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cable-length-cutter/main/control.cpp
jonny_ji7 e9e1df9ea1 Change/Add sw pulldown resistors, Fix MANUAL mode 
Analog In only pins have no internal pullup resistors.
thus two preset switches need pulldown resistors on pcb to be soldered
and switch to 3v instead of GND
- changed in connection plan
- changed switch config in config.cpp (no pullup, inverted)

Fix manual mode:
previously there was a bugged change loop when pressing all 3 buttons
- made mode switch more clear
2022-08-20 10:08:36 +02:00

399 lines
14 KiB
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#include "control.hpp"
//========================
//===== init display =====
//========================
max7219_t init_display(){
// Configure SPI bus
spi_bus_config_t cfg;
cfg.mosi_io_num = DISPLAY_PIN_NUM_MOSI;
cfg.miso_io_num = -1;
cfg.sclk_io_num = DISPLAY_PIN_NUM_CLK;
cfg.quadwp_io_num = -1;
cfg.quadhd_io_num = -1;
cfg.max_transfer_sz = 0;
cfg.flags = 0;
ESP_ERROR_CHECK(spi_bus_initialize(HOST, &cfg, 1));
// Configure device
max7219_t dev;
dev.cascade_size = 2;
dev.digits = 0;
dev.mirrored = true;
ESP_ERROR_CHECK(max7219_init_desc(&dev, HOST, MAX7219_MAX_CLOCK_SPEED_HZ, DISPLAY_PIN_NUM_CS));
ESP_ERROR_CHECK(max7219_init(&dev));
//0...15
ESP_ERROR_CHECK(max7219_set_brightness(&dev, 12));
return dev;
}
//========================
//===== init encoder =====
//========================
QueueHandle_t init_encoder(rotary_encoder_info_t * info){
// esp32-rotary-encoder requires that the GPIO ISR service is installed before calling rotary_encoder_register()
ESP_ERROR_CHECK(gpio_install_isr_service(0));
// Initialise the rotary encoder device with the GPIOs for A and B signals
ESP_ERROR_CHECK(rotary_encoder_init(info, ROT_ENC_A_GPIO, ROT_ENC_B_GPIO));
ESP_ERROR_CHECK(rotary_encoder_enable_half_steps(info, ENABLE_HALF_STEPS));
#ifdef FLIP_DIRECTION
ESP_ERROR_CHECK(rotary_encoder_flip_direction(info));
#endif
// Create a queue for events from the rotary encoder driver.
// Tasks can read from this queue to receive up to date position information.
QueueHandle_t event_queue = rotary_encoder_create_queue();
ESP_ERROR_CHECK(rotary_encoder_set_queue(info, event_queue));
return event_queue;
}
//=============================
//========= readAdc ===========
//=============================
//function for multisampling an anlog input
int readAdc(adc1_channel_t adc_channel, bool inverted = false) {
//make multiple measurements
int adc_reading = 0;
for (int i = 0; i < 16; i++) {
adc_reading += adc1_get_raw(adc_channel);
}
adc_reading = adc_reading / 16;
//return original or inverted result
if (inverted) {
return 4095 - adc_reading;
} else {
return adc_reading;
}
}
//====================
//==== variables =====
//====================
static const char *TAG = "control";
const char* systemStateStr[5] = {"COUNTING", "WINDING_START", "WINDING", "TARGET_REACHED", "MANUAL"};
systemState_t controlState = COUNTING;
max7219_t display; //display device
char buf_disp[20]; //both displays
char buf_disp1[10];// 8 digits + decimal point + \0
char buf_disp2[10];// 8 digits + decimal point + \0
char buf_tmp[15];
rotary_encoder_info_t encoder; //encoder device/info
QueueHandle_t encoder_queue = NULL; //encoder event queue
rotary_encoder_state_t encoderState;
uint8_t count = 0; //count for testing
uint32_t timestamp_pageSwitched = 0;
bool page = false; //store page number currently displayed
int lengthNow = 0; //length measured in mm
int lengthTarget = 3000; //target length in mm
int lengthDiff = 0; //length difference
int potiRead = 0; //voltage read from adc
uint32_t timestamp_motorStarted = 0; //timestamp winding started
//===== change State =====
//function for changing the controlState
void changeState (systemState_t stateNew) {
//only proceed when state actually changed
if (controlState == stateNew){
//already at target state -> nothing to do
return;
}
//log change
ESP_LOGW(TAG, "changed state from %s to %s", systemStateStr[(int)controlState], systemStateStr[(int)stateNew]);
//change state
controlState = stateNew;
}
//===== check Stop Condition =====
//function that checks whether start button is released or target is reached (used in multiple states)
//returns true when stopped, false when no action
bool checkStopCondition(){
//--- stop conditions ---
//stop conditions that are checked in any mode
//disable motor and switch to COUNTING when start button released
if (SW_START.state == false) { //TODO use fallingEdge here more clean?
changeState(COUNTING);
vfd_setState(false);
return true;
}
//disable motor and switch to TARGET_REACHED
else if (lengthDiff >= 0 ) {
//TODO: display "REACHED" on 7segment here or reached state (start pressed but reached)
changeState(TARGET_REACHED);
vfd_setState(false);
return true;
} else {
return false;
}
}
//========================
//===== control task =====
//========================
void task_control(void *pvParameter)
{
//initialize display
display = init_display();
//initialize encoder
encoder_queue = init_encoder(&encoder);
//-----------------------------------
//------- display welcome msg -------
//-----------------------------------
//display welcome message on 2 7 segment displays
//show name and date
ESP_LOGI(TAG, "showing startup message...");
max7219_clear(&display);
max7219_draw_text_7seg(&display, 0, "CUTTER 20.08.2022");
// 1234567812 34 5678
vTaskDelay(pdMS_TO_TICKS(700));
//scroll "hello" over 2 displays
for (int offset = 0; offset < 23; offset++) {
max7219_clear(&display);
char hello[23] = " HELL0 ";
max7219_draw_text_7seg(&display, 0, hello + (22 - offset) );
vTaskDelay(pdMS_TO_TICKS(50));
}
//================
//===== loop =====
//================
while(1){
vTaskDelay(20 / portTICK_PERIOD_MS);
//-----------------------------
//------ handle switches ------
//-----------------------------
//run handle functions for all switches
SW_START.handle();
SW_RESET.handle();
SW_SET.handle();
SW_PRESET1.handle();
SW_PRESET2.handle();
SW_PRESET3.handle();
//----------------------------
//------ rotary encoder ------
//----------------------------
// Poll current position and direction
rotary_encoder_get_state(&encoder, &encoderState);
//--- calculate distance ---
lengthNow = (float)encoderState.position * (MEASURING_ROLL_DIAMETER * PI) / 600; //TODO dont calculate constant factor every time FIXME: ROUNDING ISSUE float-int?
//---------------------------
//------ potentiometer ------
//---------------------------
//set target length to poti position when set switch is pressed
if (SW_SET.state == true) {
//read adc
potiRead = readAdc(ADC_CHANNEL_POTI);
//scale to target length range
lengthTarget = (float)potiRead / 4095 * 50000;
//round to whole meters
lengthTarget = round(lengthTarget / 1000) * 1000;
//TODO update lengthTarget only at button release?
//TODO beep for each m step?
}
//beep
if (SW_SET.risingEdge) {
buzzer.beep(1, 100, 50);
}
if (SW_SET.fallingEdge) {
buzzer.beep(2, 100, 50);
}
//---------------------------
//--------- buttons ---------
//---------------------------
//TODO: ADD PRESET SWITCHES HERE
//--- RESET switch ---
if (SW_RESET.risingEdge) {
rotary_encoder_reset(&encoder);
lengthNow = 0;
buzzer.beep(1, 700, 100);
}
//TODO add preset switches
//---------------------------
//--------- control ---------
//---------------------------
//calculate length difference
lengthDiff = lengthNow - lengthTarget;
//--- statemachine ---
switch (controlState) {
case COUNTING: //no motor action
vfd_setState(false);
//--- start winding to length ---
if (SW_START.risingEdge) {
changeState(WINDING_START);
vfd_setSpeedLevel(2); //start at low speed
vfd_setState(true); //start motor
timestamp_motorStarted = esp_log_timestamp(); //save time started
}
//--- switch to manual motor control (2 buttons + poti) ---
else if ( SW_PRESET2.state && (SW_PRESET1.state || SW_PRESET3.state) ) {
changeState(MANUAL);
buzzer.beep(4, 100, 60);
}
break;
case WINDING_START: //wind slow for certain time
//TODO: cancel / stay in this state when no change to lengthNow
if (esp_log_timestamp() - timestamp_motorStarted > 2000) {
changeState(WINDING);
}
checkStopCondition();
//TESTING: SIMULATE LENGTH INCREASE
//lengthNow += 2;
break;
case WINDING: //wind at dynamic speed
lengthDiff = abs(lengthDiff);
//adjust speed according to difference
if (lengthDiff < 10) {
vfd_setSpeedLevel(1);
//TESTING: SIMULATE LENGTH INCREASE
//lengthNow += 1;
} else if (lengthDiff < 50) {
vfd_setSpeedLevel(2);
//TESTING: SIMULATE LENGTH INCREASE
//lengthNow += 4;
} else if (lengthDiff < 200) {
vfd_setSpeedLevel(3);
//TESTING: SIMULATE LENGTH INCREASE
//lengthNow += 6;
} else if (lengthDiff < 500) {
vfd_setSpeedLevel(4);
//TESTING: SIMULATE LENGTH INCREASE
//lengthNow += 50;
} else if (lengthDiff < 1000) {
vfd_setSpeedLevel(6);
//TESTING: SIMULATE LENGTH INCREASE
//lengthNow += 100;
} else { //more than last step
vfd_setSpeedLevel(7);
//TESTING: SIMULATE LENGTH INCREASE
//lengthNow += 200;
}
checkStopCondition();
//see "stop conditions" above that switches to TARGET_REACHED when targed reached
break;
case TARGET_REACHED:
//nothing to do here yet
//see "stop conditions" above that switches to COUNTING when start button released
break;
case MANUAL: //manually control motor via preset buttons + poti
//exit manual mode if preset2 released
if ( SW_PRESET2.state == false ) {
changeState(COUNTING);
buzzer.beep(1, 1000, 100);
}
//P2 + P1 -> turn left
else if ( SW_PRESET1.state && !SW_PRESET3.state ) {
vfd_setSpeedLevel(2); //TODO: use poti input for level
vfd_setState(true, REV);
}
//P2 + P3 -> turn right
else if ( SW_PRESET2.state && !SW_PRESET1.state ) {
vfd_setSpeedLevel(2); //TODO: use poti input for level
vfd_setState(true, FWD);
}
//no valid switch combination -> turn off motor
else {
vfd_setState(false);
}
}
//---------------------------
//--------- display ---------
//---------------------------
//-- show current position on display1 ---
//sprintf(buf_tmp, "%06.1f cm", (float)lengthNow/10); //cm
sprintf(buf_tmp, "1ST %5.4f", (float)lengthNow/1000); //m
// 123456789
//limit length to 8 digits + decimal point (drop decimal places when it does not fit)
sprintf(buf_disp1, "%.9s", buf_tmp);
//--- show target length on display2 ---
//sprintf(buf_disp2, "%06.1f cm", (float)lengthTarget/10); //cm
sprintf(buf_disp2, "S0LL%5.3f", (float)lengthTarget/1000); //m
// 1234 5678
//TODO: blink disp2 when set button pressed
//TODO: blink disp2 when preset button pressed (exept manual mode)
//TODO: write "MAN CTL" to disp2 when in manual mode
//--- write to display ---
//max7219_clear(&display); //results in flickering display if same value anyways
max7219_draw_text_7seg(&display, 0, buf_disp1);
max7219_draw_text_7seg(&display, 8, buf_disp2);
// //switch between two display pages
// if (esp_log_timestamp() - timestamp_pageSwitched > 1000){
// timestamp_pageSwitched = esp_log_timestamp();
// page = !page;
// }
// max7219_clear(&display);
// if (page){
// //display current position
// display_current_distance(&display, &encoder);
// } else {
// //display counter
// sprintf(display_buf, "lvl: %02d", count);
// max7219_draw_text_7seg(&display, 0, display_buf);
// //count++;
// }
//sprintf(display_buf, "S0LL 12.3");
//max7219_draw_text_7seg(&display, 8, display_buf);
//---------------------------
//--------- testing ---------
//---------------------------
////testing: rotate through speed levels
//if(SW_SET.risingEdge){
// //rotate count 0-7
// if (count >= 7){
// count = 0;
// } else {
// count ++;
// }
// //set motor level
// vfd_setSpeedLevel(count);
// buzzer.beep(1, 100, 100);
//}
}
}
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