Merge pull request #30 from jschoch/dev

Dev

Author: jschoch

.gitignore

@@ -6,4 +6,5 @@
 .vscode/extensions.json
 
 build/
-wifisecret.h
+wifisecret.h
+config.ini

README.md

@@ -1,24 +1,44 @@
-## ESPels
+## ESPels:  A simple electronic lead screw for the esp32.
 
-A simple electronic lead screw for the esp32
+__DANGER__
+There is no estop right now, not safe.  Use at your own risk and hover over the lathe e-stop.  The thing could go crazy and crash the carriage into the spindle at any moment.   It shouldn't but bugs happen....
 
-* DANGER *
-There is no estop right now, not 100% safe.  Ensure you can quickly stop the spindle and disengage the half nut.  It shouldn't but bugs....
+This is currently in a "beta" state. There may be unfinished features, UI glitches, race conditions, crashes etc.  Feedback is needed to imporove the project.  Please use github issues with any questions, problems, or requests.
 
-[depricated: demo](https://www.youtube.com/watch?v=uXhqEe8Kw6M&list=PLvpLfzys-jPumkXZj8ZZn11zyY3UYtSkn&index=6)
+[ demo](https://www.youtube.com/watch?v=uXhqEe8Kw6M&list=PLvpLfzys-jPumkXZj8ZZn11zyY3UYtSkn&index=6)
+[latest frontend release](http://espels.s3-us-west-2.amazonaws.com/release_0_0_3/index.html)
 
-## Basics
+## Features
 
-The basic architecture is the firmware does the motion control and the frontend does user interaction and configuration.  The frontend is a react SPA (single page application) which uses websockets to connect to the firmware.  The Frontend can live where ever you like, you can use the S3 link or you can host it in your own network.  Once the files are loaded to your browser it only uses local networking.  No silly firwall transitions or anything like that.  You might ask why I don't serve the web content directly from the esp32 and the answer is simply development speed.  This could be done with littlefs and an esp32 with enough storage.
+* Imperial or Metric 
+* Revolution counter
+* Feed Mode:
+   * Acts like a full time gear system for the leadscrew (like clough42's ELS)  
+* MoveSync Mode:
+   * Allows you to feed a fixed distance and stop 
+* Bounce Mode:
+   * Feeds at a cutting speed and then rapids back to the starting position  
 
-This repo contains the firmware.  The frontend can be found here: [https://github.com/jschoch/espELSfrontend]
+### Planned Features
 
-You can see the frontend built here: [http://espels.s3-us-west-2.amazonaws.com/dev0_0_3/index.html]
 
+* Spindle angle DRO indicator
+* Broaching mode
+  * Utilize bounce mode with spindle fixed for broaching keyways.
+* Virtual compound threading mode
+   * This mode will offset threading passes to simulate a compound's angle infeed
+* TPI presets
+* General Presets ( ala touchDRO)
+* Hobbing Mode
+  * Reuse codebase for configuring and running my hobbing controller 
 
 ## Configuration
 
+Copy config.ini.d to config.ini
 
+
+in config.ini update the WIFI_SSID, WIFI_PASSWORD Z_STEP_PIN, Z_DIR_PIN, EA, and EB for your encoder signals etc.
+=======
 Wifi:  ssid and password need to be defined, this is default a file ../../wifisecret.h
 
 ```c
@@ -34,62 +54,43 @@ static const char* password = "";
 
 Copy the "config.ini.default" to "config.ini" and update as needed.  For example `'-D HOSTNAME="mx210latheELS"'` sets the hostname,  EA, EB for your encoder signals.  
 
-See (Install.md) for more info on installation
+The webUI simply is a react.js application designed to be responsive, it can live anywhere and should run on your phone, tablet, laptop or PC.  It connects to the firmware via websockets.  No network out to the internets is needed.  The s3 links are simply for convienence, you can serve the frontend yourself by copying the index.html or running `HOST=0.0.0.0 npm start`.  I may eventually offer an option to serve it from esp32's directly (assuming there is flash available).
 
+Once the firware is flashed you simply need to configure the frontend with the IP or dns of the firmware.
+![image](https://user-images.githubusercontent.com/20271/225640770-0720b314-eee3-4650-9613-717a55c63898.png)
 
 
+After that the "wifi" icon will turn from red to green once connected.  You may want to continue to monitor the firmware's serial output the first time you connect.  You will see something like this:
 
-## Frontend
+![image](https://user-images.githubusercontent.com/20271/225632806-9f107f18-0247-4377-a290-8d14f369b59e.png)
 
-![sample](https://user-images.githubusercontent.com/20271/104212553-33b6c200-53ea-11eb-899b-3ec2c22e56c2.png)
+Next you can click the red "venc On" button.  This will turn on a virtual quadrature encoder to simulate the spindle moving. You will see the RPM: DRO field increase and the rev indicator will show the number of revolutions.
 
-the webfrontend can be found here [https://github.com/jschoch/espELSfrontend]
+Finally click the "Selected Mode" dropdown to change the mode, select Feed Mode, or MoveSync Mode, change the parameters (pitch etc) and test away!
 
+![image](https://user-images.githubusercontent.com/20271/225641162-c13e5c4c-d1a8-48b6-bdbc-2bdc5bf3bffc.png)
 
 
+## Lathe Setup
 
+When installing on a lathe you will need an encoder with enough resolution.  Testing has been done with a 600PPI -- 2400CPI encoder. While more encoder pulses will create more accuracy the algorithm used is limited to a max of 1 step per 1 encoder position.  This limits the maximum pitch you can synchronize.  Consider this and the maximum thread pitch your lathe can handle when selecting an encoder and stepper microstepping configuration.
 
 
+A closed loop stepper is highly recommended.  The stepper online 1-CL57Y-24HE40 is a good kit for a small hobby lathe.
 
-Plan:
 
-1. [x] update DRO with toolRelMM 
-1. [x] Slave Jog MM stepper mode
-2. [x] get stops working, slave jog to stop mode
-3. figure out how to sync thread start
-4. implement full threading cycle
+You may need to swap your encoder pins and or change your stepper driver's direction.  The expectation is that when the spindle turns counter clockwise the "left" buttons should move the carriage Z-.
 
-Cleanup:
 
-1. rethink "modes", right now there are display_modes and state transitions.  The GUI's mode selection should select the state machine mode needed.  
-  a. get rid of the menu thing.
+## Frontend
 
+the webfrontend can be found here [https://github.com/jschoch/espELSfrontend]
 
+## HOW
 
-** TODO
+Initially I was planning on making a pcb with buttons to control everything.  This is messy and hard to update.  Now I'm using websockets and a react SPA to control everything.  The websockets transmit json and msgPack for configuration and status updates.  This is working very nicely.
 
-- [ ] fix rapid stepper rtos crashes
-- [ ] lock UI on rapid move
-- [ ] add rapid cancel
-- [. ] Add rapid jog when Mod btn is pressed
-- [ ] Add optional encoder wheel input
-- [ ] Add virtual stops
-- [ ] Add feed to stop mode
-- [ ] Add feed to distance (mm) mode
-- [ ] Display distance to go
-- [ ] Add physical stops (adjustable hall sensors for example)
-- [ ] Add backlash compensation
-- [ ] turn on task monitoring and display via web ui
-- [ ] smooth filter EMA RPM for display
-- [ ] store position after disengaging slave so you can re-index if you re-engage
-- [ ] Add angle measure mode like a manual turned indexing plate.
-- [] bug with startup when spindle spinning it may have a hard time booting
-- [x] Add mm position to display
-- [x ] Add some js for frontend
-- [x ] Add HTML parameter updates
-- [x ] Turn web off when in feed modes
-- [x ] Add EEPROM saving of params
+This is currently using a version of the "didge" algorythm here (https://github.com/prototypicall/Didge/blob/master/doc/How.md_).  The slope can't be > 1 so you may need to reduce your micro stepping to facilitate large thread pitches.
 
 
-Misc:
 

TODO.md

@@ -0,0 +1,19 @@
+Critical
+- [ ] Bounce enters unknown mode, and is broken after moveCancel issues
+- [ ] Bounce may work unexpectedly when spindle is running in reverse
+- [ ] Add wifi reconnect logic
+- [ ] optional LED's, particularly for wifi connection status
+
+
+
+Rest
+
+** TODO
+
+- [ ] lock UI on rapid move
+- [ ] add rapid cancel
+- [ ] Add physical stops (adjustable hall sensors for example)
+- [ ] Add backlash compensation
+- [ ] turn on task monitoring and display via web ui
+- [ ] smooth filter EMA RPM for display
+- [ ] Add angle measure mode like a manual turned indexing plate.

config.ini.template.ini

@@ -0,0 +1,39 @@
+[env:ESPels]
+#port that platformio will use to upload over usb
+upload_port = COM3
+
+build_src_flags = 
+#machine configuration
+	'-D HOSTNAME="mx210lathe"'
+    -D LEADSCREW_LEAD=2.0
+    '-D WIFI_SSID="yourssidhere"'
+    '-D WIFI_PASSWORD="yourwifipassword"'
+#motor configuration
+	-D Z_STEP_PIN=13
+	-D Z_DIR_PIN=12
+	-D Z_NATIVE_STEPS_PER_REV=200
+    -D Z_MICROSTEPPING=8
+#Spindle Encoder pins
+	-D EA=25
+	-D EB=26
+    #choices are: 
+    #EXTERN //your hardware handles the pullup or pulldown, for example with a resistor to 3v3 or to gnd
+    #INTERN_PULLDOWN //your encoder expects the MCU to pull low, and sends a high for a pulse
+    #INTERN_PULLUP //your esp handles the pullup and your encoder pulls it down.
+    #For most common quadrature encoders, choose Extern and apply 3.3v to your encoder pins through 1.5k to 4.7k ohm resistors */
+	-D ENCODER_PULLUP_TYPE=EXTERN
+    #ENCODER_QUADRATURE_MODE should be ON, unless you have a good reason not to. Otherwise your leadscrew will not track reverses.
+    #valid values: ON, OFF
+	-D ENCODER_QUADRATURE_MODE=ON
+	-D ENCODER_RESOLUTION=2400 #this is counts per rev *4 for a quadrature encoder
+	-D USESSD1306=1 #use the display or not. Recommend not, it doesn't have much functionality. Set to 1 to enable.
+	-D error_led=21
+    -D configured=true #ignore this, this just tells the config that you've configured your machine
+
+[env:ota]
+#ip address of the esp when connected to your wifi, if you want to upload firmware remotely
+upload_port = 192.168.0.187
+
+[env:ESPelsOTA]
+#ip address of the esp when connected to your wifi, if you want to upload firmware remotely
+upload_port = 192.168.1.28

nativeStatic.py

@@ -0,0 +1,14 @@
+Import("env")
+
+#
+# Dump build environment (for debug)
+# print(env.Dump())
+#
+
+env.Append(
+  LINKFLAGS=[
+      "-static",
+      "-static-libgcc",
+      "-static-libstdc++"
+  ]
+)

platformio.ini

@@ -1,46 +1,55 @@
 
+[platformio]
+extra_configs = config.ini
+
 [env:ESPels]
 platform = espressif32
 board = esp32dev
 framework = arduino
 monitor_speed = 115200
-;upload_port = com3
-;hostname = elsdesk
 lib_deps = 
-	waspinator/AccelStepper@^1.64
+	gin66/FastAccelStepper@^0.28.3
 	thingpulse/ESP8266 and ESP32 OLED driver for SSD1306 displays@^4.3.0
 	thomasfredericks/Bounce2@^2.55
 	bricofoy/YASM@^1.0.4
-	;janelia-arduino/Vector@^1.2.0
-	;me-no-dev/ESP Async WebServer@^1.2.3
 	https://github.com/me-no-dev/ESPAsyncWebServer.git
 	bblanchon/ArduinoJson@^6.19.4
 	bblanchon/StreamUtils@^1.6.3
+	madhephaestus/ESP32Encoder@~0.10.1
 monitor_filters = esp32_exception_decoder
-build_flags = -DCORE_DEBUG_LEVEL=3 -DLOG_LOCAL_LEVEL=ESP_LOG_DEBUG -Wall -Wextra -Wunused
+build_flags = -DCORE_DEBUG_LEVEL=3 -DLOG_LOCAL_LEVEL=ESP_LOG_DEBUG -Wall -Wextra -Wunused 
 check_tool = cppcheck
 check_flags = -v 
 check_skip_packages = yes
 
+[env:ota_debug]
+extends = env:ESPels
+build_flags =
+  -D CORE_DEBUG_LEVEL=ARDUHAL_LOG_LEVEL_VERBOSE
+  -D LOG_LEVEL=LOG_LEVEL_VERBOSE
+build_type = debug
+
 [env:ESPelsOTA]
-extends = "env:ESPels"
+extends = env:ESPels
 upload_protocol = espota
-upload_port = 192.168.1.28
+upload_port = ${env:ota.upload_port}
 
 [env:cppchecker]
 platform = espressif32
 board = esp32dev
 framework = arduino
-extends = "env:ESPels"
+extends = env:ESPels
 check_skip_packages = yes
+check_flags = 
+	cppcheck: --language=c++ --suppress=*:*pio\* --suppress=*:*neotimer\*
 check_patterns=
-	src
+	./src
 
 [env:ctd]
 platform = espressif32
 board = esp32dev
 framework = arduino
-extends = "env:ESPels"
+extends = env:ESPels
 check_tool = clangtidy
 check_skip_packages = yes
 check_patterns = 
@@ -51,7 +60,17 @@ check_patterns =
 [env:ESPelsTest]
 platform = native
 check_flags = --verbose --enable=all --std=c++11
+extra_scripts = 
+	nativeStatic.py
 lib_deps = 
+	ArduinoFake
+	gin66/FastAccelStepper@^0.28.3
+	thingpulse/ESP8266 and ESP32 OLED driver for SSD1306 displays@^4.3.0
+	thomasfredericks/Bounce2@^2.55
+	bricofoy/YASM@^1.0.4
+	https://github.com/me-no-dev/ESPAsyncWebServer.git
+	bblanchon/ArduinoJson@^6.19.4
 	bblanchon/StreamUtils@^1.6.3
+debug_test = test_stepper
 
 

src/main.cpp

@@ -1,9 +1,17 @@
-#include <Arduino.h>
+#ifdef UNIT_TEST
+    #include "ArduinoFake.h"
+#else
+    #include "Arduino.h"
+#endif
 
 #define ARDUINOJSON_USE_LONG_LONG 1
 #define ARDUINOJSON_USE_DOUBLE 1
 
 #include "src/config.h"
+#include "src/moveConfig.h"
+#include "src/rmtStepper.h"
+#include "src/genStepper.h"
+#include "src/state.h"
 #include "src/Encoder.h"
 #include "Bounce2.h"
 #include "esp_err.h"
@@ -16,20 +24,47 @@
 #include "src/BounceMode.h"
 #include "src/myperfmon.h"
 #include "src/Machine.h"
+#include "src/led.h"
+
+// init static members
+
+Gear::State GenStepper::State::mygear;
+rmtStepper::State GenStepper::State::zstepper;
+int GenStepper::State::nom;
+int GenStepper::State::den;
+int GenStepper::State::position;
+
+int32_t MoveConfig::State::moveDistanceSteps ;
+bool MoveConfig::State::waitForSync ;
+bool MoveConfig::State::moveDirection ;
+int32_t MoveConfig::State::moveTargetSteps ;
+int MoveConfig::State::stopPos ;
+int MoveConfig::State::stopNeg ;
+bool MoveConfig::State::spindle_handedness ;
+double MoveConfig::State::pitch ;
+double MoveConfig::State::rapidPitch ;
+double MoveConfig::State::oldPitch ;
+//bool MoveConfig::State::isAbs  ;
+bool MoveConfig::State::useStops ;
+int Gear::State::next;
+int Gear::State::prev;
+int Gear::State::last;
 
 void setup() {
 
+  led_init();
   Serial.begin(115200);
 
-  init_encoder();  
+   
 
   init_motion();
 
   init_machine();
 
   init_controls();
 
-  setFactor();
+  //setFactor();
+  gs.setELSFactor(mc.pitch);
 
   init_web();
 
@@ -42,6 +77,8 @@ void setup() {
   }
   bounce_yasm.next(BounceIdleState);
 
+  init_encoder(); 
+
 
   Serial.println("setup done");
 }