Outsource global variables, Optimize comments
- 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
parent
4c149a7743
commit
4aab1e1343
14
.gitignore
vendored
14
.gitignore
vendored
@ -1,15 +1,29 @@
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# ESP-IDF default build directory
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build
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sdkconfig.old
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dependencies.lock
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# VIM files
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*.swp
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*.swo
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**/.cache
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# VS-code
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settings.json
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# drawio files
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*.bkp
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# freecad backup files
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*.FCStd1
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*.FCBak
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# stl files are usually temporary
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*.stl
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# kicad backup files
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pcb/*/*backups/
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# other
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octave-workspace
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del
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screenshots
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@ -1,7 +1,7 @@
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idf_component_register(
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SRCS
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"main.cpp"
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"config.cpp"
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"global.cpp"
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"control.cpp"
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"buzzer.cpp"
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"vfd.cpp"
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@ -1,5 +1,5 @@
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#include "buzzer.hpp"
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#include "config.hpp"
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#include "config.h"
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static const char *TAG_BUZZER = "buzzer";
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@ -1,11 +1,8 @@
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#pragma once
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extern "C" {
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#include "driver/adc.h"
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}
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#include "gpio_evaluateSwitch.hpp"
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#include "buzzer.hpp"
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#include "switchesAnalog.hpp"
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#include "esp_idf_version.h"
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//note: global variables and objects were moved to global.hpp
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//===================================
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//===== define output gpio pins =====
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@ -49,6 +46,7 @@ extern "C" {
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#define SW_CUT sw_gpio_33
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#define SW_AUTO_CUT sw_gpio_32
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//#define ? sw_gpio_34
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//note: actual objects are created in global.cpp
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@ -68,6 +66,7 @@ extern "C" {
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#define DISPLAY_PIN_NUM_CLK GPIO_NUM_22
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#define DISPLAY_PIN_NUM_CS GPIO_NUM_27
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#define DISPLAY_DELAY 2000
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#define DISPLAY_BRIGHTNESS 8
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//--------------------------
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//----- encoder config -----
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@ -100,7 +99,7 @@ extern "C" {
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//--------------------------
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//------ calibration -------
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//--------------------------
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//enable mode encoder test for calibration
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//enable mode encoder test for calibration (determine ENCODER_STEPS_PER_METER)
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//if defined, displays always show length and steps instead of the normal messages
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//#define ENCODER_TEST
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@ -118,26 +117,3 @@ extern "C" {
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//============================
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//===== global variables =====
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//============================
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//create global evaluated switch objects
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//--- switches on digital gpio pins ---
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//extern gpio_evaluatedSwitch sw_gpio_39;
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extern gpio_evaluatedSwitch sw_gpio_34;
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extern gpio_evaluatedSwitch sw_gpio_32;
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extern gpio_evaluatedSwitch sw_gpio_33;
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extern gpio_evaluatedSwitch sw_gpio_25;
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extern gpio_evaluatedSwitch sw_gpio_26;
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extern gpio_evaluatedSwitch sw_gpio_14;
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//--- switches connected to 4-sw-to-analog stripboard ---
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extern gpio_evaluatedSwitch sw_gpio_analog_0;
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extern gpio_evaluatedSwitch sw_gpio_analog_1;
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extern gpio_evaluatedSwitch sw_gpio_analog_2;
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extern gpio_evaluatedSwitch sw_gpio_analog_3;
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//create global buzzer object
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extern buzzer_t buzzer;
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@ -1,22 +1,47 @@
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#include "control.hpp"
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extern "C"
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{
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#include <stdio.h>
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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#include <esp_idf_version.h>
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#include "freertos/queue.h"
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#include "esp_system.h"
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#include "esp_log.h"
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#include "driver/adc.h"
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#include "max7219.h"
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}
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#include <cmath>
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#include "config.h"
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#include "gpio_evaluateSwitch.hpp"
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#include "gpio_adc.hpp"
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#include "buzzer.hpp"
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#include "vfd.hpp"
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#include "display.hpp"
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#include "cutter.hpp"
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#include "encoder.hpp"
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#include "guide-stepper.hpp"
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#include "global.hpp"
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#include "control.hpp"
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//--------------------
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//---- variables -----
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//--------------------
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//-----------------------------------------
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//--------------- variables ---------------
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//-----------------------------------------
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static const char *TAG = "control"; //tag for logging
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//control
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const char* systemStateStr[7] = {"COUNTING", "WINDING_START", "WINDING", "TARGET_REACHED", "AUTO_CUT_WAITING", "CUTTING", "MANUAL"};
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systemState_t controlState = systemState_t::COUNTING;
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static uint32_t timestamp_lastStateChange = 0;
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//display
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static char buf_disp1[10];// 8 digits + decimal point + \0
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static char buf_disp2[10];// 8 digits + decimal point + \0
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static char buf_tmp[15];
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//track length
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static int lengthNow = 0; //length measured in mm
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static int lengthTarget = 5000; //default target length in mm
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static int lengthRemaining = 0; //(target - now) length needed for reaching the target
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@ -31,9 +56,9 @@ static bool autoCutEnabled = false; //store state of toggle switch (no hotswitch
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//--------------------
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//---- functions -----
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//--------------------
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//-----------------------------------------
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//--------------- functions ---------------
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//-----------------------------------------
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//========================
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//===== change State =====
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@ -57,12 +82,13 @@ void changeState (systemState_t stateNew) {
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//=================================
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//===== handle Stop Condition =====
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//=================================
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//function that checks whether start button is released or target is reached (used in multiple states)
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//returns true when stopped, false when no action
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//function that checks whether start button is released or target is reached
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//and takes according action if so (used in multiple states)
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//returns true when stop condition was met, false when no action required
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bool handleStopCondition(handledDisplay * displayTop, handledDisplay * displayBot){
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//--- stop conditions ---
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//stop conditions that are checked in any mode
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//target reached
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//target reached -> reached state, stop motor, display message
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if (lengthRemaining <= 0 ) {
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changeState(systemState_t::TARGET_REACHED);
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vfd_setState(false);
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@ -71,7 +97,7 @@ bool handleStopCondition(handledDisplay * displayTop, handledDisplay * displayBo
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buzzer.beep(2, 100, 100);
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return true;
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}
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//start button released
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//start button released -> idle state, stop motor, display message
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else if (SW_START.state == false) {
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changeState(systemState_t::COUNTING);
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vfd_setState(false);
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@ -120,7 +146,6 @@ void setDynSpeedLvl(uint8_t lvlMax = 3){
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//task that controls the entire machine
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void task_control(void *pvParameter)
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{
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//-- initialize display --
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max7219_t two7SegDisplays = display_init();
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//create two separate custom handled display instances
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@ -132,13 +157,16 @@ void task_control(void *pvParameter)
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//currently show name and date and scrolling 'hello'
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display_ShowWelcomeMsg(two7SegDisplays);
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//===== loop =====
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// ##############################
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// ######## control loop ########
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// ##############################
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// repeatedly handle the machine
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while(1){
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vTaskDelay(10 / portTICK_PERIOD_MS);
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//------ handle switches ------
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//run handle functions for all switches
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//run handle functions for all switches used here
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SW_START.handle();
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SW_RESET.handle();
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SW_SET.handle();
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@ -224,7 +252,7 @@ void task_control(void *pvParameter)
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buzzer.beep(3, 100, 60);
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}
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//##### custom target length using poti #####
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//##### SET switch #####
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//set target length to poti position when SET switch is pressed
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if (SW_SET.state == true) {
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//read adc
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@ -409,11 +437,11 @@ void task_control(void *pvParameter)
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}
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#ifdef ENCODER_TEST
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//--------------------------
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//------ encoder test ------
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//--------------------------
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#ifdef ENCODER_TEST
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//mode for calibrating the cable length measurement (determine ENCODER_STEPS_PER_METER in config.h)
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//run display handle functions
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displayTop.handle();
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displayBot.handle();
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@ -432,7 +460,7 @@ void task_control(void *pvParameter)
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lengthBeeped = lengthNow;
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}
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}
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#else
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#else //not in encoder calibration mode
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//--------------------------
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//-------- display1 --------
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@ -452,7 +480,6 @@ void task_control(void *pvParameter)
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displayTop.showString(buf_disp1);
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}
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//--------------------------
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//-------- display2 --------
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//--------------------------
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@ -485,6 +512,7 @@ void task_control(void *pvParameter)
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displayBot.showString(buf_tmp);
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}
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#endif // end else ifdef ENCODER_TEST
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//----------------------------
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//------- control lamp -------
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@ -501,10 +529,6 @@ void task_control(void *pvParameter)
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gpio_set_level(GPIO_LAMP, 0);
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}
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#endif
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} //end while(1)
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} //end task_control
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@ -1,34 +1,12 @@
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#pragma once
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extern "C"
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{
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#include <stdio.h>
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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#include <esp_idf_version.h>
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#include "freertos/queue.h"
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#include "esp_system.h"
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#include "esp_log.h"
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#include "driver/adc.h"
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#include "max7219.h"
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}
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#include <cmath>
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#include "config.hpp"
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#include "gpio_evaluateSwitch.hpp"
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#include "gpio_adc.hpp"
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#include "buzzer.hpp"
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#include "vfd.hpp"
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#include "display.hpp"
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#include "cutter.hpp"
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//enum describing the state of the system
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enum class systemState_t {COUNTING, WINDING_START, WINDING, TARGET_REACHED, AUTO_CUT_WAITING, CUTTING, MANUAL};
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//array with enum as strings for logging states
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extern const char* systemStateStr[7];
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//task that controls the entire machine (has to be created as task in main function)
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void task_control(void *pvParameter);
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@ -1,4 +1,6 @@
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#include "cutter.hpp"
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#include "config.h"
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#include "global.hpp"
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const char* cutter_stateStr[5] = {"IDLE", "START", "CUTTING", "CANCELED", "TIMEOUT"}; //define strings for logging the state
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@ -39,7 +41,6 @@ void cutter_stop(){
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if(cutter_state != cutter_state_t::IDLE){
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setState(cutter_state_t::CANCELED);
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}
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//starts motor on state change
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}
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@ -131,7 +132,6 @@ void cutter_handle(){
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//SW_CUTTER_POS.minOnMs = 10;
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//SW_CUTTER_POS.minOffMs = 10;
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switch(cutter_state){
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case cutter_state_t::IDLE:
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case cutter_state_t::TIMEOUT:
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@ -142,14 +142,13 @@ void cutter_handle(){
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case cutter_state_t::START:
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//--- moved away from idle position ---
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//if (gpio_get_level(GPIO_CUTTER_POS_SW) == 0){ //contact closed
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if (SW_CUTTER_POS.state == true) { //contact closed -> not at idle pos
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if (SW_CUTTER_POS.state == true) { //contact closed -> not at idle pos anymore
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setState(cutter_state_t::CUTTING);
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}
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//--- timeout ---
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else {
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checkTimeout();
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}
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break;
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case cutter_state_t::CUTTING:
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@ -1,5 +1,6 @@
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#include "display.hpp"
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#include "config.h"
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//=== variables ===
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static const char *TAG = "display"; //tag for logging
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@ -34,7 +35,7 @@ max7219_t display_init(){
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ESP_ERROR_CHECK(max7219_init_desc(&dev, HOST, MAX7219_MAX_CLOCK_SPEED_HZ, DISPLAY_PIN_NUM_CS));
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ESP_ERROR_CHECK(max7219_init(&dev));
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//0...15
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ESP_ERROR_CHECK(max7219_set_brightness(&dev, 8)); //TODO add this to config
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ESP_ERROR_CHECK(max7219_set_brightness(&dev, DISPLAY_BRIGHTNESS));
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return dev;
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//display = dev;
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ESP_LOGI(TAG, "initializing display - done");
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@ -50,7 +51,7 @@ void display_ShowWelcomeMsg(max7219_t dev){
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//show name and date
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ESP_LOGI(TAG, "showing startup message...");
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max7219_clear(&dev);
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max7219_draw_text_7seg(&dev, 0, "CUTTER 29.09.2022");
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max7219_draw_text_7seg(&dev, 0, "CUTTER 15.03.2024");
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// 1234567812 34 5678
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vTaskDelay(pdMS_TO_TICKS(700));
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//scroll "hello" over 2 displays
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@ -64,7 +65,7 @@ void display_ShowWelcomeMsg(max7219_t dev){
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//noticed rare bug that one display does not initialize / is not configured correctly after start
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//initialize display again after the welcome message in case it did not work the first time
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ESP_ERROR_CHECK(max7219_init(&dev));
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ESP_ERROR_CHECK(max7219_set_brightness(&dev, 8)); //TODO add this to config
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ESP_ERROR_CHECK(max7219_set_brightness(&dev, DISPLAY_BRIGHTNESS));
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}
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@ -83,9 +84,9 @@ handledDisplay::handledDisplay(max7219_t displayDevice, uint8_t posStart_f) {
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//--------------------------------
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//---------- showString ----------
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//--------------------------------
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//================================
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//========== showString ==========
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//================================
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//function that displays a given string on the display
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void handledDisplay::showString(const char * buf, uint8_t pos_f){
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//calculate actual absolute position
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@ -103,11 +104,11 @@ void handledDisplay::showString(const char * buf, uint8_t pos_f){
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//TODO: blinkStrings() and blink() are very similar - can be optimized?
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//only difficulty currently is the reset behaivor of blinkStrings through showString (blink does not reset)
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//only difficulty is the reset behaivor of blinkStrings through showString (blink does not reset)
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//----------------------------------
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//---------- blinkStrings ----------
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//----------------------------------
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//==================================
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//========== blinkStrings ==========
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//==================================
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//function switches between two strings in a given interval
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void handledDisplay::blinkStrings(const char * strOn_f, const char * strOff_f, uint32_t msOn_f, uint32_t msOff_f){
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//copy/update variables
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@ -130,9 +131,9 @@ void handledDisplay::blinkStrings(const char * strOn_f, const char * strOff_f, u
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//-------------------------------
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//------------ blink ------------
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//-------------------------------
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//===============================
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//============ blink ============
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//===============================
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//function triggers certain count and interval of off durations
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void handledDisplay::blink(uint8_t count_f, uint32_t msOn_f, uint32_t msOff_f, const char * strOff_f) {
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//copy/update parameters
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@ -156,9 +157,9 @@ void handledDisplay::blink(uint8_t count_f, uint32_t msOn_f, uint32_t msOff_f, c
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//--------------------------------
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//------------ handle ------------
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//--------------------------------
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//================================
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//============ handle ============
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//================================
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//function that handles time based modes
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//writes text to the 7 segment display depending on the current mode
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void handledDisplay::handle() {
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@ -16,9 +16,8 @@ extern "C"
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#include <cstring>
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#include "config.hpp"
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//function for initializing the display using configuration from macros in config.hpp
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//function for initializing the display using configuration from macros in config.h
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max7219_t display_init();
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//show welcome message on the entire display
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@ -44,8 +43,8 @@ class handledDisplay {
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//TODO: blinkStrings and blink are very similar - optimize?
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//TODO: add 'scroll string' method
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private:
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private:
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//--- variables ---
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//config
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max7219_t dev;
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@ -8,6 +8,8 @@ extern "C" {
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}
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#include "encoder.hpp"
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#include "config.h"
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#include "global.hpp"
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//----------------------------
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@ -17,10 +19,14 @@ static rotary_encoder_info_t encoder; //encoder device/info
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QueueHandle_t encoder_queue = NULL; //encoder event queue
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||||
|
||||
|
||||
//-------------------------
|
||||
//------- functions -------
|
||||
//-------------------------
|
||||
//--- encoder_init ---
|
||||
|
||||
//======================
|
||||
//==== encoder_init ====
|
||||
//======================
|
||||
//initialize encoder and return event queue
|
||||
QueueHandle_t encoder_init(){
|
||||
// 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
|
||||
int encoder_getSteps(){
|
||||
// Poll current position and direction
|
||||
@ -52,14 +60,18 @@ int encoder_getSteps(){
|
||||
}
|
||||
|
||||
|
||||
//--- encoder_getLenMm ---
|
||||
//========================
|
||||
//=== encoder_getLenMm ===
|
||||
//========================
|
||||
//get current length in Mm since last reset
|
||||
int encoder_getLenMm(){
|
||||
return (float)encoder_getSteps() * 1000 / ENCODER_STEPS_PER_METER;
|
||||
}
|
||||
|
||||
|
||||
//--- encoder_reset ---
|
||||
//=======================
|
||||
//==== encoder_reset ====
|
||||
//=======================
|
||||
//reset counted steps / length to 0
|
||||
void encoder_reset(){
|
||||
rotary_encoder_reset(&encoder);
|
||||
|
||||
@ -6,7 +6,6 @@ extern "C" {
|
||||
#include <freertos/task.h>
|
||||
}
|
||||
|
||||
#include "config.hpp"
|
||||
|
||||
|
||||
//----------------------------
|
||||
@ -34,7 +33,6 @@ int encoder_getSteps();
|
||||
int encoder_getLenMm();
|
||||
|
||||
|
||||
|
||||
//--- encoder_reset ---
|
||||
//reset counted steps / length to 0
|
||||
void encoder_reset();
|
||||
|
||||
@ -1,4 +1,5 @@
|
||||
#include "config.hpp"
|
||||
#include "global.hpp"
|
||||
#include "config.h"
|
||||
|
||||
|
||||
//--- inputs ---
|
||||
33
main/global.hpp
Normal file
33
main/global.hpp
Normal file
@ -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;
|
||||
@ -9,7 +9,8 @@ extern "C"
|
||||
}
|
||||
|
||||
#include "stepper.hpp"
|
||||
#include "config.hpp"
|
||||
#include "config.h"
|
||||
#include "global.hpp"
|
||||
#include "guide-stepper.hpp"
|
||||
#include "encoder.hpp"
|
||||
|
||||
@ -18,18 +19,18 @@ extern "C"
|
||||
//---------------------
|
||||
//--- configuration ---
|
||||
//---------------------
|
||||
//also see config.hpp
|
||||
//also see config.h
|
||||
//for pin definition
|
||||
|
||||
#define STEPPER_TEST_TRAVEL 65 //mm
|
||||
#define STEPPER_TEST_TRAVEL 65 // mm
|
||||
|
||||
#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 POS_MAX_STEPS MAX_MM * STEPPER_STEPS_PER_MM
|
||||
#define POS_MIN_STEPS MIN_MM * STEPPER_STEPS_PER_MM
|
||||
|
||||
#define SPEED_MIN 2.0 //mm/s
|
||||
#define SPEED_MAX 70.0 //mm/s
|
||||
#define SPEED_MIN 2.0 // 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 D_CABLE 6
|
||||
@ -44,11 +45,11 @@ extern "C"
|
||||
//----------------------
|
||||
//----- 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 axisDirection_t currentAxisDirection = RIGHT;
|
||||
static axisDirection_t currentAxisDirection = AXIS_MOVING_RIGHT;
|
||||
static uint32_t posNow = 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
|
||||
void travelSteps(int stepsTarget){
|
||||
//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)
|
||||
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){
|
||||
//--- 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
|
||||
if (stepsToGo > remaining){ //new distance will exceed limit
|
||||
stepper_setTargetPosSteps(POS_MAX_STEPS); //move to limit
|
||||
stepper_waitForStop(1000);
|
||||
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
|
||||
layerCount += (stepsTarget > 0) - (stepsTarget < 0);
|
||||
if (layerCount < 0) layerCount = 0; //negative layers are not possible
|
||||
@ -110,13 +114,13 @@ void travelSteps(int stepsTarget){
|
||||
}
|
||||
|
||||
//--- currently moving left ---
|
||||
else if (currentAxisDirection == LEFT){
|
||||
else if (currentAxisDirection == AXIS_MOVING_LEFT){
|
||||
remaining = posNow - POS_MIN_STEPS;
|
||||
if (stepsToGo > remaining){
|
||||
stepper_setTargetPosSteps(POS_MIN_STEPS);
|
||||
stepper_waitForStop(1000);
|
||||
posNow = POS_MIN_STEPS;
|
||||
currentAxisDirection = RIGHT; //switch direction
|
||||
currentAxisDirection = AXIS_MOVING_RIGHT; //switch direction
|
||||
//increment/decrement layer count depending on current cable direction
|
||||
layerCount += (stepsTarget > 0) - (stepsTarget < 0);
|
||||
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
|
||||
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;
|
||||
}
|
||||
|
||||
|
||||
//------------------
|
||||
//---- travelMm ----
|
||||
//------------------
|
||||
//move axis certain Mm (relative) between left and right or reverse when negative
|
||||
void travelMm(int length){
|
||||
travelSteps(length * STEPPER_STEPS_PER_MM);
|
||||
}
|
||||
|
||||
|
||||
//----------------------
|
||||
//---- init_stepper ----
|
||||
//----------------------
|
||||
//initialize/configure stepper instance
|
||||
void init_stepper() {
|
||||
//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() {
|
||||
int potiRead = gpio_readAdc(ADC_CHANNEL_POTI); //0-4095 GPIO34
|
||||
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
|
||||
void task_stepper_test(void *pvParameter)
|
||||
{
|
||||
stepper_init();
|
||||
int state = 0;
|
||||
while(1){
|
||||
vTaskDelay(20 / portTICK_PERIOD_MS);
|
||||
|
||||
@ -192,6 +205,7 @@ void task_stepper_test(void *pvParameter)
|
||||
SW_AUTO_CUT.handle();
|
||||
|
||||
#ifdef ONE_BUTTON_TEST //test with "reset-button" only
|
||||
static int state = 0;
|
||||
//cycle through test commands with one button
|
||||
if (SW_RESET.risingEdge) {
|
||||
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
|
||||
void task_stepper_test(void *pvParameter)
|
||||
#else
|
||||
@ -265,7 +280,6 @@ void task_stepper_ctl(void *pvParameter)
|
||||
double turns = 0;
|
||||
float currentDiameter;
|
||||
|
||||
float potiModifier;
|
||||
|
||||
//initialize stepper and define zero-position at task start
|
||||
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)
|
||||
posNow = 0;
|
||||
layerCount = 0;
|
||||
currentAxisDirection = RIGHT;
|
||||
currentAxisDirection = AXIS_MOVING_RIGHT;
|
||||
ESP_LOGW(TAG, "at position 0, reset variables, resuming normal cable guiding operation");
|
||||
}
|
||||
|
||||
//calculate change
|
||||
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
|
||||
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
|
||||
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);
|
||||
|
||||
//calculate steps to move
|
||||
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;
|
||||
turns = cableLen / (PI * currentDiameter);
|
||||
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
|
||||
if (abs(travelStepsFull) > 1){
|
||||
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);
|
||||
travelSteps(travelStepsExact);
|
||||
encStepsPrev = encStepsNow; //update previous length
|
||||
|
||||
@ -10,7 +10,8 @@ extern "C"
|
||||
#include "driver/adc.h"
|
||||
}
|
||||
|
||||
#include "config.hpp"
|
||||
#include "config.h"
|
||||
#include "global.hpp"
|
||||
#include "control.hpp"
|
||||
#include "buzzer.hpp"
|
||||
#include "switchesAnalog.hpp"
|
||||
@ -23,7 +24,10 @@ extern "C"
|
||||
//=================================
|
||||
//=========== functions ===========
|
||||
//=================================
|
||||
|
||||
//------------------------
|
||||
//--- configure output ---
|
||||
//------------------------
|
||||
//configure a gpio pin as output
|
||||
void gpio_configure_output(gpio_num_t 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(){
|
||||
//--- outputs ---
|
||||
//4x stepper mosfets
|
||||
@ -77,7 +83,7 @@ extern "C" void app_main()
|
||||
//init outputs and adc
|
||||
init_gpios();
|
||||
|
||||
//enable 5V volage regulator
|
||||
//enable 5V volage regulator (needed for display)
|
||||
gpio_set_level(GPIO_NUM_17, 1);
|
||||
|
||||
//init encoder (global)
|
||||
@ -94,14 +100,14 @@ extern "C" void app_main()
|
||||
esp_log_level_set("calc", ESP_LOG_WARN); //stepper lib
|
||||
|
||||
#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_debug, "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, 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);
|
||||
#endif
|
||||
|
||||
|
||||
@ -1,5 +1,6 @@
|
||||
//custom driver for stepper motor
|
||||
#include "config.hpp"
|
||||
#include "config.h"
|
||||
#include "global.hpp"
|
||||
#include "hal/timer_types.h"
|
||||
#include <cstdint>
|
||||
#include <inttypes.h>
|
||||
@ -14,7 +15,7 @@ extern "C" {
|
||||
//=====================
|
||||
//=== configuration ===
|
||||
//=====================
|
||||
//used macros from config.hpp:
|
||||
//used macros from config.h:
|
||||
//#define STEPPER_STEP_PIN GPIO_NUM_18 //mos1
|
||||
//#define STEPPER_DIR_PIN GPIO_NUM_16 //ST3
|
||||
|
||||
|
||||
@ -1,4 +1,6 @@
|
||||
#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
|
||||
|
||||
|
||||
@ -8,7 +8,6 @@ extern "C"
|
||||
#include <math.h>
|
||||
}
|
||||
|
||||
#include "config.hpp"
|
||||
#include "gpio_adc.hpp"
|
||||
|
||||
|
||||
|
||||
@ -1,4 +1,6 @@
|
||||
#include "vfd.hpp"
|
||||
#include "config.h"
|
||||
#include "global.hpp"
|
||||
|
||||
#define CHECK_BIT(var,pos) (((var)>>(pos)) & 1)
|
||||
|
||||
|
||||
@ -9,7 +9,6 @@ extern "C"
|
||||
#include "esp_log.h"
|
||||
}
|
||||
|
||||
#include "config.hpp"
|
||||
|
||||
//enum defining motor direction
|
||||
typedef enum vfd_direction_t {FWD, REV} vfd_direction_t;
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user