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Added ability to set cpu and priority for motor task using pair {}

This commit is contained in:
Gregg 2023-06-22 21:25:18 -05:00
parent e422d3c9de
commit c5a40c6e34
5 changed files with 35 additions and 10 deletions
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1
src/src/extras/StepperControl.cpp
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@ -34,6 +34,7 @@ StepperControl::StepperControl(uint32_t priority, uint32_t cpu){
upLinkQueue = xQueueCreate(1,sizeof(upLink_t)); upLinkQueue = xQueueCreate(1,sizeof(upLink_t));
downLinkQueue = xQueueCreate(1,sizeof(downLink_t)); downLinkQueue = xQueueCreate(1,sizeof(downLink_t));
xTaskCreateUniversal(motorTask, "motorTaskHandle", 8096, this, priority, &motorTaskHandle, cpu); xTaskCreateUniversal(motorTask, "motorTaskHandle", 8096, this, priority, &motorTaskHandle, cpu);
ESP_LOGI(STEPPER_TAG,"motor task started with priority %d on cpu %d",priority,cpu);
} }
////////////////////////// //////////////////////////

2
src/src/extras/StepperControl.h
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@ -89,7 +89,7 @@ class StepperControl {
public: public:
StepperControl(uint32_t priority=2, uint32_t cpu=0); StepperControl(uint32_t priority=1, uint32_t cpu=0);
virtual void setStepType(int mode){}; virtual void setStepType(int mode){};
void setAccel(float accelSize, float accelSteps); void setAccel(float accelSize, float accelSteps);
void move(int nSteps, uint32_t msDelay, endAction_t endAction=NONE); void move(int nSteps, uint32_t msDelay, endAction_t endAction=NONE);

2
src/src/extras/Stepper_A3967.h
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@ -53,7 +53,7 @@ struct Stepper_A3967 : StepperControl {
////////////////////////// //////////////////////////
Stepper_A3967(int m1Pin, int m2Pin, int stepPin, int dirPin, int enablePin) : StepperControl(){ Stepper_A3967(int m1Pin, int m2Pin, int stepPin, int dirPin, int enablePin, std::pair<uint32_t, uint32_t> taskParams = {1,0}) : StepperControl(taskParams.first,taskParams.second){
this->m1Pin=m1Pin; this->m1Pin=m1Pin;
this->m2Pin=m2Pin; this->m2Pin=m2Pin;
this->stepPin=stepPin; this->stepPin=stepPin;

4
src/src/extras/Stepper_TB6612.h
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@ -60,7 +60,7 @@ struct Stepper_TB6612 : StepperControl {
////////////////////////// //////////////////////////
Stepper_TB6612(int AIN1, int AIN2, int BIN1, int BIN2) : StepperControl(){ Stepper_TB6612(int AIN1, int AIN2, int BIN1, int BIN2, std::pair<uint32_t, uint32_t> taskParams = {1,0}) : StepperControl(taskParams.first,taskParams.second){
ain1=AIN1; ain1=AIN1;
ain2=AIN2; ain2=AIN2;
@ -77,7 +77,7 @@ struct Stepper_TB6612 : StepperControl {
////////////////////////// //////////////////////////
Stepper_TB6612(int AIN1, int AIN2, int BIN1, int BIN2, int PWMA, int PWMB) : Stepper_TB6612(AIN1,AIN2,BIN1,BIN2){ Stepper_TB6612(int AIN1, int AIN2, int BIN1, int BIN2, int PWMA, int PWMB, std::pair<uint32_t, uint32_t> taskParams = {1,0}) : Stepper_TB6612(AIN1,AIN2,BIN1,BIN2,taskParams){
pwmA=new LedPin(PWMA,0,50000); pwmA=new LedPin(PWMA,0,50000);
pwmB=new LedPin(PWMB,0,50000); pwmB=new LedPin(PWMB,0,50000);

34
src/src/extras/extras.ino
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@ -41,15 +41,39 @@ void setup() {
delay(1000); delay(1000);
Serial.printf("\nHomeSpan Steppers\n\n"); Serial.printf("\nHomeSpan Steppers\n\n");
// motor=new Stepper_TB6612(23,32,22,14,33,27);
// motor=new Stepper_TB6612(23,32,22,14,33,27,{1,1});
motor=new Stepper_TB6612(23,32,22,14); motor=new Stepper_TB6612(23,32,22,14);
motor->setStepType(StepperControl::HALF_STEP); motor->setStepType(StepperControl::FULL_STEP_ONE_PHASE);
motor->setAccel(10,30); motor->setAccel(10,5);
motor->move(400,2);
motor->enable();
while(1);
for(int i=0;i<100;i++){
motor->disable();
delay(10);
motor->enable();
delay(10);
}
Serial.printf("Done\n");
while(1);
delay(1000);
for(int i=0;i<10;i++){
motor->move(1,100);
while(motor->stepsRemaining()); while(motor->stepsRemaining());
motor->move(-0,5);
while(motor->stepsRemaining());
}
while(1);
delay(100);
motor->move(-400,5,StepperControl::BRAKE);
while(1);
motor->setPosition(800); motor->setPosition(800);
motor->moveTo(0,2,StepperControl::BRAKE); motor->moveTo(0,5,StepperControl::BRAKE);
} }
////////////////////////////////////// //////////////////////////////////////