j/cable-length-cutter
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Add basic LAMP functionality; Fix comments

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- Basic lamp functionality: simply turn on when not in COUNTING or TARGET_REACHED
    state

- Remove unnecessary comments, fix code formatting in several files
This commit is contained in:
jonny_ji7 2022-09-22 11:23:48 +02:00
parent 2cf1762569
commit 5b49406cb8
5 changed files with 49 additions and 54 deletions
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2
function-diagram.drawio
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File diff suppressed because one or more lines are too long

78
main/control.cpp
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@ -24,7 +24,6 @@ QueueHandle_t init_encoder(rotary_encoder_info_t * info){
//====================
//==== variables =====
//====================
@ -63,7 +62,7 @@ bool autoCutEnabled = false; //store state of toggle switch (no hotswitch)
//function for changing the controlState with log output
void changeState (systemState_t stateNew) {
//only proceed when state actually changed
if (controlState == stateNew){
if (controlState == stateNew) {
return; //already at target state -> nothing to do
}
//log change
@ -73,7 +72,8 @@ void changeState (systemState_t stateNew) {
//update timestamp
timestamp_changedState = esp_log_timestamp();
}
//===== handle Stop Condition =====
//function that checks whether start button is released or target is reached (used in multiple states)
@ -120,7 +120,7 @@ void setDynSpeedLvl(uint8_t lvlMax = 3){
lvl = 3;
}
//limit to max lvl
if (lvl > lvlMax){
if (lvl > lvlMax) {
lvl = lvlMax;
}
//update vfd speed level
@ -182,15 +182,12 @@ void task_control(void *pvParameter)
// Poll current position and direction
rotary_encoder_get_state(&encoder, &encoderState);
//--- calculate distance ---
//lengthNow = (float)encoderState.position * (MEASURING_ROLL_DIAMETER * PI) / 600; //TODO dont calculate constant factor every time FIXME: ROUNDING ISSUE float-int?
lengthNow = (float)encoderState.position * 1000 / STEPS_PER_METER;
//---------------------------
//--------- buttons ---------
//---------------------------
//TODO: ADD PRESET SWITCHES HERE
//--- RESET switch ---
if (SW_RESET.risingEdge) {
rotary_encoder_reset(&encoder);
@ -200,7 +197,6 @@ void task_control(void *pvParameter)
//cutter_stop();
}
//--- CUT switch ---
//start cut cycle immediately
if (SW_CUT.risingEdge) {
@ -217,14 +213,13 @@ void task_control(void *pvParameter)
}
//error cant cut while motor is on
else {
buzzer.beep(6, 70, 50);
buzzer.beep(6, 100, 50);
}
}
//--- AUTO_CUT toggle sw ---
//beep at change
if (SW_AUTO_CUT.risingEdge){
if (SW_AUTO_CUT.risingEdge) {
buzzer.beep(2, 100, 50);
} else if (SW_AUTO_CUT.fallingEdge) {
buzzer.beep(1, 400, 50);
@ -233,7 +228,7 @@ void task_control(void *pvParameter)
if (SW_AUTO_CUT.state) {
//enable autocut when not in target_reached state
//(prevent immediate/unexpected cut)
if (controlState != systemState_t::TARGET_REACHED){
if (controlState != systemState_t::TARGET_REACHED) {
autoCutEnabled = true;
}
} else {
@ -241,7 +236,6 @@ void task_control(void *pvParameter)
autoCutEnabled = false;
}
//--- manual mode ---
//switch to manual motor control (2 buttons + poti)
if ( SW_PRESET2.state && (SW_PRESET1.state || SW_PRESET3.state) && controlState != systemState_t::MANUAL ) {
@ -250,7 +244,6 @@ void task_control(void *pvParameter)
buzzer.beep(3, 100, 60);
}
//--- set custom target length ---
//set target length to poti position when SET switch is pressed
if (SW_SET.state == true) {
@ -289,7 +282,7 @@ void task_control(void *pvParameter)
//--- target length presets ---
if (controlState != systemState_t::MANUAL) { //dont apply preset length while controlling motor with preset buttons
if (SW_PRESET1.risingEdge){
if (SW_PRESET1.risingEdge) {
lengthTarget = 1000;
buzzer.beep(lengthTarget/1000, 25, 30);
displayBot.blink(3, 100, 100, "S0LL ");
@ -318,11 +311,10 @@ void task_control(void *pvParameter)
switch (controlState) {
case systemState_t::COUNTING: //no motor action
vfd_setState(false);
//TODO check stop condition before starting - prevents motor from starting 2 cycles when
//TODO check stop condition before starting - prevents motor from starting 2 cycles when already at target
//--- start winding to length ---
if (SW_START.risingEdge) {
changeState(systemState_t::WINDING_START);
//TODO apply dynamic speed here too (if started when already very close)
vfd_setSpeedLevel(1); //start at low speed
vfd_setState(true); //start motor
timestamp_motorStarted = esp_log_timestamp(); //save time started
@ -341,10 +333,10 @@ void task_control(void *pvParameter)
break;
case systemState_t::WINDING: //wind fast, slow down when close
//set vfd speed depending on remaining distance
//set vfd speed depending on remaining distance
setDynSpeedLvl(); //slow down when close to target
handleStopCondition(&displayTop, &displayBot); //stops if button released or target reached
//TODO: cancel when there is no cable movement anymore e.g. empty / timeout?
//TODO: cancel when there is no cable movement anymore e.g. empty / timeout?
break;
case systemState_t::TARGET_REACHED:
@ -355,14 +347,14 @@ void task_control(void *pvParameter)
}
//switch initiate countdown to auto-cut
else if ( (autoCutEnabled)
&& (esp_log_timestamp() - timestamp_changedState > 300) ){ //wait for dislay msg "reached" to finish
&& (esp_log_timestamp() - timestamp_changedState > 300) ) { //wait for dislay msg "reached" to finish
changeState(systemState_t::AUTO_CUT_WAITING);
}
//show msg when trying to start, but target is reached
if (SW_START.risingEdge){
buzzer.beep(3, 40, 30);
displayTop.blink(2, 600, 800, " S0LL ");
displayBot.blink(2, 600, 800, "ERREICHT");
if (SW_START.risingEdge) {
buzzer.beep(2, 50, 30);
displayTop.blink(2, 600, 500, " S0LL ");
displayBot.blink(2, 600, 500, "ERREICHT");
}
break;
@ -370,18 +362,18 @@ void task_control(void *pvParameter)
//handle delayed start of cut
cut_msRemaining = autoCut_delayMs - (esp_log_timestamp() - timestamp_changedState);
//- countdown stop conditions -
if (!autoCutEnabled || !SW_AUTO_CUT.state || SW_RESET.state || SW_CUT.state){ //TODO: also stop when target not reached anymore?
if (!autoCutEnabled || !SW_AUTO_CUT.state || SW_RESET.state || SW_CUT.state) { //TODO: also stop when target not reached anymore?
changeState(systemState_t::COUNTING);
}
//- trigger cut if delay passed -
else if (cut_msRemaining <= 0){
else if (cut_msRemaining <= 0) {
cutter_start();
changeState(systemState_t::CUTTING);
}
//- beep countdown -
//time passed since last beep > time remaining / 6
else if ( (esp_log_timestamp() - timestamp_cut_lastBeep) > (cut_msRemaining / 6)
&& (esp_log_timestamp() - timestamp_cut_lastBeep) > 50 ){ //dont trigger beeps faster than beep time
&& (esp_log_timestamp() - timestamp_cut_lastBeep) > 50 ) { //dont trigger beeps faster than beep time
buzzer.beep(1, 50, 0);
timestamp_cut_lastBeep = esp_log_timestamp();
}
@ -389,7 +381,7 @@ void task_control(void *pvParameter)
case systemState_t::CUTTING:
//exit when finished cutting
if (cutter_isRunning() == false){
if (cutter_isRunning() == false) {
//TODO stop if start buttons released?
changeState(systemState_t::COUNTING);
//TODO reset automatically or wait for manual reset?
@ -411,14 +403,14 @@ void task_control(void *pvParameter)
}
//P2 + P1 -> turn left
else if ( SW_PRESET1.state && !SW_PRESET3.state ) {
vfd_setSpeedLevel(level); //TODO: use poti input for level
vfd_setSpeedLevel(level);
vfd_setState(true, REV);
sprintf(buf_disp2, "[--%02i ", level);
// 123 45 678
}
//P2 + P3 -> turn right
else if ( SW_PRESET3.state && !SW_PRESET1.state ) {
vfd_setSpeedLevel(level); //TODO: use poti input for level
vfd_setSpeedLevel(level);
vfd_setState(true, FWD);
sprintf(buf_disp2, " %02i--]", level);
}
@ -461,7 +453,7 @@ void task_control(void *pvParameter)
//run handle function
displayTop.handle();
//indicate upcoming cut when pending
if (controlState == systemState_t::AUTO_CUT_WAITING){
if (controlState == systemState_t::AUTO_CUT_WAITING) {
displayTop.blinkStrings(" CUT 1N ", " ", 70, 30);
}
//otherwise show current position
@ -493,7 +485,7 @@ void task_control(void *pvParameter)
displayBot.blinkStrings("CUTTING]", "CUTTING[", 100, 100);
}
//show ms countdown to cut when pending
else if (controlState == systemState_t::AUTO_CUT_WAITING){
else if (controlState == systemState_t::AUTO_CUT_WAITING) {
sprintf(buf_disp2, " %04d ", cut_msRemaining);
//displayBot.showString(buf_disp2); //TODO:blink "erreicht" overrides this. for now using blink as workaround
displayBot.blinkStrings(buf_disp2, buf_disp2, 100, 100);
@ -507,13 +499,25 @@ void task_control(void *pvParameter)
}
//----------------------------
//------- control lamp -------
//----------------------------
//basic functionality of lamp:
//turn on when not idling
//TODO: add switch-case for different sates
//e.g. blink with different frequencies in different states
if (controlState != systemState_t::COUNTING
&& controlState != systemState_t::TARGET_REACHED) {
gpio_set_level(GPIO_LAMP, 1);
}
else {
gpio_set_level(GPIO_LAMP, 0);
}
#endif
//TODO: blink disp2 when set button pressed
//TODO: blink disp2 when preset button pressed (exept manual mode)
//TODO: write "MAN CTL" to disp2 when in manual mode
//TODO: display or blink "REACHED" when reached state and start pressed
}
}

4
main/control.hpp
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@ -26,8 +26,10 @@ extern "C"
//enum describing the state of the system
enum class systemState_t {COUNTING, WINDING_START, WINDING, TARGET_REACHED, AUTO_CUT_WAITING, CUTTING, MANUAL};
//array with enum as strings for logging states
extern const char* systemStateStr[7];
//task that controls the entire machine (has to be created as task in main function)
void task_control(void *pvParameter);

2
main/cutter.cpp
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@ -22,8 +22,6 @@ static const char *TAG = "cutter"; //tag for logging
//=========================
//========= start =========
//=========================

17
main/main.cpp
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@ -13,19 +13,21 @@ extern "C"
#include "config.hpp"
#include "control.hpp"
#include "buzzer.hpp"
#include "switchesAnalog.hpp"
//=================================
//=========== functions ===========
//=================================
//--- configure output ---
//function to configure gpio pin as output
void gpio_configure_output(gpio_num_t gpio_pin){
gpio_pad_select_gpio(gpio_pin);
gpio_set_direction(gpio_pin, GPIO_MODE_OUTPUT);
}
//--- init gpios ---
void init_gpios(){
//--- outputs ---
//4x stepper mosfets
@ -36,7 +38,7 @@ void init_gpios(){
//gpio_configure_output(GPIO_VFD_D2); only used with 7.5kw vfd
//2x power mosfets
gpio_configure_output(GPIO_MOS1); //mos1
gpio_configure_output(GPIO_LAMP); //lamp
gpio_configure_output(GPIO_LAMP); //llamp (mos2)
//onboard relay and buzzer
gpio_configure_output(GPIO_RELAY);
gpio_configure_output(GPIO_BUZZER);
@ -47,12 +49,6 @@ void init_gpios(){
//initialize and configure ADC
adc1_config_width(ADC_WIDTH_BIT_12); //=> max resolution 4096
adc1_config_channel_atten(ADC_CHANNEL_POTI, ADC_ATTEN_DB_11); //max voltage
////initialize input for cutter position switch with pullup (now done via evaluatedSwitch construcor)
//gpio_pad_select_gpio(GPIO_CUTTER_POS_SW);
//gpio_set_direction(GPIO_CUTTER_POS_SW, GPIO_MODE_INPUT);
//gpio_pad_select_gpio(GPIO_CUTTER_POS_SW);
//gpio_set_pull_mode(GPIO_CUTTER_POS_SW, GPIO_PULLUP_ONLY);
}
@ -60,8 +56,6 @@ void init_gpios(){
//======================================
//============ buzzer task =============
//======================================
//TODO: move the task creation to buzzer class (buzzer.cpp)
//e.g. only have function buzzer.createTask() in app_main
void task_buzzer( void * pvParameters ){
ESP_LOGI("task_buzzer", "Start of buzzer task...");
//run function that waits for a beep events to arrive in the queue
@ -71,8 +65,6 @@ void task_buzzer( void * pvParameters ){
//======================================
//=========== main function ============
//======================================
@ -97,5 +89,4 @@ extern "C" void app_main()
//beep at startup
buzzer.beep(3, 70, 50);
}