#include "control.hpp"
//========================
//===== init display =====
//========================
max7219_t init_display(){
// Configure SPI bus
spi_bus_config_t cfg;
cfg.mosi_io_num = DISPLAY_PIN_NUM_MOSI;
cfg.miso_io_num = -1;
cfg.sclk_io_num = DISPLAY_PIN_NUM_CLK;
cfg.quadwp_io_num = -1;
cfg.quadhd_io_num = -1;
cfg.max_transfer_sz = 0;
cfg.flags = 0;
ESP_ERROR_CHECK(spi_bus_initialize(HOST, &cfg, 1));
// Configure device
max7219_t dev;
dev.cascade_size = 2;
dev.digits = 0;
dev.mirrored = true;
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, 12));
return dev;
}
//========================
//===== 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;
}
}
//====================
//==== variables =====
//====================
static const char *TAG = "control";
const char* systemStateStr[4] = {"COUNTING", "WINDING_START", "WINDING", "TARGET_REACHED"};
systemState_t controlState = COUNTING;
max7219_t display; //display device
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;
uint8_t count = 0; //count for testing
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 lengthDiff = 0; //length difference
int potiRead = 0; //voltage read from adc
uint32_t timestamp_motorStarted = 0; //timestamp winding started
//===== change State =====
//function for changing the controlState
void changeState (systemState_t stateNew) {
//only proceed when state actually changed
if (controlState == stateNew){
//already at target state -> nothing to do
return;
}
//log change
ESP_LOGW(TAG, "changed state from %s to %s", systemStateStr[(int)controlState], systemStateStr[(int)stateNew]);
//change state
controlState = stateNew;
}
//========================
//===== control task =====
//========================
void task_control(void *pvParameter)
{
//initialize display
display = init_display();
//initialize encoder
//both dispencoder_queue = init_encoder(&encoder);
//-----------------------------------
//------- display welcome msg -------
//-----------------------------------
//display welcome message on 2 7 segment displays
//show name and date
ESP_LOGI(TAG, "showing startup message...");
max7219_clear(&display);
max7219_draw_text_7seg(&display, 0, "CUTTER 20.08.2022");
// 1234567812 34 5678
vTaskDelay(pdMS_TO_TICKS(700));
//scroll "hello" over 2 displays
for (int offset = 0; offset < 23; offset++) {
max7219_clear(&display);
char hello[23] = " HELL0 ";
max7219_draw_text_7seg(&display, 0, hello + (22 - offset) );
vTaskDelay(pdMS_TO_TICKS(50));
}
//================
//===== 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); //TODO dont calculate constant factor every time FIXME: ROUNDING ISSUE float-int?
//---------------------------
//------ potentiometer ------
//---------------------------
//set target length to poti position when set switch is pressed
if (SW_SET.state == true) {
//read adc
potiRead = readAdc(ADC_CHANNEL_POTI);
//scale to target length range
lengthTarget = (float)potiRead / 4095 * 50000;
//round to whole meters
lengthTarget = round(lengthTarget / 1000) * 1000;
//TODO update lengthTarget only at button release?
//TODO beep for each m step?
}
//beep
if (SW_SET.risingEdge) {
buzzer.beep(1, 100, 50);
}
if (SW_SET.fallingEdge) {
buzzer.beep(2, 100, 50);
}
//---------------------------
//--------- buttons ---------
//---------------------------
//TODO: ADD PRESET SWITCHES HERE
//--- RESET switch ---
if (SW_RESET.risingEdge) {
rotary_encoder_reset(&encoder);
lengthNow = 0;
buzzer.beep(1, 700, 100);
}
//---------------------------
//--------- control ---------
//---------------------------
//calculate length difference
lengthDiff = lengthNow - lengthTarget;
//--- stop conditions ---
//stop conditions that are checked in any mode
//disable motor and switch to COUNTING when start button released
if (SW_START.state == false) { //TODO use fallingEdge here more clean?
changeState(COUNTING);
vfd_setState(false);
}
//disable motor and switch to TARGET_REACHED
else if (lengthDiff >= 0 ) {
//TODO: display "REACHED" on 7segment here or reached state (start pressed but reached)
changeState(TARGET_REACHED);
vfd_setState(false);
}
//--- statemachine ---
switch (controlState) {
case COUNTING: //no motor action
//TODO stop motor here every run instead of at button event?
if (SW_START.risingEdge) {
changeState(WINDING_START);
vfd_setSpeedLevel(2); //start at low speed
vfd_setState(true); //start motor
timestamp_motorStarted = esp_log_timestamp(); //save time started
}
break;
case WINDING_START: //wind slow for certain time
//TODO: cancel / stay in this state when no change to lengthNow
if (esp_log_timestamp() - timestamp_motorStarted > 4000) {
changeState(WINDING);
}
//TESTING: SIMULATE LENGTH INCREASE
//lengthNow += 2;
break;
case WINDING: //wind at dynamic speed
lengthDiff = abs(lengthDiff);
//adjust speed according to difference
if (lengthDiff < 10) {
vfd_setSpeedLevel(1);
//TESTING: SIMULATE LENGTH INCREASE
//lengthNow += 1;
} else if (lengthDiff < 50) {
vfd_setSpeedLevel(2);
//TESTING: SIMULATE LENGTH INCREASE
//lengthNow += 4;
} else if (lengthDiff < 200) {
vfd_setSpeedLevel(3);
//TESTING: SIMULATE LENGTH INCREASE
//lengthNow += 6;
} else if (lengthDiff < 500) {
vfd_setSpeedLevel(4);
//TESTING: SIMULATE LENGTH INCREASE
//lengthNow += 50;
} else if (lengthDiff < 1000) {
vfd_setSpeedLevel(6);
//TESTING: SIMULATE LENGTH INCREASE
//lengthNow += 100;
} else { //more than last step
vfd_setSpeedLevel(7);
//TESTING: SIMULATE LENGTH INCREASE
//lengthNow += 200;
}
//see "stop conditions" above that switches to TARGET_REACHED when targed reached
break;
case TARGET_REACHED:
//nothing to do here yet
//see "stop conditions" above that switches to COUNTING when start button released
break;
}
//---------------------------
//--------- display ---------
//---------------------------
//-- show current position on display1 ---
//sprintf(buf_tmp, "%06.1f cm", (float)lengthNow/10); //cm
sprintf(buf_tmp, "1ST %5.4f", (float)lengthNow/1000); //m
// 123456789
//limit length to 8 digits + decimal point (drop decimal places when it does not fit)
sprintf(buf_disp1, "%.9s", buf_tmp);
//--- show target length on display2 ---
//sprintf(buf_disp2, "%06.1f cm", (float)lengthTarget/10); //cm
sprintf(buf_disp2, "S0LL%5.3f", (float)lengthTarget/1000); //m
// 1234 5678
//TODO: blink disp2 when set button pressed
//--- write to display ---
//max7219_clear(&display); //results in flickering display if same value anyways
max7219_draw_text_7seg(&display, 0, buf_disp1);
max7219_draw_text_7seg(&display, 8, buf_disp2);
// //switch between two display pages
// if (esp_log_timestamp() - timestamp_pageSwitched > 1000){
// timestamp_pageSwitched = esp_log_timestamp();
// page = !page;
// }
// max7219_clear(&display);
// if (page){
// //display current position
// display_current_distance(&display, &encoder);
// } else {
// //display counter
// sprintf(display_buf, "lvl: %02d", count);
// max7219_draw_text_7seg(&display, 0, display_buf);
// //count++;
// }
//sprintf(display_buf, "S0LL 12.3");
//max7219_draw_text_7seg(&display, 8, display_buf);
//---------------------------
//--------- testing ---------
//---------------------------
////testing: rotate through speed levels
//if(SW_SET.risingEdge){
// //rotate count 0-7
// if (count >= 7){
// count = 0;
// } else {
// count ++;
// }
// //set motor level
// vfd_setSpeedLevel(count);
// buzzer.beep(1, 100, 100);
//}
}
}