d206b53194
- prevent hard stops (no decel ramp) when target changes while decelerating already (overshoot and move back) - optimize/adjust stepper-test mode, add macro for test with single switch Note: tested the current state, works quite well. very rarely crashes probably dude to race conditions in isr?
145 lines
4.4 KiB
C++
145 lines
4.4 KiB
C++
#pragma once
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extern "C" {
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#include "driver/adc.h"
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}
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#include "gpio_evaluateSwitch.hpp"
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#include "buzzer.hpp"
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#include "switchesAnalog.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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//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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//unused but already available evaluated inputs
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//#define ? sw_gpio_34
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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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//--------------------------
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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 / slope)
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#define STEPPER_SPEED_DEFAULT 20 //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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//------ calibration -------
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//--------------------------
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//enable mode encoder test for calibration
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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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//steps per meter
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#define ENCODER_STEPS_PER_METER 2127 //roll-v3-gummi-86.6mm - d=89.8mm
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//millimetres 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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//millimetres 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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//============================
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//===== global variables =====
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//============================
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//create global evaluated switch objects
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//--- switches on digital gpio pins ---
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//extern gpio_evaluatedSwitch sw_gpio_39;
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extern gpio_evaluatedSwitch sw_gpio_34;
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extern gpio_evaluatedSwitch sw_gpio_32;
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extern gpio_evaluatedSwitch sw_gpio_33;
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extern gpio_evaluatedSwitch sw_gpio_25;
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extern gpio_evaluatedSwitch sw_gpio_26;
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extern gpio_evaluatedSwitch sw_gpio_14;
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//--- switches connected to 4-sw-to-analog stripboard ---
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extern gpio_evaluatedSwitch sw_gpio_analog_0;
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extern gpio_evaluatedSwitch sw_gpio_analog_1;
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extern gpio_evaluatedSwitch sw_gpio_analog_2;
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extern gpio_evaluatedSwitch sw_gpio_analog_3;
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//create global buzzer object
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extern buzzer_t buzzer;
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