B4L/feeder_mk2
5
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

changed feeder expected time behaviour and altered the feeder state machine behaviour if feeding is faster than peeling

Browse Source
This commit is contained in:
janik
2026-04-10 17:05:52 +07:00
parent 542a5ffd2c
commit e3054e3e73
15 changed files with 10015 additions and 9856 deletions
Download Patch File Download Diff File Expand all files Collapse all files
code/Core/Src/main.c
+37 -24
View File
@@ -59,7 +59,7 @@
#define BACKWARDS_FEED_FILM_SLACK_REMOVAL_TIME 350 // ms to take up slack after backward
#define BACKLASH_COMP_TENTH_MM 10 // 1mm backlash compensation
#define FEED_SETTLE_TIME 50 // ms to wait for position to settle
#define FEED_POSITION_TOLERANCE 10 // encoder counts tolerance (~0.044mm)
#define FEED_POSITION_TOLERANCE 15 // encoder counts tolerance (~0.066mm)
// OneWire timing (microseconds)
@@ -86,6 +86,7 @@
#define FLOOR_ADDRESS_NOT_PROGRAMMED 0x00
#define FLOOR_ADDRESS_NOT_DETECTED 0xFF
// Position overflow prevention
#define POSITION_OVERFLOW_THRESHOLD (INT32_MAX / 2)
#define POSITION_RESET_AMOUNT (INT32_MAX / 4)
@@ -168,6 +169,8 @@ uint32_t feed_timeout_time = 0; // absolute timeout for driving phase
int16_t feed_distance_tenths = 0; // requested feed distance in 0.1mm
uint8_t feed_direction = 1; // 1 = forward, 0 = backward
int32_t feed_target_position = 0; // target encoder position for current phase
uint8_t peel_done = 1; // peel phase complete flag
uint8_t drive_done = 1; // motor reached position flag
uint8_t feed_retry_count = 0; // retry counter
#define FEED_RETRY_LIMIT 3
@@ -1171,7 +1174,7 @@ void HAL_TIM_PeriodElapsedCallback (TIM_HandleTypeDef * htim)
int32_t brake_distance = velocity * brake_time_tenths / 10;
if (error > FEED_POSITION_TOLERANCE && (is_stopped || error > brake_distance))
if (error >= FEED_POSITION_TOLERANCE && (is_stopped || error > brake_distance))
{
set_Feeder_PWM(PWM_MAX, 1); // Full forward
debug_pid_output = PWM_MAX;
@@ -1282,9 +1285,12 @@ void rs485_transmit(uint8_t *data, uint16_t len)
{
// Turnaround delay — let controller switch to RX mode
HAL_Delay(1);
// Disable receiver, transmit, re-enable receiver, re-arm DMA
// Stop DMA receive before transmitting
HAL_UART_AbortReceive(&huart2);
// Disable receiver, transmit
HAL_GPIO_WritePin(USART2_NRE_GPIO_Port, USART2_NRE_Pin, GPIO_PIN_SET); // NRE high = receiver off
HAL_UART_Transmit(&huart2, data, len, 100);
// Re-enable receiver and re-arm DMA
HAL_GPIO_WritePin(USART2_NRE_GPIO_Port, USART2_NRE_Pin, GPIO_PIN_RESET); // NRE low = receiver on
HAL_UARTEx_ReceiveToIdle_DMA(&huart2, DMA_buffer, 64);
__HAL_DMA_DISABLE_IT(huart2.hdmarx, DMA_IT_HT);
@@ -1787,9 +1793,10 @@ uint16_t calculate_expected_feed_time(uint8_t distance, uint8_t forward)
if (forward)
{
// Forward: peel time + peel backoff + drive time + extra for first feed
// Report realistic expected time, not the timeout value
uint16_t time = (distance * PEEL_TIME_PER_TENTH_MM) +
PEEL_BACKOFF_TIME +
(distance * TIMEOUT_TIME_PER_TENTH_MM) + 200;
(distance * 10) + 200; // ~10ms per 0.1mm actual drive time
return time;
}
else
@@ -1819,12 +1826,15 @@ void start_feed(int16_t distance_tenths, uint8_t forward)
if (forward)
{
// Forward feed: drive both motors simultaneously
feed_state = FEED_STATE_PEEL_FORWARD;
// Forward feed: drive both motors simultaneously, tracked independently
feed_state = FEED_STATE_DRIVING;
feed_state_start_time = HAL_GetTick();
// Peel: runs for timed duration
peel_done = 0;
feed_state_duration = distance_tenths * PEEL_TIME_PER_TENTH_MM;
peel_motor(1); // Peel forward
// Start feed motor at the same time
peel_motor(1);
// Drive: ISR drives toward target, state machine monitors
drive_done = 0;
feed_timeout_time = HAL_GetTick() + (distance_tenths * TIMEOUT_TIME_PER_TENTH_MM) + 500;
feed_target_position = total_count + tenths_to_counts(distance_tenths);
target_count = feed_target_position;
@@ -1853,14 +1863,7 @@ void feed_state_machine_update(void)
switch (feed_state)
{
case FEED_STATE_PEEL_FORWARD:
// Peeling film while feed motor drives simultaneously
if (elapsed >= feed_state_duration)
{
peel_brake(); // Peel done, feed motor continues via PID
feed_state = FEED_STATE_DRIVING;
feed_state_start_time = now;
// feed_target_position and feed_timeout_time already set in start_feed
}
// Legacy: not used for forward feeds anymore
break;
case FEED_STATE_UNPEEL:
@@ -1879,8 +1882,15 @@ void feed_state_machine_update(void)
break;
case FEED_STATE_DRIVING:
// Check for position reached, overshoot, and timeout
// Track peel independently: stop peel when timer expires
{
if (!peel_done && elapsed >= feed_state_duration)
{
peel_brake();
peel_done = 1;
}
// Track drive independently: check position
int32_t error = feed_target_position - total_count;
int32_t abs_error = error < 0 ? -error : error;
@@ -1888,27 +1898,30 @@ void feed_state_machine_update(void)
// <5: none, >=5: ±5, >=10: ±10, >=20: ±20
int32_t brake_adj = abs_error >= 20 ? 20 : abs_error >= 10 ? 10 : abs_error >= 5 ? 5 : 0;
if (abs_error < FEED_POSITION_TOLERANCE)
if (!drive_done && abs_error < FEED_POSITION_TOLERANCE)
{
// Position reached - fine-tune brake time based on where we stopped
if (error < 0) // overshot
// Position reached - fine-tune brake time
if (error < 0)
brake_time_tenths += brake_adj;
else if (error > 0 && brake_time_tenths > brake_adj) // undershot
else if (error > 0 && brake_time_tenths > brake_adj)
brake_time_tenths -= brake_adj;
else if (error > 0)
brake_time_tenths = 1;
drive_done = 1;
}
// Both done? Feed complete
if (peel_done && drive_done)
{
if (!feed_direction)
{
// Backward feed: take up slack then do final approach
feed_state = FEED_STATE_SLACK_REMOVAL;
feed_state_start_time = now;
feed_state_duration = BACKWARDS_FEED_FILM_SLACK_REMOVAL_TIME;
peel_motor(1); // Peel forward to take up slack
peel_motor(1);
}
else
{
// Forward feed complete
feed_state = FEED_STATE_SETTLING;
feed_state_start_time = now;
feed_state_duration = FEED_SETTLE_TIME;