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Merge branch 'dev' into driving-behavior

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This commit is contained in:
jonny_l480 2024-03-04 13:24:46 +01:00
commit 179c608638
15 changed files with 389 additions and 242 deletions
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1
board_single/main/CMakeLists.txt
View File

@ -1,7 +1,6 @@
idf_component_register(
SRCS
"main.cpp"
"config.cpp"
"control.cpp"
"button.cpp"
"fan.cpp"

1
board_single/main/auto.cpp
View File

@ -1,5 +1,4 @@
#include "auto.hpp"
#include "config.hpp"
//tag for logging
static const char * TAG = "automatedArmchair";

21
board_single/main/button.cpp
View File

@ -96,11 +96,12 @@ void buttonCommands::action (uint8_t count, bool lastPressLong){
// ## switch to ADJUST_CHAIR mode ##
if (lastPressLong)
{
ESP_LOGW(TAG, "cmd %d: toggle ADJUST_CHAIR", count);
control->toggleMode(controlMode_t::ADJUST_CHAIR);
ESP_LOGW(TAG, "cmd %d: switch to ADJUST_CHAIR", count);
control->changeMode(controlMode_t::ADJUST_CHAIR);
}
// ## toggle IDLE ##
else {
else
{
ESP_LOGW(TAG, "cmd %d: toggle IDLE", count);
control->toggleIdle(); // toggle between idle and previous/default mode
}
@ -114,14 +115,14 @@ void buttonCommands::action (uint8_t count, bool lastPressLong){
case 4:
// ## switch to HTTP mode ##
ESP_LOGW(TAG, "cmd %d: toggle between HTTP and JOYSTICK", count);
control->toggleModes(controlMode_t::HTTP, controlMode_t::JOYSTICK); //toggle between HTTP and JOYSTICK mode
ESP_LOGW(TAG, "cmd %d: switch to HTTP", count);
control->changeMode(controlMode_t::HTTP); //switch to HTTP mode
break;
case 6:
// ## switch to MASSAGE mode ##
ESP_LOGW(TAG, "cmd %d: toggle between MASSAGE and JOYSTICK", count);
control->toggleModes(controlMode_t::MASSAGE, controlMode_t::JOYSTICK); //toggle between MASSAGE and JOYSTICK mode
ESP_LOGW(TAG, "switch to MASSAGE");
control->changeMode(controlMode_t::MASSAGE); //switch to MASSAGE mode
break;
case 8:
@ -129,7 +130,7 @@ void buttonCommands::action (uint8_t count, bool lastPressLong){
//toggle deceleration fading between on and off
//decelEnabled = motorLeft->toggleFade(fadeType_t::DECEL);
//motorRight->toggleFade(fadeType_t::DECEL);
decelEnabled = motorLeft->toggleFade(fadeType_t::ACCEL);
decelEnabled = motorLeft->toggleFade(fadeType_t::ACCEL); //TODO remove/simplify this using less functions
motorRight->toggleFade(fadeType_t::ACCEL);
ESP_LOGW(TAG, "cmd %d: toggle deceleration fading to: %d", count, (int)decelEnabled);
if (decelEnabled){
@ -155,7 +156,7 @@ void buttonCommands::action (uint8_t count, bool lastPressLong){
// when not in MENU mode, repeatedly receives events from encoder button
// and takes the corresponding action
// this function has to be started once in a separate task
#define INPUT_TIMEOUT 800 // duration of no button events, after which action is run (implicitly also is 'long-press' time)
#define INPUT_TIMEOUT 700 // duration of no button events, after which action is run (implicitly also is 'long-press' time)
void buttonCommands::startHandleLoop()
{
//-- variables --
@ -178,7 +179,7 @@ void buttonCommands::startHandleLoop()
//-- get events from encoder --
if (xQueueReceive(encoderQueue, &ev, INPUT_TIMEOUT / portTICK_PERIOD_MS))
{
control->resetTimeout(); //reset inactivity IDLE timeout
control->resetTimeout(); // user input -> reset switch to IDLE timeout
switch (ev.type)
{
break;

1
board_single/main/button.hpp
View File

@ -5,7 +5,6 @@
#include "control.hpp"
#include "motorctl.hpp"
#include "auto.hpp"
#include "config.hpp"
#include "joystick.hpp"

15
board_single/main/config.cpp
View File

@ -132,11 +132,9 @@ motorctl_config_t configMotorControlRight = {
//------------------------------
control_config_t configControl = {
.defaultMode = controlMode_t::JOYSTICK, // default mode after startup and toggling IDLE
//--- timeout ---
.timeoutMs = 3 * 60 * 1000, // time of inactivity after which the mode gets switched to IDLE
.timeoutTolerancePer = 5, // percentage the duty can vary between timeout checks considered still inactive
//--- http mode ---
//--- timeouts ---
.timeoutSwitchToIdleMs = 5 * 60 * 1000, // time of inactivity after which the mode gets switched to IDLE
.timeoutNotifyPowerStillOnMs = 6 * 60 * 60 * 1000 // time in IDLE after which buzzer beeps in certain interval (notify "forgot to turn off")
};
//-------------------------------
@ -215,6 +213,7 @@ speedSensor_config_t speedRight_config{
//-------- display --------
//-------------------------
display_config_t display_config{
// hardware initialization
.gpio_scl = GPIO_NUM_22,
.gpio_sda = GPIO_NUM_23,
.gpio_reset = -1, // negative number disables reset feature
@ -222,7 +221,11 @@ display_config_t display_config {
.height = 64,
.offsetX = 2,
.flip = false,
.contrast = 0xff, //max: 255
.contrastNormal = 170, // max: 255
// display task
.contrastReduced = 30, // max: 255
.timeoutReduceContrastMs = 5 * 60 * 1000, // actions at certain inactivity
.timeoutSwitchToScreensaverMs = 30 * 60 * 1000
};

6
board_single/main/config.h Normal file
View File

@ -0,0 +1,6 @@
#pragma once
// outsourced macros / definitions
//-- control.cpp --
//#define JOYSTICK_LOG_IN_IDLE

57
board_single/main/config.hpp
View File

@ -1,57 +0,0 @@
#pragma once
#include "motordrivers.hpp"
#include "motorctl.hpp"
#include "joystick.hpp"
#include "gpio_evaluateSwitch.hpp"
#include "buzzer.hpp"
#include "control.hpp"
#include "fan.hpp"
#include "http.hpp"
#include "auto.hpp"
#include "speedsensor.hpp"
#include "chairAdjust.hpp"
//
////in IDLE mode: set loglevel for evaluatedJoystick to DEBUG
////and repeatedly read joystick e.g. for manually calibrating / testing joystick
////#define JOYSTICK_LOG_IN_IDLE
//
//
////TODO outsource global variables to e.g. global.cpp and only config options here?
//
////create global controlledMotor instances for both motors
//extern controlledMotor motorLeft;
//extern controlledMotor motorRight;
//
////create global joystic instance
//extern evaluatedJoystick joystick;
//
////create global evaluated switch instance for button next to joystick
//extern gpio_evaluatedSwitch buttonJoystick;
//
////create global buzzer object
//extern buzzer_t buzzer;
//
////create global control object
//extern controlledArmchair control;
//
////create global automatedArmchair object (for auto-mode)
//extern automatedArmchair_c armchair;
//
////create global httpJoystick object
////extern httpJoystick httpJoystickMain;
//
////configuration for fans / cooling
//extern fan_config_t configCooling;
//
////create global objects for measuring speed
//extern speedSensor speedLeft;
//extern speedSensor speedRight;
//
////create global objects for controlling the chair position
//extern cControlledRest legRest;
//extern cControlledRest backRest;
//
//

155
board_single/main/control.cpp
View File

@ -9,13 +9,14 @@ extern "C"
#include "wifi.h"
}
#include "config.hpp"
#include "config.h"
#include "control.hpp"
#include "chairAdjust.hpp"
#include "display.hpp" // needed for getBatteryPercent()
//used definitions moved from config.hpp:
//#define JOYSTICK_TEST
//used definitions moved from config.h:
//#define JOYSTICK_LOG_IN_IDLE
//tag for logging
@ -70,7 +71,6 @@ controlledArmchair::controlledArmchair(
void task_control( void * pvParameters ){
controlledArmchair * control = (controlledArmchair *)pvParameters;
ESP_LOGW(TAG, "Initializing controlledArmchair and starting handle loop");
//start handle loop (control object declared in config.hpp)
control->startHandleLoop();
}
@ -95,13 +95,15 @@ void controlledArmchair::startHandleLoop() {
//motorLeft->setTarget(commands.left.state, commands.left.duty);
vTaskDelay(500 / portTICK_PERIOD_MS);
#ifdef JOYSTICK_LOG_IN_IDLE
//get joystick data here (without using it)
//since loglevel is DEBUG, calculation details are output
joystick_l->getData();
// get joystick data and log it
joystickData_t data joystick_l->getData();
ESP_LOGI("JOYSTICK_LOG_IN_IDLE", "x=%.3f, y=%.3f, radius=%.3f, angle=%.3f, pos=%s, adcx=%d, adcy=%d",
data.x, data.y, data.radius, data.angle,
joystickPosStr[(int)data.position],
objects->joystick->getRawX(), objects->joystick->getRawY());
#endif
break;
//------- handle JOYSTICK mode -------
case controlMode_t::JOYSTICK:
vTaskDelay(50 / portTICK_PERIOD_MS);
//get current joystick data with getData method of evaluatedJoystick
@ -113,6 +115,7 @@ void controlledArmchair::startHandleLoop() {
// only generate when the stick data actually changed (e.g. stick stayed in center)
if (stickData.x != stickDataLast.x || stickData.y != stickDataLast.y)
{
resetTimeout(); //user input -> reset switch to IDLE timeout
commands = joystick_generateCommandsDriving(stickData, &joystickGenerateCommands_config);
// apply motor commands
motorRight->setTarget(commands.right);
@ -121,27 +124,34 @@ void controlledArmchair::startHandleLoop() {
else
{
vTaskDelay(20 / portTICK_PERIOD_MS);
ESP_LOGD(TAG, "analog joystick data unchanged at %s not updating commands", joystickPosStr[(int)stickData.position]);
ESP_LOGV(TAG, "analog joystick data unchanged at %s not updating commands", joystickPosStr[(int)stickData.position]);
}
break;
//------- handle MASSAGE mode -------
case controlMode_t::MASSAGE:
vTaskDelay(10 / portTICK_PERIOD_MS);
//--- read joystick ---
// only update joystick data when input not frozen
if (!freezeInput){
stickDataLast = stickData;
if (!freezeInput)
stickData = joystick_l->getData();
}
//--- generate motor commands ---
// only generate when the stick data actually changed (e.g. stick stayed in center)
if (stickData.x != stickDataLast.x || stickData.y != stickDataLast.y)
{
resetTimeout(); // user input -> reset switch to IDLE timeout
// pass joystick data from getData method of evaluatedJoystick to generateCommandsShaking function
commands = joystick_generateCommandsShaking(stickData);
// apply motor commands
motorRight->setTarget(commands.right);
motorLeft->setTarget(commands.left);
}
break;
//------- handle HTTP mode -------
case controlMode_t::HTTP:
//--- get joystick data from queue ---
stickDataLast = stickData;
@ -152,6 +162,7 @@ void controlledArmchair::startHandleLoop() {
//--- generate motor commands ---
//only generate when the stick data actually changed (e.g. no new data recevied via http)
if (stickData.x != stickDataLast.x || stickData.y != stickDataLast.y ){
resetTimeout(); // user input -> reset switch to IDLE timeout
// Note: timeout (no data received) is handled in getData method
commands = joystick_generateCommandsDriving(stickData, &joystickGenerateCommands_config);
@ -166,6 +177,7 @@ void controlledArmchair::startHandleLoop() {
break;
//------- handle AUTO mode -------
case controlMode_t::AUTO:
vTaskDelay(20 / portTICK_PERIOD_MS);
//generate commands
@ -206,26 +218,26 @@ void controlledArmchair::startHandleLoop() {
break;
//------- handle ADJUST_CHAIR mode -------
case controlMode_t::ADJUST_CHAIR:
vTaskDelay(100 / portTICK_PERIOD_MS);
//--- read joystick ---
stickDataLast = stickData;
stickData = joystick_l->getData();
//--- idle motors ---
//commands = cmds_bothMotorsIdle; - now done once at mode change
//motorRight->setTarget(commands.right.state, commands.right.duty);
//motorLeft->setTarget(commands.left.state, commands.left.duty);
//--- control armchair position with joystick input ---
// dont update when stick data did not change
if (stickData.x != stickDataLast.x || stickData.y != stickDataLast.y)
{
resetTimeout(); // user input -> reset switch to IDLE timeout
controlChairAdjustment(joystick_l->getData(), legRest, backRest);
}
break;
//------- handle MENU mode -------
case controlMode_t::MENU:
vTaskDelay(1000 / portTICK_PERIOD_MS);
//nothing to do here, display task handles the menu
//--- idle motors ---
//commands = cmds_bothMotorsIdle; - now done once at mode change
//motorRight->setTarget(commands.right.state, commands.right.duty);
//motorLeft->setTarget(commands.left.state, commands.left.duty);
vTaskDelay(1000 / portTICK_PERIOD_MS);
break;
//TODO: add other modes here
@ -238,8 +250,7 @@ void controlledArmchair::startHandleLoop() {
if (esp_log_timestamp() - timestamp_SlowLoopLastRun > 5000) {
ESP_LOGV(TAG, "running slow loop... time since last run: %.1fs", (float)(esp_log_timestamp() - timestamp_SlowLoopLastRun)/1000);
timestamp_SlowLoopLastRun = esp_log_timestamp();
//run function that detects timeout (switch to idle)
//run function that detects timeout (switch to idle, or notify "forgot to turn off")
handleTimeout();
}
@ -310,59 +321,58 @@ void controlledArmchair::idleBothMotors(){
motorLeft->setTarget(cmd_motorIdle);
}
//-----------------------------------
//---------- resetTimeout -----------
//-----------------------------------
void controlledArmchair::resetTimeout(){
//TODO mutex
timestamp_lastActivity = esp_log_timestamp();
ESP_LOGV(TAG, "timeout: activity detected, resetting timeout");
}
//------------------------------------
//---------- handleTimeout -----------
//------------------------------------
//percentage the duty can vary since last timeout check and still counts as incative
//TODO: add this to config
float inactivityTolerance = 10;
// switch to IDLE when no activity (prevent accidential movement)
// notify "power still on" when in IDLE for a very long time (prevent battery drain when forgotten to turn off)
// this function has to be run repeatedly (can be slow interval)
#define TIMEOUT_POWER_STILL_ON_BEEP_INTERVAL_MS 5 * 60 * 1000 // beep every 5 minutes for someone to notice
#define TIMEOUT_POWER_STILL_ON_BATTERY_THRESHOLD_PERCENT 96 // only notify/beep when below certain percentage (prevent beeping when connected to charger)
// note: timeout durations are configured in config.cpp
void controlledArmchair::handleTimeout()
{
uint32_t noActivityDurationMs = esp_log_timestamp() - timestamp_lastActivity;
// log current inactivity and configured timeouts
ESP_LOGD(TAG, "timeout check: last activity %dmin and %ds ago - timeout IDLE after %ds - notify after power on after %dh",
noActivityDurationMs / 1000 / 60,
noActivityDurationMs / 1000 % 60,
config.timeoutSwitchToIdleMs / 1000,
config.timeoutNotifyPowerStillOnMs / 1000 / 60 / 60);
//local function that checks whether two values differ more than a given tolerance
bool validateActivity(float dutyOld, float dutyNow, float tolerance){
float dutyDelta = dutyNow - dutyOld;
if (fabs(dutyDelta) < tolerance) {
return false; //no significant activity detected
} else {
return true; //there was activity
}
// -- timeout switch to IDLE --
// timeout to IDLE when not idling already
if (mode != controlMode_t::IDLE && noActivityDurationMs > config.timeoutSwitchToIdleMs)
{
ESP_LOGW(TAG, "timeout check: [TIMEOUT], no activity for more than %ds -> switch to IDLE", config.timeoutSwitchToIdleMs / 1000);
changeMode(controlMode_t::IDLE);
//TODO switch to previous status-screen when activity detected
}
//function that evaluates whether there is no activity/change on the motor duty for a certain time. If so, a switch to IDLE is issued. - has to be run repeatedly in a slow interval
void controlledArmchair::handleTimeout(){
//check for timeout only when not idling already
if (mode != controlMode_t::IDLE) {
//get current duty from controlled motor objects
float dutyLeftNow = motorLeft->getStatus().duty;
float dutyRightNow = motorRight->getStatus().duty;
//activity detected on any of the two motors
if (validateActivity(dutyLeft_lastActivity, dutyLeftNow, inactivityTolerance)
|| validateActivity(dutyRight_lastActivity, dutyRightNow, inactivityTolerance)
){
ESP_LOGD(TAG, "timeout check: [activity] detected since last check -> reset");
//reset last duty and timestamp
dutyLeft_lastActivity = dutyLeftNow;
dutyRight_lastActivity = dutyRightNow;
resetTimeout();
}
//no activity on any motor and msTimeout exceeded
else if (esp_log_timestamp() - timestamp_lastActivity > config.timeoutMs){
ESP_LOGI(TAG, "timeout check: [TIMEOUT], no activity for more than %.ds -> switch to idle", config.timeoutMs/1000);
//toggle to idle mode
toggleIdle();
}
else {
ESP_LOGD(TAG, "timeout check: [inactive], last activity %.1f s ago, timeout after %d s", (float)(esp_log_timestamp() - timestamp_lastActivity)/1000, config.timeoutMs/1000);
// -- timeout notify "forgot to turn off" --
// repeatedly notify via buzzer when in IDLE for a very long time to prevent battery drain ("forgot to turn off")
// also battery charge-level has to be below certain threshold to prevent beeping in case connected to charger
// note: ignores user input while in IDLE (e.g. encoder rotation)
else if ((esp_log_timestamp() - timestamp_lastModeChange) > config.timeoutNotifyPowerStillOnMs && getBatteryPercent() < TIMEOUT_POWER_STILL_ON_BATTERY_THRESHOLD_PERCENT)
{
// beep in certain intervals
if ((esp_log_timestamp() - timestamp_lastTimeoutBeep) > TIMEOUT_POWER_STILL_ON_BEEP_INTERVAL_MS)
{
ESP_LOGW(TAG, "timeout: [TIMEOUT] in IDLE since %.3f hours -> beeping", (float)(esp_log_timestamp() - timestamp_lastModeChange) / 1000 / 60 / 60);
// TODO dont beep at certain time ranges (e.g. at night)
timestamp_lastTimeoutBeep = esp_log_timestamp();
buzzer->beep(6, 100, 50);
}
}
}
@ -374,8 +384,6 @@ void controlledArmchair::handleTimeout(){
//-----------------------------------
//function to change to a specified control mode
void controlledArmchair::changeMode(controlMode_t modeNew) {
//reset timeout timer
resetTimeout();
//exit if target mode is already active
if (mode == modeNew) {
@ -385,6 +393,8 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
//copy previous mode
modePrevious = mode;
//store time changed (needed for timeout)
timestamp_lastModeChange = esp_log_timestamp();
ESP_LOGW(TAG, "=== changing mode from %s to %s ===", controlModeStr[(int)mode], controlModeStr[(int)modeNew]);
@ -403,6 +413,11 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
buzzer->beep(1,200,100);
break;
case controlMode_t::HTTP:
ESP_LOGW(TAG, "switching from HTTP mode -> stopping wifi-ap");
wifi_stop_ap();
break;
case controlMode_t::MASSAGE:
ESP_LOGW(TAG, "switching from MASSAGE mode -> restoring fading, reset frozen input");
//TODO: fix issue when downfading was disabled before switching to massage mode - currently it gets enabled again here...
@ -448,9 +463,11 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
ESP_LOGW(TAG, "switching to IDLE mode: turning both motors off, beep");
idleBothMotors();
buzzer->beep(1, 900, 0);
#ifdef JOYSTICK_LOG_IN_IDLE
esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
#endif
break;
case controlMode_t::HTTP:
ESP_LOGW(TAG, "switching to HTTP mode -> starting wifi-ap");
wifi_start_ap();
break;
case controlMode_t::ADJUST_CHAIR:
@ -540,9 +557,9 @@ void controlledArmchair::toggleMode(controlMode_t modePrimary){
//-------------------------------
//------ loadDecelDuration ------
//-------------------------------
//-----------------------------
//-------- loadMaxDuty --------
//-----------------------------
// update local config value when maxDuty is stored in nvs
void controlledArmchair::loadMaxDuty(void)
{

12
board_single/main/control.hpp
View File

@ -27,8 +27,8 @@ extern const char* controlModeStr[9];
typedef struct control_config_t {
controlMode_t defaultMode; //default mode after startup and toggling IDLE
//timeout options
uint32_t timeoutMs; //time of inactivity after which the mode gets switched to IDLE
float timeoutTolerancePer; //percentage the duty can vary between timeout checks considered still inactive
uint32_t timeoutSwitchToIdleMs; //time of inactivity after which the mode gets switched to IDLE
uint32_t timeoutNotifyPowerStillOnMs;
} control_config_t;
@ -96,6 +96,8 @@ class controlledArmchair {
void setMaxDuty(float maxDutyNew) { writeMaxDuty(maxDutyNew); };
float getMaxDuty() const {return joystickGenerateCommands_config.maxDuty; };
uint32_t getInactivityDurationMs() {return esp_log_timestamp() - timestamp_lastActivity;};
private:
//--- functions ---
@ -169,10 +171,10 @@ class controlledArmchair {
//variable for slow loop
uint32_t timestamp_SlowLoopLastRun = 0;
//variables for detecting timeout (switch to idle, after inactivity)
float dutyLeft_lastActivity = 0;
float dutyRight_lastActivity = 0;
//variables for detecting timeout (switch to idle, or notify "forgot to turn off" after inactivity
uint32_t timestamp_lastModeChange = 0;
uint32_t timestamp_lastActivity = 0;
uint32_t timestamp_lastTimeoutBeep = 0;
};

165
board_single/main/display.cpp
View File

@ -12,7 +12,16 @@ extern "C"{
#define STARTUP_MSG_TIMEOUT 2000
#define ADC_BATT_VOLTAGE ADC1_CHANNEL_6
#define BAT_CELL_COUNT 7
// continously vary display contrast from 0 to 250 in OVERVIEW status screen
//#define BRIGHTNESS_TEST
// if display and driver support hardware scrolling the SCREENSAVER status-screen will be smoother:
//#define HARDWARE_SCROLL_AVAILABLE
//=== variables ===
// every function can access the display configuration from config.cpp
static display_config_t displayConfig;
//--------------------------
@ -61,7 +70,10 @@ void display_init(display_config_t config){
ssd1306_init(&dev, config.width, config.height, config.offsetX);
ssd1306_clear_screen(&dev, false);
ssd1306_contrast(&dev, config.contrast);
ssd1306_contrast(&dev, config.contrastNormal);
//store configuration locally (e.g. for accessing timeouts)
displayConfig = config;
}
@ -233,7 +245,7 @@ float getBatteryPercent()
//#############################
//shows overview on entire display:
//Battery percentage, voltage, current, mode, rpm, speed
#define STATUS_SCREEN_OVERVIEW_UPDATE_INTERVAL 500
#define STATUS_SCREEN_OVERVIEW_UPDATE_INTERVAL 400
void showStatusScreenOverview(display_task_parameters_t *objects)
{
//-- battery percentage --
@ -263,6 +275,17 @@ void showStatusScreenOverview(display_task_parameters_t * objects)
objects->speedLeft->getRpm(),
objects->speedRight->getRpm());
vTaskDelay(STATUS_SCREEN_OVERVIEW_UPDATE_INTERVAL / portTICK_PERIOD_MS);
//-- brightness test --
#ifdef BRIGHTNESS_TEST
// continously vary brightness/contrast for testing
displayConfig.contrastNormal += 10;
if (displayConfig.contrastNormal > 255)
displayConfig.contrastNormal = 0;
ssd1306_contrast(&dev, displayConfig.contrastNormal);
vTaskDelay(100 / portTICK_PERIOD_MS);
ESP_LOGW(TAG, "TEST BRIGHTNESS, setting to %d", displayConfig.contrastNormal);
#endif
}
@ -315,8 +338,6 @@ void showStatusScreenJoystick(display_task_parameters_t * objects)
#define STATUS_SCREEN_MOTORS_UPDATE_INTERVAL 150
void showStatusScreenMotors(display_task_parameters_t *objects)
{
// print all joystick data
joystickData_t data = objects->joystick->getData();
displayTextLine(&dev, 0, true, false, "%-4.0fW ", fabs(objects->motorLeft->getCurrentA()) * getBatteryVoltage());
displayTextLine(&dev, 3, true, false, "%-4.0fW ", fabs(objects->motorRight->getCurrentA()) * getBatteryVoltage());
//displayTextLine(&dev, 0, true, false, "L:%02.0f%%", objects->motorLeft->getStatus().duty);
@ -331,6 +352,71 @@ void showStatusScreenMotors(display_task_parameters_t *objects)
}
// ################################
// #### showScreen Screensaver ####
// ################################
// show inactivity duration and battery perventage scrolling across screen the entire screen to prevent burn in
#define STATUS_SCREEN_SCREENSAVER_DELAY_NEXT_LINE_MS 10 * 1000
#define STATUS_SCREEN_SCREENSAVER_UPDATE_INTERVAL 500
#define DISPLAY_HORIZONTAL_CHARACTER_COUNT 16
#define DISPLAY_VERTICAL_LINE_COUNT 8
void showStatusScreenScreensaver(display_task_parameters_t *objects)
{
//-- variables for line rotation --
static int msPassed = 0;
static int currentLine = 0;
static bool lineChanging = false;
// clear display once when rotating to next line
if (lineChanging)
{
ssd1306_clear_screen(&dev, false);
lineChanging = false;
}
//-- print 2 lines scrolling horizontally --
#ifdef HARDWARE_SCROLL_AVAILABLE // when display supports hardware scrolling -> only the content has to be updated
// note: scrolling is enabled at screen change (display_selectStatusPage())
// update text every iteration to prevent empty screen at start
displayTextLine(&dev, currentLine, false, false, "IDLE since:");
displayTextLine(&dev, currentLine + 1, false, false, "%.1fh, B:%02.0f%%",
(float)objects->control->getInactivityDurationMs() / 1000 / 60 / 60,
getBatteryPercent());
// note: scrolling is disabled at screen change (display_selectStatusPage())
#else // custom implementation to scroll the text 1 character to the right every iteration (also wraps over the end to beginning)
static int offset = DISPLAY_HORIZONTAL_CHARACTER_COUNT;
char buf1[64], buf2[64];
// scroll text left to right (taken window of the string moves to the left => offset 16->0, 16->0 ...)
offset -= 1;
if (offset < 0)
offset = DISPLAY_HORIZONTAL_CHARACTER_COUNT - 1; // 0 = no crop -> start over with crop
// note: these strings have to be symetrical and 2x display character count long
snprintf(buf1, 64, "IDLE since: IDLE since: ");
snprintf(buf2, 64, "%.1fh, B:%02.0f%% %.1fh, B:%02.0f%% ",
(float)objects->control->getInactivityDurationMs() / 1000 / 60 / 60,
getBatteryPercent(),
(float)objects->control->getInactivityDurationMs() / 1000 / 60 / 60,
getBatteryPercent());
// print strings on display while limiting to certain window (ignore certain count of characters at start)
displayTextLine(&dev, currentLine, false, false, "%s", buf1 + offset);
displayTextLine(&dev, currentLine + 1, false, false, "%s", buf2 + offset);
#endif
//-- handle line rotation --
// to not block the display task for several seconds returning every e.g. 500ms here
// -> ensures detection of activity (exit condition) in task loop is handled regularly
if (msPassed > STATUS_SCREEN_SCREENSAVER_DELAY_NEXT_LINE_MS) // switch to next line is due
{
msPassed = 0; // rest seconds count
// increment / rotate to next line
if (++currentLine >= DISPLAY_VERTICAL_LINE_COUNT - 1) // rotate to next line
currentLine = 0;
lineChanging = true; // clear screen in next run
}
//-- wait update interval --
// wait and increment passed time after each run
vTaskDelay(STATUS_SCREEN_SCREENSAVER_UPDATE_INTERVAL / portTICK_PERIOD_MS);
msPassed += STATUS_SCREEN_SCREENSAVER_UPDATE_INTERVAL;
}
//########################
//#### showStartupMsg ####
//########################
@ -353,16 +439,44 @@ void showStartupMsg(){
//============================
//===== selectStatusPage =====
//============================
void display_selectStatusPage(displayStatusPage_t newStatusPage){
void display_selectStatusPage(displayStatusPage_t newStatusPage)
{
//-- run commands when switching FROM certain mode --
switch (selectedStatusPage)
{
#ifdef HARDWARE_SCROLL_AVAILABLE
case STATUS_SCREEN_SCREENSAVER:
ssd1306_hardware_scroll(&dev, SCROLL_STOP); // disable scrolling when exiting screensaver
break;
#endif
default:
break;
}
ESP_LOGW(TAG, "switching statusPage from %d to %d", (int)selectedStatusPage, (int)newStatusPage);
selectedStatusPage = newStatusPage;
//-- run commands when switching TO certain mode --
switch (selectedStatusPage)
{
case STATUS_SCREEN_SCREENSAVER:
ssd1306_clear_screen(&dev, false); // clear screen when switching
#ifdef HARDWARE_SCROLL_AVAILABLE
ssd1306_hardware_scroll(&dev, SCROLL_RIGHT);
#endif
break;
default:
break;
}
}
//============================
//======= display task =======
//============================
// TODO: separate task for each loop?
void display_task(void *pvParameters)
{
ESP_LOGW(TAG, "Initializing display and starting handle loop");
@ -403,6 +517,47 @@ void display_task(void *pvParameters)
case STATUS_SCREEN_MOTORS:
showStatusScreenMotors(objects);
break;
case STATUS_SCREEN_SCREENSAVER:
showStatusScreenScreensaver(objects);
break;
}
//--- handle timeouts ---
uint32_t inactiveMs = objects->control->getInactivityDurationMs();
//-- screensaver --
// handle switch to screensaver when no user input for a long time
if (inactiveMs > displayConfig.timeoutSwitchToScreensaverMs) // timeout - switch to screensaver is due
{
if (selectedStatusPage != STATUS_SCREEN_SCREENSAVER){ // switch/log only once at change
ESP_LOGW(TAG, "no activity for more than %d min, switching to screensaver", inactiveMs / 1000 / 60);
display_selectStatusPage(STATUS_SCREEN_SCREENSAVER);
}
}
else if (selectedStatusPage == STATUS_SCREEN_SCREENSAVER) // exit screensaver when there was recent activity
{
ESP_LOGW(TAG, "recent activity detected, disabling screensaver");
display_selectStatusPage(STATUS_SCREEN_OVERVIEW);
}
//-- reduce brightness --
// handle brightness reduction when no user input for some time
static bool brightnessIsReduced = false;
if (inactiveMs > displayConfig.timeoutReduceContrastMs) // threshold exceeded - reduction of brightness is due
{
if (!brightnessIsReduced) //change / log only once at change
{
// reduce display brightness (less burn in)
ESP_LOGW(TAG, "no activity for more than %d min, reducing display brightness to %d/255", inactiveMs / 1000 / 60, displayConfig.contrastReduced);
ssd1306_contrast(&dev, displayConfig.contrastReduced);
brightnessIsReduced = true;
}
}
else if (brightnessIsReduced) // threshold not exceeded anymore, but still reduced
{
// increase display brighness again
ESP_LOGW(TAG, "recent activity detected, increasing brightness again");
ssd1306_contrast(&dev, displayConfig.contrastNormal);
brightnessIsReduced = false;
}
}
// TODO add pages and menus

12
board_single/main/display.hpp
View File

@ -22,6 +22,7 @@ extern "C" {
// configuration for initializing display (passed to task as well)
typedef struct display_config_t {
// initialization
gpio_num_t gpio_scl;
gpio_num_t gpio_sda;
int gpio_reset; // negative number means reset pin is not connected or not used
@ -29,7 +30,11 @@ typedef struct display_config_t {
int height;
int offsetX;
bool flip;
int contrast;
// display-task
int contrastNormal;
int contrastReduced;
uint32_t timeoutReduceContrastMs;
uint32_t timeoutSwitchToScreensaverMs;
} display_config_t;
@ -49,11 +54,14 @@ typedef struct display_task_parameters_t {
// enum for selecting the currently shown status page (display content when not in MENU mode)
typedef enum displayStatusPage_t {STATUS_SCREEN_OVERVIEW=0, STATUS_SCREEN_SPEED, STATUS_SCREEN_JOYSTICK, STATUS_SCREEN_MOTORS} displayStatusPage_t;
typedef enum displayStatusPage_t {STATUS_SCREEN_OVERVIEW=0, STATUS_SCREEN_SPEED, STATUS_SCREEN_JOYSTICK, STATUS_SCREEN_MOTORS, STATUS_SCREEN_SCREENSAVER} displayStatusPage_t;
// get precise battery voltage (using lookup table)
float getBatteryVoltage();
// get battery charge level in percent (using lookup table as discharge curve)
float getBatteryPercent();
// function to select one of the defined status screens which are shown on display when not in MENU mode
void display_selectStatusPage(displayStatusPage_t newStatusPage);

36
board_single/main/main.cpp
View File

@ -27,7 +27,6 @@ extern "C"
#include "motorctl.hpp"
//folder single_board
#include "config.hpp"
#include "control.hpp"
#include "button.hpp"
#include "display.hpp"
@ -108,7 +107,6 @@ nvs_handle_t nvsHandle;
//=================================
//initialize spi flash filesystem (used for webserver)
void init_spiffs(){
ESP_LOGW(TAG, "initializing spiffs...");
esp_vfs_spiffs_conf_t esp_vfs_spiffs_conf = {
.base_path = "/spiffs",
.partition_label = NULL,
@ -195,35 +193,29 @@ extern "C" void app_main(void) {
gpio_set_direction(GPIO_NUM_17, GPIO_MODE_OUTPUT);
gpio_set_level(GPIO_NUM_17, 1);
//--- initialize nvs-flash and netif (needed for wifi) ---
ESP_LOGW(TAG,"initializing wifi...");
wifi_initNvs_initNetif();
//--- initialize nvs-flash and netif ---
ESP_LOGW(TAG,"initializing NVS...");
wifi_initNvs(); //needed for wifi and persistent config variables
ESP_LOGW(TAG,"initializing NETIF...");
wifi_initNetif(); // needed for wifi
//--- initialize spiffs ---
init_spiffs();
ESP_LOGW(TAG, "initializing SPIFFS...");
init_spiffs(); // used by httpd server
//--- initialize and start 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");
// Note: now started only when switching to HTTP mode in control.cpp
// ESP_LOGW(TAG,"starting wifi...");
// wifi_start_client(); //connect to existing wifi (dropped)
// wifi_start_ap(); //start access point
//--- initialize encoder ---
const QueueHandle_t encoderQueue = encoder_init(&encoder_config);
//--- initialize nvs-flash --- (for persistant config values)
ESP_LOGW(TAG, "initializing nvs-flash...");
esp_err_t err = nvs_flash_init();
if (err == ESP_ERR_NVS_NO_FREE_PAGES || err == ESP_ERR_NVS_NEW_VERSION_FOUND)
{
ESP_LOGE(TAG, "NVS truncated -> deleting flash");
// Retry nvs_flash_init
ESP_ERROR_CHECK(nvs_flash_erase());
err = nvs_flash_init();
}
ESP_ERROR_CHECK(err);
//--- open nvs-flash ---
err = nvs_open("storage", NVS_READWRITE, &nvsHandle);
// note: nvs already initialized in wifi_initNvs()
ESP_LOGW(TAG, "opening NVS-handle...");
esp_err_t err = nvs_open("storage", NVS_READWRITE, &nvsHandle); // this handle is passed to all tasks for accessing nvs
if (err != ESP_OK)
ESP_LOGE(TAG, "Error (%s) opening NVS handle!\n", esp_err_to_name(err));

11
board_single/main/menu.cpp
View File

@ -11,7 +11,6 @@ extern "C"{
#include "menu.hpp"
#include "encoder.hpp"
#include "config.hpp"
#include "motorctl.hpp"
@ -105,7 +104,7 @@ void item_calibrateJoystick_action(display_task_parameters_t *objects, SSD1306_t
// save and next when button clicked, exit when long pressed
if (xQueueReceive(objects->encoderQueue, &event, CALIBRATE_JOYSTICK_UPDATE_INTERVAL / portTICK_PERIOD_MS))
{
objects->control->resetTimeout();
objects->control->resetTimeout(); // user input -> reset switch to IDLE timeout
switch (event.type)
{
case RE_ET_BTN_CLICKED:
@ -215,7 +214,7 @@ void item_debugJoystick_action(display_task_parameters_t * objects, SSD1306_t *
// exit when button pressed
if (xQueueReceive(objects->encoderQueue, &event, DEBUG_JOYSTICK_UPDATE_INTERVAL / portTICK_PERIOD_MS))
{
objects->control->resetTimeout();
objects->control->resetTimeout(); // user input -> reset switch to IDLE timeout
switch (event.type)
{
case RE_ET_BTN_CLICKED:
@ -700,7 +699,7 @@ void handleMenu(display_task_parameters_t * objects, SSD1306_t *display)
{
// reset menu- and control-timeout on any encoder event
lastActivity = esp_log_timestamp();
objects->control->resetTimeout();
objects->control->resetTimeout(); // user input -> reset switch to IDLE timeout
switch (event.type)
{
case RE_ET_CHANGED:
@ -771,7 +770,7 @@ void handleMenu(display_task_parameters_t * objects, SSD1306_t *display)
// wait for encoder event
if (xQueueReceive(objects->encoderQueue, &event, QUEUE_TIMEOUT / portTICK_PERIOD_MS))
{
objects->control->resetTimeout();
objects->control->resetTimeout(); // user input -> reset switch to IDLE timeout
switch (event.type)
{
case RE_ET_CHANGED:
@ -811,7 +810,7 @@ void handleMenu(display_task_parameters_t * objects, SSD1306_t *display)
}
// reset menu- and control-timeout on any encoder event
lastActivity = esp_log_timestamp();
objects->control->resetTimeout();
objects->control->resetTimeout(); // user input -> reset switch to IDLE timeout
}
break;
}

80
common/wifi.c
View File

@ -21,26 +21,45 @@ static const char *TAG = "wifi";
static esp_event_handler_instance_t instance_any_id;
//============================================
//============ init nvs and netif ============
//============================================
//initialize nvs-flash and netif (needed for both AP and CLIENT)
//##########################################
//############ common functions ############
//##########################################
//============================
//========= init nvs =========
//============================
//initialize nvs-flash (needed for both AP and CLIENT)
//has to be run once at startup
void wifi_initNvs_initNetif(){
void wifi_initNvs(){
//Initialize NVS (needed for wifi)
esp_err_t ret = nvs_flash_init();
if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
esp_err_t err = nvs_flash_init();
if (err == ESP_ERR_NVS_NO_FREE_PAGES || err == ESP_ERR_NVS_NEW_VERSION_FOUND)
{
ESP_LOGE(TAG, "NVS truncated -> deleting flash");
// Retry nvs_flash_init
ESP_ERROR_CHECK(nvs_flash_erase());
ret = nvs_flash_init();
err = nvs_flash_init();
}
ESP_ERROR_CHECK(err);
}
//==============================
//========= init netif =========
//==============================
//initialize netif (needed for both AP and CLIENT)
//has to be run once at startup
void wifi_initNetif(){
ESP_ERROR_CHECK(esp_netif_init());
ESP_ERROR_CHECK(esp_event_loop_create_default());
}
//===========================================
//============ init access point ============
//===========================================
//############################################
//############### access point ###############
//############################################
//--------------------------------------------
//------ configuration / declarations --------
@ -66,10 +85,12 @@ static void wifi_event_handler_ap(void* arg, esp_event_base_t event_base,
}
}
//-----------------------
//------ init ap --------
//-----------------------
void wifi_init_ap(void)
//========================
//====== start AP ========
//========================
void wifi_start_ap(void)
{
ap = esp_netif_create_default_wifi_ap();
@ -107,9 +128,9 @@ void wifi_init_ap(void)
//=============================
//========= deinit AP =========
//========== stop AP ==========
//=============================
void wifi_deinit_ap(void)
void wifi_stop_ap(void)
{
ESP_ERROR_CHECK(esp_event_handler_instance_unregister(WIFI_EVENT, ESP_EVENT_ANY_ID, instance_any_id));
ESP_ERROR_CHECK(esp_event_handler_instance_unregister(WIFI_EVENT, ESP_EVENT_ANY_ID, instance_any_id));
@ -123,9 +144,9 @@ void wifi_deinit_ap(void)
//===========================================
//=============== init client ===============
//===========================================
//##########################################
//################# client #################
//##########################################
//--------------------------------------------
//------ configuration / declarations --------
@ -168,10 +189,13 @@ static void event_handler(void* arg, esp_event_base_t event_base,
xEventGroupSetBits(s_wifi_event_group, WIFI_CONNECTED_BIT);
}
}
//---------------------------
//------ init client --------
//---------------------------
void wifi_init_client(void)
//===========================
//====== init client ========
//===========================
void wifi_start_client(void)
{
s_wifi_event_group = xEventGroupCreate();
sta = esp_netif_create_default_wifi_sta();
@ -249,10 +273,10 @@ void wifi_init_client(void)
//=================================
//========= deinit client =========
//=================================
void wifi_deinit_client(void)
//===============================
//========= stop client =========
//===============================
void wifi_stop_client(void)
{
/* The event will not be processed after unregister */
ESP_ERROR_CHECK(esp_event_handler_instance_unregister(IP_EVENT, IP_EVENT_STA_GOT_IP, instance_got_ip));

20
common/wifi.h
View File

@ -3,20 +3,20 @@
//TODO: currently wifi names and passwords are configured in wifi.c -> move this to config?
//initialize nvs-flash and netif (needed for both AP and CLIENT)
//has to be run once at startup
//Note: this cant be put in wifi_init functions because this may not be in deinit functions
void wifi_initNvs_initNetif();
//both functions have to be run once at startup
void wifi_initNvs();
void wifi_initNetif();
//function to start an access point
void wifi_init_ap(void);
//function to disable/deinit access point
void wifi_deinit_ap(void);
//function to start an access point (config in wifi.c)
void wifi_start_ap(void);
//function to disable/stop access point
void wifi_stop_ap(void);
//function to connect to existing wifi network
void wifi_init_client(void);
//function to connect to existing wifi network (config in wifi.c)
void wifi_start_client(void);
//function to disable/deinit client
void wifi_deinit_client(void);
void wifi_stop_client(void);