debugging integration hell.
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jpunkt
parent
da47717400
commit
eca382a9b3
2 changed files with 89 additions and 44 deletions
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@ -5,22 +5,22 @@ import time
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_DEBUG = const(1)
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_PWM_MAX = const(65535)
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_PWM_FREQ = const(2000)
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_PWM_FREQ = const(4000)
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_PIN_EN_MOTOR_VERT = const(14)
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_PIN_A_MOTOR_VERT = const(12)
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_PIN_B_MOTOR_VERT = const(13)
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_PIN_EN_MOTOR_HOR = const(15)
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_PIN_A_MOTOR_HOR = const(10)
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_PIN_B_MOTOR_HOR = const(11)
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_PIN_A_MOTOR_HOR = const(11)
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_PIN_B_MOTOR_HOR = const(10)
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_PIN_EN_BACKLIGHT = const(17)
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_PIN_A_BACKLIGHT = const(18)
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_PIN_B_BACKLIGHT = const(19)
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_PIN_EN_FRONTLIGHT = const(16)
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_PIN_A_FRONTLIGHT = const(20)
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_PIN_B_FRONTLIGHT = const(21)
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_PIN_EN_BACKLIGHT = const(16) # 17
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_PIN_A_BACKLIGHT = const(20) # 18
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_PIN_B_BACKLIGHT = const(21) # 19
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_PIN_EN_FRONTLIGHT = const(17) # 16
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_PIN_A_FRONTLIGHT = const(18) # 20
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_PIN_B_FRONTLIGHT = const(19) # 21
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_PIN_LED_RED_BTN = const(2)
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_PIN_LED_BLU_BTN = const(4)
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@ -30,8 +30,8 @@ _PIN_BLU_BTN = const(5)
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_PIN_SENS_END_VERT = const(9)
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_PIN_SENS_CNT_VERT = const(7)
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_PIN_SENS_END_HOR = const(6)
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_PIN_SENS_CNT_HOR = const(8)
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_PIN_SENS_END_HOR = const(8)
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_PIN_SENS_CNT_HOR = const(6)
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CMD_MOT_V = 'V' # run vertical motor
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CMD_MOT_H = 'H' # run horizontal motor
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@ -43,24 +43,31 @@ CMD_RW = 'R' # rewind
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LED = Pin(25, Pin.OUT)
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class Scroll:
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def __init__(self, cnt_pin:Pin, end_pin:Pin, en_pin:PWM, a_pin:Pin, b_pin:Pin) -> None:
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self.c = 0
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self._dir = 0
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self._speed = 0
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self.stopped = False
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self.en_pin = en_pin
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self.a_pin = a_pin
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self.b_pin = b_pin
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self.c_pin = cnt_pin
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self.c_pin.irq(self._count, Pin.IRQ_RISING | Pin.IRQ_FALLING)
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self.e_pin = end_pin
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self.e_pin.irq(self._stop, Pin.IRQ_RISING)
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# self.e_pin.irq(self._stop, Pin.IRQ_RISING)
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def _count(self, pin):
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self.c += self._dir
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# if _DEBUG:
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# print(f'{self} count={self.c}')
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def _stop(self, pin):
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if _DEBUG:
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print(f'{self} stopped.')
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self.speed = 0
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self.stopped = True
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@property
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def dir(self):
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@ -68,6 +75,10 @@ class Scroll:
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@dir.setter
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def dir(self, d):
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if d == self._dir:
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return
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if _DEBUG:
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print(f'{self} dir={d}')
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self.a_pin.value(1 if d > 0 else 0)
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self.b_pin.value(1 if d < 0 else 0)
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self._dir = d
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@ -78,15 +89,19 @@ class Scroll:
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@speed.setter
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def speed(self, speed):
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self.en_pin.duty_u16(speed * (_PWM_MAX // 100))
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# if _DEBUG:
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# print(f'{self} speed={speed}')
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self._speed = abs(speed)
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self.en_pin.duty_u16(self._speed * (_PWM_MAX // 100))
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self.dir = (1 if speed > 0 else
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(-1 if speed < 0 else 0))
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self._speed = speed
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pwm_bl = PWM(Pin(_PIN_EN_BACKLIGHT))
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pwm_bl.freq(_PWM_FREQ)
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pwm_fl = PWM(Pin(_PIN_EN_FRONTLIGHT))
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pwm_fl.freq(_PWM_FREQ)
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pwm_mv = PWM(Pin(_PIN_EN_MOTOR_VERT))
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pwm_mv.freq(_PWM_FREQ)
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pwm_mh = PWM(Pin(_PIN_EN_MOTOR_HOR))
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@ -118,39 +133,49 @@ uart0 = UART(0, baudrate=9600, tx=Pin(0), rx=Pin(1))
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scroll_h = Scroll(cnt_h, end_h, pwm_mh, pin_mh_a, pin_mh_b)
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scroll_v = Scroll(cnt_v, end_v, pwm_mv, pin_mv_a, pin_mv_b)
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def motor_vert(*opts):
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_motorctrl(scroll_v, *opts)
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return 'OK'
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def motor_hor(*opts):
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_motorctrl(scroll_h, *opts)
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return 'OK'
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def _motorctrl(scroll: Scroll, steps: int, timeout_ms: int = 500, *opts):
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def _motorctrl(scroll: Scroll, steps: int, timeout_ms: int = 5000, *opts):
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end = scroll.c + steps
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if _DEBUG:
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print(f'motorctrl, end={end}, scroll.c={scroll.c}')
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try:
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startime = time.ticks_ms()
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while time.ticks_diff(startime, time.ticks_ms()) < timeout_ms:
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while (not scroll.stopped) and (time.ticks_diff(time.ticks_ms(), startime) < timeout_ms):
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err = end - scroll.c
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if abs(err) > 4:
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speed = (err / (2 * steps)) + 0.5
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scroll.speed = int(100 * speed)
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if abs(err) > 1:
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speed = 100 if err > 0 else -100 # (err / (2 * abs(steps))) * 400 # + 0.5
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scroll.speed = int(speed)
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else:
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scroll.speed = 0
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break
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time.sleep_us(50)
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finally:
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if _DEBUG:
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print(f'motorctrl, scroll.c={scroll.c}')
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scroll.speed = 0
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scroll.stopped = False
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def backlight(*opts):
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_fade_led(pwm_bl, *opts)
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return 'OK'
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def frontlight(*opts):
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_fade_led(pwm_fl, *opts)
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return 'OK'
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def _fade_led(led_pin: PWM, intensity: int, fade_ms: int, steps: int):
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intensity = intensity * (_PWM_MAX // 100)
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if fade_ms == 0:
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@ -170,6 +195,7 @@ def _fade_led(led_pin: PWM, intensity: int, fade_ms: int, steps: int):
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led_pin.duty_u16(intensity)
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def user_interaction(timeout):
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def _toggle_leds(timer):
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led_blu.toggle()
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@ -191,6 +217,7 @@ def user_interaction(timeout):
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led_red.value(0)
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return 'T' # Timeout
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def recording(timeout):
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timeout *= 1000
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startime = time.ticks_ms()
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@ -205,6 +232,7 @@ def recording(timeout):
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time.sleep_ms(50)
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return 'OK'
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def rewind(*opts):
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#scroll_h.speed = -100
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#scroll_v.speed = -100
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@ -214,8 +242,10 @@ def rewind(*opts):
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#scroll_v.c = 0
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return 'OK'
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###############################################################################
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choice_map = {
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CMD_MOT_V: motor_vert,
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CMD_MOT_H: motor_hor,
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@ -226,17 +256,22 @@ choice_map = {
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CMD_RW: rewind
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}
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def parseCmd(cmd_str: str):
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cmd, parm_str = cmd_str.split(':')
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def parseCmd(cmd_str: bytes):
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cmd, parm_str = cmd_str.decode('utf-8').split(':')
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parms = []
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if len(parm_str) != 0:
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parms = [int(x) for x in parm_str.split('+')]
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resp = 'E'
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if _DEBUG:
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print(cmd, parms, sep=': ')
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resp = 'OK'
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else:
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# resp = 'OK'
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# else:
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resp = choice_map[cmd](*parms)
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uart0.write(f'{resp}\n'.encode('utf-8'))
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if _DEBUG:
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print('response', resp, sep=': ')
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return resp
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def flash_led(times: int = 1, on_ms: int = 200, off_ms: int = 500):
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LED.off()
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@ -249,16 +284,17 @@ def flash_led(times: int = 1, on_ms: int = 200, off_ms: int = 500):
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if __name__ == '__main__':
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pin_bl_a.value(1)
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pin_bl_b.value(0)
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pin_fl_a.value(1)
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pin_fl_b.value(0)
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rxData = ''
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pin_bl_a.value(0)
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pin_bl_b.value(1)
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pin_fl_a.value(0)
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pin_fl_b.value(1)
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rxData = b''
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flash_led(2)
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while True:
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rxBuf = uart0.read(1)
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if rxBuf is not None:
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rxData += rxBuf.decode('utf-8')
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rxData += rxBuf # .decode('utf-8')
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if rxData.endswith('\n'):
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parseCmd(rxData.strip())
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rxData = ''
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resp = parseCmd(rxData.strip())
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uart0.write(f'{resp}\n'.encode('utf-8'))
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rxData = b''
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@ -147,17 +147,26 @@ def recording(timeout):
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time.sleep_ms(50)
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return 'OK'
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# def uart_comm():
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# uart0 = UART(0, baudrate=9600, tx=Pin(0), rx=Pin(1))
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# rxData = b''
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# while True:
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# rxBuf = uart0.read(1)
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# if rxBuf is not None:
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# # print(rxBuf)
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# rxData += rxBuf # .decode('utf-8')
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# if rxData.endswith(b'\n'):
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# print(rxData.strip())
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# uart0.write('OK\n'.encode('utf-8'))
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# rxData = b''
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def uart_comm():
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uart0 = UART(0, baudrate=9600, tx=Pin(0), rx=Pin(1))
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rxData = ''
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# rxData = b''
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while True:
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rxBuf = uart0.read(1)
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if rxBuf is not None:
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rxData += rxBuf.decode('utf-8')
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if rxData.endswith('\n'):
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print(rxData.strip())
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uart0.write(b'OK\n')
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rxData = ''
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if uart0.any():
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print(uart0.read())
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def test_sensors():
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for i in range(4):
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@ -167,5 +176,5 @@ def test_sensors():
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if __name__ == '__main__':
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#print(user_interaction(20))
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#Print
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#test_sensors()
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uart_comm()
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test_sensors()
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#uart_comm()
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