Create class controlledFan, Add getStatus to motorctl

- Add class for controlling fans for cooling the motor drivers
- Add configuration for left and right fan to config.cpp
- Create fan task in main.cpp
- Add getStatus function to controlledMotor class

main/CMakeLists.txt

@@ -1,2 +1,2 @@
-idf_component_register(SRCS "main.cpp" "motordrivers.cpp" "motorctl.cpp" "config.cpp" "joystick.cpp" "buzzer.cpp" "control.cpp" "button.cpp"
+idf_component_register(SRCS "main.cpp" "motordrivers.cpp" "motorctl.cpp" "config.cpp" "joystick.cpp" "buzzer.cpp" "control.cpp" "button.cpp" "fan.cpp"
                     INCLUDE_DIRS ".")

main/config.cpp

@@ -74,3 +74,17 @@ buzzer_t buzzer(GPIO_NUM_12, 100);
 
 //create global control object
 controlledArmchair control(&buzzer, &motorLeft, &motorRight);
+
+
+//configure fan contol
+fan_config_t configFanLeft = {
+    .gpio_fan = GPIO_NUM_2,
+    .msRun = 5000,
+    .dutyThreshold = 35
+};
+fan_config_t configFanRight = {
+    .gpio_fan = GPIO_NUM_15,
+    .msRun = 5000,
+    .dutyThreshold = 35
+};
+

main/config.hpp

@@ -7,6 +7,7 @@
 #include "gpio_evaluateSwitch.hpp"
 #include "buzzer.hpp"
 #include "control.hpp"
+#include "fan.hpp"
 
 
 //create global controlledMotor instances for both motors
@@ -25,3 +26,7 @@ extern buzzer_t buzzer;
 //create global control object
 extern controlledArmchair control;
 
+//configuration for fans
+extern fan_config_t configFanLeft;
+extern fan_config_t configFanRight;
+

main/fan.cpp

@@ -0,0 +1,57 @@
+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* motor_f ){
+    //copy config
+    config = config_f;
+    //copy pointer to motor object
+    motor = motor_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
+    motorStatus = motor->getStatus();
+
+    //TODO Add statemachine for more specific control? Exponential average?
+    //update timestamp if threshold exceeded
+    if (motorStatus.duty > config.dutyThreshold){
+        timestamp_lastThreshold = esp_log_timestamp();
+    }
+
+    //turn fan on if time since last exceeded threshold is less than msRun
+    if (esp_log_timestamp() - timestamp_lastThreshold < config.msRun) {
+        gpio_set_level(config.gpio_fan, 1);        
+        ESP_LOGD(TAG, "fan is on (gpio: %d)", (int)config.gpio_fan);
+    }
+    //otherwise turn fan off
+    else {
+        gpio_set_level(config.gpio_fan, 0);        
+        ESP_LOGD(TAG, "fan is off (gpio: %d)", (int)config.gpio_fan);
+    }
+}
+
+
+

main/fan.hpp

@@ -0,0 +1,40 @@
+#pragma once
+
+extern "C"
+{
+#include "driver/gpio.h"
+}
+
+#include "motorctl.hpp"
+
+
+
+//struct with all config parameters for a fan
+typedef struct fan_config_t {
+    gpio_num_t gpio_fan;
+    uint32_t msRun;
+    float dutyThreshold;
+} fan_config;
+
+
+
+//==================================
+//====== controlledFan class =======
+//==================================
+class controlledFan {
+    public:
+        //--- constructor ---
+        controlledFan (fan_config_t config_f, controlledMotor* motor_f );
+
+        //--- functions ---
+        void handle();
+
+
+    private:
+        //--- variables ---
+        uint32_t timestamp_lastThreshold;
+        fan_config_t config;
+        controlledMotor * motor;
+
+        motorCommand_t motorStatus;
+};

main/main.cpp

@@ -77,6 +77,24 @@ void task_button( void * pvParameters ){
 
 
 
+//=======================================
+//============== fan task ===============
+//=======================================
+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 fanLeft(configFanLeft, &motorLeft);
+    controlledFan fanRight(configFanRight, &motorRight);
+    //repeatedly run fan handle functions in a slow loop
+    while(1){
+        fanLeft.handle();
+        fanRight.handle();
+        vTaskDelay(1000 / portTICK_PERIOD_MS);
+    }
+}
+
+
+
 //=================================
 //=========== app_main ============
 //=================================
@@ -100,6 +118,8 @@ extern "C" void app_main(void) {
     //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_DEBUG);
 
 
 
@@ -124,7 +144,13 @@ 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_buzzer", 2048, NULL, 5, NULL);
+    xTaskCreate(&task_button, "task_button", 2048, 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, 5, NULL);
 
 
     //beep at startup

main/motorctl.cpp

@@ -95,3 +95,18 @@ void controlledMotor::setTarget(motorstate_t state_f, float duty_f){
 
 }
 
+
+
+//===============================
+//========== 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;
+};
+

main/motorctl.hpp

@@ -42,6 +42,7 @@ class controlledMotor {
         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)
 
 
     private: