Working PIO builds for both view and nanofoc envs!

firmware/src/motor_task.cpp

@@ -3,13 +3,13 @@
 #include "motor_task.h"
 #if SENSOR_MT6701
 #include "mt6701_sensor.h"
-#endif
-#if SENSOR_TLV
+#elif SENSOR_TLV
 #include "tlv_sensor.h"
-#endif
-#if SENSOR_MAQ430
+#elif SENSOR_MAQ430
 #include "maq430_sensor.h"
 #endif
+
+#include "motors/motor_config.h"
 #include "util.h"
 
 // #### 

firmware/src/motors/mad2804.h

@@ -0,0 +1,12 @@
+#pragma once
+
+// Tuning parameters for the MAD2804 motor (orange stator).
+
+#define FOC_PID_P 1
+#define FOC_PID_I 0
+#define FOC_PID_D 0.148
+#define FOC_PID_OUTPUT_RAMP 5000
+#define FOC_PID_LIMIT 3
+
+#define FOC_VOLTAGE_LIMIT 3
+#define FOC_LPF 0.0075

firmware/src/motors/motor_config.h

@@ -0,0 +1,9 @@
+#pragma once
+
+#if MOTOR_WANZHIDA_ONCE_TOP
+#include "motors/wanzhida_once_top.h"
+#elif MOTOR_MAD2804
+#include "motors/mad2804.h"
+#else
+#error "No motor configuration specified!"
+#endif

firmware/src/motors/wanzhida_once_top.h

@@ -0,0 +1,12 @@
+#pragma once
+
+// Tuning parameters for the Wanzhida/Oncetop OT-EM3215D2450Y1R,
+// sold by SparkFun (ROB-20441).
+
+#define FOC_PID_P 4
+#define FOC_PID_I 0
+#define FOC_PID_D 0.04
+#define FOC_PID_OUTPUT_RAMP 10000
+#define FOC_PID_LIMIT 10
+
+#define FOC_VOLTAGE_LIMIT 5

platformio.ini

@@ -17,9 +17,7 @@ test_dir = firmware/test
 data_dir = firmware/data
 
 [base_config]
-platform = espressif32
-board = adafruit_feather_esp32s3
-; board_build.arduino.memory_type = qio_opi ; NEEDED FOR PSRAM also dio_qspi/qsi_qspi for other configs
+platform = espressif32@3.4
 framework = arduino
 monitor_speed = 921600
 monitor_flags = 
@@ -28,88 +26,65 @@ monitor_flags =
 	--filter=esp32_exception_decoder
 upload_speed = 921600
 lib_deps =
-    askuric/Simple FOC@^2.3.0
-    ; infineon/TLV493D-Magnetic-Sensor @ 1.0.3
+    infineon/TLV493D-Magnetic-Sensor @ 1.0.3
     bxparks/AceButton @ 1.9.1
+    bakercp/PacketSerial @ 1.4.0
+    nanopb/Nanopb @ 0.4.6   ; Ideally this would reference the nanopb submodule, but that would require
+                            ; everyone to check out submodules to just compile, so we use the library
+                            ; registry for the runtime. The submodule is available for manually updating
+                            ; the pre-compiled (checked in) .pb.h/c files when proto files change, but is
+                            ; otherwise not used during application firmware compilation.
 build_flags =
-    -DPIO_FRAMEWORK_ARDUINO_ENABLE_CDC=1
-    -DUSBCON=1
-    -DARDUINO_USB_CDC_ON_BOOT=1
-    -DARDUINO_USB_MODE=1
-    -DCORE_DEBUG_LEVEL=2
-    ; -DCORE_DEBUG_LEVEL=ARDUHAL_LOG_LEVEL_DEBUG
     -DMONITOR_SPEED=921600
-    ; -DBOARD_HAS_PSRAM
-
-    -DHSPI_SPEED=100000 ; MA/MAQ Nominal SPI Speed in Mhz (HSPI)
-    -DVSPI_SPEED=400000 ; TFt Nominal SPI Speed in Mhz (VSPI)
 
 [env:view]
 extends = base_config
-board = adafruit_feather_esp32s3
+board = esp32doit-devkit-v1
 lib_deps =
   ${base_config.lib_deps}
-  bodmer/TFT_eSPI@2.5.0
-  ; fastled/FastLED @ 3.5.0
-  ; bogde/HX711 @ 0.7.5
-  ; adafruit/Adafruit VEML7700 Library @ 1.1.1
-  bakercp/PacketSerial @ 1.4.0
-  nanopb/Nanopb @ 0.4.6   ; Ideally this would reference the nanopb submodule, but that would require
-                          ; everyone to check out submodules to just compile, so we use the library
-                          ; registry for the runtime. The submodule is available for manually updating
-                          ; the pre-compiled (checked in) .pb.h/c files when proto files change, but is
-                          ; otherwise not used during application firmware compilation.
+  askuric/Simple FOC @ 2.2.0
+  bodmer/TFT_eSPI@2.4.25
+  fastled/FastLED @ 3.5.0
+  bogde/HX711 @ 0.7.5
+  adafruit/Adafruit VEML7700 Library @ 1.1.1
 
 build_flags =
   ${base_config.build_flags}
   ; Display enabled: 1=enable, 0=disable
-  -DSK_DISPLAY=0
+  -DSK_DISPLAY=1
   ; Display orientation: 0=usb bottom, 2=usb top
   -DSK_DISPLAY_ROTATION=0
   ; LEDs enabled: 1=enable, 0=disable
-  -DSK_LEDS=0
+  -DSK_LEDS=1
   ; Number of LEDs
   -DNUM_LEDS=8
-  -DSENSOR_MT6701=0
   ; Strain-gauge press input enabled: 1=enable, 0=disable
-  -DSK_STRAIN=0
+  -DSK_STRAIN=1
+  ; Ambient light sensor (VEML7700) enabled: 1=enable (display/LEDs match ambient brightness), 0=disable (100% brightness all the time)
+  -DSK_ALS=1
+  ; Use MT6701 magnetic encoder
+  -DSENSOR_MT6701=1
   ; Invert direction of angle sensor (motor direction is detected relative to angle sensor as part of the calibration procedure)
   -DSK_INVERT_ROTATION=1
-  ; Ambient light sensor (VEML7700) enabled: 1=enable (display/LEDs match ambient brightness), 0=disable (100% brightness all the time)
-  -DSK_ALS=0
 
-  -DSENSOR_MAQ430=1
-  -DPIN_MAQ_SCK=6
-  -DPIN_MAQ_MISO=7
-  -DPIN_MAQ_MOSI=5
-  -DPIN_MAQ_SS=4
-
-  -DFOC_PID_P=1
-  -DFOC_PID_I=0
-  -DFOC_PID_D=0.48
-  -DFOC_PID_OUTPUT_RAMP=5000
-  -DFOC_PID_LIMIT=3
-  -DFOC_LPF=0.0075
-
-  -DFOC_VOLTAGE_LIMIT=3
+  -DMOTOR_WANZHIDA_ONCE_TOP=1
 
   ; Pin configurations
-  -DPIN_UH=21
-  -DPIN_UL=12
-  -DPIN_VH=14
-  -DPIN_VL=10
-  -DPIN_WH=13
-  -DPIN_WL=11
+  -DPIN_UH=26
+  -DPIN_UL=25
+  -DPIN_VH=27
+  -DPIN_VL=32
+  -DPIN_WH=12
+  -DPIN_WL=33
   -DPIN_BUTTON_NEXT=-1
   -DPIN_BUTTON_PREV=-1
   -DPIN_SDA=15
   -DPIN_SCL=8
-  ; -DPIN_MT_DATA=37
-  ; -DPIN_MT_CLOCK=13
-  ; -DPIN_MT_CSN=14
+  -DPIN_MT_DATA=37
+  -DPIN_MT_CLOCK=13
+  -DPIN_MT_CSN=14
   -DPIN_LED_DATA=7
-  -DPIN_LCD_BACKLIGHT=08
-  -DSK_INVERT_ROTATION=1
+  -DPIN_LCD_BACKLIGHT=19
 
   -DDESCRIPTION_FONT=Roboto_Thin_24
   -DDESCRIPTION_Y_OFFSET=20
@@ -123,11 +98,11 @@ build_flags =
   -DTFT_WIDTH=240
   -DTFT_HEIGHT=240
   -DTFT_MISO=-1
-  -DTFT_MOSI=48
-  -DTFT_SCLK=09
-  -DTFT_CS=47
-  -DTFT_DC=17
-  -DTFT_RST=18
+  -DTFT_MOSI=5
+  -DTFT_SCLK=20
+  -DTFT_CS=21
+  -DTFT_DC=22
+  -DTFT_RST=4
   -DTFT_BL=-1
   -DLOAD_GLCD=1
   -DLOAD_GFXFF=1
@@ -136,14 +111,74 @@ build_flags =
   ; Reduce loop task stack size (only works on newer IDF Arduino core)
   ; -DARDUINO_LOOP_STACK_SIZE=2048
 
-  ; ; FastLED setup
-  ; ; Modify the default unusable pin mask to allow GPIO 7 (allowed to use on ESP32-PICO-V3-02)
-  ; ; Unusable bits: 6, 8, 9, 10, 20
-  ; ; (0ULL | _FL_BIT(6) | _FL_BIT(8) | _FL_BIT(9) | _FL_BIT(10) | _FL_BIT(20))
-  ; -DFASTLED_UNUSABLE_PIN_MASK=0x100740LL
-  ; ; 0~39 except from 24, 28~31 are valid
-  ; ; (0xFFFFFFFFFFULL & ~(0ULL | _FL_BIT(24) | _FL_BIT(28) | _FL_BIT(29) | _FL_BIT(30) | _FL_BIT(31)))
-  ; -DSOC_GPIO_VALID_GPIO_MASK=0xFF0EFFFFFF
-  ; ; GPIO >= 34 are input only
-  ; ; (SOC_GPIO_VALID_GPIO_MASK & ~(0ULL | _FL_BIT(34) | _FL_BIT(35) | _FL_BIT(36) | _FL_BIT(37) | _FL_BIT(38) | _FL_BIT(39)))
-  ; -DSOC_GPIO_VALID_OUTPUT_GPIO_MASK=0x30EFFFFFF
+  -DCORE_DEBUG_LEVEL=ARDUHAL_LOG_LEVEL_DEBUG
+
+  ; FastLED setup
+  ; Modify the default unusable pin mask to allow GPIO 7 (allowed to use on ESP32-PICO-V3-02)
+  ; Unusable bits: 6, 8, 9, 10, 20
+  ; (0ULL | _FL_BIT(6) | _FL_BIT(8) | _FL_BIT(9) | _FL_BIT(10) | _FL_BIT(20))
+  -DFASTLED_UNUSABLE_PIN_MASK=0x100740LL
+  ; 0~39 except from 24, 28~31 are valid
+  ; (0xFFFFFFFFFFULL & ~(0ULL | _FL_BIT(24) | _FL_BIT(28) | _FL_BIT(29) | _FL_BIT(30) | _FL_BIT(31)))
+  -DSOC_GPIO_VALID_GPIO_MASK=0xFF0EFFFFFF
+  ; GPIO >= 34 are input only
+  ; (SOC_GPIO_VALID_GPIO_MASK & ~(0ULL | _FL_BIT(34) | _FL_BIT(35) | _FL_BIT(36) | _FL_BIT(37) | _FL_BIT(38) | _FL_BIT(39)))
+  -DSOC_GPIO_VALID_OUTPUT_GPIO_MASK=0x30EFFFFFF
+
+
+[env:nanofoc]
+extends = base_config
+platform = espressif32
+board = adafruit_feather_esp32s3
+lib_deps =
+  ${base_config.lib_deps}
+  askuric/Simple FOC@^2.3.0
+  bodmer/TFT_eSPI@2.5.0
+
+build_flags =
+  ${base_config.build_flags}
+  ; Display enabled: 1=enable, 0=disable
+  -DSK_DISPLAY=0
+  ; Display orientation: 0=usb bottom, 2=usb top
+  -DSK_DISPLAY_ROTATION=0
+  ; LEDs enabled: 1=enable, 0=disable
+  -DSK_LEDS=0
+  ; Number of LEDs
+  -DNUM_LEDS=8
+  ; Strain-gauge press input enabled: 1=enable, 0=disable
+  -DSK_STRAIN=0
+  ; Ambient light sensor (VEML7700) enabled: 1=enable (display/LEDs match ambient brightness), 0=disable (100% brightness all the time)
+  -DSK_ALS=0
+
+  -DSENSOR_MAQ430=1
+  -DPIN_MAQ_SCK=6
+  -DPIN_MAQ_MISO=7
+  -DPIN_MAQ_MOSI=5
+  -DPIN_MAQ_SS=4
+  ; Invert direction of angle sensor (motor direction is detected relative to angle sensor as part of the calibration procedure)
+  -DSK_INVERT_ROTATION=1
+
+  -DMOTOR_MAD2804=1
+
+  ; Pin configurations
+  -DPIN_UH=21
+  -DPIN_UL=12
+  -DPIN_VH=14
+  -DPIN_VL=10
+  -DPIN_WH=13
+  -DPIN_WL=11
+  -DPIN_BUTTON_NEXT=-1
+  -DPIN_BUTTON_PREV=-1
+  -DPIN_LED_DATA=7
+  -DPIN_LCD_BACKLIGHT=08
+
+  -DPIO_FRAMEWORK_ARDUINO_ENABLE_CDC=1
+  -DUSBCON=1
+  -DARDUINO_USB_CDC_ON_BOOT=1
+  -DARDUINO_USB_MODE=1
+  -DCORE_DEBUG_LEVEL=2
+  -DHSPI_SPEED=100000 ; MA/MAQ Nominal SPI Speed in Mhz (HSPI)
+  -DVSPI_SPEED=400000 ; TFt Nominal SPI Speed in Mhz (VSPI)
+
+  ; Reduce loop task stack size (only works on newer IDF Arduino core)
+  ; -DARDUINO_LOOP_STACK_SIZE=2048