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Merge branch 'encoder' into dev - Menu (display+encoder) functional

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Rework display and button, add fully functional menu (1x long press)
(not tested on actual hardware)
This commit is contained in:
jonny_jr9 2024-02-18 09:47:07 +01:00
commit 40a0f56208
24 changed files with 1590 additions and 245 deletions
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1
board_control/main/CMakeLists.txt
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@ -6,6 +6,7 @@ idf_component_register(
"button.cpp"
"auto.cpp"
"uart.cpp"
"encoder.cpp"
INCLUDE_DIRS
"."
)

81
board_control/main/encoder.cpp Normal file
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@ -0,0 +1,81 @@
#include "encoder.h"
extern "C"
{
#include <stdio.h>
#include <esp_system.h>
#include <esp_event.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "driver/gpio.h"
#include "esp_log.h"
}
#include "encoder.hpp"
//-------------------------
//------- variables -------
//-------------------------
static const char * TAG = "encoder";
uint16_t encoderCount;
rotary_encoder_btn_state_t encoderButtonState = {};
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
};
//==================================
//========== encoder_init ==========
//==================================
//initialize encoder
void encoder_init(){
encoderQueue = xQueueCreate(QUEUE_SIZE, sizeof(rotary_encoder_event_t));
rotary_encoder_init(encoderQueue);
rotary_encoder_add(&encoderConfig);
}
//==================================
//========== task_encoder ==========
//==================================
//receive and handle encoder events
void task_encoder(void *arg) {
rotary_encoder_event_t ev; //store event data
while (1) {
if (xQueueReceive(encoderQueue, &ev, portMAX_DELAY)) {
//log enocder events
switch (ev.type){
case RE_ET_CHANGED:
ESP_LOGI(TAG, "Event type: RE_ET_CHANGED, diff: %d", ev.diff);
break;
case RE_ET_BTN_PRESSED:
ESP_LOGI(TAG, "Button pressed");
break;
case RE_ET_BTN_RELEASED:
ESP_LOGI(TAG, "Button released");
break;
case RE_ET_BTN_CLICKED:
ESP_LOGI(TAG, "Button clicked");
break;
case RE_ET_BTN_LONG_PRESSED:
ESP_LOGI(TAG, "Button long-pressed");
break;
default:
ESP_LOGW(TAG, "Unknown event type");
break;
}
}
}
}

18
board_control/main/encoder.hpp Normal file
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@ -0,0 +1,18 @@
extern "C" {
#include "freertos/FreeRTOS.h" // FreeRTOS related headers
#include "freertos/task.h"
#include "encoder.h"
}
//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
void encoder_init();
//task that handles encoder events
void task_encoder(void *arg);

29
board_control/main/main.cpp
View File

@ -18,6 +18,7 @@ extern "C"
#include "uart.hpp"
#include "encoder.hpp"
//=========================
@ -28,6 +29,13 @@ extern "C"
//#define UART_TEST_ONLY
//=========================
//====== encoder TEST =====
//=========================
//only start encoder task
#define ENCODER_TEST_ONLY
//tag for logging
static const char * TAG = "main";
@ -157,7 +165,7 @@ void setLoglevels(void){
//=========== app_main ============
//=================================
extern "C" void app_main(void) {
#ifndef UART_TEST_ONLY
#if !defined(ENCODER_TEST_ONLY) && !defined(UART_TEST_ONLY)
//enable 5V volate regulator
gpio_pad_select_gpio(GPIO_NUM_17);
gpio_set_direction(GPIO_NUM_17, GPIO_MODE_OUTPUT);
@ -214,24 +222,35 @@ extern "C" void app_main(void) {
// vTaskDelay(2000 / portTICK_PERIOD_MS);
// ESP_LOGI(TAG, "initializing http server");
// http_init_server();
#endif
//-------------------------------------------
//--- create tasks for uart communication ---
//-------------------------------------------
#ifndef ENCODER_TEST_ONLY
uart_init();
xTaskCreate(task_uartReceive, "task_uartReceive", 4096, NULL, 10, NULL);
xTaskCreate(task_uartSend, "task_uartSend", 4096, NULL, 10, NULL);
#endif
//--------------------------------------------
//----- create task that handles encoder -----
//--------------------------------------------
#ifndef UART_TEST_ONLY
encoder_init();
xTaskCreate(task_encoder, "task_encoder", 4096, NULL, 10, NULL);
#endif
//--- main loop ---
//does nothing except for testing things
//--- testing force http mode after startup ---
vTaskDelay(5000 / portTICK_PERIOD_MS);
control.changeMode(controlMode_t::HTTP);
//control.changeMode(controlMode_t::HTTP);
while(1){
vTaskDelay(1000 / portTICK_PERIOD_MS);
//---------------------------------

2
board_single/main/CMakeLists.txt
View File

@ -7,6 +7,8 @@ idf_component_register(
"fan.cpp"
"auto.cpp"
"display.cpp"
"menu.cpp"
"encoder.cpp"
INCLUDE_DIRS
"."
)

190
board_single/main/button.cpp
View File

@ -8,6 +8,7 @@ extern "C"
}
#include "button.hpp"
#include "encoder.hpp"
@ -37,46 +38,53 @@ buttonCommands::buttonCommands(gpio_evaluatedSwitch * button_f, evaluatedJoystic
//----------------------------
//function that runs commands depending on a count value
void buttonCommands::action (uint8_t count, bool lastPressLong){
//--- variable declarations ---
//--- variables ---
bool decelEnabled; //for different beeping when toggling
commandSimple_t cmds[8]; //array for commands for automatedArmchair
//--- get joystick position ---
//in case joystick is used for additional cases:
//joystickData_t stickData = joystick->getData();
//--- actions based on count ---
switch (count){
//no such command
default:
ESP_LOGE(TAG, "no command for count=%d defined", count);
buzzer->beep(3, 400, 100);
break;
//--- run actions based on count ---
switch (count)
{
// ## no command ##
default:
ESP_LOGE(TAG, "no command for count=%d and long=%d defined", count, lastPressLong);
buzzer->beep(3, 400, 100);
break;
case 1:
//restart contoller when 1x long pressed
if (lastPressLong){
ESP_LOGW(TAG, "RESTART");
buzzer->beep(1,1000,1);
vTaskDelay(500 / portTICK_PERIOD_MS);
//esp_restart();
//-> define joystick center or toggle freeze input (executed in control task)
control->sendButtonEvent(count); //TODO: always send button event to control task (not just at count=1) -> control.cpp has to be changed
return;
}
//note: disabled joystick calibration due to accidential trigger
//
// ESP_LOGW(TAG, "cmd %d: sending button event to control task", count);
// //-> define joystick center or toggle freeze input (executed in control task)
// control->sendButtonEvent(count); //TODO: always send button event to control task (not just at count=1) -> control.cpp has to be changed
break;
case 2:
//run automatic commands to lift leg support when pressed 1x short 1x long
if (lastPressLong){
case 1:
// ## switch to MENU state ##
if (lastPressLong)
{
control->changeMode(controlMode_t::MENU);
ESP_LOGW(TAG, "1x long press -> change to menu mode");
buzzer->beep(1, 1000, 1);
vTaskDelay(500 / portTICK_PERIOD_MS);
}
// ## toggle joystick freeze ##
else if (control->getCurrentMode() == controlMode_t::MASSAGE)
{
control->toggleFreezeInputMassage();
}
// ## define joystick center ##
else
{
// note: disabled joystick calibration due to accidential trigger
//joystick->defineCenter();
}
break;
case 2:
// ## switch to ADJUST_CHAIR mode ##
if (lastPressLong)
{
ESP_LOGW(TAG, "cmd %d: toggle ADJUST_CHAIR", count);
control->toggleMode(controlMode_t::ADJUST_CHAIR);
}
//toggle idle when 2x pressed
// ## toggle IDLE ##
else {
ESP_LOGW(TAG, "cmd %d: toggle IDLE", count);
control->toggleIdle(); //toggle between idle and previous/default mode
@ -84,21 +92,25 @@ void buttonCommands::action (uint8_t count, bool lastPressLong){
break;
case 3:
// ## switch to JOYSTICK mode ##
ESP_LOGW(TAG, "cmd %d: switch to JOYSTICK", count);
control->changeMode(controlMode_t::JOYSTICK); //switch to JOYSTICK mode
break;
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
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
break;
case 8:
// ## toggle "sport-mode" ##
//toggle deceleration fading between on and off
//decelEnabled = motorLeft->toggleFade(fadeType_t::DECEL);
//motorRight->toggleFade(fadeType_t::DECEL);
@ -113,12 +125,10 @@ void buttonCommands::action (uint8_t count, bool lastPressLong){
break;
case 12:
ESP_LOGW(TAG, "cmd %d: sending button event to control task", count);
//-> toggle altStickMapping (executed in control task)
control->sendButtonEvent(count); //TODO: always send button event to control task (not just at count=1)?
// ## toggle alternative stick mapping ##
control->toggleAltStickMapping();
break;
}
}
}
@ -127,56 +137,66 @@ void buttonCommands::action (uint8_t count, bool lastPressLong){
//-----------------------------
//------ startHandleLoop ------
//-----------------------------
//this function has to be started once in a separate task
//repeatedly evaluates and processes button events then takes the corresponding action
void buttonCommands::startHandleLoop() {
// 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)
void buttonCommands::startHandleLoop()
{
//-- variables --
bool isPressed = false;
static rotary_encoder_event_t ev; // store event data
// int count = 0; (from class)
while(1) {
vTaskDelay(20 / portTICK_PERIOD_MS);
//run handle function of evaluatedSwitch object
button->handle();
//--- count button presses and run action ---
switch(state) {
case inputState_t::IDLE: //wait for initial button press
if (button->risingEdge) {
count = 1;
buzzer->beep(1, 65, 0);
timestamp_lastAction = esp_log_timestamp();
state = inputState_t::WAIT_FOR_INPUT;
ESP_LOGI(TAG, "first button press detected -> waiting for further events");
}
break;
case inputState_t::WAIT_FOR_INPUT: //wait for further presses
//button pressed again
if (button->risingEdge){
count++;
buzzer->beep(1, 65, 0);
timestamp_lastAction = esp_log_timestamp();
ESP_LOGI(TAG, "another press detected -> count=%d -> waiting for further events", count);
}
//timeout
else if (esp_log_timestamp() - timestamp_lastAction > 1000) {
state = inputState_t::IDLE;
buzzer->beep(count, 50, 50);
//TODO: add optional "bool wait" parameter to beep function to delay until finished beeping
ESP_LOGI(TAG, "timeout - running action function for count=%d", count);
//--- run action function ---
//check if still pressed
bool lastPressLong = false;
if (button->state == true){
//run special case when last press was longer than timeout
lastPressLong = true;
}
//run action function with current count of button presses
action(count, lastPressLong);
}
break;
while (1)
{
//-- disable functionality when in menu mode --
//(display task uses encoder in that mode)
if (control->getCurrentMode() == controlMode_t::MENU)
{
//do nothing every loop cycle
ESP_LOGD(TAG, "in MENU mode -> button commands disabled");
vTaskDelay(1000 / portTICK_PERIOD_MS);
continue;
}
}
}
//-- get events from encoder --
if (xQueueReceive(encoderQueue, &ev, INPUT_TIMEOUT / portTICK_PERIOD_MS))
{
control->resetTimeout(); //reset inactivity IDLE timeout
switch (ev.type)
{
break;
case RE_ET_BTN_PRESSED:
ESP_LOGD(TAG, "Button pressed");
buzzer->beep(1, 65, 0);
isPressed = true;
count++; // count each pressed event
break;
case RE_ET_BTN_RELEASED:
ESP_LOGD(TAG, "Button released");
isPressed = false; // rest stored state
break;
case RE_ET_BTN_LONG_PRESSED:
case RE_ET_BTN_CLICKED:
case RE_ET_CHANGED:
default:
break;
}
}
else // timeout (no event received within TIMEOUT)
{
if (count > 0)
{
//-- run action with count of presses --
ESP_LOGI(TAG, "timeout: count=%d, lastPressLong=%d -> running action", count, isPressed);
buzzer->beep(count, 50, 50);
action(count, isPressed); // run action - if currently still on the last press is considered long
count = 0; // reset count
}
else {
ESP_LOGD(TAG, "no button event received in this cycle (count=0)");
}
} //end queue
} //end while(1)
} //end function

113
board_single/main/control.cpp
View File

@ -20,7 +20,7 @@ extern "C"
//tag for logging
static const char * TAG = "control";
const char* controlModeStr[8] = {"IDLE", "JOYSTICK", "MASSAGE", "HTTP", "MQTT", "BLUETOOTH", "AUTO", "ADJUST_CHAIR"};
const char* controlModeStr[9] = {"IDLE", "JOYSTICK", "MASSAGE", "HTTP", "MQTT", "BLUETOOTH", "AUTO", "ADJUST_CHAIR", "MENU"};
//-----------------------------
@ -183,46 +183,18 @@ void controlledArmchair::startHandleLoop() {
break;
case controlMode_t::MENU:
vTaskDelay(1000 / portTICK_PERIOD_MS);
//nothing to do here, display task handles the menu
//--- idle motors ---
commands = cmds_bothMotorsIdle;
motorRight->setTarget(commands.right.state, commands.right.duty);
motorLeft->setTarget(commands.left.state, commands.left.duty);
break;
//TODO: add other modes here
}
//--- run actions based on received button button event ---
//note: buttonCount received by sendButtonEvent method called from button.cpp
//TODO: what if variable gets set from other task during this code? -> mutex around this code
switch (buttonCount) {
case 1: //define joystick center or freeze input
if (mode == controlMode_t::JOYSTICK){
//joystick mode: calibrate joystick
joystick_l->defineCenter();
} else if (mode == controlMode_t::MASSAGE){
//massage mode: toggle freeze of input (lock joystick at current values)
freezeInput = !freezeInput;
if (freezeInput){
buzzer->beep(5, 40, 25);
} else {
buzzer->beep(1, 300, 100);
}
}
break;
case 12: //toggle alternative joystick mapping (reverse swapped)
altStickMapping = !altStickMapping;
if (altStickMapping){
buzzer->beep(6, 70, 50);
} else {
buzzer->beep(1, 500, 100);
}
break;
}
//--- reset button event --- (only one action per run)
if (buttonCount > 0){
ESP_LOGI(TAG, "resetting button event/count");
buttonCount = 0;
}
//-----------------------
//------ slow loop ------
//-----------------------
@ -240,6 +212,60 @@ void controlledArmchair::startHandleLoop() {
//---------------------------------------
//------ toggleFreezeInputMassage -------
//---------------------------------------
// releases or locks joystick in place when in massage mode
bool controlledArmchair::toggleFreezeInputMassage()
{
if (mode == controlMode_t::MASSAGE)
{
// massage mode: toggle freeze of input (lock joystick at current values)
freezeInput = !freezeInput;
if (freezeInput)
{
buzzer->beep(5, 40, 25);
ESP_LOGW(TAG, "joystick input is now locked in place");
}
else
{
buzzer->beep(1, 300, 100);
ESP_LOGW(TAG, "joystick input gets updated again");
}
return freezeInput;
}
else
{
ESP_LOGE(TAG, "can not freeze/unfreeze joystick input - not in MASSAGE mode!");
return 0;
}
}
//-------------------------------------
//------- toggleAltStickMapping -------
//-------------------------------------
// toggle between normal and alternative stick mapping (joystick reverse position inverted)
bool controlledArmchair::toggleAltStickMapping()
{
altStickMapping = !altStickMapping;
if (altStickMapping)
{
buzzer->beep(6, 70, 50);
ESP_LOGW(TAG, "changed to alternative stick mapping");
}
else
{
buzzer->beep(1, 500, 100);
ESP_LOGW(TAG, "changed to default stick mapping");
}
return altStickMapping;
}
//-----------------------------------
//---------- resetTimeout -----------
//-----------------------------------
@ -250,17 +276,6 @@ void controlledArmchair::resetTimeout(){
//------------------------------------
//--------- sendButtonEvent ----------
//------------------------------------
void controlledArmchair::sendButtonEvent(uint8_t count){
//TODO mutex - if not replaced with queue
ESP_LOGI(TAG, "setting button event");
buttonCount = count;
}
//------------------------------------
//---------- handleTimeout -----------
//------------------------------------

16
board_single/main/control.hpp
View File

@ -11,9 +11,9 @@
//---- struct, enum, variable declarations ---
//--------------------------------------------
//enum that decides how the motors get controlled
enum class controlMode_t {IDLE, JOYSTICK, MASSAGE, HTTP, MQTT, BLUETOOTH, AUTO, ADJUST_CHAIR};
enum class controlMode_t {IDLE, JOYSTICK, MASSAGE, HTTP, MQTT, BLUETOOTH, AUTO, ADJUST_CHAIR, MENU};
//string array representing the mode enum (for printing the state as string)
extern const char* controlModeStr[8];
extern const char* controlModeStr[9];
//--- control_config_t ---
//struct with config parameters
@ -63,9 +63,15 @@ class controlledArmchair {
//function that restarts timer which initiates the automatic timeout (switch to IDLE) after certain time of inactivity
void resetTimeout();
//function for sending a button event (e.g. from button task at event) to control task
//TODO: use queue instead?
void sendButtonEvent(uint8_t count);
//methods to get the current control mode
controlMode_t getCurrentMode() const {return mode;};
const char *getCurrentModeStr() const { return controlModeStr[(int)mode]; };
// releases or locks joystick in place when in massage mode, returns true when input is frozen
bool toggleFreezeInputMassage();
// toggle between normal and alternative stick mapping (joystick reverse position inverted), returns true when alt mapping is active
bool toggleAltStickMapping();
private:

272
board_single/main/display.cpp
View File

@ -1,32 +1,29 @@
#include "display.hpp"
extern "C"{
#include <driver/adc.h>
#include "esp_ota_ops.h"
}
#include "menu.hpp"
//#
//# SSD1306 Configuration
//#
#define GPIO_RANGE_MAX 33
//==== display config ====
#define I2C_INTERFACE y
//# SSD1306_128x32 is not set
#define SSD1306_128x64 y
#define OFFSETX 0
//# FLIP is not set
#define SCL_GPIO 22
#define SDA_GPIO 23
#define RESET_GPIO 15 //FIXME remove this
#define I2C_PORT_0 y
//# I2C_PORT_1 is not set
//# end of SSD1306 Configuration
#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
#define BAT_CELL_COUNT 7
//--------------------------
//------- getVoltage -------
//--------------------------
@ -44,24 +41,20 @@ float getVoltage1(adc1_channel_t adc, uint32_t samples){
//==========================
//======= variables ========
//==========================
//======================
//===== variables ======
//======================
//display
SSD1306_t dev;
//int center, top, bottom;
char lineChar[20];
//top = 2;
//center = 3;
//bottom = 8;
//tag for logging
static const char * TAG = "display";
//=================
//===== init ======
//=================
//======================
//==== display_init ====
//======================
//note CONFIG_OFFSETX is used (from menuconfig)
void display_init(){
adc1_config_channel_atten(ADC1_CHANNEL_6, ADC_ATTEN_DB_11); //max voltage
ESP_LOGW("display", "INTERFACE is i2c");
@ -81,6 +74,78 @@ void display_init(){
}
//===============================
//======= displayTextLine =======
//===============================
//abstracted function for printing one line on the display, using a format string directly
//and options: Large-font (3 lines, max 5 digits), or inverted color
void displayTextLine(SSD1306_t *display, int line, bool isLarge, bool inverted, const char *format, ...)
{
char buf[17];
int len;
// format string + arguments to string
va_list args;
va_start(args, format);
len = vsnprintf(buf, sizeof(buf), format, args);
va_end(args);
// show line on display
if (isLarge)
ssd1306_display_text_x3(display, line, buf, len, inverted);
else
ssd1306_display_text(display, line, buf, len, inverted);
}
//===================================
//===== displayTextLineCentered =====
//===================================
//abstracted function for printing a string CENTERED on the display, using a format string
//adds spaces left and right to fill the line (if not too long already)
#define MAX_LEN_NORMAL 16 //count of available digits on display (normal/large font)
#define MAX_LEN_LARGE 5
void displayTextLineCentered(SSD1306_t *display, int line, bool isLarge, bool inverted, const char *format, ...)
{
// variables
char buf[MAX_LEN_NORMAL*2 + 2];
char tmp[MAX_LEN_NORMAL + 1];
int len;
// format string + arguments to string (-> tmp)
va_list args;
va_start(args, format);
len = vsnprintf(tmp, sizeof(tmp), format, args);
va_end(args);
// define max available digits
int maxLen = MAX_LEN_NORMAL;
if (isLarge)
maxLen = MAX_LEN_LARGE;
// determine required spaces
int numSpaces = (maxLen - len) / 2;
if (numSpaces < 0) // limit to 0 in case string is too long already
numSpaces = 0;
// add certain spaces around string (-> buf)
snprintf(buf, MAX_LEN_NORMAL*2, "%*s%s%*s", numSpaces, "", tmp, maxLen - numSpaces - len, "");
ESP_LOGD(TAG, "print center - isLarge=%d, value='%s', needed-spaces=%d, resulted-string='%s'", isLarge, tmp, numSpaces, buf);
// show line on display
if (isLarge)
ssd1306_display_text_x3(display, line, buf, maxLen, inverted);
else
ssd1306_display_text(display, line, buf, maxLen, inverted);
}
//----------------------------------
//------- getBatteryVoltage --------
//----------------------------------
float getBatteryVoltage(){
#define BAT_VOLTAGE_CONVERSION_FACTOR 11.9
float voltageRead = getVoltage1(ADC_BATT_VOLTAGE, 1000);
@ -99,7 +164,8 @@ float getBatteryVoltage(){
const float voltageLevels[] = {3.00, 3.45, 3.68, 3.74, 3.77, 3.79, 3.82, 3.87, 3.92, 3.98, 4.06, 4.20};
const float percentageLevels[] = {0.0, 5.0, 10.0, 20.0, 30.0, 40.0, 50.0, 60.0, 70.0, 80.0, 90.0, 100.0};
float getBatteryPercent(float voltage){
float getBatteryPercent(){
float voltage = getBatteryVoltage();
float cellVoltage = voltage/BAT_CELL_COUNT;
int size = sizeof(voltageLevels) / sizeof(voltageLevels[0]);
int sizePer = sizeof(percentageLevels) / sizeof(percentageLevels[0]);
@ -131,9 +197,60 @@ float getBatteryPercent(float voltage){
return 0.0; //unknown range
}
float getBatteryPercent(){
float voltage = getBatteryVoltage();
return getBatteryPercent(voltage);
//-----------------------
//----- showScreen1 -----
//-----------------------
//shows overview on entire display:
//percentage, voltage, current, mode, rpm, speed
void showScreen1()
{
//-- battery percentage --
// TODO update when no load (currentsensors = ~0A) only
//large
displayTextLine(&dev, 0, true, false, "B:%02.0f%%", getBatteryPercent());
//-- voltage and current --
displayTextLine(&dev, 3, false, false, "%04.1fV %04.1f:%04.1fA",
getBatteryVoltage(),
fabs(motorLeft.getCurrentA()),
fabs(motorRight.getCurrentA()));
//-- control state --
//print large line
displayTextLine(&dev, 4, true, false, "%s ", control.getCurrentModeStr());
//-- speed and RPM --
displayTextLine(&dev, 7, false, false, "%3.1fkm/h %03.0f:%03.0fR",
fabs((speedLeft.getKmph() + speedRight.getKmph()) / 2),
speedLeft.getRpm(),
speedRight.getRpm());
// debug speed sensors
ESP_LOGD(TAG, "%3.1fkm/h %03.0f:%03.0fR",
fabs((speedLeft.getKmph() + speedRight.getKmph()) / 2),
speedLeft.getRpm(),
speedRight.getRpm());
}
//------------------------
//---- showStartupMsg ----
//------------------------
//shows welcome message and information about current version
void showStartupMsg(){
const esp_app_desc_t * desc = esp_ota_get_app_description();
//show message
displayTextLine(&dev, 0, true, false, "START");
//show git-tag
displayTextLine(&dev, 4, false, false, "%s", desc->version);
//show build-date (note: date,time of last clean build)
displayTextLine(&dev, 6, false, false, "%s", desc->date);
//show build-time
displayTextLine(&dev, 7, false, false, "%s", desc->time);
}
@ -142,70 +259,36 @@ float getBatteryPercent(){
//============================
//======= display task =======
//============================
#define VERY_SLOW_LOOP_INTERVAL 30000
#define SLOW_LOOP_INTERVAL 1000
#define FAST_LOOP_INTERVAL 200
//TODO: separate taks for each loop?
void display_task( void * pvParameters ){
char buf[20];
char buf1[20];
int len, len1;
int countFastloop = SLOW_LOOP_INTERVAL;
int countSlowLoop = VERY_SLOW_LOOP_INTERVAL;
#define STATUS_SCREEN_UPDATE_INTERVAL 500
// TODO: separate task for each loop?
void display_task(void *pvParameters)
{
// initialize display
display_init();
//TODO check if successfully initialized
// TODO check if successfully initialized
//welcome msg
strcpy(buf, "Hello");
ssd1306_display_text_x3(&dev, 0, buf, 5, false);
vTaskDelay(1000 / portTICK_PERIOD_MS);
// show startup message
showStartupMsg();
vTaskDelay(STARTUP_MSG_TIMEOUT / portTICK_PERIOD_MS);
ssd1306_clear_screen(&dev, false);
//update stats
while(1){
if (countFastloop >= SLOW_LOOP_INTERVAL / FAST_LOOP_INTERVAL){
//---- very slow loop ----
if (countSlowLoop >= VERY_SLOW_LOOP_INTERVAL/SLOW_LOOP_INTERVAL){
//clear display - workaround for bugged line order after a few minutes
countSlowLoop = 0;
ssd1306_clear_screen(&dev, false);
}
//---- slow loop ----
countSlowLoop ++;
countFastloop = 0;
//--- battery stats ---
//TODO update only when no load (currentsensors = ~0A)
float battVoltage = getBatteryVoltage();
float battPercent = getBatteryPercent(battVoltage);
len = snprintf(buf, sizeof(buf), "Bat:%.1fV %.2fV", battVoltage, battVoltage/BAT_CELL_COUNT);
len1 = snprintf(buf1, sizeof(buf1), "B:%02.0f%%", battPercent);
ssd1306_display_text_x3(&dev, 0, buf1, len1, false);
ssd1306_display_text(&dev, 3, buf, len, false);
ssd1306_display_text(&dev, 4, buf, len, true);
// repeatedly update display with content
while (1)
{
if (control.getCurrentMode() == controlMode_t::MENU)
{
//uses encoder events to control menu and updates display
handleMenu(&dev);
}
//---- fast loop ----
//update speed/rpm
float sLeft = speedLeft.getKmph();
float rLeft = speedLeft.getRpm();
float sRight = speedRight.getKmph();
float rRight = speedRight.getRpm();
len = snprintf(buf, sizeof(buf), "L:%.1f R:%.1fkm/h", fabs(sLeft), fabs(sRight));
ssd1306_display_text(&dev, 5, buf, len, false);
len = snprintf(buf, sizeof(buf), "L:%4.0f R:%4.0fRPM", rLeft, rRight);
ssd1306_display_text(&dev, 6, buf, len, false);
//debug speed sensors
ESP_LOGD(TAG, "%s", buf);
//TODO show currentsensor values
vTaskDelay(FAST_LOOP_INTERVAL / portTICK_PERIOD_MS);
countFastloop++;
else //show status screen in any other mode
{
showScreen1();
vTaskDelay(STATUS_SCREEN_UPDATE_INTERVAL / portTICK_PERIOD_MS);
}
// TODO add pages and menus
}
//TODO add pages and menus
}
//-----------------------------------
//---- text-related example code ----
@ -309,15 +392,4 @@ void display_task( void * pvParameters ){
//// Fade Out
//ssd1306_fadeout(&dev);
#if 0
// Fade Out
for(int contrast=0xff;contrast>0;contrast=contrast-0x20) {
ssd1306_contrast(&dev, contrast);
vTaskDelay(40);
}
#endif
}
//ssd1306_fadeout(&dev);

11
board_single/main/display.hpp
View File

@ -1,7 +1,10 @@
#pragma once
extern "C" {
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdarg.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_log.h"
@ -16,3 +19,11 @@ extern "C" {
//task that inititialized the display, displays welcome message
//and releatedly updates the display with certain content
void display_task( void * pvParameters );
//abstracted function for printing one line on the display, using a format string directly
//and options: Large-font (3 lines, max 5 digits), or inverted color
void displayTextLine(SSD1306_t *display, int line, bool large, bool inverted, const char *format, ...);
//abstracted function for printing a string CENTERED on the display, using a format string
//adds spaces left and right to fill the line (if not too long already)
void displayTextLineCentered(SSD1306_t *display, int line, bool isLarge, bool inverted, const char *format, ...);

83
board_single/main/encoder.cpp Normal file
View File

@ -0,0 +1,83 @@
extern "C"
{
#include <stdio.h>
#include <esp_system.h>
#include <esp_event.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "driver/gpio.h"
#include "esp_log.h"
#include "encoder.h"
}
#include "encoder.hpp"
//-------------------------
//------- 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
};
//==================================
//========== encoder_init ==========
//==================================
//initialize encoder
void encoder_init(){
encoderQueue = xQueueCreate(QUEUE_SIZE, sizeof(rotary_encoder_event_t));
rotary_encoder_init(encoderQueue);
rotary_encoder_add(&encoderConfig);
}
//==================================
//====== task_encoderExample =======
//==================================
//receive and handle all available encoder events
void task_encoderExample(void *arg) {
static rotary_encoder_event_t ev; //store event data
while (1) {
if (xQueueReceive(encoderQueue, &ev, portMAX_DELAY)) {
//log enocder events
switch (ev.type){
case RE_ET_CHANGED:
ESP_LOGI(TAG, "Event type: RE_ET_CHANGED, diff: %d", ev.diff);
break;
case RE_ET_BTN_PRESSED:
ESP_LOGI(TAG, "Button pressed");
break;
case RE_ET_BTN_RELEASED:
ESP_LOGI(TAG, "Button released");
break;
case RE_ET_BTN_CLICKED:
ESP_LOGI(TAG, "Button clicked");
break;
case RE_ET_BTN_LONG_PRESSED:
ESP_LOGI(TAG, "Button long-pressed");
break;
default:
ESP_LOGW(TAG, "Unknown event type");
break;
}
}
}
}

20
board_single/main/encoder.hpp Normal file
View File

@ -0,0 +1,20 @@
extern "C" {
#include "freertos/FreeRTOS.h" // FreeRTOS related headers
#include "freertos/task.h"
#include "encoder.h"
}
//config
#define QUEUE_SIZE 10
#define PIN_A GPIO_NUM_25
#define PIN_B GPIO_NUM_26
#define PIN_BUTTON GPIO_NUM_27
//global encoder queue
extern QueueHandle_t encoderQueue;
//init encoder with config in encoder.cpp
void encoder_init();
//task that handles encoder events
void task_encoderExample(void *arg);

9
board_single/main/main.cpp
View File

@ -29,6 +29,7 @@ extern "C"
#include "uart_common.hpp"
#include "display.hpp"
#include "encoder.hpp"
//tag for logging
static const char * TAG = "main";
@ -140,7 +141,7 @@ void setLoglevels(void){
//--- set loglevel for individual tags ---
esp_log_level_set("main", ESP_LOG_INFO);
//esp_log_level_set("buzzer", ESP_LOG_INFO);
esp_log_level_set("buzzer", ESP_LOG_ERROR);
//esp_log_level_set("motordriver", ESP_LOG_DEBUG);
//esp_log_level_set("motor-control", ESP_LOG_INFO);
//esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
@ -155,6 +156,7 @@ void setLoglevels(void){
//esp_log_level_set("current-sensors", ESP_LOG_INFO);
//esp_log_level_set("speedSensor", ESP_LOG_INFO);
esp_log_level_set("chair-adjustment", ESP_LOG_INFO);
esp_log_level_set("menu", ESP_LOG_INFO);
}
@ -173,6 +175,11 @@ extern "C" void app_main(void) {
//---- define log levels ----
setLoglevels();
// init encoder
//--- initialize encoder ---
encoder_init();
// now global encoderQueue providing all encoder events is available
//----------------------------------------------
//--- create task for controlling the motors ---
//----------------------------------------------

465
board_single/main/menu.cpp Normal file
View File

@ -0,0 +1,465 @@
extern "C"{
#include <stdlib.h>
#include <string.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/queue.h"
#include "esp_log.h"
#include "ssd1306.h"
}
#include "menu.hpp"
#include "encoder.hpp"
#include "config.hpp"
#include "motorctl.hpp"
//--- variables ---
static const char *TAG = "menu";
static menuState_t menuState = MAIN_MENU;
static int value = 0;
//================================
//===== CONFIGURE MENU ITEMS =====
//================================
// note: when line4 * and line5 * are empty the value is printed large
//#########################
//#### center Joystick ####
//#########################
void item_centerJoystick_action(int value, SSD1306_t * display){
if (!value) return;
ESP_LOGW(TAG, "defining joystick center");
joystick.defineCenter();
}
int item_centerJoystick_value(){
return 1;
}
menuItem_t item_centerJoystick = {
item_centerJoystick_action, // function action
item_centerJoystick_value,
0, // valueMin
1, // valueMAx
1, // valueIncrement
"Center Joystick", // title
"Center Joystick", // line1 (above value)
"click to confirm", // line2 (above value)
"defines current", // line4 * (below value)
"pos as center", // line5 *
"click to confirm", // line6
"set 0 to cancel", // line7
};
//########################
//#### debug Joystick ####
//########################
//continously show/update joystick data on display
void item_debugJoystick_action(int value, SSD1306_t * display)
{
//--- variables ---
bool running = true;
rotary_encoder_event_t event;
//-- pre loop instructions --
if (!value) // dont open menu when value was set to 0
return;
ESP_LOGW(TAG, "showing joystick debug page");
ssd1306_clear_screen(display, false);
// show title
displayTextLine(display, 0, false, true, " - debug stick - ");
// show info line
displayTextLineCentered(display, 7, false, true, "click to exit");
//-- show/update values --
// stop when button pressed or control state changes (timeouts to IDLE)
while (running && control.getCurrentMode() == controlMode_t::MENU)
{
// repeatedly print all joystick data
joystickData_t data = joystick.getData();
displayTextLine(display, 1, false, false, "x = %.3f ", data.x);
displayTextLine(display, 2, false, false, "y = %.3f ", data.y);
displayTextLine(display, 3, false, false, "radius = %.3f", data.radius);
displayTextLine(display, 4, false, false, "angle = %-06.3f ", data.angle);
displayTextLine(display, 5, false, false, "pos=%-12s ", joystickPosStr[(int)data.position]);
// exit when button pressed
if (xQueueReceive(encoderQueue, &event, 20 / portTICK_PERIOD_MS))
{
switch (event.type)
{
case RE_ET_BTN_CLICKED:
running = false;
break;
case RE_ET_CHANGED:
case RE_ET_BTN_PRESSED:
case RE_ET_BTN_RELEASED:
case RE_ET_BTN_LONG_PRESSED:
break;
}
}
}
}
int item_debugJoystick_value(){
return 1;
}
menuItem_t item_debugJoystick = {
item_debugJoystick_action, // function action
item_debugJoystick_value,
0, // valueMin
1, // valueMAx
1, // valueIncrement
"Debug joystick", // title
"Debug joystick", // line1 (above value)
"", // line2 (above value)
"click to enter", // line4 * (below value)
"debug screen", // line5 *
"prints values", // line6
"set 0 to cancel", // line7
};
//########################
//##### set max duty #####
//########################
void maxDuty_action(int value, SSD1306_t * display)
{
//TODO actually store the value
ESP_LOGW(TAG, "set max duty to %d", value);
}
int maxDuty_currentValue()
{
//TODO get real current value
return 84;
}
menuItem_t item_maxDuty = {
maxDuty_action, // function action
maxDuty_currentValue,
1, // valueMin
99, // valueMAx
1, // valueIncrement
"max duty", // title
"", // line1 (above value)
" set max-duty: ", // line2 (above value)
"", // line4 * (below value)
"", // line5 *
" 1-99 ", // line6
" percent ", // line7
};
//######################
//##### accelLimit #####
//######################
void item_accelLimit_action(int value, SSD1306_t * display)
{
motorLeft.setFade(fadeType_t::ACCEL, (uint32_t)value);
motorRight.setFade(fadeType_t::ACCEL, (uint32_t)value);
}
int item_accelLimit_value()
{
return motorLeft.getFade(fadeType_t::ACCEL);
}
menuItem_t item_accelLimit = {
item_accelLimit_action, // function action
item_accelLimit_value,
0, // valueMin
10000, // valueMAx
100, // valueIncrement
"Accel limit", // title
"Accel limit /", // line1 (above value)
"Fade up time", // line2 (above value)
"", // line4 * (below value)
"", // line5 *
"milliseconds", // line6
"from 0 to 100%", // line7
};
// ######################
// ##### decelLimit #####
// ######################
void item_decelLimit_action(int value, SSD1306_t * display)
{
motorLeft.setFade(fadeType_t::DECEL, (uint32_t)value);
motorRight.setFade(fadeType_t::DECEL, (uint32_t)value);
}
int item_decelLimit_value()
{
return motorLeft.getFade(fadeType_t::DECEL);
}
menuItem_t item_decelLimit = {
item_decelLimit_action, // function action
item_decelLimit_value,
0, // valueMin
10000, // valueMAx
100, // valueIncrement
"Decel limit", // title
"Decel limit /", // line1 (above value)
"Fade down time", // line2 (above value)
"", // line4 * (below value)
"", // line5 *
"milliseconds", // line6
"from 100 to 0%", // line7
};
//#####################
//###### example ######
//#####################
void item_example_action(int value, SSD1306_t * display)
{
return;
}
int item_example_value(){
return 53;
}
menuItem_t item_example = {
item_example_action, // function action
item_example_value,
-255, // valueMin
255, // valueMAx
2, // valueIncrement
"example-item-max", // title
"line 1 - above", // line1 (above value)
"line 2 - above", // line2 (above value)
"line 4 - below", // line4 * (below value)
"line 5 - below", // line5 *
"line 6 - below", // line6
"line 7 - last", // line7
};
menuItem_t item_last = {
item_example_action, // function action
item_example_value,
-500, // valueMin
4500, // valueMAx
50, // valueIncrement
"set large number", // title
"line 1 - above", // line1 (above value)
"line 2 - above", // line2 (above value)
"", // line4 * (below value)
"", // line5 *
"line 6 - below", // line6
"line 7 - last", // line7
};
//store all configured menu items in one array
menuItem_t menuItems[] = {item_centerJoystick, item_debugJoystick, item_accelLimit, item_decelLimit, item_example, item_last};
int itemCount = 6;
//--------------------------
//------ showItemList ------
//--------------------------
//function that renders main menu to display (one update)
//list of all menu items with currently selected highlighted
#define SELECTED_ITEM_LINE 4
#define FIRST_ITEM_LINE 1
#define LAST_ITEM_LINE 7
void showItemList(SSD1306_t *display, int selectedItem)
{
//-- show title line --
displayTextLine(display, 0, false, true, " --- menu --- "); //inverted
//-- show item list --
for (int line = FIRST_ITEM_LINE; line <= LAST_ITEM_LINE; line++)
{ // loop through all lines
int printItemIndex = selectedItem - SELECTED_ITEM_LINE + line;
// TODO: when reaching end of items, instead of showing "empty" change position of selected item to still use the entire screen
if (printItemIndex < 0 || printItemIndex >= itemCount) // out of range of available items
{
// no item in this line
displayTextLine(display, line, false, false, " -- empty -- ");
}
else
{
if (printItemIndex == selectedItem)
{
// selected item -> add '> ' and print inverted
displayTextLine(display, line, false, true, "> %-14s", menuItems[printItemIndex].title); // inverted
}
else
{
// not the selected item -> print normal
displayTextLine(display, line, false, false, "%-16s", menuItems[printItemIndex].title);
}
}
// logging
ESP_LOGD(TAG, "showItemList: loop - line=%d, item=%d, (selected=%d '%s')", line, printItemIndex, selectedItem, menuItems[selectedItem].title);
}
}
//---------------------------
//----- showValueSelect -----
//---------------------------
// function that renders value-select screen to display (one update)
// shows configured text of selected item and currently selected value
// TODO show previous value in one line?
// TODO update changed line only (value)
void showValueSelect(SSD1306_t *display, int selectedItem)
{
//-- show title line --
displayTextLine(display, 0, false, true, " -- set value -- "); // inverted
//-- show text above value --
displayTextLine(display, 1, false, false, "%-16s", menuItems[selectedItem].line1);
displayTextLine(display, 2, false, false, "%-16s", menuItems[selectedItem].line2);
//-- show value and other configured lines --
// print value large, if 2 description lines are empty
if (strlen(menuItems[selectedItem].line4) == 0 && strlen(menuItems[selectedItem].line5) == 0)
{
// print large value + line5 and line6
displayTextLineCentered(display, 3, true, false, "%d", value); //large centered
displayTextLine(display, 6, false, false, "%-16s", menuItems[selectedItem].line6);
displayTextLine(display, 7, false, false, "%-16s", menuItems[selectedItem].line7);
}
else
{
displayTextLineCentered(display, 3, false, false, "%d", value); //centered
// print description lines 4 to 7
displayTextLine(display, 4, false, false, "%-16s", menuItems[selectedItem].line4);
displayTextLine(display, 5, false, false, "%-16s", menuItems[selectedItem].line5);
displayTextLine(display, 6, false, false, "%-16s", menuItems[selectedItem].line6);
displayTextLine(display, 7, false, false, "%-16s", menuItems[selectedItem].line7);
}
}
//========================
//====== handleMenu ======
//========================
//controls menu with encoder input and displays the text on oled display
//function is repeatedly called by display task when in menu state
#define QUEUE_TIMEOUT 3000 //timeout no encoder event - to handle timeout and not block the display loop
#define MENU_TIMEOUT 60000 //inactivity timeout (switch to IDLE mode)
void handleMenu(SSD1306_t *display)
{
static uint32_t lastActivity = 0;
static int selectedItem = 0;
rotary_encoder_event_t event; // store event data
//--- handle different menu states ---
switch (menuState)
{
//-------------------------
//---- State MAIN MENU ----
//-------------------------
case MAIN_MENU:
// update display
showItemList(display, selectedItem); // shows list of items with currently selected one on display
// wait for encoder event
if (xQueueReceive(encoderQueue, &event, QUEUE_TIMEOUT / portTICK_PERIOD_MS))
{
lastActivity = esp_log_timestamp();
switch (event.type)
{
case RE_ET_CHANGED:
//--- scroll in list ---
if (event.diff < 0)
{
if (selectedItem != itemCount - 1)
selectedItem++;
ESP_LOGD(TAG, "showing next item: %d '%s'", selectedItem, menuItems[selectedItem].title);
//note: display will update at start of next run
}
else
{
if (selectedItem != 0)
selectedItem--;
ESP_LOGD(TAG, "showing previous item: %d '%s'", selectedItem, menuItems[selectedItem].title);
//note: display will update at start of next run
}
break;
case RE_ET_BTN_CLICKED:
//--- switch to edit value page ---
ESP_LOGI(TAG, "Button pressed - switching to state SET_VALUE");
// change state (menu to set value)
menuState = SET_VALUE;
// get currently configured value
value = menuItems[selectedItem].currentValue();
// clear display
ssd1306_clear_screen(display, false);
break;
//exit menu mode
case RE_ET_BTN_LONG_PRESSED:
//change to previous mode (e.g. JOYSTICK)
control.toggleMode(controlMode_t::MENU); //currently already in MENU -> changes to previous mode
ssd1306_clear_screen(display, false);
break;
case RE_ET_BTN_RELEASED:
case RE_ET_BTN_PRESSED:
break;
}
}
break;
//-------------------------
//---- State SET VALUE ----
//-------------------------
case SET_VALUE:
// wait for encoder event
showValueSelect(display, selectedItem);
if (xQueueReceive(encoderQueue, &event, QUEUE_TIMEOUT / portTICK_PERIOD_MS))
{
lastActivity = esp_log_timestamp();
switch (event.type)
{
case RE_ET_CHANGED:
//-- change value --
// increment value
if (event.diff < 0)
value += menuItems[selectedItem].valueIncrement;
else
value -= menuItems[selectedItem].valueIncrement;
// limit to min/max range
if (value > menuItems[selectedItem].valueMax)
value = menuItems[selectedItem].valueMax;
if (value < menuItems[selectedItem].valueMin)
value = menuItems[selectedItem].valueMin;
break;
case RE_ET_BTN_CLICKED:
//-- apply value --
ESP_LOGI(TAG, "Button pressed - running action function with value=%d for item '%s'", value, menuItems[selectedItem].title);
menuItems[selectedItem].action(value, display);
menuState = MAIN_MENU;
break;
case RE_ET_BTN_PRESSED:
case RE_ET_BTN_RELEASED:
case RE_ET_BTN_LONG_PRESSED:
break;
}
}
break;
}
//--------------------
//--- menu timeout ---
//--------------------
//close menu and switch to IDLE mode when no encoder event within MENU_TIMEOUT
if (esp_log_timestamp() - lastActivity > MENU_TIMEOUT)
{
ESP_LOGW(TAG, "TIMEOUT - no activity for more than %ds -> closing menu, switching to IDLE", MENU_TIMEOUT/1000);
// reset menu
selectedItem = 0;
menuState = MAIN_MENU;
ssd1306_clear_screen(display, false);
// change control mode
control.changeMode(controlMode_t::IDLE);
return;
}
}

32
board_single/main/menu.hpp Normal file
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@ -0,0 +1,32 @@
#pragma once
#include "display.hpp"
//--- menuState_t ---
// modes the menu can be in
typedef enum {
MAIN_MENU = 0,
SET_VALUE
} menuState_t;
//--- menuItem_t ---
// struct describes one menu element (all defined in menu.cpp)
typedef struct {
void (*action)(int value, SSD1306_t * display); // pointer to function run when confirmed
int (*currentValue)(); // pointer to function to get currently configured value
int valueMin; // min allowed value
int valueMax; // max allowed value
int valueIncrement; // amount changed at one encoder tick (+/-)
const char title[17]; // shown in list
const char line1[17]; // above value
const char line2[17]; // above value
const char line4[17]; // below value *
const char line5[17]; // below value *
const char line6[17]; // below value
const char line7[17]; // below value
} menuItem_t;
void handleMenu(SSD1306_t * display);

20
common/motorctl.cpp
View File

@ -277,6 +277,24 @@ motorCommand_t controlledMotor::getStatus(){
//===============================
//=========== getFade ===========
//===============================
//return currently configured accel / decel time
uint32_t controlledMotor::getFade(fadeType_t fadeType){
switch(fadeType){
case fadeType_t::ACCEL:
return msFadeAccel;
break;
case fadeType_t::DECEL:
return msFadeDecel;
break;
}
return 0;
}
//===============================
//=========== setFade ===========
//===============================
@ -287,9 +305,11 @@ void controlledMotor::setFade(fadeType_t fadeType, uint32_t msFadeNew){
//TODO: mutex for msFade variable also used in handle function
switch(fadeType){
case fadeType_t::ACCEL:
ESP_LOGW(TAG, "changed fade-up time from %d to %d", msFadeAccel, msFadeNew);
msFadeAccel = msFadeNew;
break;
case fadeType_t::DECEL:
ESP_LOGW(TAG, "changed fade-down time from %d to %d", msFadeDecel, msFadeNew);
msFadeDecel = msFadeNew;
break;
}

4
common/motorctl.hpp
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@ -33,9 +33,12 @@ class controlledMotor {
void setTarget(motorstate_t state_f, float duty_f = 0); //adds target command to queue for handle function
motorCommand_t getStatus(); //get current status of the motor (returns struct with state and duty)
uint32_t getFade(fadeType_t fadeType); //get currently set acceleration or deceleration fading time
void setFade(fadeType_t fadeType, bool enabled); //enable/disable acceleration or deceleration fading
void setFade(fadeType_t fadeType, uint32_t msFadeNew); //set acceleration or deceleration fade time
bool toggleFade(fadeType_t fadeType); //toggle acceleration or deceleration on/off
float getCurrentA() {return cSensor.read();}; //read current-sensor of this motor (Ampere)
//TODO set current limit method
@ -53,6 +56,7 @@ class controlledMotor {
motorSetCommandFunc_t motorSetCommand;
//--- variables ---
//TODO add name for logging?
//struct for storing control specific parameters
motorctl_config_t config;
motorstate_t state = motorstate_t::IDLE;

21
components/encoder/.eil.yml Normal file
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@ -0,0 +1,21 @@
name: encoder
description: HW timer-based driver for incremental rotary encoders
version: 1.0.0
groups:
- input
code_owners:
- UncleRus
depends:
- driver
- freertos
- log
thread_safe: yes
targets:
- esp32
- esp8266
- esp32s2
- esp32c3
license: BSD-3
copyrights:
- name: UncleRus
year: 2019

13
components/encoder/CMakeLists.txt Normal file
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@ -0,0 +1,13 @@
if(${IDF_TARGET} STREQUAL esp8266)
set(req esp8266 freertos log esp_timer)
elseif(${IDF_VERSION_MAJOR} STREQUAL 4 AND ${IDF_VERSION_MINOR} STREQUAL 1 AND ${IDF_VERSION_PATCH} STREQUAL 3)
set(req driver freertos log)
else()
set(req driver freertos log esp_timer)
endif()
idf_component_register(
SRCS encoder.c
INCLUDE_DIRS .
REQUIRES ${req}
)

27
components/encoder/Kconfig Normal file
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@ -0,0 +1,27 @@
menu "Rotary encoders"
config RE_MAX
int "Maximum number of rotary encoders"
default 1
config RE_INTERVAL_US
int "Polling interval, us"
default 1000
config RE_BTN_DEAD_TIME_US
int "Button dead time, us"
default 10000
choice RE_BTN_PRESSED_LEVEL
prompt "Logical level on pressed button"
config RE_BTN_PRESSED_LEVEL_0
bool "0"
config RE_BTN_PRESSED_LEVEL_1
bool "1"
endchoice
config RE_BTN_LONG_PRESS_TIME_US
int "Long press timeout, us"
default 500000
endmenu

26
components/encoder/LICENSE Normal file
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@ -0,0 +1,26 @@
Copyright 2019 Ruslan V. Uss <unclerus@gmail.com>
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
3. Neither the name of the copyright holder nor the names of itscontributors
may be used to endorse or promote products derived from this software without
specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

7
components/encoder/component.mk Normal file
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@ -0,0 +1,7 @@
COMPONENT_ADD_INCLUDEDIRS = .
ifdef CONFIG_IDF_TARGET_ESP8266
COMPONENT_DEPENDS = esp8266 freertos log
else
COMPONENT_DEPENDS = driver freertos log
endif

250
components/encoder/encoder.c Normal file
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@ -0,0 +1,250 @@
/*
* Copyright (c) 2019 Ruslan V. Uss <unclerus@gmail.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of the copyright holder nor the names of itscontributors
* may be used to endorse or promote products derived from this software without
* specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/**
* @file encoder.c
*
* ESP-IDF HW timer-based driver for rotary encoders
*
* Copyright (c) 2019 Ruslan V. Uss <unclerus@gmail.com>
*
* BSD Licensed as described in the file LICENSE
*/
#include "encoder.h"
#include <esp_log.h>
#include <string.h>
#include <freertos/semphr.h>
#include <esp_timer.h>
#define MUTEX_TIMEOUT 10
#ifdef CONFIG_RE_BTN_PRESSED_LEVEL_0
#define BTN_PRESSED_LEVEL 0
#else
#define BTN_PRESSED_LEVEL 1
#endif
static const char *TAG = "encoder";
static rotary_encoder_t *encs[CONFIG_RE_MAX] = { 0 };
static const int8_t valid_states[] = { 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 0, 1, 1, 0 };
static SemaphoreHandle_t mutex;
static QueueHandle_t _queue;
#define GPIO_BIT(x) ((x) < 32 ? BIT(x) : ((uint64_t)(((uint64_t)1)<<(x))))
#define CHECK(x) do { esp_err_t __; if ((__ = x) != ESP_OK) return __; } while (0)
#define CHECK_ARG(VAL) do { if (!(VAL)) return ESP_ERR_INVALID_ARG; } while (0)
inline static void read_encoder(rotary_encoder_t *re)
{
rotary_encoder_event_t ev = {
.sender = re
};
if (re->pin_btn < GPIO_NUM_MAX)
do
{
if (re->btn_state == RE_BTN_PRESSED && re->btn_pressed_time_us < CONFIG_RE_BTN_DEAD_TIME_US)
{
// Dead time
re->btn_pressed_time_us += CONFIG_RE_INTERVAL_US;
break;
}
// read button state
if (gpio_get_level(re->pin_btn) == BTN_PRESSED_LEVEL)
{
if (re->btn_state == RE_BTN_RELEASED)
{
// first press
re->btn_state = RE_BTN_PRESSED;
re->btn_pressed_time_us = 0;
ev.type = RE_ET_BTN_PRESSED;
xQueueSendToBack(_queue, &ev, 0);
break;
}
re->btn_pressed_time_us += CONFIG_RE_INTERVAL_US;
if (re->btn_state == RE_BTN_PRESSED && re->btn_pressed_time_us >= CONFIG_RE_BTN_LONG_PRESS_TIME_US)
{
// Long press
re->btn_state = RE_BTN_LONG_PRESSED;
ev.type = RE_ET_BTN_LONG_PRESSED;
xQueueSendToBack(_queue, &ev, 0);
}
}
else if (re->btn_state != RE_BTN_RELEASED)
{
bool clicked = re->btn_state == RE_BTN_PRESSED;
// released
re->btn_state = RE_BTN_RELEASED;
ev.type = RE_ET_BTN_RELEASED;
xQueueSendToBack(_queue, &ev, 0);
if (clicked)
{
ev.type = RE_ET_BTN_CLICKED;
xQueueSendToBack(_queue, &ev, 0);
}
}
} while(0);
re->code <<= 2;
re->code |= gpio_get_level(re->pin_a);
re->code |= gpio_get_level(re->pin_b) << 1;
re->code &= 0xf;
if (!valid_states[re->code])
return;
int8_t inc = 0;
re->store = (re->store << 4) | re->code;
if (re->store == 0xe817) inc = 1;
if (re->store == 0xd42b) inc = -1;
if (inc)
{
ev.type = RE_ET_CHANGED;
ev.diff = inc;
xQueueSendToBack(_queue, &ev, 0);
}
}
static void timer_handler(void *arg)
{
if (!xSemaphoreTake(mutex, 0))
return;
for (size_t i = 0; i < CONFIG_RE_MAX; i++)
if (encs[i])
read_encoder(encs[i]);
xSemaphoreGive(mutex);
}
static const esp_timer_create_args_t timer_args = {
.name = "__encoder__",
.arg = NULL,
.callback = timer_handler,
.dispatch_method = ESP_TIMER_TASK
};
static esp_timer_handle_t timer;
esp_err_t rotary_encoder_init(QueueHandle_t queue)
{
CHECK_ARG(queue);
_queue = queue;
mutex = xSemaphoreCreateMutex();
if (!mutex)
{
ESP_LOGE(TAG, "Failed to create mutex");
return ESP_ERR_NO_MEM;
}
CHECK(esp_timer_create(&timer_args, &timer));
CHECK(esp_timer_start_periodic(timer, CONFIG_RE_INTERVAL_US));
ESP_LOGI(TAG, "Initialization complete, timer interval: %dms", CONFIG_RE_INTERVAL_US / 1000);
return ESP_OK;
}
esp_err_t rotary_encoder_add(rotary_encoder_t *re)
{
CHECK_ARG(re);
if (!xSemaphoreTake(mutex, MUTEX_TIMEOUT))
{
ESP_LOGE(TAG, "Failed to take mutex");
return ESP_ERR_INVALID_STATE;
}
bool ok = false;
for (size_t i = 0; i < CONFIG_RE_MAX; i++)
if (!encs[i])
{
re->index = i;
encs[i] = re;
ok = true;
break;
}
if (!ok)
{
ESP_LOGE(TAG, "Too many encoders");
xSemaphoreGive(mutex);
return ESP_ERR_NO_MEM;
}
// setup GPIO
gpio_config_t io_conf;
memset(&io_conf, 0, sizeof(gpio_config_t));
io_conf.mode = GPIO_MODE_INPUT;
if (BTN_PRESSED_LEVEL == 0) {
io_conf.pull_up_en = GPIO_PULLUP_ENABLE;
io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE;
} else {
io_conf.pull_up_en = GPIO_PULLUP_DISABLE;
io_conf.pull_down_en = GPIO_PULLDOWN_ENABLE;
}
io_conf.intr_type = GPIO_INTR_DISABLE;
io_conf.pin_bit_mask = GPIO_BIT(re->pin_a) | GPIO_BIT(re->pin_b);
if (re->pin_btn < GPIO_NUM_MAX)
io_conf.pin_bit_mask |= GPIO_BIT(re->pin_btn);
CHECK(gpio_config(&io_conf));
re->btn_state = RE_BTN_RELEASED;
re->btn_pressed_time_us = 0;
xSemaphoreGive(mutex);
ESP_LOGI(TAG, "Added rotary encoder %d, A: %d, B: %d, BTN: %d", re->index, re->pin_a, re->pin_b, re->pin_btn);
return ESP_OK;
}
esp_err_t rotary_encoder_remove(rotary_encoder_t *re)
{
CHECK_ARG(re);
if (!xSemaphoreTake(mutex, MUTEX_TIMEOUT))
{
ESP_LOGE(TAG, "Failed to take mutex");
return ESP_ERR_INVALID_STATE;
}
for (size_t i = 0; i < CONFIG_RE_MAX; i++)
if (encs[i] == re)
{
encs[i] = NULL;
ESP_LOGI(TAG, "Removed rotary encoder %d", i);
xSemaphoreGive(mutex);
return ESP_OK;
}
ESP_LOGE(TAG, "Unknown encoder");
xSemaphoreGive(mutex);
return ESP_ERR_NOT_FOUND;
}

125
components/encoder/encoder.h Normal file
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@ -0,0 +1,125 @@
/*
* Copyright (c) 2019 Ruslan V. Uss <unclerus@gmail.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of the copyright holder nor the names of itscontributors
* may be used to endorse or promote products derived from this software without
* specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/**
* @file encoder.h
* @defgroup encoder encoder
* @{
*
* ESP-IDF HW timer-based driver for rotary encoders
*
* Copyright (c) 2019 Ruslan V. Uss <unclerus@gmail.com>
*
* BSD Licensed as described in the file LICENSE
*/
#ifndef __ENCODER_H__
#define __ENCODER_H__
#include <esp_err.h>
#include <driver/gpio.h>
#include <freertos/FreeRTOS.h>
#include <freertos/queue.h>
#ifdef __cplusplus
extern "C" {
#endif
/**
* Button state
*/
typedef enum {
RE_BTN_RELEASED = 0, //!< Button currently released
RE_BTN_PRESSED = 1, //!< Button currently pressed
RE_BTN_LONG_PRESSED = 2 //!< Button currently long pressed
} rotary_encoder_btn_state_t;
/**
* Rotary encoder descriptor
*/
typedef struct
{
gpio_num_t pin_a, pin_b, pin_btn; //!< Encoder pins. pin_btn can be >= GPIO_NUM_MAX if no button used
uint8_t code;
uint16_t store;
size_t index;
uint64_t btn_pressed_time_us;
rotary_encoder_btn_state_t btn_state;
} rotary_encoder_t;
/**
* Event type
*/
typedef enum {
RE_ET_CHANGED = 0, //!< Encoder turned
RE_ET_BTN_RELEASED, //!< Button released
RE_ET_BTN_PRESSED, //!< Button pressed
RE_ET_BTN_LONG_PRESSED, //!< Button long pressed (press time (us) > RE_BTN_LONG_PRESS_TIME_US)
RE_ET_BTN_CLICKED //!< Button was clicked
} rotary_encoder_event_type_t;
/**
* Event
*/
typedef struct
{
rotary_encoder_event_type_t type; //!< Event type
rotary_encoder_t *sender; //!< Pointer to descriptor
int32_t diff; //!< Difference between new and old positions (only if type == RE_ET_CHANGED)
} rotary_encoder_event_t;
/**
* @brief Initialize library
*
* @param queue Event queue to send encoder events
* @return `ESP_OK` on success
*/
esp_err_t rotary_encoder_init(QueueHandle_t queue);
/**
* @brief Add new rotary encoder
*
* @param re Encoder descriptor
* @return `ESP_OK` on success
*/
esp_err_t rotary_encoder_add(rotary_encoder_t *re);
/**
* @brief Remove previously added rotary encoder
*
* @param re Encoder descriptor
* @return `ESP_OK` on success
*/
esp_err_t rotary_encoder_remove(rotary_encoder_t *re);
#ifdef __cplusplus
}
#endif
/**@}*/
#endif /* __ENCODER_H__ */