Update joystick config, Add option JOYSTICK_LOG_IN_IDLE
- add more debug output in joystick getData function
- update joystick config with new min/max values while testing
=> fixed bugged movement (joystick unusable) after winter
- bump esp-idf version since successfully compiled with 4.4.4
This commit is contained in:
jonny_l480
parent
f0e1a7d883
commit
73ad36bb2d
@ -5,7 +5,7 @@ More details about this project: https://pfusch.zone/electric-armchair
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# Installation
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### Install esp-idf
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For this project **ESP-IDF v4.4.1** is required (with other versions it might not compile)
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For this project **ESP-IDF v4.4.4** is required (with other versions it might not compile)
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```bash
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#download esp-idf
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yay -S esp-idf #alternatively clone the esp-idf repository from github
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@ -80,11 +80,11 @@ joystick_config_t configJoystick = {
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//threshold the radius jumps to 1 before the stick is at max radius (range 0-1)
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.tolerance_radius = 0.05,
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//min and max adc values of each axis
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.x_min = 975,
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.x_max = 2520,
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.y_min = 1005,
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.y_max = 2550,
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//min and max adc values of each axis (after inversion is applied)
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.x_min = 1230, //=> x=-1
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.x_max = 2700, //=> x=1
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.y_min = 1260, //=> y=-1
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.y_max = 2700, //=> y=1
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//invert adc measurement
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.x_inverted = true,
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.y_inverted = true
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@ -12,6 +12,11 @@
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#include "auto.hpp"
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//in IDLE mode: set loglevel for evaluatedJoystick to DEBUG
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//and repeatedly read joystick e.g. for manually calibrating / testing joystick
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//#define JOYSTICK_LOG_IN_IDLE
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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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@ -14,6 +14,10 @@ extern "C"
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#include "control.hpp"
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//used definitions moved from config.hpp:
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//#define JOYSTICK_TEST
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//tag for logging
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static const char * TAG = "control";
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@ -68,6 +72,12 @@ void controlledArmchair::startHandleLoop() {
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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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vTaskDelay(200 / portTICK_PERIOD_MS);
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#ifdef JOYSTICK_LOG_IN_IDLE
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//get joystick data here (without using it)
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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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@ -306,22 +316,29 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
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//copy previous mode
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modePrevious = mode;
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ESP_LOGW(TAG, "=== changing mode from %s to %s ===", controlModeStr[(int)mode], controlModeStr[(int)modeNew]);
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ESP_LOGW(TAG, "=== changing mode from %s to %s ===", controlModeStr[(int)mode], controlModeStr[(int)modeNew]);
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//========== commands change FROM mode ==========
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//run functions when changing FROM certain mode
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switch(modePrevious){
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default:
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ESP_LOGI(TAG, "noting to execute when changing FROM this mode");
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break;
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//========== commands change FROM mode ==========
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//run functions when changing FROM certain mode
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switch(modePrevious){
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default:
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ESP_LOGI(TAG, "noting to execute when changing FROM this mode");
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break;
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case controlMode_t::HTTP:
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ESP_LOGW(TAG, "switching from http mode -> disabling http and wifi");
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//stop http server
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ESP_LOGI(TAG, "disabling http server...");
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http_stop_server();
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#ifdef JOYSTICK_LOG_IN_IDLE
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case controlMode_t::IDLE:
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ESP_LOGI(TAG, "disabling debug output for 'evaluatedJoystick'");
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esp_log_level_set("evaluatedJoystick", ESP_LOG_WARN); //FIXME: loglevel from config
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break;
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#endif
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//FIXME: make wifi function work here - currently starting wifi at startup (see notes main.cpp)
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case controlMode_t::HTTP:
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ESP_LOGW(TAG, "switching from http mode -> disabling http and wifi");
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//stop http server
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ESP_LOGI(TAG, "disabling http server...");
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http_stop_server();
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//FIXME: make wifi function work here - currently starting wifi at startup (see notes main.cpp)
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//stop wifi
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//TODO: decide whether ap or client is currently used - which has to be disabled?
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//ESP_LOGI(TAG, "deinit wifi...");
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@ -363,9 +380,13 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
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ESP_LOGI(TAG, "noting to execute when changing TO this mode");
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break;
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case controlMode_t::IDLE:
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buzzer->beep(1, 1500, 0);
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break;
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case controlMode_t::IDLE:
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buzzer->beep(1, 1500, 0);
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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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ESP_LOGW(TAG, "switching to http mode -> enabling http and wifi");
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@ -75,13 +75,21 @@ int evaluatedJoystick::readAdc(adc1_channel_t adc_channel, bool inverted) {
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joystickData_t evaluatedJoystick::getData() {
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//get coordinates
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//TODO individual tolerances for each axis? Otherwise some parameters can be removed
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ESP_LOGD(TAG, "getting X coodrinate...");
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ESP_LOGV(TAG, "getting X coodrinate...");
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uint32_t adcRead;
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adcRead = readAdc(config.adc_x, config.x_inverted);
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float x = scaleCoordinate(readAdc(config.adc_x, config.x_inverted), config.x_min, config.x_max, x_center, config.tolerance_zeroX_per, config.tolerance_end_per);
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data.x = x;
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ESP_LOGD(TAG, "X: adc-raw=%d \tadc-conv=%d \tmin=%d \t max=%d \tcenter=%d \tinverted=%d => x=%.3f",
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adc1_get_raw(config.adc_x), adcRead, config.x_min, config.x_max, x_center, config.x_inverted, x);
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ESP_LOGD(TAG, "getting Y coodrinate...");
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float y = scaleCoordinate(readAdc(config.adc_y, config.y_inverted), config.y_min, config.y_max, y_center, config.tolerance_zeroY_per, config.tolerance_end_per);
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ESP_LOGV(TAG, "getting Y coodrinate...");
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adcRead = readAdc(config.adc_y, config.y_inverted);
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float y = scaleCoordinate(adcRead, config.y_min, config.y_max, y_center, config.tolerance_zeroY_per, config.tolerance_end_per);
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data.y = y;
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ESP_LOGD(TAG, "Y: adc-raw=%d \tadc-conv=%d \tmin=%d \t max=%d \tcenter=%d \tinverted=%d => y=%.3lf",
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adc1_get_raw(config.adc_y), adcRead, config.y_min, config.y_max, y_center, config.y_inverted, y);
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//calculate radius
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data.radius = sqrt(pow(data.x,2) + pow(data.y,2));
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31
sdkconfig
31
sdkconfig
@ -54,6 +54,7 @@ CONFIG_BOOTLOADER_LOG_LEVEL=3
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CONFIG_BOOTLOADER_VDDSDIO_BOOST_1_9V=y
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# CONFIG_BOOTLOADER_FACTORY_RESET is not set
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# CONFIG_BOOTLOADER_APP_TEST is not set
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CONFIG_BOOTLOADER_REGION_PROTECTION_ENABLE=y
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CONFIG_BOOTLOADER_WDT_ENABLE=y
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# CONFIG_BOOTLOADER_WDT_DISABLE_IN_USER_CODE is not set
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CONFIG_BOOTLOADER_WDT_TIME_MS=9000
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@ -95,6 +96,9 @@ CONFIG_ESPTOOLPY_FLASHFREQ="40m"
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CONFIG_ESPTOOLPY_FLASHSIZE_4MB=y
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# CONFIG_ESPTOOLPY_FLASHSIZE_8MB is not set
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# CONFIG_ESPTOOLPY_FLASHSIZE_16MB is not set
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# CONFIG_ESPTOOLPY_FLASHSIZE_32MB is not set
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# CONFIG_ESPTOOLPY_FLASHSIZE_64MB is not set
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# CONFIG_ESPTOOLPY_FLASHSIZE_128MB is not set
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CONFIG_ESPTOOLPY_FLASHSIZE="4MB"
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CONFIG_ESPTOOLPY_FLASHSIZE_DETECT=y
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CONFIG_ESPTOOLPY_BEFORE_RESET=y
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@ -263,8 +267,8 @@ CONFIG_EFUSE_MAX_BLK_LEN=192
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#
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CONFIG_ESP_TLS_USING_MBEDTLS=y
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# CONFIG_ESP_TLS_USE_SECURE_ELEMENT is not set
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# CONFIG_ESP_TLS_SERVER is not set
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# CONFIG_ESP_TLS_CLIENT_SESSION_TICKETS is not set
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# CONFIG_ESP_TLS_SERVER is not set
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# CONFIG_ESP_TLS_PSK_VERIFICATION is not set
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# CONFIG_ESP_TLS_INSECURE is not set
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# end of ESP-TLS
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@ -472,6 +476,13 @@ CONFIG_ESP_PHY_REDUCE_TX_POWER=y
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# CONFIG_PM_ENABLE is not set
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# end of Power Management
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#
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# ESP Ringbuf
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#
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# CONFIG_RINGBUF_PLACE_FUNCTIONS_INTO_FLASH is not set
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# CONFIG_RINGBUF_PLACE_ISR_FUNCTIONS_INTO_FLASH is not set
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# end of ESP Ringbuf
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#
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# ESP System Settings
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#
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@ -555,6 +566,8 @@ CONFIG_ESP32_WIFI_ENABLE_WPA3_SAE=y
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# CONFIG_ESP_WIFI_STA_DISCONNECTED_PM_ENABLE is not set
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# CONFIG_ESP_WIFI_GMAC_SUPPORT is not set
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CONFIG_ESP_WIFI_SOFTAP_SUPPORT=y
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# CONFIG_ESP_WIFI_SLP_BEACON_LOST_OPT is not set
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CONFIG_ESP_WIFI_ESPNOW_MAX_ENCRYPT_NUM=7
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# end of Wi-Fi
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#
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@ -628,11 +641,7 @@ CONFIG_FMB_CONTROLLER_NOTIFY_QUEUE_SIZE=20
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CONFIG_FMB_CONTROLLER_STACK_SIZE=4096
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CONFIG_FMB_EVENT_QUEUE_TIMEOUT=20
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# CONFIG_FMB_TIMER_PORT_ENABLED is not set
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CONFIG_FMB_TIMER_GROUP=0
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CONFIG_FMB_TIMER_INDEX=0
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CONFIG_FMB_MASTER_TIMER_GROUP=0
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CONFIG_FMB_MASTER_TIMER_INDEX=0
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# CONFIG_FMB_TIMER_ISR_IN_IRAM is not set
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# CONFIG_FMB_TIMER_USE_ISR_DISPATCH_METHOD is not set
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# end of Modbus configuration
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#
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@ -791,6 +800,7 @@ CONFIG_LWIP_TCP_SYNMAXRTX=12
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CONFIG_LWIP_TCP_MSS=1440
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CONFIG_LWIP_TCP_TMR_INTERVAL=250
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CONFIG_LWIP_TCP_MSL=60000
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CONFIG_LWIP_TCP_FIN_WAIT_TIMEOUT=20000
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CONFIG_LWIP_TCP_SND_BUF_DEFAULT=5744
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CONFIG_LWIP_TCP_WND_DEFAULT=5744
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CONFIG_LWIP_TCP_RECVMBOX_SIZE=6
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@ -901,6 +911,7 @@ CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_FULL=y
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# CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_CMN is not set
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# CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_NONE is not set
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# CONFIG_MBEDTLS_CUSTOM_CERTIFICATE_BUNDLE is not set
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CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_MAX_CERTS=200
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# end of Certificate Bundle
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# CONFIG_MBEDTLS_ECP_RESTARTABLE is not set
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@ -1048,6 +1059,7 @@ CONFIG_NEWLIB_STDIN_LINE_ENDING_CR=y
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#
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# NVS
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#
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# CONFIG_NVS_ASSERT_ERROR_CHECK is not set
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# end of NVS
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#
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@ -1185,7 +1197,6 @@ CONFIG_VFS_SUPPORT_TERMIOS=y
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# Host File System I/O (Semihosting)
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#
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CONFIG_VFS_SEMIHOSTFS_MAX_MOUNT_POINTS=1
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CONFIG_VFS_SEMIHOSTFS_HOST_PATH_MAX_LEN=128
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# end of Host File System I/O (Semihosting)
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# end of Virtual file system
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@ -1202,6 +1213,7 @@ CONFIG_WL_SECTOR_SIZE=4096
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#
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CONFIG_WIFI_PROV_SCAN_MAX_ENTRIES=16
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CONFIG_WIFI_PROV_AUTOSTOP_TIMEOUT=30
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# CONFIG_WIFI_PROV_BLE_FORCE_ENCRYPTION is not set
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# end of Wi-Fi Provisioning Manager
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#
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@ -1214,6 +1226,8 @@ CONFIG_WPA_MBEDTLS_CRYPTO=y
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# CONFIG_WPA_TESTING_OPTIONS is not set
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# CONFIG_WPA_WPS_STRICT is not set
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# CONFIG_WPA_11KV_SUPPORT is not set
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# CONFIG_WPA_MBO_SUPPORT is not set
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# CONFIG_WPA_DPP_SUPPORT is not set
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# end of Supplicant
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# end of Component config
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@ -1338,8 +1352,6 @@ CONFIG_MB_CONTROLLER_NOTIFY_QUEUE_SIZE=20
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CONFIG_MB_CONTROLLER_STACK_SIZE=4096
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CONFIG_MB_EVENT_QUEUE_TIMEOUT=20
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# CONFIG_MB_TIMER_PORT_ENABLED is not set
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CONFIG_MB_TIMER_GROUP=0
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CONFIG_MB_TIMER_INDEX=0
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# CONFIG_ENABLE_STATIC_TASK_CLEAN_UP_HOOK is not set
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CONFIG_TIMER_TASK_PRIORITY=1
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CONFIG_TIMER_TASK_STACK_DEPTH=2048
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@ -1382,5 +1394,4 @@ CONFIG_SPI_FLASH_WRITING_DANGEROUS_REGIONS_ABORTS=y
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CONFIG_SUPPRESS_SELECT_DEBUG_OUTPUT=y
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CONFIG_SUPPORT_TERMIOS=y
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CONFIG_SEMIHOSTFS_MAX_MOUNT_POINTS=1
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CONFIG_SEMIHOSTFS_HOST_PATH_MAX_LEN=128
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# End of deprecated options
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