Finish numberstack code UI

.gitignore

@@ -1,3 +1,5 @@
 build
 sdkconfig
 sdkconfig.old
+docs
+managed_components

dependencies.lock

@@ -0,0 +1,98 @@
+dependencies:
+  atanisoft/esp_lcd_touch_xpt2046:
+    component_hash: 
+      7e6381b67b6e487379118368b8e91624dc87036ef5734818de1db9eb35697998
+    dependencies:
+    - name: espressif/esp_lcd_touch
+      registry_url: https://components.espressif.com
+      require: private
+      version: '>=1.0.4'
+    - name: idf
+      require: private
+      version: '>=4.4'
+    source:
+      registry_url: https://components.espressif.com/
+      type: service
+    version: 1.0.6
+  espressif/cmake_utilities:
+    component_hash: 
+      351350613ceafba240b761b4ea991e0f231ac7a9f59a9ee901f751bddc0bb18f
+    dependencies:
+    - name: idf
+      require: private
+      version: '>=4.1'
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    version: 0.5.3
+  espressif/esp_lcd_ili9341:
+    component_hash: 
+      476fe49688f95201cba03a9391142d48c20b26f8e937de9ece44770a24943829
+    dependencies:
+    - name: espressif/cmake_utilities
+      registry_url: https://components.espressif.com
+      require: private
+      version: 0.*
+    - name: idf
+      require: private
+      version: '>=4.4'
+    source:
+      registry_url: https://components.espressif.com/
+      type: service
+    version: 2.0.1
+  espressif/esp_lcd_touch:
+    component_hash: 
+      3f85a7d95af876f1a6ecca8eb90a81614890d0f03a038390804e5a77e2caf862
+    dependencies:
+    - name: idf
+      require: private
+      version: '>=4.4.2'
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    version: 1.2.1
+  espressif/esp_lvgl_port:
+    component_hash: 
+      f872401524cb645ee6ff1c9242d44fb4ddcfd4d37d7be8b9ed3f4e85a404efcd
+    dependencies:
+    - name: idf
+      require: private
+      version: '>=5.1'
+    - name: lvgl/lvgl
+      registry_url: https://components.espressif.com
+      require: public
+      version: '>=8,<10'
+    source:
+      registry_url: https://components.espressif.com/
+      type: service
+    version: 2.7.0
+  hayschan/autopid_for_esp_idf:
+    component_hash: 
+      abb01ee57353d22df70c27840ddec00b90544540c9a78ec18932737d7fbb7878
+    dependencies: []
+    source:
+      registry_url: https://components.espressif.com/
+      type: service
+    version: 1.0.2
+  idf:
+    source:
+      type: idf
+    version: 5.5.1
+  lvgl/lvgl:
+    component_hash: 
+      17e68bfd21f0edf4c3ee838e2273da840bf3930e5dbc3bfa6c1190c3aed41f9f
+    dependencies: []
+    source:
+      registry_url: https://components.espressif.com/
+      type: service
+    version: 9.4.0
+direct_dependencies:
+- atanisoft/esp_lcd_touch_xpt2046
+- espressif/esp_lcd_ili9341
+- espressif/esp_lvgl_port
+- hayschan/autopid_for_esp_idf
+- idf
+- lvgl/lvgl
+manifest_hash: 5e3bb9d0c782ebaa9ecdc3b0310e8f13b698e0fd5071cab2a465725e2a33722b
+target: esp32
+version: 2.0.0

main/CMakeLists.txt

@@ -1,3 +1,4 @@
-idf_component_register(SRCS "spincoat-plater-firmware.c" "dshot_esc_encoder.c"
-                    PRIV_REQUIRES esp_driver_rmt esp_driver_uart
+idf_component_register(SRCS "spincoat-plater-firmware.cpp" "dshot_esc_encoder.c" "display.c" "motor.c" "ui.c"
+                    PRIV_REQUIRES esp_driver_rmt esp_driver_gpio esp_driver_uart esp_driver_spi
+                    esp_lcd unity lvgl esp_lvgl_port esp_lcd_touch_xpt2046 autopid_for_esp_idf
                     INCLUDE_DIRS ".")

main/Kconfig

@@ -1,12 +1,93 @@
 menu "Pin Mapping Configuration"
     config ESC_CTRL_PIN
         int "ESC control GPIO pin"
-        default 22
+        default 18
         help
             This is the pin used for sending DSHOT packets to the ESC.
     config TELEMETRY_RX_PIN
         int "ESC telemetry uart rx pin"
-        default 27
+        default 19
         help
             This is the pin used for receiving UART telemetry from the ESC.
+    config TFT_MISO
+        int "SPI LCD MISO pin"
+        default 12
+        help
+            This is the pin for MISO on the SPI LCD.
+    config TFT_MOSI
+        int "SPI LCD MOSI pin"
+        default 13
+        help
+            This is the pin for MOSI on the SPI LCD.
+    config TFT_SCKL
+        int "SPI LCD SCKL pin"
+        default 14
+        help
+            This is the pin for SCKL on the SPI LCD.
+    config TFT_CS
+        int "SPI LCD CS pin"
+        default 15
+        help
+            This is the pin for CS on the SPI LCD.
+    config TFT_DC
+        int "SPI LCD DC pin"
+        default 2
+        help
+            This is the pin for DC on the SPI LCD.
+    config TFT_BL
+        int "SPI LCD BL (backlight) pin"
+        default 21
+        help
+            This is the pin for backlight control on the SPI LCD.
+    
+    config MOTOR_POLECOUNT
+        int "Pole count of motor driven by ESC"
+        default 6
+        help
+          This is the number of magnetic poles on your motor, which is used to calculate actual RPM
+          from electrical RPM.
+
+    config TOUCH_IRQ
+        int "SPI touchscreen IRQ pin"
+        default 36
+        help
+          This is the pin for IRQ on the SPI touchscreen.
+    config TOUCH_MOSI
+        int "SPI touchscreen MOSI pin"
+        default 32
+        help
+          This is the pin for MOSI on the SPI touchscreen.
+    config TOUCH_MISO
+        int "SPI touchscreen MISO pin"
+        default 39
+        help
+          This is the pin for MISO on the SPI touchscreen.
+    config TOUCH_CLK
+        int "SPI touchscreen CLK pin"
+        default 25
+        help
+          This is the pin for CLK on the SPI touchscreen.
+    config TOUCH_CS
+        int "SPI touchscreen CS pin"
+        default 33
+        help
+          This is the pin for CS on the SPI touchscreen.
+
+    config TFT_HRES
+        int "The horizontal resolution of the TFT display"
+        default 320
+        help
+            This is the horizontal resolution for the front-panel SPI LCD
+    config TFT_VRES
+        int "The vertical resolution of the TFT display"
+        default 240
+        help
+            This is the vertical resolution for the front-panel SPI LCD
+    config TFT_BPP
+        int "The bits per pixel of the TFT display"
+        default 16
+        help
+            This is the bits per pixel for the TFT display and influences
+            how much memory the display buffer takes up
+
 endmenu

main/display.c

@@ -0,0 +1,253 @@
+#include "display.h"
+
+#include <inttypes.h>
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+
+#include "unity.h"
+#include "unity_test_runner.h"
+
+#include "esp_log.h"
+#include "driver/gpio.h"
+
+#include "hal/spi_types.h"
+#include "esp_lcd_panel_ops.h"
+#include "driver/spi_common.h"
+#include "esp_lcd_panel_io.h"
+#include "esp_lcd_panel_commands.h"
+#include "esp_lcd_ili9341.h"
+#include "esp_lcd_touch_xpt2046.h"
+
+#include "lvgl.h"
+#include "esp_lvgl_port.h"
+
+SemaphoreHandle_t refresh_finish = NULL;
+
+esp_lcd_panel_io_handle_t io_handle = NULL;
+esp_lcd_panel_handle_t panel_handle = NULL;
+esp_lcd_touch_handle_t tp = NULL;
+
+static const char * TAG = "spincoat-plater-firmware/display";
+
+/**
+ * Callback for the TFT LCD, notifying when the screen is ready for another chunk of data and
+ * releasing the drawing semaphore.
+ */
+IRAM_ATTR static bool notify_refresh_ready(esp_lcd_panel_io_handle_t panel_io, esp_lcd_panel_io_event_data_t *edata, void *user_ctx)
+{
+    BaseType_t need_yield = pdFALSE;
+
+    xSemaphoreGiveFromISR(refresh_finish, &need_yield);
+    return (need_yield == pdTRUE);
+}
+
+/**
+ * Callback for LVGL pointer input device, it reads from the esp_lcd_touch driver and updates
+ * the LVGL internal state for event handling.
+ */
+void touch_driver_read(lv_indev_t * indev, lv_indev_data_t * data) {
+    ESP_ERROR_CHECK(esp_lcd_touch_read_data(tp));
+
+    uint16_t x[1];
+    uint16_t y[1];
+    uint16_t strength[1];
+    uint8_t count = 0;
+
+    bool touchpad_pressed = esp_lcd_touch_get_coordinates(tp, x, y, strength, &count, 1);
+
+    if(touchpad_pressed == true) {
+        data->point.x = x[0];
+        data->point.y = y[0];
+        data->state = LV_INDEV_STATE_PRESSED;
+    } else {
+        data->state = LV_INDEV_STATE_RELEASED;
+    }
+}
+
+/**
+ * Callback for LVGL button events.
+ */
+static void btn_event_cb(lv_event_t * e) {
+    lv_event_code_t code = lv_event_get_code(e);
+
+    if(code == LV_EVENT_CLICKED) {
+        ESP_LOGI(TAG, "LVGL button pressed.");
+    }
+}
+
+/**
+ * Draws a test UI
+ */
+void lv_example_btn_1(void)
+{
+    lv_obj_t * label;
+
+    lv_obj_t * btn1 = lv_btn_create(lv_scr_act());
+    lv_obj_add_event_cb(btn1, btn_event_cb, LV_EVENT_ALL, NULL);
+    lv_obj_set_width(btn1, 120);
+    lv_obj_set_height(btn1, 100);
+    lv_obj_align(btn1, LV_ALIGN_CENTER, 0, -40);
+
+    label = lv_label_create(btn1);
+    lv_label_set_text(label, "Button");
+    lv_obj_center(label);
+
+    lv_obj_t * btn2 = lv_btn_create(lv_scr_act());
+    lv_obj_add_event_cb(btn2, btn_event_cb, LV_EVENT_ALL, NULL);
+    lv_obj_align(btn2, LV_ALIGN_CENTER, 0, 40);
+    lv_obj_add_flag(btn2, LV_OBJ_FLAG_CHECKABLE);
+    lv_obj_set_height(btn2, LV_SIZE_CONTENT);
+
+    label = lv_label_create(btn2);
+    lv_label_set_text(label, "Toggle");
+    lv_obj_center(label);
+}
+
+
+/**
+ * Initializes the SPI bus and starts communication with xpt2046 touch controller.
+ */
+void init_touchscreen_xpt2046(void) {
+
+    ESP_LOGI(TAG, "Initialize touchscreen SPI bus");
+
+    const spi_bus_config_t ts_bus_config = {
+        .mosi_io_num = CONFIG_TOUCH_MOSI,
+        .miso_io_num = CONFIG_TOUCH_MISO,
+        .sclk_io_num = CONFIG_TOUCH_CLK,
+        .quadwp_io_num = -1,
+        .quadhd_io_num = -1,
+        .max_transfer_sz = 4096,
+    };
+
+    ESP_ERROR_CHECK(spi_bus_initialize(TOUCH_SPI_HOST, &ts_bus_config, SPI_DMA_CH_AUTO));
+
+    esp_lcd_panel_io_handle_t tp_io_handle = NULL;
+    esp_lcd_panel_io_spi_config_t tp_io_config = ESP_LCD_TOUCH_IO_SPI_XPT2046_CONFIG(CONFIG_TOUCH_CS);
+    ESP_ERROR_CHECK(esp_lcd_new_panel_io_spi(TOUCH_SPI_HOST, &tp_io_config, &tp_io_handle));
+
+    esp_lcd_touch_config_t tp_cfg = {
+        .x_max = TFT_VRES,
+        .y_max = TFT_HRES,
+        .rst_gpio_num = -1,
+        .int_gpio_num = -1,
+        .flags = {
+            .swap_xy = 1,
+            .mirror_x = 0,
+            .mirror_y = 0,
+        },
+    };
+
+    ESP_LOGI(TAG, "Initialize touch controller XPT2046");
+    ESP_ERROR_CHECK(esp_lcd_touch_new_spi_xpt2046(tp_io_handle, &tp_cfg, &tp));
+    ESP_LOGI(TAG, "Finished initialization of XPT2046 touch driver");
+}
+
+/**
+ * Initializes the SPI LCD in preparation for writing graphics to it.
+ */
+void init_spi_lcd(void) {
+    ESP_LOGI(TAG, "Turn on backlight");
+
+    gpio_config_t io_conf = {
+        .pin_bit_mask = (1ULL << CONFIG_TFT_BL),
+        .mode = GPIO_MODE_OUTPUT,
+        .pull_up_en = GPIO_PULLUP_ENABLE,
+        .pull_down_en = GPIO_PULLDOWN_DISABLE,
+        .intr_type = GPIO_INTR_DISABLE
+    };
+
+    gpio_config(&io_conf);
+    gpio_set_level(CONFIG_TFT_BL, 1);
+
+    ESP_LOGI(TAG, "Initialize SPI bus");
+    const spi_bus_config_t bus_config = ILI9341_PANEL_BUS_SPI_CONFIG(CONFIG_TFT_SCKL,
+                                        CONFIG_TFT_MOSI, TFT_HRES * 80 * TFT_BPP / 8);
+    TEST_ESP_OK(spi_bus_initialize(LCD_SPI_HOST, &bus_config, SPI_DMA_CH_AUTO));
+
+    ESP_LOGI(TAG, "Install panel IO");
+    const esp_lcd_panel_io_spi_config_t io_config = ILI9341_PANEL_IO_SPI_CONFIG(CONFIG_TFT_CS, CONFIG_TFT_DC,
+        notify_refresh_ready, NULL);
+
+    TEST_ESP_OK(esp_lcd_new_panel_io_spi((esp_lcd_spi_bus_handle_t)LCD_SPI_HOST, &io_config, &io_handle));
+
+    ESP_LOGI(TAG, "Install ili9341 panel driver");
+
+    const esp_lcd_panel_dev_config_t panel_config = {
+        .reset_gpio_num = -1, // Shared with Touch reset
+#if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(5, 0, 0)
+        .color_space = ESP_LCD_COLOR_SPACE_BGR,
+#elif ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(6, 0, 0)
+        .rgb_endian = LCD_RGB_ENDIAN_BGR,
+#else
+        .rgb_ele_order = LCD_RGB_ELEMENT_ORDER_BGR,
+#endif
+        .bits_per_pixel = TFT_BPP,
+    };
+    TEST_ESP_OK(esp_lcd_new_panel_ili9341(io_handle, &panel_config, &panel_handle));
+    TEST_ESP_OK(esp_lcd_panel_reset(panel_handle));
+    TEST_ESP_OK(esp_lcd_panel_init(panel_handle));
+    TEST_ESP_OK(esp_lcd_panel_mirror(panel_handle, true, true));
+#if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(5, 0, 0)
+    TEST_ESP_OK(esp_lcd_panel_disp_off(panel_handle, false));
+#else
+    TEST_ESP_OK(esp_lcd_panel_disp_on_off(panel_handle, true));
+#endif
+
+    ESP_LOGI(TAG, "Finished init of spi LCD");
+}
+
+/**
+ * Initializes the LVGL display and sets everything up so that LVGL can draw to the TFT LCD.
+ */
+void init_lvgl_display(void) {
+    static lv_disp_t * disp_handle = NULL;
+
+    const lvgl_port_cfg_t lvgl_cfg = ESP_LVGL_PORT_INIT_CONFIG();
+    TEST_ESP_OK(lvgl_port_init(&lvgl_cfg));
+
+    const lvgl_port_display_cfg_t disp_cfg = {
+        .io_handle = io_handle,
+        .panel_handle = panel_handle,
+        .buffer_size = LVGL_BUF_SIZE,
+        .double_buffer = true,
+        .hres = TFT_HRES,
+        .vres = TFT_VRES,
+        .monochrome = false,
+        .color_format = LV_COLOR_FORMAT_RGB565,
+        .rotation = {
+            .swap_xy = true,
+            .mirror_x = false,
+            .mirror_y = false,
+        },
+        .flags = {
+            .buff_dma = false,
+            .swap_bytes = true,
+        }
+    };
+    disp_handle = lvgl_port_add_disp(&disp_cfg);
+}
+
+
+/**
+ * Initializes the LVGL input driver as a pointer type so that LVGL can read input and dispatch
+ * UI events.
+ */
+void init_input(void) {
+    lv_indev_t * indev = lv_indev_create();
+    lv_indev_set_type(indev, LV_INDEV_TYPE_POINTER);
+    lv_indev_set_read_cb(indev, touch_driver_read);
+}
+
+/**
+ * Main function that completely initializes the TFT LCD, the touchscreen, the LVGL display, 
+ * input device and draws the UI.
+ */
+void init_display(void) {
+    init_spi_lcd();
+    init_touchscreen_xpt2046();
+    init_lvgl_display();
+    init_input();
+}

main/display.h

@@ -0,0 +1,19 @@
+#pragma once
+
+#include "stdbool.h"
+
+#include "esp_lcd_panel_io.h"
+
+#define LCD_SPI_HOST   SPI2_HOST
+#define TOUCH_SPI_HOST SPI3_HOST
+
+#define TFT_HRES           CONFIG_TFT_HRES
+#define TFT_VRES           CONFIG_TFT_VRES
+#define TFT_BPP            CONFIG_TFT_BPP
+
+#define LVGL_BUF_SIZE ((TFT_VRES * TFT_HRES) / 10) * (TFT_BPP / 8)
+
+/**
+ * Initializes the display TFT and touchscreen.
+ */
+void init_display(void);

main/idf_component.yml

@@ -0,0 +1,21 @@
+## IDF Component Manager Manifest File
+dependencies:
+  ## Required IDF version
+  idf:
+    version: '>=4.1.0'
+  # # Put list of dependencies here
+  # # For components maintained by Espressif:
+  # component: "~1.0.0"
+  # # For 3rd party components:
+  # username/component: ">=1.0.0,<2.0.0"
+  # username2/component2:
+  #   version: "~1.0.0"
+  #   # For transient dependencies `public` flag can be set.
+  #   # `public` flag doesn't have an effect dependencies of the `main` component.
+  #   # All dependencies of `main` are public by default.
+  #   public: true
+  espressif/esp_lcd_ili9341: ^2.0.0
+  lvgl/lvgl: ^9.4.0
+  espressif/esp_lvgl_port: ^2.3.0
+  atanisoft/esp_lcd_touch_xpt2046: ^1.0.2
+  hayschan/autopid_for_esp_idf: ^1.0.2

main/motor.c

@@ -1,32 +1,18 @@
-/*
- * SPDX-FileCopyrightText: 2021-2022 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Unlicense OR CC0-1.0
- */
+#include "motor.h"
 
-#include <inttypes.h>
-
-#include "freertos/FreeRTOS.h"
-#include "freertos/task.h"
-#include "esp_log.h"
+#include "driver/spi_common.h"
 #include "driver/rmt_tx.h"
 #include "driver/uart.h"
+#include "esp_log.h"
+
 #include "dshot_esc_encoder.h"
 
-#if CONFIG_IDF_TARGET_ESP32H2
-#define DSHOT_ESC_RESOLUTION_HZ 32000000 // 32MHz resolution, DSHot protocol needs a relative high resolution
-#else
-#define DSHOT_ESC_RESOLUTION_HZ 40000000 // 40MHz resolution, DSHot protocol needs a relative high resolution
-#endif
 #define GPIO_ESC_CTRL CONFIG_ESC_CTRL_PIN
 #define GPIO_ESC_RX   CONFIG_TELEMETRY_RX_PIN
-#define UART_NUM      UART_NUM_2
-
 #define ESP_INTR_FLAG_DEFAULT        0
 
-static const char *TAG = "spincoat-plater-firmware";
+static const char *TAG = "spincoat-plater-firmware/motor";
 
-//static QueueHandle_t gpio_evt_queue = NULL;
 static QueueHandle_t uart_queue = NULL;
 const int uart_buffer_size = (1024 * 2);
 
@@ -39,7 +25,7 @@ rmt_transmit_config_t tx_config = {
 
 dshot_esc_throttle_t throttle = {
     .throttle = 0,
-    .telemetry_req = false, // telemetry is not supported in this example
+    .telemetry_req = false,
 };
 
 /**
@@ -103,6 +89,9 @@ void init_rmt_esc_tx(void) {
     initialize_esc_throttle();
 }
 
+/**
+ * Initialize the UART receive pin so that we can receive telemetry data from the connected ESC.
+ */
 void init_telemetry_uart_rx(void) {
     uart_config_t uart_config = {
         .baud_rate = 115200,
@@ -113,11 +102,12 @@ void init_telemetry_uart_rx(void) {
         .rx_flow_ctrl_thresh = 122,
     };
     
-    ESP_ERROR_CHECK(uart_driver_install(UART_NUM, uart_buffer_size, uart_buffer_size, 10, &uart_queue, 0));
-    ESP_ERROR_CHECK(uart_param_config(UART_NUM, &uart_config));
-    ESP_ERROR_CHECK(uart_set_pin(UART_NUM, UART_PIN_NO_CHANGE, GPIO_ESC_RX, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE));
+    ESP_ERROR_CHECK(uart_driver_install(ESC_UART_NUM, uart_buffer_size, uart_buffer_size, 10, &uart_queue, 0));
+    ESP_ERROR_CHECK(uart_param_config(ESC_UART_NUM, &uart_config));
+    ESP_ERROR_CHECK(uart_set_pin(ESC_UART_NUM, UART_PIN_NO_CHANGE, GPIO_ESC_RX, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE));
 }
 
+
 /**
  * Sends a DSHOT packet via the RMT. Make sure the RMT channel has been initialized
  * by calling *init_rmt_esc_tx()*
@@ -155,54 +145,64 @@ uint8_t get_crc8(uint8_t *Buf, uint8_t BufLen){
  * Parse the KISS telemetry frame and check the crc8
  * TODO: Do more with the data than print it
  */
-void parse_telemetry(void) {
+bool parse_telemetry(esc_telemetry_t * telemetry) {
     uint8_t frame_size = 10;
     uint8_t data[128];
     // get data
-    uint8_t length = uart_read_bytes(UART_NUM, data, frame_size, 100);
+    uint8_t length = uart_read_bytes(ESC_UART_NUM, data, frame_size, 100);
     
-    uart_flush(UART_NUM);
+    uart_flush(ESC_UART_NUM);
+
+    if(length < 10) return false;
 
-    if(length < 10) return;
-    
     // chop out just the payload
     uint8_t payload[128];
     uint8_t payload_length = (frame_size - 1);
     for(uint8_t i = 0; i < payload_length; i++) {
         payload[i] = data[i];
     }
-    
+
     // calculate the crc8
     uint8_t expected_crc8 = get_crc8(payload, payload_length);
     uint8_t received_crc8 = (uint8_t) data[frame_size - 1];
     
-    if(expected_crc8 != received_crc8) return;
+    if(expected_crc8 != received_crc8) return false;
     
-    for(uint8_t i = 0; i < length; i++) {
-        printf("%d - %d\n", i, data[i]);
-    }
-    printf("--------------------\n");
-    printf("expected: %d\n", expected_crc8);
-    printf("received: %d\n", received_crc8);
-    printf("======================\n");
+    
+    telemetry->temperature = payload[0];
+    telemetry->voltage     = (payload[1] << 8) + payload[2];
+    telemetry->current     = (payload[3] << 8) + payload[4];
+    telemetry->consumption = (payload[5] << 8) + payload[6];
+    telemetry->rpm         = (payload[7] << 8) + payload[8];
+    
+
+    return true;
 }
 
-void app_main(void) {
+/**
+ * Helper function that sets up the RMT, creates the telemetry task, and 
+ * initializes the telemetry UART.
+ */
+void init_motor(void) {
     init_rmt_esc_tx();
     throttle.throttle = 300;
-    
     xTaskCreate(&v_telemetry_packet_func, "v_telemetry_packet_func", 2048, NULL, 1, NULL);
-
     init_telemetry_uart_rx();
-
-    while(1) {
-        send_dshot_packet();
-        
-        uint8_t length = 0;
-        ESP_ERROR_CHECK(uart_get_buffered_data_len(UART_NUM, (size_t*)&length));
-        
-        if(length >= 10) {
-            parse_telemetry();
-        }
-    }
+}
+
+/**
+ * Returns the current throttle value
+ */
+uint16_t get_throttle() {
+    return throttle.throttle;
+}
+
+/**
+ * Updates the throttle value.
+ *
+ * \arg \c throttle The new throttle value between 0-2048
+ */
+
+void update_throttle(uint16_t thr) {
+    throttle.throttle = thr;
 }

main/motor.h

@@ -0,0 +1,35 @@
+#pragma once
+
+#include <inttypes.h>
+#include <stdbool.h>
+
+#if CONFIG_IDF_TARGET_ESP32H2
+#define DSHOT_ESC_RESOLUTION_HZ 32000000 // 32MHz resolution, DSHot protocol needs a relative high resolution
+#else
+#define DSHOT_ESC_RESOLUTION_HZ 40000000 // 40MHz resolution, DSHot protocol needs a relative high resolution
+#endif
+
+#define ESC_UART_NUM      UART_NUM_2
+
+/**
+ * Struct for returning telemetry data
+ */
+typedef struct {
+  uint16_t temperature;
+  uint16_t voltage;
+  uint16_t current;
+  uint16_t consumption;
+  uint16_t rpm;
+} esc_telemetry_t;
+
+void init_rmt_esc_tx(void);
+
+void send_dshot_packet(void);
+
+bool parse_telemetry(esc_telemetry_t * telemetry);
+
+void init_motor(void);
+
+uint16_t get_throttle(void);
+
+void update_throttle(uint16_t throttle);

main/spincoat-plater-firmware.cpp

@@ -0,0 +1,104 @@
+/*
+ * SPDX-FileCopyrightText: 2021-2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Unlicense OR CC0-1.0
+ */
+
+#include <inttypes.h>
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+
+#include "esp_log.h"
+#include "driver/uart.h"
+
+#include "esp_lcd_panel_ops.h"
+#include "driver/spi_common.h"
+#include "esp_lcd_panel_io.h"
+#include "esp_lcd_panel_commands.h"
+#include "esp_lcd_ili9341.h"
+#include "lvgl.h"
+
+#include "AutoPID-for-ESP-IDF.h"
+
+extern "C" {
+    #include "dshot_esc_encoder.h"
+    #include "display.h"
+    #include "ui.h"
+    #include "motor.h"
+}
+
+static const char *TAG = "spincoat-plater-firmware";
+
+static double throttle = 0;
+
+static double zero_offset = 100; // Value to offset the throttle by, to skip the
+                                 // command values
+static double OUTPUT_MIN = 0;
+static double OUTPUT_MAX = 1948;
+
+static double RPM_MAX = 250;
+static double BANG_BANG_THRESHOLD = RPM_MAX + 200;
+
+static double KP = 0.015;
+static double KI = 0.8;
+static double KD = 0.0;
+
+static bool motor_running = false;
+
+extern "C" void app_main(void) {
+    srand((unsigned int)esp_timer_get_time());
+
+    esc_telemetry_t telemetry;
+    double target = 100;
+    double real_rpm = 0;
+
+    AutoPID myPID(&real_rpm, &target, &throttle, OUTPUT_MIN, OUTPUT_MAX, KP, KI, KD);
+    myPID.setTimeStep(100);
+    myPID.setBangBang(400); // if you mess with this, you may melt your circuit
+
+    init_display();
+
+    vTaskDelay(pdMS_TO_TICKS(100));
+    build_ui();
+
+    init_motor();
+    update_throttle(throttle);
+
+    while(1) {
+        send_dshot_packet();
+        
+        uint8_t length = 0;
+        ESP_ERROR_CHECK(uart_get_buffered_data_len(ESC_UART_NUM, (size_t*)&length));
+        
+        if(length >= 10) {
+            if(parse_telemetry(&telemetry)) {
+                
+                real_rpm = telemetry.rpm / (uint16_t) CONFIG_MOTOR_POLECOUNT;
+
+                myPID.run();
+                update_throttle(throttle + zero_offset);
+
+                update_rpm_readout(real_rpm);
+                ESP_LOGI(TAG, "eRPM: %d, RPM: %.2f, SetPoint: %.2f, Output: %.2f",
+                    telemetry.rpm,
+                    real_rpm,
+                    target,
+                    throttle + zero_offset); // Log the values
+
+                if(myPID.atSetPoint(10)) {
+                    ESP_LOGI(TAG, "At setpoint.");
+                }
+
+                vTaskDelay(pdMS_TO_TICKS(100));
+
+                if(real_rpm >= 30) {
+                  motor_running = true;
+                } else {
+                  motor_running = false;
+                }
+            }
+        }
+    }
+}

main/ui.c

@@ -0,0 +1,217 @@
+#include "ui.h"
+
+// #include "lv_font.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_log.h"
+
+#include "motor.h"
+
+#define BTN_INCREMENT 100
+
+#define MAX_RPM_SETTING 200
+#define MAX_COAT_TIME_SETTING 30
+
+#define MIN_RPM_SETTING 50
+#define MIN_COAT_TIME_SETTING 5
+
+#define RPM_STEPSIZE 25
+#define COAT_TIME_STEPSIZE 5
+
+static const char *TAG = "spincoat-plater-firmware/ui";
+
+static lv_obj_t * rpm_label = NULL;
+static lv_obj_t * coat_time_label = NULL;
+static lv_obj_t * run_stop_label = NULL;
+
+static uint16_t rpm_setting = 100; // rpm
+static uint16_t coat_time_setting = 5; // seconds
+
+static coat_state motor_state = STOPPED;
+
+/**
+ * Callback for pressing the rpm increase button
+ */
+void rpm_increase_cb(lv_event_t * e) {
+    ESP_LOGI(TAG, "RPM increase callback called.");
+    if(rpm_setting < MAX_RPM_SETTING) {
+      rpm_setting += RPM_STEPSIZE;
+      lv_lock();
+      lv_label_set_text_fmt(rpm_label, "%d", rpm_setting);
+      lv_unlock();
+    }
+}
+
+/**
+ * Callback for pressing the rpm decrease button
+ */
+void rpm_decrease_cb(lv_event_t * e) {
+    ESP_LOGI(TAG, "RPM decrease callback called.");
+    if(rpm_setting > MIN_RPM_SETTING) {
+      rpm_setting -= RPM_STEPSIZE;
+      lv_lock();
+      lv_label_set_text_fmt(rpm_label, "%d", rpm_setting);
+      lv_unlock();
+    }
+
+}
+
+/**
+ * Callback for pressing the coat time increase button
+ */
+
+void coat_increase_cb(lv_event_t * e) {
+    ESP_LOGI(TAG, "Coat time increase callback called.");
+    if(coat_time_setting < MAX_COAT_TIME_SETTING) {
+        coat_time_setting += COAT_TIME_STEPSIZE;
+        lv_lock();
+        lv_label_set_text_fmt(coat_time_label, "%d", coat_time_setting);
+        lv_unlock();
+    }
+}
+
+/**
+ * Callback for pressing the coat time decrease button
+ */
+void coat_decrease_cb(lv_event_t * e) {
+    ESP_LOGI(TAG, "Coat time decrease callback called.");
+    if(coat_time_setting > MIN_COAT_TIME_SETTING) {
+        coat_time_setting -= COAT_TIME_STEPSIZE;
+        lv_lock();
+        lv_label_set_text_fmt(coat_time_label, "%d", coat_time_setting);
+        lv_unlock();
+    }
+}
+
+void run_stop_cb(lv_event_t * e) {
+    ESP_LOGI(TAG, "Run/stop callback called.");
+    if(run_stop_label == NULL) return;
+    lv_label_set_text(run_stop_label, "Stop");
+}
+
+
+/**
+ * Factory function that creates a "numberstack" widget and returns the label for it
+ */
+lv_obj_t * build_numberstack(lv_obj_t * parent,
+        const char * label_text,
+        lv_obj_t ** label_value,
+        ns_btn_cb_t top_btn_cb,
+        ns_btn_cb_t bottom_btn_cb,
+        uint16_t start_value,
+        uint16_t stepsize) {
+
+    lv_obj_t * container = lv_obj_create(parent);
+    lv_obj_set_flex_flow(container, LV_FLEX_FLOW_COLUMN);
+    lv_obj_set_flex_align(container,
+            LV_FLEX_ALIGN_START,
+            LV_FLEX_ALIGN_CENTER,
+            LV_FLEX_ALIGN_CENTER);
+
+    lv_obj_set_style_pad_all(container, 0, 0);
+
+    /* -------- Top label -------- */
+    lv_obj_t * label_cont = lv_obj_create(container);
+
+    lv_obj_remove_flag(label_cont, LV_OBJ_FLAG_SCROLLABLE);
+
+    lv_obj_set_flex_grow(label_cont, 1);
+    lv_obj_set_width(label_cont, lv_pct(100));
+
+    lv_obj_t * label = lv_label_create(label_cont);
+    lv_label_set_text(label, label_text);
+
+    lv_obj_set_style_bg_opa(label, LV_OPA_COVER, 0);
+
+    lv_obj_set_style_text_font(label, &lv_font_montserrat_12, 0);
+    lv_obj_center(label);
+    
+    /* -------- Top button -------- */
+    lv_obj_t * btn_top = lv_button_create(container);
+    lv_obj_t * lbl_top = lv_label_create(btn_top);
+    lv_label_set_text_fmt(lbl_top, "+%d", stepsize);
+    lv_obj_add_event_cb(btn_top, top_btn_cb, LV_EVENT_CLICKED, (void *) 1);
+    lv_obj_set_flex_grow(btn_top, 1);
+    lv_obj_set_width(btn_top, lv_pct(100));
+    lv_obj_center(lbl_top);
+
+    /* -------- Center label -------- */
+    lv_obj_t * label2_cont = lv_obj_create(container);
+    
+    lv_obj_remove_flag(label2_cont, LV_OBJ_FLAG_SCROLLABLE);
+
+    lv_obj_set_flex_grow(label2_cont, 1);
+    lv_obj_set_width(label2_cont, lv_pct(100));
+
+    * label_value = lv_label_create(label2_cont);
+    lv_label_set_text_fmt(*label_value, "%d", start_value);
+
+    lv_obj_set_style_bg_opa(*label_value, LV_OPA_COVER, 0);
+
+    lv_obj_set_style_text_font(*label_value, &lv_font_montserrat_12, 0);
+    lv_obj_center(*label_value);
+
+    /* -------- Bottom button -------- */
+    lv_obj_t * btn_bottom = lv_button_create(container);
+    lv_obj_t * lbl_bottom = lv_label_create(btn_bottom);
+    lv_label_set_text_fmt(lbl_bottom, "-%d", stepsize);
+    lv_obj_add_event_cb(btn_bottom, bottom_btn_cb, LV_EVENT_CLICKED, (void *) 2);
+    lv_obj_set_flex_grow(btn_bottom, 1);
+    lv_obj_set_width(btn_bottom, lv_pct(100));
+    lv_obj_center(lbl_bottom);
+    
+    return container;
+}
+
+void update_rpm_readout(uint16_t rpm) {
+    if(rpm_label != NULL) {
+        lv_label_set_text_fmt(rpm_label, "RPM: %d", rpm);
+    }
+};
+
+void build_ui(void) {
+    lv_obj_t * container = lv_obj_create(lv_screen_active());
+    lv_obj_set_size(container, lv_pct(100), lv_pct(100));
+    lv_obj_set_flex_flow(container, LV_FLEX_FLOW_COLUMN);
+    lv_obj_set_flex_align(container,
+            LV_FLEX_ALIGN_START,
+            LV_FLEX_ALIGN_CENTER,
+            LV_FLEX_ALIGN_CENTER);
+
+    lv_obj_t * numberstacks_container = lv_obj_create(container);
+    lv_obj_set_size(numberstacks_container , lv_pct(100), lv_pct(70));
+    lv_obj_set_flex_flow(numberstacks_container, LV_FLEX_FLOW_ROW);
+    lv_obj_set_flex_align(numberstacks_container,
+            LV_FLEX_ALIGN_SPACE_EVENLY,
+            LV_FLEX_ALIGN_CENTER,
+            LV_FLEX_ALIGN_CENTER);
+
+    lv_obj_t * rpm_container = build_numberstack(numberstacks_container, "RPM", &rpm_label,
+        rpm_increase_cb, rpm_decrease_cb, rpm_setting, RPM_STEPSIZE);
+    lv_obj_t * coat_time_container = build_numberstack(numberstacks_container, "Coat Time",
+        &coat_time_label, coat_increase_cb, coat_decrease_cb, coat_time_setting, COAT_TIME_STEPSIZE);
+
+    lv_obj_set_size(rpm_container, lv_pct(48), lv_pct(96));
+    lv_obj_set_size(coat_time_container, lv_pct(48), lv_pct(96));
+
+    lv_obj_set_style_pad_all(container, 0, 0);
+    lv_obj_set_style_pad_all(numberstacks_container, 0, 0);
+    lv_obj_set_style_pad_all(rpm_container, 0, 0);
+    lv_obj_set_style_pad_all(coat_time_container, 0, 0);
+
+    /* -------- Run/Stop button -------- */
+    lv_obj_t * btn_run_stop = lv_button_create(container);
+    lv_obj_t * lbl_run_stop = lv_label_create(btn_run_stop);
+
+    run_stop_label = lbl_run_stop;
+
+    lv_label_set_text(lbl_run_stop, "Run");
+
+    lv_obj_center(lbl_run_stop);
+
+    lv_obj_add_event_cb(btn_run_stop, run_stop_cb, LV_EVENT_CLICKED, NULL);
+
+    lv_obj_set_size(btn_run_stop, lv_pct(96), lv_pct(18));
+    lv_obj_set_style_pad_all(btn_run_stop, 0, 0);
+}
+

main/ui.h

@@ -0,0 +1,33 @@
+#pragma once
+
+#include "lvgl.h"
+
+#include "motor.h"
+
+/** Numberstack button callback type */
+typedef void (*ns_btn_cb_t)(lv_event_t *);
+
+typedef struct {
+    ns_btn_cb_t top_cb;
+    ns_btn_cb_t bottom_cb;
+} ns_widget_ctx_t; /** Numberstack widget context type */
+
+typedef enum {
+  STOPPED,
+  SPINUP,
+  COATING,
+  SPINDOWN
+} coat_state;
+
+lv_obj_t * build_numberstack(lv_obj_t * parent,
+        const char * label_text,
+        lv_obj_t ** label_value,
+        ns_btn_cb_t top_btn_cb,
+        ns_btn_cb_t bottom_btn_cb,
+        uint16_t start_value,
+        uint16_t stepsize);
+
+void update_rpm_readout(uint16_t rpm);
+
+void build_ui(void);
+