1c59e0097b
while currently in stepper test mode the extend feature works as intended now. you can trigger movement using the buttons and repeating presses while still moving (coast, accel or decel) extends the movement without stopping or accelerating again. Note reversing the direction while still moving is not handled and results in immediate direction change and distance that makes no sense. also added alot of debug output and switched to debug level
110 lines
3.1 KiB
C++
110 lines
3.1 KiB
C++
extern "C"
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{
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#include <stdio.h>
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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#include <esp_idf_version.h>
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#include "freertos/queue.h"
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#include "esp_system.h"
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#include "esp_log.h"
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#include "driver/adc.h"
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}
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#include "config.hpp"
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#include "control.hpp"
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#include "buzzer.hpp"
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#include "switchesAnalog.hpp"
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#include "guide-stepper.hpp"
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#include "encoder.hpp"
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//=================================
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//=========== functions ===========
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//=================================
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//--- configure output ---
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//function to configure gpio pin as output
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void gpio_configure_output(gpio_num_t gpio_pin){
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gpio_pad_select_gpio(gpio_pin);
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gpio_set_direction(gpio_pin, GPIO_MODE_OUTPUT);
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}
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//--- init gpios ---
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void init_gpios(){
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//--- outputs ---
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//4x stepper mosfets
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gpio_configure_output(GPIO_VFD_FWD);
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gpio_configure_output(GPIO_VFD_D0);
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gpio_configure_output(GPIO_VFD_D1);
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gpio_configure_output(GPIO_VFD_REV);
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//gpio_configure_output(GPIO_VFD_D2); only used with 7.5kw vfd
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//2x power mosfets
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gpio_configure_output(GPIO_MOS1); //mos1
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gpio_configure_output(GPIO_LAMP); //llamp (mos2)
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//onboard relay and buzzer
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gpio_configure_output(GPIO_RELAY);
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gpio_configure_output(GPIO_BUZZER);
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//5v regulator
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gpio_configure_output(GPIO_NUM_17);
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//--- inputs ---
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//initialize and configure ADC
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adc1_config_width(ADC_WIDTH_BIT_12); //=> max resolution 4096
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adc1_config_channel_atten(ADC_CHANNEL_POTI, ADC_ATTEN_DB_11); //max voltage
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}
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//======================================
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//============ buzzer task =============
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//======================================
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void task_buzzer( void * pvParameters ){
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ESP_LOGI("task_buzzer", "Start of buzzer task...");
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//run function that waits for a beep events to arrive in the queue
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//and processes them
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buzzer.processQueue();
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}
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//======================================
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//=========== main function ============
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//======================================
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extern "C" void app_main()
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{
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//init outputs
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init_gpios();
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//enable 5V volate regulator
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gpio_set_level(GPIO_NUM_17, 1);
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//init encoder (global)
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encoder_queue = encoder_init();
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//define loglevel
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esp_log_level_set("*", ESP_LOG_INFO);
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esp_log_level_set("buzzer", ESP_LOG_ERROR);
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esp_log_level_set("switches-analog", ESP_LOG_WARN);
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esp_log_level_set("control", ESP_LOG_INFO);
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esp_log_level_set("stepper", ESP_LOG_DEBUG);
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esp_log_level_set("Dendostepper", ESP_LOG_DEBUG); //stepper lib
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esp_log_level_set("calc", ESP_LOG_WARN); //stepper lib
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#ifdef STEPPER_TEST
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//create task for stepper testing
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xTaskCreate(task_stepper_test, "task_stepper_test", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
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#else
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//create task for controlling the machine
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xTaskCreate(task_control, "task_control", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
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//create task for controlling the machine
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xTaskCreate(task_stepper_ctl, "task_stepper_ctl", configMINIMAL_STACK_SIZE * 5, NULL, 5, NULL);
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#endif
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//create task for handling the buzzer
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xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
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//beep at startup
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buzzer.beep(3, 70, 50);
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}
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