AFG/rotor-control
3
0
Fork 0
Code Issues Pull requests Packages Projects Releases Wiki Activity

Added comments to movement.rs

Browse source
This commit is contained in:
Sebastian 2022-08-28 22:03:17 +02:00
parent ce049b81d2
commit 045eada9d3
1 changed files with 40 additions and 5 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

45
src/movement.rs
View file

@ -1,7 +1,7 @@
use embassy_stm32::adc::Adc;
use embassy_stm32::gpio::{Level, Output, Speed};
use embassy_stm32::peripherals;
use embassy_time::{Delay, Duration, Timer, with_timeout};
use embassy_time::{with_timeout, Delay, Duration, Timer};
use embassy_util::blocking_mutex::raw::ThreadModeRawMutex;
use embassy_util::channel::mpmc::{Receiver, Sender};
use embassy_util::{select, Either};
@ -11,12 +11,18 @@ use heapless::Vec;
use crate::usb::Gs232Cmd;
use crate::{AzElPair, RotorState};
// ADC reading for azimuth 0°
const AZ_MIN_READING: f32 = 0.0;
// ADC reading for azimuth 360°
const AZ_MAX_READING: f32 = 4096.0;
// Range of motion for azimuth (0 to AZ_RANGE)
const AZ_RANGE: f32 = 360.0;
// ADC reading for elevation 0°
const EL_MIN_READING: f32 = 0.0;
// ADC reading for elevation 360°
const EL_MAX_READING: f32 = 4096.0;
// Range of motion for elevantion (0 to EL_RANGE)
const EL_RANGE: f32 = 90.0;
#[embassy_executor::task]
@ -32,48 +38,62 @@ pub async fn movement_task(
pos_sender: Sender<'static, ThreadModeRawMutex, AzElPair, 1>,
state_sender: Sender<'static, ThreadModeRawMutex, RotorState, 1>,
) {
// Initialize the rotor state
let mut rotor_state = RotorState {
actual_pos: AzElPair { az: 0, el: 0 },
setpoint_pos: AzElPair { az: 0, el: 0 },
stopped: true,
};
let mut adc = Adc::new(adc1, &mut Delay);
// Setup output pins for moving the rotor
let mut cw_pin = Output::new(cw_pin, Level::Low, Speed::Low);
let mut ccw_pin = Output::new(ccw_pin, Level::Low, Speed::Low);
let mut up_pin = Output::new(up_pin, Level::Low, Speed::Low);
let mut down_pin = Output::new(down_pin, Level::Low, Speed::Low);
// Setup the ADC for reading the rotor positions
let mut adc = Adc::new(adc1, &mut Delay);
// Do an initial ADC reading to initialize the averages
let az_reading = adc.read(&mut az_pin) as f32;
let el_reading = adc.read(&mut el_pin) as f32;
let mut az_average = Average::new(az_reading);
let mut el_average = Average::new(el_reading);
loop {
// Wait until either a new command has been received or 100ms have elapsed
match select(
cmd_receiver.recv(),
Timer::after(Duration::from_millis(100)),
)
.await
{
// A new command has been received. This task only cares about MoveTo and Stop.
Either::First(cmd) => match cmd {
// Move to command. Update the setpoint pair in the rotor state
Gs232Cmd::MoveTo(pair) => {
rotor_state.setpoint_pos = pair;
rotor_state.stopped = false;
}
// Stop command. Set the stopped flag.
Gs232Cmd::Stop => {
rotor_state.stopped = true;
}
// Everthing elese is an noop.
_ => {}
},
// Second case of the select statement. Timer has elapsed.
Either::Second(_) => {
// First read the current rotor position
let az_reading = adc.read(&mut az_pin) as f32;
let el_reading = adc.read(&mut el_pin) as f32;
// Apply the averaging filters
az_average.add(az_reading);
el_average.add(el_reading);
// Calculate the position in degreee
let az_actual = (az_average.average() - AZ_MIN_READING)
/ (AZ_MAX_READING - AZ_MIN_READING)
* AZ_RANGE;
@ -81,38 +101,49 @@ pub async fn movement_task(
/ (EL_MAX_READING - EL_MIN_READING)
* EL_RANGE;
// Update the rotor state
rotor_state.actual_pos.az = az_actual as u16;
rotor_state.actual_pos.el = el_actual as u16;
if !rotor_state.stopped && rotor_state.actual_pos.az < rotor_state.setpoint_pos.az {
// Azimuth needs to move clockwise
cw_pin.set_high();
ccw_pin.set_low();
} else if !rotor_state.stopped
&& rotor_state.actual_pos.az > rotor_state.setpoint_pos.az
{
// Azimuth needs to move counter clockwise
cw_pin.set_low();
ccw_pin.set_high();
} else {
// Either azimuth is on the setpoint or the rotor has beend stopped.
cw_pin.set_low();
ccw_pin.set_low();
}
if !rotor_state.stopped && rotor_state.actual_pos.el < rotor_state.setpoint_pos.el {
// Elevation needs to move up
up_pin.set_high();
down_pin.set_low();
} else if !rotor_state.stopped
&& rotor_state.actual_pos.el > rotor_state.setpoint_pos.el
{
// Elevation needs to move down
up_pin.set_low();
down_pin.set_high();
} else {
// Either elevation is on the setpoint or the rotor has beend stopped.
up_pin.set_low();
down_pin.set_low();
}
// Send with timeouts to prevent blocking if display or usb task are blocked.
// Send the state to the display task and the position usb.
// Use timeouts to prevent blocking if display or usb task are unresponsive.
join(
with_timeout(Duration::from_millis(100), pos_sender.send(rotor_state.actual_pos)),
with_timeout(
Duration::from_millis(100),
pos_sender.send(rotor_state.actual_pos),
),
with_timeout(Duration::from_millis(100), state_sender.send(rotor_state)),
)
.await;
@ -121,23 +152,27 @@ pub async fn movement_task(
}
}
// Simple sliding average filter
struct Average {
pos: usize,
data: Vec<f32, 10>,
}
impl Average {
// Create a new filter and prefill the state using an initial value
fn new(initial: f32) -> Average {
let mut data: Vec<f32, 10> = Vec::new();
data.resize(10, initial).unwrap();
Average { pos: 0, data }
}
// Adds a new value to internal state
fn add(&mut self, sample: f32) {
self.data[self.pos] = sample;
self.pos = (self.pos + 1) % self.data.len();
}
// Calculate the average value from the internal state
fn average(&self) -> f32 {
let mut sum = 0.0;
for sample in &self.data {