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Code Issues Releases Activity

[PWM Motor] Uncrustify

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This commit is contained in:
TD-er
2021-06-01 09:25:48 +02:00
parent 772f8ff228
commit 8ddaa18a62
3 changed files with 69 additions and 59 deletions
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src/_P098_PWM_motor.ino
+38 -36
View File
@@ -84,14 +84,14 @@ boolean Plugin_098(byte function, struct EventStruct *event, String& string)
case PLUGIN_SET_DEFAULTS:
{
P098_LIMIT_SWA_GPIO = -1;
P098_LIMIT_SWB_GPIO = -1;
P098_LIMIT_SWA_GPIO = -1;
P098_LIMIT_SWB_GPIO = -1;
P098_LIMIT_SWA_DEBOUNCE = 100;
P098_LIMIT_SWB_DEBOUNCE = 100;
P098_MOTOR_CONTROL = 0; // No PWM
P098_PWM_FREQ = 1000;
P098_LIMIT_SWB_DEBOUNCE = 100;
P098_MOTOR_CONTROL = 0; // No PWM
P098_PWM_FREQ = 1000;
# ifdef ESP32
P098_ANALOG_GPIO = -1; // Analog feedback
P098_ANALOG_GPIO = -1; // Analog feedback
# endif // ifdef ESP32
break;
@@ -147,8 +147,8 @@ boolean Plugin_098(byte function, struct EventStruct *event, String& string)
case PLUGIN_WEBFORM_SAVE:
{
P098_LIMIT_SWA_GPIO = getFormItemInt(F("limit_a"));
P098_LIMIT_SWB_GPIO = getFormItemInt(F("limit_b"));
P098_LIMIT_SWA_GPIO = getFormItemInt(F("limit_a"));
P098_LIMIT_SWB_GPIO = getFormItemInt(F("limit_b"));
P098_LIMIT_SWA_DEBOUNCE = getFormItemInt(F("limit_a_debounce"));
P098_LIMIT_SWB_DEBOUNCE = getFormItemInt(F("limit_b_debounce"));
@@ -181,11 +181,11 @@ boolean Plugin_098(byte function, struct EventStruct *event, String& string)
case PLUGIN_INIT:
{
P098_config_struct config;
config.motorFwd.gpio = CONFIG_PIN1;
config.motorRev.gpio = CONFIG_PIN2;
config.encoder.gpio = CONFIG_PIN3;
config.limitA.gpio = P098_LIMIT_SWA_GPIO;
config.limitB.gpio = P098_LIMIT_SWB_GPIO;
config.motorFwd.gpio = CONFIG_PIN1;
config.motorRev.gpio = CONFIG_PIN2;
config.encoder.gpio = CONFIG_PIN3;
config.limitA.gpio = P098_LIMIT_SWA_GPIO;
config.limitB.gpio = P098_LIMIT_SWB_GPIO;
config.limitA.debounceTime = P098_LIMIT_SWA_DEBOUNCE;
config.limitB.debounceTime = P098_LIMIT_SWB_DEBOUNCE;
# ifdef ESP32
@@ -223,35 +223,37 @@ boolean Plugin_098(byte function, struct EventStruct *event, String& string)
P098_data->getLimitSwitchStates(limitA_triggered, limitB_triggered);
if (!P098_data->loop()) {}
switch (P098_data->state) {
case P098_data_struct::State::Idle:
case P098_data_struct::State::RunFwd:
case P098_data_struct::State::RunRev:
break;
case P098_data_struct::State::StopLimitSw:
case P098_data_struct::State::StopPosReached:
{
if (Settings.UseRules) {
String RuleEvent = getTaskDeviceName(event->TaskIndex);
RuleEvent += '#';
if (limitA_triggered) {
eventQueue.addMove(String(RuleEvent + F("limitA")));
}
switch (P098_data->state) {
case P098_data_struct::State::Idle:
case P098_data_struct::State::RunFwd:
case P098_data_struct::State::RunRev:
break;
case P098_data_struct::State::StopLimitSw:
case P098_data_struct::State::StopPosReached:
{
if (Settings.UseRules) {
String RuleEvent = getTaskDeviceName(event->TaskIndex);
RuleEvent += '#';
if (limitB_triggered) {
eventQueue.addMove(String(RuleEvent + F("limitB")));
}
if (limitA_triggered) {
eventQueue.addMove(String(RuleEvent + F("limitA")));
}
if (P098_data->state == P098_data_struct::State::StopPosReached) {
eventQueue.addMove(String(RuleEvent + F("positionReached")));
}
if (limitB_triggered) {
eventQueue.addMove(String(RuleEvent + F("limitB")));
}
if (P098_data->state == P098_data_struct::State::StopPosReached) {
eventQueue.addMove(String(RuleEvent + F("positionReached")));
}
P098_data->state = P098_data_struct::State::Idle;
break;
}
P098_data->state = P098_data_struct::State::Idle;
break;
}
//}
}
// }
UserVar[event->BaseVarIndex + 0] = P098_data->getPosition();
UserVar[event->BaseVarIndex + 1] = (limitA_triggered ? 1 : 0);
UserVar[event->BaseVarIndex + 2] = (limitB_triggered ? 1 : 0);
src/src/PluginStructs/P098_data_struct.cpp
+22 -15
View File
@@ -64,6 +64,7 @@ bool P098_data_struct::begin()
bool P098_data_struct::loop()
{
const State old_state(state);
check_limit_switch(_config.limitA, limitA);
check_limit_switch(_config.limitB, limitB);
@@ -114,7 +115,7 @@ bool P098_data_struct::canRun()
void P098_data_struct::findHome()
{
pos_dest = INT_MIN;
pos_dest = INT_MIN;
limitA.switchposSet = false;
startMoving();
}
@@ -122,7 +123,7 @@ void P098_data_struct::findHome()
void P098_data_struct::moveForward(int steps)
{
if (steps <= 0) {
pos_dest = INT_MAX;
pos_dest = INT_MAX;
limitB.switchposSet = false;
} else {
pos_dest = position + steps;
@@ -156,7 +157,7 @@ void P098_data_struct::stop()
int P098_data_struct::getPosition() const
{
// if (!homePosSet()) { return -1; }
// if (!homePosSet()) { return -1; }
return position - limitA.triggerpos;
}
@@ -236,11 +237,12 @@ void P098_data_struct::check_limit_switch(
volatile P098_limit_switch_state& switch_state)
{
if (switch_state.state == P098_limit_switch_state::State::TriggerWaitBounce) {
if (switch_state.lastChanged != 0 && timePassedSince(switch_state.lastChanged) > gpio_config.debounceTime) {
if ((switch_state.lastChanged != 0) && (timePassedSince(switch_state.lastChanged) > gpio_config.debounceTime)) {
if (gpio_config.readState()) {
switch_state.state = P098_limit_switch_state::State::High;
if (!switch_state.switchposSet) {
switch_state.switchpos = switch_state.triggerpos;
switch_state.switchpos = switch_state.triggerpos;
switch_state.switchposSet = true;
}
}
@@ -249,26 +251,29 @@ void P098_data_struct::check_limit_switch(
}
void ICACHE_RAM_ATTR P098_data_struct::process_limit_switch(
const P098_GPIO_config & gpio_config,
volatile P098_limit_switch_state& switch_state,
int position)
const P098_GPIO_config & gpio_config,
volatile P098_limit_switch_state& switch_state,
int position)
{
const bool pinState = gpio_config.readState();
const bool pinState = gpio_config.readState();
const P098_limit_switch_state::State oldState = switch_state.state;
switch (oldState) {
case P098_limit_switch_state::State::Low:
if (pinState) {
switch_state.state = P098_limit_switch_state::State::TriggerWaitBounce;
}
break;
case P098_limit_switch_state::State::TriggerWaitBounce:
if (switch_state.lastChanged != 0 && timePassedSince(switch_state.lastChanged) < gpio_config.debounceTime) {
if ((switch_state.lastChanged != 0) && (timePassedSince(switch_state.lastChanged) < gpio_config.debounceTime)) {
if (!pinState) {
switch_state.state = P098_limit_switch_state::State::Low;
} else {
// Apparently we missed a (logic) falling edge, thus reset position and timestamp.
switch_state.lastChanged = millis();
switch_state.triggerpos = position;
switch_state.triggerpos = position;
}
} else {
if (pinState) {
@@ -278,11 +283,13 @@ void ICACHE_RAM_ATTR P098_data_struct::process_limit_switch(
}
break;
case P098_limit_switch_state::State::High:
if (!pinState) {
switch_state.state = P098_limit_switch_state::State::Low;
}
break;
}
if (oldState != switch_state.state) {
switch (switch_state.state) {
case P098_limit_switch_state::State::Low:
@@ -291,19 +298,19 @@ void ICACHE_RAM_ATTR P098_data_struct::process_limit_switch(
break;
case P098_limit_switch_state::State::TriggerWaitBounce:
switch_state.lastChanged = millis();
switch_state.triggerpos = position;
switch_state.triggerpos = position;
break;
case P098_limit_switch_state::State::High:
if (!switch_state.switchposSet) {
switch_state.switchpos = switch_state.triggerpos;
switch_state.switchpos = switch_state.triggerpos;
switch_state.switchposSet = true;
}
break;
break;
}
}
}
void ICACHE_RAM_ATTR P098_data_struct::ISRlimitA(P098_data_struct *self)
{
process_limit_switch(self->_config.limitA, self->limitA, self->position);
src/src/PluginStructs/P098_data_struct.h
+9 -8
View File
@@ -17,13 +17,14 @@ struct P098_GPIO_config {
bool readState() const {
const bool state = digitalRead(gpio) != 0;
return inverted ? !state : state;
}
int gpio = -1;
int gpio = -1;
int debounceTime = 100;
bool pullUp = false;
bool inverted = false;
bool pullUp = false;
bool inverted = false;
};
struct P098_config_struct {
// Stored, so do not change values
@@ -67,11 +68,11 @@ struct P098_limit_switch_state {
High
};
int triggerpos = 0;
int switchpos = 0;
unsigned long lastChanged = 0;
State state = State::Low;
bool switchposSet = false;
int triggerpos = 0;
int switchpos = 0;
unsigned long lastChanged = 0;
State state = State::Low;
bool switchposSet = false;
};
struct P098_data_struct : public PluginTaskData_base {
enum class State {