7eab4f8a8e
Undo all custom changes to the DendoStepper library, since it will not be used further. Custom implementation will be used in the future (stepper_custom-driver branch) Revert 279ac0e07e7578a86a6d13908e472bd4f379a62a Revert 1c59e0097b3732d9b035881faa442349c50d4341 Revert 5d7c67ab9a2327adc49ea92cd55f9aa23a40b065 Revert 8d2428d28576e08da07af79659620376b1e4e964 Revert dc6deeb3d09628ac7f4f4fab256dc168bcbf835a Revert 0a05340763c26be4735d1cf845b96150112b25ad Revert 45409676a0b502c69b5bc26be7361bfa5a89ed61 Revert de42b6252ebec3558713cd39334548041654545f
110 lines
3.1 KiB
C++
110 lines
3.1 KiB
C++
extern "C"
|
|
{
|
|
#include <stdio.h>
|
|
#include <freertos/FreeRTOS.h>
|
|
#include <freertos/task.h>
|
|
#include <esp_idf_version.h>
|
|
#include "freertos/queue.h"
|
|
#include "esp_system.h"
|
|
#include "esp_log.h"
|
|
#include "driver/adc.h"
|
|
}
|
|
|
|
#include "config.hpp"
|
|
#include "control.hpp"
|
|
#include "buzzer.hpp"
|
|
#include "switchesAnalog.hpp"
|
|
#include "guide-stepper.hpp"
|
|
#include "encoder.hpp"
|
|
|
|
|
|
//=================================
|
|
//=========== functions ===========
|
|
//=================================
|
|
//--- configure output ---
|
|
//function to configure gpio pin as output
|
|
void gpio_configure_output(gpio_num_t gpio_pin){
|
|
gpio_pad_select_gpio(gpio_pin);
|
|
gpio_set_direction(gpio_pin, GPIO_MODE_OUTPUT);
|
|
}
|
|
|
|
|
|
//--- init gpios ---
|
|
void init_gpios(){
|
|
//--- outputs ---
|
|
//4x stepper mosfets
|
|
gpio_configure_output(GPIO_VFD_FWD);
|
|
gpio_configure_output(GPIO_VFD_D0);
|
|
gpio_configure_output(GPIO_VFD_D1);
|
|
gpio_configure_output(GPIO_VFD_REV);
|
|
//gpio_configure_output(GPIO_VFD_D2); only used with 7.5kw vfd
|
|
//2x power mosfets
|
|
gpio_configure_output(GPIO_MOS1); //mos1
|
|
gpio_configure_output(GPIO_LAMP); //llamp (mos2)
|
|
//onboard relay and buzzer
|
|
gpio_configure_output(GPIO_RELAY);
|
|
gpio_configure_output(GPIO_BUZZER);
|
|
//5v regulator
|
|
gpio_configure_output(GPIO_NUM_17);
|
|
|
|
//--- inputs ---
|
|
//initialize and configure ADC
|
|
adc1_config_width(ADC_WIDTH_BIT_12); //=> max resolution 4096
|
|
adc1_config_channel_atten(ADC_CHANNEL_POTI, ADC_ATTEN_DB_11); //max voltage
|
|
}
|
|
|
|
|
|
|
|
//======================================
|
|
//============ buzzer task =============
|
|
//======================================
|
|
void task_buzzer( void * pvParameters ){
|
|
ESP_LOGI("task_buzzer", "Start of buzzer task...");
|
|
//run function that waits for a beep events to arrive in the queue
|
|
//and processes them
|
|
buzzer.processQueue();
|
|
}
|
|
|
|
|
|
|
|
//======================================
|
|
//=========== main function ============
|
|
//======================================
|
|
extern "C" void app_main()
|
|
{
|
|
//init outputs
|
|
init_gpios();
|
|
|
|
//enable 5V volate regulator
|
|
gpio_set_level(GPIO_NUM_17, 1);
|
|
|
|
//init encoder (global)
|
|
encoder_queue = encoder_init();
|
|
|
|
//define loglevel
|
|
esp_log_level_set("*", ESP_LOG_INFO);
|
|
esp_log_level_set("buzzer", ESP_LOG_ERROR);
|
|
esp_log_level_set("switches-analog", ESP_LOG_WARN);
|
|
esp_log_level_set("control", ESP_LOG_INFO);
|
|
esp_log_level_set("stepper", ESP_LOG_DEBUG);
|
|
esp_log_level_set("Dendostepper", ESP_LOG_WARN); //stepper lib
|
|
esp_log_level_set("calc", ESP_LOG_WARN); //stepper lib
|
|
|
|
#ifdef STEPPER_TEST
|
|
//create task for stepper testing
|
|
xTaskCreate(task_stepper_test, "task_stepper_test", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
|
|
#else
|
|
//create task for controlling the machine
|
|
xTaskCreate(task_control, "task_control", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
|
|
|
|
//create task for controlling the machine
|
|
xTaskCreate(task_stepper_ctl, "task_stepper_ctl", configMINIMAL_STACK_SIZE * 3, NULL, 5, NULL);
|
|
|
|
//create task for handling the buzzer
|
|
xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
|
|
#endif
|
|
|
|
//beep at startup
|
|
buzzer.beep(3, 70, 50);
|
|
}
|