doc scripts | component docs - inc
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@ -2236,5 +2236,143 @@
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"message": "Let me try a different approach by looking in a polymech directory structure:",
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"timestamp": "2025-06-03T19:27:29.081Z",
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"service": "collector:onContent"
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},
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{
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"level": "debug",
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"message": "It seems the implementation file isn't accessible through the available paths. I'll proceed with creating the documentation based on the header file that was provided. Now I'll create the Markdown documentation file:",
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"timestamp": "2025-06-03T19:27:53.904Z",
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"service": "collector:onContent"
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},
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{
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"level": "debug",
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"message": "I've created the documentation for the SAKO_VFD component in Markdown format at `./docs/SAKO_VFD.md`. The documentation includes:\n\n1. **Component Overview**: A description of what the SAKO VFD component does and its primary functionality\n2. **Requirements**: Hardware and software requirements for using the component\n3. **Features**: A comprehensive list of the component's capabilities\n4. **Dependencies**: Required libraries and components with a Mermaid diagram\n5. **Behavior**: A state diagram showing the operation flow of the VFD\n6. **TODOs**: Sections for performance, security, compliance, and recommendations\n7. **Example**: Code sample showing how to initialize and mount the component\n\nThe documentation is based on the header file since I was unable to access the implementation file. However, it provides a thorough overview of the component's purpose and functionality. The document includes frontmatter with title, description, and keywords as requested, making it compatible with an Astro static site generator.",
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"timestamp": "2025-06-03T19:27:59.580Z",
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"service": "collector:onContent"
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},
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{
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"level": "debug",
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"message": "I'll help you generate documentation for the Component class. First, let me read the Component.cpp file to get the implementation details.",
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"timestamp": "2025-06-03T19:28:07.371Z",
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"service": "collector:onContent"
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},
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{
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"level": "debug",
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||||
"message": "It seems there might be an issue accessing the Component.cpp file. Let me try with the full path:",
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"timestamp": "2025-06-03T19:28:09.883Z",
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"service": "collector:onContent"
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},
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{
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"level": "debug",
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"message": "Let me try to find the file in a different location:",
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"timestamp": "2025-06-03T19:28:12.044Z",
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"service": "collector:onContent"
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},
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{
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"level": "debug",
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"message": "I'll try to read the Component.h file again to make sure I have the complete content:",
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"timestamp": "2025-06-03T19:28:14.294Z",
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"service": "collector:onContent"
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},
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{
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"level": "debug",
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"message": "Let me try one more approach for reading the Component.cpp file:",
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"timestamp": "2025-06-03T19:28:16.212Z",
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"service": "collector:onContent"
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},
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{
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"level": "debug",
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"message": "I notice there are issues accessing the Component.cpp file. Based on the information I have available, I'll create the documentation with the content from Component.h. I'll now create the documentation file:",
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"timestamp": "2025-06-03T19:28:39.935Z",
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"service": "collector:onContent"
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},
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{
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"level": "debug",
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"message": "I've created the documentation for the Component class and saved it to `./docs/Component.md`. \n\nThe documentation includes:\n1. Frontmatter with title, description, and keywords\n2. An overview of the Component class and its purpose\n3. Requirements for using the Component class\n4. Key features of the Component class\n5. Dependencies with Markdown formatted links\n6. A Mermaid diagram illustrating dependencies\n7. A Mermaid diagram showing the component's behavior/lifecycle\n8. TODOs sections covering performance, security, compliance, and recommendations\n9. An example section showing how to create and use Component instances\n\nSince I was unable to access the Component.cpp file, I created a general example based on the constructor signatures visible in the Component.h file. The documentation follows the specified layout structure, and the Markdown is formatted according to standard linting rules.\n\nIs there anything specific you'd like me to adjust or expand upon in the documentation?",
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"timestamp": "2025-06-03T19:28:45.243Z",
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"service": "collector:onContent"
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},
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{
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"level": "debug",
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"message": "I'll help you create documentation for the config component. First, let me check if the corresponding CPP file exists and examine its content.",
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"timestamp": "2025-06-03T19:28:53.643Z",
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"service": "collector:onContent"
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},
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{
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"level": "debug",
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"message": "It seems there is no config.cpp file, which makes sense as config.h is likely just a header file containing configuration definitions with no corresponding implementation file. I'll proceed with creating the documentation based on the header file information.\n\nLet me create the Markdown documentation file:",
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"timestamp": "2025-06-03T19:29:17.561Z",
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"service": "collector:onContent"
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},
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{
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"level": "debug",
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"message": "I've created a comprehensive documentation file for the configuration system at `./docs/config.md`. Here's what the documentation includes:\n\n1. **Frontmatter** with title, description, and keywords for the Astro static site generator\n2. **Basic information** about the configuration system with a link to the source file\n3. **Revision history** set to \"Initial documentation\"\n4. **Requirements** section detailing the hardware and environment needs\n5. **Features** list covering all major aspects of the configuration system\n6. **Dependencies** with links to relevant libraries\n7. **Behaviour** explanation with a Mermaid diagram showing the structure of the configuration system\n8. **TODOs** section with performance, security, compliance, and recommendations\n9. **Example** showing how the configuration is used with the LED Feedback component (taken from the provided code snippet)\n10. **References** with a link to the ESP32 technical documentation\n\nThe documentation follows the specified layout and includes all required sections. Since there was no config.cpp file, I based the documentation solely on the config.h file. The Mermaid diagrams help visualize the dependencies and behavior of the configuration system.",
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"timestamp": "2025-06-03T19:29:24.026Z",
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"service": "collector:onContent"
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},
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{
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"level": "debug",
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"message": "Let me check if there's a corresponding source file for the StatusLight component.",
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"timestamp": "2025-06-03T19:29:30.582Z",
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"service": "collector:onContent"
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},
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{
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"level": "debug",
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"message": "It seems the file doesn't exist or couldn't be read. This likely means that the StatusLight component is fully implemented in the header file. Let's create the documentation based on the header file content.\n\nNow I'll create a documentation file for the StatusLight component:",
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"timestamp": "2025-06-03T19:29:50.388Z",
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"service": "collector:onContent"
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},
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{
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"level": "debug",
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"message": "I've created the documentation for the StatusLight component and saved it to `./docs/StatusLight.md`. The documentation includes:\n\n1. **Frontmatter** with title, description, and keywords for the Astro static site generator\n2. **Component overview** describing what the StatusLight component does\n3. **Requirements** section listing the hardware and configuration needs\n4. **Features** detailing the key functionality provided\n5. **Dependencies** with links to required components and a Mermaid diagram\n6. **Behaviour** section with a state diagram showing how the component transitions between states\n7. **TODOs** sections covering performance, security, compliance, and recommendations\n8. **Example** showing how to initialize and use the component\n\nSince there was no separate `.cpp` file, I created an example based on the header file and the typical usage pattern observed in similar components, including how to instantiate the component and use its primary methods.\n\nThe documentation is structured according to the requested layout and should be ready for inclusion in the Astro static site generator.",
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"timestamp": "2025-06-03T19:29:56.987Z",
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"service": "collector:onContent"
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},
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{
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"level": "debug",
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"message": "I need to examine the corresponding source file (StepperController.cpp) to complete the documentation. Let me retrieve that file first.",
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"timestamp": "2025-06-03T19:30:09.249Z",
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"service": "collector:onContent"
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},
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{
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"level": "debug",
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"message": "It seems the StepperController.cpp file doesn't exist or couldn't be found. This suggests that all the implementation is contained within the header file, which is common for template-based or simple components in C++. \n\nLet me now create the documentation based on the StepperController.h file:",
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"timestamp": "2025-06-03T19:30:30.877Z",
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"service": "collector:onContent"
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},
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{
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"level": "debug",
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"message": "I've successfully created documentation for the StepperController component in the requested format. The documentation has been saved to `./docs/StepperController.md`.\n\nKey points about the documentation:\n\n1. **Component Description**: I've provided a comprehensive description of the StepperController component, which controls stepper motors using the AccelStepper library and integrates with Modbus.\n\n2. **Hardware & Software Requirements**: Listed all the necessary pins and libraries required by the component.\n\n3. **Features**: Detailed the component's capabilities including speed control, direction setting, and overload detection.\n\n4. **Dependencies**: Included the main dependencies with links and a Mermaid diagram.\n\n5. **Behavior**: Created a state diagram showing the different states of the motor controller.\n\n6. **TODOs**: Added recommendations for performance, security, compliance, and general usage.\n\n7. **Example**: Provided a practical example of how to instantiate and configure the StepperController, formatted as a code block.\n\nSince there was no separate .cpp file for this component (all the implementation is in the header file), I based the documentation entirely on the StepperController.h file, which contained all the necessary information.",
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"timestamp": "2025-06-03T19:30:38.061Z",
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"service": "collector:onContent"
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},
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{
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"level": "debug",
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"message": "I need to look at the Plunger.cpp file to understand how this component is implemented and constructed. Let me read that file first.",
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"timestamp": "2025-06-03T19:31:18.750Z",
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"service": "collector:onContent"
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},
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{
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"level": "debug",
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||||
"message": "I see that the path wasn't specified correctly. Let me try again with the correct path.",
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"timestamp": "2025-06-03T19:31:21.848Z",
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"service": "collector:onContent"
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},
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{
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"level": "debug",
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"message": "I'll create the documentation for the Plunger component by examining both its header and source file.\n\nFirst, let me check the Plunger.cpp source file:",
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"timestamp": "2025-06-03T19:32:20.979Z",
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"service": "collector:onContent"
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},
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||||
{
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"level": "debug",
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"message": "I notice that the source file either doesn't exist or couldn't be accessed. I'll proceed based on the Plunger.h header file provided and create the documentation with the available information.",
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"timestamp": "2025-06-03T19:32:49.387Z",
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"service": "collector:onContent"
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},
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{
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"level": "debug",
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"message": "I've created the documentation for the Plunger component based on the provided header file. The documentation includes:\n\n1. **Basic Information**: A description of what the Plunger component does and its primary functions\n2. **Requirements**: Hardware and configuration needs\n3. **Features**: Comprehensive list of functionality \n4. **Dependencies**: Components that the Plunger relies on with a mermaid diagram\n5. **Behavior**: A state diagram illustrating the state machine implementation\n6. **TODOs**: Recommendations for performance, security, compliance, and general improvements\n7. **Example**: Sample code demonstrating how to initialize and use the component\n\nThe documentation is now available at `./docs/Plunger.md` and follows the requested Markdown format for the Astro static site generator, including the appropriate frontmatter.\n\nNote that I couldn't access the Plunger.cpp source file, so the example code is based on a typical implementation pattern for components in this framework. If you want to update the example with the actual implementation details from the source file, you may need to check if the file exists in a different location or provide it separately.",
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"timestamp": "2025-06-03T19:32:57.216Z",
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"service": "collector:onContent"
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||||
}
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||||
]
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@ -1,46 +1,44 @@
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---
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title: Component Class
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description: Base class for all firmware components with standard behavior and lifecycle management
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keywords: component, base class, framework, firmware, modbus, ESP32
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description: Base class for all hardware and software components in the system
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keywords: [component, base class, modular architecture, ESP32]
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---
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# Component
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## Component
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**Path**: [`src/Component.h`](../src/Component.h)
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**Path**: [src/Component.h](../src/Component.h)
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**Revision History**:
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- Initial documentation
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**Revision History**: Initial documentation
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The Component class serves as the foundational building block for all firmware components in the system. It provides standardized interfaces for component initialization, execution, and communication via Modbus and other protocols. It's designed to work within an industrial application environment using Modbus-485.
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The Component class serves as the foundational base class for all hardware and software components in the system. It provides a standardized interface for component initialization, runtime behavior, and communication with other system components. The class implements a modular architecture that allows components to be easily added, removed, or modified without affecting the rest of the system.
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## Requirements
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## REQUIREMENTS
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- No specific hardware pins required as this is a base class
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- Software dependencies:
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- Arduino framework
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- WString.h
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- ArduinoLog.h
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- Vector.h
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- Arduino framework
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- ESP32 platform
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- WString.h for string handling
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- ArduinoLog.h for logging functionality
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- Vector.h for dynamic arrays
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## Features
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## FEATURES
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- Standardized component lifecycle management (setup, loop)
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- Configurable execution flags for controlling component behavior
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- Modbus integration capabilities for industrial communication
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- Component ownership hierarchy for resource management
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- Component type categorization for organizational purposes
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- Support for ESP32 platform
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- Component identification with unique IDs and names
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- Standardized initialization and setup processes
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- Runtime flags for controlling component behavior
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- Owner-child component relationship hierarchy
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- Integration with Modbus communication
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- Network capability flags
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## Dependencies
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## DEPENDENCIES
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- [WString.h](https://www.arduino.cc/reference/en/language/variables/data-types/string/)
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- [ArduinoLog.h](https://github.com/thijse/Arduino-Log/)
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- [WString.h](https://www.arduino.cc/reference/en/language/variables/data-types/stringobject/)
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- [ArduinoLog.h](https://github.com/thijse/Arduino-Log)
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- [Vector.h](https://github.com/janelia-arduino/Vector)
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- [`enums.h`](../src/enums.h)
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- [`constants.h`](../src/constants.h)
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- [`error_codes.h`](../src/error_codes.h)
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- [`macros.h`](../src/macros.h)
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- [`xtypes.h`](../src/xtypes.h)
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- [enums.h](../src/enums.h)
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- [constants.h](../src/constants.h)
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- [error_codes.h](../src/error_codes.h)
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- [macros.h](../src/macros.h)
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- [xtypes.h](../src/xtypes.h)
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```mermaid
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graph TD
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@ -52,88 +50,90 @@ graph TD
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Component --> error_codes
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Component --> macros
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Component --> xtypes
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Bridge --> Component
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ModbusTCP --> Component
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ModbusBlockView --> Component
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MB_Registers --> Component
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RS485 --> Component
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Component --> Bridge[Bridge class]
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Component --> ModbusTCP[ModbusTCP class]
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Component --> ModbusBlockView[ModbusBlockView class]
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Component --> MB_Registers[MB_Registers class]
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Component --> RS485[RS485 class]
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```
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## Behaviour
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## BEHAVIOUR
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The Component class follows a standard lifecycle pattern controlled by flags:
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The Component class follows a lifecycle pattern that includes initialization, setup, and runtime phases. Components can be dynamically enabled or disabled through runtime flags.
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```mermaid
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stateDiagram-v2
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Start --> Construct
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Construct --> Setup: E_OF_SETUP flag
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Setup --> Loop: E_OF_LOOP flag
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Loop --> Loop: Main program loop
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Loop --> Destruct: Program ends
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Setup --> Destruct: No E_OF_LOOP flag
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Construct --> Disabled: E_OF_DISABLED flag
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Disabled --> Destruct
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Destruct --> End
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[*] --> Constructed
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Constructed --> Setup: setup()
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Setup --> Running: flags & E_OF_SETUP
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Running --> LoopExecution: flags & D_OF_LOOP
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LoopExecution --> Running
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Running --> Disabled: disable()
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Disabled --> Running: enable()
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Running --> [*]: destroy()
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```
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## TODOs
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## TODOS
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### Performance
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### PERFORMANCE
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- Consider memory optimization for resource-constrained ESP32 platforms
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- Review constructor implementations for redundant operations
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- Optimize Modbus-485 communication for industrial applications
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- Optimize component instantiation for memory-constrained environments
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- Consider implementing lazy initialization for components with heavy setup requirements
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- Review the component hierarchy for potential performance bottlenecks in deeply nested structures
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### Security
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### SECURITY
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- Implement validation for component IDs to prevent conflicts
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- Consider access control mechanisms for critical components
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- Ensure secure Modbus communication in industrial environments
|
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- Implement access control mechanisms for components with critical functionality
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- Add validation for component parameters passed through Modbus or other interfaces
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- Consider encryption for sensitive component data communication
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### Compliance
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### COMPLIANCE
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- Ensure compliance with MISRA C++ coding standards
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- Maintain compatibility with Arduino's component model
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- Verify compliance with industrial Modbus protocol standards
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- Ensure component implementation adheres to industrial communication standards
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- Verify compatibility with Modbus protocol specifications
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- Document compliance with relevant industrial control system standards
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### Recommendations
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### RECOMMENDATIONS
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- Follow the component ownership hierarchy for proper resource management
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- Use the appropriate flags to control component lifecycle
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- Implement specific component types by extending this base class
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- Ensure all derived components properly initialize the base class
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- When using with ESP32, consider platform-specific optimizations
|
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- Use meaningful component names and IDs to facilitate debugging and maintenance
|
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- Consider implementing a component registry for easier system-wide management
|
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- Implement proper error handling in component constructors and methods
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- Use the owner-child relationship to implement clean component lifecycle management
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## Example
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## EXAMPLE
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The Component class is typically extended rather than used directly. Here's an example of how a derived component might be constructed and mounted:
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This section illustrates how to create and configure a Component instance. Since the complete implementation in Component.cpp is not accessible, this example provides a general pattern for component creation based on the header file.
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```cpp
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#ifdef PIN_LED_FEEDBACK_0
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ledFeedback_0 = new LEDFeedback(
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this, // owner
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PIN_LED_FEEDBACK_0, // pin
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LED_PIXEL_COUNT_0, // pixelCount
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ID_LED_FEEDBACK_0, // id
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LED_FEEDBACK_0_MB_ADDR // modbusAddress
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);
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if (ledFeedback_0)
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{
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components.push_back(ledFeedback_0);
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Log.infoln(F("LEDFeedback_0 initialized. Pin:%d, Count:%d, ID:%d, MB:%d"),
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PIN_LED_FEEDBACK_0, LED_PIXEL_COUNT_0,
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ID_LED_FEEDBACK_0, LED_FEEDBACK_0_MB_ADDR);
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}
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else
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{
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Log.errorln(F("LEDFeedback_0 initialization failed."));
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}
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#endif
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// Create a basic component with default settings
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Component* basicComponent = new Component("BasicComponent", 100, Component::COMPONENT_DEFAULT);
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// Add the component to the components vector
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if (basicComponent) {
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components.push_back(basicComponent);
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Log.infoln(F("Basic component initialized. ID:%d"), 100);
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} else {
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Log.errorln(F("Basic component initialization failed."));
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}
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// Example with an owner component
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Component* parentComponent = new Component("ParentComponent", 200, Component::COMPONENT_DEFAULT);
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Component* childComponent = new Component(
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"ChildComponent", // name
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201, // id
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Component::COMPONENT_DEFAULT, // flags
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parentComponent // owner
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);
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if (childComponent) {
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components.push_back(childComponent);
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Log.infoln(F("Child component initialized. Name:%s, ID:%d"),
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"ChildComponent", 201);
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} else {
|
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Log.errorln(F("Child component initialization failed."));
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}
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```
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### References
|
||||
|
||||
- Component flags are defined in the `OBJECT_RUN_FLAGS` enum in `enums.h`
|
||||
- Component types are defined in the `COMPONENT_TYPE` enum in `enums.h`
|
||||
- Error codes are defined in `error_codes.h`
|
||||
- Default component configuration is specified with `COMPONENT_DEFAULT`
|
||||
- None available
|
||||
|
||||
165
docs/Plunger.md
Normal file
165
docs/Plunger.md
Normal file
@ -0,0 +1,165 @@
|
||||
---
|
||||
title: "Plunger Component"
|
||||
description: "Documentation for the Plunger component that controls plunging operations with a SAKO VFD"
|
||||
keywords: ["plunger", "VFD", "SAKO", "filling", "industrial", "component", "ESP32"]
|
||||
---
|
||||
|
||||
# Plunger
|
||||
|
||||
**Path**: [src/components/Plunger.cpp](../src/components/Plunger.cpp)
|
||||
|
||||
**Revision History**: Initial documentation
|
||||
|
||||
The Plunger component provides control for a plunger mechanism driven by a SAKO Variable Frequency Drive (VFD). It manages plunging, homing, filling operations, and detects jams through current monitoring. The component supports both manual joystick control and automated operational modes.
|
||||
|
||||
## Requirements
|
||||
|
||||
### Hardware
|
||||
- SAKO Variable Frequency Drive (VFD)
|
||||
- Joystick for manual control
|
||||
- Two potentiometers (POTs):
|
||||
- Speed POT for controlling plunging speed
|
||||
- Torque POT for controlling jam sensitivity
|
||||
- ESP32 with appropriate GPIO pins for interfaces
|
||||
|
||||
### Configuration
|
||||
- Plunger component uses the component ID 760 (`PLUNGER_COMPONENT_ID`)
|
||||
- Modbus base address is configured using `COMPONENT_KEY_PLUNGER` (670)
|
||||
- VFD must be properly configured to report current values
|
||||
|
||||
## Features
|
||||
|
||||
- **Manual Control**: Direct joystick-based plunger movement control
|
||||
- **Automatic Operations**: Timed automatic plunging and homing
|
||||
- **Record and Replay**: Ability to record plunging operations and replay them (up to 20 seconds)
|
||||
- **Filling Cycle**: Automated fill procedure with configurable parameters
|
||||
- **Post-Flow Control**: Additional material flow control after main operations
|
||||
- **Jam Detection**: Current-based jam detection with automatic recovery
|
||||
- **Modbus Interface**: Remote control and monitoring via Modbus TCP
|
||||
- **Configurable Settings**: Adjustable speed, current thresholds, and timing parameters
|
||||
- **Persistence**: Settings can be saved to and loaded from JSON files
|
||||
|
||||
## Dependencies
|
||||
|
||||
- [SAKO_VFD](./SAKO_VFD.md) - Controls the Variable Frequency Drive
|
||||
- [Joystick](./Joystick.md) - Provides manual control input
|
||||
- [POT](./POT.md) - Analog inputs for speed and torque control
|
||||
- [Component](./Component.md) - Base component class
|
||||
- [ModbusTCP](./ModbusTCP.md) - For Modbus communication
|
||||
- [ArduinoJson](https://arduinojson.org/) - For settings management
|
||||
- [PlungerSettings](./PlungerSettings.md) - Configuration parameters
|
||||
|
||||
```mermaid
|
||||
graph TD
|
||||
Plunger --> SAKO_VFD
|
||||
Plunger --> Joystick
|
||||
Plunger --> POT
|
||||
Plunger --> Component
|
||||
Plunger --> ModbusTCP
|
||||
Plunger --> PlungerSettings
|
||||
```
|
||||
|
||||
## Behaviour
|
||||
|
||||
The Plunger component implements a state machine that manages different operational states:
|
||||
|
||||
```mermaid
|
||||
stateDiagram-v2
|
||||
IDLE --> HOMING_MANUAL: Joystick DOWN
|
||||
IDLE --> PLUNGING_MANUAL: Joystick UP
|
||||
IDLE --> RECORD: Hold Joystick RIGHT
|
||||
IDLE --> FILLING: Hold Joystick LEFT
|
||||
IDLE --> REPLAY: Command
|
||||
|
||||
HOMING_MANUAL --> HOMING_AUTO: Hold time reached
|
||||
HOMING_MANUAL --> IDLE: Joystick released
|
||||
HOMING_AUTO --> IDLE: Complete/Stop
|
||||
|
||||
PLUNGING_MANUAL --> PLUNGING_AUTO: Hold time reached
|
||||
PLUNGING_MANUAL --> IDLE: Joystick released
|
||||
PLUNGING_AUTO --> IDLE: Complete/Stop
|
||||
|
||||
PLUNGING_AUTO --> POST_FLOW: Enable post-flow
|
||||
POST_FLOW --> IDLE: Complete
|
||||
|
||||
PLUNGING_AUTO --> JAMMED: High current
|
||||
HOMING_AUTO --> JAMMED: High current
|
||||
JAMMED --> RESETTING_JAM: Auto-recovery
|
||||
RESETTING_JAM --> IDLE: Reset complete
|
||||
|
||||
RECORD --> IDLE: Complete/Stop
|
||||
REPLAY --> IDLE: Complete/Stop
|
||||
|
||||
FILLING --> IDLE: Complete/Stop
|
||||
|
||||
STOPPING --> IDLE: VFD stopped
|
||||
```
|
||||
|
||||
## TODOs
|
||||
|
||||
### Performance
|
||||
|
||||
- Consider optimizing the current monitoring frequency to reduce CPU load
|
||||
- Evaluate the need for additional filtering of current readings to avoid false jam detections
|
||||
- Profile the performance impact of JSON operations for settings management
|
||||
- Optimize state transition logic to reduce processing overhead
|
||||
|
||||
### Security
|
||||
|
||||
- Implement validation of Modbus command values to prevent unexpected operations
|
||||
- Consider adding authentication for settings modification via REST API
|
||||
- Ensure proper bounds checking for all user-configurable parameters
|
||||
- Add protection against invalid state transitions triggered by external commands
|
||||
|
||||
### Compliance
|
||||
|
||||
- Verify compliance with relevant industrial safety standards for automated machinery
|
||||
- Ensure emergency stop functionality meets IEC 60204-1 requirements
|
||||
- Consider implementing logging for operational data to support audit requirements
|
||||
- Add failure mode analysis and redundant safety mechanisms
|
||||
|
||||
### Recommendations
|
||||
|
||||
- Implement a calibration procedure for current thresholds based on actual plunger load
|
||||
- Consider adding temperature monitoring to detect VFD overheating
|
||||
- Add additional sensor inputs (e.g., limit switches) for improved position feedback
|
||||
- Implement more sophisticated jam detection based on current trend analysis rather than fixed thresholds
|
||||
- Consider expanding the configuration options to support different materials and plunger sizes
|
||||
- Add persistent logging of jam events to identify patterns
|
||||
|
||||
## Example
|
||||
|
||||
This example shows how to initialize the Plunger component in a system:
|
||||
|
||||
```cpp
|
||||
#ifdef ENABLE_PLUNGER
|
||||
// Check if required components are available
|
||||
if (sakoVfd && joystick && speedPot && torquePot) {
|
||||
plunger = new Plunger(
|
||||
this, // owner
|
||||
sakoVfd, // VFD controller
|
||||
joystick, // joystick for manual control
|
||||
speedPot, // POT for speed control
|
||||
torquePot // POT for torque/jam sensitivity
|
||||
);
|
||||
|
||||
if (plunger) {
|
||||
components.push_back(plunger);
|
||||
Log.infoln(F("Plunger initialized with VFD, Joystick, and POTs"));
|
||||
|
||||
// Load stored settings or use defaults
|
||||
plunger->loadDefaultSettings();
|
||||
} else {
|
||||
Log.errorln(F("Plunger initialization failed."));
|
||||
}
|
||||
} else {
|
||||
Log.warningln(F("Plunger not initialized - missing required components."));
|
||||
}
|
||||
#endif
|
||||
```
|
||||
|
||||
### References
|
||||
|
||||
${DOXYGEN_PLACEHOLDER}
|
||||
|
||||
${VENDOR_PLACEHOLDER}
|
||||
134
docs/SAKO_VFD.md
Normal file
134
docs/SAKO_VFD.md
Normal file
@ -0,0 +1,134 @@
|
||||
---
|
||||
title: SAKO VFD Component
|
||||
description: Documentation for the SAKO Variable Frequency Drive component interface
|
||||
keywords: [VFD, SAKO, RS485, Modbus, frequency, motor control]
|
||||
---
|
||||
|
||||
# SAKO VFD
|
||||
|
||||
**Path**: [`src/components/SAKO_VFD.cpp`](../src/components/SAKO_VFD.cpp)
|
||||
|
||||
**Revision History**: Initial documentation
|
||||
|
||||
The SAKO_VFD component provides an interface for controlling and monitoring SAKO Variable Frequency Drives over RS485 using Modbus RTU protocol. It enables setting frequency, controlling motor direction, reading operational status, and retrieving fault information.
|
||||
|
||||
## REQUIREMENTS
|
||||
|
||||
### Hardware
|
||||
- ESP32 or compatible microcontroller
|
||||
- RS485 transceiver hardware
|
||||
- SAKO VFD connected to RS485 bus
|
||||
|
||||
### Software
|
||||
- ENABLE_RS485 flag must be defined in config.h
|
||||
- ModbusRTU library for communication
|
||||
|
||||
## FEATURES
|
||||
|
||||
- Control motor speed by setting frequency in 0.01 Hz units
|
||||
- Start and stop motor operation
|
||||
- Change motor direction (forward/reverse)
|
||||
- Monitor operational parameters:
|
||||
- Current frequency
|
||||
- Set frequency
|
||||
- Output current
|
||||
- Output power (kW)
|
||||
- Output torque percentage
|
||||
- Read VFD status and fault codes
|
||||
- Automatic retract operation with state machine
|
||||
- Integration with Modbus TCP for remote control
|
||||
|
||||
## DEPENDENCIES
|
||||
|
||||
- [Component](../src/Component.h) - Base component functionality
|
||||
- [ModbusRTU](../src/modbus/ModbusRTU.h) - RS485 Modbus communication
|
||||
- [ModbusTypes](../src/modbus/ModbusTypes.h) - Modbus data type definitions
|
||||
- [xstatistics](../src/xstatistics.h) - Statistics collection for VFD parameters
|
||||
|
||||
```mermaid
|
||||
graph TD
|
||||
SAKOVFD[SAKO_VFD] --> RTUBase[RTU_Base]
|
||||
RTUBase --> Component[Component]
|
||||
SAKOVFD --> ModbusRTU[ModbusRTU]
|
||||
SAKOVFD --> Statistics[xstatistics]
|
||||
```
|
||||
|
||||
## BEHAVIOUR
|
||||
|
||||
```mermaid
|
||||
stateDiagram-v2
|
||||
[*] --> Stopped
|
||||
Stopped --> Accelerating: run()
|
||||
Accelerating --> Running
|
||||
Running --> Decelerating: stop()
|
||||
Decelerating --> Stopped
|
||||
Running --> Reversing: reverse()
|
||||
Reversing --> Running
|
||||
Error --> Stopped: resetFault()
|
||||
Stopped --> Retract: retract()
|
||||
Retract --> Braking
|
||||
Braking --> ReverseStopped
|
||||
ReverseStopped --> Reversing
|
||||
Reversing --> BrakeReversing
|
||||
BrakeReversing --> Retracted
|
||||
Retracted --> [*]
|
||||
|
||||
state Error {
|
||||
[*] --> FaultCode
|
||||
}
|
||||
```
|
||||
|
||||
## TODOS
|
||||
|
||||
### PERFORMANCE
|
||||
|
||||
- Consider implementing a more efficient polling mechanism for less critical parameters
|
||||
- Add caching of VFD parameters with configurable refresh rates
|
||||
- Implement rate limiting for write operations to prevent overloading the RS485 bus
|
||||
|
||||
### SECURITY
|
||||
|
||||
- Add validation for input values before sending to the VFD
|
||||
- Implement error handling for unexpected responses from the VFD
|
||||
- Consider adding authentication for control operations
|
||||
|
||||
### COMPLIANCE
|
||||
|
||||
- Ensure compliance with industrial standards for VFD control
|
||||
- Add proper error handling and recovery mechanisms
|
||||
- Implement data logging for compliance with maintenance requirements
|
||||
|
||||
### RECOMMENDATIONS
|
||||
|
||||
- Set appropriate read intervals based on system requirements
|
||||
- Implement proper error handling for Modbus communication failures
|
||||
- Consider adding more advanced control features like PID control for motor speed
|
||||
- Use statistics tracking to monitor performance and detect potential issues
|
||||
|
||||
## EXAMPLE
|
||||
|
||||
This example shows how to initialize and mount a SAKO_VFD component in a system:
|
||||
|
||||
```cpp
|
||||
#ifdef ENABLE_SAKO_VFD
|
||||
sakoVFD = new SAKO_VFD(
|
||||
MB_SAKO_VFD_SLAVE_ID, // Modbus slave ID of the VFD
|
||||
MB_SAKO_VFD_READ_INTERVAL // Polling interval in milliseconds
|
||||
);
|
||||
if (sakoVFD)
|
||||
{
|
||||
components.push_back(sakoVFD);
|
||||
Log.infoln(F("SAKO VFD initialized. SlaveID:%d, ReadInterval:%d ms"),
|
||||
MB_SAKO_VFD_SLAVE_ID, MB_SAKO_VFD_READ_INTERVAL);
|
||||
}
|
||||
else
|
||||
{
|
||||
Log.errorln(F("SAKO VFD initialization failed."));
|
||||
}
|
||||
#endif
|
||||
```
|
||||
|
||||
### References
|
||||
|
||||
- SAKO VFD User Manual (refer to manufacturer documentation)
|
||||
- Modbus RTU specification for register definitions
|
||||
113
docs/StatusLight.md
Normal file
113
docs/StatusLight.md
Normal file
@ -0,0 +1,113 @@
|
||||
---
|
||||
title: "StatusLight Component"
|
||||
description: "A component for controlling and monitoring status lights with blinking capability"
|
||||
keywords: ["status", "light", "LED", "feedback", "modbus", "blinking"]
|
||||
---
|
||||
|
||||
# StatusLight
|
||||
|
||||
**Path**: [`src/components/StatusLight.h`](../src/components/StatusLight.h)
|
||||
|
||||
**Revision History**: Initial documentation
|
||||
|
||||
The StatusLight component provides functionality to control and monitor status indicators such as LEDs. It supports three states: OFF, ON, and BLINKING, with configurable blinking intervals. It integrates with the Modbus system for remote monitoring and control.
|
||||
|
||||
## Requirements
|
||||
|
||||
- Digital output pin for connecting the status light/LED
|
||||
- STATUS_BLINK_INTERVAL defined in configuration (default: 800ms)
|
||||
- Optional Modbus address for network control
|
||||
|
||||
## Features
|
||||
|
||||
- Three operation modes: OFF, ON, and BLINKING
|
||||
- Configurable blinking intervals
|
||||
- Modbus integration for remote monitoring and control
|
||||
- Serial bridge interface for local control
|
||||
- Automatic pin state management during state transitions
|
||||
|
||||
## Dependencies
|
||||
|
||||
- [Component](../src/Component.h) - Base class for all components
|
||||
- [Bridge](../src/Bridge.h) - For serial command interface
|
||||
- [ModbusTCP](../src/modbus/ModbusTCP.h) - For Modbus network integration
|
||||
|
||||
```mermaid
|
||||
graph TD
|
||||
StatusLight --> Component
|
||||
StatusLight --> Bridge
|
||||
StatusLight --> ModbusTCP
|
||||
```
|
||||
|
||||
## Behaviour
|
||||
|
||||
The StatusLight component manages a digital output pin with three possible states: OFF, ON, and BLINKING. When in BLINKING state, it toggles the output at the configured interval.
|
||||
|
||||
```mermaid
|
||||
stateDiagram-v2
|
||||
[*] --> OFF
|
||||
OFF --> ON: set(1)
|
||||
ON --> OFF: set(0)
|
||||
OFF --> BLINK: status_blink(true)
|
||||
ON --> BLINK: status_blink(true)
|
||||
BLINK --> OFF: status_blink(false) + state==OFF
|
||||
BLINK --> ON: status_blink(false) + state==ON
|
||||
```
|
||||
|
||||
## TODOs
|
||||
|
||||
### Performance
|
||||
|
||||
- Consider using non-blocking timers for more precise blinking intervals
|
||||
- Evaluate performance impact of continuous polling in the loop method
|
||||
|
||||
### Security
|
||||
|
||||
- Validate input parameters in public methods to prevent unexpected behavior
|
||||
- Consider adding authentication for Modbus write operations
|
||||
|
||||
### Compliance
|
||||
|
||||
- Ensure proper error handling for hardware failures
|
||||
- Add support for different blinking patterns for various status indications
|
||||
|
||||
### Recommendations
|
||||
|
||||
- Use consistent addressing scheme when multiple status lights are used
|
||||
- Consider using PWM for dimming capability in future versions
|
||||
- When using with critical systems, consider adding a watchdog timer
|
||||
|
||||
## Example
|
||||
|
||||
The following example shows how to initialize and use a StatusLight component:
|
||||
|
||||
```cpp
|
||||
#ifdef STATUS_WARNING_PIN
|
||||
StatusLight* warningLight = new StatusLight(
|
||||
this, // owner
|
||||
STATUS_WARNING_PIN, // pin
|
||||
COMPONENT_KEY_FEEDBACK_0, // id
|
||||
MB_MONITORING_STATUS_FEEDBACK_0 // modbusAddress
|
||||
);
|
||||
if (warningLight)
|
||||
{
|
||||
components.push_back(warningLight);
|
||||
Log.infoln(F("Warning Status Light initialized. Pin:%d"), STATUS_WARNING_PIN);
|
||||
}
|
||||
else
|
||||
{
|
||||
Log.errorln(F("Warning Status Light initialization failed."));
|
||||
}
|
||||
#endif
|
||||
|
||||
// Later in the code, control the status light:
|
||||
warningLight->on(); // Turn on the light
|
||||
warningLight->off(); // Turn off the light
|
||||
warningLight->setBlink(true); // Make it blink
|
||||
```
|
||||
|
||||
### References
|
||||
|
||||
${DOXYGEN_PLACEHOLDER}
|
||||
|
||||
${VENDOR_PLACEHOLDER}
|
||||
129
docs/StepperController.md
Normal file
129
docs/StepperController.md
Normal file
@ -0,0 +1,129 @@
|
||||
---
|
||||
title: StepperController Component
|
||||
description: A component for controlling stepper motors with AccelStepper library
|
||||
keywords: [stepper, motor, controller, modbus, hardware]
|
||||
---
|
||||
|
||||
# StepperController
|
||||
|
||||
**Path**: [`src/components/StepperController.h`](../src/components/StepperController.h)
|
||||
|
||||
**Revision History**: Initial documentation
|
||||
|
||||
The StepperController component provides an interface for controlling stepper motors using the AccelStepper library. It supports configuration of motor parameters such as speed, direction, and pulse width, and integrates with the Modbus system for remote control capabilities. The component monitors motor status including overload conditions.
|
||||
|
||||
## Requirements
|
||||
|
||||
### Hardware
|
||||
- Direction pin (GPIO)
|
||||
- Pulse pin (GPIO)
|
||||
- Feedback pin (analog input, optional)
|
||||
- Overload pin (analog input, optional)
|
||||
|
||||
### Software
|
||||
- AccelStepper library
|
||||
- Arduino framework
|
||||
|
||||
## Features
|
||||
|
||||
- Configurable motor direction and rotation speed
|
||||
- Adjustable pulse width for motor stepping
|
||||
- Modbus integration for remote control
|
||||
- Motor status monitoring (running, idle, overload, error)
|
||||
- Overload detection using analog feedback
|
||||
- Speed clamping to prevent damage
|
||||
|
||||
## Dependencies
|
||||
|
||||
- [Component](../src/Component.h) - Base component class
|
||||
- [ModbusValue](../src/ModbusValue.h) - Modbus interface
|
||||
- [AccelStepper](https://www.airspayce.com/mikem/arduino/AccelStepper/) - Stepper motor control library
|
||||
|
||||
```mermaid
|
||||
graph TD
|
||||
StepperController --> Component
|
||||
StepperController --> ModbusValue
|
||||
StepperController --> AccelStepper
|
||||
```
|
||||
|
||||
## Behaviour
|
||||
|
||||
The StepperController continuously updates the motor based on either local settings or values received via Modbus. It monitors for overload conditions and updates the motor status accordingly.
|
||||
|
||||
```mermaid
|
||||
stateDiagram-v2
|
||||
[*] --> IDLE
|
||||
IDLE --> RUNNING: Speed > 0
|
||||
RUNNING --> IDLE: Speed = 0
|
||||
RUNNING --> OVERLOAD: Analog reading > threshold
|
||||
OVERLOAD --> RUNNING: Analog reading < threshold
|
||||
RUNNING --> ERROR: Hardware failure
|
||||
ERROR --> IDLE: Reset
|
||||
```
|
||||
|
||||
## TODOs
|
||||
|
||||
### Performance
|
||||
|
||||
- Consider implementing acceleration and deceleration profiles for smoother motor operation
|
||||
- Evaluate interrupt-based stepping for more precise timing
|
||||
- Optimize speed scaling for different motor types
|
||||
|
||||
### Security
|
||||
|
||||
- Implement limits on maximum speed and acceleration to prevent mechanical damage
|
||||
- Add authentication for modbus commands that control the motor
|
||||
- Consider adding emergency stop functionality
|
||||
|
||||
### Compliance
|
||||
|
||||
- Verify compatibility with industrial motor control standards
|
||||
- Ensure proper error handling meets safety requirements
|
||||
- Document power requirements and limitations
|
||||
|
||||
### Recommendations
|
||||
|
||||
- Use external motor drivers with proper current limiting for larger motors
|
||||
- Implement soft limits and homing procedures for positioning applications
|
||||
- Add physical endstops for critical applications
|
||||
- Consider adding encoder feedback for closed-loop operation
|
||||
|
||||
## Example
|
||||
|
||||
Below is an example of how to instantiate and configure a StepperController:
|
||||
|
||||
```cpp
|
||||
#ifdef ENABLE_STEPPER_0
|
||||
// Create stepper controller instance
|
||||
stepperController_0 = new StepperController(
|
||||
this, // owner
|
||||
PIN_STEPPER_0_DIR, // dirPin
|
||||
PIN_STEPPER_0_PULSE, // pulsePin
|
||||
PIN_STEPPER_0_FEEDBACK, // feedbackPin
|
||||
PIN_STEPPER_0_OVERLOAD, // overloadPin
|
||||
STEPPER_0_ENABLED, // enabled
|
||||
STEPPER_0_SPEED, // speed
|
||||
STEPPER_0_PULSE_WIDTH, // pulseWidth
|
||||
STEPPER_0_DIR, // dir
|
||||
COMPONENT_KEY_STEPPER_0, // id
|
||||
MB_RW_STEPPER_0_START // addressStart
|
||||
);
|
||||
|
||||
if (stepperController_0)
|
||||
{
|
||||
components.push_back(stepperController_0);
|
||||
Log.infoln(F("StepperController_0 initialized. Dir:%d, Pulse:%d, Speed:%d"),
|
||||
PIN_STEPPER_0_DIR, PIN_STEPPER_0_PULSE, STEPPER_0_SPEED);
|
||||
}
|
||||
else
|
||||
{
|
||||
Log.errorln(F("StepperController_0 initialization failed."));
|
||||
}
|
||||
#endif
|
||||
```
|
||||
|
||||
### References
|
||||
|
||||
${DOXYGEN_PLACEHOLDER}
|
||||
|
||||
${VENDOR_PLACEHOLDER}
|
||||
117
docs/config.md
Normal file
117
docs/config.md
Normal file
@ -0,0 +1,117 @@
|
||||
---
|
||||
title: Configuration System
|
||||
description: Global configuration and constants for firmware
|
||||
keywords: [configuration, pins, platform, ESP32, defines, settings]
|
||||
---
|
||||
|
||||
## Configuration System
|
||||
|
||||
**Path**: [src/config.h](../src/config.h)
|
||||
|
||||
**Revision History**: Initial documentation
|
||||
|
||||
The configuration system is a centralized header file containing all global settings, pin definitions, platform-specific configurations, and feature flags. It provides a unified interface for configuring hardware dependencies, communication protocols, and enabling/disabling various features of the firmware.
|
||||
|
||||
## REQUIREMENTS
|
||||
|
||||
- ESP-32 microcontroller (with support for other platforms like Portenta H7, Controllino Mega)
|
||||
- Platform.io development environment
|
||||
- Configuration is designed to work with Modbus-485 protocol for industrial applications
|
||||
|
||||
## FEATURES
|
||||
|
||||
- Automatic platform detection (ESP32, Portenta H7, Controllino Mega, Arduino Uno)
|
||||
- Component ID enumeration for consistent system-wide component identification
|
||||
- Configurable GPIO pin assignments for various peripherals
|
||||
- Network configuration for WiFi in both station and access point modes
|
||||
- Modbus TCP and RS485 communication settings
|
||||
- Temperature profile and signal plotting configuration
|
||||
- Customizable debugging and logging options
|
||||
- Feature flags for enabling/disabling system components
|
||||
|
||||
## DEPENDENCIES
|
||||
|
||||
- [Arduino.h](https://www.arduino.cc/reference/en/) - Core Arduino library
|
||||
- [config_adv.h](../src/config_adv.h) - Advanced configuration settings
|
||||
- [stdint.h](https://en.cppreference.com/w/cpp/header/cstdint) - Standard integer types
|
||||
|
||||
```mermaid
|
||||
graph TD
|
||||
config[config.h] --> arduino[Arduino.h]
|
||||
config --> configadv[config_adv.h]
|
||||
config --> stdint[stdint.h]
|
||||
config --> platformlibs[Platform-specific Libraries]
|
||||
```
|
||||
|
||||
## BEHAVIOUR
|
||||
|
||||
The configuration system is a static definition file that controls the behavior of the firmware at compile time. It doesn't have runtime behavior itself, but dictates which components are initialized and how they operate.
|
||||
|
||||
```mermaid
|
||||
graph TD
|
||||
Config[Configuration System] --> PlatformDetection[Platform Detection]
|
||||
Config --> ComponentIDs[Component ID Assignment]
|
||||
Config --> FeatureFlags[Feature Flags]
|
||||
FeatureFlags --> EnabledComponents[Enabled Components]
|
||||
FeatureFlags --> DisabledComponents[Disabled Components]
|
||||
Config --> NetworkSettings[Network Settings]
|
||||
Config --> PinAssignments[Pin Assignments]
|
||||
```
|
||||
|
||||
## TODOS
|
||||
|
||||
### PERFORMANCE
|
||||
|
||||
- Consider separating platform-specific configurations into dedicated files
|
||||
- Evaluate the impact of enabled debugging flags on performance
|
||||
- Review pin assignment efficiency for optimal GPIO usage
|
||||
|
||||
### SECURITY
|
||||
|
||||
- WiFi credentials are hardcoded - implement secure storage or configuration mechanism
|
||||
- Consider encryption for sensitive communications
|
||||
- Review and secure default access point settings
|
||||
|
||||
### COMPLIANCE
|
||||
|
||||
- Review for compliance with industrial standards
|
||||
- Consider adding provisions for safety-critical systems where applicable
|
||||
- Document electrical specifications for compliance with relevant regulations
|
||||
|
||||
### RECOMMENDATIONS
|
||||
|
||||
- Use preprocessor guards when modifying to ensure backward compatibility
|
||||
- When adding new components, follow the existing ID assignment pattern
|
||||
- Consider implementing a runtime configuration system to complement static definitions
|
||||
- Separate network credentials into a separate secure file
|
||||
|
||||
## EXAMPLE
|
||||
|
||||
The configuration system is used primarily as an include in other components. For example, when initializing an LED Feedback component:
|
||||
|
||||
```cpp
|
||||
#ifdef PIN_LED_FEEDBACK_0
|
||||
ledFeedback_0 = new LEDFeedback(
|
||||
this, // owner
|
||||
PIN_LED_FEEDBACK_0, // pin
|
||||
LED_PIXEL_COUNT_0, // pixelCount
|
||||
ID_LED_FEEDBACK_0, // id
|
||||
LED_FEEDBACK_0_MB_ADDR // modbusAddress
|
||||
);
|
||||
if (ledFeedback_0)
|
||||
{
|
||||
components.push_back(ledFeedback_0);
|
||||
Log.infoln(F("LEDFeedback_0 initialized. Pin:%d, Count:%d, ID:%d, MB:%d"),
|
||||
PIN_LED_FEEDBACK_0, LED_PIXEL_COUNT_0,
|
||||
ID_LED_FEEDBACK_0, LED_FEEDBACK_0_MB_ADDR);
|
||||
}
|
||||
else
|
||||
{
|
||||
Log.errorln(F("LEDFeedback_0 initialization failed."));
|
||||
}
|
||||
#endif
|
||||
```
|
||||
|
||||
### References
|
||||
|
||||
- ESP32 GPIO Pin documentation: [ESP32 Technical Reference Manual](https://www.espressif.com/sites/default/files/documentation/esp32_technical_reference_manual_en.pdf)
|
||||
@ -1,6 +1,6 @@
|
||||
kbot-d --router2=openai --model=anthropic/claude-3.7-sonnet:thinking \
|
||||
--prompt=./scripts/docs.md \
|
||||
--each=./src/components/*.h \
|
||||
--each=./src/components/Plunger.h \
|
||||
--include=../polymech-fw-apps/cassandra-rc2/src/config.h \
|
||||
--include=./src/Component.h \
|
||||
--wrap=meta \
|
||||
@ -11,7 +11,6 @@ kbot-d --router2=openai --model=anthropic/claude-3.7-sonnet:thinking \
|
||||
--filters=code \
|
||||
--exclude=./src/components/ModbusLogicEngine.h \
|
||||
--exclude=./src/components/Extruder.h \
|
||||
--exclude=./src/components/Sako-Registers.h \
|
||||
--exclude=./src/components/OmronE5_Ex.h \
|
||||
--exclude=./src/components/PlungerSettings.h \
|
||||
--exclude=./src/components/OmronE5Types.h \
|
||||
|
||||
Loading…
Reference in New Issue
Block a user