Merge pull request #47 from eamars/add_servo

Add servo gate

.vscode/settings.json

@@ -40,6 +40,15 @@
         "cleanup_mode.h": "c",
         "charge_mode.h": "c",
         "http_rest.h": "c",
-        "motors.h": "c"
+        "motors.h": "c",
+        "eeprom.h": "c",
+        "stdbool.h": "c",
+        "configuration.h": "c",
+        "uart.h": "c",
+        "common.h": "c",
+        "clocks.h": "c",
+        "pwm.h": "c",
+        "servo_gate.h": "c",
+        "semphr.h": "c"
     }
 }

CMakeLists.txt

@@ -99,6 +99,7 @@ target_link_libraries("${TARGET_NAME}"
     hardware_pio
     hardware_spi
     hardware_i2c
+    hardware_pwm
     FreeRTOS-Kernel
     FreeRTOS-Kernel-Heap4
     u8g2

src/app.cpp

@@ -26,7 +26,7 @@
 #include "rotary_button.h"
 #include "menu.h"
 #include "profile.h"
-
+#include "servo_gate.h"
 
 
 uint8_t software_reboot() {
@@ -63,6 +63,9 @@ int main()
     // Initialize profile data
     profile_data_init();
 
+    // Initialize the servo
+    servo_gate_init();
+
 #ifdef RASPBERRYPI_PICO_W
     // Load wireless settings
     wireless_init();

src/charge_mode.cpp

@@ -20,6 +20,7 @@
 #include "neopixel_led.h"
 #include "profile.h"
 #include "common.h"
+#include "servo_gate.h"
 
 
 uint8_t charge_weight_digits[] = {0, 0, 0, 0, 0};
@@ -28,6 +29,8 @@ charge_mode_config_t charge_mode_config;
 
 // Scale related
 extern scale_config_t scale_config;
+extern servo_gate_t servo_gate;
+
 
 const eeprom_charge_mode_data_t default_charge_mode_data = {
     .charge_mode_data_rev = EEPROM_CHARGE_MODE_DATA_REV,
@@ -40,6 +43,11 @@ const eeprom_charge_mode_data_t default_charge_mode_data = {
 
     .decimal_places = DP_2,
 
+    // Precharges
+    .precharge_enable = false,
+    .precharge_time_ms = 1000,
+    .precharge_speed_rps = 2,
+
     // LED related
     .neopixel_normal_charge_colour = urgb_u32(0, 0xFF, 0),          // green
     .neopixel_under_charge_colour = urgb_u32(0xFF, 0xFF, 0),        // yellow
@@ -167,6 +175,11 @@ void charge_mode_wait_for_complete() {
         true
     );
 
+    // If the servo gate is used then it has to be opened
+    if (servo_gate.gate_state != GATE_DISABLED) {
+        servo_gate_set_state(GATE_OPEN, false);
+    }
+
     // Update current status
     char target_weight_string[WEIGHT_STRING_LEN];
     float_to_string(target_weight_string, charge_mode_config.target_charge_weight, charge_mode_config.eeprom_charge_mode_data.decimal_places);
@@ -260,7 +273,21 @@ void charge_mode_wait_for_complete() {
         last_error = error;
     }
 
-    vTaskDelay(pdMS_TO_TICKS(20));  // Wait for other tasks to complete
+    // Close the gate if the servo gate is present
+    if (servo_gate.gate_state != GATE_DISABLED) {
+        servo_gate_set_state(GATE_CLOSE, true);
+    }
+
+    // Precharge
+    if (charge_mode_config.eeprom_charge_mode_data.precharge_enable && servo_gate.gate_state != GATE_DISABLED) {
+        motor_set_speed(SELECT_COARSE_TRICKLER_MOTOR, charge_mode_config.eeprom_charge_mode_data.precharge_speed_rps);
+        vTaskDelay(pdMS_TO_TICKS(charge_mode_config.eeprom_charge_mode_data.precharge_time_ms));
+
+        motor_set_speed(SELECT_COARSE_TRICKLER_MOTOR, 0);
+    }
+    else {
+        vTaskDelay(pdMS_TO_TICKS(20));  // Wait for other tasks to complete  
+    }
 
     charge_mode_config.charge_mode_state = CHARGE_MODE_WAIT_FOR_CUP_REMOVAL;
 }
@@ -365,6 +392,7 @@ void charge_mode_wait_for_cup_return() {
 
     snprintf(title_string, sizeof(title_string), "Return Cup");
 
+
     FloatRingBuffer data_buffer(5);
 
     while (true) {
@@ -528,6 +556,9 @@ bool http_rest_charge_mode_config(struct fs_file *file, int num_params, char *pa
     // c7 (float): set_point_sd_margin
     // c8 (float): set_point_mean_margin
     // c9 (int): decimal point enum
+    // c10 (bool): precharge_enable
+    // c11 (int): precharge_time_ms
+    // c12 (float): precharge_speed_rps
 
     // ee (bool): save to eeprom
 
@@ -551,6 +582,17 @@ bool http_rest_charge_mode_config(struct fs_file *file, int num_params, char *pa
         else if (strcmp(params[idx], "c9") == 0) {
             charge_mode_config.eeprom_charge_mode_data.decimal_places = (decimal_places_t) atoi(values[idx]);
         }
+
+        // Pre charge related settings
+        else if (strcmp(params[idx], "c10") == 0) {
+            charge_mode_config.eeprom_charge_mode_data.precharge_enable = string_to_boolean(values[idx]);
+        }
+        else if (strcmp(params[idx], "c11") == 0) {
+            charge_mode_config.eeprom_charge_mode_data.precharge_time_ms = strtol(values[idx], NULL, 10);
+        }
+        else if (strcmp(params[idx], "c12") == 0) {
+            charge_mode_config.eeprom_charge_mode_data.precharge_speed_rps = strtof(values[idx], NULL);
+        }
 
         // LED related settings
         else if (strcmp(params[idx], "c1") == 0) {
@@ -580,17 +622,19 @@ bool http_rest_charge_mode_config(struct fs_file *file, int num_params, char *pa
              sizeof(charge_mode_json_buffer),
              "HTTP/1.1 200 OK\r\nContent-Type: application/json\r\n\r\n"
              "{\"c1\":\"#%06lx\",\"c2\":\"#%06lx\",\"c3\":\"#%06lx\",\"c4\":\"#%06lx\","
-             "\"c5\":%.3f,\"c6\":%.3f,\"c7\":%.3f,\"c8\":%.3f,\"c9\":%d}",
+             "\"c5\":%.3f,\"c6\":%.3f,\"c7\":%.3f,\"c8\":%.3f,\"c9\":%d,\"c10\":\"%s\",\"c11\":%ld,\"c12\":%0.3f}",
              charge_mode_config.eeprom_charge_mode_data.neopixel_normal_charge_colour,
              charge_mode_config.eeprom_charge_mode_data.neopixel_under_charge_colour,
              charge_mode_config.eeprom_charge_mode_data.neopixel_over_charge_colour,
              charge_mode_config.eeprom_charge_mode_data.neopixel_not_ready_colour,
-
              charge_mode_config.eeprom_charge_mode_data.coarse_stop_threshold,
              charge_mode_config.eeprom_charge_mode_data.fine_stop_threshold,
              charge_mode_config.eeprom_charge_mode_data.set_point_sd_margin,
              charge_mode_config.eeprom_charge_mode_data.set_point_mean_margin,
-             charge_mode_config.eeprom_charge_mode_data.decimal_places);
+             charge_mode_config.eeprom_charge_mode_data.decimal_places,
+             boolean_to_string(charge_mode_config.eeprom_charge_mode_data.precharge_enable),
+             charge_mode_config.eeprom_charge_mode_data.precharge_time_ms,
+             charge_mode_config.eeprom_charge_mode_data.precharge_speed_rps);
 
     size_t data_length = strlen(charge_mode_json_buffer);
     file->data = charge_mode_json_buffer;

src/charge_mode.h

@@ -6,7 +6,7 @@
 #include "common.h"
 
 
-#define EEPROM_CHARGE_MODE_DATA_REV                     7              // 16 byte 
+#define EEPROM_CHARGE_MODE_DATA_REV                     8              // 16 byte 
 
 #define WEIGHT_STRING_LEN 8
 
@@ -29,6 +29,11 @@ typedef struct {
 
     decimal_places_t decimal_places;
 
+    // Precharge
+    bool precharge_enable;
+    uint32_t precharge_time_ms;
+    float precharge_speed_rps;
+
     // LED related settings
     uint32_t neopixel_normal_charge_colour;
     uint32_t neopixel_under_charge_colour;

src/cleanup_mode.cpp

@@ -13,12 +13,13 @@
 #include "common.h"
 #include "charge_mode.h"
 #include "cleanup_mode.h"
+#include "servo_gate.h"
 
 
 // Memory from other modules
 extern QueueHandle_t encoder_event_queue;
 extern charge_mode_config_t charge_mode_config;
-
+extern servo_gate_t servo_gate;
 extern AppState_t exit_state;
 extern QueueHandle_t encoder_event_queue;
 
@@ -78,6 +79,11 @@ void cleanup_render_task(void *p) {
         u8g2_SetFont(display_handler, u8g2_font_profont11_tf);
         u8g2_DrawStr(display_handler, 5, 45, buf);
 
+        memset(buf, 0x0, sizeof(buf));
+        sprintf(buf, "Servo Gate: %s", gate_state_to_string(servo_gate.gate_state));
+        u8g2_SetFont(display_handler, u8g2_font_profont11_tf);
+        u8g2_DrawStr(display_handler, 5, 55, buf);
+
         u8g2_SendBuffer(display_handler);
 
         vTaskDelayUntil(&last_render_tick, pdMS_TO_TICKS(20));

src/eeprom.h

@@ -15,6 +15,7 @@
 #define EEPROM_NEOPIXEL_LED_CONFIG_BASE_ADDR    7 * 1024       // 7k
 #define EEPROM_ROTARY_BUTTON_CONFIG_BASE_ADDR   8 * 1024       // 8k 
 #define EEPROM_PROFILE_DATA_BASE_ADDR           9 * 1024       // 9k
+#define EEPROM_SERVO_GATE_CONFIG_BASE_ADDR     10 * 1024       // 10k
 
 #define EEPROM_METADATA_REV                     2              // 16 byte 
 

src/html/web_portal.html

@@ -13,7 +13,7 @@
     <style>
         /* Exclude the pixels taken by the bottom nav bar */
         .exclude-bottom-nav {
-            padding-bottom: 74px;
+            padding-bottom: 64px;
         }
     </style>
 </head>
@@ -71,11 +71,17 @@
             </section>
 
             <div class="grid grid-cols-1 gap-2 px-4">
-                <div class="divider">Scale</div>
+                <div class="divider">General Control</div>
                 <div class="grid grid-cols-1 gap-2">
                     <button class="btn btn-neutral" onclick="scaleForceZero()">Scale Zero</button>
+
+                    <div class="grid grid-cols-2 gap-2">
+                        <button class="btn btn-neutral" onclick="servoGateSetState(2)">Gate Open</button>
+                        <button class="btn btn-neutral" onclick="servoGateSetState(1)">Gate Close</button>
+                    </div>
                 </div>
             </div>
+
         </div>
     </section>
 
@@ -251,6 +257,26 @@
                                 </select>
                             </div>
 
+                            <div class="divider"></div>
+
+                            <div class="grid grid-cols-1 gap-1">
+                                <span class="label-text">Enable Pre-Charge (requires servo gate)</span>
+                                <select class="select select-bordered" name="c10">
+                                    <option value="true">Yes</option>
+                                    <option value="false">No</option>
+                                </select>
+                            </div>
+
+                            <div class="grid grid-cols-1 gap-1">
+                                <span class="label-text">Pre-Charge Duration (ms)</span>
+                                <input type="number" class="input input-bordered" name="c11" step="1">
+                            </div>
+
+                            <div class="grid grid-cols-1 gap-1">
+                                <span class="label-text">Pre-Charge Speed (rps)</span>
+                                <input type="number" class="input input-bordered" name="c12" step="0.001">
+                            </div>
+
                             <button class="btn btn-neutral settings-apply-btn">Apply</button>
                         </form>
                     </section>
@@ -484,6 +510,50 @@
                         </form>
                     </section>
 
+                    <section class="settings-page" id="settings-servo-gate" name="Servo Gate" style="display: none;">
+                        <form id="servoGateConfigForm" action="/rest/servo_gate_config" class="grid grid-cols-1 gap-3">
+                            <div class="grid grid-cols-1 gap-1">
+                                <span class="label-text">Servo Gate Enable</span>
+                                <select class="select select-bordered" name="c0">
+                                    <option value="true">Yes</option>
+                                    <option value="false">No</option>
+                                </select>
+                            </div>
+
+                            <div class="grid grid-cols-1 gap-1">
+                                <span class="label-text">Shutter 0 Close Duty Cycle</span>
+                                <input type="number" class="input input-bordered" name="c1" step="0.001">
+                            </div>
+
+                            <div class="grid grid-cols-1 gap-1">
+                                <span class="label-text">Shutter 0 Open Duty Cycle</span>
+                                <input type="number" class="input input-bordered" name="c2" step="0.001">
+                            </div>
+
+                            <div class="grid grid-cols-1 gap-1">
+                                <span class="label-text">Shutter 1 Close Duty Cycle</span>
+                                <input type="number" class="input input-bordered" name="c3" step="0.001">
+                            </div>
+
+                            <div class="grid grid-cols-1 gap-1">
+                                <span class="label-text">Shutter 1 Open Duty Cycle</span>
+                                <input type="number" class="input input-bordered" name="c4" step="0.001">
+                            </div>
+
+                            <div class="grid grid-cols-1 gap-1">
+                                <span class="label-text">Shutter Close Speed (%/s)</span>
+                                <input type="number" class="input input-bordered" name="c5" step="0.001">
+                            </div>
+
+                            <div class="grid grid-cols-1 gap-1">
+                                <span class="label-text">Shutter Open Speed (%/s)</span>
+                                <input type="number" class="input input-bordered" name="c6" step="0.001">
+                            </div>
+
+                            <button class="btn btn-neutral settings-apply-btn">Apply</button>
+                        </form>
+                    </section>
+
                     <!-- System Control Page -->
                     <section class="settings-page" id="settings-system-control" name="System Control" style="display: none;">
                         <form id="systemControlForm" action="/rest/system_control" class="grid grid-cols-1 gap-3">
@@ -555,6 +625,7 @@
                     <li><a class="text-lg" onclick="onSettingsLinkClicked('settings-fine-motor')">Fine Motor</a></li>
                     <li><a class="text-lg" onclick="onSettingsLinkClicked('settings-neopixel-led')">Neopixel LED</a></li>
                     <li><a class="text-lg" onclick="onSettingsLinkClicked('settings-button')">Buttons</a></li>
+                    <li><a class="text-lg" onclick="onSettingsLinkClicked('settings-servo-gate')">Servo Gate</a></li>
                     <li><a class="text-lg" onclick="onSettingsLinkClicked('settings-system-control')">System Control</a></li>
                 </ul>
             </div>
@@ -730,6 +801,12 @@ <h3 class="font-bold text-lg">Error</h3>
         ENTER: 1,
     });
 
+    const ServoGateState = Object.freeze({
+        GATE_DISABLED: 0,
+        GATE_CLOSE: 1,
+        GATE_OPEN: 2,
+    });
+
     var pollSetTimeoutId;
 
     // Set Charge Mode Set Point with REST interface
@@ -991,6 +1068,22 @@ <h3 class="font-bold text-lg">Error</h3>
         });
     }
 
+    function servoGateSetState(state) {
+        const uri = `/rest/servo_gate_state?g0=${encodeURIComponent(state)}`;
+
+        // Call the scale action URI
+        fetch(uri)
+        .then(response => {
+            return response.json();
+        })
+        .then(data => {
+            // console.log(data);
+        })
+        .catch(error => {
+            console.error("Error applying servo gate state");
+        });
+    }
+
     // Switch pages
     function onNavButtonClicked(button) {
         const sectionTrickler = document.getElementById("sectionTrickler");