Merge pull request #65 from openppg/v7-1

Enhanced Haptics, Refined Throttle/Cruise Control

Author: zjwhitehead

inc/sp140/buzzer.h

@@ -5,9 +5,20 @@
 #include "sp140/structs.h"
 
 /**
- * Initialize the buzzer pin for output
+ * Initialize the buzzer pin for output using LEDC
+ * @return Returns true if initialization was successful, false otherwise
  */
-void initBuzz();
+bool initBuzz();
+
+/**
+ * Start playing a tone at the specified frequency
+ */
+void startTone(uint16_t frequency);
+
+/**
+ * Stop playing the tone
+ */
+void stopTone();
 
 /**
  * Plays a melody using the piezo buzzer

inc/sp140/lvgl/lv_conf.h

@@ -168,15 +168,15 @@
  * Enable built-in fonts - only enable a minimal set
  */
 #define LV_FONT_MONTSERRAT_8  0
-#define LV_FONT_MONTSERRAT_10 1  /* For small text like voltage */
+#define LV_FONT_MONTSERRAT_10 0
 #define LV_FONT_MONTSERRAT_12 1  /* For medium text, temperatures, and voltage labels */
 #define LV_FONT_MONTSERRAT_14 1  /* Used as default font */
 #define LV_FONT_MONTSERRAT_16 1  /* For battery percentage and power */
 #define LV_FONT_MONTSERRAT_18 0
-#define LV_FONT_MONTSERRAT_20 1  /* For status text */
+#define LV_FONT_MONTSERRAT_20 0
 #define LV_FONT_MONTSERRAT_22 0
-#define LV_FONT_MONTSERRAT_24 1  /* For altitude */
-#define LV_FONT_MONTSERRAT_26 1
+#define LV_FONT_MONTSERRAT_24 1
+#define LV_FONT_MONTSERRAT_26 0
 #define LV_FONT_MONTSERRAT_28 1
 #define LV_FONT_MONTSERRAT_30 0
 #define LV_FONT_MONTSERRAT_32 0
@@ -253,9 +253,9 @@ Documentation of the widgets: https://docs.lvgl.io/latest/en/html/widgets/index.
 
 #define LV_USE_LINE       1
 
-#define LV_USE_ROLLER     1  /* Don't need roller */
+#define LV_USE_ROLLER     0  /* Don't need roller */
 
-#define LV_USE_SLIDER     1  /* Don't need slider */
+#define LV_USE_SLIDER     0  /* Don't need slider */
 
 #define LV_USE_SPAN       1
 #if LV_USE_SPAN
@@ -267,10 +267,9 @@ Documentation of the widgets: https://docs.lvgl.io/latest/en/html/widgets/index.
 
 #define LV_USE_TEXTAREA   1  /* Required by other components */
 
-/* Add spinner widget */
 #define LV_USE_SPINNER    1
 
-/* Add keyboard widget (set to 0 since we don't use it but dependency might exist) */
+/* keyboard widget (set to 0 since we don't use it) */
 #define LV_USE_KEYBOARD   0
 
 /*==================
@@ -285,7 +284,7 @@ Documentation of the widgets: https://docs.lvgl.io/latest/en/html/widgets/index.
     #define LV_THEME_DEFAULT_DARK 0
 
     /*1: Enable grow on press*/
-    #define LV_THEME_DEFAULT_GROW 1
+    #define LV_THEME_DEFAULT_GROW 0
 
     /*Default transition time in [ms]*/
     #define LV_THEME_DEFAULT_TRANSITION_TIME 80

inc/sp140/shared-config.h

@@ -4,14 +4,6 @@
 #ifndef INC_SP140_SHARED_CONFIG_H_
 #define INC_SP140_SHARED_CONFIG_H_
 
-// Batt setting now configurable by user. Read from device data
-#define BATT_MIN_V 60.0  // 24 * 2.5V per cell
-
-// Calibration
-#define MAMP_OFFSET 200
-#define VOLT_OFFSET 1.5
-
-
 #define CRUISE_GRACE 1.5  // 1.5 sec period to get off throttle
 #define POT_ENGAGEMENT_LEVEL 0.05 * POT_MAX_VALUE  // 5% or less // TODO calibrate for each device
 
@@ -24,8 +16,8 @@
 #define ESC_MIN_PWM           1035  // ESC min
 #define ESC_MAX_PWM           1950  // ESC max 1900
 
-#define ENABLE_BUZ            false    // enable buzzer
-#define ENABLE_VIB_LOW_BAT    false   // vibrate if armed and battery voltage sags below min volts. Gets pilot's attention.
+#define ENABLE_BUZZ           true    // enable buzzer
+#define ENABLE_VIBE           true    // enable vibration motor
 #define POT_MIN_VALUE         0       // 12 bit ADC //TODO: use calibration and store in EEPROM
 #define POT_MAX_VALUE         4095    // 12 bit ADC //TODO: use calibration and store in EEPROM
 

inc/sp140/vibration_pwm.h

@@ -14,10 +14,47 @@ enum VibePattern {
   VIBE_WAVE
 };
 
+// Vibration request structure for queue
+struct VibeRequest {
+  uint16_t duration_ms;
+  uint8_t intensity;
+};
+
+// Task and queue handles
+extern TaskHandle_t vibeTaskHandle;
+extern QueueHandle_t vibeQueue;
+
+/**
+ * Initialize the vibration motor pin for output using LEDC
+ * @return Returns true if initialization was successful, false otherwise
+ */
 bool initVibeMotor();
+
+/**
+ * Pulse the vibration motor with a single 400ms pulse
+ */
 void pulseVibeMotor();
+
+/**
+ * Run a custom vibration pattern using an array of intensities
+ * @param pattern Array of intensity values (0-255)
+ * @param patternSize Number of elements in the pattern array
+ * @return Returns true if pattern was executed successfully, false otherwise
+ */
 bool runVibePattern(const unsigned int pattern[], int patternSize);
+
+/**
+ * Execute a predefined vibration pattern
+ * @param pattern The VibePattern enum value to execute
+ */
 void executeVibePattern(VibePattern pattern);
+
+/**
+ * Execute a custom vibration pattern with specified intensities and durations
+ * @param intensities Array of intensity values (0-255)
+ * @param durations Array of duration values in milliseconds
+ * @param steps Number of steps in the pattern
+ */
 void customVibePattern(const uint8_t intensities[], const uint16_t durations[], int steps);
 
 #endif  // INC_SP140_VIBRATION_PWM_H_

inc/version.h

@@ -2,7 +2,7 @@
 #pragma once
 
 #define VERSION_MAJOR 7
-#define VERSION_MINOR 0
+#define VERSION_MINOR 1
 
 // Define a version string
 #define VERSION_STRING STRINGIFY(VERSION_MAJOR) "." STRINGIFY(VERSION_MINOR)

platformio.ini

@@ -42,13 +42,13 @@ debug_tool = esp-builtin
 lib_deps =
 	Wire
 	SPI
-	[email protected].0
+	[email protected].1
 	[email protected] ; deprecated
 	[email protected]
 	adafruit/Adafruit [email protected]
 	adafruit/Adafruit BMP3XX [email protected]
 	adafruit/Adafruit ST7735 and ST7789 [email protected]
-	adafruit/Adafruit NeoPixel@1.12.5
+	adafruit/Adafruit NeoPixel@1.14.0
 	adafruit/Adafruit [email protected]
 	adafruit/Adafruit [email protected]
 	https://github.com/rlogiacco/[email protected]

src/sp140/buzzer.cpp

@@ -2,24 +2,60 @@
 
 #include <Arduino.h>
 
-#include <algorithm>
-
 #include "sp140/shared-config.h"
 #include "sp140/esp32s3-config.h"
 #include <FreeRTOS.h>
 #include <semphr.h>
 
 #define DEBUG_SERIAL USBSerial
 
+// Buzzer PWM configuration - use different channel than vibration motor
+// PWM Channel allocation:
+// Channel 0: Vibration motor (vibration_pwm.cpp)
+// Channel 1: Buzzer (this file)
+// Channels 2-7: Available for future use
+const int BUZZER_PWM_CHANNEL = 1;
+const int BUZZER_PWM_RESOLUTION = 8;
+const int BUZZER_PWM_FREQUENCY = 1000;  // Base frequency, will be changed for notes
+
 // External global variables needed
 extern HardwareConfig board_config;
 extern QueueHandle_t melodyQueue;
 
+static bool buzzerInitialized = false;
+
+/**
+ * Initialize the buzzer pin for output using LEDC
+ * @return Returns true if initialization was successful, false otherwise
+ */
+bool initBuzz() {
+  // Setup LEDC channel for buzzer
+  ledcSetup(BUZZER_PWM_CHANNEL, BUZZER_PWM_FREQUENCY, BUZZER_PWM_RESOLUTION);
+  ledcAttachPin(board_config.buzzer_pin, BUZZER_PWM_CHANNEL);
+  buzzerInitialized = true;
+  return true;
+}
+
 /**
- * Initialize the buzzer pin for output
+ * Start playing a tone at the specified frequency
  */
-void initBuzz() {
-  pinMode(board_config.buzzer_pin, OUTPUT);
+void startTone(uint16_t frequency) {
+  if (!buzzerInitialized || !ENABLE_BUZZ) return;
+
+  // Change the frequency for this channel
+  ledcChangeFrequency(BUZZER_PWM_CHANNEL, frequency, BUZZER_PWM_RESOLUTION);
+  // Set 50% duty cycle (square wave)
+  ledcWrite(BUZZER_PWM_CHANNEL, 128);
+}
+
+/**
+ * Stop playing the tone
+ */
+void stopTone() {
+  if (!buzzerInitialized) return;
+
+  // Set duty cycle to 0 to stop the tone
+  ledcWrite(BUZZER_PWM_CHANNEL, 0);
 }
 
 /**
@@ -30,7 +66,7 @@ void initBuzz() {
  * @return Returns true if the melody was queued successfully, false otherwise
  */
 bool playMelody(uint16_t melody[], int siz) {
-  if (!ENABLE_BUZ) return false;
+  if (!ENABLE_BUZZ) return false;
 
   // Create a static buffer for the melody
   static uint16_t melodyBuffer[32];  // Adjust size as needed
@@ -43,7 +79,7 @@ bool playMelody(uint16_t melody[], int siz) {
   MelodyRequest request = {
     .notes = melodyBuffer,
     .size = (uint8_t)std::min(siz, 32),
-    .duration = 125  // Default duration
+    .duration = 100  // Default duration
   };
 
   // Send to queue with timeout
@@ -59,6 +95,6 @@ bool playMelody(uint16_t melody[], int siz) {
  * Plays a melody to indicate arm failure
  */
 void handleArmFailMelody() {
-  uint16_t arm_fail_melody[] = { 820, 640 };
-  playMelody(arm_fail_melody, 2);
+  uint16_t arm_fail_melody[] = { 1760 };
+  playMelody(arm_fail_melody, 1);
 }

src/sp140/esc.cpp

@@ -21,6 +21,11 @@ STR_ESC_TELEMETRY_140 escTelemetryData = {
   .escState = TelemetryState::NOT_CONNECTED
 };
 
+/**
+ * Initialize the ESC communication system
+ * Sets up the CAN bus (TWAI) interface and configures the ESC with default settings
+ * Must be called before any other ESC functions
+ */
 void initESC() {
   escTwaiInitialized = setupTWAI();
   if (!escTwaiInitialized) {
@@ -39,6 +44,12 @@ void initESC() {
   delay(20);  // Wait for ESC to process the command
 }
 
+/**
+ * Set the ESC throttle value
+ * @param throttlePWM Throttle value in microseconds (1000-2000)
+ *                    1000 = minimum throttle, 2000 = maximum throttle
+ * Note: The ESC requires messages at least every 300ms or it will reset
+ */
 void setESCThrottle(int throttlePWM) {
   // Input validation
   if (throttlePWM < 1000 || throttlePWM > 2000) {
@@ -50,6 +61,12 @@ void setESCThrottle(int throttlePWM) {
   esc.setThrottleSettings2(scaledThrottle);
 }
 
+/**
+ * Read telemetry data from the ESC
+ * Updates the global escTelemetryData structure with current values
+ * Should be called regularly (every 20-50ms) to maintain connection
+ * Also monitors connection state and sets NOT_CONNECTED if timeout occurs
+ */
 void readESCTelemetry() {
   // Only proceed if TWAI is initialized
   if (!escTwaiInitialized) { return; }  // NOLINT(whitespace/newline)
@@ -120,7 +137,11 @@ void readESCTelemetry() {
   adapter.processTxRxOnce();  // Process CAN messages
 }
 
-// CAN specific setup
+/**
+ * Setup the ESP32 TWAI (Two-Wire Automotive Interface) for CAN communication
+ * Configures the CAN bus at 1Mbps for communication with the ESC
+ * @return true if setup was successful, false otherwise
+ */
 bool setupTWAI() {
   // Check if already installed by checking status
   twai_status_info_t status_info;
@@ -181,6 +202,10 @@ bool setupTWAI() {
   return true;
 }
 
+/**
+ * Debug function to dump ESC throttle response data to serial
+ * @param res Pointer to the throttle response structure from ESC
+ */
 void dumpThrottleResponse(const sine_esc_SetThrottleSettings2Response *res) {
   USBSerial.println("Got SetThrottleSettings2 response");
 
@@ -227,6 +252,10 @@ void dumpThrottleResponse(const sine_esc_SetThrottleSettings2Response *res) {
   USBSerial.println(res->time_10ms);
 }
 
+/**
+ * Debug function to dump all available ESC messages to serial
+ * Displays hardware info, throttle response, and rotation speed settings if available
+ */
 void dumpESCMessages(void) {
   const SineEscModel &model = esc.getModel();
 
@@ -251,14 +280,34 @@ void dumpESCMessages(void) {
   }
 }
 
+/**
+ * Map a double value from one range to another
+ * @param x Input value to map
+ * @param in_min Minimum of input range
+ * @param in_max Maximum of input range
+ * @param out_min Minimum of output range
+ * @param out_max Maximum of output range
+ * @return Mapped value in output range
+ */
 double mapDouble(double x, double in_min, double in_max, double out_min, double out_max) {
   return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
 }
 
+/**
+ * Get the highest temperature reading from all ESC sensors
+ * @param telemetry ESC telemetry data structure
+ * @return The highest temperature value among motor, MOSFET, and capacitor temps
+ */
 float getHighestTemp(const STR_ESC_TELEMETRY_140& telemetry) {
   return max(telemetry.motor_temp, max(telemetry.mos_temp, telemetry.cap_temp));
 }
 
+/**
+ * Check temperature state for a specific component
+ * @param temp Temperature value to check
+ * @param component Component type (ESC_MOS, ESC_MCU, ESC_CAP, or MOTOR)
+ * @return Temperature state (NORMAL, WARNING, CRITICAL, or INVALID)
+ */
 TempState checkTempState(float temp, TempComponent component) {
   // Check for invalid temperature readings
   if (temp < -50 || temp > 200) {

src/sp140/esp32s3-config.cpp

@@ -2,8 +2,8 @@
 
 #include "../../inc/sp140/esp32s3-config.h"
 
+#define LED_BUILTIN  21  // m5 stamp
 
-#define LED_BUILTIN  21  // m5 stack
 // V1 configuration
 HardwareConfig s3_config = {
   .button_top = 1,

src/sp140/extra-data.ino

@@ -447,7 +447,10 @@ void setupBLE() {
   BLECharacteristic *pFirmwareVersion = pConfigService->createCharacteristic(
                                         BLEUUID(FW_VERSION_UUID),
                                         BLECharacteristic::PROPERTY_READ);
-  pFirmwareVersion->setValue(VERSION_STRING);
+
+  // Use 2-byte format: [major, minor] instead of string
+  uint8_t versionBytes[2] = {VERSION_MAJOR, VERSION_MINOR};
+  pFirmwareVersion->setValue(versionBytes, sizeof(versionBytes));
 
   BLECharacteristic *pHardwareRevision = pConfigService->createCharacteristic(
                                          BLEUUID(HW_REVISION_UUID),