Revert 8 commits (approach with stepper lib dropped)
Undo all custom changes to the DendoStepper library, since it will not be used further. Custom implementation will be used in the future (stepper_custom-driver branch) Revert 279ac0e07e7578a86a6d13908e472bd4f379a62a Revert 1c59e0097b3732d9b035881faa442349c50d4341 Revert 5d7c67ab9a2327adc49ea92cd55f9aa23a40b065 Revert 8d2428d28576e08da07af79659620376b1e4e964 Revert dc6deeb3d09628ac7f4f4fab256dc168bcbf835a Revert 0a05340763c26be4735d1cf845b96150112b25ad Revert 45409676a0b502c69b5bc26be7361bfa5a89ed61 Revert de42b6252ebec3558713cd39334548041654545f
This commit is contained in:
jonny_ji7
parent
279ac0e07e
commit
7eab4f8a8e
@ -55,9 +55,6 @@ void DendoStepper::init(uint8_t stepP, uint8_t dirP, uint8_t enP, timer_group_t
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void DendoStepper::init()
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{
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ESP_LOGW("DendoStepper", "semaphore init");
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semaphore_isrVariables = xSemaphoreCreateBinary();
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xSemaphoreGive(semaphore_isrVariables);
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uint64_t mask = (1ULL << conf.stepPin) | (1ULL << conf.dirPin) | (1ULL << conf.enPin); // put output gpio pins in bitmask
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gpio_config_t gpio_conf = {
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// config gpios
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@ -117,36 +114,39 @@ timer_avail:
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ESP_ERROR_CHECK(timer_isr_callback_add(conf.timer_group, conf.timer_idx, xISRwrap, this, 0)); // add callback fn to run when alarm is triggrd
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}
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esp_err_t DendoStepper::runPos(int32_t relative)
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{
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//TODO only enable when actually moving
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if (ctrl.status == DISABLED) // if motor is disabled, enable it
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enableMotor();
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setDir(relative < 0); // set CCW if <0, else set CW
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if (!relative) // why would u call it with 0 wtf
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return ESP_ERR_NOT_SUPPORTED;
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if (ctrl.status > IDLE) { //currently moving
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//ctrl.status = ctrl.status==COAST ? COAST : ACC; //stay at coast otherwise switch to ACC
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ctrl.stepsRemaining = ctrl.stepsToGo - ctrl.stepCnt;
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calc(abs(relative) + ctrl.stepsRemaining); //calculate new velolcity profile for new+remaining steps
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ESP_LOGW("DendoStepper", "EXTEND running movement (stepsRemaining: %d + stepsNew: %d - current state: %d)", ctrl.stepsRemaining, abs(relative), (int)ctrl.status);
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ESP_ERROR_CHECK(timer_set_alarm_value(conf.timer_group, conf.timer_idx, ctrl.stepInterval)); // set HW timer alarm to stepinterval
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bool newDir = (relative < 0); // CCW if <0, else set CW
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if (ctrl.dir == newDir){ //current direction is the same
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ctrl.statusPrev = ctrl.status; //update previous status
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ctrl.status = ctrl.status==COAST ? COAST : ACC; //stay at coast otherwise switch to ACC
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calc(abs(relative + ctrl.stepsRemaining)); //calculate new velolcity profile for new+remaining steps
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} else { //direction has changed
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//direction change not supported TODO wait for decel finish / queue?
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STEP_LOGW("DendoStepper", "DIRECTION HOT-CHANGE NOT SUPPORTED - Finising previous move, this command will be ignored");
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return ESP_ERR_NOT_SUPPORTED;
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}
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}
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else { //current state is IDLE
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//ctrl.statusPrev = ctrl.status; //update previous status
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calc(abs(relative)); // calculate velocity profile
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ctrl.statusPrev = ctrl.status; //update previous status
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ctrl.status = ACC;
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ESP_ERROR_CHECK(timer_set_alarm_value(conf.timer_group, conf.timer_idx, ctrl.stepInterval)); // set HW timer alarm to stepinterval
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ESP_ERROR_CHECK(timer_start(conf.timer_group, conf.timer_idx)); // start the timer
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setDir(relative < 0); // set CCW if <0, else set CW
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calc(abs(relative)); // calculate velocity profile
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}
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//printf("runpos end -- steps: %d, status: %d, olddir: %d, newdir: %d\n", relative, ctrl.status, ctrl.dir, newDir);
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currentPos += relative; //(target position / not actual)
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ESP_ERROR_CHECK(timer_set_alarm_value(conf.timer_group, conf.timer_idx, ctrl.stepInterval)); // set HW timer alarm to stepinterval
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//TODO timer has to be stopped before update if already running?
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ESP_ERROR_CHECK(timer_start(conf.timer_group, conf.timer_idx)); // start the timer
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return ESP_OK;
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}
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@ -159,31 +159,26 @@ esp_err_t DendoStepper::runPosMm(int32_t relative)
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return runPos(relative * ctrl.stepsPerMm);
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}
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//customized: if already running and direction is the same immediately pass to runPos
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esp_err_t DendoStepper::runAbs(uint32_t position)
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{
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//exit if nothing to do
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if (position == currentPos) return 0; //already at position
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if (getState() > IDLE) // we are already moving, so stop it
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stop();
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while (getState() > IDLE)
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{
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// waiting for idle, watchdog should take care of inf loop if it occurs
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vTaskDelay(1);
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} // shouldnt take long tho
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if (position == currentPos) // we cant go anywhere
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return 0;
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//calculate steps necessary
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int32_t relativeSteps = 0;
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relativeSteps = (int32_t)position - currentPos;
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//wait if direction needs to change
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if (getState() > IDLE){//already moving
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bool newDir = (relativeSteps < 0); // CCW if <0, else set CW
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if (ctrl.dir != newDir){ //direction differs
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STEP_LOGE("DendoStepper", "DIRECTION HOT-CHANGE NOT SUPPORTED - Waiting for move to finish...");
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while (getState() > IDLE) vTaskDelay(5); //wait for move to finish
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}
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}
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//call runPos with new target position
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ESP_LOGI("DendoStepper", "Cur: %llu move %d", currentPos, relativeSteps);
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return runPos(relativeSteps); // run to new position
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}
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esp_err_t DendoStepper::runAbsMm(uint32_t position)
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{
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if (ctrl.stepsPerMm == 0)
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@ -311,7 +306,7 @@ void DendoStepper::stop()
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}
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ctrl.runInfinite = false;
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timer_pause(conf.timer_group, conf.timer_idx); // stop the timer
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//ctrl.statusPrev = ctrl.status; //update previous status
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ctrl.statusPrev = ctrl.status; //update previous status
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ctrl.status = IDLE;
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ctrl.stepCnt = 0;
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gpio_set_level((gpio_num_t)conf.stepPin, 0);
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@ -338,23 +333,20 @@ bool DendoStepper::xISR()
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ctrl.stepCnt++;
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////CUSTOM: track actual precice current position
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//if (ctrl.dir) {
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// ctrl.posActual ++;
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//} else {
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// ctrl.posActual --;
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//}
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//CUSTOM: track actual precice current position
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if (ctrl.dir) {
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ctrl.posActual ++;
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} else {
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ctrl.posActual --;
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}
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//CUSTOM: track remaining steps for eventually resuming
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//xSemaphoreTake(semaphore_isrVariables, portMAX_DELAY);
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//ctrl.stepsRemaining = ctrl.stepCnt - ctrl.stepCnt;
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//xSemaphoreGive(semaphore_isrVariables);
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ctrl.stepsRemaining = ctrl.stepCnt - ctrl.stepCnt;
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// we are done
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if (ctrl.stepsToGo == ctrl.stepCnt && !ctrl.runInfinite)
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{
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timer_pause(conf.timer_group, conf.timer_idx); // stop the timer
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//ctrl.statusPrev = ctrl.status; //update previous status
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ctrl.statusPrev = ctrl.status; //update previous status
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ctrl.status = IDLE;
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ctrl.stepCnt = 0;
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return 0;
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@ -363,19 +355,19 @@ bool DendoStepper::xISR()
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if (ctrl.stepCnt > 0 && ctrl.stepCnt < ctrl.accEnd)
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{ // we are accelerating
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ctrl.currentSpeed += ctrl.accInc;
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//ctrl.statusPrev = ctrl.status; //update previous status
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ctrl.statusPrev = ctrl.status; //update previous status
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ctrl.status = ACC; // we are accelerating, note that*/
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}
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else if (ctrl.stepCnt > ctrl.coastEnd && !ctrl.runInfinite)
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{ // we must be deccelerating then
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ctrl.currentSpeed -= ctrl.decInc;
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//ctrl.statusPrev = ctrl.status; //update previous status
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ctrl.statusPrev = ctrl.status; //update previous status
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ctrl.status = DEC; // we are deccelerating
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}
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else
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{
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ctrl.currentSpeed = ctrl.targetSpeed;
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//ctrl.statusPrev = ctrl.status; //update previous status
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ctrl.statusPrev = ctrl.status; //update previous status
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ctrl.status = COAST; // we are coasting
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}
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@ -383,38 +375,25 @@ bool DendoStepper::xISR()
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// set alarm to calculated interval and disable pin
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GPIO.out_w1tc = (1ULL << conf.stepPin);
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timer_set_alarm_value(conf.timer_group, conf.timer_idx, ctrl.stepInterval);
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ctrl.stepCnt++;
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return 1;
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}
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void DendoStepper::calc(uint32_t targetSteps)
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{
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//only set initial speed if IDLE
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if(ctrl.status == 1){
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ctrl.currentSpeed = 0;
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ESP_LOGD("DendoStepper", "calc-start: reset speed to 0 (start from idle) %lf\n", ctrl.currentSpeed);
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}
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else{
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ESP_LOGD("DendoStepper", "calc start: NOT resetting speed (extend from ACC/DEC/COAST): %lf\n", ctrl.currentSpeed);
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}
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//CUSTOM reset counter if already moving
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ctrl.stepCnt = 0; //FIXME bugs when set 0 while ISR reads/runs? mutex
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//steps from ctrl.speed -> 0:
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ctrl.decSteps = 0.5 * ctrl.dec * (ctrl.speed / ctrl.dec) * (ctrl.speed / ctrl.dec);
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ESP_LOGD("DendoStepper", "decSteps: %d currspeed: %lf, ctrlSpeed: %lf\n", ctrl.decSteps, ctrl.currentSpeed, ctrl.speed);
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//steps from 0 -> ctrl.speed:
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//ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc);
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//steps from ctrl.currentSpeed -> ctrl.speed:
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ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc) * (ctrl.speed - ctrl.currentSpeed) / ctrl.speed;
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ESP_LOGD("DendoStepper", "accSteps: %d currspeed: %lf, ctrlSpeed: %lf\n", ctrl.accSteps, ctrl.currentSpeed, ctrl.speed);
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if (targetSteps < (ctrl.decSteps + ctrl.accSteps))
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{
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ESP_LOGI("Dendostepper", "Computing new speed");
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ctrl.speed = sqrt(2 * targetSteps * ((ctrl.dec * ctrl.acc) / (ctrl.dec + ctrl.acc)));
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//ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc);
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ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc) * (ctrl.speed - ctrl.currentSpeed) / ctrl.speed;
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ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc);
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ctrl.decSteps = 0.5 * ctrl.dec * (ctrl.speed / ctrl.dec) * (ctrl.speed / ctrl.dec);
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}
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@ -422,27 +401,13 @@ void DendoStepper::calc(uint32_t targetSteps)
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ctrl.coastEnd = targetSteps - ctrl.decSteps;
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ctrl.targetSpeed = ctrl.speed;
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ctrl.accInc = (ctrl.targetSpeed - ctrl.currentSpeed) / (double)ctrl.accSteps;
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ctrl.accInc = ctrl.targetSpeed / (double)ctrl.accSteps;
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ctrl.decInc = ctrl.targetSpeed / (double)ctrl.decSteps;
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//only set initial speed if IDLE
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if(ctrl.status == 1){
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ctrl.currentSpeed = ctrl.accInc;
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ESP_LOGD("DendoStepper", "`reset curr speeed to accinc: %lf\n", ctrl.currentSpeed);
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ESP_LOGD("DendoStepper", "status=%d setting speed to initial value: %lf\n",ctrl.status, ctrl.currentSpeed);
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}
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else{
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ESP_LOGD("DendoStepper", "status=%d NOT resetting speed to initial value %lf\n",ctrl.status, ctrl.currentSpeed);
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}
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ctrl.currentSpeed = ctrl.accInc;
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ctrl.stepInterval = TIMER_F / ctrl.currentSpeed;
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ctrl.stepsToGo = targetSteps;
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//debug log output
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ESP_LOGD("DendoStepper", "accSteps: %d, accInc: %lf, decSteps: %d, decInc: %lf",
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ctrl.accSteps, ctrl.accInc, ctrl.decSteps, ctrl.decInc);
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ESP_LOGD("DendoStepper", "speedNow=%.1f, speedTarget=%.1f, accEnd=%d, coastEnd=%d, accSteps=%d, accInc=%.3f\n",
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ctrl.currentSpeed, ctrl.targetSpeed, ctrl.accEnd, ctrl.coastEnd, ctrl.accSteps, ctrl.accInc);
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ESP_LOGD("DendoStepper", "acc end:%u coastend:%u stepstogo:%u speed:%f acc:%f int: %u",
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ctrl.accEnd, ctrl.coastEnd, ctrl.stepsToGo, ctrl.speed, ctrl.acc, ctrl.stepInterval);
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STEP_LOGI("calc", "acc end:%u coastend:%u stepstogo:%u speed:%f acc:%f int: %u", ctrl.accEnd, ctrl.coastEnd, ctrl.stepsToGo, ctrl.speed, ctrl.acc, ctrl.stepInterval);
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}
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@ -29,7 +29,6 @@
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#include "freertos/task.h"
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#include "esp_timer.h"
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#include "math.h"
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#include "freertos/semphr.h"
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//#define STEP_DEBUG
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@ -96,7 +95,7 @@ typedef struct
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uint32_t accSteps = 0;
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uint32_t decSteps = 0;
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int32_t stepsRemaining = 0;
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//uint64_t posActual = 0; //actual current pos incremented at every step
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uint64_t posActual = 0; //actual current pos incremented at every step
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uint8_t statusPrev = DISABLED; //FIXME currently unused
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uint8_t status = DISABLED;
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bool dir = CW;
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@ -112,7 +111,6 @@ private:
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ctrl_var_t ctrl;
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esp_timer_handle_t dyingTimer;
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TaskHandle_t enTask;
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SemaphoreHandle_t semaphore_isrVariables = NULL;
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uint64_t currentPos = 0; // absolute position
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bool timerStarted = 0;
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@ -11,7 +11,6 @@ extern "C"
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#include "config.hpp"
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#include "guide-stepper.hpp"
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#include "encoder.hpp"
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#include "gpio_evaluateSwitch.hpp"
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@ -24,7 +23,7 @@ extern "C"
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#define STEPPER_TEST_TRAVEL 65 //mm
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//
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#define MIN_MM 0
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#define MAX_MM 110 //60
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#define MAX_MM 60
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#define POS_MAX_STEPS MAX_MM * STEPPER_STEPS_PER_MM
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#define POS_MIN_STEPS MIN_MM * STEPPER_STEPS_PER_MM
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@ -32,9 +31,8 @@ extern "C"
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#define SPEED_MIN 2.0 //mm/s
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#define SPEED_MAX 60.0 //mm/s
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#define SPEED 10 //35, 100, 50 rev
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#define ACCEL_MS 800.0 //ms from 0 to max
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#define DECEL_MS 500.0 //ms from max to 0
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#define ACCEL_MS 100.0 //ms from 0 to max
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#define DECEL_MS 90.0 //ms from max to 0
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#define STEPPER_STEPS_PER_ROT 1600
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#define STEPPER_STEPS_PER_MM STEPPER_STEPS_PER_ROT/4
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@ -72,10 +70,10 @@ void travelSteps(int stepsTarget){
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while (stepsToGo != 0){
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//--- wait if direction changed ---
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//if (dirPrev != dir){
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// ESP_LOGW(TAG, " dir-change detected - waiting for move to finish \n ");
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// while(step.getState() != 1) vTaskDelay(1); //wait for move to finish
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//}
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if (dirPrev != dir){
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ESP_LOGI(TAG, " dir-change detected - waiting for move to finish \n ");
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while(step.getState() != 1) vTaskDelay(1); //wait for move to finish
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}
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//--- currently moving right ---
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if (stepp_direction == true){ //currently moving right
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@ -189,57 +187,18 @@ void task_stepper_test(void *pvParameter)
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{
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init_stepper();
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home();
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step.setSpeedMm(SPEED, ACCEL_MS, DECEL_MS);
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//--- move from left to right repeatedly ---
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// while (1) {
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// updateSpeedFromAdc();
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// step.runPosMm(STEPPER_TEST_TRAVEL);
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// while(step.getState() != 1) vTaskDelay(2);
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// ESP_LOGI(TAG, "finished moving right => moving left");
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// 10updateSpeedFromAdc();
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// step.runPosMm(-STEPPER_TEST_TRAVEL);
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// while(step.getState() != 1) vTaskDelay(2); //1=idle
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// ESP_LOGI(TAG, "finished moving left => moving right");
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// }
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while (1) {
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updateSpeedFromAdc();
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step.runPosMm(STEPPER_TEST_TRAVEL);
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while(step.getState() != 1) vTaskDelay(2);
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ESP_LOGI(TAG, "finished moving right => moving left");
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//--- control stepper using preset buttons ---
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while(1){
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vTaskDelay(20 / portTICK_PERIOD_MS);
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//------ handle switches ------
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//run handle functions for all switches
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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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SW_PRESET1.handle();
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SW_PRESET2.handle();
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SW_PRESET3.handle();
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SW_CUT.handle();
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SW_AUTO_CUT.handle();
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if (SW_RESET.risingEdge) {
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ESP_LOGI(TAG, "button - stop stepper\n ");
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buzzer.beep(1, 1000, 100);
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step.stop();
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}
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if (SW_PRESET1.risingEdge) {
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ESP_LOGI(TAG, "button - moving right\n ");
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buzzer.beep(2, 300, 100);
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step.setSpeedMm(SPEED, ACCEL_MS, DECEL_MS);
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step.runPosMm(15);
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}
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if (SW_PRESET3.risingEdge) {
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ESP_LOGI(TAG, "button - moving left\n ");
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buzzer.beep(1, 500, 100);
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step.setSpeedMm(SPEED, ACCEL_MS, DECEL_MS);
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step.runPosMm(-15);
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}
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if (SW_PRESET2.risingEdge) {
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buzzer.beep(1, 100, 100);
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ESP_LOGW(TAG, "button - current state: %d\n, pos: %llu", (int)step.getState(), step.getPositionMm());
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}
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}
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updateSpeedFromAdc();
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step.runPosMm(-STEPPER_TEST_TRAVEL);
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while(step.getState() != 1) vTaskDelay(2); //1=idle
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ESP_LOGI(TAG, "finished moving left => moving right");
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}
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}
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@ -276,8 +235,6 @@ void task_stepper_ctl(void *pvParameter)
|
||||
//read potentiometer and normalize (0-1) to get a variable for testing
|
||||
potiModifier = (float) gpio_readAdc(ADC_CHANNEL_POTI) / 4095; //0-4095 -> 0-1
|
||||
//ESP_LOGI(TAG, "current poti-modifier = %f", potiModifier);
|
||||
ESP_LOGI(TAG, "delaying stepper-ctl task by %.1f ms (poti value)", 2000 * potiModifier);
|
||||
vTaskDelay(2000 * potiModifier / portTICK_PERIOD_MS);
|
||||
|
||||
//calculate steps to move
|
||||
cableLen = (double)encStepsDelta * 1000 / ENCODER_STEPS_PER_METER;
|
||||
@ -293,7 +250,7 @@ void task_stepper_ctl(void *pvParameter)
|
||||
ESP_LOGD(TAG, "cablelen=%.2lf, turns=%.2lf, travelMm=%.3lf, travelStepsExact: %.3lf, travelStepsFull=%d, partialStep=%.3lf", cableLen, turns, travelMm, travelStepsExact, travelStepsFull, travelStepsPartial);
|
||||
ESP_LOGI(TAG, "MOVING %d steps", travelStepsFull);
|
||||
//TODO: calculate variable speed for smoother movement? for example intentionally lag behind and calculate speed according to buffered data
|
||||
step.setSpeedMm(SPEED, ACCEL_MS, DECEL_MS);
|
||||
step.setSpeedMm(35, 100, 50);
|
||||
//testing: get speed from poti
|
||||
//step.setSpeedMm(35, 1000*potiModifier+1, 1000*potiModifier+1);
|
||||
travelSteps(travelStepsExact);
|
||||
|
||||
@ -87,7 +87,7 @@ extern "C" void app_main()
|
||||
esp_log_level_set("switches-analog", ESP_LOG_WARN);
|
||||
esp_log_level_set("control", ESP_LOG_INFO);
|
||||
esp_log_level_set("stepper", ESP_LOG_DEBUG);
|
||||
esp_log_level_set("DendoStepper", ESP_LOG_DEBUG); //stepper lib
|
||||
esp_log_level_set("Dendostepper", ESP_LOG_WARN); //stepper lib
|
||||
esp_log_level_set("calc", ESP_LOG_WARN); //stepper lib
|
||||
|
||||
#ifdef STEPPER_TEST
|
||||
@ -98,11 +98,11 @@ extern "C" void app_main()
|
||||
xTaskCreate(task_control, "task_control", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
|
||||
|
||||
//create task for controlling the machine
|
||||
xTaskCreate(task_stepper_ctl, "task_stepper_ctl", configMINIMAL_STACK_SIZE * 5, NULL, 5, NULL);
|
||||
#endif
|
||||
xTaskCreate(task_stepper_ctl, "task_stepper_ctl", 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);
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user