Extrernal step gerenation using ESP32+w5500
25 Jul 2024 08:55 - 25 Jul 2024 08:58 #305996
by yathish
Extrernal step gerenation using ESP32+w5500 was created by yathish
Hello Linuxcnc community, I was trying external step generation using ESP32+W5500, I was refering github.com/jzolee/HAL2UDP/blob/main/src/main.cpp. In HAL2UDp/scr/main.cpp , which is nothing but ESP32 side code, the syntax has to be changed because some functions have been combined refer this for changed syntax docs.espressif.com/projects/arduino-esp3...atest/api/timer.html.
This is the updated main.cpp : #include <Arduino.h>
//#include <driver/ledc.h>/
#include <Ethernet.h>
#include <EthernetUdp.h>
#include <esp_task_wdt.h>
/*==================================================================*/
byte mac = { 0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xED };
IPAddress ip(192, 168, 96, 54);
unsigned int port = 58427;
/*==================================================================*/
#define SPI_CS_PIN 5 // hardcoded in Ethernet_mod/src/utility/w5100.h !!!!!!!!!!!!!!
/*==================================================================*/
#define STEP_0_PIN 12
#define STEP_0_H REG_WRITE(GPIO_OUT_W1TS_REG, BIT12)
#define STEP_0_L REG_WRITE(GPIO_OUT_W1TC_REG, BIT12)
#define DIR_0_PIN 13
#define DIR_0_H REG_WRITE(GPIO_OUT_W1TS_REG, BIT13)
#define DIR_0_L REG_WRITE(GPIO_OUT_W1TC_REG, BIT13)
#define STEP_1_PIN 16
#define STEP_1_H REG_WRITE(GPIO_OUT_W1TS_REG, BIT16)
#define STEP_1_L REG_WRITE(GPIO_OUT_W1TC_REG, BIT16)
#define DIR_1_PIN 17
#define DIR_1_H REG_WRITE(GPIO_OUT_W1TS_REG, BIT17)
#define DIR_1_L REG_WRITE(GPIO_OUT_W1TC_REG, BIT17)
#define STEP_2_PIN 21
#define STEP_2_H REG_WRITE(GPIO_OUT_W1TS_REG, BIT21)
#define STEP_2_L REG_WRITE(GPIO_OUT_W1TC_REG, BIT21)
#define DIR_2_PIN 22
#define DIR_2_H REG_WRITE(GPIO_OUT_W1TS_REG, BIT22)
#define DIR_2_L REG_WRITE(GPIO_OUT_W1TC_REG, BIT22)
/*==================================================================*/
#define OUT_00_PIN 2
#define OUT_00_H REG_WRITE(GPIO_OUT_W1TS_REG, BIT2)
#define OUT_00_L REG_WRITE(GPIO_OUT_W1TC_REG, BIT2)
#define OUT_01_PIN 4
#define OUT_01_H REG_WRITE(GPIO_OUT_W1TS_REG, BIT4)
#define OUT_01_L REG_WRITE(GPIO_OUT_W1TC_REG, BIT4)
#define OUT_02_PIN 25
#define OUT_02_H REG_WRITE(GPIO_OUT_W1TS_REG, BIT25)
#define OUT_02_L REG_WRITE(GPIO_OUT_W1TC_REG, BIT25)
#define OUT_03_PIN 1
#define OUT_03_H REG_WRITE(GPIO_OUT_W1TS_REG, BIT1)
#define OUT_03_L REG_WRITE(GPIO_OUT_W1TC_REG, BIT1)
#define OUT_04_PIN 14
#define OUT_04_H REG_WRITE(GPIO_OUT_W1TS_REG, BIT14)
#define OUT_04_L REG_WRITE(GPIO_OUT_W1TC_REG, BIT14)
#define OUT_05_PIN 15
#define OUT_05_H REG_WRITE(GPIO_OUT_W1TS_REG, BIT15)
#define OUT_05_L REG_WRITE(GPIO_OUT_W1TC_REG, BIT15)
/*==================================================================*/
#define IN_00_PIN 26
#define IN_00 REG_READ(GPIO_IN_REG) & BIT26 //26
#define IN_01_PIN 27
#define IN_01 REG_READ(GPIO_IN_REG) & BIT27 //27
#define IN_02_PIN 32
#define IN_02 REG_READ(GPIO_IN1_REG) & BIT0 //32 -32
#define IN_03_PIN 33
#define IN_03 REG_READ(GPIO_IN1_REG) & BIT1 //33 -32
#define IN_04_PIN 34
#define IN_04 REG_READ(GPIO_IN1_REG) & BIT2 //34 -32
#define IN_05_PIN 35
#define IN_05 REG_READ(GPIO_IN1_REG) & BIT3 //35 -32
#define IN_06_PIN 36
#define IN_06 REG_READ(GPIO_IN1_REG) & BIT4 //36 -32
#define IN_07_PIN 39
#define IN_07 REG_READ(GPIO_IN1_REG) & BIT7 //39 -32
/*==================================================================*/
#define CTRL_DIRSETUP 0b00000001
#define CTRL_ACCEL 0b00000010
#define CTRL_PWMFREQ 0b00000100
#define CTRL_READY 0b01000000
#define CTRL_ENABLE 0b10000000
#define IO_00 0b00000001
#define IO_01 0b00000010
#define IO_02 0b00000100
#define IO_03 0b00001000
#define IO_04 0b00010000
#define IO_05 0b00100000
#define IO_06 0b01000000
#define IO_07 0b10000000
/*==================================================================*/
EthernetUDP Udp; // An EthernetUDP instance to let us send and receive packets over UDP
struct cmdPacket {
uint8_t control;
uint8_t io;
uint16_t pwm[6];
int32_t pos[3];
float vel[3];
} cmd = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 0.0f, 0.0f };
struct fbPacket {
uint8_t control;
uint8_t io;
int32_t pos[3];
float vel[3];
} fb = { 0, 0, 0, 0, 0, 0.0f, 0.0f, 0.0f };
/*==================================================================*/
volatile unsigned long ul_dirSetup[3] = { 1000, 1000, 1000 }; // x 25 nanosec
volatile float f_accel_x2[3] = { 1000.0, 1000.0, 1000.0 }; // acceleration*2 step/sec2
/*==================================================================*/
volatile unsigned long ul_cmd_T[3];
unsigned long ul_accelStep[3] = { 0, 0, 0 };
volatile unsigned long ul_T[3] = { 0, 0, 0 };
volatile unsigned long ul_TH[3] = { 0, 0, 0 };
volatile unsigned long ul_TL[3] = { 0, 0, 0 };
volatile bool b_math[3] = { false, false, false };
volatile bool b_dirSignal[3] = { LOW, LOW, LOW };
volatile bool b_dirChange[3] = { false, false, false };
const uint8_t pwm_pin[6] = { OUT_00_PIN, OUT_01_PIN, OUT_02_PIN, OUT_03_PIN, OUT_04_PIN, OUT_05_PIN };
bool pwm_enable[6] = { false, false, false, false, false, false };
/*==================================================================*/
hw_timer_t* stepGen_0 = NULL;
hw_timer_t* stepGen_1 = NULL;
hw_timer_t* stepGen_2 = NULL;
/*==================================================================*/
float IRAM_ATTR fastInvSqrt(const float x)
{
const float xhalf = x * 0.5f;
union {
float x;
uint32_t i;
} u = { .x = x };
u.i = 0x5f3759df - (u.i >> 1);
return u.x * (1.5f - xhalf * u.x * u.x);
}
/*==================================================================*/
/*float IRAM_ATTR Q_InvSqrt(float x)
{
float xhalf = x * 0.5f;
int i = (int)&x; // evil floating point bit level hacking
i = 0x5f3759df - (i >> 1); // what the fuck?
x = (float)&i; // convert new bits into float
x = x * (1.5f - xhalf * x * x); // 1st iteration of Newton's method
//x = x * (1.5f - xhalf * x * x); // 2nd iteration, this can be removed
return x;
}*/
/*==================================================================*/
void IRAM_ATTR onTime_0()
{
static bool b_stepState = LOW;
static bool b_dirState = LOW;
if (b_stepState == LOW) { // end of period
if (ul_T[0]) { // there is a period time so a pulse must be started
if (!b_dirChange[0]) { //direction is good, start a new pulse (step L-H transition)
STEP_0_H;
timerWrite(stepGen_0, ul_TH[0]);
b_stepState = HIGH;
b_dirState ? fb.pos[0]++ : fb.pos[0]--;
b_math[0] = true; // calculation of a new period time
} else { // need to change direction
if (b_dirSignal[0]) {
DIR_0_H;
b_dirState = HIGH;
} else {
DIR_0_L;
b_dirState = LOW;
}
timerWrite(stepGen_0, ul_dirSetup[0]);
b_dirChange[0] = false;
}
} else { // no need to step pulse
timerWrite(stepGen_0, 4000ul); // 0,1 millis scan
b_math[0] = true; // calculation of a new period time
}
} else { // the middle of the period time (step H-L transition)
STEP_0_L;
timerWrite(stepGen_0, ul_TL[0]);
b_stepState = LOW;
}
}
/*==================================================================*/
void IRAM_ATTR onTime_1()
{
static bool b_stepState = LOW;
static bool b_dirState = LOW;
if (b_stepState == LOW) { // end of period
if (ul_T[1]) { // there is a period time so a pulse must be started
if (!b_dirChange[1]) { //direction is good, start a new pulse (step L-H transition)
STEP_1_H;
timerWrite(stepGen_1, ul_TH[1]);
b_stepState = HIGH;
b_dirState ? fb.pos[1]++ : fb.pos[1]--;
b_math[1] = true; // calculation of a new period time
} else { // need to change direction
if (b_dirSignal[1]) {
DIR_1_H;
b_dirState = HIGH;
} else {
DIR_1_L;
b_dirState = LOW;
}
timerWrite(stepGen_1, ul_dirSetup[1]);
b_dirChange[1] = false;
}
} else { // no need to step pulse
timerWrite(stepGen_1, 4000ul); // 0,1 millis scan
b_math[1] = true; // calculation of a new period time
}
} else { // the middle of the period time (step H-L transition)
STEP_1_L;
timerWrite(stepGen_1, ul_TL[1]);
b_stepState = LOW;
}
}
/*==================================================================*/
void IRAM_ATTR onTime_2()
{
static bool b_stepState = LOW;
static bool b_dirState = LOW;
if (b_stepState == LOW) { // end of period
if (ul_T[2]) { // there is a period time so a pulse must be started
if (!b_dirChange[2]) { //direction is good, start a new pulse (step L-H transition)
STEP_2_H;
timerWrite(stepGen_2, ul_TH[2]);
b_stepState = HIGH;
b_dirState ? fb.pos[2]++ : fb.pos[2]--;
b_math[2] = true; // calculation of a new period time
} else { // need to change direction
if (b_dirSignal[2]) {
DIR_2_H;
b_dirState = HIGH;
} else {
DIR_2_L;
b_dirState = LOW;
}
timerWrite(stepGen_2, ul_dirSetup[2]);
b_dirChange[2] = false;
}
} else { // no need to step pulse
timerWrite(stepGen_2, 4000ul); // 0,1 millis scan
b_math[2] = true; // calculation of a new period time
}
} else { // the middle of the period time (step H-L transition)
STEP_2_L;
timerWrite(stepGen_2, ul_TL[2]);
b_stepState = LOW;
}
}
/*==================================================================*/
void IRAM_ATTR newT(const int i) // period time calculation
{
//ul_T = 40000000.0f / sqrtf((float)(ul_accelStep * ul_accel_x2));
ul_T = 40000000.0f * fastInvSqrt((float)ul_accelStep * f_accel_x2); // fast method (>3x)
ul_TH = ul_T >> 1;
ul_TL = ul_T - ul_TH;
}
/*==================================================================*/
void IRAM_ATTR deceleration(const int i)
{
if (ul_accelStep) {
ul_accelStep--;
if (ul_accelStep)
newT(i);
else
ul_T = 0;
}
}
/*==================================================================*/
void IRAM_ATTR acceleration(const int i)
{
if (cmd.control & CTRL_ENABLE) {
ul_accelStep++;
newT(i);
} else
deceleration(i);
}
/*==================================================================*/
void IRAM_ATTR outputHandler() {
static int last_pwm[6] = { 0, 0, 0, 0, 0, 0 };
bool enable = cmd.control & CTRL_ENABLE;
if (pwm_enable[0]) {
if (enable) {
if (last_pwm[0] != cmd.pwm[0]) {
last_pwm[0] = cmd.pwm[0];
ledcWrite(0, last_pwm[0]);
}
} else {
ledcWrite(0, 0);
last_pwm[0] = 0;
}
} else {
if (enable) {
if (cmd.io & IO_00) {
OUT_00_H;
} else {
OUT_00_L;
}
} else {
OUT_00_L;
}
}
if (pwm_enable[1]) {
if (enable) {
if (last_pwm[1] != cmd.pwm[1]) {
last_pwm[1] = cmd.pwm[1];
ledcWrite(2, last_pwm[1]);
}
} else {
ledcWrite(2, 0);
last_pwm[1] = 0;
}
} else {
if (enable) {
if (cmd.io & IO_01) {
OUT_01_H;
} else {
OUT_01_L;
}
} else {
OUT_01_L;
}
}
if (pwm_enable[2]) {
if (enable) {
if (last_pwm[2] != cmd.pwm[2]) {
last_pwm[2] = cmd.pwm[2];
ledcWrite(4, last_pwm[2]);
}
} else {
ledcWrite(4, 0);
last_pwm[2] = 0;
}
} else {
if (enable) {
if (cmd.io & IO_02) {
OUT_02_H;
} else {
OUT_02_L;
}
} else {
OUT_02_L;
}
}
if (pwm_enable[3]) {
if (enable) {
if (last_pwm[3] != cmd.pwm[3]) {
last_pwm[3] = cmd.pwm[3];
ledcWrite(6, last_pwm[3]);
}
} else {
ledcWrite(6, 0);
last_pwm[3] = 0;
}
} else {
if (enable) {
if (cmd.io & IO_03) {
OUT_03_H;
} else {
OUT_03_L;
}
} else {
OUT_03_L;
}
}
if (pwm_enable[4]) {
if (enable) {
if (last_pwm[4] != cmd.pwm[4]) {
last_pwm[4] = cmd.pwm[4];
ledcWrite(8, last_pwm[4]);
}
} else {
ledcWrite(8, 0);
last_pwm[4] = 0;
}
} else {
if (enable) {
if (cmd.io & IO_04) {
OUT_04_H;
} else {
OUT_04_L;
}
} else {
OUT_04_L;
}
}
if (pwm_enable[5]) {
if (enable) {
if (last_pwm[5] != cmd.pwm[5]) {
last_pwm[5] = cmd.pwm[5];
ledcWrite(10, last_pwm[5]);
}
} else {
ledcWrite(10, 0);
last_pwm[5] = 0;
}
} else {
if (enable) {
if (cmd.io & IO_05) {
OUT_05_H;
} else {
OUT_05_L;
}
} else {
OUT_05_L;
}
}
}
/*==================================================================*/
void IRAM_ATTR inputHandler()
{
(IN_00) ? fb.io = IO_00 : fb.io = 0;
if (IN_01)
fb.io |= IO_01;
if (IN_02)
fb.io |= IO_02;
if (IN_03)
fb.io |= IO_03;
if (IN_04)
fb.io |= IO_04;
if (IN_05)
fb.io |= IO_05;
if (IN_06)
fb.io |= IO_06;
if (IN_07)
fb.io |= IO_07;
}
/*==================================================================*/
void IRAM_ATTR commandHandler()
{
if (cmd.control & CTRL_READY) {
Serial.println("Handling CTRL_READY");
for (int i = 0; i < 3; i++) {
if (cmd.vel > 0.0f)
ul_cmd_T = (unsigned long)(40000000.0f / cmd.vel);
else if (cmd.vel < 0.0f)
ul_cmd_T = (unsigned long)(40000000.0f / -cmd.vel);
else
ul_cmd_T = 40000000ul;
}
}
if (!(fb.control & CTRL_READY)) {
Serial.println("fb.control not ready");
if ((fb.control & CTRL_DIRSETUP)
&& (fb.control & CTRL_ACCEL)
&& (fb.control & CTRL_PWMFREQ)) {
fb.control |= CTRL_READY;
Serial.println("CTRL_READY set");
} else if (cmd.control & CTRL_DIRSETUP) {
fb.control |= CTRL_DIRSETUP;
for (int i = 0; i < 3; i++)
ul_dirSetup = cmd.pos / 25; // 25ns / timer tic
Serial.println("CTRL_DIRSETUP set");
} else if (cmd.control & CTRL_ACCEL) {
fb.control |= CTRL_ACCEL;
for (int i = 0; i < 3; i++)
f_accel_x2 = (float)cmd.pos * 2.0;
Serial.println("CTRL_ACCEL set");
} else if (cmd.control & CTRL_PWMFREQ) {
fb.control |= CTRL_PWMFREQ;
for (int i = 0; i < 6; i++) {
if (cmd.pwm) {
ledcAttach(pwm_pin, i * 2, true);
ledcAttach(pwm_pin, cmd.pwm, 10);
ledcWrite(i * 2, 0);
pwm_enable = true;
Serial.print("PWM enabled for pin ");
Serial.println(pwm_pin);
} else {
if (i == 0) {
pinMode(OUT_00_PIN, OUTPUT);
digitalWrite(OUT_00_PIN, 0);
} else if (i == 1) {
pinMode(OUT_01_PIN, OUTPUT);
digitalWrite(OUT_01_PIN, 0);
} else if (i == 2) {
pinMode(OUT_02_PIN, OUTPUT);
digitalWrite(OUT_02_PIN, 0);
} else if (i == 3) {
pinMode(OUT_03_PIN, OUTPUT);
digitalWrite(OUT_03_PIN, 0);
} else if (i == 4) {
pinMode(OUT_04_PIN, OUTPUT);
digitalWrite(OUT_04_PIN, 0);
} else if (i == 5) {
pinMode(OUT_05_PIN, OUTPUT);
digitalWrite(OUT_05_PIN, 0);
}
}
}
}
}
}
/*==================================================================*/
void IRAM_ATTR loop_Core0(void* parameter)
{
delay(500);
Udp.parsePacket(); /* to empty buffer */
for (;
{
Serial.println("Inside loop_Core0");
static unsigned long ul_watchdog;
if (Udp.parsePacket() == sizeof(cmd) + 1) {
char packetBuffer[60]; // buffer for receiving and sending data
Udp.read(packetBuffer, sizeof(cmd) + 1);
uint8_t chk = 71;
for (int i = 0; i < sizeof(cmd); i++)
chk ^= packetBuffer;
if (packetBuffer[sizeof(cmd)] == chk) {
memcpy(&cmd, &packetBuffer, sizeof(cmd));
commandHandler();
ul_watchdog = millis();
}
inputHandler();
for (int i = 0; i < 3; i++) {
unsigned long ul_t = ul_T;
if (ul_t)
b_dirSignal ? fb.vel = 40000000.0f / (float)ul_t : fb.vel = -40000000.0f / (float)ul_t;
else
fb.vel = 0.0f;
}
memcpy(&packetBuffer, &fb, sizeof(fb));
Udp.beginPacket(Udp.remoteIP(), Udp.remotePort());
Udp.write(packetBuffer, sizeof(fb));
Udp.endPacket();
outputHandler();
}
if (millis() - ul_watchdog > 10ul) {
fb.control = 0;
cmd.control = 0;
outputHandler();
ul_watchdog = millis();
}
esp_task_wdt_reset();
}
}
/*==================================================================*/
void setup_Core0(void* parameter)
{
disableCore0WDT(); // Disable Core0 Watchdog Timer
//disableCore1WDT(); // Disable Core1 Watchdog Timer
pinMode(IN_00_PIN, INPUT_PULLUP);
pinMode(IN_01_PIN, INPUT_PULLUP);
pinMode(IN_02_PIN, INPUT_PULLUP);
pinMode(IN_03_PIN, INPUT_PULLUP);
pinMode(IN_04_PIN, INPUT);
pinMode(IN_05_PIN, INPUT);
pinMode(IN_06_PIN, INPUT);
pinMode(IN_07_PIN, INPUT);
delay(500);
Ethernet.init(SPI_CS_PIN); /* You can use Ethernet.init(pin) to configure the CS pin */
Ethernet.begin(mac, ip); /* start the Ethernet */
delay(500);
Udp.begin(port); /* start UDP */
delay(100);
xTaskCreatePinnedToCore(
loop_Core0, // Task function.
"loopTask_Core0", // name of task.
1024, // Stack size of task, // Stack size of task
NULL, // parameter of the task
0, // priority of the task (changed to 1)
NULL, // Task handle to keep track of created task
0); // pin task to core 0
//disableCore0WDT();
vTaskDelete(NULL);
}
/*==================================================================*/
void setup()
{
Serial.begin(9600);
//disableCore0WDT(); // Disable Core0 Watchdog Timer
//disableCore1WDT(); // Disable Core1 Watchdog Timer
pinMode(STEP_0_PIN, OUTPUT);
digitalWrite(STEP_0_PIN, 0);
pinMode(DIR_0_PIN, OUTPUT);
digitalWrite(DIR_0_PIN, 0);
pinMode(STEP_1_PIN, OUTPUT);
digitalWrite(STEP_1_PIN, 0);
pinMode(DIR_1_PIN, OUTPUT);
digitalWrite(DIR_1_PIN, 0);
pinMode(STEP_2_PIN, OUTPUT);
digitalWrite(STEP_2_PIN, 0);
pinMode(DIR_2_PIN, OUTPUT);
digitalWrite(DIR_2_PIN, 0);
// Configure the timers
// Set timer frequency to 1 MHz (1,000,000 Hz)
stepGen_0 = timerBegin(1000000); // Timer 0
stepGen_1 = timerBegin(1000000); // Timer 1
stepGen_2 = timerBegin(1000000); // Timer 2
// Attach the interrupt service routine (ISR) `onTime_0` to Timer 0.
timerAttachInterrupt(stepGen_0, &onTime_0);
// Attach the ISR `onTime_1` to Timer 1.
timerAttachInterrupt(stepGen_1, &onTime_1);
// Attach the ISR `onTime_2` to Timer 2.
timerAttachInterrupt(stepGen_2, &onTime_2);
// Set the alarm value for Timer 0 to 40,000,000 microseconds (40 seconds).
timerAlarm(stepGen_0, 40000000, true, 0);
// Set the alarm value for Timer 1 to 40,000,000 microseconds (40 seconds).
timerAlarm(stepGen_1, 40000000, true, 0);
// Set the alarm value for Timer 2 to 40,000,000 microseconds (40 seconds).
timerAlarm(stepGen_2, 40000000, true, 0);
// Start Timer 0.
// timerStart(stepGen_0);
// Start Timer 1.
// timerStart(stepGen_1);
// Start Timer 2.
// timerStart(stepGen_2);
xTaskCreatePinnedToCore(
setup_Core0, // Task function.
"setup_Core0Task", // name of task.
1024, // Stack size of task
NULL, // parameter of the task
0, // priority of the task
NULL, // Task handle to keep track of created task
0); // pin task to core 0
//vTaskDelete(NULL);
}
/*==================================================================*/
void IRAM_ATTR loop()
{
for (int i = 0; i < 3; i++) {
if (b_math) {
Serial.print("Math processing for axis: ");
Serial.println(i);
b_math = false;
if (!ul_accelStep) { // the axis is stationary
long l_pos_error = cmd.pos - fb.pos;
Serial.print("Position error for axis ");
Serial.print(i);
Serial.print(": ");
Serial.println(l_pos_error);
if (l_pos_error) { // if there is a position error
if ((l_pos_error > 0 && b_dirSignal == HIGH) || (l_pos_error < 0 && b_dirSignal == LOW)) // the direction is good
acceleration(i);
else { // need to change direction
(l_pos_error > 0) ? b_dirSignal = HIGH : b_dirSignal = LOW;
b_dirChange = true;
Serial.print("Changing direction for axis ");
Serial.println(i);
}
}
} else { // the axis moves
Serial.print("Axis ");
Serial.print(i);
Serial.println(" is moving");
if ((cmd.vel > 0.0f && b_dirSignal == HIGH) || (cmd.vel < 0.0f && b_dirSignal == LOW)) { // the direction is good
if (ul_T > ul_cmd_T) // the speed is low
acceleration(i);
else if (ul_T < ul_cmd_T) // the speed is high
deceleration(i);
} else // the direction is wrong or the target speed is zero
deceleration(i);
}
}
}
}
But still im getting error as
ELF file SHA256: 78d5431e5da1b11c
Rebooting...
�E (123) task_wdt: esp_task_wdt_reset(763): task not found
E (124) task_wdt: esp_task_wdt_reset(763): task not found
E (125) task_wdt: esp_task_wdt_reset(763): task not found
E (173) task_wdt: esp_task_wdt_reset(763): task not found
E (235) task_wdt: esp_task_wdt_reset(763): task not found
E (296) task_wdt: esp_task_wdt_reset(763): task not found
E (358) task_wdt: esp_task_wdt_reset(763): task not found
E (419) task_wdt: esp_task_wdt_reset(763): task not found
E (481) task_wdt: esp_task_wdt_reset(763): task not found
E (542) task_wdt: esp_task_wdt_reset(763): task not found
E (604) task_wdt: esp_task_wdt_reset(763): task not found
Guru Meditation Error: Core 0 panic'ed (Unhandled debug exception).
Debug exception reason: Stack canary watchpoint triggered (setup_Core0Task)
Core 0 register dump:
PC : 0x4008b56c PS : 0x00060a36 A0 : 0x40084766 A1 : 0x3ffb8c90
A2 : 0x00000000 A3 : 0x3ffc1f7c A4 : 0xffffffff A5 : 0x3ffc221c
A6 : 0x00000227 A7 : 0x00000000 A8 : 0x80083ad8 A9 : 0x3ffb8d30
A10 : 0x3ff000dc A11 : 0x00000001 A12 : 0x00060620 A13 : 0x3f407040
A14 : 0x80000000 A15 : 0x00060021 SAR : 0x00000007 EXCCAUSE: 0x00000001
EXCVADDR: 0x00000000 LBEG : 0x400868c0 LEND : 0x400868d6 LCOUNT : 0x00000000
Backtrace: 0x4008b569:0x3ffb8c90 0x40084763:0x3ffb8d70 0x400d4275:0x3ffb8d90 0x400d2e5b:0x3ffb8db0 0x400d1e97:0x3ffb8de0 0x400d1f3c:0x3ffb8e10 0x400d1f9d:0x3ffb8ec0 0x400d1ff0:0x3ffb8f60 0x400d18fd:0x3ffb8fe0 0x4008b1fd:0x3ffb9030
This is the updated main.cpp : #include <Arduino.h>
//#include <driver/ledc.h>/
#include <Ethernet.h>
#include <EthernetUdp.h>
#include <esp_task_wdt.h>
/*==================================================================*/
byte mac = { 0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xED };
IPAddress ip(192, 168, 96, 54);
unsigned int port = 58427;
/*==================================================================*/
#define SPI_CS_PIN 5 // hardcoded in Ethernet_mod/src/utility/w5100.h !!!!!!!!!!!!!!
/*==================================================================*/
#define STEP_0_PIN 12
#define STEP_0_H REG_WRITE(GPIO_OUT_W1TS_REG, BIT12)
#define STEP_0_L REG_WRITE(GPIO_OUT_W1TC_REG, BIT12)
#define DIR_0_PIN 13
#define DIR_0_H REG_WRITE(GPIO_OUT_W1TS_REG, BIT13)
#define DIR_0_L REG_WRITE(GPIO_OUT_W1TC_REG, BIT13)
#define STEP_1_PIN 16
#define STEP_1_H REG_WRITE(GPIO_OUT_W1TS_REG, BIT16)
#define STEP_1_L REG_WRITE(GPIO_OUT_W1TC_REG, BIT16)
#define DIR_1_PIN 17
#define DIR_1_H REG_WRITE(GPIO_OUT_W1TS_REG, BIT17)
#define DIR_1_L REG_WRITE(GPIO_OUT_W1TC_REG, BIT17)
#define STEP_2_PIN 21
#define STEP_2_H REG_WRITE(GPIO_OUT_W1TS_REG, BIT21)
#define STEP_2_L REG_WRITE(GPIO_OUT_W1TC_REG, BIT21)
#define DIR_2_PIN 22
#define DIR_2_H REG_WRITE(GPIO_OUT_W1TS_REG, BIT22)
#define DIR_2_L REG_WRITE(GPIO_OUT_W1TC_REG, BIT22)
/*==================================================================*/
#define OUT_00_PIN 2
#define OUT_00_H REG_WRITE(GPIO_OUT_W1TS_REG, BIT2)
#define OUT_00_L REG_WRITE(GPIO_OUT_W1TC_REG, BIT2)
#define OUT_01_PIN 4
#define OUT_01_H REG_WRITE(GPIO_OUT_W1TS_REG, BIT4)
#define OUT_01_L REG_WRITE(GPIO_OUT_W1TC_REG, BIT4)
#define OUT_02_PIN 25
#define OUT_02_H REG_WRITE(GPIO_OUT_W1TS_REG, BIT25)
#define OUT_02_L REG_WRITE(GPIO_OUT_W1TC_REG, BIT25)
#define OUT_03_PIN 1
#define OUT_03_H REG_WRITE(GPIO_OUT_W1TS_REG, BIT1)
#define OUT_03_L REG_WRITE(GPIO_OUT_W1TC_REG, BIT1)
#define OUT_04_PIN 14
#define OUT_04_H REG_WRITE(GPIO_OUT_W1TS_REG, BIT14)
#define OUT_04_L REG_WRITE(GPIO_OUT_W1TC_REG, BIT14)
#define OUT_05_PIN 15
#define OUT_05_H REG_WRITE(GPIO_OUT_W1TS_REG, BIT15)
#define OUT_05_L REG_WRITE(GPIO_OUT_W1TC_REG, BIT15)
/*==================================================================*/
#define IN_00_PIN 26
#define IN_00 REG_READ(GPIO_IN_REG) & BIT26 //26
#define IN_01_PIN 27
#define IN_01 REG_READ(GPIO_IN_REG) & BIT27 //27
#define IN_02_PIN 32
#define IN_02 REG_READ(GPIO_IN1_REG) & BIT0 //32 -32
#define IN_03_PIN 33
#define IN_03 REG_READ(GPIO_IN1_REG) & BIT1 //33 -32
#define IN_04_PIN 34
#define IN_04 REG_READ(GPIO_IN1_REG) & BIT2 //34 -32
#define IN_05_PIN 35
#define IN_05 REG_READ(GPIO_IN1_REG) & BIT3 //35 -32
#define IN_06_PIN 36
#define IN_06 REG_READ(GPIO_IN1_REG) & BIT4 //36 -32
#define IN_07_PIN 39
#define IN_07 REG_READ(GPIO_IN1_REG) & BIT7 //39 -32
/*==================================================================*/
#define CTRL_DIRSETUP 0b00000001
#define CTRL_ACCEL 0b00000010
#define CTRL_PWMFREQ 0b00000100
#define CTRL_READY 0b01000000
#define CTRL_ENABLE 0b10000000
#define IO_00 0b00000001
#define IO_01 0b00000010
#define IO_02 0b00000100
#define IO_03 0b00001000
#define IO_04 0b00010000
#define IO_05 0b00100000
#define IO_06 0b01000000
#define IO_07 0b10000000
/*==================================================================*/
EthernetUDP Udp; // An EthernetUDP instance to let us send and receive packets over UDP
struct cmdPacket {
uint8_t control;
uint8_t io;
uint16_t pwm[6];
int32_t pos[3];
float vel[3];
} cmd = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 0.0f, 0.0f };
struct fbPacket {
uint8_t control;
uint8_t io;
int32_t pos[3];
float vel[3];
} fb = { 0, 0, 0, 0, 0, 0.0f, 0.0f, 0.0f };
/*==================================================================*/
volatile unsigned long ul_dirSetup[3] = { 1000, 1000, 1000 }; // x 25 nanosec
volatile float f_accel_x2[3] = { 1000.0, 1000.0, 1000.0 }; // acceleration*2 step/sec2
/*==================================================================*/
volatile unsigned long ul_cmd_T[3];
unsigned long ul_accelStep[3] = { 0, 0, 0 };
volatile unsigned long ul_T[3] = { 0, 0, 0 };
volatile unsigned long ul_TH[3] = { 0, 0, 0 };
volatile unsigned long ul_TL[3] = { 0, 0, 0 };
volatile bool b_math[3] = { false, false, false };
volatile bool b_dirSignal[3] = { LOW, LOW, LOW };
volatile bool b_dirChange[3] = { false, false, false };
const uint8_t pwm_pin[6] = { OUT_00_PIN, OUT_01_PIN, OUT_02_PIN, OUT_03_PIN, OUT_04_PIN, OUT_05_PIN };
bool pwm_enable[6] = { false, false, false, false, false, false };
/*==================================================================*/
hw_timer_t* stepGen_0 = NULL;
hw_timer_t* stepGen_1 = NULL;
hw_timer_t* stepGen_2 = NULL;
/*==================================================================*/
float IRAM_ATTR fastInvSqrt(const float x)
{
const float xhalf = x * 0.5f;
union {
float x;
uint32_t i;
} u = { .x = x };
u.i = 0x5f3759df - (u.i >> 1);
return u.x * (1.5f - xhalf * u.x * u.x);
}
/*==================================================================*/
/*float IRAM_ATTR Q_InvSqrt(float x)
{
float xhalf = x * 0.5f;
int i = (int)&x; // evil floating point bit level hacking
i = 0x5f3759df - (i >> 1); // what the fuck?
x = (float)&i; // convert new bits into float
x = x * (1.5f - xhalf * x * x); // 1st iteration of Newton's method
//x = x * (1.5f - xhalf * x * x); // 2nd iteration, this can be removed
return x;
}*/
/*==================================================================*/
void IRAM_ATTR onTime_0()
{
static bool b_stepState = LOW;
static bool b_dirState = LOW;
if (b_stepState == LOW) { // end of period
if (ul_T[0]) { // there is a period time so a pulse must be started
if (!b_dirChange[0]) { //direction is good, start a new pulse (step L-H transition)
STEP_0_H;
timerWrite(stepGen_0, ul_TH[0]);
b_stepState = HIGH;
b_dirState ? fb.pos[0]++ : fb.pos[0]--;
b_math[0] = true; // calculation of a new period time
} else { // need to change direction
if (b_dirSignal[0]) {
DIR_0_H;
b_dirState = HIGH;
} else {
DIR_0_L;
b_dirState = LOW;
}
timerWrite(stepGen_0, ul_dirSetup[0]);
b_dirChange[0] = false;
}
} else { // no need to step pulse
timerWrite(stepGen_0, 4000ul); // 0,1 millis scan
b_math[0] = true; // calculation of a new period time
}
} else { // the middle of the period time (step H-L transition)
STEP_0_L;
timerWrite(stepGen_0, ul_TL[0]);
b_stepState = LOW;
}
}
/*==================================================================*/
void IRAM_ATTR onTime_1()
{
static bool b_stepState = LOW;
static bool b_dirState = LOW;
if (b_stepState == LOW) { // end of period
if (ul_T[1]) { // there is a period time so a pulse must be started
if (!b_dirChange[1]) { //direction is good, start a new pulse (step L-H transition)
STEP_1_H;
timerWrite(stepGen_1, ul_TH[1]);
b_stepState = HIGH;
b_dirState ? fb.pos[1]++ : fb.pos[1]--;
b_math[1] = true; // calculation of a new period time
} else { // need to change direction
if (b_dirSignal[1]) {
DIR_1_H;
b_dirState = HIGH;
} else {
DIR_1_L;
b_dirState = LOW;
}
timerWrite(stepGen_1, ul_dirSetup[1]);
b_dirChange[1] = false;
}
} else { // no need to step pulse
timerWrite(stepGen_1, 4000ul); // 0,1 millis scan
b_math[1] = true; // calculation of a new period time
}
} else { // the middle of the period time (step H-L transition)
STEP_1_L;
timerWrite(stepGen_1, ul_TL[1]);
b_stepState = LOW;
}
}
/*==================================================================*/
void IRAM_ATTR onTime_2()
{
static bool b_stepState = LOW;
static bool b_dirState = LOW;
if (b_stepState == LOW) { // end of period
if (ul_T[2]) { // there is a period time so a pulse must be started
if (!b_dirChange[2]) { //direction is good, start a new pulse (step L-H transition)
STEP_2_H;
timerWrite(stepGen_2, ul_TH[2]);
b_stepState = HIGH;
b_dirState ? fb.pos[2]++ : fb.pos[2]--;
b_math[2] = true; // calculation of a new period time
} else { // need to change direction
if (b_dirSignal[2]) {
DIR_2_H;
b_dirState = HIGH;
} else {
DIR_2_L;
b_dirState = LOW;
}
timerWrite(stepGen_2, ul_dirSetup[2]);
b_dirChange[2] = false;
}
} else { // no need to step pulse
timerWrite(stepGen_2, 4000ul); // 0,1 millis scan
b_math[2] = true; // calculation of a new period time
}
} else { // the middle of the period time (step H-L transition)
STEP_2_L;
timerWrite(stepGen_2, ul_TL[2]);
b_stepState = LOW;
}
}
/*==================================================================*/
void IRAM_ATTR newT(const int i) // period time calculation
{
//ul_T = 40000000.0f / sqrtf((float)(ul_accelStep * ul_accel_x2));
ul_T = 40000000.0f * fastInvSqrt((float)ul_accelStep * f_accel_x2); // fast method (>3x)
ul_TH = ul_T >> 1;
ul_TL = ul_T - ul_TH;
}
/*==================================================================*/
void IRAM_ATTR deceleration(const int i)
{
if (ul_accelStep) {
ul_accelStep--;
if (ul_accelStep)
newT(i);
else
ul_T = 0;
}
}
/*==================================================================*/
void IRAM_ATTR acceleration(const int i)
{
if (cmd.control & CTRL_ENABLE) {
ul_accelStep++;
newT(i);
} else
deceleration(i);
}
/*==================================================================*/
void IRAM_ATTR outputHandler() {
static int last_pwm[6] = { 0, 0, 0, 0, 0, 0 };
bool enable = cmd.control & CTRL_ENABLE;
if (pwm_enable[0]) {
if (enable) {
if (last_pwm[0] != cmd.pwm[0]) {
last_pwm[0] = cmd.pwm[0];
ledcWrite(0, last_pwm[0]);
}
} else {
ledcWrite(0, 0);
last_pwm[0] = 0;
}
} else {
if (enable) {
if (cmd.io & IO_00) {
OUT_00_H;
} else {
OUT_00_L;
}
} else {
OUT_00_L;
}
}
if (pwm_enable[1]) {
if (enable) {
if (last_pwm[1] != cmd.pwm[1]) {
last_pwm[1] = cmd.pwm[1];
ledcWrite(2, last_pwm[1]);
}
} else {
ledcWrite(2, 0);
last_pwm[1] = 0;
}
} else {
if (enable) {
if (cmd.io & IO_01) {
OUT_01_H;
} else {
OUT_01_L;
}
} else {
OUT_01_L;
}
}
if (pwm_enable[2]) {
if (enable) {
if (last_pwm[2] != cmd.pwm[2]) {
last_pwm[2] = cmd.pwm[2];
ledcWrite(4, last_pwm[2]);
}
} else {
ledcWrite(4, 0);
last_pwm[2] = 0;
}
} else {
if (enable) {
if (cmd.io & IO_02) {
OUT_02_H;
} else {
OUT_02_L;
}
} else {
OUT_02_L;
}
}
if (pwm_enable[3]) {
if (enable) {
if (last_pwm[3] != cmd.pwm[3]) {
last_pwm[3] = cmd.pwm[3];
ledcWrite(6, last_pwm[3]);
}
} else {
ledcWrite(6, 0);
last_pwm[3] = 0;
}
} else {
if (enable) {
if (cmd.io & IO_03) {
OUT_03_H;
} else {
OUT_03_L;
}
} else {
OUT_03_L;
}
}
if (pwm_enable[4]) {
if (enable) {
if (last_pwm[4] != cmd.pwm[4]) {
last_pwm[4] = cmd.pwm[4];
ledcWrite(8, last_pwm[4]);
}
} else {
ledcWrite(8, 0);
last_pwm[4] = 0;
}
} else {
if (enable) {
if (cmd.io & IO_04) {
OUT_04_H;
} else {
OUT_04_L;
}
} else {
OUT_04_L;
}
}
if (pwm_enable[5]) {
if (enable) {
if (last_pwm[5] != cmd.pwm[5]) {
last_pwm[5] = cmd.pwm[5];
ledcWrite(10, last_pwm[5]);
}
} else {
ledcWrite(10, 0);
last_pwm[5] = 0;
}
} else {
if (enable) {
if (cmd.io & IO_05) {
OUT_05_H;
} else {
OUT_05_L;
}
} else {
OUT_05_L;
}
}
}
/*==================================================================*/
void IRAM_ATTR inputHandler()
{
(IN_00) ? fb.io = IO_00 : fb.io = 0;
if (IN_01)
fb.io |= IO_01;
if (IN_02)
fb.io |= IO_02;
if (IN_03)
fb.io |= IO_03;
if (IN_04)
fb.io |= IO_04;
if (IN_05)
fb.io |= IO_05;
if (IN_06)
fb.io |= IO_06;
if (IN_07)
fb.io |= IO_07;
}
/*==================================================================*/
void IRAM_ATTR commandHandler()
{
if (cmd.control & CTRL_READY) {
Serial.println("Handling CTRL_READY");
for (int i = 0; i < 3; i++) {
if (cmd.vel > 0.0f)
ul_cmd_T = (unsigned long)(40000000.0f / cmd.vel);
else if (cmd.vel < 0.0f)
ul_cmd_T = (unsigned long)(40000000.0f / -cmd.vel);
else
ul_cmd_T = 40000000ul;
}
}
if (!(fb.control & CTRL_READY)) {
Serial.println("fb.control not ready");
if ((fb.control & CTRL_DIRSETUP)
&& (fb.control & CTRL_ACCEL)
&& (fb.control & CTRL_PWMFREQ)) {
fb.control |= CTRL_READY;
Serial.println("CTRL_READY set");
} else if (cmd.control & CTRL_DIRSETUP) {
fb.control |= CTRL_DIRSETUP;
for (int i = 0; i < 3; i++)
ul_dirSetup = cmd.pos / 25; // 25ns / timer tic
Serial.println("CTRL_DIRSETUP set");
} else if (cmd.control & CTRL_ACCEL) {
fb.control |= CTRL_ACCEL;
for (int i = 0; i < 3; i++)
f_accel_x2 = (float)cmd.pos * 2.0;
Serial.println("CTRL_ACCEL set");
} else if (cmd.control & CTRL_PWMFREQ) {
fb.control |= CTRL_PWMFREQ;
for (int i = 0; i < 6; i++) {
if (cmd.pwm) {
ledcAttach(pwm_pin, i * 2, true);
ledcAttach(pwm_pin, cmd.pwm, 10);
ledcWrite(i * 2, 0);
pwm_enable = true;
Serial.print("PWM enabled for pin ");
Serial.println(pwm_pin);
} else {
if (i == 0) {
pinMode(OUT_00_PIN, OUTPUT);
digitalWrite(OUT_00_PIN, 0);
} else if (i == 1) {
pinMode(OUT_01_PIN, OUTPUT);
digitalWrite(OUT_01_PIN, 0);
} else if (i == 2) {
pinMode(OUT_02_PIN, OUTPUT);
digitalWrite(OUT_02_PIN, 0);
} else if (i == 3) {
pinMode(OUT_03_PIN, OUTPUT);
digitalWrite(OUT_03_PIN, 0);
} else if (i == 4) {
pinMode(OUT_04_PIN, OUTPUT);
digitalWrite(OUT_04_PIN, 0);
} else if (i == 5) {
pinMode(OUT_05_PIN, OUTPUT);
digitalWrite(OUT_05_PIN, 0);
}
}
}
}
}
}
/*==================================================================*/
void IRAM_ATTR loop_Core0(void* parameter)
{
delay(500);
Udp.parsePacket(); /* to empty buffer */
for (;
{Serial.println("Inside loop_Core0");
static unsigned long ul_watchdog;
if (Udp.parsePacket() == sizeof(cmd) + 1) {
char packetBuffer[60]; // buffer for receiving and sending data
Udp.read(packetBuffer, sizeof(cmd) + 1);
uint8_t chk = 71;
for (int i = 0; i < sizeof(cmd); i++)
chk ^= packetBuffer;
if (packetBuffer[sizeof(cmd)] == chk) {
memcpy(&cmd, &packetBuffer, sizeof(cmd));
commandHandler();
ul_watchdog = millis();
}
inputHandler();
for (int i = 0; i < 3; i++) {
unsigned long ul_t = ul_T;
if (ul_t)
b_dirSignal ? fb.vel = 40000000.0f / (float)ul_t : fb.vel = -40000000.0f / (float)ul_t;
else
fb.vel = 0.0f;
}
memcpy(&packetBuffer, &fb, sizeof(fb));
Udp.beginPacket(Udp.remoteIP(), Udp.remotePort());
Udp.write(packetBuffer, sizeof(fb));
Udp.endPacket();
outputHandler();
}
if (millis() - ul_watchdog > 10ul) {
fb.control = 0;
cmd.control = 0;
outputHandler();
ul_watchdog = millis();
}
esp_task_wdt_reset();
}
}
/*==================================================================*/
void setup_Core0(void* parameter)
{
disableCore0WDT(); // Disable Core0 Watchdog Timer
//disableCore1WDT(); // Disable Core1 Watchdog Timer
pinMode(IN_00_PIN, INPUT_PULLUP);
pinMode(IN_01_PIN, INPUT_PULLUP);
pinMode(IN_02_PIN, INPUT_PULLUP);
pinMode(IN_03_PIN, INPUT_PULLUP);
pinMode(IN_04_PIN, INPUT);
pinMode(IN_05_PIN, INPUT);
pinMode(IN_06_PIN, INPUT);
pinMode(IN_07_PIN, INPUT);
delay(500);
Ethernet.init(SPI_CS_PIN); /* You can use Ethernet.init(pin) to configure the CS pin */
Ethernet.begin(mac, ip); /* start the Ethernet */
delay(500);
Udp.begin(port); /* start UDP */
delay(100);
xTaskCreatePinnedToCore(
loop_Core0, // Task function.
"loopTask_Core0", // name of task.
1024, // Stack size of task, // Stack size of task
NULL, // parameter of the task
0, // priority of the task (changed to 1)
NULL, // Task handle to keep track of created task
0); // pin task to core 0
//disableCore0WDT();
vTaskDelete(NULL);
}
/*==================================================================*/
void setup()
{
Serial.begin(9600);
//disableCore0WDT(); // Disable Core0 Watchdog Timer
//disableCore1WDT(); // Disable Core1 Watchdog Timer
pinMode(STEP_0_PIN, OUTPUT);
digitalWrite(STEP_0_PIN, 0);
pinMode(DIR_0_PIN, OUTPUT);
digitalWrite(DIR_0_PIN, 0);
pinMode(STEP_1_PIN, OUTPUT);
digitalWrite(STEP_1_PIN, 0);
pinMode(DIR_1_PIN, OUTPUT);
digitalWrite(DIR_1_PIN, 0);
pinMode(STEP_2_PIN, OUTPUT);
digitalWrite(STEP_2_PIN, 0);
pinMode(DIR_2_PIN, OUTPUT);
digitalWrite(DIR_2_PIN, 0);
// Configure the timers
// Set timer frequency to 1 MHz (1,000,000 Hz)
stepGen_0 = timerBegin(1000000); // Timer 0
stepGen_1 = timerBegin(1000000); // Timer 1
stepGen_2 = timerBegin(1000000); // Timer 2
// Attach the interrupt service routine (ISR) `onTime_0` to Timer 0.
timerAttachInterrupt(stepGen_0, &onTime_0);
// Attach the ISR `onTime_1` to Timer 1.
timerAttachInterrupt(stepGen_1, &onTime_1);
// Attach the ISR `onTime_2` to Timer 2.
timerAttachInterrupt(stepGen_2, &onTime_2);
// Set the alarm value for Timer 0 to 40,000,000 microseconds (40 seconds).
timerAlarm(stepGen_0, 40000000, true, 0);
// Set the alarm value for Timer 1 to 40,000,000 microseconds (40 seconds).
timerAlarm(stepGen_1, 40000000, true, 0);
// Set the alarm value for Timer 2 to 40,000,000 microseconds (40 seconds).
timerAlarm(stepGen_2, 40000000, true, 0);
// Start Timer 0.
// timerStart(stepGen_0);
// Start Timer 1.
// timerStart(stepGen_1);
// Start Timer 2.
// timerStart(stepGen_2);
xTaskCreatePinnedToCore(
setup_Core0, // Task function.
"setup_Core0Task", // name of task.
1024, // Stack size of task
NULL, // parameter of the task
0, // priority of the task
NULL, // Task handle to keep track of created task
0); // pin task to core 0
//vTaskDelete(NULL);
}
/*==================================================================*/
void IRAM_ATTR loop()
{
for (int i = 0; i < 3; i++) {
if (b_math) {
Serial.print("Math processing for axis: ");
Serial.println(i);
b_math = false;
if (!ul_accelStep) { // the axis is stationary
long l_pos_error = cmd.pos - fb.pos;
Serial.print("Position error for axis ");
Serial.print(i);
Serial.print(": ");
Serial.println(l_pos_error);
if (l_pos_error) { // if there is a position error
if ((l_pos_error > 0 && b_dirSignal == HIGH) || (l_pos_error < 0 && b_dirSignal == LOW)) // the direction is good
acceleration(i);
else { // need to change direction
(l_pos_error > 0) ? b_dirSignal = HIGH : b_dirSignal = LOW;
b_dirChange = true;
Serial.print("Changing direction for axis ");
Serial.println(i);
}
}
} else { // the axis moves
Serial.print("Axis ");
Serial.print(i);
Serial.println(" is moving");
if ((cmd.vel > 0.0f && b_dirSignal == HIGH) || (cmd.vel < 0.0f && b_dirSignal == LOW)) { // the direction is good
if (ul_T > ul_cmd_T) // the speed is low
acceleration(i);
else if (ul_T < ul_cmd_T) // the speed is high
deceleration(i);
} else // the direction is wrong or the target speed is zero
deceleration(i);
}
}
}
}
But still im getting error as
ELF file SHA256: 78d5431e5da1b11c
Rebooting...
�E (123) task_wdt: esp_task_wdt_reset(763): task not found
E (124) task_wdt: esp_task_wdt_reset(763): task not found
E (125) task_wdt: esp_task_wdt_reset(763): task not found
E (173) task_wdt: esp_task_wdt_reset(763): task not found
E (235) task_wdt: esp_task_wdt_reset(763): task not found
E (296) task_wdt: esp_task_wdt_reset(763): task not found
E (358) task_wdt: esp_task_wdt_reset(763): task not found
E (419) task_wdt: esp_task_wdt_reset(763): task not found
E (481) task_wdt: esp_task_wdt_reset(763): task not found
E (542) task_wdt: esp_task_wdt_reset(763): task not found
E (604) task_wdt: esp_task_wdt_reset(763): task not found
Guru Meditation Error: Core 0 panic'ed (Unhandled debug exception).
Debug exception reason: Stack canary watchpoint triggered (setup_Core0Task)
Core 0 register dump:
PC : 0x4008b56c PS : 0x00060a36 A0 : 0x40084766 A1 : 0x3ffb8c90
A2 : 0x00000000 A3 : 0x3ffc1f7c A4 : 0xffffffff A5 : 0x3ffc221c
A6 : 0x00000227 A7 : 0x00000000 A8 : 0x80083ad8 A9 : 0x3ffb8d30
A10 : 0x3ff000dc A11 : 0x00000001 A12 : 0x00060620 A13 : 0x3f407040
A14 : 0x80000000 A15 : 0x00060021 SAR : 0x00000007 EXCCAUSE: 0x00000001
EXCVADDR: 0x00000000 LBEG : 0x400868c0 LEND : 0x400868d6 LCOUNT : 0x00000000
Backtrace: 0x4008b569:0x3ffb8c90 0x40084763:0x3ffb8d70 0x400d4275:0x3ffb8d90 0x400d2e5b:0x3ffb8db0 0x400d1e97:0x3ffb8de0 0x400d1f3c:0x3ffb8e10 0x400d1f9d:0x3ffb8ec0 0x400d1ff0:0x3ffb8f60 0x400d18fd:0x3ffb8fe0 0x4008b1fd:0x3ffb9030
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