From 76e8bac11329a4f586172e298b2e3ed295f1bb78 Mon Sep 17 00:00:00 2001 From: jonny_jr9 Date: Tue, 29 Aug 2023 08:50:49 +0200 Subject: [PATCH] 2 boards: split code, outsource common, remove duplicate files - outsoruce common files and separate common types from source files (new common/types.hpp) - split source files to 2 board folders (relevant only, no duplicate) - currently boards compile successfull but not functional at all - comment out currently incompatible code --- board_control/CMakeLists.txt | 2 +- board_control/main/CMakeLists.txt | 6 - board_control/main/auto.cpp | 143 +- board_control/main/auto.hpp | 2 +- board_control/main/button.cpp | 395 +- board_control/main/button.hpp | 81 +- board_control/main/buzzer.cpp | 95 - board_control/main/buzzer.hpp | 56 - board_control/main/config.cpp | 74 +- board_control/main/config.hpp | 13 +- board_control/main/control.cpp | 911 +- board_control/main/control.hpp | 246 +- board_control/main/currentsensor.cpp | 75 - board_control/main/currentsensor.hpp | 20 - board_control/main/fan.cpp | 82 - board_control/main/fan.hpp | 49 - board_control/main/joystick.hpp | 2 +- board_control/main/motorctl.cpp | 330 - board_control/main/motorctl.hpp | 104 - board_control/main/motordrivers.cpp | 129 - board_control/main/motordrivers.hpp | 65 - board_control/main/uart.cpp | 22 - board_control/main/uart.hpp | 12 +- board_control/main/wifi.c | 265 - board_control/main/wifi.h | 22 - board_motorctl/CMakeLists.txt | 2 +- board_motorctl/main/CMakeLists.txt | 10 +- board_motorctl/main/auto.cpp | 88 - board_motorctl/main/auto.hpp | 87 - board_motorctl/main/button.cpp | 215 - board_motorctl/main/button.hpp | 53 - board_motorctl/main/buzzer.cpp | 95 - board_motorctl/main/buzzer.hpp | 56 - board_motorctl/main/config.cpp | 69 - board_motorctl/main/config.hpp | 19 - board_motorctl/main/control.cpp | 479 - board_motorctl/main/control.hpp | 130 - board_motorctl/main/http.cpp | 270 - board_motorctl/main/http.hpp | 70 - board_motorctl/main/joystick.cpp | 572 - board_motorctl/main/joystick.hpp | 153 - board_motorctl/main/main.cpp | 148 - board_motorctl/main/motorctl.hpp | 28 +- board_motorctl/main/motordrivers.hpp | 7 +- board_motorctl/main/wifi.c | 265 - board_motorctl/main/wifi.h | 22 - board_motorctl/partitions.csv | 6 - board_motorctl/react-app/package-lock.json | 28358 ------------------- board_motorctl/react-app/package.json | 40 - board_motorctl/react-app/public/index.html | 27 - board_motorctl/react-app/src/App.js | 245 - board_motorctl/react-app/src/index.js | 14 - common/types.cpp | 4 + 53 files changed, 916 insertions(+), 33817 deletions(-) delete mode 100644 board_control/main/buzzer.cpp delete mode 100644 board_control/main/buzzer.hpp delete mode 100644 board_control/main/currentsensor.cpp delete mode 100644 board_control/main/currentsensor.hpp delete mode 100644 board_control/main/fan.cpp delete mode 100644 board_control/main/fan.hpp delete mode 100644 board_control/main/motorctl.cpp delete mode 100644 board_control/main/motorctl.hpp delete mode 100644 board_control/main/motordrivers.cpp delete mode 100644 board_control/main/motordrivers.hpp delete mode 100644 board_control/main/wifi.c delete mode 100644 board_control/main/wifi.h delete mode 100644 board_motorctl/main/auto.cpp delete mode 100644 board_motorctl/main/auto.hpp delete mode 100644 board_motorctl/main/button.cpp delete mode 100644 board_motorctl/main/button.hpp delete mode 100644 board_motorctl/main/buzzer.cpp delete mode 100644 board_motorctl/main/buzzer.hpp delete mode 100644 board_motorctl/main/control.cpp delete mode 100644 board_motorctl/main/control.hpp delete mode 100644 board_motorctl/main/http.cpp delete mode 100644 board_motorctl/main/http.hpp delete mode 100644 board_motorctl/main/joystick.cpp delete mode 100644 board_motorctl/main/joystick.hpp delete mode 100644 board_motorctl/main/wifi.c delete mode 100644 board_motorctl/main/wifi.h delete mode 100644 board_motorctl/partitions.csv delete mode 100644 board_motorctl/react-app/package-lock.json delete mode 100644 board_motorctl/react-app/package.json delete mode 100644 board_motorctl/react-app/public/index.html delete mode 100644 board_motorctl/react-app/src/App.js delete mode 100644 board_motorctl/react-app/src/index.js create mode 100644 common/types.cpp diff --git a/board_control/CMakeLists.txt b/board_control/CMakeLists.txt index ec8c7cd..c88e7f2 100644 --- a/board_control/CMakeLists.txt +++ b/board_control/CMakeLists.txt @@ -5,5 +5,5 @@ cmake_minimum_required(VERSION 3.5) include($ENV{IDF_PATH}/tools/cmake/project.cmake) -set(EXTRA_COMPONENT_DIRS "../components") +set(EXTRA_COMPONENT_DIRS "../components ../common") project(armchair_controlBoard) diff --git a/board_control/main/CMakeLists.txt b/board_control/main/CMakeLists.txt index 961fea4..72a232c 100644 --- a/board_control/main/CMakeLists.txt +++ b/board_control/main/CMakeLists.txt @@ -1,18 +1,12 @@ idf_component_register( SRCS "main.cpp" - "motordrivers.cpp" - "motorctl.cpp" "config.cpp" "joystick.cpp" - "buzzer.cpp" "control.cpp" "button.cpp" - "fan.cpp" - "wifi.c" "http.cpp" "auto.cpp" - "currentsensor.cpp" "uart.cpp" INCLUDE_DIRS "." diff --git a/board_control/main/auto.cpp b/board_control/main/auto.cpp index 4cf4a71..0dc94aa 100644 --- a/board_control/main/auto.cpp +++ b/board_control/main/auto.cpp @@ -14,75 +14,76 @@ automatedArmchair::automatedArmchair(void) { } +//FIXME motorLeft, Right not available, needs rework to work with uart only -//============================== -//====== generateCommands ====== -//============================== -motorCommands_t automatedArmchair::generateCommands(auto_instruction_t * instruction) { - //reset instruction - *instruction = auto_instruction_t::NONE; - //check if previous command is finished - if ( esp_log_timestamp() > timestampCmdFinished ) { - //get next command from queue - if( xQueueReceive( commandQueue, &cmdCurrent, pdMS_TO_TICKS(500) ) ) { - ESP_LOGI(TAG, "running next command from queue..."); - //copy instruction to be provided to control task - *instruction = cmdCurrent.instruction; - //set acceleration / fading parameters according to command - motorLeft.setFade(fadeType_t::DECEL, cmdCurrent.fadeDecel); - motorRight.setFade(fadeType_t::DECEL, cmdCurrent.fadeDecel); - motorLeft.setFade(fadeType_t::ACCEL, cmdCurrent.fadeAccel); - motorRight.setFade(fadeType_t::ACCEL, cmdCurrent.fadeAccel); - //calculate timestamp the command is finished - timestampCmdFinished = esp_log_timestamp() + cmdCurrent.msDuration; - //copy the new commands - motorCommands = cmdCurrent.motorCmds; - } else { //queue empty - ESP_LOGD(TAG, "no new command in queue -> set motors to IDLE"); - motorCommands = motorCmds_bothMotorsIdle; - } - } else { //previous command still running - ESP_LOGD(TAG, "command still running -> no change"); - } - - //TODO also return instructions via call by reference - return motorCommands; -} - - - -//============================ -//======== addCommand ======== -//============================ -//function that adds a basic command to the queue -void automatedArmchair::addCommand(commandSimple_t command) { - //add command to queue - if ( xQueueSend( commandQueue, ( void * )&command, ( TickType_t ) 0 ) ){ - ESP_LOGI(TAG, "Successfully inserted command to queue"); - } else { - ESP_LOGE(TAG, "Failed to insert new command to queue"); - } -} - -void automatedArmchair::addCommands(commandSimple_t commands[], size_t count) { - for (int i = 0; i < count; i++) { - ESP_LOGI(TAG, "Reading command no. %d from provided array", i); - addCommand(commands[i]); - } -} - - -//=============================== -//======== clearCommands ======== -//=============================== -//function that deletes all pending/queued commands -//e.g. when switching modes -motorCommands_t automatedArmchair::clearCommands() { - //clear command queue - xQueueReset( commandQueue ); - ESP_LOGW(TAG, "command queue was successfully emptied"); - //return commands for idling both motors - motorCommands = motorCmds_bothMotorsIdle; - return motorCmds_bothMotorsIdle; -} - +// //============================== +// //====== generateCommands ====== +// //============================== +// motorCommands_t automatedArmchair::generateCommands(auto_instruction_t * instruction) { +// //reset instruction +// *instruction = auto_instruction_t::NONE; +// //check if previous command is finished +// if ( esp_log_timestamp() > timestampCmdFinished ) { +// //get next command from queue +// if( xQueueReceive( commandQueue, &cmdCurrent, pdMS_TO_TICKS(500) ) ) { +// ESP_LOGI(TAG, "running next command from queue..."); +// //copy instruction to be provided to control task +// *instruction = cmdCurrent.instruction; +// //set acceleration / fading parameters according to command +// motorLeft.setFade(fadeType_t::DECEL, cmdCurrent.fadeDecel); +// motorRight.setFade(fadeType_t::DECEL, cmdCurrent.fadeDecel); +// motorLeft.setFade(fadeType_t::ACCEL, cmdCurrent.fadeAccel); +// motorRight.setFade(fadeType_t::ACCEL, cmdCurrent.fadeAccel); +// //calculate timestamp the command is finished +// timestampCmdFinished = esp_log_timestamp() + cmdCurrent.msDuration; +// //copy the new commands +// motorCommands = cmdCurrent.motorCmds; +// } else { //queue empty +// ESP_LOGD(TAG, "no new command in queue -> set motors to IDLE"); +// motorCommands = motorCmds_bothMotorsIdle; +// } +// } else { //previous command still running +// ESP_LOGD(TAG, "command still running -> no change"); +// } +// +// //TODO also return instructions via call by reference +// return motorCommands; +// } +// +// +// +// //============================ +// //======== addCommand ======== +// //============================ +// //function that adds a basic command to the queue +// void automatedArmchair::addCommand(commandSimple_t command) { +// //add command to queue +// if ( xQueueSend( commandQueue, ( void * )&command, ( TickType_t ) 0 ) ){ +// ESP_LOGI(TAG, "Successfully inserted command to queue"); +// } else { +// ESP_LOGE(TAG, "Failed to insert new command to queue"); +// } +// } +// +// void automatedArmchair::addCommands(commandSimple_t commands[], size_t count) { +// for (int i = 0; i < count; i++) { +// ESP_LOGI(TAG, "Reading command no. %d from provided array", i); +// addCommand(commands[i]); +// } +// } +// +// +// //=============================== +// //======== clearCommands ======== +// //=============================== +// //function that deletes all pending/queued commands +// //e.g. when switching modes +// motorCommands_t automatedArmchair::clearCommands() { +// //clear command queue +// xQueueReset( commandQueue ); +// ESP_LOGW(TAG, "command queue was successfully emptied"); +// //return commands for idling both motors +// motorCommands = motorCmds_bothMotorsIdle; +// return motorCmds_bothMotorsIdle; +// } +// diff --git a/board_control/main/auto.hpp b/board_control/main/auto.hpp index 8b799fb..798ecdb 100644 --- a/board_control/main/auto.hpp +++ b/board_control/main/auto.hpp @@ -10,7 +10,7 @@ extern "C" #include "freertos/queue.h" #include -#include "motorctl.hpp" +#include "types.hpp" diff --git a/board_control/main/button.cpp b/board_control/main/button.cpp index 1762e6e..f90a8a4 100644 --- a/board_control/main/button.cpp +++ b/board_control/main/button.cpp @@ -16,200 +16,201 @@ static const char * TAG = "button"; -//----------------------------- -//-------- constructor -------- -//----------------------------- -buttonCommands::buttonCommands(gpio_evaluatedSwitch * button_f, evaluatedJoystick * joystick_f, controlledArmchair * control_f, buzzer_t * buzzer_f, controlledMotor * motorLeft_f, controlledMotor * motorRight_f){ - //copy object pointers - button = button_f; - joystick = joystick_f; - control = control_f; - buzzer = buzzer_f; - motorLeft = motorLeft_f; - motorRight = motorRight_f; - //TODO declare / configure evaluatedSwitch here instead of config (unnecessary that button object is globally available - only used here)? -} - - - -//---------------------------- -//--------- action ----------- -//---------------------------- -//function that runs commands depending on a count value -void buttonCommands::action (uint8_t count, bool lastPressLong){ - //--- variable declarations --- - bool decelEnabled; //for different beeping when toggling - commandSimple_t cmds[8]; //array for commands for automatedArmchair - - //--- get joystick position --- - //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; - - case 1: - //restart contoller when 1x long pressed - if (lastPressLong){ - ESP_LOGW(TAG, "RESTART"); - buzzer->beep(1,1000,1); - vTaskDelay(1000 / portTICK_PERIOD_MS); - esp_restart(); - return; - } - - 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){ - //define commands - cmds[0] = - { - .motorCmds = { - .left = {motorstate_t::REV, 90}, - .right = {motorstate_t::REV, 90} - }, - .msDuration = 1200, - .fadeDecel = 800, - .fadeAccel = 1300, - .instruction = auto_instruction_t::NONE - }; - cmds[1] = - { - .motorCmds = { - .left = {motorstate_t::FWD, 70}, - .right = {motorstate_t::FWD, 70} - }, - .msDuration = 70, - .fadeDecel = 0, - .fadeAccel = 300, - .instruction = auto_instruction_t::NONE - }; - cmds[2] = - { - .motorCmds = { - .left = {motorstate_t::IDLE, 0}, - .right = {motorstate_t::IDLE, 0} - }, - .msDuration = 10, - .fadeDecel = 800, - .fadeAccel = 1300, - .instruction = auto_instruction_t::SWITCH_JOYSTICK_MODE - }; - - //send commands to automatedArmchair command queue - armchair.addCommands(cmds, 3); - - //change mode to AUTO - control->changeMode(controlMode_t::AUTO); - return; - } - - //toggle idle when 2x pressed - ESP_LOGW(TAG, "cmd %d: toggle IDLE", count); - control->toggleIdle(); //toggle between idle and previous/default mode - break; - - - case 3: - ESP_LOGW(TAG, "cmd %d: switch to JOYSTICK", count); - control->changeMode(controlMode_t::JOYSTICK); //switch to JOYSTICK mode - break; - - case 4: - 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: - 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 deceleration fading between on and off - decelEnabled = motorLeft->toggleFade(fadeType_t::DECEL); - motorRight->toggleFade(fadeType_t::DECEL); - ESP_LOGW(TAG, "cmd %d: toggle deceleration fading to: %d", count, (int)decelEnabled); - if (decelEnabled){ - buzzer->beep(3, 60, 50); - } else { - buzzer->beep(1, 1000, 1); - } - 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)? - break; - - } -} - - - - -//----------------------------- -//------ 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() { - - 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; - } - } -} - - - - +//FIXME needs rework, motorleft/right objectn not available anymore +// //----------------------------- +// //-------- constructor -------- +// //----------------------------- +// buttonCommands::buttonCommands(gpio_evaluatedSwitch * button_f, evaluatedJoystick * joystick_f, controlledArmchair * control_f, buzzer_t * buzzer_f, controlledMotor * motorLeft_f, controlledMotor * motorRight_f){ +// //copy object pointers +// button = button_f; +// joystick = joystick_f; +// control = control_f; +// buzzer = buzzer_f; +// motorLeft = motorLeft_f; +// motorRight = motorRight_f; +// //TODO declare / configure evaluatedSwitch here instead of config (unnecessary that button object is globally available - only used here)? +// } +// +// +// +// //---------------------------- +// //--------- action ----------- +// //---------------------------- +// //function that runs commands depending on a count value +// void buttonCommands::action (uint8_t count, bool lastPressLong){ +// //--- variable declarations --- +// bool decelEnabled; //for different beeping when toggling +// commandSimple_t cmds[8]; //array for commands for automatedArmchair +// +// //--- get joystick position --- +// //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; +// +// case 1: +// //restart contoller when 1x long pressed +// if (lastPressLong){ +// ESP_LOGW(TAG, "RESTART"); +// buzzer->beep(1,1000,1); +// vTaskDelay(1000 / portTICK_PERIOD_MS); +// esp_restart(); +// return; +// } +// +// 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){ +// //define commands +// cmds[0] = +// { +// .motorCmds = { +// .left = {motorstate_t::REV, 90}, +// .right = {motorstate_t::REV, 90} +// }, +// .msDuration = 1200, +// .fadeDecel = 800, +// .fadeAccel = 1300, +// .instruction = auto_instruction_t::NONE +// }; +// cmds[1] = +// { +// .motorCmds = { +// .left = {motorstate_t::FWD, 70}, +// .right = {motorstate_t::FWD, 70} +// }, +// .msDuration = 70, +// .fadeDecel = 0, +// .fadeAccel = 300, +// .instruction = auto_instruction_t::NONE +// }; +// cmds[2] = +// { +// .motorCmds = { +// .left = {motorstate_t::IDLE, 0}, +// .right = {motorstate_t::IDLE, 0} +// }, +// .msDuration = 10, +// .fadeDecel = 800, +// .fadeAccel = 1300, +// .instruction = auto_instruction_t::SWITCH_JOYSTICK_MODE +// }; +// +// //send commands to automatedArmchair command queue +// armchair.addCommands(cmds, 3); +// +// //change mode to AUTO +// control->changeMode(controlMode_t::AUTO); +// return; +// } +// +// //toggle idle when 2x pressed +// ESP_LOGW(TAG, "cmd %d: toggle IDLE", count); +// control->toggleIdle(); //toggle between idle and previous/default mode +// break; +// +// +// case 3: +// ESP_LOGW(TAG, "cmd %d: switch to JOYSTICK", count); +// control->changeMode(controlMode_t::JOYSTICK); //switch to JOYSTICK mode +// break; +// +// case 4: +// 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: +// 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 deceleration fading between on and off +// decelEnabled = motorLeft->toggleFade(fadeType_t::DECEL); +// motorRight->toggleFade(fadeType_t::DECEL); +// ESP_LOGW(TAG, "cmd %d: toggle deceleration fading to: %d", count, (int)decelEnabled); +// if (decelEnabled){ +// buzzer->beep(3, 60, 50); +// } else { +// buzzer->beep(1, 1000, 1); +// } +// 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)? +// break; +// +// } +// } +// +// +// +// +// //----------------------------- +// //------ 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() { +// +// 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; +// } +// } +// } +// +// +// +// diff --git a/board_control/main/button.hpp b/board_control/main/button.hpp index 09de729..8f44b16 100644 --- a/board_control/main/button.hpp +++ b/board_control/main/button.hpp @@ -3,51 +3,52 @@ #include "gpio_evaluateSwitch.hpp" #include "buzzer.hpp" #include "control.hpp" -#include "motorctl.hpp" #include "auto.hpp" #include "config.hpp" #include "joystick.hpp" +#include "types.hpp" -//=================================== -//====== buttonCommands class ======= -//=================================== -//class which runs commands depending on the count a button was pressed -class buttonCommands { - public: - //--- constructor --- - buttonCommands ( - gpio_evaluatedSwitch * button_f, - evaluatedJoystick * joystick_f, - controlledArmchair * control_f, - buzzer_t * buzzer_f, - controlledMotor * motorLeft_f, - controlledMotor * motorRight_f - ); - //--- functions --- - //the following function has to be started once in a separate task. - //repeatedly evaluates and processes button events then takes the corresponding action - void startHandleLoop(); - - private: - //--- functions --- - void action(uint8_t count, bool lastPressLong); - - //--- objects --- - gpio_evaluatedSwitch* button; - evaluatedJoystick* joystick; - controlledArmchair * control; - buzzer_t* buzzer; - controlledMotor * motorLeft; - controlledMotor * motorRight; - - //--- variables --- - uint8_t count = 0; - uint32_t timestamp_lastAction = 0; - enum class inputState_t {IDLE, WAIT_FOR_INPUT}; - inputState_t state = inputState_t::IDLE; - -}; +// //=================================== +// //====== buttonCommands class ======= +// //=================================== +// //class which runs commands depending on the count a button was pressed +// class buttonCommands { +// public: +// //--- constructor --- +// buttonCommands ( +// gpio_evaluatedSwitch * button_f, +// evaluatedJoystick * joystick_f, +// controlledArmchair * control_f, +// buzzer_t * buzzer_f, +// controlledMotor * motorLeft_f, +// controlledMotor * motorRight_f +// ); +// +// //--- functions --- +// //the following function has to be started once in a separate task. +// //repeatedly evaluates and processes button events then takes the corresponding action +// void startHandleLoop(); +// +// private: +// //--- functions --- +// void action(uint8_t count, bool lastPressLong); +// +// //--- objects --- +// gpio_evaluatedSwitch* button; +// evaluatedJoystick* joystick; +// controlledArmchair * control; +// buzzer_t* buzzer; +// controlledMotor * motorLeft; +// controlledMotor * motorRight; +// +// //--- variables --- +// uint8_t count = 0; +// uint32_t timestamp_lastAction = 0; +// enum class inputState_t {IDLE, WAIT_FOR_INPUT}; +// inputState_t state = inputState_t::IDLE; +// +// }; diff --git a/board_control/main/buzzer.cpp b/board_control/main/buzzer.cpp deleted file mode 100644 index 9046cd1..0000000 --- a/board_control/main/buzzer.cpp +++ /dev/null @@ -1,95 +0,0 @@ -#include "buzzer.hpp" -#include "config.hpp" - -static const char *TAG_BUZZER = "buzzer"; - -//============================ -//========== init ============ -//============================ -//define gpio pin as output, initialize queue -void buzzer_t::init(){ - //define buzzer pin as output - gpio_pad_select_gpio(gpio_pin); - gpio_set_direction(gpio_pin, GPIO_MODE_OUTPUT); - //create queue - beepQueue = xQueueCreate( 20, sizeof( struct beepEntry ) ); -} - - -//============================= -//======== constructor ======== -//============================= -//copy provided config parameters to private variables, run init function -buzzer_t::buzzer_t(gpio_num_t gpio_pin_f, uint16_t msGap_f){ - ESP_LOGI(TAG_BUZZER, "Initializing buzzer"); - //copy configuration parameters to variables - gpio_pin = gpio_pin_f; - msGap = msGap_f; - //run init function to initialize gpio and queue - init(); -}; - - -//============================ -//=========== beep =========== -//============================ -//function to add a beep command to the queue -void buzzer_t::beep(uint8_t count, uint16_t msOn, uint16_t msOff){ - //create entry struct with provided data - struct beepEntry entryInsert = { - count = count, - msOn = msOn, - msOff = msOff - }; - - // Send a pointer to a struct AMessage object. Don't block if the - // queue is already full. - //struct beepEntry *entryInsertPointer; - //entryInsertPointer = &entryInsertData; - ESP_LOGW(TAG_BUZZER, "Inserted object to queue - count=%d, msOn=%d, msOff=%d", entryInsert.count, entryInsert.msOn, entryInsert.msOff); - //xQueueGenericSend( beepQueue, ( void * ) &entryInsertPointer, ( TickType_t ) 0, queueSEND_TO_BACK ); - xQueueSend( beepQueue, ( void * )&entryInsert, ( TickType_t ) 0 ); -} - - -//============================== -//======== processQueue ======== -//============================== -void buzzer_t::processQueue(){ - //struct for receiving incomming events - struct beepEntry entryRead = { }; - - //loop forever - while(1){ - ESP_LOGD(TAG_BUZZER, "processQueue: waiting for beep command"); - - //if queue is ready - if( beepQueue != 0 ) - { - // wait for a queue entry to be available indefinetely if INCLUDE_vTaskSuspend is enabled in the FreeRTOS config - // otherwise waits for at least 7 weeks - if( xQueueReceive( beepQueue, &entryRead, portMAX_DELAY ) ) - { - ESP_LOGW(TAG_BUZZER, "Read entry from queue: count=%d, msOn=%d, msOff=%d", entryRead.count, entryRead.msOn, entryRead.msOff); - - //beep requested count with requested delays - for (int i = entryRead.count; i--;){ - //turn on - ESP_LOGD(TAG_BUZZER, "turning buzzer on"); - gpio_set_level(gpio_pin, 1); - vTaskDelay(entryRead.msOn / portTICK_PERIOD_MS); - //turn off - ESP_LOGD(TAG_BUZZER, "turning buzzer off"); - gpio_set_level(gpio_pin, 0); - vTaskDelay(entryRead.msOff / portTICK_PERIOD_MS); - } - //wait for minimum gap between beep events - vTaskDelay(msGap / portTICK_PERIOD_MS); - } - }else{ //wait for queue to become available - vTaskDelay(50 / portTICK_PERIOD_MS); - } - } -} - - diff --git a/board_control/main/buzzer.hpp b/board_control/main/buzzer.hpp deleted file mode 100644 index ce6c2c6..0000000 --- a/board_control/main/buzzer.hpp +++ /dev/null @@ -1,56 +0,0 @@ -#pragma once - -#include - -extern "C" -{ -#include "freertos/FreeRTOS.h" -#include "freertos/task.h" -#include "driver/gpio.h" -#include "esp_log.h" -} - -#include "freertos/queue.h" - - - -//=================================== -//========= buzzer_t class ========== -//=================================== -//class which blinks a gpio pin for the provided count and durations. -//- 'processQueue' has to be run in a separate task -//- uses a queue to queue up multiple beep commands -class buzzer_t { - public: - //--- constructor --- - buzzer_t(gpio_num_t gpio_pin_f, uint16_t msGap_f = 200); - - //--- functions --- - void processQueue(); //has to be run once in a separate task, waits for and processes queued events - void beep(uint8_t count, uint16_t msOn, uint16_t msOff); - //void clear(); (TODO - not implemented yet) - //void createTask(); (TODO - not implemented yet) - - //--- variables --- - uint16_t msGap; //gap between beep entries (when multiple queued) - - private: - //--- functions --- - void init(); - - //--- variables --- - gpio_num_t gpio_pin; - - struct beepEntry { - uint8_t count; - uint16_t msOn; - uint16_t msOff; - }; - - //queue for queueing up multiple events while one is still processing - QueueHandle_t beepQueue = NULL; - -}; - - - diff --git a/board_control/main/config.cpp b/board_control/main/config.cpp index 36593f1..4d28e65 100644 --- a/board_control/main/config.cpp +++ b/board_control/main/config.cpp @@ -1,60 +1,5 @@ #include "config.hpp" -//=================================== -//======= motor configuration ======= -//=================================== -//--- configure left motor (hardware) --- -single100a_config_t configDriverLeft = { - .gpio_pwm = GPIO_NUM_26, - .gpio_a = GPIO_NUM_16, - .gpio_b = GPIO_NUM_4, - .ledc_timer = LEDC_TIMER_0, - .ledc_channel = LEDC_CHANNEL_0, - .aEnabledPinState = false, //-> pins inverted (mosfets) - .bEnabledPinState = false, - .resolution = LEDC_TIMER_11_BIT, - .pwmFreq = 10000 -}; - -//--- configure right motor (hardware) --- -single100a_config_t configDriverRight = { - .gpio_pwm = GPIO_NUM_27, - .gpio_a = GPIO_NUM_2, - .gpio_b = GPIO_NUM_14, - .ledc_timer = LEDC_TIMER_1, - .ledc_channel = LEDC_CHANNEL_1, - .aEnabledPinState = false, //-> pin inverted (mosfet) - .bEnabledPinState = true, //-> not inverted (direct) - .resolution = LEDC_TIMER_11_BIT, - .pwmFreq = 10000 -}; - - -//TODO add motor name string -> then use as log tag? -//--- configure left motor (contol) --- -motorctl_config_t configMotorControlLeft = { - .msFadeAccel = 1900, //acceleration of the motor (ms it takes from 0% to 100%) - .msFadeDecel = 1000, //deceleration of the motor (ms it takes from 100% to 0%) - .currentLimitEnabled = true, - .currentSensor_adc = ADC1_CHANNEL_6, //GPIO34 - .currentSensor_ratedCurrent = 50, - .currentMax = 30, - .deadTimeMs = 900 //minimum time motor is off between direction change -}; - -//--- configure right motor (contol) --- -motorctl_config_t configMotorControlRight = { - .msFadeAccel = 1900, //acceleration of the motor (ms it takes from 0% to 100%) - .msFadeDecel = 1000, //deceleration of the motor (ms it takes from 100% to 0%) - .currentLimitEnabled = true, - .currentSensor_adc = ADC1_CHANNEL_4, //GPIO32 - .currentSensor_ratedCurrent = 50, - .currentMax = 30, - .deadTimeMs = 900 //minimum time motor is off between direction change -}; - - - //============================== //======= control config ======= //============================== @@ -107,29 +52,12 @@ joystick_config_t configJoystick = { -//============================ -//=== configure fan contol === -//============================ -fan_config_t configCooling = { - .gpio_fan = GPIO_NUM_13, - .dutyThreshold = 40, - .minOnMs = 1500, - .minOffMs = 3000, - .turnOffDelayMs = 5000, -}; - - - //================================= //===== create global objects ===== //================================= //TODO outsource global variables to e.g. global.cpp and only config options here? -//create controlled motor instances (motorctl.hpp) -controlledMotor motorLeft(configDriverLeft, configMotorControlLeft); -controlledMotor motorRight(configDriverRight, configMotorControlRight); - //create global joystic instance (joystick.hpp) evaluatedJoystick joystick(configJoystick); @@ -143,7 +71,7 @@ buzzer_t buzzer(GPIO_NUM_12, 100); httpJoystick httpJoystickMain(configHttpJoystickMain); //create global control object (control.hpp) -controlledArmchair control(configControl, &buzzer, &motorLeft, &motorRight, &joystick, &httpJoystickMain); +//controlledArmchair control(configControl, &buzzer, &motorLeft, &motorRight, &joystick, &httpJoystickMain); //create global automatedArmchair object (for auto-mode) (auto.hpp) automatedArmchair armchair; diff --git a/board_control/main/config.hpp b/board_control/main/config.hpp index 2ea0b24..77ddb80 100644 --- a/board_control/main/config.hpp +++ b/board_control/main/config.hpp @@ -1,13 +1,10 @@ #pragma once -#include "motordrivers.hpp" -#include "motorctl.hpp" #include "joystick.hpp" #include "gpio_evaluateSwitch.hpp" #include "buzzer.hpp" #include "control.hpp" -#include "fan.hpp" #include "http.hpp" #include "auto.hpp" @@ -19,10 +16,6 @@ //TODO outsource global variables to e.g. global.cpp and only config options here? -//create global controlledMotor instances for both motors -extern controlledMotor motorLeft; -extern controlledMotor motorRight; - //create global joystic instance extern evaluatedJoystick joystick; @@ -33,14 +26,10 @@ extern gpio_evaluatedSwitch buttonJoystick; extern buzzer_t buzzer; //create global control object -extern controlledArmchair control; +//extern controlledArmchair control; //create global automatedArmchair object (for auto-mode) extern automatedArmchair armchair; //create global httpJoystick object extern httpJoystick httpJoystickMain; - -//configuration for fans / cooling -extern fan_config_t configCooling; - diff --git a/board_control/main/control.cpp b/board_control/main/control.cpp index fc9e4e3..3900550 100644 --- a/board_control/main/control.cpp +++ b/board_control/main/control.cpp @@ -22,458 +22,459 @@ static const char * TAG = "control"; const char* controlModeStr[7] = {"IDLE", "JOYSTICK", "MASSAGE", "HTTP", "MQTT", "BLUETOOTH", "AUTO"}; -//----------------------------- -//-------- constructor -------- -//----------------------------- -controlledArmchair::controlledArmchair ( - control_config_t config_f, - buzzer_t * buzzer_f, - controlledMotor* motorLeft_f, - controlledMotor* motorRight_f, - evaluatedJoystick* joystick_f, - httpJoystick* httpJoystick_f - ){ - - //copy configuration - config = config_f; - //copy object pointers - buzzer = buzzer_f; - motorLeft = motorLeft_f; - motorRight = motorRight_f; - joystick_l = joystick_f, - httpJoystickMain_l = httpJoystick_f; - //set default mode from config - modePrevious = config.defaultMode; - - //TODO declare / configure controlled motors here instead of config (unnecessary that button object is globally available - only used here)? -} - - - -//---------------------------------- -//---------- Handle loop ----------- -//---------------------------------- -//function that repeatedly generates motor commands depending on the current mode -//also handles fading and current-limit -void controlledArmchair::startHandleLoop() { - while (1){ - ESP_LOGV(TAG, "control task executing... mode=%s", controlModeStr[(int)mode]); - - switch(mode) { - default: - mode = controlMode_t::IDLE; - break; - - case controlMode_t::IDLE: - //copy preset commands for idling both motors - commands = cmds_bothMotorsIdle; - motorRight->setTarget(commands.right.state, commands.right.duty); - motorLeft->setTarget(commands.left.state, commands.left.duty); - vTaskDelay(200 / portTICK_PERIOD_MS); -#ifdef JOYSTICK_LOG_IN_IDLE - //get joystick data here (without using it) - //since loglevel is DEBUG, calculateion details is output - joystick_l->getData(); //get joystick data here -#endif - break; - - - case controlMode_t::JOYSTICK: - vTaskDelay(20 / portTICK_PERIOD_MS); - //get current joystick data with getData method of evaluatedJoystick - stickData = joystick_l->getData(); - //additionaly scale coordinates (more detail in slower area) - joystick_scaleCoordinatesLinear(&stickData, 0.6, 0.35); //TODO: add scaling parameters to config - //generate motor commands - commands = joystick_generateCommandsDriving(stickData, altStickMapping); - //apply motor commands - motorRight->setTarget(commands.right.state, commands.right.duty); - motorLeft->setTarget(commands.left.state, commands.left.duty); - //TODO make motorctl.setTarget also accept motorcommand struct directly - break; - - - case controlMode_t::MASSAGE: - vTaskDelay(10 / portTICK_PERIOD_MS); - //--- read joystick --- - //only update joystick data when input not frozen - if (!freezeInput){ - stickData = joystick_l->getData(); - } - //--- generate motor commands --- - //pass joystick data from getData method of evaluatedJoystick to generateCommandsShaking function - commands = joystick_generateCommandsShaking(stickData); - //apply motor commands - motorRight->setTarget(commands.right.state, commands.right.duty); - motorLeft->setTarget(commands.left.state, commands.left.duty); - break; - - - case controlMode_t::HTTP: - //--- get joystick data from queue --- - //Note this function waits several seconds (httpconfig.timeoutMs) for data to arrive, otherwise Center data or NULL is returned - //TODO: as described above, when changing modes it might delay a few seconds for the change to apply - stickData = httpJoystickMain_l->getData(); - //scale coordinates additionally (more detail in slower area) - joystick_scaleCoordinatesLinear(&stickData, 0.6, 0.4); //TODO: add scaling parameters to config - ESP_LOGD(TAG, "generating commands from x=%.3f y=%.3f radius=%.3f angle=%.3f", stickData.x, stickData.y, stickData.radius, stickData.angle); - //--- generate motor commands --- - //Note: timeout (no data received) is handled in getData method - commands = joystick_generateCommandsDriving(stickData, altStickMapping); - - //--- apply commands to motors --- - //TODO make motorctl.setTarget also accept motorcommand struct directly - motorRight->setTarget(commands.right.state, commands.right.duty); - motorLeft->setTarget(commands.left.state, commands.left.duty); - break; - - - case controlMode_t::AUTO: - vTaskDelay(20 / portTICK_PERIOD_MS); - //generate commands - commands = armchair.generateCommands(&instruction); - //--- apply commands to motors --- - //TODO make motorctl.setTarget also accept motorcommand struct directly - motorRight->setTarget(commands.right.state, commands.right.duty); - motorLeft->setTarget(commands.left.state, commands.left.duty); - - //process received instruction - switch (instruction) { - case auto_instruction_t::NONE: - break; - case auto_instruction_t::SWITCH_PREV_MODE: - toggleMode(controlMode_t::AUTO); - break; - case auto_instruction_t::SWITCH_JOYSTICK_MODE: - changeMode(controlMode_t::JOYSTICK); - break; - case auto_instruction_t::RESET_ACCEL_DECEL: - //enable downfading (set to default value) - motorLeft->setFade(fadeType_t::DECEL, true); - motorRight->setFade(fadeType_t::DECEL, true); - //set upfading to default value - motorLeft->setFade(fadeType_t::ACCEL, true); - motorRight->setFade(fadeType_t::ACCEL, true); - break; - case auto_instruction_t::RESET_ACCEL: - //set upfading to default value - motorLeft->setFade(fadeType_t::ACCEL, true); - motorRight->setFade(fadeType_t::ACCEL, true); - break; - case auto_instruction_t::RESET_DECEL: - //enable downfading (set to default value) - motorLeft->setFade(fadeType_t::DECEL, true); - motorRight->setFade(fadeType_t::DECEL, true); - break; - } - 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 ------ - //----------------------- - //this section is run about every 5s (+500ms) - if (esp_log_timestamp() - timestamp_SlowLoopLastRun > 5000) { - ESP_LOGV(TAG, "running slow loop... time since last run: %.1fs", (float)(esp_log_timestamp() - timestamp_SlowLoopLastRun)/1000); - timestamp_SlowLoopLastRun = esp_log_timestamp(); - - //run function which detects timeout (switch to idle) - handleTimeout(); - } - - }//end while(1) -}//end startHandleLoop - - - -//----------------------------------- -//---------- resetTimeout ----------- -//----------------------------------- -void controlledArmchair::resetTimeout(){ - //TODO mutex - timestamp_lastActivity = esp_log_timestamp(); -} - - - -//------------------------------------ -//--------- sendButtonEvent ---------- -//------------------------------------ -void controlledArmchair::sendButtonEvent(uint8_t count){ - //TODO mutex - if not replaced with queue - ESP_LOGI(TAG, "setting button event"); - buttonCount = count; -} - - - -//------------------------------------ -//---------- handleTimeout ----------- -//------------------------------------ -//percentage the duty can vary since last timeout check and still counts as incative -//TODO: add this to config -float inactivityTolerance = 10; - -//local function that checks whether two values differ more than a given tolerance -bool validateActivity(float dutyOld, float dutyNow, float tolerance){ - float dutyDelta = dutyNow - dutyOld; - if (fabs(dutyDelta) < tolerance) { - return false; //no significant activity detected - } else { - return true; //there was activity - } -} - -//function that evaluates whether there is no activity/change on the motor duty for a certain time. If so, a switch to IDLE is issued. - has to be run repeatedly in a slow interval -void controlledArmchair::handleTimeout(){ - //check for timeout only when not idling already - if (mode != controlMode_t::IDLE) { - //get current duty from controlled motor objects - float dutyLeftNow = motorLeft->getStatus().duty; - float dutyRightNow = motorRight->getStatus().duty; - - //activity detected on any of the two motors - if (validateActivity(dutyLeft_lastActivity, dutyLeftNow, inactivityTolerance) - || validateActivity(dutyRight_lastActivity, dutyRightNow, inactivityTolerance) - ){ - ESP_LOGD(TAG, "timeout check: [activity] detected since last check -> reset"); - //reset last duty and timestamp - dutyLeft_lastActivity = dutyLeftNow; - dutyRight_lastActivity = dutyRightNow; - resetTimeout(); - } - //no activity on any motor and msTimeout exceeded - else if (esp_log_timestamp() - timestamp_lastActivity > config.timeoutMs){ - ESP_LOGI(TAG, "timeout check: [TIMEOUT], no activity for more than %.ds -> switch to idle", config.timeoutMs/1000); - //toggle to idle mode - toggleIdle(); - } - else { - ESP_LOGD(TAG, "timeout check: [inactive], last activity %.1f s ago, timeout after %d s", (float)(esp_log_timestamp() - timestamp_lastActivity)/1000, config.timeoutMs/1000); - } - } -} - - - -//----------------------------------- -//----------- changeMode ------------ -//----------------------------------- -//function to change to a specified control mode -void controlledArmchair::changeMode(controlMode_t modeNew) { - //reset timeout timer - resetTimeout(); - - //exit if target mode is already active - if (mode == modeNew) { - ESP_LOGE(TAG, "changeMode: Already in target mode '%s' -> nothing to change", controlModeStr[(int)mode]); - return; - } - - //copy previous mode - modePrevious = mode; - - ESP_LOGW(TAG, "=== changing mode from %s to %s ===", controlModeStr[(int)mode], controlModeStr[(int)modeNew]); - - //========== commands change FROM mode ========== - //run functions when changing FROM certain mode - switch(modePrevious){ - default: - ESP_LOGI(TAG, "noting to execute when changing FROM this mode"); - break; - -#ifdef JOYSTICK_LOG_IN_IDLE - case controlMode_t::IDLE: - ESP_LOGI(TAG, "disabling debug output for 'evaluatedJoystick'"); - esp_log_level_set("evaluatedJoystick", ESP_LOG_WARN); //FIXME: loglevel from config - break; -#endif - - case controlMode_t::HTTP: - ESP_LOGW(TAG, "switching from http mode -> disabling http and wifi"); - //stop http server - ESP_LOGI(TAG, "disabling http server..."); - http_stop_server(); - - //FIXME: make wifi function work here - currently starting wifi at startup (see notes main.cpp) - //stop wifi - //TODO: decide whether ap or client is currently used - which has to be disabled? - //ESP_LOGI(TAG, "deinit wifi..."); - //wifi_deinit_client(); - //wifi_deinit_ap(); - ESP_LOGI(TAG, "done stopping http mode"); - break; - - case controlMode_t::MASSAGE: - ESP_LOGW(TAG, "switching from MASSAGE mode -> restoring fading, reset frozen input"); - //TODO: fix issue when downfading was disabled before switching to massage mode - currently it gets enabled again here... - //enable downfading (set to default value) - motorLeft->setFade(fadeType_t::DECEL, true); - motorRight->setFade(fadeType_t::DECEL, true); - //set upfading to default value - motorLeft->setFade(fadeType_t::ACCEL, true); - motorRight->setFade(fadeType_t::ACCEL, true); - //reset frozen input state - freezeInput = false; - break; - - case controlMode_t::AUTO: - ESP_LOGW(TAG, "switching from AUTO mode -> restoring fading to default"); - //TODO: fix issue when downfading was disabled before switching to auto mode - currently it gets enabled again here... - //enable downfading (set to default value) - motorLeft->setFade(fadeType_t::DECEL, true); - motorRight->setFade(fadeType_t::DECEL, true); - //set upfading to default value - motorLeft->setFade(fadeType_t::ACCEL, true); - motorRight->setFade(fadeType_t::ACCEL, true); - break; - } - - - //========== commands change TO mode ========== - //run functions when changing TO certain mode - switch(modeNew){ - default: - ESP_LOGI(TAG, "noting to execute when changing TO this mode"); - break; - - case controlMode_t::IDLE: - buzzer->beep(1, 1500, 0); -#ifdef JOYSTICK_LOG_IN_IDLE - esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG); -#endif - break; - - case controlMode_t::HTTP: - ESP_LOGW(TAG, "switching to http mode -> enabling http and wifi"); - //start wifi - //TODO: decide wether ap or client should be started - ESP_LOGI(TAG, "init wifi..."); - - //FIXME: make wifi function work here - currently starting wifi at startup (see notes main.cpp) - //wifi_init_client(); - //wifi_init_ap(); - - //wait for wifi - //ESP_LOGI(TAG, "waiting for wifi..."); - //vTaskDelay(1000 / portTICK_PERIOD_MS); - - //start http server - ESP_LOGI(TAG, "init http server..."); - http_init_server(); - ESP_LOGI(TAG, "done initializing http mode"); - break; - - case controlMode_t::MASSAGE: - ESP_LOGW(TAG, "switching to MASSAGE mode -> reducing fading"); - uint32_t shake_msFadeAccel = 500; //TODO: move this to config - - //disable downfading (max. deceleration) - motorLeft->setFade(fadeType_t::DECEL, false); - motorRight->setFade(fadeType_t::DECEL, false); - //reduce upfading (increase acceleration) - motorLeft->setFade(fadeType_t::ACCEL, shake_msFadeAccel); - motorRight->setFade(fadeType_t::ACCEL, shake_msFadeAccel); - break; - - } - - //--- update mode to new mode --- - //TODO: add mutex - mode = modeNew; -} - - -//TODO simplify the following 3 functions? can be replaced by one? - -//----------------------------------- -//----------- toggleIdle ------------ -//----------------------------------- -//function to toggle between IDLE and previous active mode -void controlledArmchair::toggleIdle() { - //toggle between IDLE and previous mode - toggleMode(controlMode_t::IDLE); -} - - - -//------------------------------------ -//----------- toggleModes ------------ -//------------------------------------ -//function to toggle between two modes, but prefer first argument if entirely different mode is currently active -void controlledArmchair::toggleModes(controlMode_t modePrimary, controlMode_t modeSecondary) { - //switch to secondary mode when primary is already active - if (mode == modePrimary){ - ESP_LOGW(TAG, "toggleModes: switching from primaryMode %s to secondarMode %s", controlModeStr[(int)mode], controlModeStr[(int)modeSecondary]); - buzzer->beep(2,200,100); - changeMode(modeSecondary); //switch to secondary mode - } - //switch to primary mode when any other mode is active - else { - ESP_LOGW(TAG, "toggleModes: switching from %s to primary mode %s", controlModeStr[(int)mode], controlModeStr[(int)modePrimary]); - buzzer->beep(4,200,100); - changeMode(modePrimary); - } -} - - - -//----------------------------------- -//----------- toggleMode ------------ -//----------------------------------- -//function that toggles between certain mode and previous mode -void controlledArmchair::toggleMode(controlMode_t modePrimary){ - - //switch to previous mode when primary is already active - if (mode == modePrimary){ - ESP_LOGW(TAG, "toggleMode: switching from primaryMode %s to previousMode %s", controlModeStr[(int)mode], controlModeStr[(int)modePrevious]); - //buzzer->beep(2,200,100); - changeMode(modePrevious); //switch to previous mode - } - //switch to primary mode when any other mode is active - else { - ESP_LOGW(TAG, "toggleModes: switching from %s to primary mode %s", controlModeStr[(int)mode], controlModeStr[(int)modePrimary]); - //buzzer->beep(4,200,100); - changeMode(modePrimary); - } -} +//FIXME controlledMotor class not available for this pcb, rework +// //----------------------------- +// //-------- constructor -------- +// //----------------------------- +// controlledArmchair::controlledArmchair ( +// control_config_t config_f, +// buzzer_t * buzzer_f, +// controlledMotor* motorLeft_f, +// controlledMotor* motorRight_f, +// evaluatedJoystick* joystick_f, +// httpJoystick* httpJoystick_f +// ){ +// +// //copy configuration +// config = config_f; +// //copy object pointers +// buzzer = buzzer_f; +// motorLeft = motorLeft_f; +// motorRight = motorRight_f; +// joystick_l = joystick_f, +// httpJoystickMain_l = httpJoystick_f; +// //set default mode from config +// modePrevious = config.defaultMode; +// +// //TODO declare / configure controlled motors here instead of config (unnecessary that button object is globally available - only used here)? +// } +// +// +// +// //---------------------------------- +// //---------- Handle loop ----------- +// //---------------------------------- +// //function that repeatedly generates motor commands depending on the current mode +// //also handles fading and current-limit +// void controlledArmchair::startHandleLoop() { +// while (1){ +// ESP_LOGV(TAG, "control task executing... mode=%s", controlModeStr[(int)mode]); +// +// switch(mode) { +// default: +// mode = controlMode_t::IDLE; +// break; +// +// case controlMode_t::IDLE: +// //copy preset commands for idling both motors +// commands = cmds_bothMotorsIdle; +// motorRight->setTarget(commands.right.state, commands.right.duty); +// motorLeft->setTarget(commands.left.state, commands.left.duty); +// vTaskDelay(200 / portTICK_PERIOD_MS); +// #ifdef JOYSTICK_LOG_IN_IDLE +// //get joystick data here (without using it) +// //since loglevel is DEBUG, calculateion details is output +// joystick_l->getData(); //get joystick data here +// #endif +// break; +// +// +// case controlMode_t::JOYSTICK: +// vTaskDelay(20 / portTICK_PERIOD_MS); +// //get current joystick data with getData method of evaluatedJoystick +// stickData = joystick_l->getData(); +// //additionaly scale coordinates (more detail in slower area) +// joystick_scaleCoordinatesLinear(&stickData, 0.6, 0.35); //TODO: add scaling parameters to config +// //generate motor commands +// commands = joystick_generateCommandsDriving(stickData, altStickMapping); +// //apply motor commands +// motorRight->setTarget(commands.right.state, commands.right.duty); +// motorLeft->setTarget(commands.left.state, commands.left.duty); +// //TODO make motorctl.setTarget also accept motorcommand struct directly +// break; +// +// +// case controlMode_t::MASSAGE: +// vTaskDelay(10 / portTICK_PERIOD_MS); +// //--- read joystick --- +// //only update joystick data when input not frozen +// if (!freezeInput){ +// stickData = joystick_l->getData(); +// } +// //--- generate motor commands --- +// //pass joystick data from getData method of evaluatedJoystick to generateCommandsShaking function +// commands = joystick_generateCommandsShaking(stickData); +// //apply motor commands +// motorRight->setTarget(commands.right.state, commands.right.duty); +// motorLeft->setTarget(commands.left.state, commands.left.duty); +// break; +// +// +// case controlMode_t::HTTP: +// //--- get joystick data from queue --- +// //Note this function waits several seconds (httpconfig.timeoutMs) for data to arrive, otherwise Center data or NULL is returned +// //TODO: as described above, when changing modes it might delay a few seconds for the change to apply +// stickData = httpJoystickMain_l->getData(); +// //scale coordinates additionally (more detail in slower area) +// joystick_scaleCoordinatesLinear(&stickData, 0.6, 0.4); //TODO: add scaling parameters to config +// ESP_LOGD(TAG, "generating commands from x=%.3f y=%.3f radius=%.3f angle=%.3f", stickData.x, stickData.y, stickData.radius, stickData.angle); +// //--- generate motor commands --- +// //Note: timeout (no data received) is handled in getData method +// commands = joystick_generateCommandsDriving(stickData, altStickMapping); +// +// //--- apply commands to motors --- +// //TODO make motorctl.setTarget also accept motorcommand struct directly +// motorRight->setTarget(commands.right.state, commands.right.duty); +// motorLeft->setTarget(commands.left.state, commands.left.duty); +// break; +// +// +// case controlMode_t::AUTO: +// vTaskDelay(20 / portTICK_PERIOD_MS); +// //generate commands +// commands = armchair.generateCommands(&instruction); +// //--- apply commands to motors --- +// //TODO make motorctl.setTarget also accept motorcommand struct directly +// motorRight->setTarget(commands.right.state, commands.right.duty); +// motorLeft->setTarget(commands.left.state, commands.left.duty); +// +// //process received instruction +// switch (instruction) { +// case auto_instruction_t::NONE: +// break; +// case auto_instruction_t::SWITCH_PREV_MODE: +// toggleMode(controlMode_t::AUTO); +// break; +// case auto_instruction_t::SWITCH_JOYSTICK_MODE: +// changeMode(controlMode_t::JOYSTICK); +// break; +// case auto_instruction_t::RESET_ACCEL_DECEL: +// //enable downfading (set to default value) +// motorLeft->setFade(fadeType_t::DECEL, true); +// motorRight->setFade(fadeType_t::DECEL, true); +// //set upfading to default value +// motorLeft->setFade(fadeType_t::ACCEL, true); +// motorRight->setFade(fadeType_t::ACCEL, true); +// break; +// case auto_instruction_t::RESET_ACCEL: +// //set upfading to default value +// motorLeft->setFade(fadeType_t::ACCEL, true); +// motorRight->setFade(fadeType_t::ACCEL, true); +// break; +// case auto_instruction_t::RESET_DECEL: +// //enable downfading (set to default value) +// motorLeft->setFade(fadeType_t::DECEL, true); +// motorRight->setFade(fadeType_t::DECEL, true); +// break; +// } +// 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 ------ +// //----------------------- +// //this section is run about every 5s (+500ms) +// if (esp_log_timestamp() - timestamp_SlowLoopLastRun > 5000) { +// ESP_LOGV(TAG, "running slow loop... time since last run: %.1fs", (float)(esp_log_timestamp() - timestamp_SlowLoopLastRun)/1000); +// timestamp_SlowLoopLastRun = esp_log_timestamp(); +// +// //run function which detects timeout (switch to idle) +// handleTimeout(); +// } +// +// }//end while(1) +// }//end startHandleLoop +// +// +// +// //----------------------------------- +// //---------- resetTimeout ----------- +// //----------------------------------- +// void controlledArmchair::resetTimeout(){ +// //TODO mutex +// timestamp_lastActivity = esp_log_timestamp(); +// } +// +// +// +// //------------------------------------ +// //--------- sendButtonEvent ---------- +// //------------------------------------ +// void controlledArmchair::sendButtonEvent(uint8_t count){ +// //TODO mutex - if not replaced with queue +// ESP_LOGI(TAG, "setting button event"); +// buttonCount = count; +// } +// +// +// +// //------------------------------------ +// //---------- handleTimeout ----------- +// //------------------------------------ +// //percentage the duty can vary since last timeout check and still counts as incative +// //TODO: add this to config +// float inactivityTolerance = 10; +// +// //local function that checks whether two values differ more than a given tolerance +// bool validateActivity(float dutyOld, float dutyNow, float tolerance){ +// float dutyDelta = dutyNow - dutyOld; +// if (fabs(dutyDelta) < tolerance) { +// return false; //no significant activity detected +// } else { +// return true; //there was activity +// } +// } +// +// //function that evaluates whether there is no activity/change on the motor duty for a certain time. If so, a switch to IDLE is issued. - has to be run repeatedly in a slow interval +// void controlledArmchair::handleTimeout(){ +// //check for timeout only when not idling already +// if (mode != controlMode_t::IDLE) { +// //get current duty from controlled motor objects +// float dutyLeftNow = motorLeft->getStatus().duty; +// float dutyRightNow = motorRight->getStatus().duty; +// +// //activity detected on any of the two motors +// if (validateActivity(dutyLeft_lastActivity, dutyLeftNow, inactivityTolerance) +// || validateActivity(dutyRight_lastActivity, dutyRightNow, inactivityTolerance) +// ){ +// ESP_LOGD(TAG, "timeout check: [activity] detected since last check -> reset"); +// //reset last duty and timestamp +// dutyLeft_lastActivity = dutyLeftNow; +// dutyRight_lastActivity = dutyRightNow; +// resetTimeout(); +// } +// //no activity on any motor and msTimeout exceeded +// else if (esp_log_timestamp() - timestamp_lastActivity > config.timeoutMs){ +// ESP_LOGI(TAG, "timeout check: [TIMEOUT], no activity for more than %.ds -> switch to idle", config.timeoutMs/1000); +// //toggle to idle mode +// toggleIdle(); +// } +// else { +// ESP_LOGD(TAG, "timeout check: [inactive], last activity %.1f s ago, timeout after %d s", (float)(esp_log_timestamp() - timestamp_lastActivity)/1000, config.timeoutMs/1000); +// } +// } +// } +// +// +// +// //----------------------------------- +// //----------- changeMode ------------ +// //----------------------------------- +// //function to change to a specified control mode +// void controlledArmchair::changeMode(controlMode_t modeNew) { +// //reset timeout timer +// resetTimeout(); +// +// //exit if target mode is already active +// if (mode == modeNew) { +// ESP_LOGE(TAG, "changeMode: Already in target mode '%s' -> nothing to change", controlModeStr[(int)mode]); +// return; +// } +// +// //copy previous mode +// modePrevious = mode; +// +// ESP_LOGW(TAG, "=== changing mode from %s to %s ===", controlModeStr[(int)mode], controlModeStr[(int)modeNew]); +// +// //========== commands change FROM mode ========== +// //run functions when changing FROM certain mode +// switch(modePrevious){ +// default: +// ESP_LOGI(TAG, "noting to execute when changing FROM this mode"); +// break; +// +// #ifdef JOYSTICK_LOG_IN_IDLE +// case controlMode_t::IDLE: +// ESP_LOGI(TAG, "disabling debug output for 'evaluatedJoystick'"); +// esp_log_level_set("evaluatedJoystick", ESP_LOG_WARN); //FIXME: loglevel from config +// break; +// #endif +// +// case controlMode_t::HTTP: +// ESP_LOGW(TAG, "switching from http mode -> disabling http and wifi"); +// //stop http server +// ESP_LOGI(TAG, "disabling http server..."); +// http_stop_server(); +// +// //FIXME: make wifi function work here - currently starting wifi at startup (see notes main.cpp) +// //stop wifi +// //TODO: decide whether ap or client is currently used - which has to be disabled? +// //ESP_LOGI(TAG, "deinit wifi..."); +// //wifi_deinit_client(); +// //wifi_deinit_ap(); +// ESP_LOGI(TAG, "done stopping http mode"); +// break; +// +// case controlMode_t::MASSAGE: +// ESP_LOGW(TAG, "switching from MASSAGE mode -> restoring fading, reset frozen input"); +// //TODO: fix issue when downfading was disabled before switching to massage mode - currently it gets enabled again here... +// //enable downfading (set to default value) +// motorLeft->setFade(fadeType_t::DECEL, true); +// motorRight->setFade(fadeType_t::DECEL, true); +// //set upfading to default value +// motorLeft->setFade(fadeType_t::ACCEL, true); +// motorRight->setFade(fadeType_t::ACCEL, true); +// //reset frozen input state +// freezeInput = false; +// break; +// +// case controlMode_t::AUTO: +// ESP_LOGW(TAG, "switching from AUTO mode -> restoring fading to default"); +// //TODO: fix issue when downfading was disabled before switching to auto mode - currently it gets enabled again here... +// //enable downfading (set to default value) +// motorLeft->setFade(fadeType_t::DECEL, true); +// motorRight->setFade(fadeType_t::DECEL, true); +// //set upfading to default value +// motorLeft->setFade(fadeType_t::ACCEL, true); +// motorRight->setFade(fadeType_t::ACCEL, true); +// break; +// } +// +// +// //========== commands change TO mode ========== +// //run functions when changing TO certain mode +// switch(modeNew){ +// default: +// ESP_LOGI(TAG, "noting to execute when changing TO this mode"); +// break; +// +// case controlMode_t::IDLE: +// buzzer->beep(1, 1500, 0); +// #ifdef JOYSTICK_LOG_IN_IDLE +// esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG); +// #endif +// break; +// +// case controlMode_t::HTTP: +// ESP_LOGW(TAG, "switching to http mode -> enabling http and wifi"); +// //start wifi +// //TODO: decide wether ap or client should be started +// ESP_LOGI(TAG, "init wifi..."); +// +// //FIXME: make wifi function work here - currently starting wifi at startup (see notes main.cpp) +// //wifi_init_client(); +// //wifi_init_ap(); +// +// //wait for wifi +// //ESP_LOGI(TAG, "waiting for wifi..."); +// //vTaskDelay(1000 / portTICK_PERIOD_MS); +// +// //start http server +// ESP_LOGI(TAG, "init http server..."); +// http_init_server(); +// ESP_LOGI(TAG, "done initializing http mode"); +// break; +// +// case controlMode_t::MASSAGE: +// ESP_LOGW(TAG, "switching to MASSAGE mode -> reducing fading"); +// uint32_t shake_msFadeAccel = 500; //TODO: move this to config +// +// //disable downfading (max. deceleration) +// motorLeft->setFade(fadeType_t::DECEL, false); +// motorRight->setFade(fadeType_t::DECEL, false); +// //reduce upfading (increase acceleration) +// motorLeft->setFade(fadeType_t::ACCEL, shake_msFadeAccel); +// motorRight->setFade(fadeType_t::ACCEL, shake_msFadeAccel); +// break; +// +// } +// +// //--- update mode to new mode --- +// //TODO: add mutex +// mode = modeNew; +// } +// +// +// //TODO simplify the following 3 functions? can be replaced by one? +// +// //----------------------------------- +// //----------- toggleIdle ------------ +// //----------------------------------- +// //function to toggle between IDLE and previous active mode +// void controlledArmchair::toggleIdle() { +// //toggle between IDLE and previous mode +// toggleMode(controlMode_t::IDLE); +// } +// +// +// +// //------------------------------------ +// //----------- toggleModes ------------ +// //------------------------------------ +// //function to toggle between two modes, but prefer first argument if entirely different mode is currently active +// void controlledArmchair::toggleModes(controlMode_t modePrimary, controlMode_t modeSecondary) { +// //switch to secondary mode when primary is already active +// if (mode == modePrimary){ +// ESP_LOGW(TAG, "toggleModes: switching from primaryMode %s to secondarMode %s", controlModeStr[(int)mode], controlModeStr[(int)modeSecondary]); +// buzzer->beep(2,200,100); +// changeMode(modeSecondary); //switch to secondary mode +// } +// //switch to primary mode when any other mode is active +// else { +// ESP_LOGW(TAG, "toggleModes: switching from %s to primary mode %s", controlModeStr[(int)mode], controlModeStr[(int)modePrimary]); +// buzzer->beep(4,200,100); +// changeMode(modePrimary); +// } +// } +// +// +// +// //----------------------------------- +// //----------- toggleMode ------------ +// //----------------------------------- +// //function that toggles between certain mode and previous mode +// void controlledArmchair::toggleMode(controlMode_t modePrimary){ +// +// //switch to previous mode when primary is already active +// if (mode == modePrimary){ +// ESP_LOGW(TAG, "toggleMode: switching from primaryMode %s to previousMode %s", controlModeStr[(int)mode], controlModeStr[(int)modePrevious]); +// //buzzer->beep(2,200,100); +// changeMode(modePrevious); //switch to previous mode +// } +// //switch to primary mode when any other mode is active +// else { +// ESP_LOGW(TAG, "toggleModes: switching from %s to primary mode %s", controlModeStr[(int)mode], controlModeStr[(int)modePrimary]); +// //buzzer->beep(4,200,100); +// changeMode(modePrimary); +// } +// } diff --git a/board_control/main/control.hpp b/board_control/main/control.hpp index 8ed1e66..9be6775 100644 --- a/board_control/main/control.hpp +++ b/board_control/main/control.hpp @@ -1,130 +1,130 @@ #pragma once -#include "motordrivers.hpp" -#include "motorctl.hpp" #include "buzzer.hpp" #include "http.hpp" #include "auto.hpp" +#include "types.hpp" -//-------------------------------------------- -//---- struct, enum, variable declarations --- -//-------------------------------------------- -//enum that decides how the motors get controlled -enum class controlMode_t {IDLE, JOYSTICK, MASSAGE, HTTP, MQTT, BLUETOOTH, AUTO}; -//string array representing the mode enum (for printing the state as string) -extern const char* controlModeStr[7]; - -//--- control_config_t --- -//struct with config parameters -typedef struct control_config_t { - controlMode_t defaultMode; //default mode after startup and toggling IDLE - //timeout options - uint32_t timeoutMs; //time of inactivity after which the mode gets switched to IDLE - float timeoutTolerancePer; //percentage the duty can vary between timeout checks considered still inactive -} control_config_t; - - - - -//================================== -//========= control class ========== -//================================== -//controls the mode the armchair operates -//repeatedly generates the motor commands corresponding to current mode and sends those to motorcontrol -class controlledArmchair { - public: - //--- constructor --- - controlledArmchair ( - control_config_t config_f, - buzzer_t* buzzer_f, - controlledMotor* motorLeft_f, - controlledMotor* motorRight_f, - evaluatedJoystick* joystick_f, - httpJoystick* httpJoystick_f - ); - - //--- functions --- - //task that repeatedly generates motor commands depending on the current mode - void startHandleLoop(); - - //function that changes to a specified control mode - void changeMode(controlMode_t modeNew); - - //function that toggle between IDLE and previous active mode (or default if not switched to certain mode yet) - void toggleIdle(); - - //function that toggles between two modes, but prefers first argument if entirely different mode is currently active - void toggleModes(controlMode_t modePrimary, controlMode_t modeSecondary); - - //toggle between certain mode and previous mode - void toggleMode(controlMode_t modePrimary); - - //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); - - private: - - //--- functions --- - //function that evaluates whether there is no activity/change on the motor duty for a certain time, if so a switch to IDLE is issued. - has to be run repeatedly in a slow interval - void handleTimeout(); - - //--- objects --- - buzzer_t* buzzer; - controlledMotor* motorLeft; - controlledMotor* motorRight; - httpJoystick* httpJoystickMain_l; - evaluatedJoystick* joystick_l; - - //---variables --- - //struct for motor commands returned by generate functions of each mode - motorCommands_t commands; - //struct with config parameters - control_config_t config; - - //store joystick data - joystickData_t stickData; - bool altStickMapping; //alternative joystick mapping (reverse mapped differently) - - //variables for http mode - uint32_t http_timestamp_lastData = 0; - - //variables for MASSAGE mode - bool freezeInput = false; - - //variables for AUTO mode - auto_instruction_t instruction = auto_instruction_t::NONE; //variable to receive instructions from automatedArmchair - - //variable to store button event - uint8_t buttonCount = 0; - - //definition of mode enum - controlMode_t mode = controlMode_t::IDLE; - - //variable to store mode when toggling IDLE mode - controlMode_t modePrevious; //default mode - - //command preset for idling motors - const motorCommand_t cmd_motorIdle = { - .state = motorstate_t::IDLE, - .duty = 0 - }; - const motorCommands_t cmds_bothMotorsIdle = { - .left = cmd_motorIdle, - .right = cmd_motorIdle - }; - - //variable for slow loop - uint32_t timestamp_SlowLoopLastRun = 0; - - //variables for detecting timeout (switch to idle, after inactivity) - float dutyLeft_lastActivity = 0; - float dutyRight_lastActivity = 0; - uint32_t timestamp_lastActivity = 0; -}; - - +//FIXME controlledMotor class not available for this pcb, rework + //-------------------------------------------- + //---- struct, enum, variable declarations --- + //-------------------------------------------- + //enum that decides how the motors get controlled + enum class controlMode_t {IDLE, JOYSTICK, MASSAGE, HTTP, MQTT, BLUETOOTH, AUTO}; + //string array representing the mode enum (for printing the state as string) + extern const char* controlModeStr[7]; + + //--- control_config_t --- + //struct with config parameters + typedef struct control_config_t { + controlMode_t defaultMode; //default mode after startup and toggling IDLE + //timeout options + uint32_t timeoutMs; //time of inactivity after which the mode gets switched to IDLE + float timeoutTolerancePer; //percentage the duty can vary between timeout checks considered still inactive + } control_config_t; + + + + +// //================================== +// //========= control class ========== +// //================================== +// //controls the mode the armchair operates +// //repeatedly generates the motor commands corresponding to current mode and sends those to motorcontrol +// class controlledArmchair { +// public: +// //--- constructor --- +// controlledArmchair ( +// control_config_t config_f, +// buzzer_t* buzzer_f, +// controlledMotor* motorLeft_f, +// controlledMotor* motorRight_f, +// evaluatedJoystick* joystick_f, +// httpJoystick* httpJoystick_f +// ); +// +// //--- functions --- +// //task that repeatedly generates motor commands depending on the current mode +// void startHandleLoop(); +// +// //function that changes to a specified control mode +// void changeMode(controlMode_t modeNew); +// +// //function that toggle between IDLE and previous active mode (or default if not switched to certain mode yet) +// void toggleIdle(); +// +// //function that toggles between two modes, but prefers first argument if entirely different mode is currently active +// void toggleModes(controlMode_t modePrimary, controlMode_t modeSecondary); +// +// //toggle between certain mode and previous mode +// void toggleMode(controlMode_t modePrimary); +// +// //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); +// +// private: +// +// //--- functions --- +// //function that evaluates whether there is no activity/change on the motor duty for a certain time, if so a switch to IDLE is issued. - has to be run repeatedly in a slow interval +// void handleTimeout(); +// +// //--- objects --- +// buzzer_t* buzzer; +// controlledMotor* motorLeft; +// controlledMotor* motorRight; +// httpJoystick* httpJoystickMain_l; +// evaluatedJoystick* joystick_l; +// +// //---variables --- +// //struct for motor commands returned by generate functions of each mode +// motorCommands_t commands; +// //struct with config parameters +// control_config_t config; +// +// //store joystick data +// joystickData_t stickData; +// bool altStickMapping; //alternative joystick mapping (reverse mapped differently) +// +// //variables for http mode +// uint32_t http_timestamp_lastData = 0; +// +// //variables for MASSAGE mode +// bool freezeInput = false; +// +// //variables for AUTO mode +// auto_instruction_t instruction = auto_instruction_t::NONE; //variable to receive instructions from automatedArmchair +// +// //variable to store button event +// uint8_t buttonCount = 0; +// +// //definition of mode enum +// controlMode_t mode = controlMode_t::IDLE; +// +// //variable to store mode when toggling IDLE mode +// controlMode_t modePrevious; //default mode +// +// //command preset for idling motors +// const motorCommand_t cmd_motorIdle = { +// .state = motorstate_t::IDLE, +// .duty = 0 +// }; +// const motorCommands_t cmds_bothMotorsIdle = { +// .left = cmd_motorIdle, +// .right = cmd_motorIdle +// }; +// +// //variable for slow loop +// uint32_t timestamp_SlowLoopLastRun = 0; +// +// //variables for detecting timeout (switch to idle, after inactivity) +// float dutyLeft_lastActivity = 0; +// float dutyRight_lastActivity = 0; +// uint32_t timestamp_lastActivity = 0; +// }; +// +// diff --git a/board_control/main/currentsensor.cpp b/board_control/main/currentsensor.cpp deleted file mode 100644 index 2569c6d..0000000 --- a/board_control/main/currentsensor.cpp +++ /dev/null @@ -1,75 +0,0 @@ -extern "C" { -#include "hal/timer_types.h" -#include "esp_log.h" -} - -#include "currentsensor.hpp" - -//tag for logging -static const char * TAG = "current-sensors"; - - - -//-------------------------- -//------- getVoltage ------- -//-------------------------- -//local function to get average voltage from adc -float getVoltage(adc1_channel_t adc, uint32_t samples){ - //measure voltage - int measure = 0; - for (int j=0; j centerVoltage){ - current = (voltage - centerVoltage) / (3.3 - centerVoltage) * ratedCurrent; - }else { - current = 0; - } - - ESP_LOGI(TAG, "read sensor adc=%d: voltage=%.3fV, centerVoltage=%.3fV => current=%.3fA", (int)adcChannel, voltage, centerVoltage, current); - return current; -} - - - -//=============================== -//===== calibrateZeroAmpere ===== -//=============================== -void currentSensor::calibrateZeroAmpere(void){ - //measure voltage - float prev = centerVoltage; - centerVoltage = getVoltage(adcChannel, 100); - ESP_LOGW(TAG, "defined centerVoltage (0A) to %.3f (previous %.3f)", centerVoltage, prev); -} diff --git a/board_control/main/currentsensor.hpp b/board_control/main/currentsensor.hpp deleted file mode 100644 index f62fa34..0000000 --- a/board_control/main/currentsensor.hpp +++ /dev/null @@ -1,20 +0,0 @@ -#include - -//supported current sensor working method: - //0V = -ratedCurrent - //centerVoltage = 0A - //3.3V = ratedCurrent - -class currentSensor{ - public: - currentSensor (adc1_channel_t adcChannel_f, float ratedCurrent); - void calibrateZeroAmpere(void); //set current voltage to voltage representing 0A - float read(void); //get current ampere - private: - adc1_channel_t adcChannel; - float ratedCurrent; - uint32_t measure; - float voltage; - float current; - float centerVoltage = 3.3/2; -}; diff --git a/board_control/main/fan.cpp b/board_control/main/fan.cpp deleted file mode 100644 index 2ff094e..0000000 --- a/board_control/main/fan.cpp +++ /dev/null @@ -1,82 +0,0 @@ -extern "C" -{ -#include "freertos/FreeRTOS.h" -#include "freertos/task.h" -#include "esp_log.h" -} - -#include "fan.hpp" - - -//tag for logging -static const char * TAG = "fan-control"; - - -//----------------------------- -//-------- constructor -------- -//----------------------------- -controlledFan::controlledFan (fan_config_t config_f, controlledMotor* motor1_f, controlledMotor* motor2_f ){ - //copy config - config = config_f; - //copy pointer to motor objects - motor1 = motor1_f; - motor2 = motor2_f; - //initialize gpio pin - gpio_pad_select_gpio(config.gpio_fan); - gpio_set_direction(config.gpio_fan, GPIO_MODE_OUTPUT); -} - - - -//-------------------------- -//--------- handle --------- -//-------------------------- -void controlledFan::handle(){ - //get current state of the motor (motorctl.cpp) - motor1Status = motor1->getStatus(); - motor2Status = motor2->getStatus(); - - //--- handle duty threshold --- - //update timestamp if any threshold exceeded - if (motor1Status.duty > config.dutyThreshold - || motor2Status.duty > config.dutyThreshold){ //TODO add temperature threshold - if (!needsCooling){ - timestamp_needsCoolingSet = esp_log_timestamp(); - needsCooling = true; - } - timestamp_lastThreshold = esp_log_timestamp(); - } else { - needsCooling = false; - } - - //--- turn off condition --- - if (fanRunning - && !needsCooling //no more cooling required - && (motor1Status.duty == 0) && (motor2Status.duty == 0) //both motors are off - //-> keeps fans running even when lower than threshold already, however turnOffDelay already started TODO: start turn off delay after motor stop only? - && (esp_log_timestamp() - timestamp_lastThreshold) > config.turnOffDelayMs){ //turn off delay passed - fanRunning = false; - gpio_set_level(config.gpio_fan, 0); - timestamp_turnedOff = esp_log_timestamp(); - ESP_LOGI(TAG, "turned fan OFF gpio=%d, minOnMs=%d, WasOnMs=%d", (int)config.gpio_fan, config.minOnMs, esp_log_timestamp()-timestamp_turnedOn); - } - - //--- turn on condition --- - if (!fanRunning - && needsCooling - && ((esp_log_timestamp() - timestamp_turnedOff) > config.minOffMs) //fans off long enough - && ((esp_log_timestamp() - timestamp_needsCoolingSet) > config.minOnMs)){ //motors on long enough - fanRunning = true; - gpio_set_level(config.gpio_fan, 1); - timestamp_turnedOn = esp_log_timestamp(); - ESP_LOGI(TAG, "turned fan ON gpio=%d, minOffMs=%d, WasOffMs=%d", (int)config.gpio_fan, config.minOffMs, esp_log_timestamp()-timestamp_turnedOff); - } - - //TODO Add statemachine for more specific control? Exponential average? - //TODO idea: try other aproach? increment a variable with certain weights e.g. integrate over duty, then turn fans on and decrement the variable again - - ESP_LOGD(TAG, "fanState=%d, duty1=%f, duty2=%f, needsCooling=%d", fanRunning, motor1Status.duty, motor2Status.duty, needsCooling); -} - - - diff --git a/board_control/main/fan.hpp b/board_control/main/fan.hpp deleted file mode 100644 index ca1de2b..0000000 --- a/board_control/main/fan.hpp +++ /dev/null @@ -1,49 +0,0 @@ -#pragma once - -extern "C" -{ -#include "driver/gpio.h" -} - -#include "motorctl.hpp" - - -//--- fan_config_t --- -//struct with all config parameters for a fan -typedef struct fan_config_t { - gpio_num_t gpio_fan; - float dutyThreshold; - uint32_t minOnMs; - uint32_t minOffMs; - uint32_t turnOffDelayMs; -} fan_config; - - - -//================================== -//====== controlledFan class ======= -//================================== -class controlledFan { - public: - //--- constructor --- - controlledFan (fan_config_t config_f, controlledMotor* motor1_f, controlledMotor* motor2_f ); - - //--- functions --- - void handle(); //has to be run repeatedly in a slow loop - - - private: - //--- variables --- - bool fanRunning = false; - bool needsCooling = false; - uint32_t timestamp_needsCoolingSet; - uint32_t timestamp_lastThreshold = 0; - uint32_t timestamp_turnedOn = 0; - uint32_t timestamp_turnedOff = 0; - fan_config_t config; - controlledMotor * motor1; - controlledMotor * motor2; - - motorCommand_t motor1Status; - motorCommand_t motor2Status; -}; diff --git a/board_control/main/joystick.hpp b/board_control/main/joystick.hpp index dc12b15..ccf5bec 100644 --- a/board_control/main/joystick.hpp +++ b/board_control/main/joystick.hpp @@ -11,7 +11,7 @@ extern "C" } #include -#include "motorctl.hpp" //for declaration of motorCommands_t struct +#include "types.hpp" //====================================== diff --git a/board_control/main/motorctl.cpp b/board_control/main/motorctl.cpp deleted file mode 100644 index df544ea..0000000 --- a/board_control/main/motorctl.cpp +++ /dev/null @@ -1,330 +0,0 @@ -#include "motorctl.hpp" - -//tag for logging -static const char * TAG = "motor-control"; - - -//============================= -//======== constructor ======== -//============================= -//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) { - //copy parameters for controlling the motor - config = config_control; - //copy configured default fading durations to actually used variables - msFadeAccel = config.msFadeAccel; - msFadeDecel = config.msFadeDecel; - - init(); - //TODO: add currentsensor object here - //currentSensor cSensor(config.currentSensor_adc, config.currentSensor_ratedCurrent); - } - - - -//============================ -//========== init ============ -//============================ -void controlledMotor::init(){ - commandQueue = xQueueCreate( 1, sizeof( struct motorCommand_t ) ); - //cSensor.calibrateZeroAmpere(); //currently done in currentsensor constructor TODO do this regularly e.g. in idle? -} - - - -//---------------- -//----- fade ----- -//---------------- -//local function that fades a variable -//- increments a variable (pointer) by given value -//- sets to target if already closer than increment -//TODO this needs testing -void fade(float * dutyNow, float dutyTarget, float dutyIncrement){ - float dutyDelta = dutyTarget - *dutyNow; - if ( fabs(dutyDelta) > fabs(dutyIncrement) ) { //check if already close to target - *dutyNow = *dutyNow + dutyIncrement; - } - //already closer to target than increment - else { - *dutyNow = dutyTarget; - } -} - - - -//---------------------------- -//----- getStateFromDuty ----- -//---------------------------- -//local function that determines motor the direction from duty range -100 to 100 -motorstate_t getStateFromDuty(float duty){ - if(duty > 0) return motorstate_t::FWD; - if (duty < 0) return motorstate_t::REV; - return motorstate_t::IDLE; -} - - - -//============================== -//=========== handle =========== -//============================== -//function that controls the motor driver and handles fading/ramp, current limit and deadtime -void controlledMotor::handle(){ - - //TODO: History: skip fading when motor was running fast recently / alternatively add rot-speed sensor - - //--- receive commands from queue --- - if( xQueueReceive( commandQueue, &commandReceive, ( TickType_t ) 0 ) ) - { - ESP_LOGD(TAG, "Read command from queue: state=%s, duty=%.2f", motorstateStr[(int)commandReceive.state], commandReceive.duty); - state = commandReceive.state; - dutyTarget = commandReceive.duty; - - //--- convert duty --- - //define target duty (-100 to 100) from provided duty and motorstate - //this value is more suitable for the fading algorithm - switch(commandReceive.state){ - case motorstate_t::BRAKE: - //update state - state = motorstate_t::BRAKE; - dutyTarget = 0; - break; - case motorstate_t::IDLE: - dutyTarget = 0; - break; - case motorstate_t::FWD: - dutyTarget = fabs(commandReceive.duty); - break; - case motorstate_t::REV: - dutyTarget = - fabs(commandReceive.duty); - break; - } - } - - - //--- calculate increment --- - //calculate increment for fading UP with passed time since last run and configured fade time - int64_t usPassed = esp_timer_get_time() - timestampLastRunUs; - if (msFadeAccel > 0){ - dutyIncrementAccel = ( usPassed / ((float)msFadeAccel * 1000) ) * 100; //TODO define maximum increment - first run after startup (or long) pause can cause a very large increment - } else { - dutyIncrementAccel = 100; - } - - //calculate increment for fading DOWN with passed time since last run and configured fade time - if (msFadeDecel > 0){ - dutyIncrementDecel = ( usPassed / ((float)msFadeDecel * 1000) ) * 100; - } else { - dutyIncrementDecel = 100; - } - - - //--- BRAKE --- - //brake immediately, update state, duty and exit this cycle of handle function - if (state == motorstate_t::BRAKE){ - motor.set(motorstate_t::BRAKE, 0); - dutyNow = 0; - return; //no need to run the fade algorithm - } - - - //--- 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) - if (dutyDelta > 0) { //difference positive -> increasing duty (-100 -> 100) - if (dutyNow < 0) { //reverse, decelerating - fade(&dutyNow, dutyTarget, dutyIncrementDecel); - } - else if (dutyNow >= 0) { //forward, accelerating - fade(&dutyNow, dutyTarget, dutyIncrementAccel); - } - } - else if (dutyDelta < 0) { //difference negative -> decreasing duty (100 -> -100) - if (dutyNow <= 0) { //reverse, accelerating - fade(&dutyNow, dutyTarget, - dutyIncrementAccel); - } - else if (dutyNow > 0) { //forward, decelerating - fade(&dutyNow, dutyTarget, - dutyIncrementDecel); - } - } - - - //----- CURRENT LIMIT ----- - if ((config.currentLimitEnabled) && (dutyDelta != 0)){ - currentNow = cSensor.read(); - if (fabs(currentNow) > config.currentMax){ - float dutyOld = dutyNow; - //adaptive decrement: - //Note current exceeded twice -> twice as much decrement: TODO: decrement calc needs finetuning, currently random values - dutyIncrementDecel = (currentNow/config.currentMax) * ( usPassed / ((float)msFadeDecel * 1500) ) * 100; - float currentLimitDecrement = ( (float)usPassed / ((float)1000 * 1000) ) * 100; //1000ms from 100 to 0 - if (dutyNow < -currentLimitDecrement) { - dutyNow += currentLimitDecrement; - } else if (dutyNow > currentLimitDecrement) { - dutyNow -= currentLimitDecrement; - } - ESP_LOGW(TAG, "current limit exceeded! now=%.3fA max=%.1fA => decreased duty from %.3f to %.3f", currentNow, config.currentMax, dutyOld, dutyNow); - } - } - - - //--- define new motorstate --- (-100 to 100 => direction) - state=getStateFromDuty(dutyNow); - - - //--- DEAD TIME ---- - //ensure minimum idle time between direction change to prevent driver overload - //FWD -> IDLE -> FWD continue without waiting - //FWD -> IDLE -> REV wait for dead-time in IDLE - //TODO check when changed only? - if ( //not enough time between last direction state - ( state == motorstate_t::FWD && (esp_log_timestamp() - timestampsModeLastActive[(int)motorstate_t::REV] < config.deadTimeMs)) - || (state == motorstate_t::REV && (esp_log_timestamp() - timestampsModeLastActive[(int)motorstate_t::FWD] < config.deadTimeMs)) - ){ - ESP_LOGD(TAG, "waiting dead-time... dir change %s -> %s", motorstateStr[(int)statePrev], motorstateStr[(int)state]); - if (!deadTimeWaiting){ //log start - deadTimeWaiting = true; - ESP_LOGW(TAG, "starting dead-time... %s -> %s", motorstateStr[(int)statePrev], motorstateStr[(int)state]); - } - //force IDLE state during wait - state = motorstate_t::IDLE; - dutyNow = 0; - } else { - if (deadTimeWaiting){ //log end - deadTimeWaiting = false; - ESP_LOGW(TAG, "dead-time ended - continue with %s", motorstateStr[(int)state]); - } - ESP_LOGV(TAG, "deadtime: no change below deadtime detected... dir=%s, duty=%.1f", motorstateStr[(int)state], dutyNow); - } - - - //--- save current actual motorstate and timestamp --- - //needed for deadtime - timestampsModeLastActive[(int)getStateFromDuty(dutyNow)] = esp_log_timestamp(); - //(-100 to 100 => direction) - statePrev = getStateFromDuty(dutyNow); - - - //--- 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 -} - - - -//=============================== -//========== setTarget ========== -//=============================== -//function to set the target mode and duty of a motor -//puts the provided command in a queue for the handle function running in another task -void controlledMotor::setTarget(motorstate_t state_f, float duty_f){ - commandSend = { - .state = state_f, - .duty = duty_f - }; - - ESP_LOGD(TAG, "Inserted command to queue: state=%s, duty=%.2f", motorstateStr[(int)commandSend.state], commandSend.duty); - //send command to queue (overwrite if an old command is still in the queue and not processed) - xQueueOverwrite( commandQueue, ( void * )&commandSend); - //xQueueSend( commandQueue, ( void * )&commandSend, ( TickType_t ) 0 ); - -} - - - -//=============================== -//========== getStatus ========== -//=============================== -//function which returns the current status of the motor in a motorCommand_t struct -motorCommand_t controlledMotor::getStatus(){ - motorCommand_t status = { - .state = state, - .duty = dutyNow - }; - //TODO: mutex - return status; -}; - - - -//=============================== -//=========== setFade =========== -//=============================== -//function for editing or enabling the fading/ramp of the motor control - -//set/update fading duration/amount -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: - msFadeAccel = msFadeNew; - break; - case fadeType_t::DECEL: - msFadeDecel = msFadeNew; - break; - } -} - -//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 - if(enabled){ //enable - //set to default/configured value - switch(fadeType){ - case fadeType_t::ACCEL: - msFadeNew = config.msFadeAccel; - break; - case fadeType_t::DECEL: - msFadeNew = config.msFadeDecel; - break; - } - } - //apply new Fade value - setFade(fadeType, msFadeNew); -} - - - -//================================== -//=========== toggleFade =========== -//================================== -//toggle fading between OFF and default value -bool controlledMotor::toggleFade(fadeType_t fadeType){ - uint32_t msFadeNew = 0; - bool enabled = false; - switch(fadeType){ - case fadeType_t::ACCEL: - if (msFadeAccel == 0){ - msFadeNew = config.msFadeAccel; - enabled = true; - } else { - msFadeNew = 0; - } - break; - case fadeType_t::DECEL: - if (msFadeDecel == 0){ - msFadeNew = config.msFadeAccel; - enabled = true; - } else { - msFadeNew = 0; - } - break; - } - //apply new Fade value - setFade(fadeType, msFadeNew); - - //return new state (fading enabled/disabled) - return enabled; -} - diff --git a/board_control/main/motorctl.hpp b/board_control/main/motorctl.hpp deleted file mode 100644 index c4bc19e..0000000 --- a/board_control/main/motorctl.hpp +++ /dev/null @@ -1,104 +0,0 @@ -#pragma once - -extern "C" -{ -#include "freertos/FreeRTOS.h" -#include "freertos/task.h" -#include "freertos/queue.h" -#include "esp_log.h" -#include "esp_timer.h" -} - -#include "motordrivers.hpp" -#include "currentsensor.hpp" - - -//======================================= -//====== struct/type declarations ====== -//======================================= - -//struct for sending command for one motor in the queue -struct motorCommand_t { - motorstate_t state; - float duty; -}; - -//struct containing commands for two motors -typedef struct motorCommands_t { - motorCommand_t left; - motorCommand_t right; -} motorCommands_t; - -//struct with all config parameters for a motor regarding ramp and current limit -typedef struct motorctl_config_t { - uint32_t msFadeAccel; //acceleration of the motor (ms it takes from 0% to 100%) - uint32_t msFadeDecel; //deceleration of the motor (ms it takes from 100% to 0%) - bool currentLimitEnabled; - adc1_channel_t currentSensor_adc; - float currentSensor_ratedCurrent; - float currentMax; - uint32_t deadTimeMs; //time motor stays in IDLE before direction change -} motorctl_config_t; - -//enum fade type (acceleration, deceleration) -//e.g. used for specifying which fading should be modified with setFade, togleFade functions -enum class fadeType_t {ACCEL, DECEL}; - - - -//=================================== -//====== controlledMotor class ====== -//=================================== -class controlledMotor { - public: - //--- functions --- - controlledMotor(single100a_config_t config_driver, motorctl_config_t config_control); //constructor with structs for configuring motordriver and parameters for control TODO: add configuration for currentsensor - void handle(); //controls motor duty with fade and current limiting feature (has to be run frequently by another task) - 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) - - 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 - - //TODO set current limit method - - private: - //--- functions --- - void init(); //creates currentsensor objects, motordriver objects and queue - - //--- objects --- - //motor driver - single100a motor; - //queue for sending commands to the separate task running the handle() function very fast - QueueHandle_t commandQueue = NULL; - //current sensor - currentSensor cSensor; - - //--- variables --- - //struct for storing control specific parameters - motorctl_config_t config; - motorstate_t state = motorstate_t::IDLE; - - float currentMax; - float currentNow; - - float dutyTarget; - float dutyNow; - float dutyIncrementAccel; - float dutyIncrementDecel; - float dutyDelta; - - uint32_t msFadeAccel; - uint32_t msFadeDecel; - - uint32_t ramp; - int64_t timestampLastRunUs; - - bool deadTimeWaiting = false; - uint32_t timestampsModeLastActive[4] = {}; - motorstate_t statePrev = motorstate_t::FWD; - - struct motorCommand_t commandReceive = {}; - struct motorCommand_t commandSend = {}; -}; diff --git a/board_control/main/motordrivers.cpp b/board_control/main/motordrivers.cpp deleted file mode 100644 index e15b4e6..0000000 --- a/board_control/main/motordrivers.cpp +++ /dev/null @@ -1,129 +0,0 @@ -#include "motordrivers.hpp" - -//TODO: move from ledc to mcpwm? -//https://docs.espressif.com/projects/esp-idf/en/v4.3/esp32/api-reference/peripherals/mcpwm.html# -//https://github.com/espressif/esp-idf/tree/v4.3/examples/peripherals/mcpwm/mcpwm_basic_config - -//Note fade functionality provided by LEDC would be very useful but unfortunately is not usable here because: -//"Due to hardware limitations, there is no way to stop a fade before it reaches its target duty." - -//definition of string array to be able to convert state enum to readable string -const char* motorstateStr[4] = {"IDLE", "FWD", "REV", "BRAKE"}; - -//tag for logging -static const char * TAG = "motordriver"; - - - -//==================================== -//===== single100a motor driver ====== -//==================================== - -//----------------------------- -//-------- constructor -------- -//----------------------------- -//copy provided struct with all configuration and run init function -single100a::single100a(single100a_config_t config_f){ - config = config_f; - init(); -} - - - -//---------------------------- -//---------- init ------------ -//---------------------------- -//function to initialize pwm output, gpio pins and calculate maxDuty -void single100a::init(){ - - //--- configure ledc timer --- - ledc_timer_config_t ledc_timer; - ledc_timer.speed_mode = LEDC_HIGH_SPEED_MODE; - ledc_timer.timer_num = config.ledc_timer; - ledc_timer.duty_resolution = config.resolution; //13bit gives max 5khz freq - ledc_timer.freq_hz = config.pwmFreq; - ledc_timer.clk_cfg = LEDC_AUTO_CLK; - //apply configuration - ledc_timer_config(&ledc_timer); - - //--- configure ledc channel --- - ledc_channel_config_t ledc_channel; - ledc_channel.channel = config.ledc_channel; - ledc_channel.duty = 0; - ledc_channel.gpio_num = config.gpio_pwm; - ledc_channel.speed_mode = LEDC_HIGH_SPEED_MODE; - ledc_channel.hpoint = 0; - ledc_channel.timer_sel = config.ledc_timer; - ledc_channel.intr_type = LEDC_INTR_DISABLE; - ledc_channel.flags.output_invert = 0; //TODO: add config option to invert the pwm output? - //apply configuration - ledc_channel_config(&ledc_channel); - - //--- define gpio pins as outputs --- - gpio_pad_select_gpio(config.gpio_a); - gpio_set_direction(config.gpio_a, GPIO_MODE_OUTPUT); - gpio_pad_select_gpio(config.gpio_b); - gpio_set_direction(config.gpio_b, GPIO_MODE_OUTPUT); - - //--- calculate max duty according to selected resolution --- - dutyMax = pow(2, ledc_timer.duty_resolution) -1; - ESP_LOGI(TAG, "initialized single100a driver"); - ESP_LOGI(TAG, "resolution=%dbit, dutyMax value=%d, resolution=%.4f %%", ledc_timer.duty_resolution, dutyMax, 100/(float)dutyMax); -} - - - -//--------------------------- -//----------- set ----------- -//--------------------------- -//function to put the h-bridge module in the desired state and duty cycle -void single100a::set(motorstate_t state_f, float duty_f){ - - //scale provided target duty in percent to available resolution for ledc - uint32_t dutyScaled; - if (duty_f > 100) { //target duty above 100% - dutyScaled = dutyMax; - } else if (duty_f <= 0) { //target at or below 0% - state_f = motorstate_t::IDLE; - dutyScaled = 0; - } else { //target duty 0-100% - //scale duty to available resolution - dutyScaled = duty_f / 100 * dutyMax; - } - - //put the single100a h-bridge module in the desired state update duty-cycle - switch (state_f){ - case motorstate_t::IDLE: - ledc_set_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel, dutyScaled); - ledc_update_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel); - //TODO: to fix bugged state of h-bridge module when idle and start again, maybe try to leave pwm signal on for some time before updating a/b pins? - //no brake: (freewheel) - //gpio_set_level(config.gpio_a, config.aEnabledPinState); - //gpio_set_level(config.gpio_b, !config.bEnabledPinState); - gpio_set_level(config.gpio_a, config.aEnabledPinState); - gpio_set_level(config.gpio_b, config.bEnabledPinState); - break; - case motorstate_t::BRAKE: - ledc_set_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel, 0); - ledc_update_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel); - //brake: - gpio_set_level(config.gpio_a, !config.aEnabledPinState); - gpio_set_level(config.gpio_b, !config.bEnabledPinState); - break; - case motorstate_t::FWD: - ledc_set_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel, dutyScaled); - ledc_update_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel); - //forward: - gpio_set_level(config.gpio_a, config.aEnabledPinState); - gpio_set_level(config.gpio_b, !config.bEnabledPinState); - break; - case motorstate_t::REV: - ledc_set_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel, dutyScaled); - ledc_update_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel); - //reverse: - gpio_set_level(config.gpio_a, !config.aEnabledPinState); - gpio_set_level(config.gpio_b, config.bEnabledPinState); - break; - } - ESP_LOGD(TAG, "set module to state=%s, duty=%d/%d, duty_input=%.3f%%", motorstateStr[(int)state_f], dutyScaled, dutyMax, duty_f); -} diff --git a/board_control/main/motordrivers.hpp b/board_control/main/motordrivers.hpp deleted file mode 100644 index 2cc3c75..0000000 --- a/board_control/main/motordrivers.hpp +++ /dev/null @@ -1,65 +0,0 @@ -#pragma once - -extern "C" -{ -#include "freertos/FreeRTOS.h" -#include "freertos/task.h" -#include "driver/gpio.h" -#include "esp_log.h" - -#include "driver/ledc.h" -#include "esp_err.h" -} - -#include - - -//==================================== -//===== single100a motor driver ====== -//==================================== - -//-------------------------------------------- -//---- struct, enum, variable declarations --- -//-------------------------------------------- - -//class which controls a motor using a 'single100a' h-bridge module -enum class motorstate_t {IDLE, FWD, REV, BRAKE}; -//definition of string array to be able to convert state enum to readable string (defined in motordrivers.cpp) -extern const char* motorstateStr[4]; - -//struct with all config parameters for single100a motor driver -typedef struct single100a_config_t { - gpio_num_t gpio_pwm; - gpio_num_t gpio_a; - gpio_num_t gpio_b; - ledc_timer_t ledc_timer; - ledc_channel_t ledc_channel; - bool aEnabledPinState; - bool bEnabledPinState; - ledc_timer_bit_t resolution; - int pwmFreq; -} single100a_config_t; - - - -//-------------------------------- -//------- single100a class ------- -//-------------------------------- -class single100a { - public: - //--- constructor --- - single100a(single100a_config_t config_f); //provide config struct (see above) - - //--- functions --- - void set(motorstate_t state, float duty_f = 0); //set mode and duty of the motor (see motorstate_t above) - //TODO: add functions to get the current state and duty - - private: - //--- functions --- - void init(); //initialize pwm and gpio outputs, calculate maxDuty - - //--- variables --- - single100a_config_t config; - uint32_t dutyMax; - motorstate_t state = motorstate_t::IDLE; -}; diff --git a/board_control/main/uart.cpp b/board_control/main/uart.cpp index 83ab4d1..bdd821c 100644 --- a/board_control/main/uart.cpp +++ b/board_control/main/uart.cpp @@ -20,23 +20,6 @@ extern "C" static const char * TAG = "uart"; -void uart_init(void){ - uart_config_t uart1_config = { - .baud_rate = 115198, - .data_bits = UART_DATA_8_BITS, - .parity = UART_PARITY_EVEN, - .stop_bits = UART_STOP_BITS_1, - .flow_ctrl = UART_HW_FLOWCTRL_DISABLE, - }; - ESP_LOGW(TAG, "config..."); - ESP_ERROR_CHECK(uart_param_config(UART_NUM_1, &uart1_config)); - ESP_LOGW(TAG, "setpins..."); - ESP_ERROR_CHECK(uart_set_pin(UART_NUM_1, 23, 22, 0, 0)); - ESP_LOGW(TAG, "init..."); - ESP_ERROR_CHECK(uart_driver_install(UART_NUM_1, 1024, 1024, 10, NULL, 0)); -} - - void uart_task_testing(void *arg){ //repeatedly send 8 bit count and log received 1 byte @@ -100,11 +83,6 @@ void task_uartReceiveQueue(void *arg){ // } -typedef struct { - uint32_t timestamp; - int id; - float value; -} uartDataStruct; //send struct void task_uartSend(void *arg){ diff --git a/board_control/main/uart.hpp b/board_control/main/uart.hpp index 3a59bcd..2ec926d 100644 --- a/board_control/main/uart.hpp +++ b/board_control/main/uart.hpp @@ -1,5 +1,15 @@ +#pragma once + +#include "uart_common.hpp" -void uart_init(void); void uart_task_testing(void *arg); void task_uartReceive(void *arg); void task_uartSend(void *arg); + + + +typedef struct { + uint32_t timestamp; + int id; + float value; +} uartDataStruct; diff --git a/board_control/main/wifi.c b/board_control/main/wifi.c deleted file mode 100644 index 27eb3db..0000000 --- a/board_control/main/wifi.c +++ /dev/null @@ -1,265 +0,0 @@ -#include -#include "freertos/FreeRTOS.h" -#include "freertos/task.h" -#include "freertos/event_groups.h" -#include "esp_system.h" -#include "esp_mac.h" -#include "esp_wifi.h" -#include "esp_event.h" -#include "esp_log.h" -#include "nvs_flash.h" - -#include "lwip/err.h" -#include "lwip/sys.h" - -#include "wifi.h" - - - -//--- variables used for ap and wifi --- -static const char *TAG = "wifi"; -static esp_event_handler_instance_t instance_any_id; - - -//============================================ -//============ init nvs and netif ============ -//============================================ -//initialize nvs-flash and netif (needed for both AP and CLIENT) -//has to be run once at startup -void wifi_initNvs_initNetif(){ - //Initialize NVS (needed for wifi) - esp_err_t ret = nvs_flash_init(); - if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) { - ESP_ERROR_CHECK(nvs_flash_erase()); - ret = nvs_flash_init(); - } - ESP_ERROR_CHECK(esp_netif_init()); - ESP_ERROR_CHECK(esp_event_loop_create_default()); -} - - -//=========================================== -//============ init access point ============ -//=========================================== - -//-------------------------------------------- -//------ configuration / declarations -------- -//-------------------------------------------- -#define EXAMPLE_ESP_WIFI_SSID_AP "armchair" -#define EXAMPLE_ESP_WIFI_PASS_AP "" -#define EXAMPLE_ESP_WIFI_CHANNEL_AP 1 -#define EXAMPLE_MAX_STA_CONN_AP 4 - -static esp_netif_t *ap; - -static void wifi_event_handler_ap(void* arg, esp_event_base_t event_base, - int32_t event_id, void* event_data) -{ - if (event_id == WIFI_EVENT_AP_STACONNECTED) { - wifi_event_ap_staconnected_t* event = (wifi_event_ap_staconnected_t*) event_data; - ESP_LOGI(TAG, "station "MACSTR" join, AID=%d", - MAC2STR(event->mac), event->aid); - } else if (event_id == WIFI_EVENT_AP_STADISCONNECTED) { - wifi_event_ap_stadisconnected_t* event = (wifi_event_ap_stadisconnected_t*) event_data; - ESP_LOGI(TAG, "station "MACSTR" leave, AID=%d", - MAC2STR(event->mac), event->aid); - } -} - -//----------------------- -//------ init ap -------- -//----------------------- -void wifi_init_ap(void) -{ - ap = esp_netif_create_default_wifi_ap(); - - wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT(); - ESP_ERROR_CHECK(esp_wifi_init(&cfg)); - - ESP_ERROR_CHECK(esp_event_handler_instance_register(WIFI_EVENT, - ESP_EVENT_ANY_ID, - &wifi_event_handler_ap, - NULL, - &instance_any_id)); - - wifi_config_t wifi_config = { - .ap = { - .ssid = EXAMPLE_ESP_WIFI_SSID_AP, - .ssid_len = strlen(EXAMPLE_ESP_WIFI_SSID_AP), - .channel = EXAMPLE_ESP_WIFI_CHANNEL_AP, - .password = EXAMPLE_ESP_WIFI_PASS_AP, - .max_connection = EXAMPLE_MAX_STA_CONN_AP, - .authmode = WIFI_AUTH_WPA_WPA2_PSK - }, - }; - if (strlen(EXAMPLE_ESP_WIFI_PASS_AP) == 0) { - wifi_config.ap.authmode = WIFI_AUTH_OPEN; - } - - ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_AP)); - ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_AP, &wifi_config)); - ESP_ERROR_CHECK(esp_wifi_start()); - - ESP_LOGI(TAG, "wifi_init_softap finished. SSID:%s password:%s channel:%d", - EXAMPLE_ESP_WIFI_SSID_AP, EXAMPLE_ESP_WIFI_PASS_AP, EXAMPLE_ESP_WIFI_CHANNEL_AP); -} - - - -//============================= -//========= deinit AP ========= -//============================= -void wifi_deinit_ap(void) -{ - ESP_ERROR_CHECK(esp_event_handler_instance_unregister(WIFI_EVENT, ESP_EVENT_ANY_ID, instance_any_id)); - ESP_ERROR_CHECK(esp_event_handler_instance_unregister(WIFI_EVENT, ESP_EVENT_ANY_ID, instance_any_id)); - esp_wifi_stop(); - esp_wifi_deinit(); - esp_netif_destroy_default_wifi(ap); - -} - - - - - -//=========================================== -//=============== init client =============== -//=========================================== - -//-------------------------------------------- -//------ configuration / declarations -------- -//-------------------------------------------- -#define EXAMPLE_ESP_WIFI_SSID_CLIENT "BKA-network" -#define EXAMPLE_ESP_WIFI_PASS_CLIENT "airwaveslogitech410" -#define EXAMPLE_ESP_MAXIMUM_RETRY_CLIENT 10 - -static esp_netif_t *sta; -static esp_event_handler_instance_t instance_got_ip; - -/* FreeRTOS event group to signal when we are connected*/ -static EventGroupHandle_t s_wifi_event_group; - -/* The event group allows multiple bits for each event, but we only care about two events: - * - we are connected to the AP with an IP - * - we failed to connect after the maximum amount of retries */ -#define WIFI_CONNECTED_BIT BIT0 -#define WIFI_FAIL_BIT BIT1 - -static int s_retry_num = 0; -static void event_handler(void* arg, esp_event_base_t event_base, - int32_t event_id, void* event_data) -{ - if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_START) { - esp_wifi_connect(); - } else if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_DISCONNECTED) { - if (s_retry_num < EXAMPLE_ESP_MAXIMUM_RETRY_CLIENT) { - esp_wifi_connect(); - s_retry_num++; - ESP_LOGI(TAG, "retry to connect to the AP"); - } else { - xEventGroupSetBits(s_wifi_event_group, WIFI_FAIL_BIT); - } - ESP_LOGI(TAG,"connect to the AP fail"); - } else if (event_base == IP_EVENT && event_id == IP_EVENT_STA_GOT_IP) { - ip_event_got_ip_t* event = (ip_event_got_ip_t*) event_data; - ESP_LOGI(TAG, "got ip:" IPSTR, IP2STR(&event->ip_info.ip)); - s_retry_num = 0; - xEventGroupSetBits(s_wifi_event_group, WIFI_CONNECTED_BIT); - } -} -//--------------------------- -//------ init client -------- -//--------------------------- -void wifi_init_client(void) -{ - s_wifi_event_group = xEventGroupCreate(); - sta = esp_netif_create_default_wifi_sta(); - - - - //set static ip - esp_netif_dhcpc_stop(sta); - - esp_netif_ip_info_t ip_info; - IP4_ADDR(&ip_info.ip, 10, 0, 0, 66); - IP4_ADDR(&ip_info.gw, 10, 0, 0, 1); - IP4_ADDR(&ip_info.netmask, 255, 255, 0, 0); - - esp_netif_set_ip_info(sta, &ip_info); - - - - - wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT(); - ESP_ERROR_CHECK(esp_wifi_init(&cfg)); - - ESP_ERROR_CHECK(esp_event_handler_instance_register(WIFI_EVENT, - ESP_EVENT_ANY_ID, - &event_handler, - NULL, - &instance_any_id)); - ESP_ERROR_CHECK(esp_event_handler_instance_register(IP_EVENT, - IP_EVENT_STA_GOT_IP, - &event_handler, - NULL, - &instance_got_ip)); - - wifi_config_t wifi_config = { - .sta = { - .ssid = EXAMPLE_ESP_WIFI_SSID_CLIENT, - .password = EXAMPLE_ESP_WIFI_PASS_CLIENT, - /* Setting a password implies station will connect to all security modes including WEP/WPA. - * However these modes are deprecated and not advisable to be used. Incase your Access point - * doesn't support WPA2, these mode can be enabled by commenting below line */ - .threshold.authmode = WIFI_AUTH_WPA2_PSK, - }, - }; - ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA) ); - ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_STA, &wifi_config) ); - ESP_ERROR_CHECK(esp_wifi_start() ); - - ESP_LOGI(TAG, "wifi_init_sta finished."); - - /* Waiting until either the connection is established (WIFI_CONNECTED_BIT) or connection failed for the maximum - * number of re-tries (WIFI_FAIL_BIT). The bits are set by event_handler() (see above) */ - EventBits_t bits = xEventGroupWaitBits(s_wifi_event_group, - WIFI_CONNECTED_BIT | WIFI_FAIL_BIT, - pdFALSE, - pdFALSE, - portMAX_DELAY); - - /* xEventGroupWaitBits() returns the bits before the call returned, hence we can test which event actually - * happened. */ - if (bits & WIFI_CONNECTED_BIT) { - ESP_LOGI(TAG, "connected to ap SSID:%s password:%s", - EXAMPLE_ESP_WIFI_SSID_CLIENT, EXAMPLE_ESP_WIFI_PASS_CLIENT); - } else if (bits & WIFI_FAIL_BIT) { - ESP_LOGI(TAG, "Failed to connect to SSID:%s, password:%s", - EXAMPLE_ESP_WIFI_SSID_CLIENT, EXAMPLE_ESP_WIFI_PASS_CLIENT); - } else { - ESP_LOGE(TAG, "UNEXPECTED EVENT"); - } - - // /* The event will not be processed after unregister */ - // ESP_ERROR_CHECK(esp_event_handler_instance_unregister(IP_EVENT, IP_EVENT_STA_GOT_IP, instance_got_ip)); - // ESP_ERROR_CHECK(esp_event_handler_instance_unregister(WIFI_EVENT, ESP_EVENT_ANY_ID, instance_any_id)); - // vEventGroupDelete(s_wifi_event_group); -} - - - -//================================= -//========= deinit client ========= -//================================= -void wifi_deinit_client(void) -{ - /* The event will not be processed after unregister */ - ESP_ERROR_CHECK(esp_event_handler_instance_unregister(IP_EVENT, IP_EVENT_STA_GOT_IP, instance_got_ip)); - ESP_ERROR_CHECK(esp_event_handler_instance_unregister(WIFI_EVENT, ESP_EVENT_ANY_ID, instance_any_id)); - vEventGroupDelete(s_wifi_event_group); - esp_wifi_stop(); - esp_wifi_deinit(); - esp_netif_destroy_default_wifi(sta); -} - diff --git a/board_control/main/wifi.h b/board_control/main/wifi.h deleted file mode 100644 index 39eecee..0000000 --- a/board_control/main/wifi.h +++ /dev/null @@ -1,22 +0,0 @@ -#pragma once - -//TODO: currently wifi names and passwords are configured in wifi.c -> move this to config? - -//initialize nvs-flash and netif (needed for both AP and CLIENT) -//has to be run once at startup -//Note: this cant be put in wifi_init functions because this may not be in deinit functions -void wifi_initNvs_initNetif(); - - -//function to start an access point -void wifi_init_ap(void); -//function to disable/deinit access point -void wifi_deinit_ap(void); - -//function to connect to existing wifi network -void wifi_init_client(void); -//function to disable/deinit client -void wifi_deinit_client(void); - - - diff --git a/board_motorctl/CMakeLists.txt b/board_motorctl/CMakeLists.txt index b417768..b692e77 100644 --- a/board_motorctl/CMakeLists.txt +++ b/board_motorctl/CMakeLists.txt @@ -5,5 +5,5 @@ cmake_minimum_required(VERSION 3.5) include($ENV{IDF_PATH}/tools/cmake/project.cmake) -set(EXTRA_COMPONENT_DIRS "../components") +set(EXTRA_COMPONENT_DIRS "../components ../common") project(armchair) diff --git a/board_motorctl/main/CMakeLists.txt b/board_motorctl/main/CMakeLists.txt index 92ed0e1..4b2b42c 100644 --- a/board_motorctl/main/CMakeLists.txt +++ b/board_motorctl/main/CMakeLists.txt @@ -4,17 +4,9 @@ idf_component_register( "motordrivers.cpp" "motorctl.cpp" "config.cpp" - "joystick.cpp" - "buzzer.cpp" - "control.cpp" - "button.cpp" "fan.cpp" - "wifi.c" - "http.cpp" - "auto.cpp" "currentsensor.cpp" + "uart.cpp" INCLUDE_DIRS "." ) - -spiffs_create_partition_image(spiffs ../react-app/build FLASH_IN_PROJECT) diff --git a/board_motorctl/main/auto.cpp b/board_motorctl/main/auto.cpp deleted file mode 100644 index 4cf4a71..0000000 --- a/board_motorctl/main/auto.cpp +++ /dev/null @@ -1,88 +0,0 @@ -#include "auto.hpp" -#include "config.hpp" - -//tag for logging -static const char * TAG = "automatedArmchair"; - - -//============================= -//======== constructor ======== -//============================= -automatedArmchair::automatedArmchair(void) { - //create command queue - commandQueue = xQueueCreate( 32, sizeof( commandSimple_t ) ); //TODO add max size to config? -} - - - -//============================== -//====== generateCommands ====== -//============================== -motorCommands_t automatedArmchair::generateCommands(auto_instruction_t * instruction) { - //reset instruction - *instruction = auto_instruction_t::NONE; - //check if previous command is finished - if ( esp_log_timestamp() > timestampCmdFinished ) { - //get next command from queue - if( xQueueReceive( commandQueue, &cmdCurrent, pdMS_TO_TICKS(500) ) ) { - ESP_LOGI(TAG, "running next command from queue..."); - //copy instruction to be provided to control task - *instruction = cmdCurrent.instruction; - //set acceleration / fading parameters according to command - motorLeft.setFade(fadeType_t::DECEL, cmdCurrent.fadeDecel); - motorRight.setFade(fadeType_t::DECEL, cmdCurrent.fadeDecel); - motorLeft.setFade(fadeType_t::ACCEL, cmdCurrent.fadeAccel); - motorRight.setFade(fadeType_t::ACCEL, cmdCurrent.fadeAccel); - //calculate timestamp the command is finished - timestampCmdFinished = esp_log_timestamp() + cmdCurrent.msDuration; - //copy the new commands - motorCommands = cmdCurrent.motorCmds; - } else { //queue empty - ESP_LOGD(TAG, "no new command in queue -> set motors to IDLE"); - motorCommands = motorCmds_bothMotorsIdle; - } - } else { //previous command still running - ESP_LOGD(TAG, "command still running -> no change"); - } - - //TODO also return instructions via call by reference - return motorCommands; -} - - - -//============================ -//======== addCommand ======== -//============================ -//function that adds a basic command to the queue -void automatedArmchair::addCommand(commandSimple_t command) { - //add command to queue - if ( xQueueSend( commandQueue, ( void * )&command, ( TickType_t ) 0 ) ){ - ESP_LOGI(TAG, "Successfully inserted command to queue"); - } else { - ESP_LOGE(TAG, "Failed to insert new command to queue"); - } -} - -void automatedArmchair::addCommands(commandSimple_t commands[], size_t count) { - for (int i = 0; i < count; i++) { - ESP_LOGI(TAG, "Reading command no. %d from provided array", i); - addCommand(commands[i]); - } -} - - -//=============================== -//======== clearCommands ======== -//=============================== -//function that deletes all pending/queued commands -//e.g. when switching modes -motorCommands_t automatedArmchair::clearCommands() { - //clear command queue - xQueueReset( commandQueue ); - ESP_LOGW(TAG, "command queue was successfully emptied"); - //return commands for idling both motors - motorCommands = motorCmds_bothMotorsIdle; - return motorCmds_bothMotorsIdle; -} - diff --git a/board_motorctl/main/auto.hpp b/board_motorctl/main/auto.hpp deleted file mode 100644 index 8b799fb..0000000 --- a/board_motorctl/main/auto.hpp +++ /dev/null @@ -1,87 +0,0 @@ -#pragma once - -extern "C" -{ -#include "freertos/FreeRTOS.h" -#include "freertos/task.h" -#include "esp_log.h" -#include "esp_err.h" -} - -#include "freertos/queue.h" -#include -#include "motorctl.hpp" - - - -//-------------------------------------------- -//---- struct, enum, variable declarations --- -//-------------------------------------------- -//enum for special instructions / commands to be run in control task -enum class auto_instruction_t { NONE, SWITCH_PREV_MODE, SWITCH_JOYSTICK_MODE, RESET_ACCEL_DECEL, RESET_ACCEL, RESET_DECEL }; - -//struct for a simple command -//e.g. put motors in a certain state for certain time -typedef struct commandSimple_t{ - motorCommands_t motorCmds; - uint32_t msDuration; - uint32_t fadeDecel; - uint32_t fadeAccel; - auto_instruction_t instruction; -} commandSimple_t; - - - -//------------------------------------ -//----- automatedArmchair class ----- -//------------------------------------ -class automatedArmchair { - public: - //--- methods --- - //constructor - automatedArmchair(void); - //function to generate motor commands - //can be also seen as handle function - //TODO: go with other approach: separate task for handling auto mode - // - receive commands with queue anyways - // - => use delay function - // - have a queue that outputs current motor state/commands -> repeatedly check the queue in control task - //function that handles automatic driving and returns motor commands - //also provides instructions to be executed in control task via pointer - motorCommands_t generateCommands(auto_instruction_t * instruction); - - //function that adds a basic command to the queue - void addCommand(commandSimple_t command); - //function that adds an array of basic commands to queue - void addCommands(commandSimple_t commands[], size_t count); - - //function that deletes all pending/queued commands - motorCommands_t clearCommands(); - - - private: - //--- methods --- - //--- objects --- - //TODO: add buzzer here - //--- variables --- - //queue for storing pending commands - QueueHandle_t commandQueue = NULL; - //current running command - commandSimple_t cmdCurrent; - //timestamp current command is finished - uint32_t timestampCmdFinished = 0; - - motorCommands_t motorCommands; - - //command preset for idling motors - const motorCommand_t motorCmd_motorIdle = { - .state = motorstate_t::IDLE, - .duty = 0 - }; - const motorCommands_t motorCmds_bothMotorsIdle = { - .left = motorCmd_motorIdle, - .right = motorCmd_motorIdle - }; -}; - - diff --git a/board_motorctl/main/button.cpp b/board_motorctl/main/button.cpp deleted file mode 100644 index 1762e6e..0000000 --- a/board_motorctl/main/button.cpp +++ /dev/null @@ -1,215 +0,0 @@ -extern "C" -{ -#include -#include -#include -#include "freertos/FreeRTOS.h" -#include "esp_log.h" -} - -#include "button.hpp" - - - -//tag for logging -static const char * TAG = "button"; - - - -//----------------------------- -//-------- constructor -------- -//----------------------------- -buttonCommands::buttonCommands(gpio_evaluatedSwitch * button_f, evaluatedJoystick * joystick_f, controlledArmchair * control_f, buzzer_t * buzzer_f, controlledMotor * motorLeft_f, controlledMotor * motorRight_f){ - //copy object pointers - button = button_f; - joystick = joystick_f; - control = control_f; - buzzer = buzzer_f; - motorLeft = motorLeft_f; - motorRight = motorRight_f; - //TODO declare / configure evaluatedSwitch here instead of config (unnecessary that button object is globally available - only used here)? -} - - - -//---------------------------- -//--------- action ----------- -//---------------------------- -//function that runs commands depending on a count value -void buttonCommands::action (uint8_t count, bool lastPressLong){ - //--- variable declarations --- - bool decelEnabled; //for different beeping when toggling - commandSimple_t cmds[8]; //array for commands for automatedArmchair - - //--- get joystick position --- - //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; - - case 1: - //restart contoller when 1x long pressed - if (lastPressLong){ - ESP_LOGW(TAG, "RESTART"); - buzzer->beep(1,1000,1); - vTaskDelay(1000 / portTICK_PERIOD_MS); - esp_restart(); - return; - } - - 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){ - //define commands - cmds[0] = - { - .motorCmds = { - .left = {motorstate_t::REV, 90}, - .right = {motorstate_t::REV, 90} - }, - .msDuration = 1200, - .fadeDecel = 800, - .fadeAccel = 1300, - .instruction = auto_instruction_t::NONE - }; - cmds[1] = - { - .motorCmds = { - .left = {motorstate_t::FWD, 70}, - .right = {motorstate_t::FWD, 70} - }, - .msDuration = 70, - .fadeDecel = 0, - .fadeAccel = 300, - .instruction = auto_instruction_t::NONE - }; - cmds[2] = - { - .motorCmds = { - .left = {motorstate_t::IDLE, 0}, - .right = {motorstate_t::IDLE, 0} - }, - .msDuration = 10, - .fadeDecel = 800, - .fadeAccel = 1300, - .instruction = auto_instruction_t::SWITCH_JOYSTICK_MODE - }; - - //send commands to automatedArmchair command queue - armchair.addCommands(cmds, 3); - - //change mode to AUTO - control->changeMode(controlMode_t::AUTO); - return; - } - - //toggle idle when 2x pressed - ESP_LOGW(TAG, "cmd %d: toggle IDLE", count); - control->toggleIdle(); //toggle between idle and previous/default mode - break; - - - case 3: - ESP_LOGW(TAG, "cmd %d: switch to JOYSTICK", count); - control->changeMode(controlMode_t::JOYSTICK); //switch to JOYSTICK mode - break; - - case 4: - 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: - 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 deceleration fading between on and off - decelEnabled = motorLeft->toggleFade(fadeType_t::DECEL); - motorRight->toggleFade(fadeType_t::DECEL); - ESP_LOGW(TAG, "cmd %d: toggle deceleration fading to: %d", count, (int)decelEnabled); - if (decelEnabled){ - buzzer->beep(3, 60, 50); - } else { - buzzer->beep(1, 1000, 1); - } - 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)? - break; - - } -} - - - - -//----------------------------- -//------ 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() { - - 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; - } - } -} - - - - diff --git a/board_motorctl/main/button.hpp b/board_motorctl/main/button.hpp deleted file mode 100644 index 09de729..0000000 --- a/board_motorctl/main/button.hpp +++ /dev/null @@ -1,53 +0,0 @@ -#pragma once - -#include "gpio_evaluateSwitch.hpp" -#include "buzzer.hpp" -#include "control.hpp" -#include "motorctl.hpp" -#include "auto.hpp" -#include "config.hpp" -#include "joystick.hpp" - - - -//=================================== -//====== buttonCommands class ======= -//=================================== -//class which runs commands depending on the count a button was pressed -class buttonCommands { - public: - //--- constructor --- - buttonCommands ( - gpio_evaluatedSwitch * button_f, - evaluatedJoystick * joystick_f, - controlledArmchair * control_f, - buzzer_t * buzzer_f, - controlledMotor * motorLeft_f, - controlledMotor * motorRight_f - ); - - //--- functions --- - //the following function has to be started once in a separate task. - //repeatedly evaluates and processes button events then takes the corresponding action - void startHandleLoop(); - - private: - //--- functions --- - void action(uint8_t count, bool lastPressLong); - - //--- objects --- - gpio_evaluatedSwitch* button; - evaluatedJoystick* joystick; - controlledArmchair * control; - buzzer_t* buzzer; - controlledMotor * motorLeft; - controlledMotor * motorRight; - - //--- variables --- - uint8_t count = 0; - uint32_t timestamp_lastAction = 0; - enum class inputState_t {IDLE, WAIT_FOR_INPUT}; - inputState_t state = inputState_t::IDLE; - -}; - diff --git a/board_motorctl/main/buzzer.cpp b/board_motorctl/main/buzzer.cpp deleted file mode 100644 index 9046cd1..0000000 --- a/board_motorctl/main/buzzer.cpp +++ /dev/null @@ -1,95 +0,0 @@ -#include "buzzer.hpp" -#include "config.hpp" - -static const char *TAG_BUZZER = "buzzer"; - -//============================ -//========== init ============ -//============================ -//define gpio pin as output, initialize queue -void buzzer_t::init(){ - //define buzzer pin as output - gpio_pad_select_gpio(gpio_pin); - gpio_set_direction(gpio_pin, GPIO_MODE_OUTPUT); - //create queue - beepQueue = xQueueCreate( 20, sizeof( struct beepEntry ) ); -} - - -//============================= -//======== constructor ======== -//============================= -//copy provided config parameters to private variables, run init function -buzzer_t::buzzer_t(gpio_num_t gpio_pin_f, uint16_t msGap_f){ - ESP_LOGI(TAG_BUZZER, "Initializing buzzer"); - //copy configuration parameters to variables - gpio_pin = gpio_pin_f; - msGap = msGap_f; - //run init function to initialize gpio and queue - init(); -}; - - -//============================ -//=========== beep =========== -//============================ -//function to add a beep command to the queue -void buzzer_t::beep(uint8_t count, uint16_t msOn, uint16_t msOff){ - //create entry struct with provided data - struct beepEntry entryInsert = { - count = count, - msOn = msOn, - msOff = msOff - }; - - // Send a pointer to a struct AMessage object. Don't block if the - // queue is already full. - //struct beepEntry *entryInsertPointer; - //entryInsertPointer = &entryInsertData; - ESP_LOGW(TAG_BUZZER, "Inserted object to queue - count=%d, msOn=%d, msOff=%d", entryInsert.count, entryInsert.msOn, entryInsert.msOff); - //xQueueGenericSend( beepQueue, ( void * ) &entryInsertPointer, ( TickType_t ) 0, queueSEND_TO_BACK ); - xQueueSend( beepQueue, ( void * )&entryInsert, ( TickType_t ) 0 ); -} - - -//============================== -//======== processQueue ======== -//============================== -void buzzer_t::processQueue(){ - //struct for receiving incomming events - struct beepEntry entryRead = { }; - - //loop forever - while(1){ - ESP_LOGD(TAG_BUZZER, "processQueue: waiting for beep command"); - - //if queue is ready - if( beepQueue != 0 ) - { - // wait for a queue entry to be available indefinetely if INCLUDE_vTaskSuspend is enabled in the FreeRTOS config - // otherwise waits for at least 7 weeks - if( xQueueReceive( beepQueue, &entryRead, portMAX_DELAY ) ) - { - ESP_LOGW(TAG_BUZZER, "Read entry from queue: count=%d, msOn=%d, msOff=%d", entryRead.count, entryRead.msOn, entryRead.msOff); - - //beep requested count with requested delays - for (int i = entryRead.count; i--;){ - //turn on - ESP_LOGD(TAG_BUZZER, "turning buzzer on"); - gpio_set_level(gpio_pin, 1); - vTaskDelay(entryRead.msOn / portTICK_PERIOD_MS); - //turn off - ESP_LOGD(TAG_BUZZER, "turning buzzer off"); - gpio_set_level(gpio_pin, 0); - vTaskDelay(entryRead.msOff / portTICK_PERIOD_MS); - } - //wait for minimum gap between beep events - vTaskDelay(msGap / portTICK_PERIOD_MS); - } - }else{ //wait for queue to become available - vTaskDelay(50 / portTICK_PERIOD_MS); - } - } -} - - diff --git a/board_motorctl/main/buzzer.hpp b/board_motorctl/main/buzzer.hpp deleted file mode 100644 index ce6c2c6..0000000 --- a/board_motorctl/main/buzzer.hpp +++ /dev/null @@ -1,56 +0,0 @@ -#pragma once - -#include - -extern "C" -{ -#include "freertos/FreeRTOS.h" -#include "freertos/task.h" -#include "driver/gpio.h" -#include "esp_log.h" -} - -#include "freertos/queue.h" - - - -//=================================== -//========= buzzer_t class ========== -//=================================== -//class which blinks a gpio pin for the provided count and durations. -//- 'processQueue' has to be run in a separate task -//- uses a queue to queue up multiple beep commands -class buzzer_t { - public: - //--- constructor --- - buzzer_t(gpio_num_t gpio_pin_f, uint16_t msGap_f = 200); - - //--- functions --- - void processQueue(); //has to be run once in a separate task, waits for and processes queued events - void beep(uint8_t count, uint16_t msOn, uint16_t msOff); - //void clear(); (TODO - not implemented yet) - //void createTask(); (TODO - not implemented yet) - - //--- variables --- - uint16_t msGap; //gap between beep entries (when multiple queued) - - private: - //--- functions --- - void init(); - - //--- variables --- - gpio_num_t gpio_pin; - - struct beepEntry { - uint8_t count; - uint16_t msOn; - uint16_t msOff; - }; - - //queue for queueing up multiple events while one is still processing - QueueHandle_t beepQueue = NULL; - -}; - - - diff --git a/board_motorctl/main/config.cpp b/board_motorctl/main/config.cpp index 36593f1..7f7b874 100644 --- a/board_motorctl/main/config.cpp +++ b/board_motorctl/main/config.cpp @@ -55,58 +55,6 @@ motorctl_config_t configMotorControlRight = { -//============================== -//======= control config ======= -//============================== -control_config_t configControl = { - .defaultMode = controlMode_t::JOYSTICK, //default mode after startup and toggling IDLE - //--- timeout --- - .timeoutMs = 5*60*1000, //time of inactivity after which the mode gets switched to IDLE - .timeoutTolerancePer = 5, //percentage the duty can vary between timeout checks considered still inactive - //--- http mode --- - -}; - - - -//=============================== -//===== httpJoystick config ===== -//=============================== -httpJoystick_config_t configHttpJoystickMain{ - .toleranceZeroX_Per = 1, //percentage around joystick axis the coordinate snaps to 0 - .toleranceZeroY_Per = 6, - .toleranceEndPer = 2, //percentage before joystick end the coordinate snaps to 1/-1 - .timeoutMs = 2500 //time no new data was received before the motors get turned off -}; - - - -//====================================== -//======= joystick configuration ======= -//====================================== -joystick_config_t configJoystick = { - .adc_x = ADC1_CHANNEL_3, //GPIO39 - .adc_y = ADC1_CHANNEL_0, //GPIO36 - //percentage of joystick range the coordinate of the axis snaps to 0 (0-100) - .tolerance_zeroX_per = 7, //6 - .tolerance_zeroY_per = 10, //7 - //percentage of joystick range the coordinate snaps to -1 or 1 before configured "_max" or "_min" threshold (mechanical end) is reached (0-100) - .tolerance_end_per = 4, - //threshold the radius jumps to 1 before the stick is at max radius (range 0-1) - .tolerance_radius = 0.09, - - //min and max adc values of each axis, !!!AFTER INVERSION!!! is applied: - .x_min = 1392, //=> x=-1 - .x_max = 2650, //=> x=1 - .y_min = 1390, //=> y=-1 - .y_max = 2640, //=> y=1 - //invert adc measurement - .x_inverted = true, - .y_inverted = true -}; - - - //============================ //=== configure fan contol === //============================ @@ -130,22 +78,5 @@ fan_config_t configCooling = { controlledMotor motorLeft(configDriverLeft, configMotorControlLeft); controlledMotor motorRight(configDriverRight, configMotorControlRight); -//create global joystic instance (joystick.hpp) -evaluatedJoystick joystick(configJoystick); - -//create global evaluated switch instance for button next to joystick -gpio_evaluatedSwitch buttonJoystick(GPIO_NUM_25, true, false); //pullup true, not inverted (switch to GND use pullup of controller) - //create buzzer object on pin 12 with gap between queued events of 100ms buzzer_t buzzer(GPIO_NUM_12, 100); - -//create global httpJoystick object (http.hpp) -httpJoystick httpJoystickMain(configHttpJoystickMain); - -//create global control object (control.hpp) -controlledArmchair control(configControl, &buzzer, &motorLeft, &motorRight, &joystick, &httpJoystickMain); - -//create global automatedArmchair object (for auto-mode) (auto.hpp) -automatedArmchair armchair; - - diff --git a/board_motorctl/main/config.hpp b/board_motorctl/main/config.hpp index 2ea0b24..9c4c979 100644 --- a/board_motorctl/main/config.hpp +++ b/board_motorctl/main/config.hpp @@ -2,14 +2,10 @@ #include "motordrivers.hpp" #include "motorctl.hpp" -#include "joystick.hpp" #include "gpio_evaluateSwitch.hpp" #include "buzzer.hpp" -#include "control.hpp" #include "fan.hpp" -#include "http.hpp" -#include "auto.hpp" //in IDLE mode: set loglevel for evaluatedJoystick to DEBUG @@ -23,24 +19,9 @@ extern controlledMotor motorLeft; extern controlledMotor motorRight; -//create global joystic instance -extern evaluatedJoystick joystick; - -//create global evaluated switch instance for button next to joystick -extern gpio_evaluatedSwitch buttonJoystick; - //create global buzzer object extern buzzer_t buzzer; -//create global control object -extern controlledArmchair control; - -//create global automatedArmchair object (for auto-mode) -extern automatedArmchair armchair; - -//create global httpJoystick object -extern httpJoystick httpJoystickMain; - //configuration for fans / cooling extern fan_config_t configCooling; diff --git a/board_motorctl/main/control.cpp b/board_motorctl/main/control.cpp deleted file mode 100644 index fc9e4e3..0000000 --- a/board_motorctl/main/control.cpp +++ /dev/null @@ -1,479 +0,0 @@ -extern "C" -{ -#include -#include "freertos/FreeRTOS.h" -#include "esp_log.h" -#include "freertos/queue.h" - -//custom C libraries -#include "wifi.h" -} - -#include "config.hpp" -#include "control.hpp" - - -//used definitions moved from config.hpp: -//#define JOYSTICK_TEST - - -//tag for logging -static const char * TAG = "control"; -const char* controlModeStr[7] = {"IDLE", "JOYSTICK", "MASSAGE", "HTTP", "MQTT", "BLUETOOTH", "AUTO"}; - - -//----------------------------- -//-------- constructor -------- -//----------------------------- -controlledArmchair::controlledArmchair ( - control_config_t config_f, - buzzer_t * buzzer_f, - controlledMotor* motorLeft_f, - controlledMotor* motorRight_f, - evaluatedJoystick* joystick_f, - httpJoystick* httpJoystick_f - ){ - - //copy configuration - config = config_f; - //copy object pointers - buzzer = buzzer_f; - motorLeft = motorLeft_f; - motorRight = motorRight_f; - joystick_l = joystick_f, - httpJoystickMain_l = httpJoystick_f; - //set default mode from config - modePrevious = config.defaultMode; - - //TODO declare / configure controlled motors here instead of config (unnecessary that button object is globally available - only used here)? -} - - - -//---------------------------------- -//---------- Handle loop ----------- -//---------------------------------- -//function that repeatedly generates motor commands depending on the current mode -//also handles fading and current-limit -void controlledArmchair::startHandleLoop() { - while (1){ - ESP_LOGV(TAG, "control task executing... mode=%s", controlModeStr[(int)mode]); - - switch(mode) { - default: - mode = controlMode_t::IDLE; - break; - - case controlMode_t::IDLE: - //copy preset commands for idling both motors - commands = cmds_bothMotorsIdle; - motorRight->setTarget(commands.right.state, commands.right.duty); - motorLeft->setTarget(commands.left.state, commands.left.duty); - vTaskDelay(200 / portTICK_PERIOD_MS); -#ifdef JOYSTICK_LOG_IN_IDLE - //get joystick data here (without using it) - //since loglevel is DEBUG, calculateion details is output - joystick_l->getData(); //get joystick data here -#endif - break; - - - case controlMode_t::JOYSTICK: - vTaskDelay(20 / portTICK_PERIOD_MS); - //get current joystick data with getData method of evaluatedJoystick - stickData = joystick_l->getData(); - //additionaly scale coordinates (more detail in slower area) - joystick_scaleCoordinatesLinear(&stickData, 0.6, 0.35); //TODO: add scaling parameters to config - //generate motor commands - commands = joystick_generateCommandsDriving(stickData, altStickMapping); - //apply motor commands - motorRight->setTarget(commands.right.state, commands.right.duty); - motorLeft->setTarget(commands.left.state, commands.left.duty); - //TODO make motorctl.setTarget also accept motorcommand struct directly - break; - - - case controlMode_t::MASSAGE: - vTaskDelay(10 / portTICK_PERIOD_MS); - //--- read joystick --- - //only update joystick data when input not frozen - if (!freezeInput){ - stickData = joystick_l->getData(); - } - //--- generate motor commands --- - //pass joystick data from getData method of evaluatedJoystick to generateCommandsShaking function - commands = joystick_generateCommandsShaking(stickData); - //apply motor commands - motorRight->setTarget(commands.right.state, commands.right.duty); - motorLeft->setTarget(commands.left.state, commands.left.duty); - break; - - - case controlMode_t::HTTP: - //--- get joystick data from queue --- - //Note this function waits several seconds (httpconfig.timeoutMs) for data to arrive, otherwise Center data or NULL is returned - //TODO: as described above, when changing modes it might delay a few seconds for the change to apply - stickData = httpJoystickMain_l->getData(); - //scale coordinates additionally (more detail in slower area) - joystick_scaleCoordinatesLinear(&stickData, 0.6, 0.4); //TODO: add scaling parameters to config - ESP_LOGD(TAG, "generating commands from x=%.3f y=%.3f radius=%.3f angle=%.3f", stickData.x, stickData.y, stickData.radius, stickData.angle); - //--- generate motor commands --- - //Note: timeout (no data received) is handled in getData method - commands = joystick_generateCommandsDriving(stickData, altStickMapping); - - //--- apply commands to motors --- - //TODO make motorctl.setTarget also accept motorcommand struct directly - motorRight->setTarget(commands.right.state, commands.right.duty); - motorLeft->setTarget(commands.left.state, commands.left.duty); - break; - - - case controlMode_t::AUTO: - vTaskDelay(20 / portTICK_PERIOD_MS); - //generate commands - commands = armchair.generateCommands(&instruction); - //--- apply commands to motors --- - //TODO make motorctl.setTarget also accept motorcommand struct directly - motorRight->setTarget(commands.right.state, commands.right.duty); - motorLeft->setTarget(commands.left.state, commands.left.duty); - - //process received instruction - switch (instruction) { - case auto_instruction_t::NONE: - break; - case auto_instruction_t::SWITCH_PREV_MODE: - toggleMode(controlMode_t::AUTO); - break; - case auto_instruction_t::SWITCH_JOYSTICK_MODE: - changeMode(controlMode_t::JOYSTICK); - break; - case auto_instruction_t::RESET_ACCEL_DECEL: - //enable downfading (set to default value) - motorLeft->setFade(fadeType_t::DECEL, true); - motorRight->setFade(fadeType_t::DECEL, true); - //set upfading to default value - motorLeft->setFade(fadeType_t::ACCEL, true); - motorRight->setFade(fadeType_t::ACCEL, true); - break; - case auto_instruction_t::RESET_ACCEL: - //set upfading to default value - motorLeft->setFade(fadeType_t::ACCEL, true); - motorRight->setFade(fadeType_t::ACCEL, true); - break; - case auto_instruction_t::RESET_DECEL: - //enable downfading (set to default value) - motorLeft->setFade(fadeType_t::DECEL, true); - motorRight->setFade(fadeType_t::DECEL, true); - break; - } - 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 ------ - //----------------------- - //this section is run about every 5s (+500ms) - if (esp_log_timestamp() - timestamp_SlowLoopLastRun > 5000) { - ESP_LOGV(TAG, "running slow loop... time since last run: %.1fs", (float)(esp_log_timestamp() - timestamp_SlowLoopLastRun)/1000); - timestamp_SlowLoopLastRun = esp_log_timestamp(); - - //run function which detects timeout (switch to idle) - handleTimeout(); - } - - }//end while(1) -}//end startHandleLoop - - - -//----------------------------------- -//---------- resetTimeout ----------- -//----------------------------------- -void controlledArmchair::resetTimeout(){ - //TODO mutex - timestamp_lastActivity = esp_log_timestamp(); -} - - - -//------------------------------------ -//--------- sendButtonEvent ---------- -//------------------------------------ -void controlledArmchair::sendButtonEvent(uint8_t count){ - //TODO mutex - if not replaced with queue - ESP_LOGI(TAG, "setting button event"); - buttonCount = count; -} - - - -//------------------------------------ -//---------- handleTimeout ----------- -//------------------------------------ -//percentage the duty can vary since last timeout check and still counts as incative -//TODO: add this to config -float inactivityTolerance = 10; - -//local function that checks whether two values differ more than a given tolerance -bool validateActivity(float dutyOld, float dutyNow, float tolerance){ - float dutyDelta = dutyNow - dutyOld; - if (fabs(dutyDelta) < tolerance) { - return false; //no significant activity detected - } else { - return true; //there was activity - } -} - -//function that evaluates whether there is no activity/change on the motor duty for a certain time. If so, a switch to IDLE is issued. - has to be run repeatedly in a slow interval -void controlledArmchair::handleTimeout(){ - //check for timeout only when not idling already - if (mode != controlMode_t::IDLE) { - //get current duty from controlled motor objects - float dutyLeftNow = motorLeft->getStatus().duty; - float dutyRightNow = motorRight->getStatus().duty; - - //activity detected on any of the two motors - if (validateActivity(dutyLeft_lastActivity, dutyLeftNow, inactivityTolerance) - || validateActivity(dutyRight_lastActivity, dutyRightNow, inactivityTolerance) - ){ - ESP_LOGD(TAG, "timeout check: [activity] detected since last check -> reset"); - //reset last duty and timestamp - dutyLeft_lastActivity = dutyLeftNow; - dutyRight_lastActivity = dutyRightNow; - resetTimeout(); - } - //no activity on any motor and msTimeout exceeded - else if (esp_log_timestamp() - timestamp_lastActivity > config.timeoutMs){ - ESP_LOGI(TAG, "timeout check: [TIMEOUT], no activity for more than %.ds -> switch to idle", config.timeoutMs/1000); - //toggle to idle mode - toggleIdle(); - } - else { - ESP_LOGD(TAG, "timeout check: [inactive], last activity %.1f s ago, timeout after %d s", (float)(esp_log_timestamp() - timestamp_lastActivity)/1000, config.timeoutMs/1000); - } - } -} - - - -//----------------------------------- -//----------- changeMode ------------ -//----------------------------------- -//function to change to a specified control mode -void controlledArmchair::changeMode(controlMode_t modeNew) { - //reset timeout timer - resetTimeout(); - - //exit if target mode is already active - if (mode == modeNew) { - ESP_LOGE(TAG, "changeMode: Already in target mode '%s' -> nothing to change", controlModeStr[(int)mode]); - return; - } - - //copy previous mode - modePrevious = mode; - - ESP_LOGW(TAG, "=== changing mode from %s to %s ===", controlModeStr[(int)mode], controlModeStr[(int)modeNew]); - - //========== commands change FROM mode ========== - //run functions when changing FROM certain mode - switch(modePrevious){ - default: - ESP_LOGI(TAG, "noting to execute when changing FROM this mode"); - break; - -#ifdef JOYSTICK_LOG_IN_IDLE - case controlMode_t::IDLE: - ESP_LOGI(TAG, "disabling debug output for 'evaluatedJoystick'"); - esp_log_level_set("evaluatedJoystick", ESP_LOG_WARN); //FIXME: loglevel from config - break; -#endif - - case controlMode_t::HTTP: - ESP_LOGW(TAG, "switching from http mode -> disabling http and wifi"); - //stop http server - ESP_LOGI(TAG, "disabling http server..."); - http_stop_server(); - - //FIXME: make wifi function work here - currently starting wifi at startup (see notes main.cpp) - //stop wifi - //TODO: decide whether ap or client is currently used - which has to be disabled? - //ESP_LOGI(TAG, "deinit wifi..."); - //wifi_deinit_client(); - //wifi_deinit_ap(); - ESP_LOGI(TAG, "done stopping http mode"); - break; - - case controlMode_t::MASSAGE: - ESP_LOGW(TAG, "switching from MASSAGE mode -> restoring fading, reset frozen input"); - //TODO: fix issue when downfading was disabled before switching to massage mode - currently it gets enabled again here... - //enable downfading (set to default value) - motorLeft->setFade(fadeType_t::DECEL, true); - motorRight->setFade(fadeType_t::DECEL, true); - //set upfading to default value - motorLeft->setFade(fadeType_t::ACCEL, true); - motorRight->setFade(fadeType_t::ACCEL, true); - //reset frozen input state - freezeInput = false; - break; - - case controlMode_t::AUTO: - ESP_LOGW(TAG, "switching from AUTO mode -> restoring fading to default"); - //TODO: fix issue when downfading was disabled before switching to auto mode - currently it gets enabled again here... - //enable downfading (set to default value) - motorLeft->setFade(fadeType_t::DECEL, true); - motorRight->setFade(fadeType_t::DECEL, true); - //set upfading to default value - motorLeft->setFade(fadeType_t::ACCEL, true); - motorRight->setFade(fadeType_t::ACCEL, true); - break; - } - - - //========== commands change TO mode ========== - //run functions when changing TO certain mode - switch(modeNew){ - default: - ESP_LOGI(TAG, "noting to execute when changing TO this mode"); - break; - - case controlMode_t::IDLE: - buzzer->beep(1, 1500, 0); -#ifdef JOYSTICK_LOG_IN_IDLE - esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG); -#endif - break; - - case controlMode_t::HTTP: - ESP_LOGW(TAG, "switching to http mode -> enabling http and wifi"); - //start wifi - //TODO: decide wether ap or client should be started - ESP_LOGI(TAG, "init wifi..."); - - //FIXME: make wifi function work here - currently starting wifi at startup (see notes main.cpp) - //wifi_init_client(); - //wifi_init_ap(); - - //wait for wifi - //ESP_LOGI(TAG, "waiting for wifi..."); - //vTaskDelay(1000 / portTICK_PERIOD_MS); - - //start http server - ESP_LOGI(TAG, "init http server..."); - http_init_server(); - ESP_LOGI(TAG, "done initializing http mode"); - break; - - case controlMode_t::MASSAGE: - ESP_LOGW(TAG, "switching to MASSAGE mode -> reducing fading"); - uint32_t shake_msFadeAccel = 500; //TODO: move this to config - - //disable downfading (max. deceleration) - motorLeft->setFade(fadeType_t::DECEL, false); - motorRight->setFade(fadeType_t::DECEL, false); - //reduce upfading (increase acceleration) - motorLeft->setFade(fadeType_t::ACCEL, shake_msFadeAccel); - motorRight->setFade(fadeType_t::ACCEL, shake_msFadeAccel); - break; - - } - - //--- update mode to new mode --- - //TODO: add mutex - mode = modeNew; -} - - -//TODO simplify the following 3 functions? can be replaced by one? - -//----------------------------------- -//----------- toggleIdle ------------ -//----------------------------------- -//function to toggle between IDLE and previous active mode -void controlledArmchair::toggleIdle() { - //toggle between IDLE and previous mode - toggleMode(controlMode_t::IDLE); -} - - - -//------------------------------------ -//----------- toggleModes ------------ -//------------------------------------ -//function to toggle between two modes, but prefer first argument if entirely different mode is currently active -void controlledArmchair::toggleModes(controlMode_t modePrimary, controlMode_t modeSecondary) { - //switch to secondary mode when primary is already active - if (mode == modePrimary){ - ESP_LOGW(TAG, "toggleModes: switching from primaryMode %s to secondarMode %s", controlModeStr[(int)mode], controlModeStr[(int)modeSecondary]); - buzzer->beep(2,200,100); - changeMode(modeSecondary); //switch to secondary mode - } - //switch to primary mode when any other mode is active - else { - ESP_LOGW(TAG, "toggleModes: switching from %s to primary mode %s", controlModeStr[(int)mode], controlModeStr[(int)modePrimary]); - buzzer->beep(4,200,100); - changeMode(modePrimary); - } -} - - - -//----------------------------------- -//----------- toggleMode ------------ -//----------------------------------- -//function that toggles between certain mode and previous mode -void controlledArmchair::toggleMode(controlMode_t modePrimary){ - - //switch to previous mode when primary is already active - if (mode == modePrimary){ - ESP_LOGW(TAG, "toggleMode: switching from primaryMode %s to previousMode %s", controlModeStr[(int)mode], controlModeStr[(int)modePrevious]); - //buzzer->beep(2,200,100); - changeMode(modePrevious); //switch to previous mode - } - //switch to primary mode when any other mode is active - else { - ESP_LOGW(TAG, "toggleModes: switching from %s to primary mode %s", controlModeStr[(int)mode], controlModeStr[(int)modePrimary]); - //buzzer->beep(4,200,100); - changeMode(modePrimary); - } -} diff --git a/board_motorctl/main/control.hpp b/board_motorctl/main/control.hpp deleted file mode 100644 index 8ed1e66..0000000 --- a/board_motorctl/main/control.hpp +++ /dev/null @@ -1,130 +0,0 @@ -#pragma once - -#include "motordrivers.hpp" -#include "motorctl.hpp" -#include "buzzer.hpp" -#include "http.hpp" -#include "auto.hpp" - - -//-------------------------------------------- -//---- struct, enum, variable declarations --- -//-------------------------------------------- -//enum that decides how the motors get controlled -enum class controlMode_t {IDLE, JOYSTICK, MASSAGE, HTTP, MQTT, BLUETOOTH, AUTO}; -//string array representing the mode enum (for printing the state as string) -extern const char* controlModeStr[7]; - -//--- control_config_t --- -//struct with config parameters -typedef struct control_config_t { - controlMode_t defaultMode; //default mode after startup and toggling IDLE - //timeout options - uint32_t timeoutMs; //time of inactivity after which the mode gets switched to IDLE - float timeoutTolerancePer; //percentage the duty can vary between timeout checks considered still inactive -} control_config_t; - - - - -//================================== -//========= control class ========== -//================================== -//controls the mode the armchair operates -//repeatedly generates the motor commands corresponding to current mode and sends those to motorcontrol -class controlledArmchair { - public: - //--- constructor --- - controlledArmchair ( - control_config_t config_f, - buzzer_t* buzzer_f, - controlledMotor* motorLeft_f, - controlledMotor* motorRight_f, - evaluatedJoystick* joystick_f, - httpJoystick* httpJoystick_f - ); - - //--- functions --- - //task that repeatedly generates motor commands depending on the current mode - void startHandleLoop(); - - //function that changes to a specified control mode - void changeMode(controlMode_t modeNew); - - //function that toggle between IDLE and previous active mode (or default if not switched to certain mode yet) - void toggleIdle(); - - //function that toggles between two modes, but prefers first argument if entirely different mode is currently active - void toggleModes(controlMode_t modePrimary, controlMode_t modeSecondary); - - //toggle between certain mode and previous mode - void toggleMode(controlMode_t modePrimary); - - //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); - - private: - - //--- functions --- - //function that evaluates whether there is no activity/change on the motor duty for a certain time, if so a switch to IDLE is issued. - has to be run repeatedly in a slow interval - void handleTimeout(); - - //--- objects --- - buzzer_t* buzzer; - controlledMotor* motorLeft; - controlledMotor* motorRight; - httpJoystick* httpJoystickMain_l; - evaluatedJoystick* joystick_l; - - //---variables --- - //struct for motor commands returned by generate functions of each mode - motorCommands_t commands; - //struct with config parameters - control_config_t config; - - //store joystick data - joystickData_t stickData; - bool altStickMapping; //alternative joystick mapping (reverse mapped differently) - - //variables for http mode - uint32_t http_timestamp_lastData = 0; - - //variables for MASSAGE mode - bool freezeInput = false; - - //variables for AUTO mode - auto_instruction_t instruction = auto_instruction_t::NONE; //variable to receive instructions from automatedArmchair - - //variable to store button event - uint8_t buttonCount = 0; - - //definition of mode enum - controlMode_t mode = controlMode_t::IDLE; - - //variable to store mode when toggling IDLE mode - controlMode_t modePrevious; //default mode - - //command preset for idling motors - const motorCommand_t cmd_motorIdle = { - .state = motorstate_t::IDLE, - .duty = 0 - }; - const motorCommands_t cmds_bothMotorsIdle = { - .left = cmd_motorIdle, - .right = cmd_motorIdle - }; - - //variable for slow loop - uint32_t timestamp_SlowLoopLastRun = 0; - - //variables for detecting timeout (switch to idle, after inactivity) - float dutyLeft_lastActivity = 0; - float dutyRight_lastActivity = 0; - uint32_t timestamp_lastActivity = 0; -}; - - diff --git a/board_motorctl/main/http.cpp b/board_motorctl/main/http.cpp deleted file mode 100644 index 29964e4..0000000 --- a/board_motorctl/main/http.cpp +++ /dev/null @@ -1,270 +0,0 @@ -extern "C" -{ -#include -#include "mdns.h" -#include "cJSON.h" -#include "esp_spiffs.h" -#include "esp_wifi.h" -#include "freertos/FreeRTOS.h" -#include "freertos/task.h" -#include "esp_log.h" -#include "freertos/queue.h" - -} - -#include "http.hpp" -#include "config.hpp" - - -//tag for logging -static const char * TAG = "http"; -static httpd_handle_t server = NULL; - - - -//============================== -//===== start mdns service ===== -//============================== -//TODO: test this, not working? -//function that initializes and starts mdns server for host discovery -void start_mdns_service() -{ -//init queue for sending joystickdata from http endpoint to control task - mdns_init(); - mdns_hostname_set("armchair"); - mdns_instance_name_set("electric armchair"); -} - - - -//=========================== -//======= default url ======= -//=========================== -//serve requested files from spiffs -static esp_err_t on_default_url(httpd_req_t *req) -{ - ESP_LOGI(TAG, "Opening page for URL: %s", req->uri); - - esp_vfs_spiffs_conf_t esp_vfs_spiffs_conf = { - .base_path = "/spiffs", - .partition_label = NULL, - .max_files = 5, - .format_if_mount_failed = true}; - esp_vfs_spiffs_register(&esp_vfs_spiffs_conf); - - char path[600]; - if (strcmp(req->uri, "/") == 0) - strcpy(path, "/spiffs/index.html"); - else - sprintf(path, "/spiffs%s", req->uri); - char *ext = strrchr(path, '.'); - if (ext == NULL || strncmp(ext, ".local", strlen(".local")) == 0) - { - httpd_resp_set_status(req, "301 Moved Permanently"); - httpd_resp_set_hdr(req, "Location", "/"); - httpd_resp_send(req, NULL, 0); - return ESP_OK; - } - if (strcmp(ext, ".css") == 0) - httpd_resp_set_type(req, "text/css"); - if (strcmp(ext, ".js") == 0) - httpd_resp_set_type(req, "text/javascript"); - if (strcmp(ext, ".png") == 0) - httpd_resp_set_type(req, "image/png"); - - FILE *file = fopen(path, "r"); - if (file == NULL) - { - httpd_resp_send_404(req); - esp_vfs_spiffs_unregister(NULL); - return ESP_OK; - } - - char lineRead[256]; - while (fgets(lineRead, sizeof(lineRead), file)) - { - httpd_resp_sendstr_chunk(req, lineRead); - } - httpd_resp_sendstr_chunk(req, NULL); - - esp_vfs_spiffs_unregister(NULL); - return ESP_OK; -} - - - -//============================== -//===== httpJoystick class ===== -//============================== -//----------------------- -//----- constructor ----- -//----------------------- -httpJoystick::httpJoystick( httpJoystick_config_t config_f ){ - //copy config struct - config = config_f; -} - - -//-------------------------- -//---- receiveHttpData ----- -//-------------------------- -//joystick endpoint - function that is called when data is received with post request at /api/joystick -esp_err_t httpJoystick::receiveHttpData(httpd_req_t *req){ - //--- add header --- - //to allow cross origin (otherwise browser fails when app is running on another host) - httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*"); - - //--- get data from http request --- - char buffer[100]; - memset(&buffer, 0, sizeof(buffer)); - httpd_req_recv(req, buffer, req->content_len); - ESP_LOGD(TAG, "/api/joystick: received data: %s", buffer); - - //--- parse received json string to json object --- - cJSON *payload = cJSON_Parse(buffer); - ESP_LOGV(TAG, "parsed json: \n %s", cJSON_Print(payload)); - - //--- extract relevant items from json object --- - cJSON *x_json = cJSON_GetObjectItem(payload, "x"); - cJSON *y_json = cJSON_GetObjectItem(payload, "y"); - - //--- save items to struct --- - joystickData_t data = { }; - - //note cjson can only interpret values as numbers when there are no quotes around the values in json (are removed from json on client side) - //convert json to double to float - data.x = static_cast(x_json->valuedouble); - data.y = static_cast(y_json->valuedouble); - //log received and parsed values - ESP_LOGI(TAG, "received values: x=%.3f y=%.3f", - data.x, data.y); - - // scaleCoordinate(input, min, max, center, tolerance_zero_per, tolerance_end_per) - data.x = scaleCoordinate(data.x+1, 0, 2, 1, config.toleranceZeroX_Per, config.toleranceEndPer); - data.y = scaleCoordinate(data.y+1, 0, 2, 1, config.toleranceZeroY_Per, config.toleranceEndPer); - - //--- calculate radius with new/scaled coordinates --- - data.radius = sqrt(pow(data.x,2) + pow(data.y,2)); - //TODO: radius tolerance? (as in original joystick func) - //limit radius to 1 - if (data.radius > 1) { - data.radius = 1; - } - //--- calculate angle --- - data.angle = (atan(data.y/data.x) * 180) / 3.141; - //--- evaluate position --- - data.position = joystick_evaluatePosition(data.x, data.y); - - //log processed values - ESP_LOGI(TAG, "processed values: x=%.3f y=%.3f radius=%.3f angle=%.3f pos=%s", - data.x, data.y, data.radius, data.angle, joystickPosStr[(int)data.position]); - - //--- free memory --- - cJSON_Delete(payload); - - //--- send data to control task via queue --- - //xQueueSend( joystickDataQueue, ( void * )&data, ( TickType_t ) 0 ); - //changed to length = 1 -> overwrite - older values are no longer relevant - xQueueOverwrite( joystickDataQueue, ( void * )&data ); - - //--- return http response --- - httpd_resp_set_status(req, "204 NO CONTENT"); - httpd_resp_send(req, NULL, 0); - - return ESP_OK; -} - - -//------------------- -//----- getData ----- -//------------------- -//wait for and return joystick data from queue, if timeout return NULL -joystickData_t httpJoystick::getData(){ - - //--- get joystick data from queue --- - if( xQueueReceive( joystickDataQueue, &dataRead, pdMS_TO_TICKS(config.timeoutMs) ) ) { - - ESP_LOGD(TAG, "getData: received data (from queue): x=%.3f y=%.3f radius=%.3f angle=%.3f", - dataRead.x, dataRead.y, dataRead.radius, dataRead.angle); - } - //--- timeout --- - //no new data received within configured timeout - else { - //send error message when last received data did NOT result in CENTER position - if (dataRead.position != joystickPos_t::CENTER) { - //change data to "joystick center" data to stop the motors - dataRead = dataCenter; - ESP_LOGE(TAG, "TIMEOUT - no data received for 3s -> set to center"); - } - } - return dataRead; -} - - -//-------------------------------------------- -//--- receiveHttpData for httpJoystickMain --- -//-------------------------------------------- -//function that wraps pointer to member function of httpJoystickMain instance in a "normal" function which the webserver can run on joystick URL - -//declare pointer to receiveHttpData method of httpJoystick class -esp_err_t (httpJoystick::*pointerToReceiveFunc)(httpd_req_t *req) = &httpJoystick::receiveHttpData; - -esp_err_t on_joystick_url(httpd_req_t *req){ - //run pointer to receiveHttpData function of httpJoystickMain instance - return (httpJoystickMain.*pointerToReceiveFunc)(req); -} - - - -//============================ -//===== init http server ===== -//============================ -//function that initializes http server and configures available urls -void http_init_server() -{ - - //---- configure webserver ---- - httpd_config_t config = HTTPD_DEFAULT_CONFIG(); - config.uri_match_fn = httpd_uri_match_wildcard; - - //---- start webserver ---- - ESP_ERROR_CHECK(httpd_start(&server, &config)); - - - //----- define URLs ----- - httpd_uri_t joystick_url; - joystick_url.uri = "/api/joystick"; - joystick_url.method = HTTP_POST; - joystick_url.handler = on_joystick_url; - httpd_register_uri_handler(server, &joystick_url); - - httpd_uri_t default_url; - default_url.uri = "/*"; - default_url.method = HTTP_GET; - default_url.handler = on_default_url; - httpd_register_uri_handler(server, &default_url); - - //previous approach with sockets: - // httpd_uri_t socket_joystick_url = { - // .uri = "/ws-api/joystick", - // .method = HTTP_GET, - // .handler = on_socket_joystick_url, - // .is_websocket = true}; - // httpd_register_uri_handler(server, &socket_joystick_url); - -} - - - -//============================ -//===== stop http server ===== -//============================ -//function that destroys the http server -void http_stop_server() -{ - printf("stopping http\n"); - httpd_stop(server); -} - - - diff --git a/board_motorctl/main/http.hpp b/board_motorctl/main/http.hpp deleted file mode 100644 index 71d4656..0000000 --- a/board_motorctl/main/http.hpp +++ /dev/null @@ -1,70 +0,0 @@ -#pragma once - -extern "C" -{ -#include "esp_http_server.h" -} - -#include "joystick.hpp" - - - -//============================ -//===== init http server ===== -//============================ -//function that initializes http server and configures available urls -void http_init_server(); - - -//============================== -//===== start mdns service ===== -//============================== -//function that initializes and starts mdns server for host discovery -void start_mdns_service(); - - -//============================ -//===== stop http server ===== -//============================ -//function that destroys the http server -void http_stop_server(); - - -//============================== -//===== httpJoystick class ===== -//============================== -//class that receices that from a HTTP post request, generates and scales joystick data and provides the data in a queue - -//struct with configuration parameters -typedef struct httpJoystick_config_t { - float toleranceZeroX_Per;//percentage around joystick axis the coordinate snaps to 0 - float toleranceZeroY_Per; - float toleranceEndPer; //percentage before joystick end the coordinate snaps to 1/-1 - uint32_t timeoutMs; //time no new data was received before the motors get turned off -} httpJoystick_config_t; - - -class httpJoystick{ - public: - //--- constructor --- - httpJoystick( httpJoystick_config_t config_f ); - - //--- functions --- - joystickData_t getData(); //wait for and return joystick data from queue, if timeout return CENTER - - esp_err_t receiveHttpData(httpd_req_t *req); //function that is called when data is received with post request at /api/joystick - - private: - //--- variables --- - httpJoystick_config_t config; - QueueHandle_t joystickDataQueue = xQueueCreate( 1, sizeof( struct joystickData_t ) ); - //struct for receiving data from http function, and storing data of last update - joystickData_t dataRead; - const joystickData_t dataCenter = { - .position = joystickPos_t::CENTER, - .x = 0, - .y = 0, - .radius = 0, - .angle = 0 - }; -}; diff --git a/board_motorctl/main/joystick.cpp b/board_motorctl/main/joystick.cpp deleted file mode 100644 index c282ea6..0000000 --- a/board_motorctl/main/joystick.cpp +++ /dev/null @@ -1,572 +0,0 @@ -extern "C" { -#include "hal/timer_types.h" -} - -#include "joystick.hpp" - - -//definition of string array to be able to convert state enum to readable string -const char* joystickPosStr[7] = {"CENTER", "Y_AXIS", "X_AXIS", "TOP_RIGHT", "TOP_LEFT", "BOTTOM_LEFT", "BOTTOM_RIGHT"}; - -//tags for logging -static const char * TAG = "evaluatedJoystick"; -static const char * TAG_CMD = "joystickCommands"; - - - - -//----------------------------- -//-------- constructor -------- -//----------------------------- -//copy provided struct with all configuration and run init function -evaluatedJoystick::evaluatedJoystick(joystick_config_t config_f){ - config = config_f; - init(); -} - - - -//---------------------------- -//---------- init ------------ -//---------------------------- -void evaluatedJoystick::init(){ - ESP_LOGI(TAG, "initializing joystick"); - //initialize adc - adc1_config_width(ADC_WIDTH_BIT_12); //=> max resolution 4096 - - //FIXME: the following two commands each throw error - //"ADC: adc1_lock_release(419): adc1 lock release called before acquire" - //note: also happens for each get_raw for first call of readAdc function - //when run in main function that does not happen -> move init from constructor to be called in main - adc1_config_channel_atten(config.adc_x, ADC_ATTEN_DB_11); //max voltage - adc1_config_channel_atten(config.adc_y, ADC_ATTEN_DB_11); //max voltage - - //define joystick center from current position - defineCenter(); //define joystick center from current position -} - - - -//----------------------------- -//--------- readAdc ----------- -//----------------------------- -//function for multisampling an anlog input -int evaluatedJoystick::readAdc(adc1_channel_t adc_channel, bool inverted) { - //make multiple measurements - int adc_reading = 0; - for (int i = 0; i < 16; i++) { - adc_reading += adc1_get_raw(adc_channel); - ets_delay_us(50); - } - adc_reading = adc_reading / 16; - - //return original or inverted result - if (inverted) { - return 4095 - adc_reading; - } else { - return adc_reading; - } -} - - - -//------------------------------- -//---------- getData ------------ -//------------------------------- -//function that reads the joystick, calculates values and returns a struct with current data -joystickData_t evaluatedJoystick::getData() { - //get coordinates - //TODO individual tolerances for each axis? Otherwise some parameters can be removed - //TODO duplicate code for each axis below: - ESP_LOGV(TAG, "getting X coodrdinate..."); - uint32_t adcRead; - adcRead = readAdc(config.adc_x, config.x_inverted); - 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); - data.x = x; - 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); - data.y = y; - ESP_LOGD(TAG, "Y: adc-raw=%d \tadc-conv=%d \tmin=%d \t max=%d \tcenter=%d \tinverted=%d => y=%.3lf", - adc1_get_raw(config.adc_y), adcRead, config.y_min, config.y_max, y_center, config.y_inverted, y); - - //calculate radius - data.radius = sqrt(pow(data.x,2) + pow(data.y,2)); - if (data.radius > 1-config.tolerance_radius) { - data.radius = 1; - } - - //calculate angle - data.angle = (atan(data.y/data.x) * 180) / 3.141; - - //define position - data.position = joystick_evaluatePosition(x, y); - - ESP_LOGD(TAG, "X=%.2f Y=%.2f radius=%.2f angle=%.2f", data.x, data.y, data.radius, data.angle); - return data; -} - - - -//---------------------------- -//------ defineCenter -------- -//---------------------------- -//function that defines the current position of the joystick as center position -void evaluatedJoystick::defineCenter(){ - //read voltage from adc - x_center = readAdc(config.adc_x, config.x_inverted); - y_center = readAdc(config.adc_y, config.y_inverted); - - ESP_LOGW(TAG, "defined center to x=%d, y=%d", x_center, y_center); -} - - - - -//============================== -//====== scaleCoordinate ======= -//============================== -//function that scales an input value (e.g. from adc pin) to a value from -1 to 1 using the given thresholds and tolerances -float scaleCoordinate(float input, float min, float max, float center, float tolerance_zero_per, float tolerance_end_per) { - - float coordinate = 0; - - //convert tolerance percentages to actual values of range - double tolerance_zero = (max-min) * tolerance_zero_per / 100; - double tolerance_end = (max-min) * tolerance_end_per / 100; - - //define coordinate value considering the different tolerances - //--- center --- - if ((input < center+tolerance_zero) && (input > center-tolerance_zero) ) { //adc value is inside tolerance around center threshold - coordinate = 0; - } - //--- maximum --- - else if (input > max-tolerance_end) { - coordinate = 1; - } - //--- minimum --- - else if (input < min+tolerance_end) { - coordinate = -1; - } - //--- positive area --- - else if (input > center) { - float range = max - center - tolerance_zero - tolerance_end; - coordinate = (input - center - tolerance_zero) / range; - } - //--- negative area --- - else if (input < center) { - float range = (center - min - tolerance_zero - tolerance_end); - coordinate = -(center-input - tolerance_zero) / range; - } - - 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; -} - - - - -//=========================================== -//====== joystick_scaleCoordinatesExp ======= -//=========================================== -//local function that scales the absolute value of a variable exponentionally -float scaleExp(float value, float exponent){ - float result = powf(fabs(value), exponent); - if (value >= 0) { - return result; - } else { - return -result; - } -} -//function that updates a joystickData object with exponentionally scaling applied to coordinates -void joystick_scaleCoordinatesExp(joystickData_t * data, float exponent){ - //scale x and y coordinate - data->x = scaleExp(data->x, exponent); - data->y = scaleExp(data->y, exponent); - //re-calculate radius - data->radius = sqrt(pow(data->x,2) + pow(data->y,2)); - if (data->radius > 1-0.07) {//FIXME hardcoded radius tolerance - data->radius = 1; - } -} - - - - -//============================================== -//====== joystick_scaleCoordinatesLinear ======= -//============================================== -//local function that scales value from -1-1 to -1-1 with two different slopes before and after a specified point -//slope1: for value from 0 to pointX -> scale linear from 0 to pointY -//slope2: for value from pointX to 1 -> scale linear from pointY to 1 -float scaleLinPoint(float value, float pointX, float pointY){ - float result; - if (fabs(value) <= pointX) { - //--- scale on line from 0 to point --- - result = fabs(value) * (pointY/pointX); - } else { - //--- scale on line from point to 1 --- - float m = (1-pointY) / (1-pointX); - result = fabs(value) * m + (1 - m); - } - - //--- return result with same sign as input --- - if (value >= 0) { - return result; - } else { - 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 --- DISABLED - /* - data->x = scaleLinPoint(data->x, pointX, pointY); - data->y = scaleLinPoint(data->y, pointX, pointY); - //re-calculate radius - data->radius = sqrt(pow(data->x,2) + pow(data->y,2)); - if (data->radius > 1-0.1) {//FIXME hardcoded radius tolerance - data->radius = 1; - } - */ - - //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); -} - - - - -//============================================= -//========= joystick_evaluatePosition ========= -//============================================= -//function that defines and returns enum joystickPos from x and y coordinates -joystickPos_t joystick_evaluatePosition(float x, float y){ - //define position - //--- center --- - if((fabs(x) == 0) && (fabs(y) == 0)){ - return joystickPos_t::CENTER; - } - //--- x axis --- - else if(fabs(y) == 0){ - return joystickPos_t::X_AXIS; - } - //--- y axis --- - else if(fabs(x) == 0){ - return joystickPos_t::Y_AXIS; - } - //--- top right --- - else if(x > 0 && y > 0){ - return joystickPos_t::TOP_RIGHT; - } - //--- top left --- - else if(x < 0 && y > 0){ - return joystickPos_t::TOP_LEFT; - } - //--- bottom left --- - else if(x < 0 && y < 0){ - return joystickPos_t::BOTTOM_LEFT; - } - //--- bottom right --- - else if(x > 0 && y < 0){ - return joystickPos_t::BOTTOM_RIGHT; - } - //--- other --- - else { - return joystickPos_t::CENTER; - } - -} - - - - -//============================================ -//========= joystick_CommandsDriving ========= -//============================================ -//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; - // float x; - // float y; - // float radius; - // float angle; - //} joystickData_t; - - //--- variables --- - motorCommands_t commands; - float dutyMax = 90; //TODO add this to config, make changeable during runtime - - float dutyOffset = 5; //immediately starts with this duty, TODO add this to config - float dutyRange = dutyMax - dutyOffset; - float ratio = fabs(data.angle) / 90; //90degree = x=0 || 0degree = y=0 - - //--- 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; - if (ratio < ratioClipThreshold) ratio = 0; - else if (ratio > 1-ratioClipThreshold) ratio = 1; - //TODO subtract this clip threshold from available joystick range at ratio usage - */ - - //--- experimental alternative control mode --- - if (altStickMapping == true){ - //swap BOTTOM_LEFT and BOTTOM_RIGHT - if (data.position == joystickPos_t::BOTTOM_LEFT){ - data.position = joystickPos_t::BOTTOM_RIGHT; - } - else if (data.position == joystickPos_t::BOTTOM_RIGHT){ - data.position = joystickPos_t::BOTTOM_LEFT; - } - } - - //--- handle all positions --- - //define target direction and duty according to position - switch (data.position){ - - case joystickPos_t::CENTER: - commands.left.state = motorstate_t::IDLE; - commands.right.state = motorstate_t::IDLE; - commands.left.duty = 0; - commands.right.duty = 0; - break; - - case joystickPos_t::Y_AXIS: - if (data.y > 0){ - commands.left.state = motorstate_t::FWD; - commands.right.state = motorstate_t::FWD; - } else { - commands.left.state = motorstate_t::REV; - commands.right.state = motorstate_t::REV; - } - commands.left.duty = fabs(data.y) * dutyRange + dutyOffset; - commands.right.duty = commands.left.duty; - break; - - case joystickPos_t::X_AXIS: - if (data.x > 0) { - commands.left.state = motorstate_t::FWD; - commands.right.state = motorstate_t::REV; - } else { - commands.left.state = motorstate_t::REV; - commands.right.state = motorstate_t::FWD; - } - commands.left.duty = fabs(data.x) * dutyRange + dutyOffset; - commands.right.duty = commands.left.duty; - break; - - case joystickPos_t::TOP_RIGHT: - commands.left.state = motorstate_t::FWD; - commands.right.state = motorstate_t::FWD; - commands.left.duty = data.radius * dutyRange + dutyOffset; - commands.right.duty = data.radius * dutyRange - (data.radius*dutyRange + dutyOffset)*(1-ratio) + dutyOffset; - break; - - case joystickPos_t::TOP_LEFT: - commands.left.state = motorstate_t::FWD; - commands.right.state = motorstate_t::FWD; - commands.left.duty = data.radius * dutyRange - (data.radius*dutyRange + dutyOffset)*(1-ratio) + dutyOffset; - commands.right.duty = data.radius * dutyRange + dutyOffset; - break; - - case joystickPos_t::BOTTOM_LEFT: - commands.left.state = motorstate_t::REV; - commands.right.state = motorstate_t::REV; - commands.left.duty = data.radius * dutyRange + dutyOffset; - commands.right.duty = data.radius * dutyRange - (data.radius*dutyRange + dutyOffset)*(1-ratio) + dutyOffset; - break; - - case joystickPos_t::BOTTOM_RIGHT: - commands.left.state = motorstate_t::REV; - commands.right.state = motorstate_t::REV; - commands.left.duty = data.radius * dutyRange - (data.radius*dutyRange + dutyOffset)*(1-ratio) + dutyOffset; - commands.right.duty = data.radius * dutyRange + dutyOffset; - break; - } - - ESP_LOGI(TAG_CMD, "generated commands from data: state=%s, angle=%.3f, ratio=%.3f/%.3f, radius=%.2f, x=%.2f, y=%.2f", - joystickPosStr[(int)data.position], data.angle, ratio, (1-ratio), data.radius, data.x, data.y); - ESP_LOGI(TAG_CMD, "motor left: state=%s, duty=%.3f", motorstateStr[(int)commands.left.state], commands.left.duty); - ESP_LOGI(TAG_CMD, "motor right: state=%s, duty=%.3f", motorstateStr[(int)commands.right.state], commands.right.duty); - return commands; -} - - - -//============================================ -//========= joystick_CommandsShaking ========= -//============================================ -//--- variable declarations --- -uint32_t shake_timestamp_turnedOn = 0; -uint32_t shake_timestamp_turnedOff = 0; -bool shake_state = false; -joystickPos_t lastStickPos = joystickPos_t::CENTER; -//stick position quadrant only with "X_AXIS and Y_AXIS" as hysteresis -joystickPos_t stickQuadrant = joystickPos_t::CENTER; - -//--- configure shake mode --- TODO: move this to config -uint32_t shake_msOffMax = 80; -uint32_t shake_msOnMax = 120; -float dutyShake = 60; - -//function that generates commands for both motors from the joystick data -motorCommands_t joystick_generateCommandsShaking(joystickData_t data){ - - //--- handle pulsing shake variable --- - //TODO remove this, make individual per mode? - //TODO only run this when not CENTER anyways? - motorCommands_t commands; - float ratio = fabs(data.angle) / 90; //90degree = x=0 || 0degree = y=0 - - //calculate on/off duration - uint32_t msOn = shake_msOnMax * data.radius; - uint32_t msOff = shake_msOffMax * data.radius; - - //evaluate state (on/off) - if (data.radius > 0 ){ - //currently off - if (shake_state == false){ - //off long enough - if (esp_log_timestamp() - shake_timestamp_turnedOff > msOff) { - //turn on - shake_state = true; - shake_timestamp_turnedOn = esp_log_timestamp(); - } - } - //currently on - else { - //on long enough - if (esp_log_timestamp() - shake_timestamp_turnedOn > msOn) { - //turn off - shake_state = false; - shake_timestamp_turnedOff = esp_log_timestamp(); - } - } - } - //joystick is at center - else { - shake_state = false; - shake_timestamp_turnedOff = esp_log_timestamp(); - } - - //struct with current data of the joystick - //typedef struct joystickData_t { - // joystickPos_t position; - // float x; - // float y; - // float radius; - // float angle; - //} joystickData_t; - - //--- evaluate stick position --- - //4 quadrants and center only - with X and Y axis as hysteresis - switch (data.position){ - - case joystickPos_t::CENTER: - //immediately set to center at center - stickQuadrant = joystickPos_t::CENTER; - break; - - case joystickPos_t::Y_AXIS: - //when moving from center to axis initially start in a certain quadrant - if (stickQuadrant == joystickPos_t::CENTER) { - if (data.y > 0){ - stickQuadrant = joystickPos_t::TOP_RIGHT; - } else { - stickQuadrant = joystickPos_t::BOTTOM_RIGHT; - } - } - break; - - case joystickPos_t::X_AXIS: - //when moving from center to axis initially start in a certain quadrant - if (stickQuadrant == joystickPos_t::CENTER) { - if (data.x > 0){ - stickQuadrant = joystickPos_t::TOP_RIGHT; - } else { - stickQuadrant = joystickPos_t::TOP_LEFT; - } - } - break; - - case joystickPos_t::TOP_RIGHT: - case joystickPos_t::TOP_LEFT: - case joystickPos_t::BOTTOM_LEFT: - case joystickPos_t::BOTTOM_RIGHT: - //update/change evaluated pos when in one of the 4 quadrants - stickQuadrant = data.position; - //TODO: maybe beep when switching mode? (difficult because beep object has to be passed to function) - break; - } - - - //--- handle different modes (joystick in any of 4 quadrants) --- - switch (stickQuadrant){ - case joystickPos_t::CENTER: - case joystickPos_t::X_AXIS: //never true - case joystickPos_t::Y_AXIS: //never true - commands.left.state = motorstate_t::IDLE; - commands.right.state = motorstate_t::IDLE; - commands.left.duty = 0; - commands.right.duty = 0; - ESP_LOGI(TAG_CMD, "generate shake commands: CENTER -> idle"); - return commands; - break; - //4 different modes - case joystickPos_t::TOP_RIGHT: - commands.left.state = motorstate_t::FWD; - commands.right.state = motorstate_t::FWD; - break; - case joystickPos_t::TOP_LEFT: - commands.left.state = motorstate_t::REV; - commands.right.state = motorstate_t::REV; - break; - case joystickPos_t::BOTTOM_LEFT: - commands.left.state = motorstate_t::REV; - commands.right.state = motorstate_t::FWD; - break; - case joystickPos_t::BOTTOM_RIGHT: - commands.left.state = motorstate_t::FWD; - commands.right.state = motorstate_t::REV; - break; - } - - - //--- turn motors on/off depending on pulsing shake variable --- - if (shake_state == true){ - //set duty to shake - commands.left.duty = dutyShake; - commands.right.duty = dutyShake; - //directions are defined above depending on mode - } else { - commands.left.state = motorstate_t::IDLE; - commands.right.state = motorstate_t::IDLE; - commands.left.duty = 0; - commands.right.duty = 0; - } - - - ESP_LOGI(TAG_CMD, "generated commands from data: state=%s, angle=%.3f, ratio=%.3f/%.3f, radius=%.2f, x=%.2f, y=%.2f", - joystickPosStr[(int)data.position], data.angle, ratio, (1-ratio), data.radius, data.x, data.y); - ESP_LOGI(TAG_CMD, "motor left: state=%s, duty=%.3f", motorstateStr[(int)commands.left.state], commands.left.duty); - ESP_LOGI(TAG_CMD, "motor right: state=%s, duty=%.3f", motorstateStr[(int)commands.right.state], commands.right.duty); - - return commands; -} diff --git a/board_motorctl/main/joystick.hpp b/board_motorctl/main/joystick.hpp deleted file mode 100644 index dc12b15..0000000 --- a/board_motorctl/main/joystick.hpp +++ /dev/null @@ -1,153 +0,0 @@ -#pragma once - -extern "C" -{ -#include "freertos/FreeRTOS.h" -#include "freertos/task.h" -#include "driver/gpio.h" -#include "driver/adc.h" -#include "esp_log.h" -#include "esp_err.h" -} - -#include -#include "motorctl.hpp" //for declaration of motorCommands_t struct - - -//====================================== -//========= evaluated Joystick ========= -//====================================== -//class which evaluates a joystick with 2 analog signals -// - scales the adc input to coordinates with detailed tolerances -// - calculates angle and radius -// - defines an enum with position information - -//-------------------------------------------- -//---- struct, enum, variable declarations --- -//-------------------------------------------- -//struct with all required configuration parameters -typedef struct joystick_config_t { - //analog inputs the axis are connected - adc1_channel_t adc_x; - adc1_channel_t adc_y; - - //percentage of joystick range the coordinate of the axis snaps to 0 (0-100) - int tolerance_zeroX_per; - int tolerance_zeroY_per; - //percentage of joystick range the coordinate snaps to -1 or 1 before configured "_max" or "_min" threshold (mechanical end) is reached (0-100) - int tolerance_end_per; - //threshold the radius jumps to 1 before the stick is at max radius (range 0-1) - float tolerance_radius; - - //min and max adc values of each axis - int x_min; - int x_max; - int y_min; - int y_max; - - //invert adc measurement (e.g. when moving joystick up results in a decreasing voltage) - bool x_inverted; - bool y_inverted; -} 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; - float x; - float y; - float radius; - float angle; -} joystickData_t; - - - -//------------------------------------ -//----- evaluatedJoystick class ----- -//------------------------------------ -class evaluatedJoystick { - public: - //--- constructor --- - evaluatedJoystick(joystick_config_t config_f); - - //--- functions --- - joystickData_t getData(); //read joystick, calculate values and return the data in a struct - void defineCenter(); //define joystick center from current position - - private: - //--- functions --- - //initialize adc inputs, define center - void init(); - //read adc while making multiple samples with option to invert the result - int readAdc(adc1_channel_t adc_channel, bool inverted = false); - - //--- variables --- - joystick_config_t config; - int x_center; - int y_center; - - joystickData_t data; - float x; - float y; -}; - - - -//============================================ -//========= joystick_CommandsDriving ========= -//============================================ -//function that generates commands for both motors from the joystick data -//motorCommands_t joystick_generateCommandsDriving(evaluatedJoystick joystick); -motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altStickMapping = false); - - - -//============================================ -//========= joystick_CommandsShaking ========= -//============================================ -//function that generates commands for both motors from the joystick data -//motorCommands_t joystick_generateCommandsDriving(evaluatedJoystick joystick); -motorCommands_t joystick_generateCommandsShaking(joystickData_t data ); - - - -//============================== -//====== scaleCoordinate ======= -//============================== -//function that scales an input value (e.g. from adc pin) to a value from -1 to 1 using the giben thresholds and tolerances -float scaleCoordinate(float input, float min, float max, float center, float tolerance_zero_per, float tolerance_end_per); - - - -//=========================================== -//====== joystick_scaleCoordinatesExp ======= -//=========================================== -//function that updates a joystickData object with exponentionally scaling applied to coordinates -//e.g. use to use more joystick resolution for lower speeds -void joystick_scaleCoordinatesExp(joystickData_t * data, float exponent); - - - -//============================================== -//====== joystick_scaleCoordinatesLinear ======= -//============================================== -//function that updates a joystickData object with linear scaling applied to coordinates -//scales coordinates with two different slopes before and after a specified point -//slope1: for value from 0 to pointX -> scale linear from 0 to pointY -//slope2: for value from pointX to 1 -> scale linear from pointY to 1 -//=> best to draw the lines and point in a graph -//e.g. use to use more joystick resolution for lower speeds -void joystick_scaleCoordinatesLinear(joystickData_t * data, float pointX, float pointY); - - - -//============================================= -//========= joystick_evaluatePosition ========= -//============================================= -//function that defines and returns enum joystickPos from x and y coordinates -joystickPos_t joystick_evaluatePosition(float x, float y); diff --git a/board_motorctl/main/main.cpp b/board_motorctl/main/main.cpp index 1c46f9d..e608a52 100644 --- a/board_motorctl/main/main.cpp +++ b/board_motorctl/main/main.cpp @@ -34,9 +34,6 @@ static const char * TAG = "main"; //custom C++ files #include "config.hpp" #include "control.hpp" -#include "button.hpp" -#include "http.hpp" - @@ -70,32 +67,6 @@ 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) - control.startHandleLoop(); -} - - - -//====================================== -//============ 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 - buttonCommands commandButton(&buttonJoystick, &joystick, &control, &buzzer, &motorLeft, &motorRight); - //start handle loop - commandButton.startHandleLoop(); -} - - - //======================================= //============== fan task =============== //======================================= @@ -113,29 +84,6 @@ void task_fans( void * pvParameters ){ -//================================= -//========== init spiffs ========== -//================================= -//initialize spi flash filesystem (used for webserver) -void init_spiffs(){ - ESP_LOGI(TAG, "init spiffs"); - esp_vfs_spiffs_conf_t esp_vfs_spiffs_conf = { - .base_path = "/spiffs", - .partition_label = NULL, - .max_files = 5, - .format_if_mount_failed = true}; - esp_vfs_spiffs_register(&esp_vfs_spiffs_conf); - - size_t total = 0; - size_t used = 0; - esp_spiffs_info(NULL, &total, &used); - - ESP_LOGI(TAG, "SPIFFS: total %d, used %d", total, used); - esp_vfs_spiffs_unregister(NULL); -} - - - //================================== //======== define loglevels ======== //================================== @@ -162,7 +110,6 @@ void setLoglevels(void){ - #ifdef UART_TEST_ONLY void uart_init(void){ uart_config_t uart1_config = { @@ -213,17 +160,6 @@ extern "C" void app_main(void) { //------------------------------ xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL); - //------------------------------- - //--- create task for control --- - //------------------------------- - //task that generates motor commands depending on the current mode and sends those to motorctl task - xTaskCreate(&task_control, "task_control", 4096, NULL, 5, NULL); - - //------------------------------ - //--- create task for button --- - //------------------------------ - //task that evaluates and processes the button input and runs the configured commands - xTaskCreate(&task_button, "task_button", 4096, NULL, 4, NULL); //----------------------------------- //--- create task for fan control --- @@ -235,31 +171,6 @@ 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(); - - //--- initialize spiffs --- - init_spiffs(); - - //--- initialize and start wifi --- - //FIXME: run wifi_init_client or wifi_init_ap as intended from control.cpp when switching state - //currently commented out because of error "assert failed: xQueueSemaphoreTake queue.c:1549 (pxQueue->uxItemSize == 0)" when calling control->changeMode from button.cpp - //when calling control.changeMode(http) from main.cpp it worked without error for some reason? - ESP_LOGI(TAG,"starting wifi..."); - //wifi_init_client(); //connect to existing wifi - wifi_init_ap(); //start access point - ESP_LOGI(TAG,"done starting wifi"); - - - //--- testing http server --- - // wifi_init_client(); //connect to existing wifi - // vTaskDelay(2000 / portTICK_PERIOD_MS); - // ESP_LOGI(TAG, "initializing http server"); - // http_init_server(); - - - //--- testing force http mode after startup --- - //control.changeMode(controlMode_t::HTTP); //--- main loop --- //does nothing except for testing things @@ -289,63 +200,6 @@ extern "C" void app_main(void) { } #endif - //--------------------------------- - //-------- 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); - - - //--- 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); - - // }else if (buttonJoystick.fallingEdge){ - // ESP_LOGI(TAG, "button released, was pressed for %d ms", buttonJoystick.msPressed); - // buzzer.beep(1, 200, 0); - // } - - - //--- 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); - - - //--- 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); - - //--- 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); @@ -356,7 +210,5 @@ extern "C" void app_main(void) { // //command 100% - forward // motorLeft.setTarget(motorstate_t::FWD, 100); // vTaskDelay(1000 / portTICK_PERIOD_MS); - } - } diff --git a/board_motorctl/main/motorctl.hpp b/board_motorctl/main/motorctl.hpp index c4bc19e..d960d11 100644 --- a/board_motorctl/main/motorctl.hpp +++ b/board_motorctl/main/motorctl.hpp @@ -16,33 +16,9 @@ extern "C" //======================================= //====== struct/type declarations ====== //======================================= +//outsourced to common/types.hpp +#include "types.hpp" -//struct for sending command for one motor in the queue -struct motorCommand_t { - motorstate_t state; - float duty; -}; - -//struct containing commands for two motors -typedef struct motorCommands_t { - motorCommand_t left; - motorCommand_t right; -} motorCommands_t; - -//struct with all config parameters for a motor regarding ramp and current limit -typedef struct motorctl_config_t { - uint32_t msFadeAccel; //acceleration of the motor (ms it takes from 0% to 100%) - uint32_t msFadeDecel; //deceleration of the motor (ms it takes from 100% to 0%) - bool currentLimitEnabled; - adc1_channel_t currentSensor_adc; - float currentSensor_ratedCurrent; - float currentMax; - uint32_t deadTimeMs; //time motor stays in IDLE before direction change -} motorctl_config_t; - -//enum fade type (acceleration, deceleration) -//e.g. used for specifying which fading should be modified with setFade, togleFade functions -enum class fadeType_t {ACCEL, DECEL}; diff --git a/board_motorctl/main/motordrivers.hpp b/board_motorctl/main/motordrivers.hpp index 2cc3c75..0efd698 100644 --- a/board_motorctl/main/motordrivers.hpp +++ b/board_motorctl/main/motordrivers.hpp @@ -21,11 +21,8 @@ extern "C" //-------------------------------------------- //---- struct, enum, variable declarations --- //-------------------------------------------- - -//class which controls a motor using a 'single100a' h-bridge module -enum class motorstate_t {IDLE, FWD, REV, BRAKE}; -//definition of string array to be able to convert state enum to readable string (defined in motordrivers.cpp) -extern const char* motorstateStr[4]; +//motorstate_t, motorstateStr outsourced to common/types.hpp +#include "types.hpp" //struct with all config parameters for single100a motor driver typedef struct single100a_config_t { diff --git a/board_motorctl/main/wifi.c b/board_motorctl/main/wifi.c deleted file mode 100644 index 27eb3db..0000000 --- a/board_motorctl/main/wifi.c +++ /dev/null @@ -1,265 +0,0 @@ -#include -#include "freertos/FreeRTOS.h" -#include "freertos/task.h" -#include "freertos/event_groups.h" -#include "esp_system.h" -#include "esp_mac.h" -#include "esp_wifi.h" -#include "esp_event.h" -#include "esp_log.h" -#include "nvs_flash.h" - -#include "lwip/err.h" -#include "lwip/sys.h" - -#include "wifi.h" - - - -//--- variables used for ap and wifi --- -static const char *TAG = "wifi"; -static esp_event_handler_instance_t instance_any_id; - - -//============================================ -//============ init nvs and netif ============ -//============================================ -//initialize nvs-flash and netif (needed for both AP and CLIENT) -//has to be run once at startup -void wifi_initNvs_initNetif(){ - //Initialize NVS (needed for wifi) - esp_err_t ret = nvs_flash_init(); - if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) { - ESP_ERROR_CHECK(nvs_flash_erase()); - ret = nvs_flash_init(); - } - ESP_ERROR_CHECK(esp_netif_init()); - ESP_ERROR_CHECK(esp_event_loop_create_default()); -} - - -//=========================================== -//============ init access point ============ -//=========================================== - -//-------------------------------------------- -//------ configuration / declarations -------- -//-------------------------------------------- -#define EXAMPLE_ESP_WIFI_SSID_AP "armchair" -#define EXAMPLE_ESP_WIFI_PASS_AP "" -#define EXAMPLE_ESP_WIFI_CHANNEL_AP 1 -#define EXAMPLE_MAX_STA_CONN_AP 4 - -static esp_netif_t *ap; - -static void wifi_event_handler_ap(void* arg, esp_event_base_t event_base, - int32_t event_id, void* event_data) -{ - if (event_id == WIFI_EVENT_AP_STACONNECTED) { - wifi_event_ap_staconnected_t* event = (wifi_event_ap_staconnected_t*) event_data; - ESP_LOGI(TAG, "station "MACSTR" join, AID=%d", - MAC2STR(event->mac), event->aid); - } else if (event_id == WIFI_EVENT_AP_STADISCONNECTED) { - wifi_event_ap_stadisconnected_t* event = (wifi_event_ap_stadisconnected_t*) event_data; - ESP_LOGI(TAG, "station "MACSTR" leave, AID=%d", - MAC2STR(event->mac), event->aid); - } -} - -//----------------------- -//------ init ap -------- -//----------------------- -void wifi_init_ap(void) -{ - ap = esp_netif_create_default_wifi_ap(); - - wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT(); - ESP_ERROR_CHECK(esp_wifi_init(&cfg)); - - ESP_ERROR_CHECK(esp_event_handler_instance_register(WIFI_EVENT, - ESP_EVENT_ANY_ID, - &wifi_event_handler_ap, - NULL, - &instance_any_id)); - - wifi_config_t wifi_config = { - .ap = { - .ssid = EXAMPLE_ESP_WIFI_SSID_AP, - .ssid_len = strlen(EXAMPLE_ESP_WIFI_SSID_AP), - .channel = EXAMPLE_ESP_WIFI_CHANNEL_AP, - .password = EXAMPLE_ESP_WIFI_PASS_AP, - .max_connection = EXAMPLE_MAX_STA_CONN_AP, - .authmode = WIFI_AUTH_WPA_WPA2_PSK - }, - }; - if (strlen(EXAMPLE_ESP_WIFI_PASS_AP) == 0) { - wifi_config.ap.authmode = WIFI_AUTH_OPEN; - } - - ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_AP)); - ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_AP, &wifi_config)); - ESP_ERROR_CHECK(esp_wifi_start()); - - ESP_LOGI(TAG, "wifi_init_softap finished. SSID:%s password:%s channel:%d", - EXAMPLE_ESP_WIFI_SSID_AP, EXAMPLE_ESP_WIFI_PASS_AP, EXAMPLE_ESP_WIFI_CHANNEL_AP); -} - - - -//============================= -//========= deinit AP ========= -//============================= -void wifi_deinit_ap(void) -{ - ESP_ERROR_CHECK(esp_event_handler_instance_unregister(WIFI_EVENT, ESP_EVENT_ANY_ID, instance_any_id)); - ESP_ERROR_CHECK(esp_event_handler_instance_unregister(WIFI_EVENT, ESP_EVENT_ANY_ID, instance_any_id)); - esp_wifi_stop(); - esp_wifi_deinit(); - esp_netif_destroy_default_wifi(ap); - -} - - - - - -//=========================================== -//=============== init client =============== -//=========================================== - -//-------------------------------------------- -//------ configuration / declarations -------- -//-------------------------------------------- -#define EXAMPLE_ESP_WIFI_SSID_CLIENT "BKA-network" -#define EXAMPLE_ESP_WIFI_PASS_CLIENT "airwaveslogitech410" -#define EXAMPLE_ESP_MAXIMUM_RETRY_CLIENT 10 - -static esp_netif_t *sta; -static esp_event_handler_instance_t instance_got_ip; - -/* FreeRTOS event group to signal when we are connected*/ -static EventGroupHandle_t s_wifi_event_group; - -/* The event group allows multiple bits for each event, but we only care about two events: - * - we are connected to the AP with an IP - * - we failed to connect after the maximum amount of retries */ -#define WIFI_CONNECTED_BIT BIT0 -#define WIFI_FAIL_BIT BIT1 - -static int s_retry_num = 0; -static void event_handler(void* arg, esp_event_base_t event_base, - int32_t event_id, void* event_data) -{ - if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_START) { - esp_wifi_connect(); - } else if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_DISCONNECTED) { - if (s_retry_num < EXAMPLE_ESP_MAXIMUM_RETRY_CLIENT) { - esp_wifi_connect(); - s_retry_num++; - ESP_LOGI(TAG, "retry to connect to the AP"); - } else { - xEventGroupSetBits(s_wifi_event_group, WIFI_FAIL_BIT); - } - ESP_LOGI(TAG,"connect to the AP fail"); - } else if (event_base == IP_EVENT && event_id == IP_EVENT_STA_GOT_IP) { - ip_event_got_ip_t* event = (ip_event_got_ip_t*) event_data; - ESP_LOGI(TAG, "got ip:" IPSTR, IP2STR(&event->ip_info.ip)); - s_retry_num = 0; - xEventGroupSetBits(s_wifi_event_group, WIFI_CONNECTED_BIT); - } -} -//--------------------------- -//------ init client -------- -//--------------------------- -void wifi_init_client(void) -{ - s_wifi_event_group = xEventGroupCreate(); - sta = esp_netif_create_default_wifi_sta(); - - - - //set static ip - esp_netif_dhcpc_stop(sta); - - esp_netif_ip_info_t ip_info; - IP4_ADDR(&ip_info.ip, 10, 0, 0, 66); - IP4_ADDR(&ip_info.gw, 10, 0, 0, 1); - IP4_ADDR(&ip_info.netmask, 255, 255, 0, 0); - - esp_netif_set_ip_info(sta, &ip_info); - - - - - wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT(); - ESP_ERROR_CHECK(esp_wifi_init(&cfg)); - - ESP_ERROR_CHECK(esp_event_handler_instance_register(WIFI_EVENT, - ESP_EVENT_ANY_ID, - &event_handler, - NULL, - &instance_any_id)); - ESP_ERROR_CHECK(esp_event_handler_instance_register(IP_EVENT, - IP_EVENT_STA_GOT_IP, - &event_handler, - NULL, - &instance_got_ip)); - - wifi_config_t wifi_config = { - .sta = { - .ssid = EXAMPLE_ESP_WIFI_SSID_CLIENT, - .password = EXAMPLE_ESP_WIFI_PASS_CLIENT, - /* Setting a password implies station will connect to all security modes including WEP/WPA. - * However these modes are deprecated and not advisable to be used. Incase your Access point - * doesn't support WPA2, these mode can be enabled by commenting below line */ - .threshold.authmode = WIFI_AUTH_WPA2_PSK, - }, - }; - ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA) ); - ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_STA, &wifi_config) ); - ESP_ERROR_CHECK(esp_wifi_start() ); - - ESP_LOGI(TAG, "wifi_init_sta finished."); - - /* Waiting until either the connection is established (WIFI_CONNECTED_BIT) or connection failed for the maximum - * number of re-tries (WIFI_FAIL_BIT). The bits are set by event_handler() (see above) */ - EventBits_t bits = xEventGroupWaitBits(s_wifi_event_group, - WIFI_CONNECTED_BIT | WIFI_FAIL_BIT, - pdFALSE, - pdFALSE, - portMAX_DELAY); - - /* xEventGroupWaitBits() returns the bits before the call returned, hence we can test which event actually - * happened. */ - if (bits & WIFI_CONNECTED_BIT) { - ESP_LOGI(TAG, "connected to ap SSID:%s password:%s", - EXAMPLE_ESP_WIFI_SSID_CLIENT, EXAMPLE_ESP_WIFI_PASS_CLIENT); - } else if (bits & WIFI_FAIL_BIT) { - ESP_LOGI(TAG, "Failed to connect to SSID:%s, password:%s", - EXAMPLE_ESP_WIFI_SSID_CLIENT, EXAMPLE_ESP_WIFI_PASS_CLIENT); - } else { - ESP_LOGE(TAG, "UNEXPECTED EVENT"); - } - - // /* The event will not be processed after unregister */ - // ESP_ERROR_CHECK(esp_event_handler_instance_unregister(IP_EVENT, IP_EVENT_STA_GOT_IP, instance_got_ip)); - // ESP_ERROR_CHECK(esp_event_handler_instance_unregister(WIFI_EVENT, ESP_EVENT_ANY_ID, instance_any_id)); - // vEventGroupDelete(s_wifi_event_group); -} - - - -//================================= -//========= deinit client ========= -//================================= -void wifi_deinit_client(void) -{ - /* The event will not be processed after unregister */ - ESP_ERROR_CHECK(esp_event_handler_instance_unregister(IP_EVENT, IP_EVENT_STA_GOT_IP, instance_got_ip)); - ESP_ERROR_CHECK(esp_event_handler_instance_unregister(WIFI_EVENT, ESP_EVENT_ANY_ID, instance_any_id)); - vEventGroupDelete(s_wifi_event_group); - esp_wifi_stop(); - esp_wifi_deinit(); - esp_netif_destroy_default_wifi(sta); -} - diff --git a/board_motorctl/main/wifi.h b/board_motorctl/main/wifi.h deleted file mode 100644 index 39eecee..0000000 --- a/board_motorctl/main/wifi.h +++ /dev/null @@ -1,22 +0,0 @@ -#pragma once - -//TODO: currently wifi names and passwords are configured in wifi.c -> move this to config? - -//initialize nvs-flash and netif (needed for both AP and CLIENT) -//has to be run once at startup -//Note: this cant be put in wifi_init functions because this may not be in deinit functions -void wifi_initNvs_initNetif(); - - -//function to start an access point -void wifi_init_ap(void); -//function to disable/deinit access point -void wifi_deinit_ap(void); - -//function to connect to existing wifi network -void wifi_init_client(void); -//function to disable/deinit client -void wifi_deinit_client(void); - - - diff --git a/board_motorctl/partitions.csv b/board_motorctl/partitions.csv deleted file mode 100644 index 7f93f86..0000000 --- a/board_motorctl/partitions.csv +++ /dev/null @@ -1,6 +0,0 @@ -# Name, Type, SubType, Offset, Size, Flags -# Note: if you have increased the bootloader size, make sure to update the offsets to avoid overlap -nvs, data, nvs, , 0x6000, -phy_init, data, phy, , 0x1000, -factory, app, factory, , 1M, -spiffs, data, spiffs, , 1M \ No newline at end of file diff --git a/board_motorctl/react-app/package-lock.json b/board_motorctl/react-app/package-lock.json deleted file mode 100644 index b8ba5af..0000000 --- a/board_motorctl/react-app/package-lock.json +++ /dev/null @@ -1,28358 +0,0 @@ -{ - 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"web-vitals": "^2.1.4", - "websocket": "^1.0.34" - }, - "scripts": { - "start": "react-scripts start", - "build": "GENERATE_SOURCEMAP=false react-scripts build", - "test": "react-scripts test", - "eject": "react-scripts eject" - }, - "eslintConfig": { - "extends": [ - "react-app", - "react-app/jest" - ] - }, - "browserslist": { - "production": [ - ">0.2%", - "not dead", - "not op_mini all" - ], - "development": [ - "last 1 chrome version", - "last 1 firefox version", - "last 1 safari version" - ] - } -} diff --git a/board_motorctl/react-app/public/index.html b/board_motorctl/react-app/public/index.html deleted file mode 100644 index 41b6646..0000000 --- a/board_motorctl/react-app/public/index.html +++ /dev/null @@ -1,27 +0,0 @@ - - - - - - - - armchair ctl - - - -
- - - diff --git a/board_motorctl/react-app/src/App.js b/board_motorctl/react-app/src/App.js deleted file mode 100644 index 486693e..0000000 --- a/board_motorctl/react-app/src/App.js +++ /dev/null @@ -1,245 +0,0 @@ -import { Joystick } from 'react-joystick-component'; -import React, { useState} from 'react'; -//import { w3cwebsocket as W3CWebSocket } from "websocket"; - - - - -function App() { - //declare variables that can be used and updated in html - const [x_html, setX_html] = useState(0); - const [y_html, setY_html] = useState(0); - const [ip, setIp] = useState("10.0.0.66"); - - - - //=============================== - //=========== config ============ - //=============================== - const decimalPlaces = 3; - const joystickSize = 250; //affects scaling of coordinates and size of joystick on website - const throttle = 300; //throtthe interval the joystick sends data while moving (ms) - const toleranceSnapToZeroPer = 20;//percentage of moveable range the joystick can be moved from the axix and value stays at 0 - - - - //------------------------------------------------- - //------- Scale coordinate, apply tolerance ------- - //------------------------------------------------- - //function that: - // - scales the coodinate to a range of -1 to 1 - // - snaps 0 zero for a given tolerance in percent - // - rounds value do given decimal places - // - TODO: add threshold it snaps to 1 / -1 (100%) toleranceEnd - const ScaleCoordinateTolerance = (input) => { - //calc tolerance threshold and available range - const tolerance = joystickSize/2 * toleranceSnapToZeroPer/100; - const range = joystickSize/2 - tolerance; - let result = 0; - - //console.log("value:",input,"tolerance:",tolerance," range:",range); - - //input positive and above 'snap to zero' threshold - if ( input > 0 && input > tolerance ){ - result = ((input-tolerance)/range).toFixed(decimalPlaces); - } - //input negative and blow 'snap to zero' threshold - else if ( input < 0 && input < -tolerance ){ - result = ((input+tolerance)/range).toFixed(decimalPlaces); - } - //inside threshold around zero - else { - result = 0; - } - - //return result - //console.log("result:", result, "\n"); - return result; - } - - - - //---------------------------------------- - //----------- Scale coordinate ----------- - //---------------------------------------- - //simply scale coordinate from joystick to a value of -1 to 1 without applying any tolerances - const ScaleCoordinate = (input) => { - return ( input / (joystickSize/2) ).toFixed(decimalPlaces); - } - - - - //------------------------------------------- - //------- Senda data via POST request ------- - //------------------------------------------- - //function that sends an object as json to the esp32 with a http post request - const httpSendObject = async (object_data) => { - //debug log - console.log("Sending:", object_data); - - let json = JSON.stringify(object_data); - //console.log("json string:", json); - //remove quotes around numbers: - //so cJSON parses the values as actua[l numbers than strings - const regex2 = /"(-?[0-9]+\.{0,1}[0-9]*)"/g - json = json.replace(regex2, '$1') - //console.log("json removed quotes:", json); - - //--- API url / ip --- - //await fetch("http://10.0.1.69/api/joystick", { - //await fetch("http://10.0.1.72/api/joystick", { - await fetch("api/joystick", { - method: "POST", - //apparently browser sends OPTIONS request before actual POST request, this OPTIONS request was not handled by esp32 - //also the custom set Access-Control-Allow-Origin header in esp32 url header was not read because of that - //changed content type to text/plain to workaround this - //https://stackoverflow.com/questions/1256593/why-am-i-getting-an-options-request-instead-of-a-get-request - headers: { - //"Content-Type": "application/json", - "Content-Type": "text/plain", - }, - body: json, - }) - //.then((response) => console.log(response)); - }; - - - - - //--------------------------------------- - //--- function when joystick is moved --- - //--------------------------------------- - //function that is run for each move event - //evaluate coordinates and send to esp32 - const handleMove = (e) => { - //console.log("data from joystick-element X:" + e.x + " Y:" + e.y + " distance:" + e.distance); - - //--- convert coordinates --- - //Note: tolerance (snap to zero) now handled by controller -> send raw coordinates - //const x = ScaleCoordinateTolerance(e.x); - //const y = ScaleCoordinateTolerance(e.y); - const x = ScaleCoordinate(e.x); - const y = ScaleCoordinate(e.y); - - //create object with necessary data - const joystick_data={ - x: x, - y: y - } - - //send object with joystick data as json to controller - httpSendObject(joystick_data); - - //update variables for html - setX_html(joystick_data.x); - setY_html(joystick_data.y); - }; - - - - //------------------------------------------ - //--- function when joystick is released --- - //------------------------------------------ - const handleStop = (e) => { - //create object with all values 0 - const joystick_data={ - x: 0, - y: 0, - } - - //update variables for html - setX_html(0); - setY_html(0); - //send object with joystick data as json to controller - httpSendObject(joystick_data); - }; - - - - //============================= - //======== return html ======== - //============================= - return ( - <> - -
-
-
-

Armchair ctl

-
- - -
    -
  • x={x_html}
    • -
  • y={y_html}
    • -
-
-
- - {/* - buttons for changing the api IP -
- current ip used: {ip} - -
- */} - - - ); -} - -export default App; - - - - -//del, testing, unused code -//--------------------------------------------- -//--------- Send data via websocket ----------- -//--------------------------------------------- -//moved to normal POST request since websocket connection was unreliable on esp32 -// //create websocket -// const websocket = useRef(null); -// //const socketUrl = "ws://" + window.location.host + "/ws-api/servo"; -// const socketUrl = "ws://10.0.1.69/ws-api/joystick"; -// useEffect(() => { -// websocket.current = new W3CWebSocket(socketUrl); -// websocket.current.onmessage = (message) => { -// console.log('got reply! ', message); -// }; -// websocket.current.onopen = (event) => { -// console.log('OPENED WEBSOCKET', event); -// //sendJoystickData(0, 0, 0, 0); -// websocket.current.send(""); -// }; -// websocket.current.onclose = (event) => { -// console.log('CLOSED WEBSOCKET', event); -// }; -// return () => websocket.current.close(); -// }, []) -// -// -// -// //function for sending joystick data (provided as parameters) to controller via websocket -// const sendJoystickDataWebsocket = (x, y, radius, angle) => { -// //debug log -// console.log("Sending:\n X:" + x + "\n Y:" + y + "\n radius:" + radius + "\n angle: " + angle); -// -// websocket.current.send( -// JSON.stringify({ -// x: x, -// y: y, -// radius: radius, -// angle: angle -// }) -// ); -// } - diff --git a/board_motorctl/react-app/src/index.js b/board_motorctl/react-app/src/index.js deleted file mode 100644 index 23aa8c2..0000000 --- a/board_motorctl/react-app/src/index.js +++ /dev/null @@ -1,14 +0,0 @@ -import React from 'react'; -import ReactDOM from 'react-dom/client'; -import App from './App'; - -const root = ReactDOM.createRoot(document.getElementById('root')); -root.render( - - - -); - -// If you want to start measuring performance in your app, pass a function -// to log results (for example: reportWebVitals(console.log)) -// or send to an analytics endpoint. Learn more: https://bit.ly/CRA-vitals diff --git a/common/types.cpp b/common/types.cpp new file mode 100644 index 0000000..6c0d3bb --- /dev/null +++ b/common/types.cpp @@ -0,0 +1,4 @@ +#include "types.hpp" + + +const char* motorstateStr[4] = {"IDLE", "FWD", "REV", "BRAKE"};