diff --git a/components/DendoStepper/DendoStepper.cpp b/components/DendoStepper/DendoStepper.cpp
index 40fa8ad..07d31aa 100644
--- a/components/DendoStepper/DendoStepper.cpp
+++ b/components/DendoStepper/DendoStepper.cpp
@@ -55,9 +55,6 @@ void DendoStepper::init(uint8_t stepP, uint8_t dirP, uint8_t enP, timer_group_t
void DendoStepper::init()
{
- ESP_LOGW("DendoStepper", "semaphore init");
- semaphore_isrVariables = xSemaphoreCreateBinary();
- xSemaphoreGive(semaphore_isrVariables);
uint64_t mask = (1ULL << conf.stepPin) | (1ULL << conf.dirPin) | (1ULL << conf.enPin); // put output gpio pins in bitmask
gpio_config_t gpio_conf = {
// config gpios
@@ -117,36 +114,39 @@ timer_avail:
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
}
-
esp_err_t DendoStepper::runPos(int32_t relative)
{
//TODO only enable when actually moving
if (ctrl.status == DISABLED) // if motor is disabled, enable it
enableMotor();
- setDir(relative < 0); // set CCW if <0, else set CW
-
if (!relative) // why would u call it with 0 wtf
return ESP_ERR_NOT_SUPPORTED;
if (ctrl.status > IDLE) { //currently moving
- //ctrl.status = ctrl.status==COAST ? COAST : ACC; //stay at coast otherwise switch to ACC
- ctrl.stepsRemaining = ctrl.stepsToGo - ctrl.stepCnt;
- calc(abs(relative) + ctrl.stepsRemaining); //calculate new velolcity profile for new+remaining steps
- ESP_LOGW("DendoStepper", "EXTEND running movement (stepsRemaining: %d + stepsNew: %d - current state: %d)", ctrl.stepsRemaining, abs(relative), (int)ctrl.status);
- ESP_ERROR_CHECK(timer_set_alarm_value(conf.timer_group, conf.timer_idx, ctrl.stepInterval)); // set HW timer alarm to stepinterval
+ bool newDir = (relative < 0); // CCW if <0, else set CW
+ if (ctrl.dir == newDir){ //current direction is the same
+ ctrl.statusPrev = ctrl.status; //update previous status
+ ctrl.status = ctrl.status==COAST ? COAST : ACC; //stay at coast otherwise switch to ACC
+ calc(abs(relative + ctrl.stepsRemaining)); //calculate new velolcity profile for new+remaining steps
+ } else { //direction has changed
+ //direction change not supported TODO wait for decel finish / queue?
+ STEP_LOGW("DendoStepper", "DIRECTION HOT-CHANGE NOT SUPPORTED - Finising previous move, this command will be ignored");
+ return ESP_ERR_NOT_SUPPORTED;
+ }
}
-
else { //current state is IDLE
- //ctrl.statusPrev = ctrl.status; //update previous status
- calc(abs(relative)); // calculate velocity profile
+ ctrl.statusPrev = ctrl.status; //update previous status
ctrl.status = ACC;
- ESP_ERROR_CHECK(timer_set_alarm_value(conf.timer_group, conf.timer_idx, ctrl.stepInterval)); // set HW timer alarm to stepinterval
- ESP_ERROR_CHECK(timer_start(conf.timer_group, conf.timer_idx)); // start the timer
+ setDir(relative < 0); // set CCW if <0, else set CW
+ calc(abs(relative)); // calculate velocity profile
}
- //printf("runpos end -- steps: %d, status: %d, olddir: %d, newdir: %d\n", relative, ctrl.status, ctrl.dir, newDir);
currentPos += relative; //(target position / not actual)
+ ESP_ERROR_CHECK(timer_set_alarm_value(conf.timer_group, conf.timer_idx, ctrl.stepInterval)); // set HW timer alarm to stepinterval
+ //TODO timer has to be stopped before update if already running?
+ ESP_ERROR_CHECK(timer_start(conf.timer_group, conf.timer_idx)); // start the timer
+
return ESP_OK;
}
@@ -159,31 +159,26 @@ esp_err_t DendoStepper::runPosMm(int32_t relative)
return runPos(relative * ctrl.stepsPerMm);
}
-//customized: if already running and direction is the same immediately pass to runPos
esp_err_t DendoStepper::runAbs(uint32_t position)
{
- //exit if nothing to do
- if (position == currentPos) return 0; //already at position
+ if (getState() > IDLE) // we are already moving, so stop it
+ stop();
+ while (getState() > IDLE)
+ {
+ // waiting for idle, watchdog should take care of inf loop if it occurs
+ vTaskDelay(1);
+ } // shouldnt take long tho
+
+ if (position == currentPos) // we cant go anywhere
+ return 0;
- //calculate steps necessary
int32_t relativeSteps = 0;
relativeSteps = (int32_t)position - currentPos;
- //wait if direction needs to change
- if (getState() > IDLE){//already moving
- bool newDir = (relativeSteps < 0); // CCW if <0, else set CW
- if (ctrl.dir != newDir){ //direction differs
- STEP_LOGE("DendoStepper", "DIRECTION HOT-CHANGE NOT SUPPORTED - Waiting for move to finish...");
- while (getState() > IDLE) vTaskDelay(5); //wait for move to finish
- }
- }
-
- //call runPos with new target position
ESP_LOGI("DendoStepper", "Cur: %llu move %d", currentPos, relativeSteps);
return runPos(relativeSteps); // run to new position
}
-
esp_err_t DendoStepper::runAbsMm(uint32_t position)
{
if (ctrl.stepsPerMm == 0)
@@ -311,7 +306,7 @@ void DendoStepper::stop()
}
ctrl.runInfinite = false;
timer_pause(conf.timer_group, conf.timer_idx); // stop the timer
- //ctrl.statusPrev = ctrl.status; //update previous status
+ ctrl.statusPrev = ctrl.status; //update previous status
ctrl.status = IDLE;
ctrl.stepCnt = 0;
gpio_set_level((gpio_num_t)conf.stepPin, 0);
@@ -338,23 +333,20 @@ bool DendoStepper::xISR()
ctrl.stepCnt++;
- ////CUSTOM: track actual precice current position
- //if (ctrl.dir) {
- // ctrl.posActual ++;
- //} else {
- // ctrl.posActual --;
- //}
-
+ //CUSTOM: track actual precice current position
+ if (ctrl.dir) {
+ ctrl.posActual ++;
+ } else {
+ ctrl.posActual --;
+ }
//CUSTOM: track remaining steps for eventually resuming
- //xSemaphoreTake(semaphore_isrVariables, portMAX_DELAY);
- //ctrl.stepsRemaining = ctrl.stepCnt - ctrl.stepCnt;
- //xSemaphoreGive(semaphore_isrVariables);
+ ctrl.stepsRemaining = ctrl.stepCnt - ctrl.stepCnt;
// we are done
if (ctrl.stepsToGo == ctrl.stepCnt && !ctrl.runInfinite)
{
timer_pause(conf.timer_group, conf.timer_idx); // stop the timer
- //ctrl.statusPrev = ctrl.status; //update previous status
+ ctrl.statusPrev = ctrl.status; //update previous status
ctrl.status = IDLE;
ctrl.stepCnt = 0;
return 0;
@@ -363,19 +355,19 @@ bool DendoStepper::xISR()
if (ctrl.stepCnt > 0 && ctrl.stepCnt < ctrl.accEnd)
{ // we are accelerating
ctrl.currentSpeed += ctrl.accInc;
- //ctrl.statusPrev = ctrl.status; //update previous status
+ ctrl.statusPrev = ctrl.status; //update previous status
ctrl.status = ACC; // we are accelerating, note that*/
}
else if (ctrl.stepCnt > ctrl.coastEnd && !ctrl.runInfinite)
{ // we must be deccelerating then
ctrl.currentSpeed -= ctrl.decInc;
- //ctrl.statusPrev = ctrl.status; //update previous status
+ ctrl.statusPrev = ctrl.status; //update previous status
ctrl.status = DEC; // we are deccelerating
}
else
{
ctrl.currentSpeed = ctrl.targetSpeed;
- //ctrl.statusPrev = ctrl.status; //update previous status
+ ctrl.statusPrev = ctrl.status; //update previous status
ctrl.status = COAST; // we are coasting
}
@@ -383,38 +375,25 @@ bool DendoStepper::xISR()
// set alarm to calculated interval and disable pin
GPIO.out_w1tc = (1ULL << conf.stepPin);
timer_set_alarm_value(conf.timer_group, conf.timer_idx, ctrl.stepInterval);
+ ctrl.stepCnt++;
return 1;
}
void DendoStepper::calc(uint32_t targetSteps)
{
- //only set initial speed if IDLE
- if(ctrl.status == 1){
- ctrl.currentSpeed = 0;
- ESP_LOGD("DendoStepper", "calc-start: reset speed to 0 (start from idle) %lf\n", ctrl.currentSpeed);
- }
- else{
- ESP_LOGD("DendoStepper", "calc start: NOT resetting speed (extend from ACC/DEC/COAST): %lf\n", ctrl.currentSpeed);
- }
- //CUSTOM reset counter if already moving
- ctrl.stepCnt = 0; //FIXME bugs when set 0 while ISR reads/runs? mutex
-
//steps from ctrl.speed -> 0:
ctrl.decSteps = 0.5 * ctrl.dec * (ctrl.speed / ctrl.dec) * (ctrl.speed / ctrl.dec);
- ESP_LOGD("DendoStepper", "decSteps: %d currspeed: %lf, ctrlSpeed: %lf\n", ctrl.decSteps, ctrl.currentSpeed, ctrl.speed);
//steps from 0 -> ctrl.speed:
//ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc);
//steps from ctrl.currentSpeed -> ctrl.speed:
ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc) * (ctrl.speed - ctrl.currentSpeed) / ctrl.speed;
- ESP_LOGD("DendoStepper", "accSteps: %d currspeed: %lf, ctrlSpeed: %lf\n", ctrl.accSteps, ctrl.currentSpeed, ctrl.speed);
if (targetSteps < (ctrl.decSteps + ctrl.accSteps))
{
ESP_LOGI("Dendostepper", "Computing new speed");
ctrl.speed = sqrt(2 * targetSteps * ((ctrl.dec * ctrl.acc) / (ctrl.dec + ctrl.acc)));
- //ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc);
- ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc) * (ctrl.speed - ctrl.currentSpeed) / ctrl.speed;
+ ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc);
ctrl.decSteps = 0.5 * ctrl.dec * (ctrl.speed / ctrl.dec) * (ctrl.speed / ctrl.dec);
}
@@ -422,27 +401,13 @@ void DendoStepper::calc(uint32_t targetSteps)
ctrl.coastEnd = targetSteps - ctrl.decSteps;
ctrl.targetSpeed = ctrl.speed;
- ctrl.accInc = (ctrl.targetSpeed - ctrl.currentSpeed) / (double)ctrl.accSteps;
+ ctrl.accInc = ctrl.targetSpeed / (double)ctrl.accSteps;
ctrl.decInc = ctrl.targetSpeed / (double)ctrl.decSteps;
- //only set initial speed if IDLE
- if(ctrl.status == 1){
- ctrl.currentSpeed = ctrl.accInc;
- ESP_LOGD("DendoStepper", "`reset curr speeed to accinc: %lf\n", ctrl.currentSpeed);
- ESP_LOGD("DendoStepper", "status=%d setting speed to initial value: %lf\n",ctrl.status, ctrl.currentSpeed);
- }
- else{
- ESP_LOGD("DendoStepper", "status=%d NOT resetting speed to initial value %lf\n",ctrl.status, ctrl.currentSpeed);
- }
+ ctrl.currentSpeed = ctrl.accInc;
ctrl.stepInterval = TIMER_F / ctrl.currentSpeed;
ctrl.stepsToGo = targetSteps;
- //debug log output
- ESP_LOGD("DendoStepper", "accSteps: %d, accInc: %lf, decSteps: %d, decInc: %lf",
- ctrl.accSteps, ctrl.accInc, ctrl.decSteps, ctrl.decInc);
- ESP_LOGD("DendoStepper", "speedNow=%.1f, speedTarget=%.1f, accEnd=%d, coastEnd=%d, accSteps=%d, accInc=%.3f\n",
- ctrl.currentSpeed, ctrl.targetSpeed, ctrl.accEnd, ctrl.coastEnd, ctrl.accSteps, ctrl.accInc);
- ESP_LOGD("DendoStepper", "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);
+ 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);
}
diff --git a/components/DendoStepper/include/DendoStepper.h b/components/DendoStepper/include/DendoStepper.h
index 9b535ad..a327ecc 100644
--- a/components/DendoStepper/include/DendoStepper.h
+++ b/components/DendoStepper/include/DendoStepper.h
@@ -29,7 +29,6 @@
#include "freertos/task.h"
#include "esp_timer.h"
#include "math.h"
-#include "freertos/semphr.h"
//#define STEP_DEBUG
@@ -96,7 +95,7 @@ typedef struct
uint32_t accSteps = 0;
uint32_t decSteps = 0;
int32_t stepsRemaining = 0;
- //uint64_t posActual = 0; //actual current pos incremented at every step
+ uint64_t posActual = 0; //actual current pos incremented at every step
uint8_t statusPrev = DISABLED; //FIXME currently unused
uint8_t status = DISABLED;
bool dir = CW;
@@ -112,7 +111,6 @@ private:
ctrl_var_t ctrl;
esp_timer_handle_t dyingTimer;
TaskHandle_t enTask;
- SemaphoreHandle_t semaphore_isrVariables = NULL;
uint64_t currentPos = 0; // absolute position
bool timerStarted = 0;
diff --git a/main/guide-stepper.cpp b/main/guide-stepper.cpp
index f798d94..8dbd96b 100644
--- a/main/guide-stepper.cpp
+++ b/main/guide-stepper.cpp
@@ -11,7 +11,6 @@ extern "C"
#include "config.hpp"
#include "guide-stepper.hpp"
#include "encoder.hpp"
-#include "gpio_evaluateSwitch.hpp"
@@ -24,7 +23,7 @@ extern "C"
#define STEPPER_TEST_TRAVEL 65 //mm
//
#define MIN_MM 0
-#define MAX_MM 110 //60
+#define MAX_MM 60
#define POS_MAX_STEPS MAX_MM * STEPPER_STEPS_PER_MM
#define POS_MIN_STEPS MIN_MM * STEPPER_STEPS_PER_MM
@@ -32,9 +31,8 @@ extern "C"
#define SPEED_MIN 2.0 //mm/s
#define SPEED_MAX 60.0 //mm/s
-#define SPEED 10 //35, 100, 50 rev
-#define ACCEL_MS 800.0 //ms from 0 to max
-#define DECEL_MS 500.0 //ms from max to 0
+#define ACCEL_MS 100.0 //ms from 0 to max
+#define DECEL_MS 90.0 //ms from max to 0
#define STEPPER_STEPS_PER_ROT 1600
#define STEPPER_STEPS_PER_MM STEPPER_STEPS_PER_ROT/4
@@ -72,10 +70,10 @@ void travelSteps(int stepsTarget){
while (stepsToGo != 0){
//--- wait if direction changed ---
- //if (dirPrev != dir){
- // ESP_LOGW(TAG, " dir-change detected - waiting for move to finish \n ");
- // while(step.getState() != 1) vTaskDelay(1); //wait for move to finish
- //}
+ if (dirPrev != dir){
+ ESP_LOGI(TAG, " dir-change detected - waiting for move to finish \n ");
+ while(step.getState() != 1) vTaskDelay(1); //wait for move to finish
+ }
//--- currently moving right ---
if (stepp_direction == true){ //currently moving right
@@ -189,57 +187,18 @@ void task_stepper_test(void *pvParameter)
{
init_stepper();
home();
- step.setSpeedMm(SPEED, ACCEL_MS, DECEL_MS);
- //--- move from left to right repeatedly ---
- // while (1) {
- // updateSpeedFromAdc();
- // step.runPosMm(STEPPER_TEST_TRAVEL);
- // while(step.getState() != 1) vTaskDelay(2);
- // ESP_LOGI(TAG, "finished moving right => moving left");
- // 10updateSpeedFromAdc();
- // step.runPosMm(-STEPPER_TEST_TRAVEL);
- // while(step.getState() != 1) vTaskDelay(2); //1=idle
- // ESP_LOGI(TAG, "finished moving left => moving right");
- // }
+ while (1) {
+ updateSpeedFromAdc();
+ step.runPosMm(STEPPER_TEST_TRAVEL);
+ while(step.getState() != 1) vTaskDelay(2);
+ ESP_LOGI(TAG, "finished moving right => moving left");
- //--- control stepper using preset buttons ---
- while(1){
- vTaskDelay(20 / portTICK_PERIOD_MS);
-
- //------ handle switches ------
- //run handle functions for all switches
- SW_START.handle();
- SW_RESET.handle();
- SW_SET.handle();
- SW_PRESET1.handle();
- SW_PRESET2.handle();
- SW_PRESET3.handle();
- SW_CUT.handle();
- SW_AUTO_CUT.handle();
-
- if (SW_RESET.risingEdge) {
- ESP_LOGI(TAG, "button - stop stepper\n ");
- buzzer.beep(1, 1000, 100);
- step.stop();
- }
- if (SW_PRESET1.risingEdge) {
- ESP_LOGI(TAG, "button - moving right\n ");
- buzzer.beep(2, 300, 100);
- step.setSpeedMm(SPEED, ACCEL_MS, DECEL_MS);
- step.runPosMm(15);
- }
- if (SW_PRESET3.risingEdge) {
- ESP_LOGI(TAG, "button - moving left\n ");
- buzzer.beep(1, 500, 100);
- step.setSpeedMm(SPEED, ACCEL_MS, DECEL_MS);
- step.runPosMm(-15);
- }
- if (SW_PRESET2.risingEdge) {
- buzzer.beep(1, 100, 100);
- ESP_LOGW(TAG, "button - current state: %d\n, pos: %llu", (int)step.getState(), step.getPositionMm());
- }
- }
+ updateSpeedFromAdc();
+ step.runPosMm(-STEPPER_TEST_TRAVEL);
+ while(step.getState() != 1) vTaskDelay(2); //1=idle
+ ESP_LOGI(TAG, "finished moving left => moving right");
+ }
}
@@ -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);
diff --git a/main/main.cpp b/main/main.cpp
index 18cdc5b..7872214 100644
--- a/main/main.cpp
+++ b/main/main.cpp
@@ -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);