commit 208b6b51d96077d658058205ed18a7c85cf744cb Author: Hunter David Halloran Date: Tue Oct 1 11:09:39 2024 -0400 jc mqtt diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..89cc49c --- /dev/null +++ b/.gitignore @@ -0,0 +1,5 @@ +.pio +.vscode/.browse.c_cpp.db* +.vscode/c_cpp_properties.json +.vscode/launch.json +.vscode/ipch diff --git a/.vscode/extensions.json b/.vscode/extensions.json new file mode 100644 index 0000000..080e70d --- /dev/null +++ b/.vscode/extensions.json @@ -0,0 +1,10 @@ +{ + // See http://go.microsoft.com/fwlink/?LinkId=827846 + // for the documentation about the extensions.json format + "recommendations": [ + "platformio.platformio-ide" + ], + "unwantedRecommendations": [ + "ms-vscode.cpptools-extension-pack" + ] +} diff --git a/include/README b/include/README new file mode 100644 index 0000000..194dcd4 --- /dev/null +++ b/include/README @@ -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 diff --git a/lib/README b/lib/README new file mode 100644 index 0000000..6debab1 --- /dev/null +++ b/lib/README @@ -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 +#include + +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 diff --git a/platformio.ini b/platformio.ini new file mode 100644 index 0000000..21dd64b --- /dev/null +++ b/platformio.ini @@ -0,0 +1,19 @@ +; 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:esp32] +platform = espressif32 +board = esp32dev +framework = arduino +lib_deps = + FastAccelStepper + PubSubClient + ArduinoJson + diff --git a/src/main.cpp b/src/main.cpp new file mode 100644 index 0000000..c2b1754 --- /dev/null +++ b/src/main.cpp @@ -0,0 +1,211 @@ +#include +#include +#include +#include + +const uint8_t bottom_dir_pin = 5, top_dir_pin = 18; +const uint8_t bottom_step_pin = 4, top_step_pin = 17; +const uint8_t bottom_en_pin = 12, top_en_pin = 16; +const uint8_t encoder_a = 19, encoder_b = 21; + +const char* ssid = "IOT-pecan"; +const char* password = "aaaaaaaa"; +const char* mqttServer = "192.168.1.110"; +const int mqttPort = 1883; +const char* mqttHeightTopic = "/jc/height"; +const char* mqttAngleTopic = "/jc/angle"; +const char* mqttStopTopic = "/jc/stop"; + +const char* mqttHeightLogTopic = "/jc/height/log"; +const char* mqttAngleLogTopic = "/jc/angle/log"; +const char* mqttRPMLogTopic = "/jc/rpm/log"; + +// Thread pitch: 11 TPI (0.0909 in/rev) +// Steps per revolution: 2000; +const int steps_per_thou = 22; + +FastAccelStepperEngine engine = FastAccelStepperEngine(); +FastAccelStepper *bottom_stepper=nullptr; +FastAccelStepper *top_stepper=nullptr; + +WiFiClient wifiClient; +PubSubClient mqttClient(wifiClient); + +void callback(char* topic, byte* payload, unsigned int length); + +volatile int encoder_count_a = 0, encoder_count_b = 0; +volatile int last_encoder_count_a = 0, last_encoder_count_b = 0; +volatile double rotations_since_last = 0; +volatile float encoder_rpm = 0; +uint16_t ticks_per_rotation = 600; + +volatile long long bottom_step_goal = 0, top_step_goal = 0; +volatile bool bottom_step_done = true, top_step_done = true; +volatile bool bottom_step_sent = false, top_step_sent = false; +volatile bool do_home = false; + +auto timer = timerBegin(0, 80, true); + +void setup() { + Serial.begin(9600); + engine.init(); + bottom_stepper = engine.stepperConnectToPin(bottom_step_pin); + if (bottom_stepper) { + bottom_stepper->setDirectionPin(bottom_dir_pin); + bottom_stepper->setEnablePin(bottom_en_pin, false); + bottom_stepper->setSpeedInHz(1000); + bottom_stepper->setAcceleration(250); + } + top_stepper = engine.stepperConnectToPin(top_step_pin); + if (top_stepper) { + top_stepper->setDirectionPin(top_dir_pin); + top_stepper->setEnablePin(top_en_pin, false); + top_stepper->setSpeedInHz(1000); + top_stepper->setAcceleration(250); + } + + pinMode(encoder_a, INPUT_PULLUP); + pinMode(encoder_b, INPUT_PULLUP); + attachInterrupt(encoder_a, []() { + encoder_count_a++; + double rotations = 0; + if(encoder_count_a > ticks_per_rotation / 100) { + rotations = (double)encoder_count_a / ticks_per_rotation; + rotations_since_last += rotations / 2; + encoder_count_a -= ticks_per_rotation * rotations; + } + }, FALLING); + + attachInterrupt(encoder_b, []() { + encoder_count_b++; + double rotations = 0; + if(encoder_count_b > ticks_per_rotation / 100) { + rotations = (double)encoder_count_b / ticks_per_rotation; + rotations_since_last += rotations / 2; + encoder_count_b -= ticks_per_rotation * rotations; + } + }, FALLING); + + WiFi.begin(ssid, password); + while (WiFi.status() != WL_CONNECTED) { + delay(1000); + Serial.println("Connecting to WiFi..."); + } + Serial.println("Connected to WiFi"); + + mqttClient.setServer(mqttServer, mqttPort); + mqttClient.setCallback(callback); + + Serial.println("Connected to MQTT"); +} + +void reconnect() { + while (!mqttClient.connected()) { + Serial.println("Attempting MQTT connection..."); + if (mqttClient.connect("ESP32Client")) { + Serial.println("connected"); + mqttClient.subscribe(mqttHeightTopic); + mqttClient.subscribe(mqttAngleTopic); + } else { + Serial.print("failed, rc="); + Serial.print(mqttClient.state()); + Serial.println(" try again in 5 seconds"); + delay(5000); + } + } +} + +volatile int top_angle_difference_steps = steps_per_thou * 188; +volatile bool stop = false; + +void callback(char* topic, byte* payload, unsigned int length) { + String topic_str = String(topic); + String payload_str = ""; + for (int i = 0; i < length; i++) { + payload_str += (char)payload[i]; + } + + int value = payload_str.toInt(); + + if (topic_str == mqttHeightTopic) { + value -= 1875 - 210; + value *= steps_per_thou; + Serial.println(value); + stop = false; + bottom_step_goal = value; + bottom_step_done = false; + bottom_step_sent = false; + top_step_goal = value + top_angle_difference_steps; + top_step_done = false; + top_step_sent = false; + } else if (topic_str == mqttAngleTopic) { + stop = false; + top_angle_difference_steps = value * steps_per_thou; + top_step_goal = bottom_step_goal + top_angle_difference_steps; + top_step_done = false; + top_step_sent = false; + } else if (topic_str == mqttStopTopic) { + stop = true; + } + if (top_step_goal < -1665 * steps_per_thou) top_step_goal = -1665 * steps_per_thou; + if (bottom_step_goal < -1665 * steps_per_thou) bottom_step_goal = -1665 * steps_per_thou; + + if(top_step_goal > 0) top_step_goal = 0; + if(bottom_step_goal > 0) bottom_step_goal = 0; +} + +long last_publish_time = 0; +bool bot_homed = false, top_homed = false; +void loop() { + if (!mqttClient.connected()) { + reconnect(); + } + mqttClient.loop(); + + if (unsigned long elapsed = (millis() - last_publish_time) > 1000) { + encoder_rpm = (float)rotations_since_last * 60 / elapsed; + + // clamp encoder rpm to 0 if below 50 + if (encoder_rpm < 50) { + encoder_rpm = 0; + } + + rotations_since_last = 0; + last_publish_time = millis(); + mqttClient.publish(mqttHeightLogTopic, String(1665 + bottom_stepper->getCurrentPosition() / steps_per_thou).c_str()); + mqttClient.publish(mqttAngleLogTopic, String((top_stepper->getCurrentPosition() - bottom_stepper->getCurrentPosition()) / steps_per_thou).c_str()); + mqttClient.publish(mqttRPMLogTopic, String(encoder_rpm).c_str()); + } + + if(stop) { + bottom_stepper->disableOutputs(); + top_stepper->disableOutputs(); + } else { + bottom_stepper->enableOutputs(); + top_stepper->enableOutputs(); + } + + if(bottom_stepper->getCurrentPosition() != bottom_step_goal && !bottom_step_done && !bottom_step_sent) { + bottom_stepper->moveTo(bottom_step_goal); + bottom_step_sent = true; + Serial.println("Moving bottom stepper"); + } + + if(top_stepper->getCurrentPosition() != top_step_goal && !top_step_done && !top_step_sent) { + top_stepper->moveTo(top_step_goal); + top_step_sent = true; + Serial.println("Moving top stepper"); + } + + if(bottom_stepper->getCurrentPosition() == bottom_step_goal && !bottom_step_done && bottom_step_sent) { + bottom_step_done = true; + bottom_step_sent = false; + Serial.println("Bottom stepper done"); + } + + if(top_stepper->getCurrentPosition() == top_step_goal && !top_step_done && top_step_sent) { + top_step_done = true; + top_step_sent = false; + Serial.println("Top stepper done"); + } +} diff --git a/test/README b/test/README new file mode 100644 index 0000000..9b1e87b --- /dev/null +++ b/test/README @@ -0,0 +1,11 @@ + +This directory is intended for PlatformIO Test Runner 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 PlatformIO Unit Testing: +- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html