Finish numberstack code UI

dependencies.lock

@@ -66,6 +66,14 @@ dependencies:
       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
@@ -82,8 +90,9 @@ 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: d2b549f17124d3d38e4add4614fb10956ada1a576e4c5f6a623ea3756bcd3ba5
+manifest_hash: 5e3bb9d0c782ebaa9ecdc3b0310e8f13b698e0fd5071cab2a465725e2a33722b
 target: esp32
 version: 2.0.0

main/CMakeLists.txt

@@ -1,4 +1,4 @@
-idf_component_register(SRCS "spincoat-plater-firmware.c" "dshot_esc_encoder.c" "display.c" "motor.c" "ui.c"
+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
+                    esp_lcd unity lvgl esp_lvgl_port esp_lcd_touch_xpt2046 autopid_for_esp_idf
                     INCLUDE_DIRS ".")

main/Kconfig

@@ -1,12 +1,12 @@
 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
@@ -40,6 +40,12 @@ menu "Pin Mapping Configuration"
         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"

main/idf_component.yml

@@ -18,3 +18,4 @@ dependencies:
   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

@@ -145,7 +145,7 @@ 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
@@ -153,7 +153,7 @@ void parse_telemetry(void) {
     
     uart_flush(ESC_UART_NUM);
 
-    if(length < 10) return;
+    if(length < 10) return false;
 
     // chop out just the payload
     uint8_t payload[128];
@@ -166,15 +166,17 @@ void parse_telemetry(void) {
     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]);
+    telemetry->temperature = payload[0];
-    }
+    telemetry->voltage     = (payload[1] << 8) + payload[2];
-    printf("--------------------\n");
+    telemetry->current     = (payload[3] << 8) + payload[4];
-    printf("expected: %d\n", expected_crc8);
+    telemetry->consumption = (payload[5] << 8) + payload[6];
-    printf("received: %d\n", received_crc8);
+    telemetry->rpm         = (payload[7] << 8) + payload[8];
-    printf("======================\n");
+    
+
+    return true;
 }
 
 /**

main/motor.h

@@ -1,6 +1,7 @@
 #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
@@ -10,11 +11,22 @@
 
 #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);
 
-void parse_telemetry(void);
+bool parse_telemetry(esc_telemetry_t * telemetry);
 
 void init_motor(void);
 

main/spincoat-plater-firmware.c

@@ -1,58 +0,0 @@
-/*
- * 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 "dshot_esc_encoder.h"
-#include "display.h"
-#include "ui.h"
-#include "motor.h"
-
-
-static const char *TAG = "spincoat-plater-firmware";
-
-static const uint16_t throttle = 200;
-
-
-void app_main(void) {
-    init_display();
-
-    build_ui();
-    
-    init_motor();
-    //init_rmt_esc_tx();
-    //throttle.throttle = 300;
-    update_throttle(throttle);
-    
-    //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(ESC_UART_NUM, (size_t*)&length));
-        
-        if(length >= 10) {
-            parse_telemetry();
-        }
-    }
-}

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

@@ -9,43 +9,112 @@
 
 #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;
 
-void top_cb(lv_event_t * e) {
+static uint16_t rpm_setting = 100; // rpm
-    update_throttle(get_throttle() + BTN_INCREMENT);
+static uint16_t coat_time_setting = 5; // seconds
-    lv_label_set_text_fmt(rpm_label, "RPM: %d", get_throttle());
-}
 
-void bottom_cb(lv_event_t * e) {
+static coat_state motor_state = STOPPED;
-    uint16_t throttle = get_throttle();
+
-    if(throttle >= BTN_INCREMENT) {
+/**
-        update_throttle(get_throttle() - BTN_INCREMENT);
+ * Callback for pressing the rpm increase button
-        lv_label_set_text_fmt(rpm_label, "RPM: %d", get_throttle());
+ */
+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();
     }
 }
 
-void build_numberstack(lv_obj_t * parent,
+/**
+ * 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) {
+        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_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_set_style_pad_all(container, 10, 0);
+    lv_obj_set_style_pad_all(container, 0, 0);
-    lv_obj_set_style_pad_gap(container, 8, 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));
 
@@ -54,14 +123,14 @@ void build_numberstack(lv_obj_t * parent,
 
     lv_obj_set_style_bg_opa(label, LV_OPA_COVER, 0);
 
-    lv_obj_set_style_text_font(label, &lv_font_montserrat_14, 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(lbl_top, "+100");
+    lv_label_set_text_fmt(lbl_top, "+%d", stepsize);
-    lv_obj_add_event_cb(btn_top, top_cb, LV_EVENT_CLICKED, (void *) 1);
+    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);
@@ -69,30 +138,80 @@ void build_numberstack(lv_obj_t * parent,
     /* -------- 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(*label_value, "");
+    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_14, 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(lbl_bottom, "-100");
+    lv_label_set_text_fmt(lbl_bottom, "-%d", stepsize);
-    lv_obj_add_event_cb(btn_bottom, bottom_cb, LV_EVENT_CLICKED, (void *) 2);
+    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) {
-    rpm_label = NULL;
+    lv_obj_t * container = lv_obj_create(lv_screen_active());
-    build_numberstack(lv_screen_active(), "RPM", &rpm_label, top_cb, bottom_cb);
+    lv_obj_set_size(container, lv_pct(100), lv_pct(100));
-    lv_label_set_text_fmt(rpm_label, "RPM: %d", get_throttle());
+    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

@@ -12,10 +12,22 @@ typedef struct {
     ns_btn_cb_t bottom_cb;
 } ns_widget_ctx_t; /** Numberstack widget context type */
 
-void build_numberstack(lv_obj_t * parent,
+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);
+        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);
+