From 8ef71082dcbbe01c4dfed3bb24c147aa098e2685 Mon Sep 17 00:00:00 2001 From: jonny_jr9 Date: Mon, 28 Aug 2023 16:35:58 +0200 Subject: [PATCH 1/8] Add uart test - send and receive struct works board_control currently sends a scruct with incrementing values board_motorctl receives the struct and logs it also test code for sending, receiving and returning single value --- board_control/main/CMakeLists.txt | 1 + board_control/main/main.cpp | 44 +---- board_control/main/uart.cpp | 129 ++++++++++++++ board_control/main/uart.hpp | 5 + board_motorctl/main/main.cpp | 287 ++++++++++++++++++------------ 5 files changed, 316 insertions(+), 150 deletions(-) create mode 100644 board_control/main/uart.cpp create mode 100644 board_control/main/uart.hpp diff --git a/board_control/main/CMakeLists.txt b/board_control/main/CMakeLists.txt index 92ed0e1..961fea4 100644 --- a/board_control/main/CMakeLists.txt +++ b/board_control/main/CMakeLists.txt @@ -13,6 +13,7 @@ idf_component_register( "http.cpp" "auto.cpp" "currentsensor.cpp" + "uart.cpp" INCLUDE_DIRS "." ) diff --git a/board_control/main/main.cpp b/board_control/main/main.cpp index 6fd9626..a54e30e 100644 --- a/board_control/main/main.cpp +++ b/board_control/main/main.cpp @@ -11,8 +11,6 @@ extern "C" #include "sdkconfig.h" #include "esp_spiffs.h" -#include "driver/uart.h" - //custom C files //#include "wifi.h" @@ -24,6 +22,8 @@ extern "C" //#include "button.hpp" //#include "http.hpp" +#include "uart.hpp" + //tag for logging static const char * TAG = "main"; @@ -137,41 +137,6 @@ static const char * TAG = "main"; -static void uart_task(void *arg) -{ - uart_config_t uart1_config = { - .baud_rate = 115200, - .data_bits = UART_DATA_8_BITS, - .parity = UART_PARITY_DISABLE, - .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)); - - uint8_t *data = (uint8_t *) malloc(1024); - - //SEND data to motorctl board - uint8_t count = 0; - ESP_LOGW(TAG, "startloop..."); - while (1) { - vTaskDelay(500 / portTICK_PERIOD_MS); - int len = uart_read_bytes(UART_NUM_1, data, (1024 - 1), 20 / portTICK_PERIOD_MS); - uart_flush_input(UART_NUM_1); - uart_flush(UART_NUM_1); - ESP_LOGW(TAG, "received data %d", *data); - *data = 99; - uart_write_bytes(UART_NUM_1, (const char *) &count, 1); - ESP_LOGW(TAG, "sent data %d", count); - count++; - } -} - //================================= @@ -245,7 +210,10 @@ extern "C" void app_main(void) { //TESTING UART - xTaskCreate(uart_task, "uart_task", 4096, NULL, 10, NULL); + //xTaskCreate(uart_task_testing, "uart_task", 4096, NULL, 10, NULL); + uart_init(); + xTaskCreate(task_uartReceive, "task_uartReceive", 4096, NULL, 10, NULL); + xTaskCreate(task_uartSend, "task_uartSend", 5*4096, NULL, 10, NULL); while(1){ vTaskDelay(1000 / portTICK_PERIOD_MS); diff --git a/board_control/main/uart.cpp b/board_control/main/uart.cpp new file mode 100644 index 0000000..83ab4d1 --- /dev/null +++ b/board_control/main/uart.cpp @@ -0,0 +1,129 @@ +extern "C" +{ +#include +#include +#include +#include +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" +#include "driver/gpio.h" +#include "esp_log.h" +#include "sdkconfig.h" +#include + +#include "freertos/queue.h" +#include "driver/uart.h" +} + +#include "uart.hpp" + +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 + uint8_t *data = (uint8_t *) malloc(1024); + uint8_t count = 0; + ESP_LOGW(TAG, "startloop..."); + while (1) { + vTaskDelay(500 / portTICK_PERIOD_MS); + int len = uart_read_bytes(UART_NUM_1, data, (1024 - 1), 20 / portTICK_PERIOD_MS); + //uart_flush_input(UART_NUM_1); + //uart_flush(UART_NUM_1); + ESP_LOGW(TAG, "received len=%d data=%d", len, *data); + *data = 99; //set to 99 (indicates no new data received) + uart_write_bytes(UART_NUM_1, (const char *) &count, 1); + ESP_LOGW(TAG, "sent data %d", count); + count++; + } +} + + + +void task_uartReceive(void *arg){ + static const char * TAG = "uart-receive"; + //repeatedly send 8 bit count and log received 1 byte + char *data = (char *) malloc(1024); + char count = 0; + ESP_LOGW(TAG, "startloop..."); + while (1) { + vTaskDelay(200 / portTICK_PERIOD_MS); + int len = uart_read_bytes(UART_NUM_1, data, (1024 - 1), 20 / portTICK_PERIOD_MS); + if (len>0) ESP_LOGW(TAG, "received len=%d data=%d", len, *data); + } +} + + + +void task_uartReceiveQueue(void *arg){ + static const char * TAG = "uart-receive"; + while (1) { + vTaskDelay(200 / portTICK_PERIOD_MS); + } +} + + + + +// //send incrementing count +// void task_uartSend(void *arg){ +// static const char * TAG = "uart-send"; +// //repeatedly send 8 bit count and log received 1 byte +// char *data = (char *) malloc(1024); +// char count = 0; +// ESP_LOGW(TAG, "startloop..."); +// while (1) { +// vTaskDelay(200 / portTICK_PERIOD_MS); +// uart_write_bytes(UART_NUM_1, (const char *) &count, 1); +// ESP_LOGW(TAG, "sent data %d", (int)count); +// count++; +// } +// ESP_LOGE(TAG, "loop exit..."); +// } + + +typedef struct { + uint32_t timestamp; + int id; + float value; +} uartDataStruct; + +//send struct +void task_uartSend(void *arg){ + static const char * TAG = "uart-send"; + uartDataStruct data = {123, 0, 1.1}; + uint8_t serialData[sizeof(uartDataStruct)]; + char count = 0; + ESP_LOGW(TAG, "startloop..."); + while (1) { + vTaskDelay(500 / portTICK_PERIOD_MS); + memcpy(serialData, &data, sizeof(uartDataStruct)); + uart_write_bytes(UART_NUM_1, (const char *)serialData, sizeof(uartDataStruct)); + ESP_LOGW(TAG, "sent data struct with len %d", sizeof(uartDataStruct)); + ESP_LOGW(TAG, "sent DATA: timestamp=%d, id=%d, value=%.1f", data.timestamp, data.id, data.value); + + //change data values + data.timestamp = esp_log_timestamp(); + data.id++; + data.value += 0.6; + } + ESP_LOGE(TAG, "loop exit..."); +} diff --git a/board_control/main/uart.hpp b/board_control/main/uart.hpp new file mode 100644 index 0000000..3a59bcd --- /dev/null +++ b/board_control/main/uart.hpp @@ -0,0 +1,5 @@ + +void uart_init(void); +void uart_task_testing(void *arg); +void task_uartReceive(void *arg); +void task_uartSend(void *arg); diff --git a/board_motorctl/main/main.cpp b/board_motorctl/main/main.cpp index 05e7653..1c46f9d 100644 --- a/board_motorctl/main/main.cpp +++ b/board_motorctl/main/main.cpp @@ -10,21 +10,33 @@ extern "C" #include "esp_log.h" #include "sdkconfig.h" #include "esp_spiffs.h" +#include #include "driver/ledc.h" +#include "driver/uart.h" -//custom C files + //custom C files #include "wifi.h" } +//========================= +//======= UART TEST ======= +//========================= +//only run uart test code at the end +//disables other functionality +#define UART_TEST_ONLY + + +//tag for logging +static const char * TAG = "main"; + +#ifndef UART_TEST_ONLY //custom C++ files #include "config.hpp" #include "control.hpp" #include "button.hpp" #include "http.hpp" -//tag for logging -static const char * TAG = "main"; @@ -33,13 +45,13 @@ static const char * TAG = "main"; //==================================== //task for handling the motors (ramp, current limit, driver) void task_motorctl( void * pvParameters ){ - ESP_LOGI(TAG, "starting handle loop..."); - while(1){ - motorRight.handle(); - motorLeft.handle(); - //10khz -> T=100us - vTaskDelay(10 / portTICK_PERIOD_MS); - } + ESP_LOGI(TAG, "starting handle loop..."); + while(1){ + motorRight.handle(); + motorLeft.handle(); + //10khz -> T=100us + vTaskDelay(10 / portTICK_PERIOD_MS); + } } @@ -50,10 +62,10 @@ void task_motorctl( void * pvParameters ){ //TODO: move the task creation to buzzer class (buzzer.cpp) //e.g. only have function buzzer.createTask() in app_main void task_buzzer( void * pvParameters ){ - ESP_LOGI("task_buzzer", "Start of buzzer task..."); - //run function that waits for a beep events to arrive in the queue - //and processes them - buzzer.processQueue(); + ESP_LOGI("task_buzzer", "Start of buzzer task..."); + //run function that waits for a beep events to arrive in the queue + //and processes them + buzzer.processQueue(); } @@ -63,9 +75,9 @@ void task_buzzer( void * pvParameters ){ //======================================= //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(); + ESP_LOGI(TAG, "Initializing controlledArmchair and starting handle loop"); + //start handle loop (control object declared in config.hpp) + control.startHandleLoop(); } @@ -75,11 +87,11 @@ void task_control( void * pvParameters ){ //====================================== //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(); + 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(); } @@ -89,14 +101,14 @@ void task_button( void * pvParameters ){ //======================================= //task that controlls fans for cooling the drivers void task_fans( void * pvParameters ){ - ESP_LOGI(TAG, "Initializing fans and starting fan handle loop"); - //create fan instances with config defined in config.cpp - controlledFan fan(configCooling, &motorLeft, &motorRight); - //repeatedly run fan handle function in a slow loop - while(1){ - fan.handle(); - vTaskDelay(500 / portTICK_PERIOD_MS); - } + ESP_LOGI(TAG, "Initializing fans and starting fan handle loop"); + //create fan instances with config defined in config.cpp + controlledFan fan(configCooling, &motorLeft, &motorRight); + //repeatedly run fan handle function in a slow loop + while(1){ + fan.handle(); + vTaskDelay(500 / portTICK_PERIOD_MS); + } } @@ -106,20 +118,20 @@ void task_fans( void * pvParameters ){ //================================= //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); + 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); + 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); + ESP_LOGI(TAG, "SPIFFS: total %d, used %d", total, used); + esp_vfs_spiffs_unregister(NULL); } @@ -128,103 +140,154 @@ void init_spiffs(){ //======== define loglevels ======== //================================== void setLoglevels(void){ - //set loglevel for all tags: - esp_log_level_set("*", ESP_LOG_WARN); + //set loglevel for all tags: + esp_log_level_set("*", ESP_LOG_WARN); + + //--- set loglevel for individual tags --- + esp_log_level_set("main", ESP_LOG_INFO); + esp_log_level_set("buzzer", ESP_LOG_ERROR); + //esp_log_level_set("motordriver", ESP_LOG_INFO); + //esp_log_level_set("motor-control", ESP_LOG_DEBUG); + //esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG); + //esp_log_level_set("joystickCommands", ESP_LOG_DEBUG); + esp_log_level_set("button", ESP_LOG_INFO); + esp_log_level_set("control", ESP_LOG_INFO); + esp_log_level_set("fan-control", ESP_LOG_INFO); + esp_log_level_set("wifi", ESP_LOG_INFO); + esp_log_level_set("http", ESP_LOG_INFO); + esp_log_level_set("automatedArmchair", ESP_LOG_DEBUG); + //esp_log_level_set("current-sensors", ESP_LOG_INFO); +} +#endif + + + + +#ifdef UART_TEST_ONLY +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)); - //--- set loglevel for individual tags --- - esp_log_level_set("main", ESP_LOG_INFO); - esp_log_level_set("buzzer", ESP_LOG_ERROR); - //esp_log_level_set("motordriver", ESP_LOG_INFO); - //esp_log_level_set("motor-control", ESP_LOG_DEBUG); - //esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG); - //esp_log_level_set("joystickCommands", ESP_LOG_DEBUG); - esp_log_level_set("button", ESP_LOG_INFO); - esp_log_level_set("control", ESP_LOG_INFO); - esp_log_level_set("fan-control", ESP_LOG_INFO); - esp_log_level_set("wifi", ESP_LOG_INFO); - esp_log_level_set("http", ESP_LOG_INFO); - esp_log_level_set("automatedArmchair", ESP_LOG_DEBUG); - //esp_log_level_set("current-sensors", ESP_LOG_INFO); } - +//struct for testing uart +typedef struct { + uint32_t timestamp; + int id; + float value; +} uartDataStruct; +#endif //================================= //=========== app_main ============ //================================= extern "C" void app_main(void) { - //enable 5V volate regulator - gpio_pad_select_gpio(GPIO_NUM_17); - gpio_set_direction(GPIO_NUM_17, GPIO_MODE_OUTPUT); - gpio_set_level(GPIO_NUM_17, 1); +#ifndef UART_TEST_ONLY + //enable 5V volate regulator + gpio_pad_select_gpio(GPIO_NUM_17); + gpio_set_direction(GPIO_NUM_17, GPIO_MODE_OUTPUT); + gpio_set_level(GPIO_NUM_17, 1); - //---- define log levels ---- + //---- define log levels ---- setLoglevels(); - - //---------------------------------------------- - //--- create task for controlling the motors --- - //---------------------------------------------- - //task that receives commands, handles ramp and current limit and executes commands using the motordriver function - xTaskCreate(&task_motorctl, "task_motor-control", 2048, NULL, 6, NULL); - //------------------------------ - //--- create task for buzzer --- - //------------------------------ - xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL); + //---------------------------------------------- + //--- create task for controlling the motors --- + //---------------------------------------------- + //task that receives commands, handles ramp and current limit and executes commands using the motordriver function + xTaskCreate(&task_motorctl, "task_motor-control", 2048, NULL, 6, 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 buzzer --- + //------------------------------ + xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, 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 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 fan control --- - //----------------------------------- - //task that evaluates and processes the button input and runs the configured commands - xTaskCreate(&task_fans, "task_fans", 2048, NULL, 1, 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 --- + //----------------------------------- + //task that evaluates and processes the button input and runs the configured commands + xTaskCreate(&task_fans, "task_fans", 2048, NULL, 1, NULL); - //beep at startup - buzzer.beep(3, 70, 50); + //beep at startup + buzzer.beep(3, 70, 50); - //--- initialize nvs-flash and netif (needed for wifi) --- - wifi_initNvs_initNetif(); + //--- initialize nvs-flash and netif (needed for wifi) --- + wifi_initNvs_initNetif(); - //--- initialize spiffs --- - init_spiffs(); + //--- 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"); + //--- 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 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); + //--- testing force http mode after startup --- + //control.changeMode(controlMode_t::HTTP); //--- main loop --- //does nothing except for testing things while(1){ - vTaskDelay(1000 / portTICK_PERIOD_MS); + vTaskDelay(5000 / portTICK_PERIOD_MS); + } + +#endif + + + +#ifdef UART_TEST_ONLY + uart_init(); + uint8_t receivedData[sizeof(uartDataStruct)]; + uartDataStruct data; + + ESP_LOGW(TAG, "startloop..."); + while(1){ + vTaskDelay(500 / portTICK_PERIOD_MS); + int len = uart_read_bytes(UART_NUM_1, receivedData, sizeof(uartDataStruct), 20 / portTICK_PERIOD_MS); + uart_flush_input(UART_NUM_1); + if (len > 0){ + memcpy(&data, receivedData, sizeof(uartDataStruct)); + //uart_write_bytes(UART_NUM_1, (const char *) data, 1); + //ESP_LOGW(TAG, "sent data back %d", *data); + ESP_LOGW(TAG, "received len=%d DATA: timestamp=%d, id=%d, value=%.1f", len, data.timestamp, data.id, data.value); + } +#endif //--------------------------------- //-------- TESTING section -------- From 76e8bac11329a4f586172e298b2e3ed295f1bb78 Mon Sep 17 00:00:00 2001 From: jonny_jr9 Date: Tue, 29 Aug 2023 08:50:49 +0200 Subject: [PATCH 2/8] 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"}; From 3722b0af74c0715394eecd6e96665fb891e8dbad Mon Sep 17 00:00:00 2001 From: jonny_jr9 Date: Tue, 29 Aug 2023 11:11:29 +0200 Subject: [PATCH 3/8] Add uart templates, send and receive tasks with templates work both boards compile and send/receive example data using new templates in common uart code common/uart_common.hpp --- board_control/main/main.cpp | 363 ++++++++++++++------------- board_control/main/uart.cpp | 73 +----- board_control/main/uart.hpp | 5 - board_motorctl/main/main.cpp | 71 ++---- board_motorctl/main/motordrivers.cpp | 3 - board_motorctl/main/uart.cpp | 44 ++++ board_motorctl/main/uart.hpp | 9 + common/CMakeLists.txt | 10 + common/buzzer.cpp | 94 +++++++ common/buzzer.hpp | 56 +++++ common/types.hpp | 55 ++++ common/uart_common.cpp | 29 +++ common/uart_common.hpp | 60 +++++ common/wifi.c | 265 +++++++++++++++++++ common/wifi.h | 22 ++ 15 files changed, 854 insertions(+), 305 deletions(-) create mode 100644 board_motorctl/main/uart.cpp create mode 100644 board_motorctl/main/uart.hpp create mode 100644 common/CMakeLists.txt create mode 100644 common/buzzer.cpp create mode 100644 common/buzzer.hpp create mode 100644 common/types.hpp create mode 100644 common/uart_common.cpp create mode 100644 common/uart_common.hpp create mode 100644 common/wifi.c create mode 100644 common/wifi.h diff --git a/board_control/main/main.cpp b/board_control/main/main.cpp index a54e30e..86aa88f 100644 --- a/board_control/main/main.cpp +++ b/board_control/main/main.cpp @@ -12,127 +12,138 @@ extern "C" #include "esp_spiffs.h" -//custom C files -//#include "wifi.h" + //custom C files + //#include "wifi.h" } -//custom C++ files -//#include "config.hpp" -//#include "control.hpp" -//#include "button.hpp" -//#include "http.hpp" #include "uart.hpp" + +//========================= +//======= UART TEST ======= +//========================= +//only run uart test code at the end +//disables other functionality +#define UART_TEST_ONLY + + //tag for logging static const char * TAG = "main"; +#ifndef UART_TEST_ONLY +//custom C++ files +#include "config.hpp" +#include "control.hpp" +#include "button.hpp" +#include "http.hpp" -// //====================================== -// //============ buzzer task ============= -// //====================================== -// //TODO: move the task creation to buzzer class (buzzer.cpp) -// //e.g. only have function buzzer.createTask() in app_main -// void task_buzzer( void * pvParameters ){ -// ESP_LOGI("task_buzzer", "Start of buzzer task..."); -// //run function that waits for a beep events to arrive in the queue -// //and processes them -// buzzer.processQueue(); -// } -// -// -// -// //======================================= -// //============ 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 =============== -// //======================================= -// //task that controlls fans for cooling the drivers -// void task_fans( void * pvParameters ){ -// ESP_LOGI(TAG, "Initializing fans and starting fan handle loop"); -// //create fan instances with config defined in config.cpp -// controlledFan fan(configCooling, &motorLeft, &motorRight); -// //repeatedly run fan handle function in a slow loop -// while(1){ -// fan.handle(); -// vTaskDelay(500 / portTICK_PERIOD_MS); -// } -// } -// -// -// -// //================================= -// //========== 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 ======== -// //================================== -// void setLoglevels(void){ -// //set loglevel for all tags: -// esp_log_level_set("*", ESP_LOG_WARN); -// -// //--- set loglevel for individual tags --- -// esp_log_level_set("main", ESP_LOG_INFO); -// esp_log_level_set("buzzer", ESP_LOG_ERROR); -// //esp_log_level_set("motordriver", ESP_LOG_INFO); -// //esp_log_level_set("motor-control", ESP_LOG_DEBUG); -// //esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG); -// //esp_log_level_set("joystickCommands", ESP_LOG_DEBUG); -// esp_log_level_set("button", ESP_LOG_INFO); -// esp_log_level_set("control", ESP_LOG_INFO); -// esp_log_level_set("fan-control", ESP_LOG_INFO); -// esp_log_level_set("wifi", ESP_LOG_INFO); -// esp_log_level_set("http", ESP_LOG_INFO); -// esp_log_level_set("automatedArmchair", ESP_LOG_DEBUG); -// //esp_log_level_set("current-sensors", ESP_LOG_INFO); -// } +//====================================== +//============ buzzer task ============= +//====================================== +//TODO: move the task creation to buzzer class (buzzer.cpp) +//e.g. only have function buzzer.createTask() in app_main +void task_buzzer( void * pvParameters ){ + ESP_LOGI("task_buzzer", "Start of buzzer task..."); + //run function that waits for a beep events to arrive in the queue + //and processes them + buzzer.processQueue(); +} + + + +//======================================= +//============ 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 =============== +//======================================= +//task that controlls fans for cooling the drivers +void task_fans( void * pvParameters ){ + ESP_LOGI(TAG, "Initializing fans and starting fan handle loop"); + //create fan instances with config defined in config.cpp + controlledFan fan(configCooling, &motorLeft, &motorRight); + //repeatedly run fan handle function in a slow loop + while(1){ + fan.handle(); + vTaskDelay(500 / portTICK_PERIOD_MS); + } +} + + + +//================================= +//========== 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); +} +#endif + + + +//================================== +//======== define loglevels ======== +//================================== +void setLoglevels(void){ + //set loglevel for all tags: + esp_log_level_set("*", ESP_LOG_WARN); + + //--- set loglevel for individual tags --- + esp_log_level_set("main", ESP_LOG_INFO); + esp_log_level_set("buzzer", ESP_LOG_ERROR); + //esp_log_level_set("motordriver", ESP_LOG_INFO); + //esp_log_level_set("motor-control", ESP_LOG_DEBUG); + //esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG); + //esp_log_level_set("joystickCommands", ESP_LOG_DEBUG); + esp_log_level_set("button", ESP_LOG_INFO); + esp_log_level_set("control", ESP_LOG_INFO); + esp_log_level_set("fan-control", ESP_LOG_INFO); + esp_log_level_set("wifi", ESP_LOG_INFO); + esp_log_level_set("http", ESP_LOG_INFO); + esp_log_level_set("automatedArmchair", ESP_LOG_DEBUG); + //esp_log_level_set("current-sensors", ESP_LOG_INFO); +} @@ -143,81 +154,77 @@ static const char * TAG = "main"; //=========== app_main ============ //================================= extern "C" void app_main(void) { -// //enable 5V volate regulator -// gpio_pad_select_gpio(GPIO_NUM_17); -// gpio_set_direction(GPIO_NUM_17, GPIO_MODE_OUTPUT); -// gpio_set_level(GPIO_NUM_17, 1); -// -// //---- define log levels ---- -// setLoglevels(); -// -// //------------------------------ -// //--- create task for buzzer --- -// //------------------------------ -// 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 --- -// //----------------------------------- -// //task that evaluates and processes the button input and runs the configured commands -// xTaskCreate(&task_fans, "task_fans", 2048, NULL, 1, NULL); -// -// -// //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 +#ifndef UART_TEST_ONLY + //enable 5V volate regulator + gpio_pad_select_gpio(GPIO_NUM_17); + gpio_set_direction(GPIO_NUM_17, GPIO_MODE_OUTPUT); + gpio_set_level(GPIO_NUM_17, 1); + + //---- define log levels ---- + setLoglevels(); + + //------------------------------ + //--- create task for buzzer --- + //------------------------------ + 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 --- + //----------------------------------- + //task that evaluates and processes the button input and runs the configured commands + xTaskCreate(&task_fans, "task_fans", 2048, NULL, 1, NULL); - //TESTING UART - //xTaskCreate(uart_task_testing, "uart_task", 4096, NULL, 10, NULL); + //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); +#endif + uart_init(); - xTaskCreate(task_uartReceive, "task_uartReceive", 4096, NULL, 10, NULL); - xTaskCreate(task_uartSend, "task_uartSend", 5*4096, NULL, 10, NULL); + xTaskCreate(task_uartReceive, "task_uartReceive", 4096, NULL, 10, NULL); + xTaskCreate(task_uartSend, "task_uartSend", 4096, NULL, 10, NULL); + //--- main loop --- + //does nothing except for testing things while(1){ vTaskDelay(1000 / portTICK_PERIOD_MS); - //--------------------------------- //-------- TESTING section -------- //--------------------------------- diff --git a/board_control/main/uart.cpp b/board_control/main/uart.cpp index bdd821c..14aacaa 100644 --- a/board_control/main/uart.cpp +++ b/board_control/main/uart.cpp @@ -21,43 +21,11 @@ static const char * TAG = "uart"; -void uart_task_testing(void *arg){ - //repeatedly send 8 bit count and log received 1 byte - uint8_t *data = (uint8_t *) malloc(1024); - uint8_t count = 0; - ESP_LOGW(TAG, "startloop..."); - while (1) { - vTaskDelay(500 / portTICK_PERIOD_MS); - int len = uart_read_bytes(UART_NUM_1, data, (1024 - 1), 20 / portTICK_PERIOD_MS); - //uart_flush_input(UART_NUM_1); - //uart_flush(UART_NUM_1); - ESP_LOGW(TAG, "received len=%d data=%d", len, *data); - *data = 99; //set to 99 (indicates no new data received) - uart_write_bytes(UART_NUM_1, (const char *) &count, 1); - ESP_LOGW(TAG, "sent data %d", count); - count++; - } -} - - - +//============================== +//====== task_uartReceive ====== +//============================== +//TODO copy receive task from board_motorctl/uart.cpp void task_uartReceive(void *arg){ - static const char * TAG = "uart-receive"; - //repeatedly send 8 bit count and log received 1 byte - char *data = (char *) malloc(1024); - char count = 0; - ESP_LOGW(TAG, "startloop..."); - while (1) { - vTaskDelay(200 / portTICK_PERIOD_MS); - int len = uart_read_bytes(UART_NUM_1, data, (1024 - 1), 20 / portTICK_PERIOD_MS); - if (len>0) ESP_LOGW(TAG, "received len=%d data=%d", len, *data); - } -} - - - -void task_uartReceiveQueue(void *arg){ - static const char * TAG = "uart-receive"; while (1) { vTaskDelay(200 / portTICK_PERIOD_MS); } @@ -65,38 +33,17 @@ void task_uartReceiveQueue(void *arg){ - -// //send incrementing count -// void task_uartSend(void *arg){ -// static const char * TAG = "uart-send"; -// //repeatedly send 8 bit count and log received 1 byte -// char *data = (char *) malloc(1024); -// char count = 0; -// ESP_LOGW(TAG, "startloop..."); -// while (1) { -// vTaskDelay(200 / portTICK_PERIOD_MS); -// uart_write_bytes(UART_NUM_1, (const char *) &count, 1); -// ESP_LOGW(TAG, "sent data %d", (int)count); -// count++; -// } -// ESP_LOGE(TAG, "loop exit..."); -// } - - - -//send struct +//============================= +//======= task_uartSend ======= +//============================= +//repeatedly send structs to uart void task_uartSend(void *arg){ static const char * TAG = "uart-send"; - uartDataStruct data = {123, 0, 1.1}; - uint8_t serialData[sizeof(uartDataStruct)]; - char count = 0; + uartData_test_t data = {123, 0, 1.1}; ESP_LOGW(TAG, "startloop..."); while (1) { vTaskDelay(500 / portTICK_PERIOD_MS); - memcpy(serialData, &data, sizeof(uartDataStruct)); - uart_write_bytes(UART_NUM_1, (const char *)serialData, sizeof(uartDataStruct)); - ESP_LOGW(TAG, "sent data struct with len %d", sizeof(uartDataStruct)); - ESP_LOGW(TAG, "sent DATA: timestamp=%d, id=%d, value=%.1f", data.timestamp, data.id, data.value); + uart_sendStruct(data); //change data values data.timestamp = esp_log_timestamp(); diff --git a/board_control/main/uart.hpp b/board_control/main/uart.hpp index 2ec926d..ef8ea55 100644 --- a/board_control/main/uart.hpp +++ b/board_control/main/uart.hpp @@ -8,8 +8,3 @@ void task_uartSend(void *arg); -typedef struct { - uint32_t timestamp; - int id; - float value; -} uartDataStruct; diff --git a/board_motorctl/main/main.cpp b/board_motorctl/main/main.cpp index e608a52..d0c051c 100644 --- a/board_motorctl/main/main.cpp +++ b/board_motorctl/main/main.cpp @@ -13,11 +13,13 @@ extern "C" #include #include "driver/ledc.h" -#include "driver/uart.h" - //custom C files +//custom C files #include "wifi.h" } +//custom C++ files +#include "config.hpp" +#include "uart.hpp" //========================= //======= UART TEST ======= @@ -30,13 +32,10 @@ extern "C" //tag for logging static const char * TAG = "main"; + + #ifndef UART_TEST_ONLY -//custom C++ files -#include "config.hpp" #include "control.hpp" - - - //==================================== //========== motorctl task =========== //==================================== @@ -109,33 +108,6 @@ void setLoglevels(void){ #endif - -#ifdef UART_TEST_ONLY -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)); - -} - -//struct for testing uart -typedef struct { - uint32_t timestamp; - int id; - float value; -} uartDataStruct; -#endif - //================================= //=========== app_main ============ //================================= @@ -170,36 +142,22 @@ extern "C" void app_main(void) { //beep at startup buzzer.beep(3, 70, 50); - - - //--- main loop --- - //does nothing except for testing things - while(1){ - vTaskDelay(5000 / portTICK_PERIOD_MS); - } - #endif #ifdef UART_TEST_ONLY uart_init(); - uint8_t receivedData[sizeof(uartDataStruct)]; - uartDataStruct data; - - ESP_LOGW(TAG, "startloop..."); - while(1){ - vTaskDelay(500 / portTICK_PERIOD_MS); - int len = uart_read_bytes(UART_NUM_1, receivedData, sizeof(uartDataStruct), 20 / portTICK_PERIOD_MS); - uart_flush_input(UART_NUM_1); - if (len > 0){ - memcpy(&data, receivedData, sizeof(uartDataStruct)); - //uart_write_bytes(UART_NUM_1, (const char *) data, 1); - //ESP_LOGW(TAG, "sent data back %d", *data); - ESP_LOGW(TAG, "received len=%d DATA: timestamp=%d, id=%d, value=%.1f", len, data.timestamp, data.id, data.value); - } + xTaskCreate(task_uartReceive, "task_uartReceive", 4096, NULL, 10, NULL); + xTaskCreate(task_uartSend, "task_uartSend", 4096, NULL, 10, NULL); #endif + + //--- main loop --- + //does nothing except for testing things + while(1){ + vTaskDelay(5000 / portTICK_PERIOD_MS); + //--- test controlledMotor --- (ramp) // //brake for 1 s // motorLeft.setTarget(motorstate_t::BRAKE); @@ -210,5 +168,6 @@ 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/motordrivers.cpp b/board_motorctl/main/motordrivers.cpp index e15b4e6..387bda3 100644 --- a/board_motorctl/main/motordrivers.cpp +++ b/board_motorctl/main/motordrivers.cpp @@ -7,9 +7,6 @@ //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"; diff --git a/board_motorctl/main/uart.cpp b/board_motorctl/main/uart.cpp new file mode 100644 index 0000000..2121422 --- /dev/null +++ b/board_motorctl/main/uart.cpp @@ -0,0 +1,44 @@ +#include "uart.hpp" +//===== uart board MOTORCTL ===== + +static const char * TAG = "uart"; + + +//============================== +//====== task_uartReceive ====== +//============================== +void task_uartReceive(void *arg){ + //receive data from uart, detect associated struct and copy/handle the data + //TODO use queue instead of check interval? + uartData_test_t testData; + uint8_t receivedData[1024-1]; + while(1){ + //note: check has to be more frequent than pause time between sending + vTaskDelay(200 / portTICK_PERIOD_MS); + int len = uart_read_bytes(UART_NUM_1, receivedData, sizeof(uartData_test_t), 20 / portTICK_PERIOD_MS); + uart_flush_input(UART_NUM_1); + if (len < 1) continue; + switch (len){ + case sizeof(uartData_test_t): + testData = serialData2Struct(receivedData); + ESP_LOGW(TAG, "received uartDataStruct len=%d DATA: timestamp=%d, id=%d, value=%.1f", len, testData.timestamp, testData.id, testData.value); + break; + //TODO add other received structs here + default: + ESP_LOGW(TAG, "received data len=%d cant be associated with configures struct", len); + break; + } + } +} + + + +//============================= +//======= task_uartSend ======= +//============================= +//TODO copy send task from board_control/uart.cpp +void task_uartSend(void *arg){ + while (1) { + vTaskDelay(500 / portTICK_PERIOD_MS); + } +} diff --git a/board_motorctl/main/uart.hpp b/board_motorctl/main/uart.hpp new file mode 100644 index 0000000..402b35d --- /dev/null +++ b/board_motorctl/main/uart.hpp @@ -0,0 +1,9 @@ +#pragma once +#include "uart_common.hpp" + + +//===== uart board MOTORCTL ===== + +void task_uartReceive(void *arg); +void task_uartSend(void *arg); + diff --git a/common/CMakeLists.txt b/common/CMakeLists.txt new file mode 100644 index 0000000..a47af70 --- /dev/null +++ b/common/CMakeLists.txt @@ -0,0 +1,10 @@ +idf_component_register( + SRCS + "wifi.c" + "buzzer.cpp" + "uart_common.cpp" + INCLUDE_DIRS + "." + PRIV_REQUIRES nvs_flash + ) + diff --git a/common/buzzer.cpp b/common/buzzer.cpp new file mode 100644 index 0000000..0850116 --- /dev/null +++ b/common/buzzer.cpp @@ -0,0 +1,94 @@ +#include "buzzer.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/common/buzzer.hpp b/common/buzzer.hpp new file mode 100644 index 0000000..ce6c2c6 --- /dev/null +++ b/common/buzzer.hpp @@ -0,0 +1,56 @@ +#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/common/types.hpp b/common/types.hpp new file mode 100644 index 0000000..e7986c4 --- /dev/null +++ b/common/types.hpp @@ -0,0 +1,55 @@ +#pragma once + +extern "C" +{ +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" +#include "freertos/queue.h" +#include "esp_timer.h" +#include +} +//======================================= +//====== struct/type declarations ====== +//======================================= +//global structs and types that need to be available for all boards + + +//=============================== +//==== from motordrivers.hpp ==== +//=============================== +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) +const char* motorstateStr[] = {"IDLE", "FWD", "REV", "BRAKE"}; + + + +//=========================== +//==== from motorctl.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/common/uart_common.cpp b/common/uart_common.cpp new file mode 100644 index 0000000..fd013e6 --- /dev/null +++ b/common/uart_common.cpp @@ -0,0 +1,29 @@ +#include "uart_common.hpp" + +static const char * TAG = "uart-common"; + + +//=========================== +//======== uart_init ======= +//=========================== +//initial struct on given pins +//TODO add pins and baud rate to config? +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_LOGI(TAG, "configure..."); + ESP_ERROR_CHECK(uart_param_config(UART_NUM_1, &uart1_config)); + ESP_LOGI(TAG, "setpins..."); + ESP_ERROR_CHECK(uart_set_pin(UART_NUM_1, 23, 22, 0, 0)); + ESP_LOGI(TAG, "init..."); + ESP_ERROR_CHECK(uart_driver_install(UART_NUM_1, 1024, 1024, 10, NULL, 0)); +} + + + + diff --git a/common/uart_common.hpp b/common/uart_common.hpp new file mode 100644 index 0000000..6858c1f --- /dev/null +++ b/common/uart_common.hpp @@ -0,0 +1,60 @@ +#pragma once +extern "C" +{ +#include +#include +#include +#include +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" +#include "driver/gpio.h" +#include "esp_log.h" +#include "sdkconfig.h" +#include + +#include "freertos/queue.h" +#include "driver/uart.h" +} + +//struct for testin uart +typedef struct { + uint32_t timestamp; + int id; + float value; +} uartData_test_t; + + +//===== uart_init ===== +//should be run once at startup +void uart_init(void); + + +//============================ +//====== uart_sendStruct ===== +//============================ +//send and struct via uart +template void uart_sendStruct(T dataStruct) { + static const char * TAG = "uart-common"; + //TODO check if initialized? + uint8_t dataSerial[sizeof(T)]; + memcpy(dataSerial, &dataStruct, sizeof(T)); + uart_write_bytes(UART_NUM_1, (const char *)dataSerial, sizeof(T)); + ESP_LOGW(TAG, "sent data struct with len %d", sizeof(T)); + //ESP_LOGW(TAG, "sent DATA: timestamp=%d, id=%d, value=%.1f", data.timestamp, data.id, data.value); +} + + + +//============================== +//====== serialData2Struct ===== +//============================== +//convert serial data (byte array) to given struct and return it +//note check whether serial data length actually matches size of struct is necessary before +template T serialData2Struct(uint8_t *dataSerial){ + static const char * TAG = "uart-common"; + T dataStruct; + memcpy(&dataStruct, dataSerial, sizeof(T)); + ESP_LOGW(TAG, "converted serial data len=%d to struct", sizeof(T)); + return dataStruct; +} + diff --git a/common/wifi.c b/common/wifi.c new file mode 100644 index 0000000..27eb3db --- /dev/null +++ b/common/wifi.c @@ -0,0 +1,265 @@ +#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/common/wifi.h b/common/wifi.h new file mode 100644 index 0000000..39eecee --- /dev/null +++ b/common/wifi.h @@ -0,0 +1,22 @@ +#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); + + + From 59a4f8c13f9125116f0593e807f8b43d63eaf7e4 Mon Sep 17 00:00:00 2001 From: jonny_jr9 Date: Wed, 30 Aug 2023 08:58:32 +0200 Subject: [PATCH 4/8] Fix broken http mode (crash at init) revert changes from previous commit in dev --- board_control/main/http.cpp | 19 +++++++++++-------- 1 file changed, 11 insertions(+), 8 deletions(-) diff --git a/board_control/main/http.cpp b/board_control/main/http.cpp index 29964e4..04844de 100644 --- a/board_control/main/http.cpp +++ b/board_control/main/http.cpp @@ -232,18 +232,21 @@ void http_init_server() //----- define URLs ----- - httpd_uri_t joystick_url; - joystick_url.uri = "/api/joystick"; - joystick_url.method = HTTP_POST; - joystick_url.handler = on_joystick_url; + //note: dont use separate assignment of elements because causes controller crash + httpd_uri_t joystick_url = { + .uri = "/api/joystick", + .method = HTTP_POST, + .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_uri_t default_url = { + .uri = "/*", + .method = HTTP_GET, + .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", From 1e544613ee33d083f56d66a4826e650363ae2f67 Mon Sep 17 00:00:00 2001 From: jonny_jr9 Date: Wed, 30 Aug 2023 09:01:44 +0200 Subject: [PATCH 5/8] send, receive, apply motorCommands works (proof of concept); add timeout - board_control successfully sends motor commands to board_motorctl - board_motorctl receives and applies motor commands note: control pcb currently switches to HTTP mode after startup for testing with data from ui - partially commented in code that has to be reworked - control: send commands via uart instead of to motor objects - board motorctl handled motor: add timeout when no target data received (e.g. control pcb offline / uart bugged) - board motorctl uart: receive motorCommands_t struct and apply data to target state of handled motors - types: fix issue with global motorstateStr variable --- board_control/main/config.cpp | 2 +- board_control/main/config.hpp | 2 +- board_control/main/control.cpp | 725 ++++++++++++++++--------------- board_control/main/control.hpp | 198 +++++---- board_control/main/main.cpp | 61 +-- board_control/main/uart.cpp | 9 +- board_motorctl/main/main.cpp | 7 +- board_motorctl/main/motorctl.cpp | 12 + board_motorctl/main/motorctl.hpp | 3 + board_motorctl/main/uart.cpp | 30 +- common/CMakeLists.txt | 1 + common/types.hpp | 2 +- common/uart_common.hpp | 10 +- 13 files changed, 562 insertions(+), 500 deletions(-) diff --git a/board_control/main/config.cpp b/board_control/main/config.cpp index 4d28e65..876fe14 100644 --- a/board_control/main/config.cpp +++ b/board_control/main/config.cpp @@ -71,7 +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, &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 77ddb80..d0e2edd 100644 --- a/board_control/main/config.hpp +++ b/board_control/main/config.hpp @@ -26,7 +26,7 @@ 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; diff --git a/board_control/main/control.cpp b/board_control/main/control.cpp index 3900550..0d0d0a0 100644 --- a/board_control/main/control.cpp +++ b/board_control/main/control.cpp @@ -1,3 +1,4 @@ +#include "types.hpp" extern "C" { #include @@ -11,6 +12,7 @@ extern "C" #include "config.hpp" #include "control.hpp" +#include "uart.hpp" //used definitions moved from config.hpp: @@ -23,120 +25,121 @@ const char* controlModeStr[7] = {"IDLE", "JOYSTICK", "MASSAGE", "HTTP", "MQTT", //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); + //----------------------------- + //-------- constructor -------- + //----------------------------- + controlledArmchair::controlledArmchair ( + control_config_t config_f, + buzzer_t * buzzer_f, + evaluatedJoystick* joystick_f, + httpJoystick* httpJoystick_f + ){ + + //copy configuration + config = config_f; + //copy object pointers + buzzer = buzzer_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; + uart_sendStruct(commands); + //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 + uart_sendStruct(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 + uart_sendStruct(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 + uart_sendStruct(commands); + //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); +// uart_sendStruct(commands); +// //motorRight->setTarget(commands.right.state, commands.right.duty); +// //motorLeft->setTarget(commands.left.state, commands.left.duty); // // //process received instruction // switch (instruction) { @@ -149,124 +152,125 @@ const char* controlModeStr[7] = {"IDLE", "JOYSTICK", "MASSAGE", "HTTP", "MQTT", // 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; +//// //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; +//// //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); +//// //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(){ + 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 + //FIXME rework timout to work via uart duy or control input only + void controlledArmchair::handleTimeout(){ // //check for timeout only when not idling already // if (mode != controlMode_t::IDLE) { // //get current duty from controlled motor objects @@ -293,43 +297,44 @@ const char* controlModeStr[7] = {"IDLE", "JOYSTICK", "MASSAGE", "HTTP", "MQTT", // 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 -// + } + + + + //----------------------------------- + //----------- changeMode ------------ + //----------------------------------- + //function to change to a specified control mode + //FIXME FIXME: replace change with motorLeft object with update config via uart + 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 @@ -368,43 +373,43 @@ const char* controlModeStr[7] = {"IDLE", "JOYSTICK", "MASSAGE", "HTTP", "MQTT", // 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; -// + } + + + //========== 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 @@ -416,65 +421,65 @@ const char* controlModeStr[7] = {"IDLE", "JOYSTICK", "MASSAGE", "HTTP", "MQTT", // 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); -// } -// } + + } + + //--- 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 9be6775..d3dbe5f 100644 --- a/board_control/main/control.hpp +++ b/board_control/main/control.hpp @@ -27,104 +27,100 @@ -// //================================== -// //========= 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; -// }; -// -// + //================================== + //========= 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, + 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; + 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/main.cpp b/board_control/main/main.cpp index 86aa88f..901c5fd 100644 --- a/board_control/main/main.cpp +++ b/board_control/main/main.cpp @@ -13,7 +13,7 @@ extern "C" //custom C files - //#include "wifi.h" + #include "wifi.h" } @@ -25,7 +25,7 @@ extern "C" //========================= //only run uart test code at the end //disables other functionality -#define UART_TEST_ONLY +//#define UART_TEST_ONLY //tag for logging @@ -71,13 +71,13 @@ void task_control( void * pvParameters ){ //============ button task ============= //====================================== //task that handles the button interface/commands -void task_button( void * pvParameters ){ - ESP_LOGI(TAG, "Initializing command-button and starting handle loop"); - //create button instance - buttonCommands commandButton(&buttonJoystick, &joystick, &control, &buzzer, &motorLeft, &motorRight); - //start handle loop - commandButton.startHandleLoop(); -} +//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(); +//} @@ -85,16 +85,16 @@ void task_button( void * pvParameters ){ //============== fan task =============== //======================================= //task that controlls fans for cooling the drivers -void task_fans( void * pvParameters ){ - ESP_LOGI(TAG, "Initializing fans and starting fan handle loop"); - //create fan instances with config defined in config.cpp - controlledFan fan(configCooling, &motorLeft, &motorRight); - //repeatedly run fan handle function in a slow loop - while(1){ - fan.handle(); - vTaskDelay(500 / portTICK_PERIOD_MS); - } -} +//void task_fans( void * pvParameters ){ +// ESP_LOGI(TAG, "Initializing fans and starting fan handle loop"); +// //create fan instances with config defined in config.cpp +// controlledFan fan(configCooling, &motorLeft, &motorRight); +// //repeatedly run fan handle function in a slow loop +// while(1){ +// fan.handle(); +// vTaskDelay(500 / portTICK_PERIOD_MS); +// } +//} @@ -142,7 +142,10 @@ void setLoglevels(void){ esp_log_level_set("wifi", ESP_LOG_INFO); esp_log_level_set("http", ESP_LOG_INFO); esp_log_level_set("automatedArmchair", ESP_LOG_DEBUG); - //esp_log_level_set("current-sensors", ESP_LOG_INFO); + esp_log_level_set("uart_common", ESP_LOG_INFO); + esp_log_level_set("uart", ESP_LOG_INFO); + + // } @@ -166,25 +169,25 @@ extern "C" void app_main(void) { //------------------------------ //--- create task for buzzer --- //------------------------------ - xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL); + //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); + xTaskCreate(&task_control, "task_control", 5*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); + //xTaskCreate(&task_button, "task_button", 4096, NULL, 4, NULL); //----------------------------------- //--- create task for fan control --- //----------------------------------- //task that evaluates and processes the button input and runs the configured commands - xTaskCreate(&task_fans, "task_fans", 2048, NULL, 1, NULL); + //xTaskCreate(&task_fans, "task_fans", 2048, NULL, 1, NULL); //beep at startup @@ -213,16 +216,22 @@ extern "C" void app_main(void) { // http_init_server(); - //--- testing force http mode after startup --- - //control.changeMode(controlMode_t::HTTP); #endif + //------------------------------------------- + //--- create tasks for uart communication --- + //------------------------------------------- + uart_init(); xTaskCreate(task_uartReceive, "task_uartReceive", 4096, NULL, 10, NULL); xTaskCreate(task_uartSend, "task_uartSend", 4096, NULL, 10, NULL); //--- main loop --- //does nothing except for testing things + + //--- testing force http mode after startup --- + vTaskDelay(5000 / portTICK_PERIOD_MS); + control.changeMode(controlMode_t::HTTP); while(1){ vTaskDelay(1000 / portTICK_PERIOD_MS); //--------------------------------- diff --git a/board_control/main/uart.cpp b/board_control/main/uart.cpp index 14aacaa..b5edcb5 100644 --- a/board_control/main/uart.cpp +++ b/board_control/main/uart.cpp @@ -20,12 +20,19 @@ extern "C" static const char * TAG = "uart"; +//TESTING +#include "control.hpp" +#include "config.hpp" //============================== //====== task_uartReceive ====== //============================== //TODO copy receive task from board_motorctl/uart.cpp void task_uartReceive(void *arg){ + //--- testing force http mode after startup --- + //TESTING + vTaskDelay(5000 / portTICK_PERIOD_MS); + control.changeMode(controlMode_t::HTTP); while (1) { vTaskDelay(200 / portTICK_PERIOD_MS); } @@ -42,7 +49,7 @@ void task_uartSend(void *arg){ uartData_test_t data = {123, 0, 1.1}; ESP_LOGW(TAG, "startloop..."); while (1) { - vTaskDelay(500 / portTICK_PERIOD_MS); + vTaskDelay(10000 / portTICK_PERIOD_MS); uart_sendStruct(data); //change data values diff --git a/board_motorctl/main/main.cpp b/board_motorctl/main/main.cpp index d0c051c..a901b94 100644 --- a/board_motorctl/main/main.cpp +++ b/board_motorctl/main/main.cpp @@ -103,6 +103,8 @@ void setLoglevels(void){ esp_log_level_set("wifi", ESP_LOG_INFO); esp_log_level_set("http", ESP_LOG_INFO); esp_log_level_set("automatedArmchair", ESP_LOG_DEBUG); + esp_log_level_set("uart_common", ESP_LOG_INFO); + esp_log_level_set("uart", ESP_LOG_INFO); //esp_log_level_set("current-sensors", ESP_LOG_INFO); } #endif @@ -146,11 +148,12 @@ extern "C" void app_main(void) { -#ifdef UART_TEST_ONLY + //------------------------------------------- + //--- create tasks for uart communication --- + //------------------------------------------- uart_init(); xTaskCreate(task_uartReceive, "task_uartReceive", 4096, NULL, 10, NULL); xTaskCreate(task_uartSend, "task_uartSend", 4096, NULL, 10, NULL); -#endif //--- main loop --- diff --git a/board_motorctl/main/motorctl.cpp b/board_motorctl/main/motorctl.cpp index df544ea..f2baac5 100644 --- a/board_motorctl/main/motorctl.cpp +++ b/board_motorctl/main/motorctl.cpp @@ -1,4 +1,6 @@ #include "motorctl.hpp" +#include "esp_log.h" +#include "types.hpp" //tag for logging static const char * TAG = "motor-control"; @@ -80,6 +82,8 @@ void controlledMotor::handle(){ ESP_LOGD(TAG, "Read command from queue: state=%s, duty=%.2f", motorstateStr[(int)commandReceive.state], commandReceive.duty); state = commandReceive.state; dutyTarget = commandReceive.duty; + receiveTimeout = false; + timestamp_commandReceived = esp_log_timestamp(); //--- convert duty --- //define target duty (-100 to 100) from provided duty and motorstate @@ -102,6 +106,14 @@ void controlledMotor::handle(){ } } + //--- timeout, no data --- + //turn motors off if no data received for long time (e.g. no uart data / control offline) + if ((esp_log_timestamp() - timestamp_commandReceived) > 3000 && !receiveTimeout){ + receiveTimeout = true; + state = motorstate_t::IDLE; + dutyTarget = 0; + ESP_LOGE(TAG, "TIMEOUT, no target data received for more than 3s -> switch to IDLE"); + } //--- calculate increment --- //calculate increment for fading UP with passed time since last run and configured fade time diff --git a/board_motorctl/main/motorctl.hpp b/board_motorctl/main/motorctl.hpp index d960d11..32018be 100644 --- a/board_motorctl/main/motorctl.hpp +++ b/board_motorctl/main/motorctl.hpp @@ -77,4 +77,7 @@ class controlledMotor { struct motorCommand_t commandReceive = {}; struct motorCommand_t commandSend = {}; + + uint32_t timestamp_commandReceived = 0; + bool receiveTimeout = false; }; diff --git a/board_motorctl/main/uart.cpp b/board_motorctl/main/uart.cpp index 2121422..90585d8 100644 --- a/board_motorctl/main/uart.cpp +++ b/board_motorctl/main/uart.cpp @@ -1,4 +1,6 @@ #include "uart.hpp" +#include "config.hpp" +#include "types.hpp" //===== uart board MOTORCTL ===== static const char * TAG = "uart"; @@ -8,24 +10,39 @@ static const char * TAG = "uart"; //====== task_uartReceive ====== //============================== void task_uartReceive(void *arg){ + ESP_LOGW(TAG, "receive task started"); //receive data from uart, detect associated struct and copy/handle the data //TODO use queue instead of check interval? - uartData_test_t testData; + uartData_test_t dataTest; + motorCommands_t dataMotorCommands; uint8_t receivedData[1024-1]; while(1){ //note: check has to be more frequent than pause time between sending - vTaskDelay(200 / portTICK_PERIOD_MS); - int len = uart_read_bytes(UART_NUM_1, receivedData, sizeof(uartData_test_t), 20 / portTICK_PERIOD_MS); + vTaskDelay(50 / portTICK_PERIOD_MS); + //read bytes (max 1023) until 20ms pause is happening + int len = uart_read_bytes(UART_NUM_1, receivedData, sizeof(receivedData), 20 / portTICK_PERIOD_MS); uart_flush_input(UART_NUM_1); if (len < 1) continue; switch (len){ + case sizeof(uartData_test_t): - testData = serialData2Struct(receivedData); - ESP_LOGW(TAG, "received uartDataStruct len=%d DATA: timestamp=%d, id=%d, value=%.1f", len, testData.timestamp, testData.id, testData.value); + dataTest = serialData2Struct(receivedData); + ESP_LOGW(TAG, "received uartDataStruct len=%d DATA: timestamp=%d, id=%d, value=%.1f", len, dataTest.timestamp, dataTest.id, dataTest.value); break; + + case sizeof(motorCommands_t): + dataMotorCommands = serialData2Struct(receivedData); + ESP_LOGI(TAG, "received motorCommands struct len=%d left=%.2f%% right=%.2f%%, update target...", len, dataMotorCommands.left.duty, dataMotorCommands.right.duty); + //update target motor state and duty + motorLeft.setTarget(dataMotorCommands.left.state, + dataMotorCommands.left.duty); + motorRight.setTarget(dataMotorCommands.right.state, + dataMotorCommands.right.duty); + break; + //TODO add other received structs here default: - ESP_LOGW(TAG, "received data len=%d cant be associated with configures struct", len); + ESP_LOGE(TAG, "received data len=%d cant be associated with configures struct", len); break; } } @@ -38,6 +55,7 @@ void task_uartReceive(void *arg){ //============================= //TODO copy send task from board_control/uart.cpp void task_uartSend(void *arg){ + ESP_LOGW(TAG, "send task started"); while (1) { vTaskDelay(500 / portTICK_PERIOD_MS); } diff --git a/common/CMakeLists.txt b/common/CMakeLists.txt index a47af70..a49da26 100644 --- a/common/CMakeLists.txt +++ b/common/CMakeLists.txt @@ -3,6 +3,7 @@ idf_component_register( "wifi.c" "buzzer.cpp" "uart_common.cpp" + "types.cpp" INCLUDE_DIRS "." PRIV_REQUIRES nvs_flash diff --git a/common/types.hpp b/common/types.hpp index e7986c4..6cf868e 100644 --- a/common/types.hpp +++ b/common/types.hpp @@ -19,7 +19,7 @@ extern "C" //=============================== 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) -const char* motorstateStr[] = {"IDLE", "FWD", "REV", "BRAKE"}; +extern const char* motorstateStr[4]; diff --git a/common/uart_common.hpp b/common/uart_common.hpp index 6858c1f..ce34567 100644 --- a/common/uart_common.hpp +++ b/common/uart_common.hpp @@ -15,8 +15,9 @@ extern "C" #include "freertos/queue.h" #include "driver/uart.h" } +#include "types.hpp" -//struct for testin uart +//struct for testing uart typedef struct { uint32_t timestamp; int id; @@ -24,6 +25,13 @@ typedef struct { } uartData_test_t; +//unnecessary, using commands struct directly +typedef struct { + uint32_t timestamp; + motorCommands_t commands; +} uartData_motorCommands_t; + + //===== uart_init ===== //should be run once at startup void uart_init(void); From 446c246f43b7216f2891bdc52c7397e506870220 Mon Sep 17 00:00:00 2001 From: jonny_jr9 Date: Wed, 30 Aug 2023 17:58:01 +0200 Subject: [PATCH 6/8] Add message framing (start, end, escape bytes) to UART Same functionality as previous commit. But way more stable and clean. Previous proof of concept approach had issues with random partial or too large messages due to time based method Rework send and receive functions to work more stable - send: encode data with frame (start, end byte) - receive: read each byte one after the other, assemble message, handle actual data in handle function - add semaphore to write operation to prevent parallel write of different data when called from other tasks --- board_control/main/main.cpp | 2 +- board_control/main/uart.cpp | 16 ++----- board_control/main/uart.hpp | 4 +- board_motorctl/main/main.cpp | 3 +- board_motorctl/main/uart.cpp | 75 ++++++++++++++++-------------- board_motorctl/main/uart.hpp | 1 - common/uart_common.cpp | 88 ++++++++++++++++++++++++++++++++++++ common/uart_common.hpp | 63 ++++++++++++++++++++++++-- 8 files changed, 197 insertions(+), 55 deletions(-) diff --git a/board_control/main/main.cpp b/board_control/main/main.cpp index 901c5fd..03d66bc 100644 --- a/board_control/main/main.cpp +++ b/board_control/main/main.cpp @@ -142,7 +142,7 @@ void setLoglevels(void){ esp_log_level_set("wifi", ESP_LOG_INFO); esp_log_level_set("http", ESP_LOG_INFO); esp_log_level_set("automatedArmchair", ESP_LOG_DEBUG); - esp_log_level_set("uart_common", ESP_LOG_INFO); + esp_log_level_set("uart-common", ESP_LOG_INFO); esp_log_level_set("uart", ESP_LOG_INFO); // diff --git a/board_control/main/uart.cpp b/board_control/main/uart.cpp index b5edcb5..eaf55d6 100644 --- a/board_control/main/uart.cpp +++ b/board_control/main/uart.cpp @@ -14,25 +14,17 @@ extern "C" #include "freertos/queue.h" #include "driver/uart.h" } - #include "uart.hpp" static const char * TAG = "uart"; -//TESTING -#include "control.hpp" -#include "config.hpp" //============================== //====== task_uartReceive ====== //============================== //TODO copy receive task from board_motorctl/uart.cpp void task_uartReceive(void *arg){ - //--- testing force http mode after startup --- - //TESTING - vTaskDelay(5000 / portTICK_PERIOD_MS); - control.changeMode(controlMode_t::HTTP); while (1) { vTaskDelay(200 / portTICK_PERIOD_MS); } @@ -43,13 +35,15 @@ void task_uartReceive(void *arg){ //============================= //======= task_uartSend ======= //============================= -//repeatedly send structs to uart +//repeatedly send structs via uart +//note: uart_sendStruct() from uart_common.hpp can be used anywhere void task_uartSend(void *arg){ static const char * TAG = "uart-send"; uartData_test_t data = {123, 0, 1.1}; - ESP_LOGW(TAG, "startloop..."); + ESP_LOGW(TAG, "send task started"); + //repeatedly send data for testing uart while (1) { - vTaskDelay(10000 / portTICK_PERIOD_MS); + vTaskDelay(5000 / portTICK_PERIOD_MS); uart_sendStruct(data); //change data values diff --git a/board_control/main/uart.hpp b/board_control/main/uart.hpp index ef8ea55..2c8195f 100644 --- a/board_control/main/uart.hpp +++ b/board_control/main/uart.hpp @@ -1,8 +1,8 @@ #pragma once - #include "uart_common.hpp" -void uart_task_testing(void *arg); +//===== uart board CONTROL ===== +// void task_uartReceive(void *arg); void task_uartSend(void *arg); diff --git a/board_motorctl/main/main.cpp b/board_motorctl/main/main.cpp index a901b94..71873b2 100644 --- a/board_motorctl/main/main.cpp +++ b/board_motorctl/main/main.cpp @@ -26,7 +26,7 @@ extern "C" //========================= //only run uart test code at the end //disables other functionality -#define UART_TEST_ONLY +//#define UART_TEST_ONLY //tag for logging @@ -35,7 +35,6 @@ static const char * TAG = "main"; #ifndef UART_TEST_ONLY -#include "control.hpp" //==================================== //========== motorctl task =========== //==================================== diff --git a/board_motorctl/main/uart.cpp b/board_motorctl/main/uart.cpp index 90585d8..3bdc283 100644 --- a/board_motorctl/main/uart.cpp +++ b/board_motorctl/main/uart.cpp @@ -1,49 +1,58 @@ #include "uart.hpp" #include "config.hpp" #include "types.hpp" +#include "uart_common.hpp" //===== uart board MOTORCTL ===== static const char * TAG = "uart"; + +//handle received payload from uart +void handleMessage(uint8_t *receivedData, int len) { + ESP_LOGI(TAG, "complete message received len=%d", len); + //local variables + uartData_test_t dataTest; + motorCommands_t dataMotorCommands; + //assign data to struct + switch (len){ + case sizeof(uartData_test_t): + dataTest = serialData2Struct(receivedData); + ESP_LOGW(TAG, "received uartDataStruct len=%d DATA: timestamp=%d, id=%d, value=%.1f", len, dataTest.timestamp, dataTest.id, dataTest.value); + break; + + case sizeof(motorCommands_t): + dataMotorCommands = serialData2Struct(receivedData); + ESP_LOGI(TAG, "received motorCommands struct len=%d left=%.2f%% right=%.2f%%, update target...", len, dataMotorCommands.left.duty, dataMotorCommands.right.duty); + //update target motor state and duty + motorLeft.setTarget(dataMotorCommands.left.state, + dataMotorCommands.left.duty); + motorRight.setTarget(dataMotorCommands.right.state, + dataMotorCommands.right.duty); + break; + + //TODO add other received structs here + default: + ESP_LOGE(TAG, "received data len=%d cant be associated with configures struct", len); + break; + } +} + + + //============================== //====== task_uartReceive ====== //============================== +//TODO duplicate code, same task in both boards, only handleMessage function has to be passed -> move to uart_common void task_uartReceive(void *arg){ ESP_LOGW(TAG, "receive task started"); - //receive data from uart, detect associated struct and copy/handle the data - //TODO use queue instead of check interval? - uartData_test_t dataTest; - motorCommands_t dataMotorCommands; - uint8_t receivedData[1024-1]; - while(1){ - //note: check has to be more frequent than pause time between sending - vTaskDelay(50 / portTICK_PERIOD_MS); - //read bytes (max 1023) until 20ms pause is happening - int len = uart_read_bytes(UART_NUM_1, receivedData, sizeof(receivedData), 20 / portTICK_PERIOD_MS); - uart_flush_input(UART_NUM_1); - if (len < 1) continue; - switch (len){ - - case sizeof(uartData_test_t): - dataTest = serialData2Struct(receivedData); - ESP_LOGW(TAG, "received uartDataStruct len=%d DATA: timestamp=%d, id=%d, value=%.1f", len, dataTest.timestamp, dataTest.id, dataTest.value); - break; - - case sizeof(motorCommands_t): - dataMotorCommands = serialData2Struct(receivedData); - ESP_LOGI(TAG, "received motorCommands struct len=%d left=%.2f%% right=%.2f%%, update target...", len, dataMotorCommands.left.duty, dataMotorCommands.right.duty); - //update target motor state and duty - motorLeft.setTarget(dataMotorCommands.left.state, - dataMotorCommands.left.duty); - motorRight.setTarget(dataMotorCommands.right.state, - dataMotorCommands.right.duty); - break; - - //TODO add other received structs here - default: - ESP_LOGE(TAG, "received data len=%d cant be associated with configures struct", len); - break; + while (1) { + uint8_t byte; + //read 1 byte TODO: use uart queue here? data might get lost when below function takes longer than data arrives + int len = uart_read_bytes(UART_NUM_1, &byte, 1, portMAX_DELAY); + if (len > 0) { + //process received byte + uart_processReceivedByte(byte, handleMessage); } } } diff --git a/board_motorctl/main/uart.hpp b/board_motorctl/main/uart.hpp index 402b35d..b94c767 100644 --- a/board_motorctl/main/uart.hpp +++ b/board_motorctl/main/uart.hpp @@ -1,7 +1,6 @@ #pragma once #include "uart_common.hpp" - //===== uart board MOTORCTL ===== void task_uartReceive(void *arg); diff --git a/common/uart_common.cpp b/common/uart_common.cpp index fd013e6..48db8d6 100644 --- a/common/uart_common.cpp +++ b/common/uart_common.cpp @@ -1,6 +1,9 @@ #include "uart_common.hpp" static const char * TAG = "uart-common"; +SemaphoreHandle_t uart_semaphoreSend = NULL; +bool uart_isInitialized = false; + //=========================== @@ -9,6 +12,8 @@ static const char * TAG = "uart-common"; //initial struct on given pins //TODO add pins and baud rate to config? void uart_init(void){ + ESP_LOGW(TAG, "initializing uart1..."); + uart_semaphoreSend = xSemaphoreCreateBinary(); uart_config_t uart1_config = { .baud_rate = 115198, .data_bits = UART_DATA_8_BITS, @@ -22,8 +27,91 @@ void uart_init(void){ ESP_ERROR_CHECK(uart_set_pin(UART_NUM_1, 23, 22, 0, 0)); ESP_LOGI(TAG, "init..."); ESP_ERROR_CHECK(uart_driver_install(UART_NUM_1, 1024, 1024, 10, NULL, 0)); + uart_isInitialized = true; + xSemaphoreGive(uart_semaphoreSend); } + +//=========================== +//===== uart_sendBinary ==== +//=========================== +//encode byte array to message (start, stop, escape pattern) +//and send it via uart +//note: use sendStruct template in uart_common.hpp +void uart_sendBinary(uint8_t *data, int length) { + const uint8_t startPattern = START_PATTERN; + const uint8_t endPattern = END_PATTERN; + const uint8_t escapeByte = ESCAPE_BYTE; + ESP_LOGI(TAG, "encoding and sending bytes len=%d", length); + //wait for last message to finish sending + if (xSemaphoreTake(uart_semaphoreSend, UART_WRITE_WAIT_TIMEOUT / portTICK_PERIOD_MS) == pdTRUE){ + //send start byte + uart_write_bytes(UART_NUM_1, &startPattern, 1); + + for (int i = 0; i < length; i++) { + if (data[i] == START_PATTERN || data[i] == END_PATTERN || data[i] == ESCAPE_BYTE) { + //add escape byte if next byte is special pattern by accident + uart_write_bytes(UART_NUM_1, &escapeByte, 1); + } + uart_write_bytes(UART_NUM_1, (const char *)&data[i], 1); + } + //send end byte + uart_write_bytes(UART_NUM_1, &endPattern, 1); + vTaskDelay(UART_WRITE_MIN_DELAY / portTICK_PERIOD_MS); + xSemaphoreGive(uart_semaphoreSend); + } else ESP_LOGE(TAG, "timeout waiting for uart write semaphore! dropping data"); +} + + + + +//================================ +//=== uart_processReceivedByte === +//================================ +//decode received message to byte array (start, stop, escape pattern) +//has to be run for each receibed byte +//runs provided messageHandler function when complete message received +uint8_t receivedData[MAX_MESSAGE_LENGTH]; +int dataIndex = 0; +bool insideMessage = false; +bool escaped = false; + +void uart_processReceivedByte(uint8_t data, messageHandleFunc_t messageHandler){ + ESP_LOGD(TAG, "process byte %x", data); + if (escaped) { + //this byte is actual data, no end/start byte + escaped = false; + receivedData[dataIndex++] = data; + if (dataIndex >= MAX_MESSAGE_LENGTH) { + insideMessage = false; + dataIndex = 0; + } + } else if (data == START_PATTERN) { + //start of message + insideMessage = true; + dataIndex = 0; + } else if (insideMessage) { + if (data == ESCAPE_BYTE) { + ESP_LOGI(TAG, "escape byte received"); + //escape next byte + escaped = true; + } else if (data == END_PATTERN) { + //end of message + insideMessage = false; + //call provided function that handles actual messages + messageHandler(receivedData, dataIndex); + dataIndex = 0; + } else if (dataIndex < MAX_MESSAGE_LENGTH - 2) { + //normal byte - append byte to data + receivedData[dataIndex++] = data; + } else { + //message too long / buffer exceeded + insideMessage = false; + dataIndex = 0; + ESP_LOGE(TAG, "received message too long! dropped"); + } + } else ESP_LOGE(TAG, "start pattern missing! ignoreing byte"); +} diff --git a/common/uart_common.hpp b/common/uart_common.hpp index ce34567..be599b7 100644 --- a/common/uart_common.hpp +++ b/common/uart_common.hpp @@ -11,12 +11,31 @@ extern "C" #include "esp_log.h" #include "sdkconfig.h" #include +#include "freertos/semphr.h" #include "freertos/queue.h" #include "driver/uart.h" } #include "types.hpp" +//idea with time gap dropped, replaced with encoding +//#define UART_RECEIVE_DURATION 10 +//receive interval may not miss messages but also may not read multiple messages +//has to be significantly smaller than WRITE_MNIN_DELAY but larger than longest message +//semaphore for assuring min delay between sent data +//extern SemaphoreHandle_t uart_semaphoreSend; + +//==== parameters message frame ==== +#define START_PATTERN 0xAA +#define END_PATTERN 0xBB +#define MAX_MESSAGE_LENGTH 1024 +#define ESCAPE_BYTE 0xCC +//min delay after each message (no significant effect) +#define UART_WRITE_MIN_DELAY 50 +#define UART_WRITE_WAIT_TIMEOUT 2000 + +extern bool uart_isInitialized; + //struct for testing uart typedef struct { uint32_t timestamp; @@ -32,23 +51,57 @@ typedef struct { } uartData_motorCommands_t; +//function that handles receieved messages as byte array +//-> do something with received data +typedef void (*messageHandleFunc_t)(uint8_t *data, int length); + + + //===== uart_init ===== //should be run once at startup void uart_init(void); +//===== uart_processReceivedByte ===== +//decode received message to byte array (start, stop, escape pattern) +//has to be run for each receibed byte +//runs provided messageHandler function when complete message received +void uart_processReceivedByte(uint8_t data, messageHandleFunc_t messageHandler); + + +//===== uart_sendBinary ===== +//encode byte array to message (start, stop, escape pattern) +//and send it via uart +void uart_sendBinary(uint8_t *data, int length); + + + //============================ //====== uart_sendStruct ===== //============================ //send and struct via uart +//waits when another struct was sent less than UART_WRITE_MIN_DELAY ago template void uart_sendStruct(T dataStruct) { static const char * TAG = "uart-common"; - //TODO check if initialized? + //check if uart is initialized + if (!uart_isInitialized){ + ESP_LOGE(TAG, "uart not initialized! droping data"); + return; + } uint8_t dataSerial[sizeof(T)]; + //struct to serial bytes memcpy(dataSerial, &dataStruct, sizeof(T)); - uart_write_bytes(UART_NUM_1, (const char *)dataSerial, sizeof(T)); - ESP_LOGW(TAG, "sent data struct with len %d", sizeof(T)); - //ESP_LOGW(TAG, "sent DATA: timestamp=%d, id=%d, value=%.1f", data.timestamp, data.id, data.value); + // //wait for min delay after last write DROPPED + // if (xSemaphoreTake(uart_semaphoreSend, UART_WRITE_WAIT_TIMEOUT / portTICK_PERIOD_MS) == pdTRUE){ + // //send bytes + // uart_write_bytes(UART_NUM_1, (const char *)dataSerial, sizeof(T)); + // ESP_LOGW(TAG, "sent data struct with len %d", sizeof(T)); + // } else ESP_LOGE(TAG, "timeout waiting for uart write semaphore! dropping data"); + // //wait min delay before next write is allowed + // vTaskDelay(UART_WRITE_MIN_DELAY / portTICK_PERIOD_MS); + // xSemaphoreGive(uart_semaphoreSend); + + uart_sendBinary(dataSerial, sizeof(T)); } @@ -62,7 +115,7 @@ template T serialData2Struct(uint8_t *dataSerial){ static const char * TAG = "uart-common"; T dataStruct; memcpy(&dataStruct, dataSerial, sizeof(T)); - ESP_LOGW(TAG, "converted serial data len=%d to struct", sizeof(T)); + ESP_LOGI(TAG, "converted serial data len=%d to struct", sizeof(T)); return dataStruct; } From 455b6f045670fcb686159eee009e3efa3d90e8ea Mon Sep 17 00:00:00 2001 From: jonny_jr9 Date: Wed, 30 Aug 2023 19:34:41 +0200 Subject: [PATCH 7/8] Control: Rework timeout to work standalone (untested) rework and enable timeout feature to work independent of handledmotor object now uses generated commands instead of acutal motor duty not testet yet --- board_control/main/control.cpp | 124 +++++++++++++++------------------ board_control/main/control.hpp | 5 +- 2 files changed, 58 insertions(+), 71 deletions(-) diff --git a/board_control/main/control.cpp b/board_control/main/control.cpp index 0d0d0a0..031dace 100644 --- a/board_control/main/control.cpp +++ b/board_control/main/control.cpp @@ -64,11 +64,9 @@ const char* controlModeStr[7] = {"IDLE", "JOYSTICK", "MASSAGE", "HTTP", "MQTT", break; case controlMode_t::IDLE: - //copy preset commands for idling both motors - commands = cmds_bothMotorsIdle; - uart_sendStruct(commands); - //motorRight->setTarget(commands.right.state, commands.right.duty); - //motorLeft->setTarget(commands.left.state, commands.left.duty); + //send both motors idle command to motorctl pcb + uart_sendStruct(cmds_bothMotorsIdle); + commands_now = cmds_bothMotorsIdle; vTaskDelay(200 / portTICK_PERIOD_MS); #ifdef JOYSTICK_LOG_IN_IDLE //get joystick data here (without using it) @@ -79,18 +77,15 @@ const char* controlModeStr[7] = {"IDLE", "JOYSTICK", "MASSAGE", "HTTP", "MQTT", case controlMode_t::JOYSTICK: - vTaskDelay(20 / portTICK_PERIOD_MS); + vTaskDelay(50 / 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); + commands_now = joystick_generateCommandsDriving(stickData, altStickMapping); //apply motor commands - uart_sendStruct(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 + uart_sendStruct(commands_now); break; @@ -103,11 +98,9 @@ const char* controlModeStr[7] = {"IDLE", "JOYSTICK", "MASSAGE", "HTTP", "MQTT", } //--- generate motor commands --- //pass joystick data from getData method of evaluatedJoystick to generateCommandsShaking function - commands = joystick_generateCommandsShaking(stickData); + commands_now = joystick_generateCommandsShaking(stickData); //apply motor commands - uart_sendStruct(commands); - //motorRight->setTarget(commands.right.state, commands.right.duty); - //motorLeft->setTarget(commands.left.state, commands.left.duty); + uart_sendStruct(commands_now); break; @@ -121,25 +114,23 @@ const char* controlModeStr[7] = {"IDLE", "JOYSTICK", "MASSAGE", "HTTP", "MQTT", 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); + commands_now = joystick_generateCommandsDriving(stickData, altStickMapping); //--- apply commands to motors --- - //TODO make motorctl.setTarget also accept motorcommand struct directly - uart_sendStruct(commands); - //motorRight->setTarget(commands.right.state, commands.right.duty); - //motorLeft->setTarget(commands.left.state, commands.left.duty); + uart_sendStruct(commands_now); break; case controlMode_t::AUTO: + //FIXME auto mode currently not supported, needs rework vTaskDelay(20 / portTICK_PERIOD_MS); // //generate commands -// commands = armchair.generateCommands(&instruction); +// commands_now = armchair.generateCommands(&instruction); // //--- apply commands to motors --- // //TODO make motorctl.setTarget also accept motorcommand struct directly -// uart_sendStruct(commands); -// //motorRight->setTarget(commands.right.state, commands.right.duty); -// //motorLeft->setTarget(commands.left.state, commands.left.duty); +// uart_sendStruct(commands_now); +// //motorRight->setTarget(commands_now.right.state, commands_now.right.duty); +// //motorLeft->setTarget(commands_now.left.state, commands_now.left.duty); // // //process received instruction // switch (instruction) { @@ -172,7 +163,6 @@ const char* controlModeStr[7] = {"IDLE", "JOYSTICK", "MASSAGE", "HTTP", "MQTT", // } break; - //TODO: add other modes here } @@ -180,11 +170,14 @@ const char* controlModeStr[7] = {"IDLE", "JOYSTICK", "MASSAGE", "HTTP", "MQTT", //--- 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 + //TODO add methods and move below code to button file possible? switch (buttonCount) { case 1: //define joystick center or freeze input if (mode == controlMode_t::JOYSTICK){ //joystick mode: calibrate joystick joystick_l->defineCenter(); + buzzer->beep(2, 50, 30); + buzzer->beep(1, 200, 25); } else if (mode == controlMode_t::MASSAGE){ //massage mode: toggle freeze of input (lock joystick at current values) freezeInput = !freezeInput; @@ -268,35 +261,30 @@ const char* controlModeStr[7] = {"IDLE", "JOYSTICK", "MASSAGE", "HTTP", "MQTT", } } - //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 - //FIXME rework timout to work via uart duy or control input only + //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* so change between current and last duty is detectable 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); -// } -// } + //check for timeout only when not idling already + if (mode != controlMode_t::IDLE) { + //activity detected between current and last generated motor commands + if (validateActivity(commands_lastActivityCheck.left.duty, commands_now.left.duty, inactivityTolerance) + || validateActivity(commands_lastActivityCheck.right.duty, commands_now.right.duty, inactivityTolerance) + ){ + ESP_LOGD(TAG, "timeout check: [activity] detected since last check -> reset"); + //reset last commands and timestamp + commands_lastActivityCheck = commands_now; + resetTimeout(); + } + //no activity on any motor and msTimeout exceeded + else if (esp_log_timestamp() - timestamp_lastActivity > config.timeoutMs){ + ESP_LOGW(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); + } + } } @@ -335,21 +323,21 @@ const char* controlModeStr[7] = {"IDLE", "JOYSTICK", "MASSAGE", "HTTP", "MQTT", 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::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... diff --git a/board_control/main/control.hpp b/board_control/main/control.hpp index d3dbe5f..58f3085 100644 --- a/board_control/main/control.hpp +++ b/board_control/main/control.hpp @@ -78,7 +78,7 @@ //---variables --- //struct for motor commands returned by generate functions of each mode - motorCommands_t commands; + motorCommands_t commands_now; //struct with config parameters control_config_t config; @@ -118,9 +118,8 @@ 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; + motorCommands_t commands_lastActivityCheck; }; From d25f8cd3814dbeda13cd3fe52cdbacd7db38a88d Mon Sep 17 00:00:00 2001 From: jonny_jr9 Date: Wed, 30 Aug 2023 20:09:19 +0200 Subject: [PATCH 8/8] Control: Rework button functionality - standalone - re-enable button functionality - make button independent of controlledmotor objects - disable 2x eject support command - disable 8x toggle fading command --- board_control/main/button.cpp | 400 +++++++++++++++++----------------- board_control/main/button.hpp | 76 +++---- board_control/main/main.cpp | 18 +- 3 files changed, 248 insertions(+), 246 deletions(-) diff --git a/board_control/main/button.cpp b/board_control/main/button.cpp index f90a8a4..5ad9b59 100644 --- a/board_control/main/button.cpp +++ b/board_control/main/button.cpp @@ -1,3 +1,4 @@ +#include "auto.hpp" extern "C" { #include @@ -17,200 +18,205 @@ static const char * TAG = "button"; //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; -// } -// } -// } -// -// -// -// + //----------------------------- + //-------- constructor -------- + //----------------------------- +buttonCommands::buttonCommands( + gpio_evaluatedSwitch * button_f, + evaluatedJoystick * joystick_f, + controlledArmchair * control_f, + buzzer_t * buzzer_f + ){ + //copy object pointers + button = button_f; + joystick = joystick_f; + control = control_f; + buzzer = buzzer_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: + //TODO no use for leg support from 1.0 anymore, add other functionality + //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: + // //TODO rework this with uart config + // //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 8f44b16..495f1dd 100644 --- a/board_control/main/button.hpp +++ b/board_control/main/button.hpp @@ -11,44 +11,40 @@ -// //=================================== -// //====== 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 + ); + + //--- 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; + + //--- 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/main.cpp b/board_control/main/main.cpp index 03d66bc..260310a 100644 --- a/board_control/main/main.cpp +++ b/board_control/main/main.cpp @@ -71,13 +71,13 @@ void task_control( void * pvParameters ){ //============ button task ============= //====================================== //task that handles the button interface/commands -//void task_button( void * pvParameters ){ -// ESP_LOGI(TAG, "Initializing command-button and starting handle loop"); -// //create button instance -// buttonCommands commandButton(&buttonJoystick, &joystick, &control, &buzzer, &motorLeft, &motorRight); -// //start handle loop -// commandButton.startHandleLoop(); -//} +void task_button( void * pvParameters ){ + ESP_LOGI(TAG, "Initializing command-button and starting handle loop"); + //create button instance + buttonCommands commandButton(&buttonJoystick, &joystick, &control, &buzzer); + //start handle loop + commandButton.startHandleLoop(); +} @@ -169,7 +169,7 @@ extern "C" void app_main(void) { //------------------------------ //--- create task for buzzer --- //------------------------------ - //xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL); + xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL); //------------------------------- //--- create task for control --- @@ -181,7 +181,7 @@ extern "C" void app_main(void) { //--- 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); + xTaskCreate(&task_button, "task_button", 4096, NULL, 4, NULL); //----------------------------------- //--- create task for fan control ---