mirror of
https://github.com/scottbez1/smartknob.git
synced 2025-09-26 23:09:27 +08:00
initial checkin
This commit is contained in:
commit
bb4ba9df1e
5
firmware/.gitignore
vendored
Normal file
5
firmware/.gitignore
vendored
Normal file
@ -0,0 +1,5 @@
|
||||
.pio
|
||||
.vscode/.browse.c_cpp.db*
|
||||
.vscode/c_cpp_properties.json
|
||||
.vscode/launch.json
|
||||
.vscode/ipch
|
7
firmware/.vscode/extensions.json
vendored
Normal file
7
firmware/.vscode/extensions.json
vendored
Normal file
@ -0,0 +1,7 @@
|
||||
{
|
||||
// See http://go.microsoft.com/fwlink/?LinkId=827846
|
||||
// for the documentation about the extensions.json format
|
||||
"recommendations": [
|
||||
"platformio.platformio-ide"
|
||||
]
|
||||
}
|
39
firmware/include/README
Normal file
39
firmware/include/README
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
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
|
46
firmware/lib/README
Normal file
46
firmware/lib/README
Normal file
@ -0,0 +1,46 @@
|
||||
|
||||
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
|
43
firmware/platformio.ini
Normal file
43
firmware/platformio.ini
Normal file
@ -0,0 +1,43 @@
|
||||
; 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
|
61
firmware/shaftMount.scad
Normal file
61
firmware/shaftMount.scad
Normal file
@ -0,0 +1,61 @@
|
||||
$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();
|
||||
}
|
127
firmware/src/display_task.cpp
Normal file
127
firmware/src/display_task.cpp
Normal file
@ -0,0 +1,127 @@
|
||||
#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;
|
||||
}
|
29
firmware/src/display_task.h
Normal file
29
firmware/src/display_task.h
Normal file
@ -0,0 +1,29 @@
|
||||
#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;
|
||||
};
|
7
firmware/src/logger.h
Normal file
7
firmware/src/logger.h
Normal file
@ -0,0 +1,7 @@
|
||||
|
||||
class Logger {
|
||||
public:
|
||||
Logger() {};
|
||||
virtual ~Logger() {};
|
||||
|
||||
};
|
28
firmware/src/main.cpp
Normal file
28
firmware/src/main.cpp
Normal file
@ -0,0 +1,28 @@
|
||||
#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);
|
||||
}
|
131
firmware/src/motor_task.cpp
Normal file
131
firmware/src/motor_task.cpp
Normal file
@ -0,0 +1,131 @@
|
||||
#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);
|
||||
}
|
||||
}
|
20
firmware/src/motor_task.h
Normal file
20
firmware/src/motor_task.h
Normal file
@ -0,0 +1,20 @@
|
||||
#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_;
|
||||
};
|
33
firmware/src/semaphore_guard.h
Normal file
33
firmware/src/semaphore_guard.h
Normal file
@ -0,0 +1,33 @@
|
||||
/*
|
||||
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_;
|
||||
};
|
54
firmware/src/task.h
Normal file
54
firmware/src/task.h
Normal file
@ -0,0 +1,54 @@
|
||||
/*
|
||||
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;
|
||||
};
|
23
firmware/src/tlv_sensor.cpp
Normal file
23
firmware/src/tlv_sensor.cpp
Normal file
@ -0,0 +1,23 @@
|
||||
#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;
|
||||
}
|
23
firmware/src/tlv_sensor.h
Normal file
23
firmware/src/tlv_sensor.h
Normal file
@ -0,0 +1,23 @@
|
||||
#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_;
|
||||
};
|
11
firmware/test/README
Normal file
11
firmware/test/README
Normal file
@ -0,0 +1,11 @@
|
||||
|
||||
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
|
Loading…
Reference in New Issue
Block a user