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Fixes, Works but crashes when finished accelerating

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Some adjustments to make it work
    - fix direction change (temporary)
    - fix isr initial start
See notes in stepper.cpp
Todo:
    - fix crash after accelerating
    - add initial speed (takes long to accelerate from 0
    -
This commit is contained in:
jonny_l480 2023-04-11 10:26:21 +02:00
parent 1d53d3467c
commit 7bde75806c
2 changed files with 37 additions and 17 deletions
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6
main/guide-stepper.cpp
View File

@ -188,15 +188,15 @@ void task_stepper_test(void *pvParameter)
} }
if (SW_PRESET1.risingEdge) { if (SW_PRESET1.risingEdge) {
buzzer.beep(2, 300, 100); buzzer.beep(2, 300, 100);
stepper_setTargetSteps(100); stepper_setTargetSteps(1000);
} }
if (SW_PRESET2.risingEdge) { if (SW_PRESET2.risingEdge) {
buzzer.beep(1, 500, 100); buzzer.beep(1, 500, 100);
stepper_setTargetSteps(1000); stepper_setTargetSteps(10000);
} }
if (SW_PRESET3.risingEdge) { if (SW_PRESET3.risingEdge) {
buzzer.beep(1, 100, 100); buzzer.beep(1, 100, 100);
stepper_setTargetSteps(6000); stepper_setTargetSteps(60000);
} }
} }
} }

48
main/stepper.cpp
View File

@ -19,6 +19,7 @@ extern "C" {
static const char *TAG = "stepper-ctl"; //tag for logging static const char *TAG = "stepper-ctl"; //tag for logging
bool direction = 0; bool direction = 0;
bool timerIsRunning = false;
bool timer_isr(void *arg); bool timer_isr(void *arg);
@ -43,21 +44,36 @@ StepperControl ctrl; // Create an instance of StepperControl struct
void stepper_setTargetSteps(int steps){ void stepper_setTargetSteps(int target_steps) {
ESP_LOGW(TAG, "set target steps to %d", steps); ESP_LOGW(TAG, "set target steps to %d", target_steps);
//TODO switch dir pin in isr? not in sync with count //TODO switch dir pin in isr? not in sync with count
if(steps < 0){ //TODO switch direction using negative values as below
gpio_set_level(ctrl.directionPin, 1); // if(target_steps < 0){
} else { // gpio_set_level(ctrl.directionPin, 1);
gpio_set_level(ctrl.directionPin, 0); // } else {
} // gpio_set_level(ctrl.directionPin, 0);
// }
ESP_LOGW(TAG, "toggle direction -> %d", direction);
ctrl.targetSteps = abs(steps); // Update the targetSteps value
ctrl.targetSteps = abs(target_steps);
// Check if the timer is currently paused
if (!timerIsRunning){
// If the timer is paused, start it again with the updated targetSteps
timer_set_alarm_value(ctrl.timerGroup, ctrl.timerIdx, 1000);
timer_set_counter_value(ctrl.timerGroup, ctrl.timerIdx, 1000);
timer_start(ctrl.timerGroup, ctrl.timerIdx);
ESP_LOGW(TAG, "STARTED TIMER");
}
} }
void stepper_toggleDirection(){ void stepper_toggleDirection(){
direction = !direction; direction = !direction;
gpio_set_level(ctrl.directionPin, 1); gpio_set_level(ctrl.directionPin, direction);
ESP_LOGW(TAG, "toggle direction -> %d", direction); ESP_LOGW(TAG, "toggle direction -> %d", direction);
} }
@ -72,8 +88,8 @@ void stepper_init(){
// Set values in StepperControl struct // Set values in StepperControl struct
ctrl.targetSteps = 0; ctrl.targetSteps = 0;
ctrl.currentSteps = 0; ctrl.currentSteps = 0;
ctrl.acceleration = 50; ctrl.acceleration = 100;
ctrl.deceleration = 50; ctrl.deceleration = 100;
ctrl.pulsePin = STEPPER_STEP_PIN; ctrl.pulsePin = STEPPER_STEP_PIN;
ctrl.directionPin = STEPPER_DIR_PIN; ctrl.directionPin = STEPPER_DIR_PIN;
ctrl.timerGroup = TIMER_GROUP_0; ctrl.timerGroup = TIMER_GROUP_0;
@ -81,7 +97,7 @@ void stepper_init(){
ctrl.isAccelerating = true; ctrl.isAccelerating = true;
ctrl.isDecelerating = false; ctrl.isDecelerating = false;
ctrl.initialSpeed = 0; // Set initial speed as needed ctrl.initialSpeed = 0; // Set initial speed as needed
ctrl.targetSpeed = 500; // Set target speed as needed ctrl.targetSpeed = 500000; // Set target speed as needed
ctrl.currentSpeed = ctrl.initialSpeed; ctrl.currentSpeed = ctrl.initialSpeed;
// Configure pulse and direction pins as outputs // Configure pulse and direction pins as outputs
@ -116,6 +132,7 @@ bool timer_isr(void *arg) {
// Cast arg_val to timer_idx_t // Cast arg_val to timer_idx_t
timer_idx_t timer_idx = (timer_idx_t)arg_val; timer_idx_t timer_idx = (timer_idx_t)arg_val;
int32_t step_diff = ctrl.targetSteps - ctrl.currentSteps; int32_t step_diff = ctrl.targetSteps - ctrl.currentSteps;
timerIsRunning = true;
if (timer_idx == ctrl.timerIdx) { if (timer_idx == ctrl.timerIdx) {
if (ctrl.currentSteps < ctrl.targetSteps) { if (ctrl.currentSteps < ctrl.targetSteps) {
@ -129,9 +146,11 @@ bool timer_isr(void *arg) {
ctrl.isAccelerating = false; ctrl.isAccelerating = false;
} }
} }
//FIXME controller crashes when finished accelerating
//Guru Meditation Error: Core 0 panic'ed (Interrupt wdt timeout on CPU0).
// Check if decelerating // Check if decelerating
if (ctrl.isDecelerating) { if (ctrl.isDecelerating) { //FIXME isDecelerating is never set???
if (ctrl.currentSpeed > ctrl.targetSpeed) { if (ctrl.currentSpeed > ctrl.targetSpeed) {
// Decrease speed if not yet at target speed // Decrease speed if not yet at target speed
ctrl.currentSpeed -= ctrl.deceleration; ctrl.currentSpeed -= ctrl.deceleration;
@ -154,7 +173,8 @@ bool timer_isr(void *arg) {
} else { } else {
// Reached target step count, stop timer // Reached target step count, stop timer
timer_pause(ctrl.timerGroup, ctrl.timerIdx); timer_pause(ctrl.timerGroup, ctrl.timerIdx);
ESP_LOGW(TAG,"finished, pausing timer"); timerIsRunning = false;
//ESP_LOGW(TAG,"finished, pausing timer");
} }
} }
return 1; return 1;