Merge branch 'dev' into stepper

- Add debug output in calc
- disable test mode for testing with encoder
- set loglevel to DEBUG

extend feature currently only works well in testing mode with buttons
issues when running with encoder:
 movement gets extended extremely often due to encoder travel
 interval and rarely does reach target - compared to trigger with
 buttons
 -> while debugging noticed that the current speed gets negative
 and the xISR gets stuck so moves infinitely or not at all

 ideas:
 - rounding issue?
 - SPEED increment also has to be adjusted or set to 0 as step
   increment?

.gitattributes

@@ -0,0 +1 @@
+*.fcstd text

.gitignore

@@ -7,3 +7,9 @@ build
 
 # drawio files
 *.bkp
+
+# freecad backup files
+*.FCStd1
+
+# kicad backup files
+pcb/*/*backups/

cad/export/.gitignore

@@ -0,0 +1,4 @@
+# Ignore everything in this directory
+*
+# Except this file
+!.gitignore

components/DendoStepper/CMakeLists.txt

@@ -0,0 +1 @@
+idf_component_register(SRCS DendoStepper.cpp INCLUDE_DIRS include)

components/DendoStepper/DendoStepper.cpp

@@ -0,0 +1,448 @@
+#include "DendoStepper.h"
+#include "esp_log.h"
+
+#define STEP_DEBUG
+
+#ifdef STEP_DEBUG
+#define STEP_LOGI(...) ESP_LOGI(__VA_ARGS__)
+#define STEP_LOGW(...) ESP_LOGW(__VA_ARGS__)
+#define STEP_LOGE(...) ESP_LOGE(__VA_ARGS__)
+#else
+#define STEP_LOGI(...) while (0)
+#define STEP_LOGW(...) while (0)
+#define STEP_LOGE(...) ESP_LOGE(__VA_ARGS__)
+#endif
+
+bool state = 0;
+
+// PUBLIC definitions
+
+DendoStepper::DendoStepper()
+{
+}
+
+void DendoStepper::config(DendoStepper_config_t *config)
+{
+    memcpy(&conf, config, sizeof(conf));
+}
+
+void DendoStepper::disableMotor()
+{
+    setEn(true);
+    STEP_LOGI("DendoStepper", "Disabled");
+    ctrl.status = DISABLED;
+}
+
+void DendoStepper::enableMotor()
+{
+    setEn(false);
+    ctrl.status = IDLE;
+    STEP_LOGI("DendoStepper", "Enabled");
+    timerStarted = 0;
+}
+
+void DendoStepper::init(uint8_t stepP, uint8_t dirP, uint8_t enP, timer_group_t group, timer_idx_t index, microStepping_t microstepping = MICROSTEP_1, uint16_t stepsPerRot = 200)
+{
+    conf.stepPin = stepP;
+    conf.dirPin = dirP;
+    conf.enPin = enP;
+    conf.timer_group = group;
+    conf.timer_idx = index;
+    conf.miStep = microstepping;
+    ctrl.status = 0;
+    init();
+}
+
+void DendoStepper::init()
+{
+    ESP_LOGW("DendoStepper", "semaphore init");
+    semaphore_isrVariables = xSemaphoreCreateBinary();
+    xSemaphoreGive(semaphore_isrVariables);
+    uint64_t mask = (1ULL << conf.stepPin) | (1ULL << conf.dirPin) | (1ULL << conf.enPin); // put output gpio pins in bitmask
+    gpio_config_t gpio_conf = {
+        // config gpios
+        .pin_bit_mask = mask,
+        .mode = GPIO_MODE_OUTPUT,
+        .pull_up_en = GPIO_PULLUP_DISABLE,
+        .pull_down_en = GPIO_PULLDOWN_DISABLE,
+        .intr_type = GPIO_INTR_DISABLE,
+    };
+    // set the gpios as per gpio_conf
+    ESP_ERROR_CHECK(gpio_config(&gpio_conf));
+
+    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
+    };
+
+    // calculate stepsPerRot
+    ctrl.stepsPerRot = (360.0 / conf.stepAngle) * conf.miStep;
+
+    STEP_LOGI("DendoStepper", "Steps per one rotation:%d", ctrl.stepsPerRot);
+
+    if (conf.timer_group != TIMER_GROUP_MAX && conf.timer_idx != TIMER_MAX)
+    {
+        // timer was configured explixitly in config structure, we dont need to do it here
+        goto timer_avail;
+    }
+
+    // try to find free timer
+    timer_config_t temp;
+    for (int i = 0; i < 1; i++)
+    {
+        for (int j = 0; j < 1; j++)
+        {
+            timer_get_config((timer_group_t)i, (timer_idx_t)j, &temp);
+            if (temp.alarm_en == TIMER_ALARM_DIS)
+            {
+                // if the alarm is disabled, chances are no other dendostepper instance is using it
+                conf.timer_group = (timer_group_t)i;
+                conf.timer_idx = (timer_idx_t)j;
+                goto timer_avail;
+            }
+        }
+    }
+
+    // if we got here it means that there isnt any free timer available
+    STEP_LOGE("DendoStepper", "No free timer available, this stepper wont work");
+    return;
+
+timer_avail:
+    ESP_ERROR_CHECK(timer_init(conf.timer_group, conf.timer_idx, &timer_conf));                   // init the timer
+    ESP_ERROR_CHECK(timer_set_counter_value(conf.timer_group, conf.timer_idx, 0));                // set it to 0
+    ESP_ERROR_CHECK(timer_isr_callback_add(conf.timer_group, conf.timer_idx, xISRwrap, this, 0)); // add callback fn to run when alarm is triggrd
+}
+
+
+esp_err_t DendoStepper::runPos(int32_t relative)
+{
+    //TODO only enable when actually moving
+    if (ctrl.status == DISABLED) // if motor is disabled, enable it
+        enableMotor();
+
+    setDir(relative < 0); // set CCW if <0, else set CW
+
+    if (!relative) // why would u call it with 0 wtf
+        return ESP_ERR_NOT_SUPPORTED;
+
+    if (ctrl.status > IDLE) { //currently moving
+        //ctrl.status = ctrl.status==COAST ? COAST : ACC; //stay at coast otherwise switch to ACC
+        ctrl.stepsRemaining = ctrl.stepsToGo - ctrl.stepCnt; 
+        calc(abs(relative) + ctrl.stepsRemaining); //calculate new velolcity profile for new+remaining steps
+        ESP_LOGW("DendoStepper", "EXTEND running movement (stepsRemaining: %d + stepsNew: %d  - current state: %d)", ctrl.stepsRemaining, abs(relative), (int)ctrl.status);
+        ESP_ERROR_CHECK(timer_set_alarm_value(conf.timer_group, conf.timer_idx, ctrl.stepInterval)); // set HW timer alarm to stepinterval
+    }
+
+    else { //current state is IDLE
+           //ctrl.statusPrev = ctrl.status; //update previous status
+        calc(abs(relative));                                                                         // calculate velocity profile
+        ctrl.status = ACC;
+        ESP_ERROR_CHECK(timer_set_alarm_value(conf.timer_group, conf.timer_idx, ctrl.stepInterval)); // set HW timer alarm to stepinterval
+        ESP_ERROR_CHECK(timer_start(conf.timer_group, conf.timer_idx));                              // start the timer
+    }
+
+    //printf("runpos end -- steps: %d, status: %d, olddir: %d, newdir: %d\n", relative, ctrl.status, ctrl.dir, newDir);
+    currentPos += relative; //(target position / not actual)
+    return ESP_OK;
+}
+
+esp_err_t DendoStepper::runPosMm(int32_t relative)
+{
+    if (ctrl.stepsPerMm == 0)
+    {
+        STEP_LOGE("DendoStepper", "Steps per millimeter not set, cannot move!");
+    }
+    return runPos(relative * ctrl.stepsPerMm);
+}
+
+//customized: if already running and direction is the same immediately pass to runPos
+esp_err_t DendoStepper::runAbs(uint32_t position)
+{
+    //exit if nothing to do
+    if (position == currentPos) return 0; //already at position
+
+    //calculate steps necessary
+    int32_t relativeSteps = 0;
+    relativeSteps = (int32_t)position - currentPos;
+
+    //wait if direction needs to change
+    if (getState() > IDLE){//already moving
+        bool newDir = (relativeSteps < 0); // CCW if <0, else set CW
+        if (ctrl.dir != newDir){ //direction differs 
+            STEP_LOGE("DendoStepper", "DIRECTION HOT-CHANGE NOT SUPPORTED - Waiting for move to finish...");
+            while (getState() > IDLE) vTaskDelay(5); //wait for move to finish
+        }
+    }
+
+    //call runPos with new target position
+    ESP_LOGI("DendoStepper", "Cur: %llu move %d", currentPos, relativeSteps);
+    return runPos(relativeSteps); // run to new position
+}
+
+
+esp_err_t DendoStepper::runAbsMm(uint32_t position)
+{
+    if (ctrl.stepsPerMm == 0)
+    {
+        STEP_LOGE("DendoStepper", "Steps per millimeter not set, cannot move!");
+    }
+    return runAbs(position * ctrl.stepsPerMm);
+}
+
+void DendoStepper::setSpeed(uint32_t speed, uint16_t accT, uint16_t decT)
+{
+    ctrl.speed = speed;
+    ctrl.acc = ctrl.speed / (accT / 4000.0);
+    ctrl.dec = ctrl.speed / (decT / 4000.0);
+    STEP_LOGI("DendoStepper", "Speed set: %d steps/s t+=%d s t-=%d s", speed, accT, decT);
+}
+
+void DendoStepper::setSpeedMm(uint32_t speed, uint16_t accT, uint16_t decT)
+{
+    if (ctrl.stepsPerMm == 0)
+    {
+        STEP_LOGE("DendoStepper", "Steps per millimeter not set, cannot set the speed!");
+    }
+    ctrl.speed = speed * ctrl.stepsPerMm;
+
+    ctrl.acc = ctrl.speed / (accT / 4000.0);
+    ctrl.dec = ctrl.speed / (decT / 4000.0);
+    STEP_LOGI("DendoStepper", "Speed set: v=%d mm/s t+=%d s t-=%d s", speed, accT, decT);
+}
+
+//CUSTOM - change speed while running 
+//FIXME: this approach does not work, since calc function would have to be run after change, this will mess up target steps...
+//void DendoStepper::changeSpeed(uint32_t speed)
+//{
+//    //TODO reduce duplicate code (e.g. call setSpeed function)
+//    //change speed
+//    ctrl.speed = speed;
+//    //change status to ACC/DEC
+//    STEP_LOGI("DendoStepper", "Speed changed: from v=%.2f rad/s to v=%.2f rad/s", ctrl.speed, speed);
+//    if (speed > ctrl.speed) ctrl.status = ACC;
+//    if (speed < ctrl.speed) ctrl.status = DEC;
+//}
+//
+//void DendoStepper::changeSpeedMm(uint32_t speed)
+//{
+//    //TODO reduce duplicate code (e.g. call setSpeedMm function)
+//    if (ctrl.stepsPerMm == 0)
+//    {
+//        STEP_LOGE("DendoStepper", "Steps per millimeter not set, cannot set the speed!");
+//    }
+//    //calc new speed
+//    float speedNew = speed * ctrl.stepsPerMm;
+//    //change status to ACC/DEC
+//    if (speedNew > ctl.speed) ctrl.status = ACC;
+//    if (speedNew < ctl.speed) ctrl.status = DEC;
+//    //update speed, log output
+//    ctrl.speed = speedNew;
+//    STEP_LOGI("DendoStepper", "Speed changed: from v=%.2f rad/s to v=%.2f rad/s", ctrl.speed, speedNew);
+//}
+
+
+void DendoStepper::setStepsPerMm(uint16_t steps)
+{
+    ctrl.stepsPerMm = steps;
+}
+
+uint16_t DendoStepper::getStepsPerMm()
+{
+    return ctrl.stepsPerMm;
+}
+
+uint8_t DendoStepper::getState()
+{
+    return ctrl.status;
+}
+
+uint64_t DendoStepper::getPosition()
+{
+    return currentPos;
+}
+
+uint64_t DendoStepper::getPositionMm()
+{
+    return getPosition() / ctrl.stepsPerMm;
+}
+
+void DendoStepper::resetAbsolute()
+{
+    currentPos = 0;
+}
+
+void DendoStepper::runInf(bool direction)
+{
+    if (ctrl.status > IDLE)
+    {
+        STEP_LOGE("DendoStepper", "Motor is moving, this command will be ignored");
+        return;
+    }
+    if (ctrl.status == DISABLED)
+    {
+        enableMotor();
+    }
+    ctrl.runInfinite = true;
+    setDir(direction);
+    calc(UINT32_MAX);
+    ESP_ERROR_CHECK(timer_set_alarm_value(conf.timer_group, conf.timer_idx, ctrl.stepInterval)); // set HW timer alarm to stepinterval
+    ESP_ERROR_CHECK(timer_start(conf.timer_group, conf.timer_idx));                              // start the timer
+}
+
+uint16_t DendoStepper::getSpeed()
+{
+    return ctrl.speed;
+}
+
+float DendoStepper::getAcc()
+{
+    return ctrl.acc;
+}
+
+void DendoStepper::stop()
+{
+    if (ctrl.status <= IDLE)
+    {
+        return;
+    }
+    ctrl.runInfinite = false;
+    timer_pause(conf.timer_group, conf.timer_idx); // stop the timer
+    //ctrl.statusPrev = ctrl.status; //update previous status
+    ctrl.status = IDLE;
+    ctrl.stepCnt = 0;
+    gpio_set_level((gpio_num_t)conf.stepPin, 0);
+}
+
+// PRIVATE definitions
+
+void DendoStepper::setEn(bool state)
+{
+    ESP_ERROR_CHECK(gpio_set_level((gpio_num_t)conf.enPin, state));
+}
+
+void DendoStepper::setDir(bool state)
+{
+    ctrl.dir = state;
+    ESP_ERROR_CHECK(gpio_set_level((gpio_num_t)conf.dirPin, state));
+}
+
+/* Timer callback, used for generating pulses and calculating speed profile in real time */
+bool DendoStepper::xISR()
+{
+    GPIO.out_w1ts = (1ULL << conf.stepPin);
+    // add and substract one step
+
+    ctrl.stepCnt++;
+
+    ////CUSTOM: track actual precice current position
+    //if (ctrl.dir) {
+    //    ctrl.posActual ++;
+    //} else {
+    //    ctrl.posActual --;
+    //}
+    
+    //CUSTOM: track remaining steps for eventually resuming
+    //xSemaphoreTake(semaphore_isrVariables, portMAX_DELAY);
+    //ctrl.stepsRemaining = ctrl.stepCnt - ctrl.stepCnt; 
+    //xSemaphoreGive(semaphore_isrVariables);
+
+    // we are done
+    if (ctrl.stepsToGo == ctrl.stepCnt && !ctrl.runInfinite)
+    {
+        timer_pause(conf.timer_group, conf.timer_idx); // stop the timer
+        //ctrl.statusPrev = ctrl.status; //update previous status
+        ctrl.status = IDLE;
+        ctrl.stepCnt = 0;
+        return 0;
+    }
+
+    if (ctrl.stepCnt > 0 && ctrl.stepCnt < ctrl.accEnd)
+    { // we are accelerating
+        ctrl.currentSpeed += ctrl.accInc;
+        //ctrl.statusPrev = ctrl.status; //update previous status
+        ctrl.status = ACC; // we are accelerating, note that*/
+    }
+    else if (ctrl.stepCnt > ctrl.coastEnd && !ctrl.runInfinite)
+    { // we must be deccelerating then
+        ctrl.currentSpeed -= ctrl.decInc;
+        //ctrl.statusPrev = ctrl.status; //update previous status
+        ctrl.status = DEC; // we are deccelerating
+    }
+    else
+    {
+        ctrl.currentSpeed = ctrl.targetSpeed;
+        //ctrl.statusPrev = ctrl.status; //update previous status
+        ctrl.status = COAST; // we are coasting
+    }
+
+    ctrl.stepInterval = TIMER_F / ctrl.currentSpeed;
+    // set alarm to calculated interval and disable pin
+    GPIO.out_w1tc = (1ULL << conf.stepPin);
+    timer_set_alarm_value(conf.timer_group, conf.timer_idx, ctrl.stepInterval);
+    return 1;
+}
+
+void DendoStepper::calc(uint32_t targetSteps)
+{
+	//only set initial speed if IDLE
+	if(ctrl.status == 1){
+		ctrl.currentSpeed = 0;
+		ESP_LOGD("DendoStepper", "calc-start: reset speed to 0 (start from idle) %lf\n", ctrl.currentSpeed);
+	}
+	else{
+		ESP_LOGD("DendoStepper", "calc start: NOT resetting speed (extend from ACC/DEC/COAST): %lf\n", ctrl.currentSpeed);
+	}
+    //CUSTOM reset counter if already moving
+    ctrl.stepCnt = 0; //FIXME bugs when set 0 while ISR reads/runs? mutex
+
+    //steps from ctrl.speed -> 0:
+    ctrl.decSteps = 0.5 * ctrl.dec * (ctrl.speed / ctrl.dec) * (ctrl.speed / ctrl.dec);
+	ESP_LOGD("DendoStepper", "decSteps: %d  currspeed: %lf,  ctrlSpeed: %lf\n", ctrl.decSteps, ctrl.currentSpeed,  ctrl.speed);
+    //steps from 0 -> ctrl.speed:
+    //ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc);
+    //steps from ctrl.currentSpeed -> ctrl.speed:
+    ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc)  * (ctrl.speed - ctrl.currentSpeed) / ctrl.speed;
+	ESP_LOGD("DendoStepper", "accSteps: %d  currspeed: %lf,  ctrlSpeed: %lf\n", ctrl.accSteps, ctrl.currentSpeed,  ctrl.speed);
+
+    if (targetSteps < (ctrl.decSteps + ctrl.accSteps))
+    {
+        ESP_LOGI("Dendostepper", "Computing new speed");
+
+        ctrl.speed = sqrt(2 * targetSteps * ((ctrl.dec * ctrl.acc) / (ctrl.dec + ctrl.acc)));
+        //ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc);
+        ctrl.accSteps = 0.5 * ctrl.acc * (ctrl.speed / ctrl.acc) * (ctrl.speed / ctrl.acc)  * (ctrl.speed - ctrl.currentSpeed) / ctrl.speed;
+        ctrl.decSteps = 0.5 * ctrl.dec * (ctrl.speed / ctrl.dec) * (ctrl.speed / ctrl.dec);
+    }
+
+    ctrl.accEnd = ctrl.accSteps;
+    ctrl.coastEnd = targetSteps - ctrl.decSteps;
+    ctrl.targetSpeed = ctrl.speed;
+
+    ctrl.accInc = (ctrl.targetSpeed - ctrl.currentSpeed) / (double)ctrl.accSteps;
+    ctrl.decInc = ctrl.targetSpeed / (double)ctrl.decSteps;
+
+	//only set initial speed if IDLE
+	if(ctrl.status == 1){
+		ctrl.currentSpeed = ctrl.accInc;
+		ESP_LOGD("DendoStepper", "`reset curr speeed to accinc: %lf\n", ctrl.currentSpeed);
+		ESP_LOGD("DendoStepper", "status=%d setting speed to initial value: %lf\n",ctrl.status, ctrl.currentSpeed);
+	}
+	else{
+		ESP_LOGD("DendoStepper", "status=%d NOT resetting speed to initial value %lf\n",ctrl.status, ctrl.currentSpeed);
+	}
+
+    ctrl.stepInterval = TIMER_F / ctrl.currentSpeed;
+    ctrl.stepsToGo = targetSteps;
+
+	//debug log output
+	ESP_LOGD("DendoStepper", "accSteps: %d,  accInc: %lf, decSteps: %d, decInc: %lf", 
+			ctrl.accSteps, ctrl.accInc, ctrl.decSteps, ctrl.decInc);
+    ESP_LOGD("DendoStepper", "speedNow=%.1f, speedTarget=%.1f, accEnd=%d, coastEnd=%d,  accSteps=%d, accInc=%.3f\n",
+            ctrl.currentSpeed, ctrl.targetSpeed, ctrl.accEnd, ctrl.coastEnd, ctrl.accSteps, ctrl.accInc);
+    ESP_LOGD("DendoStepper", "acc end:%u coastend:%u stepstogo:%u speed:%f acc:%f int: %u",
+			ctrl.accEnd, ctrl.coastEnd, ctrl.stepsToGo, ctrl.speed, ctrl.acc, ctrl.stepInterval);
+}

components/DendoStepper/LICENSE

@@ -0,0 +1,674 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+                            Preamble
+
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+software and other kinds of works.
+
+  The licenses for most software and other practical works are designed
+to take away your freedom to share and change the works.  By contrast,
+the GNU General Public License is intended to guarantee your freedom to
+share and change all versions of a program--to make sure it remains free
+software for all its users.  We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors.  You can apply it to
+your programs, too.
+
+  When we speak of free software, we are referring to freedom, not
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+
+  For example, if you distribute copies of such a program, whether
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+
+  Developers that use the GNU GPL protect your rights with two steps:
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+giving you legal permission to copy, distribute and/or modify it.
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components/DendoStepper/README.md

@@ -0,0 +1,139 @@
+# DendoStepper
+
+Work in progress, maybe unstable. Opening issues is more than welcome.  
+This library takes care of pulse generating for stepper motor drivers with STEP/DIR interface. Pulse generating utilizes general purpose timers to achieve some usable accuracy and smoothness.  
+Currently supports only linear acceleration and deceleration.
+
+### Known limitations
+- maximum number of controlled stepper motors is 4, this is limited by number of general purpose timers
+- If the motor is moving, it is not possible to move it to another direction.
+
+## Usage
+
+```c++
+typedef struct
+{
+    uint8_t stepPin;           /** step signal pin */
+    uint8_t dirPin;            /** dir signal pin */
+    uint8_t enPin;             /** enable 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 */
+    microStepping_t miStep;    /** microstepping configured on driver - used in distance calculation */
+    float stepAngle;           /** one step angle in degrees (usually 1.8deg), used in steps per rotation calculation */
+} DendoStepper_config_t;
+
+enum microStepping_t
+{
+    MICROSTEP_1 = 0x1,
+    MICROSTEP_2,
+    MICROSTEP_4 = 0x4,
+    MICROSTEP_8 = 0x8,
+    MICROSTEP_16 = 0x10,
+    MICROSTEP_32 = 0x20,
+    MICROSTEP_64 = 0x40,
+    MICROSTEP_128 = 0x80,
+    MICROSTEP_256 = 0x100,
+};
+
+```  
+Configuration struct, can be allocated on stack or heap.
+
+```c++
+void init();
+```  
+Initializes GPIO and Timer peripherals, registers ISR. Expects populated config struct is alreay passed to the class using config()  
+
+```c++
+void config(DendoStepper_config_t* config);
+```
+Configures the class as per passed config struct pointer.  
+
+```c++
+void setStepsPerMm(uint16_t steps);
+uint16_t getStepsPerMm();
+```
+Sets or gets steps needed to move one millimiter, useful if stepper is moving along linear axis.  
+
+```c++
+void setSpeed(uint16_t speed,uint16_t accT, uint16_t decT);
+uint16_t getSpeed();
+float getAcc();
+```
+Sets maximum speed in steps per second, acceleration and deceleration time in milliseconds.  
+Gets speed in steps per second  
+Gets acceleration in steps per second per second
+
+```c++
+void setSpeedMm(uint16_t speed,uint16_t accT, uint16_t decT);
+```
+Sets maximum speed in mm/s, acceleration and deceleration time in milliseconds. Expects already defined steps per millimeter with setStepsPerMm()  
+
+```c++
+void runPos(int32_t relative);
+```
+Runs motor to position relative from current position in steps, respecting constraints set with setSpeed()  
+
+```c++
+void runPosMm(int32_t relative);
+```
+Runs motor to position relative from current position in millimeters, respecting constraints set with setSpeed()  
+Expects already defined steps per millimeter with setStepsPerMm()  
+
+```c++
+ bool runAbsolute(uint32_t position);
+```
+Runs motor in absolute coordinate plane. Unit: steps (should be constrained with home switch)  
+
+```c++
+ bool runAbsoluteMm(uint32_t position);
+```
+Runs motor in absolute coordinate plane. Unit: millimeters (should be constrained with home switch)  
+Expects already defined steps per millimeter with setStepsPerMm()  
+
+```c++
+ bool runInf(bool direction);
+```
+Runs motor infintely in desired direction with constrains set using setSpeed().  
+
+```c++
+void disableMotor();
+void enableMotor();
+```
+Disables and enables motor via EN pin
+
+```c++
+uint8_t getState();
+
+enum motor_status{
+    DISABLED,
+    IDLE,
+    ACC,
+    COAST,
+    DEC,
+};
+```
+Returns current state of motor, return type is enum motor_status  
+
+
+```c++
+void resetAbsolute();
+```
+Resets absolute position to 0. Called for ex. when endswitch is hit.  
+
+```c++
+void getPosition();
+```
+Gets current position in absolute coordinate plane in steps.  
+
+```c++
+void getPositionMm();
+```
+Gets current position in absolute coordinate plane in millimeters.  
+Expects already defined steps per millimeter with setStepsPerMm()  
+
+```c++
+void stop();
+```
+Stops the motor dead on the spot. No deceleration is performed this way. Eg. e-stop.  
+
+

components/DendoStepper/example/.gitignore

@@ -0,0 +1,3 @@
+build/
+sdkconfig
+sdkconfig.old

components/DendoStepper/example/CMakeLists.txt

@@ -0,0 +1,9 @@
+# For more information about build system see
+# https://docs.espressif.com/projects/esp-idf/en/latest/api-guides/build-system.html
+# The following five lines of boilerplate have to be in your project's
+# CMakeLists in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.5)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+set(EXTRA_COMPONENT_DIRS "../")
+project(example)

components/DendoStepper/example/README.md

@@ -0,0 +1,32 @@
+# _Sample project_
+
+(See the README.md file in the upper level 'examples' directory for more information about examples.)
+
+This is the simplest buildable example. The example is used by command `idf.py create-project`
+that copies the project to user specified path and set it's name. For more information follow the [docs page](https://docs.espressif.com/projects/esp-idf/en/latest/api-guides/build-system.html#start-a-new-project)
+
+
+
+## How to use example
+We encourage the users to use the example as a template for the new projects.
+A recommended way is to follow the instructions on a [docs page](https://docs.espressif.com/projects/esp-idf/en/latest/api-guides/build-system.html#start-a-new-project).
+
+## Example folder contents
+
+The project **sample_project** contains one source file in C language [main.c](main/main.c). The file is located in folder [main](main).
+
+ESP-IDF projects are built using CMake. The project build configuration is contained in `CMakeLists.txt`
+files that provide set of directives and instructions describing the project's source files and targets
+(executable, library, or both). 
+
+Below is short explanation of remaining files in the project folder.
+
+```
+├── CMakeLists.txt
+├── main
+│   ├── CMakeLists.txt
+│   └── main.c
+└── README.md                  This is the file you are currently reading
+```
+Additionally, the sample project contains Makefile and component.mk files, used for the legacy Make based build system. 
+They are not used or needed when building with CMake and idf.py.

components/DendoStepper/example/main/CMakeLists.txt

@@ -0,0 +1,3 @@
+idf_component_register(SRCS "main.cpp"
+                    INCLUDE_DIRS "."
+                    REQUIRES DendoStepper freertos)

components/DendoStepper/example/main/main.cpp

@@ -0,0 +1,49 @@
+#include <stdio.h>
+#include "DendoStepper.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_log.h"
+
+DendoStepper step;
+DendoStepper step1;
+
+extern "C" void app_main(void)
+{
+    DendoStepper_config_t step_cfg = {
+        .stepPin = 16,
+        .dirPin = 17,
+        .enPin = 15,
+        .timer_group = TIMER_GROUP_0,
+        .timer_idx = TIMER_0,
+        .miStep = MICROSTEP_32,
+        .stepAngle = 1.8};
+
+    DendoStepper_config_t step1_cfg = {
+        .stepPin = 18,
+        .dirPin = 19,
+        .enPin = 20,
+        .timer_group = TIMER_GROUP_0,
+        .timer_idx = TIMER_1,
+        .miStep = MICROSTEP_32,
+        .stepAngle = 1.8};
+
+    step.config(&step_cfg);
+    step1.config(&step1_cfg);
+
+    step.init();
+    step1.init();
+
+    step.setSpeed(10000, 1000, 1000);
+    step1.setSpeed(20000, 1000, 1000);
+
+    // step.runInf(true);
+    step.setStepsPerMm(10);
+
+    while (1)
+    {
+        step.runPosMm(500);
+        step1.runPos(10000);
+        vTaskDelay(1000);
+        // step.runAbs(5000);
+    }
+}

components/DendoStepper/include/DendoStepper.h

@@ -0,0 +1,283 @@
+#pragma once
+
+/*  ESP-IDF library for bipolar stepper motor drivers with STEP/DIR interface
+    Copyright (C) 2022 Denis Voltmann
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <https://www.gnu.org/licenses/>.
+*/
+
+#ifndef DENDOSTEPPER_H
+#define DENDOSTEPPER_H
+
+#include "stdint.h"
+#include "stdio.h"
+#include <cstring>
+#include "driver/timer.h"
+#include "driver/gpio.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_timer.h"
+#include "math.h"
+#include "freertos/semphr.h"
+
+//#define STEP_DEBUG
+
+#define NS_TO_T_TICKS(x) (x)
+#define TIMER_F 1000000ULL
+#define TICK_PER_S TIMER_F
+
+enum motor_status
+{
+    DISABLED,
+    IDLE,
+    ACC,
+    COAST,
+    DEC
+};
+
+enum dir
+{
+    CW,
+    CCW
+};
+
+enum microStepping_t
+{
+    MICROSTEP_1 = 0x1,
+    MICROSTEP_2,
+    MICROSTEP_4 = 0x4,
+    MICROSTEP_8 = 0x8,
+    MICROSTEP_16 = 0x10,
+    MICROSTEP_32 = 0x20,
+    MICROSTEP_64 = 0x40,
+    MICROSTEP_128 = 0x80,
+    MICROSTEP_256 = 0x100,
+};
+
+/**
+ * @brief Configuration structure
+ */
+typedef struct
+{
+    uint8_t stepPin;           /** step signal pin */
+    uint8_t dirPin;            /** dir signal pin */
+    uint8_t enPin;             /** enable 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 */
+    microStepping_t miStep;    /** microstepping configured on driver - used in distance calculation */
+    float stepAngle;           /** one step angle in degrees (usually 1.8deg), used in steps per rotation calculation */
+} DendoStepper_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;
+    int32_t stepsRemaining = 0;
+    //uint64_t posActual = 0; //actual current pos incremented at every step
+    uint8_t statusPrev = DISABLED; //FIXME currently unused
+    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;
+
+class DendoStepper
+{
+private:
+    DendoStepper_config_t conf;
+    ctrl_var_t ctrl;
+    esp_timer_handle_t dyingTimer;
+    TaskHandle_t enTask;
+    SemaphoreHandle_t semaphore_isrVariables = NULL;
+    uint64_t currentPos = 0; // absolute position
+    bool timerStarted = 0;
+
+    /** @brief PRIVATE: Step interval calculation
+     *  @param speed maximum movement speed
+     *  @param accTimeMs acceleration time in ms
+     *  @param target target position
+     */
+    void calc(uint32_t);
+
+    /** @brief sets En GPIO
+     *  @param state 0-LOW,1-HIGH
+     *  @return void
+     */
+    void setEn(bool);
+
+    /** @brief sets Dir GPIO
+     *  @param state 0-CW 1-CCW
+     */
+    void setDir(bool);
+
+    /** @brief static wrapper for ISR function
+     *  @param _this DendoStepper* this pointer
+     *  @return bool
+     */
+    static bool xISRwrap(void *_this)
+    {
+        return static_cast<DendoStepper *>(_this)->xISR();
+    }
+
+    /** @brief enableMotor wrapper
+     */
+    static void _disableMotor(void *_this)
+    {
+        static_cast<DendoStepper *>(_this)->disableMotor();
+    }
+
+    bool xISR();
+
+public:
+    /** @brief Costructor - conf variables to be passed later
+     */
+    DendoStepper();
+
+    /** @brief Configuration of library, used with constructor w/o params
+     *  @param config DendoStepper_config_t structure pointer - can be freed after this call
+     */
+    void config(DendoStepper_config_t *config);
+
+    /** @brief initialize GPIO and Timer peripherals
+     *  @param stepP step pulse pin
+     *  @param dirP direction signal pin
+     *  @param enP enable signal Pin
+     *  @param group timer group to use (0 or 1)
+     *  @param index which timer to use (0 or 1)
+     *  @param microstepping microstepping performed by the driver, used for more accuracy
+     *  @param stepsPerRot how many steps it takes for the motor to move 2Pi rads. this can be also used instead of microstepping parameter
+     */
+    void init(uint8_t, uint8_t, uint8_t, timer_group_t, timer_idx_t, microStepping_t microstep, uint16_t stepsPerRot);
+
+    /** @brief initialize GPIO and Timer peripherals, class must be configured beforehand with @attention config()
+     */
+    void init();
+
+    /** @brief runs motor to relative position in steps
+     *  @param relative number of steps to run, negative is reverse
+     */
+    esp_err_t runPos(int32_t relative);
+
+    /** @brief runs motor to relative position in mm
+     *  @param relative number of mm to run, negative is reverse
+     */
+    esp_err_t runPosMm(int32_t relative);
+
+    /** @brief run motor to position in absolute coordinates (steps)
+     *  @param postition absolute position in steps from home position (must be positive);
+     *  @return ESP_OK if motor can run immediately, ESP_ERR if it is currently moving
+     */
+    esp_err_t runAbs(uint32_t position);
+
+    /** @brief run motor to position in absolute coordinates (millimiters)
+     *  @param postition absolute position in mm from home position (must be positive);
+     *  @return ESP_OK if motor can run immediately, ESP_ERR if it is currently moving
+     */
+    esp_err_t runAbsMm(uint32_t position);
+
+    /** @brief sets motor speed
+     *  @param speed speed in steps per second
+     *  @param accT acceleration time in ms
+     *  @param decT deceleration time in ms
+     */
+    void setSpeed(uint32_t speed, uint16_t accT, uint16_t decT);
+
+    /** @brief sets motor speed and accel in millimeters/second
+     *  @param speed speed mm*s^-1
+     *  @param accT acceleration time in ms
+     *  @param accT deceleration time in ms
+     */
+    void setSpeedMm(uint32_t speed, uint16_t accT, uint16_t decT);
+
+    //CUSTOM: change speed while running
+    void changeSpeedMm(uint32_t speed);
+
+    /**
+     * @brief Set steps per 1 mm of linear movement
+     *
+     * @param steps steps needed to move one millimiter
+     */
+    void setStepsPerMm(uint16_t steps);
+
+    /**
+     * @brief get steps per 1mm settings
+     *
+     */
+    uint16_t getStepsPerMm();
+
+    /** @brief set EN pin 1, stops movement
+     */
+    void disableMotor();
+
+    /** @brief set EN pin to 0, enables movement
+     */
+    void enableMotor();
+
+    /** @brief returns current state
+     *  @return motor_status enum
+     */
+    uint8_t getState();
+
+    /** @brief run motor to position in absolute coordinates (millimiters)
+     *  @param postition absolute position in steps from home position (must be positive);
+     *  @return ESP_OK if motor can run immediately, ESP_ERR if it is currently moving
+     */
+    esp_err_t runAbsoluteMm(uint32_t position);
+
+    /** @brief returns current absolute position
+     *  @return current absolute postion in steps
+     */
+    uint64_t getPosition();
+
+    /** @brief returns current absolute position
+     *  @return current absolute postion in steps
+     */
+    uint64_t getPositionMm();
+
+    /** @brief resets absolute pos to 0
+     */
+    void resetAbsolute();
+
+    /** @brief
+     *
+     */
+    void runInf(bool direction);
+
+    /** @brief returns current speed in steps per second
+     */
+    uint16_t getSpeed();
+
+    /** @brief returns current acceleration time in ms
+     */
+    float getAcc();
+
+    /** @brief stops the motor dead, but stays enabled
+     */
+    void stop();
+};
+
+#endif

components/gpio/CMakeLists.txt

@@ -1,4 +1,6 @@
 idf_component_register(
-    SRCS "gpio_evaluateSwitch.cpp"
+    SRCS 
+        "gpio_evaluateSwitch.cpp"
+        "gpio_adc.cpp"
     INCLUDE_DIRS "."
 )

components/gpio/gpio_adc.cpp

@@ -0,0 +1,21 @@
+#include "gpio_adc.hpp"
+
+
+//=============================
+//========= readAdc ===========
+//=============================
+//function for multisampling an anlog input
+int gpio_readAdc(adc1_channel_t adc_channel, bool inverted) {
+    //make multiple measurements
+    int adc_reading = 0;
+    for (int i = 0; i < 32; i++) {
+        adc_reading += adc1_get_raw(adc_channel);
+    }
+    adc_reading = adc_reading / 32;
+    //return original or inverted result
+    if (inverted) {
+        return 4095 - adc_reading;
+    } else {
+        return adc_reading;
+    }
+}

components/gpio/gpio_adc.hpp

@@ -0,0 +1,9 @@
+#pragma once
+#include <stdio.h>
+#include "driver/adc.h"
+
+//function for multisampling an anlog input
+//measures 30 times and returns average
+//if invertion is used currently 11bit resolution is assumed (subtracts from 4095) 
+//TODO: rework this function to be more universal
+int gpio_readAdc(adc1_channel_t adc_channel, bool inverted = false);

components/gpio/gpio_evaluateSwitch.cpp

@@ -9,12 +9,12 @@ gpio_evaluatedSwitch::gpio_evaluatedSwitch( //minimal (use default values)
     gpio_num = gpio_num_declare;
     pullup = true;
     inverted = false;
+    inputSource = inputSource_t::GPIO;
 
-    init();
+    initGpio();
 };
 
 
-
 gpio_evaluatedSwitch::gpio_evaluatedSwitch( //optional parameters given
         gpio_num_t gpio_num_declare,
         bool pullup_declare,
@@ -23,13 +23,25 @@ gpio_evaluatedSwitch::gpio_evaluatedSwitch( //optional parameters given
     gpio_num = gpio_num_declare;
     pullup = pullup_declare;
     inverted = inverted_declare;
+    inputSource = inputSource_t::GPIO;
 
-    init();
+    initGpio();
+};
+
+
+gpio_evaluatedSwitch::gpio_evaluatedSwitch( //with function as input source
+        bool (*getInputStatePtr_f)(void),
+        bool inverted_f){
+    //gpio_num = NULL;
+    //pullup = NULL;
+    inverted = inverted_f;
+    getInputStatePtr = getInputStatePtr_f;
+    inputSource = inputSource_t::FUNCTION;
 };
 
 
 
-void gpio_evaluatedSwitch::init(){
+void gpio_evaluatedSwitch::initGpio(){
     ESP_LOGI(TAG, "initializing gpio pin %d", (int)gpio_num);
 
     //define gpio pin as input
@@ -48,11 +60,33 @@ void gpio_evaluatedSwitch::init(){
 };
 
 
+
 void gpio_evaluatedSwitch::handle(){  //Statemachine for debouncing and edge detection
+
+    //--- get pin state with required method ---
+    switch (inputSource){
+        case inputSource_t::GPIO: //from gpio pin
+            if (gpio_get_level(gpio_num) == 0){ //pin low
+                inputState = true;
+            } else { //pin high
+                inputState = false;
+            }
+            break;
+        case inputSource_t::FUNCTION: //from funtion
+            inputState = (*getInputStatePtr)();
+            break;
+    }
+
+    //--- invert state ---
+    //not inverted: switch switches to GND when active
+    //inverted: switch switched to VCC when active
     if (inverted == true){
+        inputState = !inputState;
+    }
+
+
     //=========================================================
-        //=========== Statemachine for inverted switch ============
+    //========= Statemachine for evaluateing switch ===========
-        //=================== (switch to VCC) =====================
     //=========================================================
     switch (p_state){
         default:
@@ -61,7 +95,7 @@ void gpio_evaluatedSwitch::handle(){  //Statemachine for debouncing and edge det
 
         case switchState::FALSE:  //input confirmed high (released)
             fallingEdge = false; //reset edge event
-                if (gpio_get_level(gpio_num) == 1){ //pin high (on)
+            if (inputState == true){ //pin high (on)
                 p_state = switchState::HIGH;
                 timestampHigh = esp_log_timestamp(); //save timestamp switched from low to high
             } else {
@@ -70,7 +104,7 @@ void gpio_evaluatedSwitch::handle(){  //Statemachine for debouncing and edge det
             break;
 
         case switchState::HIGH: //input recently switched to high (pressed)
-                if (gpio_get_level(gpio_num) == 1){ //pin still high (on)
+            if (inputState == true){ //pin still high (on)
                 if (esp_log_timestamp() - timestampHigh > minOnMs){ //pin in same state long enough
                     p_state = switchState::TRUE;
                     state = true;
@@ -84,7 +118,7 @@ void gpio_evaluatedSwitch::handle(){  //Statemachine for debouncing and edge det
 
         case switchState::TRUE:  //input confirmed high (pressed)
             risingEdge = false; //reset edge event
-                if (gpio_get_level(gpio_num) == 0){ //pin low (off)
+            if (inputState == false){ //pin low (off)
                 timestampLow = esp_log_timestamp();
                 p_state = switchState::LOW;
             } else {
@@ -94,7 +128,7 @@ void gpio_evaluatedSwitch::handle(){  //Statemachine for debouncing and edge det
             break;
 
         case switchState::LOW: //input recently switched to low (released)
-                if (gpio_get_level(gpio_num) == 0){ //pin still low (off)
+            if (inputState == false){ //pin still low (off)
                 if (esp_log_timestamp() - timestampLow > minOffMs){ //pin in same state long enough
                     p_state = switchState::FALSE;
                     msPressed = timestampLow - timestampHigh; //calculate duration the button was pressed
@@ -107,65 +141,6 @@ void gpio_evaluatedSwitch::handle(){  //Statemachine for debouncing and edge det
             break;
     }
 
-    }else{
-        //=========================================================
-        //========= Statemachine for not inverted switch ==========
-        //=================== (switch to GND) =====================
-        //=========================================================
-        switch (p_state){
-            default:
-                p_state = switchState::FALSE;
-                break;
-
-            case switchState::FALSE:  //input confirmed high (released)
-                fallingEdge = false; //reset edge event
-                if (gpio_get_level(gpio_num) == 0){ //pin low (on)
-                    p_state = switchState::LOW;
-                    timestampLow = esp_log_timestamp(); //save timestamp switched from high to low
-                } else {
-                    msReleased = esp_log_timestamp() - timestampHigh; //update duration released
-                }
-                break;
-
-            case switchState::LOW: //input recently switched to low (pressed)
-                if (gpio_get_level(gpio_num) == 0){ //pin still low (on)
-                    if (esp_log_timestamp() - timestampLow > minOnMs){ //pin in same state long enough
-                        p_state = switchState::TRUE;
-                        state = true;
-                        risingEdge = true;
-                        msReleased = timestampLow - timestampHigh; //calculate duration the button was released
-                    }
-                }else{
-                    p_state = switchState::FALSE;
-                }
-                break;
-
-            case switchState::TRUE:  //input confirmed low (pressed)
-                risingEdge = false; //reset edge event
-                if (gpio_get_level(gpio_num) == 1){ //pin high (off)
-                    timestampHigh = esp_log_timestamp();
-                    p_state = switchState::HIGH;
-                } else {
-                    msPressed = esp_log_timestamp() - timestampLow; //update duration pressed
-                }
-
-                break;
-
-            case switchState::HIGH: //input recently switched to high (released)
-                if (gpio_get_level(gpio_num) == 1){ //pin still high (off)
-                    if (esp_log_timestamp() - timestampHigh > minOffMs){ //pin in same state long enough
-                        p_state = switchState::FALSE;
-                        msPressed = timestampHigh - timestampLow; //calculate duration the button was pressed
-                        state=false;
-                        fallingEdge=true;
-                    }
-                }else{
-                    p_state = switchState::TRUE;
-                }
-                break;
-        }
-    }
-
 }
 
 

components/gpio/gpio_evaluateSwitch.hpp

@@ -18,21 +18,30 @@ extern "C"
 //switch to VCC (inverted) and dont use internal pullup:
 //gpio_evaluatedSwitch s3(GPIO_NUM_14 false, true);
 
+enum class inputSource_t {GPIO, FUNCTION};
 
 class gpio_evaluatedSwitch {
     public:
         //--- input ---
         uint32_t minOnMs = 30;
         uint32_t minOffMs = 30;
-        gpio_evaluatedSwitch( //constructor minimal (default parameters pullup=true, inverted=false)
+
+        //constructor minimal (default parameters pullup=true, inverted=false)
+        gpio_evaluatedSwitch( 
                 gpio_num_t gpio_num_declare
                 );
-        gpio_evaluatedSwitch( //constructor with optional parameters
+
+        //constructor with optional parameters
+        gpio_evaluatedSwitch(
                 gpio_num_t gpio_num_declare,
                 bool pullup_declare,
                 bool inverted_declare=false
                 );
 
+        //constructor  with a function as source for input state instead of a gpio pin
+        gpio_evaluatedSwitch(bool (*getInputStatePtr_f)(void), bool inverted_f=false); 
+
+
         //--- output ---         TODO make readonly? (e.g. public section: const int& x = m_x;)
         bool state = false;
         bool risingEdge = false;
@@ -47,12 +56,15 @@ class gpio_evaluatedSwitch {
         gpio_num_t gpio_num;
         bool pullup;
         bool inverted;
+        bool (*getInputStatePtr)(void); //pointer to function for getting current input state
+        inputSource_t inputSource = inputSource_t::GPIO;
 
         enum class switchState {TRUE, FALSE, LOW, HIGH};
         switchState p_state = switchState::FALSE;
+        bool inputState = false;
         uint32_t timestampLow = 0;
         uint32_t timestampHigh = 0;
-        void init();
+        void initGpio();
 
 };
 

docs/vfd/currently-used_T13-750W-12-h.txt

@@ -0,0 +1,2 @@
+currently the vfd 'T13-750W-12-h' is actually used. 
+Included documentation about T13-400W here too, modbus specification might be the same.

main/CMakeLists.txt

@@ -6,6 +6,10 @@ idf_component_register(
         "buzzer.cpp"
         "vfd.cpp"
         "display.cpp"
+        "cutter.cpp"
+        "switchesAnalog.cpp"
+        "guide-stepper.cpp"
+        "encoder.cpp"
     INCLUDE_DIRS 
         "."
     )

main/config.cpp

@@ -3,13 +3,20 @@
 
 //--- inputs ---
 //create and configure objects for evaluated switches
-gpio_evaluatedSwitch SW_START(GPIO_SW_START, true, false); //pullup true, not inverted (switch to GND, internal pullup used)
+//gpio_evaluatedSwitch sw_gpio_39(GPIO_NUM_39, false, true); //pullup false, INVERTED (switch to 3V3, pulldown on pcb soldered)
-gpio_evaluatedSwitch SW_RESET(GPIO_SW_RESET, true, false); //pullup true, not inverted (switch to GND, internal pullup used)
+gpio_evaluatedSwitch sw_gpio_34(GPIO_NUM_34, false, true); //pullup false, INVERTED (switch to 3V3, pulldown on pcb soldered)
-gpio_evaluatedSwitch SW_SET(GPIO_SW_SET, true, false); //pullup true, not inverted (switch to GND, internal pullup used)
+gpio_evaluatedSwitch sw_gpio_32(GPIO_NUM_32, true, false); //pullup true, not inverted (switch to GND, internal pullup used)
-gpio_evaluatedSwitch SW_PRESET1(GPIO_SW_PRESET1, true, false); //pullup true, not inverted (switch to GND, internal pullup used)
+gpio_evaluatedSwitch sw_gpio_33(GPIO_NUM_33, true, false); //pullup true, not inverted (switch to GND, internal pullup used)
-gpio_evaluatedSwitch SW_PRESET2(GPIO_SW_PRESET2, false, true); //pullup false, INVERTED (switch to 3V3, pulldown on pcb soldered)
+gpio_evaluatedSwitch sw_gpio_25(GPIO_NUM_25, true, false); //pullup true, not inverted (switch to GND, internal pullup used)
-gpio_evaluatedSwitch SW_PRESET3(GPIO_SW_PRESET3, false, true); //pullup false, INVERTED (switch to 3V3, pulldown on pcb soldered)
+gpio_evaluatedSwitch sw_gpio_26(GPIO_NUM_26, true, false); //pullup true, not inverted (switch to GND, internal pullup used)
+gpio_evaluatedSwitch sw_gpio_14(GPIO_NUM_14, true, false); //pullup true, not inverted (switch to GND, internal pullup used)
 
+//--- switches connected to 4 sw to analog stripboard ---
+//evaluated switches with function to obtain the current input state instead of gpio
+gpio_evaluatedSwitch sw_gpio_analog_0(&switchesAnalog_getState_sw0);
+gpio_evaluatedSwitch sw_gpio_analog_1(&switchesAnalog_getState_sw1);
+gpio_evaluatedSwitch sw_gpio_analog_2(&switchesAnalog_getState_sw2);
+gpio_evaluatedSwitch sw_gpio_analog_3(&switchesAnalog_getState_sw3);
 
 //create buzzer object with no gap between beep events
 buzzer_t buzzer(GPIO_BUZZER, 0);

main/config.hpp

@@ -4,6 +4,7 @@ extern "C" {
 }
 #include "gpio_evaluateSwitch.hpp"
 #include "buzzer.hpp"
+#include "switchesAnalog.hpp"
 
 
 //===================================
@@ -11,30 +12,52 @@ extern "C" {
 //===================================
 //4x stepper mosfet outputs for VFD
 #define GPIO_VFD_FWD GPIO_NUM_4     //ST4
-#define GPIO_VFD_REV GPIO_NUM_16    //ST3
+#define GPIO_VFD_REV GPIO_NUM_5     //mos2
 #define GPIO_VFD_D0 GPIO_NUM_2      //ST2
 #define GPIO_VFD_D1 GPIO_NUM_15     //ST1
 //#define GPIO_VFD_D2 GPIO_NUM_15     //ST1 (D2 only used with 7.5kw vfd)
 
-#define GPIO_MOS2 GPIO_NUM_5        //mos2
+#define GPIO_MOS1 GPIO_NUM_18       //mos1 (free) 2022.02.28: pin used for stepper
+#define GPIO_LAMP GPIO_NUM_0        //mos2 (5) 2022.02.28: lamp disabled, pin used for stepper
 #define GPIO_RELAY GPIO_NUM_13
 #define GPIO_BUZZER GPIO_NUM_12
 
 
 //==================================
-//===== define input gpio pins =====
+//==== define analog input pins ====
 //==================================
-#define GPIO_SW_START GPIO_NUM_26
-#define GPIO_SW_RESET GPIO_NUM_25
-#define GPIO_SW_SET GPIO_NUM_33
-#define GPIO_SW_PRESET1 GPIO_NUM_32
-#define GPIO_SW_PRESET2 GPIO_NUM_34
-#define GPIO_SW_PRESET3 GPIO_NUM_39
-
 #define GPIO_POTI GPIO_NUM_36
 #define ADC_CHANNEL_POTI ADC1_CHANNEL_0
+#define GPIO_4SW_TO_ANALOG GPIO_NUM_39
+#define ADC_CHANNEL_4SW_TO_ANALOG ADC1_CHANNEL_3 //gpio 39
+//ADC1_CHANNEL_0 gpio36
+//ADC1_CHANNEL_6 gpio_34
+//ADC1_CHANNEL_3 gpio_39
 
 
+//=====================================
+//==== assign switches to objects =====
+//=====================================
+//see config.cpp for available evaluated switch objects
+#define SW_START sw_gpio_26
+#define SW_RESET sw_gpio_25
+#define SW_CUTTER_POS sw_gpio_14
+#define SW_SET     sw_gpio_analog_0
+#define SW_PRESET1 sw_gpio_analog_1
+#define SW_PRESET2 sw_gpio_analog_2
+#define SW_PRESET3 sw_gpio_analog_3
+#define SW_CUT sw_gpio_33
+#define SW_AUTO_CUT sw_gpio_32
+
+//unused but already available evaluated inputs
+//#define ? sw_gpio_34
+
+
+
+
+//=============================
+//======= configuration =======
+//=============================
 //--------------------------
 //----- display config -----
 //--------------------------
@@ -56,14 +79,37 @@ extern "C" {
 #define ENABLE_HALF_STEPS false  // Set to true to enable tracking of rotary encoder at half step resolution
 #define FLIP_DIRECTION    false  // Set to true to reverse the clockwise/counterclockwise sense
 
+
+
+//--------------------------
+//----- stepper config -----
+//--------------------------
+//enable stepper test mode (dont start control and encoder task)
+//#define STEPPER_TEST
+#define STEPPER_STEP_PIN GPIO_NUM_18    //mos1
+#define STEPPER_DIR_PIN GPIO_NUM_16     //ST3
+#define STEPPER_EN_PIN GPIO_NUM_0       //not connected (-> stepper always on)
+//more detailed options for testing are currently defined in guide-stepper.cpp
+
+
+
 //--------------------------
 //------ calibration -------
 //--------------------------
-//use encoder test for calibration and calculate STEPS_PER_METER
+//enable mode  encoder test for calibration
-//#define ENCODER_TEST //show encoder count instead of converted meters
+//if defined, displays always show length and steps instead of the normal messages
-#define STEPS_PER_METER 2127 //roll-v3-gummi-86.6mm - d=89.8mm
+//#define ENCODER_TEST
-//#define MEASURING_ROLL_DIAMETER 86.6 //roll v3 large
+
-//#define PI 3.14159265358979323846
+//steps per meter
+#define ENCODER_STEPS_PER_METER 2127 //roll-v3-gummi-86.6mm - d=89.8mm
+
+//millimetres added to target length
+//to ensure that length does not fall short when spool slightly rotates back after stop
+#define TARGET_LENGTH_OFFSET 0
+
+//millimetres lengthNow can be below lengthTarget to still stay in target_reached state
+#define TARGET_REACHED_TOLERANCE 5
+
 
 
 
@@ -71,14 +117,22 @@ extern "C" {
 //===== global variables =====
 //============================
 //create global evaluated switch objects
-//--- inputs ---
+//--- switches on digital gpio pins ---
-//create objects for switches at bottom screw temerinals
+//extern gpio_evaluatedSwitch sw_gpio_39;
-extern gpio_evaluatedSwitch SW_START;
+extern gpio_evaluatedSwitch sw_gpio_34;
-extern gpio_evaluatedSwitch SW_RESET;
+extern gpio_evaluatedSwitch sw_gpio_32;
-extern gpio_evaluatedSwitch SW_SET;
+extern gpio_evaluatedSwitch sw_gpio_33;
-extern gpio_evaluatedSwitch SW_PRESET1;
+extern gpio_evaluatedSwitch sw_gpio_25;
-extern gpio_evaluatedSwitch SW_PRESET2;
+extern gpio_evaluatedSwitch sw_gpio_26;
-extern gpio_evaluatedSwitch SW_PRESET3;
+extern gpio_evaluatedSwitch sw_gpio_14;
+
+//--- switches connected to 4-sw-to-analog stripboard ---
+extern gpio_evaluatedSwitch sw_gpio_analog_0;
+extern gpio_evaluatedSwitch sw_gpio_analog_1;
+extern gpio_evaluatedSwitch sw_gpio_analog_2;
+extern gpio_evaluatedSwitch sw_gpio_analog_3;
+
+
 
 //create global buzzer object
 extern buzzer_t buzzer;

main/control.cpp

@@ -1,49 +1,5 @@
 #include "control.hpp"
-
+#include "encoder.hpp"
-
-//========================
-//===== init encoder =====
-//========================
-QueueHandle_t init_encoder(rotary_encoder_info_t * info){
-    // esp32-rotary-encoder requires that the GPIO ISR service is installed before calling rotary_encoder_register()
-    ESP_ERROR_CHECK(gpio_install_isr_service(0));
-
-    // Initialise the rotary encoder device with the GPIOs for A and B signals
-    ESP_ERROR_CHECK(rotary_encoder_init(info, ROT_ENC_A_GPIO, ROT_ENC_B_GPIO));
-    ESP_ERROR_CHECK(rotary_encoder_enable_half_steps(info, ENABLE_HALF_STEPS));
-#ifdef FLIP_DIRECTION
-    ESP_ERROR_CHECK(rotary_encoder_flip_direction(info));
-#endif
-
-    // Create a queue for events from the rotary encoder driver.
-    // Tasks can read from this queue to receive up to date position information.
-    QueueHandle_t event_queue = rotary_encoder_create_queue();
-    ESP_ERROR_CHECK(rotary_encoder_set_queue(info, event_queue));
-    return event_queue;
-}
-
-
-//=============================
-//========= readAdc ===========
-//=============================
-//function for multisampling an anlog input
-int readAdc(adc1_channel_t adc_channel, bool inverted = false) {
-    //make multiple measurements
-    int adc_reading = 0;
-    for (int i = 0; i < 16; i++) {
-        adc_reading += adc1_get_raw(adc_channel);
-    }
-    adc_reading = adc_reading / 16;
-    //return original or inverted result
-    if (inverted) {
-        return 4095 - adc_reading;
-    } else {
-        return adc_reading;
-    }
-}
-
-
-
 
 
 //====================
@@ -51,27 +7,25 @@ int readAdc(adc1_channel_t adc_channel, bool inverted = false) {
 //====================
 static const char *TAG = "control"; //tag for logging
 
-const char* systemStateStr[5] = {"COUNTING", "WINDING_START", "WINDING", "TARGET_REACHED", "MANUAL"};
+const char* systemStateStr[7] = {"COUNTING", "WINDING_START", "WINDING", "TARGET_REACHED", "AUTO_CUT_WAITING", "CUTTING", "MANUAL"};
-systemState_t controlState = COUNTING;
+systemState_t controlState = systemState_t::COUNTING;
+static uint32_t timestamp_changedState = 0;
 
-char buf_disp[20]; //both displays
+static char buf_disp1[10];// 8 digits + decimal point + \0
-char buf_disp1[10];// 8 digits + decimal point + \0
+static char buf_disp2[10];// 8 digits + decimal point + \0
-char buf_disp2[10];// 8 digits + decimal point + \0
+static char buf_tmp[15];
-char buf_tmp[15];
 
-rotary_encoder_info_t encoder; //encoder device/info
+static int lengthNow = 0; //length measured in mm
-QueueHandle_t encoder_queue = NULL; //encoder event queue
+static int lengthTarget = 5000; //default target length in mm
-rotary_encoder_state_t encoderState;
+static int lengthRemaining = 0; //(target - now) length needed for reaching the target
+static int potiRead = 0; //voltage read from adc
+static uint32_t timestamp_motorStarted = 0; //timestamp winding started
                                      
-uint32_t timestamp_pageSwitched = 0;
+//automatic cut
-bool page = false; //store page number currently displayed
+static int cut_msRemaining = 0;
-int lengthNow = 0; //length measured in mm
+static uint32_t timestamp_cut_lastBeep = 0;
-int lengthTarget = 3000; //target length in mm
+static uint32_t autoCut_delayMs = 2500; //TODO add this to config
-int lengthRemaining = 0; //(target - now) length needed for reaching the target
+static bool autoCutEnabled = false; //store state of toggle switch (no hotswitch)
-int potiRead = 0; //voltage read from adc
-uint32_t timestamp_motorStarted = 0; //timestamp winding started
-                                     
-int lengthBeeped = 0; //only beep once per meter during encoder test
 
 
 //===== change State =====
@@ -85,9 +39,12 @@ void changeState (systemState_t stateNew) {
     ESP_LOGW(TAG, "changed state from %s to %s", systemStateStr[(int)controlState], systemStateStr[(int)stateNew]);
     //change state
     controlState = stateNew;
+    //update timestamp
+    timestamp_changedState = esp_log_timestamp();
 }
           
 
+
 //===== handle Stop Condition =====
 //function that checks whether start button is released or target is reached (used in multiple states)
 //returns true when stopped, false when no action
@@ -96,16 +53,16 @@ bool handleStopCondition(handledDisplay * displayTop, handledDisplay * displayBo
     //stop conditions that are checked in any mode
     //target reached
     if (lengthRemaining <= 0 ) {
-        changeState(TARGET_REACHED);
+        changeState(systemState_t::TARGET_REACHED);
         vfd_setState(false);
-        displayTop->blink(1, 0, 1500, "  S0LL  ");
+        displayTop->blink(1, 0, 1000, "  S0LL  ");
-        displayBot->blink(1, 0, 1500, "ERREICHT");
+        displayBot->blink(1, 0, 1000, "ERREICHT");
         buzzer.beep(2, 100, 100);
         return true;
     }
     //start button released
     else if (SW_START.state == false) {
-        changeState(COUNTING);
+        changeState(systemState_t::COUNTING);
         vfd_setState(false);
         displayTop->blink(2, 900, 1000, "- STOP -");
         displayBot->blink(2, 900, 1000, " TASTER ");
@@ -123,11 +80,11 @@ bool handleStopCondition(handledDisplay * displayTop, handledDisplay * displayBo
 void setDynSpeedLvl(uint8_t lvlMax = 3){
     uint8_t lvl;
     //define speed level according to difference
-    if (lengthRemaining < 50) {
+    if (lengthRemaining < 40) {
         lvl = 0;
-    } else if (lengthRemaining < 200) {
+    } else if (lengthRemaining < 300) {
         lvl = 1;
-    } else if (lengthRemaining < 600) {
+    } else if (lengthRemaining < 700) {
         lvl = 2;
     } else { //more than last step remaining
         lvl = 3;
@@ -148,8 +105,6 @@ void setDynSpeedLvl(uint8_t lvlMax = 3){
 //========================
 void task_control(void *pvParameter)
 {
-    //initialize encoder
-    encoder_queue = init_encoder(&encoder);
 
     //initialize display
     max7219_t two7SegDisplays = display_init();
@@ -167,7 +122,7 @@ void task_control(void *pvParameter)
     //===== loop =====
     //================
     while(1){
-        vTaskDelay(20 / portTICK_PERIOD_MS);
+        vTaskDelay(10 / portTICK_PERIOD_MS);
 
         //-----------------------------
         //------ handle switches ------
@@ -179,48 +134,96 @@ void task_control(void *pvParameter)
         SW_PRESET1.handle();
         SW_PRESET2.handle();
         SW_PRESET3.handle();
+        SW_CUT.handle();
+        SW_AUTO_CUT.handle();
 
 
+        //---------------------------
+        //------ handle cutter ------
+        //---------------------------
+        cutter_handle();
+
 
         //----------------------------
         //------ rotary encoder ------
         //----------------------------
-        // Poll current position and direction
+        //--- get current length since last reset ---
-        rotary_encoder_get_state(&encoder, &encoderState);
+        lengthNow = encoder_getLenMm();
-        //--- calculate distance ---
-        //lengthNow = (float)encoderState.position * (MEASURING_ROLL_DIAMETER * PI) / 600; //TODO dont calculate constant factor every time FIXME: ROUNDING ISSUE float-int?
-        lengthNow = (float)encoderState.position * 1000 / STEPS_PER_METER;
-
 
 
         //---------------------------
         //--------- buttons ---------
         //---------------------------
-        //TODO: ADD PRESET SWITCHES HERE
         //--- RESET switch ---
         if (SW_RESET.risingEdge) {
-            rotary_encoder_reset(&encoder);
+            //dont reset when press used for stopping pending auto-cut
+            if (controlState != systemState_t::AUTO_CUT_WAITING) {
+                encoder_reset();
                 lengthNow = 0;
                 buzzer.beep(1, 700, 100);
+                displayTop.blink(2, 100, 100, "1ST     ");
+                //TODO: stop cutter with reset switch?
+                //cutter_stop();
+            }
         }
 
+        //--- CUT switch ---
+        //start cut cycle immediately
+        if (SW_CUT.risingEdge) {
+            //stop cutter if already running
+            if (cutter_isRunning()) {
+                cutter_stop();
+                buzzer.beep(1, 600, 0);
+            }
+            else if (controlState == systemState_t::AUTO_CUT_WAITING) {
+                //do nothing when press used for stopping pending auto-cut
+            }
+            //start cutter when motor not active
+            else if (controlState != systemState_t::WINDING_START //TODO use vfd state here?
+                    && controlState != systemState_t::WINDING) {
+                cutter_start();
+                buzzer.beep(1, 70, 50);
+            }
+            //error cant cut while motor is on
+            else {
+                buzzer.beep(6, 100, 50);
+            }
+        }
+       
+        //--- AUTO_CUT toggle sw ---
+        //beep at change
+        if (SW_AUTO_CUT.risingEdge) {
+            buzzer.beep(2, 100, 50);
+        } else if (SW_AUTO_CUT.fallingEdge) {
+            buzzer.beep(1, 400, 50);
+        }
+        //update enabled state
+        if (SW_AUTO_CUT.state) {
+            //enable autocut when not in target_reached state
+            //(prevent immediate/unexpected cut)
+            if (controlState != systemState_t::TARGET_REACHED) {
+                autoCutEnabled = true;
+            }
+        } else {
+            //disable anytime (also stops countdown to auto cut)
+            autoCutEnabled = false;
+        }
 
         //--- manual mode ---
         //switch to manual motor control (2 buttons + poti)
-        if ( SW_PRESET2.state && (SW_PRESET1.state || SW_PRESET3.state) && controlState != MANUAL ) {
+        if ( SW_PRESET2.state && (SW_PRESET1.state || SW_PRESET3.state) && controlState != systemState_t::MANUAL ) {
             //enable manual control
-            changeState(MANUAL);
+            changeState(systemState_t::MANUAL);
             buzzer.beep(3, 100, 60);
         }
 
-
         //--- set custom target length ---
         //set target length to poti position when SET switch is pressed
         if (SW_SET.state == true) {
             //read adc
-            potiRead = readAdc(ADC_CHANNEL_POTI); //0-4095
+            potiRead = gpio_readAdc(ADC_CHANNEL_POTI); //0-4095
             //scale to target length range
-            int lengthTargetNew = (float)potiRead / 4095 * 30000;
+            int lengthTargetNew = (float)potiRead / 4095 * 50000;
             //apply hysteresis and round to whole meters //TODO optimize this
             if (lengthTargetNew % 1000 < 200) { //round down if less than .2 meter
                 ESP_LOGD(TAG, "Poti input = %d -> rounding down", lengthTargetNew);
@@ -251,22 +254,22 @@ void task_control(void *pvParameter)
 
 
         //--- target length presets ---
-        if (controlState != MANUAL) { //dont apply preset length while controlling motor with preset buttons
+        if (controlState != systemState_t::MANUAL) { //dont apply preset length while controlling motor with preset buttons
             if (SW_PRESET1.risingEdge) {
-                lengthTarget = 1000;
-                buzzer.beep(lengthTarget/1000, 25, 30);
-                displayBot.blink(3, 100, 100, "S0LL    ");
-            }
-            else if (SW_PRESET2.risingEdge) {
                 lengthTarget = 5000;
                 buzzer.beep(lengthTarget/1000, 25, 30);
                 displayBot.blink(2, 100, 100, "S0LL    ");
             }
-            else if (SW_PRESET3.risingEdge) {
+            else if (SW_PRESET2.risingEdge) {
                 lengthTarget = 10000;
                 buzzer.beep(lengthTarget/1000, 25, 30);
                 displayBot.blink(2, 100, 100, "S0LL    ");
             }
+            else if (SW_PRESET3.risingEdge) {
+                lengthTarget = 15000;
+                buzzer.beep(lengthTarget/1000, 25, 30);
+                displayBot.blink(2, 100, 100, "S0LL    ");
+            }
         }
 
 
@@ -275,17 +278,16 @@ void task_control(void *pvParameter)
         //--------- control ---------
         //---------------------------
         //calculate length difference
-        lengthRemaining = lengthTarget - lengthNow;
+        lengthRemaining = lengthTarget - lengthNow + TARGET_LENGTH_OFFSET;
 
         //--- statemachine ---
         switch (controlState) {
-            case COUNTING: //no motor action
+            case systemState_t::COUNTING: //no motor action
                 vfd_setState(false);
-                //TODO check stop condition before starting - prevents motor from starting 2 cycles when 
+                //TODO check stop condition before starting - prevents motor from starting 2 cycles when already at target
                 //--- start winding to length ---
                 if (SW_START.risingEdge) {
-                    changeState(WINDING_START);
+                    changeState(systemState_t::WINDING_START);
-                    //TODO apply dynamic speed here too (if started when already very close)
                     vfd_setSpeedLevel(1); //start at low speed 
                     vfd_setState(true); //start motor
                     timestamp_motorStarted = esp_log_timestamp(); //save time started
@@ -293,57 +295,100 @@ void task_control(void *pvParameter)
                 } 
                 break;
 
-            case WINDING_START: //wind slow for certain time
+            case systemState_t::WINDING_START: //wind slow for certain time
                 //set vfd speed depending on remaining distance 
                 setDynSpeedLvl(1); //limit to speed lvl 1 (force slow start)
-                if (esp_log_timestamp() - timestamp_motorStarted > 2000) {
+                if (esp_log_timestamp() - timestamp_motorStarted > 3000) {
-                    changeState(WINDING);
+                    changeState(systemState_t::WINDING);
                 }
                 handleStopCondition(&displayTop, &displayBot); //stops if button released or target reached
                 //TODO: cancel when there was no cable movement during start time?
                 break;
 
-            case WINDING: //wind fast, slow down when close
+            case systemState_t::WINDING: //wind fast, slow down when close
                 //set vfd speed depending on remaining distance 
                 setDynSpeedLvl(); //slow down when close to target
                 handleStopCondition(&displayTop, &displayBot); //stops if button released or target reached
                 //TODO: cancel when there is no cable movement anymore e.g. empty / timeout?
                 break;
 
-            case TARGET_REACHED:
+            case systemState_t::TARGET_REACHED:
                 vfd_setState(false);
                 //switch to counting state when no longer at or above target length
-                if ( lengthRemaining > 0 ) {
+                if ( lengthNow < lengthTarget - TARGET_REACHED_TOLERANCE ) {
-                    changeState(COUNTING);
+                    changeState(systemState_t::COUNTING);
+                }
+                //switch initiate countdown to auto-cut
+                else if ( (autoCutEnabled)
+                        && (esp_log_timestamp() - timestamp_changedState > 300) ) { //wait for dislay msg "reached" to finish
+                    changeState(systemState_t::AUTO_CUT_WAITING);
                 }
                 //show msg when trying to start, but target is reached
                 if (SW_START.risingEdge) {
-                    buzzer.beep(3, 40, 30);
+                    buzzer.beep(2, 50, 30);
-                    displayTop.blink(2, 600, 800, "  S0LL  ");
+                    displayTop.blink(2, 600, 500, "  S0LL  ");
-                    displayBot.blink(2, 600, 800, "ERREICHT");
+                    displayBot.blink(2, 600, 500, "ERREICHT");
                 }
                 break;
 
-            case MANUAL: //manually control motor via preset buttons + poti
+            case systemState_t::AUTO_CUT_WAITING:
+                //handle delayed start of cut
+                cut_msRemaining = autoCut_delayMs - (esp_log_timestamp() - timestamp_changedState);
+                //- countdown stop conditions -
+                //stop with any button
+                if (!autoCutEnabled
+                        || SW_RESET.state || SW_CUT.state 
+                        || SW_SET.state || SW_PRESET1.state
+                        || SW_PRESET2.state || SW_PRESET3.state) {//TODO: also stop when target not reached anymore?
+                    changeState(systemState_t::COUNTING);
+                    buzzer.beep(5, 100, 50);
+                }
+                //- trigger cut if delay passed -
+                else if (cut_msRemaining <= 0) {
+                    cutter_start();
+                    changeState(systemState_t::CUTTING);
+                }
+                //- beep countdown -
+                //time passed since last beep  >  time remaining / 6
+                else if ( (esp_log_timestamp() - timestamp_cut_lastBeep)  > (cut_msRemaining / 6)
+                        && (esp_log_timestamp() - timestamp_cut_lastBeep) > 50 ) { //dont trigger beeps faster than beep time
+                    buzzer.beep(1, 50, 0);
+                    timestamp_cut_lastBeep = esp_log_timestamp();
+                }
+                break;
+
+            case systemState_t::CUTTING:
+                //exit when finished cutting
+                if (cutter_isRunning() == false) {
+                    //TODO stop if start buttons released?
+                    changeState(systemState_t::COUNTING);
+                    //TODO reset automatically or wait for manual reset?
+                    encoder_reset();
+                    lengthNow = 0;
+                    buzzer.beep(1, 700, 100);
+                }
+                break;
+
+            case systemState_t::MANUAL: //manually control motor via preset buttons + poti
                 //read poti value
-                potiRead = readAdc(ADC_CHANNEL_POTI); //0-4095
+                potiRead = gpio_readAdc(ADC_CHANNEL_POTI); //0-4095
                 //scale poti to speed levels 0-3
                 uint8_t level = round( (float)potiRead / 4095 * 3 );
                 //exit manual mode if preset2 released
                 if ( SW_PRESET2.state == false ) {
-                    changeState(COUNTING);
+                    changeState(systemState_t::COUNTING);
                     buzzer.beep(1, 1000, 100);
                 }
                 //P2 + P1 -> turn left
                 else if ( SW_PRESET1.state && !SW_PRESET3.state ) {
-                    vfd_setSpeedLevel(level); //TODO: use poti input for level
+                    vfd_setSpeedLevel(level);
                     vfd_setState(true, REV);
                     sprintf(buf_disp2, "[--%02i   ", level);
                     //                  123 45 678
                 }
                 //P2 + P3 -> turn right
                 else if ( SW_PRESET3.state && !SW_PRESET1.state ) {
-                    vfd_setSpeedLevel(level); //TODO: use poti input for level
+                    vfd_setSpeedLevel(level);
                     vfd_setState(true, FWD);
                     sprintf(buf_disp2, "   %02i--]", level);
                 }
@@ -364,7 +409,7 @@ void task_control(void *pvParameter)
         displayTop.handle();
         displayBot.handle();
         //-- show encoder steps on display1 ---
-        sprintf(buf_disp1, "EN %05d", encoderState.position); //count
+        sprintf(buf_disp1, "EN %05d", encoder_getSteps); //count
         displayTop.showString(buf_disp1);
         //--- show converted distance on display2 ---
         sprintf(buf_disp2, "Met %5.3f", (float)lengthNow/1000); //m
@@ -385,12 +430,18 @@ void task_control(void *pvParameter)
         //--------------------------
         //run handle function
         displayTop.handle();
-        //show current position on display
+        //indicate upcoming cut when pending
+        if (controlState == systemState_t::AUTO_CUT_WAITING) {
+            displayTop.blinkStrings(" CUT 1N ", "        ", 70, 30);
+        }
+        //otherwise show current position
+        else {
             sprintf(buf_tmp, "1ST %5.4f", (float)lengthNow/1000);
             //                123456789
             //limit length to 8 digits + decimal point (drop decimal places when it does not fit)
             sprintf(buf_disp1, "%.9s", buf_tmp);
             displayTop.showString(buf_disp1);
+        }
 
 
         //--------------------------
@@ -404,8 +455,18 @@ void task_control(void *pvParameter)
             displayBot.blinkStrings(buf_tmp, "S0LL    ", 300, 100);
         }
         //manual state: blink "manual"
-        else if (controlState == MANUAL) {
+        else if (controlState == systemState_t::MANUAL) {
-            displayBot.blinkStrings(" MANUAL ", buf_disp2, 1000, 1000);
+            displayBot.blinkStrings(" MANUAL ", buf_disp2, 400, 800);
+        }
+        //notify that cutter is active
+        else if (cutter_isRunning()) {
+            displayBot.blinkStrings("CUTTING]", "CUTTING[", 100, 100);
+        }
+        //show ms countdown to cut when pending
+        else if (controlState == systemState_t::AUTO_CUT_WAITING) {
+            sprintf(buf_disp2, "  %04d  ", cut_msRemaining);
+            //displayBot.showString(buf_disp2); //TODO:blink "erreicht" overrides this. for now using blink as workaround
+            displayBot.blinkStrings(buf_disp2, buf_disp2, 100, 100);
         }
         //otherwise show target length
         else {
@@ -416,13 +477,25 @@ void task_control(void *pvParameter)
         }
 
 
+        //----------------------------
+        //------- control lamp -------
+        //----------------------------
+        //basic functionality of lamp:
+        //turn on when not idling
+        //TODO: add switch-case for different sates
+        //e.g. blink with different frequencies in different states
+        if (controlState != systemState_t::COUNTING
+                && controlState != systemState_t::TARGET_REACHED) {
+            gpio_set_level(GPIO_LAMP, 1);
+        }
+        else {
+            gpio_set_level(GPIO_LAMP, 0);
+        }
+
+
+
 #endif
         
-        //TODO: blink disp2 when set button pressed
-        //TODO: blink disp2 when preset button pressed (exept manual mode)
-        //TODO: write "MAN CTL" to disp2 when in manual mode
-        //TODO: display or blink "REACHED" when reached state and start pressed
-
     }
 
 }

main/control.hpp

@@ -10,7 +10,6 @@ extern "C"
 #include "esp_log.h"
 #include "driver/adc.h"
 
-#include "rotary_encoder.h"
 #include "max7219.h"
 
 }
@@ -18,14 +17,18 @@ extern "C"
 
 #include "config.hpp"
 #include "gpio_evaluateSwitch.hpp"
+#include "gpio_adc.hpp"
 #include "buzzer.hpp"
 #include "vfd.hpp"
 #include "display.hpp"
+#include "cutter.hpp"
 
 
 
-typedef enum systemState_t {COUNTING, WINDING_START, WINDING, TARGET_REACHED, MANUAL} systemState_t;
+//enum describing the state of the system
-extern const char* systemStateStr[5];
+enum class systemState_t {COUNTING, WINDING_START, WINDING, TARGET_REACHED, AUTO_CUT_WAITING, CUTTING, MANUAL};
-
+//array with enum as strings for logging states
+extern const char* systemStateStr[7];
 
+//task that controls the entire machine (has to be created as task in main function)
 void task_control(void *pvParameter);

main/cutter.cpp

@@ -0,0 +1,169 @@
+#include "cutter.hpp"
+
+const char* cutter_stateStr[5] = {"IDLE", "START", "CUTTING", "CANCELED", "TIMEOUT"}; //define strings for logging the state
+                                                                          
+
+//---------------------------
+//----- local functions -----
+//---------------------------
+//declare local functions
+void setState(cutter_state_t stateNew);
+bool checkTimeout();
+
+
+
+//---------------------------
+//----- local variables -----
+//---------------------------
+static cutter_state_t cutter_state = cutter_state_t::IDLE;
+static uint32_t timestamp_turnedOn;
+static uint32_t msTimeout = 3000;
+static const char *TAG = "cutter"; //tag for logging
+
+
+
+//=========================
+//========= start =========
+//=========================
+void cutter_start(){
+    setState(cutter_state_t::START);
+    //starts motor on state change
+}
+
+
+
+//========================
+//========= stop =========
+//========================
+void cutter_stop(){
+    if(cutter_state != cutter_state_t::IDLE){
+        setState(cutter_state_t::CANCELED);
+    }
+    //starts motor on state change
+}
+
+
+
+//===========================
+//===== cutter_getState =====
+//===========================
+cutter_state_t cutter_getState(){
+    return cutter_state;
+}
+
+
+
+//============================
+//===== cutter_isRunning =====
+//============================
+bool cutter_isRunning(){
+    if (cutter_state == cutter_state_t::START 
+            || cutter_state == cutter_state_t::CUTTING) {
+        return true;
+    } else {
+        return false;
+    }
+}
+
+
+
+//---------------------------
+//-------- setState ---------
+//---------------------------
+//local function for changing state, taking corresponding actions and sending log output
+void setState(cutter_state_t stateNew){
+    //only proceed and send log output when state or direction actually changed
+    if ( cutter_state == stateNew) {
+        //already at target state -> do nothing
+        return;
+    }
+
+    //log old and new state
+    ESP_LOGI(TAG, "CHANGING state from: %s",cutter_stateStr[(int)cutter_state]);
+    ESP_LOGI(TAG, "CHANGING state   to: %s",cutter_stateStr[(int)stateNew]);
+    //update stored state
+    cutter_state = stateNew;
+
+    switch(stateNew){
+        case cutter_state_t::IDLE:
+        case cutter_state_t::TIMEOUT:
+        case cutter_state_t::CANCELED:
+            //--- turn motor off ---
+            gpio_set_level(GPIO_RELAY, 0);
+            break;
+
+        case cutter_state_t::START:
+        case cutter_state_t::CUTTING:
+            //--- turn motor on ---
+            gpio_set_level(GPIO_RELAY, 1);
+            //update state, timestamp
+            timestamp_turnedOn = esp_log_timestamp();
+            break;
+    }
+}
+
+
+
+//--------------------------
+//------ checkTimeout ------
+//--------------------------
+//local function that checks for timeout
+bool checkTimeout(){
+    if (esp_log_timestamp() - timestamp_turnedOn > msTimeout){
+        setState(cutter_state_t::TIMEOUT);
+        return true;
+    } else {
+        return false;
+    }
+}
+
+
+
+
+//========================
+//======== handle ========
+//========================
+//function that handles the cutter logic -> has to be run repeatedly
+void cutter_handle(){
+    //handle evaluated switch (position switch)
+    SW_CUTTER_POS.handle();
+    //TODO add custom thresholds once at initialization?
+    //SW_CUTTER_POS.minOnMs = 10;
+    //SW_CUTTER_POS.minOffMs = 10;
+
+
+    switch(cutter_state){
+        case cutter_state_t::IDLE:
+        case cutter_state_t::TIMEOUT:
+        case cutter_state_t::CANCELED:
+            //wait for state change via cutter_start();
+            break;
+
+        case cutter_state_t::START:
+            //--- moved away from idle position ---
+            //if (gpio_get_level(GPIO_CUTTER_POS_SW) == 0){ //contact closed
+            if (SW_CUTTER_POS.state == true) { //contact closed -> not at idle pos
+                setState(cutter_state_t::CUTTING);
+            }
+            //--- timeout ---
+            else {
+                checkTimeout();
+            }
+
+            break;
+
+        case cutter_state_t::CUTTING:
+            //--- idle position reached ---
+            //if (gpio_get_level(GPIO_CUTTER_POS_SW) == 1){ //contact not closed
+            //TODO: add min on duration
+            if (SW_CUTTER_POS.state == false) { //contact open -> at idle pos
+                setState(cutter_state_t::IDLE);
+            }
+            //--- timeout ---
+            else {
+                checkTimeout();
+            }
+            break;
+    }
+}
+

main/cutter.hpp

@@ -0,0 +1,37 @@
+#pragma once
+
+extern "C"
+{
+#include <stdio.h>
+#include "esp_log.h"
+}
+
+#include "buzzer.hpp"
+#include "display.hpp"
+#include "gpio_evaluateSwitch.hpp"
+
+
+//--- variables ---
+//enum for state of cutter
+enum class cutter_state_t {IDLE, START, CUTTING, CANCELED, TIMEOUT};
+//string for logging the state name
+extern const char* cutter_stateStr[5];
+
+
+
+//--- functions ---
+//trigger cut cycle (no effect if already running)
+void cutter_start();
+
+//cancel cutting action
+void cutter_stop();
+
+//return current state
+cutter_state_t cutter_getState();
+//TODO: bool cutter_isOn() (simply return boolean instead of enum)
+
+//check if cutter is currently operating
+bool cutter_isRunning();
+
+//handle function - has to be run repeatedly
+void cutter_handle();

main/display.cpp

@@ -34,7 +34,7 @@ max7219_t display_init(){
     ESP_ERROR_CHECK(max7219_init_desc(&dev, HOST, MAX7219_MAX_CLOCK_SPEED_HZ, DISPLAY_PIN_NUM_CS));
     ESP_ERROR_CHECK(max7219_init(&dev));
     //0...15
-    ESP_ERROR_CHECK(max7219_set_brightness(&dev, 8));
+    ESP_ERROR_CHECK(max7219_set_brightness(&dev, 8)); //TODO add this to config
     return dev;
     //display = dev;
     ESP_LOGI(TAG, "initializing display - done");
@@ -50,7 +50,7 @@ void display_ShowWelcomeMsg(max7219_t dev){
     //show name and date
     ESP_LOGI(TAG, "showing startup message...");
     max7219_clear(&dev);
-    max7219_draw_text_7seg(&dev, 0, "CUTTER  20.08.2022");
+    max7219_draw_text_7seg(&dev, 0, "CUTTER  29.09.2022");
     //                                   1234567812 34 5678
     vTaskDelay(pdMS_TO_TICKS(700));
     //scroll "hello" over 2 displays
@@ -60,6 +60,11 @@ void display_ShowWelcomeMsg(max7219_t dev){
         max7219_draw_text_7seg(&dev, 0, hello + (22 - offset) );
         vTaskDelay(pdMS_TO_TICKS(50));
     }
+
+    //noticed rare bug that one display does not initialize / is not configured correctly after start
+    //initialize display again after the welcome message in case it did not work the first time
+    ESP_ERROR_CHECK(max7219_init(&dev));
+    ESP_ERROR_CHECK(max7219_set_brightness(&dev, 8)); //TODO add this to config
 }
 
 

main/encoder.cpp

@@ -0,0 +1,67 @@
+extern "C" {
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+#include "esp_system.h"
+#include "esp_log.h"
+
+#include "rotary_encoder.h"
+}
+
+#include "encoder.hpp"
+
+
+//----------------------------
+//----- global variables -----
+//----------------------------
+static rotary_encoder_info_t encoder; //encoder device/info
+QueueHandle_t encoder_queue = NULL; //encoder event queue
+
+
+//-------------------------
+//------- functions -------
+//-------------------------
+//--- encoder_init ---
+//initialize encoder and return event queue
+QueueHandle_t encoder_init(){
+    // esp32-rotary-encoder requires that the GPIO ISR service is installed before calling rotary_encoder_register()
+    ESP_ERROR_CHECK(gpio_install_isr_service(0));
+
+    // Initialise the rotary encoder device with the GPIOs for A and B signals
+    ESP_ERROR_CHECK(rotary_encoder_init(&encoder, ROT_ENC_A_GPIO, ROT_ENC_B_GPIO));
+    ESP_ERROR_CHECK(rotary_encoder_enable_half_steps(&encoder, ENABLE_HALF_STEPS));
+#ifdef FLIP_DIRECTION
+    ESP_ERROR_CHECK(rotary_encoder_flip_direction(&encoder));
+#endif
+
+    // Create a queue for events from the rotary encoder driver.
+    // Tasks can read from this queue to receive up to date position information.
+    QueueHandle_t event_queue = rotary_encoder_create_queue();
+    ESP_ERROR_CHECK(rotary_encoder_set_queue(&encoder, event_queue));
+    return event_queue;
+}
+
+
+//--- encoder_getSteps ---
+//get steps counted since last reset
+int encoder_getSteps(){
+    // Poll current position and direction
+    rotary_encoder_state_t encoderState;
+    rotary_encoder_get_state(&encoder, &encoderState);
+    //calculate total distance since last reset
+    return encoderState.position; 
+}
+
+
+//--- encoder_getLenMm ---
+//get current length in Mm since last reset
+int encoder_getLenMm(){
+    return (float)encoder_getSteps() * 1000 / ENCODER_STEPS_PER_METER; 
+}
+
+
+//--- encoder_reset ---
+//reset counted steps / length to 0
+void encoder_reset(){
+    rotary_encoder_reset(&encoder);
+    return;
+}    

main/encoder.hpp

@@ -0,0 +1,40 @@
+/* in this file all used functions from original rotary_encoder.h library are wrapped with custom functions to reduce global variables and duplicate code
+*/
+//TODO create a cpp class for an encoder?
+#pragma once
+extern "C" {
+#include <freertos/task.h>
+}
+
+#include "config.hpp"
+
+
+//----------------------------
+//----- global variables -----
+//----------------------------
+//TODO ignore global encoder queue, since it is not used?
+extern QueueHandle_t encoder_queue; //encoder event queue
+
+
+//-------------------------
+//------- functions -------
+//-------------------------
+
+//--- encoder_init ---
+//init encoder
+QueueHandle_t encoder_init();
+
+//--- encoder_getSteps ---
+//get steps counted since last reset
+int encoder_getSteps();
+
+
+//--- encoder_getLenMm ---
+//get current length in Mm since last reset
+int encoder_getLenMm();
+
+
+    
+//--- encoder_reset ---
+//reset counted steps / length to 0
+void encoder_reset();

main/guide-stepper.cpp

@@ -0,0 +1,307 @@
+extern "C"
+{
+#include <stdio.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_log.h"
+#include "driver/adc.h"
+}
+
+#include "DendoStepper.h"
+#include "config.hpp"
+#include "guide-stepper.hpp"
+#include "encoder.hpp"
+#include "gpio_evaluateSwitch.hpp"
+
+
+
+//---------------------
+//--- configuration ---
+//---------------------
+//also see config.hpp
+//for pin definition
+
+#define STEPPER_TEST_TRAVEL 65     //mm
+                                   //
+#define MIN_MM 0
+#define MAX_MM 110 //60
+#define POS_MAX_STEPS MAX_MM * STEPPER_STEPS_PER_MM
+#define POS_MIN_STEPS MIN_MM * STEPPER_STEPS_PER_MM
+
+
+#define SPEED_MIN 2.0   //mm/s
+#define SPEED_MAX 60.0 //mm/s
+
+#define SPEED 10 //35, 100, 50 rev
+#define ACCEL_MS 800.0  //ms from 0 to max
+#define DECEL_MS 500.0   //ms from max to 0
+
+#define STEPPER_STEPS_PER_ROT 1600
+#define STEPPER_STEPS_PER_MM STEPPER_STEPS_PER_ROT/4
+
+#define D_CABLE 6
+#define D_REEL 160 //actual 170
+#define PI 3.14159
+
+
+
+//----------------------
+//----- variables ------
+//----------------------
+static DendoStepper step;
+static const char *TAG = "stepper"; //tag for logging
+
+static bool stepp_direction = true;
+static bool dir = true, dirPrev; //TODO local variables in travelSteps?
+static uint32_t posNow = 0;
+
+
+
+//----------------------
+//----- functions ------
+//----------------------
+//move axis certain Steps (relative) between left and right or reverse when negative
+void travelSteps(int stepsTarget){
+    //posNow = step.getPositionMm(); //not otherwise controlled, so no update necessary
+    int stepsToGo, remaining;
+
+    stepsToGo = abs(stepsTarget);
+    if(stepsTarget < 0) stepp_direction = !stepp_direction; //invert direction in reverse mode
+
+    
+    while (stepsToGo != 0){
+
+        //--- wait if direction changed ---
+        //if (dirPrev != dir){
+        //        ESP_LOGW(TAG, " dir-change detected - waiting for move to finish \n ");
+        //        while(step.getState() != 1) vTaskDelay(1);  //wait for move to finish
+        //}
+
+        //--- currently moving right ---
+        if (stepp_direction == true){               //currently moving right
+            remaining = POS_MAX_STEPS - posNow;     //calc remaining distance fom current position to limit
+            if (stepsToGo > remaining){             //new distance will exceed limit
+                step.runAbs (POS_MAX_STEPS);        //move to limit
+                dirPrev = dir;
+                dir = 1;
+                //while(step.getState() != 1) vTaskDelay(1);  //wait for move to finish
+                posNow = POS_MAX_STEPS;
+                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 ");
+            }
+            else {                                  //target distance does not reach the limit
+                step.runAbs (posNow + stepsToGo);   //move by (remaining) distance to reach target length
+                dirPrev = dir;
+                dir = 1;
+                //-- dont wait for move to finish since moves in same direction get merged --
+                //while(step.getState() != 1) vTaskDelay(1); //wait for move to finish
+                ESP_LOGD(TAG, "moving to %d\n", posNow+stepsToGo);
+                posNow += stepsToGo;
+                stepsToGo = 0;                      //finished, reset target length (could as well exit loop/break)
+            }
+        }
+
+        //--- currently moving left ---
+        else {
+            remaining = posNow - POS_MIN_STEPS;
+            if (stepsToGo > remaining){
+                step.runAbs (POS_MIN_STEPS);
+                dirPrev = dir;
+                dir = 0;
+                //while(step.getState() != 1) vTaskDelay(2);  //wait for move to finish
+                posNow = POS_MIN_STEPS;
+                stepp_direction = true;
+                stepsToGo = stepsToGo - remaining;
+                ESP_LOGI(TAG, " --- moved to min -> change direction (R) --- \n ");
+            }
+            else {
+                step.runAbs (posNow - stepsToGo);           //when moving left the coordinate has to be decreased
+                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
+                ESP_LOGD(TAG, "moving to %d\n", posNow - stepsToGo);
+                posNow -= stepsToGo;
+                stepsToGo = 0;
+            }
+        }
+    }
+    if(stepsTarget < 0) stepp_direction = !stepp_direction; //undo inversion of stepp_direction after reverse mode is finished
+    return;
+}
+
+
+//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
+void init_stepper() {
+    ESP_LOGW(TAG, "initializing stepper...");
+    DendoStepper_config_t step_cfg = {
+        .stepPin = STEPPER_STEP_PIN,
+        .dirPin = STEPPER_DIR_PIN,
+        .enPin = STEPPER_EN_PIN,
+        .timer_group = TIMER_GROUP_0,
+        .timer_idx = TIMER_0,
+        .miStep = MICROSTEP_32,
+        .stepAngle = 1.8};
+    step.config(&step_cfg);
+    step.init();
+
+    step.setSpeed(1000, 1000, 1000); //random default speed
+    step.setStepsPerMm(STEPPER_STEPS_PER_MM); //guide: 4mm/rot
+}
+
+
+//function that updates speed value using ADC input and configured MIN/MAX
+void updateSpeedFromAdc() {
+    int potiRead = gpio_readAdc(ADC_CHANNEL_POTI); //0-4095 GPIO34
+    double poti = potiRead/4095.0;
+    int speed = poti*(SPEED_MAX-SPEED_MIN) + SPEED_MIN;
+    step.setSpeedMm(speed, ACCEL_MS, DECEL_MS);
+    ESP_LOGW(TAG, "poti: %d (%.2lf%%), set speed to: %d", potiRead, poti*100, speed);
+}
+
+
+
+//----------------------------
+//---- TASK stepper-test -----
+//----------------------------
+void task_stepper_test(void *pvParameter)
+{
+    init_stepper();
+    home();
+    step.setSpeedMm(SPEED, ACCEL_MS, DECEL_MS);
+	//--- move from left to right repeatedly ---
+    // while (1) {
+    //     updateSpeedFromAdc();
+    //     step.runPosMm(STEPPER_TEST_TRAVEL);
+    //     while(step.getState() != 1) vTaskDelay(2);
+    //     ESP_LOGI(TAG, "finished moving right => moving left");
+
+    //  10updateSpeedFromAdc();
+    //     step.runPosMm(-STEPPER_TEST_TRAVEL);
+    //     while(step.getState() != 1) vTaskDelay(2); //1=idle
+    //     ESP_LOGI(TAG, "finished moving left => moving right");
+    // }
+
+	//--- control stepper using preset buttons ---
+	while(1){
+		vTaskDelay(20 / portTICK_PERIOD_MS);
+
+		//------ handle switches ------
+		//run handle functions for all switches
+		SW_START.handle();
+		SW_RESET.handle();
+		SW_SET.handle();
+		SW_PRESET1.handle();
+		SW_PRESET2.handle();
+		SW_PRESET3.handle();
+		SW_CUT.handle();
+		SW_AUTO_CUT.handle();
+
+		if (SW_RESET.risingEdge) {
+			ESP_LOGI(TAG, "button - stop stepper\n ");
+			buzzer.beep(1, 1000, 100);
+			step.stop();
+		}
+		if (SW_PRESET1.risingEdge) {
+			ESP_LOGI(TAG, "button - moving right\n ");
+			buzzer.beep(2, 300, 100);
+			step.setSpeedMm(SPEED, ACCEL_MS, DECEL_MS);
+			step.runPosMm(15);
+		}
+		if (SW_PRESET3.risingEdge) {
+			ESP_LOGI(TAG, "button - moving left\n ");
+			buzzer.beep(1, 500, 100);
+			step.setSpeedMm(SPEED, ACCEL_MS, DECEL_MS);
+			step.runPosMm(-15);
+		}
+		if (SW_PRESET2.risingEdge) {
+			buzzer.beep(1, 100, 100);
+			ESP_LOGW(TAG, "button - current state: %d\n, pos: %llu", (int)step.getState(), step.getPositionMm());
+		}
+	}
+}
+
+
+
+//----------------------------
+//----- TASK stepper-ctl -----
+//----------------------------
+void task_stepper_ctl(void *pvParameter)
+{
+    //variables
+    int encStepsNow = 0; //get curret steps of encoder
+    int encStepsPrev = 0; //steps at last check
+    int encStepsDelta = 0; //steps changed since last iteration
+
+    double cableLen = 0;
+    double travelStepsExact = 0; //steps axis has to travel
+    double travelStepsPartial = 0;
+    int travelStepsFull = 0;
+    double travelMm = 0;
+    double turns = 0;
+
+    float potiModifier;
+
+    init_stepper();
+    home();
+
+    while(1){
+        //get current length
+        encStepsNow = encoder_getSteps();
+
+        //calculate change
+        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
+        potiModifier = (float) gpio_readAdc(ADC_CHANNEL_POTI) / 4095; //0-4095 -> 0-1
+        //ESP_LOGI(TAG, "current poti-modifier = %f", potiModifier);
+        ESP_LOGI(TAG, "delaying stepper-ctl task by %.1f ms (poti value)", 2000 * potiModifier);
+        vTaskDelay(2000 * potiModifier / portTICK_PERIOD_MS);
+
+        //calculate steps to move
+        cableLen = (double)encStepsDelta * 1000 / ENCODER_STEPS_PER_METER;
+        turns = cableLen / (PI * D_REEL);
+        travelMm = turns * D_CABLE;
+        travelStepsExact = travelMm * STEPPER_STEPS_PER_MM  +  travelStepsPartial; //convert mm to steps and add not moved partial steps
+        travelStepsPartial = 0;
+        travelStepsFull = (int)travelStepsExact;
+
+        //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, "MOVING %d steps", travelStepsFull);
+            //TODO: calculate variable speed for smoother movement? for example intentionally lag behind and calculate speed according to buffered data
+            step.setSpeedMm(SPEED, ACCEL_MS, DECEL_MS);
+            //testing: get speed from poti
+            //step.setSpeedMm(35, 1000*potiModifier+1, 1000*potiModifier+1);
+            travelSteps(travelStepsExact);
+            encStepsPrev = encStepsNow; //update previous length
+        }
+        else {
+            //TODO use encoder queue to only run this check at encoder event?
+            vTaskDelay(2);
+        }
+    }
+}

main/guide-stepper.hpp

@@ -0,0 +1,12 @@
+#pragma once
+
+//task that initializes and controls the stepper motor
+//current functionality: 
+//  - automatically auto-homes
+//  - moves left and right repeatedly
+//  - updates speed from potentiometer each cycle
+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);

main/main.cpp

@@ -13,37 +13,44 @@ extern "C"
 #include "config.hpp"
 #include "control.hpp"
 #include "buzzer.hpp"
+#include "switchesAnalog.hpp"
+#include "guide-stepper.hpp"
+#include "encoder.hpp"
 
 
 //=================================
 //=========== functions ===========
 //=================================
+//--- configure output ---
 //function to configure gpio pin as output
 void gpio_configure_output(gpio_num_t gpio_pin){
     gpio_pad_select_gpio(gpio_pin);
     gpio_set_direction(gpio_pin, GPIO_MODE_OUTPUT);
 }
 
+
+//--- init gpios ---
 void init_gpios(){
-    //initialize all outputs
+    //--- outputs ---
     //4x stepper mosfets
     gpio_configure_output(GPIO_VFD_FWD);
     gpio_configure_output(GPIO_VFD_D0);
     gpio_configure_output(GPIO_VFD_D1);
+    gpio_configure_output(GPIO_VFD_REV);
     //gpio_configure_output(GPIO_VFD_D2); only used with 7.5kw vfd
     //2x power mosfets
-    gpio_configure_output(GPIO_VFD_REV);
+    gpio_configure_output(GPIO_MOS1); //mos1
-    gpio_configure_output(GPIO_MOS2);
+    gpio_configure_output(GPIO_LAMP); //llamp (mos2)
     //onboard relay and buzzer
     gpio_configure_output(GPIO_RELAY);
     gpio_configure_output(GPIO_BUZZER);
     //5v regulator
     gpio_configure_output(GPIO_NUM_17);
 
+    //--- inputs ---
     //initialize and configure ADC
     adc1_config_width(ADC_WIDTH_BIT_12); //=> max resolution 4096
     adc1_config_channel_atten(ADC_CHANNEL_POTI, ADC_ATTEN_DB_11); //max voltage
-
 }
 
 
@@ -51,8 +58,6 @@ void init_gpios(){
 //======================================
 //============ buzzer task =============
 //======================================
-//TODO: move the task creation to buzzer class (buzzer.cpp)
-//e.g. only have function buzzer.createTask() in app_main
 void task_buzzer( void * pvParameters ){
     ESP_LOGI("task_buzzer", "Start of buzzer task...");
         //run function that waits for a beep events to arrive in the queue
@@ -62,8 +67,6 @@ void task_buzzer( void * pvParameters ){
 
 
 
-
-
 //======================================
 //=========== main function ============
 //======================================
@@ -75,13 +78,29 @@ extern "C" void app_main()
     //enable 5V volate regulator
     gpio_set_level(GPIO_NUM_17, 1);
 
+    //init encoder (global)
+    encoder_queue = encoder_init();
+    
     //define loglevel
     esp_log_level_set("*", ESP_LOG_INFO);
     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("DendoStepper", ESP_LOG_DEBUG); //stepper lib
+    esp_log_level_set("calc", ESP_LOG_WARN); //stepper lib
 
+#ifdef STEPPER_TEST
+    //create task for stepper testing
+    xTaskCreate(task_stepper_test, "task_stepper_test", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
+#else
     //create task for controlling the machine
     xTaskCreate(task_control, "task_control", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
+
+    //create task for controlling the machine
+    xTaskCreate(task_stepper_ctl, "task_stepper_ctl", configMINIMAL_STACK_SIZE * 5, NULL, 5, NULL);
+#endif
+
     //create task for handling the buzzer
     xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
 

main/switchesAnalog.cpp

@@ -0,0 +1,103 @@
+#include "switchesAnalog.hpp"
+
+#define CHECK_BIT(var,pos) (((var)>>(pos)) & 1) //TODO duplicate code: same macro already used in vfd.cpp
+
+
+
+
+//=====================
+//===== Variables =====
+//=====================
+static const char *TAG = "switches-analog"; //tag for logging
+int diffMin = 4095;
+int adcValue;
+int match_index = 0;
+
+//array that describes voltages for all combinations of the 4 inputs
+const int lookup_voltages[] = {
+    //ADC, S3 S2 S1 S0
+    4095, //0000
+    3780, //0001
+    3390, //0010
+    3040, //0011
+    2760, //0100
+    2542, //0101
+    2395, //0110
+    2225, //0111
+    1964, //1000
+    1845, //1001
+    1762, //1010
+    1664, //1011
+    1573, //1100
+    1485, //1101
+    1432, //1110
+    1363  //1111
+};
+
+
+
+
+//===========================
+//===== handle function =====
+//===========================
+//handle demuxing of 4 switches from 1 adc (has to be run repeatedly)
+void handle(){
+    //read current voltage
+    adcValue = gpio_readAdc(ADC_CHANNEL_4SW_TO_ANALOG);
+    ESP_LOGI(TAG, "voltage read: %d", adcValue);
+
+    //find closest match in lookup table
+    diffMin = 4095; //reset diffMin each run
+    for (int i=0; i<16; i++){
+        int diff = fabs(adcValue - lookup_voltages[i]);
+        if (diff < diffMin){
+            diffMin = diff;
+            match_index = i;
+        }
+    }
+
+    //get bool values for each input from matched index
+    bool s0 = CHECK_BIT(match_index, 0);
+    bool s1 = CHECK_BIT(match_index, 1);
+    bool s2 = CHECK_BIT(match_index, 2);
+    bool s3 = CHECK_BIT(match_index, 3);
+    //bool s1 = ((match_index & 0b1000) == 0b1000);
+    //bool s2 = ((match_index & 0b0100) == 0b0100);
+    //bool s3 = ((match_index & 0b0010) == 0b0010);
+    //bool s4 = ((match_index & 0b0001) == 0b0001);
+
+
+    //log results
+    ESP_LOGI(TAG, "adcRead: %d, closest-match: %d, diff: %d, index: %d, switches: %d%d%d%d",
+            adcValue, lookup_voltages[match_index], diffMin, match_index, (int)s3, (int)s2, (int)s1, (int)s0);
+
+
+}
+
+
+
+//====================
+//===== getState =====
+//====================
+//get state of certain switch (0-3)
+bool switchesAnalog_getState(int swNumber){
+    //run handle function to obtain all current input states
+    handle();
+    //get relevant bit
+    bool state = CHECK_BIT(match_index, swNumber);
+    ESP_LOGI(TAG, "returned state of switch No. %d = %i", swNumber, (int)state);
+    return state;
+}
+
+bool switchesAnalog_getState_sw0(){
+    return switchesAnalog_getState(0);
+}
+bool switchesAnalog_getState_sw1(){
+    return switchesAnalog_getState(1);
+}
+bool switchesAnalog_getState_sw2(){
+    return switchesAnalog_getState(2);
+}
+bool switchesAnalog_getState_sw3(){
+    return switchesAnalog_getState(3);
+}

main/switchesAnalog.hpp

@@ -0,0 +1,21 @@
+#pragma once
+extern "C"
+{
+#include <stdio.h>
+#include <freertos/FreeRTOS.h>
+#include "esp_log.h"
+#include "driver/adc.h"
+#include <math.h>
+}
+
+#include "config.hpp"
+#include "gpio_adc.hpp"
+
+
+//get current state of certain switch
+bool switchesAnalog_getState(int swNumber);
+
+bool switchesAnalog_getState_sw0();
+bool switchesAnalog_getState_sw1();
+bool switchesAnalog_getState_sw2();
+bool switchesAnalog_getState_sw3();

main/vfd.cpp

@@ -4,9 +4,9 @@
 
 const char* vfd_directionStr[2] = {"FWD", "REV"};
 static const char *TAG = "vfd";
-uint8_t level = 0; //current speed level
+static uint8_t level = 0; //current speed level
-bool state = false; //current state
+static bool state = false; //current state
-vfd_direction_t direction = FWD; //current direction
+static vfd_direction_t direction = FWD; //current direction
 
 
 //=============================
@@ -38,11 +38,9 @@ void vfd_setState(bool stateNew, vfd_direction_t directionNew){
                 gpio_set_level(GPIO_VFD_REV, 1);
                 break;
         }
-        gpio_set_level(GPIO_RELAY, 1);
     } else {
         gpio_set_level(GPIO_VFD_FWD, 0);
         gpio_set_level(GPIO_VFD_REV, 0);
-        gpio_set_level(GPIO_RELAY, 0);
     }
 }
 

pcb/4swToAdc/4swToAdc.kicad_prl

@@ -0,0 +1,75 @@
+{
+  "board": {
+    "active_layer": 0,
+    "active_layer_preset": "",
+    "auto_track_width": true,
+    "hidden_nets": [],
+    "high_contrast_mode": 0,
+    "net_color_mode": 1,
+    "opacity": {
+      "pads": 1.0,
+      "tracks": 1.0,
+      "vias": 1.0,
+      "zones": 0.6
+    },
+    "ratsnest_display_mode": 0,
+    "selection_filter": {
+      "dimensions": true,
+      "footprints": true,
+      "graphics": true,
+      "keepouts": true,
+      "lockedItems": true,
+      "otherItems": true,
+      "pads": true,
+      "text": true,
+      "tracks": true,
+      "vias": true,
+      "zones": true
+    },
+    "visible_items": [
+      0,
+      1,
+      2,
+      3,
+      4,
+      5,
+      8,
+      9,
+      10,
+      11,
+      12,
+      13,
+      14,
+      15,
+      16,
+      17,
+      18,
+      19,
+      20,
+      21,
+      22,
+      23,
+      24,
+      25,
+      26,
+      27,
+      28,
+      29,
+      30,
+      32,
+      33,
+      34,
+      35,
+      36
+    ],
+    "visible_layers": "fffffff_ffffffff",
+    "zone_display_mode": 0
+  },
+  "meta": {
+    "filename": "4-switches-to-adc.kicad_prl",
+    "version": 3
+  },
+  "project": {
+    "files": []
+  }
+}

pcb/4swToAdc/4swToAdc.kicad_pro

@@ -0,0 +1,294 @@
+{
+  "board": {
+    "layer_presets": []
+  },
+  "boards": [],
+  "cvpcb": {
+    "equivalence_files": []
+  },
+  "erc": {
+    "erc_exclusions": [],
+    "meta": {
+      "version": 0
+    },
+    "pin_map": [
+      [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        1,
+        0,
+        0,
+        0,
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+        2,
+        2,
+        2,
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+      ]
+    ],
+    "rule_severities": {
+      "bus_definition_conflict": "error",
+      "bus_entry_needed": "error",
+      "bus_label_syntax": "error",
+      "bus_to_bus_conflict": "error",
+      "bus_to_net_conflict": "error",
+      "different_unit_footprint": "error",
+      "different_unit_net": "error",
+      "duplicate_reference": "error",
+      "duplicate_sheet_names": "error",
+      "extra_units": "error",
+      "global_label_dangling": "warning",
+      "hier_label_mismatch": "error",
+      "label_dangling": "error",
+      "lib_symbol_issues": "warning",
+      "multiple_net_names": "warning",
+      "net_not_bus_member": "warning",
+      "no_connect_connected": "warning",
+      "no_connect_dangling": "warning",
+      "pin_not_connected": "error",
+      "pin_not_driven": "error",
+      "pin_to_pin": "warning",
+      "power_pin_not_driven": "error",
+      "similar_labels": "warning",
+      "unannotated": "error",
+      "unit_value_mismatch": "error",
+      "unresolved_variable": "error",
+      "wire_dangling": "error"
+    }
+  },
+  "libraries": {
+    "pinned_footprint_libs": [],
+    "pinned_symbol_libs": []
+  },
+  "meta": {
+    "filename": "4-switches-to-adc.kicad_pro",
+    "version": 1
+  },
+  "net_settings": {
+    "classes": [
+      {
+        "bus_width": 12.0,
+        "clearance": 0.2,
+        "diff_pair_gap": 0.25,
+        "diff_pair_via_gap": 0.25,
+        "diff_pair_width": 0.2,
+        "line_style": 0,
+        "microvia_diameter": 0.3,
+        "microvia_drill": 0.1,
+        "name": "Default",
+        "pcb_color": "rgba(0, 0, 0, 0.000)",
+        "schematic_color": "rgba(0, 0, 0, 0.000)",
+        "track_width": 0.25,
+        "via_diameter": 0.8,
+        "via_drill": 0.4,
+        "wire_width": 6.0
+      }
+    ],
+    "meta": {
+      "version": 2
+    },
+    "net_colors": null
+  },
+  "pcbnew": {
+    "last_paths": {
+      "gencad": "",
+      "idf": "",
+      "netlist": "",
+      "specctra_dsn": "",
+      "step": "",
+      "vrml": ""
+    },
+    "page_layout_descr_file": ""
+  },
+  "schematic": {
+    "annotate_start_num": 0,
+    "drawing": {
+      "default_line_thickness": 6.0,
+      "default_text_size": 50.0,
+      "field_names": [],
+      "intersheets_ref_own_page": false,
+      "intersheets_ref_prefix": "",
+      "intersheets_ref_short": false,
+      "intersheets_ref_show": false,
+      "intersheets_ref_suffix": "",
+      "junction_size_choice": 3,
+      "label_size_ratio": 0.375,
+      "pin_symbol_size": 25.0,
+      "text_offset_ratio": 0.15
+    },
+    "legacy_lib_dir": "",
+    "legacy_lib_list": [],
+    "meta": {
+      "version": 1
+    },
+    "net_format_name": "",
+    "page_layout_descr_file": "",
+    "plot_directory": "",
+    "spice_adjust_passive_values": false,
+    "spice_external_command": "spice \"%I\"",
+    "subpart_first_id": 65,
+    "subpart_id_separator": 0
+  },
+  "sheets": [
+    [
+      "0534e379-8bf0-4abf-a148-fc91b6440529",
+      ""
+    ]
+  ],
+  "text_variables": {}
+}

pcb/4swToAdc/4swToAdc.kicad_sch

@@ -0,0 +1,580 @@
+(kicad_sch (version 20211123) (generator eeschema)
+
+  (uuid 0534e379-8bf0-4abf-a148-fc91b6440529)
+
+  (paper "A4")
+
+  (lib_symbols
+    (symbol "Device:R" (pin_numbers hide) (pin_names (offset 0)) (in_bom yes) (on_board yes)
+      (property "Reference" "R" (id 0) (at 2.032 0 90)
+        (effects (font (size 1.27 1.27)))
+      )
+      (property "Value" "R" (id 1) (at 0 0 90)
+        (effects (font (size 1.27 1.27)))
+      )
+      (property "Footprint" "" (id 2) (at -1.778 0 90)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "Datasheet" "~" (id 3) (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "ki_keywords" "R res resistor" (id 4) (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "ki_description" "Resistor" (id 5) (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (property "ki_fp_filters" "R_*" (id 6) (at 0 0 0)
+        (effects (font (size 1.27 1.27)) hide)
+      )
+      (symbol "R_0_1"
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+    (in_bom yes) (on_board yes) (fields_autoplaced)
+    (uuid a516e0a9-fe24-4120-873c-6f89d1fb49c0)
+    (property "Reference" "#PWR?" (id 0) (at 48.26 45.085 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Value" "+3V3" (id 1) (at 48.26 36.195 0))
+    (property "Footprint" "" (id 2) (at 48.26 41.275 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "" (id 3) (at 48.26 41.275 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid 7edde932-e6ea-4bb3-80d2-0dfb0b34dfdf))
+  )
+
+  (symbol (lib_id "Device:R") (at 73.66 64.135 0) (unit 1)
+    (in_bom yes) (on_board yes) (fields_autoplaced)
+    (uuid e38a88e5-32b2-4c8e-8e29-fd613e9fce2a)
+    (property "Reference" "R1" (id 0) (at 76.2 62.8649 0)
+      (effects (font (size 1.27 1.27)) (justify left))
+    )
+    (property "Value" "4k7" (id 1) (at 76.2 65.4049 0)
+      (effects (font (size 1.27 1.27)) (justify left))
+    )
+    (property "Footprint" "" (id 2) (at 71.882 64.135 90)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "~" (id 3) (at 73.66 64.135 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid 14717925-77d8-4e5b-87f4-d527a7df25a2))
+    (pin "2" (uuid 042328ba-54db-4f0f-b129-1e89e595aa37))
+  )
+
+  (symbol (lib_id "Device:R") (at 86.36 64.135 0) (unit 1)
+    (in_bom yes) (on_board yes) (fields_autoplaced)
+    (uuid f9457597-177c-435c-90d9-f31193f60883)
+    (property "Reference" "R0" (id 0) (at 88.9 62.8649 0)
+      (effects (font (size 1.27 1.27)) (justify left))
+    )
+    (property "Value" "8k2" (id 1) (at 88.9 65.4049 0)
+      (effects (font (size 1.27 1.27)) (justify left))
+    )
+    (property "Footprint" "" (id 2) (at 84.582 64.135 90)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (property "Datasheet" "~" (id 3) (at 86.36 64.135 0)
+      (effects (font (size 1.27 1.27)) hide)
+    )
+    (pin "1" (uuid a698459c-2acc-4346-a3d9-ec53ed63917d))
+    (pin "2" (uuid c6c22bf2-3a43-4c40-940f-495f13d46fdd))
+  )
+
+  (sheet_instances
+    (path "/" (page "1"))
+  )
+
+  (symbol_instances
+    (path "/07a9d758-a267-455f-b30c-3770f3527e7a"
+      (reference "#PWR?") (unit 1) (value "GND") (footprint "")
+    )
+    (path "/a516e0a9-fe24-4120-873c-6f89d1fb49c0"
+      (reference "#PWR?") (unit 1) (value "+3V3") (footprint "")
+    )
+    (path "/f9457597-177c-435c-90d9-f31193f60883"
+      (reference "R0") (unit 1) (value "8k2") (footprint "")
+    )
+    (path "/e38a88e5-32b2-4c8e-8e29-fd613e9fce2a"
+      (reference "R1") (unit 1) (value "4k7") (footprint "")
+    )
+    (path "/8c50ab84-72ab-438d-a9f1-a710a33b8e06"
+      (reference "R2") (unit 1) (value "2k2") (footprint "")
+    )
+    (path "/769febe6-b95c-4d37-94fa-e3721ea908aa"
+      (reference "R3") (unit 1) (value "1k") (footprint "")
+    )
+    (path "/6eeba788-57b9-45a8-981d-ecd17efd1d54"
+      (reference "R_up") (unit 1) (value "1k") (footprint "")
+    )
+    (path "/3742357e-3d4f-4d99-8094-756d8329e07a"
+      (reference "SW0") (unit 1) (value "SW_Push") (footprint "")
+    )
+    (path "/93d3db7a-9c33-4a6b-8a4f-9c98164fe8b8"
+      (reference "SW1") (unit 1) (value "SW_Push") (footprint "")
+    )
+    (path "/28a1ca96-47e6-44c9-b9dc-c435e73ae941"
+      (reference "SW2") (unit 1) (value "SW_Push") (footprint "")
+    )
+    (path "/864b1f85-f995-433a-9a94-7965edbddf3c"
+      (reference "SW3") (unit 1) (value "SW_Push") (footprint "")
+    )
+  )
+)

pcb/stepper-filter/stepper-filter.kicad_prl

@@ -0,0 +1,75 @@
+{
+  "board": {
+    "active_layer": 0,
+    "active_layer_preset": "",
+    "auto_track_width": true,
+    "hidden_nets": [],
+    "high_contrast_mode": 0,
+    "net_color_mode": 1,
+    "opacity": {
+      "pads": 1.0,
+      "tracks": 1.0,
+      "vias": 1.0,
+      "zones": 0.6
+    },
+    "ratsnest_display_mode": 0,
+    "selection_filter": {
+      "dimensions": true,
+      "footprints": true,
+      "graphics": true,
+      "keepouts": true,
+      "lockedItems": true,
+      "otherItems": true,
+      "pads": true,
+      "text": true,
+      "tracks": true,
+      "vias": true,
+      "zones": true
+    },
+    "visible_items": [
+      0,
+      1,
+      2,
+      3,
+      4,
+      5,
+      8,
+      9,
+      10,
+      11,
+      12,
+      13,
+      14,
+      15,
+      16,
+      17,
+      18,
+      19,
+      20,
+      21,
+      22,
+      23,
+      24,
+      25,
+      26,
+      27,
+      28,
+      29,
+      30,
+      32,
+      33,
+      34,
+      35,
+      36
+    ],
+    "visible_layers": "fffffff_ffffffff",
+    "zone_display_mode": 0
+  },
+  "meta": {
+    "filename": "stepper-filter.kicad_prl",
+    "version": 3
+  },
+  "project": {
+    "files": []
+  }
+}

pcb/stepper-filter/stepper-filter.kicad_pro

@@ -0,0 +1,294 @@
+{
+  "board": {
+    "layer_presets": []
+  },
+  "boards": [],
+  "cvpcb": {
+    "equivalence_files": []
+  },
+  "erc": {
+    "erc_exclusions": [],
+    "meta": {
+      "version": 0
+    },
+    "pin_map": [
+      [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        1,
+        0,
+        0,
+        0,
+        0,
+        2
+      ],
+      [
+        0,
+        2,
+        0,
+        1,
+        0,
+        0,
+        1,
+        0,
+        2,
+        2,
+        2,
+        2
+      ],
+      [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        1,
+        0,
+        1,
+        0,
+        1,
+        2
+      ],
+      [
+        0,
+        1,
+        0,
+        0,
+        0,
+        0,
+        1,
+        1,
+        2,
+        1,
+        1,
+        2
+      ],
+      [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        1,
+        0,
+        0,
+        0,
+        0,
+        2
+      ],
+      [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        2
+      ],
+      [
+        1,
+        1,
+        1,
+        1,
+        1,
+        0,
+        1,
+        1,
+        1,
+        1,
+        1,
+        2
+      ],
+      [
+        0,
+        0,
+        0,
+        1,
+        0,
+        0,
+        1,
+        0,
+        0,
+        0,
+        0,
+        2
+      ],
+      [
+        0,
+        2,
+        1,
+        2,
+        0,
+        0,
+        1,
+        0,
+        2,
+        2,
+        2,
+        2
+      ],
+      [
+        0,
+        2,
+        0,
+        1,
+        0,
+        0,
+        1,
+        0,
+        2,
+        0,
+        0,
+        2
+      ],
+      [
+        0,
+        2,
+        1,
+        1,
+        0,
+        0,
+        1,
+        0,
+        2,
+        0,
+        0,
+        2
+      ],
+      [
+        2,
+        2,
+        2,
+        2,
+        2,
+        2,
+        2,
+        2,
+        2,
+        2,
+        2,
+        2
+      ]
+    ],
+    "rule_severities": {
+      "bus_definition_conflict": "error",
+      "bus_entry_needed": "error",
+      "bus_label_syntax": "error",
+      "bus_to_bus_conflict": "error",
+      "bus_to_net_conflict": "error",
+      "different_unit_footprint": "error",
+      "different_unit_net": "error",
+      "duplicate_reference": "error",
+      "duplicate_sheet_names": "error",
+      "extra_units": "error",
+      "global_label_dangling": "warning",
+      "hier_label_mismatch": "error",
+      "label_dangling": "error",
+      "lib_symbol_issues": "warning",
+      "multiple_net_names": "warning",
+      "net_not_bus_member": "warning",
+      "no_connect_connected": "warning",
+      "no_connect_dangling": "warning",
+      "pin_not_connected": "error",
+      "pin_not_driven": "error",
+      "pin_to_pin": "warning",
+      "power_pin_not_driven": "error",
+      "similar_labels": "warning",
+      "unannotated": "error",
+      "unit_value_mismatch": "error",
+      "unresolved_variable": "error",
+      "wire_dangling": "error"
+    }
+  },
+  "libraries": {
+    "pinned_footprint_libs": [],
+    "pinned_symbol_libs": []
+  },
+  "meta": {
+    "filename": "stepper-filter.kicad_pro",
+    "version": 1
+  },
+  "net_settings": {
+    "classes": [
+      {
+        "bus_width": 12.0,
+        "clearance": 0.2,
+        "diff_pair_gap": 0.25,
+        "diff_pair_via_gap": 0.25,
+        "diff_pair_width": 0.2,
+        "line_style": 0,
+        "microvia_diameter": 0.3,
+        "microvia_drill": 0.1,
+        "name": "Default",
+        "pcb_color": "rgba(0, 0, 0, 0.000)",
+        "schematic_color": "rgba(0, 0, 0, 0.000)",
+        "track_width": 0.25,
+        "via_diameter": 0.8,
+        "via_drill": 0.4,
+        "wire_width": 6.0
+      }
+    ],
+    "meta": {
+      "version": 2
+    },
+    "net_colors": null
+  },
+  "pcbnew": {
+    "last_paths": {
+      "gencad": "",
+      "idf": "",
+      "netlist": "",
+      "specctra_dsn": "",
+      "step": "",
+      "vrml": ""
+    },
+    "page_layout_descr_file": ""
+  },
+  "schematic": {
+    "annotate_start_num": 0,
+    "drawing": {
+      "default_line_thickness": 6.0,
+      "default_text_size": 50.0,
+      "field_names": [],
+      "intersheets_ref_own_page": false,
+      "intersheets_ref_prefix": "",
+      "intersheets_ref_short": false,
+      "intersheets_ref_show": false,
+      "intersheets_ref_suffix": "",
+      "junction_size_choice": 3,
+      "label_size_ratio": 0.375,
+      "pin_symbol_size": 25.0,
+      "text_offset_ratio": 0.15
+    },
+    "legacy_lib_dir": "",
+    "legacy_lib_list": [],
+    "meta": {
+      "version": 1
+    },
+    "net_format_name": "",
+    "page_layout_descr_file": "",
+    "plot_directory": "",
+    "spice_adjust_passive_values": false,
+    "spice_external_command": "spice \"%I\"",
+    "subpart_first_id": 65,
+    "subpart_id_separator": 0
+  },
+  "sheets": [
+    [
+      "0534e379-8bf0-4abf-a148-fc91b6440529",
+      ""
+    ]
+  ],
+  "text_variables": {}
+}

sdkconfig

@@ -54,6 +54,7 @@ CONFIG_BOOTLOADER_LOG_LEVEL=3
 CONFIG_BOOTLOADER_VDDSDIO_BOOST_1_9V=y
 # CONFIG_BOOTLOADER_FACTORY_RESET is not set
 # CONFIG_BOOTLOADER_APP_TEST is not set
+CONFIG_BOOTLOADER_REGION_PROTECTION_ENABLE=y
 CONFIG_BOOTLOADER_WDT_ENABLE=y
 # CONFIG_BOOTLOADER_WDT_DISABLE_IN_USER_CODE is not set
 CONFIG_BOOTLOADER_WDT_TIME_MS=9000
@@ -95,6 +96,9 @@ CONFIG_ESPTOOLPY_FLASHSIZE_2MB=y
 # CONFIG_ESPTOOLPY_FLASHSIZE_4MB is not set
 # CONFIG_ESPTOOLPY_FLASHSIZE_8MB is not set
 # CONFIG_ESPTOOLPY_FLASHSIZE_16MB is not set
+# CONFIG_ESPTOOLPY_FLASHSIZE_32MB is not set
+# CONFIG_ESPTOOLPY_FLASHSIZE_64MB is not set
+# CONFIG_ESPTOOLPY_FLASHSIZE_128MB is not set
 CONFIG_ESPTOOLPY_FLASHSIZE="2MB"
 CONFIG_ESPTOOLPY_FLASHSIZE_DETECT=y
 CONFIG_ESPTOOLPY_BEFORE_RESET=y
@@ -263,8 +267,8 @@ CONFIG_EFUSE_MAX_BLK_LEN=192
 #
 CONFIG_ESP_TLS_USING_MBEDTLS=y
 # CONFIG_ESP_TLS_USE_SECURE_ELEMENT is not set
-# CONFIG_ESP_TLS_SERVER is not set
 # CONFIG_ESP_TLS_CLIENT_SESSION_TICKETS is not set
+# CONFIG_ESP_TLS_SERVER is not set
 # CONFIG_ESP_TLS_PSK_VERIFICATION is not set
 # CONFIG_ESP_TLS_INSECURE is not set
 # end of ESP-TLS
@@ -411,15 +415,17 @@ CONFIG_ESP_MAC_ADDR_UNIVERSE_ETH=y
 # CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES_TWO is not set
 CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES_FOUR=y
 CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES=4
+# CONFIG_ESP_MAC_IGNORE_MAC_CRC_ERROR is not set
 # end of MAC Config
 
 #
 # Sleep Config
 #
-CONFIG_ESP_SLEEP_POWER_DOWN_FLASH=y
+# CONFIG_ESP_SLEEP_POWER_DOWN_FLASH is not set
 CONFIG_ESP_SLEEP_RTC_BUS_ISO_WORKAROUND=y
 # CONFIG_ESP_SLEEP_GPIO_RESET_WORKAROUND is not set
-# CONFIG_ESP_SLEEP_FLASH_LEAKAGE_WORKAROUND is not set
+CONFIG_ESP_SLEEP_FLASH_LEAKAGE_WORKAROUND=y
+# CONFIG_ESP_SLEEP_MSPI_NEED_ALL_IO_PU is not set
 # end of Sleep Config
 
 #
@@ -472,6 +478,13 @@ CONFIG_ESP_PHY_REDUCE_TX_POWER=y
 # CONFIG_PM_ENABLE is not set
 # end of Power Management
 
+#
+# ESP Ringbuf
+#
+# CONFIG_RINGBUF_PLACE_FUNCTIONS_INTO_FLASH is not set
+# CONFIG_RINGBUF_PLACE_ISR_FUNCTIONS_INTO_FLASH is not set
+# end of ESP Ringbuf
+
 #
 # ESP System Settings
 #
@@ -555,6 +568,8 @@ CONFIG_ESP32_WIFI_ENABLE_WPA3_SAE=y
 # CONFIG_ESP_WIFI_STA_DISCONNECTED_PM_ENABLE is not set
 # CONFIG_ESP_WIFI_GMAC_SUPPORT is not set
 CONFIG_ESP_WIFI_SOFTAP_SUPPORT=y
+# CONFIG_ESP_WIFI_SLP_BEACON_LOST_OPT is not set
+CONFIG_ESP_WIFI_ESPNOW_MAX_ENCRYPT_NUM=7
 # end of Wi-Fi
 
 #
@@ -628,11 +643,7 @@ CONFIG_FMB_CONTROLLER_NOTIFY_QUEUE_SIZE=20
 CONFIG_FMB_CONTROLLER_STACK_SIZE=4096
 CONFIG_FMB_EVENT_QUEUE_TIMEOUT=20
 # CONFIG_FMB_TIMER_PORT_ENABLED is not set
-CONFIG_FMB_TIMER_GROUP=0
+# CONFIG_FMB_TIMER_USE_ISR_DISPATCH_METHOD is not set
-CONFIG_FMB_TIMER_INDEX=0
-CONFIG_FMB_MASTER_TIMER_GROUP=0
-CONFIG_FMB_MASTER_TIMER_INDEX=0
-# CONFIG_FMB_TIMER_ISR_IN_IRAM is not set
 # end of Modbus configuration
 
 #
@@ -791,6 +802,7 @@ CONFIG_LWIP_TCP_SYNMAXRTX=12
 CONFIG_LWIP_TCP_MSS=1440
 CONFIG_LWIP_TCP_TMR_INTERVAL=250
 CONFIG_LWIP_TCP_MSL=60000
+CONFIG_LWIP_TCP_FIN_WAIT_TIMEOUT=20000
 CONFIG_LWIP_TCP_SND_BUF_DEFAULT=5744
 CONFIG_LWIP_TCP_WND_DEFAULT=5744
 CONFIG_LWIP_TCP_RECVMBOX_SIZE=6
@@ -901,6 +913,7 @@ CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_FULL=y
 # CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_CMN is not set
 # CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_NONE is not set
 # CONFIG_MBEDTLS_CUSTOM_CERTIFICATE_BUNDLE is not set
+CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_MAX_CERTS=200
 # end of Certificate Bundle
 
 # CONFIG_MBEDTLS_ECP_RESTARTABLE is not set
@@ -1048,6 +1061,7 @@ CONFIG_NEWLIB_STDIN_LINE_ENDING_CR=y
 #
 # NVS
 #
+# CONFIG_NVS_ASSERT_ERROR_CHECK is not set
 # end of NVS
 
 #
@@ -1185,7 +1199,6 @@ CONFIG_VFS_SUPPORT_TERMIOS=y
 # Host File System I/O (Semihosting)
 #
 CONFIG_VFS_SEMIHOSTFS_MAX_MOUNT_POINTS=1
-CONFIG_VFS_SEMIHOSTFS_HOST_PATH_MAX_LEN=128
 # end of Host File System I/O (Semihosting)
 # end of Virtual file system
 
@@ -1202,6 +1215,7 @@ CONFIG_WL_SECTOR_SIZE=4096
 #
 CONFIG_WIFI_PROV_SCAN_MAX_ENTRIES=16
 CONFIG_WIFI_PROV_AUTOSTOP_TIMEOUT=30
+# CONFIG_WIFI_PROV_BLE_FORCE_ENCRYPTION is not set
 # end of Wi-Fi Provisioning Manager
 
 #
@@ -1214,6 +1228,8 @@ CONFIG_WPA_MBEDTLS_CRYPTO=y
 # CONFIG_WPA_TESTING_OPTIONS is not set
 # CONFIG_WPA_WPS_STRICT is not set
 # CONFIG_WPA_11KV_SUPPORT is not set
+# CONFIG_WPA_MBO_SUPPORT is not set
+# CONFIG_WPA_DPP_SUPPORT is not set
 # end of Supplicant
 # end of Component config
 
@@ -1291,7 +1307,7 @@ CONFIG_POST_EVENTS_FROM_IRAM_ISR=y
 # CONFIG_TWO_UNIVERSAL_MAC_ADDRESS is not set
 CONFIG_FOUR_UNIVERSAL_MAC_ADDRESS=y
 CONFIG_NUMBER_OF_UNIVERSAL_MAC_ADDRESS=4
-CONFIG_ESP_SYSTEM_PD_FLASH=y
+# CONFIG_ESP_SYSTEM_PD_FLASH is not set
 # CONFIG_ESP32C3_LIGHTSLEEP_GPIO_RESET_WORKAROUND is not set
 CONFIG_IPC_TASK_STACK_SIZE=1536
 CONFIG_ESP32_PHY_CALIBRATION_AND_DATA_STORAGE=y
@@ -1338,8 +1354,6 @@ CONFIG_MB_CONTROLLER_NOTIFY_QUEUE_SIZE=20
 CONFIG_MB_CONTROLLER_STACK_SIZE=4096
 CONFIG_MB_EVENT_QUEUE_TIMEOUT=20
 # CONFIG_MB_TIMER_PORT_ENABLED is not set
-CONFIG_MB_TIMER_GROUP=0
-CONFIG_MB_TIMER_INDEX=0
 # CONFIG_ENABLE_STATIC_TASK_CLEAN_UP_HOOK is not set
 CONFIG_TIMER_TASK_PRIORITY=1
 CONFIG_TIMER_TASK_STACK_DEPTH=2048
@@ -1382,5 +1396,4 @@ CONFIG_SPI_FLASH_WRITING_DANGEROUS_REGIONS_ABORTS=y
 CONFIG_SUPPRESS_SELECT_DEBUG_OUTPUT=y
 CONFIG_SUPPORT_TERMIOS=y
 CONFIG_SEMIHOSTFS_MAX_MOUNT_POINTS=1
-CONFIG_SEMIHOSTFS_HOST_PATH_MAX_LEN=128
 # End of deprecated options

testing/cnc-guide/main.c

@@ -0,0 +1,104 @@
+#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;
+}
+

testing/cnc-guide/makefile

@@ -0,0 +1,7 @@
+default: program
+
+program:
+	gcc main.c -o a.out -lm
+
+clean:
+	-rm -f a.out