main.rs

#![no_std]
#![no_main]
#![feature(type_alias_impl_trait)]

use embassy_executor::Spawner;
use embassy_time::{Duration, Timer};
use esp_backtrace as _;
use esp_hal::{
    gpio::{Input, Level, Output, Pull},
    mcpwm::{
        operator::{PwmPin, PwmPinConfig},
        timer::PwmWorkingMode,
        McPwm, PeripheralClockConfig,
    },
    peripherals::MCPWM0,
    prelude::*,
    timer::timg::TimerGroup,
};
use filament_changer::FilamentChanger;

mod filament_changer;

extern crate alloc;

#[embassy_executor::task]
async fn filament_changer_task(mut filament_changer: FilamentChanger<'static>) {
    filament_changer.run().await;
}

/*
Servo Motor Limits:
    300 is min
    2500 is max
    0deg is 500
    90deg is 1500
    180deg is 2500
*/

#[esp_hal_embassy::main]
async fn main(spawner: Spawner) -> ! {
    esp_println::logger::init_logger_from_env();
    esp_println::println!("Init!");

    let peripherals = esp_hal::init(esp_hal::Config::default());

    esp_alloc::heap_allocator!(72 * 1024);

    // initialize embasy
    let timg1 = TimerGroup::new(peripherals.TIMG1);
    esp_hal_embassy::init(timg1.timer0);

    // initialize filament changer

    // Pin configuration
    let servo_pin = Output::new(peripherals.GPIO23, Level::Low);
    let stepper_a_dir = Output::new(peripherals.GPIO15, Level::Low);
    let stepper_a_step = Output::new(peripherals.GPIO4, Level::Low);
    let stepper_a_en = Output::new(peripherals.GPIO16, Level::High);

    let stepper_b_dir = Output::new(peripherals.GPIO17, Level::Low);
    let stepper_b_step = Output::new(peripherals.GPIO5, Level::Low);
    let stepper_b_en = Output::new(peripherals.GPIO18, Level::High);

    let endswitch = Input::new(peripherals.GPIO19, Pull::Down);

    let led = Output::new(peripherals.GPIO2, Level::Low);

    // MCPWM setup ( for Servo )
    let clock_cfg = PeripheralClockConfig::with_frequency(32.MHz()).unwrap();

    let mut mcpwm = McPwm::new(peripherals.MCPWM0, clock_cfg);

    // connect operator0 to timer0
    mcpwm.operator0.set_timer(&mcpwm.timer0);
    // connect operator0 to pin
    let mut pwm_pin: PwmPin<'_, MCPWM0, 0, true> = mcpwm
        .operator0
        .with_pin_a(servo_pin, PwmPinConfig::UP_ACTIVE_HIGH);

    // start timer with timestamp values in the range of 0..=99 and a frequency of
    // 20 kHz
    let timer_clock_cfg = clock_cfg
        .timer_clock_with_frequency(20000, PwmWorkingMode::Increase, 50.Hz())
        .unwrap();
    mcpwm.timer0.start(timer_clock_cfg);

    pwm_pin.set_timestamp(1000);

    let filament_changer = FilamentChanger::new(
        stepper_a_dir,
        stepper_a_step,
        stepper_a_en,
        stepper_b_dir,
        stepper_b_step,
        stepper_b_en,
        endswitch,
        led,
        pwm_pin,
    );

    spawner
        .spawn(filament_changer_task(filament_changer))
        .unwrap();

    loop {
        Timer::after(Duration::from_millis(5_000)).await;
    }
}

/*
Hardware specs:

17HS08-1004S Nema 17 Bipolar 1.8deg 13Ncm (18.4oz.in) 1A 3.5V 42x42x20mm 4 Wires
1.BLK(+)  / 2.GRN(-)
3.RED(+) / 4.BLU(-)

TMC2208 V3.0 Stepper Motor Driver Bigtreetech

From TOP View:
1. GND          9. DIR
2. VIO         10. STEP
3. OB2         11. CLK
4. OB1         12. PDN_UART
5. OA1         13. PDN_UART
6. OA2         14. MS2
7. GND         15. MS1
8. VM          16. EN

MS1 | MS2 | Microstep Resolution
H   | L   | 2
L   | H   | 4
L   | L   | 8
H   | H   | 16


# ESP WROOM 32 Pinout (30 Pin Version)
*/