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debugging integration hell.

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This commit is contained in:
jpunkt 2021-11-17 19:20:12 +01:00
parent da47717400
commit eca382a9b3
2 changed files with 89 additions and 44 deletions
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104
micropizza/main.py
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@ -5,22 +5,22 @@ import time
_DEBUG = const(1) _DEBUG = const(1)
_PWM_MAX = const(65535) _PWM_MAX = const(65535)
_PWM_FREQ = const(2000) _PWM_FREQ = const(4000)
_PIN_EN_MOTOR_VERT = const(14) _PIN_EN_MOTOR_VERT = const(14)
_PIN_A_MOTOR_VERT = const(12) _PIN_A_MOTOR_VERT = const(12)
_PIN_B_MOTOR_VERT = const(13) _PIN_B_MOTOR_VERT = const(13)
_PIN_EN_MOTOR_HOR = const(15) _PIN_EN_MOTOR_HOR = const(15)
_PIN_A_MOTOR_HOR = const(10) _PIN_A_MOTOR_HOR = const(11)
_PIN_B_MOTOR_HOR = const(11) _PIN_B_MOTOR_HOR = const(10)
_PIN_EN_BACKLIGHT = const(17) _PIN_EN_BACKLIGHT = const(16) # 17
_PIN_A_BACKLIGHT = const(18) _PIN_A_BACKLIGHT = const(20) # 18
_PIN_B_BACKLIGHT = const(19) _PIN_B_BACKLIGHT = const(21) # 19
_PIN_EN_FRONTLIGHT = const(16) _PIN_EN_FRONTLIGHT = const(17) # 16
_PIN_A_FRONTLIGHT = const(20) _PIN_A_FRONTLIGHT = const(18) # 20
_PIN_B_FRONTLIGHT = const(21) _PIN_B_FRONTLIGHT = const(19) # 21
_PIN_LED_RED_BTN = const(2) _PIN_LED_RED_BTN = const(2)
_PIN_LED_BLU_BTN = const(4) _PIN_LED_BLU_BTN = const(4)
@ -30,8 +30,8 @@ _PIN_BLU_BTN = const(5)
_PIN_SENS_END_VERT = const(9) _PIN_SENS_END_VERT = const(9)
_PIN_SENS_CNT_VERT = const(7) _PIN_SENS_CNT_VERT = const(7)
_PIN_SENS_END_HOR = const(6) _PIN_SENS_END_HOR = const(8)
_PIN_SENS_CNT_HOR = const(8) _PIN_SENS_CNT_HOR = const(6)
CMD_MOT_V = 'V' # run vertical motor CMD_MOT_V = 'V' # run vertical motor
CMD_MOT_H = 'H' # run horizontal motor CMD_MOT_H = 'H' # run horizontal motor
@ -43,24 +43,31 @@ CMD_RW = 'R' # rewind
LED = Pin(25, Pin.OUT) LED = Pin(25, Pin.OUT)
class Scroll: class Scroll:
def __init__(self, cnt_pin:Pin, end_pin:Pin, en_pin:PWM, a_pin:Pin, b_pin:Pin) -> None: def __init__(self, cnt_pin:Pin, end_pin:Pin, en_pin:PWM, a_pin:Pin, b_pin:Pin) -> None:
self.c = 0 self.c = 0
self._dir = 0 self._dir = 0
self._speed = 0 self._speed = 0
self.stopped = False
self.en_pin = en_pin self.en_pin = en_pin
self.a_pin = a_pin self.a_pin = a_pin
self.b_pin = b_pin self.b_pin = b_pin
self.c_pin = cnt_pin self.c_pin = cnt_pin
self.c_pin.irq(self._count, Pin.IRQ_RISING | Pin.IRQ_FALLING) self.c_pin.irq(self._count, Pin.IRQ_RISING | Pin.IRQ_FALLING)
self.e_pin = end_pin self.e_pin = end_pin
self.e_pin.irq(self._stop, Pin.IRQ_RISING) # self.e_pin.irq(self._stop, Pin.IRQ_RISING)
def _count(self, pin): def _count(self, pin):
self.c += self._dir self.c += self._dir
# if _DEBUG:
# print(f'{self} count={self.c}')
def _stop(self, pin): def _stop(self, pin):
if _DEBUG:
print(f'{self} stopped.')
self.speed = 0 self.speed = 0
self.stopped = True
@property @property
def dir(self): def dir(self):
@ -68,6 +75,10 @@ class Scroll:
@dir.setter @dir.setter
def dir(self, d): def dir(self, d):
if d == self._dir:
return
if _DEBUG:
print(f'{self} dir={d}')
self.a_pin.value(1 if d > 0 else 0) self.a_pin.value(1 if d > 0 else 0)
self.b_pin.value(1 if d < 0 else 0) self.b_pin.value(1 if d < 0 else 0)
self._dir = d self._dir = d
@ -78,15 +89,19 @@ class Scroll:
@speed.setter @speed.setter
def speed(self, speed): def speed(self, speed):
self.en_pin.duty_u16(speed * (_PWM_MAX // 100)) # if _DEBUG:
# print(f'{self} speed={speed}')
self._speed = abs(speed)
self.en_pin.duty_u16(self._speed * (_PWM_MAX // 100))
self.dir = (1 if speed > 0 else self.dir = (1 if speed > 0 else
(-1 if speed < 0 else 0)) (-1 if speed < 0 else 0))
self._speed = speed
pwm_bl = PWM(Pin(_PIN_EN_BACKLIGHT)) pwm_bl = PWM(Pin(_PIN_EN_BACKLIGHT))
pwm_bl.freq(_PWM_FREQ) pwm_bl.freq(_PWM_FREQ)
pwm_fl = PWM(Pin(_PIN_EN_FRONTLIGHT)) pwm_fl = PWM(Pin(_PIN_EN_FRONTLIGHT))
pwm_fl.freq(_PWM_FREQ) pwm_fl.freq(_PWM_FREQ)
pwm_mv = PWM(Pin(_PIN_EN_MOTOR_VERT)) pwm_mv = PWM(Pin(_PIN_EN_MOTOR_VERT))
pwm_mv.freq(_PWM_FREQ) pwm_mv.freq(_PWM_FREQ)
pwm_mh = PWM(Pin(_PIN_EN_MOTOR_HOR)) pwm_mh = PWM(Pin(_PIN_EN_MOTOR_HOR))
@ -118,39 +133,49 @@ uart0 = UART(0, baudrate=9600, tx=Pin(0), rx=Pin(1))
scroll_h = Scroll(cnt_h, end_h, pwm_mh, pin_mh_a, pin_mh_b) scroll_h = Scroll(cnt_h, end_h, pwm_mh, pin_mh_a, pin_mh_b)
scroll_v = Scroll(cnt_v, end_v, pwm_mv, pin_mv_a, pin_mv_b) scroll_v = Scroll(cnt_v, end_v, pwm_mv, pin_mv_a, pin_mv_b)
def motor_vert(*opts): def motor_vert(*opts):
_motorctrl(scroll_v, *opts) _motorctrl(scroll_v, *opts)
return 'OK' return 'OK'
def motor_hor(*opts): def motor_hor(*opts):
_motorctrl(scroll_h, *opts) _motorctrl(scroll_h, *opts)
return 'OK' return 'OK'
def _motorctrl(scroll: Scroll, steps: int, timeout_ms: int = 500, *opts):
def _motorctrl(scroll: Scroll, steps: int, timeout_ms: int = 5000, *opts):
end = scroll.c + steps end = scroll.c + steps
print(f'motorctrl, end={end}, scroll.c={scroll.c}') if _DEBUG:
print(f'motorctrl, end={end}, scroll.c={scroll.c}')
try: try:
startime = time.ticks_ms() startime = time.ticks_ms()
while time.ticks_diff(startime, time.ticks_ms()) < timeout_ms: while (not scroll.stopped) and (time.ticks_diff(time.ticks_ms(), startime) < timeout_ms):
err = end - scroll.c err = end - scroll.c
if abs(err) > 4: if abs(err) > 1:
speed = (err / (2 * steps)) + 0.5 speed = 100 if err > 0 else -100 # (err / (2 * abs(steps))) * 400 # + 0.5
scroll.speed = int(100 * speed) scroll.speed = int(speed)
else: else:
scroll.speed = 0 scroll.speed = 0
break break
time.sleep_us(50) time.sleep_us(50)
finally: finally:
if _DEBUG:
print(f'motorctrl, scroll.c={scroll.c}')
scroll.speed = 0 scroll.speed = 0
scroll.stopped = False
def backlight(*opts): def backlight(*opts):
_fade_led(pwm_bl, *opts) _fade_led(pwm_bl, *opts)
return 'OK' return 'OK'
def frontlight(*opts): def frontlight(*opts):
_fade_led(pwm_fl, *opts) _fade_led(pwm_fl, *opts)
return 'OK' return 'OK'
def _fade_led(led_pin: PWM, intensity: int, fade_ms: int, steps: int): def _fade_led(led_pin: PWM, intensity: int, fade_ms: int, steps: int):
intensity = intensity * (_PWM_MAX // 100) intensity = intensity * (_PWM_MAX // 100)
if fade_ms == 0: if fade_ms == 0:
@ -170,6 +195,7 @@ def _fade_led(led_pin: PWM, intensity: int, fade_ms: int, steps: int):
led_pin.duty_u16(intensity) led_pin.duty_u16(intensity)
def user_interaction(timeout): def user_interaction(timeout):
def _toggle_leds(timer): def _toggle_leds(timer):
led_blu.toggle() led_blu.toggle()
@ -191,6 +217,7 @@ def user_interaction(timeout):
led_red.value(0) led_red.value(0)
return 'T' # Timeout return 'T' # Timeout
def recording(timeout): def recording(timeout):
timeout *= 1000 timeout *= 1000
startime = time.ticks_ms() startime = time.ticks_ms()
@ -205,6 +232,7 @@ def recording(timeout):
time.sleep_ms(50) time.sleep_ms(50)
return 'OK' return 'OK'
def rewind(*opts): def rewind(*opts):
#scroll_h.speed = -100 #scroll_h.speed = -100
#scroll_v.speed = -100 #scroll_v.speed = -100
@ -214,8 +242,10 @@ def rewind(*opts):
#scroll_v.c = 0 #scroll_v.c = 0
return 'OK' return 'OK'
############################################################################### ###############################################################################
choice_map = { choice_map = {
CMD_MOT_V: motor_vert, CMD_MOT_V: motor_vert,
CMD_MOT_H: motor_hor, CMD_MOT_H: motor_hor,
@ -226,17 +256,22 @@ choice_map = {
CMD_RW: rewind CMD_RW: rewind
} }
def parseCmd(cmd_str: str):
cmd, parm_str = cmd_str.split(':') def parseCmd(cmd_str: bytes):
cmd, parm_str = cmd_str.decode('utf-8').split(':')
parms = [] parms = []
if len(parm_str) != 0: if len(parm_str) != 0:
parms = [int(x) for x in parm_str.split('+')] parms = [int(x) for x in parm_str.split('+')]
resp = 'E'
if _DEBUG: if _DEBUG:
print(cmd, parms, sep=': ') print(cmd, parms, sep=': ')
resp = 'OK' # resp = 'OK'
else: # else:
resp = choice_map[cmd](*parms) resp = choice_map[cmd](*parms)
uart0.write(f'{resp}\n'.encode('utf-8')) if _DEBUG:
print('response', resp, sep=': ')
return resp
def flash_led(times: int = 1, on_ms: int = 200, off_ms: int = 500): def flash_led(times: int = 1, on_ms: int = 200, off_ms: int = 500):
LED.off() LED.off()
@ -249,16 +284,17 @@ def flash_led(times: int = 1, on_ms: int = 200, off_ms: int = 500):
if __name__ == '__main__': if __name__ == '__main__':
pin_bl_a.value(1) pin_bl_a.value(0)
pin_bl_b.value(0) pin_bl_b.value(1)
pin_fl_a.value(1) pin_fl_a.value(0)
pin_fl_b.value(0) pin_fl_b.value(1)
rxData = '' rxData = b''
flash_led(2) flash_led(2)
while True: while True:
rxBuf = uart0.read(1) rxBuf = uart0.read(1)
if rxBuf is not None: if rxBuf is not None:
rxData += rxBuf.decode('utf-8') rxData += rxBuf # .decode('utf-8')
if rxData.endswith('\n'): if rxData.endswith('\n'):
parseCmd(rxData.strip()) resp = parseCmd(rxData.strip())
rxData = '' uart0.write(f'{resp}\n'.encode('utf-8'))
rxData = b''

29
micropizza/test.py
View file

@ -147,17 +147,26 @@ def recording(timeout):
time.sleep_ms(50) time.sleep_ms(50)
return 'OK' return 'OK'
# def uart_comm():
# uart0 = UART(0, baudrate=9600, tx=Pin(0), rx=Pin(1))
# rxData = b''
# while True:
# rxBuf = uart0.read(1)
# if rxBuf is not None:
# # print(rxBuf)
# rxData += rxBuf # .decode('utf-8')
# if rxData.endswith(b'\n'):
# print(rxData.strip())
# uart0.write('OK\n'.encode('utf-8'))
# rxData = b''
def uart_comm(): def uart_comm():
uart0 = UART(0, baudrate=9600, tx=Pin(0), rx=Pin(1)) uart0 = UART(0, baudrate=9600, tx=Pin(0), rx=Pin(1))
rxData = '' # rxData = b''
while True: while True:
rxBuf = uart0.read(1) if uart0.any():
if rxBuf is not None: print(uart0.read())
rxData += rxBuf.decode('utf-8')
if rxData.endswith('\n'):
print(rxData.strip())
uart0.write(b'OK\n')
rxData = ''
def test_sensors(): def test_sensors():
for i in range(4): for i in range(4):
@ -167,5 +176,5 @@ def test_sensors():
if __name__ == '__main__': if __name__ == '__main__':
#print(user_interaction(20)) #print(user_interaction(20))
#Print #Print
#test_sensors() test_sensors()
uart_comm() #uart_comm()