Fix deadlock in windingWidth, Handle 0 width, optimize UI
guide-stepper: - fix deadlock when editing winding width - fix behaivor when windingWidth is set to 0 (disable guide) control: - add dead time to prevent setTarget when exiting setWindingWidth with buttons - fix typo and conditons - increase max winding width - optimize display text
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jonny_l480
parent
c049da3583
commit
84c88e8f02
@ -106,7 +106,7 @@
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//---------------------------
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// default axis coordinates the guide changes direction (winding width)
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#define GUIDE_MIN_MM 0 // TODO add feature so guide stays at zero for some steps (negative MIN_MM?), currently seems appropriate for even winding
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#define GUIDE_MAX_MM 95 // actual reel is 110, but currently guide turned out to stay at max position for too long
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#define GUIDE_MAX_MM 90 // 95 still to long at max pos - actual reel is 110, but currently guide turned out to stay at max position for too long, due to cable running diagonal from guide to reel
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// tolerance added to last stored position at previous shutdown.
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// When calibrating at startup the stepper moves for that sum to get track of zero position (ensure crashes into hardware limit for at least some time)
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@ -117,7 +117,9 @@
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#define D_REEL 160 // start diameter of empty reel
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// max winding width that can be set using potentiometer (SET+PRESET1 buttons)
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#define MAX_WINDING_WIDTH_MM 100;
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#define MAX_SELECTABLE_WINDING_WIDTH_MM 100;
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// max target length that can be selected using potentiometer (SET button)
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#define MAX_SELECTABLE_LENGTH_POTI_MM 100000
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//--------------------------
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@ -54,6 +54,10 @@ static uint32_t timestamp_cut_lastBeep = 0;
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static uint32_t autoCut_delayMs = 2500; //TODO add this to config
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static bool autoCutEnabled = false; //store state of toggle switch (no hotswitch)
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//user interface
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static uint32_t timestamp_lastWidthSelect = 0;
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//ignore new set events for that time after last value set using poti
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#define DEAD_TIME_POTI_SET_VALUE 1000
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//-----------------------------------------
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@ -257,10 +261,11 @@ void task_control(void *pvParameter)
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// set winding width (axis travel) with poti position
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// when SET and PRESET1 button are pressed
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if (SW_SET.state == true && SW_PRESET1.state == true) {
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timestamp_lastWidthSelect = esp_log_timestamp();
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//read adc
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potiRead = gpio_readAdc(ADC_CHANNEL_POTI); //0-4095
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//scale to target length range
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uint8_t windingWidthNew = (float)potiRead / 4095 * MAX_WINDING_WIDTH_MM;
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uint8_t windingWidthNew = (float)potiRead / 4095 * MAX_SELECTABLE_WINDING_WIDTH_MM;
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//apply hysteresis and round to whole meters //TODO optimize this
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if (windingWidthNew % 5 < 2) { //round down if remainder less than 2mm
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ESP_LOGD(TAG, "Poti input = %d -> rounding down", windingWidthNew);
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@ -270,7 +275,7 @@ void task_control(void *pvParameter)
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windingWidthNew = (windingWidthNew/5 + 1) * 5; //round up
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} else {
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ESP_LOGD(TAG, "Poti input = %d -> hysteresis", windingWidthNew);
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windingWidthNew = lengthTarget;
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windingWidthNew = guide_getWindingWidth();
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}
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//update target width and beep when effectively changed
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if (windingWidthNew != guide_getWindingWidth()) {
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@ -282,12 +287,13 @@ void task_control(void *pvParameter)
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}
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//## set target length (SET+POTI) ##
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//set target length to poti position when SET switch is pressed
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else if (SW_SET.state == true) {
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//set target length to poti position when only SET button is pressed and certain dead time passed after last setWindingWidth (SET and PRESET1 button) to prevent set target at release
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// FIXME: when going to edit the winding width (SET+PRESET1) sometimes the target-length also updates when initially pressing SET -> update only at actual poti change (works sometimes)
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else if (SW_SET.state == true && (esp_log_timestamp() - timestamp_lastWidthSelect > DEAD_TIME_POTI_SET_VALUE)) {
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//read adc
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potiRead = gpio_readAdc(ADC_CHANNEL_POTI); //0-4095
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//scale to target length range
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int lengthTargetNew = (float)potiRead / 4095 * 50000;
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int lengthTargetNew = (float)potiRead / 4095 * MAX_SELECTABLE_LENGTH_POTI_MM;
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//apply hysteresis and round to whole meters //TODO optimize this
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if (lengthTargetNew % 1000 < 200) { //round down if less than .2 meter
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ESP_LOGD(TAG, "Poti input = %d -> rounding down", lengthTargetNew);
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@ -318,7 +324,7 @@ void task_control(void *pvParameter)
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//##### target length preset buttons #####
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if (controlState != systemState_t::MANUAL) { //dont apply preset length while controlling motor with preset buttons
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if (controlState != systemState_t::MANUAL && SW_SET.state == false) { //dont apply preset length while controlling motor with preset buttons
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if (SW_PRESET1.risingEdge) {
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lengthTarget = 5000;
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buzzer.beep(lengthTarget/1000, 25, 30);
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@ -506,7 +512,7 @@ void task_control(void *pvParameter)
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}
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//setting winding width: blink info message
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else if (SW_SET.state && SW_PRESET1.state){
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displayTop.blinkStrings(" SET ", " WIDTH ", 400, 400);
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displayTop.blinkStrings("SET.WIND", " WIDTH ", 900, 900);
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}
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//otherwise show current position
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else {
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@ -538,7 +544,7 @@ void task_control(void *pvParameter)
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}
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//setting winding width: blink currently set windingWidth
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else if (SW_SET.state && SW_PRESET1.state){
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sprintf(buf_tmp, " %03d mm", lengthNow/1000);
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sprintf(buf_tmp, " %03d mm", guide_getWindingWidth());
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displayBot.blinkStrings(buf_tmp, " ", 300, 100);
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}
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//setting target length: blink target length
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@ -95,13 +95,14 @@ void guide_setWindingWidth(uint8_t maxPosMm)
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//=============================
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//=== guide_getWindingWidth ===
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//=============================
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// get currently configured winding width (axis position the guide returns in mm)
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// get currently configured winding width (axis position at which the guide returns in mm)
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uint8_t guide_getWindingWidth()
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{
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if (xSemaphoreTake(configVariables_mutex, portMAX_DELAY) == pdTRUE) // mutex to prevent multiple access by control and stepper-ctl task
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{
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return posMaxSteps / STEPPER_STEPS_PER_MM;
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uint8_t returnValue = posMaxSteps / STEPPER_STEPS_PER_MM;
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xSemaphoreGive(configVariables_mutex);
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return returnValue;
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}
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return 0;
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}
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@ -125,6 +126,12 @@ void guide_moveToZero(){
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void travelSteps(int stepsTarget){
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//TODO simplify this function, one simple calculation of new position?
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//with new custom driver no need to detect direction change
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// cancel when width is zero or no steps received
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if (posMaxSteps == 0 || stepsTarget == 0){
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ESP_LOGD(TAG, "travelSteps: MaxSteps or stepsTarget = 0 -> nothing to do");
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return;
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}
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int stepsToGo, remaining;
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@ -349,6 +356,18 @@ void task_stepper_ctl(void *pvParameter)
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//repeatedly read changes in measured cable length and move axis accordingly
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while(1){
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// guide is disabled when posMaxSteps is zero:
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if (posMaxSteps == 0)
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{
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// move to starting position
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stepper_setTargetPosSteps(0);
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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ESP_LOGD(TAG, "posMaxSteps is zero -> guide disabled, doing nothing");
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// stop loop iteration
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continue;
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}
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#ifdef STEPPER_SIMULATE_ENCODER
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//TESTING - simulate encoder using switch
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SW_RESET.handle();
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