From 738d6a1b07c205ec063f27931d02fbab53df66d5 Mon Sep 17 00:00:00 2001
From: David Gauchard <gauchard@laas.fr>
Date: Wed, 27 Jul 2022 18:17:05 +0200
Subject: [PATCH] Use AccelStepper in interrupt mode
---
pousseseringue-arduino.cpp | 172 ++++++++++++++++++-------------------
pousseseringue-arduino.ino | 2 +-
2 files changed, 84 insertions(+), 90 deletions(-)
diff --git a/pousseseringue-arduino.cpp b/pousseseringue-arduino.cpp
index 0286217..c755570 100644
--- a/pousseseringue-arduino.cpp
+++ b/pousseseringue-arduino.cpp
@@ -44,31 +44,23 @@
#define STEPPER_RPM 60 // some value is necessary for the driver XXXXX see below
-#define STEP_DURATION_MIN_MS 2
-#define STEP_DURATION_DEFAULT_MS 5
+#define STEPpS_MIN 2
+#define STEPpS_DEFAULT 5
#include <ESP8266WiFi.h> // internal, wifi library
#include <DNSServer.h> // internal, access point mode
+#include <Schedule.h>
#if !CORE_MOCK
#include <SSD1306AsciiWire.h> // https://github.com/greiman/SSD1306Ascii
SSD1306AsciiWire oled;
-#if USE_A4988
-
-#include <A4988.h> // https://github.com/laurb9/StepperDriver
-A4988 a4988(MOTOR_STEPS, DIR, STEP, SLEEP);
-
-#else
-
#include <AccelStepper.h> // https://github.com/waspinator/AccelStepper
AccelStepper stepper(AccelStepper::DRIVER, STEP, DIR);
-#endif
-
#endif // !CORE_MOCK
#include "Debouncer.h" // local, debouncer, short counter, long detector
@@ -90,19 +82,19 @@ DNSServer dnsServer;
char ssid[65];
-Modes mode = Modes::TURN;
+Modes mode = Modes::RPM;
+bool stepperMoving = false;
millis_t lastMoveMs = 0;
int move = 0;
// TURN mode
constexpr float step2deg = 360.0 / MOTOR_STEPS / MICROSTEPS_CONF; // deg for 1 step
-int steps = MOTOR_STEPS * MICROSTEPS_CONF / 100; // =1/100 turn
+int steps = MOTOR_STEPS * MICROSTEPS_CONF / 4; // =1/4 turn
// RPM mode
-int stepsPerDuration = 1;
-int stepDurationMs = STEP_DURATION_DEFAULT_MS;
-float stepsPerDuration2rpm () { return 60.0 * stepsPerDuration / ((MOTOR_STEPS * MICROSTEPS_CONF) * (stepDurationMs / 1000.0)); }
+int stepsPerSeconds = MOTOR_STEPS * MICROSTEPS_CONF / 2;
+float stepsPerSeconds2rpm () { return 60.0 * stepsPerSeconds / (MOTOR_STEPS * MICROSTEPS_CONF); }
int rpming = 0; // -1, 0 or +1
// single syringe global instance
@@ -137,28 +129,28 @@ void oledRedisplay ()
switch (mode)
{
case Modes::TURN:
- oled.printf("<%g dR <<turn", steps * step2deg);
+ oled.printf("<%g dR <<360 dR", steps * step2deg);
oledPrintMode();
oled.printf("\n");
- oled.printf("\n<%g dL <<turn", steps * step2deg);
+ oled.printf("\n<%g dL <<360 d ", steps * step2deg);
break;
case Modes::TURNSetup:
- oled.printf("<+1 << +10 steps");
+ oled.printf("<+1step << +1/16T");
oledPrintMode();
- oled.printf("\n current:%d (%g d)", steps, steps * step2deg);
- oled.printf("\n<-1 << -10 steps");
+ oled.printf("\n steps:%d (%g d)", steps, steps * step2deg);
+ oled.printf("\n<-1step << -1/16T");
break;
case Modes::RPM:
oled.printf("<stop <<start");
oledPrintMode();
- oled.printf("\n %g rpm", stepsPerDuration2rpm());
+ oled.printf("\n %g rpm", stepsPerSeconds2rpm());
oled.printf("\n<stop <<start");
break;
case Modes::RPMSetup:
- oled.printf("<+1st <<+1ms st:%d", stepsPerDuration);
+ oled.printf("<+1s/s <<+1/4T/s");
oledPrintMode();
- oled.printf("\n %g rpm", stepsPerDuration2rpm());
- oled.printf("\n<-1st <<-1ms t:%dms", stepDurationMs);
+ oled.printf("\ns/s:%d RPM:%g", stepsPerSeconds, stepsPerSeconds2rpm());
+ oled.printf("\n<-1s/s <<-1/4T/s");
break;
case Modes::INFO:
oled.printf("IP:%s", WiFi.localIP().toString().c_str());
@@ -189,7 +181,6 @@ void changeMode ()
}
-
// button status management, per mode
void buttons (int shortp, int longp)
@@ -197,40 +188,82 @@ void buttons (int shortp, int longp)
// log debug on serial console
Serial.printf("button change: short:%d long:%d\n", shortp, longp);
+#if !CORE_MOCK
+ cli();
+ stepper.stop();
+ sei();
+ while (stepperMoving)
+ yield();
+#endif // !CORE_MOCK
+
+ auto oldrpming = rpming;
rpming = 0; // anything stops rpming
switch (mode)
{
case Modes::TURN:
+ Serial.printf("move: %d -> ", move);
move += shortp * steps;
- move += longp * MOTOR_STEPS * MICROSTEPS_CONF;
+ move += longp * MOTOR_STEPS * MICROSTEPS_CONF; // long: one turn
+ Serial.printf("%d\n", move);
+#if !CORE_MOCK
+ cli();
+ stepper.moveTo(move);
+ sei();
+#endif // !CORE_MOCK
break;
+
case Modes::TURNSetup:
steps += shortp;
- steps += longp * 10;
+ steps += longp * MOTOR_STEPS * MICROSTEPS_CONF / 16;
oledRedisplay();
break;
+
case Modes::RPM:
if (longp)
- rpming = longp; // move will be increased in main loop
- if (shortp)
- move = 0; // stop moving
+ {
+ rpming = longp? (oldrpming > 1? -1: 1): 0;
+ if (rpming)
+ {
+#if !CORE_MOCK
+ cli();
+ stepper.setSpeed(stepsPerSeconds);
+ sei();
+#endif // !CORE_MOCK
+ Serial.printf("StepPerSecs=%d (%g RPM)\n", stepsPerSeconds, stepsPerSeconds2rpm());
+ //stepper.setMaxSpeed(400);
+ }
+ }
break;
+
case Modes::RPMSetup:
- if ((stepDurationMs += longp) < STEP_DURATION_MIN_MS)
- stepDurationMs = STEP_DURATION_MIN_MS;
- if ((stepsPerDuration += shortp) < 1)
- stepsPerDuration = 1;
+ if ((stepsPerSeconds += longp * MOTOR_STEPS * MICROSTEPS_CONF / 16) < 1)
+ stepsPerSeconds = 1;
+ if ((stepsPerSeconds += shortp) < 1)
+ stepsPerSeconds = 1;
oledRedisplay();
break;
+
default:
Serial.printf("press not handled in buttons()\n");
}
}
+#if !CORE_MOCK
+IRAM_ATTR
+void stepperRun ()
+{
+ cli();
+ if (rpming)
+ stepperMoving = stepper.runSpeed();
+ else
+ stepperMoving = stepper.run();
+ sei();
+}
+#endif // !CORE_MOCK
void setup()
{
@@ -251,16 +284,9 @@ void setup()
oled.clear();
oled.println("Booting...\n");
-#if USE_A4988
- a4988.begin(STEPPER_RPM); // some value is necessary
- a4988.setEnableActiveState(LOW);
- a4988.setMicrostep(MICROSTEPS_CONF);
- a4988.enable();
-#else
stepper.setMaxSpeed(10000);
stepper.setAcceleration(10000);
- stepper.moveTo(200);
-#endif
+
#endif // !CORE_MOCK
@@ -289,6 +315,20 @@ void setup()
pinMode(BTNC, INPUT_PULLUP);
oledRedisplay();
+
+#if !CORE_MOCK
+#ifdef ISR_ATTR
+ timer1_isr_init();
+ timer1_enable(TIM_DIV1, TIM_EDGE, TIM_LOOP);
+ timer1_attachInterrupt(stepperRun);
+ timer1_write(microsecondsToClockCycles(100));
+#else
+ #warning ===================================================================================================
+ #warning "Please use the ISR version of AccelStepper (git clone -b isr https://github.com/d-a-v/AccelStepper)"
+ #warning ===================================================================================================
+ schedule_recurrent_function_us([](){ stepperRun(); return true; }, 1);
+#endif
+#endif
}
@@ -333,53 +373,7 @@ void loop()
if (longB)
changeMode();
(void)shortB;
-
- move = 0;
- }
-
-#if !CORE_MOCK
-
- // Stepper
-
-#if USE_A4988
- // MOVE THIS BLOCK INTO A TIMER/ISR
- // (it is randomly slowed down by prints / web / wifi)
- // (or? use A4988 RPM mode, related: a4988.begin(STEPPER_RPM);)
- if (lastMoveMs - nowMs > (millis_t)stepDurationMs)
- {
- if (rpming && move < MOTOR_STEPS * MICROSTEPS_CONF && move > -(MOTOR_STEPS * MICROSTEPS_CONF))
- {
- move += rpming * MOTOR_STEPS * MICROSTEPS_CONF;
- //Serial.printf("feeding %d\n", move);
- }
-
- if (move >= stepsPerDuration)
- {
- move -= stepsPerDuration;
- a4988.move(stepsPerDuration); // forward revolution
- }
- if (move <= -stepsPerDuration)
- {
- move += stepsPerDuration;
- a4988.move(-stepsPerDuration); // backward revolution
- }
-
- lastMoveMs += stepDurationMs;
-
- }
-#else
-
- if (stepper.distanceToGo() == 0)
- {
- stepper.moveTo(-stepper.currentPosition());
- Serial.println("Rotating Motor in opposite direction...");
}
- stepper.run();
-
-#endif
-
-#endif // !CORE_MOCK
-
console.loop(Serial);
webLoop();
diff --git a/pousseseringue-arduino.ino b/pousseseringue-arduino.ino
index 8629455..e3e70bc 100644
--- a/pousseseringue-arduino.ino
+++ b/pousseseringue-arduino.ino
@@ -1,7 +1,7 @@
// please edit this file: pousseseringue-arduino.cpp
-// Pour la compilation locale sur le PC
+// needed for compilation on host
#if CORE_MOCK
#include "pousseseringue-arduino.cpp"
#include "web.cpp"
--
GitLab