From 63f0da25f13582a7fc5c387448f787c381a28c76 Mon Sep 17 00:00:00 2001
From: jonny_ji7 <jonny@wwad.de>
Date: Tue, 25 Apr 2023 14:35:07 +0200
Subject: [PATCH] Fix isr-function (fully functional now), Add task for debug
 output

new driver works well while testing with one button with debug output
- small changes to isr function that made it fully functional!
- add stepper debug task
- minor optimizations necessary
---
 main/guide-stepper.cpp | 23 ++++++++++++++--------
 main/main.cpp          |  1 +
 main/stepper.cpp       | 44 +++++++++++++++++++++++++++++++++++-------
 main/stepper.hpp       |  3 +++
 4 files changed, 56 insertions(+), 15 deletions(-)

diff --git a/main/guide-stepper.cpp b/main/guide-stepper.cpp
index 867cf15..16b3e44 100644
--- a/main/guide-stepper.cpp
+++ b/main/guide-stepper.cpp
@@ -183,16 +183,24 @@ void task_stepper_test(void *pvParameter)
 		SW_CUT.handle();
 		SW_AUTO_CUT.handle();
 
+		//cycle through test commands with one button
 		if (SW_RESET.risingEdge) {
-			//buzzer.beep(1, 1000, 100);
-			if (state) {
-				stepper_setTargetSteps(1000);
-				state = 0;
-			} else {
-				stepper_setTargetSteps(600);
-				state = 1;
+			switch (state){
+				case 0:
+					stepper_setTargetSteps(1000);
+					state++;
+					break;
+				case 1:
+					stepper_setTargetSteps(100);
+					state++;
+					break;
+				case 2:
+					stepper_setTargetSteps(2000);
+					state = 0;
+					break;
 			}
 		}
+	}
 	//	if (SW_PRESET1.risingEdge) {
 	//		buzzer.beep(2, 300, 100);
 	//		stepperSw_setTargetSteps(1000);
@@ -205,7 +213,6 @@ void task_stepper_test(void *pvParameter)
 	//		buzzer.beep(1, 100, 100);
 	//		stepperSw_setTargetSteps(30000);
 	//	}
-	}
 }
 
 
diff --git a/main/main.cpp b/main/main.cpp
index c8fc04f..7c00440 100644
--- a/main/main.cpp
+++ b/main/main.cpp
@@ -96,6 +96,7 @@ extern "C" void app_main()
     //create task for stepper testing
     //xTaskCreate(task_stepperCtrlSw, "task stepper control software", configMINIMAL_STACK_SIZE * 3, NULL, configMAX_PRIORITIES - 1, 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);
 #else
     //create task for controlling the machine
     xTaskCreate(task_control, "task_control", configMINIMAL_STACK_SIZE * 3, NULL, 4, NULL);
diff --git a/main/stepper.cpp b/main/stepper.cpp
index eccc845..ae12286 100644
--- a/main/stepper.cpp
+++ b/main/stepper.cpp
@@ -26,13 +26,20 @@ extern "C" {
 static const char *TAG = "stepper-ctl"; //tag for logging
 									
 bool direction = 1;
+bool directionTarget = 1;
 bool timerIsRunning = false;
 bool timer_isr(void *arg);
 
 static timer_group_t timerGroup = TIMER_GROUP_0;
 static timer_idx_t timerIdx = TIMER_0;
+
+//move to isr
 static uint64_t posTarget = 0;
 static uint64_t posNow = 0;
+static uint64_t stepsToGo = 0;
+static uint32_t speedMin = 20000;
+static uint32_t speedNow = speedMin;
+static int debug = 0;
 
 
 
@@ -88,6 +95,32 @@ void stepperSw_setTargetSteps(uint64_t target){
 
 
 
+void task_stepper_debug(void *pvParameter){
+	while (1){
+		ESP_LOGI("stepper-DEBUG",
+				"timer=%d "
+				"dir=%d "
+				"dirTarget=%d "
+				"posTarget=%llu "
+				"posNow=%llu "
+				"stepsToGo=%llu "
+				"speedNow=%u "
+				"debug=%d ",
+
+				timerIsRunning,
+				direction, 
+				directionTarget, 
+				posTarget, 
+				posNow, 
+				stepsToGo,
+				speedNow,
+				debug
+				);
+
+			vTaskDelay(300 / portTICK_PERIOD_MS);
+	}
+}
+
 
 
 
@@ -158,20 +191,16 @@ bool timer_isr(void *arg) {
 
 	//--- variables ---
 	static uint32_t speedTarget = 100000;
-	static uint32_t speedMin = 20000;
 	//FIXME increment actually has to be re-calculated every run to have linear accel (because also gets called faster/slower)
 	static uint32_t decel_increment = 200;
 	static uint32_t accel_increment = 150;
 
-	static uint64_t stepsToGo = 0;
-	static uint32_t speedNow = speedMin;
 
 
 	//--- define direction, stepsToGo ---
 	//int64_t delta = (int)posTarget - (int)posNow;
 	//bool directionTarget = delta >= 0 ? 1 : 0;
-	bool directionTarget;
-	if (posTarget > posNow) {
+	if (posTarget >= posNow) {
 		directionTarget = 1;
 	} else {
 		directionTarget = 0;
@@ -179,7 +208,7 @@ bool timer_isr(void *arg) {
 	//directionTarget = 1;
 	//direction = 1;
 	//gpio_set_level(STEPPER_DIR_PIN, direction);
-	if (direction != directionTarget) {
+	if ( (direction != directionTarget) && (posTarget != posNow)) {
 		//ESP_LOGW(TAG, "direction differs! new: %d", direction);
 		if (stepsToGo == 0){
 			direction = directionTarget; //switch direction if almost idle
@@ -188,7 +217,8 @@ bool timer_isr(void *arg) {
 			stepsToGo = 2;
 		} else {
 			//stepsToGo = speedNow / decel_increment; //set steps to decel to min speed
-			stepsToGo = speedNow / decel_increment;
+			//set to minimun decel steps
+			stepsToGo = (speedNow - speedMin) / decel_increment;
 		}
 	} else if (direction == 1) {
 		stepsToGo = posTarget - posNow;
diff --git a/main/stepper.hpp b/main/stepper.hpp
index 7b7d165..3474661 100644
--- a/main/stepper.hpp
+++ b/main/stepper.hpp
@@ -4,6 +4,9 @@
 void stepper_init();
 void stepper_setTargetSteps(int steps);
 
+//task that periodically logs variables for debugging stepper driver
+void task_stepper_debug(void *pvParameter);
+
 //control stepper without timer (software)
 void task_stepperCtrlSw(void *pvParameter);
 void stepperSw_setTargetSteps(uint64_t target);