#include "control.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;
}
//====================
//==== variables =====
//====================
static const char *TAG = "control"; //tag for logging
const char* systemStateStr[5] = {"COUNTING", "WINDING_START", "WINDING", "TARGET_REACHED", "MANUAL"};
systemState_t controlState = COUNTING;
char buf_disp[20]; //both displays
char buf_disp1[10];// 8 digits + decimal point + \0
char buf_disp2[10];// 8 digits + decimal point + \0
char buf_tmp[15];
rotary_encoder_info_t encoder; //encoder device/info
QueueHandle_t encoder_queue = NULL; //encoder event queue
rotary_encoder_state_t encoderState;
uint32_t timestamp_pageSwitched = 0;
bool page = false; //store page number currently displayed
int lengthNow = 0; //length measured in mm
int lengthTarget = 3000; //target length in mm
int lengthRemaining = 0; //(target - now) length needed for reaching the target
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 =====
//function for changing the controlState with log output
void changeState (systemState_t stateNew) {
//only proceed when state actually changed
if (controlState == stateNew){
return; //already at target state -> nothing to do
}
//log change
ESP_LOGW(TAG, "changed state from %s to %s", systemStateStr[(int)controlState], systemStateStr[(int)stateNew]);
//change state
controlState = stateNew;
}
//===== 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
bool handleStopCondition(handledDisplay * displayTop, handledDisplay * displayBot){
//--- stop conditions ---
//stop conditions that are checked in any mode
//target reached
if (lengthRemaining <= 0 ) {
changeState(TARGET_REACHED);
vfd_setState(false);
displayTop->blink(1, 0, 1500, " S0LL ");
displayBot->blink(1, 0, 1500, "ERREICHT");
buzzer.beep(2, 100, 100);
return true;
}
//start button released
else if (SW_START.state == false) {
changeState(COUNTING);
vfd_setState(false);
displayTop->blink(2, 900, 1000, "- STOP -");
displayBot->blink(2, 900, 1000, " TASTER ");
buzzer.beep(3, 200, 100);
return true;
} else {
return false;
}
}
//===== set dynamic speed level =====
//function that sets the vfd speed level dynamicly depending on the remaining distance
//closer to target -> slower
void setDynSpeedLvl(uint8_t lvlMax = 3){
uint8_t lvl;
//define speed level according to difference
if (lengthRemaining < 50) {
lvl = 0;
} else if (lengthRemaining < 200) {
lvl = 1;
} else if (lengthRemaining < 600) {
lvl = 2;
} else { //more than last step remaining
lvl = 3;
}
//limit to max lvl
if (lvl > lvlMax){
lvl = lvlMax;
}
//update vfd speed level
vfd_setSpeedLevel(lvl);
}
//========================
//===== control task =====
//========================
void task_control(void *pvParameter)
{
//initialize encoder
encoder_queue = init_encoder(&encoder);
//initialize display
max7219_t two7SegDisplays = display_init();
//create two separate handled display instances
handledDisplay displayTop(two7SegDisplays, 0);
handledDisplay displayBot(two7SegDisplays, 8);
//--- display welcome msg ---
//display welcome message on two 7 segment displays
//currently show name and date and scrolling 'hello'
display_ShowWelcomeMsg(two7SegDisplays);
//================
//===== loop =====
//================
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();
//----------------------------
//------ rotary encoder ------
//----------------------------
// Poll current position and direction
rotary_encoder_get_state(&encoder, &encoderState);
//--- 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);
lengthNow = 0;
buzzer.beep(1, 700, 100);
}
//--- manual mode ---
//switch to manual motor control (2 buttons + poti)
if ( SW_PRESET2.state && (SW_PRESET1.state || SW_PRESET3.state) && controlState != MANUAL ) {
//enable manual control
changeState(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 = gpio_readAdc(ADC_CHANNEL_POTI); //0-4095
//scale to target length range
int lengthTargetNew = (float)potiRead / 4095 * 30000;
//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);
lengthTargetNew = (lengthTargetNew/1000 ) * 1000; //round down
} else if (lengthTargetNew % 1000 > 800 ) { //round up if more than .8 meter
ESP_LOGD(TAG, "Poti input = %d -> rounding up", lengthTargetNew);
lengthTargetNew = (lengthTargetNew/1000 + 1) * 1000; //round up
} else {
ESP_LOGD(TAG, "Poti input = %d -> hysteresis", lengthTargetNew);
lengthTargetNew = lengthTarget;
}
//update target length and beep when effectively changed
if (lengthTargetNew != lengthTarget) {
//TODO update lengthTarget only at button release?
lengthTarget = lengthTargetNew;
ESP_LOGI(TAG, "Changed target length to %d mm", lengthTarget);
buzzer.beep(1, 25, 10);
}
}
//beep start and end of editing
if (SW_SET.risingEdge) {
buzzer.beep(1, 70, 50);
}
if (SW_SET.fallingEdge) {
buzzer.beep(2, 70, 50);
displayBot.blink(2, 100, 100, "S0LL ");
}
//--- target length presets ---
if (controlState != 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) {
lengthTarget = 10000;
buzzer.beep(lengthTarget/1000, 25, 30);
displayBot.blink(2, 100, 100, "S0LL ");
}
}
//---------------------------
//--------- control ---------
//---------------------------
//calculate length difference
lengthRemaining = lengthTarget - lengthNow;
//--- statemachine ---
switch (controlState) {
case COUNTING: //no motor action
vfd_setState(false);
//TODO check stop condition before starting - prevents motor from starting 2 cycles when
//--- start winding to length ---
if (SW_START.risingEdge) {
changeState(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
buzzer.beep(1, 100, 0);
}
break;
case 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) {
changeState(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
//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:
vfd_setState(false);
//switch to counting state when no longer at or above target length
if ( lengthRemaining > 0 ) {
changeState(COUNTING);
}
//show msg when trying to start, but target is reached
if (SW_START.risingEdge){
buzzer.beep(3, 40, 30);
displayTop.blink(2, 600, 800, " S0LL ");
displayBot.blink(2, 600, 800, "ERREICHT");
}
break;
case MANUAL: //manually control motor via preset buttons + poti
//read poti value
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);
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_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_setState(true, FWD);
sprintf(buf_disp2, " %02i--]", level);
}
//no valid switch combination -> turn off motor
else {
vfd_setState(false);
sprintf(buf_disp2, " %02i ", level);
}
}
//--------------------------
//------ encoder test ------
//--------------------------
#ifdef ENCODER_TEST
//run display handle functions
displayTop.handle();
displayBot.handle();
//-- show encoder steps on display1 ---
sprintf(buf_disp1, "EN %05d", encoderState.position); //count
displayTop.showString(buf_disp1);
//--- show converted distance on display2 ---
sprintf(buf_disp2, "Met %5.3f", (float)lengthNow/1000); //m
displayBot.showString(buf_disp2);
//--- beep every 1m ---
//note: only works precicely in forward/positive direction
if (lengthNow % 1000 < 50) { //with tolerance in case of missed exact value
if (fabs(lengthNow - lengthBeeped) >= 900) { //dont beep multiple times at same meter
//TODO: add case for reverse direction. currently beeps 0.1 too early
buzzer.beep(1, 400, 100 );
lengthBeeped = lengthNow;
}
}
#else
//--------------------------
//-------- display1 --------
//--------------------------
//run handle function
displayTop.handle();
//show current position on display
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);
//--------------------------
//-------- display2 --------
//--------------------------
//run handle function
displayBot.handle();
//setting target length: blink target length
if (SW_SET.state == true){
sprintf(buf_tmp, "S0LL%5.3f", (float)lengthTarget/1000);
displayBot.blinkStrings(buf_tmp, "S0LL ", 300, 100);
}
//manual state: blink "manual"
else if (controlState == MANUAL) {
displayBot.blinkStrings(" MANUAL ", buf_disp2, 1000, 1000);
}
//otherwise show target length
else {
//sprintf(buf_disp2, "%06.1f cm", (float)lengthTarget/10); //cm
sprintf(buf_tmp, "S0LL%5.3f", (float)lengthTarget/1000); //m
// 1234 5678
displayBot.showString(buf_tmp);
}
#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
}
}