68dc012fcc
test with actual hardware encoder init was commented out scaling was off by factor 600 adjust speed intervals
354 lines
12 KiB
C++
354 lines
12 KiB
C++
#include "control.hpp"
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//========================
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//===== init display =====
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//========================
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max7219_t init_display(){
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// Configure SPI bus
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spi_bus_config_t cfg;
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cfg.mosi_io_num = DISPLAY_PIN_NUM_MOSI;
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cfg.miso_io_num = -1;
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cfg.sclk_io_num = DISPLAY_PIN_NUM_CLK;
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cfg.quadwp_io_num = -1;
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cfg.quadhd_io_num = -1;
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cfg.max_transfer_sz = 0;
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cfg.flags = 0;
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ESP_ERROR_CHECK(spi_bus_initialize(HOST, &cfg, 1));
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// Configure device
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max7219_t dev;
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dev.cascade_size = 2;
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dev.digits = 0;
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dev.mirrored = true;
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ESP_ERROR_CHECK(max7219_init_desc(&dev, HOST, MAX7219_MAX_CLOCK_SPEED_HZ, DISPLAY_PIN_NUM_CS));
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ESP_ERROR_CHECK(max7219_init(&dev));
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//0...15
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ESP_ERROR_CHECK(max7219_set_brightness(&dev, 12));
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return dev;
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}
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//========================
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//===== init encoder =====
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//========================
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QueueHandle_t init_encoder(rotary_encoder_info_t * info){
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// esp32-rotary-encoder requires that the GPIO ISR service is installed before calling rotary_encoder_register()
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ESP_ERROR_CHECK(gpio_install_isr_service(0));
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// Initialise the rotary encoder device with the GPIOs for A and B signals
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ESP_ERROR_CHECK(rotary_encoder_init(info, ROT_ENC_A_GPIO, ROT_ENC_B_GPIO));
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ESP_ERROR_CHECK(rotary_encoder_enable_half_steps(info, ENABLE_HALF_STEPS));
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#ifdef FLIP_DIRECTION
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ESP_ERROR_CHECK(rotary_encoder_flip_direction(info));
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#endif
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// Create a queue for events from the rotary encoder driver.
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// Tasks can read from this queue to receive up to date position information.
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QueueHandle_t event_queue = rotary_encoder_create_queue();
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ESP_ERROR_CHECK(rotary_encoder_set_queue(info, event_queue));
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return event_queue;
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}
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//=============================
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//========= readAdc ===========
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//=============================
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//function for multisampling an anlog input
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int readAdc(adc1_channel_t adc_channel, bool inverted = false) {
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//make multiple measurements
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int adc_reading = 0;
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for (int i = 0; i < 16; i++) {
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adc_reading += adc1_get_raw(adc_channel);
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}
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adc_reading = adc_reading / 16;
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//return original or inverted result
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if (inverted) {
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return 4095 - adc_reading;
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} else {
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return adc_reading;
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}
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}
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//====================
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//==== variables =====
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//====================
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static const char *TAG = "control";
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const char* systemStateStr[4] = {"COUNTING", "WINDING_START", "WINDING", "TARGET_REACHED"};
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systemState_t controlState = COUNTING;
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max7219_t display; //display device
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char buf_disp[20]; //both displays
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char buf_disp1[10];// 8 digits + decimal point + \0
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char buf_disp2[10];// 8 digits + decimal point + \0
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char buf_tmp[15];
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rotary_encoder_info_t encoder; //encoder device/info
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QueueHandle_t encoder_queue = NULL; //encoder event queue
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rotary_encoder_state_t encoderState;
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uint8_t count = 0; //count for testing
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uint32_t timestamp_pageSwitched = 0;
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bool page = false; //store page number currently displayed
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int lengthNow = 0; //length measured in mm
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int lengthTarget = 3000; //target length in mm
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int lengthDiff = 0; //length difference
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int potiRead = 0; //voltage read from adc
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uint32_t timestamp_motorStarted = 0; //timestamp winding started
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//===== change State =====
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//function for changing the controlState
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void changeState (systemState_t stateNew) {
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//only proceed when state actually changed
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if (controlState == stateNew){
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//already at target state -> nothing to do
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return;
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}
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//log change
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ESP_LOGW(TAG, "changed state from %s to %s", systemStateStr[(int)controlState], systemStateStr[(int)stateNew]);
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//change state
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controlState = stateNew;
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}
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//========================
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//===== control task =====
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//========================
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void task_control(void *pvParameter)
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{
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//initialize display
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display = init_display();
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//initialize encoder
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encoder_queue = init_encoder(&encoder);
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//-----------------------------------
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//------- display welcome msg -------
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//-----------------------------------
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//display welcome message on 2 7 segment displays
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//show name and date
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ESP_LOGI(TAG, "showing startup message...");
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max7219_clear(&display);
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max7219_draw_text_7seg(&display, 0, "CUTTER 20.08.2022");
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// 1234567812 34 5678
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vTaskDelay(pdMS_TO_TICKS(700));
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//scroll "hello" over 2 displays
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for (int offset = 0; offset < 23; offset++) {
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max7219_clear(&display);
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char hello[23] = " HELL0 ";
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max7219_draw_text_7seg(&display, 0, hello + (22 - offset) );
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vTaskDelay(pdMS_TO_TICKS(50));
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}
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//================
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//===== loop =====
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//================
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while(1){
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vTaskDelay(20 / portTICK_PERIOD_MS);
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//-----------------------------
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//------ handle switches ------
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//-----------------------------
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//run handle functions for all switches
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SW_START.handle();
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SW_RESET.handle();
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SW_SET.handle();
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SW_PRESET1.handle();
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SW_PRESET2.handle();
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SW_PRESET3.handle();
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//----------------------------
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//------ rotary encoder ------
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//----------------------------
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// Poll current position and direction
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rotary_encoder_get_state(&encoder, &encoderState);
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//--- calculate distance ---
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lengthNow = (float)encoderState.position * (MEASURING_ROLL_DIAMETER * PI) / 600; //TODO dont calculate constant factor every time FIXME: ROUNDING ISSUE float-int?
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//---------------------------
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//------ potentiometer ------
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//---------------------------
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//set target length to poti position when set switch is pressed
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if (SW_SET.state == true) {
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//read adc
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potiRead = readAdc(ADC_CHANNEL_POTI);
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//scale to target length range
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lengthTarget = (float)potiRead / 4095 * 50000;
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//round to whole meters
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lengthTarget = round(lengthTarget / 1000) * 1000;
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//TODO update lengthTarget only at button release?
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//TODO beep for each m step?
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}
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//beep
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if (SW_SET.risingEdge) {
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buzzer.beep(1, 100, 50);
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}
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if (SW_SET.fallingEdge) {
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buzzer.beep(2, 100, 50);
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}
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//---------------------------
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//--------- buttons ---------
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//---------------------------
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//TODO: ADD PRESET SWITCHES HERE
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//--- RESET switch ---
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if (SW_RESET.risingEdge) {
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rotary_encoder_reset(&encoder);
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lengthNow = 0;
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buzzer.beep(1, 700, 100);
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}
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//---------------------------
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//--------- control ---------
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//---------------------------
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//calculate length difference
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lengthDiff = lengthNow - lengthTarget;
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//--- stop conditions ---
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//stop conditions that are checked in any mode
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//disable motor and switch to COUNTING when start button released
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if (SW_START.state == false) { //TODO use fallingEdge here more clean?
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changeState(COUNTING);
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vfd_setState(false);
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}
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//disable motor and switch to TARGET_REACHED
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else if (lengthDiff >= 0 ) {
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//TODO: display "REACHED" on 7segment here or reached state (start pressed but reached)
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changeState(TARGET_REACHED);
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vfd_setState(false);
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}
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//--- statemachine ---
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switch (controlState) {
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case COUNTING: //no motor action
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//TODO stop motor here every run instead of at button event?
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if (SW_START.risingEdge) {
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changeState(WINDING_START);
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vfd_setSpeedLevel(2); //start at low speed
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vfd_setState(true); //start motor
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timestamp_motorStarted = esp_log_timestamp(); //save time started
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}
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break;
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case WINDING_START: //wind slow for certain time
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//TODO: cancel / stay in this state when no change to lengthNow
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if (esp_log_timestamp() - timestamp_motorStarted > 2000) {
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changeState(WINDING);
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}
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//TESTING: SIMULATE LENGTH INCREASE
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//lengthNow += 2;
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break;
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case WINDING: //wind at dynamic speed
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lengthDiff = abs(lengthDiff);
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//adjust speed according to difference
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if (lengthDiff < 10) {
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vfd_setSpeedLevel(1);
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//TESTING: SIMULATE LENGTH INCREASE
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//lengthNow += 1;
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} else if (lengthDiff < 50) {
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vfd_setSpeedLevel(2);
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//TESTING: SIMULATE LENGTH INCREASE
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//lengthNow += 4;
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} else if (lengthDiff < 200) {
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vfd_setSpeedLevel(3);
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//TESTING: SIMULATE LENGTH INCREASE
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//lengthNow += 6;
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} else if (lengthDiff < 500) {
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vfd_setSpeedLevel(4);
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//TESTING: SIMULATE LENGTH INCREASE
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//lengthNow += 50;
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} else if (lengthDiff < 1000) {
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vfd_setSpeedLevel(6);
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//TESTING: SIMULATE LENGTH INCREASE
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//lengthNow += 100;
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} else { //more than last step
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vfd_setSpeedLevel(7);
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//TESTING: SIMULATE LENGTH INCREASE
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//lengthNow += 200;
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}
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//see "stop conditions" above that switches to TARGET_REACHED when targed reached
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break;
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case TARGET_REACHED:
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//nothing to do here yet
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//see "stop conditions" above that switches to COUNTING when start button released
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break;
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}
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//---------------------------
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//--------- display ---------
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//---------------------------
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//-- show current position on display1 ---
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//sprintf(buf_tmp, "%06.1f cm", (float)lengthNow/10); //cm
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sprintf(buf_tmp, "1ST %5.4f", (float)lengthNow/1000); //m
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// 123456789
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//limit length to 8 digits + decimal point (drop decimal places when it does not fit)
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sprintf(buf_disp1, "%.9s", buf_tmp);
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//--- show target length on display2 ---
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//sprintf(buf_disp2, "%06.1f cm", (float)lengthTarget/10); //cm
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sprintf(buf_disp2, "S0LL%5.3f", (float)lengthTarget/1000); //m
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// 1234 5678
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//TODO: blink disp2 when set button pressed
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//--- write to display ---
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//max7219_clear(&display); //results in flickering display if same value anyways
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max7219_draw_text_7seg(&display, 0, buf_disp1);
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max7219_draw_text_7seg(&display, 8, buf_disp2);
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// //switch between two display pages
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// if (esp_log_timestamp() - timestamp_pageSwitched > 1000){
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// timestamp_pageSwitched = esp_log_timestamp();
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// page = !page;
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// }
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// max7219_clear(&display);
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// if (page){
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// //display current position
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// display_current_distance(&display, &encoder);
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// } else {
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// //display counter
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// sprintf(display_buf, "lvl: %02d", count);
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// max7219_draw_text_7seg(&display, 0, display_buf);
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// //count++;
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// }
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//sprintf(display_buf, "S0LL 12.3");
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//max7219_draw_text_7seg(&display, 8, display_buf);
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//---------------------------
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//--------- testing ---------
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//---------------------------
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////testing: rotate through speed levels
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//if(SW_SET.risingEdge){
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// //rotate count 0-7
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// if (count >= 7){
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// count = 0;
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// } else {
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// count ++;
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// }
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// //set motor level
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// vfd_setSpeedLevel(count);
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// buzzer.beep(1, 100, 100);
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//}
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}
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}
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