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Add GPIO initialization, logging

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jonny_jr9 2023-10-11 20:02:02 +02:00
parent 95f2403163
commit 30e9411a2e
1 changed files with 49 additions and 24 deletions
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25
common/chairAdjust.cpp
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@ -26,12 +26,31 @@ static const char * TAG = "chair-adjustment";
//current motor states //current motor states
static restState_t stateLegRest = REST_OFF; static restState_t stateLegRest = REST_OFF;
static restState_t stateBackRest = REST_OFF; static restState_t stateBackRest = REST_OFF;
bool isInitialized = false;
//TODO Add timestamps or even a task to keep track of current position (estimate) //TODO Add timestamps or even a task to keep track of current position (estimate)
//====================
//======= init =======
//====================
//init gpio pins for relays
void chairAdjust_init(){
ESP_LOGW(TAG, "initializing gpio pins for relays...");
gpio_pad_select_gpio(GPIO_LEGREST_UP);
gpio_set_direction(GPIO_LEGREST_UP, GPIO_MODE_OUTPUT);
gpio_pad_select_gpio(GPIO_LEGREST_DOWN);
gpio_set_direction(GPIO_LEGREST_DOWN, GPIO_MODE_OUTPUT);
gpio_pad_select_gpio(GPIO_BACKREST_UP);
gpio_set_direction(GPIO_BACKREST_UP, GPIO_MODE_OUTPUT);
gpio_pad_select_gpio(GPIO_BACKREST_DOWN);
gpio_set_direction(GPIO_BACKREST_DOWN, GPIO_MODE_OUTPUT);
isInitialized = true;
}
//============================= //=============================
//======= set direction ======= //======= set direction =======
@ -40,18 +59,21 @@ static restState_t stateBackRest = REST_OFF;
//TODO evaluate if separate functions needed, can be merged with run..Rest(state) function? //TODO evaluate if separate functions needed, can be merged with run..Rest(state) function?
//--- leg-rest --- //--- leg-rest ---
void setLegrestUp(){ void setLegrestUp(){
if (!isInitialized) chairAdjust_init();
gpio_set_level(GPIO_LEGREST_DOWN, 0); gpio_set_level(GPIO_LEGREST_DOWN, 0);
gpio_set_level(GPIO_LEGREST_UP, 1); gpio_set_level(GPIO_LEGREST_UP, 1);
stateLegRest = REST_UP; stateLegRest = REST_UP;
ESP_LOGD(TAG, "switched relays to move leg-rest UP"); ESP_LOGD(TAG, "switched relays to move leg-rest UP");
} }
void setLegrestDown(){ void setLegrestDown(){
if (!isInitialized) chairAdjust_init();
gpio_set_level(GPIO_LEGREST_DOWN, 1); gpio_set_level(GPIO_LEGREST_DOWN, 1);
gpio_set_level(GPIO_LEGREST_UP, 0); gpio_set_level(GPIO_LEGREST_UP, 0);
stateLegRest = REST_DOWN; stateLegRest = REST_DOWN;
ESP_LOGD(TAG, "switched relays to move leg-rest DOWN"); ESP_LOGD(TAG, "switched relays to move leg-rest DOWN");
} }
void setLegrestOff(){ void setLegrestOff(){
if (!isInitialized) chairAdjust_init();
gpio_set_level(GPIO_LEGREST_DOWN, 0); gpio_set_level(GPIO_LEGREST_DOWN, 0);
gpio_set_level(GPIO_LEGREST_UP, 0); gpio_set_level(GPIO_LEGREST_UP, 0);
stateLegRest = REST_OFF; stateLegRest = REST_OFF;
@ -60,18 +82,21 @@ void setLegrestOff(){
//--- back-rest --- //--- back-rest ---
void setBackrestUp(){ void setBackrestUp(){
if (!isInitialized) chairAdjust_init();
gpio_set_level(GPIO_BACKREST_DOWN, 0); gpio_set_level(GPIO_BACKREST_DOWN, 0);
gpio_set_level(GPIO_BACKREST_UP, 1); gpio_set_level(GPIO_BACKREST_UP, 1);
stateBackRest = REST_UP; stateBackRest = REST_UP;
ESP_LOGD(TAG, "switched relays to move back-rest UP"); ESP_LOGD(TAG, "switched relays to move back-rest UP");
} }
void setBackrestDown(){ void setBackrestDown(){
if (!isInitialized) chairAdjust_init();
gpio_set_level(GPIO_BACKREST_DOWN, 1); gpio_set_level(GPIO_BACKREST_DOWN, 1);
gpio_set_level(GPIO_BACKREST_UP, 0); gpio_set_level(GPIO_BACKREST_UP, 0);
stateBackRest = REST_DOWN; stateBackRest = REST_DOWN;
ESP_LOGD(TAG, "switched relays to move back-rest DOWN"); ESP_LOGD(TAG, "switched relays to move back-rest DOWN");
} }
void setBackrestOff(){ void setBackrestOff(){
if (!isInitialized) chairAdjust_init();
gpio_set_level(GPIO_BACKREST_DOWN, 0); gpio_set_level(GPIO_BACKREST_DOWN, 0);
gpio_set_level(GPIO_BACKREST_UP, 0); gpio_set_level(GPIO_BACKREST_UP, 0);
stateBackRest = REST_OFF; stateBackRest = REST_OFF;