1dd8388769
shutdown.cpp/hpp:
- repeatedly check supply voltage
- save value to nvs when dropping below threshold
- provide function to read lastPos from nvs
guide-stepper:
- auto-home considers stored last position in nvs
main:
- add new task shutDownDetection
config:
- slightly increase stepper speed
120 lines
4.1 KiB
C++
120 lines
4.1 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_system.h"
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#include "esp_log.h"
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#include "driver/adc.h"
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#include "nvs_flash.h"
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#include "nvs.h"
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}
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#include "config.h"
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#include "shutdown.hpp"
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#include "guide-stepper.hpp"
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#define ADC_LOW_VOLTAGE_THRESHOLD 3200 // adc value where shut down is detected (store certain values before complete power loss)
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static const char *TAG = "lowVoltage"; // tag for logging
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nvs_handle_t nvsHandle; // access nvs that was opened once, in any function
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// store a u32 value in nvs as "lastPosSteps"
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void nvsWriteLastAxisPos(uint32_t value)
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{
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// update nvs value
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esp_err_t err = nvs_set_u32(nvsHandle, "lastPosSteps", value);
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if (err != ESP_OK)
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ESP_LOGE(TAG, "nvs: failed writing");
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err = nvs_commit(nvsHandle);
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if (err != ESP_OK)
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ESP_LOGE(TAG, "nvs: failed committing updates");
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else
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ESP_LOGI(TAG, "nvs: successfully committed updates");
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ESP_LOGW(TAG, "updated value in nvs to %d", value);
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}
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// read "lastPosSteps" from nvs, returns -1 if failed
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int nvsReadLastAxisPosSteps()
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{
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uint32_t valueRead;
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esp_err_t err = nvs_get_u32(nvsHandle, "lastPosSteps", &valueRead);
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switch (err)
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{
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case ESP_OK:
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ESP_LOGW(TAG, "Successfully read value %d from nvs", valueRead);
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return valueRead;
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break;
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case ESP_ERR_NVS_NOT_FOUND:
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ESP_LOGE(TAG, "nvs: the value '%s' is not initialized yet", "lastPosSteps");
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return -1;
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break;
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default:
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ESP_LOGE(TAG, "Error (%s) reading nvs!", esp_err_to_name(err));
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return -1;
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}
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}
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// task that repeatedly checks supply voltage (12V) and saves certain values to nvs in case of power off detected
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// note: with the 2200uF capacitor in the 12V supply and measuring if 12V start do drop here, there is more than enough time to take action until the 3v3 regulator turns off
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void task_shutDownDetection(void *pvParameter)
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{
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//--- Initialize NVS ---
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ESP_LOGW(TAG, "initializing nvs...");
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esp_err_t err = nvs_flash_init();
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if (err == ESP_ERR_NVS_NO_FREE_PAGES || err == ESP_ERR_NVS_NEW_VERSION_FOUND)
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{
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ESP_LOGE(TAG, "NVS truncated -> deleting flash");
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// Retry nvs_flash_init
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ESP_ERROR_CHECK(nvs_flash_erase());
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err = nvs_flash_init();
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}
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//--- open nvs-flash ---
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ESP_LOGW(TAG, "opening NVS-handle...");
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// create handle available for all functions in this file
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err = nvs_open("storage", NVS_READWRITE, &nvsHandle);
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if (err != ESP_OK)
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ESP_LOGE(TAG, "Error (%s) opening NVS handle!\n", esp_err_to_name(err));
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// read stored value (returns 0 if unitialized/failed)
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//int lastPosSteps = nvsReadLastAxisPosSteps();
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//ESP_LOGW(TAG, "=> read value %d from nvs (stored at last shutdown)", lastPosSteps);
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// repeatedly read ADC and check if below low voltage threshold
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bool voltageBelowThreshold = false;
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while (1) //TODO limit save frequency in case voltage repeadedly varys between threshold for some reason (e.g. offset drift)
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{
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// read adc
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int adc_reading = adc1_get_raw(ADC_CHANNEL_SUPPLY_VOLTAGE);
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// evaulate threshold
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if (adc_reading < ADC_LOW_VOLTAGE_THRESHOLD) // below threshold => POWER SHUTDOWN DETECTED
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{
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// write to nvs and log once at change to below
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if (!voltageBelowThreshold){
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nvsWriteLastAxisPos(guide_getAxisPosSteps());
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ESP_LOGE(TAG, "voltage now below threshold! now=%d threshold=%d -> wrote last axis-pos to nvs", adc_reading, ADC_LOW_VOLTAGE_THRESHOLD);
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voltageBelowThreshold = true;
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}
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}
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else if (voltageBelowThreshold) // above threshold and previously below
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{
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// log at change to above
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ESP_LOGE(TAG, "voltage above threshold again: %d > %d - issue with power supply, or too threshold too high?", adc_reading, ADC_LOW_VOLTAGE_THRESHOLD);
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voltageBelowThreshold = false;
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}
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// always log for debugging/calibrating
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ESP_LOGD(TAG, "read adc battery voltage: %d", adc_reading);
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vTaskDelay(30 / portTICK_PERIOD_MS);
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}
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} |