61deaf9ead
Partially implemented stepper driver as planned in diagram works partially (reset button toggles distances) major issues though - wip needs debugging and testing
113 lines
3.3 KiB
C++
113 lines
3.3 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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#include "stepper.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_WARN); //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_stepperCtrlSw, "task stepper control software", configMINIMAL_STACK_SIZE * 3, NULL, configMAX_PRIORITIES - 1, NULL);
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xTaskCreate(task_stepper_test, "task_stepper_test", configMINIMAL_STACK_SIZE * 3, NULL, 2, 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, 4, NULL);
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//create task for controlling the stepper
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xTaskCreate(task_stepper_ctl, "task_stepper_ctl", configMINIMAL_STACK_SIZE * 3, NULL, 2, 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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