4112d8653c
When winding short lengths e.g. 5m it does not make sense
to use the entire winding width thus getting unnecessary
wide cable ring.
Determined some thresholds while testing and implemented
those to be applied at target length change automatically:
control:
- update winding width each time target length changes
guide-stepper:
- add function that returns dynamic winding width depending
on passed target length according to fixed thresholds
152 lines
5.9 KiB
C
152 lines
5.9 KiB
C
#pragma once
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#include "esp_idf_version.h"
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//note: global variables and objects were moved to global.hpp
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//===================================
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//===== define output gpio pins =====
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//===================================
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//4x stepper mosfet outputs for VFD
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#define GPIO_VFD_FWD GPIO_NUM_4 //ST4
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#define GPIO_VFD_REV GPIO_NUM_5 //mos2
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#define GPIO_VFD_D0 GPIO_NUM_2 //ST2
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#define GPIO_VFD_D1 GPIO_NUM_15 //ST1
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//#define GPIO_VFD_D2 GPIO_NUM_15 //ST1 (D2 only used with 7.5kw vfd)
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#define GPIO_MOS1 GPIO_NUM_18 //mos1 (free) 2022.02.28: pin used for stepper
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#define GPIO_LAMP GPIO_NUM_0 //mos2 (5) 2022.02.28: lamp disabled, pin used for stepper
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#define GPIO_RELAY GPIO_NUM_13
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#define GPIO_BUZZER GPIO_NUM_12
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//==================================
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//==== define analog input pins ====
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//==================================
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#define GPIO_POTI GPIO_NUM_36
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#define ADC_CHANNEL_POTI ADC1_CHANNEL_0
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#define GPIO_4SW_TO_ANALOG GPIO_NUM_39
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#define ADC_CHANNEL_4SW_TO_ANALOG ADC1_CHANNEL_3 //gpio 39
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#define ADC_CHANNEL ADC_CHANNEL_0
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//#define ADC_LOW_VOLTAGE_THRESHOLD 1000 //adc value where shut down is detected (store certain values before power loss)
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#define GPIO_PIN GPIO_NUM_2
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#define ADC_CHANNEL_SUPPLY_VOLTAGE ADC1_CHANNEL_7//gpio35 onboard supply voltage
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//ADC1_CHANNEL_0 gpio36
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//ADC1_CHANNEL_6 gpio_34
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//ADC1_CHANNEL_3 gpio_39
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//=====================================
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//==== assign switches to objects =====
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//=====================================
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//see config.cpp for available evaluated switch objects
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#define SW_START sw_gpio_26
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#define SW_RESET sw_gpio_25
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#define SW_CUTTER_POS sw_gpio_14
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#define SW_SET sw_gpio_analog_0
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#define SW_PRESET1 sw_gpio_analog_1
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#define SW_PRESET2 sw_gpio_analog_2
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#define SW_PRESET3 sw_gpio_analog_3
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#define SW_CUT sw_gpio_33
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#define SW_AUTO_CUT sw_gpio_32
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//#define ? sw_gpio_34
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//note: actual objects are created in global.cpp
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//=============================
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//======= configuration =======
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//=============================
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//--------------------------
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//----- display config -----
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//--------------------------
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#if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(4, 0, 0)
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#define HOST HSPI_HOST
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#else
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#define HOST SPI2_HOST
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#endif
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#define DISPLAY_PIN_NUM_MOSI GPIO_NUM_23
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#define DISPLAY_PIN_NUM_CLK GPIO_NUM_22
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#define DISPLAY_PIN_NUM_CS GPIO_NUM_27
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#define DISPLAY_DELAY 2000
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#define DISPLAY_BRIGHTNESS 8
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//--------------------------
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//----- encoder config -----
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//--------------------------
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#define ROT_ENC_A_GPIO GPIO_NUM_19
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#define ROT_ENC_B_GPIO GPIO_NUM_21
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#define ENABLE_HALF_STEPS false // Set to true to enable tracking of rotary encoder at half step resolution
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#define FLIP_DIRECTION false // Set to true to reverse the clockwise/counterclockwise sense
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//--------------------------
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//----- stepper config -----
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//--------------------------
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//enable stepper test mode (dont start control and encoder task)
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//#define STEPPER_TEST
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//pins
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#define STEPPER_STEP_PIN GPIO_NUM_18 //mos1
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#define STEPPER_DIR_PIN GPIO_NUM_16 //ST3
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//driver settings
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#define STEPPER_STEPS_PER_MM (200/2) //steps/mm (steps-per-rot / spindle-slope)
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#define STEPPER_SPEED_DEFAULT 25 //mm/s
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#define STEPPER_SPEED_MIN 4 //mm/s - speed threshold at which stepper immediately starts/stops
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#define STEPPER_ACCEL_INC 3 //steps/s increment per cycle
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#define STEPPER_DECEL_INC 7 //steps/s decrement per cycle
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//options affecting movement are currently defined in guide-stepper.cpp
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//---------------------------
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//------- cable guide -------
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//---------------------------
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// default axis coordinates the guide changes direction (winding width)
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#define GUIDE_MIN_MM 0 // TODO add feature so guide stays at zero for some steps (negative MIN_MM?), currently seems appropriate for even winding
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#define GUIDE_MAX_MM 90 // 95 still to long at max pos - actual reel is 110, but currently guide turned out to stay at max position for too long, due to cable running diagonal from guide to reel
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// tolerance added to last stored position at previous shutdown.
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// When calibrating at startup the stepper moves for that sum to get track of zero position (ensure crashes into hardware limit for at least some time)
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#define AUTO_HOME_TRAVEL_ADD_TO_LAST_POS_MM 20
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#define MAX_TOTAL_AXIS_TRAVEL_MM 103 // max possible travel distance, needed as fallback for auto-home
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#define LAYER_THICKNESS_MM 5 // height of one cable layer on reel -> increase in radius every layer
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#define D_CABLE 6 // determines winds per layer / guide speed
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#define D_REEL 160 // start diameter of empty reel
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// max winding width that can be set using potentiometer (SET+PRESET1 buttons)
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#define MAX_SELECTABLE_WINDING_WIDTH_MM 100;
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// max target length that can be selected using potentiometer (SET button)
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#define MAX_SELECTABLE_LENGTH_POTI_MM 100000
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// calculate new winding width each time target length changes, according to custom thresholds defined in guide-stepper.cpp
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// if not defined, winding width is always GUIDE_MAX_MM even for short lengths
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#define DYNAMIC_WINDING_WIDTH_ENABLED
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//--------------------------
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//------ calibration -------
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//--------------------------
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//enable mode encoder test for calibration (determine ENCODER_STEPS_PER_METER)
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//if defined, displays always show length and steps instead of the normal messages
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//#define ENCODER_TEST
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//TODO: add way to calibrate without flashing -> enter calibration mode with certain button sequence, enter steps-per-meter with poti, store in nvs
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//steps per meter
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//this value is determined experimentally while ENCODER_TEST is enabled
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//#define ENCODER_STEPS_PER_METER 2127 //until 2024.03.13 roll-v3-gummi-86.6mm - d=89.8mm
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#define ENCODER_STEPS_PER_METER 2118 //2024.03.13 roll-v3-gummi measured 86.5mm
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//millimeters added to target length
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//to ensure that length does not fall short when spool slightly rotates back after stop
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#define TARGET_LENGTH_OFFSET 0
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//millimeters lengthNow can be below lengthTarget to still stay in target_reached state
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#define TARGET_REACHED_TOLERANCE 5
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