j/cable-length-cutter
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add control statemachine, optimize vfd logging

Browse Source 
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

127
main/control.cpp
View File

@ -72,30 +72,51 @@ int readAdc(adc1_channel_t adc_channel, bool inverted = false) {
//==================== //====================
//==== variables ===== //==== variables =====
//==================== //====================
static const char *TAG = "control"; 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_disp[20]; //both displays
char buf_disp1[10];// 8 digits + decimal point + \0 char buf_disp1[10];// 8 digits + decimal point + \0
char buf_disp2[10];// 8 digits + decimal point + \0 char buf_disp2[10];// 8 digits + decimal point + \0
char buf_tmp[15]; 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 rotary_encoder_info_t encoder; //encoder device/info
QueueHandle_t encoder_queue = NULL; //encoder event queue
rotary_encoder_state_t encoderState; rotary_encoder_state_t encoderState;
uint8_t count = 0; //count for testing uint8_t count = 0; //count for testing
uint32_t timestamp_pageSwitched = 0; uint32_t timestamp_pageSwitched = 0;
bool page = false; //store page number currently displayed bool page = false; //store page number currently displayed
bool state = false; //store state of motor
int lengthNow = 0; //length measured in mm int lengthNow = 0; //length measured in mm
int lengthTarget = 3000; //target length in mm int lengthTarget = 3000; //target length in mm
int lengthDiff = 0; //length difference
int potiRead = 0; //voltage read from adc 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 ===== //===== control task =====
@ -149,8 +170,7 @@ void task_control(void *pvParameter)
// Poll current position and direction // Poll current position and direction
rotary_encoder_get_state(&encoder, &encoderState); rotary_encoder_get_state(&encoder, &encoderState);
//--- calculate distance --- //--- calculate distance ---
//lengthNow = encoderState.position * (MEASURING_ROLL_DIAMETER * PI); //TODO dont calculate constant factor every time FIXME: ROUNDING ISSUE float-int? lengthNow = (float)encoderState.position * (MEASURING_ROLL_DIAMETER * PI); //TODO dont calculate constant factor every time FIXME: ROUNDING ISSUE float-int?
lengthNow += 155;
//--------------------------- //---------------------------
@ -165,6 +185,7 @@ void task_control(void *pvParameter)
//round to whole meters //round to whole meters
lengthTarget = round(lengthTarget / 1000) * 1000; lengthTarget = round(lengthTarget / 1000) * 1000;
//TODO update lengthTarget only at button release? //TODO update lengthTarget only at button release?
//TODO beep for each m step?
} }
//beep //beep
if (SW_SET.risingEdge) { if (SW_SET.risingEdge) {
@ -175,27 +196,95 @@ void task_control(void *pvParameter)
} }
//---------------------------
//--------- buttons ---------
//---------------------------
//TODO: ADD PRESET SWITCHES HERE //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) { 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; 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; 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; break;
case TARGET_REACHED: case TARGET_REACHED:
//nothing to do here yet
//see "stop conditions" above that switches to COUNTING when start button released
break; break;
} }
@ -259,12 +348,6 @@ void task_control(void *pvParameter)
// buzzer.beep(1, 100, 100); // 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; typedef enum systemState_t {COUNTING, WINDING_START, WINDING, TARGET_REACHED} systemState_t;
extern const char* systemStateStr[4];
void task_control(void *pvParameter); void task_control(void *pvParameter);

38
main/vfd.cpp
View File

@ -3,10 +3,23 @@
#define CHECK_BIT(var,pos) (((var)>>(pos)) & 1) #define CHECK_BIT(var,pos) (((var)>>(pos)) & 1)
static const char *TAG = "vfd"; 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 //turn motor on/off
if (state == true) { if (state == true) {
gpio_set_level(GPIO_VFD_FWD, 1); 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_VFD_FWD, 0);
gpio_set_level(GPIO_RELAY, 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 //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 //bit:2 1 0
//lvl D2 D1 D0 Hz //lvl D2 D1 D0 Hz
//0 0 0 0 default //0 0 0 0 default
@ -67,7 +94,6 @@ void vfd_setSpeedLevel(uint8_t level){
gpio_set_level(GPIO_VFD_D2, 0); gpio_set_level(GPIO_VFD_D2, 0);
} }
//log //log pin state
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);
ESP_LOGI(TAG, "pin state: D2=%i, D1=%i, D0=%i", (int)D2, (int)D1, (int)D0);
} }

4
main/vfd.hpp
View File

@ -13,7 +13,7 @@ extern "C"
//function for setting the state (motor on/off) //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) //function for setting the speed level (1-7)
void vfd_setSpeedLevel(uint8_t level = 0); void vfd_setSpeedLevel(uint8_t levelNew = 0);