Add OTA Update capability

.gitmodules

@@ -10,3 +10,9 @@
 [submodule "library/Trinamic-library"]
 	path = library/Trinamic-library
 	url = https://github.com/terjeio/Trinamic-library.git
+[submodule "library/serial-flash"]
+	path = library/serial-flash
+	url = https://github.com/usedbytes/serial-flash
+[submodule "library/picowota"]
+	path = library/picowota
+	url = https://github.com/dirtbit/picowota

.vscode/settings.json

@@ -26,8 +26,6 @@
     "files.associations": {
         "neopixel_led.h": "c",
         "app.h": "c",
-        "queue.h": "c",
-        "limits": "c",
-        "*.tcc": "c"
+        "queue.h": "c"
     }
 }

CMakeLists.txt

@@ -22,6 +22,7 @@ set(U8G2_MUI_DIRECTORY "${U8G2_SRC_DIRECYTORY}/csrc")
 set(TMC_SRC_DIRECTORY "${CMAKE_SOURCE_DIR}/library/Trinamic-library")
 set(SCRIPTS_DIRECTORY "${CMAKE_SOURCE_DIR}/scripts")
 set(PICO_BOARD_HEADER_DIRS "${CMAKE_SOURCE_DIR}/targets")
+set(PICOWOTA_DIRECTORY "${CMAKE_SOURCE_DIR}/library/picowota")
 
 # Include the Pico SDK
 include(${PICO_SDK_PATH}/pico_sdk_init.cmake)
@@ -39,15 +40,54 @@ SET(CMAKE_C_FLAGS  "${CMAKE_C_FLAGS} -fdata-sections -ffunction-sections")
 SET(CMAKE_CXX_FLAGS  "${CMAKE_CXX_FLAGS} -fdata-sections -ffunction-sections")
 # SET(CMAKE_EXE_LINKER_FLAGS  "${CMAKE_EXE_LINKER_FLAGS} -Wl,--gc-sections")
 
+# On Windows, here we have a problem: If not full "Windows 10 SDK" from Build Tools for Visual Studio is installed, we'll fail on building PIOASM and ELF2UF2
+# Two options:
+# #1 Install "Full Build Tools" -> https://vanhunteradams.com/Pico/Setup/PicoSetup.html
+# #2 Manually get precompiled PIOASM.exe and ELF2UF2.exe from https://sourceforge.net/projects/rpi-pico-utils/ and place it under library/ELF2UF2_PIOASM
+SET(PIOASM_ELF2UF2_OPTION 2) # choose your option: 1 or 2
+if(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Windows")
+    message("---------------If build fails on elf2uf2, consider looking at CMakeLists.txt around line 50 ;-)---------------")
+endif()
+if(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Windows" AND PIOASM_ELF2UF2_OPTION EQUAL 2) # avoid building pioasm and elf2uf2 on windows machines
+    set(ELF2UF2_PATH "${CMAKE_SOURCE_DIR}/library/ELF2UF2_PIOASM")
+    set(PIOASM_PATH  "${CMAKE_SOURCE_DIR}/library/ELF2UF2_PIOASM")
+
+    # .-------------------------------------------------------.
+    # | Avoid building 'pioasm'                               |
+    # |                                                       |
+    add_executable(Pioasm IMPORTED)                         # |
+    set_property(TARGET Pioasm PROPERTY IMPORTED_LOCATION   # |
+        ${PIOASM_PATH}/pioasm)                              # |
+    set(Pioasm_FOUND 1)                                     # |
+    # |                                                       |
+    # `-------------------------------------------------------'
+
+    # .-------------------------------------------------------.
+    # | Avoid building 'elf2uf2'                              |
+    # |                                                       |
+    add_executable(ELF2UF2 IMPORTED)                        # |
+    set_property(TARGET ELF2UF2 PROPERTY IMPORTED_LOCATION  # |
+       ${ELF2UF2_PATH}/elf2uf2)                              # |
+    set(ELF2UF2_FOUND 1)                                    # |
+    # |                                                       |
+    # `-------------------------------------------------------'
+endif()
 
 # Initialise the Pico SDK
 pico_sdk_init()
 
+# TODO - would be cool to have any WiFi credentials saved exclusively on the PICO EEPROM, but not being erased on any firmware update...
+set(PICOWOTA_WIFI_SSID "OpenTricklerBootloader") # The WiFi network SSID
+set(PICOWOTA_WIFI_PASS "opentrickler") # The WiFi network password
+set(PICOWOTA_WIFI_AP "1") # Optional; 0 = connect to the network, 1 = create it
+add_subdirectory(${PICOWOTA_DIRECTORY})
+
 # Application
 add_executable("${TARGET_NAME}")
 
 # Include source
-include_directories(${SRC_DIRECTORY})
+include_directories(${SRC_DIRECTORY}
+)
 
 # Pull in FreeRTOS
 include(${FREERTOS_SRC_DIRECTORY}/portable/ThirdParty/GCC/RP2040/FreeRTOS_Kernel_import.cmake)
@@ -66,8 +106,6 @@ target_sources(trinamic INTERFACE
 )
 target_include_directories(trinamic INTERFACE ${TMC_SRC_DIRECTORY})
 
-
-
 # Pull in u8g2 mui
 add_library(u8g2_mui
     ${U8G2_MUI_DIRECTORY}/mui_u8g2.c
@@ -82,7 +120,8 @@ add_subdirectory(${SRC_DIRECTORY})
 
 # Collect all source files
 file(GLOB SRC ${SRC_DIRECTORY}/*.c 
-              ${SRC_DIRECTORY}/*.cpp)
+              ${SRC_DIRECTORY}/*.cpp
+)
 
 # Include application source file
 target_sources("${TARGET_NAME}" PUBLIC
@@ -103,6 +142,7 @@ target_link_libraries("${TARGET_NAME}"
     u8g2
     u8g2_mui
     trinamic
+    picowota_reboot
 )
 
 if (PICO_BOARD STREQUAL "pico_w" )
@@ -116,6 +156,9 @@ endif()
 
 target_link_options("${TARGET_NAME}" PUBLIC -Wl,--gc-sections -Wl,--print-memory-usage)
 # set( CMAKE_VERBOSE_MAKEFILE on )
-
 # Generate extra outputs
 pico_add_extra_outputs("${TARGET_NAME}")
+
+picowota_build_combined("${TARGET_NAME}") # build both standalone and combined executable
+#picowota_build_standalone("${TARGET_NAME}")
+

README.md

@@ -1,4 +1,4 @@
-# OpenTrickler RP2040 Controller 
+# OpenTrickler RP2040 Controller - with OTA update capability
 This repo is for the firmware that utilises the Raspberry Pi RP2040 micro controller OpenTrickler RP2040 Controller.
 
 Join our [discord server](https://discord.gg/ZhdThA2vrW) for help and development information. 
@@ -27,7 +27,7 @@ Join our [discord server](https://discord.gg/ZhdThA2vrW) for help and developmen
 ## Pre-build firmware
 [![Auto Build](https://github.com/eamars/OpenTrickler-RP2040-Controller/actions/workflows/cmake.yml/badge.svg)](https://github.com/eamars/OpenTrickler-RP2040-Controller/actions/workflows/cmake.yml)
 
-You can download the pre-built firmware based on the latest release from above link. Similar to flashing other RP2040 firmware, you need to put the Pico W into the bootloader mode by pressing BOOTSEL button and plug in the micro-USB cable. Then you can copy the .uf2 file from the package to the pico. Shortly after the Pico W will be programmed automatically. 
+You can download the pre-built firmware based on the latest release from above link. Similar to flashing other RP2040 firmware, you need to put the Pico W into the bootloader mode by pressing BOOTSEL button and plug in the micro-USB cable. Then you can copy the .uf2 file from the package to the pico. Shortly after the Pico W will be programmed automatically. Alternatively, use the OTA update feature described below.
 
 
 
@@ -36,9 +36,9 @@ You can download the pre-built firmware based on the latest release from above l
 [Git](https://gitforwindows.org/) and [Pico-SDK](https://github.com/raspberrypi/pico-setup-windows/releases/download/v0.5.1/pico-setup-windows-x64-standalone.exe) are required to build the firmware. 
 
 ### Setting Up Firmware 
- Using Git Bash clone the repository   
+ Using Git Bash clone this repository   
 
-    git clone https://github.com/eamars/OpenTrickler-RP2040-Controller
+    git clone <URL>
 
 Next change to the cloned directory
 
@@ -66,5 +66,32 @@ Then run the following comand
 ~~~javascript  
 cmake .. -DPICO_BOARD=pico_w -DCMAKE_BUILD_TYPE=Debug
 ~~~
+
 ### Compiling the Firmware
-Open Pico-VisualStudioCode and open the OpenTrickler-RP2040-Controller folder then navigate to the cmake plugin and click Build All Projects.
+Open Pico-VisualStudioCode and open the OpenTrickler-RP2040-Controller folder then navigate to the cmake plugin.
+
+First time compilation: Compile "App" only by clicking the Build Icon next to "app [app.elf]".
+After that, hit "Build All Projects" to let the whole project bake together. From now on, "Build All Projects" is good to go.
+
+
+### Flashing the Firmware
+The first time you have to flash the bootloader by flashing "picowota_app.uf2" via Pico's USB bootloader (the way you did up to now).
+
+On any further flashing, one can use serial-flash from usedbytes: https://github.com/usedbytes/serial-flash
+Read on usedbytes' repository on how to obtain it.
+
+Once serial-flash is working, and OpenTrickler is in Bootloader (via menu, Settings -> Bootloader), one can use serial-flash_app.bat to send app.elf over the air to the OpenTrickler. You may need to configure the correct IP address.
+
+If you configured WiFi via OpenTrickler Web Interface, it will use the same credentials for the bootloader. 
+
+If not, OpenTrickler Bootloader will create a WiFi AP with following credentials:
+
+SSID: OpenTricklerBootloader
+
+PW: opentrickler
+
+Credentials for access point can be changed in CMakeLists.txt.
+
+
+### Known Issues
+For Windows users: If necessary, get precompiled PIOASM.exe and ELF2UF2.exe from https://sourceforge.net/projects/rpi-pico-utils/ or configure CMakeLists.txt around line 50 according to your needs. I write this, because full "Windows 10 SDK" is required to build PIOASM and ELF2UF2.

library/ELF2UF2_PIOASM/readme.txt

@@ -0,0 +1 @@
+If necessary, get precompiled PIOASM.exe and ELF2UF2.exe from https://sourceforge.net/projects/rpi-pico-utils/

serial-flash_app.bat

@@ -0,0 +1,6 @@
+REM https://github.com/usedbytes/serial-flash
+REM install go: https://go.dev/doc/install
+REM run: "go install github.com/usedbytes/serial-flash@latest" to install serial-flash
+REM serial-flash tcp:192.168.4.1:4242 build/app.elf
+serial-flash tcp:192.168.2.163:4242 build/app.elf
+pause

src/app.cpp

@@ -25,8 +25,8 @@
 #include "neopixel_led.h"
 #include "rotary_button.h"
 #include "menu.h"
-#include "profile.h"
 
+#include "picowota/reboot.h"
 
 
 uint8_t software_reboot() {
@@ -35,6 +35,12 @@ uint8_t software_reboot() {
     return 0;
 }
 
+uint8_t reboot_to_bootloader() {
+    picowota_reboot(true);
+
+    return 0;
+}
+
 
 int main()
 {
@@ -60,16 +66,13 @@ int main()
     // Initialize charge mode settings
     charge_mode_config_init();
 
-    // Initialize profile data
-    profile_data_init();
-
 #ifdef RASPBERRYPI_PICO_W
     // Load wireless settings
     wireless_init();
 #else
     #error "Unpported platform"
 #endif  // RASPBERRYPI_PICO_W
-    xTaskCreate(menu_task, "Menu Task", 1024, NULL, 6, NULL);
+    xTaskCreate(menu_task, "Menu Task", configMINIMAL_STACK_SIZE, NULL, 6, NULL);
     // xTaskCreate(motor_task, "Motor Task", configMINIMAL_STACK_SIZE, NULL, 8, NULL);
 
     vTaskStartScheduler();

src/app.h

@@ -17,6 +17,7 @@ typedef enum {
     APP_STATE_ENTER_EEPROM_ERASE = 8,
     APP_STATE_ENTER_REBOOT = 9,
     APP_STATE_ENTER_WIFI_INFO = 10,
+    APP_STATE_ENTER_BOOTLOADER = 11,
 } AppState_t;
 
 
@@ -36,6 +37,7 @@ extern "C" {
 
 bool app_init();
 uint8_t software_reboot();
+uint8_t reboot_to_bootloader();
 bool http_app_config();
 
 #ifdef __cplusplus

src/charge_mode.cpp

@@ -18,7 +18,6 @@
 #include "charge_mode.h"
 #include "eeprom.h"
 #include "neopixel_led.h"
-#include "profile.h"
 
 
 uint8_t charge_weight_digits[] = {0, 0, 0, 0, 0};
@@ -31,6 +30,13 @@ extern scale_config_t scale_config;
 
 const eeprom_charge_mode_data_t default_charge_mode_data = {
     .charge_mode_data_rev = EEPROM_CHARGE_MODE_DATA_REV,
+    .coarse_kp = 0.025f,
+    .coarse_ki = 0.0f,
+    .coarse_kd = 0.25f,
+
+    .fine_kp = 2.0f,
+    .fine_ki = 0.0f,
+    .fine_kd = 10.0f,
 
     .coarse_stop_threshold = 5,
     .fine_stop_threshold = 0.03,
@@ -93,11 +99,6 @@ void scale_measurement_render_task(void *p) {
         u8g2_SetFont(display_handler, u8g2_font_profont22_tf);
         u8g2_DrawStr(display_handler, 26, 35, current_weight_string);
 
-        // Draw current profile
-        profile_t * current_profile = profile_get_selected();
-        u8g2_SetFont(display_handler, u8g2_font_helvR08_tr);
-        u8g2_DrawStr(display_handler, 5, 61, current_profile->name);
-
         u8g2_SendBuffer(display_handler);
 
         vTaskDelayUntil(&last_render_tick, pdMS_TO_TICKS(20));
@@ -168,18 +169,9 @@ ChargeModeState_t charge_mode_wait_for_complete(ChargeModeState_t prev_state) {
              "Target: %.02f", 
              charge_mode_config.target_charge_weight);
 
-    // Read trickling parameter from the current profile
-    profile_t * current_profile = profile_get_selected();
-
-    // Find the minimum of max speed from the motor and the profile
-    float coarse_trickler_max_speed = fmin(get_motor_max_speed(SELECT_COARSE_TRICKLER_MOTOR),
-                                           current_profile->coarse_max_flow_speed_rps);
-    float coarse_trickler_min_speed = fmax(get_motor_min_speed(SELECT_COARSE_TRICKLER_MOTOR),
-                                           current_profile->coarse_min_flow_speed_rps);
-    float fine_trickler_max_speed = fmin(get_motor_max_speed(SELECT_FINE_TRICKLER_MOTOR),
-                                         current_profile->fine_max_flow_speed_rps);
-    float fine_trickler_min_speed = fmax(get_motor_min_speed(SELECT_FINE_TRICKLER_MOTOR),
-                                         current_profile->fine_min_flow_speed_rps);
+    uint16_t coarse_trickler_max_speed = get_motor_max_speed(SELECT_COARSE_TRICKLER_MOTOR);
+    uint16_t fine_trickler_max_speed = get_motor_max_speed(SELECT_FINE_TRICKLER_MOTOR);
+    float fine_trickler_min_speed = get_motor_min_speed(SELECT_FINE_TRICKLER_MOTOR);
 
     float integral = 0.0f;
     float last_error = 0.0f;
@@ -229,20 +221,20 @@ ChargeModeState_t charge_mode_wait_for_complete(ChargeModeState_t prev_state) {
         float derivative = (error - last_error) / elapse_time_ms;
 
         // Update fine trickler speed
-        float new_p = current_profile->fine_kp * error;
-        float new_i = current_profile->fine_ki * integral;
-        float new_d = current_profile->fine_kd * derivative;
+        float new_p = charge_mode_config.eeprom_charge_mode_data.fine_kp * error;
+        float new_i = charge_mode_config.eeprom_charge_mode_data.fine_ki * integral;
+        float new_d = charge_mode_config.eeprom_charge_mode_data.fine_kd * derivative;
         float new_speed = fmax(fine_trickler_min_speed, fmin(new_p + new_i + new_d, fine_trickler_max_speed));
 
         motor_set_speed(SELECT_FINE_TRICKLER_MOTOR, new_speed);
 
         // Update coarse trickler speed
         if (should_coarse_trickler_move) {
-            new_p = current_profile->coarse_kp * error;
-            new_i = current_profile->coarse_ki * integral;
-            new_d = current_profile->coarse_kd * derivative;
+            new_p = charge_mode_config.eeprom_charge_mode_data.coarse_kp * error;
+            new_i = charge_mode_config.eeprom_charge_mode_data.coarse_ki * integral;
+            new_d = charge_mode_config.eeprom_charge_mode_data.coarse_kd * derivative;
 
-            new_speed = fmax(coarse_trickler_min_speed, fmin(new_p + new_i + new_d, coarse_trickler_max_speed));
+            new_speed = fmin(new_p + new_i + new_d, coarse_trickler_max_speed);
 
             motor_set_speed(SELECT_COARSE_TRICKLER_MOTOR, new_speed);
         }
@@ -492,7 +484,25 @@ bool http_rest_charge_mode_config(struct fs_file *file, int num_params, char *pa
 
     // Control
     for (int idx = 0; idx < num_params; idx += 1) {
-        if (strcmp(params[idx], "c_stop") == 0) {
+        if (strcmp(params[idx], "c_kp") == 0) {
+            charge_mode_config.eeprom_charge_mode_data.coarse_kp = strtof(values[idx], NULL);
+        }
+        else if (strcmp(params[idx], "c_ki") == 0) {
+            charge_mode_config.eeprom_charge_mode_data.coarse_ki = strtof(values[idx], NULL);
+        }
+        else if (strcmp(params[idx], "c_kd") == 0) {
+            charge_mode_config.eeprom_charge_mode_data.coarse_kd = strtof(values[idx], NULL);
+        }
+        else if (strcmp(params[idx], "f_kp") == 0) {
+            charge_mode_config.eeprom_charge_mode_data.fine_kp = strtof(values[idx], NULL);
+        }
+        else if (strcmp(params[idx], "f_ki") == 0) {
+            charge_mode_config.eeprom_charge_mode_data.fine_ki = strtof(values[idx], NULL);
+        }
+        else if (strcmp(params[idx], "f_kd") == 0) {
+            charge_mode_config.eeprom_charge_mode_data.fine_kd = strtof(values[idx], NULL);
+        }
+        else if (strcmp(params[idx], "c_stop") == 0) {
             charge_mode_config.eeprom_charge_mode_data.coarse_stop_threshold = strtof(values[idx], NULL);
         }
         else if (strcmp(params[idx], "f_stop") == 0) {
@@ -523,8 +533,14 @@ bool http_rest_charge_mode_config(struct fs_file *file, int num_params, char *pa
     // Response
     snprintf(charge_mode_json_buffer, 
              sizeof(charge_mode_json_buffer),
-             "{\"c_stop\":%.3f,\"f_stop\":%.3f,\"sp_sd\":%.3f,\"sp_avg\":%.3f,"
+             "{\"c_kp\":%.3f,\"c_ki\":%.3f,\"c_kd\":%.3f,\"f_kp\":%.3f,\"f_ki\":%.3f,\"f_kd\":%.3f,\"c_stop\":%.3f,\"f_stop\":%.3f,\"sp_sd\":%.3f,\"sp_avg\":%.3f,"
              "\"c1\":\"#%06x\",\"c2\":\"#%06x\",\"c3\":\"#%06x\",\"c4\":\"#%06x\"}",
+             charge_mode_config.eeprom_charge_mode_data.coarse_kp,
+             charge_mode_config.eeprom_charge_mode_data.coarse_ki,
+             charge_mode_config.eeprom_charge_mode_data.coarse_kd,
+             charge_mode_config.eeprom_charge_mode_data.fine_kp,
+             charge_mode_config.eeprom_charge_mode_data.fine_ki,
+             charge_mode_config.eeprom_charge_mode_data.fine_kd,
              charge_mode_config.eeprom_charge_mode_data.coarse_stop_threshold,
              charge_mode_config.eeprom_charge_mode_data.fine_stop_threshold,
              charge_mode_config.eeprom_charge_mode_data.set_point_sd_margin,