diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml index 18d94b6e6..1285ccc2f 100644 --- a/.github/workflows/build.yml +++ b/.github/workflows/build.yml @@ -67,6 +67,8 @@ jobs: target: esp32 - path: 'components/math/example' target: esp32 + - path: 'components/max1704x/example' + target: esp32 - path: 'components/monitor/example' target: esp32 - path: 'components/mcp23x17/example' diff --git a/components/max1704x/CMakeLists.txt b/components/max1704x/CMakeLists.txt new file mode 100644 index 000000000..5ae0fe990 --- /dev/null +++ b/components/max1704x/CMakeLists.txt @@ -0,0 +1,4 @@ +idf_component_register( + INCLUDE_DIRS "include" + REQUIRES "logger" "math" + ) diff --git a/components/max1704x/example/CMakeLists.txt b/components/max1704x/example/CMakeLists.txt new file mode 100644 index 000000000..c079bf090 --- /dev/null +++ b/components/max1704x/example/CMakeLists.txt @@ -0,0 +1,21 @@ +# The following lines of boilerplate have to be in your project's CMakeLists +# in this exact order for cmake to work correctly +cmake_minimum_required(VERSION 3.5) + +include($ENV{IDF_PATH}/tools/cmake/project.cmake) + +# add the component directories that we want to use +set(EXTRA_COMPONENT_DIRS + "../../../components/" +) + +set( + COMPONENTS + "main esptool_py i2c task max1704x" + CACHE STRING + "List of components to include" + ) + +project(max1704x_example) + +set(CMAKE_CXX_STANDARD 20) diff --git a/components/max1704x/example/README.md b/components/max1704x/example/README.md new file mode 100644 index 000000000..9efcc89b0 --- /dev/null +++ b/components/max1704x/example/README.md @@ -0,0 +1,34 @@ +# MAX1704X Example + +This example shows how to use the MAX1704X driver to control + +## How to use example + +### Hardware Required + +This example requires a connection (via I2C) to a dev board which has a MAX1704X +battery gauge chip. The example was tested with a QtPy ESP32s3 dev board and a +MAX1704X breakout board from Adafruit, but can be configured (using +`menuconfig`) to run on any ESP board by configuring the I2C pins and selecting +`CUSTOM` hardware. + +- [MAX17048 Breakout board from Adafruit](https://www.adafruit.com/product/5580) +- [QtPy ESP32 Pico](https://www.adafruit.com/product/5395) + +### Build and Flash + +Build the project and flash it to the board, then run monitor tool to view serial output: + +``` +idf.py -p PORT flash monitor +``` + +(Replace PORT with the name of the serial port to use.) + +(To exit the serial monitor, type ``Ctrl-]``.) + +See the Getting Started Guide for full steps to configure and use ESP-IDF to build projects. + +## Example Output + +![CleanShot 2024-01-09 at 08 24 25](https://github.com/esp-cpp/espp/assets/213467/13699053-ba1d-4af3-a5e0-dbcbd772b2d7) diff --git a/components/max1704x/example/main/CMakeLists.txt b/components/max1704x/example/main/CMakeLists.txt new file mode 100644 index 000000000..a941e22ba --- /dev/null +++ b/components/max1704x/example/main/CMakeLists.txt @@ -0,0 +1,2 @@ +idf_component_register(SRC_DIRS "." + INCLUDE_DIRS ".") diff --git a/components/max1704x/example/main/Kconfig.projbuild b/components/max1704x/example/main/Kconfig.projbuild new file mode 100644 index 000000000..dfc846b7d --- /dev/null +++ b/components/max1704x/example/main/Kconfig.projbuild @@ -0,0 +1,39 @@ +menu "Example Configuration" + + choice EXAMPLE_HARDWARE + prompt "Hardware" + default EXAMPLE_HARDWARE_QTPYPICO + help + Select the hardware to run this example on. + + config EXAMPLE_HARDWARE_QTPYPICO + depends on IDF_TARGET_ESP32 + bool "Qt Py PICO" + + config EXAMPLE_HARDWARE_QTPYS3 + depends on IDF_TARGET_ESP32S3 + bool "Qt Py S3" + + config EXAMPLE_HARDWARE_CUSTOM + bool "Custom" + endchoice + + config EXAMPLE_I2C_SCL_GPIO + int "SCL GPIO Num" + range 0 50 + default 19 if EXAMPLE_HARDWARE_QTPYPICO + default 40 if EXAMPLE_HARDWARE_QTPYS3 + default 19 if EXAMPLE_HARDWARE_CUSTOM + help + GPIO number for I2C Master clock line. + + config EXAMPLE_I2C_SDA_GPIO + int "SDA GPIO Num" + range 0 50 + default 22 if EXAMPLE_HARDWARE_QTPYPICO + default 41 if EXAMPLE_HARDWARE_QTPYS3 + default 22 if EXAMPLE_HARDWARE_CUSTOM + help + GPIO number for I2C Master data line. + +endmenu diff --git a/components/max1704x/example/main/max1704x_example.cpp b/components/max1704x/example/main/max1704x_example.cpp new file mode 100644 index 000000000..a3a5afc6b --- /dev/null +++ b/components/max1704x/example/main/max1704x_example.cpp @@ -0,0 +1,71 @@ +#include +#include + +#include "i2c.hpp" +#include "logger.hpp" +#include "max1704x.hpp" +#include "task.hpp" + +using namespace std::chrono_literals; + +extern "C" void app_main(void) { + + //! [max1704x example] + espp::Logger logger({.tag = "Max1704x example", .level = espp::Logger::Verbosity::INFO}); + // make the I2C that we'll use to communicate + logger.info("initializing i2c driver..."); + espp::I2c i2c({ + .port = I2C_NUM_0, + .sda_io_num = (gpio_num_t)CONFIG_EXAMPLE_I2C_SDA_GPIO, + .scl_io_num = (gpio_num_t)CONFIG_EXAMPLE_I2C_SCL_GPIO, + }); + // now make the max1704x which handles GPIO + espp::Max1704x max1704x({.write = std::bind(&espp::I2c::write, &i2c, std::placeholders::_1, + std::placeholders::_2, std::placeholders::_3), + .read = std::bind(&espp::I2c::read, &i2c, std::placeholders::_1, + std::placeholders::_2, std::placeholders::_3), + .log_level = espp::Logger::Verbosity::WARN}); + std::error_code ec; + + // and finally, make the task to periodically poll the max1704x and print + // the state. NOTE: the Max1704x does not internally manage its own state + // update, so whatever rate we use here is the rate at which the state will + // update. + auto task_fn = [&](std::mutex &m, std::condition_variable &cv) { + // NOTE: sleeping in this way allows the sleep to exit early when the + // task is being stopped / destroyed + { + std::unique_lock lk(m); + cv.wait_for(lk, 50ms); + } + static auto start = std::chrono::high_resolution_clock::now(); + auto now = std::chrono::high_resolution_clock::now(); + auto seconds = std::chrono::duration(now - start).count(); + std::error_code ec; + auto voltage = max1704x.get_battery_voltage(ec); + if (ec) { + return false; + } + auto soc = max1704x.get_battery_percentage(ec); + if (ec) { + return false; + } + auto charge_rate = max1704x.get_battery_charge_rate(ec); + if (ec) { + return false; + } + fmt::print("{:0.2f}, {:0.2f}, {:0.2f}, {:0.2f}\n", seconds, voltage, soc, charge_rate); + // don't want to stop the task + return false; + }; + auto task = espp::Task({.name = "Max1704x Task", + .callback = task_fn, + .stack_size_bytes = 5 * 1024, + .log_level = espp::Logger::Verbosity::WARN}); + fmt::print("%time(s), voltage (V), SoC (%), Charge Rate (%/hr)\n"); + task.start(); + //! [max1704x example] + while (true) { + std::this_thread::sleep_for(100ms); + } +} diff --git a/components/max1704x/example/sdkconfig.defaults b/components/max1704x/example/sdkconfig.defaults new file mode 100644 index 000000000..7d75f8d01 --- /dev/null +++ b/components/max1704x/example/sdkconfig.defaults @@ -0,0 +1,11 @@ +CONFIG_FREERTOS_HZ=1000 + +# ESP32-specific +# +CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ_240=y +CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ=240 + +# Common ESP-related +# +CONFIG_ESP_SYSTEM_EVENT_TASK_STACK_SIZE=4096 +CONFIG_ESP_MAIN_TASK_STACK_SIZE=8192 diff --git a/components/max1704x/include/max1704x.hpp b/components/max1704x/include/max1704x.hpp new file mode 100644 index 000000000..d7b115e06 --- /dev/null +++ b/components/max1704x/include/max1704x.hpp @@ -0,0 +1,284 @@ +#pragma once + +#include +#include + +#include "logger.hpp" + +namespace espp { +/** + * @brief Class to interface with the MAX1704x battery fuel gauge. + * @details This class is used to interface with the MAX1704x battery fuel + * gauge. It is used to get the battery voltage, state of charge, and + * charge/discharge rate. + * @see + * https://cdn-learn.adafruit.com/assets/assets/000/114/607/original/MAX17048-MAX17049.pdf?1661966692 + * + * @section max1704x_ex1 MAX1704X Example + * @snippet max1704x_example.cpp max1704x example + */ +class Max1704x { +public: + static constexpr uint8_t DEFAULT_ADDRESS = 0x36; ///< Default address of the MAX1704x. + + /** + * @brief Function to write bytes to the device. + * @param dev_addr Address of the device to write to. + * @param data Pointer to array of bytes to write. + * @param data_len Number of data bytes to write. + * @return True if successful, false otherwise. + */ + typedef std::function write_fn; + + /** + * @brief Function to read bytes from the device. + * @param dev_addr Address of the device to write to. + * @param data Pointer to array of bytes to read into. + * @param data_len Number of data bytes to read. + * @return True if successful, false otherwise. + */ + typedef std::function read_fn; + + enum class AlertStatus { + SOC_CHANGE = 0x20, ///< Alert for state of charge change + SOC_LOW = 0x10, ///< Alert for state of charge low + VOLTAGE_RESET = 0x08, ///< Alert for voltage reset dip + VOLTAGE_LOW = 0x04, ///< Alert for voltage low + VOLTAGE_HIGH = 0x02, ///< Alert for voltage high + }; + + /** + * @brief Configuration for the MAX1704x. + */ + struct Config { + uint8_t device_address{DEFAULT_ADDRESS}; ///< Address of the MAX1704x. + write_fn write; //< Function to write bytes to the device. + read_fn read; //< Function to read bytes from the device. + bool auto_init{true}; ///< Whether to automatically initialize the MAX1704x. + Logger::Verbosity log_level{Logger::Verbosity::WARN}; ///< Log level for the MAX1704x. + }; + + /** + * @brief Construct a new Max1704x object. + * @param config Configuration for the MAX1704x. + */ + explicit Max1704x(const Config &config) + : address_(config.device_address), write_(config.write), read_(config.read), + logger_({.tag = "Max1704x", .level = config.log_level}) { + if (config.auto_init) { + std::error_code ec; + initalize(ec); + if (ec) { + logger_.error("Failed to initialize MAX1704x: {}", ec.message()); + } + } + } + + /** + * @brief Delete the Max1704x object. + */ + ~Max1704x(); + + /** + * @brief Initialize the MAX1704x. + */ + void initalize(std::error_code &ec) { + std::scoped_lock lock(mutex_); + // Get the IC version + version_ = get_version(ec); + if (ec) { + return; + } + // Get the chip ID + chip_id_ = get_chip_id(ec); + if (ec) { + return; + } + logger_.info("MAX1704x version: 0x{:04X}, chip ID: 0x{:02X}", version_, chip_id_); + ec.clear(); + } + + /** + * @brief Get the IC version. + * @param ec Error code set if an error occurs. + * @return The IC version. + */ + uint16_t get_version(std::error_code &ec) { + std::scoped_lock lock(mutex_); + uint16_t data = read_register(Register::VERSION, ec); + if (ec) { + return 0; + } + ec.clear(); + return data; + } + + /** + * @brief Get the Chip ID. + * @param ec Error code set if an error occurs. + * @return The chip ID. + */ + uint8_t get_chip_id(std::error_code &ec) { + std::scoped_lock lock(mutex_); + uint16_t data = read_register(Register::CHIPID, ec); + if (ec) { + return 0; + } + ec.clear(); + return data; + } + + /** + * @brief Get the battery voltage. + * @param ec Error code set if an error occurs. + * @return The battery voltage in V. + */ + float get_battery_voltage(std::error_code &ec) { + std::scoped_lock lock(mutex_); + uint16_t data = read_register(Register::VCELL, ec); + if (ec) { + return 0; + } + ec.clear(); + return (float)data * CELL_VOLTAGE_FACTOR; + } + + /** + * @brief Get the battery state of charge. + * @details This is the percentage of battery charge remaining. + * @param ec Error code set if an error occurs. + * @return The battery state of charge in %. + */ + float get_battery_percentage(std::error_code &ec) { + std::scoped_lock lock(mutex_); + uint16_t data = read_register(Register::SOC, ec); + if (ec) { + return 0; + } + ec.clear(); + return (float)data * CELL_SOC_FACTOR; + } + + /** + * @brief Get the battery charge or discharge rate. + * @details This is the rate at which the battery is charging or + * discharging. A positive value indicates charging. A negative + * value indicates discharging. Units are in % per hour. + * @param ec Error code set if an error occurs. + * @return The battery charge or discharge rate in %/hr. + */ + float get_battery_charge_rate(std::error_code &ec) { + std::scoped_lock lock(mutex_); + int16_t data = read_register(Register::CRATE, ec); + if (ec) { + return 0; + } + ec.clear(); + return (float)data * CELL_CRATE_FACTOR; + } + + /** + * @brief Get the alert status. + * @details This is the current alert status of the battery. + * @param ec Error code set if an error occurs. + * @return The battery alert status as an AlertStatus. + */ + AlertStatus get_alert_status(std::error_code &ec) { + std::scoped_lock lock(mutex_); + uint16_t data = read_register(Register::STATUS, ec); + if (ec) { + return AlertStatus::SOC_CHANGE; + } + ec.clear(); + return (AlertStatus)(data & 0x7F); + } + + /** + * @brief Clear the alert status. + * @details This clears the alert status of the battery. + * @param flags_to_clear The flags to clear. + * @param ec Error code set if an error occurs. + */ + void clear_alert_status(uint8_t flags_to_clear, std::error_code &ec) { + std::scoped_lock lock(mutex_); + uint8_t data = read_register(Register::STATUS, ec); + if (ec) { + return; + } + data &= ~flags_to_clear; + write_register(Register::STATUS, data, ec); + } + +protected: + static constexpr float CELL_VOLTAGE_FACTOR = + 78.125f / 1000000.0f; ///< Factor to convert cell voltage to V. 78.125uV per bit. + static constexpr float CELL_SOC_FACTOR = + 1.0f / 256.0f; ///< Factor to convert cell state of charge to %. + static constexpr float CELL_CRATE_FACTOR = + 0.208f; ///< Factor to convert cell charge rate to %/hr. + + enum class Register { + VCELL = 0x02, ///< Register that holds cell voltage + SOC = 0x04, ///< Register that holds cell state of charge + MODE = 0x06, ///< Register that manages mode. Default is 0x0000 + VERSION = 0x08, ///< Register that has IC version + HIBRT = 0x0A, ///< Register that manages hibernation. Default is 0x8030 + CONFIG = 0x0C, ///< Register that manages configuration. Default is 0x971C + VALRT = 0x14, ///< Register that holds voltage alert values + CRATE = 0x16, ///< Register that holds cell charge rate + VRESET = 0x18, ///< Register that holds reset voltage setting + CHIPID = 0x19, ///< Register that holds semi-unique chip ID + STATUS = 0x1A, ///< Register that holds current alert/status + CMD = 0xFE ///< Register that can be written for special commands + }; + + enum class Alert { + SOC_CHANGE = 0x20, ///< Alert for state of charge change + SOC_LOW = 0x10, ///< Alert for state of charge low + VOLTAGE_RESET = 0x08, ///< Alert for voltage reset dip + VOLTAGE_LOW = 0x04, ///< Alert for voltage low + VOLTAGE_HIGH = 0x02, ///< Alert for voltage high + }; + + void write_register(const Register reg, const uint8_t data, std::error_code &ec) { + std::scoped_lock lock(mutex_); + uint8_t buf[2]; + buf[0] = (uint8_t)reg; + buf[1] = (uint8_t)data; + if (!write_(address_, buf, sizeof(buf))) { + logger_.error("Failed to write register 0x{:02X}", (uint8_t)reg); + ec = std::make_error_code(std::errc::io_error); + return; + } + ec.clear(); + } + + uint16_t read_register(const Register reg, std::error_code &ec) { + std::scoped_lock lock(mutex_); + // write the address + if (!write_(address_, (uint8_t *)®, 1)) { + ec = std::make_error_code(std::errc::io_error); + logger_.error("Failed to write register 0x{:02X}", (uint8_t)reg); + return 0; + } + // and read the data + uint8_t data[2]; + if (!read_(address_, data, 2)) { + ec = std::make_error_code(std::errc::io_error); + logger_.error("Failed to read register 0x{:02X}", (uint8_t)reg); + return 0; + } + ec.clear(); + return (data[0] << 8) | data[1]; + } + + uint16_t version_{0}; ///< IC version + uint8_t chip_id_{0}; ///< Chip ID + + uint8_t address_; + write_fn write_; + read_fn read_; + std::recursive_mutex mutex_; + Logger logger_; +}; +} // namespace espp diff --git a/doc/Doxyfile b/doc/Doxyfile index eb4642dd7..ae2f6f6d7 100644 --- a/doc/Doxyfile +++ b/doc/Doxyfile @@ -48,6 +48,7 @@ EXAMPLE_PATH += $(PROJECT_PATH)/components/led/example/main/led_example.cpp EXAMPLE_PATH += $(PROJECT_PATH)/components/led_strip/example/main/led_strip_example.cpp EXAMPLE_PATH += $(PROJECT_PATH)/components/logger/example/main/logger_example.cpp EXAMPLE_PATH += $(PROJECT_PATH)/components/math/example/main/math_example.cpp +EXAMPLE_PATH += $(PROJECT_PATH)/components/max1704x/example/main/max1704x_example.cpp EXAMPLE_PATH += $(PROJECT_PATH)/components/monitor/example/main/monitor_example.cpp EXAMPLE_PATH += $(PROJECT_PATH)/components/mcp23x17/example/main/mcp23x17_example.cpp EXAMPLE_PATH += $(PROJECT_PATH)/components/mt6701/example/main/mt6701_example.cpp @@ -128,6 +129,7 @@ INPUT += $(PROJECT_PATH)/components/math/include/fast_math.hpp INPUT += $(PROJECT_PATH)/components/math/include/gaussian.hpp INPUT += $(PROJECT_PATH)/components/math/include/range_mapper.hpp INPUT += $(PROJECT_PATH)/components/math/include/vector2d.hpp +INPUT += $(PROJECT_PATH)/components/max1704x/include/max1704x.hpp INPUT += $(PROJECT_PATH)/components/ndef/include/ndef.hpp INPUT += $(PROJECT_PATH)/components/mcp23x17/include/mcp23x17.hpp INPUT += $(PROJECT_PATH)/components/mt6701/include/mt6701.hpp diff --git a/doc/en/battery/bldc_driver.rst b/doc/en/battery/bldc_driver.rst new file mode 100644 index 000000000..8ea158696 --- /dev/null +++ b/doc/en/battery/bldc_driver.rst @@ -0,0 +1,13 @@ +BLDC Driver +*********** + +The `BldcDriver` component wraps around the `ESP MCPWM Peripheral +`_ +to provide full 6 PWM control over a 3 phase brushless dc motor. + +.. ---------------------------- API Reference ---------------------------------- + +API Reference +------------- + +.. include-build-file:: inc/bldc_driver.inc diff --git a/doc/en/battery/bldc_motor.rst b/doc/en/battery/bldc_motor.rst new file mode 100644 index 000000000..a910d98f0 --- /dev/null +++ b/doc/en/battery/bldc_motor.rst @@ -0,0 +1,29 @@ +BLDC Motor +********** + +The `BldcMotor` implements the Field-Oriented Control (FOC) algorithm with +support for multiple transforms to drive voltage (such as Sinusoidal and Space +Vector). It supports the following motion control configurations (which can be +changed dynamically): + +* Closed-loop angle +* Closed-loop velocity +* Open-loop angle +* Open-loop velocity + +Note: currently the code has some support for Torque control, but that requires +current sense - for which I don't yet have the hardware to support the +development of. + +The `BldcMotor` should be configured with a `BldcDriver` and optional `Sensor` +(for angle & speed of the motor), and optional `CurrentSensor` (for measuring +the phase currents of the motor and providing torque control). + +.. ---------------------------- API Reference ---------------------------------- + +API Reference +------------- + +.. include-build-file:: inc/bldc_motor.inc +.. include-build-file:: inc/bldc_types.inc +.. include-build-file:: inc/sensor_direction.inc diff --git a/doc/en/battery/index.rst b/doc/en/battery/index.rst new file mode 100644 index 000000000..d72e3a5b8 --- /dev/null +++ b/doc/en/battery/index.rst @@ -0,0 +1,11 @@ +Battery APIs +************ + +.. toctree:: + :maxdepth: 1 + + max1704x + +These components provide a common interface to battery devices. They provide +functions for monitoring the battery level and charging status, and for +configuring the battery charging parameters. diff --git a/doc/en/battery/max1704x.rst b/doc/en/battery/max1704x.rst new file mode 100644 index 000000000..f3db1fddf --- /dev/null +++ b/doc/en/battery/max1704x.rst @@ -0,0 +1,32 @@ +MAX1704X +******** + +The MAX17048/MAX17049 ICs are tiny, micropower current fuel gauges for +lithium-ion (Li+) batteries in handheld and portable equipment. The MAX17048 +operates with a single lithium cell and the MAX17049 with two lithium cells in +series. + +The ICs use the sophisticated Li+ battery-modeling algorithm ModelGauge™ to +track the battery relative state-of-charge (SOC) continuously over widely varying +charge and discharge conditions. The ModelGauge algorithm eliminates +current-sense resistor and battery-learn cycles required in traditional fuel +gauges. Temperature compensation is implemented using the system +microcontroller. + +The ICs automatically detect when the battery enters a low-current state and +enters low-power 3µA hibernate mode, while still providing accurate fuel +gauging. The ICs automatically exit hibernate mode when the system returns to +active state. + +On battery insertion, the ICs debounce initial voltage measurements to improve +the initial SOC estimate, thus allowing them to be located on system side. SOC, +voltage, and rate information is accessed using the I2C interface. The ICs are +available in a tiny 0.9mm x 1.7mm, 8-bump wafer-level package (WLP), or a 2mm x +2mm, 8-pin TDFN package. + +.. ---------------------------- API Reference ---------------------------------- + +API Reference +------------- + +.. include-build-file:: inc/max1704x.inc diff --git a/doc/en/index.rst b/doc/en/index.rst index 52ef2cf6d..eeb4db2e4 100644 --- a/doc/en/index.rst +++ b/doc/en/index.rst @@ -11,6 +11,7 @@ This is the documentation for esp-idf c++ components, ESPP (`espp `_ +to provide full 6 PWM control over a 3 phase brushless dc motor. + +.. ---------------------------- API Reference ---------------------------------- + +API Reference +------------- + +.. include-build-file:: inc/bldc_driver.inc diff --git a/docs/_sources/battery/bldc_motor.rst.txt b/docs/_sources/battery/bldc_motor.rst.txt new file mode 100644 index 000000000..a910d98f0 --- /dev/null +++ b/docs/_sources/battery/bldc_motor.rst.txt @@ -0,0 +1,29 @@ +BLDC Motor +********** + +The `BldcMotor` implements the Field-Oriented Control (FOC) algorithm with +support for multiple transforms to drive voltage (such as Sinusoidal and Space +Vector). It supports the following motion control configurations (which can be +changed dynamically): + +* Closed-loop angle +* Closed-loop velocity +* Open-loop angle +* Open-loop velocity + +Note: currently the code has some support for Torque control, but that requires +current sense - for which I don't yet have the hardware to support the +development of. + +The `BldcMotor` should be configured with a `BldcDriver` and optional `Sensor` +(for angle & speed of the motor), and optional `CurrentSensor` (for measuring +the phase currents of the motor and providing torque control). + +.. ---------------------------- API Reference ---------------------------------- + +API Reference +------------- + +.. include-build-file:: inc/bldc_motor.inc +.. include-build-file:: inc/bldc_types.inc +.. include-build-file:: inc/sensor_direction.inc diff --git a/docs/_sources/battery/index.rst.txt b/docs/_sources/battery/index.rst.txt new file mode 100644 index 000000000..d72e3a5b8 --- /dev/null +++ b/docs/_sources/battery/index.rst.txt @@ -0,0 +1,11 @@ +Battery APIs +************ + +.. toctree:: + :maxdepth: 1 + + max1704x + +These components provide a common interface to battery devices. They provide +functions for monitoring the battery level and charging status, and for +configuring the battery charging parameters. diff --git a/docs/_sources/battery/max1704x.rst.txt b/docs/_sources/battery/max1704x.rst.txt new file mode 100644 index 000000000..f3db1fddf --- /dev/null +++ b/docs/_sources/battery/max1704x.rst.txt @@ -0,0 +1,32 @@ +MAX1704X +******** + +The MAX17048/MAX17049 ICs are tiny, micropower current fuel gauges for +lithium-ion (Li+) batteries in handheld and portable equipment. The MAX17048 +operates with a single lithium cell and the MAX17049 with two lithium cells in +series. + +The ICs use the sophisticated Li+ battery-modeling algorithm ModelGauge™ to +track the battery relative state-of-charge (SOC) continuously over widely varying +charge and discharge conditions. The ModelGauge algorithm eliminates +current-sense resistor and battery-learn cycles required in traditional fuel +gauges. Temperature compensation is implemented using the system +microcontroller. + +The ICs automatically detect when the battery enters a low-current state and +enters low-power 3µA hibernate mode, while still providing accurate fuel +gauging. The ICs automatically exit hibernate mode when the system returns to +active state. + +On battery insertion, the ICs debounce initial voltage measurements to improve +the initial SOC estimate, thus allowing them to be located on system side. SOC, +voltage, and rate information is accessed using the I2C interface. The ICs are +available in a tiny 0.9mm x 1.7mm, 8-bump wafer-level package (WLP), or a 2mm x +2mm, 8-pin TDFN package. + +.. ---------------------------- API Reference ---------------------------------- + +API Reference +------------- + +.. include-build-file:: inc/max1704x.inc diff --git a/docs/_sources/index.rst.txt b/docs/_sources/index.rst.txt index 52ef2cf6d..eeb4db2e4 100644 --- a/docs/_sources/index.rst.txt +++ b/docs/_sources/index.rst.txt @@ -11,6 +11,7 @@ This is the documentation for esp-idf c++ components, ESPP (`espp - + @@ -90,6 +90,7 @@ +
  • Battery APIs
  • BLDC APIs
  • Button APIs
  • Controller APIs
    • @@ -145,7 +146,7 @@
  • ADC APIs »
  • ADC Types
  • - Edit on GitHub + Edit on GitHub
    • @@ -173,13 +174,13 @@

    Header File - +
    -

    © Copyright 2022 - 2023, William Emfinger.

    +

    © Copyright 2022 - 2024, William Emfinger.

      diff --git a/docs/adc/ads1x15.html b/docs/adc/ads1x15.html index a21a3fc74..1f0b7ec8d 100644 --- a/docs/adc/ads1x15.html +++ b/docs/adc/ads1x15.html @@ -91,6 +91,7 @@
    • ADC Types
    +
  • Battery APIs
  • BLDC APIs
  • Button APIs
  • Controller APIs
    • @@ -146,7 +147,7 @@
  • ADC APIs »
  • ADS1x15 I2C ADC
  • - Edit on GitHub + Edit on GitHub
    • @@ -163,7 +164,7 @@

    API Reference

    Header File

    @@ -588,7 +589,7 @@

    ADS1X15 Example -

    © Copyright 2022 - 2023, William Emfinger.

    +

    © Copyright 2022 - 2024, William Emfinger.

     +
  • Battery APIs
  • BLDC APIs
  • Button APIs
  • Controller APIs
    • @@ -146,7 +147,7 @@
  • ADC APIs »
  • ADS7138 I2C ADC
  • - Edit on GitHub + Edit on GitHub
    • @@ -168,7 +169,7 @@

    API Reference

    Header File

    @@ -1178,7 +1179,7 @@

    ADS7138 Example -

    © Copyright 2022 - 2023, William Emfinger.

    +

    © Copyright 2022 - 2024, William Emfinger.

     +
  • Battery APIs
  • BLDC APIs
  • Button APIs
  • Controller APIs
    • @@ -146,7 +147,7 @@
  • ADC APIs »
  • Continuous ADC
  • - Edit on GitHub + Edit on GitHub
    • @@ -168,7 +169,7 @@

    API Reference

    Header File

    @@ -356,7 +357,7 @@

    Continuous ADC Example -

    © Copyright 2022 - 2023, William Emfinger.

    +

    © Copyright 2022 - 2024, William Emfinger.

     +
  • Battery APIs
  • BLDC APIs
  • Button APIs
  • Controller APIs
    • @@ -138,7 +139,7 @@
  • »
  • ADC APIs
  • - Edit on GitHub + Edit on GitHub
    • @@ -172,7 +173,7 @@

    ADC APIs -

    © Copyright 2022 - 2023, William Emfinger.

    +

    © Copyright 2022 - 2024, William Emfinger.

     +
  • Battery APIs
  • BLDC APIs
  • Button APIs
  • Controller APIs
    • @@ -146,7 +147,7 @@
  • ADC APIs »
  • Oneshot ADC
  • - Edit on GitHub + Edit on GitHub
    • @@ -167,7 +168,7 @@

    API Reference

    Header File

    @@ -310,7 +311,7 @@

    Oneshot ADC Example -

    © Copyright 2022 - 2023, William Emfinger.

    +

    © Copyright 2022 - 2024, William Emfinger.

     +
  • Battery APIs
  • BLDC APIs
  • Button APIs
  • Controller APIs
    • @@ -146,7 +147,7 @@
  • ADC APIs »
  • TLA2528 I2C ADC
  • - Edit on GitHub + Edit on GitHub
    • @@ -168,7 +169,7 @@

    API Reference

    Header File

    @@ -887,7 +888,7 @@

    TLA2528 Example -

    © Copyright 2022 - 2023, William Emfinger.

    +

    © Copyright 2022 - 2024, William Emfinger.

      diff --git a/docs/battery/bldc_driver.html b/docs/battery/bldc_driver.html new file mode 100644 index 000000000..ae08975e7 --- /dev/null +++ b/docs/battery/bldc_driver.html @@ -0,0 +1,429 @@ + + + + + + + BLDC Driver - ESP32 - — ESPP latest documentation + + + + + + + + + + + + + + + + + + + + + + + + + +
      + + +
      + +
      +
      +
      + +
      +
      +
      +
      + +
      +

      BLDC Driver

      +

      The BldcDriver component wraps around the ESP MCPWM Peripheral +to provide full 6 PWM control over a 3 phase brushless dc motor.

      +
      +

      API Reference

      +
      +

      Header File

      + +
      +
      +

      Classes

      +
      +
      +class espp::BldcDriver
      +

      Interface for controlling the 6 PWMs (high/low sides for phases A,B,C) of a brushless dc motor (BLDC motor). Wraps around the ESP32 https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/peripherals/mcpwm.html peripheral.

      +
      +

      Public Functions

      +
      +
      +inline explicit BldcDriver(const Config &config)
      +

      Initialize the bldc driver.

      +
      +

      Note

      +

      Enables the driver.

      +
      +
      +
      Parameters
      +

      config – Config used to initialize the driver.

      +
      +
      +
      + +
      +
      +inline ~BldcDriver()
      +

      Disable the BldcDriver and destroy it.

      +
      + +
      +
      +inline void enable()
      +

      Enable the driver, set the enable pin high (if we were provided an enable pin), and remove any force level on the pins if there was a force level.

      +
      + +
      +
      +inline void disable()
      +

      Disable the driver, set the enable pin low (if we were provided an enable pin), add a force level to each pin to force the gates all low.

      +
      + +
      +
      +inline bool is_enabled() const
      +

      Check if the driver is enabled.

      +
      +
      Returns
      +

      True if the driver is enabled, false otherwise.

      +
      +
      +
      + +
      +
      +inline bool is_faulted()
      +

      Check if the driver is faulted.

      +
      +

      Note

      +

      If no fault pin was provided, this will always return false.

      +
      +
      +
      Returns
      +

      True if the driver is faulted, false otherwise.

      +
      +
      +
      + +
      +
      +inline void set_phase_state(int state_a, int state_b, int state_c)
      +

      This function does nothing, merely exists for later if we choose to implement it as part of the FOC control algorithm.

      +
      +

      Note

      +

      The integers provided are -1 (low), 0 (high impedance), and 1 (active) for the 3 possible states.

      +
      +
      +
      Parameters
      +
        +

      • state_a – Desired state for phase A.

        • +

      • state_b – Desired state for phase B.

        • +

      • state_c – Desired state for phase C.

        • +
      +
      +
      +
      + +
      +
      +inline void set_voltage(float ua, float ub, float uc)
      +

      Set the phase voltages (in volts) to the driver.

      +
      +

      Note

      +

      Uses the previously configured power supply voltage and limit voltage (if any was provided) to convert to the appropriate pwm.

      +
      +
      +
      Parameters
      +
        +

      • ua – Desired voltage [0.0f, power_supply_voltage] for phase A.

        • +

      • ub – Desired voltage [0.0f, power_supply_voltage] for phase B.

        • +

      • uc – Desired voltage [0.0f, power_supply_voltage] for phase C.

        • +
      +
      +
      +
      + +
      +
      +inline void set_pwm(float duty_a, float duty_b, float duty_c)
      +

      Directly set the duty cycle in range [0.0, 1.0] for each phase.

      +
      +
      Parameters
      +
        +

      • duty_a – Duty cycle [0.0, 1.0] for phase A.

        • +

      • duty_b – Duty cycle [0.0, 1.0] for phase B.

        • +

      • duty_c – Duty cycle [0.0, 1.0] for phase C.

        • +
      +
      +
      +
      + +
      +
      +inline void configure_power(float power_supply_voltage, float voltage_limit = -1.0f)
      +

      Update the power supply configuration and optional motor voltage limit.

      +
      +
      Parameters
      +
        +

      • power_supply_voltage – New max voltage (volts) from the power supply.

        • +

      • voltage_limit – New limit voltage (volts) to allow to the motor.

        • +
      +
      +
      +
      + +
      +
      +inline float get_voltage_limit() const
      +

      Get the current motor voltage limit (if any).

      +
      +
      Returns
      +

      Voltage limit the driver will allow to the motor.

      +
      +
      +
      + +
      +
      +inline float get_power_supply_limit() const
      +

      Get the configured power supply voltage.

      +
      +
      Returns
      +

      Maximum voltage the driver can supply to the motor.

      +
      +
      +
      + +
      +
      +
      +struct Config
      +

      Configure the driver for 6-channel control of a BLDC.

      +
      +

      Public Members

      +
      +
      +int gpio_a_h
      +

      Phase A high side gpio.

      +
      + +
      +
      +int gpio_a_l
      +

      Phase A low side gpio.

      +
      + +
      +
      +int gpio_b_h
      +

      Phase B high side gpio.

      +
      + +
      +
      +int gpio_b_l
      +

      Phase B low side gpio.

      +
      + +
      +
      +int gpio_c_h
      +

      Phase C high side gpio.

      +
      + +
      +
      +int gpio_c_l
      +

      Phase C low side gpio.

      +
      + +
      +
      +int gpio_enable = {-1}
      +

      Enable pin for the BLDC driver (if any).

      +
      + +
      +
      +int gpio_fault = {-1}
      +

      Fault pin for the BLDC driver (if any).

      +
      + +
      +
      +float power_supply_voltage
      +

      Voltage of the power supply.

      +
      + +
      +
      +float limit_voltage = {-1}
      +

      What voltage the motor should be limited to. Less than 0 means no limit. Will be clamped to power supply voltage.

      +
      + +
      +
      +float dead_zone = {0.02}
      +

      Percentage [0.0, 1.0] of time the gates are off.

      +
      + +
      +
      +espp::Logger::Verbosity log_level = {espp::Logger::Verbosity::WARN}
      +

      Verbosity for the bldc driver.

      +
      + +
      +
      + +
      + +
      +
      +
      + + +
      +
      + +
      +
      +
      +
      + + + + + \ No newline at end of file diff --git a/docs/battery/bldc_motor.html b/docs/battery/bldc_motor.html new file mode 100644 index 000000000..d67297b56 --- /dev/null +++ b/docs/battery/bldc_motor.html @@ -0,0 +1,601 @@ + + + + + + + BLDC Motor - ESP32 - — ESPP latest documentation + + + + + + + + + + + + + + + + + + + + + + + + + +
      + + +
      + +
      +
      +
      + +
      +
      +
      +
      + +
      +

      BLDC Motor

      +

      The BldcMotor implements the Field-Oriented Control (FOC) algorithm with +support for multiple transforms to drive voltage (such as Sinusoidal and Space +Vector). It supports the following motion control configurations (which can be +changed dynamically):

      +
        +

      • Closed-loop angle

        • +

      • Closed-loop velocity

        • +

      • Open-loop angle

        • +

      • Open-loop velocity

        • +
      +

      Note: currently the code has some support for Torque control, but that requires +current sense - for which I don’t yet have the hardware to support the +development of.

      +

      The BldcMotor should be configured with a BldcDriver and optional Sensor +(for angle & speed of the motor), and optional CurrentSensor (for measuring +the phase currents of the motor and providing torque control).

      +
      +

      API Reference

      +
      +

      Header File

      + +
      +
      +

      Classes

      +
      +
      +template<DriverConcept D, SensorConcept S, CurrentSensorConcept CS = DummyCurrentSense>
      class espp::BldcMotor
      +

      Motor control class for a Brushless DC (BLDC) motor, implementing the field-oriented control (FOC) algorithm. Must be provided a driver object / type, and optionally a position/velocity sensor object/type and optionally a current sensor object / type.

      +
      +

      Example Usage

      +

          // now make the mt6701 which decodes the data
+    std::shared_ptr<espp::Mt6701> mt6701 = std::make_shared<espp::Mt6701>(
+        espp::Mt6701::Config{.write = mt6701_write,
+                             .read = mt6701_read,
+                             .velocity_filter = filter_fn,
+                             .update_period = std::chrono::duration<float>(core_update_period),
+                             .log_level = espp::Logger::Verbosity::WARN});
+
+    // now make the bldc driver
+    std::shared_ptr<espp::BldcDriver> driver =
+        std::make_shared<espp::BldcDriver>(espp::BldcDriver::Config{
+            // this pinout is configured for the TinyS3 connected to the
+            // TMC6300-BOB in the BLDC Motor Test Stand
+            .gpio_a_h = 1,
+            .gpio_a_l = 2,
+            .gpio_b_h = 3,
+            .gpio_b_l = 4,
+            .gpio_c_h = 5,
+            .gpio_c_l = 21,
+            .gpio_enable = 34, // connected to the VIO/~Stdby pin of TMC6300-BOB
+            .gpio_fault = 36,  // connected to the nFAULT pin of TMC6300-BOB
+            .power_supply_voltage = 5.0f,
+            .limit_voltage = 5.0f,
+            .log_level = espp::Logger::Verbosity::WARN});
+
+    // now make the bldc motor
+    using BldcMotor = espp::BldcMotor<espp::BldcDriver, espp::Mt6701>;
+    auto motor = BldcMotor(BldcMotor::Config{
+        // measured by setting it into ANGLE_OPENLOOP and then counting how many
+        // spots you feel when rotating it.
+        .num_pole_pairs = 7,
+        .phase_resistance =
+            5.0f, // tested by running velocity_openloop and seeing if the veloicty is ~correct
+        .kv_rating =
+            320, // tested by running velocity_openloop and seeing if the velocity is ~correct
+        .current_limit = 1.0f,        // Amps
+        .zero_electric_offset = 0.0f, // set to zero to always calibrate, since this is a test
+        .sensor_direction = espp::detail::SensorDirection::UNKNOWN, // set to unknown to always
+                                                                    // calibrate, since this is a
+                                                                    // test
+        .foc_type = espp::detail::FocType::SPACE_VECTOR_PWM,
+        .driver = driver,
+        .sensor = mt6701,
+        .velocity_pid_config =
+            {
+                .kp = 0.010f,
+                .ki = 1.000f,
+                .kd = 0.000f,
+                .integrator_min = -1.0f, // same scale as output_min (so same scale as current)
+                .integrator_max = 1.0f,  // same scale as output_max (so same scale as current)
+                .output_min = -1.0, // velocity pid works on current (if we have phase resistance)
+                .output_max = 1.0,  // velocity pid works on current (if we have phase resistance)
+            },
+        .angle_pid_config =
+            {
+                .kp = 7.000f,
+                .ki = 0.300f,
+                .kd = 0.010f,
+                .integrator_min = -10.0f, // same scale as output_min (so same scale as velocity)
+                .integrator_max = 10.0f,  // same scale as output_max (so same scale as velocity)
+                .output_min = -20.0,      // angle pid works on velocity (rad/s)
+                .output_max = 20.0,       // angle pid works on velocity (rad/s)
+            },
+        .log_level = espp::Logger::Verbosity::DEBUG});
+
+    static const auto motion_control_type = espp::detail::MotionControlType::VELOCITY;
+    // static const auto motion_control_type = espp::detail::MotionControlType::ANGLE;
+    // static const auto motion_control_type = espp::detail::MotionControlType::VELOCITY_OPENLOOP;
+    // static const auto motion_control_type = espp::detail::MotionControlType::ANGLE_OPENLOOP;
+
+    // Set the motion control type and create a target for the motor (will be
+    // updated in the target update task below)
+    motor.set_motion_control_type(motion_control_type);
+    std::atomic<float> target = 0;
+
+    // enable the motor
+    motor.enable();
+
+    auto motor_task_fn = [&motor, &target](std::mutex &m, std::condition_variable &cv) {
+      static auto delay = std::chrono::duration<float>(core_update_period);
+      auto start = std::chrono::high_resolution_clock::now();
+      if (motion_control_type == espp::detail::MotionControlType::VELOCITY ||
+          motion_control_type == espp::detail::MotionControlType::VELOCITY_OPENLOOP) {
+        // if it's a velocity setpoint, convert it from RPM to rad/s
+        motor.move(target * espp::RPM_TO_RADS);
+      } else {
+        motor.move(target);
+      }
+      // command the motor
+      motor.loop_foc();
+      // NOTE: sleeping in this way allows the sleep to exit early when the
+      // task is being stopped / destroyed
+      {
+        std::unique_lock<std::mutex> lk(m);
+        cv.wait_until(lk, start + delay);
+      }
+      // don't want to stop the task
+      return false;
+    };
+    auto motor_task = espp::Task({.name = "Motor Task",
+                                  .callback = motor_task_fn,
+                                  .stack_size_bytes = 5 * 1024,
+                                  .priority = 20,
+                                  .core_id = 1,
+                                  .log_level = espp::Logger::Verbosity::WARN});
+    motor_task.start();
+
      +
      +

      +
      +
      +

      Note

      +

      This is a port (with some modifications) of the excellent work by SimpleFOC - https://simplefoc.com

      +
      +
      +

      Public Types

      +
      +
      +typedef std::function<float(float raw)> filter_fn
      +

      Filter the raw input sample and return it.

      +
      +
      Param raw
      +

      Most recent raw sample measured.

      +
      +
      Return
      +

      Filtered output from the input.

      +
      +
      +
      + +
      +
      +

      Public Functions

      +
      +
      +inline explicit BldcMotor(const Config &config)
      +

      Create and initialize the BLDC motor, running through any necessary sensor calibration.

      +
      + +
      +
      +inline ~BldcMotor()
      +

      Destroy the motor, making sure to disable it first to ensure power is cutoff.

      +
      + +
      +
      +inline bool is_enabled() const
      +

      Check if the motor is enabled.

      +
      +
      Returns
      +

      True if the motor is enabled, false otherwise.

      +
      +
      +
      + +
      +
      +inline void enable()
      +

      Enable the controller and driver output.

      +
      + +
      +
      +inline void disable()
      +

      Disable the controller and driver output.

      +
      + +
      +
      +inline void set_motion_control_type(detail::MotionControlType motion_control_type)
      +

      Update the motoion control scheme the motor control loop uses.

      +
      +
      Parameters
      +

      motion_control_type – New motion control to use.

      +
      +
      +
      + +
      +
      +inline void set_phase_voltage(float uq, float ud, float el_angle)
      +

      Method using FOC to set Uq to the motor at the optimal angle. Heart of the FOC algorithm.

      +
      +
      Parameters
      +
        +

      • uq – Current voltage in q axis to set to the motor

        • +

      • ud – Current voltage in d axis to set to the motor

        • +

      • el_angle – current electrical angle of the motor

        • +
      +
      +
      +
      + +
      +
      +inline float get_shaft_angle()
      +

      Return the shaft angle, in radians.

      +
      +
      Returns
      +

      Motor shaft angle in radians.

      +
      +
      +
      + +
      +
      +inline float get_shaft_velocity()
      +

      Return the shaft velocity, in radians per second (rad/s).

      +
      +
      Returns
      +

      Motor shaft velocity (rad/s).

      +
      +
      +
      + +
      +
      +inline float get_electrical_angle()
      +

      Get the electrical angle of the motor - using the mechanical angle, the number of pole pairs, and the zero electrical angle.

      +
      +
      Returns
      +

      The electrical angle of the motor (in radians)

      +
      +
      +
      + +
      +
      +inline void loop_foc()
      +

      Main FOC loop for implementing the torque control, based on the configured detail::TorqueControlType.

      +
      +

      Note

      +

      Only detail::TorqueControlType::VOLTAGE is supported right now, because the other types require current sense.

      +
      +
      + +
      +
      +inline void move(float new_target)
      +

      Main motion control loop implementing the closed-loop and open-loop angle & velocity control.

      +
      +

      Note

      +

      Units are based on the detail::MotionControlType; radians if it’s detail::MotionControlType::ANGLE or detail::MotionControlType::ANGLE_OPENLOOP, radians/second if it’s detail::MotionControlType::VELOCITY or detail::MotionControlType::VELOCITY_OPENLOOP, Nm if it’s detail::MotionControlType::TORQUE.

      +
      +
      +
      Parameters
      +

      new_target – The new target for the configured detail::MotionControlType.

      +
      +
      +
      + +
      +
      +
      +struct Config
      +

      BLDC Motor / FOC configuration structure.

      +
      +

      Public Members

      +
      +
      +size_t num_pole_pairs
      +

      Number of pole pairs in the motor.

      +
      + +
      +
      +float phase_resistance
      +

      Motor phase resistance (ohms).

      +
      + +
      +
      +float kv_rating
      +

      Motor KV rating (1/K_bemf) - rpm/V

      +
      + +
      +
      +float phase_inductance = {0}
      +

      Motor phase inductance (Henries).

      +
      + +
      +
      +float current_limit = {1.0f}
      +

      Current limit (Amps) for the controller.

      +
      + +
      +
      +float velocity_limit = {1000.0f}
      +

      Velocity limit (RPM) for the controller.

      +
      + +
      +
      +detail::FocType foc_type = {detail::FocType::SPACE_VECTOR_PWM}
      +

      How the voltage for the phases should be calculated.

      +
      + +
      +
      +detail::TorqueControlType torque_controller = {detail::TorqueControlType::VOLTAGE}
      +

      Torque controller type.

      +
      + +
      +
      +std::shared_ptr<D> driver
      +

      Driver for low-level setting of phase PWMs.

      +
      + +
      +
      +std::shared_ptr<S> sensor
      +

      Sensor for measuring position / speed.

      +
      + +
      +
      +std::shared_ptr<CS> current_sense{nullptr}
      +

      Sensor for measuring current through the motor.

      +
      + +
      +
      +Pid::Config current_pid_config  {.kp = 0,.ki = 0,.kd = 0,.integrator_min = 0,.integrator_max = 0,.output_min = 0,.output_max = 0}
      +

      PID configuration for current (amps) pid controller.

      +
      + +
      +
      +Pid::Config velocity_pid_config  {.kp = 0,.ki = 0,.kd = 0,.integrator_min = 0,.integrator_max = 0,.output_min = 0,.output_max =0}
      +

      PID configuration for velocity pid controller.

      +
      + +
      +
      +Pid::Config angle_pid_config  {.kp = 0,.ki = 0,.kd = 0,.integrator_min = 0,.integrator_max = 0,.output_min = 0,.output_max =0}
      +

      PID configuration for angle pid controller.

      +
      + +
      +
      +filter_fn q_current_filter = {nullptr}
      +

      Optional filter added to the sensed q current.

      +
      + +
      +
      +filter_fn d_current_filter = {nullptr}
      +

      Optional filter added to the sensed d current.

      +
      + +
      +
      +filter_fn velocity_filter = {nullptr}
      +

      Optional filter added to the sensed velocity.

      +
      + +
      +
      +filter_fn angle_filter = {nullptr}
      +

      Optional filter added to the sensed angle.

      +
      + +
      +
      +Logger::Verbosity log_level = {Logger::Verbosity::WARN}
      +

      Log verbosity for the Motor.

      +
      + +
      +
      + +
      + +
      +
      +

      Header File

      + +
      +
      +

      Header File

      + +
      +
      +
      + + +
      +
      + +
      +
      +
      +
      + + + + + \ No newline at end of file diff --git a/docs/battery/index.html b/docs/battery/index.html new file mode 100644 index 000000000..b77e3426a --- /dev/null +++ b/docs/battery/index.html @@ -0,0 +1,193 @@ + + + + + + + Battery APIs - ESP32 - — ESPP latest documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + +
      + + +
      + +
      +
      +
      + +
      +
      +
      +
      + +
      +

      Battery APIs

      +
      + +
      +

      These components provide a common interface to battery devices. They provide +functions for monitoring the battery level and charging status, and for +configuring the battery charging parameters.

      +
      + + +
      +
      + +
      +
      +
      +
      + + + + + \ No newline at end of file diff --git a/docs/battery/max1704x.html b/docs/battery/max1704x.html new file mode 100644 index 000000000..df5649e57 --- /dev/null +++ b/docs/battery/max1704x.html @@ -0,0 +1,501 @@ + + + + + + + MAX1704X - ESP32 - — ESPP latest documentation + + + + + + + + + + + + + + + + + + + + + + + + + + + +
      + + +
      + +
      +
      +
      + +
      +
      +
      +
      + +
      +

      MAX1704X

      +

      The MAX17048/MAX17049 ICs are tiny, micropower current fuel gauges for +lithium-ion (Li+) batteries in handheld and portable equipment. The MAX17048 +operates with a single lithium cell and the MAX17049 with two lithium cells in +series.

      +

      The ICs use the sophisticated Li+ battery-modeling algorithm ModelGauge™ to +track the battery relative state-of-charge (SOC) continuously over widely varying +charge and discharge conditions. The ModelGauge algorithm eliminates +current-sense resistor and battery-learn cycles required in traditional fuel +gauges. Temperature compensation is implemented using the system +microcontroller.

      +

      The ICs automatically detect when the battery enters a low-current state and +enters low-power 3µA hibernate mode, while still providing accurate fuel +gauging. The ICs automatically exit hibernate mode when the system returns to +active state.

      +

      On battery insertion, the ICs debounce initial voltage measurements to improve +the initial SOC estimate, thus allowing them to be located on system side. SOC, +voltage, and rate information is accessed using the I2C interface. The ICs are +available in a tiny 0.9mm x 1.7mm, 8-bump wafer-level package (WLP), or a 2mm x +2mm, 8-pin TDFN package.

      +
      +

      API Reference

      +
      +

      Header File

      + +
      +
      +

      Classes

      +
      +
      +class espp::Max1704x
      +

      Class to interface with the MAX1704x battery fuel gauge.

      +

      This class is used to interface with the MAX1704x battery fuel gauge. It is used to get the battery voltage, state of charge, and charge/discharge rate.

      +

      See also

      +

      https://cdn-learn.adafruit.com/assets/assets/000/114/607/original/MAX17048-MAX17049.pdf?1661966692

      +
      +

      +
      +

      MAX1704X Example

      +

        espp::Logger logger({.tag = "Max1704x example", .level = espp::Logger::Verbosity::INFO});
+  // make the I2C that we'll use to communicate
+  logger.info("initializing i2c driver...");
+  espp::I2c i2c({
+      .port = I2C_NUM_0,
+      .sda_io_num = (gpio_num_t)CONFIG_EXAMPLE_I2C_SDA_GPIO,
+      .scl_io_num = (gpio_num_t)CONFIG_EXAMPLE_I2C_SCL_GPIO,
+  });
+  // now make the max1704x which handles GPIO
+  espp::Max1704x max1704x({.write = std::bind(&espp::I2c::write, &i2c, std::placeholders::_1,
+                                              std::placeholders::_2, std::placeholders::_3),
+                           .read = std::bind(&espp::I2c::read, &i2c, std::placeholders::_1,
+                                             std::placeholders::_2, std::placeholders::_3),
+                           .log_level = espp::Logger::Verbosity::WARN});
+  std::error_code ec;
+
+  // and finally, make the task to periodically poll the max1704x and print
+  // the state. NOTE: the Max1704x does not internally manage its own state
+  // update, so whatever rate we use here is the rate at which the state will
+  // update.
+  auto task_fn = [&](std::mutex &m, std::condition_variable &cv) {
+    // NOTE: sleeping in this way allows the sleep to exit early when the
+    // task is being stopped / destroyed
+    {
+      std::unique_lock<std::mutex> lk(m);
+      cv.wait_for(lk, 50ms);
+    }
+    static auto start = std::chrono::high_resolution_clock::now();
+    auto now = std::chrono::high_resolution_clock::now();
+    auto seconds = std::chrono::duration<float>(now - start).count();
+    std::error_code ec;
+    auto voltage = max1704x.get_battery_voltage(ec);
+    if (ec) {
+      return false;
+    }
+    auto soc = max1704x.get_battery_percentage(ec);
+    if (ec) {
+      return false;
+    }
+    auto charge_rate = max1704x.get_battery_charge_rate(ec);
+    if (ec) {
+      return false;
+    }
+    fmt::print("{:0.2f}, {:0.2f}, {:0.2f}, {:0.2f}\n", seconds, voltage, soc, charge_rate);
+    // don't want to stop the task
+    return false;
+  };
+  auto task = espp::Task({.name = "Max1704x Task",
+                          .callback = task_fn,
+                          .stack_size_bytes = 5 * 1024,
+                          .log_level = espp::Logger::Verbosity::WARN});
+  fmt::print("%time(s), voltage (V), SoC (%), Charge Rate (%/hr)\n");
+  task.start();
+
      +
      +

      +
      +
      +

      Public Types

      +
      +
      +typedef std::function<bool(uint8_t dev_addr, uint8_t *data, size_t data_len)> write_fn
      +

      Function to write bytes to the device.

      +
      +
      Param dev_addr
      +

      Address of the device to write to.

      +
      +
      Param data
      +

      Pointer to array of bytes to write.

      +
      +
      Param data_len
      +

      Number of data bytes to write.

      +
      +
      Return
      +

      True if successful, false otherwise.

      +
      +
      +
      + +
      +
      +typedef std::function<bool(uint8_t dev_addr, uint8_t *data, size_t data_len)> read_fn
      +

      Function to read bytes from the device.

      +
      +
      Param dev_addr
      +

      Address of the device to write to.

      +
      +
      Param data
      +

      Pointer to array of bytes to read into.

      +
      +
      Param data_len
      +

      Number of data bytes to read.

      +
      +
      Return
      +

      True if successful, false otherwise.

      +
      +
      +
      + +
      +
      +

      Public Functions

      +
      +
      +inline explicit Max1704x(const Config &config)
      +

      Construct a new Max1704x object.

      +
      +
      Parameters
      +

      config – Configuration for the MAX1704x.

      +
      +
      +
      + +
      +
      +~Max1704x()
      +

      Delete the Max1704x object.

      +
      + +
      +
      +inline void initalize(std::error_code &ec)
      +

      Initialize the MAX1704x.

      +
      + +
      +
      +inline uint16_t get_version(std::error_code &ec)
      +

      Get the IC version.

      +
      +
      Parameters
      +

      ec – Error code set if an error occurs.

      +
      +
      Returns
      +

      The IC version.

      +
      +
      +
      + +
      +
      +inline uint8_t get_chip_id(std::error_code &ec)
      +

      Get the Chip ID.

      +
      +
      Parameters
      +

      ec – Error code set if an error occurs.

      +
      +
      Returns
      +

      The chip ID.

      +
      +
      +
      + +
      +
      +inline float get_battery_voltage(std::error_code &ec)
      +

      Get the battery voltage.

      +
      +
      Parameters
      +

      ec – Error code set if an error occurs.

      +
      +
      Returns
      +

      The battery voltage in V.

      +
      +
      +
      + +
      +
      +inline float get_battery_percentage(std::error_code &ec)
      +

      Get the battery state of charge.

      +

      This is the percentage of battery charge remaining.

      +
      +
      Parameters
      +

      ec – Error code set if an error occurs.

      +
      +
      Returns
      +

      The battery state of charge in %.

      +
      +
      +
      + +
      +
      +inline float get_battery_charge_rate(std::error_code &ec)
      +

      Get the battery charge or discharge rate.

      +

      This is the rate at which the battery is charging or discharging. A positive value indicates charging. A negative value indicates discharging. Units are in % per hour.

      +
      +
      Parameters
      +

      ec – Error code set if an error occurs.

      +
      +
      Returns
      +

      The battery charge or discharge rate in %/hr.

      +
      +
      +
      + +
      +
      +inline AlertStatus get_alert_status(std::error_code &ec)
      +

      Get the alert status.

      +

      This is the current alert status of the battery.

      +
      +
      Parameters
      +

      ec – Error code set if an error occurs.

      +
      +
      Returns
      +

      The battery alert status as an AlertStatus.

      +
      +
      +
      + +
      +
      +inline void clear_alert_status(uint8_t flags_to_clear, std::error_code &ec)
      +

      Clear the alert status.

      +

      This clears the alert status of the battery.

      +
      +
      Parameters
      +
        +

      • flags_to_clear – The flags to clear.

        • +

      • ec – Error code set if an error occurs.

        • +
      +
      +
      +
      + +
      +
      +

      Public Static Attributes

      +
      +
      +static constexpr uint8_t DEFAULT_ADDRESS = 0x36
      +

      Default address of the MAX1704x.

      +
      + +
      +
      +
      +struct Config
      +

      Configuration for the MAX1704x.

      +
      +

      Public Members

      +
      +
      +uint8_t device_address = {DEFAULT_ADDRESS}
      +

      Address of the MAX1704x.

      +
      + +
      +
      +bool auto_init = {true}
      +

      Whether to automatically initialize the MAX1704x.

      +
      + +
      +
      +Logger::Verbosity log_level = {Logger::Verbosity::WARN}
      +

      Log level for the MAX1704x.

      +
      + +
      +
      + +
      + +
      +
      +
      + + +
      +
      + +
      +
      +
      +
      + + + + + \ No newline at end of file diff --git a/docs/bldc/bldc_driver.html b/docs/bldc/bldc_driver.html index 27eb7d9d0..65a263330 100644 --- a/docs/bldc/bldc_driver.html +++ b/docs/bldc/bldc_driver.html @@ -76,6 +76,7 @@

    @@ -417,7 +418,7 @@

    Classes -

    © Copyright 2022 - 2023, William Emfinger.

    +

    © Copyright 2022 - 2024, William Emfinger.

    @@ -568,13 +569,13 @@

    Example Usage

    Header File

    Header File

    @@ -591,7 +592,7 @@

    Header File -

    © Copyright 2022 - 2023, William Emfinger.

    +

    © Copyright 2022 - 2024, William Emfinger.

      diff --git a/docs/bldc/index.html b/docs/bldc/index.html index cb97337d0..66b2f87c9 100644 --- a/docs/bldc/index.html +++ b/docs/bldc/index.html @@ -39,7 +39,7 @@ - + @@ -76,6 +76,7 @@
      -

      © Copyright 2022 - 2023, William Emfinger.

      +

      © Copyright 2022 - 2024, William Emfinger.

        diff --git a/docs/button.html b/docs/button.html index 67be08c29..43f9f6767 100644 --- a/docs/button.html +++ b/docs/button.html @@ -76,6 +76,7 @@
          diff --git a/docs/controller.html b/docs/controller.html index 1d82638c9..55d6a3bb0 100644 --- a/docs/controller.html +++ b/docs/controller.html @@ -76,6 +76,7 @@
            diff --git a/docs/csv.html b/docs/csv.html index f8db856d0..5bd71b1ce 100644 --- a/docs/csv.html +++ b/docs/csv.html @@ -76,6 +76,7 @@
              diff --git a/docs/display/display.html b/docs/display/display.html index 92cbfe031..7f98f7e6e 100644 --- a/docs/display/display.html +++ b/docs/display/display.html @@ -76,6 +76,7 @@
                diff --git a/docs/display/display_drivers.html b/docs/display/display_drivers.html index c0af0572d..2fb027354 100644 --- a/docs/display/display_drivers.html +++ b/docs/display/display_drivers.html @@ -76,6 +76,7 @@
                  diff --git a/docs/encoder/abi_encoder.html b/docs/encoder/abi_encoder.html index c0d38390e..109def5d7 100644 --- a/docs/encoder/abi_encoder.html +++ b/docs/encoder/abi_encoder.html @@ -76,6 +76,7 @@
                    diff --git a/docs/encoder/as5600.html b/docs/encoder/as5600.html index 4fcce72af..a57e7cdac 100644 --- a/docs/encoder/as5600.html +++ b/docs/encoder/as5600.html @@ -76,6 +76,7 @@
                      diff --git a/docs/encoder/index.html b/docs/encoder/index.html index ce6628c68..da4c4fb7f 100644 --- a/docs/encoder/index.html +++ b/docs/encoder/index.html @@ -76,6 +76,7 @@
                        diff --git a/docs/encoder/mt6701.html b/docs/encoder/mt6701.html index 9f47cfc4e..e8f878cdf 100644 --- a/docs/encoder/mt6701.html +++ b/docs/encoder/mt6701.html @@ -76,6 +76,7 @@
                          diff --git a/docs/file_system.html b/docs/file_system.html index 5abec5aa1..aed072763 100644 --- a/docs/file_system.html +++ b/docs/file_system.html @@ -76,6 +76,7 @@
                            diff --git a/docs/filters/biquad.html b/docs/filters/biquad.html index 3b47b79b5..0d014e801 100644 --- a/docs/filters/biquad.html +++ b/docs/filters/biquad.html @@ -77,6 +77,7 @@
                              diff --git a/docs/filters/butterworth.html b/docs/filters/butterworth.html index 3a7244f00..c7b11c16f 100644 --- a/docs/filters/butterworth.html +++ b/docs/filters/butterworth.html @@ -76,6 +76,7 @@
                                diff --git a/docs/filters/index.html b/docs/filters/index.html index 62c3f64c2..bf0f6db1b 100644 --- a/docs/filters/index.html +++ b/docs/filters/index.html @@ -76,6 +76,7 @@
                                  diff --git a/docs/filters/lowpass.html b/docs/filters/lowpass.html index 67fd3952a..c97d19bce 100644 --- a/docs/filters/lowpass.html +++ b/docs/filters/lowpass.html @@ -76,6 +76,7 @@
                                    diff --git a/docs/filters/sos.html b/docs/filters/sos.html index 93a1cb5d8..e5fbbccba 100644 --- a/docs/filters/sos.html +++ b/docs/filters/sos.html @@ -76,6 +76,7 @@
                                      diff --git a/docs/filters/transfer_function.html b/docs/filters/transfer_function.html index 2dd77cd6b..ea6e6a341 100644 --- a/docs/filters/transfer_function.html +++ b/docs/filters/transfer_function.html @@ -76,6 +76,7 @@
                                        diff --git a/docs/ftp/ftp_server.html b/docs/ftp/ftp_server.html index 10eb1148e..372557194 100644 --- a/docs/ftp/ftp_server.html +++ b/docs/ftp/ftp_server.html @@ -76,6 +76,7 @@ - +
                                        • espp::Logger::debug_rate_limited (C++ function)
                                        • espp::Logger::error (C++ function) @@ -1807,6 +1808,42 @@

                                          E

                                        • espp::LowpassFilter::operator() (C++ function)
                                        • espp::LowpassFilter::update (C++ function), [1] +
                                          • +
                                        • espp::Max1704x (C++ class) +
                                          • +
                                        • espp::Max1704x::clear_alert_status (C++ function) +
                                          • +
                                        • espp::Max1704x::Config (C++ struct) +
                                          • +
                                        • espp::Max1704x::Config::auto_init (C++ member) +
                                          • +
                                        • espp::Max1704x::Config::device_address (C++ member) +
                                          • +
                                        • espp::Max1704x::Config::log_level (C++ member) +
                                          • +
                                        • espp::Max1704x::DEFAULT_ADDRESS (C++ member) +
                                          • +
                                        • espp::Max1704x::get_alert_status (C++ function) +
                                          • +
                                        • espp::Max1704x::get_battery_charge_rate (C++ function) +
                                          • +
                                        • espp::Max1704x::get_battery_percentage (C++ function) +
                                          • +
                                        • espp::Max1704x::get_battery_voltage (C++ function) +
                                          • +
                                        • espp::Max1704x::get_chip_id (C++ function) +
                                          • +
                                        • espp::Max1704x::get_version (C++ function) +
                                          • +
                                        • espp::Max1704x::initalize (C++ function) +
                                          • +
                                        • espp::Max1704x::Max1704x (C++ function) +
                                          • +
                                        • espp::Max1704x::read_fn (C++ type) +
                                          • +
                                        • espp::Max1704x::write_fn (C++ type) +
                                          • +
                                        • espp::Max1704x::~Max1704x (C++ function)
                                        • espp::Mcp23x17 (C++ class)
                                          • @@ -3350,7 +3387,7 @@

                                          P

                                          -

                                          © Copyright 2022 - 2023, William Emfinger.

                                          +

                                          © Copyright 2022 - 2024, William Emfinger.

                                            diff --git a/docs/haptics/bldc_haptics.html b/docs/haptics/bldc_haptics.html index cd4e68343..11def141b 100644 --- a/docs/haptics/bldc_haptics.html +++ b/docs/haptics/bldc_haptics.html @@ -76,6 +76,7 @@
                                              diff --git a/docs/haptics/drv2605.html b/docs/haptics/drv2605.html index eb47499ec..ab891f8e9 100644 --- a/docs/haptics/drv2605.html +++ b/docs/haptics/drv2605.html @@ -76,6 +76,7 @@
                                                diff --git a/docs/haptics/index.html b/docs/haptics/index.html index 29d01cd72..a641cd264 100644 --- a/docs/haptics/index.html +++ b/docs/haptics/index.html @@ -76,6 +76,7 @@
                                                  diff --git a/docs/i2c.html b/docs/i2c.html index d2be1ab60..a766ee668 100644 --- a/docs/i2c.html +++ b/docs/i2c.html @@ -76,6 +76,7 @@ +
                                                • Battery APIs +
                                                • BLDC APIs
                                                  • BLDC Driver
                                                  • BLDC Motor
                                                    • @@ -347,7 +352,7 @@

                                                    ESPP Documentation -

                                                    © Copyright 2022 - 2023, William Emfinger.

                                                    +

                                                    © Copyright 2022 - 2024, William Emfinger.

                                                      diff --git a/docs/input/encoder_input.html b/docs/input/encoder_input.html index 0422fbc6c..2de38e90e 100644 --- a/docs/input/encoder_input.html +++ b/docs/input/encoder_input.html @@ -76,6 +76,7 @@
                                                        diff --git a/docs/input/ft5x06.html b/docs/input/ft5x06.html index aae9f6423..37a895330 100644 --- a/docs/input/ft5x06.html +++ b/docs/input/ft5x06.html @@ -76,6 +76,7 @@
                                                          diff --git a/docs/input/gt911.html b/docs/input/gt911.html index 6acad5e9f..3d3c4cc75 100644 --- a/docs/input/gt911.html +++ b/docs/input/gt911.html @@ -76,6 +76,7 @@
                                                            diff --git a/docs/input/index.html b/docs/input/index.html index 3744c0818..db6c9bc8b 100644 --- a/docs/input/index.html +++ b/docs/input/index.html @@ -76,6 +76,7 @@
                                                              diff --git a/docs/input/keypad_input.html b/docs/input/keypad_input.html index b174dc48a..c629e456e 100644 --- a/docs/input/keypad_input.html +++ b/docs/input/keypad_input.html @@ -76,6 +76,7 @@
                                                                diff --git a/docs/input/t_keyboard.html b/docs/input/t_keyboard.html index 208399d03..5b90af1df 100644 --- a/docs/input/t_keyboard.html +++ b/docs/input/t_keyboard.html @@ -76,6 +76,7 @@
                                                                  diff --git a/docs/input/touchpad_input.html b/docs/input/touchpad_input.html index 805d269e3..e46f15234 100644 --- a/docs/input/touchpad_input.html +++ b/docs/input/touchpad_input.html @@ -76,6 +76,7 @@
                                                                    diff --git a/docs/input/tt21100.html b/docs/input/tt21100.html index 2c3821c1f..e436bdd74 100644 --- a/docs/input/tt21100.html +++ b/docs/input/tt21100.html @@ -76,6 +76,7 @@
                                                                      diff --git a/docs/io_expander/aw9523.html b/docs/io_expander/aw9523.html index d6e2291e2..4c3dcf9ec 100644 --- a/docs/io_expander/aw9523.html +++ b/docs/io_expander/aw9523.html @@ -76,6 +76,7 @@
                                                                        diff --git a/docs/io_expander/mcp23x17.html b/docs/io_expander/mcp23x17.html index ac76581d6..6fa03e492 100644 --- a/docs/io_expander/mcp23x17.html +++ b/docs/io_expander/mcp23x17.html @@ -76,6 +76,7 @@
                                                                          diff --git a/docs/joystick.html b/docs/joystick.html index 266ce4f17..b913c999a 100644 --- a/docs/joystick.html +++ b/docs/joystick.html @@ -76,6 +76,7 @@
                                                                            diff --git a/docs/led.html b/docs/led.html index 3c3c9d02c..bfd14ecfd 100644 --- a/docs/led.html +++ b/docs/led.html @@ -76,6 +76,7 @@
                                                                              diff --git a/docs/led_strip.html b/docs/led_strip.html index a87f019e5..7085fdd83 100644 --- a/docs/led_strip.html +++ b/docs/led_strip.html @@ -76,6 +76,7 @@
                                                                                diff --git a/docs/logger.html b/docs/logger.html index 7a74bdc45..77d9f0041 100644 --- a/docs/logger.html +++ b/docs/logger.html @@ -76,6 +76,7 @@
                                                                                  diff --git a/docs/math/bezier.html b/docs/math/bezier.html index a2282f86c..cc6720e76 100644 --- a/docs/math/bezier.html +++ b/docs/math/bezier.html @@ -76,6 +76,7 @@
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                                                                                      diff --git a/docs/math/gaussian.html b/docs/math/gaussian.html index 6786f293c..d876797af 100644 --- a/docs/math/gaussian.html +++ b/docs/math/gaussian.html @@ -77,6 +77,7 @@
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                                                                                            diff --git a/docs/math/vector2d.html b/docs/math/vector2d.html index 1abe91a79..3f17dd980 100644 --- a/docs/math/vector2d.html +++ b/docs/math/vector2d.html @@ -76,6 +76,7 @@
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