From 3d523cfcf278fc27df72c2d9b541937b05db3c55 Mon Sep 17 00:00:00 2001 From: Adin Ackerman Date: Mon, 19 Aug 2024 10:13:24 -0700 Subject: [PATCH] finish up spinning and blinking --- .../spinning-and-blinking/arduino/blinking.md | 2 +- .../arduino/images/full-bridge.png | Bin 0 -> 31326 bytes .../arduino/images/motion-pinout.png | Bin 0 -> 349179 bytes .../spinning-and-blinking/arduino/spinning.md | 94 ++++++++- .../spinning-and-blinking/rust/blinking.md | 34 +--- .../rust/images/full-bridge.png | Bin 0 -> 31326 bytes .../rust/images/motion-pinout.png | Bin 0 -> 349179 bytes .../spinning-and-blinking/rust/setup.md | 15 ++ .../spinning-and-blinking/rust/spinning.md | 189 +++++++++++++++++- .../spinning-and-blinking/submission.md | 9 + 10 files changed, 311 insertions(+), 32 deletions(-) create mode 100644 content/assignments/spinning-and-blinking/arduino/images/full-bridge.png create mode 100644 content/assignments/spinning-and-blinking/arduino/images/motion-pinout.png create mode 100644 content/assignments/spinning-and-blinking/rust/images/full-bridge.png create mode 100644 content/assignments/spinning-and-blinking/rust/images/motion-pinout.png create mode 100644 content/assignments/spinning-and-blinking/submission.md diff --git a/content/assignments/spinning-and-blinking/arduino/blinking.md b/content/assignments/spinning-and-blinking/arduino/blinking.md index 34c272d..c1d11c8 100644 --- a/content/assignments/spinning-and-blinking/arduino/blinking.md +++ b/content/assignments/spinning-and-blinking/arduino/blinking.md @@ -7,7 +7,7 @@ weight: 1 Making an LED blink is rather straight forward: -```c +```cpp const unsigned int LED{17}; // define a constant for the LED pin void setup() { diff --git a/content/assignments/spinning-and-blinking/arduino/images/full-bridge.png b/content/assignments/spinning-and-blinking/arduino/images/full-bridge.png new file mode 100644 index 0000000000000000000000000000000000000000..eb1acf0f66e716c3237acf862495656bf0289f7e GIT binary patch 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zC%dnE;#;ZsJ8s(h9XEZ4;NKzmcL@FsQt_2yerIzmKxe4{t_J`B literal 0 HcmV?d00001 diff --git a/content/assignments/spinning-and-blinking/arduino/spinning.md b/content/assignments/spinning-and-blinking/arduino/spinning.md index 32f51dc..458dd02 100644 --- a/content/assignments/spinning-and-blinking/arduino/spinning.md +++ b/content/assignments/spinning-and-blinking/arduino/spinning.md @@ -2,9 +2,101 @@ title: Spinning type: docs prev: assignments/spinning-and-blinking/arduino/blinking +next: assignments/spinning-and-blinking/submission weight: 3 --- It's time to get our hands dirty and really change this firmware. We're going to make a motor spin, but to do that, firmware won't be enough. -Pick up a **Motion Shield** and any complementary components/equipment. +## Preparation + +Pick up a **Motion Shield** and: +- 9v battery and connector +- DC motor +- Jumper +- Wires +- Tiny screwdriver + +![](images/motion-pinout.png) + +This ^ is the pinout diagram for the motion shield. It shows you how GPIO from the DevBoard are allocated. + +We want to spin a motor, so we're going to use one of the motor output ports at the bottom. + +## How do motors work? + +The standard method of driving DC motors is with a structure called a **Full Bridge**: + +![](images/full-bridge.png) + +There are two output stages that can assert a voltage of either **GND** or **VS**. + +If stage **A** is `HIGH` and stage **B** is `LOW`, current would flow through the motor +from `+` to `-` and the motor would exert a torque $\vec \tau$. + +If stage **A** is `LOW` and stage **B** is `HIGH`, current would flow through the motor +from `-` to `+` and the motor would exert a torque $-\vec \tau$. + +So let's try it. Looking at the bottom of the pinout diagram, we can see which GPIO +correspond to each motor port. + +Solder some wires onto your motor and plug them into a motor port. Also, place a jumper +on the enable port for the motor channel you are using. + +Let's change our blinky code to configure two more output pins: + +```cpp +const unsigned int LED{17}; +// add these +const unsigned int MTR_HI{?}; +const unsigned int MTR_LO{?}; + +void setup() { + pinMode(LED, OUTPUT); + // and these + pinMode(MTR_HI, OUTPUT); + pinMode(MTR_LO, OUTPUT); + + // configure pins to spin the motor in a direction + digitalWrite(MTR_HI, HIGH); + digitalWrite(MTR_LO, LOW); +} +``` + +Run this, and watch the motor spin! + +You can reverse the direction by inverting the levels of these pins. Try it! + +## Greater Granularity + +You don't *always* want to exert maximum torque in either direction, but rather some +*proportion* of the maximum torque. + +To achieve this, we can use **P**ulse **W**idth **M**odulation (PWM). + +Rather than holding the output stages steady at `HIGH` or `LOW`, we can rapidly +change the state, targeting an on *proportion*. + +Imagine we hold stage **B** `LOW`, and over intervals of `1us`, pull stage **A** `HIGH` for `200ns` +and `LOW` for the remaining `800ns`. *On average*, it would look as though the voltage on the switch +node of stage A were $V_s \cdot \frac{200ns}{1us}=0.2V_s$, which roughly corresponds to 1/5th +the maximum torque. + +Arduino let's us do this with the `analogWrite` function. + +`analogWrite` accepts values in the range `0..=255` (unsigned 8bit integer). + +The following is the equivalent of our previous test but with `analogWrite`: + +```cpp +analogWrite(MTR_HI, 255); +analogWrite(MTR_LO, 0); +``` + +Run this and watch the motor spin! + +Swap these numbers and watch it spin the other way! + +## Challenge + +Make the motor smoothly oscillate back and forth between spinning forward and backward. diff --git a/content/assignments/spinning-and-blinking/rust/blinking.md b/content/assignments/spinning-and-blinking/rust/blinking.md index 798fd96..23cfd64 100644 --- a/content/assignments/spinning-and-blinking/rust/blinking.md +++ b/content/assignments/spinning-and-blinking/rust/blinking.md @@ -44,10 +44,9 @@ use esp_hal::{ peripherals::Peripherals, prelude::*, system::SystemControl, - timer::{timg::TimerGroup, ErasedTimer, OneShotTimer}, + timer::{timg::TimerGroup}, }; use esp_println::println; -use static_cell::StaticCell; ``` This looks like a lot, but these are just crates we are importing to use in our @@ -55,7 +54,7 @@ program. We will see *exactly* which crates we use and why as we explore the res of this file. ```rust -#[main] +#[esp_hal_embassy::main] async fn main(_spawner: Spawner) { // ... } @@ -102,40 +101,17 @@ esp_println::logger::init_logger_from_env(); Next up we enable logging via the ESP32s JTAG[^8] controller. ```rust -let timg0 = TimerGroup::new(peripherals.TIMG0, &clocks, None); +let timg0 = TimerGroup::new(peripherals.TIMG0, &clocks); ``` Then we initialize the 0th timer group (which we can use to provide Embassy with a means for keeping time). ```rust -let timer = { - static TIMER: StaticCell<[OneShotTimer; 1]> = StaticCell::new(); - - TIMER.init([OneShotTimer::new(timg0.timer0.into())]) -}; -``` - -This section is a little more complicated, but the next line... - -```rust -esp_hal_embassy::init(&clocks, timer); +esp_hal_embassy::init(&clocks, timg0.timer0); ``` -...makes it a little more clear. - -Embassy needs a `OneShotTimer<'static, T>` to provide monotonics[^10]. The `'static` indicates -that this timer must exist for the entire duration of the program. `let` bindings always exist -until the scope they were bound in ends. To create a `static` lifetime, the variable must be -defined as `static`. But `static` values must be `const` (i.e. known at compile time and constant). - -So how do we take a runtime value (the timer) and coerce it into a `static` lifetime? - -Well we know that even though the timer doesn't exist for the *entire* duration of the program -(it didn't exist before we initialized it at runtime), it *will* exist for the *rest* of the program. With this knowledge, we effectively satisfy the `static` -requirement because the scope of use of Embassy is a subset of the lifetime of the timer. - -We use the `StaticCell` structure to accomplish the lifetime coersion. +Embassy needs a `impl TimerCollection` (some time that implements the trait `TimerCollection`) to provide monotonics[^10]. {{< callout type="info" >}} We understand that this may be uncharted territory for many of you. 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zC%dnE;#;ZsJ8s(h9XEZ4;NKzmcL@FsQt_2yerIzmKxe4{t_J`B literal 0 HcmV?d00001 diff --git a/content/assignments/spinning-and-blinking/rust/setup.md b/content/assignments/spinning-and-blinking/rust/setup.md index 85e7293..2a92c2c 100644 --- a/content/assignments/spinning-and-blinking/rust/setup.md +++ b/content/assignments/spinning-and-blinking/rust/setup.md @@ -87,6 +87,21 @@ The resulting file structure should look something like: You can learn more about this structure [here](https://embassy.dev/book/#_project_structure). {{< /callout >}} +Open the `Cargo.toml` file and append the following: + +```toml +[patch.crates-io] +esp-hal = { git = "https://github.com/esp-rs/esp-hal/", rev = "f95ab0def50130a9d7da0ba0101c921e239ecdb5" } +esp-hal-embassy = { git = "https://github.com/esp-rs/esp-hal/", rev = "f95ab0def50130a9d7da0ba0101c921e239ecdb5" } +esp-backtrace = { git = "https://github.com/esp-rs/esp-hal/", rev = "f95ab0def50130a9d7da0ba0101c921e239ecdb5" } +esp-println = { git = "https://github.com/esp-rs/esp-hal/", rev = "f95ab0def50130a9d7da0ba0101c921e239ecdb5" } +``` + +{{< callout type="warning" >}} + The ESP32 Rust HAL is *highly* volatile right now, so as a precautionary measure, + we are locking the version of the esp related crates with a dependency patch. +{{< /callout >}} + ## Checkpoint Let's make sure all we've done so far is working properly. diff --git a/content/assignments/spinning-and-blinking/rust/spinning.md b/content/assignments/spinning-and-blinking/rust/spinning.md index f2caba4..b1579b1 100644 --- a/content/assignments/spinning-and-blinking/rust/spinning.md +++ b/content/assignments/spinning-and-blinking/rust/spinning.md @@ -2,9 +2,196 @@ title: Spinning type: docs prev: assignments/spinning-and-blinking/rust/blinking +next: assignments/spinning-and-blinking/submission weight: 3 +math: true --- It's time to get our hands dirty and really change this firmware. We're going to make a motor spin, but to do that, firmware won't be enough. -Pick up a **Motion Shield** and any complementary components/equipment. +## Preparation + +Pick up a **Motion Shield** and: +- 9v battery and connector +- DC motor +- Jumper +- Wires +- Tiny screwdriver + +![](images/motion-pinout.png) + +This ^ is the pinout diagram for the motion shield. It shows you how GPIO from the DevBoard are allocated. + +We want to spin a motor, so we're going to use one of the motor output ports at the bottom. + +## How do motors work? + +The standard method of driving DC motors is with a structure called a **Full Bridge**: + +![](images/full-bridge.png) + +There are two output stages that can assert a voltage of either **GND** or **VS**. + +If stage **A** is `HIGH` and stage **B** is `LOW`, current would flow through the motor +from `+` to `-` and the motor would exert a torque $\vec \tau$. + +If stage **A** is `LOW` and stage **B** is `HIGH`, current would flow through the motor +from `-` to `+` and the motor would exert a torque $-\vec \tau$. + +So let's try it. Looking at the bottom of the pinout diagram, we can see which GPIO +correspond to each motor port. + +Solder some wires onto your motor and plug them into a motor port. Also, place a jumper +on the enable port for the motor channel you are using. + +Let's change our blinky code to configure two more output pins: + +```rust +let io = Io::new(peripherals.GPIO, peripherals.IO_MUX); + +let mut led = Output::new(io.pins.gpio17, Level::Low); +// add these +let motor_hi = Output::new(io.pins.gpio?, Level::High /* set default pin configuration to HIGH */); +let motor_lo = Output::new(io.pins.gpio?, Level::Low); +``` + +Run this, and watch the motor spin! + +You can reverse the direction by inverting the levels of these pins. Try it! + +## Greater Granularity + +You don't *always* want to exert maximum torque in either direction, but rather some +*proportion* of the maximum torque. + +To achieve this, we can use **P**ulse **W**idth **M**odulation (PWM). + +Rather than holding the output stages steady at `HIGH` or `LOW`, we can rapidly +change the state, targeting an on *proportion*. + +Imagine we hold stage **B** `LOW`, and over intervals of `1us`, pull stage **A** `HIGH` for `200ns` +and `LOW` for the remaining `800ns`. *On average*, it would look as though the voltage on the switch +node of stage A were $V_s \cdot \frac{200ns}{1us}=0.2V_s$, which roughly corresponds to 1/5th +the maximum torque. + +ESP32s actually have a peripheral specifically for generating PWM control signals for motors, the +peripheral is appropriately named `MCPWM`. + +Let's configure it! + +First up, let's add a new crate `fugit`, which provides us with some convenient +integer trait extensions for providing units of time. We'll use this later. + +```sh +cargo add fugit +``` + +Then import the extension trait[^1] at the top of the file: + +```rust +use fugit::RateExtU32; +``` + +Go back to where we defined the motor pins and rewrite it like this: + +```rust +let motor_hi_pin = io.pins.gpio13; +let motor_lo_pin = io.pins.gpio14; +``` + +Rather than being standard outputs, we'll make these pins available to the MCPWM peripheral. + +Now let's set up the MCPWM peripheral for use. + +The MCPWM peripheral's clock is sourced from the `crypto_pwm_clock`, we can verify +its speed: + +```rust +println!("src clock: {}", clocks.crypto_pwm_clock); +``` + +You should see: + +``` +src clock: 160000000 Hz +``` + +since the default system clock configuration is `160MHz` and the `crypto_pwm_clock` +default prescaler is `Div1`. + +> It's important that we check these things because we are going to try to achieve +> a target PWM frequency, which is going to be sourced from the peripheral's +> source clock. + +Now, we configure our peripheral (the MCPWM) clock: + +```rust +let clock_cfg = PeripheralClockConfig::with_frequency(&clocks, 32.MHz()).unwrap(); +``` + +> If we hadn't imported the fugit integer extension trait, we would have encountered +> error code [E0599](https://doc.rust-lang.org/error_codes/E0599.html) from our usage +> of `.MHz()` because Rust can only find trait methods if the trait is in scope. + +This function solves for the appropriate prescaler to achieve a frequency of `32MHz`. +(In this case, `Div5`) + +> You could just specify the prescaler by using `with_prescaler` and avoid unnecessary runtime fallibility! + +Now let's initialize the peripheral with this clock configuration: + +```rust +let mut mcpwm = McPwm::new(peripherals.MCPWM0, clock_cfg); +``` + +Then attach a timer to an operator: + +```rust +mcpwm.operator0.set_timer(&mcpwm.timer0); +``` + +MCPWM's operators control two pins (convenient!) each and require a timer to fascilitate operation. + +```rust +let (mut motor_hi, mut motor_lo) = mcpwm.operator0.with_pins( + motor_hi_pin, + PwmPinConfig::UP_ACTIVE_HIGH, + motor_lo_pin, + PwmPinConfig::UP_ACTIVE_HIGH, +); +``` + +And now we create a PWM configuration from our clock configuration: + +```rust +let timer_clock_cfg = clock_cfg + .timer_clock_with_frequency(u8::MAX as u16, PwmWorkingMode::Increase, 20.kHz()) + .unwrap(); +``` + +`u8::MAX as u16` sets the maximum duty cycle value. You can change this to whatever you want. +The greater this number, the higher the resolution. I decided an 8bit unsigned integer +is a reasonable duty cycle space. + +We can use this configuration to initiate PWM operation: + +```rust +mcpwm.timer0.start(timer_clock_cfg); +``` + +And finally, configure the duty cycles. Let's spin in a direction at full torque: + +```rust +motor_hi.set_timestamp(255); +motor_lo.set_timestamp(0); +``` + +Run this and watch the motor spin! + +Swap these numbers and watch it spin the other way! + +## Challenge + +Make the motor smoothly oscillate back and forth between spinning forward and backward. + +[^1]: An extension trait is a trait that extends the capability of primitive types. diff --git a/content/assignments/spinning-and-blinking/submission.md b/content/assignments/spinning-and-blinking/submission.md new file mode 100644 index 0000000..d692b76 --- /dev/null +++ b/content/assignments/spinning-and-blinking/submission.md @@ -0,0 +1,9 @@ +--- +title: Submission +type: docs +next: assignments/full-stack/ +weight: 3 +--- + +1. Completed code. +1. Video of motor sweep named `submission.*` placed in root of this repository.