added HA integration (not discovered)

firmware/platformio.ini

@@ -23,25 +23,19 @@ lib_deps =
 	askuric/Simple FOC @ 2.2.0
 	infineon/TLV493D-Magnetic-Sensor @ 1.0.3
 	bxparks/AceButton @ 1.9.1
-
 build_flags = 
 	-DCORE_DEBUG_LEVEL=ARDUHAL_LOG_LEVEL_DEBUG
 
 [env:view]
 extends = base_config
-; platform = https://github.com/platformio/platform-espressif32.git#feature/arduino-upstream
-; platform_packages =
-;    framework-arduinoespressif32 @ https://github.com/espressif/arduino-esp32#master
 board = esp32doit-devkit-v1
 lib_deps = 
-  ; askuric/Simple FOC @ 2.2.1
-  ; bxparks/AceButton @ 1.9.1
 	${base_config.lib_deps}
 	bodmer/TFT_eSPI@2.4.25
 	fastled/FastLED @ 3.5.0
 	bogde/HX711 @ 0.7.5
 	adafruit/Adafruit VEML7700 Library @ 1.1.1
-
+	dawidchyrzynski/home-assistant-integration@^1.3.0
 build_flags = 
 	${base_config.build_flags}
 	-DSK_DISPLAY=1
@@ -89,29 +83,19 @@ build_flags =
 	-DLOAD_GFXFF=1
 	-DSPI_FREQUENCY=40000000
 	
-  ; Reduce loop task stack size (only works on newer IDF Arduino core)
-  ; -DARDUINO_LOOP_STACK_SIZE=2048
 	
-  ; Modify the default unusable pin mask to allow GPIO 7 (allowed to use on ESP32-PICO-V3-02)
-  ; Unusable bits: 6, 8, 9, 10, 20
-  ; (0ULL | _FL_BIT(6) | _FL_BIT(8) | _FL_BIT(9) | _FL_BIT(10) | _FL_BIT(20))
 	-DFASTLED_UNUSABLE_PIN_MASK=0x100740LL
 	
-  ; 0~39 except from 24, 28~31 are valid
-  ; (0xFFFFFFFFFFULL & ~(0ULL | _FL_BIT(24) | _FL_BIT(28) | _FL_BIT(29) | _FL_BIT(30) | _FL_BIT(31)))
 	-DSOC_GPIO_VALID_GPIO_MASK=0xFF0EFFFFFF
-  ; GPIO >= 34 are input only
-  ; (SOC_GPIO_VALID_GPIO_MASK & ~(0ULL | _FL_BIT(34) | _FL_BIT(35) | _FL_BIT(36) | _FL_BIT(37) | _FL_BIT(38) | _FL_BIT(39)))
 	-DSOC_GPIO_VALID_OUTPUT_GPIO_MASK=0x30EFFFFFF
 
-  
 [env:handheld_tdisplay]
 extends = base_config
 board = esp32doit-devkit-v1
 lib_deps = 
 	${base_config.lib_deps}
 	bodmer/TFT_eSPI@2.4.25
-
+	dawidchyrzynski/home-assistant-integration@^1.3.0
 build_flags = 
 	${base_config.build_flags}
 	-DSK_DISPLAY=1

firmware/src/CommuTask.cpp

@@ -1,28 +0,0 @@
-#include "commu_task.h"
-
-#include "semaphore_guard.h"
-
-CommuTask::CommuTask(const uint8_t task_core) : Task{"Communication", 4048, 1, task_core} {
-
-  mutex_ = xSemaphoreCreateMutex();
-  assert(mutex_ != NULL);
-}
-
-CommuTask::~CommuTask()
-{
-
-}
-
-void CommuTask::run() {
-
-  WiFi.begin("poes", "Rijnstraat214");
-
-  while(1)
-  {
-    while (WiFi.status() != WL_CONNECTED) {
-        delay(500);
-        Serial.print(".");
-    }
-    delay(100);
-  }
-}

firmware/src/commu_task.cpp

@@ -0,0 +1,85 @@
+#include "commu_task.h"
+
+#include "semaphore_guard.h"
+
+static  byte mac[] = {0x00, 0x10, 0xFA, 0x6E, 0x38, 0x4A};
+
+WiFiClient client;
+HADevice device(mac, sizeof(mac));
+HAMqtt mqtt(client, device);
+HASensor angle("angle");
+
+CommuTask::CommuTask(const uint8_t task_core) : Task{"Communication", 4048, 1, task_core} {
+  knob_state_queue_ = xQueueCreate(1, sizeof(KnobState));
+  assert(knob_state_queue_ != NULL);
+  mutex_ = xSemaphoreCreateMutex();
+  assert(mutex_ != NULL);
+}
+
+CommuTask::~CommuTask()
+{
+  vQueueDelete(knob_state_queue_);
+  vSemaphoreDelete(mutex_);
+}
+
+
+QueueHandle_t CommuTask::getKnobStateQueue() {
+  return knob_state_queue_;
+}
+
+void CommuTask::setAngleValue(uint32_t angle)
+{
+  angle_ = angle;
+  //log_d("setAngleCalled = %u", angle);
+}
+
+void CommuTask::run() {
+
+  WiFi.begin("poes", "Rijnstraat214");
+  while (WiFi.status() != WL_CONNECTED) {
+        delay(500);
+        Serial.print(".");
+    }
+
+  KnobState state;
+
+  device.setName("SmartKnob001");
+  device.setSoftwareVersion("1.0.0");
+
+  angle.setUnitOfMeasurement("°");
+  angle.setDeviceClass("None");
+  angle.setName("SmartKnob Angle");
+
+  mqtt.begin(BROKER_ADDR, BROKER_USERNAME, BROKER_PASSWORD);
+
+  uint32_t lastSensorUpdate = millis();
+  angle.setValue(angle_);
+
+  if(mqtt.isConnected())
+  {
+    printf("mqtt connected");
+  }
+  else{
+    printf("mqtt NOT connected");
+
+  }
+
+  while(1)
+  {
+    if (xQueueReceive(knob_state_queue_, &state, portMAX_DELAY) == pdFALSE) {
+      continue;
+    }
+
+    if(millis() - lastSensorUpdate > 1000)
+    {
+      angle.setValue(state.current_position);
+      log_d("new angle=%u", state.current_position);
+      lastSensorUpdate = millis();
+
+    }
+
+    mqtt.loop();
+    delay(10);
+
+  }
+}

firmware/src/commu_task.h

@@ -2,10 +2,20 @@
 
 #include <Arduino.h>
 #include <WiFi.h>
+#include <Client.h>
+#include <ArduinoHA.h>
+
 
 #include "knob_data.h"
 #include "task.h"
 
+#define BROKER_ADDR IPAddress(192,168,4,58)
+#define BROKER_USERNAME     "mqtt_broker_user" // replace with your credentials
+#define BROKER_PASSWORD     "mqtt2022"
+
+//HA vars
+
+
 class CommuTask : public Task<CommuTask> {
   friend class Task<CommuTask>; // Allow base Task to invoke protected run()
 
@@ -13,6 +23,9 @@ class CommuTask : public Task<CommuTask> {
     CommuTask(const uint8_t task_core);
     ~CommuTask();
 
+    void setAngleValue(uint32_t angle);
+    QueueHandle_t getKnobStateQueue();
+
 
   protected:
     void run();
@@ -20,6 +33,10 @@ class CommuTask : public Task<CommuTask> {
 
   private:
     
+    uint32_t angle_ =0;
     SemaphoreHandle_t mutex_;
 
+    QueueHandle_t knob_state_queue_;
+
+
 };

firmware/src/display_task.cpp

@@ -6,7 +6,7 @@
 
 static const uint8_t LEDC_CHANNEL_LCD_BACKLIGHT = 0;
 
-DisplayTask::DisplayTask(const uint8_t task_core) : Task{"Display", 4048, 1, task_core} {
+DisplayTask::DisplayTask(const uint8_t task_core) : Task{"Display", 2048, 1, task_core} {
   knob_state_queue_ = xQueueCreate(1, sizeof(KnobState));
   assert(knob_state_queue_ != NULL);
 
@@ -19,66 +19,11 @@ DisplayTask::~DisplayTask() {
   vSemaphoreDelete(mutex_);
 }
 
-static void HSV_to_RGB(float h, float s, float v, uint8_t *r, uint8_t *g, uint8_t *b)
-{
-  int i;
-  float f,p,q,t;
-  
-  h = fmax(0.0, fmin(360.0, h));
-  s = fmax(0.0, fmin(100.0, s));
-  v = fmax(0.0, fmin(100.0, v));
-  
-  s /= 100;
-  v /= 100;
-  
-  if(s == 0) {
-    // Achromatic (grey)
-    *r = *g = *b = round(v*255);
-    return;
-  }
-
-  h /= 60; // sector 0 to 5
-  i = floor(h);
-  f = h - i; // factorial part of h
-  p = v * (1 - s);
-  q = v * (1 - s * f);
-  t = v * (1 - s * (1 - f));
-  switch(i) {
-    case 0:
-      *r = round(255*v);
-      *g = round(255*t);
-      *b = round(255*p);
-      break;
-    case 1:
-      *r = round(255*q);
-      *g = round(255*v);
-      *b = round(255*p);
-      break;
-    case 2:
-      *r = round(255*p);
-      *g = round(255*v);
-      *b = round(255*t);
-      break;
-    case 3:
-      *r = round(255*p);
-      *g = round(255*q);
-      *b = round(255*v);
-      break;
-    case 4:
-      *r = round(255*t);
-      *g = round(255*p);
-      *b = round(255*v);
-      break;
-    default: // case 5:
-      *r = round(255*v);
-      *g = round(255*p);
-      *b = round(255*q);
-    }
-}
 
 void DisplayTask::run() {
     tft_.begin();
     tft_.invertDisplay(1);
+    spr_.setColorDepth(8);
     tft_.setRotation(0);
     tft_.fillScreen(TFT_DARKGREEN);
 
@@ -86,7 +31,7 @@ void DisplayTask::run() {
     ledcAttachPin(PIN_LCD_BACKLIGHT, LEDC_CHANNEL_LCD_BACKLIGHT);
     ledcWrite(LEDC_CHANNEL_LCD_BACKLIGHT, UINT16_MAX);
 
-    spr_.setColorDepth(16);
+    //spr_.setColorDepth(16);
 
     if (spr_.createSprite(TFT_WIDTH, TFT_HEIGHT) == nullptr) {
       Serial.println("ERROR: sprite allocation failed!");
@@ -103,10 +48,10 @@ void DisplayTask::run() {
     const uint16_t FILL_COLOR = spr_.color565(90, 18, 151);
     const uint16_t DOT_COLOR = spr_.color565(80, 100, 200);
 
-    int32_t pointer_center_x = TFT_WIDTH / 2;
+    // int32_t pointer_center_x = TFT_WIDTH / 2;
-    int32_t pointer_center_y = TFT_HEIGHT / 2;
+    // int32_t pointer_center_y = TFT_HEIGHT / 2;
-    int32_t pointer_length_short = 10;
+    // int32_t pointer_length_short = 10;
-    int32_t pointer_length_long = TFT_WIDTH / 2 - 5;
+    // int32_t pointer_length_long = TFT_WIDTH / 2 - 5;
 
     spr_.setTextDatum(CC_DATUM);
     spr_.setTextColor(TFT_WHITE);
@@ -165,6 +110,7 @@ void DisplayTask::run() {
         float raw_angle = left_bound - state.current_position * state.config.position_width_radians;
         float adjusted_angle = raw_angle - adjusted_sub_position;
 
+
         if (state.config.num_positions > 0 && ((state.current_position == 0 && state.sub_position_unit < 0) || (state.current_position == state.config.num_positions - 1 && state.sub_position_unit > 0))) {
 
           spr_.fillCircle(TFT_WIDTH/2 + (RADIUS - 10) * cosf(raw_angle), TFT_HEIGHT/2 - (RADIUS - 10) * sinf(raw_angle), 5, DOT_COLOR);

firmware/src/interface_task.cpp

@@ -123,7 +123,11 @@ static KnobConfig configs[] = {
     },
 };
 
-InterfaceTask::InterfaceTask(const uint8_t task_core, MotorTask& motor_task, DisplayTask* display_task) : Task("Interface", 4048, 1, task_core), motor_task_(motor_task), display_task_(display_task) {
+InterfaceTask::InterfaceTask(const uint8_t task_core, MotorTask& motor_task, DisplayTask* display_task, CommuTask& commu_task) : 
+        Task("Interface", 4048, 1, task_core), 
+        motor_task_(motor_task), 
+        display_task_(display_task),
+        commu_task_(commu_task){
     #if SK_DISPLAY
         assert(display_task != nullptr);
     #endif
@@ -202,6 +206,7 @@ void InterfaceTask::run() {
             }
         #endif
         
+
         #if SK_STRAIN
             // TODO: calibrate and track (long term moving average) zero point (lower); allow calibration of set point offset
             const int32_t lower = 950000;
@@ -235,7 +240,7 @@ void InterfaceTask::run() {
 
                 #if SK_LEDS
                     for (uint8_t i = 0; i < NUM_LEDS; i++) {
-                        leds[i] = CRGB::Red;
+                        leds[i] = CRGB::White;
                     }
                     FastLED.show();
                 #endif

firmware/src/interface_task.h

@@ -5,6 +5,7 @@
 
 #include "display_task.h"
 #include "motor_task.h"
+#include "commu_task.h"
 #include "task.h"
 
 #define ALSCHECKINTERVAL 4000
@@ -13,7 +14,7 @@ class InterfaceTask : public Task<InterfaceTask>, public ace_button::IEventHandl
     friend class Task<InterfaceTask>; // Allow base Task to invoke protected run()
 
     public:
-        InterfaceTask(const uint8_t task_core, MotorTask& motor_task, DisplayTask* display_task);
+        InterfaceTask(const uint8_t task_core, MotorTask& motor_task, DisplayTask* display_task, CommuTask& commu_task);
         ~InterfaceTask();
 
         void handleEvent(ace_button::AceButton* button, uint8_t event_type, uint8_t button_state) override;
@@ -24,6 +25,7 @@ class InterfaceTask : public Task<InterfaceTask>, public ace_button::IEventHandl
     private:
         MotorTask& motor_task_;
         DisplayTask* display_task_;
+        CommuTask& commu_task_;
 
         int current_config_ = 0;
 

firmware/src/main.cpp

@@ -13,10 +13,10 @@ static DisplayTask* display_task_p = &display_task;
 static DisplayTask* display_task_p = nullptr;
 #endif
 static MotorTask motor_task = MotorTask(0);
-static CommuTask commu_Task = CommuTask(1);
+static CommuTask commu_Task = CommuTask(0);
 
 
-InterfaceTask interface_task = InterfaceTask(0, motor_task, display_task_p);
+InterfaceTask interface_task = InterfaceTask(0, motor_task, display_task_p, commu_Task);
 
 static QueueHandle_t knob_state_debug_queue;
 
@@ -25,7 +25,7 @@ void setup() {
 
   motor_task.begin();
   interface_task.begin();
-  //commu_Task.begin();
+  commu_Task.begin();
 
   #if SK_DISPLAY
   display_task.begin();
@@ -34,6 +34,8 @@ void setup() {
   motor_task.addListener(display_task.getKnobStateQueue());
   #endif
 
+  motor_task.addListener(commu_Task.getKnobStateQueue());
+
   // Create a queue and register it with motor_task to print knob state to serial (see loop() below)
   knob_state_debug_queue = xQueueCreate(1, sizeof(KnobState));
   assert(knob_state_debug_queue != NULL);

firmware/src/motor_task.cpp

@@ -53,8 +53,8 @@ void MotorTask::run() {
     // float zero_electric_offset = -0.8; // handheld 2
     // float zero_electric_offset = 2.93; //0.15; // 17mm test
     // float zero_electric_offset = 0.66; // 15mm handheld
-    float zero_electric_offset = 7.07;
+    float zero_electric_offset = 5.44;
-    Direction foc_direction = Direction::CCW;
+    Direction foc_direction = Direction::CW;
     motor.pole_pairs = 7;
 
     driver.voltage_power_supply = 5;

firmware/src/motor_task.h

@@ -6,44 +6,48 @@
 #include "knob_data.h"
 #include "task.h"
 
-
+enum class CommandType
-enum class CommandType {
+{
     CONFIG,
     HAPTIC,
 };
 
-struct HapticData {
+struct HapticData
+{
     bool press;
 };
 
-struct Command {
+struct Command
+{
     CommandType command_type;
-    union CommandData {
+    union CommandData
+    {
         KnobConfig config;
         HapticData haptic;
     };
     CommandData data;
 };
 
-class MotorTask : public Task<MotorTask> {
+class MotorTask : public Task<MotorTask>
+{
     friend class Task<MotorTask>; // Allow base Task to invoke protected run()
 
-    public:
+public:
     MotorTask(const uint8_t task_core);
     ~MotorTask();
 
-        void setConfig(const KnobConfig& config);
+    void setConfig(const KnobConfig &config);
     void playHaptic(bool press);
 
     void addListener(QueueHandle_t queue);
 
-    protected:
+protected:
     void run();
 
-    private:
+private:
     QueueHandle_t queue_;
 
     std::vector<QueueHandle_t> listeners_;
 
-        void publish(const KnobState& state);
+    void publish(const KnobState &state);
 };