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Add waitForStop func, wait at direction change

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- Add waitForStop function to custom stepper driver
- use that function in guide-stepper to ensure stepper actually was at
  max/min position before dir change
This commit is contained in:
jonny_l480 2023-04-28 09:36:04 +02:00
parent 17d8db2193
commit f8b9e6c862
3 changed files with 32 additions and 9 deletions
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4
main/guide-stepper.cpp
View File

@ -68,7 +68,7 @@ void travelSteps(int stepsTarget){
remaining = POS_MAX_STEPS - posNow; //calc remaining distance fom current position to limit
if (stepsToGo > remaining){ //new distance will exceed limit
stepper_setTargetPosSteps(POS_MAX_STEPS); //move to limit
//TODO wait for limit actually reached here?
stepper_waitForStop(1000);
posNow = POS_MAX_STEPS;
stepp_direction = false; //change current direction for next iteration
stepsToGo = stepsToGo - remaining; //decrease target length by already traveled distance
@ -87,7 +87,7 @@ void travelSteps(int stepsTarget){
remaining = posNow - POS_MIN_STEPS;
if (stepsToGo > remaining){
stepper_setTargetPosSteps(POS_MIN_STEPS);
//TODO wait for limit actually reached here?
stepper_waitForStop(1000);
posNow = POS_MIN_STEPS;
stepp_direction = true;
stepsToGo = stepsToGo - remaining;

34
main/stepper.cpp
View File

@ -94,7 +94,7 @@ void task_stepper_debug(void *pvParameter){
//===== set speed =====
//=====================
void stepper_setSpeed(uint32_t speedMmPerS) {
ESP_LOGW(TAG, "set target speed from %u to %u mm/s (%u steps/s)",
ESP_LOGI(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;
}
@ -105,14 +105,14 @@ void stepper_setSpeed(uint32_t speedMmPerS) {
//== 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);
ESP_LOGI(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_LOGI(TAG, "starting timer");
ESP_ERROR_CHECK(timer_set_alarm_value(timerGroup, timerIdx, 1000));
//timer_set_counter_value(timerGroup, timerIdx, 1000);
ESP_ERROR_CHECK(timer_start(timerGroup, timerIdx));
@ -125,12 +125,32 @@ void stepper_setTargetPosSteps(uint64_t target_steps) {
//=== set target pos MM ===
//=========================
void stepper_setTargetPosMm(uint32_t posMm){
ESP_LOGW(TAG, "set target position to %u mm", posMm);
ESP_LOGI(TAG, "set target position to %u mm", posMm);
stepper_setTargetPosSteps(posMm * STEPPER_STEPS_PER_MM);
}
//=======================
//===== waitForStop =====
//=======================
//delay until stepper is stopped, optional timeout in ms, 0 = no limit
void stepper_waitForStop(uint32_t timeoutMs){
ESP_LOGI(TAG, "waiting for stepper to stop...");
uint32_t timestampStart = esp_log_timestamp();
while (timerIsRunning) {
if ( (esp_log_timestamp() - timestampStart) >= timeoutMs && timeoutMs != 0){
ESP_LOGE(TAG, "timeout waiting for stepper to stop");
return;
}
vTaskDelay(100 / portTICK_PERIOD_MS);
}
ESP_LOGI(TAG, "finished waiting stepper to stop");
return;
}
//======================
//======== home ========
//======================
@ -158,14 +178,14 @@ void stepper_home(uint32_t travelMm){
//===== init stepper =====
//========================
void stepper_init(){
ESP_LOGW(TAG, "init - configure struct...");
ESP_LOGI(TAG, "init - configure struct...");
// Configure pulse and direction pins as outputs
ESP_LOGW(TAG, "init - configure gpio pins...");
ESP_LOGI(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...");
ESP_LOGI(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

3
main/stepper.hpp
View File

@ -3,6 +3,9 @@
//init stepper pins and timer
void stepper_init();
//delay until stepper is stopped, optional timeout in ms, 0 = no limit
void stepper_waitForStop(uint32_t timeoutMs = 0);
//run to limit and define zero/start position. (busy until finished)
//Currently simply runs stepper for travelMm and bumps into hardware limit
void stepper_home(uint32_t travelMm = 60);