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Add control statemachine, optimize vfd logging

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Add all logic for the machine to control.cpp
optimize logging (on change only) for vfd functions
This commit is contained in:
jonny_ji7 2022-08-18 14:23:32 +02:00
parent 0aea494783
commit 8b9b5ff736
4 changed files with 141 additions and 30 deletions
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127
main/control.cpp
View File

@ -72,30 +72,51 @@ int readAdc(adc1_channel_t adc_channel, bool inverted = false) {
//====================
//==== variables =====
//====================
static const char *TAG = "control";
const char* systemStateStr[4] = {"COUNTING", "WINDING_START", "WINDING", "TARGET_REACHED"};
systemState_t controlState = COUNTING;
max7219_t display; //display device
char buf_disp[20]; //both displays
char buf_disp1[10];// 8 digits + decimal point + \0
char buf_disp2[10];// 8 digits + decimal point + \0
char buf_tmp[15];
max7219_t display; //display device
QueueHandle_t encoder_queue = NULL; //encoder event queue
rotary_encoder_info_t encoder; //encoder device/info
QueueHandle_t encoder_queue = NULL; //encoder event queue
rotary_encoder_state_t encoderState;
uint8_t count = 0; //count for testing
uint32_t timestamp_pageSwitched = 0;
bool page = false; //store page number currently displayed
bool state = false; //store state of motor
int lengthNow = 0; //length measured in mm
int lengthTarget = 3000; //target length in mm
int lengthDiff = 0; //length difference
int potiRead = 0; //voltage read from adc
uint32_t timestamp_motorStarted = 0; //timestamp winding started
systemState_t controlState = COUNTING;
//===== change State =====
//function for changing the controlState
void changeState (systemState_t stateNew) {
//only proceed when state actually changed
if (controlState == stateNew){
//already at target state -> nothing to do
return;
}
//log change
ESP_LOGW(TAG, "changed state from %s to %s", systemStateStr[(int)controlState], systemStateStr[(int)stateNew]);
//change state
controlState = stateNew;
}
//========================
//===== control task =====
@ -149,8 +170,7 @@ void task_control(void *pvParameter)
// Poll current position and direction
rotary_encoder_get_state(&encoder, &encoderState);
//--- calculate distance ---
//lengthNow = encoderState.position * (MEASURING_ROLL_DIAMETER * PI); //TODO dont calculate constant factor every time FIXME: ROUNDING ISSUE float-int?
lengthNow += 155;
lengthNow = (float)encoderState.position * (MEASURING_ROLL_DIAMETER * PI); //TODO dont calculate constant factor every time FIXME: ROUNDING ISSUE float-int?
//---------------------------
@ -165,6 +185,7 @@ void task_control(void *pvParameter)
//round to whole meters
lengthTarget = round(lengthTarget / 1000) * 1000;
//TODO update lengthTarget only at button release?
//TODO beep for each m step?
}
//beep
if (SW_SET.risingEdge) {
@ -175,27 +196,95 @@ void task_control(void *pvParameter)
}
//---------------------------
//--------- buttons ---------
//---------------------------
//TODO: ADD PRESET SWITCHES HERE
//--- RESET switch ---
if (SW_RESET.risingEdge) {
rotary_encoder_reset(&encoder);
lengthNow = 0;
buzzer.beep(1, 700, 100);
}
//--------------------------------
//--------- statemachine ---------
//--------------------------------
//---------------------------
//--------- control ---------
//---------------------------
//calculate length difference
lengthDiff = lengthNow - lengthTarget;
//--- stop conditions ---
//stop conditions that are checked in any mode
//disable motor and switch to COUNTING when start button released
if (SW_START.state == false) { //TODO use fallingEdge here more clean?
changeState(COUNTING);
vfd_setState(false);
}
//disable motor and switch to TARGET_REACHED
else if (lengthDiff >= 0 ) {
//TODO: display "REACHED" on 7segment here or reached state (start pressed but reached)
changeState(TARGET_REACHED);
vfd_setState(false);
}
//--- statemachine ---
switch (controlState) {
case COUNTING:
case COUNTING: //no motor action
//TODO stop motor here every run instead of at button event?
if (SW_START.risingEdge) {
changeState(WINDING_START);
vfd_setSpeedLevel(2); //start at low speed
vfd_setState(true); //start motor
timestamp_motorStarted = esp_log_timestamp(); //save time started
}
break;
case WINDING_START:
case WINDING_START: //wind slow for certain time
//TODO: cancel / stay in this state when no change to lengthNow
if (esp_log_timestamp() - timestamp_motorStarted > 4000) {
changeState(WINDING);
}
//TESTING: SIMULATE LENGTH INCREASE
//lengthNow += 2;
break;
case WINDING:
case WINDING: //wind at dynamic speed
lengthDiff = abs(lengthDiff);
//adjust speed according to difference
if (lengthDiff < 10) {
vfd_setSpeedLevel(1);
//TESTING: SIMULATE LENGTH INCREASE
//lengthNow += 1;
} else if (lengthDiff < 50) {
vfd_setSpeedLevel(2);
//TESTING: SIMULATE LENGTH INCREASE
//lengthNow += 4;
} else if (lengthDiff < 200) {
vfd_setSpeedLevel(3);
//TESTING: SIMULATE LENGTH INCREASE
//lengthNow += 6;
} else if (lengthDiff < 500) {
vfd_setSpeedLevel(4);
//TESTING: SIMULATE LENGTH INCREASE
//lengthNow += 50;
} else if (lengthDiff < 1000) {
vfd_setSpeedLevel(6);
//TESTING: SIMULATE LENGTH INCREASE
//lengthNow += 100;
} else { //more than last step
vfd_setSpeedLevel(7);
//TESTING: SIMULATE LENGTH INCREASE
//lengthNow += 200;
}
//see "stop conditions" above that switches to TARGET_REACHED when targed reached
break;
case TARGET_REACHED:
//nothing to do here yet
//see "stop conditions" above that switches to COUNTING when start button released
break;
}
@ -259,12 +348,6 @@ void task_control(void *pvParameter)
// buzzer.beep(1, 100, 100);
//}
////testing: toggle motor state
//if(SW_START.risingEdge){
// state = !state;
// vfd_setState(state);
// buzzer.beep(1, 500, 100);
//}
}
}

2
main/control.hpp
View File

@ -23,5 +23,7 @@ extern "C"
typedef enum systemState_t {COUNTING, WINDING_START, WINDING, TARGET_REACHED} systemState_t;
extern const char* systemStateStr[4];
void task_control(void *pvParameter);

38
main/vfd.cpp
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@ -3,10 +3,23 @@
#define CHECK_BIT(var,pos) (((var)>>(pos)) & 1)
static const char *TAG = "vfd";
uint8_t level = 0; //current speed level
bool state = false; //current state
//=============================
//========= setState ==========
//=============================
void vfd_setState(bool stateNew){
//only proceed and send log output when state is actually changed
if (state == stateNew) {
//already at target state -> nothing todo
return;
}
//update stored state
state = stateNew;
void vfd_setState(bool state){
//turn motor on/off
if (state == true) {
gpio_set_level(GPIO_VFD_FWD, 1);
@ -15,14 +28,28 @@ void vfd_setState(bool state){
gpio_set_level(GPIO_VFD_FWD, 0);
gpio_set_level(GPIO_RELAY, 0);
}
ESP_LOGI(TAG, "set state to %i", (int)state);
ESP_LOGI(TAG, "CHANGED state to %i", (int)state);
}
void vfd_setSpeedLevel(uint8_t level){
//=============================
//======= setSpeedLevel =======
//=============================
void vfd_setSpeedLevel(uint8_t levelNew){
//set speed level of VFD
//only proceed and send log output when level is actually changed
if (level == levelNew) {
//already at target level -> nothing todo
return;
}
//log change
ESP_LOGI(TAG, "CHANGING speed level from %i to %i", level, levelNew);
//update stored level
level = levelNew;
//bit:2 1 0
//lvl D2 D1 D0 Hz
//0 0 0 0 default
@ -67,7 +94,6 @@ void vfd_setSpeedLevel(uint8_t level){
gpio_set_level(GPIO_VFD_D2, 0);
}
//log
ESP_LOGI(TAG, "Set level to %d", level);
ESP_LOGI(TAG, "pin state: D2=%i, D1=%i, D0=%i", (int)D2, (int)D1, (int)D0);
//log pin state
ESP_LOGI(TAG, " - pin state: D2=%i, D1=%i, D0=%i", (int)D2, (int)D1, (int)D0);
}

4
main/vfd.hpp
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@ -13,7 +13,7 @@ extern "C"
//function for setting the state (motor on/off)
void vfd_setState(bool state);
void vfd_setState(bool stateNew);
//function for setting the speed level (1-7)
void vfd_setSpeedLevel(uint8_t level = 0);
void vfd_setSpeedLevel(uint8_t levelNew = 0);