j/cable-length-cutter
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Remove unused code, potential bugfix

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remove commented out code and unused code from previous approach
addition al check that might fix issue with underflow
This commit is contained in:
jonny_l480 2023-04-25 11:39:59 +02:00
parent 61deaf9ead
commit c99e71846c
3 changed files with 49 additions and 171 deletions
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1
main/guide-stepper.cpp
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@ -184,7 +184,6 @@ void task_stepper_test(void *pvParameter)
SW_AUTO_CUT.handle(); SW_AUTO_CUT.handle();
if (SW_RESET.risingEdge) { if (SW_RESET.risingEdge) {
//stepper_toggleDirection();
//buzzer.beep(1, 1000, 100); //buzzer.beep(1, 1000, 100);
if (state) { if (state) {
stepper_setTargetSteps(1000); stepper_setTargetSteps(1000);

180
main/stepper.cpp
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@ -1,39 +1,44 @@
//custom driver for stepper motor //custom driver for stepper motor
#include "config.hpp" #include "config.hpp"
#include "hal/timer_types.h" #include "hal/timer_types.h"
#include <cstdint> #include <cstdint>
#include <inttypes.h> #include <inttypes.h>
//config from config.hpp
//#define STEPPER_STEP_PIN GPIO_NUM_18 //mos1
//#define STEPPER_DIR_PIN GPIO_NUM_16 //ST3
//
extern "C" { extern "C" {
#include "driver/timer.h" #include "driver/timer.h"
#include "driver/gpio.h" #include "driver/gpio.h"
#include "esp_log.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 TIMER_F 1000000ULL #define TIMER_F 1000000ULL
#define TICK_PER_S TIMER_S #define TICK_PER_S TIMER_S
#define NS_TO_T_TICKS(x) (x) #define NS_TO_T_TICKS(x) (x)
//========================
//=== global variables ===
//========================
static const char *TAG = "stepper-ctl"; //tag for logging static const char *TAG = "stepper-ctl"; //tag for logging
bool direction = 1; bool direction = 1;
bool timerIsRunning = false; bool timerIsRunning = false;
bool timer_isr(void *arg); bool timer_isr(void *arg);
static timer_group_t timerGroup = TIMER_GROUP_0;
static timer_group_t timerGroup = TIMER_GROUP_0; static timer_idx_t timerIdx = TIMER_0;
static timer_idx_t timerIdx = TIMER_0; static uint64_t posTarget = 0;
static uint64_t posTarget = 0; static uint64_t posNow = 0;
static uint64_t posNow = 0;
//===============================
//=== software - control task ===
//===============================
//stepper driver in software for testing (no timer/interrupt): //stepper driver in software for testing (no timer/interrupt):
uint64_t stepsTarget = 0; uint64_t stepsTarget = 0;
void task_stepperCtrlSw(void *pvParameter) void task_stepperCtrlSw(void *pvParameter)
@ -70,6 +75,9 @@ void task_stepperCtrlSw(void *pvParameter)
} }
} }
//=================================
//=== software - set target pos ===
//=================================
void stepperSw_setTargetSteps(uint64_t target){ void stepperSw_setTargetSteps(uint64_t target){
stepsTarget = target; stepsTarget = target;
char buffer[20]; char buffer[20];
@ -83,28 +91,9 @@ void stepperSw_setTargetSteps(uint64_t target){
//========================
//==== set target pos ====
typedef struct { //========================
int targetSteps; // Target step count
int currentSteps; // Current step count
int acceleration; // Acceleration (in steps per second^2)
int deceleration; // Deceleration (in steps per second^2)
gpio_num_t pulsePin; // Pin for pulse signal
gpio_num_t directionPin; // Pin for direction signal
timer_group_t timerGroup; // Timer group
timer_idx_t timerIdx; // Timer index
bool isAccelerating; // Flag to indicate if accelerating
bool isDecelerating; // Flag to indicate if decelerating
int initialSpeed; // Initial speed (in steps per second)
int targetSpeed; // Target speed (in steps per second)
int currentSpeed; // Current speed (in steps per second)
} StepperControl;
StepperControl ctrl; // Create an instance of StepperControl struct
void stepper_setTargetSteps(int target_steps) { void stepper_setTargetSteps(int target_steps) {
ESP_LOGW(TAG, "set target steps from %lld to %d (stepsNow: %llu", (long long int)posTarget, target_steps, (long long int)posNow); ESP_LOGW(TAG, "set target steps from %lld to %d (stepsNow: %llu", (long long int)posTarget, target_steps, (long long int)posNow);
posTarget = target_steps; posTarget = target_steps;
@ -129,40 +118,18 @@ void stepper_setTargetSteps(int target_steps) {
void stepper_toggleDirection(){
direction = !direction;
gpio_set_level(ctrl.directionPin, direction);
ESP_LOGW(TAG, "toggle direction -> %d", direction);
}
//========================
//===== init stepper =====
//========================
void stepper_init(){ void stepper_init(){
ESP_LOGW(TAG, "init - configure struct..."); ESP_LOGW(TAG, "init - configure struct...");
// Set values in StepperControl struct
ctrl.targetSteps = 0;
ctrl.currentSteps = 0;
ctrl.acceleration = 100;
ctrl.deceleration = 100;
ctrl.pulsePin = STEPPER_STEP_PIN;
ctrl.directionPin = STEPPER_DIR_PIN;
ctrl.timerGroup = TIMER_GROUP_0;
ctrl.timerIdx = TIMER_0;
ctrl.isAccelerating = true;
ctrl.isDecelerating = false;
ctrl.initialSpeed = 0; // Set initial speed as needed
ctrl.targetSpeed = 500000; // Set target speed as needed
ctrl.currentSpeed = ctrl.initialSpeed;
// Configure pulse and direction pins as outputs // Configure pulse and direction pins as outputs
ESP_LOGW(TAG, "init - configure gpio pins..."); ESP_LOGW(TAG, "init - configure gpio pins...");
gpio_set_direction(ctrl.pulsePin, GPIO_MODE_OUTPUT); gpio_set_direction(STEPPER_DIR_PIN, GPIO_MODE_OUTPUT);
gpio_set_direction(ctrl.directionPin, GPIO_MODE_OUTPUT); gpio_set_direction(STEPPER_STEP_PIN, GPIO_MODE_OUTPUT);
ESP_LOGW(TAG, "init - initialize/configure timer..."); ESP_LOGW(TAG, "init - initialize/configure timer...");
timer_config_t timer_conf = { timer_config_t timer_conf = {
@ -173,27 +140,28 @@ void stepper_init(){
.auto_reload = TIMER_AUTORELOAD_EN, // reload pls .auto_reload = TIMER_AUTORELOAD_EN, // reload pls
.divider = 80000000ULL / TIMER_F, // ns resolution .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_init(ctrl.timerGroup, ctrl.timerIdx, &timer_conf)); // init the timer ESP_ERROR_CHECK(timer_isr_callback_add(timerGroup, timerIdx, timer_isr, (void *)timerIdx, 0));
ESP_ERROR_CHECK(timer_set_counter_value(ctrl.timerGroup, ctrl.timerIdx, 0)); // set it to 0
//ESP_ERROR_CHECK(timer_isr_callback_add(ctrl.timerGroup, ctrl.timerIdx, timer_isr, )); // add callback fn to run when alarm is triggrd
ESP_ERROR_CHECK(timer_isr_callback_add(ctrl.timerGroup, ctrl.timerIdx, timer_isr, (void *)ctrl.timerIdx, 0));
} }
//================================
//=== timer interrupt function ===
//================================
bool timer_isr(void *arg) { bool timer_isr(void *arg) {
// Generate pulse for stepper motor
//turn pin on (fast) //turn pin on (fast)
GPIO.out_w1ts = (1ULL << STEPPER_STEP_PIN); GPIO.out_w1ts = (1ULL << STEPPER_STEP_PIN);
uint32_t speedTarget = 100000; //--- variables ---
uint32_t speedMin = 20000; static uint32_t speedTarget = 100000;
static uint32_t speedMin = 20000;
//FIXME increment actually has to be re-calculated every run to have linear accel (because also gets called faster/slower) //FIXME increment actually has to be re-calculated every run to have linear accel (because also gets called faster/slower)
uint32_t decel_increment = 200; static uint32_t decel_increment = 200;
uint32_t accel_increment = 150; static uint32_t accel_increment = 150;
static uint64_t stepsToGo = 0; static uint64_t stepsToGo = 0;
static uint32_t speedNow = speedMin; static uint32_t speedNow = speedMin;
@ -208,11 +176,9 @@ bool timer_isr(void *arg) {
} else { } else {
directionTarget = 0; directionTarget = 0;
} }
//directionTarget = 1; //directionTarget = 1;
//direction = 1; //direction = 1;
//gpio_set_level(STEPPER_DIR_PIN, direction); //gpio_set_level(STEPPER_DIR_PIN, direction);
if (direction != directionTarget) { if (direction != directionTarget) {
//ESP_LOGW(TAG, "direction differs! new: %d", direction); //ESP_LOGW(TAG, "direction differs! new: %d", direction);
if (stepsToGo == 0){ if (stepsToGo == 0){
@ -231,13 +197,11 @@ bool timer_isr(void *arg) {
stepsToGo = posNow - posTarget; stepsToGo = posNow - posTarget;
//stepsToGo = abs((int64_t)posTarget - (int64_t)posNow); //stepsToGo = abs((int64_t)posTarget - (int64_t)posNow);
} }
//TODO fix direction code above currently ony works with the below line instead //TODO fix direction code above currently ony works with the below line instead
//stepsToGo = abs((int64_t)posTarget - (int64_t)posNow); //stepsToGo = abs((int64_t)posTarget - (int64_t)posNow);
//--- define speed --- //--- define speed ---
//uint64_t stepsAccelRemaining = (speedTarget - speedNow) / accel_increment;
uint64_t stepsDecelRemaining = (speedNow - speedMin) / decel_increment; uint64_t stepsDecelRemaining = (speedNow - speedMin) / decel_increment;
if (stepsToGo <= stepsDecelRemaining) { if (stepsToGo <= stepsDecelRemaining) {
@ -273,69 +237,19 @@ bool timer_isr(void *arg) {
if (direction == 1){ if (direction == 1){
posNow ++; posNow ++;
} else { } else {
posNow --; //FIXME posNow gets extremely big after second start (underflow?) //prevent underflow FIXME this case should not happen in the first place?
if (posNow != 0){
posNow --;
} else {
//ERR posNow would be negative?
}
} }
// Generate pulse for stepper motor // Generate pulse for stepper motor
//gpio_set_level(STEPPER_STEP_PIN, 1);
//ets_delay_us(500); // Adjust delay as needed
//gpio_set_level(STEPPER_STEP_PIN, 0);
//turn pin off (fast) //turn pin off (fast)
GPIO.out_w1tc = (1ULL << STEPPER_STEP_PIN); GPIO.out_w1tc = (1ULL << STEPPER_STEP_PIN);
// // Cast arg to an integer type that has the same size as timer_idx_t
// uintptr_t arg_val = (uintptr_t)arg;
// // Cast arg_val to timer_idx_t
// timer_idx_t timer_idx = (timer_idx_t)arg_val;
// int32_t step_diff = ctrl.targetSteps - ctrl.currentSteps;
// timerIsRunning = true;
//
// if (timer_idx == ctrl.timerIdx) {
// if (ctrl.currentSteps < ctrl.targetSteps) {
// // Check if accelerating
// if (ctrl.isAccelerating) {
// if (ctrl.currentSpeed < ctrl.targetSpeed) {
// // Increase speed if not yet at target speed
// ctrl.currentSpeed += ctrl.acceleration;
// } else {
// // Reached target speed, clear accelerating flag
// ctrl.isAccelerating = false;
// }
// }
// //FIXME controller crashes when finished accelerating
// //Guru Meditation Error: Core 0 panic'ed (Interrupt wdt timeout on CPU0).
//
// // Check if decelerating
// if (ctrl.isDecelerating) { //FIXME isDecelerating is never set???
// if (ctrl.currentSpeed > ctrl.targetSpeed) {
// // Decrease speed if not yet at target speed
// ctrl.currentSpeed -= ctrl.deceleration;
// } else {
// // Reached target speed, clear decelerating flag
// ctrl.isDecelerating = false;
// }
// }
//
// // Generate pulse for stepper motor
// gpio_set_level(ctrl.pulsePin, 1);
// ets_delay_us(500); // Adjust delay as needed
// gpio_set_level(ctrl.pulsePin, 0);
//
// // Update current step count
// ctrl.currentSteps++;
//
// // Update timer period based on current speed
// timer_set_alarm_value(ctrl.timerGroup, ctrl.timerIdx, TIMER_BASE_CLK / ctrl.currentSpeed);
// } else {
// // Reached target step count, stop timer
// timer_pause(ctrl.timerGroup, ctrl.timerIdx);
// timerIsRunning = false;
// //ESP_LOGW(TAG,"finished, pausing timer");
// }
// }
return 1; return 1;
} }

39
main/stepper.hpp
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@ -1,44 +1,9 @@
#pragma once
//init stepper pins and timer
void stepper_init(); void stepper_init();
void stepper_setTargetSteps(int steps); void stepper_setTargetSteps(int steps);
void stepper_toggleDirection();
//control stepper without timer (software) //control stepper without timer (software)
void task_stepperCtrlSw(void *pvParameter); void task_stepperCtrlSw(void *pvParameter);
void stepperSw_setTargetSteps(uint64_t target); void stepperSw_setTargetSteps(uint64_t target);
//typedef struct
//{
// uint8_t stepPin; /** step signal pin */
// uint8_t dirPin; /** dir signal pin */
// timer_group_t timer_group; /** timer group, useful if we are controlling more than 2 steppers */
// timer_idx_t timer_idx; /** timer index, useful if we are controlling 2steppers */
// float stepAngle; /** one step angle in degrees (usually 1.8deg), used in steps per rotation calculation */
//} stepper_config_t;
//
//typedef struct
//{
// uint32_t stepInterval = 40000; // step interval in ns/25
// double targetSpeed = 0; // target speed in steps/s
// double currentSpeed = 0;
// double accInc = 0;
// double decInc = 0;
// uint32_t stepCnt = 0; // step counter
// uint32_t accEnd; // when to end acc and start coast
// uint32_t coastEnd; // when to end coast and start decel
// uint32_t stepsToGo = 0; // steps we need to take
// float speed = 100; // speed in rad/s
// float acc = 100; // acceleration in rad*second^-2
// float dec = 100; // decceleration in rad*second^-2
// uint32_t accSteps = 0;
// uint32_t decSteps = 0;
// uint8_t status = DISABLED;
// bool dir = CW;
// bool runInfinite = false;
// uint16_t stepsPerRot; // steps per one revolution, 360/stepAngle * microstep
// uint16_t stepsPerMm = 0; /** Steps per one milimiter, if the motor is performing linear movement */
//} ctrl_var_t;