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Merge branch 'stepper_custom-driver' into dev

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custom stepper driver successfully implemented,
will be used and continued in the further development
in dev branch
This commit is contained in:
jonny_ji7 2023-04-25 19:30:26 +02:00
commit a22c60b817
9 changed files with 1633 additions and 179 deletions
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1056
function-diagram.drawio
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File diff suppressed because one or more lines are too long

1
main/CMakeLists.txt
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@ -8,6 +8,7 @@ idf_component_register(
"display.cpp" "display.cpp"
"cutter.cpp" "cutter.cpp"
"switchesAnalog.cpp" "switchesAnalog.cpp"
"stepper.cpp"
"guide-stepper.cpp" "guide-stepper.cpp"
"encoder.cpp" "encoder.cpp"
INCLUDE_DIRS INCLUDE_DIRS

2
main/config.hpp
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@ -85,7 +85,7 @@ extern "C" {
//----- stepper config ----- //----- stepper config -----
//-------------------------- //--------------------------
//enable stepper test mode (dont start control and encoder task) //enable stepper test mode (dont start control and encoder task)
//#define STEPPER_TEST #define STEPPER_TEST
#define STEPPER_STEP_PIN GPIO_NUM_18 //mos1 #define STEPPER_STEP_PIN GPIO_NUM_18 //mos1
#define STEPPER_DIR_PIN GPIO_NUM_16 //ST3 #define STEPPER_DIR_PIN GPIO_NUM_16 //ST3
#define STEPPER_EN_PIN GPIO_NUM_0 //not connected (-> stepper always on) #define STEPPER_EN_PIN GPIO_NUM_0 //not connected (-> stepper always on)

367
main/guide-stepper.cpp
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@ -7,7 +7,7 @@ extern "C"
#include "driver/adc.h" #include "driver/adc.h"
} }
#include "DendoStepper.h" #include "stepper.hpp"
#include "config.hpp" #include "config.hpp"
#include "guide-stepper.hpp" #include "guide-stepper.hpp"
#include "encoder.hpp" #include "encoder.hpp"
@ -46,11 +46,9 @@ extern "C"
//---------------------- //----------------------
//----- variables ------ //----- variables ------
//---------------------- //----------------------
static DendoStepper step;
static const char *TAG = "stepper"; //tag for logging static const char *TAG = "stepper"; //tag for logging
static bool stepp_direction = true; static bool stepp_direction = true;
static bool dir = true, dirPrev; //TODO local variables in travelSteps?
static uint32_t posNow = 0; static uint32_t posNow = 0;
@ -58,114 +56,98 @@ static uint32_t posNow = 0;
//---------------------- //----------------------
//----- functions ------ //----- functions ------
//---------------------- //----------------------
//move axis certain Steps (relative) between left and right or reverse when negative ////move axis certain Steps (relative) between left and right or reverse when negative
void travelSteps(int stepsTarget){ //void travelSteps(int stepsTarget){
//posNow = step.getPositionMm(); //not otherwise controlled, so no update necessary // //posNow = step.getPositionMm(); //not otherwise controlled, so no update necessary
int stepsToGo, remaining; // int stepsToGo, remaining;
//
stepsToGo = abs(stepsTarget); // stepsToGo = abs(stepsTarget);
if(stepsTarget < 0) stepp_direction = !stepp_direction; //invert direction in reverse mode // if(stepsTarget < 0) stepp_direction = !stepp_direction; //invert direction in reverse mode
//
// while (stepsToGo != 0){
while (stepsToGo != 0){ // //--- currently moving right ---
// if (stepp_direction == true){ //currently moving right
//--- wait if direction changed --- // remaining = POS_MAX_STEPS - posNow; //calc remaining distance fom current position to limit
if (dirPrev != dir){ // if (stepsToGo > remaining){ //new distance will exceed limit
ESP_LOGI(TAG, " dir-change detected - waiting for move to finish \n "); // //....step.runAbs (POS_MAX_STEPS); //move to limit
while(step.getState() != 1) vTaskDelay(1); //wait for move to finish // //....while(step.getState() != 1) vTaskDelay(1); //wait for move to finish
} // posNow = POS_MAX_STEPS;
// stepp_direction = false; //change current direction for next iteration
//--- currently moving right --- // stepsToGo = stepsToGo - remaining; //decrease target length by already traveled distance
if (stepp_direction == true){ //currently moving right // ESP_LOGI(TAG, " --- moved to max -> change direction (L) --- \n ");
remaining = POS_MAX_STEPS - posNow; //calc remaining distance fom current position to limit // }
if (stepsToGo > remaining){ //new distance will exceed limit // else { //target distance does not reach the limit
step.runAbs (POS_MAX_STEPS); //move to limit // //....step.runAbs (posNow + stepsToGo); //move by (remaining) distance to reach target length
dirPrev = dir; // //....while(step.getState() != 1) vTaskDelay(1); //wait for move to finish
dir = 1; // ESP_LOGD(TAG, "moving to %d\n", posNow+stepsToGo);
//while(step.getState() != 1) vTaskDelay(1); //wait for move to finish // posNow += stepsToGo;
posNow = POS_MAX_STEPS; // stepsToGo = 0; //finished, reset target length (could as well exit loop/break)
stepp_direction = false; //change current direction for next iteration // }
stepsToGo = stepsToGo - remaining; //decrease target length by already traveled distance // }
ESP_LOGI(TAG, " --- moved to max -> change direction (L) --- \n "); //
} // //--- currently moving left ---
else { //target distance does not reach the limit // else {
step.runAbs (posNow + stepsToGo); //move by (remaining) distance to reach target length // remaining = posNow - POS_MIN_STEPS;
dirPrev = dir; // if (stepsToGo > remaining){
dir = 1; // //....step.runAbs (POS_MIN_STEPS);
//-- dont wait for move to finish since moves in same direction get merged -- // //....while(step.getState() != 1) vTaskDelay(2); //wait for move to finish
//while(step.getState() != 1) vTaskDelay(1); //wait for move to finish // posNow = POS_MIN_STEPS;
ESP_LOGD(TAG, "moving to %d\n", posNow+stepsToGo); // stepp_direction = true;
posNow += stepsToGo; // stepsToGo = stepsToGo - remaining;
stepsToGo = 0; //finished, reset target length (could as well exit loop/break) // ESP_LOGI(TAG, " --- moved to min -> change direction (R) --- \n ");
} // }
} // else {
// //....step.runAbs (posNow - stepsToGo); //when moving left the coordinate has to be decreased
//--- currently moving left --- // while(step.getState() != 1) vTaskDelay(2); //wait for move to finish
else { // ESP_LOGD(TAG, "moving to %d\n", posNow - stepsToGo);
remaining = posNow - POS_MIN_STEPS; // posNow -= stepsToGo;
if (stepsToGo > remaining){ // stepsToGo = 0;
step.runAbs (POS_MIN_STEPS); // }
dirPrev = dir; // }
dir = 0; // }
//while(step.getState() != 1) vTaskDelay(2); //wait for move to finish // if(stepsTarget < 0) stepp_direction = !stepp_direction; //undo inversion of stepp_direction after reverse mode is finished
posNow = POS_MIN_STEPS; // return;
stepp_direction = true; //}
stepsToGo = stepsToGo - remaining; //
ESP_LOGI(TAG, " --- moved to min -> change direction (R) --- \n "); //
} ////move axis certain Mm (relative) between left and right or reverse when negative
else { //void travelMm(int length){
step.runAbs (posNow - stepsToGo); //when moving left the coordinate has to be decreased // travelSteps(length * STEPPER_STEPS_PER_MM);
dirPrev = dir; //}
dir = 0; //
//-- dont wait for move to finish since moves in same direction get merged -- //
//while(step.getState() != 1) vTaskDelay(2); //wait for move to finish ////define zero/start position
ESP_LOGD(TAG, "moving to %d\n", posNow - stepsToGo); ////currently crashes into hardware limitation for certain time
posNow -= stepsToGo; ////TODO: limit switch
stepsToGo = 0; //void home() {
} // ESP_LOGW(TAG, "auto-home...");
} // //....step.setSpeedMm(100, 500, 10);
} // //....step.runInf(1);
if(stepsTarget < 0) stepp_direction = !stepp_direction; //undo inversion of stepp_direction after reverse mode is finished // vTaskDelay(1500 / portTICK_PERIOD_MS);
return; // //....step.stop();
} // //....step.resetAbsolute();
// ESP_LOGW(TAG, "auto-home finished");
//}
//move axis certain Mm (relative) between left and right or reverse when negative
void travelMm(int length){
travelSteps(length * STEPPER_STEPS_PER_MM);
}
//define zero/start position
//currently crashes into hardware limitation for certain time
//TODO: limit switch
void home() {
ESP_LOGW(TAG, "auto-home...");
step.setSpeedMm(100, 500, 10);
step.runInf(1);
vTaskDelay(1500 / portTICK_PERIOD_MS);
step.stop();
step.resetAbsolute();
ESP_LOGW(TAG, "auto-home finished");
}
//initialize/configure stepper instance //initialize/configure stepper instance
void init_stepper() { void init_stepper() {
ESP_LOGW(TAG, "initializing stepper..."); // ESP_LOGW(TAG, "initializing stepper...");
DendoStepper_config_t step_cfg = { // DendoStepper_config_t step_cfg = {
.stepPin = STEPPER_STEP_PIN, // .stepPin = STEPPER_STEP_PIN,
.dirPin = STEPPER_DIR_PIN, // .dirPin = STEPPER_DIR_PIN,
.enPin = STEPPER_EN_PIN, // .enPin = STEPPER_EN_PIN,
.timer_group = TIMER_GROUP_0, // .timer_group = TIMER_GROUP_0,
.timer_idx = TIMER_0, // .timer_idx = TIMER_0,
.miStep = MICROSTEP_32, // .miStep = MICROSTEP_32,
.stepAngle = 1.8}; // .stepAngle = 1.8};
step.config(&step_cfg); // //....step.config(&step_cfg);
step.init(); // //....step.init();
//
// //....step.setSpeed(1000, 1000, 1000); //random default speed
// //....step.setStepsPerMm(STEPPER_STEPS_PER_MM); //guide: 4mm/rot
step.setSpeed(1000, 1000, 1000); //random default speed stepper_init();
step.setStepsPerMm(STEPPER_STEPS_PER_MM); //guide: 4mm/rot
} }
@ -174,7 +156,7 @@ void updateSpeedFromAdc() {
int potiRead = gpio_readAdc(ADC_CHANNEL_POTI); //0-4095 GPIO34 int potiRead = gpio_readAdc(ADC_CHANNEL_POTI); //0-4095 GPIO34
double poti = potiRead/4095.0; double poti = potiRead/4095.0;
int speed = poti*(SPEED_MAX-SPEED_MIN) + SPEED_MIN; int speed = poti*(SPEED_MAX-SPEED_MIN) + SPEED_MIN;
step.setSpeedMm(speed, ACCEL_MS, DECEL_MS); //....step.setSpeedMm(speed, ACCEL_MS, DECEL_MS);
ESP_LOGW(TAG, "poti: %d (%.2lf%%), set speed to: %d", potiRead, poti*100, speed); ESP_LOGW(TAG, "poti: %d (%.2lf%%), set speed to: %d", potiRead, poti*100, speed);
} }
@ -185,80 +167,121 @@ void updateSpeedFromAdc() {
//---------------------------- //----------------------------
void task_stepper_test(void *pvParameter) void task_stepper_test(void *pvParameter)
{ {
init_stepper(); stepper_init();
home(); int state = 0;
while(1){
vTaskDelay(20 / portTICK_PERIOD_MS);
while (1) { //------ handle switches ------
updateSpeedFromAdc(); //run handle functions for all switches
step.runPosMm(STEPPER_TEST_TRAVEL); SW_START.handle();
while(step.getState() != 1) vTaskDelay(2); SW_RESET.handle();
ESP_LOGI(TAG, "finished moving right => moving left"); SW_SET.handle();
SW_PRESET1.handle();
SW_PRESET2.handle();
SW_PRESET3.handle();
SW_CUT.handle();
SW_AUTO_CUT.handle();
updateSpeedFromAdc(); //cycle through test commands with one button
step.runPosMm(-STEPPER_TEST_TRAVEL); if (SW_RESET.risingEdge) {
while(step.getState() != 1) vTaskDelay(2); //1=idle switch (state){
ESP_LOGI(TAG, "finished moving left => moving right"); case 0:
} stepper_setTargetPosMm(50);
//stepper_setTargetPosSteps(1000);
state++;
break;
case 1:
stepper_setTargetPosMm(80);
//stepper_setTargetPosSteps(100);
state++;
break;
case 2:
stepper_setTargetPosMm(20);
//stepper_setTargetPosSteps(100);
state++;
break;
case 3:
stepper_setTargetPosMm(60);
//stepper_setTargetPosSteps(2000);
state = 0;
break;
}
}
}
// if (SW_PRESET1.risingEdge) {
// buzzer.beep(2, 300, 100);
// stepperSw_setTargetSteps(1000);
// }
// if (SW_PRESET2.risingEdge) {
// buzzer.beep(1, 500, 100);
// stepperSw_setTargetSteps(10000);
// }
// if (SW_PRESET3.risingEdge) {
// buzzer.beep(1, 100, 100);
// stepperSw_setTargetSteps(30000);
// }
} }
//---------------------------- //----------------------------
//----- TASK stepper-ctl ----- //----- TASK stepper-ctl -----
//---------------------------- //----------------------------
void task_stepper_ctl(void *pvParameter) void task_stepper_ctl(void *pvParameter)
{ {
//variables // //variables
int encStepsNow = 0; //get curret steps of encoder // int encStepsNow = 0; //get curret steps of encoder
int encStepsPrev = 0; //steps at last check // int encStepsPrev = 0; //steps at last check
int encStepsDelta = 0; //steps changed since last iteration // int encStepsDelta = 0; //steps changed since last iteration
//
double cableLen = 0; // double cableLen = 0;
double travelStepsExact = 0; //steps axis has to travel // double travelStepsExact = 0; //steps axis has to travel
double travelStepsPartial = 0; // double travelStepsPartial = 0;
int travelStepsFull = 0; // int travelStepsFull = 0;
double travelMm = 0; // double travelMm = 0;
double turns = 0; // double turns = 0;
//
float potiModifier; // float potiModifier;
//
init_stepper(); // init_stepper();
home(); // home();
//
while(1){ // while(1){
//get current length // //get current length
encStepsNow = encoder_getSteps(); // encStepsNow = encoder_getSteps();
//
//calculate change // //calculate change
encStepsDelta = encStepsNow - encStepsPrev; //FIXME MAJOR BUG: when resetting encoder/length in control task, diff will be huge! // encStepsDelta = encStepsNow - encStepsPrev; //FIXME MAJOR BUG: when resetting encoder/length in control task, diff will be huge!
//
//read potentiometer and normalize (0-1) to get a variable for testing // //read potentiometer and normalize (0-1) to get a variable for testing
potiModifier = (float) gpio_readAdc(ADC_CHANNEL_POTI) / 4095; //0-4095 -> 0-1 // potiModifier = (float) gpio_readAdc(ADC_CHANNEL_POTI) / 4095; //0-4095 -> 0-1
//ESP_LOGI(TAG, "current poti-modifier = %f", potiModifier); // //ESP_LOGI(TAG, "current poti-modifier = %f", potiModifier);
//
//calculate steps to move // //calculate steps to move
cableLen = (double)encStepsDelta * 1000 / ENCODER_STEPS_PER_METER; // cableLen = (double)encStepsDelta * 1000 / ENCODER_STEPS_PER_METER;
turns = cableLen / (PI * D_REEL); // turns = cableLen / (PI * D_REEL);
travelMm = turns * D_CABLE; // travelMm = turns * D_CABLE;
travelStepsExact = travelMm * STEPPER_STEPS_PER_MM + travelStepsPartial; //convert mm to steps and add not moved partial steps // travelStepsExact = travelMm * STEPPER_STEPS_PER_MM + travelStepsPartial; //convert mm to steps and add not moved partial steps
travelStepsPartial = 0; // travelStepsPartial = 0;
travelStepsFull = (int)travelStepsExact; // travelStepsFull = (int)travelStepsExact;
//
//move axis when ready to move at least 1 step // //move axis when ready to move at least 1 step
if (abs(travelStepsFull) > 1){ // if (abs(travelStepsFull) > 1){
travelStepsPartial = fmod(travelStepsExact, 1); //save remaining partial steps to be added in the next iteration // 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_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); // 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 // //TODO: calculate variable speed for smoother movement? for example intentionally lag behind and calculate speed according to buffered data
step.setSpeedMm(35, 100, 50); // //....step.setSpeedMm(35, 100, 50);
//testing: get speed from poti // //testing: get speed from poti
//step.setSpeedMm(35, 1000*potiModifier+1, 1000*potiModifier+1); // //step.setSpeedMm(35, 1000*potiModifier+1, 1000*potiModifier+1);
travelSteps(travelStepsExact); // travelSteps(travelStepsExact);
encStepsPrev = encStepsNow; //update previous length // encStepsPrev = encStepsNow; //update previous length
} // }
else { // else {
//TODO use encoder queue to only run this check at encoder event? // //TODO use encoder queue to only run this check at encoder event?
vTaskDelay(2); // vTaskDelay(2);
} // }
} // }
} }

13
main/main.cpp
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@ -17,6 +17,8 @@ extern "C"
#include "guide-stepper.hpp" #include "guide-stepper.hpp"
#include "encoder.hpp" #include "encoder.hpp"
#include "stepper.hpp"
//================================= //=================================
//=========== functions =========== //=========== functions ===========
@ -92,17 +94,18 @@ extern "C" void app_main()
#ifdef STEPPER_TEST #ifdef STEPPER_TEST
//create task for stepper testing //create task for stepper testing
xTaskCreate(task_stepper_test, "task_stepper_test", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL); xTaskCreate(task_stepper_test, "task_stepper_test", configMINIMAL_STACK_SIZE * 3, NULL, 2, NULL);
//xTaskCreate(task_stepper_debug, "task_stepper_test", configMINIMAL_STACK_SIZE * 3, NULL, 2, NULL);
#else #else
//create task for controlling the machine //create task for controlling the machine
xTaskCreate(task_control, "task_control", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL); xTaskCreate(task_control, "task_control", configMINIMAL_STACK_SIZE * 3, NULL, 4, NULL);
//create task for controlling the machine //create task for controlling the stepper
xTaskCreate(task_stepper_ctl, "task_stepper_ctl", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL); xTaskCreate(task_stepper_ctl, "task_stepper_ctl", configMINIMAL_STACK_SIZE * 3, NULL, 2, NULL);
#endif
//create task for handling the buzzer //create task for handling the buzzer
xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL); xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
#endif
//beep at startup //beep at startup
buzzer.beep(3, 70, 50); buzzer.beep(3, 70, 50);

249
main/stepper.cpp Normal file
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@ -0,0 +1,249 @@
//custom driver for stepper motor
#include "config.hpp"
#include "hal/timer_types.h"
#include <cstdint>
#include <inttypes.h>
extern "C" {
#include "driver/timer.h"
#include "driver/gpio.h"
#include "esp_log.h"
}
//config from config.hpp
//#define STEPPER_STEP_PIN GPIO_NUM_18 //mos1
//#define STEPPER_DIR_PIN GPIO_NUM_16 //ST3
#define STEPPER_STEPS_PER_MM 200/2 //steps/mm
#define STEPPER_SPEED_DEFAULT 20 //mm/s
#define STEPPER_SPEED_MIN 4 //mm/s - speed at which stepper immediately starts/stops
#define STEPPER_ACCEL_INC 3 //steps/s per cycle
#define STEPPER_DECEL_INC 8 //steps/s per cycle
#define TIMER_F 1000000ULL
#define TICK_PER_S TIMER_S
#define NS_TO_T_TICKS(x) (x)
//========================
//=== global variables ===
//========================
static const char *TAG = "stepper-ctl"; //tag for logging
bool direction = 1;
bool directionTarget = 1;
bool timerIsRunning = false;
bool timer_isr(void *arg);
static timer_group_t timerGroup = TIMER_GROUP_0;
static timer_idx_t timerIdx = TIMER_0;
//TODO the below variables can be moved to isr function once debug output is no longer needed
static uint64_t posTarget = 0;
static uint64_t posNow = 0;
static uint64_t stepsToGo = 0;
static uint32_t speedMin = STEPPER_SPEED_MIN * STEPPER_STEPS_PER_MM;
static uint32_t speedNow = speedMin;
static int debug = 0;
static uint32_t speedTarget = STEPPER_SPEED_DEFAULT * STEPPER_STEPS_PER_MM;
//TODO/NOTE increment actually has to be re-calculated every run to have linear accel (because also gets called faster/slower)
static uint32_t decel_increment = STEPPER_DECEL_INC;
static uint32_t accel_increment = STEPPER_ACCEL_INC;
//======================
//===== DEBUG task =====
//======================
void task_stepper_debug(void *pvParameter){
while (1){
ESP_LOGI("stepper-DEBUG",
"timer=%d "
"dir=%d "
"dirTarget=%d "
"posTarget=%llu "
"posNow=%llu "
"stepsToGo=%llu "
"speedNow=%u "
"speedTarget=%u "
"debug=%d ",
timerIsRunning,
direction,
directionTarget,
posTarget,
posNow,
stepsToGo,
speedNow,
speedTarget,
debug
);
vTaskDelay(300 / portTICK_PERIOD_MS);
}
}
//=====================
//===== set speed =====
//=====================
void stepper_setSpeed(uint32_t speedMmPerS) {
ESP_LOGW(TAG, "set target speed from %u to %u mm/s (%u steps/s)",
speedTarget, speedMmPerS, speedMmPerS * STEPPER_STEPS_PER_MM);
speedTarget = speedMmPerS * STEPPER_STEPS_PER_MM;
}
//==========================
//== set target pos STEPS ==
//==========================
void stepper_setTargetPosSteps(uint64_t target_steps) {
ESP_LOGW(TAG, "update target position from %llu to %llu steps (stepsNow: %llu", posTarget, target_steps, posNow);
posTarget = target_steps;
// Check if the timer is currently paused
if (!timerIsRunning){
// If the timer is paused, start it again with the updated targetSteps
timerIsRunning = true;
ESP_LOGW(TAG, "starting timer because did not run before");
ESP_ERROR_CHECK(timer_set_alarm_value(timerGroup, timerIdx, 1000));
//timer_set_counter_value(timerGroup, timerIdx, 1000);
ESP_ERROR_CHECK(timer_start(timerGroup, timerIdx));
}
}
//=========================
//=== set target pos MM ===
//=========================
void stepper_setTargetPosMm(uint32_t posMm){
ESP_LOGW(TAG, "set target position to %u mm", posMm);
stepper_setTargetPosSteps(posMm * STEPPER_STEPS_PER_MM);
}
//========================
//===== init stepper =====
//========================
void stepper_init(){
ESP_LOGW(TAG, "init - configure struct...");
// Configure pulse and direction pins as outputs
ESP_LOGW(TAG, "init - configure gpio pins...");
gpio_set_direction(STEPPER_DIR_PIN, GPIO_MODE_OUTPUT);
gpio_set_direction(STEPPER_STEP_PIN, GPIO_MODE_OUTPUT);
ESP_LOGW(TAG, "init - initialize/configure timer...");
timer_config_t timer_conf = {
.alarm_en = TIMER_ALARM_EN, // we need alarm
.counter_en = TIMER_PAUSE, // dont start now lol
.intr_type = TIMER_INTR_LEVEL, // interrupt
.counter_dir = TIMER_COUNT_UP, // count up duh
.auto_reload = TIMER_AUTORELOAD_EN, // reload pls
.divider = 80000000ULL / TIMER_F, // ns resolution
};
ESP_ERROR_CHECK(timer_init(timerGroup, timerIdx, &timer_conf)); // init the timer
ESP_ERROR_CHECK(timer_set_counter_value(timerGroup, timerIdx, 0)); // set it to 0
ESP_ERROR_CHECK(timer_isr_callback_add(timerGroup, timerIdx, timer_isr, (void *)timerIdx, 0));
}
//================================
//=== timer interrupt function ===
//================================
bool timer_isr(void *arg) {
//-----------------
//--- variables ---
//-----------------
//TODO used (currently global) variables here
//-----------------------------------
//--- define direction, stepsToGo ---
//-----------------------------------
//Note: the idea is that the stepper has to decelerate to min speed first before changeing the direction
//define target direction depending on position difference
bool directionTarget = posTarget > posNow ? 1 : 0;
//DIRECTION DIFFERS (change)
if ( (direction != directionTarget) && (posTarget != posNow)) {
if (stepsToGo == 0){ //standstill
direction = directionTarget; //switch direction
gpio_set_level(STEPPER_DIR_PIN, direction);
stepsToGo = abs(int64_t(posTarget - posNow));
} else {
//set to minimun decel steps
stepsToGo = (speedNow - speedMin) / decel_increment;
}
}
//NORMAL (any direction 0/1)
else {
stepsToGo = abs(int64_t(posTarget - posNow));
}
//--------------------
//--- define speed ---
//--------------------
//FIXME noticed crash: division by 0 when min speed > target speed
uint64_t stepsDecelRemaining = (speedNow - speedMin) / decel_increment;
//DECELERATE
if (stepsToGo <= stepsDecelRemaining) {
//FIXME if stepsToGo gets updated (lowered) close to target while close to target, the stepper may stop too fast -> implement possibility to 'overshoot and reverse'?
if ((speedNow - speedMin) > decel_increment) {
speedNow -= decel_increment;
} else {
speedNow = speedMin; //PAUSE HERE??? / irrelevant?
}
}
//ACCELERATE
else if (speedNow < speedTarget) {
speedNow += accel_increment;
if (speedNow > speedTarget) speedNow = speedTarget;
}
//COASTING
else { //not relevant?
speedNow = speedTarget;
}
//-------------------------------
//--- update timer, increment ---
//-------------------------------
//AT TARGET -> STOP
if (stepsToGo == 0) {
timer_pause(timerGroup, timerIdx);
timerIsRunning = false;
speedNow = speedMin;
return 1;
}
//STEPS REMAINING -> NEXT STEP
//update timer with new speed
ESP_ERROR_CHECK(timer_set_alarm_value(timerGroup, timerIdx, TIMER_F / speedNow));
//generate pulse
GPIO.out_w1ts = (1ULL << STEPPER_STEP_PIN); //turn on (fast)
ets_delay_us(10);
GPIO.out_w1tc = (1ULL << STEPPER_STEP_PIN); //turn off (fast)
//increment pos
stepsToGo --;
if (direction == 1){
posNow ++;
} else {
//prevent underflow FIXME this case should not happen in the first place?
if (posNow != 0){
posNow --;
} else {
ESP_LOGE(TAG,"isr: posNow would be negative - ignoring decrement");
}
}
return 1;
}

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main/stepper.hpp Normal file
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#pragma once
//init stepper pins and timer
void stepper_init();
//set absolute target position in steps
void stepper_setTargetPosSteps(uint64_t steps);
//set absolute target position in millimeters
void stepper_setTargetPosMm(uint32_t posMm);
//set target speed in millimeters per second
void stepper_setSpeed(uint32_t speedMmPerS);
//task that periodically logs variables for debugging stepper driver
void task_stepper_debug(void *pvParameter);

104
testing/cnc-guide/main.c Normal file
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#include <stdio.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdbool.h>
#include <math.h>
#define MAX 100
#define MIN 10
#define TRAVEL MAX-MIN
//==== VARIABLES ====
bool direction = true;
uint16_t posNow = 10;
//==== FUNCTIONS ====
//print position
//print line that illustrates the position pos between 0 and MAX
//e.g. "|----<=>--------|"
void printPos(int pos){
int width = 50;
printf("(%d)|", pos);
for (int i = 0; i<(pos) * width/MAX; i++) printf("-");
printf("<=>");
for (int i = 0; i<(MAX-pos) * width/MAX; i++) printf("-");
printf("|\n");
return;
}
//move "virtual axis" to absolute coordinate in mm
void moveToAbs(int d){
int posOld = posNow;
printf ("moving from %d %s to %d (%s)\n", posNow, direction ? "=>" : "<=", d, direction ? "RIGHT" : "LEFT");
posNow = d;
//illustrate movement (print position for each coordinate change)
for (int i=posOld; i!=posNow; i+=posNow>posOld?1:-1) printPos(i);
return;
}
//travel back and forth between MIN and MAX coordinate for a certain distance
//negative values are processed reversed
void travel(int length){
int d, remaining;
d = abs(length);
if(length < 0) direction = !direction; //invert direction in reverse mode
while (d != 0){
//--- currently moving right ---
if (direction == true){ //currently moving right
remaining = MAX - posNow; //calc remaining distance fom current position to limit
if (d > remaining){ //new distance will exceed limit
moveToAbs (MAX); //move to limit
direction = false; //change current direction for next iteration
d = d - remaining; //decrease target length by already traveled distance
printf(" --- changed direction (L) --- \n ");
}
else { //target distance does not reach the limit
moveToAbs (posNow + d); //move by (remaining) distance to reach target length
d = 0; //finished, reset target length (could as well exit loop/break)
}
}
//--- currently moving left ---
else {
remaining = posNow - MIN;
if (d > remaining){
moveToAbs (MIN);
direction = true;
d = d - remaining;
printf(" --- changed direction (R) --- \n ");
}
else {
moveToAbs (posNow - d); //when moving left the coordinate has to be decreased
d = 0;
}
}
}
if(length < 0) direction = !direction; //undo inversion of direction after reverse mode is finished
return;
}
//==== MAIN ====
int main (void)
{
int input;
printf("**cable-length-cutter testing cnc-guide**\n");
while(1){
printf("enter mm to travel:");
scanf("%d", &input);
travel(input);
printf("\n");
}
return 0;
}

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testing/cnc-guide/makefile Normal file
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default: program
program:
gcc main.c -o a.out -lm
clean:
-rm -f a.out