From c57f25af03d01854ac06ab14f42aa7b6d866c5b4 Mon Sep 17 00:00:00 2001 From: "Morgan 'ARR\\!' Allen" Date: Thu, 31 Jul 2025 19:12:20 -0700 Subject: [PATCH] rampering! fixed ramp times but works --- main/main.c | 2 + main/pumps.c | 159 +++++++++++++++++++++++++++++++++++++++++++++------ 2 files changed, 144 insertions(+), 17 deletions(-) diff --git a/main/main.c b/main/main.c index 72dfaef..4f2585d 100644 --- a/main/main.c +++ b/main/main.c @@ -80,6 +80,7 @@ void app_main(void) { sprintf(name, "%s-%02X", TAG, mac[5]); uint8_t tank_levels[] = { 100, 100, 100, 100 }; + uint16_t pump_ramp_ms[] = { 500, 500, 500, 500 }; cfglr_handle_t cfglr_handle = { .namespace = "configulator", @@ -91,6 +92,7 @@ void app_main(void) { CFGLR_ELEMENT_STR("device_name", 32, name, CFGLR_SIGNALER_IDF_EVENT()), CFGLR_ELEMENT_BIN("tank_levels", 4, tank_levels, 4, CFGLR_SIGNALER_IDF_EVENT()), CFGLR_ELEMENT_BIN("pump_pins", 4, pump_gpio_map, 4, CFGLR_SIGNALER_IDF_EVENT()), + CFGLR_ELEMENT_BIN("pump_ramp_ms", sizeof(uint16_t) * 4, pump_ramp_ms, sizeof(uint16_t) * 4, CFGLR_SIGNALER_IDF_EVENT()), { NULL }, }, }; diff --git a/main/pumps.c b/main/pumps.c index 430ab88..414fa62 100644 --- a/main/pumps.c +++ b/main/pumps.c @@ -1,8 +1,10 @@ #include "string.h" #include "freertos/FreeRTOS.h" #include "freertos/timers.h" +#include "freertos/queue.h" #include "esp_log.h" #include "driver/gpio.h" +#include "driver/ledc.h" #include "nvs_flash.h" #include "main.h" @@ -12,12 +14,42 @@ uint8_t running = 0; +typedef enum { + PUMP_STATE_IDLE = 0, + PUMP_STATE_RAMPING_UP, + PUMP_STATE_RUNNING, + PUMP_STATE_RAMPING_DOWN, +} pump_states_e; + TimerHandle_t pump_timers[PUMPS]; +QueueHandle_t pump_step_queue; + +static pump_states_e pump_states[PUMPS] = { PUMP_STATE_IDLE }; static uint8_t pumps_duration[PUMPS] = {0}; static uint8_t pumps_enabled[PUMPS] = {0}; static uint8_t pumps_running[PUMPS] = {0}; static uint8_t safety = 1; +#define RAMP_UP_TIME (500) +#define RAMP_DOWN_TIME (250) + +#define LEDC_HS_TIMER LEDC_TIMER_0 +#define LEDC_HS_MODE LEDC_HIGH_SPEED_MODE +#define LEDC_LS_TIMER LEDC_TIMER_1 +#define LEDC_LS_MODE LEDC_LOW_SPEED_MODE + +#define LEDC_CONFIG(CHANNEL_NO, GPIO) (ledc_channel_config_t){\ + .channel = CHANNEL_NO,\ + .duty = 0,\ + .gpio_num = GPIO,\ + .speed_mode = LEDC_LOW_SPEED_MODE,\ + .hpoint = 0,\ + .timer_sel = LEDC_TIMER_1,\ + .flags.output_invert = 0,\ +} + +ledc_channel_config_t ledc_motor_channels[4] = {}; + void pumps_update_config() { ESP_LOGI(TAG, "writing config"); @@ -79,9 +111,7 @@ void pump_timer_done(TimerHandle_t timer) { uint8_t idx = (pcTimerGetName(timer) - 0x48); ESP_LOGD(TAG, "pump done: %d", idx); - running--; - - pumps_set_enabled(idx, 0); + xQueueSend(pump_step_queue, &idx, portMAX_DELAY); } void pumps_stop() { @@ -96,24 +126,80 @@ void pumps_stop() { void pumps_run() { if(running > 0) return; + ESP_LOGI(TAG, "Running pumps"); + for(uint8_t i = 0; i < PUMPS; i++) { - if(pumps_duration[i] == 0) continue; + //if(pumps_duration[i] == 0 || pumps_enabled[i] != 1) continue; + + if(pump_states[i] != PUMP_STATE_IDLE) { + ESP_LOGW(TAG, "Attempting to start pump in non-IDLE state. idx: %d state: %d", i, pump_states[i]); + } + + ledc_set_fade_with_time(ledc_motor_channels[i].speed_mode, ledc_motor_channels[i].channel, 8192, RAMP_UP_TIME); + ledc_fade_start(ledc_motor_channels[i].speed_mode, ledc_motor_channels[i].channel, LEDC_FADE_NO_WAIT); + + pump_states[i] = PUMP_STATE_RAMPING_UP; running++; - - pump_timers[i] = xTimerCreate((const char *)(0x48 + i), (pumps_duration[i] * 250 / portTICK_PERIOD_MS), pdFALSE, (void*)0, pump_timer_done); - xTimerStart(pump_timers[i], 0); - - pumps_set_enabled(i, 1); + ESP_LOGI(TAG, "Pump %d started", i); } } +void pump_step_task() { + uint8_t idx; + BaseType_t awoke = pdFALSE; + + ESP_LOGI(TAG, "Starting pump stepping task"); + + while(xQueueReceive(pump_step_queue, &idx, &awoke)) { + ESP_LOGI(TAG, "step %d complete for %d", pump_states[idx], idx); + + if(pump_states[idx] == PUMP_STATE_RAMPING_UP) { + uint16_t pump_time = pumps_duration[idx] * 250 - (RAMP_UP_TIME + RAMP_DOWN_TIME) / 2; + + if(RAMP_UP_TIME + RAMP_DOWN_TIME / 2 > pumps_duration[idx] * 250) { + ESP_LOGW(TAG, "Pump %d total ramp time great that duration, running for 1 Tick", idx); + + pump_time = 10; + } + + ESP_LOGI(TAG, "Running pump %d for %dms", idx, pump_time); + + xTimerChangePeriod(pump_timers[idx], pump_time / portTICK_PERIOD_MS, portMAX_DELAY); + xTimerStart(pump_timers[idx], portMAX_DELAY); + + pump_states[idx] = PUMP_STATE_RUNNING; + + continue; + } else if(pump_states[idx] == PUMP_STATE_RUNNING) { + ledc_set_fade_with_time(ledc_motor_channels[idx].speed_mode, ledc_motor_channels[idx].channel, 0, RAMP_UP_TIME); + ledc_fade_start(ledc_motor_channels[idx].speed_mode, ledc_motor_channels[idx].channel, LEDC_FADE_NO_WAIT); + + pump_states[idx] = PUMP_STATE_RAMPING_DOWN; + continue; + } else if(pump_states[idx] == PUMP_STATE_RAMPING_DOWN) { + ESP_LOGI(TAG, "Pump cycles complete: %d", idx); + pump_states[idx] = PUMP_STATE_IDLE; + + running--; + } else { + ESP_LOGE(TAG, "Pump step fired with unknown state: %d", pump_states[idx]); + } + } +} + +static IRAM_ATTR bool ledc_fade_end_event(const ledc_cb_param_t *param, void *parg) { + BaseType_t awoke = pdFALSE; + + xQueueSendFromISR(pump_step_queue, parg, &awoke); + + return (awoke == pdTRUE); +} + uint8_t pumps_io_init() { gpio_config_t io_conf; - // put the output high before initializing - // to prevent relays from clacking - for(uint8_t i = 0 ; i < 4; i++) { + for(uint8_t i = 0 ; i < PUMPS; i++) { gpio_set_level(pump_gpio_map[i], 0); } @@ -127,15 +213,12 @@ uint8_t pumps_io_init() { } uint8_t pumps_init() { - // zero out pump enabled, duration memset(&pumps_enabled, 0, sizeof(uint8_t) * PUMPS); memset(&pumps_duration, 5, sizeof(uint8_t) * PUMPS); - for(uint8_t i = 0; i < PUMPS; i++) { - gpio_set_level(pump_gpio_map[i], 0); - pump_timers[i] = xTimerCreate((const char *)(0x48 + i), (pumps_duration[i] * 1000 / portTICK_PERIOD_MS), pdFALSE, (void*)0, pump_timer_done); - } + // this should neve go above 4, but just in case? + pump_step_queue = xQueueCreate(PUMPS * 4, sizeof(uint8_t)); size_t size = sizeof(uint8_t) * PUMPS; if(!nvs_get_blob(config_handle, "pumps_duration", &pumps_duration, &size)) { @@ -144,8 +227,50 @@ uint8_t pumps_init() { nvs_set_blob(config_handle, "pumps_duration", &pumps_duration, size); }; + ledc_timer_config_t ledc_timer = { + .duty_resolution = LEDC_TIMER_13_BIT, // resolution of PWM duty + .freq_hz = 4000, // frequency of PWM signal + .speed_mode = LEDC_LS_MODE, // timer mode + .timer_num = LEDC_LS_TIMER, // timer index + .clk_cfg = LEDC_AUTO_CLK, // Auto select the source clock + }; + + ledc_timer_config(&ledc_timer); + + ledc_timer.speed_mode = LEDC_HS_MODE; + ledc_timer.timer_num = LEDC_HS_TIMER; + + ledc_timer_config(&ledc_timer); + + for(uint8_t i = 0; i < PUMPS; i++) { + gpio_set_level(pump_gpio_map[i], 0); + + pump_timers[i] = xTimerCreate((const char *)(0x48 + i), 1, pdFALSE, (void*)0, pump_timer_done); + } + + for(uint8_t i = 0; i < PUMPS; i++) { + ledc_motor_channels[i] = LEDC_CONFIG(i, pump_gpio_map[i]); + ledc_channel_config(&ledc_motor_channels[i]); + } + + ledc_cbs_t callbacks = { + .fade_cb = ledc_fade_end_event + }; + + ledc_fade_func_install(0); + + uint8_t *idx; + + for(uint8_t i = 0; i < PUMPS; i++) { + idx = malloc(1); + memcpy(idx, &i, 1); + ledc_cb_register(ledc_motor_channels[i].speed_mode, ledc_motor_channels[i].channel, &callbacks, idx); + } + ESP_LOGI(TAG, "pumps_enabled: %d %d %d %d", pumps_enabled[0], pumps_enabled[1], pumps_enabled[2], pumps_enabled[3]); ESP_LOGI(TAG, "pumps_duration: %d %d %d %d", pumps_duration[0], pumps_duration[1], pumps_duration[2], pumps_duration[3]); + xTaskCreate(pump_step_task, "ramp", 4024, NULL, tskIDLE_PRIORITY + 4, NULL); + return 0; }