MVP

app/CMakeLists.txt

@@ -12,6 +12,8 @@ target_sources(app PRIVATE
     src/drive.c
     src/dig.c
     src/crsf.c
+    src/place.c
+    src/tamp.c
     #src/imu.c # not in use
     src/led_strip.c
     src/led_controller.c

app/esp32s3_devkitc_procpu.overlay

@@ -1,37 +1,49 @@
 /*
- * ESP32-S3 DevKitC Motor Driver Overlay
+ * ESP32-S3 DevKitC Hardware Overlay
  *
  * MD20A (PWM) motors:
- *   driveRight  — DIR: GPIO1   PWM: GPIO4  (LEDC ch0)
- *   driveLeft   — DIR: GPIO2   PWM: GPIO5  (LEDC ch1)
- *   digActuator — DIR: GPIO3   PWM: GPIO6  (LEDC ch2)
+ *   driveRight/NavM2  — DIR: GPIO3   PWM: GPIO9  (LEDC ch0)
+ *   driveLeft/Navm1   — DIR: GPIO37   PWM: GPIO38  (LEDC ch1)
+ *   digActuator/LinAct1 — DIR: GPIO14   PWM: GPIO21  (LEDC ch2)
  *
  * DM542T (stepper) motors:
- *   digStepper   — DIR: GPIO14  PUL: GPIO13
- *   susanStepper — DIR: GPIO16  PUL: GPIO15
- *   tampActuator — DIR: GPIO18  PUL: GPIO17
+ *   digStepper   — DIR: GPIO48  PUL: GPIO47
+ *   susanStepper — DIR: GPIO11  PUL: GPIO10
+ *   tampActuator — DIR: GPIO13  PUL: GPIO12
  *
  * Servo motors:
- *   soilDrop     — PWM: GPIO7
+ *   soilDrop     — PWM: GPIO8
+ *
+ * BQ76930 BMS:
+ *   I2C SDA: GPIO36   SCL: GPIO35
+ *   ALERT:   GPIO2  (active-low, open-drain — pull-up configured in driver)
+ *
+ * CRSF RC receiver:
+ *   TX: GPIO18   RX: GPIO17   (UART1, 420000 baud)
+ *
+ * WS2812B LED strip:
+ *   MOSI: GPIO5  (SPI2)
  */
 
 #include <zephyr/dt-bindings/pinctrl/esp32s3-pinctrl.h>
 
 /* -----------------------------------------------------------------------
- * Pin control — route LEDC channels to physical GPIO pins
+ * Pin control — all pinmux groups must live here in &pinctrl
  * ----------------------------------------------------------------------- */
 &pinctrl {
+
+    /* LEDC PWM outputs */
     ledc0_default: ledc0_default {
         group1 {
-            pinmux = <LEDC_CH0_GPIO4>,
-                     <LEDC_CH1_GPIO5>,
-                     <LEDC_CH2_GPIO6>,
-                     <LEDC_CH3_GPIO7>;
+            pinmux = <LEDC_CH0_GPIO9>,
+                     <LEDC_CH1_GPIO38>,
+                     <LEDC_CH2_GPIO21>,
+                     <LEDC_CH3_GPIO8>;
             output-enable;
         };
     };
 
-    // CRSF serial, could be different pin configs and uart channels on ESP32-S3
+    /* CRSF serial (UART1) */
     uart1_crsf: uart1_crsf {
         group1 {
             pinmux = <UART1_TX_GPIO18>;
@@ -42,16 +54,8 @@
             input-enable;
         };
     };
-    /* ← lsm6dso does NOT belong here */
-};
-
-/* lsm6dso goes here instead */
-&i2c0 {
-    status = "okay";
-    pinctrl-0 = <&i2c0_default>;
-    pinctrl-names = "default";
-    clock-frequency = <I2C_BITRATE_FAST>;
 
+    /* I2C0 — BQ76930 BMS */
     i2c0_default: i2c0_default {
         group1 {
             pinmux = <I2C0_SDA_GPIO36>,
@@ -61,7 +65,7 @@
         };
     };
 
-    // spi for led strip data pin control
+    /* SPI2 — WS2812B LED strip data line */
     spim2_default: spim2_default {
         group1 {
             pinmux = <SPIM2_MOSI_GPIO5>;
@@ -70,32 +74,28 @@
     };
 };
 
-&i2c0 {
+/* -----------------------------------------------------------------------
+ * UART1 — CRSF RC receiver at 420 kbaud
+ * ----------------------------------------------------------------------- */
+&uart1 {
     status = "okay";
-    pinctrl-0 = <&i2c0_default>;
+    current-speed = <420000>;
+    pinctrl-0 = <&uart1_crsf>;
     pinctrl-names = "default";
-    clock-frequency = <I2C_BITRATE_FAST>;
-
-    /*
-    lsm6dso: lsm6dso@6b {
-        compatible = "st,lsm6dso";
-        reg = <0x6b>;
-        status = "okay";
-    };
-    */   
 };
 
-
-// CRSF serial, baud rate at 420000
-&uart1 {
+/* -----------------------------------------------------------------------
+ * I2C0 — BQ76930 battery management IC
+ * ----------------------------------------------------------------------- */
+&i2c0 {
     status = "okay";
-    current-speed = <420000>;
-    pinctrl-0 = <&uart1_crsf>;
+    clock-frequency = <I2C_BITRATE_FAST>;
+    pinctrl-0 = <&i2c0_default>;
     pinctrl-names = "default";
 };
 
 /* -----------------------------------------------------------------------
- * LEDC (PWM) controller — 4 channels, 1 kHz, 10-bit resolution
+ * LEDC (PWM) — 4 channels
  * ----------------------------------------------------------------------- */
 &ledc0 {
     status = "okay";
@@ -104,56 +104,55 @@
     #address-cells = <1>;
     #size-cells = <0>;
 
-    /* Timer 0 shared by all three channels */
     channel0@0 {
         reg = <0>;
         timer = <0>;
     };
-
     channel1@1 {
         reg = <1>;
         timer = <0>;
     };
-
     channel2@2 {
         reg = <2>;
         timer = <0>;
     };
-
     channel3@3 {
         reg = <3>;
         timer = <1>;
     };
 };
 
-// SPI controller for WS2812B LED strip 
-// hopefully this works, timing is controlled by the one and zero frame parameters, if anything goes wrong it might be that
+/* -----------------------------------------------------------------------
+ * SPI2 — WS2812B LED strip
+ * ----------------------------------------------------------------------- */
 &spi2 {
     status = "okay";
     pinctrl-0 = <&spim2_default>;
     pinctrl-names = "default";
-    
+
     led_strip: ws2812@0 {
         compatible = "worldsemi,ws2812-spi";
         reg = <0>;
-        spi-max-frequency = <3200000>;  /* 3.2MHz for better timing */
-        chain-length = <9>;
+        spi-max-frequency = <3200000>;
+        chain-length = <8>;
         color-mapping = <2  /* GREEN */
-                        1  /* RED */
-                        3>; /* BLUE */
-        spi-one-frame = <0xFC>;         /* 11111100 - longer '1' */
-        spi-zero-frame = <0x80>;        /* 10000000 - shorter '0' */
+                        1  /* RED   */
+                        3>; /* BLUE  */
+        spi-one-frame = <0xFC>;
+        spi-zero-frame = <0x80>;
         bits-per-symbol = <8>;
         reset-delay = <280>;
         label = "WS2812B";
     };
 };
 
 /* -----------------------------------------------------------------------
- * GPIO0 — already defined by the SoC; just ensure it is enabled.
- * All dir/pulse pins are driven purely from software (gpio_pin_configure_dt),
- * so no additional pinctrl entry is needed for plain GPIO on ESP32-S3.
+ * GPIO0 — direction/pulse pins driven from software
  * ----------------------------------------------------------------------- */
 &gpio0 {
     status = "okay";
-};
+};
+
+&gpio1 {
+    status = "okay";
+};

app/include/dig.h

@@ -1,8 +1,14 @@
 #ifndef DIG_H
 #define DIG_H
 #include "types.h"
+#include "place.h"
+
+#define DIG_LOWER_TIME_MS 2000
+#define POST_DIG_DRIVE_TIME_MS 5000
 
 int dig(mcu_t *mcu);
 int move_dig_motor(mcu_t *mcu);
+int post_dig_drive(mcu_t *mcu);
+
 
 #endif // DIG_H

app/include/led_controller.h

@@ -3,60 +3,39 @@
 
 #include <stdint.h>
 #include <stdbool.h>
+#include "types.h"
 
 /**
- * Planting step status
+ * Initialize the LED controller and start the update thread.
+ * @param mcu  pointer to the shared MCU state (reads mcu->state each cycle)
  */
-enum planting_step_status {
-    PLANTING_NOT_STARTED,   // White (default)
-    PLANTING_IN_PROGRESS,   // Blinking white
-    PLANTING_COMPLETED,     // Solid green
-    PLANTING_MAINTENANCE    // Red
-};
+int led_controller_init(mcu_t *mcu);
 
 /**
- * System state
- */
-enum system_state {
-    SYSTEM_IDLE,           // Default state, planting LEDs white
-    SYSTEM_LOADING,        // All planting LEDs breathe white
-    SYSTEM_PLANTING        // In planting cycle
-};
-
-/**
- * Initialize the LED controller
- * This starts a background thread that updates LEDs based on state
- */
-int led_controller_init(void);
-
-/**
- * Set battery percentage and charging state
- * @param percentage: 0-100
- * @param is_charging: true if charging, false otherwise
+ * Set battery percentage and charging state.
+ * Call this when BMS data is available.
+ * @param percentage  0-100
+ * @param is_charging true if currently charging
  */
 void led_controller_set_battery(uint8_t percentage, bool is_charging);
 
 /**
- * Set the status of a specific planting step
- * @param step: 1-4 (which planting step)
- * @param status: Status of that step
- */
-void led_controller_set_planting_step(uint8_t step, enum planting_step_status status);
-
-/**
- * Set system state
- * @param state: System state enum
+ * Mark a planting step as having an error (turns that LED red).
+ * @param step   1-4  (1=Drive, 2=Dig, 3=Place, 4=Tamp)
+ * @param error  true to set error, false to clear it
  */
-void led_controller_set_system_state(enum system_state state);
+void led_controller_set_planting_error(uint8_t step, bool error);
 
 /**
- * Complete the planting cycle (reset all to white)
+ * Signal that the full planting cycle is complete.
+ * All four planting LEDs will go solid white.
  */
-void led_controller_complete_cycle(void);
+void led_controller_set_planting_complete(void);
 
 /**
- * Get current states (for debugging)
+ * Reset planting state (clears complete flag and all errors).
+ * Call at the start of a new planting cycle.
  */
-void led_controller_get_status(void);
+void led_controller_reset_planting(void);
 
-#endif
+#endif

app/include/main.h

@@ -5,10 +5,10 @@
 #include "types.h"
 
 /* Stack size for the motor control thread */
-#define MOTOR_THREAD_STACK_SIZE 2048
+#define MAIN_THREAD_STACK_SIZE 4096
 
 /* Priority for the motor control thread (cooperative, below main) */
-#define MOTOR_THREAD_PRIORITY   5
+#define MAIN_THREAD_PRIORITY   5
 
 void rc_callback(const crsf_channels_t *ch);
 

app/include/motor.h

@@ -3,10 +3,14 @@
 #include "types.h"
 #include "drive.h"
 
+#define PUL_PER_REV   800
+
 /* API */
 int init_motor(mcu_t *mcu);
 int move_motor(mcu_t *mcu);
 int set_motor_speed(motor_t *motor, motor_direction_t dir, uint8_t speed_pct);
+int set_step_motor(motor_t *motor, uint32_t degrees, uint32_t rpm, motor_direction_t direction);
 int step_motor(motor_t *motor, uint32_t steps, uint32_t step_period_us, motor_direction_t direction);
+int all_motors_off(mcu_t *mcu);
 
 #endif

app/include/place.h

@@ -0,0 +1,14 @@
+#ifndef PLACE_H
+#define PLACE_H
+#include "types.h"
+#include "motor.h"
+#include "servo.h"
+
+#define SOIL_TIME_OPEN_MS 5000 //TODO: Figure out value
+
+int place(mcu_t *mcu);
+int place_plant(mcu_t *mcu);
+int place_dirt(mcu_t *mcu);
+
+
+#endif //PLACE_H