initial commit

dc_trackctl.ino

@@ -0,0 +1,470 @@
+/**************************************************************************
+ This is an example for our Monochrome OLEDs based on SSD1306 drivers
+
+ Pick one up today in the adafruit shop!
+ ------> http://www.adafruit.com/category/63_98
+
+ This example is for a 128x64 pixel display using I2C to communicate
+ 3 pins are required to interface (two I2C and one reset).
+
+ Adafruit invests time and resources providing this open
+ source code, please support Adafruit and open-source
+ hardware by purchasing products from Adafruit!
+
+ Written by Limor Fried/Ladyada for Adafruit Industries,
+ with contributions from the open source community.
+ BSD license, check license.txt for more information
+ All text above, and the splash screen below must be
+ included in any redistribution.
+ **************************************************************************/
+
+#include <Adafruit_GFX.h>
+#include <Adafruit_SSD1306.h>
+#include <SPI.h>
+#include <Wire.h>
+#include <EEPROM.h>
+
+#include "RP2040_PWM.h"
+
+#define SCREEN_WIDTH 128 // OLED display width, in pixels
+#define SCREEN_HEIGHT 64 // OLED display height, in pixels
+
+#define OLED_RESET -1
+#define SCREEN_ADDRESS 0x3C
+#define SCL 21
+#define SDA 20
+
+#define STAT_LED_A 22
+#define STAT_LED_B 23
+
+#define STAT_LED_C 17
+
+#define ROT_A 8
+#define ROT_B 9
+
+#define WAVE_X1 5
+#define WAVE_Y1 25
+#define WAVE_X2 123
+#define WAVE_Y2 48
+
+#define IN1 26
+#define IN2 22
+#define ENA 27
+
+#define MOT_ENABLE 23
+#define BTN 7
+
+#define EEPROM_WRITE_OFFSET 0x0
+
+bool stat_led_a = 0;
+bool stat_led_b = 0;
+bool stat_led_c = 0;
+
+float pwm_freq = 20000.0;
+int8_t pwr = 0;
+uint8_t pwr_norm = 0;
+float dc_norm = 0;
+bool fwd = true;
+
+struct TuningParam {
+  float duty_cycle;
+  float freq;
+
+  bool operator==(TuningParam that) {
+    return this->duty_cycle == that.duty_cycle && this->freq == that.freq;
+  }
+
+  bool operator!=(TuningParam that) {
+    return !(*this == that);
+  }
+};
+
+enum DisplayState { RUN, MAP_WAIT, MAP_WRITE };
+DisplayState state = RUN;
+
+// display
+uint32_t refresh_timer_ms = 0;
+const uint32_t refresh_timeout_ms = 33;
+
+// rotary encoder polling
+const uint8_t rot_a_int = digitalPinToInterrupt(ROT_A);
+const uint8_t rot_b_int = digitalPinToInterrupt(ROT_B);
+int8_t renc_change = 1;
+uint32_t poll_timer_ms = 0;
+const uint32_t poll_timeout_ms = 2;
+bool poll_wait = false;
+bool poll_wait_start = false;
+
+// tuning map
+TuningParam tuning_map[100];
+bool tuning_map_set = false;
+
+// serial read timeout
+uint32_t serial_timer_ms = 0;
+const uint32_t serial_timeout_ms = 2000;
+
+Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);
+RP2040_PWM* PWM_Instance;
+
+void setup() {
+  Wire.setSCL(SCL);
+  Wire.setSDA(SDA);
+
+  pinMode(STAT_LED_A, OUTPUT);
+  pinMode(STAT_LED_B, OUTPUT);
+  pinMode(STAT_LED_C, OUTPUT);
+  
+  pinMode(ROT_A, INPUT_PULLUP);
+  pinMode(ROT_B, INPUT_PULLUP);
+  
+  pinMode(MOT_ENABLE, INPUT_PULLUP);
+  pinMode(BTN, INPUT_PULLUP);
+  
+  pinMode(IN1, OUTPUT);
+  pinMode(IN2, OUTPUT);
+
+  delay(500);
+
+  if (!display.begin(SSD1306_SWITCHCAPVCC, SCREEN_ADDRESS)) {
+    digitalWrite(STAT_LED_C, HIGH);
+  }
+
+  display.clearDisplay();
+  display.setTextColor(SSD1306_WHITE);
+  display.setTextSize(2);
+  display.write("initializing...");
+  display.display();
+
+  delay(500);
+  Serial.begin();
+  delay(500);
+  
+  if (!digitalRead(BTN)) {
+    if (!Serial) {
+      display.setTextSize(1);
+      display.setCursor(5, 5);
+      display.print("Waiting for serial connection...");
+      display.display();
+    }
+    
+    bool pix_on = 1;
+
+    while (!Serial) {
+      delay(100);
+      stat_led_c = !(stat_led_c);
+      digitalWrite(STAT_LED_C, stat_led_c);
+    }
+    
+    display.display();
+  }
+  
+  Serial.println("start");
+
+  arm_rotary_encoder();
+  
+  EEPROM.begin(1000);
+
+  tuning_map_set = load_tuning_map();
+
+  PWM_Instance = new RP2040_PWM(ENA, pwm_freq, dc_norm);
+}
+
+void loop() {
+  uint32_t now = millis();
+  
+  if (poll_wait_start && !poll_wait) {
+    poll_timer_ms = now;
+    poll_wait = true;
+    poll_wait_start = false;
+  }
+  
+  uint32_t last_poll_delta = now - poll_timer_ms;
+
+  if (poll_wait && last_poll_delta >= poll_timeout_ms) {
+    // a sum of 2 means the encoder has settled
+    uint8_t pin_sum = digitalRead(ROT_A) + digitalRead(ROT_B);
+
+    if (pin_sum == 2) {
+      uint8_t vel_mult = 1;
+
+      if (last_poll_delta < poll_timeout_ms * 2) vel_mult = 2;
+      pwr += renc_change * vel_mult;
+
+      // nested because we don't need to check this until ready for next poll
+      poll_wait = false;
+
+      arm_rotary_encoder();
+    }
+  }
+
+  if (Serial.available()) {
+    char cmd = Serial.read();
+    
+    if (state == MAP_WAIT) {
+      switch (cmd) {
+        case 'R': {
+          clear_buffer();
+
+          state = RUN;
+          arm_rotary_encoder();
+
+          Serial.println("returning");
+          display.clearDisplay();
+          break;
+        }
+        case 'C': {
+          tuning_map_set = false;
+          Serial.println("disabled tuning map");
+          break;
+        }
+        case 'E': {
+          tuning_map_set = true;
+          Serial.println("enabled tuning map");
+          break;
+        }
+        case 'S': {
+          Serial.println("saving");
+          save_tuning_map();
+          Serial.println("saved");
+          break;
+        }
+        case 'L': {
+          Serial.println("loading");
+          if (load_tuning_map()) {
+            Serial.println("loaded");
+          } else {
+            Serial.println("no tuning map present");
+          }
+          break;
+        }
+        case 'D': {
+          size_t idx = Serial.parseInt();
+          if (idx > 99) break;
+          tuning_map[idx].duty_cycle = Serial.parseFloat();
+          tuning_map[idx].freq = Serial.parseFloat();
+
+          display.drawPixel(12 + idx, 30, SSD1306_WHITE);
+          display.display();
+          Serial.println("ok");
+          break;
+        }
+        default: {
+          clear_buffer();
+          Serial.println("invalid command");
+          break;
+        }
+      }
+    } else {
+      switch (cmd) {
+        case 'M': {
+          state = MAP_WAIT;
+          
+          disarm_rotary_encoder();
+
+          display.clearDisplay();
+          display.setTextSize(1);
+          display.setCursor(5, 5);
+          display.print("receiving tuning map...");
+          display.display();
+          
+          Serial.println("ready");
+
+          break;
+        }
+        default: {
+          clear_buffer();
+          Serial.println("invalid command");
+          break;
+        }
+      }
+    }
+  }
+  
+  switch (state) {
+    case RUN:
+      stat_led_c = !(stat_led_c);
+      digitalWrite(STAT_LED_C, stat_led_c);
+
+      if (now - refresh_timer_ms >= refresh_timeout_ms) {
+        display.setTextSize(2);
+
+        if (!tuning_map_set) {
+          PWM_Instance->setPWM(ENA, pwm_freq, 0);
+          display.clearDisplay();
+          display.setTextSize(1);
+          display.setCursor(5, 5);
+          display.print("critical: no tuning map!");
+          display.display();
+          return;
+        }
+    
+        fwd = pwr >= 0;
+        pwr_norm = abs(pwr);
+        if (pwr_norm == 0) {
+          dc_norm = 0;
+          pwm_freq = 0;
+        } else {
+          dc_norm = tuning_map[pwr_norm].duty_cycle;
+          pwm_freq = tuning_map[pwr_norm].freq;
+        }
+
+        bool pwm_on = !digitalRead(MOT_ENABLE) && pwr_norm != 0; // since it's input_pullup
+
+        display.clearDisplay();
+
+        if (digitalRead(ROT_A)) display.drawPixel(0, 0, SSD1306_WHITE);
+
+        if (digitalRead(ROT_B)) display.drawPixel(2, 0, SSD1306_WHITE);
+
+        if (digitalRead(BTN)) display.drawPixel(4, 0, SSD1306_WHITE);
+        
+        // draw text
+        display.setCursor(2, 2);
+        display.print("pwr");
+        
+        if (dc_norm > 0 && pwm_on) {
+          // draw number
+          display.setCursor(48, 2);
+          
+          display.print(pwr_norm);
+          display.print('%');
+          
+          // draw fwd/rev
+          display.setCursor(90, 2);
+
+          if (fwd)
+            display.print("FWD");
+          else
+            display.print("REV");
+        } else {
+          display.setCursor(72, 2);
+          display.print("OFF");
+        }
+
+        // draw wave
+        uint16_t peak_edge_x = WAVE_X1 + dc_norm;
+
+        display.drawLine(WAVE_X1, WAVE_Y1, peak_edge_x, WAVE_Y1, SSD1306_WHITE);
+        display.drawLine(peak_edge_x, WAVE_Y1, peak_edge_x, WAVE_Y2, SSD1306_WHITE);
+        display.drawLine(peak_edge_x, WAVE_Y2, WAVE_X2, WAVE_Y2, SSD1306_WHITE);
+
+        // draw freq
+        display.setTextSize(1);
+        display.setCursor(5, 50);
+        display.print(pwm_freq);
+        display.print("Hz");
+
+        // draw duty cycle
+        display.setTextSize(1);
+        display.setCursor(75, 50);
+        display.print(dc_norm);
+        display.print("%");
+
+        display.display();
+        
+        // drive motor
+        if (pwm_on) {
+          if (fwd) {
+            digitalWrite(IN1, HIGH);
+            digitalWrite(IN2, LOW);
+          } else {
+            digitalWrite(IN1, LOW);
+            digitalWrite(IN2, HIGH);
+          }
+          PWM_Instance->setPWM(ENA, pwm_freq, dc_norm);
+        } else {
+          digitalWrite(IN1, LOW);
+          digitalWrite(IN2, LOW);
+          PWM_Instance->setPWM(ENA, pwm_freq, 0);
+        }
+
+        refresh_timer_ms = now;
+      }
+      
+      break;
+    case MAP_WAIT:
+      break;
+  }
+
+}
+// cw interrupt
+void cw_b_isr() {
+  disarm_rotary_encoder();
+  attachInterrupt(rot_a_int, cw_a_isr, FALLING);
+}
+
+void cw_a_isr() {
+  detachInterrupt(rot_a_int);
+  if (pwr < 100) renc_change = 1;
+  poll_wait_start = true;
+}
+
+// ccw interrupt
+void ccw_a_isr() {
+  disarm_rotary_encoder();
+  attachInterrupt(rot_b_int, ccw_b_isr, FALLING);
+}
+
+void ccw_b_isr() {
+  detachInterrupt(rot_b_int);
+  if (pwr > -100) renc_change = -1;
+  poll_wait_start = true;
+}
+
+void clear_buffer() {
+  while (Serial.available()) {
+    Serial.read();
+  }
+}
+
+void save_tuning_map() {
+  bool tuning_map_present;
+  EEPROM.get(EEPROM_WRITE_OFFSET, tuning_map_present);
+  
+  if (!tuning_map_present) {
+    EEPROM.put(EEPROM_WRITE_OFFSET, true);
+  }
+
+  size_t offset = EEPROM_WRITE_OFFSET + sizeof(bool);
+  for (size_t i = 0; i < 100; i++) {
+    TuningParam param = tuning_map[i];
+    TuningParam existing_param;
+    EEPROM.get(offset, existing_param);
+    
+    if (existing_param != param) {
+      EEPROM.put(offset, tuning_map[i]);
+    }
+
+    offset += sizeof(TuningParam);
+  }
+
+  EEPROM.commit();
+}
+
+int load_tuning_map() {
+  bool tuning_map_present;
+  EEPROM.get(EEPROM_WRITE_OFFSET, tuning_map_present);
+  
+  if (tuning_map_present) {
+    size_t offset = EEPROM_WRITE_OFFSET + sizeof(bool);
+    for (size_t i = 0; i < 100; i++) {
+      TuningParam param;
+      EEPROM.get(offset, param);
+      tuning_map[i] = param;
+      offset += sizeof(TuningParam);
+    }
+    return 1;
+  } else {
+    return 0;
+  }
+}
+
+void arm_rotary_encoder() {
+  attachInterrupt(rot_b_int, cw_b_isr, FALLING);
+  attachInterrupt(rot_a_int, ccw_a_isr, FALLING);
+}
+
+void disarm_rotary_encoder() {
+  detachInterrupt(rot_a_int);
+  detachInterrupt(rot_b_int);
+}

map_gen.ts

@@ -0,0 +1,34 @@
+import { Bezier } from "./bezierjs/src/bezier.js";
+
+function map (a: number, a_min: number, a_max: number, b_min: number, b_max: number): number {
+    return b_min + ((b_max - b_min) / (a_max - a_min)) * (a - a_min);
+}
+
+function fmt (x: number) {
+    return x.toLocaleString("en-US", {
+        minimumFractionDigits: 2,
+        maximumFractionDigits: 2,
+        useGrouping: false
+    });
+}
+
+function duty_cycle_map (x: number) {
+    //const out = Math.log10(x + 1) * 50;
+    //const out = x;
+    x = x / 100;
+    //let y = 1 - Math.pow(1 - x, 5);
+    let y = x < 0.5 ? 4 * x * x * x : 1 - Math.pow(-2 * x + 2, 3) / 2;
+    y = map(y, 0, 1, 30, 100);
+    return fmt(y);
+}
+
+function freq_map (x: number) {
+    x = x / 100;
+    let y = 1 - (1 - x) * (1 - x);
+    y = map(y, 0, 1, 20000, 25000);
+    return fmt(y);
+}
+
+const vals = [...Array(100).keys()].map((x) => x + 1).map((x) => "D" + (x - 1) + " " + duty_cycle_map(x) + " " + freq_map(x)).join("");
+
+console.log("M" + vals + "R");

tmap_1to1

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tmap_log50

@@ -0,0 +1 @@
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wl_copy

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