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Outsource display, encoder cfg to config.cpp, Optimize speedsensor

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- outsource configuration of display and encoder from source/header file
  to config.cpp and pass it to init function or task from main()

- optimize logging in several init functions

- speedsensor:
    - fix startup error: initialize ISR only once
    - create instances at initialization instead of first method call

- ssd1306 display library:
    - modify library to pass offsetX to init function instead of using macro
This commit is contained in:
jonny_jr9
2024-02-20 12:24:41 +01:00
parent b7288b442e
commit 021a3660e1
12 changed files with 112 additions and 76 deletions
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40
board_single/main/config.cpp
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@@ -1,17 +1,22 @@
// NOTE: this file is included in main.cpp only.
// outsourced all configuration related functions and structures to this file:
extern "C"
{
#include "esp_log.h"
}
#include "motordrivers.hpp"
#include "motorctl.hpp"
#include "joystick.hpp"
#include "http.hpp"
#include "speedsensor.hpp"
#include "buzzer.hpp"
#include "control.hpp"
#include "fan.hpp"
#include "auto.hpp"
#include "chairAdjust.hpp"
#include "display.hpp"
#include "encoder.h"
//==================================
//======== define loglevels ========
@@ -181,3 +186,36 @@ speedSensor_config_t speedRight_config{
.directionInverted = true,
.logName = "speedRight",
};
//-------------------------
//-------- display --------
//-------------------------
display_config_t display_config {
.gpio_scl = GPIO_NUM_22,
.gpio_sda = GPIO_NUM_23,
.gpio_reset = GPIO_NUM_15,
.width = 128,
.height = 64,
.offsetX = 2,
.flip = false,
.contrast = 0xff, //max: 255
};
//-------------------------
//-------- encoder --------
//-------------------------
//configure rotary encoder (next to joystick)
rotary_encoder_t encoder_config = {
.pin_a = GPIO_NUM_25,
.pin_b = GPIO_NUM_26,
.pin_btn = GPIO_NUM_27,
.code = 1,
.store = 0, //encoder count
.index = 0,
.btn_pressed_time_us = 20000,
.btn_state = RE_BTN_RELEASED //default state
};

37
board_single/main/display.cpp
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@@ -8,15 +8,6 @@ extern "C"{
//==== display config ====
#define I2C_INTERFACE y
#define SCL_GPIO 22
#define SDA_GPIO 23
#define RESET_GPIO 15 // FIXME remove this
// the following options are set in menuconfig: (see sdkconfig)
// #define CONFIG_OFFSETX 2 //note: the larger display (actual 130x64) needs 2 pixel offset (prevents bugged column)
// #define CONFIG_I2C_PORT_0 y
//=== content config ===
#define STARTUP_MSG_TIMEOUT 2000
#define ADC_BATT_VOLTAGE ADC1_CHANNEL_6
@@ -55,22 +46,21 @@ static const char * TAG = "display";
//==== display_init ====
//======================
//note CONFIG_OFFSETX is used (from menuconfig)
void display_init(){
void display_init(display_config_t config){
adc1_config_channel_atten(ADC1_CHANNEL_6, ADC_ATTEN_DB_11); //max voltage
ESP_LOGW("display", "INTERFACE is i2c");
ESP_LOGW("display", "SDA_GPIO=%d",SDA_GPIO);
ESP_LOGW("display", "SCL_GPIO=%d",SCL_GPIO);
ESP_LOGW("display", "RESET_GPIO=%d",RESET_GPIO);
i2c_master_init(&dev, SDA_GPIO, SCL_GPIO, RESET_GPIO);
#if FLIP
dev._flip = true;
ESP_LOGW("display", "Flip upside down");
#endif
ESP_LOGI("display", "Panel is 128x64");
ssd1306_init(&dev, 128, 64);
ESP_LOGW(TAG, "Initializing Display...");
ESP_LOGI(TAG, "config: sda=%d, sdl=%d, reset=%d, offset=%d, flip=%d, size: %dx%d",
config.gpio_sda, config.gpio_scl, config.gpio_reset, config.offsetX, config.flip, config.width, config.height);
i2c_master_init(&dev, config.gpio_sda, config.gpio_scl, config.gpio_reset);
if (config.flip) {
dev._flip = true;
ESP_LOGW(TAG, "Flip upside down");
}
ssd1306_init(&dev, config.width, config.height, config.offsetX);
ssd1306_clear_screen(&dev, false);
ssd1306_contrast(&dev, 0xff);
ssd1306_contrast(&dev, config.contrast);
}
@@ -264,11 +254,12 @@ void showStartupMsg(){
void display_task(void *pvParameters)
{
ESP_LOGW(TAG, "Initializing display and starting handle loop");
//get struct with pointers to all needed global objects from task parameter
display_task_parameters_t *objects = (display_task_parameters_t *)pvParameters;
// initialize display
display_init();
display_init(objects->displayConfig);
// TODO check if successfully initialized
// show startup message

14
board_single/main/display.hpp
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@@ -18,8 +18,22 @@ extern "C" {
#include "control.hpp"
#include "speedsensor.hpp"
// configuration for initializing display (passed to task as well)
typedef struct display_config_t {
gpio_num_t gpio_scl;
gpio_num_t gpio_sda;
gpio_num_t gpio_reset;
int width;
int height;
int offsetX;
bool flip;
int contrast;
} display_config_t;
// struct with variables passed to task from main()
typedef struct display_task_parameters_t {
display_config_t displayConfig;
controlledArmchair * control;
evaluatedJoystick * joystick;
QueueHandle_t encoderQueue;

20
board_single/main/encoder.cpp
View File

@@ -17,22 +17,6 @@ extern "C"
//------- variables -------
//-------------------------
static const char * TAG = "encoder";
uint16_t encoderCount;
rotary_encoder_btn_state_t encoderButtonState = {};
//global event queue:
QueueHandle_t encoderQueue = NULL;
//encoder config
rotary_encoder_t encoderConfig = {
.pin_a = PIN_A,
.pin_b = PIN_B,
.pin_btn = PIN_BUTTON,
.code = 1,
.store = encoderCount,
.index = 0,
.btn_pressed_time_us = 20000,
.btn_state = encoderButtonState
};
@@ -40,11 +24,11 @@ rotary_encoder_t encoderConfig = {
//========== encoder_init ==========
//==================================
//initialize encoder //TODO pass config to this function
QueueHandle_t encoder_init()
QueueHandle_t encoder_init(rotary_encoder_t * encoderConfig)
{
QueueHandle_t encoderQueue = xQueueCreate(QUEUE_SIZE, sizeof(rotary_encoder_event_t));
rotary_encoder_init(encoderQueue);
rotary_encoder_add(&encoderConfig);
rotary_encoder_add(encoderConfig);
if (encoderQueue == NULL)
ESP_LOGE(TAG, "Error initializing encoder or queue");
else

7
board_single/main/encoder.hpp
View File

@@ -6,12 +6,9 @@ extern "C" {
//config
#define QUEUE_SIZE 10
#define PIN_A GPIO_NUM_25
#define PIN_B GPIO_NUM_26
#define PIN_BUTTON GPIO_NUM_27
//init encoder with config in encoder.cpp
QueueHandle_t encoder_init(); //TODO pass config to function
//init encoder with pointer to encoder config
QueueHandle_t encoder_init(rotary_encoder_t * encoderConfig);
//task that handles encoder events

25
board_single/main/main.cpp
View File

@@ -69,7 +69,7 @@ cControlledRest *backRest;
//-> makes it possible to easily use different motor drivers
motorSetCommandFunc_t setLeftFunc = [&sabertoothDriver](motorCommand_t cmd)
{
sabertoothDriver->setLeft(cmd); //<= note: still using pointer to method in here (but stored in STACK)
sabertoothDriver->setLeft(cmd); //<= note: still using pointer to method in here (but stored in STACK)
};
motorSetCommandFunc_t setRightFunc = [&sabertoothDriver](motorCommand_t cmd)
{
@@ -99,7 +99,7 @@ static const char * TAG = "main";
//=================================
//initialize spi flash filesystem (used for webserver)
void init_spiffs(){
ESP_LOGI(TAG, "init spiffs");
ESP_LOGW(TAG, "initializing spiffs...");
esp_vfs_spiffs_conf_t esp_vfs_spiffs_conf = {
.base_path = "/spiffs",
.partition_label = NULL,
@@ -174,6 +174,7 @@ void createObjects()
//=========== app_main ============
//=================================
extern "C" void app_main(void) {
ESP_LOGW(TAG, "===== BOOT (pre main) Completed =====\n");
ESP_LOGW(TAG, "===== INITIALIZING COMPONENTS =====");
//--- define log levels ---
@@ -186,19 +187,22 @@ extern "C" void app_main(void) {
gpio_set_level(GPIO_NUM_17, 1);
//--- initialize nvs-flash and netif (needed for wifi) ---
ESP_LOGW(TAG,"initializing wifi...");
wifi_initNvs_initNetif();
//--- initialize spiffs ---
init_spiffs();
//--- initialize and start wifi ---
ESP_LOGD(TAG,"starting wifi...");
ESP_LOGW(TAG,"starting wifi...");
//wifi_init_client(); //connect to existing wifi
wifi_init_ap(); //start access point
ESP_LOGD(TAG,"done starting wifi");
//--- initialize encoder ---
const QueueHandle_t encoderQueue = encoder_init();
const QueueHandle_t encoderQueue = encoder_init(&encoder_config);
printf("\n");
@@ -206,12 +210,14 @@ extern "C" void app_main(void) {
ESP_LOGW(TAG, "===== CREATING SHARED OBJECTS =====");
//initialize sabertooth object in STACK (due to performance issues in heap)
sabertoothDriver = static_cast<sabertooth2x60a*>(alloca(sizeof(sabertooth2x60a)));
new (sabertoothDriver) sabertooth2x60a(sabertoothConfig);
///sabertoothDriver = static_cast<sabertooth2x60a*>(alloca(sizeof(sabertooth2x60a)));
///new (sabertoothDriver) sabertooth2x60a(sabertoothConfig);
//create all class instances used below in HEAP
createObjects();
printf("\n");
//--- create tasks ---
@@ -256,13 +262,16 @@ extern "C" void app_main(void) {
//----- create task for display -----
//-----------------------------------
////task that handles the display (show stats, handle menu in 'MENU' mode)
display_task_parameters_t display_param = {control, joystick, encoderQueue, motorLeft, motorRight, speedLeft, speedRight, buzzer};
display_task_parameters_t display_param = {display_config, control, joystick, encoderQueue, motorLeft, motorRight, speedLeft, speedRight, buzzer};
xTaskCreate(&display_task, "display_task", 3*2048, &display_param, 3, NULL);
vTaskDelay(200 / portTICK_PERIOD_MS); //wait for all tasks to finish initializing
printf("\n");
//--- startup finished ---
ESP_LOGW(TAG, "===== STARTUP FINISHED =====");
ESP_LOGW(TAG, "===== STARTUP FINISHED =====\n");
buzzer->beep(3, 70, 50);
//--- testing encoder ---