ESP32 3-axis controller

Purpose:
我利用手上沒在使用的三個滑軌和三個57步進馬達架構一個XYZ三軸方向的移動平台, 並使用ESP32作為3Axis controller控制移動方向. 有單軸指令, 例如 :X10  :Y10  :Z10跟三軸連動指令:P10,10,10

I used three unused slide rails and three 57 stepper motors to construct a mobile platform in the XYZ three-axis direction, and used ESP32 as the 3Axis controller to control the movement direction. There are single-axis instructions, for example: X10:Y10: Z10 and three-axis linkage command: P10,10,10

Architectures:  

Circuit:

Y axis set and Z axis set are the same method.

#define MACHINE_NAME            "ESP32_V4"

#define X_STEP_PIN              GPIO_NUM_12

#define X_DIRECTION_PIN         GPIO_NUM_14

#define Y_STEP_PIN              GPIO_NUM_26

#define Y_DIRECTION_PIN         GPIO_NUM_15

#define Z_STEP_PIN              GPIO_NUM_27

#define Z_DIRECTION_PIN         GPIO_NUM_33

#define X_LIMIT_PIN             GPIO_NUM_17

#define Y_LIMIT_PIN             GPIO_NUM_4

#define Z_LIMIT_PIN             GPIO_NUM_16

// OK to comment out to use pin for other features

#define STEPPERS_DISABLE_PIN    GPIO_NUM_13

#define SPINDLE_TYPE            SpindleType::PWM

#define SPINDLE_OUTPUT_PIN      GPIO_NUM_2   // labeled SpinPWM

#define SPINDLE_ENABLE_PIN      GPIO_NUM_22  // labeled SpinEnbl

#define COOLANT_MIST_PIN        GPIO_NUM_21  // labeled Mist

#define COOLANT_FLOOD_PIN       GPIO_NUM_25  // labeled Flood

#define PROBE_PIN               GPIO_NUM_32  // labeled Probe

Fundamental:

AccelStepper庫教程頁面連結

DM542 microstep driver

The DM542 is a new generation microstep stepper motor driver. Due to the adoption of the advanced bipolar constant-current chopper driver technology, it shows stable operation, provides excellent high torque. Moreover, it significantly reduces the noises and vibration of the operating motor. The DM542 has the feature of low-noise, low-vibration and low-heating. The DM542is DC18-50V power supply. It applies to 2-phase hybrid stepper motor under 4.2Acurrent The DM542 has 15 kinds of microsteps. The maximum step number is 25600 steps/rev (microstep is 1/128). The peak operating current ranges from 1.0A to 4.2A., and the output current has 8 stalls. The DM542 has automatic semi-flow, motor misconnected ， over-voltage, under-voltage, andover-current protection functions.

Reference the previous article link on blog:

ESP32 control stepper motor

Arduino 控制三顆馬達

YouTube Demo:

ESP32 Code:

#include <AccelStepper.h>

#include <MultiStepper.h>

//--------- Flag structure --------------------------------------

typedef struct _vFlag

{

  uint8_t BTFlag = 0;

  uint8_t initial_Flag = 0;

} vFlag;

vFlag *flag_Ptr;

vFlag flag;

//------LED------------------

#define LED_BUILTIN 2

char ctemp[20];

//--------- uart structure --------------------------------------

//----------uart--------------

#define LINE_BUFFER_LENGTH 64

typedef struct _vUart

{

  char c;

  int lineIndex = 0;

  int line1Index = 0;

  int BTlineIndex = 0;

  bool lineIsComment;

  bool lineSemiColon;

  char line[128];

  char BTline[20];

  String inputString;

  String BTinputString;

  int V[16];

  char ctemp[30];

  char I2C_Data[80];

  float Voltage[16];

  int Buffer[128];

} vUart;

vUart *Uart_Ptr;

vUart Uart;

//--------- motor structure --------------------------------------

typedef struct _axis_state_t

{

  uint8_t pulPin[6]; //--X,Y,Z,A,B,C

  uint8_t dirPin[6];

  uint8_t enaPin[6];

  uint8_t HomePin[6];

  long RotatorAngle[6];

  boolean AXISFlag[6];

  uint8_t HomeFlag[6];

  uint8_t RotatorFlag[6];

  float FeedRate[6];

  float MaxSpeed[6];

  float Acceleration[6];

  int AXISNumber[2];

  int DC_Speed[6];

} axis_state_t;

axis_state_t *gc_Ptr;

axis_state_t gc;

//----------multi motor ---------------------------------------

MultiStepper steppers;

long positions[3];  

#define Stepper_ENABLE 13  

#define X_LIMIT_PIN    17

#define Y_LIMIT_PIN    4

#define Z_LIMIT_PIN    16

AccelStepper stepperX (1,12,14); // name of stepper motor (1 = driver, pin 2 = pulse, pin 3 = direction)  

AccelStepper stepperY (1,26,15); // name of stepper motor (1 = driver, pin 4 = step, pin 5 = direction)

AccelStepper stepperZ (1,27,33); // name of stepper motor (1 = driver, pin 6 = step, pin 7 = direction)

//------------------------------------------------------------------------------

//-------------------------------------

TaskHandle_t huart;

TaskHandle_t hfunction;

TaskHandle_t hmultimotor;  //TaskHandler

void MultiMotorTask(void *pvParameters);

void vUARTTask(void *pvParameters);

void vFunctionTask(void *pvParameters);

//------------------------------------------------------------------------------

void initial()

{

  Serial.println(F("Create Task"));

  //----------------------------------------------------------------------

  xTaskCreatePinnedToCore(

    vUARTTask, "UARTTask" // A name just for humans

    ,

    1024 // This stack size can be checked & adjusted by reading the Stack Highwater

    ,

    NULL, 3 // Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the lowest.

    ,

    &huart //handle

    ,

    0);

  //----------------------------------------------------------------------

  initMultiMotorTask();

  //----------------------------------------------------------------------

}

void initMultiMotorTask(void)

{

  // Create the task

  xTaskCreatePinnedToCore(MultiMotorTask, "MultiMotorTask", 1024, NULL, 3, &hmultimotor, 1);

  // Check the results

  if (hmultimotor == NULL)

  {

    Serial.println("Create MultiMotor task failed");

  }

  else

  {

    Serial.println("MultiMotor task up and running");

    vTaskSuspend(hmultimotor);

  }

}

//------------------------------------------------------------------------------

void MultiMotorTask(void *pvParameters)

{

  (void)pvParameters;

  while(1)

  {

    digitalWrite(Stepper_ENABLE, LOW);

    if (gc.AXISFlag[0] || gc.AXISFlag[1] || gc.AXISFlag[2])

    {

      if (gc.RotatorFlag[0] == 1)

      {

        //Serial.println( "1" );

        gc.RotatorAngle[0] = gc.RotatorAngle[0] * 500;

        //gc.RotatorAngle[0] = gc.RotatorAngle[0] * 100;   //F4設定

        positions[0] = gc.RotatorAngle[0];

      }

      else

      {

        positions[0] = stepperX.currentPosition();

      }

      if (gc.RotatorFlag[1] == 1)

      {

        //Serial.println( "2" );

        gc.RotatorAngle[1]=gc.RotatorAngle[1]*500;//F4設定

        positions[1] = gc.RotatorAngle[1];

      }

      else

      {

        positions[1] = stepperY.currentPosition();

      }

      if (gc.RotatorFlag[2] == 1)

      {

        //Serial.println( "3" );

        gc.RotatorAngle[2] = gc.RotatorAngle[2] * 100;

        //gc.RotatorAngle[2] = gc.RotatorAngle[2] * 250;//F4設定

        positions[2] = gc.RotatorAngle[2];

      }

      else

      {

        positions[2] = stepperZ.currentPosition();

      }

      //----multi motor

      //positions[0]=gc.RotatorAngle[0];

      //positions[1]=gc.RotatorAngle[1];

      //vTaskSuspend(hled);

      steppers.moveTo(positions);

      steppers.runSpeedToPosition();

      //steppers.run();

      if (abs(stepperX.currentPosition()) == abs(gc.RotatorAngle[0]))

      {

        gc.AXISFlag[0] = false;

        if (gc.RotatorFlag[0] == 1)

        {

          gc.AXISNumber[0]--;

        }

        Serial.println( "X_OK" );

        //vTaskSuspend( hmultimotor );

      }

      if (abs(stepperY.currentPosition()) == abs(gc.RotatorAngle[1]))

      {

        gc.AXISFlag[1] = false;

        if (gc.RotatorFlag[1] == 1)

        {

          gc.AXISNumber[0]--;

        }

        Serial.println( "Y_OK" );

        //vTaskSuspend( hmultimotor );

      }

      if (abs(stepperZ.currentPosition()) == abs(gc.RotatorAngle[2]))

      {

        gc.AXISFlag[2] = false;

        if (gc.RotatorFlag[2] == 1)

        {

          gc.AXISNumber[0]--;

        }

        Serial.println( "Z_OK" );

        //vTaskSuspend( hmultimotor );

      }

      if (gc.AXISNumber[0] == 0)

      {

        //vTaskResume(hled);

        for (int i = 0; i < 6; i++)

        {

          gc.RotatorFlag[i] = 0;

        }

        //vTaskSuspend(hmultimotor);

      }

    }

   

    vTaskDelay(1);

    //vTaskDelay(configTICK_RATE_HZ);

  }

}

void initMultiMotorSetup(void)

{

  gc.pulPin[0] = 26;

  gc.dirPin[0] = 25;

  //gc.HomePin[0] = 8;

  //gc.enaPin[0]=8;

  gc.pulPin[1] = 32;

  gc.dirPin[1] = 33;

  //gc.enaPin[1]=8;

  //gc.HomePin[1] = 9;

  gc.pulPin[2] = 34;

  gc.dirPin[2] = 35;

  //gc.enaPin[2]=8;

  //gc.HomePin[2] = 10;

  for (int i = 0; i < 6; i++)

  {

    //pinMode(gc.pulPin[i], OUTPUT);

    //pinMode(gc.dirPin[i], OUTPUT);

    //pinMode(gc.enaPin[i], OUTPUT);

    //digitalWrite(gc.enaPin[i], HIGH);

    gc.RotatorAngle[i] = 0;

    gc.AXISFlag[i] = false;

    gc.HomeFlag[i] = 0;

    gc.RotatorFlag[i] = 0;

    gc.FeedRate[i] = 1000;

    gc.MaxSpeed[i] = 4000;

    gc.Acceleration[i] = 800;

  }

  gc.AXISNumber[0] = 0;

  gc.AXISNumber[1] = 0;

  pinMode(Stepper_ENABLE, OUTPUT);

  digitalWrite(Stepper_ENABLE, HIGH);

  //pinMode(26, OUTPUT);

  stepperX.setMaxSpeed(4000);

  stepperX.setAcceleration(1000);

  stepperX.setSpeed(4000); //:f4000,4000,4000

  stepperY.setMaxSpeed(4000); //:ms8000,8000,8000

  stepperY.setAcceleration(1000);

  stepperY.setSpeed(1000);

  stepperZ.setMaxSpeed(4000);

  stepperZ.setAcceleration(800);

  stepperZ.setSpeed(2000);

  // Then give them to MultiStepper to manage

  steppers.addStepper(stepperX);

  steppers.addStepper(stepperY);

  steppers.addStepper(stepperZ);

}

//-------------------------------------------------

void setup()

{

  Serial.begin(9600);

  Serial.println(F("init"));

  initial();

  initMultiMotorSetup();

}

//-----------------------------------------

void loop()

{

  Serial.print(F("Main at core:"));

  Serial.println(xPortGetCoreID());

  while(1)

  {

    vTaskDelay(1);

  }

}

//----------------------------------------

void processCommand(char *data)

{

  int len, xlen, ylen, zlen, alen;

  int tempDIO;

  String stemp;

  len = Uart.inputString.length();

  //memset(ctemp, 0, sizeof(ctemp));

  //---------------------------------------

  if (strstr(data, "VER") != NULL)

  {

    Serial.println(F("ESP32_20231226"));

  }

  //-----------Motor----------------------

  if (strstr(data, ":P") != NULL)

  {

    //:p200,100,300

    for (int i = 2; i < len; i++)

    {

      ctemp[i - 2] = data[i];

      if (data[i] == ',')

      {

        xlen = i;

        ctemp[xlen] = '\0';

        gc.RotatorAngle[0] = atoi(ctemp);

        //Serial.println(xlen);

        //Serial.println(gc.RotatorAngle[0]);

        break;

      }

    }

    int j = (xlen + 1);

    for (int i = j; i < len; i++)

    {

      ctemp[i - j] = data[i];

      if (data[i] == ',')

      {

        ylen = i;

        ctemp[ylen] = '\0';

        gc.RotatorAngle[1] = atoi(ctemp);

        //Serial.print("debug- ");

        //Serial.println(gc.RotatorAngle[1]);

        break;

      }

    }

    int k = (ylen + 1);

    for (int i = k; i < len; i++)

    {

      zlen = i;

      ctemp[i - k] = data[i];

    }

    ctemp[zlen] = '\0';

    gc.RotatorAngle[2] = atoi(ctemp);

    //Serial.println(zlen);

    //Serial.println(gc.RotatorAngle[2]);

    gc.AXISFlag[0] = true;

    gc.AXISFlag[1] = true;

    gc.AXISFlag[2] = true;

    gc.RotatorFlag[0] = 1;

    gc.RotatorFlag[1] = 1;

    gc.RotatorFlag[2] = 1;

    gc.AXISNumber[0] = 3;

    vTaskResume(hmultimotor);

  }

  if (strstr(data, ":F"))

  {

    //:f4000,4000,2000

    for (int i = 2; i < len; i++)

    {

      Uart.ctemp[i - 2] = data[i];

      if (data[i] == ',')

      {

        xlen = i;

        Uart.ctemp[xlen] = '\0';

        gc.FeedRate[0] = atoi(Uart.ctemp);

        //Serial.println(xlen);

        //Serial.println(gc.RotatorAngle[0]);

        break;

      }

    }

    int j = (xlen + 1);

    for (int i = j; i < len; i++)

    {

      Uart.ctemp[i - j] = data[i];

      if (data[i] == ',')

      {

        ylen = i;

        Uart.ctemp[ylen] = '\0';

        gc.FeedRate[1] = atoi(Uart.ctemp);

        //Serial.println(ylen);

        //Serial.println(gc.RotatorAngle[1]);

        break;

      }

    }

    int k = (ylen + 1);

    for (int i = k; i < len; i++)

    {

      zlen = i;

      Uart.ctemp[i - k] = data[i];

    }

    Uart.ctemp[zlen] = '\0';

    gc.FeedRate[2] = atoi(Uart.ctemp);

    stepperX.setSpeed(gc.FeedRate[0]);

    stepperY.setSpeed(gc.FeedRate[1]);

    stepperZ.setSpeed(gc.FeedRate[2]);

  }

  if (strstr(data, ":MS"))

  {

    //float MaxSpeed[6];

    //:p200,100,300

    for (int i = 2; i < len; i++)

    {

      Uart.ctemp[i - 2] = data[i];

      if (data[i] == ',')

      {

        xlen = i;

        Uart.ctemp[xlen] = '\0';

        gc.MaxSpeed[0] = atoi(Uart.ctemp);

        //Serial.println(xlen);

        //Serial.println(gc.RotatorAngle[0]);

        break;

      }

    }

    int j = (xlen + 1);

    for (int i = j; i < len; i++)

    {

      Uart.ctemp[i - j] = data[i];

      if (data[i] == ',')

      {

        ylen = i;

        Uart.ctemp[ylen] = '\0';

        gc.MaxSpeed[1] = atoi(Uart.ctemp);

        //Serial.println(ylen);

        //Serial.println(gc.RotatorAngle[1]);

        break;

      }

    }

    int k = (ylen + 1);

    for (int i = k; i < len; i++)

    {

      zlen = i;

      Uart.ctemp[i - k] = data[i];

    }

    Uart.ctemp[zlen] = '\0';

    gc.MaxSpeed[2] = atoi(Uart.ctemp);

    stepperX.setMaxSpeed(gc.MaxSpeed[0]);

    stepperY.setMaxSpeed(gc.MaxSpeed[1]);

    stepperZ.setMaxSpeed(gc.MaxSpeed[2]);

  }

  if (strstr(data, ":ACC"))

  {

    //float Acceleration[6];

    //:ACC1000,1000,1000

    for (int i = 2; i < len; i++)

    {

      Uart.ctemp[i - 2] = data[i];

      if (data[i] == ',')

      {

        xlen = i;

        Uart.ctemp[xlen] = '\0';

        gc.Acceleration[0] = atoi(Uart.ctemp);

        //Serial.println(xlen);

        //Serial.println(gc.RotatorAngle[0]);

        break;

      }

    }

    int j = (xlen + 1);

    for (int i = j; i < len; i++)

    {

      Uart.ctemp[i - j] = data[i];

      if (data[i] == ',')

      {

        ylen = i;

        Uart.ctemp[ylen] = '\0';

        gc.Acceleration[1] = atoi(Uart.ctemp);

        //Serial.println(ylen);

        //Serial.println(gc.RotatorAngle[1]);

        break;

      }

    }

    int k = (ylen + 1);

    for (int i = k; i < len; i++)

    {

      zlen = i;

      Uart.ctemp[i - k] = data[i];

    }

    Uart.ctemp[zlen] = '\0';

    gc.Acceleration[2] = atoi(Uart.ctemp);

    stepperX.setAcceleration(gc.Acceleration[0]);

    stepperY.setAcceleration(gc.Acceleration[1]);

    stepperZ.setAcceleration(gc.Acceleration[2]);

  }

  if (strstr(data, ":X") != NULL)

  {

    gc.HomeFlag[0] = 3;

    gc.AXISFlag[0] = true;

    for (int i = 2; i < len; i++)

    {

      ctemp[i - 2] = data[i];

    }

    ctemp[len - 2] = '\0';

    gc.RotatorAngle[0] = atoi(ctemp);

    gc.RotatorFlag[0] = 1;

    //Serial.println(gc.RotatorAngle[0]);

    gc.AXISNumber[0] = 1;

    vTaskResume(hmultimotor);

  }

  if (strstr(data, ":Y") != NULL)

  {

    gc.AXISFlag[1] = true;

    for (int i = 2; i < len; i++)

    {

      ctemp[i - 2] = data[i];

    }

    ctemp[len - 2] = '\0';

    gc.RotatorAngle[1] = atoi(ctemp);

    //Serial.println(gc.RotatorAngle[1]);

    gc.RotatorFlag[1] = 1;

    gc.AXISNumber[0] = 1;

    vTaskResume(hmultimotor);

  }

  if (strstr(data, ":Z") != NULL)

  {

    gc.AXISFlag[2] = true;

    for (int i = 2; i < len; i++)

    {

      ctemp[i - 2] = data[i];

    }

    ctemp[len - 2] = '\0';

    gc.RotatorAngle[2] = atoi(ctemp);

    //Serial.println(gc.RotatorAngle[2]);

    gc.RotatorFlag[2] = 1;

    gc.AXISNumber[0] = 1;

    vTaskResume(hmultimotor);

  }

 

}

//-----------------------------------------

//-------------------------------------------

void vUARTTask(void *pvParameters)

{

  (void)pvParameters;

  Serial.print(F("UARTTask at core:"));

  Serial.println(xPortGetCoreID());

  for (;;)

  {

    while (Serial.available() > 0)

    {

      Uart.c = Serial.read();

 

      if ((Uart.c == '\n') || (Uart.c == '\r'))

      { // End of line reached

        if (Uart.lineIndex > 0)

        { // Line is complete. Then execute!

          Uart.line[Uart.lineIndex] = '\0'; // Terminate string

          //Serial.println( F("Debug") );

          //Serial.println( Uart.inputString );

          processCommand(Uart.line);

          Uart.lineIndex = 0;

          Uart.inputString = "";

        }

        else

        {

          // Empty or comment line. Skip block.

        }

        Uart.lineIsComment = false;

        Uart.lineSemiColon = false;

        Serial.println(F("ok>"));

      }

      else

      {

        //Serial.println( c );

        if ((Uart.lineIsComment) || (Uart.lineSemiColon))

        {

          if (Uart.c == ')')

            Uart.lineIsComment = false; // End of comment. Resume line.

        }

        else

        {

          if (Uart.c == '/')

          { // Block delete not supported. Ignore character.

          }

          else if (Uart.c == '~')

          { // Enable comments flag and ignore all characters until ')' or EOL.

            Uart.lineIsComment = true;

          }

          else if (Uart.c == ';')

          {

            Uart.lineSemiColon = true;

          }

          else if (Uart.lineIndex >= LINE_BUFFER_LENGTH - 1)

          {

            Serial.println("ERROR - lineBuffer overflow");

            Uart.lineIsComment = false;

            Uart.lineSemiColon = false;

          }

          else if (Uart.c >= 'a' && Uart.c <= 'z')

          { // Upcase lowercase

            Uart.line[Uart.lineIndex] = Uart.c - 'a' + 'A';

            Uart.lineIndex = Uart.lineIndex + 1;

            Uart.inputString += (char)(Uart.c - 'a' + 'A');

          }

          else

          {

            Uart.line[Uart.lineIndex] = Uart.c;

            Uart.lineIndex = Uart.lineIndex + 1;

            Uart.inputString += Uart.c;

          }

        }

      }

    } //while (Serial.available() > 0)

   

    vTaskDelay(1);

  }

}

24G Radar TX Verify

Purpose:

如何去驗證一台24G radar的TX path是否功能正常. 我利用了 C#寫了一個介面程式可以控制到頻譜分析儀, 去抓去DUT TX路徑所打出的能量再去判斷能量值是否正常!

在這個專題上, 利用ESP32+MCP2515 CAN Bus模組對一台CAN Bus介面的雷達下CW Mode的指令, 並且使用頻譜分析儀去抓取雷達發送出的能量波來驗證雷達TX path的好壞!

How to verify whether the TX path of a 24G radar is functioning properly.

Architectures:

Need materials:

1. A 24G Radar with CAN Bus interface

2. ESP32+MCP2515 module(Send command to Radar)

3. A Spectrum analyzer above 24GHz

4. A Horn Antenna covering 24G

5. DUT holder and turn table

Reference the previous article link on blog:
Rohde&Schwarz FSV Signal Analyzer control by C#

OTA天線測試系統

天線場型測試系統

YouTubeDemo:

C# GUI to control Spectrum analyzer for remote control.

Bluetooth Speaker

Purpose:

利用現有BT audio receiver board來製作一台藍芽音箱, 從中學習到一些電子模組的焊接組合, Fusion360的3D繪製倒出圖檔到雷射切割機去做箱體的切割. 

INTRODUCTION

1. Bluetooth 5.0 Audio Receiver Board - Controllable Volume

This is a small size and cost-effective Bluetooth 5.0 Audio Receiver module with the auto-reconnect feature. It supports a wide-range power supply of 3.7V~24V and comes with a function button. Dial the button to the left and right to adjust volume, and press it to pause or play. You can use this module to remake your loudspeaker into wireless.

2. Mini Boost DC DC Step Up 1.5A Tegangan Fix Output Pilihan 5V 8V 9V 12V

Basic parameters

The output voltage can be set to 5V/8V/9V/12V, the default is 12V

Input voltage range: 2.5V- 5V

Output performance: Take 3.7V lithium battery input

3. Power Amp MINI SFT-9718 Stereo 60 Watt RMS. DC 12 V. - 15 V.

4. 喇吧與箱體

Circuit:

ESP32 control stepper motor

Purpose:

ESP32利用AccelStepper庫去驅動A4988 Stepper Motor Driver控制42步進馬達, 並且經由Serial Port來控制馬達的前進, 後退的步數.

ESP32 uses the AccelStepper library to drive the A4988 Stepper Motor Driver to control the 42-stepper motor, and control the forward and backward steps of the motor through the Serial Port.

Architectures:  

Fundamental:

AccelStepper庫教程頁面連結

A4988 Stepper Motor Driver

步進馬達的轉矩大小。大致說來，扭力在0.8N.m以下，選擇20、28、35、39、42(馬達的機身直徑或方度，單位：mm);扭力在1N.m左右的，選擇57馬達較為合適。扭力在幾個N.m或更大的情況下，就要選擇86、110、130等規格的步進馬達。

The torque of the stepper motor. Generally speaking, if the torque is below 0.8N.m, choose 20, 28, 35, 39, 42 (the diameter or squareness of the motor body, unit: mm); if the torque is around 1N.m, it is more appropriate to choose a 57 motor. When the torque is several N.m or more, it is necessary to choose a stepper motor with specifications such as 86, 110, and 130.

下圖為A4988的pin out

Basic wiring

The resolution (step size) selector inputs (MS1, MS2, and MS3)

步進電機走一步為1.8度, 走一圈就是200步, 若是使用1/16步進則需3200為一圈.

LM2596 Low Component Count Step-Down Regulator

Reference the previous article link on blog:
Arduino應用之3D印表機改裝成繪圖機

YouTube Demo:

ESP32 Code:

#include <AccelStepper.h>

#include <MultiStepper.h>

//--------- Flag structure --------------------------------------

typedef struct _vFlag

{

  uint8_t LEDFlag = 1;

} vFlag;

vFlag *flag_Ptr;

vFlag flag;

//------LED------------------

#define LED_BUILTIN 2

char ctemp[20];

//--------- uart structure --------------------------------------

//----------uart--------------

#define LINE_BUFFER_LENGTH 64

typedef struct _vUart

{

  char c;

  int lineIndex = 0;

  int line1Index = 0;

  int BTlineIndex = 0;

  bool lineIsComment;

  bool lineSemiColon;

  //char *line;

  char line[128];

  //char line1[128];

  char BTline[20];

  //char R_line[20];

  //char L_line[20];

  String inputString;

  String BTinputString;

  String S1inputString;

  int V[16];

  char ctemp[30];

  char I2C_Data[80];

  int DC_Spped = 50;

  float Voltage[16];

  int Buffer[128];

  int StartCnt = 0;

  int ReadCnt = 0;

  int sensorValue = 0;

} vUart;

vUart *Uart_Ptr;

vUart Uart;

//--------- motor structure --------------------------------------

typedef struct _axis_state_t

{

  uint8_t pulPin[6]; //--X,Y,Z,A,B,C

  uint8_t dirPin[6];

  uint8_t enaPin[6];

  uint8_t HomePin[6];

  long RotatorAngle[6];

  boolean AXISFlag[6];

  uint8_t HomeFlag[6];

  uint8_t RotatorFlag[6];

  float FeedRate[6];

  float MaxSpeed[6];

  float Acceleration[6];

  int AXISNumber[2];

  int DC_Speed[6];

  //long positions[2][3];

} axis_state_t;

axis_state_t *gc_Ptr;

axis_state_t gc;

//----------multi motor ---------------------------------------

MultiStepper steppers;

long positions[3];  //gc.pulPin[0]

AccelStepper stepperX (1,14,12); // name of stepper motor (1 = driver, pin 2 = pulse, pin 3 = direction)  

AccelStepper stepperY (1,32,33); // name of stepper motor (1 = driver, pin 4 = step, pin 5 = direction)

AccelStepper stepperZ (1,16,17); // name of stepper motor (1 = driver, pin 6 = step, pin 7 = direction)

//------------------------------------------------------------------------------

//-------------------------------------

TaskHandle_t huart;

TaskHandle_t hfunction;

TaskHandle_t hmultimotor;  //TaskHandler

void MultiMotorTask(void *pvParameters);

void vUARTTask(void *pvParameters);

//------------------------------------------------------------------------------

void initial()

{

  Serial.println(F("Create Task"));

  //----------------------------------------------------------------------

  xTaskCreatePinnedToCore(

    vUARTTask, "UARTTask" // A name just for humans

    ,

    1024 // This stack size can be checked & adjusted by reading the Stack Highwater

    ,

    NULL, 3 // Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the lowest.

    ,

    &huart //handle

    ,

    0);

 

  //----------------------------------------------------------------------

  initMultiMotorTask();

  //----------------------------------------------------------------------

}

void initMultiMotorTask(void)

{

  // Create the task

  xTaskCreatePinnedToCore(MultiMotorTask, "MultiMotorTask", 1024, NULL, 3, &hmultimotor, 1);

  // Check the results

  if (hmultimotor == NULL)

  {

    Serial.println("Create MultiMotor task failed");

  }

  else

  {

    Serial.println("MultiMotor task up and running");

    vTaskSuspend(hmultimotor);

  }

}

//------------------------------------------------------------------------------

void MultiMotorTask(void *pvParameters)

{

  (void)pvParameters;

  while(1)

  {

    if (gc.AXISFlag[0] || gc.AXISFlag[1] || gc.AXISFlag[2])

    {

      if (gc.RotatorFlag[0] == 1)

      {

        //Serial.println( "1" );

        gc.RotatorAngle[0] = gc.RotatorAngle[0] * 500;

        //gc.RotatorAngle[0] = gc.RotatorAngle[0] * 100;   //F4設定

        positions[0] = gc.RotatorAngle[0];

      }

      else

      {

        positions[0] = stepperX.currentPosition();

      }

      if (gc.RotatorFlag[1] == 1)

      {

        //Serial.println( "2" );

        gc.RotatorAngle[1]=gc.RotatorAngle[1]*500;//F4設定

        positions[1] = gc.RotatorAngle[1];

      }

      else

      {

        positions[1] = stepperY.currentPosition();

      }

      if (gc.RotatorFlag[2] == 1)

      {

        //Serial.println( "3" );

        gc.RotatorAngle[2] = gc.RotatorAngle[2] * 100;

        //gc.RotatorAngle[2] = gc.RotatorAngle[2] * 250;//F4設定

        positions[2] = gc.RotatorAngle[2];

      }

      else

      {

        positions[2] = stepperZ.currentPosition();

      }

      //----multi motor

      //positions[0]=gc.RotatorAngle[0];

      //positions[1]=gc.RotatorAngle[1];

      //vTaskSuspend(hled);

      steppers.moveTo(positions);

      steppers.runSpeedToPosition();

      //steppers.run();

      if (abs(stepperX.currentPosition()) == abs(gc.RotatorAngle[0]))

      {

        gc.AXISFlag[0] = false;

        if (gc.RotatorFlag[0] == 1)

        {

          gc.AXISNumber[0]--;

        }

        Serial.println( "X_OK" );

        //vTaskSuspend( hmultimotor );

      }

      if (abs(stepperY.currentPosition()) == abs(gc.RotatorAngle[1]))

      {

        gc.AXISFlag[1] = false;

        if (gc.RotatorFlag[1] == 1)

        {

          gc.AXISNumber[0]--;

        }

        Serial.println( "Y_OK" );

        //vTaskSuspend( hmultimotor );

      }

      if (abs(stepperZ.currentPosition()) == abs(gc.RotatorAngle[2]))

      {

        gc.AXISFlag[2] = false;

        if (gc.RotatorFlag[2] == 1)

        {

          gc.AXISNumber[0]--;

        }

        Serial.println( "Z_OK" );

        //vTaskSuspend( hmultimotor );

      }

      if (gc.AXISNumber[0] == 0)

      {

        //vTaskResume(hled);

        for (int i = 0; i < 6; i++)

        {

          gc.RotatorFlag[i] = 0;

        }

        //vTaskSuspend(hmultimotor);

      }

    }

   

    vTaskDelay(1);

    //vTaskDelay(configTICK_RATE_HZ);

  }

}

void initMultiMotorSetup(void)

{

 

  gc.pulPin[0] = 26;

  gc.dirPin[0] = 25;

  //gc.HomePin[0] = 8;

  //gc.enaPin[0]=8;

  gc.pulPin[1] = 32;

  gc.dirPin[1] = 33;

  //gc.enaPin[1]=8;

  //gc.HomePin[1] = 9;

  gc.pulPin[2] = 34;

  gc.dirPin[2] = 35;

  //gc.enaPin[2]=8;

  //gc.HomePin[2] = 10;

  for (int i = 0; i < 6; i++)

  {

    gc.RotatorAngle[i] = 0;

    gc.AXISFlag[i] = false;

    gc.HomeFlag[i] = 0;

    gc.RotatorFlag[i] = 0;

    gc.FeedRate[i] = 1000;

    gc.MaxSpeed[i] = 4000;

    gc.Acceleration[i] = 800;

  }

  gc.AXISNumber[0] = 0;

  gc.AXISNumber[1] = 0;

  pinMode(25, OUTPUT);

  pinMode(26, OUTPUT);

  stepperX.setMaxSpeed(4000);

  stepperX.setAcceleration(1000);

  stepperX.setSpeed(4000); //:f4000,4000,4000

  stepperY.setMaxSpeed(4000); //:ms8000,8000,8000

  stepperY.setAcceleration(800);

  stepperY.setSpeed(1000);

  stepperZ.setMaxSpeed(4000);

  stepperZ.setAcceleration(800);

  stepperZ.setSpeed(2000);

  // Then give them to MultiStepper to manage

  steppers.addStepper(stepperX);

  steppers.addStepper(stepperY);

  steppers.addStepper(stepperZ);

}

//-------------------------------------------------

void setup()

{

  Serial.begin(9600);

  Serial.println(F("init"));

  initial();

  initMultiMotorSetup();

}

//-----------------------------------------

void loop()

{

  Serial.print(F("Main at core:"));

  Serial.println(xPortGetCoreID());

  while(1)

  {

    vTaskDelay(1);

  }

}

//----------------------------------------

void processCommand(char *data)

{

  int len, xlen, ylen, zlen, alen;

  int tempDIO;

  String stemp;

  len = Uart.inputString.length();

  //memset(ctemp, 0, sizeof(ctemp));

  //---------------------------------------

  if (strstr(data, "VER") != NULL)

  {

    Serial.println(F("ESP32_20231210"));

  }

  //-----------Motor----------------------

  if (strstr(data, ":X") != NULL)

  {

    gc.HomeFlag[0] = 3;

    gc.AXISFlag[0] = true;

    for (int i = 2; i < len; i++)

    {

      ctemp[i - 2] = data[i];

    }

    ctemp[len - 2] = '\0';

    gc.RotatorAngle[0] = atoi(ctemp);

    gc.RotatorFlag[0] = 1;

    //Serial.println(gc.RotatorAngle[0]);

    gc.AXISNumber[0] = 1;

    vTaskResume(hmultimotor);

  }

  if (strstr(data, ":Y") != NULL)

  {

    gc.AXISFlag[1] = true;

    for (int i = 2; i < len; i++)

    {

      ctemp[i - 2] = data[i];

    }

    ctemp[len - 2] = '\0';

    gc.RotatorAngle[1] = atoi(ctemp);

    //Serial.println(gc.RotatorAngle[1]);

    gc.RotatorFlag[1] = 1;

    gc.AXISNumber[0] = 1;

    vTaskResume(hmultimotor);

  }

  if (strstr(data, ":Z") != NULL)

  {

    gc.AXISFlag[2] = true;

    for (int i = 2; i < len; i++)

    {

      ctemp[i - 2] = data[i];

    }

    ctemp[len - 2] = '\0';

    gc.RotatorAngle[2] = atoi(ctemp);

    //Serial.println(gc.RotatorAngle[2]);

    gc.RotatorFlag[2] = 1;

    gc.AXISNumber[0] = 1;

    vTaskResume(hmultimotor);

  }

 

}

//-----------------------------------------

//-------------------------------------------

void vUARTTask(void *pvParameters)

{

  (void)pvParameters;

  Serial.print(F("UARTTask at core:"));

  Serial.println(xPortGetCoreID());

  for (;;)

  {

    while (Serial.available() > 0)

    {

      Uart.c = Serial.read();

 

      if ((Uart.c == '\n') || (Uart.c == '\r'))

      { // End of line reached

        if (Uart.lineIndex > 0)

        { // Line is complete. Then execute!

          Uart.line[Uart.lineIndex] = '\0'; // Terminate string

          //Serial.println( F("Debug") );

          //Serial.println( Uart.inputString );

          processCommand(Uart.line);

          Uart.lineIndex = 0;

          Uart.inputString = "";

        }

        else

        {

          // Empty or comment line. Skip block.

        }

        Uart.lineIsComment = false;

        Uart.lineSemiColon = false;

        Serial.println(F("ok>"));

      }

      else

      {

        //Serial.println( c );

        if ((Uart.lineIsComment) || (Uart.lineSemiColon))

        {

          if (Uart.c == ')')

            Uart.lineIsComment = false; // End of comment. Resume line.

        }

        else

        {

          if (Uart.c == '/')

          { // Block delete not supported. Ignore character.

          }

          else if (Uart.c == '~')

          { // Enable comments flag and ignore all characters until ')' or EOL.

            Uart.lineIsComment = true;

          }

          else if (Uart.c == ';')

          {

            Uart.lineSemiColon = true;

          }

          else if (Uart.lineIndex >= LINE_BUFFER_LENGTH - 1)

          {

            Serial.println("ERROR - lineBuffer overflow");

            Uart.lineIsComment = false;

            Uart.lineSemiColon = false;

          }

          else if (Uart.c >= 'a' && Uart.c <= 'z')

          { // Upcase lowercase

            Uart.line[Uart.lineIndex] = Uart.c - 'a' + 'A';

            Uart.lineIndex = Uart.lineIndex + 1;

            Uart.inputString += (char)(Uart.c - 'a' + 'A');

          }

          else

          {

            Uart.line[Uart.lineIndex] = Uart.c;

            Uart.lineIndex = Uart.lineIndex + 1;

            Uart.inputString += Uart.c;

          }

        }

      }

    } //while (Serial.available() > 0)

   

    vTaskDelay(1);

  }

}