < 0) layerCount = 0; //negative layers are not possible if (layerCount < 0) layerCount = 0; //negative layers are not possible
@ -134,19 +138,25 @@ void travelSteps(int stepsTarget){
// undo inversion of currentAxisDirection after reverse mode is finished // undo inversion of currentAxisDirection after reverse mode is finished
if (stepsTarget < 0) { if (stepsTarget < 0) {
currentAxisDirection = (currentAxisDirection == LEFT) ? RIGHT : LEFT; //toggle between RIGHT<->Left currentAxisDirection = (currentAxisDirection == AXIS_MOVING_LEFT) ? AXIS_MOVING_RIGHT : AXIS_MOVING_LEFT; //toggle between RIGHT<->Left
} }
return; return;
} }
//------------------
//---- travelMm ----
//------------------
//move axis certain Mm (relative) between left and right or reverse when negative //move axis certain Mm (relative) between left and right or reverse when negative
void travelMm(int length){ void travelMm(int length){
travelSteps(length * STEPPER_STEPS_PER_MM); travelSteps(length * STEPPER_STEPS_PER_MM);
} }
//----------------------
//---- init_stepper ----
//----------------------
//initialize/configure stepper instance //initialize/configure stepper instance
void init_stepper() { void init_stepper() {
//TODO unnecessary wrapper? //TODO unnecessary wrapper?
@ -158,7 +168,10 @@ void init_stepper() {
} }
//function that updates speed value using ADC input and configured MIN/MAX //--------------------------
//--- updateSpeedFromAdc ---
//--------------------------
//function that updates speed value using ADC input and configured MIN/MAX - used for testing only
void updateSpeedFromAdc() { void updateSpeedFromAdc() {
int potiRead = gpio_readAdc(ADC_CHANNEL_POTI); //0-4095 GPIO34 int potiRead = gpio_readAdc(ADC_CHANNEL_POTI); //0-4095 GPIO34
double poti = potiRead/4095.0; double poti = potiRead/4095.0;
@ -170,13 +183,13 @@ void updateSpeedFromAdc() {
//============================ //============================
//==== TASK stepper=test ===== //==== TASK stepper_test =====
//============================ //============================
//test axis without using encoder input
#ifndef STEPPER_SIMULATE_ENCODER #ifndef STEPPER_SIMULATE_ENCODER
void task_stepper_test(void *pvParameter) void task_stepper_test(void *pvParameter)
{ {
stepper_init(); stepper_init();
int state = 0;
while(1){ while(1){
vTaskDelay(20 / portTICK_PERIOD_MS); vTaskDelay(20 / portTICK_PERIOD_MS);
@ -192,6 +205,7 @@ void task_stepper_test(void *pvParameter)
SW_AUTO_CUT.handle(); SW_AUTO_CUT.handle();
#ifdef ONE_BUTTON_TEST //test with "reset-button" only #ifdef ONE_BUTTON_TEST //test with "reset-button" only
static int state = 0;
//cycle through test commands with one button //cycle through test commands with one button
if (SW_RESET.risingEdge) { if (SW_RESET.risingEdge) {
switch (state){ switch (state){
@ -242,8 +256,9 @@ void task_stepper_test(void *pvParameter)
//============================ //============================
//===== TASK stepper=ctl ===== //===== TASK stepper_ctl =====
//============================ //============================
//task controlling the linear axis guiding the cable according to wire length spooled
#ifdef STEPPER_SIMULATE_ENCODER #ifdef STEPPER_SIMULATE_ENCODER
void task_stepper_test(void *pvParameter) void task_stepper_test(void *pvParameter)
#else #else
@ -265,7 +280,6 @@ void task_stepper_ctl(void *pvParameter)
double turns = 0; double turns = 0;
float currentDiameter; float currentDiameter;
float potiModifier;
//initialize stepper and define zero-position at task start //initialize stepper and define zero-position at task start
init_stepper(); init_stepper();
@ -300,24 +314,24 @@ void task_stepper_ctl(void *pvParameter)
// set locally stored axis position and counted layers to 0 (used for calculating the target axis coordinate and steps) // set locally stored axis position and counted layers to 0 (used for calculating the target axis coordinate and steps)
posNow = 0; posNow = 0;
layerCount = 0; layerCount = 0;
currentAxisDirection = RIGHT; currentAxisDirection = AXIS_MOVING_RIGHT;
ESP_LOGW(TAG, "at position 0, reset variables, resuming normal cable guiding operation"); ESP_LOGW(TAG, "at position 0, reset variables, resuming normal cable guiding operation");
} }
//calculate change //calculate change
encStepsDelta = encStepsNow - encStepsPrev; encStepsDelta = encStepsNow - encStepsPrev;
// check if reset happend without moving to zero before - resulting in huge diff //check if reset happend without moving to zero before - resulting in huge diff
if (encStepsDelta != 0 && encStepsNow == 0){ // this should not happen and causes weird movement if (encStepsDelta != 0 && encStepsNow == 0){ // this should not happen and causes weird movement
ESP_LOGE(TAG, "encoder steps changed to 0 (reset) without previous moveToZero() call, resulting in stepsDelta=%d", encStepsDelta); ESP_LOGE(TAG, "encoder steps changed to 0 (reset) without previous moveToZero() call, resulting in stepsDelta=%d", encStepsDelta);
} }
//read potentiometer and normalize (0-1) to get a variable for testing //read potentiometer and normalize (0-1) to get a variable for testing
potiModifier = (float) gpio_readAdc(ADC_CHANNEL_POTI) / 4095; //0-4095 -> 0-1 //float potiModifier = (float) gpio_readAdc(ADC_CHANNEL_POTI) / 4095; //0-4095 -> 0-1
//ESP_LOGI(TAG, "current poti-modifier = %f", potiModifier); //ESP_LOGI(TAG, "current poti-modifier = %f", potiModifier);
//calculate steps to move //calculate steps to move
cableLen = (double)encStepsDelta * 1000 / ENCODER_STEPS_PER_METER; cableLen = (double)encStepsDelta * 1000 / ENCODER_STEPS_PER_METER;
// effective diameter increases each layer //effective diameter increases each layer
currentDiameter = D_REEL + LAYER_THICKNESS_MM * 2 * layerCount; currentDiameter = D_REEL + LAYER_THICKNESS_MM * 2 * layerCount;
turns = cableLen / (PI * currentDiameter); turns = cableLen / (PI * currentDiameter);
travelMm = turns * D_CABLE; travelMm = turns * D_CABLE;
@ -328,7 +342,7 @@ void task_stepper_ctl(void *pvParameter)
//move axis when ready to move at least 1 full step //move axis when ready to move at least 1 full step
if (abs(travelStepsFull) > 1){ if (abs(travelStepsFull) > 1){
travelStepsPartial = fmod(travelStepsExact, 1); //save remaining partial steps to be added in the next iteration travelStepsPartial = fmod(travelStepsExact, 1); //save remaining partial steps to be added in the next iteration
ESP_LOGI(TAG, "dCablelen=%.2lf, dTurns=%.2lf, travelMm=%.3lf, travelStepsExact: %.3lf, travelStepsFull=%d, partialStep=%.3lf, totalLayerCount=%d, diameter=%.1f", cableLen, turns, travelMm, travelStepsExact, travelStepsFull, travelStepsPartial, layerCount, currentDiameter); ESP_LOGI(TAG, "dCablelen=%.2lf, dTurns=%.2lf, travelMm=%.3lf, StepsExact: %.3lf, StepsFull=%d, StepsPartial=%.3lf, totalLayerCount=%d, diameter=%.1f", cableLen, turns, travelMm, travelStepsExact, travelStepsFull, travelStepsPartial, layerCount, currentDiameter);
ESP_LOGD(TAG, "MOVING %d steps", travelStepsFull); ESP_LOGD(TAG, "MOVING %d steps", travelStepsFull);
travelSteps(travelStepsExact); travelSteps(travelStepsExact);
encStepsPrev = encStepsNow; //update previous length encStepsPrev = encStepsNow; //update previous length

16
main/main.cpp
View File

@ -10,7 +10,8 @@ extern "C"
#include "driver/adc.h" #include "driver/adc.h"
} }
#include "config.hpp" #include "config.h"
#include "global.hpp"
#include "control.hpp" #include "control.hpp"
#include "buzzer.hpp" #include "buzzer.hpp"
#include "switchesAnalog.hpp" #include "switchesAnalog.hpp"
@ -23,7 +24,10 @@ extern "C"
//================================= //=================================
//=========== functions =========== //=========== functions ===========
//================================= //=================================
//------------------------
//--- configure output --- //--- configure output ---
//------------------------
//configure a gpio pin as output //configure a gpio pin as output
void gpio_configure_output(gpio_num_t gpio_pin){ void gpio_configure_output(gpio_num_t gpio_pin){
gpio_pad_select_gpio(gpio_pin); gpio_pad_select_gpio(gpio_pin);
@ -31,7 +35,9 @@ void gpio_configure_output(gpio_num_t gpio_pin){
} }
//--- init gpios --- //--------------------
//---- init gpios ----
//--------------------
void init_gpios(){ void init_gpios(){
//--- outputs --- //--- outputs ---
//4x stepper mosfets //4x stepper mosfets
@ -77,7 +83,7 @@ extern "C" void app_main()
//init outputs and adc //init outputs and adc
init_gpios(); init_gpios();
//enable 5V volage regulator //enable 5V volage regulator (needed for display)
gpio_set_level(GPIO_NUM_17, 1); gpio_set_level(GPIO_NUM_17, 1);
//init encoder (global) //init encoder (global)
@ -94,14 +100,14 @@ extern "C" void app_main()
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
//create task for stepper testing //create task for testing the stepper motor
xTaskCreate(task_stepper_test, "task_stepper_test", configMINIMAL_STACK_SIZE * 3, NULL, 2, NULL); xTaskCreate(task_stepper_test, "task_stepper_test", configMINIMAL_STACK_SIZE * 3, NULL, 2, NULL);
//xTaskCreate(task_stepper_debug, "task_stepper_test", configMINIMAL_STACK_SIZE * 3, NULL, 2, NULL); //xTaskCreate(task_stepper_debug, "task_stepper_test", configMINIMAL_STACK_SIZE * 3, NULL, 2, NULL);
#else #else
//create task for controlling the machine //create task for controlling the machine
xTaskCreate(task_control, "task_control", configMINIMAL_STACK_SIZE * 3, NULL, 4, NULL); xTaskCreate(task_control, "task_control", configMINIMAL_STACK_SIZE * 3, NULL, 4, NULL);
//create task for controlling the steppermotor (linear axis that guids the cable) //create task for controlling the stepper motor (linear axis that guids the cable)
xTaskCreate(task_stepper_ctl, "task_stepper_ctl", configMINIMAL_STACK_SIZE * 3, NULL, 2, NULL); xTaskCreate(task_stepper_ctl, "task_stepper_ctl", configMINIMAL_STACK_SIZE * 3, NULL, 2, NULL);
#endif #endif

5
main/stepper.cpp
View File

@ -1,5 +1,6 @@
//custom driver for stepper motor //custom driver for stepper motor
#include "config.hpp" #include "config.h"
#include "global.hpp"
#include "hal/timer_types.h" #include "hal/timer_types.h"
#include <cstdint> #include <cstdint>
#include <inttypes.h> #include <inttypes.h>
@ -14,7 +15,7 @@ extern "C" {
//===================== //=====================
//=== configuration === //=== configuration ===
//===================== //=====================
//used macros from config.hpp: //used macros from config.h:
//#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

2
main/switchesAnalog.cpp
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@ -1,4 +1,6 @@
#include "switchesAnalog.hpp" #include "switchesAnalog.hpp"
#include "config.h"
#include "global.hpp"
#define CHECK_BIT(var,pos) (((var)>>(pos)) & 1) //TODO duplicate code: same macro already used in vfd.cpp #define CHECK_BIT(var,pos) (((var)>>(pos)) & 1) //TODO duplicate code: same macro already used in vfd.cpp

1
main/switchesAnalog.hpp
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@ -8,7 +8,6 @@ extern "C"
#include <math.h> #include <math.h>
} }
#include "config.hpp"
#include "gpio_adc.hpp" #include "gpio_adc.hpp"

2
main/vfd.cpp
View File

@ -1,4 +1,6 @@
#include "vfd.hpp" #include "vfd.hpp"
#include "config.h"
#include "global.hpp"
#define CHECK_BIT(var,pos) (((var)>>(pos)) & 1) #define CHECK_BIT(var,pos) (((var)>>(pos)) & 1)

1
main/vfd.hpp
View File

@ -9,7 +9,6 @@ extern "C"
#include "esp_log.h" #include "esp_log.h"
} }
#include "config.hpp"
//enum defining motor direction //enum defining motor direction
typedef enum vfd_direction_t {FWD, REV} vfd_direction_t; typedef enum vfd_direction_t {FWD, REV} vfd_direction_t;