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This commit is contained in:
Scott Bezek
2021-10-22 12:35:39 -07:00
commit bb4ba9df1e
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5
firmware/.gitignore vendored Normal file
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.pio
.vscode/.browse.c_cpp.db*
.vscode/c_cpp_properties.json
.vscode/launch.json
.vscode/ipch

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{
// See http://go.microsoft.com/fwlink/?LinkId=827846
// for the documentation about the extensions.json format
"recommendations": [
"platformio.platformio-ide"
]
}

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firmware/include/README Normal file
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This directory is intended for project header files.
A header file is a file containing C declarations and macro definitions
to be shared between several project source files. You request the use of a
header file in your project source file (C, C++, etc) located in `src` folder
by including it, with the C preprocessing directive `#include'.
```src/main.c
#include "header.h"
int main (void)
{
...
}
```
Including a header file produces the same results as copying the header file
into each source file that needs it. Such copying would be time-consuming
and error-prone. With a header file, the related declarations appear
in only one place. If they need to be changed, they can be changed in one
place, and programs that include the header file will automatically use the
new version when next recompiled. The header file eliminates the labor of
finding and changing all the copies as well as the risk that a failure to
find one copy will result in inconsistencies within a program.
In C, the usual convention is to give header files names that end with `.h'.
It is most portable to use only letters, digits, dashes, and underscores in
header file names, and at most one dot.
Read more about using header files in official GCC documentation:
* Include Syntax
* Include Operation
* Once-Only Headers
* Computed Includes
https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

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This directory is intended for project specific (private) libraries.
PlatformIO will compile them to static libraries and link into executable file.
The source code of each library should be placed in a an own separate directory
("lib/your_library_name/[here are source files]").
For example, see a structure of the following two libraries `Foo` and `Bar`:
|--lib
| |
| |--Bar
| | |--docs
| | |--examples
| | |--src
| | |- Bar.c
| | |- Bar.h
| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
| |
| |--Foo
| | |- Foo.c
| | |- Foo.h
| |
| |- README --> THIS FILE
|
|- platformio.ini
|--src
|- main.c
and a contents of `src/main.c`:
```
#include <Foo.h>
#include <Bar.h>
int main (void)
{
...
}
```
PlatformIO Library Dependency Finder will find automatically dependent
libraries scanning project source files.
More information about PlatformIO Library Dependency Finder
- https://docs.platformio.org/page/librarymanager/ldf.html

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; PlatformIO Project Configuration File
;
; Build options: build flags, source filter
; Upload options: custom upload port, speed and extra flags
; Library options: dependencies, extra library storages
; Advanced options: extra scripting
;
; Please visit documentation for the other options and examples
; https://docs.platformio.org/page/projectconf.html
[env:tdisplay]
platform = espressif32
board = esp32doit-devkit-v1
framework = arduino
monitor_speed = 115200
monitor_flags =
--eol=CRLF
--echo
--filter=esp32_exception_decoder
lib_deps =
TFT_eSPI@2.3.59
fastled/FastLED @ ^3.4.0
askuric/Simple FOC @ ^2.2
infineon/TLV493D-Magnetic-Sensor @ ^1.0.3
build_flags =
-Os
-DCORE_DEBUG_LEVEL=ARDUHAL_LOG_LEVEL_DEBUG
-DUSER_SETUP_LOADED=1
-DST7789_DRIVER=1
-DCGRAM_OFFSET=1
-DTFT_WIDTH=135
-DTFT_HEIGHT=240
-DTFT_MISO=-1
-DTFT_MOSI=19
-DTFT_SCLK=18
-DTFT_CS=5
-DTFT_DC=16
-DTFT_RST=23
-DTFT_BL=4
-DLOAD_GLCD=1
-DLOAD_GFXFF=1
-DSPI_FREQUENCY=40000000

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$fn=30;
module ic() {
linear_extrude(height=2) {
difference() {
square([7.75, 10.5], center=true);
circle(d=4.2);
}
}
translate([0, 0, 2]) {
linear_extrude(height=2) {
difference() {
square([7.75, 10.5], center=true);
square([5.25, 7], center=true);
}
}
}
}
module mountHoles(d=3.2) {
translate([19/2, 0]) {
circle(d=d);
}
translate([-19/2, 0]) {
circle(d=d);
}
translate([0, 19/2]) {
circle(d=d);
}
translate([0, -19/2]) {
circle(d=d);
}
}
module base() {
linear_extrude(height=2) {
difference() {
circle(d=24);
circle(d=3.4);
mountHoles();
}
}
linear_extrude(height=3) {
difference() {
mountHoles(4);
mountHoles();
}
}
linear_extrude(height=22) {
difference() {
circle(d=4.2);
circle(d=3.4);
}
}
}
base();
translate([20, 0]) {
ic();
}

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#include "display_task.h"
#include "semaphore_guard.h"
DisplayTask::DisplayTask(const uint8_t task_core) : Task{"Display", 8192, 1, task_core} {
semaphore_ = xSemaphoreCreateMutex();
assert(semaphore_ != NULL);
xSemaphoreGive(semaphore_);
}
DisplayTask::~DisplayTask() {
if (semaphore_ != NULL) {
vSemaphoreDelete(semaphore_);
}
}
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);
tft_.setRotation(0);
spr_.setColorDepth(16);
spr_.createSprite(TFT_WIDTH, TFT_HEIGHT);
spr_.setFreeFont(&Roboto_Thin_24);
spr_.setTextColor(0xFFFF, TFT_BLACK);
float angle;
int32_t pointer_center_x = TFT_WIDTH / 2;
int32_t pointer_center_y = TFT_HEIGHT * 2 / 3;
int32_t pointer_length_short = 10;
int32_t pointer_length_long = TFT_WIDTH / 2;
while(1) {
{
SemaphoreGuard lock(semaphore_);
angle = angle_;// < 0 ? angle_ + 2 * PI : angle_;
}
float degrees = angle * 360 / 2 / PI;
uint8_t r, g, b;
HSV_to_RGB(degrees, 80, 80, &r, &g, &b);
spr_.fillSprite(tft_.color565(r, g, b));
spr_.setCursor(40, 40);
spr_.printf("%.1f", degrees);
float pointer_angle = - angle;
spr_.fillTriangle(
pointer_center_x + pointer_length_short * cos(pointer_angle - PI * 3 /4),
pointer_center_y + pointer_length_short * sin(pointer_angle - PI * 3 /4),
pointer_center_x + pointer_length_short * cos(pointer_angle + PI * 3 /4),
pointer_center_y + pointer_length_short * sin(pointer_angle + PI * 3 /4),
pointer_center_x + pointer_length_long * cos(pointer_angle),
pointer_center_y + pointer_length_long * sin(pointer_angle),
TFT_WHITE
);
spr_.fillCircle(pointer_center_x, pointer_center_y, 3, TFT_RED);
spr_.pushSprite(0, 0);
delay(10);
}
}
void DisplayTask::set_angle(float angle) {
SemaphoreGuard lock(semaphore_);
angle_ = angle;
}

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#pragma once
#include <Arduino.h>
#include <TFT_eSPI.h>
#include "task.h"
class DisplayTask : public Task<DisplayTask> {
friend class Task<DisplayTask>; // Allow base Task to invoke protected run()
public:
DisplayTask(const uint8_t task_core);
~DisplayTask();
void set_angle(float angle);
protected:
void run();
private:
TFT_eSPI tft_ = TFT_eSPI();
/** Full-size sprite used as a framebuffer */
TFT_eSprite spr_ = TFT_eSprite(&tft_);
SemaphoreHandle_t semaphore_;
float angle_ = 0;
};

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class Logger {
public:
Logger() {};
virtual ~Logger() {};
};

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#include <Arduino.h>
#include <TFT_eSPI.h>
#include <FastLED.h>
#include <SimpleFOC.h>
#include "display_task.h"
#include "motor_task.h"
#include "tlv_sensor.h"
DisplayTask display_task = DisplayTask(1);
MotorTask motor_task = MotorTask(0, display_task);
CRGB leds[1];
void setup() {
Serial.begin(115200);
display_task.begin();
motor_task.begin();
vTaskDelete(nullptr);
}
void loop() {
assert(false);
}

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#include <SimpleFOC.h>
#include "motor_task.h"
#include "tlv_sensor.h"
MotorTask::MotorTask(const uint8_t task_core, DisplayTask& display_task) : Task{"Motor", 8192, 1, task_core}, display_task_(display_task) {
}
MotorTask::~MotorTask() {}
// BLDC motor & driver instance
BLDCMotor motor = BLDCMotor(7, 8);
BLDCDriver6PWM driver = BLDCDriver6PWM(27, 26, 25, 33, 32, 13);
TlvSensor tlv = TlvSensor();
Commander command = Commander(Serial);
void doMotor(char* cmd) { command.motor(&motor, cmd); }
void MotorTask::run() {
driver.voltage_power_supply = 5;
driver.init();
Wire.begin();
Wire.setClock(400000);
tlv.init();
motor.linkDriver(&driver);
motor.current_limit = 0.6;
motor.linkSensor(&tlv);
motor.LPF_angle = 0.01;
motor.LPF_velocity.Tf = 0.05;
motor.PID_velocity.P = 0.2;
motor.PID_velocity.I = 0;
motor.PID_velocity.D = 0;
motor.PID_velocity.output_ramp = 1000;
motor.P_angle.P = 0.1;
motor.P_angle.I = 0;
motor.P_angle.D = 0;
motor.init();
// float pp_search_voltage = 2; // maximum power_supply_voltage/2
// float pp_search_angle = 28*PI; // search electrical angle to turn
// // move motor to the electrical angle 0
// motor.controller = MotionControlType::angle_openloop;
// motor.voltage_limit=pp_search_voltage;
// motor.move(0);
// _delay(1000);
// // read the sensor angle
// tlv.update();
// float angle_begin = tlv.getAngle();
// _delay(50);
// // move the motor slowly to the electrical angle pp_search_angle
// float motor_angle = 0;
// while(motor_angle <= pp_search_angle){
// motor_angle += 0.01f;
// tlv.update(); // keep track of the overflow
// motor.move(motor_angle);
// }
// _delay(1000);
// // read the sensor value for 180
// tlv.update();
// float angle_end = tlv.getAngle();
// _delay(50);
// // turn off the motor
// motor.move(0);
// _delay(1000);
// // calculate the pole pair number
// int pp = round((pp_search_angle)/(angle_end-angle_begin));
// Serial.print(F("Estimated PP : "));
// Serial.println(pp);
// Serial.println(F("PP = Electrical angle / Encoder angle "));
// Serial.print(pp_search_angle*180/PI);
// Serial.print(F("/"));
// Serial.print((angle_end-angle_begin)*180/PI);
// Serial.print(F(" = "));
// Serial.println((pp_search_angle)/(angle_end-angle_begin));
// Serial.println();
// // a bit of monitoring the result
// if(pp <= 0 ){
// Serial.println(F("PP number cannot be negative"));
// Serial.println(F(" - Try changing the search_voltage value or motor/sensor configuration."));
// return;
// }else if(pp > 30){
// Serial.println(F("PP number very high, possible error."));
// }else{
// Serial.println(F("If PP is estimated well your motor should turn now!"));
// Serial.println(F(" - If it is not moving try to relaunch the program!"));
// Serial.println(F(" - You can also try to adjust the target voltage using serial terminal!"));
// }
motor.initFOC(0.602, Direction::CW);
// add the motor to the commander interface
// The letter (here 'M') you will provide to the SimpleFOCStudio
command.add('M', &doMotor, "foo");
// tell the motor to use the monitoring
motor.useMonitoring(Serial);
motor.monitor_downsample = 0; // disable monitor at first - optional
while (1) {
motor.move();
motor.loopFOC();
motor.monitor();
command.run();
display_task_.set_angle(motor.shaft_angle);
}
}

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#pragma once
#include <Arduino.h>
#include "task.h"
#include "display_task.h"
class MotorTask : public Task<MotorTask> {
friend class Task<MotorTask>; // Allow base Task to invoke protected run()
public:
MotorTask(const uint8_t task_core, DisplayTask& display_task);
~MotorTask();
protected:
void run();
private:
DisplayTask& display_task_;
};

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/*
Copyright 2020 Scott Bezek and the splitflap contributors
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
*/
#pragma once
#include <Arduino.h>
class SemaphoreGuard {
public:
SemaphoreGuard(SemaphoreHandle_t handle) : handle_{handle} {
xSemaphoreTake(handle_, portMAX_DELAY);
}
~SemaphoreGuard() {
xSemaphoreGive(handle_);
}
SemaphoreGuard(SemaphoreGuard const&)=delete;
SemaphoreGuard& operator=(SemaphoreGuard const&)=delete;
private:
SemaphoreHandle_t handle_;
};

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/*
Copyright 2020 Scott Bezek and the splitflap contributors
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
*/
#pragma once
#include<Arduino.h>
// Static polymorphic abstract base class for a FreeRTOS task using CRTP pattern. Concrete implementations
// should implement a run() method.
// Inspired by https://fjrg76.wordpress.com/2018/05/23/objectifying-task-creation-in-freertos-ii/
template<class T>
class Task {
public:
Task(const char* name, uint32_t stackDepth, UBaseType_t priority, const BaseType_t coreId = tskNO_AFFINITY) :
name { name },
stackDepth {stackDepth},
priority { priority },
coreId { coreId }
{}
virtual ~Task() {};
TaskHandle_t getHandle() {
return taskHandle;
}
void begin() {
BaseType_t result = xTaskCreatePinnedToCore(taskFunction, name, stackDepth, this, priority, &taskHandle, coreId);
assert("Failed to create task" && result == pdPASS);
}
private:
static void taskFunction(void* params) {
T* t = static_cast<T*>(params);
t->run();
}
const char* name;
uint32_t stackDepth;
UBaseType_t priority;
TaskHandle_t taskHandle;
const BaseType_t coreId;
};

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#include "tlv_sensor.h"
static const float ALPHA = 0.8;
TlvSensor::TlvSensor() {}
void TlvSensor::init() {
tlv_.begin();
tlv_.setAccessMode(Tlv493d::AccessMode_e::MASTERCONTROLLEDMODE);
tlv_.disableInterrupt();
tlv_.disableTemp();
}
float TlvSensor::getSensorAngle() {
tlv_.updateData();
x_ = tlv_.getX() * ALPHA + x_ * (1-ALPHA);
y_ = tlv_.getY() * ALPHA + y_ * (1-ALPHA);
float rad = atan2f(y_, x_);
if (rad < 0) {
rad += 2*PI;
}
return rad;
}

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#pragma once
#include <SimpleFOC.h>
#include <Tlv493d.h>
class TlvSensor : public Sensor {
public:
TlvSensor();
// initialize the sensor hardware
void init();
// Get current shaft angle from the sensor hardware, and
// return it as a float in radians, in the range 0 to 2PI.
// - This method is pure virtual and must be implemented in subclasses.
// Calling this method directly does not update the base-class internal fields.
// Use update() when calling from outside code.
float getSensorAngle();
private:
Tlv493d tlv_ = Tlv493d();
float x_;
float y_;
};

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This directory is intended for PIO Unit Testing and project tests.
Unit Testing is a software testing method by which individual units of
source code, sets of one or more MCU program modules together with associated
control data, usage procedures, and operating procedures, are tested to
determine whether they are fit for use. Unit testing finds problems early
in the development cycle.
More information about PIO Unit Testing:
- https://docs.platformio.org/page/plus/unit-testing.html