From 90d951f191c315d502a7586efe1975ffae31e19c Mon Sep 17 00:00:00 2001
From: Jochen Vothknecht <jochen3120@gmail.com>
Date: Thu, 26 Oct 2023 06:10:31 +0200
Subject: [PATCH] Adding BallMill and SimplePWM
---
.../SiliconTorch/Hardware/SimplePWM.cpp | 127 +++++++++++++++++
.../SiliconTorch/Hardware/SimplePWM.hpp | 63 +++++++++
CLC-qthing/SiliconTorch/Service/BallMill.cpp | 130 ++++++++++++++++++
CLC-qthing/SiliconTorch/Service/BallMill.hpp | 74 ++++++++++
.../SiliconTorch/Service/SpiderFurnace.hpp | 2 +-
.../SiliconTorch/Service/__services__.cpp | 2 +
6 files changed, 397 insertions(+), 1 deletion(-)
create mode 100644 CLC-qthing/SiliconTorch/Hardware/SimplePWM.cpp
create mode 100644 CLC-qthing/SiliconTorch/Hardware/SimplePWM.hpp
create mode 100644 CLC-qthing/SiliconTorch/Service/BallMill.cpp
create mode 100644 CLC-qthing/SiliconTorch/Service/BallMill.hpp
diff --git a/CLC-qthing/SiliconTorch/Hardware/SimplePWM.cpp b/CLC-qthing/SiliconTorch/Hardware/SimplePWM.cpp
new file mode 100644
index 0000000..657ca38
--- /dev/null
+++ b/CLC-qthing/SiliconTorch/Hardware/SimplePWM.cpp
@@ -0,0 +1,127 @@
+#include "SimplePWM.hpp"
+
+// C++ system level
+// #include <cstdio> // sprintf
+// #include <functional>
+
+// ESP32 specific
+#include "esp_log.h"
+#include "driver/gpio.h"
+#include "driver/ledc.h"
+
+// project specific
+#include <Types.hpp>
+#include "SiliconTorch/NVSExplorer.hpp"
+
+// qthing stuff
+#include <qthing>
+//#include <qthing/mqtt_common.hpp>
+#include "SiliconTorch/CyanBus.hpp"
+
+
+
+static const char* TAG = "SimplePWM";
+
+
+namespace SimplePWM {
+
+ SimplePWM::SimplePWM(u8 gpio, u8 ledcChannel, u8 timerChannel) {
+
+ // Setup IO
+ gpio_config_t conf;
+
+ conf.intr_type = GPIO_INTR_DISABLE;
+ conf.mode = GPIO_MODE_OUTPUT;
+ conf.pin_bit_mask = 1ULL << gpio;
+ conf.pull_up_en = GPIO_PULLUP_DISABLE;
+ conf.pull_down_en = GPIO_PULLDOWN_DISABLE;
+
+ gpio_config(&conf);
+ gpio_set_level((gpio_num_t)gpio, 0);
+
+
+ // Setup PWM
+ timer_cfg.duty_resolution = (ledc_timer_bit_t)resolution;
+ timer_cfg.freq_hz = frequency;
+ timer_cfg.speed_mode = LEDC_HIGH_SPEED_MODE;
+ timer_cfg.timer_num = (ledc_timer_t)timerChannel;
+ timer_cfg.clk_cfg = LEDC_AUTO_CLK;
+
+ channel_cfg.channel = (ledc_channel_t)ledcChannel;
+ channel_cfg.duty = 0;
+ channel_cfg.gpio_num = (gpio_num_t)gpio;
+ channel_cfg.speed_mode = LEDC_HIGH_SPEED_MODE;
+ channel_cfg.hpoint = 0;
+ channel_cfg.timer_sel = (ledc_timer_t)timerChannel;
+ channel_cfg.intr_type = LEDC_INTR_DISABLE;
+
+ ledc_fade_func_install(0);
+ ledc_timer_config(&timer_cfg);
+ ledc_channel_config(&channel_cfg);
+
+ }
+
+
+ void SimplePWM::setDuty(u32 _duty) {
+
+ u32 limit = (1 << resolution) - 1;
+
+ if (_duty > limit) _duty = limit;
+
+ ledc_set_duty(LEDC_HIGH_SPEED_MODE, channel_cfg.channel, _duty);
+ ledc_update_duty(LEDC_HIGH_SPEED_MODE, channel_cfg.channel);
+
+ duty = _duty;
+ }
+
+ void SimplePWM::setDutyFloat(f32 _duty) {
+
+ if (_duty < 0.0f) _duty = 0.0f;
+ if (_duty > 1.0f) _duty = 1.0f;
+
+ u32 limit = (1 << resolution) - 1;
+
+ setDuty(_duty * limit);
+ }
+
+ bool SimplePWM::setFrequency(u32 _frq) {
+ return setFrqRes(_frq, resolution);
+ }
+
+ bool SimplePWM::setResolution(u8 _res) {
+ return setFrqRes(frequency, _res);
+ }
+
+ bool SimplePWM::setFrqRes(u32 _frq, u8 _res) {
+
+ timer_cfg.duty_resolution = (ledc_timer_bit_t)_res;
+ timer_cfg.freq_hz = _frq;
+
+ if (ledc_timer_config(&timer_cfg) == ESP_OK) {
+ frequency = _frq;
+ resolution = _res;
+
+ ESP_LOGI(TAG, "frequency[ %i Hz ] resolution[ %i bit ]", _frq, _res);
+ return true;
+
+ } else {
+
+ ESP_LOGW(TAG, "Invalid frequency[ %i Hz ] and resolution[ %i bit ] setting!", _frq, _res);
+ return false;
+
+ }
+ }
+
+ u32 SimplePWM::getDuty() const {
+ return duty;
+ }
+
+ u32 SimplePWM::getFrequency() const {
+ return frequency;
+ }
+
+ u8 SimplePWM::getResolution() const {
+ return resolution;
+ }
+
+}
diff --git a/CLC-qthing/SiliconTorch/Hardware/SimplePWM.hpp b/CLC-qthing/SiliconTorch/Hardware/SimplePWM.hpp
new file mode 100644
index 0000000..781b227
--- /dev/null
+++ b/CLC-qthing/SiliconTorch/Hardware/SimplePWM.hpp
@@ -0,0 +1,63 @@
+#pragma once
+
+// C++ system level
+// #include <cstdio> // sprintf
+// #include <functional>
+
+// ESP32 specific
+#include "esp_log.h"
+#include "driver/ledc.h"
+
+// project specific
+#include <Types.hpp>
+#include "SiliconTorch/NVSExplorer.hpp"
+
+// qthing stuff
+#include <qthing>
+//#include <qthing/mqtt_common.hpp>
+#include "SiliconTorch/CyanBus.hpp"
+
+
+
+namespace SimplePWM {
+
+ constexpr u16 DEFAULT_FREQUENCY = 1000;
+ constexpr u16 DEFAULT_RESOLUTION = 10;
+
+
+ class SimplePWM {
+
+ public:
+
+ SimplePWM(u8 gpio, u8 ledcChannel = 0, u8 timerChannel = 0);
+
+
+ u32 getDuty() const;
+ u32 getFrequency() const;
+ u8 getResolution() const;
+
+ void setDuty(u32 _duty);
+ void setDutyFloat(f32 _duty); // accepts range [0, 1]
+ bool setFrequency(u32 _frq);
+ bool setResolution(u8 _res);
+ bool setFrqRes(u32 _frq, u8 _res);
+
+
+ // TODO: should we block copy/assignment by default…?
+ //SimplePWM() {};
+ SimplePWM(const SimplePWM&) = delete;
+ SimplePWM& operator=(SimplePWM const&) = delete;
+
+
+ private:
+
+ u32 frequency = DEFAULT_FREQUENCY;
+ u8 resolution = DEFAULT_RESOLUTION;
+ u32 duty = 0;
+
+ ledc_timer_config_t timer_cfg;
+ ledc_channel_config_t channel_cfg;
+
+ };
+
+}
diff --git a/CLC-qthing/SiliconTorch/Service/BallMill.cpp b/CLC-qthing/SiliconTorch/Service/BallMill.cpp
new file mode 100644
index 0000000..7c7adae
--- /dev/null
+++ b/CLC-qthing/SiliconTorch/Service/BallMill.cpp
@@ -0,0 +1,130 @@
+#include "BallMill.hpp"
+
+// C++ system level
+#include <cstdio> // sprintf
+// #include <functional>
+
+// ESP32 specific
+#include "esp_log.h"
+#include "driver/gpio.h"
+
+// project specific
+#include <Time.hpp>
+#include <Types.hpp>
+#include "SiliconTorch/NVSExplorer.hpp"
+
+// qthing stuff
+#include <qthing>
+//#include <qthing/mqtt_common.hpp>
+#include "SiliconTorch/CyanBus.hpp"
+
+// misc
+#include <nlohmann/json.hpp>
+
+
+using nlohmann::json;
+using SpiderLib::Time;
+
+
+static const char* TAG = "BallMill";
+
+static u32 _frq = 0;
+
+namespace SiliconTorch {
+
+ namespace Service {
+
+ namespace BallMill {
+
+ void BallMill::init() {
+ setIcon("🪩");
+ setName("BallMill");
+ setNameSpace("BallMill");
+ }
+
+
+ void BallMill::start() {
+
+ /*
+ // Load config values from NVS
+ f32 _kP = SiliconTorch::NVSExplorer::NVSExplorer::instance().getFloat(getNameSpace(), "kP");
+ f32 _kI = SiliconTorch::NVSExplorer::NVSExplorer::instance().getFloat(getNameSpace(), "kI");
+ f32 _kD = SiliconTorch::NVSExplorer::NVSExplorer::instance().getFloat(getNameSpace(), "kD");
+
+ if (!std::isnan(_kP)) kP = _kP;
+ if (!std::isnan(_kI)) kI = _kI;
+ if (!std::isnan(_kD)) kD = _kD;
+
+ ESP_LOGI(TAG, "PIDvals: kP[ %.3f ] kI[ %.3f ] kD[ %.3f ]", kP, kI, kD);
+ */
+
+ ch0 = new SimplePWM::SimplePWM(CH0_STEP);
+ ch0->setFrqRes(1, 10);
+ ch0->setDuty(0);
+
+ // Setup stepper task
+ stepTask = new SpiderLib::Util::LambdaTask([&](){
+
+ TickType_t lastWakeTime = xTaskGetTickCount();
+
+ while (true) {
+
+ i32 frq = currentRPM / 60.0f * CFG_STEPS_PER_ROUND;
+
+ // TODO: Handle negative FRQ!!
+ //if (frq > 0) {
+ // ch0->setDuty(1);
+ // ch0->setFrqRes(frq, 1);
+ //} else {
+ // ch0->setDuty(0);
+ //}
+
+ ch0->setFrqRes(_frq, 10);
+ ch0->setDuty(1 << (10 - 1)); // TODO: is setDutyFloat(0.5f) precise enough…?
+
+
+ if (abs(targetRPM - currentRPM) < CFG_RPM_CHANGE_PER_SECOND) {
+ currentRPM = targetRPM;
+ } else {
+ f32 sign = (targetRPM - currentRPM) < 0.0f ? -1.0f : 1.0f;
+ currentRPM = targetRPM + sign * CFG_RPM_CHANGE_PER_SECOND;
+ }
+
+ ESP_LOGI(TAG, "frq[ %i ] currentRPM[ %f ] targetRPM[ %f ]", frq, currentRPM, targetRPM);
+
+ vTaskDelayUntil(&lastWakeTime, 1000 / CFG_TICK_FRQ / portTICK_PERIOD_MS);
+ }
+ });
+
+
+ qthing::add_message_callback(deviceTopic(TAG, "setRPM"), [&](const str& message) {
+ f32 rpm = std::strtof(message.c_str(), NULL);
+
+ if (!std::isnan(rpm))
+ targetRPM = rpm;
+ });
+
+ qthing::add_message_callback(deviceTopic(TAG, "setFRQ"), [&](const str& message) {
+ _frq = std::strtol(message.c_str(), NULL, 0);
+ });
+
+ }
+
+
+
+ json BallMill::getConfigJSON() const {
+
+ json out;
+
+ out["bla"] = "fasel";
+
+ return out;
+ }
+
+
+
+ }
+ }
+}
+
+
diff --git a/CLC-qthing/SiliconTorch/Service/BallMill.hpp b/CLC-qthing/SiliconTorch/Service/BallMill.hpp
new file mode 100644
index 0000000..082c729
--- /dev/null
+++ b/CLC-qthing/SiliconTorch/Service/BallMill.hpp
@@ -0,0 +1,74 @@
+#pragma once
+
+// C++ system level
+#include <vector>
+// #include <cstring> // memset, strncmp
+// #include <cstdlib> // TODO: is this for memcpy?
+// #include <functional>
+
+// ESP32 specific
+#include "esp_log.h"
+#include "driver/ledc.h"
+
+// project specific
+#include <SpiderLib.hpp>
+#include "Service.hpp"
+#include "../Hardware/SimplePWM.hpp"
+
+// qthing stuff
+#include "SiliconTorch/FxCyanRGB8.hpp"
+// #include <qthing>
+
+// misc
+#include <nlohmann/json.hpp>
+
+
+namespace SiliconTorch {
+
+ namespace Service {
+
+ namespace BallMill {
+
+
+ constexpr u8 CH0_STEP = 23;
+ constexpr u8 CH0_DIRECTION = 22;
+
+ constexpr u8 CFG_TICK_FRQ = 10;
+ constexpr u16 CFG_STEPS_PER_ROUND = 200;
+ constexpr f32 CFG_RPM_CHANGE_PER_SECOND = 13.37f;
+
+
+
+
+ class BallMill : public ServiceManager::Service, public SpiderLib::HasMQTT {
+
+ public:
+
+ void init();
+
+ void start();
+
+ virtual nlohmann::json getConfigJSON() const;
+
+
+ // TODO: should we block copy/assignment by default…?
+ BallMill() {};
+ BallMill(const BallMill&) = delete;
+ BallMill& operator=(BallMill const&) = delete;
+
+
+ private:
+
+ f32 targetRPM = 0.0f;
+ f32 currentRPM = 0.0f;
+
+ SimplePWM::SimplePWM* ch0 = NULL;
+
+ SpiderLib::Util::LambdaTask* stepTask = NULL;
+
+ };
+
+
+ }
+ }
+}
diff --git a/CLC-qthing/SiliconTorch/Service/SpiderFurnace.hpp b/CLC-qthing/SiliconTorch/Service/SpiderFurnace.hpp
index f3c9b00..ee549a4 100644
--- a/CLC-qthing/SiliconTorch/Service/SpiderFurnace.hpp
+++ b/CLC-qthing/SiliconTorch/Service/SpiderFurnace.hpp
@@ -46,7 +46,7 @@ namespace SiliconTorch {
constexpr u8 IO_MOSI = 16;
constexpr u8 IO_SCLK = 27;
constexpr u8 IO_HEATER = 22;
-
+ constexpr u8 IO_FAN = 23;
// enum FurnaceState {
// RUNNING,
diff --git a/CLC-qthing/SiliconTorch/Service/__services__.cpp b/CLC-qthing/SiliconTorch/Service/__services__.cpp
index b830724..ec7ae05 100644
--- a/CLC-qthing/SiliconTorch/Service/__services__.cpp
+++ b/CLC-qthing/SiliconTorch/Service/__services__.cpp
@@ -3,6 +3,7 @@
// our services
#include "FxCyanF.hpp"
#include "CyanBus.hpp"
+#include "BallMill.hpp"
#include "FxPublish.hpp"
#include "CyanStripe.hpp"
#include "SpiderFurnace.hpp"
@@ -19,6 +20,7 @@ namespace SiliconTorch {
mgr->registerService(new SiliconTorch::Service::FxCyanF());
mgr->registerService(new SiliconTorch::Service::CyanBus());
mgr->registerService(new SiliconTorch::Service::FxPublish());
+ mgr->registerService(new SiliconTorch::Service::BallMill::BallMill());
mgr->registerService(new SiliconTorch::Service::CyanStripe::CyanStripe());
mgr->registerService(new SiliconTorch::Service::SpiderFurnace::SpiderFurnace());
--
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