#include "oscillator.h"
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#include <driver/ledc.h>
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#include <esp_timer.h>
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#include <algorithm>
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#include <cmath>
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extern unsigned long IRAM_ATTR millis();
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Oscillator::Oscillator(int trim) {
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trim_ = trim;
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diff_limit_ = 0;
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is_attached_ = false;
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sampling_period_ = 30;
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period_ = 2000;
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number_samples_ = period_ / sampling_period_;
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inc_ = 2 * M_PI / number_samples_;
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amplitude_ = 45;
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phase_ = 0;
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phase0_ = 0;
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offset_ = 0;
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stop_ = false;
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rev_ = false;
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pos_ = 90;
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previous_millis_ = 0;
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}
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Oscillator::~Oscillator() {
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Detach();
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}
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uint32_t Oscillator::AngleToCompare(int angle) {
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return (angle - SERVO_MIN_DEGREE) * (SERVO_MAX_PULSEWIDTH_US - SERVO_MIN_PULSEWIDTH_US) /
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(SERVO_MAX_DEGREE - SERVO_MIN_DEGREE) +
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SERVO_MIN_PULSEWIDTH_US;
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}
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bool Oscillator::NextSample() {
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current_millis_ = millis();
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if (current_millis_ - previous_millis_ > sampling_period_) {
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previous_millis_ = current_millis_;
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return true;
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}
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return false;
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}
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void Oscillator::Attach(int pin, bool rev) {
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if (is_attached_) {
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Detach();
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}
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pin_ = pin;
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rev_ = rev;
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ledc_timer_config_t ledc_timer = {.speed_mode = LEDC_LOW_SPEED_MODE,
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.duty_resolution = LEDC_TIMER_13_BIT,
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.timer_num = LEDC_TIMER_1,
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.freq_hz = 50,
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.clk_cfg = LEDC_AUTO_CLK};
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ESP_ERROR_CHECK(ledc_timer_config(&ledc_timer));
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static int last_channel = 0;
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last_channel = (last_channel + 1) % 7 + 1;
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ledc_channel_ = (ledc_channel_t)last_channel;
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ledc_channel_config_t ledc_channel = {.gpio_num = pin_,
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.speed_mode = LEDC_LOW_SPEED_MODE,
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.channel = ledc_channel_,
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.intr_type = LEDC_INTR_DISABLE,
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.timer_sel = LEDC_TIMER_1,
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.duty = 0,
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.hpoint = 0};
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ESP_ERROR_CHECK(ledc_channel_config(&ledc_channel));
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ledc_speed_mode_ = LEDC_LOW_SPEED_MODE;
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// pos_ = 90;
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// Write(pos_);
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previous_servo_command_millis_ = millis();
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is_attached_ = true;
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}
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void Oscillator::Detach() {
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if (!is_attached_)
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return;
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ESP_ERROR_CHECK(ledc_stop(ledc_speed_mode_, ledc_channel_, 0));
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is_attached_ = false;
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}
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void Oscillator::SetT(unsigned int T) {
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period_ = T;
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number_samples_ = period_ / sampling_period_;
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inc_ = 2 * M_PI / number_samples_;
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}
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void Oscillator::SetPosition(int position) {
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Write(position);
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}
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void Oscillator::Refresh() {
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if (NextSample()) {
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if (!stop_) {
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int pos = std::round(amplitude_ * std::sin(phase_ + phase0_) + offset_);
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if (rev_)
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pos = -pos;
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Write(pos + 90);
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}
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phase_ = phase_ + inc_;
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}
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}
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void Oscillator::Write(int position) {
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if (!is_attached_)
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return;
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long currentMillis = millis();
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if (diff_limit_ > 0) {
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int limit = std::max(
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1, (((int)(currentMillis - previous_servo_command_millis_)) * diff_limit_) / 1000);
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if (abs(position - pos_) > limit) {
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pos_ += position < pos_ ? -limit : limit;
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} else {
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pos_ = position;
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}
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} else {
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pos_ = position;
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}
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previous_servo_command_millis_ = currentMillis;
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int angle = pos_ + trim_;
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angle = std::min(std::max(angle, 0), 180);
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uint32_t duty = (uint32_t)(((angle / 180.0) * 2.0 + 0.5) * 8191 / 20.0);
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ESP_ERROR_CHECK(ledc_set_duty(ledc_speed_mode_, ledc_channel_, duty));
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ESP_ERROR_CHECK(ledc_update_duty(ledc_speed_mode_, ledc_channel_));
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}
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