From 0a5311c3ee2b2cb7f7708d2f8e31b7861b45de84 Mon Sep 17 00:00:00 2001 From: Petr Golovachev Date: Mon, 18 May 2026 17:40:13 +0200 Subject: [PATCH] VID6608: add hardware RMT support for Automotive gauge driver (#24759) * Replace old software-defined library arduino-vid6608 with hw-defined esp-32-vid6608 * VID6608: Rework integration to allow select RMT/SW method by using the `VID6608_RMT` option * VID6608: Tune library inclusion for RMT version * The RMT version is not supported on ESP32-C2, library excluded * Add more clear error message, if RMT is requested, but not supported --- lib/libesp32/esp-32-vid6608-rmt/.clang-format | 42 ++ lib/libesp32/esp-32-vid6608-rmt/.editorconfig | 16 + lib/libesp32/esp-32-vid6608-rmt/.gitignore | 7 + lib/libesp32/esp-32-vid6608-rmt/LICENSE | 674 ++++++++++++++++++ lib/libesp32/esp-32-vid6608-rmt/README.md | 94 +++ .../esp-32-vid6608-rmt/idf_component.yml | 13 + lib/libesp32/esp-32-vid6608-rmt/library.json | 17 + .../src/esp32_vid6608_rmt.cpp | 291 ++++++++ .../src/esp32_vid6608_rmt.h | 209 ++++++ platformio_tasmota32.ini | 1 + platformio_tasmota_cenv_sample.ini | 1 + platformio_tasmota_env32.ini | 2 + tasmota/my_user_config.h | 3 +- .../tasmota_xdrv_driver/xdrv_92_vid6608.ino | 90 ++- 14 files changed, 1434 insertions(+), 26 deletions(-) create mode 100644 lib/libesp32/esp-32-vid6608-rmt/.clang-format create mode 100644 lib/libesp32/esp-32-vid6608-rmt/.editorconfig create mode 100644 lib/libesp32/esp-32-vid6608-rmt/.gitignore create mode 100644 lib/libesp32/esp-32-vid6608-rmt/LICENSE create mode 100644 lib/libesp32/esp-32-vid6608-rmt/README.md create mode 100644 lib/libesp32/esp-32-vid6608-rmt/idf_component.yml create mode 100644 lib/libesp32/esp-32-vid6608-rmt/library.json create mode 100644 lib/libesp32/esp-32-vid6608-rmt/src/esp32_vid6608_rmt.cpp create mode 100644 lib/libesp32/esp-32-vid6608-rmt/src/esp32_vid6608_rmt.h diff --git a/lib/libesp32/esp-32-vid6608-rmt/.clang-format b/lib/libesp32/esp-32-vid6608-rmt/.clang-format new file mode 100644 index 000000000..57a0bea89 --- /dev/null +++ b/lib/libesp32/esp-32-vid6608-rmt/.clang-format @@ -0,0 +1,42 @@ +BasedOnStyle: Google +Language: Cpp +ColumnLimit: 120 +IndentWidth: 4 +TabWidth: 4 +UseTab: Never +SortIncludes: Never +PPIndentWidth : 1 +IndentPPDirectives: AfterHash +ReflowComments: true +SpacesBeforeTrailingComments: 1 +AlignTrailingComments: true +AlignAfterOpenBracket: Align +AlignConsecutiveMacros: + Enabled: true + AcrossEmptyLines: true + AcrossComments: true +AlignConsecutiveAssignments: + Enabled: true + AcrossEmptyLines: false + AcrossComments: true + AlignCompound: true + PadOperators: true +AlignConsecutiveDeclarations: + Enabled: true + AcrossEmptyLines: false + AcrossComments: true +AlignEscapedNewlines: Left +AccessModifierOffset: -2 +AlignArrayOfStructures: Right +AlignOperands: Align +AllowAllArgumentsOnNextLine: false +AllowShortFunctionsOnASingleLine: Inline +AllowShortBlocksOnASingleLine: Empty +BreakBeforeBinaryOperators: None +BinPackArguments: false +BinPackParameters: false +DerivePointerAlignment: false +PenaltyBreakAssignment: 4 +PenaltyExcessCharacter: 4 +PenaltyBreakBeforeFirstCallParameter: 1 +PointerAlignment: Left diff --git a/lib/libesp32/esp-32-vid6608-rmt/.editorconfig b/lib/libesp32/esp-32-vid6608-rmt/.editorconfig new file mode 100644 index 000000000..d9fa534b6 --- /dev/null +++ b/lib/libesp32/esp-32-vid6608-rmt/.editorconfig @@ -0,0 +1,16 @@ +# top-most EditorConfig file +root = true + +# Unix-style newlines with a newline ending every file +[*] +end_of_line = lf +insert_final_newline = true +charset = utf-8 +indent_style = space +indent_size = 4 + +[*.{yaml,yml}] +indent_size = 2 + +[*.json] +indent_size = 2 diff --git a/lib/libesp32/esp-32-vid6608-rmt/.gitignore b/lib/libesp32/esp-32-vid6608-rmt/.gitignore new file mode 100644 index 000000000..db243c426 --- /dev/null +++ b/lib/libesp32/esp-32-vid6608-rmt/.gitignore @@ -0,0 +1,7 @@ +.pio +.vscode +.cache +managed_components +build +sdkconfig +dependencies.lock diff --git a/lib/libesp32/esp-32-vid6608-rmt/LICENSE b/lib/libesp32/esp-32-vid6608-rmt/LICENSE new file mode 100644 index 000000000..f288702d2 --- /dev/null +++ b/lib/libesp32/esp-32-vid6608-rmt/LICENSE @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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But first, please read +. diff --git a/lib/libesp32/esp-32-vid6608-rmt/README.md b/lib/libesp32/esp-32-vid6608-rmt/README.md new file mode 100644 index 000000000..6c4596cc7 --- /dev/null +++ b/lib/libesp32/esp-32-vid6608-rmt/README.md @@ -0,0 +1,94 @@ +# ESP-IDF library to drive Automotive gauge drivers using HW RMT driver + +This library implements driver for native ESP-IDF framework +for following driver chips for analog automotive gauges (Switec X25.168, X27.168 and clones) with microstepping support: + +* VID6606 (2 motors) +* VID6608 (4 motors) +* VT6608S +* AX1201728SG +* BY8920 +* many others + +Driver chips with microstepping is the recommended way to drive such motors, +they provide much more relailabe and smooth movement with reduced noise and +to avoid skipping steps. + +This library is very similar to [Arduino-vid6608](https://github.com/petrows/arduino-vid6608), +but it implements hardware generator for driver steps sequence, +the [ESP-32 Remote Control Transceiver (RMT)](https://docs.espressif.com/projects/esp-idf/en/stable/esp32/api-reference/peripherals/rmt.html): + +* No `delay()` call; +* Much better precision movement without interrupts and slow-downs for bi-axial instruments; + +Only the ESP-32 is supported. All chips has minimum 2 RMT channels. + +This library has following features: + +* More precise Datasheet complaince +* Another smoothing method (requires less calculations) +* Optimized homing +* Extended API's + +[![PlatformIO Registry](https://badges.registry.platformio.org/packages/petrows/library/esp-32-vid6608-rmt.svg)](https://registry.platformio.org/libraries/petrows/esp-32-vid6608-rmt) + +## Chip documentation + +See [VID6606 Datasheet (English)](doc/VID6608.pdf). + +## Wiring + +This library requires that two pins (per drive) are connected to two outputs. + +![Datasheet scheme](doc/operation-configuration.png) + +* Step pin f(scx): impulse to drive motor to one microstep; +* Direction pin CW/CCW: defines direction ov movement; +* RESET pin: does not controlled by this library. Hold to VDD to enable function (see notes below); + +## RESET pin + +This library does not control RESET pin, please perform this inside your firmware. + +I have problems with some IC's, as they lost function after RESET pin manipulation. [Datasheet](doc/VID6608.pdf) recommends to hold it LOW during boot, and set to HIGH to enable operation, but i recommend just to connect to VDD to be safe. + +## Setting zero + +Motor is set to zero by moving whole scale and kept bouncing on the one of +dead positions. This library provides optimized way to perform homing: it does +1/2 of scale forward, then full scale backward. This helps to reduce bouncing +like in the classical "full scale back" method. + +## Function documentation + +See inline documentation in source code: [vid6608.h](src/vid6608.h). + +## Compile examples + +To compile and flash examples, navigate to example dir and call idf: + +```bash +cd examples/gauge-cal +export IDF_TARGET=esp32c6 +idf.py flash monitor +``` + +## Basic example + +```cpp +#include "esp32_vid6608_rmt.h" + +extern "C" void app_main(void) +{ + vid6608::Config cfg { + .stepPin = GPIO_NUM_14, + .dirPin = GPIO_NUM_18, + .maxSteps = 12 * 320, + }; + vid6608 driver = vid6608(cfg); + + driver.zero(); + vTaskDelay(pdMS_TO_TICKS(2000)); + driver.setPos(12 * 180); +} +``` diff --git a/lib/libesp32/esp-32-vid6608-rmt/idf_component.yml b/lib/libesp32/esp-32-vid6608-rmt/idf_component.yml new file mode 100644 index 000000000..17858f68b --- /dev/null +++ b/lib/libesp32/esp-32-vid6608-rmt/idf_component.yml @@ -0,0 +1,13 @@ +## IDF Component Manager Manifest File +description: "ESP32 library to drive automotive steppers like X27-168 via IC VID668 driver using HW RMT API" +url: "https://github.com/petrows/esp-32-vid6608-rmt" +repository: "https://github.com/petrows/esp-32-vid6608-rmt.git" +maintainers: + - Petr Golovachev +documentation: "https://github.com/petrows/esp-32-vid6608-rmt/blob/master/README.md" +tags: + - Stepper + - VID6608 +dependencies: + idf: + version: ">=5.5.0" diff --git a/lib/libesp32/esp-32-vid6608-rmt/library.json b/lib/libesp32/esp-32-vid6608-rmt/library.json new file mode 100644 index 000000000..3be27663a --- /dev/null +++ b/lib/libesp32/esp-32-vid6608-rmt/library.json @@ -0,0 +1,17 @@ +{ + "name": "esp-32-vid6608-rmt", + "version": "1.2", + "keywords": "esp32, espressif, vid6608, x27-168, rmt, stepper", + "description": "ESP32 library to drive Automotive gauge drivers like x27-168 using HW RMT driver", + "repository": { + "type": "git", + "url": "https://github.com/petrows/esp-32-vid6608-rmt.git" + }, + "authors": { + "name": "Petr Golovachev", + "email": "petro@petro.ws", + "url": "https://petro.ws/" + }, + "frameworks": "espidf,arduino", + "platforms": "espressif32" +} diff --git a/lib/libesp32/esp-32-vid6608-rmt/src/esp32_vid6608_rmt.cpp b/lib/libesp32/esp-32-vid6608-rmt/src/esp32_vid6608_rmt.cpp new file mode 100644 index 000000000..2ad0a2dee --- /dev/null +++ b/lib/libesp32/esp-32-vid6608-rmt/src/esp32_vid6608_rmt.cpp @@ -0,0 +1,291 @@ +/** + * @file esp32_vid6608_rmt.cpp + * @author Petr Golovachev (petro@petro.ws) + * @brief Main class of ESP-32 VID6608 RMT driver + * + * @copyright Copyright (c) 2026 + * + */ + +#include "esp32_vid6608_rmt.h" + +#include "esp_log.h" + +static constexpr uint32_t RMT_RES_HZ = 1'000'000; // 1 тик = 1 мкс +static const char *TAG = "VID6608"; + +std::array esp32_vid6608_rmt::buildAccelCurve() { + // Linear ramp from startHz up to cruiseHz over kAccelSteps pulses. + // Edit these two frequencies to retune the shipped profile. + constexpr float startHz = 250.0f; + constexpr float cruiseHz = 1000.0f; + std::array out{}; + for (size_t i = 0; i < kAccelSteps; ++i) { + float t = float(i + 1) / float(kAccelSteps); + float hz = startHz + (cruiseHz - startHz) * t; + out[i] = static_cast(float(RMT_RES_HZ) / (hz * 2.0f)); + } + return out; +} + +const std::array esp32_vid6608_rmt::kAccelHalfPeriod = + esp32_vid6608_rmt::buildAccelCurve(); + +esp32_vid6608_rmt::esp32_vid6608_rmt(const Config &cfg) : config(cfg) { + gpio_config_t io = { + .pin_bit_mask = (1ULL << this->config.dirPin), + .mode = GPIO_MODE_OUTPUT, + .pull_up_en = GPIO_PULLUP_DISABLE, + .pull_down_en = GPIO_PULLDOWN_DISABLE, + .intr_type = GPIO_INTR_DISABLE, + }; + ESP_ERROR_CHECK(gpio_config(&io)); + gpio_set_level(cfg.dirPin, 0); + + rmt_tx_channel_config_t tx_cfg = {}; + tx_cfg.gpio_num = this->config.stepPin; + tx_cfg.clk_src = RMT_CLK_SRC_DEFAULT; + tx_cfg.resolution_hz = RMT_RES_HZ; + tx_cfg.mem_block_symbols = 48; // ESP32-C6: 48 = 1 HW-channel + tx_cfg.trans_queue_depth = 4; + ESP_ERROR_CHECK(rmt_new_tx_channel(&tx_cfg, &this->chan)); + + rmt_copy_encoder_config_t enc_cfg = {}; + ESP_ERROR_CHECK(rmt_new_copy_encoder(&enc_cfg, &this->enc)); + ESP_ERROR_CHECK(rmt_enable(chan)); + + this->infoMutex = xSemaphoreCreateMutex(); + this->taskNotify = xSemaphoreCreateBinary(); + + this->running = true; + + // Start task + xTaskCreate( + &esp32_vid6608_rmt::driverTaskStart, /* Function to implement the task */ + "esp32_vid6608_rmt", /* Name of the task */ + 1024, /* Stack size in words */ + this, /* Task input parameter */ + 0, /* Priority of the task, lowest */ + &this->taskHandle /* Task handle. */ + ); +} + +esp32_vid6608_rmt::~esp32_vid6608_rmt() { + this->running = false; + xSemaphoreGive(this->taskNotify); + vTaskDelete(this->taskHandle); + if (this->chan) { + rmt_disable(this->chan); + rmt_del_channel(this->chan); + } + if (this->enc) rmt_del_encoder(this->enc); +} + +void esp32_vid6608_rmt::zero(int32_t initialPos) { + xSemaphoreTake(this->infoMutex, portMAX_DELAY); + this->targetPositionNext = 0; + this->targetPosition = 0; + int32_t maxSteps = this->config.maxSteps; + // Pre-defined modes: half-fw/full-back + if (ZERO_BACK_HALF == initialPos) { + initialPos = config.maxSteps / 2; + } + // Sanity check + if (initialPos < 0) { initialPos = 0; } + if (initialPos > maxSteps - 1) { initialPos = maxSteps - 1; } + // Move back the rest of gauge + int32_t stepsBack = (maxSteps - 1) - initialPos; + this->moveConst(stepsBack, 2000); + // Move forward the whole scale + this->moveRamp(-maxSteps); + // Gentle final strike against the mechanical stop — bypass the ramp so + // the impact is soft and predictable. + this->moveConst(-12, 100); + xSemaphoreGive(this->infoMutex); +} + +void esp32_vid6608_rmt::wait(int32_t timeout_ms) { + /** + * @brief This function makes polling check, that the flag + * this->targetPending is unset + * + * We are NOT calling here functions like rmt_tx_wait_all_done(), + * as they are not thread safe! + * + */ + constexpr TickType_t pollInterval = pdMS_TO_TICKS(5); + const bool waitForever = (timeout_ms < 0); + const TickType_t start = xTaskGetTickCount(); + const TickType_t deadline = waitForever + ? 0 + : (start + pdMS_TO_TICKS(timeout_ms)); + + ESP_LOGD(TAG, "D %d, wait start (timeout_ms=%ld)", this->config.stepPin, + static_cast(timeout_ms)); + + while (true) { + xSemaphoreTake(this->infoMutex, portMAX_DELAY); + bool pending = this->targetPending; + xSemaphoreGive(this->infoMutex); + + if (!pending) { + ESP_LOGD(TAG, "D %d, wait done", this->config.stepPin); + return; + } + + if (!waitForever) { + TickType_t now = xTaskGetTickCount(); + // Signed subtraction handles TickType_t wraparound correctly. + if (static_cast(deadline - now) <= 0) { + ESP_LOGW(TAG, "D %d, wait timeout after %ld ms", + this->config.stepPin, static_cast(timeout_ms)); + return; + } + } + + vTaskDelay(pollInterval); + } +} + +bool esp32_vid6608_rmt::isMoving() { + bool pending; + xSemaphoreTake(this->infoMutex, portMAX_DELAY); + pending = this->targetPending; + xSemaphoreGive(this->infoMutex); + return pending; +} + +void esp32_vid6608_rmt::setPos(int32_t steps) { + // Critical section + xSemaphoreTake(this->infoMutex, portMAX_DELAY); + this->targetPending = true; + this->targetPositionNext = steps; + xSemaphoreGive(this->infoMutex); + // Notify thread + xSemaphoreGive(this->taskNotify); +} + +void esp32_vid6608_rmt::driverTask() { + do { + int32_t targetMove = 0; // Now much steps we need to move? + xSemaphoreTake(this->infoMutex, portMAX_DELAY); + // Sanity check + if (this->targetPositionNext < 0) { + this->targetPositionNext = 0; + } + if (this->targetPositionNext > this->config.maxSteps - 1) { + this->targetPositionNext = this->config.maxSteps - 1; + } + if (this->targetPositionNext != this->targetPosition) { + // We have scheduled as new, calculate new diff + targetMove = this->targetPositionNext - this->targetPosition; + this->targetPosition = this->targetPositionNext; + this->targetPending = true; + } else { + this->targetPending = false; // We dont need to move anymore + } + xSemaphoreGive(this->infoMutex); + // We need move? + if (targetMove) { + if (this->config.useAccel) { + this->moveRamp(targetMove); + } else { + this->moveConst(targetMove, 1000); + } + // No need to wait, as move is blocking + continue; // New loop + } + // Nothing to do: wait for info updates + xSemaphoreTake(this->taskNotify, portMAX_DELAY); + } while (this->running); +} + +void esp32_vid6608_rmt::driverTaskStart(void *arg) { + static_cast(arg)->driverTask(); +} + +void esp32_vid6608_rmt::movePrepare(int32_t steps) { + if (steps == 0) return; + uint8_t newTargetDir = steps > 0 ? 0 : 1; + if (newTargetDir != this->targetDir) { + // Direction changed -> add delay (as required by Datasheet) + this->targetDir = newTargetDir; + vTaskDelay(pdMS_TO_TICKS(1)); + gpio_set_level(this->config.dirPin, steps > 0 ? 0 : 1); + vTaskDelay(pdMS_TO_TICKS(1)); + } +} + +void esp32_vid6608_rmt::moveRamp(int32_t steps) { + if (steps == 0) return; + + uint32_t n = static_cast(steps > 0 ? steps : -steps); + ESP_LOGD(TAG, "D %d, Ramp move: %d", this->config.stepPin, steps); + + this->movePrepare(steps); + + // Triangular fallback when the move is too short for a full ramp pair. + uint32_t rampSteps = static_cast(kAccelSteps); + if (n < 2 * rampSteps) { + rampSteps = n / 2; + } + uint32_t cruiseSteps = n - 2 * rampSteps; + + for (uint32_t i = 0; i < rampSteps; ++i) { + uint16_t h = kAccelHalfPeriod[i]; + accelBuf[i].duration0 = h; accelBuf[i].level0 = 1; + accelBuf[i].duration1 = h; accelBuf[i].level1 = 0; + } + for (uint32_t i = 0; i < rampSteps; ++i) { + uint16_t h = kAccelHalfPeriod[rampSteps - 1 - i]; + decelBuf[i].duration0 = h; decelBuf[i].level0 = 1; + decelBuf[i].duration1 = h; decelBuf[i].level1 = 0; + } + + rmt_transmit_config_t tx = {}; + + if (rampSteps > 0) { + tx.loop_count = 0; + ESP_ERROR_CHECK(rmt_transmit(this->chan, this->enc, accelBuf, + rampSteps * sizeof(rmt_symbol_word_t), &tx)); + } + if (cruiseSteps > 0) { + // For a partial (triangular) ramp the cruise speed is whatever peak + // the partial ramp reached, not the full top of the curve. + uint16_t h = rampSteps > 0 ? kAccelHalfPeriod[rampSteps - 1] + : kAccelHalfPeriod[0]; + cruisePulse.duration0 = h; cruisePulse.level0 = 1; + cruisePulse.duration1 = h; cruisePulse.level1 = 0; + tx.loop_count = static_cast(cruiseSteps) - 1; + ESP_ERROR_CHECK(rmt_transmit(this->chan, this->enc, &cruisePulse, + sizeof(cruisePulse), &tx)); + } + if (rampSteps > 0) { + tx.loop_count = 0; + ESP_ERROR_CHECK(rmt_transmit(this->chan, this->enc, decelBuf, + rampSteps * sizeof(rmt_symbol_word_t), &tx)); + } + + // Wait for transmission is done + ESP_ERROR_CHECK(rmt_tx_wait_all_done(this->chan, 10000)); +} + +void esp32_vid6608_rmt::moveConst(int32_t steps, int32_t speed_hz) { + if (steps == 0) return; + + uint32_t n = static_cast(steps > 0 ? steps : -steps); + ESP_LOGD(TAG, "D %d, Const move: %d @ %d Hz", this->config.stepPin, steps, speed_hz); + + this->movePrepare(steps); + + uint16_t half = RMT_RES_HZ / (speed_hz * 2); + cruisePulse.duration0 = half; cruisePulse.level0 = 1; + cruisePulse.duration1 = half; cruisePulse.level1 = 0; + + rmt_transmit_config_t tx = {}; + tx.loop_count = static_cast(n) - 1; // сам символ + (n-1) повторов = n импульсов + ESP_ERROR_CHECK(rmt_transmit(this->chan, this->enc, &cruisePulse, sizeof(cruisePulse), &tx)); + + // Wait for transmission is done + ESP_ERROR_CHECK(rmt_tx_wait_all_done(this->chan, 10000)); +} diff --git a/lib/libesp32/esp-32-vid6608-rmt/src/esp32_vid6608_rmt.h b/lib/libesp32/esp-32-vid6608-rmt/src/esp32_vid6608_rmt.h new file mode 100644 index 000000000..e8297cd79 --- /dev/null +++ b/lib/libesp32/esp-32-vid6608-rmt/src/esp32_vid6608_rmt.h @@ -0,0 +1,209 @@ +/** + * @file esp32_vid6608_rmt.h + * @author Petr Golovachev (petro@petro.ws) + * @brief Main class of ESP-32 VID6608 RMT driver + * + * @copyright Copyright (c) 2026 + * + */ + +#pragma once + +#include +#include +#include + +#include "driver/gpio.h" +#include "driver/rmt_tx.h" +#include "freertos/FreeRTOS.h" +#include "freertos/semphr.h" +#include "freertos/task.h" + +#include "soc/soc_caps.h" +#if !SOC_RMT_SUPPORTED + #error "RMT is not supported on this platform" +#endif + +class esp32_vid6608_rmt { +public: + /** + * @brief Configuration struct + * + */ + struct Config { + gpio_num_t stepPin; ///< f(scx) pin + gpio_num_t dirPin; ///< CC/CCWA pin + uint16_t maxSteps; ///< Max steps er full rotation + bool useAccel = true; ///< Enable smoothness + }; + + /** + * @brief Construct a new esp32_vid6608_rmt object + * + * @param cfg Configuration struct + */ + explicit esp32_vid6608_rmt(const Config &cfg); + ~esp32_vid6608_rmt(); + + esp32_vid6608_rmt(const esp32_vid6608_rmt &) = delete; + esp32_vid6608_rmt &operator=(const esp32_vid6608_rmt &) = delete; + + enum MoveState { + ZERO_BACK_FULL = 0, + ZERO_BACK_HALF = -2, + }; + + /** + * @brief Resets zero position to actual 0 position + * + * Moves full rotation forward and backward + * + * @param initialPos initial position to assume zeroing, default is 0. If you know the "old" gauge position, you can provide it here to avoid end-stop bounce + * + * @warning this function is blocking, execution is delayed upon done + */ + void zero(int32_t initialPos = ZERO_BACK_HALF); + + /** + * @brief Wait for current move task to complete + * + * @param timeout_ms max time to wait, -1 for wait forever + * + */ + void wait(int32_t timeout_ms = 10000); + + /** + * @brief Shedules movement to defined absolute position + * + * Input is checked for sanity: must be in range 0...maxSteps-1. Values bigger are threated as maxSteps-1. + * @warning this function is asynchronous, actual movement is done in another task. + * @warning next move will be scheduled after current move is done to avoid drive jittering. + * + * @param position absolute position in range 0...maxSteps-1 + */ + void setPos(int32_t steps); + + /** + * @brief Get the driving pin + * + * @return gpio_num_t driving pin number + */ + gpio_num_t getPinStep() { return this->config.stepPin; } + + /** + * @brief Get the Max Steps object + * + * @return uint16_t max steps, defined for this drive + */ + uint16_t getMaxSteps() { return this->config.maxSteps; } + + /** + * @brief Get the Current Position object + * + * @return int32_t current position (sheduled at this moment, actual move may apply) + */ + int32_t getCurrentPosition() { return this->targetPosition; } + + // ------------------------------------------------------------------------------------------- + // Old Arduino-vid6608 compat layer + // ------------------------------------------------------------------------------------------- + + /** + * @brief Shedules movement to defined absolute position + * + * Input is checked for sanity: must be in range 0...maxSteps-1. Values bigger are threated as maxSteps-1. + * @warning this function is asynchronous, actual movement is done in the loop() function. + * @warning next move will be scheduled after current move is done to avoid drive jittering. + * + * @param position absolute position in range 0...maxSteps-1 + */ + void moveTo(uint16_t position) { setPos(position); } + + /** + * @brief Test if motor is moving + * + * Return true, if drive still have sheduled steps (that means that next loop() call will result impulse). + * + * @return true if drive is moveemnt + * @return false if drive is stopped + */ + bool isMoving(); + + /** + * @brief Test if motor is stopped + * + * @return true if drive is stopped + * @return false if drive is moveemnt + */ + bool isStopped() { return !isMoving(); } + + /** + * @brief Returns current real absolute position + * + * @return uint16_t current real drive position in steps + */ + uint16_t getPosition() { return (uint16_t)this->targetPosition; } + + /** + * @brief Does nothing on RMT + * + */ + void loop() {} + +private: + /** + * @brief Length of the acceleration ramp, in step pulses. + * + * The acceleration profile is baked into the library and is not + * user-tunable. A move shorter than @c 2*kAccelSteps uses a triangular + * profile and never reaches the cruise rate. + */ + static constexpr size_t kAccelSteps = 32; + + /** + * @brief Build the per-step half-period table at startup. + * + * @return Array of half-periods in RMT ticks (1 µs each). + */ + static std::array buildAccelCurve(); + + /** + * @brief Per-step half-period for the acceleration ramp (RMT ticks). + * + * Index 0 is the slowest pulse (start of motion); the last index is the + * fastest pulse (cruise). Deceleration walks the table in reverse. + */ + static const std::array kAccelHalfPeriod; + + void movePrepare(int32_t steps); + void moveRamp(int32_t steps); + void moveConst(int32_t steps, int32_t speed_hz); + void driverTask(); + static void driverTaskStart(void *arg); + + bool running = false; + Config config; + rmt_channel_handle_t chan = nullptr; + rmt_encoder_handle_t enc = nullptr; + SemaphoreHandle_t infoMutex = nullptr; + SemaphoreHandle_t taskNotify = nullptr; + TaskHandle_t taskHandle = nullptr; + + bool targetPending = false; ///< Do we have next move pending? + int32_t targetPosition = 0; ///< Target position in steps + int32_t targetPositionNext = 0; ///< Target position in steps (scheduled for next move) + uint8_t targetDir = 254; ///< Target direction to move + + /** + * @brief Scratch RMT symbol buffers used by every move. + * + * The copy encoder pulls bytes from the source pointer asynchronously, + * so these buffers must outlive each transmission — every move is + * followed by @ref wait() before the next one reuses them. + * @{ + */ + rmt_symbol_word_t accelBuf[kAccelSteps]{}; + rmt_symbol_word_t decelBuf[kAccelSteps]{}; + rmt_symbol_word_t cruisePulse{}; + /** @} */ +}; diff --git a/platformio_tasmota32.ini b/platformio_tasmota32.ini index 4ce2a5bf9..e45e45ad0 100644 --- a/platformio_tasmota32.ini +++ b/platformio_tasmota32.ini @@ -90,6 +90,7 @@ lib_ignore = ${esp32_defaults.lib_ignore} re1.5 DHT sensor library ccronexpr + esp-32-vid6608-rmt custom_component_remove = espressif/network_provisioning espressif/esp_modem diff --git a/platformio_tasmota_cenv_sample.ini b/platformio_tasmota_cenv_sample.ini index 0e3ede730..58a570437 100644 --- a/platformio_tasmota_cenv_sample.ini +++ b/platformio_tasmota_cenv_sample.ini @@ -127,6 +127,7 @@ build_flags = ${env:tasmota32_base.build_flags} -DOTA_URL='"http://ota.tasmota.com/tasmota32/release/tasmota32c2.bin"' lib_ignore = ${env:tasmota32_base.lib_ignore} Micro-RTSP + esp-32-vid6608-rmt custom_sdkconfig = '# CONFIG_BT_ENABLED is not set' '# CONFIG_BT_NIMBLE_ENABLED is not set' diff --git a/platformio_tasmota_env32.ini b/platformio_tasmota_env32.ini index ee9b67673..3903937ba 100644 --- a/platformio_tasmota_env32.ini +++ b/platformio_tasmota_env32.ini @@ -334,6 +334,7 @@ lib_ignore = ${env:tasmota32_base.lib_ignore} esp-nimble-cpp Micro-RTSP epdiy + esp-32-vid6608-rmt [env:tasmota32c2] extends = env:tasmota32_base @@ -343,6 +344,7 @@ build_flags = ${env:tasmota32_base.build_flags} -DOTA_URL='"http://ota.tasmota.com/tasmota32/release/tasmota32c2.bin"' lib_ignore = ${env:tasmota32_base.lib_ignore} Micro-RTSP + esp-32-vid6608-rmt [env:tasmota32c3] extends = env:tasmota32_base diff --git a/tasmota/my_user_config.h b/tasmota/my_user_config.h index 8097b2fc7..7d9019e67 100644 --- a/tasmota/my_user_config.h +++ b/tasmota/my_user_config.h @@ -1145,7 +1145,8 @@ //#define USE_HRE // Add support for Badger HR-E Water Meter (+1k4 code) //#define USE_A4988_STEPPER // Add support for A4988/DRV8825 stepper-motor-driver-circuit (+10k5 code) //#define USE_VID6608 // Add support for VID6608 Automotive analog gauge driver (+0k7 code) -// #define VID6608_RESET_ON_INIT true // Reset VID6608 on init (default: true), change if you control this manually +// #define VID6608_RESET_ON_INIT 1 // Reset VID6608 on init (default: true), change if you control this manually +// #define VID6608_RMT 0 // Use hardware RMT driver, ESP32 only. Warning: SoC have limited RMT count, amy conflict with others (WS2812b, IR and similar) //#define USE_PROMETHEUS // Add support for https://prometheus.io/ metrics exporting over HTTP /metrics endpoint diff --git a/tasmota/tasmota_xdrv_driver/xdrv_92_vid6608.ino b/tasmota/tasmota_xdrv_driver/xdrv_92_vid6608.ino index 82bcaed2b..a91383df4 100644 --- a/tasmota/tasmota_xdrv_driver/xdrv_92_vid6608.ino +++ b/tasmota/tasmota_xdrv_driver/xdrv_92_vid6608.ino @@ -64,15 +64,36 @@ Version history: + * 2026-05-17 - add support for ESP RMT driver * 2025-11-23 - fixes related with ESP8266 performance * 2025-11-22 - initial release */ +/** + * @brief Use HW RMT driver? + * Provides much better performance, but requires free RMT, + * some SoC (i.e. ESP32C6) have only 2 onboard, and some may be used by other drivers + * (like TasmotaLED and others). + * + * Default is disabled + */ +#if !defined(VID6608_RMT) +#define VID6608_RMT 0 +#endif + +#if VID6608_RMT + #include "soc/soc_caps.h" + #if !SOC_RMT_SUPPORTED + #error "VID6608 RMT is not supported on this platform" + #endif +#endif + /** * @brief Driver impulse mode decision here * ESP-32 has FreeRTOS, that allows us to perform precision inpulse control + * Disabled in RMT mode */ -#ifdef ESP32 +#if defined(ESP32) && !VID6608_RMT #define VID6608_RTOS #endif @@ -82,8 +103,8 @@ * Disable if you dont want to perform reset/homing operation on driver init, * usefull for cases, where you have advanced mode (i.e. use saved values from NVRAM to restore and manual reset). */ -#ifndef VID6608_RESET_ON_INIT - #define VID6608_RESET_ON_INIT true +#if !defined(VID6608_RESET_ON_INIT) + #define VID6608_RESET_ON_INIT 1 #endif /** @@ -98,27 +119,33 @@ * Use defines VID6608_STEPS_X to configure steps range per-drive */ -#ifndef VID6608_STEPS_DEFAULT +#if !defined(VID6608_STEPS_DEFAULT) #define VID6608_STEPS_DEFAULT 320 * 12 #endif -#ifndef VID6608_STEPS_1 +#if !defined(VID6608_STEPS_1) #define VID6608_STEPS_1 VID6608_STEPS_DEFAULT #endif -#ifndef VID6608_STEPS_2 +#if !defined(VID6608_STEPS_2) #define VID6608_STEPS_2 VID6608_STEPS_DEFAULT #endif -#ifndef VID6608_STEPS_3 +#if !defined(VID6608_STEPS_3) #define VID6608_STEPS_3 VID6608_STEPS_DEFAULT #endif -#ifndef VID6608_STEPS_4 +#if !defined(VID6608_STEPS_4) #define VID6608_STEPS_4 VID6608_STEPS_DEFAULT #endif -#include "vid6608.h" +#if VID6608_RMT + #include "esp32_vid6608_rmt.h" + #define VID6608_CLASS esp32_vid6608_rmt +#else + #include "vid6608.h" + #define VID6608_CLASS vid6608 +#endif /** * @brief Command definition @@ -148,8 +175,9 @@ enum GaugeInternalCommand { * @brief Global vars */ bool vid6608Present = false; -vid6608 *vid6608Drives[VID6608_MAX_DRIVES]; -#ifdef VID6608_RTOS +VID6608_CLASS *vid6608Drives[VID6608_MAX_DRIVES]; + +#if defined(VID6608_RTOS) /** * @brief Mutex for RTOS precision timing * @@ -218,7 +246,7 @@ void CmndGaugeCommand(int32_t command, uint32_t index, int32_t payload) { bool isFirstItem = true; for (uint8_t x = 0; x < VID6608_MAX_DRIVES; x++) { if (index == 0 || index == (x+1)) { - vid6608 *driver = vid6608Drives[x]; + VID6608_CLASS *driver = vid6608Drives[x]; if (driver) { if (!isFirstItem) { ResponseAppend_P(PSTR(",")); @@ -259,7 +287,7 @@ void VID6608StatusJson() { bool isFirstItem = true; VID6608_MUTEX_TAKE for (uint8_t x = 0; x < VID6608_MAX_DRIVES; x++) { - vid6608 *driver = vid6608Drives[x]; + VID6608_CLASS *driver = vid6608Drives[x]; if (driver) { if (!isFirstItem) { ResponseAppend_P(PSTR(",")); @@ -281,7 +309,7 @@ void VID6608StatusWeb() { WSContentSend_PD(HTTP_TABLE100); VID6608_MUTEX_TAKE for (uint8_t x = 0; x < VID6608_MAX_DRIVES; x++) { - vid6608 *driver = vid6608Drives[x]; + VID6608_CLASS *driver = vid6608Drives[x]; if (driver) { WSContentSend_PD(PSTR("Gauge %d%d"), (int32_t)(x+1), (int32_t)driver->getPosition()); } @@ -291,7 +319,7 @@ void VID6608StatusWeb() { } #endif -#ifdef VID6608_RTOS +#if defined(VID6608_RTOS) /** * @brief FreeRTOS background process function * This function is required to handle movement with precision timings. @@ -302,7 +330,7 @@ void VID6608XvTask(void *) { bool needToMove = false; VID6608_MUTEX_TAKE for (uint8_t x = 0; x < VID6608_MAX_DRIVES; x++) { - vid6608 *driver = vid6608Drives[x]; + VID6608_CLASS *driver = vid6608Drives[x]; if (driver) { driver->loop(); if (driver->isMoving()) { @@ -335,15 +363,25 @@ void VID6608Init() { uint32_t pinDir = Pin(GPIO_VID6608_CW, x); uint16_t maxSteps = 0; memcpy_P(&maxSteps, &vid6608MaxSteps[x], 2); - AddLog(LOG_LEVEL_DEBUG, PSTR("VID: detected drive %d at pin %d, %d, steps %d"), x, pinStep, pinDir, (uint32_t)maxSteps); - vid6608Drives[x] = new vid6608(pinStep, pinDir, maxSteps); + AddLog(LOG_LEVEL_DEBUG, PSTR("VID: Detected drive %d at pin %d, %d, steps %d"), x, pinStep, pinDir, (uint32_t)maxSteps); + #if VID6608_RMT + AddLog(LOG_LEVEL_DEBUG, PSTR("VID: Using hardware RMT driver")); + esp32_vid6608_rmt::Config cfg; + cfg.stepPin = (gpio_num_t)pinStep; + cfg.dirPin = (gpio_num_t)pinDir; + cfg.maxSteps = maxSteps; + vid6608Drives[x] = new esp32_vid6608_rmt(cfg); + #else + AddLog(LOG_LEVEL_DEBUG, PSTR("VID: Using software driver")); + vid6608Drives[x] = new vid6608(pinStep, pinDir, maxSteps); + #endif // Perform homing operation if (VID6608_RESET_ON_INIT) { vid6608Drives[x]->zero(); - AddLog(LOG_LEVEL_DEBUG, PSTR("VID: zero %d done"), x); + AddLog(LOG_LEVEL_DEBUG, PSTR("VID: Zero %d done"), x); } else { - AddLog(LOG_LEVEL_DEBUG, PSTR("VID: zero %d skipped"), x); + AddLog(LOG_LEVEL_DEBUG, PSTR("VID: Zero %d skipped"), x); } vid6608Present = true; } else { @@ -354,7 +392,8 @@ void VID6608Init() { if (!vid6608Present) { return; } -#ifdef VID6608_RTOS +#if defined(VID6608_RTOS) + AddLog(LOG_LEVEL_DEBUG, PSTR("VID: Using FreeRTOS mode")); // Create mutex for RTOS thread safety vid6608Mutex = xSemaphoreCreateMutex(); // Start background RTOS thread -> required for precision timing @@ -370,14 +409,14 @@ void VID6608Init() { } // Classical loop implementation -#ifndef VID6608_RTOS +#if !defined(VID6608_RTOS) && !VID6608_RMT /** * @brief Non-FreeRTOS background process function * ESP8266 classical loop() thread function, used where is no FreeRTOS. */ bool VID6608Loop() { for (uint8_t x = 0; x < VID6608_MAX_DRIVES; x++) { - vid6608 *driver = vid6608Drives[x]; + VID6608_CLASS *driver = vid6608Drives[x]; if (driver) { driver->loop(); } @@ -405,9 +444,10 @@ bool Xdrv92(uint32_t function) { switch (function) { case FUNC_LOOP: -#ifndef VID6608_RTOS - // ESP32 uses FreeRTOS to manage moving tasks, as it requires precision timings +#if !defined(VID6608_RTOS) && !VID6608_RMT + // 1. ESP32 uses FreeRTOS to manage moving tasks, as it requires precision timings // Others should use regular loop -> slower, but still works + // 2. ESP32 RMT version does not need loop result = VID6608Loop(); #else result = true;