In light sleep servos lose power

idahowalker
Posts: 142
Joined: Wed Aug 01, 2018 12:06 pm

In light sleep servos lose power

Postby idahowalker » Tue Apr 07, 2020 6:26 pm

Fist code

Code: Select all

/*
   Project, use solar cells to generate power
   2/2/2020
*/
#include "sdkconfig.h"
#include "esp_system.h" //This inclusion configures the peripherals in the ESP system.
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/timers.h"
#include "freertos/event_groups.h"
#include <SimpleKalmanFilter.h>
#include <driver/adc.h>
#include "esp_sleep.h"
#include "driver/mcpwm.h"
const int TaskCore1 = 1;
const int TaskCore0 = 0;
const int TaskStack20K = 20000;
const int Priority3 = 3;
const int Priority4 = 4;
const int SerialDataBits = 115200;
volatile bool EnableTracking = true;
////
void setup()
{
  Serial.begin( 115200 );
  // set up A:D channels
  adc_power_on( );
  vTaskDelay( 1 );
  adc1_config_width(ADC_WIDTH_12Bit);
  // ADC1 channel 0 is GPIO36 (ESP32), GPIO1 (ESP32-S2)
  adc1_config_channel_atten(ADC1_CHANNEL_0 , ADC_ATTEN_DB_11); // azimuth 0
  //  // ADC1_CHANNEL_3  ADC1 channel 3 is GPIO39 (ESP32)
  adc1_config_channel_atten(ADC1_CHANNEL_3, ADC_ATTEN_DB_11); // azimuth 1
  //  // ADC1 channel 5 is GPIO33
  adc1_config_channel_atten(ADC1_CHANNEL_5, ADC_ATTEN_DB_11); // altitude 1
  //  // ADC1 channel 6 is GPIO34
  adc1_config_channel_atten(ADC1_CHANNEL_6, ADC_ATTEN_DB_11); // altitude 0
  //  // adc for light dark detection, ADC1 channel 7 is GPIO35 (ESP32)
  adc1_config_channel_atten(ADC1_CHANNEL_7, ADC_ATTEN_DB_11);
  //
  // control for relay to supply power to the servos
  pinMode( 5, OUTPUT );
  vTaskDelay(1);
  //
  mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM1A, GPIO_NUM_4 ); // Azimuth
  mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0A, GPIO_NUM_12 ); // Altitude servo
  //
  mcpwm_config_t pwm_config = {};
  pwm_config.frequency = 50;    //frequency = 50Hz, i.e. for every servo motor time period should be 20ms
  pwm_config.cmpr_a = 0;    //duty cycle of PWMxA = 0
  pwm_config.cmpr_b = 0;    //duty cycle of PWMxb = 0
  pwm_config.counter_mode = MCPWM_UP_COUNTER;
  pwm_config.duty_mode = MCPWM_DUTY_MODE_0;
  //
  //
  mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_0, &pwm_config);    //Configure PWM0A timer 0 with above settings
  mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_1, &pwm_config);    //Configure PWM0A timer 1 with above settings
  //  ////
  fMoveAltitude( 1500 );
  fMoveAzimuth( 900 );
  ////
  xTaskCreatePinnedToCore( TrackSun, "TrackSun", TaskStack20K, NULL, Priority3, NULL, TaskCore1 ); // assigned to core
  xTaskCreatePinnedToCore( fDaylight, "fDaylight", TaskStack20K, NULL, Priority3, NULL, TaskCore0 ); // assigned to core
  ////  // esp_sleep_enable_timer_wakeup( (60000000 * 2) ); // set timer to wake up once a minute 60000000uS

}
//
void fDaylight( void * pvParameters )
{
  // int lightLevel = 0;
  while (1)
  {
     lightLevel = adc1_get_raw(ADC1_CHANNEL_7);
     Serial.println( adc1_get_raw(ADC1_CHANNEL_7) );
     if ( adc1_get_raw(ADC1_CHANNEL_7) <= 300 )
     {
     fMoveAltitude( 1475 );
     fMoveAzimuth( 2000 );
     vTaskDelay( 25 );
    // put esp32 into light sleep
    EnableTracking = false;
     digitalWrite( 5, HIGH ); // remove power from relay module.
     vTaskDelay( 1 );
     esp_sleep_enable_timer_wakeup( (60000000 * 2) ); // set timer to wake up once a minute 60000000uS
     esp_deep_sleep_start();
     } else {
    digitalWrite( 5, LOW ); // energize servo motors
    EnableTracking = true;
     }
    vTaskDelay( 1000 );
  } // while(1)
} // void fDaylight( void * pvParameters )
////
void mcpwm_gpio_initialize(void)
{
  mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM1A, GPIO_NUM_4 );
  mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0A, GPIO_NUM_12 );
}
////
// void TrackSun( int Altitude, int Azimuth )
void TrackSun( void * pvParameters )
{
  int64_t EndTime = esp_timer_get_time();
  int64_t StartTime = esp_timer_get_time(); //gets time in uSeconds like Arduino Micros
  int Altitude = 1500;
  int Azimuth = 900;
  int maxAltitudeRange = 2144;
  int minAltitudeRange = 900;
  int maxAzimuthRange = 2144;
  int minAzimuthRange = 900;
  float AltitudeThreashold = 10.0f;
  float AzimuthThreashold = 80.0f;
  float kalmanThreshold = 15.0f;
  SimpleKalmanFilter kfAltitude0( AltitudeThreashold, kalmanThreshold, .01 ); // kalman filter Altitude 0
  SimpleKalmanFilter kfAltitude1( AltitudeThreashold, kalmanThreshold, .01 ); // kalman filter Altitude 1
  SimpleKalmanFilter kfAzimuth0( AzimuthThreashold, kalmanThreshold, .01 ); // kalman filter Azimuth 0
  SimpleKalmanFilter kfAzimuth1( AzimuthThreashold, kalmanThreshold, .01 ); // kalman filter Azimuth 1
  float filteredAltitude_0 = 0.0f;
  float filteredAltitude_1 = 0.0f;
  float filteredAzimuth_0 = 0.0f;
  float filteredAzimuth_1 = 0.0f;
  uint64_t AzimuthEndTime = esp_timer_get_time();
  uint64_t AzimuthStartTime = esp_timer_get_time(); //gets time in uSeconds like Arduino Micros,
  uint64_t AltitudeEndTime = esp_timer_get_time();
  uint64_t AltitudeStartTime = esp_timer_get_time(); //gets time in uSeconds like Arduino Micros,
  int StartupCount = 0;
  int TorqueAmmount = 5;
  while (1)
  {

    if ( EnableTracking )
    {
      //Altitude
      AltitudeEndTime = esp_timer_get_time() - AltitudeStartTime; // produce elasped time for the simpleKalmanFilter
      kfAltitude0.setProcessNoise( float(AltitudeEndTime) / 1000000.0f );
      kfAltitude1.setProcessNoise( float(AltitudeEndTime) / 1000000.0f );
      filteredAltitude_0 = kfAltitude0.updateEstimate( (float)adc1_get_raw(ADC1_CHANNEL_6) );
      filteredAltitude_1 = kfAltitude1.updateEstimate( (float)adc1_get_raw(ADC1_CHANNEL_5) );
      if ( (filteredAltitude_0 > filteredAltitude_1) && (abs(filteredAltitude_0 - filteredAltitude_1) > AltitudeThreashold))
      {
        Altitude -= TorqueAmmount;
        if ( Altitude < minAltitudeRange )
        {
          Altitude = 900;
        }
        fMoveAltitude( Altitude );
        AltitudeStartTime = float(esp_timer_get_time());
      }
      if ( (filteredAltitude_0 < filteredAltitude_1) && (abs(filteredAltitude_0 - filteredAltitude_1) > AltitudeThreashold) )
      {
        Altitude += TorqueAmmount;
        if ( Altitude >= maxAltitudeRange )
        {
          Altitude = 900;
        }
        fMoveAltitude( Altitude );
        AltitudeStartTime = esp_timer_get_time();
      }
      //// AZIMUTH
      AzimuthEndTime = esp_timer_get_time() - AzimuthStartTime; // produce elasped time for the simpleKalmanFilter
      kfAzimuth0.setProcessNoise( float(AzimuthEndTime) / 1000000.0f ); //convert time of process to uS, update SimpleKalmanFilter q
      kfAzimuth1.setProcessNoise( float(AzimuthEndTime) / 1000000.0f ); //convert time of process to uS, update SimpleKalmanFilter q
      filteredAzimuth_0 = kfAzimuth0.updateEstimate( (float)adc1_get_raw(ADC1_CHANNEL_3) );
      filteredAzimuth_1 = kfAzimuth1.updateEstimate( (float)adc1_get_raw(ADC1_CHANNEL_0) );
      if ( (filteredAzimuth_0 > filteredAzimuth_1) && (abs(filteredAzimuth_0 - filteredAzimuth_1)) > AzimuthThreashold )
      {
        Azimuth += TorqueAmmount;
        if ( Azimuth >= maxAzimuthRange )
        {
          Azimuth = 900;
        }
        fMoveAzimuth( Azimuth );
        Serial.print( "  AltI > " );
        Serial.println( Altitude );
        AzimuthStartTime = esp_timer_get_time();
      }
      if ( (filteredAzimuth_0 < filteredAzimuth_1) && (abs(filteredAzimuth_1 - filteredAzimuth_0)) > AzimuthThreashold )
      {
        Azimuth -= TorqueAmmount;
        if ( (Azimuth >= maxAzimuthRange) || (Azimuth <= minAzimuthRange) )
        {
          Azimuth = 900;
        }
        fMoveAzimuth( Azimuth );
        AzimuthStartTime = esp_timer_get_time();
      } //azmiuth end
      if ( StartupCount < 500 )
      {
        ++StartupCount;
        // Serial.println( StartupCount );
      } else {
        TorqueAmmount = 1;
        esp_sleep_enable_timer_wakeup( (60000000 / 20) ); // set timer to wake up
        esp_light_sleep_start();
      }
    }
  } // while(1)
} //void TrackSun()
////
void fMoveAltitude( int MoveTo )
{
  mcpwm_set_duty_in_us(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, MoveTo);
  vTaskDelay( 12 );
}
//////
void fMoveAzimuth( int MoveTo )
{
  mcpwm_set_duty_in_us(MCPWM_UNIT_0, MCPWM_TIMER_1, MCPWM_OPR_A, MoveTo);
  vTaskDelay( 12 );
}
////
void loop() {}
////
It seems the MCPWM is getting turned off every once in a while. I can move the boom with my hand during those moments. Monitored servo PWM's do not indicate a rapid change in servo PWM value.

I had thought the MCPWM would remain on during light sleet but sometimes it seems to no longer provide a torque value to hold position during light sleep.
Is there a way to set or make the MCPWM stay on during light sleep?

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