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Merge pull request #11088 from stefanbode/patch-9 

refactor acceleration function for stepper & servo
This commit is contained in:
Theo Arends 2021-02-23 08:33:49 +01:00 committed by GitHub
parent 6ce3e6be7c 88db2e27bb
commit 17f42a0fc1
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 24 additions and 22 deletions
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46
tasmota/xdrv_27_shutter.ino
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@ -45,8 +45,8 @@ int32_t velocity_change_per_step_max = 0;
int32_t min_runtime_ms = 0;
int32_t current_stop_way = 0;
int32_t next_possible_stop_position = 0;
int32_t toBeAcc = 0;
int32_t current_real_position = 0;
int32_t current_pwm_velocity = 0;
const uint8_t MAX_MODES = 7;
enum Shutterposition_mode {SHT_UNDEF, SHT_TIME, SHT_TIME_UP_DOWN, SHT_TIME_GARAGE, SHT_COUNTER, SHT_PWM_VALUE, SHT_PWM_TIME,};
@ -125,8 +125,10 @@ void ShutterUpdateVelocity(uint8_t i)
{
// No Logging allowed. Part of RTC Timer
// will be calles through RTC every 50ms.
Shutter[i].pwm_velocity += Shutter[i].accelerator;
Shutter[i].pwm_velocity = tmax(0,tmin(Shutter[i].direction==1 ? ShutterGlobal.open_velocity_max : Shutter[i].close_velocity_max,Shutter[i].pwm_velocity));
// do not allow accellerator to stop movement
Shutter[i].pwm_velocity = tmax(velocity_change_per_step_max, Shutter[i].pwm_velocity+Shutter[i].accelerator);
Shutter[i].pwm_velocity = tmin(Shutter[i].direction==1 ? ShutterGlobal.open_velocity_max : Shutter[i].close_velocity_max,Shutter[i].pwm_velocity);
// respect hard coded SDK limit of 100Hz on PWM frequency.
if (ShutterGlobal.position_mode == SHT_COUNTER) {
Shutter[i].pwm_velocity = tmax(100,Shutter[i].pwm_velocity);
}
@ -376,22 +378,21 @@ void ShutterCalculateAccelerator(uint8_t i)
switch (ShutterGlobal.position_mode) {
case SHT_COUNTER:
case SHT_PWM_VALUE:
current_real_position = Shutter[i].real_position;
current_pwm_velocity = Shutter[i].pwm_velocity;
// calculate max velocity allowed in this direction
velocity_max = Shutter[i].direction == 1 ? ShutterGlobal.open_velocity_max : Shutter[i].close_velocity_max;
// calculate max change of velocyty based on the defined motordelay in steps
velocity_change_per_step_max = velocity_max / (Shutter[i].motordelay>0 ? Shutter[i].motordelay : 1);
// minimumtime required from current velocity to stop
min_runtime_ms = Shutter[i].pwm_velocity * 1000 / STEPS_PER_SECOND / velocity_change_per_step_max;
// decellartion way from current velocity
current_stop_way = (min_runtime_ms * (Shutter[i].pwm_velocity+velocity_change_per_step_max)/100 - Shutter[i].pwm_velocity)*RESOLUTION/ShutterGlobal.open_velocity_max * Shutter[i].direction ;
next_possible_stop_position = Shutter[i].real_position + current_stop_way ;
toBeAcc = 0;
min_runtime_ms = current_pwm_velocity * 1000 / STEPS_PER_SECOND / velocity_change_per_step_max;
// decellaration way from current velocity
current_stop_way = min_runtime_ms * STEPS_PER_SECOND * (current_pwm_velocity + velocity_change_per_step_max) * Shutter[i].direction / 2 / ShutterGlobal.open_velocity_max - (Shutter[i].accelerator<0?Shutter[i].direction*1000*current_pwm_velocity/ShutterGlobal.open_velocity_max:0);
next_possible_stop_position = current_real_position + current_stop_way ;
// ensure that the accelerotor kicks in at least one step BEFORE it is to late and a hard stop required.
if (Shutter[i].accelerator < 0 || (next_possible_stop_position * Shutter[i].direction) +RESOLUTION*Shutter[i].pwm_velocity/ShutterGlobal.open_velocity_max>= Shutter[i].target_position * Shutter[i].direction ) {
// 10 times the deviation is the p-value of this simple p-regulator
toBeAcc = 100+(Shutter[i].direction*(next_possible_stop_position-Shutter[i].target_position)*velocity_max/Shutter[i].pwm_velocity*10/RESOLUTION);
Shutter[i].accelerator = - tmin(tmax( velocity_change_per_step_max*toBeAcc/100 , (velocity_change_per_step_max*9/10)), (velocity_change_per_step_max*11/10));
} else if ( Shutter[i].accelerator > 0 && Shutter[i].pwm_velocity == velocity_max) {
if (next_possible_stop_position * Shutter[i].direction > Shutter[i].target_position * Shutter[i].direction ) {
Shutter[i].accelerator = -velocity_change_per_step_max;
} else if ( Shutter[i].accelerator > 0 && current_pwm_velocity == velocity_max) {
Shutter[i].accelerator = 0;
}
break;
@ -406,8 +407,9 @@ void ShutterDecellerateForStop(uint8_t i)
case SHT_COUNTER:
int16_t missing_steps;
Shutter[i].accelerator = -(ShutterGlobal.open_velocity_max / (Shutter[i].motordelay>4 ? (Shutter[i].motordelay*11)/10 : 4) );
while (Shutter[i].pwm_velocity > -2*Shutter[i].accelerator || (ShutterGlobal.position_mode == SHT_COUNTER && Shutter[i].pwm_velocity > 100) ) {
delay(50);
while (Shutter[i].pwm_velocity > -2*Shutter[i].accelerator && Shutter[i].pwm_velocity != 100) {
delay(50);
AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: Velocity %ld, Delta %d"), Shutter[i].pwm_velocity, Shutter[i].accelerator );
// Control will be done in RTC Ticker.
@ -421,8 +423,8 @@ void ShutterDecellerateForStop(uint8_t i)
}
analogWrite(Pin(GPIO_PWM1, i), 0); // removed with 8.3 because of reset caused by watchog
Shutter[i].real_position = ShutterCalculatePosition(i);
AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: Real %d, Pulsecount %d, Start %d"), Shutter[i].real_position,RtcSettings.pulse_counter[i], Shutter[i].start_position);
AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: Remain steps %d"), missing_steps);
AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: Real %d, Pulsecount %d, tobe %d, Start %d"), Shutter[i].real_position,RtcSettings.pulse_counter[i], (uint32_t)(Shutter[i].target_position-Shutter[i].start_position)*Shutter[i].direction*ShutterGlobal.open_velocity_max/RESOLUTION/STEPS_PER_SECOND, Shutter[i].start_position);
}
Shutter[i].direction = 0;
Shutter[i].pwm_velocity = 0;
@ -487,11 +489,11 @@ void ShutterUpdatePosition(void)
XdrvRulesProcess();
ShutterGlobal.start_reported = 1;
}
AddLog_P(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: Time %d, toBA %d, cStop %d, cVelo %d, mVelo %d, aVelo %d, mRun %d, aPos %d, nStop %d, Trgt %d, mVelo %d, Dir %d"),
Shutter[i].time, toBeAcc, current_stop_way, Shutter[i].pwm_velocity, velocity_max, Shutter[i].accelerator, min_runtime_ms, Shutter[i].real_position,
AddLog(LOG_LEVEL_DEBUG_MORE, PSTR("SHT: Time %d, cStop %d, cVelo %d, mVelo %d, aVelo %d, mRun %d, aPos %d, nStop %d, Trgt %d, mVelo %d, Dir %d"),
Shutter[i].time, current_stop_way, current_pwm_velocity, velocity_max, Shutter[i].accelerator, min_runtime_ms, current_real_position,
next_possible_stop_position, Shutter[i].target_position, velocity_change_per_step_max, Shutter[i].direction);
if ( Shutter[i].real_position * Shutter[i].direction >= Shutter[i].target_position * Shutter[i].direction || (ShutterGlobal.position_mode == SHT_COUNTER && Shutter[i].accelerator <0 && Shutter[i].pwm_velocity+Shutter[i].accelerator<=100)) {
if ( Shutter[i].real_position * Shutter[i].direction >= Shutter[i].target_position * Shutter[i].direction || (ShutterGlobal.position_mode == SHT_COUNTER && Shutter[i].accelerator <0 && Shutter[i].pwm_velocity+Shutter[i].accelerator<100)) {
if (Shutter[i].direction != 0) {
Shutter[i].lastdirection = Shutter[i].direction;
}
@ -878,7 +880,7 @@ void ShutterSetPosition(uint32_t device, uint32_t position)
void ShutterToggle(bool dir)
{
AddLog(LOG_LEVEL_DEBUG, PSTR("SHT: Payload toggle: %d, i %d, dir %d"), XdrvMailbox.payload, XdrvMailbox.index, dir);
AddLog(LOG_LEVEL_DEBUG, PSTR("SHT: Payload toggle: %d, i %d, dir %d, lastdir %d"), XdrvMailbox.payload, XdrvMailbox.index, dir, Shutter[XdrvMailbox.index-1].lastdirection);
if ((1 == XdrvMailbox.index) && (XdrvMailbox.payload != -99)) {
XdrvMailbox.index = XdrvMailbox.payload;
}