Fix Bug 'weird axis movement at reset'

- guide-stepper:
    - add queue to send commands to stepper-ctl task
    - add function that tells stepper task to move to zero
    - increase travel length full axis length 110

- control: move guide to zero at reset

- Cmake: enable colored output

main/CMakeLists.txt

@@ -14,3 +14,6 @@ idf_component_register(
     INCLUDE_DIRS 
         "."
     )
+
+# colored build output (errors, warnings...)
+idf_build_set_property(COMPILE_OPTIONS "-fdiagnostics-color=always" APPEND)

main/control.cpp

@@ -1,5 +1,6 @@
 #include "control.hpp"
 #include "encoder.hpp"
+#include "guide-stepper.hpp"
 
 
 //====================
@@ -158,6 +159,7 @@ void task_control(void *pvParameter)
         if (SW_RESET.risingEdge) {
             //dont reset when press used for stopping pending auto-cut
             if (controlState != systemState_t::AUTO_CUT_WAITING) {
+                guide_moveToZero();
                 encoder_reset();
                 lengthNow = 0;
                 buzzer.beep(1, 700, 100);
@@ -363,6 +365,7 @@ void task_control(void *pvParameter)
                     //TODO stop if start buttons released?
                     changeState(systemState_t::COUNTING);
                     //TODO reset automatically or wait for manual reset?
+                    guide_moveToZero();
                     encoder_reset();
                     lengthNow = 0;
                     buzzer.beep(1, 700, 100);

main/guide-stepper.cpp

@@ -5,6 +5,7 @@ extern "C"
 #include "freertos/task.h"
 #include "esp_log.h"
 #include "driver/adc.h"
+#include "freertos/queue.h"
 }
 
 #include "stepper.hpp"
@@ -23,7 +24,7 @@ extern "C"
 #define STEPPER_TEST_TRAVEL 65     //mm
 
 #define MIN_MM 0
-#define MAX_MM 102
+#define MAX_MM 103
 #define POS_MAX_STEPS MAX_MM * STEPPER_STEPS_PER_MM
 #define POS_MIN_STEPS MIN_MM * STEPPER_STEPS_PER_MM
 
@@ -47,11 +48,25 @@ static const char *TAG = "stepper-ctrl"; //tag for logging
 static bool stepp_direction = true;
 static uint32_t posNow = 0;
 
+// queue for sending commands to task handling guide movement
+static QueueHandle_t queue_commandsGuideTask;
 
 
 //----------------------
 //----- functions ------
 //----------------------
+
+//==========================
+//==== guide_moveToZero ====
+//==========================
+//tell stepper-control task to move cable guide to zero position
+void guide_moveToZero(){
+    bool valueToSend = true; // or false
+    xQueueSend(queue_commandsGuideTask, &valueToSend, portMAX_DELAY);
+    ESP_LOGI(TAG, "sending command to stepper_ctl task via queue");
+}
+
+
 //move axis certain Steps (relative) between left and right or reverse when negative
 void travelSteps(int stepsTarget){
 	//TODO simplify this function, one simple calculation of new position?
@@ -117,6 +132,9 @@ void init_stepper() {
 	//TODO unnecessary wrapper?
     ESP_LOGW(TAG, "initializing stepper...");
 	stepper_init();
+    // create queue for sending commands to task handling guide movement
+    // currently length 1 and only one command possible, thus bool
+    queue_commandsGuideTask = xQueueCreate(1, sizeof(bool));
 }
 
 
@@ -131,9 +149,9 @@ void updateSpeedFromAdc() {
 
 
 
-//----------------------------
+//============================
-//---- TASK stepper-test -----
+//==== TASK stepper=test =====
-//----------------------------
+//============================
 #ifndef STEPPER_SIMULATE_ENCODER
 void task_stepper_test(void *pvParameter)
 {
@@ -203,9 +221,9 @@ void task_stepper_test(void *pvParameter)
 
 
 
-//----------------------------
+//============================
-//----- TASK stepper-ctl -----
+//===== TASK stepper=ctl =====
-//----------------------------
+//============================
 #ifdef STEPPER_SIMULATE_ENCODER
 void task_stepper_test(void *pvParameter)
 #else
@@ -240,8 +258,31 @@ void task_stepper_ctl(void *pvParameter)
         encStepsNow = encoder_getSteps();
 #endif
 
+        // move to zero if command received via queue
+        bool receivedValue;
+        if (xQueueReceive(queue_commandsGuideTask, &receivedValue, 0) == pdTRUE)
+        {
+            // Process the received value
+            // TODO support other commands (currently only move to zero possible)
+            ESP_LOGW(TAG, "task: move-to-zero command received via queue, starting move, waiting until position reached");
+            stepper_setTargetPosMm(0);
+            stepper_waitForStop();
+            //reset variables -> start tracking cable movement starting from position zero
+            // ensure stepsDelta is 0
+            encStepsNow = encoder_getSteps();
+            encStepsPrev = encStepsNow;
+            travelStepsPartial = 0;
+            // set locally stored axis position to 0 (used for calculating the target axis coordinate)
+            posNow = 0;
+            ESP_LOGW(TAG, "at position 0, resuming normal cable guiding operation");
+        }
+
         //calculate change
-        encStepsDelta = encStepsNow - encStepsPrev; //FIXME MAJOR BUG: when resetting encoder/length in control task, diff will be huge!
+        encStepsDelta = encStepsNow - encStepsPrev;
+        // check if reset happend without moving to zero before - resulting in huge diff
+        if (encStepsDelta != 0 && encStepsNow == 0){  // this should not happen and causes weird movement
+            ESP_LOGE(TAG, "encoder steps changed to 0 (reset) without previous moveToZero() call, resulting in stepsDelta=%d", encStepsDelta);
+        }
 
         //read potentiometer and normalize (0-1) to get a variable for testing
         potiModifier = (float) gpio_readAdc(ADC_CHANNEL_POTI) / 4095; //0-4095 -> 0-1
@@ -258,8 +299,8 @@ void task_stepper_ctl(void *pvParameter)
         //move axis when ready to move at least 1 step
         if (abs(travelStepsFull) > 1){
             travelStepsPartial = fmod(travelStepsExact, 1); //save remaining partial steps to be added in the next iteration
-            ESP_LOGD(TAG, "cablelen=%.2lf, turns=%.2lf, travelMm=%.3lf, travelStepsExact: %.3lf, travelStepsFull=%d, partialStep=%.3lf", cableLen, turns, travelMm, travelStepsExact, travelStepsFull, travelStepsPartial);
+            ESP_LOGI(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);
+            ESP_LOGD(TAG, "MOVING %d steps", travelStepsFull);
             travelSteps(travelStepsExact);
             encStepsPrev = encStepsNow; //update previous length
         }

main/guide-stepper.hpp

@@ -10,3 +10,7 @@ void task_stepper_test(void *pvParameter);
 //task that initializes and controls the stepper motor
 //  - moves stepper according to encoder movement
 void task_stepper_ctl(void *pvParameter);
+
+
+//tell stepper-control task to move cable guide to zero position
+void guide_moveToZero();

main/main.cpp

@@ -88,7 +88,8 @@ extern "C" void app_main()
     esp_log_level_set("buzzer", ESP_LOG_ERROR);
     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("stepper-driver", ESP_LOG_WARN);
+    esp_log_level_set("stepper-ctrl", ESP_LOG_INFO);
     esp_log_level_set("Dendostepper", ESP_LOG_WARN); //stepper lib
     esp_log_level_set("calc", ESP_LOG_WARN); //stepper lib