Add functional STEPPER_TEST feature

- add macro variable STEPPER_TEST (config.hpp)
    if set: only `task_stepper-test` is started (main.cpp)
- add file for stepper/guide related code (guide-stepper.cpp/hpp)
    currently defines a task that simply moves the axis left to right
    repeatedly with a speed defined by a potentiometer connected to ADC
    GPIO34

main/CMakeLists.txt

@@ -8,6 +8,7 @@ idf_component_register(
         "display.cpp"
         "cutter.cpp"
         "switchesAnalog.cpp"
+        "guide-stepper.cpp"
     INCLUDE_DIRS 
         "."
     )

main/config.hpp

@@ -79,6 +79,17 @@ extern "C" {
 #define ENABLE_HALF_STEPS false  // Set to true to enable tracking of rotary encoder at half step resolution
 #define FLIP_DIRECTION    false  // Set to true to reverse the clockwise/counterclockwise sense
 
+
+
+//--------------------------
+//----- stepper config -----
+//--------------------------
+//enable stepper test mode (dont start control and encoder task)
+#define STEPPER_TEST
+//more detailed options for testing are currently defined in guide-stepper.cpp
+
+
+
 //--------------------------
 //------ calibration -------
 //--------------------------

main/guide-stepper.cpp

@@ -0,0 +1,105 @@
+#include "guide-stepper.hpp"
+
+#define LEN_MOVE 90     //mm
+#define SPEED_MIN 5.0   //mm/s
+#define SPEED_MAX 110.0 //mm/s
+
+#define ACCEL_MS 100.0  //ms from 0 to max
+#define DECEL_MS 90.0   //ms from max to 0
+
+#define STEPS_PER_ROT 1600
+
+
+
+//----------------------
+//----- variables ------
+//----------------------
+DendoStepper step;
+DendoStepper step1;
+static const char *TAG = "stepper"; //tag for logging
+
+
+
+//----------------------
+//----- functions ------
+//----------------------
+//calculate time needed for certain length (NOT NEEDED/ DELETE)
+//float mmToS(int l){
+//
+//    double accel = SPEED_MAX / (ACCEL_MS/1000);
+//    double t_accelMax = ACCEL_MS/1000;
+//    double l_accelMax = accel * t_accelMax * t_accelMax;
+//
+//    printf("accel=%.2lf mm/s2 __ t_accelMAX=%.2lfs __ l_accelMax=%.2lfmm\n", accel, t_accelMax, l_accelMax);
+//    if (l < l_accelMax){
+//        return sqrt(l / accel);
+//    } else {
+//        return t_accelMax +  (l - l_accelMax) / SPEED_MAX;
+//    }
+//}
+
+
+//define zero/start position 
+//currently crashes into hardware limitation for certain time 
+//TODO: limit switch
+void home() {
+    ESP_LOGW(TAG, "auto-home...");
+    step.setSpeedMm(120, 120, 100);
+    step.runInf(0);
+    vTaskDelay(2000 / portTICK_PERIOD_MS);
+    step.stop();
+    step.resetAbsolute();
+    ESP_LOGW(TAG, "auto-home finished");
+}
+
+
+//initialize/configure stepper instance
+void init_stepper() {
+    ESP_LOGW(TAG, "initializing stepper...");
+    DendoStepper_config_t step_cfg = {
+        .stepPin = 18,
+        .dirPin = 19,
+        .enPin = 21,
+        .timer_group = TIMER_GROUP_0,
+        .timer_idx = TIMER_0,
+        .miStep = MICROSTEP_32,
+        .stepAngle = 1.8};
+    step.config(&step_cfg);
+    step.init();
+
+    step.setSpeed(1000, 1000, 1000); //random default speed
+    step.setStepsPerMm(STEPS_PER_ROT /4); //guide: 4mm/rot
+}
+
+
+//function that updates speed value using ADC input and configured MIN/MAX
+void updateSpeedFromAdc() {
+    int potiRead = gpio_readAdc(ADC1_CHANNEL_6); //0-4095 GPIO34
+    double poti = potiRead/4095.0;
+    int speed = poti*(SPEED_MAX-SPEED_MIN) + SPEED_MIN;
+    step.setSpeedMm(speed, ACCEL_MS, DECEL_MS);
+    ESP_LOGW(TAG, "poti: %d (%.2lf%%), set speed to: %d", potiRead, poti*100, speed);
+}
+
+
+
+//---------------------
+//------- TASK --------
+//---------------------
+void task_stepper(void *pvParameter)
+{
+    init_stepper();
+    home();
+
+    while (1) {
+        updateSpeedFromAdc();
+        step.runPosMm(-LEN_MOVE);
+        while(step.getState() != 1) vTaskDelay(2);
+        ESP_LOGI(TAG, "finished moving right => moving left");
+
+        updateSpeedFromAdc();
+        step.runPosMm(LEN_MOVE);
+        while(step.getState() != 1) vTaskDelay(2); //1=idle
+        ESP_LOGI(TAG, "finished moving left => moving right");
+    }
+}

main/guide-stepper.hpp

@@ -0,0 +1,19 @@
+extern "C"
+{
+#include <stdio.h>
+#include "DendoStepper.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_log.h"
+#include "driver/adc.h"
+}
+
+#include "config.hpp"
+
+
+//task that initializes and controls the stepper motor
+//current functionality: 
+//  - automatically auto-homes
+//  - moves left and right repeatedly
+//  - updates speed from potentiometer each cycle
+void task_stepper(void *pvParameter);

main/main.cpp

@@ -14,6 +14,7 @@ extern "C"
 #include "control.hpp"
 #include "buzzer.hpp"
 #include "switchesAnalog.hpp"
+#include "guide-stepper.hpp"
 
 
 //=================================
@@ -81,11 +82,17 @@ extern "C" void app_main()
     esp_log_level_set("buzzer", ESP_LOG_ERROR);
     esp_log_level_set("switches-analog", ESP_LOG_WARN);
     esp_log_level_set("control", ESP_LOG_INFO);
+    esp_log_level_set("stepper", ESP_LOG_INFO);
 
+#ifdef STEPPER_TEST
+    //create task for stepper testing
+    xTaskCreate(task_stepper, "task_stepper-test", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
+#else
     //create task for controlling the machine
     xTaskCreate(task_control, "task_control", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
     //create task for handling the buzzer
     xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
+#endif
 
     //beep at startup
     buzzer.beep(3, 70, 50);