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Changed Interrupt handling for RP2040 architectures to be similar to ESP32

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Added check for proper USB Serial initialisation to examples
This commit is contained in:
Alex Shepherd
2022-07-23 20:26:32 +12:00
parent 37b66af743
commit 2e1f9098ad
9 changed files with 292 additions and 58 deletions
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297
examples/Fahrstuhl/Fahrstuhl.ino
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@@ -1,7 +1,55 @@
#include <AccelStepper.h> // Requires AccelStepper Library - http://www.airspayce.com/mikem/arduino/AccelStepper/
#include <EncButton2.h> // Requires EncButton library - https://github.com/GyverLibs/EncButton
#include <elapsedMillis.h> // Requires elapsedMillis library - https://github.com/pfeerick/elapsedMillis
#define NUM_LIFT_LEVELS 7
#define OPTIMIZE_I2C 1
#if defined(ARDUINO_AVR_UNO)
#include <Wire.h>
#include <SSD1306Ascii.h>
#include <SSD1306AsciiWire.h>
#include <EEPROM.h>
#define NUM_LIFT_LEVELS 8
#define PROGRAM_NAME "Fahrstuhl"
#define PROGRAM_VERSION "1.0"
#define EEPROM_BASE_ADDR 100
#define EEPROM_VALID_DATA_SIGNATURE 0xA5A5
// Uncomment the line below to force the EEPROM values to be reset to defaults
//#define EEPROM_FORCE_RELOAD_DEFAULT_VALUES
#define BUTTON_LONG_PRESS_DELAY 2000
#if defined (ARDUINO_AVR_NANO) // Setting for Uwe's Fahrstuhl System
// Uncomment the next line to reverse the direction of the stepper movement
//#define REVERSE_STEPPER_DIRECTION
#define HOME_SENSOR_PIN 7
#define STEPPER_PULSE_PIN 4
#define STEPPER_ENABLE_PIN 5
#define STEPPER_DIR_PIN 6
#define STEPPER_MAX_SPEED 2100
#define STEPPER_NORMAL_ACCELERATION 5000
#define STEPPER_MAX_POSITION 30000U // Maximum Steps to allow the stepper to drive Up Saftey mechanism
#define BUTTON_MANUAL 8
#define BUTTON_DOWN 9
#define BUTTON_UP 10
#define BUTTON_STOP_HOME 11
long defaultPositions[NUM_LIFT_LEVELS] = {1000, 4000, 7000, 10000, 13000, 16000, 19000, 22000}; // Default positions
#define OLED_DISPLAY_I2C_ADDRESS 0x3C
#else
//#if defined(ARDUINO_AVR_UNO) // Setting for AJS Dev System
// Uncomment the next line to reverse the direction of the stepper movement
#define REVERSE_STEPPER_DIRECTION
#define HOME_SENSOR_PIN 10
@@ -11,63 +59,164 @@
#define STEPPER_MAX_SPEED 2100
#define STEPPER_NORMAL_ACCELERATION 5000
#define STEPPER_MAX_POSITION 20000U // Maximum Steps to allow the stepper to drive Up Saftey mechanism
#define STEPPER_MAX_POSITION 30000U // Maximum Steps to allow the stepper to drive Up Saftey mechanism
#define BUTTON_OK A3
#define BUTTON_DOWN A2
#define BUTTON_UP A1
#define BUTTON_HOME A0
#define BUTTON_MANUAL A3
#define BUTTON_DOWN A2
#define BUTTON_UP A1
#define BUTTON_STOP_HOME A0
long defaultPositions[NUM_LIFT_LEVELS] = {1000, 4000, 7000, 10000, 13000, 16000, 19000, 22000}; // Default positions
#define OLED_DISPLAY_I2C_ADDRESS 0x3C
#elif defined (ARDUINO_AVR_NANO)
#endif
SSD1306AsciiWire oled;
#define STEPPER_INC_SPEED (STEPPER_MAX_SPEED / 10)
#define STEPPER_MAN_SPEED_CHANGE_MILLIS 5
#define STEPPER_EMERGENCY_STOP_ACCELERATION 100000
#define LIFT_LEVEL_NOT_SET -1
typedef struct PERSISTENT_VALUES
typedef struct
{
uint8_t numLiftLevels;
uint8_t lastLiftLevel;
long lastStepperPosition;
long listPositions[NUM_LIFT_LEVELS];
long levelPositions[NUM_LIFT_LEVELS];
uint16_t objectSignature;
} persistentValues;
} PERSISTENT_VALUES;
#include <AccelStepper.h>
#include <EncButton2.h>
#include <elapsedMillis.h>
PERSISTENT_VALUES persistentValues;
// Define a stepper and the pins it will use
AccelStepper stepper(AccelStepper::DRIVER, STEPPER_PULSE_PIN, STEPPER_DIR_PIN, -1, -1, false);
EncButton2<EB_BTN> homeSensor(INPUT_PULLUP, HOME_SENSOR_PIN);
EncButton2<EB_BTN> btnOk(INPUT, BUTTON_OK);
EncButton2<EB_BTN> btnManual(INPUT, BUTTON_MANUAL);
EncButton2<EB_BTN> btnDown(INPUT, BUTTON_DOWN);
EncButton2<EB_BTN> btnUp(INPUT, BUTTON_UP);
EncButton2<EB_BTN> btnHome(INPUT, BUTTON_HOME);
EncButton2<EB_BTN> btnStopHome(INPUT, BUTTON_STOP_HOME);
void displayLevel(int newLevel)
{
oled.setCursor(0,0);
oled.set2X();
oled.print("Level: ");
oled.print(newLevel);
oled.clearToEOL();
}
void displayMessage(const char* Msg)
{
oled.setCursor(0,4);
oled.set2X();
oled.print(Msg); oled.clearToEOL();
}
void displayMessageNumber(const char* Msg, int Number)
{
oled.setCursor(0,4);
oled.set2X();
oled.print(Msg);
oled.print(Number);
oled.clearToEOL();
}
void displayPosition(long newPosition)
{
oled.setCursor(0,7);
oled.set1X();
oled.print("Pos: ");
oled.print(newPosition);
oled.clearToEOL();
}
void initPersistentValues()
{
EEPROM.get(EEPROM_BASE_ADDR, persistentValues);
#ifdef EEPROM_FORCE_RELOAD_DEFAULT_VALUES
persistentValues.objectSignature = 0;
#endif
if(persistentValues.objectSignature != EEPROM_VALID_DATA_SIGNATURE)
{
Serial.println("initPersistentValues: set detault values");
persistentValues.numLiftLevels = NUM_LIFT_LEVELS;
persistentValues.lastLiftLevel = 0;
persistentValues.lastStepperPosition = 0;
persistentValues.objectSignature = EEPROM_VALID_DATA_SIGNATURE;
for(uint8_t i = 0; i < NUM_LIFT_LEVELS; i++)
persistentValues.levelPositions[i] = defaultPositions[i];
EEPROM.put(EEPROM_BASE_ADDR, persistentValues);
}
else
Serial.println("initPersistentValues: restored values from EEPROM");
}
void setup()
{
Serial.begin(115200);
Serial.println("\nStepper Motor Drive Test");
uint8_t maxWaitLoops = 255;
while(!Serial && maxWaitLoops--)
delay(20);
Serial.println(); Serial.print(PROGRAM_NAME); Serial.print(" Version: "); Serial.println(PROGRAM_VERSION);
initPersistentValues();
Wire.begin();
Wire.setClock(400000L);
oled.setFont(cp437font8x8);
oled.begin(&Adafruit128x64, OLED_DISPLAY_I2C_ADDRESS);
oled.clear();
oled.println(PROGRAM_NAME);
oled.println();
oled.print("Ver: "); oled.println(PROGRAM_VERSION);
oled.println();
oled.print("Max Levels: "); oled.println(NUM_LIFT_LEVELS);
oled.println();
oled.print("Used Levels: "); oled.println(persistentValues.numLiftLevels);
delay(2000);
oled.clear();
displayLevel(persistentValues.lastLiftLevel + 1);
displayPosition(persistentValues.lastStepperPosition);
stepper.setCurrentPosition(persistentValues.lastStepperPosition);
stepper.setEnablePin(STEPPER_ENABLE_PIN);
#ifdef REVERSE_STEPPER_DIRECTION
stepper.setPinsInverted(true, false, true);
#else
stepper.setPinsInverted(false, false, true);
#endif
stepper.setMaxSpeed(STEPPER_MAX_SPEED);
btnOk.setHoldTimeout(2000);
btnStopHome.setHoldTimeout(BUTTON_LONG_PRESS_DELAY);
btnManual.setHoldTimeout(BUTTON_LONG_PRESS_DELAY);
}
void moveStepper(long relative)
void stepperMoveTo(long newPosition)
{
stepper.enableOutputs();
stepper.setAcceleration(STEPPER_NORMAL_ACCELERATION);
stepper.move(relative);
stepper.moveTo(newPosition);
}
void stepperMove(long newRelPosition)
{
stepper.enableOutputs();
stepper.setAcceleration(STEPPER_NORMAL_ACCELERATION);
stepper.move(newRelPosition);
}
void stopStepper(void)
{
stepper.setAcceleration(STEPPER_EMERGENCY_STOP_ACCELERATION);
@@ -81,6 +230,7 @@ int lastSpeed = 0;
int newSpeed = 0;
bool wasRunning = false;
bool configMode = false;
bool homing = false;
elapsedMillis lastSpeedChange = 0;
void loop()
@@ -89,7 +239,7 @@ void loop()
homeSensor.tick();
if(homeSensor.state())
{
if(stepper.isRunning() && (lastSpeed <= 0))
if((configMode || homing) && stepper.isRunning() && (lastSpeed <= 0))
{
stopStepper();
@@ -100,14 +250,27 @@ void loop()
newSpeed = 0;
lastSpeed = newSpeed;
stepper.setCurrentPosition(0);
persistentValues.lastLiftLevel = 0;
persistentValues.lastStepperPosition = 0;
stepper.setCurrentPosition(persistentValues.lastStepperPosition);
EEPROM.put(EEPROM_BASE_ADDR, persistentValues);
if(homing)
{
long newPos = persistentValues.levelPositions[persistentValues.lastLiftLevel];
stepperMoveTo(newPos);
Serial.print("Home Sensor Hit: Move To: "); Serial.print(persistentValues.lastLiftLevel); Serial.print(" Pos: "); Serial.println(newPos);
homing = false;
}
}
}
// Make sure we haven't gone beyond the end point of the traverser.
if(stepper.currentPosition() >= STEPPER_MAX_POSITION)
{
if(stepper.isRunning() && (lastSpeed >= 0))
if(configMode && stepper.isRunning() && (lastSpeed >= 0))
{
stopStepper();
@@ -118,13 +281,16 @@ void loop()
newSpeed = 0;
lastSpeed = newSpeed;
displayMessage("At Max");
}
}
btnHome.tick();
if(btnHome.click())
btnStopHome.tick();
if(btnStopHome.press())
{
Serial.print("Home Click - Current Pos: "); Serial.println(stepper.currentPosition());
Serial.print("StopHome Click - Current Pos: "); Serial.println(stepper.currentPosition());
displayMessage("Stop");
if(stepper.isRunning())
{
newSpeed = 0;
@@ -132,39 +298,80 @@ void loop()
}
}
if(btnHome.held())
if(btnStopHome.held())
{
Serial.println("Home Held: Moving to Home Position");
Serial.println("StopHome Held: Moving to Home Position");
displayMessage("Homing");
homing = true;
newSpeed = -STEPPER_MAX_SPEED;
}
btnOk.tick();
if(btnOk.click())
btnManual.tick();
if(btnManual.press())
{
Serial.print("Ok Click - Current Pos: "); Serial.println(stepper.currentPosition());
Serial.print("Manual Press - Current Pos: "); Serial.println(stepper.currentPosition());
if(configMode)
{
configMode = false;
Serial.println("Home Click - Exit Manual Mode");
}
}
if(btnOk.held())
if(btnManual.held())
{
Serial.print("Ok Held - Current Pos: "); Serial.println(stepper.currentPosition());
Serial.print("Manual Held - Enter Manual Mode Pos: "); Serial.println(stepper.currentPosition());
configMode = true;
}
btnDown.tick();
if(btnDown.click() && (stepper.currentPosition() < STEPPER_MAX_POSITION) && (lastSpeed <= (STEPPER_MAX_SPEED - STEPPER_INC_SPEED)))
if(configMode)
{
newSpeed = lastSpeed + STEPPER_INC_SPEED;
lastSpeedChange = STEPPER_MAN_SPEED_CHANGE_MILLIS;
Serial.print("Down Click - Current Pos: "); Serial.print(stepper.currentPosition()); Serial.print(" New Speed: "); Serial.println(newSpeed);
if((btnDown.press() || btnDown.step()) && (stepper.currentPosition() < STEPPER_MAX_POSITION) && (lastSpeed <= (STEPPER_MAX_SPEED - STEPPER_INC_SPEED)))
{
newSpeed = lastSpeed + STEPPER_INC_SPEED;
lastSpeedChange = STEPPER_MAN_SPEED_CHANGE_MILLIS;
Serial.print("Down Press - Current Pos: "); Serial.print(stepper.currentPosition()); Serial.print(" New Speed: "); Serial.println(newSpeed);
displayMessage("Down");
}
}
else if((btnDown.press() || btnDown.step()) && persistentValues.lastLiftLevel > 0)
{
Serial.print("Down Press - Current Level: "); Serial.print(persistentValues.lastLiftLevel);
persistentValues.lastLiftLevel--;
long newPos = persistentValues.levelPositions[persistentValues.lastLiftLevel];
stepperMoveTo(newPos);
Serial.print(" Move To: "); Serial.print(persistentValues.lastLiftLevel); Serial.print(" Pos: "); Serial.println(newPos);
displayMessageNumber("Dn To: ", persistentValues.lastLiftLevel + 1);
}
btnUp.tick();
if(btnUp.click() && (homeSensor.state() == 0) && (lastSpeed >= -(STEPPER_MAX_SPEED - STEPPER_INC_SPEED)))
if(configMode)
{
newSpeed = lastSpeed - STEPPER_INC_SPEED;
lastSpeedChange = STEPPER_MAN_SPEED_CHANGE_MILLIS;
Serial.print("Up Click - Current Pos: "); Serial.print(stepper.currentPosition()); Serial.print(" New Speed: "); Serial.println(newSpeed);
if((btnUp.press() || btnDown.step()) && (homeSensor.state() == 0) && (lastSpeed >= -(STEPPER_MAX_SPEED - STEPPER_INC_SPEED)))
{
newSpeed = lastSpeed - STEPPER_INC_SPEED;
lastSpeedChange = STEPPER_MAN_SPEED_CHANGE_MILLIS;
Serial.print("Up Press - Current Pos: "); Serial.print(stepper.currentPosition()); Serial.print(" New Speed: "); Serial.println(newSpeed);
displayMessage("Up");
}
}
else if((btnUp.press() || btnDown.step()) && (persistentValues.lastLiftLevel < (persistentValues.numLiftLevels - 1)))
{
Serial.print("Up Press - Current Level: "); Serial.print(persistentValues.lastLiftLevel);
persistentValues.lastLiftLevel++;
long newPos = persistentValues.levelPositions[persistentValues.lastLiftLevel];
stepperMoveTo(newPos);
Serial.print(" Move To: "); Serial.print(persistentValues.lastLiftLevel); Serial.print(" Pos: "); Serial.println(newPos);
displayMessageNumber("Up To: ", persistentValues.lastLiftLevel + 1);
}
if(lastSpeed != newSpeed)
{
// Serial.print("Speed Change: Last: "); Serial.print(lastSpeed); Serial.print(" New: "); Serial.print(newSpeed);
@@ -192,7 +399,7 @@ void loop()
// Serial.print(" Set New Speed: "); Serial.println(newSpeed);
}
}
if(lastSpeed)
stepper.runSpeed();
@@ -203,6 +410,12 @@ void loop()
{
Serial.println("Disable Outputs");
stepper.disableOutputs();
displayLevel(persistentValues.lastLiftLevel + 1);
displayMessage("");
persistentValues.lastStepperPosition = stepper.currentPosition();
displayPosition(persistentValues.lastStepperPosition);
EEPROM.put(EEPROM_BASE_ADDR, persistentValues);
}
wasRunning = stepper.isRunning();
}