Simple driver test - works
test controlling driver via uart (in main function)
This commit is contained in:
jonny_jr9
parent
f76db1d9bc
commit
a30ec01818
@ -23,6 +23,8 @@ extern "C"
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#include "button.hpp"
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#include "http.hpp"
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#include "uart_common.hpp"
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//tag for logging
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static const char * TAG = "main";
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@ -148,152 +150,191 @@ void setLoglevels(void){
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}
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//send byte via uart to test sabertooth driver
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void sendByte(char data){
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uart_write_bytes(UART_NUM_1, &data, 1);
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ESP_LOGI(TAG, "sent %x / %d via uart", data, data);
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}
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//=================================
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//=========== app_main ============
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//=================================
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extern "C" void app_main(void) {
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//enable 5V volate regulator
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gpio_pad_select_gpio(GPIO_NUM_17);
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gpio_set_direction(GPIO_NUM_17, GPIO_MODE_OUTPUT);
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gpio_set_level(GPIO_NUM_17, 1);
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//TEST SAVERTOOTH driver:
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//init uart:
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//---- define log levels ----
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setLoglevels();
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//----------------------------------------------
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//--- create task for controlling the motors ---
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//----------------------------------------------
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//task that receives commands, handles ramp and current limit and executes commands using the motordriver function
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xTaskCreate(&task_motorctl, "task_motor-control", 2048, NULL, 6, NULL);
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ESP_LOGW(TAG, "initializing uart1...");
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uart_config_t uart1_config = {
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.baud_rate = 38400,
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.data_bits = UART_DATA_8_BITS,
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.parity = UART_PARITY_DISABLE,
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.stop_bits = UART_STOP_BITS_1,
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.flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
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};
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ESP_LOGI(TAG, "configure...");
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ESP_ERROR_CHECK(uart_param_config(UART_NUM_1, &uart1_config));
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ESP_LOGI(TAG, "setpins...");
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ESP_ERROR_CHECK(uart_set_pin(UART_NUM_1, 23, 22, 0, 0));
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ESP_LOGI(TAG, "init...");
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ESP_ERROR_CHECK(uart_driver_install(UART_NUM_1, 1024, 1024, 10, NULL, 0));
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bool uart_isInitialized = true;
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//------------------------------
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//--- create task for buzzer ---
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//------------------------------
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xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
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//-------------------------------
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//--- create task for control ---
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//-------------------------------
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//task that generates motor commands depending on the current mode and sends those to motorctl task
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xTaskCreate(&task_control, "task_control", 4096, NULL, 5, NULL);
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//------------------------------
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//--- create task for button ---
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//------------------------------
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//task that evaluates and processes the button input and runs the configured commands
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xTaskCreate(&task_button, "task_button", 4096, NULL, 4, NULL);
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//-----------------------------------
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//--- create task for fan control ---
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//-----------------------------------
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//task that evaluates and processes the button input and runs the configured commands
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xTaskCreate(&task_fans, "task_fans", 2048, NULL, 1, NULL);
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//beep at startup
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buzzer.beep(3, 70, 50);
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//--- initialize nvs-flash and netif (needed for wifi) ---
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wifi_initNvs_initNetif();
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//--- initialize spiffs ---
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init_spiffs();
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//--- initialize and start wifi ---
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//FIXME: run wifi_init_client or wifi_init_ap as intended from control.cpp when switching state
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//currently commented out because of error "assert failed: xQueueSemaphoreTake queue.c:1549 (pxQueue->uxItemSize == 0)" when calling control->changeMode from button.cpp
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//when calling control.changeMode(http) from main.cpp it worked without error for some reason?
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ESP_LOGI(TAG,"starting wifi...");
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//wifi_init_client(); //connect to existing wifi
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wifi_init_ap(); //start access point
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ESP_LOGI(TAG,"done starting wifi");
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//--- testing http server ---
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// wifi_init_client(); //connect to existing wifi
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// vTaskDelay(2000 / portTICK_PERIOD_MS);
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// ESP_LOGI(TAG, "initializing http server");
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// http_init_server();
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//--- testing force http mode after startup ---
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//control.changeMode(controlMode_t::HTTP);
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//--- main loop ---
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//does nothing except for testing things
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//between 1 and 127 will control motor 1. 1 is full reverse, 64 is stop and 127 is full forward.
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//between 128 and 255 will control motor 2. 128 is full reverse, 192 is stop and 255 is full forward.
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//Character 0 (hex 0x00) shut down both motors.
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while(1){
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sendByte(0);
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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//---------------------------------
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//-------- TESTING section --------
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//---------------------------------
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// //--- test functions at mode change HTTP ---
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// control.changeMode(controlMode_t::HTTP);
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// vTaskDelay(10000 / portTICK_PERIOD_MS);
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// control.changeMode(controlMode_t::IDLE);
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// vTaskDelay(10000 / portTICK_PERIOD_MS);
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//--- test wifi functions ---
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// ESP_LOGI(TAG, "creating AP");
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// wifi_init_ap(); //start accesspoint
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// vTaskDelay(15000 / portTICK_PERIOD_MS);
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// ESP_LOGI(TAG, "stopping wifi");
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// wifi_deinit_ap(); //stop wifi access point
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// vTaskDelay(5000 / portTICK_PERIOD_MS);
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// ESP_LOGI(TAG, "connecting to wifi");
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// wifi_init_client(); //connect to existing wifi
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// vTaskDelay(10000 / portTICK_PERIOD_MS);
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// ESP_LOGI(TAG, "stopping wifi");
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// wifi_deinit_client(); //stop wifi client
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// vTaskDelay(5000 / portTICK_PERIOD_MS);
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//--- test button ---
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//buttonJoystick.handle();
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// if (buttonJoystick.risingEdge){
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// ESP_LOGI(TAG, "button pressed, was released for %d ms", buttonJoystick.msReleased);
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// buzzer.beep(2, 100, 50);
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// }else if (buttonJoystick.fallingEdge){
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// ESP_LOGI(TAG, "button released, was pressed for %d ms", buttonJoystick.msPressed);
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// buzzer.beep(1, 200, 0);
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// }
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//--- test joystick commands ---
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// motorCommands_t commands = joystick_generateCommandsDriving(joystick);
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// motorRight.setTarget(commands.right.state, commands.right.duty); //TODO make motorctl.setTarget also accept motorcommand struct directly
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// motorLeft.setTarget(commands.left.state, commands.left.duty); //TODO make motorctl.setTarget also accept motorcommand struct directly
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// //motorRight.setTarget(commands.right.state, commands.right.duty);
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//--- test joystick class ---
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//joystickData_t data = joystick.getData();
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//ESP_LOGI(TAG, "position=%s, x=%.1f%%, y=%.1f%%, radius=%.1f%%, angle=%.2f",
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// joystickPosStr[(int)data.position], data.x*100, data.y*100, data.radius*100, data.angle);
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//--- test the motor driver ---
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//fade up duty - forward
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// for (int duty=0; duty<=100; duty+=5) {
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// motorLeft.setTarget(motorstate_t::FWD, duty);
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// vTaskDelay(100 / portTICK_PERIOD_MS);
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// }
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//--- test controlledMotor --- (ramp)
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// //brake for 1 s
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// motorLeft.setTarget(motorstate_t::BRAKE);
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// vTaskDelay(1000 / portTICK_PERIOD_MS);
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// //command 90% - reverse
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// motorLeft.setTarget(motorstate_t::REV, 90);
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// vTaskDelay(5000 / portTICK_PERIOD_MS);
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// //command 100% - forward
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// motorLeft.setTarget(motorstate_t::FWD, 100);
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// vTaskDelay(1000 / portTICK_PERIOD_MS);
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sendByte(10);
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vTaskDelay(2000 / portTICK_PERIOD_MS);
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sendByte(64);
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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sendByte(120);
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vTaskDelay(2000 / portTICK_PERIOD_MS);
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}
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// //enable 5V volate regulator
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// gpio_pad_select_gpio(GPIO_NUM_17);
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// gpio_set_direction(GPIO_NUM_17, GPIO_MODE_OUTPUT);
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// gpio_set_level(GPIO_NUM_17, 1);
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//
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// //---- define log levels ----
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// setLoglevels();
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//
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// //----------------------------------------------
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// //--- create task for controlling the motors ---
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// //----------------------------------------------
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// //task that receives commands, handles ramp and current limit and executes commands using the motordriver function
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// xTaskCreate(&task_motorctl, "task_motor-control", 2048, NULL, 6, NULL);
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//
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// //------------------------------
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// //--- create task for buzzer ---
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// //------------------------------
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// xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
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//
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// //-------------------------------
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// //--- create task for control ---
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// //-------------------------------
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// //task that generates motor commands depending on the current mode and sends those to motorctl task
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// xTaskCreate(&task_control, "task_control", 4096, NULL, 5, NULL);
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//
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// //------------------------------
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// //--- create task for button ---
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// //------------------------------
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// //task that evaluates and processes the button input and runs the configured commands
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// xTaskCreate(&task_button, "task_button", 4096, NULL, 4, NULL);
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//
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// //-----------------------------------
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// //--- create task for fan control ---
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// //-----------------------------------
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// //task that evaluates and processes the button input and runs the configured commands
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// xTaskCreate(&task_fans, "task_fans", 2048, NULL, 1, NULL);
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//
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//
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// //beep at startup
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// buzzer.beep(3, 70, 50);
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//
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// //--- initialize nvs-flash and netif (needed for wifi) ---
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// wifi_initNvs_initNetif();
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//
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// //--- initialize spiffs ---
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// init_spiffs();
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//
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// //--- initialize and start wifi ---
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// //FIXME: run wifi_init_client or wifi_init_ap as intended from control.cpp when switching state
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// //currently commented out because of error "assert failed: xQueueSemaphoreTake queue.c:1549 (pxQueue->uxItemSize == 0)" when calling control->changeMode from button.cpp
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// //when calling control.changeMode(http) from main.cpp it worked without error for some reason?
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// ESP_LOGI(TAG,"starting wifi...");
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// //wifi_init_client(); //connect to existing wifi
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// wifi_init_ap(); //start access point
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// ESP_LOGI(TAG,"done starting wifi");
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//
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//
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// //--- testing http server ---
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// // wifi_init_client(); //connect to existing wifi
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// // vTaskDelay(2000 / portTICK_PERIOD_MS);
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// // ESP_LOGI(TAG, "initializing http server");
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// // http_init_server();
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//
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//
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// //--- testing force http mode after startup ---
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// //control.changeMode(controlMode_t::HTTP);
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//
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//
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// //--- main loop ---
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// //does nothing except for testing things
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// while(1){
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// vTaskDelay(1000 / portTICK_PERIOD_MS);
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//
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// //---------------------------------
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// //-------- TESTING section --------
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// //---------------------------------
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// // //--- test functions at mode change HTTP ---
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// // control.changeMode(controlMode_t::HTTP);
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// // vTaskDelay(10000 / portTICK_PERIOD_MS);
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// // control.changeMode(controlMode_t::IDLE);
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// // vTaskDelay(10000 / portTICK_PERIOD_MS);
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//
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//
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// //--- test wifi functions ---
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// // ESP_LOGI(TAG, "creating AP");
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// // wifi_init_ap(); //start accesspoint
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// // vTaskDelay(15000 / portTICK_PERIOD_MS);
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// // ESP_LOGI(TAG, "stopping wifi");
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// // wifi_deinit_ap(); //stop wifi access point
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// // vTaskDelay(5000 / portTICK_PERIOD_MS);
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// // ESP_LOGI(TAG, "connecting to wifi");
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// // wifi_init_client(); //connect to existing wifi
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// // vTaskDelay(10000 / portTICK_PERIOD_MS);
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// // ESP_LOGI(TAG, "stopping wifi");
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// // wifi_deinit_client(); //stop wifi client
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// // vTaskDelay(5000 / portTICK_PERIOD_MS);
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//
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//
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// //--- test button ---
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// //buttonJoystick.handle();
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// // if (buttonJoystick.risingEdge){
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// // ESP_LOGI(TAG, "button pressed, was released for %d ms", buttonJoystick.msReleased);
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// // buzzer.beep(2, 100, 50);
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//
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// // }else if (buttonJoystick.fallingEdge){
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// // ESP_LOGI(TAG, "button released, was pressed for %d ms", buttonJoystick.msPressed);
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// // buzzer.beep(1, 200, 0);
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// // }
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//
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//
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// //--- test joystick commands ---
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// // motorCommands_t commands = joystick_generateCommandsDriving(joystick);
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// // motorRight.setTarget(commands.right.state, commands.right.duty); //TODO make motorctl.setTarget also accept motorcommand struct directly
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// // motorLeft.setTarget(commands.left.state, commands.left.duty); //TODO make motorctl.setTarget also accept motorcommand struct directly
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// // //motorRight.setTarget(commands.right.state, commands.right.duty);
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//
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//
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// //--- test joystick class ---
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// //joystickData_t data = joystick.getData();
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// //ESP_LOGI(TAG, "position=%s, x=%.1f%%, y=%.1f%%, radius=%.1f%%, angle=%.2f",
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// // joystickPosStr[(int)data.position], data.x*100, data.y*100, data.radius*100, data.angle);
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//
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// //--- test the motor driver ---
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// //fade up duty - forward
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// // for (int duty=0; duty<=100; duty+=5) {
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// // motorLeft.setTarget(motorstate_t::FWD, duty);
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// // vTaskDelay(100 / portTICK_PERIOD_MS);
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// // }
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//
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//
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// //--- test controlledMotor --- (ramp)
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// // //brake for 1 s
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// // motorLeft.setTarget(motorstate_t::BRAKE);
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// // vTaskDelay(1000 / portTICK_PERIOD_MS);
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// // //command 90% - reverse
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// // motorLeft.setTarget(motorstate_t::REV, 90);
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// // vTaskDelay(5000 / portTICK_PERIOD_MS);
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// // //command 100% - forward
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// // motorLeft.setTarget(motorstate_t::FWD, 100);
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// // vTaskDelay(1000 / portTICK_PERIOD_MS);
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//
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// }
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}
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@ -63,3 +63,39 @@ class single100a {
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bool brakeWaitingForRelay = false;
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uint32_t timestamp_brakeRelayPowered;
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};
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////struct with all config parameters for single100a motor driver
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//typedef struct sabertooth2x60_config_t {
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// gpio_num_t gpio_TX;
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// ledc_timer_t ledc_timer;
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// ledc_channel_t ledc_channel;
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// bool aEnabledPinState;
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// bool bEnabledPinState;
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// ledc_timer_bit_t resolution;
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// int pwmFreq;
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//} single100a_config_t;
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//
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////=================================
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////======= sabertooth 2x60a ========
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////=================================
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//class single100a {
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// public:
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// //--- constructor ---
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// single100a(single100a_config_t config_f); //provide config struct (see above)
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//
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// //--- functions ---
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// void set(motorstate_t state, float duty_f = 0); //set mode and duty of the motor (see motorstate_t above)
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// //TODO: add functions to get the current state and duty
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//
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// private:
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// //--- functions ---
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// void init(); //initialize pwm and gpio outputs, calculate maxDuty
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//
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// //--- variables ---
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// single100a_config_t config;
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// uint32_t dutyMax;
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// motorstate_t state = motorstate_t::IDLE;
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// bool brakeWaitingForRelay = false;
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// uint32_t timestamp_brakeRelayPowered;
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//};
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