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Got Free RTOS 2 work

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This commit is contained in:
AlexanderHD27
2024-10-17 12:52:39 +02:00
parent 46f3514c6a
commit 6ba0535af9
10 changed files with 337 additions and 36 deletions
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238
motor-control/firmware/src/main.cpp
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@@ -9,16 +9,23 @@
*
*/
#include "tmc2209/tmc2209.hpp"
#include "pico/stdio.h"
#include "pico/stdlib.h"
#include "pico/time.h"
#include "hardware/uart.h"
#include <stdio.h>
#include "pulser.pio.h"
#include "tmc2209/tmc2209.hpp"
#include "tmc2209/step.hpp"
#include "FreeRTOSConfig.h"
#include "FreeRTOS.h"
#include "task.h"
#define LED_PIN 25
#define RGB1_R_PIN 21
#define RGB1_B_PIN 21
#define RGB1_G_PIN 22
#define RGB2_R_PIN 26
@@ -41,9 +48,112 @@
#define DIR0_PIN 8
#define DIR1_PIN 9
enum SYSTEM_STATE {
STARTUP,
HOMEING_FIRST_RUN,
HOMEING_BACKOFF,
HOMEING_SECOND_RUN,
IDLE
};
SYSTEM_STATE system_state = STARTUP;
absolute_time_t debounce_cooldown_ticks= 5000;
absolute_time_t limit_debounce_tick = 0;
void isr_LimitSwitch(uint gpio, uint32_t event_mask) {
absolute_time_t current_tick = get_absolute_time();
if((current_tick - limit_debounce_tick) < debounce_cooldown_ticks) {
return;
} else {
limit_debounce_tick = current_tick;
}
switch (gpio) {
case LIMIT0_PIN:
break;
default:
break;
}
}
void homeMotors0(TMC2209_step_dual * driver) {
driver->set_conf0(10000, 1);
driver->pulse0(10000);
driver->wait0(0);
driver->set_conf0(10000, 0);
driver->pulse0(100000);
while(!gpio_get(LIMIT2_PIN)) {
sleep_ms(1);
}
driver->pulse0(0);
sleep_ms(500);
// Second Run
driver->set_conf0(5000, 1);
driver->pulse0(200);
driver->wait0(0);
driver->set_conf0(500, 0);
driver->pulse0(5000);
while(!gpio_get(LIMIT2_PIN)) {
sleep_ms(1);
}
driver->pulse0(0);
sleep_ms(1);
}
void homeMotors1(TMC2209_step_dual * driver) {
driver->set_conf1(10000, 1);
driver->pulse1(5000);
driver->wait1(0);
driver->set_conf1(10000, 0);
driver->pulse1(100000);
while(!gpio_get(LIMIT3_PIN)) {
sleep_ms(1);
}
driver->pulse1(0);
sleep_ms(500);
// Second Run
driver->set_conf1(5000, 1);
driver->pulse1(200);
driver->wait1(0);
driver->set_conf1(500, 0);
driver->pulse1(5000);
while(!gpio_get(LIMIT3_PIN)) {
sleep_ms(1);
}
driver->pulse1(0);
sleep_ms(1);
}
void task_home0(void *pvParameters) {
TMC2209_step_dual * driver = (TMC2209_step_dual *)pvParameters;
vTaskDelay(500);
homeMotors0(driver);
}
void task_home1(void *pvParameters) {
TMC2209_step_dual * driver = (TMC2209_step_dual *)pvParameters;
homeMotors1(driver);
}
int main() {
sleep_ms(100);
stdio_usb_init();
gpio_init(DIR0_PIN);
gpio_set_dir(DIR0_PIN, GPIO_OUT);
gpio_set_dir(DIR0_PIN, GPIO_OUT);
gpio_put(DIR0_PIN, 0);
gpio_init(DIR1_PIN);
@@ -73,53 +183,125 @@ int main() {
sleep_ms(5);
step_driver.set_conf1(10000, 0);
//step_driver.set_conf1(10000, 0);
//step_driver.set_conf0(10000, 0);
//step_driver.pulse1(1000);
//step_driver.pulse0(1000);
//step_driver.wait1(0);
//step_driver.wait0(0);
gpio_init(LIMIT0_PIN);
gpio_set_dir(LIMIT0_PIN, GPIO_IN);
gpio_pull_up(LIMIT0_PIN);
gpio_set_input_hysteresis_enabled(LIMIT0_PIN, true);
gpio_init(LIMIT1_PIN);
gpio_set_dir(LIMIT1_PIN, GPIO_IN);
gpio_pull_up(LIMIT1_PIN);
step_driver.set_conf0(10000, 1);
step_driver.pulse0(10000);
step_driver.wait0(0);
gpio_set_input_hysteresis_enabled(LIMIT1_PIN, true);
step_driver.set_conf0(10000, 0);
step_driver.pulse0(100000);
while(!gpio_get(LIMIT1_PIN)) {
sleep_ms(1);
}
step_driver.pulse0(0);
sleep_ms(500);
gpio_init(LIMIT2_PIN);
gpio_set_dir(LIMIT2_PIN, GPIO_IN);
gpio_pull_up(LIMIT2_PIN);
gpio_set_input_hysteresis_enabled(LIMIT2_PIN, true);
step_driver.set_conf0(10000, 1);
step_driver.pulse0(200);
step_driver.wait0(0);
gpio_init(LIMIT3_PIN);
gpio_set_dir(LIMIT3_PIN, GPIO_IN);
gpio_pull_up(LIMIT3_PIN);
gpio_set_input_hysteresis_enabled(LIMIT3_PIN, true);
step_driver.set_conf0(500, 0);
step_driver.pulse0(5000);
while(!gpio_get(LIMIT1_PIN)) {
sleep_ms(1);
}
step_driver.pulse0(0);
sleep_ms(1);
/*
gpio_set_irq_enabled_with_callback(
LIMIT0_PIN,
GPIO_IRQ_EDGE_RISE,
true,
isr_LimitSwitch
);
gpio_set_irq_enabled_with_callback(
LIMIT1_PIN,
GPIO_IRQ_EDGE_RISE,
true,
isr_LimitSwitch
);
gpio_set_irq_enabled_with_callback(
LIMIT2_PIN,
GPIO_IRQ_EDGE_RISE,
true,
isr_LimitSwitch
);
gpio_set_irq_enabled_with_callback(
LIMIT3_PIN,
GPIO_IRQ_EDGE_RISE,
true,
isr_LimitSwitch
);*/
gpio_init(RGB2_B_PIN);
gpio_init(RGB2_G_PIN);
gpio_init(RGB2_R_PIN);
gpio_set_dir(RGB2_B_PIN, GPIO_OUT);
gpio_set_dir(RGB2_G_PIN, GPIO_OUT);
gpio_set_dir(RGB2_R_PIN, GPIO_OUT);
gpio_init(RGB1_B_PIN);
gpio_init(RGB1_G_PIN);
gpio_set_dir(RGB1_B_PIN, GPIO_OUT);
gpio_set_dir(RGB1_G_PIN, GPIO_OUT);
gpio_put(RGB1_B_PIN, 1);
gpio_put(RGB1_G_PIN, 1);
gpio_put(RGB2_B_PIN, 1);
gpio_put(RGB2_G_PIN, 1);
gpio_put(RGB2_R_PIN, 1);
/*
gpio_init(LED_PIN);
gpio_set_dir(LED_PIN, GPIO_OUT);
step_driver.set_conf0(10000, 0);
step_driver.pulse0(1000000);
//step_driver.set_conf0(10000, 0);
//step_driver.pulse0(1000000);
*/
homeMotors0(&step_driver);
printf("Home0 done\n");
homeMotors1(&step_driver);
printf("Home1 done\n");
//xTaskCreate(task_home0, "Home0", 1024, &step_driver, 5, NULL);
//xTaskCreate(task_home1, "Home1", 1024, &step_driver, 5, NULL);
vTaskStartScheduler();
/*
while (true) {
sleep_ms(50);
gpio_put(LED_PIN, 0);
sleep_ms(50);
gpio_put(LED_PIN, 1);
if(gpio_get(LIMIT1_PIN)) {
gpio_put(RGB1_B_PIN, 0);
} else {
gpio_put(RGB1_B_PIN, 1);
}
if(gpio_get(LIMIT3_PIN)) {
gpio_put(RGB1_G_PIN, 0);
} else {
gpio_put(RGB1_G_PIN, 1);
}
if(gpio_get(LIMIT0_PIN)) {
gpio_put(RGB2_B_PIN, 0);
} else {
gpio_put(RGB2_B_PIN, 1);
}
if(gpio_get(LIMIT2_PIN)) {
gpio_put(RGB2_G_PIN, 0);
} else {
gpio_put(RGB2_G_PIN, 1);
}
}
*/
return 0;
}