Cleanup: comments, structure, warnings
went trough all current files: - remove old comments - change structure / newlines - main.cpp: outsource loglevel function - http.cpp: FIX compiler warnings currentsensor.hpp
This commit is contained in:
jonny_l480
parent
a6de6c4c10
commit
4731f9253e
Binary file not shown.
@ -1,9 +1,9 @@
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#include "config.hpp"
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//-----------------------------------
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//------- motor configuration -------
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//-----------------------------------
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//--- configure left motor ---
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//===================================
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//======= motor configuration =======
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//===================================
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//--- configure left motor (hardware) ---
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single100a_config_t configDriverLeft = {
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.gpio_pwm = GPIO_NUM_26,
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.gpio_a = GPIO_NUM_16,
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@ -16,7 +16,7 @@ single100a_config_t configDriverLeft = {
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.pwmFreq = 10000
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};
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//--- configure right motor ---
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//--- configure right motor (hardware) ---
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single100a_config_t configDriverRight = {
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.gpio_pwm = GPIO_NUM_27,
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.gpio_a = GPIO_NUM_2,
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@ -29,8 +29,9 @@ single100a_config_t configDriverRight = {
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.pwmFreq = 10000
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};
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//TODO add motor name string -> then use as log tag?
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//--- configure motor contol ---
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//--- configure left motor (contol) ---
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motorctl_config_t configMotorControlLeft = {
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.msFadeAccel = 1900, //acceleration of the motor (ms it takes from 0% to 100%)
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.msFadeDecel = 1000, //deceleration of the motor (ms it takes from 100% to 0%)
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@ -39,6 +40,8 @@ motorctl_config_t configMotorControlLeft = {
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.currentSensor_ratedCurrent = 50,
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.currentMax = 30
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};
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//--- configure right motor (contol) ---
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motorctl_config_t configMotorControlRight = {
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.msFadeAccel = 1900, //acceleration of the motor (ms it takes from 0% to 100%)
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.msFadeDecel = 1000, //deceleration of the motor (ms it takes from 100% to 0%)
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@ -48,15 +51,11 @@ motorctl_config_t configMotorControlRight = {
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.currentMax = 30
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};
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//create controlled motor instances
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controlledMotor motorLeft(configDriverLeft, configMotorControlLeft);
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controlledMotor motorRight(configDriverRight, configMotorControlRight);
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//------------------------------
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//------- control config -------
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//------------------------------
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//==============================
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//======= control config =======
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//==============================
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control_config_t configControl = {
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.defaultMode = controlMode_t::JOYSTICK, //default mode after startup and toggling IDLE
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//--- timeout ---
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@ -68,9 +67,9 @@ control_config_t configControl = {
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//-------------------------------
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//----- httpJoystick config -----
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//-------------------------------
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//===============================
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//===== httpJoystick config =====
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//===============================
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httpJoystick_config_t configHttpJoystickMain{
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.toleranceZeroX_Per = 1, //percentage around joystick axis the coordinate snaps to 0
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.toleranceZeroY_Per = 6,
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@ -80,9 +79,9 @@ httpJoystick_config_t configHttpJoystickMain{
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//--------------------------------------
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//------- joystick configuration -------
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//--------------------------------------
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//======================================
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//======= joystick configuration =======
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//======================================
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joystick_config_t configJoystick = {
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.adc_x = ADC1_CHANNEL_3, //GPIO39
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.adc_y = ADC1_CHANNEL_0, //GPIO36
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@ -106,9 +105,9 @@ joystick_config_t configJoystick = {
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//----------------------------
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//--- configure fan contol ---
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//----------------------------
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//============================
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//=== configure fan contol ===
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//============================
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fan_config_t configCooling = {
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.gpio_fan = GPIO_NUM_13,
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.dutyThreshold = 40,
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@ -119,10 +118,17 @@ fan_config_t configCooling = {
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//=================================
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//===== create global objects =====
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//=================================
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//create global joystic instance
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//TODO outsource global variables to e.g. global.cpp and only config options here?
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//create controlled motor instances (motorctl.hpp)
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controlledMotor motorLeft(configDriverLeft, configMotorControlLeft);
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controlledMotor motorRight(configDriverRight, configMotorControlRight);
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//create global joystic instance (joystick.hpp)
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evaluatedJoystick joystick(configJoystick);
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//create global evaluated switch instance for button next to joystick
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@ -131,13 +137,13 @@ gpio_evaluatedSwitch buttonJoystick(GPIO_NUM_25, true, false); //pullup true, no
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//create buzzer object on pin 12 with gap between queued events of 100ms
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buzzer_t buzzer(GPIO_NUM_12, 100);
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//create global httpJoystick object
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//create global httpJoystick object (http.hpp)
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httpJoystick httpJoystickMain(configHttpJoystickMain);
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//create global control object
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//create global control object (control.hpp)
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controlledArmchair control(configControl, &buzzer, &motorLeft, &motorRight, &joystick, &httpJoystickMain);
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//create global automatedArmchair object (for auto-mode)
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//create global automatedArmchair object (for auto-mode) (auto.hpp)
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automatedArmchair armchair;
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@ -17,6 +17,8 @@
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//#define JOYSTICK_LOG_IN_IDLE
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//TODO outsource global variables to e.g. global.cpp and only config options here?
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//create global controlledMotor instances for both motors
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extern controlledMotor motorLeft;
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extern controlledMotor motorRight;
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@ -5,7 +5,6 @@ extern "C"
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#include "esp_log.h"
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#include "freertos/queue.h"
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//custom C libraries
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#include "wifi.h"
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}
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@ -20,9 +19,9 @@ extern "C"
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//tag for logging
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static const char * TAG = "control";
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const char* controlModeStr[7] = {"IDLE", "JOYSTICK", "MASSAGE", "HTTP", "MQTT", "BLUETOOTH", "AUTO"};
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//-----------------------------
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//-------- constructor --------
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//-----------------------------
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@ -55,9 +54,9 @@ controlledArmchair::controlledArmchair (
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//---------- Handle loop -----------
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//----------------------------------
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//function that repeatedly generates motor commands depending on the current mode
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//also handles fading and current-limit
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void controlledArmchair::startHandleLoop() {
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while (1){
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ESP_LOGV(TAG, "control task executing... mode=%s", controlModeStr[(int)mode]);
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switch(mode) {
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@ -65,7 +64,6 @@ void controlledArmchair::startHandleLoop() {
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mode = controlMode_t::IDLE;
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break;
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case controlMode_t::IDLE:
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//copy preset commands for idling both motors
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commands = cmds_bothMotorsIdle;
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@ -77,7 +75,6 @@ void controlledArmchair::startHandleLoop() {
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//since loglevel is DEBUG, calculateion details is output
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joystick_l->getData(); //get joystick data here
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#endif
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break;
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@ -109,7 +106,6 @@ void controlledArmchair::startHandleLoop() {
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//apply motor commands
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motorRight->setTarget(commands.right.state, commands.right.duty);
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motorLeft->setTarget(commands.left.state, commands.left.duty);
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break;
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@ -173,11 +169,12 @@ void controlledArmchair::startHandleLoop() {
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break;
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// //TODO: add other modes here
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//TODO: add other modes here
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}
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//--- run actions based on received button button event ---
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//note: buttonCount received by sendButtonEvent method called from button.cpp
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//TODO: what if variable gets set from other task during this code? -> mutex around this code
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switch (buttonCount) {
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case 1: //define joystick center or freeze input
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@ -385,7 +382,6 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
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#ifdef JOYSTICK_LOG_IN_IDLE
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esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
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#endif
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break;
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case controlMode_t::HTTP:
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@ -428,6 +424,7 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
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}
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//TODO simplify the following 3 functions? can be replaced by one?
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//-----------------------------------
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//----------- toggleIdle ------------
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@ -445,7 +442,6 @@ void controlledArmchair::toggleIdle() {
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//------------------------------------
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//function to toggle between two modes, but prefer first argument if entirely different mode is currently active
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void controlledArmchair::toggleModes(controlMode_t modePrimary, controlMode_t modeSecondary) {
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//switch to secondary mode when primary is already active
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if (mode == modePrimary){
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ESP_LOGW(TAG, "toggleModes: switching from primaryMode %s to secondarMode %s", controlModeStr[(int)mode], controlModeStr[(int)modeSecondary]);
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@ -15,10 +15,11 @@ enum class controlMode_t {IDLE, JOYSTICK, MASSAGE, HTTP, MQTT, BLUETOOTH, AUTO};
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//string array representing the mode enum (for printing the state as string)
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extern const char* controlModeStr[7];
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//--- control_config_t ---
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//struct with config parameters
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typedef struct control_config_t {
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controlMode_t defaultMode; //default mode after startup and toggling IDLE
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//--- timeout ---
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//timeout options
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uint32_t timeoutMs; //time of inactivity after which the mode gets switched to IDLE
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float timeoutTolerancePer; //percentage the duty can vary between timeout checks considered still inactive
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} control_config_t;
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@ -55,6 +56,7 @@ class controlledArmchair {
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//function that toggles between two modes, but prefers first argument if entirely different mode is currently active
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void toggleModes(controlMode_t modePrimary, controlMode_t modeSecondary);
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//toggle between certain mode and previous mode
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void toggleMode(controlMode_t modePrimary);
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@ -21,7 +21,6 @@ controlledFan::controlledFan (fan_config_t config_f, controlledMotor* motor1_f,
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//copy pointer to motor objects
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motor1 = motor1_f;
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motor2 = motor2_f;
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//initialize gpio pin
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gpio_pad_select_gpio(config.gpio_fan);
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gpio_set_direction(config.gpio_fan, GPIO_MODE_OUTPUT);
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@ -33,10 +32,11 @@ controlledFan::controlledFan (fan_config_t config_f, controlledMotor* motor1_f,
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//--------- handle ---------
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//--------------------------
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void controlledFan::handle(){
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//get current state of the motor
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//get current state of the motor (motorctl.cpp)
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motor1Status = motor1->getStatus();
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motor2Status = motor2->getStatus();
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//--- handle duty threshold ---
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//update timestamp if any threshold exceeded
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if (motor1Status.duty > config.dutyThreshold
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|| motor2Status.duty > config.dutyThreshold){ //TODO add temperature threshold
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@ -49,8 +49,7 @@ void controlledFan::handle(){
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needsCooling = false;
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}
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//turn off condition
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//--- turn off condition ---
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if (fanRunning
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&& !needsCooling //no more cooling required
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&& (motor1Status.duty == 0) && (motor2Status.duty == 0) //both motors are off
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@ -62,7 +61,7 @@ void controlledFan::handle(){
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ESP_LOGI(TAG, "turned fan OFF gpio=%d, minOnMs=%d, WasOnMs=%d", (int)config.gpio_fan, config.minOnMs, esp_log_timestamp()-timestamp_turnedOn);
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}
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//turn on condition
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//--- turn on condition ---
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if (!fanRunning
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&& needsCooling
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&& ((esp_log_timestamp() - timestamp_turnedOff) > config.minOffMs) //fans off long enough
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@ -8,7 +8,7 @@ extern "C"
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#include "motorctl.hpp"
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//--- fan_config_t ---
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//struct with all config parameters for a fan
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typedef struct fan_config_t {
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gpio_num_t gpio_fan;
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@ -29,7 +29,7 @@ class controlledFan {
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controlledFan (fan_config_t config_f, controlledMotor* motor1_f, controlledMotor* motor2_f );
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//--- functions ---
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void handle();
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void handle(); //has to be run repeatedly in a slow loop
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private:
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@ -22,12 +22,10 @@ static httpd_handle_t server = NULL;
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//joystickData_t http_readFromJoystickQueue
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//==============================
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//===== start mdns service =====
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//==============================
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//TODO: test this, not working?
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//function that initializes and starts mdns server for host discovery
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void start_mdns_service()
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{
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@ -39,7 +37,6 @@ void start_mdns_service()
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//===========================
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//======= default url =======
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//===========================
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@ -96,7 +93,6 @@ static esp_err_t on_default_url(httpd_req_t *req)
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//==============================
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//===== httpJoystick class =====
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//==============================
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@ -106,8 +102,6 @@ static esp_err_t on_default_url(httpd_req_t *req)
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httpJoystick::httpJoystick( httpJoystick_config_t config_f ){
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//copy config struct
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config = config_f;
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//initialize queue for joystick data
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QueueHandle_t joystickDataQueue = xQueueCreate( 1, sizeof( struct joystickData_t ) );
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}
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@ -207,7 +201,6 @@ joystickData_t httpJoystick::getData(){
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}
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//--------------------------------------------
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//--- receiveHttpData for httpJoystickMain ---
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//--------------------------------------------
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@ -223,7 +216,6 @@ esp_err_t on_joystick_url(httpd_req_t *req){
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//============================
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//===== init http server =====
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//============================
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@ -231,36 +223,34 @@ esp_err_t on_joystick_url(httpd_req_t *req){
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void http_init_server()
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{
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//configure webserver
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//---- configure webserver ----
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httpd_config_t config = HTTPD_DEFAULT_CONFIG();
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config.uri_match_fn = httpd_uri_match_wildcard;
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//start webserver
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//---- start webserver ----
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ESP_ERROR_CHECK(httpd_start(&server, &config));
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//---------------------------
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//------- define URLs -------
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//---------------------------
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httpd_uri_t joystick_url = {
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.uri = "/api/joystick",
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.method = HTTP_POST,
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.handler = on_joystick_url,
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};
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//----- define URLs -----
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httpd_uri_t joystick_url;
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joystick_url.uri = "/api/joystick";
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joystick_url.method = HTTP_POST;
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joystick_url.handler = on_joystick_url;
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httpd_register_uri_handler(server, &joystick_url);
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httpd_uri_t default_url = {
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.uri = "/*",
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.method = HTTP_GET,
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.handler = on_default_url};
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httpd_uri_t default_url;
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default_url.uri = "/*";
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default_url.method = HTTP_GET;
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default_url.handler = on_default_url;
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httpd_register_uri_handler(server, &default_url);
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// httpd_uri_t socket_joystick_url = {
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// .uri = "/ws-api/joystick",
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// .method = HTTP_GET,
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// .handler = on_socket_joystick_url,
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// .is_websocket = true};
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// httpd_register_uri_handler(server, &socket_joystick_url);
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//previous approach with sockets:
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// httpd_uri_t socket_joystick_url = {
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// .uri = "/ws-api/joystick",
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// .method = HTTP_GET,
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// .handler = on_socket_joystick_url,
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// .is_websocket = true};
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// httpd_register_uri_handler(server, &socket_joystick_url);
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}
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@ -9,7 +9,6 @@ extern "C"
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//============================
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//===== init http server =====
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//============================
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@ -1,3 +1,7 @@
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extern "C" {
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#include "hal/timer_types.h"
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}
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#include "joystick.hpp"
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@ -22,7 +26,6 @@ evaluatedJoystick::evaluatedJoystick(joystick_config_t config_f){
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//----------------------------
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//---------- init ------------
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//----------------------------
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@ -34,7 +37,7 @@ void evaluatedJoystick::init(){
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//FIXME: the following two commands each throw error
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//"ADC: adc1_lock_release(419): adc1 lock release called before acquire"
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//note: also happens for each get_raw for first call of readAdc function
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//when run in main function that does not happen
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//when run in main function that does not happen -> move init from constructor to be called in main
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adc1_config_channel_atten(config.adc_x, ADC_ATTEN_DB_11); //max voltage
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adc1_config_channel_atten(config.adc_y, ADC_ATTEN_DB_11); //max voltage
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@ -44,7 +47,6 @@ void evaluatedJoystick::init(){
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//-----------------------------
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//--------- readAdc -----------
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//-----------------------------
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@ -54,7 +56,7 @@ int evaluatedJoystick::readAdc(adc1_channel_t adc_channel, bool inverted) {
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int adc_reading = 0;
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for (int i = 0; i < 16; i++) {
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adc_reading += adc1_get_raw(adc_channel);
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//TODO add delay for actual average
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ets_delay_us(50);
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}
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adc_reading = adc_reading / 16;
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@ -68,7 +70,6 @@ int evaluatedJoystick::readAdc(adc1_channel_t adc_channel, bool inverted) {
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//-------------------------------
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//---------- getData ------------
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//-------------------------------
|
||||
@ -85,7 +86,6 @@ joystickData_t evaluatedJoystick::getData() {
|
||||
ESP_LOGD(TAG, "X: adc-raw=%d \tadc-conv=%d \tmin=%d \t max=%d \tcenter=%d \tinverted=%d => x=%.3f",
|
||||
adc1_get_raw(config.adc_x), adcRead, config.x_min, config.x_max, x_center, config.x_inverted, x);
|
||||
|
||||
|
||||
ESP_LOGV(TAG, "getting Y coodrinate...");
|
||||
adcRead = readAdc(config.adc_y, config.y_inverted);
|
||||
float y = scaleCoordinate(adcRead, config.y_min, config.y_max, y_center, config.tolerance_zeroY_per, config.tolerance_end_per);
|
||||
@ -111,7 +111,6 @@ joystickData_t evaluatedJoystick::getData() {
|
||||
|
||||
|
||||
|
||||
|
||||
//----------------------------
|
||||
//------ defineCenter --------
|
||||
//----------------------------
|
||||
@ -127,8 +126,6 @@ void evaluatedJoystick::defineCenter(){
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//==============================
|
||||
//====== scaleCoordinate =======
|
||||
//==============================
|
||||
@ -168,7 +165,6 @@ float scaleCoordinate(float input, float min, float max, float center, float tol
|
||||
ESP_LOGD(TAG, "scaling: in=%.3f coordinate=%.3f, tolZero=%.3f, tolEnd=%.3f", input, coordinate, tolerance_zero, tolerance_end);
|
||||
//return coordinate (-1 to 1)
|
||||
return coordinate;
|
||||
|
||||
}
|
||||
|
||||
|
||||
@ -225,11 +221,12 @@ float scaleLinPoint(float value, float pointX, float pointY){
|
||||
return -result;
|
||||
}
|
||||
}
|
||||
|
||||
//function that updates a joystickData object with linear scaling applied to coordinates
|
||||
//e.g. use to use more joystick resolution for lower speeds
|
||||
//TODO rename this function to more general name (scales not only coordinates e.g. adjusts radius, in future angle...)
|
||||
void joystick_scaleCoordinatesLinear(joystickData_t * data, float pointX, float pointY){
|
||||
// --- scale x and y coordinate ---
|
||||
// --- scale x and y coordinate --- DISABLED
|
||||
/*
|
||||
data->x = scaleLinPoint(data->x, pointX, pointY);
|
||||
data->y = scaleLinPoint(data->y, pointX, pointY);
|
||||
@ -243,6 +240,7 @@ void joystick_scaleCoordinatesLinear(joystickData_t * data, float pointX, float
|
||||
//note: issue with scaling X, Y coordinates:
|
||||
// - messed up radius calculation - radius never gets 1 at diagonal positions
|
||||
//==> only scaling radius as only speed should be more acurate at low radius:
|
||||
//TODO make that clear and rename function, since it does not scale coordinates - just radius
|
||||
|
||||
//--- scale radius ---
|
||||
data-> radius = scaleLinPoint(data->radius, pointX, pointY);
|
||||
@ -301,7 +299,6 @@ joystickPos_t joystick_evaluatePosition(float x, float y){
|
||||
//function that generates commands for both motors from the joystick data
|
||||
motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altStickMapping){
|
||||
|
||||
|
||||
//struct with current data of the joystick
|
||||
//typedef struct joystickData_t {
|
||||
// joystickPos_t position;
|
||||
@ -311,7 +308,7 @@ motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altSt
|
||||
// float angle;
|
||||
//} joystickData_t;
|
||||
|
||||
|
||||
//--- variables ---
|
||||
motorCommands_t commands;
|
||||
float dutyMax = 90; //TODO add this to config, make changeable during runtime
|
||||
|
||||
@ -319,7 +316,8 @@ motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altSt
|
||||
float dutyRange = dutyMax - dutyOffset;
|
||||
float ratio = fabs(data.angle) / 90; //90degree = x=0 || 0degree = y=0
|
||||
|
||||
//snap ratio to max at threshold (-> more joystick area where inner wheel is off when turning)
|
||||
//--- snap ratio to max at angle threshold ---
|
||||
//(-> more joystick area where inner wheel is off when turning)
|
||||
/*
|
||||
//FIXME works, but armchair unsusable because of current bug with motor driver (inner motor freezes after turn)
|
||||
float ratioClipThreshold = 0.3;
|
||||
@ -328,7 +326,7 @@ motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altSt
|
||||
//TODO subtract this clip threshold from available joystick range at ratio usage
|
||||
*/
|
||||
|
||||
//experimental alternative control mode
|
||||
//--- experimental alternative control mode ---
|
||||
if (altStickMapping == true){
|
||||
//swap BOTTOM_LEFT and BOTTOM_RIGHT
|
||||
if (data.position == joystickPos_t::BOTTOM_LEFT){
|
||||
@ -339,6 +337,8 @@ motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altSt
|
||||
}
|
||||
}
|
||||
|
||||
//--- handle all positions ---
|
||||
//define target direction and duty according to position
|
||||
switch (data.position){
|
||||
|
||||
case joystickPos_t::CENTER:
|
||||
@ -466,9 +466,6 @@ motorCommands_t joystick_generateCommandsShaking(joystickData_t data){
|
||||
shake_timestamp_turnedOff = esp_log_timestamp();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
//struct with current data of the joystick
|
||||
//typedef struct joystickData_t {
|
||||
// joystickPos_t position;
|
||||
@ -478,7 +475,6 @@ motorCommands_t joystick_generateCommandsShaking(joystickData_t data){
|
||||
// float angle;
|
||||
//} joystickData_t;
|
||||
|
||||
|
||||
//--- evaluate stick position ---
|
||||
//4 quadrants and center only - with X and Y axis as hysteresis
|
||||
switch (data.position){
|
||||
@ -521,7 +517,6 @@ motorCommands_t joystick_generateCommandsShaking(joystickData_t data){
|
||||
}
|
||||
|
||||
|
||||
|
||||
//--- handle different modes (joystick in any of 4 quadrants) ---
|
||||
switch (stickQuadrant){
|
||||
case joystickPos_t::CENTER:
|
||||
|
||||
@ -11,7 +11,7 @@ extern "C"
|
||||
}
|
||||
|
||||
#include <cmath>
|
||||
#include "motorctl.hpp" //for deklaration of motorCommands_t struct
|
||||
#include "motorctl.hpp" //for declaration of motorCommands_t struct
|
||||
|
||||
|
||||
//======================================
|
||||
@ -23,7 +23,7 @@ extern "C"
|
||||
// - defines an enum with position information
|
||||
|
||||
//--------------------------------------------
|
||||
//---- struct, enum, variable deklarations ---
|
||||
//---- struct, enum, variable declarations ---
|
||||
//--------------------------------------------
|
||||
//struct with all required configuration parameters
|
||||
typedef struct joystick_config_t {
|
||||
@ -51,13 +51,11 @@ typedef struct joystick_config_t {
|
||||
} joystick_config_t;
|
||||
|
||||
|
||||
|
||||
//enum for describing the position of the joystick
|
||||
enum class joystickPos_t {CENTER, Y_AXIS, X_AXIS, TOP_RIGHT, TOP_LEFT, BOTTOM_LEFT, BOTTOM_RIGHT};
|
||||
extern const char* joystickPosStr[7];
|
||||
|
||||
|
||||
|
||||
//struct with current data of the joystick
|
||||
typedef struct joystickData_t {
|
||||
joystickPos_t position;
|
||||
@ -100,8 +98,6 @@ class evaluatedJoystick {
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//============================================
|
||||
//========= joystick_CommandsDriving =========
|
||||
//============================================
|
||||
|
||||
162
main/main.cpp
162
main/main.cpp
@ -61,6 +61,7 @@ void task_buzzer( void * pvParameters ){
|
||||
//=======================================
|
||||
//============ control task =============
|
||||
//=======================================
|
||||
//task that controls the armchair modes and initiates commands generation and applies them to driver
|
||||
void task_control( void * pvParameters ){
|
||||
ESP_LOGI(TAG, "Initializing controlledArmchair and starting handle loop");
|
||||
//start handle loop (control object declared in config.hpp)
|
||||
@ -72,6 +73,7 @@ void task_control( void * pvParameters ){
|
||||
//======================================
|
||||
//============ button task =============
|
||||
//======================================
|
||||
//task that handles the button interface/commands
|
||||
void task_button( void * pvParameters ){
|
||||
ESP_LOGI(TAG, "Initializing command-button and starting handle loop");
|
||||
//create button instance
|
||||
@ -85,6 +87,7 @@ void task_button( void * pvParameters ){
|
||||
//=======================================
|
||||
//============== fan task ===============
|
||||
//=======================================
|
||||
//task that controlls fans for cooling the drivers
|
||||
void task_fans( void * pvParameters ){
|
||||
ESP_LOGI(TAG, "Initializing fans and starting fan handle loop");
|
||||
//create fan instances with config defined in config.cpp
|
||||
@ -92,7 +95,7 @@ void task_fans( void * pvParameters ){
|
||||
//repeatedly run fan handle function in a slow loop
|
||||
while(1){
|
||||
fan.handle();
|
||||
vTaskDelay(1000 / portTICK_PERIOD_MS);
|
||||
vTaskDelay(500 / portTICK_PERIOD_MS);
|
||||
}
|
||||
}
|
||||
|
||||
@ -121,20 +124,10 @@ void init_spiffs(){
|
||||
|
||||
|
||||
|
||||
//=================================
|
||||
//=========== app_main ============
|
||||
//=================================
|
||||
extern "C" void app_main(void) {
|
||||
//enable 5V volate regulator
|
||||
gpio_pad_select_gpio(GPIO_NUM_17);
|
||||
gpio_set_direction(GPIO_NUM_17, GPIO_MODE_OUTPUT);
|
||||
gpio_set_level(GPIO_NUM_17, 1);
|
||||
|
||||
|
||||
|
||||
//-------------------------------
|
||||
//---------- log level ----------
|
||||
//-------------------------------
|
||||
//==================================
|
||||
//======== define loglevels ========
|
||||
//==================================
|
||||
void setLoglevels(void){
|
||||
//set loglevel for all tags:
|
||||
esp_log_level_set("*", ESP_LOG_WARN);
|
||||
|
||||
@ -152,7 +145,21 @@ extern "C" void app_main(void) {
|
||||
esp_log_level_set("http", ESP_LOG_INFO);
|
||||
esp_log_level_set("automatedArmchair", ESP_LOG_DEBUG);
|
||||
//esp_log_level_set("current-sensors", ESP_LOG_INFO);
|
||||
}
|
||||
|
||||
|
||||
|
||||
//=================================
|
||||
//=========== app_main ============
|
||||
//=================================
|
||||
extern "C" void app_main(void) {
|
||||
//enable 5V volate regulator
|
||||
gpio_pad_select_gpio(GPIO_NUM_17);
|
||||
gpio_set_direction(GPIO_NUM_17, GPIO_MODE_OUTPUT);
|
||||
gpio_set_level(GPIO_NUM_17, 1);
|
||||
|
||||
//---- define log levels ----
|
||||
setLoglevels();
|
||||
|
||||
//----------------------------------------------
|
||||
//--- create task for controlling the motors ---
|
||||
@ -187,7 +194,6 @@ extern "C" void app_main(void) {
|
||||
//beep at startup
|
||||
buzzer.beep(3, 70, 50);
|
||||
|
||||
|
||||
//--- initialize nvs-flash and netif (needed for wifi) ---
|
||||
wifi_initNvs_initNetif();
|
||||
|
||||
@ -215,79 +221,79 @@ extern "C" void app_main(void) {
|
||||
//control.changeMode(controlMode_t::HTTP);
|
||||
|
||||
|
||||
while(1){
|
||||
//--- main loop ---
|
||||
//does nothing except for testing things
|
||||
while(1){
|
||||
vTaskDelay(1000 / portTICK_PERIOD_MS);
|
||||
|
||||
vTaskDelay(500 / portTICK_PERIOD_MS);
|
||||
|
||||
// //--- testing functions at mode change HTTP ---
|
||||
// control.changeMode(controlMode_t::HTTP);
|
||||
// vTaskDelay(10000 / portTICK_PERIOD_MS);
|
||||
// control.changeMode(controlMode_t::IDLE);
|
||||
// vTaskDelay(10000 / portTICK_PERIOD_MS);
|
||||
//---------------------------------
|
||||
//-------- TESTING section --------
|
||||
//---------------------------------
|
||||
// //--- test functions at mode change HTTP ---
|
||||
// control.changeMode(controlMode_t::HTTP);
|
||||
// vTaskDelay(10000 / portTICK_PERIOD_MS);
|
||||
// control.changeMode(controlMode_t::IDLE);
|
||||
// vTaskDelay(10000 / portTICK_PERIOD_MS);
|
||||
|
||||
|
||||
//--- testing wifi functions ---
|
||||
// ESP_LOGI(TAG, "creating AP");
|
||||
// wifi_init_ap(); //start accesspoint
|
||||
// vTaskDelay(15000 / portTICK_PERIOD_MS);
|
||||
// ESP_LOGI(TAG, "stopping wifi");
|
||||
// wifi_deinit_ap(); //stop wifi access point
|
||||
// vTaskDelay(5000 / portTICK_PERIOD_MS);
|
||||
// ESP_LOGI(TAG, "connecting to wifi");
|
||||
// wifi_init_client(); //connect to existing wifi
|
||||
// vTaskDelay(10000 / portTICK_PERIOD_MS);
|
||||
// ESP_LOGI(TAG, "stopping wifi");
|
||||
// wifi_deinit_client(); //stop wifi client
|
||||
// vTaskDelay(5000 / portTICK_PERIOD_MS);
|
||||
//--- test wifi functions ---
|
||||
// ESP_LOGI(TAG, "creating AP");
|
||||
// wifi_init_ap(); //start accesspoint
|
||||
// vTaskDelay(15000 / portTICK_PERIOD_MS);
|
||||
// ESP_LOGI(TAG, "stopping wifi");
|
||||
// wifi_deinit_ap(); //stop wifi access point
|
||||
// vTaskDelay(5000 / portTICK_PERIOD_MS);
|
||||
// ESP_LOGI(TAG, "connecting to wifi");
|
||||
// wifi_init_client(); //connect to existing wifi
|
||||
// vTaskDelay(10000 / portTICK_PERIOD_MS);
|
||||
// ESP_LOGI(TAG, "stopping wifi");
|
||||
// wifi_deinit_client(); //stop wifi client
|
||||
// vTaskDelay(5000 / portTICK_PERIOD_MS);
|
||||
|
||||
|
||||
//--- test button ---
|
||||
//buttonJoystick.handle();
|
||||
// if (buttonJoystick.risingEdge){
|
||||
// ESP_LOGI(TAG, "button pressed, was released for %d ms", buttonJoystick.msReleased);
|
||||
// buzzer.beep(2, 100, 50);
|
||||
|
||||
//--- testing button ---
|
||||
//buttonJoystick.handle();
|
||||
// if (buttonJoystick.risingEdge){
|
||||
// ESP_LOGI(TAG, "button pressed, was released for %d ms", buttonJoystick.msReleased);
|
||||
// buzzer.beep(2, 100, 50);
|
||||
|
||||
// }else if (buttonJoystick.fallingEdge){
|
||||
// ESP_LOGI(TAG, "button released, was pressed for %d ms", buttonJoystick.msPressed);
|
||||
// buzzer.beep(1, 200, 0);
|
||||
// }
|
||||
// }else if (buttonJoystick.fallingEdge){
|
||||
// ESP_LOGI(TAG, "button released, was pressed for %d ms", buttonJoystick.msPressed);
|
||||
// buzzer.beep(1, 200, 0);
|
||||
// }
|
||||
|
||||
|
||||
|
||||
//--- testing joystick commands ---
|
||||
// motorCommands_t commands = joystick_generateCommandsDriving(joystick);
|
||||
// motorRight.setTarget(commands.right.state, commands.right.duty); //TODO make motorctl.setTarget also accept motorcommand struct directly
|
||||
// motorLeft.setTarget(commands.left.state, commands.left.duty); //TODO make motorctl.setTarget also accept motorcommand struct directly
|
||||
// //motorRight.setTarget(commands.right.state, commands.right.duty);
|
||||
|
||||
|
||||
//--- test joystick commands ---
|
||||
// motorCommands_t commands = joystick_generateCommandsDriving(joystick);
|
||||
// motorRight.setTarget(commands.right.state, commands.right.duty); //TODO make motorctl.setTarget also accept motorcommand struct directly
|
||||
// motorLeft.setTarget(commands.left.state, commands.left.duty); //TODO make motorctl.setTarget also accept motorcommand struct directly
|
||||
// //motorRight.setTarget(commands.right.state, commands.right.duty);
|
||||
|
||||
|
||||
//--- testing joystick class ---
|
||||
//joystickData_t data = joystick.getData();
|
||||
//ESP_LOGI(TAG, "position=%s, x=%.1f%%, y=%.1f%%, radius=%.1f%%, angle=%.2f",
|
||||
// joystickPosStr[(int)data.position], data.x*100, data.y*100, data.radius*100, data.angle);
|
||||
//--- test joystick class ---
|
||||
//joystickData_t data = joystick.getData();
|
||||
//ESP_LOGI(TAG, "position=%s, x=%.1f%%, y=%.1f%%, radius=%.1f%%, angle=%.2f",
|
||||
// joystickPosStr[(int)data.position], data.x*100, data.y*100, data.radius*100, data.angle);
|
||||
|
||||
//--- testing the motor driver ---
|
||||
//fade up duty - forward
|
||||
// for (int duty=0; duty<=100; duty+=5) {
|
||||
// motorLeft.setTarget(motorstate_t::FWD, duty);
|
||||
// vTaskDelay(100 / portTICK_PERIOD_MS);
|
||||
// }
|
||||
|
||||
|
||||
//--- testing controlledMotor --- (ramp)
|
||||
// //brake for 1 s
|
||||
// motorLeft.setTarget(motorstate_t::BRAKE);
|
||||
// vTaskDelay(1000 / portTICK_PERIOD_MS);
|
||||
// //command 90% - reverse
|
||||
// motorLeft.setTarget(motorstate_t::REV, 90);
|
||||
// vTaskDelay(5000 / portTICK_PERIOD_MS);
|
||||
// //command 100% - forward
|
||||
// motorLeft.setTarget(motorstate_t::FWD, 100);
|
||||
// vTaskDelay(1000 / portTICK_PERIOD_MS);
|
||||
//--- test the motor driver ---
|
||||
//fade up duty - forward
|
||||
// for (int duty=0; duty<=100; duty+=5) {
|
||||
// motorLeft.setTarget(motorstate_t::FWD, duty);
|
||||
// vTaskDelay(100 / portTICK_PERIOD_MS);
|
||||
// }
|
||||
|
||||
}
|
||||
|
||||
//--- test controlledMotor --- (ramp)
|
||||
// //brake for 1 s
|
||||
// motorLeft.setTarget(motorstate_t::BRAKE);
|
||||
// vTaskDelay(1000 / portTICK_PERIOD_MS);
|
||||
// //command 90% - reverse
|
||||
// motorLeft.setTarget(motorstate_t::REV, 90);
|
||||
// vTaskDelay(5000 / portTICK_PERIOD_MS);
|
||||
// //command 100% - forward
|
||||
// motorLeft.setTarget(motorstate_t::FWD, 100);
|
||||
// vTaskDelay(1000 / portTICK_PERIOD_MS);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@ -7,7 +7,7 @@ static const char * TAG = "motor-control";
|
||||
//=============================
|
||||
//======== constructor ========
|
||||
//=============================
|
||||
//constructor, simultaniously initialize instance of motor driver 'motor' with provided config (see below line after ':')
|
||||
//constructor, simultaniously initialize instance of motor driver 'motor' and current sensor 'cSensor' with provided config (see below lines after ':')
|
||||
controlledMotor::controlledMotor(single100a_config_t config_driver, motorctl_config_t config_control):
|
||||
motor(config_driver),
|
||||
cSensor(config_control.currentSensor_adc, config_control.currentSensor_ratedCurrent) {
|
||||
@ -29,7 +29,7 @@ controlledMotor::controlledMotor(single100a_config_t config_driver, motorctl_co
|
||||
//============================
|
||||
void controlledMotor::init(){
|
||||
commandQueue = xQueueCreate( 1, sizeof( struct motorCommand_t ) );
|
||||
//cSensor.calibrateZeroAmpere(); //TODO do this regularly e.g. in idle?
|
||||
//cSensor.calibrateZeroAmpere(); //currently done in currentsensor constructor TODO do this regularly e.g. in idle?
|
||||
}
|
||||
|
||||
|
||||
@ -118,14 +118,12 @@ void controlledMotor::handle(){
|
||||
}
|
||||
|
||||
|
||||
|
||||
//--- calculate difference ---
|
||||
dutyDelta = dutyTarget - dutyNow;
|
||||
//positive: need to increase by that value
|
||||
//negative: need to decrease
|
||||
|
||||
|
||||
|
||||
//----- fading -----
|
||||
//fade duty to target (up and down)
|
||||
//TODO: this needs optimization (can be more clear and/or simpler)
|
||||
@ -147,30 +145,6 @@ void controlledMotor::handle(){
|
||||
}
|
||||
|
||||
|
||||
//previous approach: (resulted in bug where accel/decel fade is swaped in reverse)
|
||||
// //--- fade up ---
|
||||
// //dutyDelta is higher than IncrementUp -> fade up
|
||||
// if(dutyDelta > dutyIncrementUp){
|
||||
// ESP_LOGV(TAG, "*fading up*: target=%.2f%% - previous=%.2f%% - increment=%.6f%% - usSinceLastRun=%d", dutyTarget, dutyNow, dutyIncrementUp, (int)usPassed);
|
||||
// dutyNow += dutyIncrementUp; //increase duty by increment
|
||||
// }
|
||||
//
|
||||
// //--- fade down ---
|
||||
// //dutyDelta is more negative than -IncrementDown -> fade down
|
||||
// else if (dutyDelta < -dutyIncrementDown){
|
||||
// ESP_LOGV(TAG, "*fading down*: target=%.2f%% - previous=%.2f%% - increment=%.6f%% - usSinceLastRun=%d", dutyTarget, dutyNow, dutyIncrementDown, (int)usPassed);
|
||||
//
|
||||
// dutyNow -= dutyIncrementDown; //decrease duty by increment
|
||||
// }
|
||||
//
|
||||
// //--- set to target ---
|
||||
// //duty is already very close to target (closer than IncrementUp or IncrementDown)
|
||||
// else{
|
||||
// //immediately set to target duty
|
||||
// dutyNow = dutyTarget;
|
||||
// }
|
||||
|
||||
|
||||
//----- current limit -----
|
||||
if ((config.currentLimitEnabled) && (dutyDelta != 0)){
|
||||
currentNow = cSensor.read();
|
||||
@ -190,8 +164,8 @@ void controlledMotor::handle(){
|
||||
}
|
||||
|
||||
|
||||
//define motorstate from converted duty -100 to 100
|
||||
//apply target duty and state to motor driver
|
||||
//--- define motorstate ---
|
||||
//from converted duty -100 to 100
|
||||
//forward
|
||||
if(dutyNow > 0){
|
||||
state = motorstate_t::FWD;
|
||||
@ -205,14 +179,12 @@ void controlledMotor::handle(){
|
||||
state = motorstate_t::IDLE;
|
||||
}
|
||||
|
||||
//--- apply to motor ---
|
||||
//--- apply new target to motor ---
|
||||
motor.set(state, fabs(dutyNow));
|
||||
//note: BRAKE state is handled earlier
|
||||
|
||||
|
||||
//--- update timestamp ---
|
||||
timestampLastRunUs = esp_timer_get_time(); //update timestamp last run with current timestamp in microseconds
|
||||
|
||||
}
|
||||
|
||||
|
||||
@ -270,7 +242,6 @@ void controlledMotor::setFade(fadeType_t fadeType, uint32_t msFadeNew){
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
//enable (set to default value) or disable fading
|
||||
void controlledMotor::setFade(fadeType_t fadeType, bool enabled){
|
||||
uint32_t msFadeNew = 0; //define new fade time as default disabled
|
||||
|
||||
@ -13,9 +13,9 @@ extern "C"
|
||||
#include "currentsensor.hpp"
|
||||
|
||||
|
||||
//-------------------------------------
|
||||
//-------- struct/type declarations -------
|
||||
//-------------------------------------
|
||||
//=======================================
|
||||
//====== struct/type declarations ======
|
||||
//=======================================
|
||||
|
||||
//struct for sending command for one motor in the queue
|
||||
struct motorCommand_t {
|
||||
@ -45,6 +45,9 @@ enum class fadeType_t {ACCEL, DECEL};
|
||||
|
||||
|
||||
|
||||
//===================================
|
||||
//====== controlledMotor class ======
|
||||
//===================================
|
||||
class controlledMotor {
|
||||
public:
|
||||
//--- functions ---
|
||||
@ -57,8 +60,7 @@ class controlledMotor {
|
||||
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
|
||||
|
||||
//TODO set current limit
|
||||
|
||||
//TODO set current limit method
|
||||
|
||||
private:
|
||||
//--- functions ---
|
||||
@ -75,7 +77,6 @@ class controlledMotor {
|
||||
//--- variables ---
|
||||
//struct for storing control specific parameters
|
||||
motorctl_config_t config;
|
||||
|
||||
motorstate_t state = motorstate_t::IDLE;
|
||||
|
||||
float currentMax;
|
||||
@ -95,5 +96,4 @@ class controlledMotor {
|
||||
|
||||
struct motorCommand_t commandReceive = {};
|
||||
struct motorCommand_t commandSend = {};
|
||||
|
||||
};
|
||||
|
||||
@ -19,7 +19,7 @@ extern "C"
|
||||
//====================================
|
||||
|
||||
//--------------------------------------------
|
||||
//---- struct, enum, variable deklarations ---
|
||||
//---- struct, enum, variable declarations ---
|
||||
//--------------------------------------------
|
||||
|
||||
//class which controls a motor using a 'single100a' h-bridge module
|
||||
|
||||
@ -123,13 +123,6 @@ void wifi_deinit_ap(void)
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//===========================================
|
||||
//=============== init client ===============
|
||||
//===========================================
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user