diff --git a/.gitignore b/.gitignore index 086b25d..ded71c2 100644 --- a/.gitignore +++ b/.gitignore @@ -10,8 +10,8 @@ sdkconfig.old # React -react-app/build -react-app/.pnp +**/react-app/build +**/react-app/.pnp .pnp.js node_modules diff --git a/board_control/CMakeLists.txt b/board_control/CMakeLists.txt new file mode 100644 index 0000000..ec8c7cd --- /dev/null +++ b/board_control/CMakeLists.txt @@ -0,0 +1,9 @@ +# For more information about build system see +# https://docs.espressif.com/projects/esp-idf/en/latest/api-guides/build-system.html +# The following five lines of boilerplate have to be in your project's +# CMakeLists in this exact order for cmake to work correctly +cmake_minimum_required(VERSION 3.5) + +include($ENV{IDF_PATH}/tools/cmake/project.cmake) +set(EXTRA_COMPONENT_DIRS "../components") +project(armchair_controlBoard) diff --git a/main/CMakeLists.txt b/board_control/main/CMakeLists.txt similarity index 100% rename from main/CMakeLists.txt rename to board_control/main/CMakeLists.txt diff --git a/main/auto.cpp b/board_control/main/auto.cpp similarity index 100% rename from main/auto.cpp rename to board_control/main/auto.cpp diff --git a/main/auto.hpp b/board_control/main/auto.hpp similarity index 100% rename from main/auto.hpp rename to board_control/main/auto.hpp diff --git a/main/button.cpp b/board_control/main/button.cpp similarity index 100% rename from main/button.cpp rename to board_control/main/button.cpp diff --git a/main/button.hpp b/board_control/main/button.hpp similarity index 100% rename from main/button.hpp rename to board_control/main/button.hpp diff --git a/main/buzzer.cpp b/board_control/main/buzzer.cpp similarity index 100% rename from main/buzzer.cpp rename to board_control/main/buzzer.cpp diff --git a/main/buzzer.hpp b/board_control/main/buzzer.hpp similarity index 100% rename from main/buzzer.hpp rename to board_control/main/buzzer.hpp diff --git a/main/config.cpp b/board_control/main/config.cpp similarity index 100% rename from main/config.cpp rename to board_control/main/config.cpp diff --git a/main/config.hpp b/board_control/main/config.hpp similarity index 100% rename from main/config.hpp rename to board_control/main/config.hpp diff --git a/main/control.cpp b/board_control/main/control.cpp similarity index 100% rename from main/control.cpp rename to board_control/main/control.cpp diff --git a/main/control.hpp b/board_control/main/control.hpp similarity index 100% rename from main/control.hpp rename to board_control/main/control.hpp diff --git a/main/currentsensor.cpp b/board_control/main/currentsensor.cpp similarity index 100% rename from main/currentsensor.cpp rename to board_control/main/currentsensor.cpp diff --git a/main/currentsensor.hpp b/board_control/main/currentsensor.hpp similarity index 100% rename from main/currentsensor.hpp rename to board_control/main/currentsensor.hpp diff --git a/main/fan.cpp b/board_control/main/fan.cpp similarity index 100% rename from main/fan.cpp rename to board_control/main/fan.cpp diff --git a/main/fan.hpp b/board_control/main/fan.hpp similarity index 100% rename from main/fan.hpp rename to board_control/main/fan.hpp diff --git a/main/http.cpp b/board_control/main/http.cpp similarity index 100% rename from main/http.cpp rename to board_control/main/http.cpp diff --git a/main/http.hpp b/board_control/main/http.hpp similarity index 100% rename from main/http.hpp rename to board_control/main/http.hpp diff --git a/main/joystick.cpp b/board_control/main/joystick.cpp similarity index 100% rename from main/joystick.cpp rename to board_control/main/joystick.cpp diff --git a/main/joystick.hpp b/board_control/main/joystick.hpp similarity index 100% rename from main/joystick.hpp rename to board_control/main/joystick.hpp diff --git a/board_control/main/main.cpp b/board_control/main/main.cpp new file mode 100644 index 0000000..6fd9626 --- /dev/null +++ b/board_control/main/main.cpp @@ -0,0 +1,259 @@ +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 "esp_spiffs.h" + +#include "driver/uart.h" + + +//custom C files +//#include "wifi.h" +} + +//custom C++ files +//#include "config.hpp" +//#include "control.hpp" +//#include "button.hpp" +//#include "http.hpp" + +//tag for logging +static const char * TAG = "main"; + + + + + +// //====================================== +// //============ 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); +// } + + + + +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++; + } +} + + + +//================================= +//=========== 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 + + + //TESTING UART + xTaskCreate(uart_task, "uart_task", 4096, NULL, 10, NULL); + + while(1){ + vTaskDelay(1000 / portTICK_PERIOD_MS); + + //--------------------------------- + //-------- TESTING section -------- + //--------------------------------- + + } + +} diff --git a/main/motorctl.cpp b/board_control/main/motorctl.cpp similarity index 100% rename from main/motorctl.cpp rename to board_control/main/motorctl.cpp diff --git a/main/motorctl.hpp b/board_control/main/motorctl.hpp similarity index 100% rename from main/motorctl.hpp rename to board_control/main/motorctl.hpp diff --git a/main/motordrivers.cpp b/board_control/main/motordrivers.cpp similarity index 100% rename from main/motordrivers.cpp rename to board_control/main/motordrivers.cpp diff --git a/main/motordrivers.hpp b/board_control/main/motordrivers.hpp similarity index 100% rename from main/motordrivers.hpp rename to board_control/main/motordrivers.hpp diff --git a/main/wifi.c b/board_control/main/wifi.c similarity index 100% rename from main/wifi.c rename to board_control/main/wifi.c diff --git a/main/wifi.h b/board_control/main/wifi.h similarity index 100% rename from main/wifi.h rename to board_control/main/wifi.h diff --git a/partitions.csv b/board_control/partitions.csv similarity index 100% rename from partitions.csv rename to board_control/partitions.csv diff --git a/react-app/package-lock.json b/board_control/react-app/package-lock.json similarity index 100% rename from react-app/package-lock.json rename to board_control/react-app/package-lock.json diff --git a/react-app/package.json b/board_control/react-app/package.json similarity index 100% rename from react-app/package.json rename to board_control/react-app/package.json diff --git a/react-app/public/index.html b/board_control/react-app/public/index.html similarity index 100% rename from react-app/public/index.html rename to board_control/react-app/public/index.html diff --git a/react-app/src/App.js b/board_control/react-app/src/App.js similarity index 100% rename from react-app/src/App.js rename to board_control/react-app/src/App.js diff --git a/react-app/src/index.js b/board_control/react-app/src/index.js similarity index 100% rename from react-app/src/index.js rename to board_control/react-app/src/index.js diff --git a/CMakeLists.txt b/board_motorctl/CMakeLists.txt similarity index 89% rename from CMakeLists.txt rename to board_motorctl/CMakeLists.txt index cd14e0b..b417768 100644 --- a/CMakeLists.txt +++ b/board_motorctl/CMakeLists.txt @@ -5,4 +5,5 @@ cmake_minimum_required(VERSION 3.5) include($ENV{IDF_PATH}/tools/cmake/project.cmake) +set(EXTRA_COMPONENT_DIRS "../components") project(armchair) diff --git a/board_motorctl/README.md b/board_motorctl/README.md new file mode 100644 index 0000000..62aefc0 --- /dev/null +++ b/board_motorctl/README.md @@ -0,0 +1,143 @@ +Firmware for a homemade automated electric armchair. +More details about this project: https://pfusch.zone/electric-armchair + + + +# Installation +### Install esp-idf +For this project **ESP-IDF v4.4.4** is required (with other versions it might not compile) +```bash +#download esp-idf +yay -S esp-idf #alternatively clone the esp-idf repository from github +#run installation script in installed folder +/opt/esp-idf/install.sh +``` +### Clone this repo +``` +git clone git@github.com:Jonny999999/armchair_fw +``` +### Instal node packages +For the react app packages have to be installed with npm TODO: add this to cmake? +``` +cd react-app +npm install +``` + + + +# Compilation +## react-webapp +For the webapp to work on the esp32 it has to be built. +When flashing, the folder react-app/build is flashed to siffs (which is used as webroot) onto the esp32. +The following command builds the react webapp and creates this folder +TODO: add this to flash target with cmake? +```bash +cd react-app +#compile +npm run build +#remove unwanted license file (filename too long for spiffs) +rm build/static/js/main.8f9aec76.js.LICENSE.txt +``` +Note: Use `npm start` for starting the webapp locally for testing + +## esp project +### Set up environment +```bash +source /opt/esp-idf/export.sh +``` +(run once in terminal) + +### Compile +```bash +idf.py build +``` + +### Upload +- connect FTDI programmer to board (VCC to VCC; TX to RX; RX to TX) +- press REST and BOOT button +- release RESET button (keep pressing boot) +- run flash command: +```bash +idf.py flash +``` +- once "connecting...' successfully, BOOT button can be released + +### Monitor +- connect FTDI programmer to board (VCC to VCC; TX to RX; RX to TX) +- press REST and BOOT button +- release RESET button (keep pressing boot) +- run monitor command: +```bash +idf.py monitor +``` +- once connected release BOOT button +- press RESET button once for restart + + + +# Hardware setup +## pcb +Used pcb developed in this project: https://pfusch.zone/project-work-2020 + +## connection plan +A diagram which shows what components are connected to which terminals of the pcb exists here: +[connection-plan.drawio.pdf](connection-plan.drawio.pdf) + + + +# Planned Features +- More sensors: + - Accelerometer + - Lidar sensor + - GPS receiver +- Anti slip regulation +- Self driving algorithm +- Lights +- drinks holder +- improved webinterface + + + +# Todo +**Add switch functions** +- set loglevel +- define max-speed +- calibrate joystick (min, max, center) +- testing mode / dry-run + + + +# Usage +## Switch functions +**Currently implemented** +| Count | Type | Action | Description | +| --- | --- | --- | --- | +| 1x | configure | [JOYSTICK] **calibrate stick** | when in joystick mode: set joystick center to current joystick pos | +| 1x | control | [MASSAGE] **freeze** input | when in massage mode: lock or unlock joystick input at current position | +| 2x | toggle mode | **IDLE** <=> previous | enable/disable chair armchair e.g. enable after startup or timeout | +| 3x | switch mode | **JOYSTICK** | switch to default mode JOYSTICK | +| 4x | toggle mode | **HTTP** <=> JOYSTICK | switch to '**remote control** via web-app `http://191.168.4.1`' or back to JOYSTICK mode | +| 5x | | | | +| 6x | toggle mode | **MASSAGE** <=> JOYSTICK | switch to MASSAGE mode or back to JOYSTICK mode | +| 7x | | | | +| 8x | toggle option | **deceleration limit** | disable/enable deceleration limit (default on) => more responsive | +| | | | | +| 12x | toggle option | **alt stick mapping** | toggle between default and alternative stick mapping (reverse swapped) | +| >1s | system | **restart** | Restart the controller when pressing the button longer than 1 second | +| 1x short, 1x long | auto command | **eject** foot support | automatically go forward and reverse for certain time with no acceleration limits, so foot support ejects | + + +## HTTP mode +Control armchair via virtual joystick on a webinterface. + +**Usage** +- Connect to wifi `armchar`, no password +- Access http://192.168.4.1 (note: **http** NOT https, some browsers automatically add https!) + +**Current Features** +- Control direction and speed with joystick + +**Todo** +- Set parameters +- Control other modes +- Execute preset movement commands diff --git a/board_motorctl/main/CMakeLists.txt b/board_motorctl/main/CMakeLists.txt new file mode 100644 index 0000000..92ed0e1 --- /dev/null +++ b/board_motorctl/main/CMakeLists.txt @@ -0,0 +1,20 @@ +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" + 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 new file mode 100644 index 0000000..4cf4a71 --- /dev/null +++ b/board_motorctl/main/auto.cpp @@ -0,0 +1,88 @@ +#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 new file mode 100644 index 0000000..8b799fb --- /dev/null +++ b/board_motorctl/main/auto.hpp @@ -0,0 +1,87 @@ +#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 new file mode 100644 index 0000000..1762e6e --- /dev/null +++ b/board_motorctl/main/button.cpp @@ -0,0 +1,215 @@ +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 new file mode 100644 index 0000000..09de729 --- /dev/null +++ b/board_motorctl/main/button.hpp @@ -0,0 +1,53 @@ +#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 new file mode 100644 index 0000000..9046cd1 --- /dev/null +++ b/board_motorctl/main/buzzer.cpp @@ -0,0 +1,95 @@ +#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 new file mode 100644 index 0000000..ce6c2c6 --- /dev/null +++ b/board_motorctl/main/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/board_motorctl/main/config.cpp b/board_motorctl/main/config.cpp new file mode 100644 index 0000000..36593f1 --- /dev/null +++ b/board_motorctl/main/config.cpp @@ -0,0 +1,151 @@ +#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 ======= +//============================== +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 === +//============================ +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); + +//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 new file mode 100644 index 0000000..2ea0b24 --- /dev/null +++ b/board_motorctl/main/config.hpp @@ -0,0 +1,46 @@ +#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" + + +//in IDLE mode: set loglevel for evaluatedJoystick to DEBUG +//and repeatedly read joystick e.g. for manually calibrating / testing joystick +//#define JOYSTICK_LOG_IN_IDLE + + +//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; + +//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 new file mode 100644 index 0000000..fc9e4e3 --- /dev/null +++ b/board_motorctl/main/control.cpp @@ -0,0 +1,479 @@ +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 new file mode 100644 index 0000000..8ed1e66 --- /dev/null +++ b/board_motorctl/main/control.hpp @@ -0,0 +1,130 @@ +#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/currentsensor.cpp b/board_motorctl/main/currentsensor.cpp new file mode 100644 index 0000000..2569c6d --- /dev/null +++ b/board_motorctl/main/currentsensor.cpp @@ -0,0 +1,75 @@ +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_motorctl/main/currentsensor.hpp b/board_motorctl/main/currentsensor.hpp new file mode 100644 index 0000000..f62fa34 --- /dev/null +++ b/board_motorctl/main/currentsensor.hpp @@ -0,0 +1,20 @@ +#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_motorctl/main/fan.cpp b/board_motorctl/main/fan.cpp new file mode 100644 index 0000000..2ff094e --- /dev/null +++ b/board_motorctl/main/fan.cpp @@ -0,0 +1,82 @@ +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_motorctl/main/fan.hpp b/board_motorctl/main/fan.hpp new file mode 100644 index 0000000..ca1de2b --- /dev/null +++ b/board_motorctl/main/fan.hpp @@ -0,0 +1,49 @@ +#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_motorctl/main/http.cpp b/board_motorctl/main/http.cpp new file mode 100644 index 0000000..29964e4 --- /dev/null +++ b/board_motorctl/main/http.cpp @@ -0,0 +1,270 @@ +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 new file mode 100644 index 0000000..71d4656 --- /dev/null +++ b/board_motorctl/main/http.hpp @@ -0,0 +1,70 @@ +#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 new file mode 100644 index 0000000..c282ea6 --- /dev/null +++ b/board_motorctl/main/joystick.cpp @@ -0,0 +1,572 @@ +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 new file mode 100644 index 0000000..dc12b15 --- /dev/null +++ b/board_motorctl/main/joystick.hpp @@ -0,0 +1,153 @@ +#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/main/main.cpp b/board_motorctl/main/main.cpp similarity index 100% rename from main/main.cpp rename to board_motorctl/main/main.cpp diff --git a/board_motorctl/main/motorctl.cpp b/board_motorctl/main/motorctl.cpp new file mode 100644 index 0000000..df544ea --- /dev/null +++ b/board_motorctl/main/motorctl.cpp @@ -0,0 +1,330 @@ +#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_motorctl/main/motorctl.hpp b/board_motorctl/main/motorctl.hpp new file mode 100644 index 0000000..c4bc19e --- /dev/null +++ b/board_motorctl/main/motorctl.hpp @@ -0,0 +1,104 @@ +#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_motorctl/main/motordrivers.cpp b/board_motorctl/main/motordrivers.cpp new file mode 100644 index 0000000..e15b4e6 --- /dev/null +++ b/board_motorctl/main/motordrivers.cpp @@ -0,0 +1,129 @@ +#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_motorctl/main/motordrivers.hpp b/board_motorctl/main/motordrivers.hpp new file mode 100644 index 0000000..2cc3c75 --- /dev/null +++ b/board_motorctl/main/motordrivers.hpp @@ -0,0 +1,65 @@ +#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_motorctl/main/wifi.c b/board_motorctl/main/wifi.c new file mode 100644 index 0000000..27eb3db --- /dev/null +++ b/board_motorctl/main/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/board_motorctl/main/wifi.h b/board_motorctl/main/wifi.h new file mode 100644 index 0000000..39eecee --- /dev/null +++ b/board_motorctl/main/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); + + + diff --git a/board_motorctl/partitions.csv b/board_motorctl/partitions.csv new file mode 100644 index 0000000..7f93f86 --- /dev/null +++ b/board_motorctl/partitions.csv @@ -0,0 +1,6 @@ +# 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 new file mode 100644 index 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"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 new file mode 100644 index 0000000..41b6646 --- /dev/null +++ b/board_motorctl/react-app/public/index.html @@ -0,0 +1,27 @@ + + + + + + + + armchair ctl + + + +
+ + + diff --git a/board_motorctl/react-app/src/App.js b/board_motorctl/react-app/src/App.js new file mode 100644 index 0000000..486693e --- /dev/null +++ b/board_motorctl/react-app/src/App.js @@ -0,0 +1,245 @@ +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 new file mode 100644 index 0000000..23aa8c2 --- /dev/null +++ b/board_motorctl/react-app/src/index.js @@ -0,0 +1,14 @@ +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/sdkconfig b/sdkconfig deleted file mode 100644 index f7c6b17..0000000 --- a/sdkconfig +++ /dev/null @@ -1,1397 +0,0 @@ -# -# Automatically generated file. DO NOT EDIT. -# Espressif IoT Development Framework (ESP-IDF) Project Configuration -# -CONFIG_IDF_CMAKE=y -CONFIG_IDF_TARGET_ARCH_XTENSA=y -CONFIG_IDF_TARGET="esp32" -CONFIG_IDF_TARGET_ESP32=y -CONFIG_IDF_FIRMWARE_CHIP_ID=0x0000 - -# -# SDK tool configuration -# -CONFIG_SDK_TOOLPREFIX="xtensa-esp32-elf-" -# CONFIG_SDK_TOOLCHAIN_SUPPORTS_TIME_WIDE_64_BITS is not set -# end of SDK tool configuration - -# -# Build type -# -CONFIG_APP_BUILD_TYPE_APP_2NDBOOT=y -# CONFIG_APP_BUILD_TYPE_ELF_RAM is not set -CONFIG_APP_BUILD_GENERATE_BINARIES=y -CONFIG_APP_BUILD_BOOTLOADER=y -CONFIG_APP_BUILD_USE_FLASH_SECTIONS=y -# end of Build type - -# -# Application manager -# -CONFIG_APP_COMPILE_TIME_DATE=y -# CONFIG_APP_EXCLUDE_PROJECT_VER_VAR is not set -# CONFIG_APP_EXCLUDE_PROJECT_NAME_VAR is not set -# CONFIG_APP_PROJECT_VER_FROM_CONFIG is not set -CONFIG_APP_RETRIEVE_LEN_ELF_SHA=16 -# end of Application manager - -# -# Bootloader config -# -CONFIG_BOOTLOADER_OFFSET_IN_FLASH=0x1000 -CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_SIZE=y -# CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_DEBUG is not set -# CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_PERF is not set -# CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_NONE is not set -# CONFIG_BOOTLOADER_LOG_LEVEL_NONE is not set -# CONFIG_BOOTLOADER_LOG_LEVEL_ERROR is not set -# CONFIG_BOOTLOADER_LOG_LEVEL_WARN is not set -CONFIG_BOOTLOADER_LOG_LEVEL_INFO=y -# CONFIG_BOOTLOADER_LOG_LEVEL_DEBUG is not set -# CONFIG_BOOTLOADER_LOG_LEVEL_VERBOSE is not set -CONFIG_BOOTLOADER_LOG_LEVEL=3 -# CONFIG_BOOTLOADER_VDDSDIO_BOOST_1_8V is not set -CONFIG_BOOTLOADER_VDDSDIO_BOOST_1_9V=y -# CONFIG_BOOTLOADER_FACTORY_RESET is not set -# CONFIG_BOOTLOADER_APP_TEST is not set -CONFIG_BOOTLOADER_REGION_PROTECTION_ENABLE=y -CONFIG_BOOTLOADER_WDT_ENABLE=y -# CONFIG_BOOTLOADER_WDT_DISABLE_IN_USER_CODE is not set -CONFIG_BOOTLOADER_WDT_TIME_MS=9000 -# CONFIG_BOOTLOADER_APP_ROLLBACK_ENABLE is not set -# CONFIG_BOOTLOADER_SKIP_VALIDATE_IN_DEEP_SLEEP is not set -# CONFIG_BOOTLOADER_SKIP_VALIDATE_ON_POWER_ON is not set -# CONFIG_BOOTLOADER_SKIP_VALIDATE_ALWAYS is not set -CONFIG_BOOTLOADER_RESERVE_RTC_SIZE=0 -# CONFIG_BOOTLOADER_CUSTOM_RESERVE_RTC is not set -CONFIG_BOOTLOADER_FLASH_XMC_SUPPORT=y -# end of Bootloader config - -# -# Security features -# -# CONFIG_SECURE_SIGNED_APPS_NO_SECURE_BOOT is not set -# CONFIG_SECURE_BOOT is not set -# CONFIG_SECURE_FLASH_ENC_ENABLED is not set -# end of Security features - -# -# Serial flasher config -# -CONFIG_ESPTOOLPY_BAUD_OTHER_VAL=115200 -# CONFIG_ESPTOOLPY_NO_STUB is not set -# CONFIG_ESPTOOLPY_FLASHMODE_QIO is not set -# CONFIG_ESPTOOLPY_FLASHMODE_QOUT is not set -CONFIG_ESPTOOLPY_FLASHMODE_DIO=y -# CONFIG_ESPTOOLPY_FLASHMODE_DOUT is not set -CONFIG_ESPTOOLPY_FLASH_SAMPLE_MODE_STR=y -CONFIG_ESPTOOLPY_FLASHMODE="dio" -# CONFIG_ESPTOOLPY_FLASHFREQ_80M is not set -CONFIG_ESPTOOLPY_FLASHFREQ_40M=y -# CONFIG_ESPTOOLPY_FLASHFREQ_26M is not set -# CONFIG_ESPTOOLPY_FLASHFREQ_20M is not set -CONFIG_ESPTOOLPY_FLASHFREQ="40m" -# CONFIG_ESPTOOLPY_FLASHSIZE_1MB is not set -# CONFIG_ESPTOOLPY_FLASHSIZE_2MB is not set -CONFIG_ESPTOOLPY_FLASHSIZE_4MB=y -# CONFIG_ESPTOOLPY_FLASHSIZE_8MB is not set -# CONFIG_ESPTOOLPY_FLASHSIZE_16MB is not set -# CONFIG_ESPTOOLPY_FLASHSIZE_32MB is not set -# CONFIG_ESPTOOLPY_FLASHSIZE_64MB is not set -# CONFIG_ESPTOOLPY_FLASHSIZE_128MB is not set -CONFIG_ESPTOOLPY_FLASHSIZE="4MB" -CONFIG_ESPTOOLPY_FLASHSIZE_DETECT=y -CONFIG_ESPTOOLPY_BEFORE_RESET=y -# CONFIG_ESPTOOLPY_BEFORE_NORESET is not set -CONFIG_ESPTOOLPY_BEFORE="default_reset" -CONFIG_ESPTOOLPY_AFTER_RESET=y -# CONFIG_ESPTOOLPY_AFTER_NORESET is not set -CONFIG_ESPTOOLPY_AFTER="hard_reset" -# CONFIG_ESPTOOLPY_MONITOR_BAUD_CONSOLE is not set -# CONFIG_ESPTOOLPY_MONITOR_BAUD_9600B is not set -# CONFIG_ESPTOOLPY_MONITOR_BAUD_57600B is not set -CONFIG_ESPTOOLPY_MONITOR_BAUD_115200B=y -# CONFIG_ESPTOOLPY_MONITOR_BAUD_230400B is not set -# CONFIG_ESPTOOLPY_MONITOR_BAUD_921600B is not set -# CONFIG_ESPTOOLPY_MONITOR_BAUD_2MB is not set -# CONFIG_ESPTOOLPY_MONITOR_BAUD_OTHER is not set -CONFIG_ESPTOOLPY_MONITOR_BAUD_OTHER_VAL=115200 -CONFIG_ESPTOOLPY_MONITOR_BAUD=115200 -# end of Serial flasher config - -# -# Partition Table -# -# CONFIG_PARTITION_TABLE_SINGLE_APP is not set -# CONFIG_PARTITION_TABLE_SINGLE_APP_LARGE is not set -# CONFIG_PARTITION_TABLE_TWO_OTA is not set -CONFIG_PARTITION_TABLE_CUSTOM=y -CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions.csv" -CONFIG_PARTITION_TABLE_FILENAME="partitions.csv" -CONFIG_PARTITION_TABLE_OFFSET=0x8000 -CONFIG_PARTITION_TABLE_MD5=y -# end of Partition Table - -# -# Compiler options -# -CONFIG_COMPILER_OPTIMIZATION_DEFAULT=y -# CONFIG_COMPILER_OPTIMIZATION_SIZE is not set -# CONFIG_COMPILER_OPTIMIZATION_PERF is not set -# CONFIG_COMPILER_OPTIMIZATION_NONE is not set -CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_ENABLE=y -# CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_SILENT is not set -# CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_DISABLE is not set -CONFIG_COMPILER_OPTIMIZATION_ASSERTION_LEVEL=2 -# CONFIG_COMPILER_OPTIMIZATION_CHECKS_SILENT is not set -CONFIG_COMPILER_HIDE_PATHS_MACROS=y -# CONFIG_COMPILER_CXX_EXCEPTIONS is not set -# CONFIG_COMPILER_CXX_RTTI is not set -CONFIG_COMPILER_STACK_CHECK_MODE_NONE=y -# CONFIG_COMPILER_STACK_CHECK_MODE_NORM is not set -# CONFIG_COMPILER_STACK_CHECK_MODE_STRONG is not set -# CONFIG_COMPILER_STACK_CHECK_MODE_ALL is not set -# CONFIG_COMPILER_WARN_WRITE_STRINGS is not set -# CONFIG_COMPILER_DISABLE_GCC8_WARNINGS is not set -# CONFIG_COMPILER_DUMP_RTL_FILES is not set -# end of Compiler options - -# -# Component config -# - -# -# Application Level Tracing -# -# CONFIG_APPTRACE_DEST_JTAG is not set -CONFIG_APPTRACE_DEST_NONE=y -CONFIG_APPTRACE_LOCK_ENABLE=y -# end of Application Level Tracing - -# -# ESP-ASIO -# -# CONFIG_ASIO_SSL_SUPPORT is not set -# end of ESP-ASIO - -# -# Bluetooth -# -# CONFIG_BT_ENABLED is not set -# end of Bluetooth - -# -# CoAP Configuration -# -CONFIG_COAP_MBEDTLS_PSK=y -# CONFIG_COAP_MBEDTLS_PKI is not set -# CONFIG_COAP_MBEDTLS_DEBUG is not set -CONFIG_COAP_LOG_DEFAULT_LEVEL=0 -# end of CoAP Configuration - -# -# Driver configurations -# - -# -# ADC configuration -# -# CONFIG_ADC_FORCE_XPD_FSM is not set -CONFIG_ADC_DISABLE_DAC=y -# end of ADC configuration - -# -# MCPWM configuration -# -# CONFIG_MCPWM_ISR_IN_IRAM is not set -# end of MCPWM configuration - -# -# SPI configuration -# -# CONFIG_SPI_MASTER_IN_IRAM is not set -CONFIG_SPI_MASTER_ISR_IN_IRAM=y -# CONFIG_SPI_SLAVE_IN_IRAM is not set -CONFIG_SPI_SLAVE_ISR_IN_IRAM=y -# end of SPI configuration - -# -# TWAI configuration -# -# CONFIG_TWAI_ISR_IN_IRAM is not set -# CONFIG_TWAI_ERRATA_FIX_BUS_OFF_REC is not set -# CONFIG_TWAI_ERRATA_FIX_TX_INTR_LOST is not set -# CONFIG_TWAI_ERRATA_FIX_RX_FRAME_INVALID is not set -# CONFIG_TWAI_ERRATA_FIX_RX_FIFO_CORRUPT is not set -# end of TWAI configuration - -# -# UART configuration -# -# CONFIG_UART_ISR_IN_IRAM is not set -# end of UART configuration - -# -# RTCIO configuration -# -# CONFIG_RTCIO_SUPPORT_RTC_GPIO_DESC is not set -# end of RTCIO configuration - -# -# GPIO Configuration -# -# CONFIG_GPIO_ESP32_SUPPORT_SWITCH_SLP_PULL is not set -# end of GPIO Configuration - -# -# GDMA Configuration -# -# CONFIG_GDMA_CTRL_FUNC_IN_IRAM is not set -# CONFIG_GDMA_ISR_IRAM_SAFE is not set -# end of GDMA Configuration -# end of Driver configurations - -# -# eFuse Bit Manager -# -# CONFIG_EFUSE_CUSTOM_TABLE is not set -# CONFIG_EFUSE_VIRTUAL is not set -# CONFIG_EFUSE_CODE_SCHEME_COMPAT_NONE is not set -CONFIG_EFUSE_CODE_SCHEME_COMPAT_3_4=y -# CONFIG_EFUSE_CODE_SCHEME_COMPAT_REPEAT is not set -CONFIG_EFUSE_MAX_BLK_LEN=192 -# end of eFuse Bit Manager - -# -# ESP-TLS -# -CONFIG_ESP_TLS_USING_MBEDTLS=y -# CONFIG_ESP_TLS_USE_SECURE_ELEMENT is not set -# CONFIG_ESP_TLS_CLIENT_SESSION_TICKETS is not set -# CONFIG_ESP_TLS_SERVER is not set -# CONFIG_ESP_TLS_PSK_VERIFICATION is not set -# CONFIG_ESP_TLS_INSECURE is not set -# end of ESP-TLS - -# -# ESP32-specific -# -CONFIG_ESP32_REV_MIN_0=y -# CONFIG_ESP32_REV_MIN_1 is not set -# CONFIG_ESP32_REV_MIN_2 is not set -# CONFIG_ESP32_REV_MIN_3 is not set -CONFIG_ESP32_REV_MIN=0 -CONFIG_ESP32_DPORT_WORKAROUND=y -# CONFIG_ESP32_DEFAULT_CPU_FREQ_80 is not set -CONFIG_ESP32_DEFAULT_CPU_FREQ_160=y -# CONFIG_ESP32_DEFAULT_CPU_FREQ_240 is not set -CONFIG_ESP32_DEFAULT_CPU_FREQ_MHZ=160 -# CONFIG_ESP32_SPIRAM_SUPPORT is not set -# CONFIG_ESP32_TRAX is not set -CONFIG_ESP32_TRACEMEM_RESERVE_DRAM=0x0 -# CONFIG_ESP32_ULP_COPROC_ENABLED is not set -CONFIG_ESP32_ULP_COPROC_RESERVE_MEM=0 -CONFIG_ESP32_DEBUG_OCDAWARE=y -CONFIG_ESP32_BROWNOUT_DET=y -CONFIG_ESP32_BROWNOUT_DET_LVL_SEL_0=y -# CONFIG_ESP32_BROWNOUT_DET_LVL_SEL_1 is not set -# CONFIG_ESP32_BROWNOUT_DET_LVL_SEL_2 is not set -# CONFIG_ESP32_BROWNOUT_DET_LVL_SEL_3 is not set -# CONFIG_ESP32_BROWNOUT_DET_LVL_SEL_4 is not set -# CONFIG_ESP32_BROWNOUT_DET_LVL_SEL_5 is not set -# CONFIG_ESP32_BROWNOUT_DET_LVL_SEL_6 is not set -# CONFIG_ESP32_BROWNOUT_DET_LVL_SEL_7 is not set -CONFIG_ESP32_BROWNOUT_DET_LVL=0 -CONFIG_ESP32_TIME_SYSCALL_USE_RTC_FRC1=y -# CONFIG_ESP32_TIME_SYSCALL_USE_RTC is not set -# CONFIG_ESP32_TIME_SYSCALL_USE_FRC1 is not set -# CONFIG_ESP32_TIME_SYSCALL_USE_NONE is not set -CONFIG_ESP32_RTC_CLK_SRC_INT_RC=y -# CONFIG_ESP32_RTC_CLK_SRC_EXT_CRYS is not set -# CONFIG_ESP32_RTC_CLK_SRC_EXT_OSC is not set -# CONFIG_ESP32_RTC_CLK_SRC_INT_8MD256 is not set -CONFIG_ESP32_RTC_CLK_CAL_CYCLES=1024 -CONFIG_ESP32_DEEP_SLEEP_WAKEUP_DELAY=2000 -CONFIG_ESP32_XTAL_FREQ_40=y -# CONFIG_ESP32_XTAL_FREQ_26 is not set -# CONFIG_ESP32_XTAL_FREQ_AUTO is not set -CONFIG_ESP32_XTAL_FREQ=40 -# CONFIG_ESP32_DISABLE_BASIC_ROM_CONSOLE is not set -# CONFIG_ESP32_NO_BLOBS is not set -# CONFIG_ESP32_COMPATIBLE_PRE_V2_1_BOOTLOADERS is not set -# CONFIG_ESP32_COMPATIBLE_PRE_V3_1_BOOTLOADERS is not set -# CONFIG_ESP32_USE_FIXED_STATIC_RAM_SIZE is not set -CONFIG_ESP32_DPORT_DIS_INTERRUPT_LVL=5 -# end of ESP32-specific - -# -# ADC-Calibration -# -CONFIG_ADC_CAL_EFUSE_TP_ENABLE=y -CONFIG_ADC_CAL_EFUSE_VREF_ENABLE=y -CONFIG_ADC_CAL_LUT_ENABLE=y -# end of ADC-Calibration - -# -# Common ESP-related -# -CONFIG_ESP_ERR_TO_NAME_LOOKUP=y -# end of Common ESP-related - -# -# Ethernet -# -CONFIG_ETH_ENABLED=y -CONFIG_ETH_USE_ESP32_EMAC=y -CONFIG_ETH_PHY_INTERFACE_RMII=y -CONFIG_ETH_RMII_CLK_INPUT=y -# CONFIG_ETH_RMII_CLK_OUTPUT is not set -CONFIG_ETH_RMII_CLK_IN_GPIO=0 -CONFIG_ETH_DMA_BUFFER_SIZE=512 -CONFIG_ETH_DMA_RX_BUFFER_NUM=10 -CONFIG_ETH_DMA_TX_BUFFER_NUM=10 -CONFIG_ETH_USE_SPI_ETHERNET=y -# CONFIG_ETH_SPI_ETHERNET_DM9051 is not set -# CONFIG_ETH_SPI_ETHERNET_W5500 is not set -# CONFIG_ETH_SPI_ETHERNET_KSZ8851SNL is not set -# CONFIG_ETH_USE_OPENETH is not set -# end of Ethernet - -# -# Event Loop Library -# -# CONFIG_ESP_EVENT_LOOP_PROFILING is not set -CONFIG_ESP_EVENT_POST_FROM_ISR=y -CONFIG_ESP_EVENT_POST_FROM_IRAM_ISR=y -# end of Event Loop Library - -# -# GDB Stub -# -# end of GDB Stub - -# -# ESP HTTP client -# -CONFIG_ESP_HTTP_CLIENT_ENABLE_HTTPS=y -# CONFIG_ESP_HTTP_CLIENT_ENABLE_BASIC_AUTH is not set -CONFIG_ESP_HTTP_CLIENT_ENABLE_DIGEST_AUTH=y -# end of ESP HTTP client - -# -# HTTP Server -# -CONFIG_HTTPD_MAX_REQ_HDR_LEN=512 -CONFIG_HTTPD_MAX_URI_LEN=512 -CONFIG_HTTPD_ERR_RESP_NO_DELAY=y -CONFIG_HTTPD_PURGE_BUF_LEN=32 -# CONFIG_HTTPD_LOG_PURGE_DATA is not set -CONFIG_HTTPD_WS_SUPPORT=y -# end of HTTP Server - -# -# ESP HTTPS OTA -# -# CONFIG_OTA_ALLOW_HTTP is not set -# end of ESP HTTPS OTA - -# -# ESP HTTPS server -# -# CONFIG_ESP_HTTPS_SERVER_ENABLE is not set -# end of ESP HTTPS server - -# -# Hardware Settings -# - -# -# MAC Config -# -CONFIG_ESP_MAC_ADDR_UNIVERSE_WIFI_STA=y -CONFIG_ESP_MAC_ADDR_UNIVERSE_WIFI_AP=y -CONFIG_ESP_MAC_ADDR_UNIVERSE_BT=y -CONFIG_ESP_MAC_ADDR_UNIVERSE_ETH=y -# CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES_TWO is not set -CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES_FOUR=y -CONFIG_ESP32_UNIVERSAL_MAC_ADDRESSES=4 -# end of MAC Config - -# -# Sleep Config -# -CONFIG_ESP_SLEEP_POWER_DOWN_FLASH=y -CONFIG_ESP_SLEEP_RTC_BUS_ISO_WORKAROUND=y -# CONFIG_ESP_SLEEP_GPIO_RESET_WORKAROUND is not set -# CONFIG_ESP_SLEEP_FLASH_LEAKAGE_WORKAROUND is not set -# end of Sleep Config - -# -# RTC Clock Config -# -# end of RTC Clock Config -# end of Hardware Settings - -# -# IPC (Inter-Processor Call) -# -CONFIG_ESP_IPC_TASK_STACK_SIZE=1536 -CONFIG_ESP_IPC_USES_CALLERS_PRIORITY=y -CONFIG_ESP_IPC_ISR_ENABLE=y -# end of IPC (Inter-Processor Call) - -# -# LCD and Touch Panel -# - -# -# LCD Peripheral Configuration -# -CONFIG_LCD_PANEL_IO_FORMAT_BUF_SIZE=32 -# end of LCD Peripheral Configuration -# end of LCD and Touch Panel - -# -# ESP NETIF Adapter -# -CONFIG_ESP_NETIF_IP_LOST_TIMER_INTERVAL=120 -CONFIG_ESP_NETIF_TCPIP_LWIP=y -# CONFIG_ESP_NETIF_LOOPBACK is not set -CONFIG_ESP_NETIF_TCPIP_ADAPTER_COMPATIBLE_LAYER=y -# end of ESP NETIF Adapter - -# -# PHY -# -CONFIG_ESP_PHY_CALIBRATION_AND_DATA_STORAGE=y -# CONFIG_ESP_PHY_INIT_DATA_IN_PARTITION is not set -CONFIG_ESP_PHY_MAX_WIFI_TX_POWER=20 -CONFIG_ESP_PHY_MAX_TX_POWER=20 -CONFIG_ESP_PHY_REDUCE_TX_POWER=y -# end of PHY - -# -# Power Management -# -# CONFIG_PM_ENABLE is not set -# end of Power Management - -# -# ESP Ringbuf -# -# CONFIG_RINGBUF_PLACE_FUNCTIONS_INTO_FLASH is not set -# CONFIG_RINGBUF_PLACE_ISR_FUNCTIONS_INTO_FLASH is not set -# end of ESP Ringbuf - -# -# ESP System Settings -# -# CONFIG_ESP_SYSTEM_PANIC_PRINT_HALT is not set -CONFIG_ESP_SYSTEM_PANIC_PRINT_REBOOT=y -# CONFIG_ESP_SYSTEM_PANIC_SILENT_REBOOT is not set -# CONFIG_ESP_SYSTEM_PANIC_GDBSTUB is not set -# CONFIG_ESP_SYSTEM_GDBSTUB_RUNTIME is not set - -# -# Memory protection -# -# end of Memory protection - -CONFIG_ESP_SYSTEM_EVENT_QUEUE_SIZE=32 -CONFIG_ESP_SYSTEM_EVENT_TASK_STACK_SIZE=2304 -CONFIG_ESP_MAIN_TASK_STACK_SIZE=3584 -CONFIG_ESP_MAIN_TASK_AFFINITY_CPU0=y -# CONFIG_ESP_MAIN_TASK_AFFINITY_CPU1 is not set -# CONFIG_ESP_MAIN_TASK_AFFINITY_NO_AFFINITY is not set -CONFIG_ESP_MAIN_TASK_AFFINITY=0x0 -CONFIG_ESP_MINIMAL_SHARED_STACK_SIZE=2048 -CONFIG_ESP_CONSOLE_UART_DEFAULT=y -# CONFIG_ESP_CONSOLE_UART_CUSTOM is not set -# CONFIG_ESP_CONSOLE_NONE is not set -CONFIG_ESP_CONSOLE_UART=y -CONFIG_ESP_CONSOLE_MULTIPLE_UART=y -CONFIG_ESP_CONSOLE_UART_NUM=0 -CONFIG_ESP_CONSOLE_UART_BAUDRATE=115200 -CONFIG_ESP_INT_WDT=y -CONFIG_ESP_INT_WDT_TIMEOUT_MS=300 -CONFIG_ESP_INT_WDT_CHECK_CPU1=y -CONFIG_ESP_TASK_WDT=y -# CONFIG_ESP_TASK_WDT_PANIC is not set -CONFIG_ESP_TASK_WDT_TIMEOUT_S=5 -CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU0=y -CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU1=y -# CONFIG_ESP_PANIC_HANDLER_IRAM is not set -# CONFIG_ESP_DEBUG_STUBS_ENABLE is not set -# CONFIG_ESP_SYSTEM_CHECK_INT_LEVEL_5 is not set -CONFIG_ESP_SYSTEM_CHECK_INT_LEVEL_4=y -# end of ESP System Settings - -# -# High resolution timer (esp_timer) -# -# CONFIG_ESP_TIMER_PROFILING is not set -CONFIG_ESP_TIME_FUNCS_USE_RTC_TIMER=y -CONFIG_ESP_TIME_FUNCS_USE_ESP_TIMER=y -CONFIG_ESP_TIMER_TASK_STACK_SIZE=3584 -CONFIG_ESP_TIMER_INTERRUPT_LEVEL=1 -# CONFIG_ESP_TIMER_SUPPORTS_ISR_DISPATCH_METHOD is not set -# CONFIG_ESP_TIMER_IMPL_FRC2 is not set -CONFIG_ESP_TIMER_IMPL_TG0_LAC=y -# end of High resolution timer (esp_timer) - -# -# Wi-Fi -# -CONFIG_ESP32_WIFI_ENABLED=y -CONFIG_ESP32_WIFI_STATIC_RX_BUFFER_NUM=10 -CONFIG_ESP32_WIFI_DYNAMIC_RX_BUFFER_NUM=32 -# CONFIG_ESP32_WIFI_STATIC_TX_BUFFER is not set -CONFIG_ESP32_WIFI_DYNAMIC_TX_BUFFER=y -CONFIG_ESP32_WIFI_TX_BUFFER_TYPE=1 -CONFIG_ESP32_WIFI_DYNAMIC_TX_BUFFER_NUM=32 -# CONFIG_ESP32_WIFI_CSI_ENABLED is not set -CONFIG_ESP32_WIFI_AMPDU_TX_ENABLED=y -CONFIG_ESP32_WIFI_TX_BA_WIN=6 -CONFIG_ESP32_WIFI_AMPDU_RX_ENABLED=y -CONFIG_ESP32_WIFI_RX_BA_WIN=6 -CONFIG_ESP32_WIFI_NVS_ENABLED=y -CONFIG_ESP32_WIFI_TASK_PINNED_TO_CORE_0=y -# CONFIG_ESP32_WIFI_TASK_PINNED_TO_CORE_1 is not set -CONFIG_ESP32_WIFI_SOFTAP_BEACON_MAX_LEN=752 -CONFIG_ESP32_WIFI_MGMT_SBUF_NUM=32 -CONFIG_ESP32_WIFI_IRAM_OPT=y -CONFIG_ESP32_WIFI_RX_IRAM_OPT=y -CONFIG_ESP32_WIFI_ENABLE_WPA3_SAE=y -# CONFIG_ESP_WIFI_SLP_IRAM_OPT is not set -# CONFIG_ESP_WIFI_STA_DISCONNECTED_PM_ENABLE is not set -# CONFIG_ESP_WIFI_GMAC_SUPPORT is not set -CONFIG_ESP_WIFI_SOFTAP_SUPPORT=y -# CONFIG_ESP_WIFI_SLP_BEACON_LOST_OPT is not set -CONFIG_ESP_WIFI_ESPNOW_MAX_ENCRYPT_NUM=7 -# end of Wi-Fi - -# -# Core dump -# -# CONFIG_ESP_COREDUMP_ENABLE_TO_FLASH is not set -# CONFIG_ESP_COREDUMP_ENABLE_TO_UART is not set -CONFIG_ESP_COREDUMP_ENABLE_TO_NONE=y -# end of Core dump - -# -# FAT Filesystem support -# -# CONFIG_FATFS_CODEPAGE_DYNAMIC is not set -CONFIG_FATFS_CODEPAGE_437=y -# CONFIG_FATFS_CODEPAGE_720 is not set -# CONFIG_FATFS_CODEPAGE_737 is not set -# CONFIG_FATFS_CODEPAGE_771 is not set -# CONFIG_FATFS_CODEPAGE_775 is not set -# CONFIG_FATFS_CODEPAGE_850 is not set -# CONFIG_FATFS_CODEPAGE_852 is not set -# CONFIG_FATFS_CODEPAGE_855 is not set -# CONFIG_FATFS_CODEPAGE_857 is not set -# CONFIG_FATFS_CODEPAGE_860 is not set -# CONFIG_FATFS_CODEPAGE_861 is not set -# CONFIG_FATFS_CODEPAGE_862 is not set -# CONFIG_FATFS_CODEPAGE_863 is not set -# CONFIG_FATFS_CODEPAGE_864 is not set -# CONFIG_FATFS_CODEPAGE_865 is not set -# CONFIG_FATFS_CODEPAGE_866 is not set -# CONFIG_FATFS_CODEPAGE_869 is not set -# CONFIG_FATFS_CODEPAGE_932 is not set -# CONFIG_FATFS_CODEPAGE_936 is not set -# CONFIG_FATFS_CODEPAGE_949 is not set -# CONFIG_FATFS_CODEPAGE_950 is not set -CONFIG_FATFS_CODEPAGE=437 -CONFIG_FATFS_LFN_NONE=y -# CONFIG_FATFS_LFN_HEAP is not set -# CONFIG_FATFS_LFN_STACK is not set -CONFIG_FATFS_FS_LOCK=0 -CONFIG_FATFS_TIMEOUT_MS=10000 -CONFIG_FATFS_PER_FILE_CACHE=y -# CONFIG_FATFS_USE_FASTSEEK is not set -# end of FAT Filesystem support - -# -# Modbus configuration -# -CONFIG_FMB_COMM_MODE_TCP_EN=y -CONFIG_FMB_TCP_PORT_DEFAULT=502 -CONFIG_FMB_TCP_PORT_MAX_CONN=5 -CONFIG_FMB_TCP_CONNECTION_TOUT_SEC=20 -CONFIG_FMB_COMM_MODE_RTU_EN=y -CONFIG_FMB_COMM_MODE_ASCII_EN=y -CONFIG_FMB_MASTER_TIMEOUT_MS_RESPOND=150 -CONFIG_FMB_MASTER_DELAY_MS_CONVERT=200 -CONFIG_FMB_QUEUE_LENGTH=20 -CONFIG_FMB_PORT_TASK_STACK_SIZE=4096 -CONFIG_FMB_SERIAL_BUF_SIZE=256 -CONFIG_FMB_SERIAL_ASCII_BITS_PER_SYMB=8 -CONFIG_FMB_SERIAL_ASCII_TIMEOUT_RESPOND_MS=1000 -CONFIG_FMB_PORT_TASK_PRIO=10 -# CONFIG_FMB_PORT_TASK_AFFINITY_NO_AFFINITY is not set -CONFIG_FMB_PORT_TASK_AFFINITY_CPU0=y -# CONFIG_FMB_PORT_TASK_AFFINITY_CPU1 is not set -CONFIG_FMB_PORT_TASK_AFFINITY=0x0 -CONFIG_FMB_CONTROLLER_SLAVE_ID_SUPPORT=y -CONFIG_FMB_CONTROLLER_SLAVE_ID=0x00112233 -CONFIG_FMB_CONTROLLER_NOTIFY_TIMEOUT=20 -CONFIG_FMB_CONTROLLER_NOTIFY_QUEUE_SIZE=20 -CONFIG_FMB_CONTROLLER_STACK_SIZE=4096 -CONFIG_FMB_EVENT_QUEUE_TIMEOUT=20 -# CONFIG_FMB_TIMER_PORT_ENABLED is not set -# CONFIG_FMB_TIMER_USE_ISR_DISPATCH_METHOD is not set -# end of Modbus configuration - -# -# FreeRTOS -# -# CONFIG_FREERTOS_UNICORE is not set -CONFIG_FREERTOS_NO_AFFINITY=0x7FFFFFFF -CONFIG_FREERTOS_TICK_SUPPORT_CORETIMER=y -CONFIG_FREERTOS_CORETIMER_0=y -# CONFIG_FREERTOS_CORETIMER_1 is not set -CONFIG_FREERTOS_SYSTICK_USES_CCOUNT=y -CONFIG_FREERTOS_HZ=100 -CONFIG_FREERTOS_ASSERT_ON_UNTESTED_FUNCTION=y -# CONFIG_FREERTOS_CHECK_STACKOVERFLOW_NONE is not set -# CONFIG_FREERTOS_CHECK_STACKOVERFLOW_PTRVAL is not set -CONFIG_FREERTOS_CHECK_STACKOVERFLOW_CANARY=y -# CONFIG_FREERTOS_WATCHPOINT_END_OF_STACK is not set -CONFIG_FREERTOS_INTERRUPT_BACKTRACE=y -CONFIG_FREERTOS_THREAD_LOCAL_STORAGE_POINTERS=1 -CONFIG_FREERTOS_ASSERT_FAIL_ABORT=y -# CONFIG_FREERTOS_ASSERT_FAIL_PRINT_CONTINUE is not set -# CONFIG_FREERTOS_ASSERT_DISABLE is not set -CONFIG_FREERTOS_IDLE_TASK_STACKSIZE=1536 -CONFIG_FREERTOS_ISR_STACKSIZE=1536 -# CONFIG_FREERTOS_LEGACY_HOOKS is not set -CONFIG_FREERTOS_MAX_TASK_NAME_LEN=16 -CONFIG_FREERTOS_SUPPORT_STATIC_ALLOCATION=y -# CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP is not set -CONFIG_FREERTOS_TIMER_TASK_PRIORITY=1 -CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=2048 -CONFIG_FREERTOS_TIMER_QUEUE_LENGTH=10 -CONFIG_FREERTOS_QUEUE_REGISTRY_SIZE=0 -# CONFIG_FREERTOS_USE_TRACE_FACILITY is not set -# CONFIG_FREERTOS_GENERATE_RUN_TIME_STATS is not set -CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER=y -CONFIG_FREERTOS_CHECK_MUTEX_GIVEN_BY_OWNER=y -# CONFIG_FREERTOS_CHECK_PORT_CRITICAL_COMPLIANCE is not set -# CONFIG_FREERTOS_PLACE_FUNCTIONS_INTO_FLASH is not set -CONFIG_FREERTOS_DEBUG_OCDAWARE=y -# CONFIG_FREERTOS_FPU_IN_ISR is not set -CONFIG_FREERTOS_ENABLE_TASK_SNAPSHOT=y -# CONFIG_FREERTOS_PLACE_SNAPSHOT_FUNS_INTO_FLASH is not set -# end of FreeRTOS - -# -# Hardware Abstraction Layer (HAL) and Low Level (LL) -# -CONFIG_HAL_ASSERTION_EQUALS_SYSTEM=y -# CONFIG_HAL_ASSERTION_DISABLE is not set -# CONFIG_HAL_ASSERTION_SILIENT is not set -# CONFIG_HAL_ASSERTION_ENABLE is not set -CONFIG_HAL_DEFAULT_ASSERTION_LEVEL=2 -# end of Hardware Abstraction Layer (HAL) and Low Level (LL) - -# -# Heap memory debugging -# -CONFIG_HEAP_POISONING_DISABLED=y -# CONFIG_HEAP_POISONING_LIGHT is not set -# CONFIG_HEAP_POISONING_COMPREHENSIVE is not set -CONFIG_HEAP_TRACING_OFF=y -# CONFIG_HEAP_TRACING_STANDALONE is not set -# CONFIG_HEAP_TRACING_TOHOST is not set -# CONFIG_HEAP_ABORT_WHEN_ALLOCATION_FAILS is not set -# end of Heap memory debugging - -# -# jsmn -# -# CONFIG_JSMN_PARENT_LINKS is not set -# CONFIG_JSMN_STRICT is not set -# end of jsmn - -# -# libsodium -# -# end of libsodium - -# -# Log output -# -# CONFIG_LOG_DEFAULT_LEVEL_NONE is not set -# CONFIG_LOG_DEFAULT_LEVEL_ERROR is not set -# CONFIG_LOG_DEFAULT_LEVEL_WARN is not set -CONFIG_LOG_DEFAULT_LEVEL_INFO=y -# CONFIG_LOG_DEFAULT_LEVEL_DEBUG is not set -# CONFIG_LOG_DEFAULT_LEVEL_VERBOSE is not set -CONFIG_LOG_DEFAULT_LEVEL=3 -# CONFIG_LOG_MAXIMUM_EQUALS_DEFAULT is not set -# CONFIG_LOG_MAXIMUM_LEVEL_DEBUG is not set -CONFIG_LOG_MAXIMUM_LEVEL_VERBOSE=y -CONFIG_LOG_MAXIMUM_LEVEL=5 -CONFIG_LOG_COLORS=y -CONFIG_LOG_TIMESTAMP_SOURCE_RTOS=y -# CONFIG_LOG_TIMESTAMP_SOURCE_SYSTEM is not set -# end of Log output - -# -# LWIP -# -CONFIG_LWIP_LOCAL_HOSTNAME="espressif" -# CONFIG_LWIP_NETIF_API is not set -# CONFIG_LWIP_TCPIP_CORE_LOCKING is not set -CONFIG_LWIP_DNS_SUPPORT_MDNS_QUERIES=y -# CONFIG_LWIP_L2_TO_L3_COPY is not set -# CONFIG_LWIP_IRAM_OPTIMIZATION is not set -CONFIG_LWIP_TIMERS_ONDEMAND=y -CONFIG_LWIP_MAX_SOCKETS=10 -# CONFIG_LWIP_USE_ONLY_LWIP_SELECT is not set -# CONFIG_LWIP_SO_LINGER is not set -CONFIG_LWIP_SO_REUSE=y -CONFIG_LWIP_SO_REUSE_RXTOALL=y -# CONFIG_LWIP_SO_RCVBUF is not set -# CONFIG_LWIP_NETBUF_RECVINFO is not set -CONFIG_LWIP_IP4_FRAG=y -CONFIG_LWIP_IP6_FRAG=y -# CONFIG_LWIP_IP4_REASSEMBLY is not set -# CONFIG_LWIP_IP6_REASSEMBLY is not set -# CONFIG_LWIP_IP_FORWARD is not set -# CONFIG_LWIP_STATS is not set -# CONFIG_LWIP_ETHARP_TRUST_IP_MAC is not set -CONFIG_LWIP_ESP_GRATUITOUS_ARP=y -CONFIG_LWIP_GARP_TMR_INTERVAL=60 -CONFIG_LWIP_TCPIP_RECVMBOX_SIZE=32 -CONFIG_LWIP_DHCP_DOES_ARP_CHECK=y -# CONFIG_LWIP_DHCP_DISABLE_CLIENT_ID is not set -CONFIG_LWIP_DHCP_DISABLE_VENDOR_CLASS_ID=y -# CONFIG_LWIP_DHCP_RESTORE_LAST_IP is not set -CONFIG_LWIP_DHCP_OPTIONS_LEN=68 - -# -# DHCP server -# -CONFIG_LWIP_DHCPS=y -CONFIG_LWIP_DHCPS_LEASE_UNIT=60 -CONFIG_LWIP_DHCPS_MAX_STATION_NUM=8 -# end of DHCP server - -# CONFIG_LWIP_AUTOIP is not set -CONFIG_LWIP_IPV6=y -# CONFIG_LWIP_IPV6_AUTOCONFIG is not set -CONFIG_LWIP_IPV6_NUM_ADDRESSES=3 -# CONFIG_LWIP_IPV6_FORWARD is not set -# CONFIG_LWIP_NETIF_STATUS_CALLBACK is not set -CONFIG_LWIP_NETIF_LOOPBACK=y -CONFIG_LWIP_LOOPBACK_MAX_PBUFS=8 - -# -# TCP -# -CONFIG_LWIP_MAX_ACTIVE_TCP=16 -CONFIG_LWIP_MAX_LISTENING_TCP=16 -CONFIG_LWIP_TCP_HIGH_SPEED_RETRANSMISSION=y -CONFIG_LWIP_TCP_MAXRTX=12 -CONFIG_LWIP_TCP_SYNMAXRTX=12 -CONFIG_LWIP_TCP_MSS=1440 -CONFIG_LWIP_TCP_TMR_INTERVAL=250 -CONFIG_LWIP_TCP_MSL=60000 -CONFIG_LWIP_TCP_FIN_WAIT_TIMEOUT=20000 -CONFIG_LWIP_TCP_SND_BUF_DEFAULT=5744 -CONFIG_LWIP_TCP_WND_DEFAULT=5744 -CONFIG_LWIP_TCP_RECVMBOX_SIZE=6 -CONFIG_LWIP_TCP_QUEUE_OOSEQ=y -# CONFIG_LWIP_TCP_SACK_OUT is not set -# CONFIG_LWIP_TCP_KEEP_CONNECTION_WHEN_IP_CHANGES is not set -CONFIG_LWIP_TCP_OVERSIZE_MSS=y -# CONFIG_LWIP_TCP_OVERSIZE_QUARTER_MSS is not set -# CONFIG_LWIP_TCP_OVERSIZE_DISABLE is not set -CONFIG_LWIP_TCP_RTO_TIME=1500 -# end of TCP - -# -# UDP -# -CONFIG_LWIP_MAX_UDP_PCBS=16 -CONFIG_LWIP_UDP_RECVMBOX_SIZE=6 -# end of UDP - -# -# Checksums -# -# CONFIG_LWIP_CHECKSUM_CHECK_IP is not set -# CONFIG_LWIP_CHECKSUM_CHECK_UDP is not set -CONFIG_LWIP_CHECKSUM_CHECK_ICMP=y -# end of Checksums - -CONFIG_LWIP_TCPIP_TASK_STACK_SIZE=3072 -CONFIG_LWIP_TCPIP_TASK_AFFINITY_NO_AFFINITY=y -# CONFIG_LWIP_TCPIP_TASK_AFFINITY_CPU0 is not set -# CONFIG_LWIP_TCPIP_TASK_AFFINITY_CPU1 is not set -CONFIG_LWIP_TCPIP_TASK_AFFINITY=0x7FFFFFFF -# CONFIG_LWIP_PPP_SUPPORT is not set -CONFIG_LWIP_IPV6_MEMP_NUM_ND6_QUEUE=3 -CONFIG_LWIP_IPV6_ND6_NUM_NEIGHBORS=5 -# CONFIG_LWIP_SLIP_SUPPORT is not set - -# -# ICMP -# -CONFIG_LWIP_ICMP=y -# CONFIG_LWIP_MULTICAST_PING is not set -# CONFIG_LWIP_BROADCAST_PING is not set -# end of ICMP - -# -# LWIP RAW API -# -CONFIG_LWIP_MAX_RAW_PCBS=16 -# end of LWIP RAW API - -# -# SNTP -# -CONFIG_LWIP_SNTP_MAX_SERVERS=1 -# CONFIG_LWIP_DHCP_GET_NTP_SRV is not set -CONFIG_LWIP_SNTP_UPDATE_DELAY=3600000 -# end of SNTP - -CONFIG_LWIP_ESP_LWIP_ASSERT=y - -# -# Hooks -# -# CONFIG_LWIP_HOOK_TCP_ISN_NONE is not set -CONFIG_LWIP_HOOK_TCP_ISN_DEFAULT=y -# CONFIG_LWIP_HOOK_TCP_ISN_CUSTOM is not set -CONFIG_LWIP_HOOK_IP6_ROUTE_NONE=y -# CONFIG_LWIP_HOOK_IP6_ROUTE_DEFAULT is not set -# CONFIG_LWIP_HOOK_IP6_ROUTE_CUSTOM is not set -CONFIG_LWIP_HOOK_ND6_GET_GW_NONE=y -# CONFIG_LWIP_HOOK_ND6_GET_GW_DEFAULT is not set -# CONFIG_LWIP_HOOK_ND6_GET_GW_CUSTOM is not set -CONFIG_LWIP_HOOK_NETCONN_EXT_RESOLVE_NONE=y -# CONFIG_LWIP_HOOK_NETCONN_EXT_RESOLVE_DEFAULT is not set -# CONFIG_LWIP_HOOK_NETCONN_EXT_RESOLVE_CUSTOM is not set -# end of Hooks - -# CONFIG_LWIP_DEBUG is not set -# end of LWIP - -# -# mbedTLS -# -CONFIG_MBEDTLS_INTERNAL_MEM_ALLOC=y -# CONFIG_MBEDTLS_DEFAULT_MEM_ALLOC is not set -# CONFIG_MBEDTLS_CUSTOM_MEM_ALLOC is not set -CONFIG_MBEDTLS_ASYMMETRIC_CONTENT_LEN=y -CONFIG_MBEDTLS_SSL_IN_CONTENT_LEN=16384 -CONFIG_MBEDTLS_SSL_OUT_CONTENT_LEN=4096 -# CONFIG_MBEDTLS_DYNAMIC_BUFFER is not set -# CONFIG_MBEDTLS_DEBUG is not set - -# -# mbedTLS v2.28.x related -# -# CONFIG_MBEDTLS_SSL_VARIABLE_BUFFER_LENGTH is not set -# CONFIG_MBEDTLS_X509_TRUSTED_CERT_CALLBACK is not set -# CONFIG_MBEDTLS_SSL_CONTEXT_SERIALIZATION is not set -CONFIG_MBEDTLS_SSL_KEEP_PEER_CERTIFICATE=y -# end of mbedTLS v2.28.x related - -# -# Certificate Bundle -# -CONFIG_MBEDTLS_CERTIFICATE_BUNDLE=y -CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_FULL=y -# CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_CMN is not set -# CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_NONE is not set -# CONFIG_MBEDTLS_CUSTOM_CERTIFICATE_BUNDLE is not set -CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_MAX_CERTS=200 -# end of Certificate Bundle - -# CONFIG_MBEDTLS_ECP_RESTARTABLE is not set -# CONFIG_MBEDTLS_CMAC_C is not set -CONFIG_MBEDTLS_HARDWARE_AES=y -CONFIG_MBEDTLS_HARDWARE_MPI=y -CONFIG_MBEDTLS_HARDWARE_SHA=y -CONFIG_MBEDTLS_ROM_MD5=y -# CONFIG_MBEDTLS_ATCA_HW_ECDSA_SIGN is not set -# CONFIG_MBEDTLS_ATCA_HW_ECDSA_VERIFY is not set -CONFIG_MBEDTLS_HAVE_TIME=y -# CONFIG_MBEDTLS_HAVE_TIME_DATE is not set -CONFIG_MBEDTLS_ECDSA_DETERMINISTIC=y -CONFIG_MBEDTLS_SHA512_C=y -CONFIG_MBEDTLS_TLS_SERVER_AND_CLIENT=y -# CONFIG_MBEDTLS_TLS_SERVER_ONLY is not set -# CONFIG_MBEDTLS_TLS_CLIENT_ONLY is not set -# CONFIG_MBEDTLS_TLS_DISABLED is not set -CONFIG_MBEDTLS_TLS_SERVER=y -CONFIG_MBEDTLS_TLS_CLIENT=y -CONFIG_MBEDTLS_TLS_ENABLED=y - -# -# TLS Key Exchange Methods -# -# CONFIG_MBEDTLS_PSK_MODES is not set -CONFIG_MBEDTLS_KEY_EXCHANGE_RSA=y -CONFIG_MBEDTLS_KEY_EXCHANGE_DHE_RSA=y -CONFIG_MBEDTLS_KEY_EXCHANGE_ELLIPTIC_CURVE=y -CONFIG_MBEDTLS_KEY_EXCHANGE_ECDHE_RSA=y -CONFIG_MBEDTLS_KEY_EXCHANGE_ECDHE_ECDSA=y -CONFIG_MBEDTLS_KEY_EXCHANGE_ECDH_ECDSA=y -CONFIG_MBEDTLS_KEY_EXCHANGE_ECDH_RSA=y -# end of TLS Key Exchange Methods - -CONFIG_MBEDTLS_SSL_RENEGOTIATION=y -# CONFIG_MBEDTLS_SSL_PROTO_SSL3 is not set -CONFIG_MBEDTLS_SSL_PROTO_TLS1=y -CONFIG_MBEDTLS_SSL_PROTO_TLS1_1=y -CONFIG_MBEDTLS_SSL_PROTO_TLS1_2=y -# CONFIG_MBEDTLS_SSL_PROTO_GMTSSL1_1 is not set -# CONFIG_MBEDTLS_SSL_PROTO_DTLS is not set -CONFIG_MBEDTLS_SSL_ALPN=y -CONFIG_MBEDTLS_CLIENT_SSL_SESSION_TICKETS=y -CONFIG_MBEDTLS_X509_CHECK_KEY_USAGE=y -CONFIG_MBEDTLS_X509_CHECK_EXTENDED_KEY_USAGE=y -CONFIG_MBEDTLS_SERVER_SSL_SESSION_TICKETS=y - -# -# Symmetric Ciphers -# -CONFIG_MBEDTLS_AES_C=y -# CONFIG_MBEDTLS_CAMELLIA_C is not set -# CONFIG_MBEDTLS_DES_C is not set -CONFIG_MBEDTLS_RC4_DISABLED=y -# CONFIG_MBEDTLS_RC4_ENABLED_NO_DEFAULT is not set -# CONFIG_MBEDTLS_RC4_ENABLED is not set -# CONFIG_MBEDTLS_BLOWFISH_C is not set -# CONFIG_MBEDTLS_XTEA_C is not set -CONFIG_MBEDTLS_CCM_C=y -CONFIG_MBEDTLS_GCM_C=y -# CONFIG_MBEDTLS_NIST_KW_C is not set -# end of Symmetric Ciphers - -# CONFIG_MBEDTLS_RIPEMD160_C is not set - -# -# Certificates -# -CONFIG_MBEDTLS_PEM_PARSE_C=y -CONFIG_MBEDTLS_PEM_WRITE_C=y -CONFIG_MBEDTLS_X509_CRL_PARSE_C=y -CONFIG_MBEDTLS_X509_CSR_PARSE_C=y -# end of Certificates - -CONFIG_MBEDTLS_ECP_C=y -CONFIG_MBEDTLS_ECDH_C=y -CONFIG_MBEDTLS_ECDSA_C=y -# CONFIG_MBEDTLS_ECJPAKE_C is not set -CONFIG_MBEDTLS_ECP_DP_SECP192R1_ENABLED=y -CONFIG_MBEDTLS_ECP_DP_SECP224R1_ENABLED=y -CONFIG_MBEDTLS_ECP_DP_SECP256R1_ENABLED=y -CONFIG_MBEDTLS_ECP_DP_SECP384R1_ENABLED=y -CONFIG_MBEDTLS_ECP_DP_SECP521R1_ENABLED=y -CONFIG_MBEDTLS_ECP_DP_SECP192K1_ENABLED=y -CONFIG_MBEDTLS_ECP_DP_SECP224K1_ENABLED=y -CONFIG_MBEDTLS_ECP_DP_SECP256K1_ENABLED=y -CONFIG_MBEDTLS_ECP_DP_BP256R1_ENABLED=y -CONFIG_MBEDTLS_ECP_DP_BP384R1_ENABLED=y -CONFIG_MBEDTLS_ECP_DP_BP512R1_ENABLED=y -CONFIG_MBEDTLS_ECP_DP_CURVE25519_ENABLED=y -CONFIG_MBEDTLS_ECP_NIST_OPTIM=y -# CONFIG_MBEDTLS_POLY1305_C is not set -# CONFIG_MBEDTLS_CHACHA20_C is not set -# CONFIG_MBEDTLS_HKDF_C is not set -# CONFIG_MBEDTLS_THREADING_C is not set -# CONFIG_MBEDTLS_LARGE_KEY_SOFTWARE_MPI is not set -# CONFIG_MBEDTLS_SECURITY_RISKS is not set -# end of mbedTLS - -# -# mDNS -# -CONFIG_MDNS_MAX_SERVICES=10 -CONFIG_MDNS_TASK_PRIORITY=1 -CONFIG_MDNS_TASK_STACK_SIZE=4096 -# CONFIG_MDNS_TASK_AFFINITY_NO_AFFINITY is not set -CONFIG_MDNS_TASK_AFFINITY_CPU0=y -# CONFIG_MDNS_TASK_AFFINITY_CPU1 is not set -CONFIG_MDNS_TASK_AFFINITY=0x0 -CONFIG_MDNS_SERVICE_ADD_TIMEOUT_MS=2000 -# CONFIG_MDNS_STRICT_MODE is not set -CONFIG_MDNS_TIMER_PERIOD_MS=100 -# CONFIG_MDNS_NETWORKING_SOCKET is not set -CONFIG_MDNS_MULTIPLE_INSTANCE=y -# end of mDNS - -# -# ESP-MQTT Configurations -# -CONFIG_MQTT_PROTOCOL_311=y -CONFIG_MQTT_TRANSPORT_SSL=y -CONFIG_MQTT_TRANSPORT_WEBSOCKET=y -CONFIG_MQTT_TRANSPORT_WEBSOCKET_SECURE=y -# CONFIG_MQTT_MSG_ID_INCREMENTAL is not set -# CONFIG_MQTT_SKIP_PUBLISH_IF_DISCONNECTED is not set -# CONFIG_MQTT_REPORT_DELETED_MESSAGES is not set -# CONFIG_MQTT_USE_CUSTOM_CONFIG is not set -# CONFIG_MQTT_TASK_CORE_SELECTION_ENABLED is not set -# CONFIG_MQTT_CUSTOM_OUTBOX is not set -# end of ESP-MQTT Configurations - -# -# Newlib -# -CONFIG_NEWLIB_STDOUT_LINE_ENDING_CRLF=y -# CONFIG_NEWLIB_STDOUT_LINE_ENDING_LF is not set -# CONFIG_NEWLIB_STDOUT_LINE_ENDING_CR is not set -# CONFIG_NEWLIB_STDIN_LINE_ENDING_CRLF is not set -# CONFIG_NEWLIB_STDIN_LINE_ENDING_LF is not set -CONFIG_NEWLIB_STDIN_LINE_ENDING_CR=y -# CONFIG_NEWLIB_NANO_FORMAT is not set -# end of Newlib - -# -# NVS -# -# CONFIG_NVS_ASSERT_ERROR_CHECK is not set -# end of NVS - -# -# OpenSSL -# -# CONFIG_OPENSSL_DEBUG is not set -CONFIG_OPENSSL_ERROR_STACK=y -# CONFIG_OPENSSL_ASSERT_DO_NOTHING is not set -CONFIG_OPENSSL_ASSERT_EXIT=y -# end of OpenSSL - -# -# OpenThread -# -# CONFIG_OPENTHREAD_ENABLED is not set -# end of OpenThread - -# -# PThreads -# -CONFIG_PTHREAD_TASK_PRIO_DEFAULT=5 -CONFIG_PTHREAD_TASK_STACK_SIZE_DEFAULT=3072 -CONFIG_PTHREAD_STACK_MIN=768 -CONFIG_PTHREAD_DEFAULT_CORE_NO_AFFINITY=y -# CONFIG_PTHREAD_DEFAULT_CORE_0 is not set -# CONFIG_PTHREAD_DEFAULT_CORE_1 is not set -CONFIG_PTHREAD_TASK_CORE_DEFAULT=-1 -CONFIG_PTHREAD_TASK_NAME_DEFAULT="pthread" -# end of PThreads - -# -# SPI Flash driver -# -# CONFIG_SPI_FLASH_VERIFY_WRITE is not set -# CONFIG_SPI_FLASH_ENABLE_COUNTERS is not set -CONFIG_SPI_FLASH_ROM_DRIVER_PATCH=y -CONFIG_SPI_FLASH_DANGEROUS_WRITE_ABORTS=y -# CONFIG_SPI_FLASH_DANGEROUS_WRITE_FAILS is not set -# CONFIG_SPI_FLASH_DANGEROUS_WRITE_ALLOWED is not set -# CONFIG_SPI_FLASH_USE_LEGACY_IMPL is not set -# CONFIG_SPI_FLASH_SHARE_SPI1_BUS is not set -# CONFIG_SPI_FLASH_BYPASS_BLOCK_ERASE is not set -CONFIG_SPI_FLASH_YIELD_DURING_ERASE=y -CONFIG_SPI_FLASH_ERASE_YIELD_DURATION_MS=20 -CONFIG_SPI_FLASH_ERASE_YIELD_TICKS=1 -CONFIG_SPI_FLASH_WRITE_CHUNK_SIZE=8192 -# CONFIG_SPI_FLASH_SIZE_OVERRIDE is not set -# CONFIG_SPI_FLASH_CHECK_ERASE_TIMEOUT_DISABLED is not set -# CONFIG_SPI_FLASH_OVERRIDE_CHIP_DRIVER_LIST is not set - -# -# Auto-detect flash chips -# -CONFIG_SPI_FLASH_SUPPORT_ISSI_CHIP=y -CONFIG_SPI_FLASH_SUPPORT_MXIC_CHIP=y -CONFIG_SPI_FLASH_SUPPORT_GD_CHIP=y -CONFIG_SPI_FLASH_SUPPORT_WINBOND_CHIP=y -# CONFIG_SPI_FLASH_SUPPORT_BOYA_CHIP is not set -# CONFIG_SPI_FLASH_SUPPORT_TH_CHIP is not set -# end of Auto-detect flash chips - -CONFIG_SPI_FLASH_ENABLE_ENCRYPTED_READ_WRITE=y -# end of SPI Flash driver - -# -# SPIFFS Configuration -# -CONFIG_SPIFFS_MAX_PARTITIONS=3 - -# -# SPIFFS Cache Configuration -# -CONFIG_SPIFFS_CACHE=y -CONFIG_SPIFFS_CACHE_WR=y -# CONFIG_SPIFFS_CACHE_STATS is not set -# end of SPIFFS Cache Configuration - -CONFIG_SPIFFS_PAGE_CHECK=y -CONFIG_SPIFFS_GC_MAX_RUNS=10 -# CONFIG_SPIFFS_GC_STATS is not set -CONFIG_SPIFFS_PAGE_SIZE=256 -CONFIG_SPIFFS_OBJ_NAME_LEN=32 -# CONFIG_SPIFFS_FOLLOW_SYMLINKS is not set -CONFIG_SPIFFS_USE_MAGIC=y -CONFIG_SPIFFS_USE_MAGIC_LENGTH=y -CONFIG_SPIFFS_META_LENGTH=4 -CONFIG_SPIFFS_USE_MTIME=y - -# -# Debug Configuration -# -# CONFIG_SPIFFS_DBG is not set -# CONFIG_SPIFFS_API_DBG is not set -# CONFIG_SPIFFS_GC_DBG is not set -# CONFIG_SPIFFS_CACHE_DBG is not set -# CONFIG_SPIFFS_CHECK_DBG is not set -# CONFIG_SPIFFS_TEST_VISUALISATION is not set -# end of Debug Configuration -# end of SPIFFS Configuration - -# -# TCP Transport -# - -# -# Websocket -# -CONFIG_WS_TRANSPORT=y -CONFIG_WS_BUFFER_SIZE=1024 -# end of Websocket -# end of TCP Transport - -# -# Unity unit testing library -# -CONFIG_UNITY_ENABLE_FLOAT=y -CONFIG_UNITY_ENABLE_DOUBLE=y -# CONFIG_UNITY_ENABLE_64BIT is not set -# CONFIG_UNITY_ENABLE_COLOR is not set -CONFIG_UNITY_ENABLE_IDF_TEST_RUNNER=y -# CONFIG_UNITY_ENABLE_FIXTURE is not set -# CONFIG_UNITY_ENABLE_BACKTRACE_ON_FAIL is not set -# end of Unity unit testing library - -# -# Virtual file system -# -CONFIG_VFS_SUPPORT_IO=y -CONFIG_VFS_SUPPORT_DIR=y -CONFIG_VFS_SUPPORT_SELECT=y -CONFIG_VFS_SUPPRESS_SELECT_DEBUG_OUTPUT=y -CONFIG_VFS_SUPPORT_TERMIOS=y - -# -# Host File System I/O (Semihosting) -# -CONFIG_VFS_SEMIHOSTFS_MAX_MOUNT_POINTS=1 -# end of Host File System I/O (Semihosting) -# end of Virtual file system - -# -# Wear Levelling -# -# CONFIG_WL_SECTOR_SIZE_512 is not set -CONFIG_WL_SECTOR_SIZE_4096=y -CONFIG_WL_SECTOR_SIZE=4096 -# end of Wear Levelling - -# -# Wi-Fi Provisioning Manager -# -CONFIG_WIFI_PROV_SCAN_MAX_ENTRIES=16 -CONFIG_WIFI_PROV_AUTOSTOP_TIMEOUT=30 -# CONFIG_WIFI_PROV_BLE_FORCE_ENCRYPTION is not set -# end of Wi-Fi Provisioning Manager - -# -# Supplicant -# -CONFIG_WPA_MBEDTLS_CRYPTO=y -# CONFIG_WPA_WAPI_PSK is not set -# CONFIG_WPA_SUITE_B_192 is not set -# CONFIG_WPA_DEBUG_PRINT is not set -# CONFIG_WPA_TESTING_OPTIONS is not set -# CONFIG_WPA_WPS_STRICT is not set -# CONFIG_WPA_11KV_SUPPORT is not set -# CONFIG_WPA_MBO_SUPPORT is not set -# CONFIG_WPA_DPP_SUPPORT is not set -# end of Supplicant -# end of Component config - -# -# Compatibility options -# -# CONFIG_LEGACY_INCLUDE_COMMON_HEADERS is not set -# end of Compatibility options - -# Deprecated options for backward compatibility -CONFIG_TOOLPREFIX="xtensa-esp32-elf-" -# CONFIG_LOG_BOOTLOADER_LEVEL_NONE is not set -# CONFIG_LOG_BOOTLOADER_LEVEL_ERROR is not set -# CONFIG_LOG_BOOTLOADER_LEVEL_WARN is not set -CONFIG_LOG_BOOTLOADER_LEVEL_INFO=y -# CONFIG_LOG_BOOTLOADER_LEVEL_DEBUG is not set -# CONFIG_LOG_BOOTLOADER_LEVEL_VERBOSE is not set -CONFIG_LOG_BOOTLOADER_LEVEL=3 -# CONFIG_APP_ROLLBACK_ENABLE is not set -# CONFIG_FLASH_ENCRYPTION_ENABLED is not set -# CONFIG_FLASHMODE_QIO is not set -# CONFIG_FLASHMODE_QOUT is not set -CONFIG_FLASHMODE_DIO=y -# CONFIG_FLASHMODE_DOUT is not set -# CONFIG_MONITOR_BAUD_9600B is not set -# CONFIG_MONITOR_BAUD_57600B is not set -CONFIG_MONITOR_BAUD_115200B=y -# CONFIG_MONITOR_BAUD_230400B is not set -# CONFIG_MONITOR_BAUD_921600B is not set -# CONFIG_MONITOR_BAUD_2MB is not set -# CONFIG_MONITOR_BAUD_OTHER is not set -CONFIG_MONITOR_BAUD_OTHER_VAL=115200 -CONFIG_MONITOR_BAUD=115200 -CONFIG_COMPILER_OPTIMIZATION_LEVEL_DEBUG=y -# CONFIG_COMPILER_OPTIMIZATION_LEVEL_RELEASE is not set -CONFIG_OPTIMIZATION_ASSERTIONS_ENABLED=y -# CONFIG_OPTIMIZATION_ASSERTIONS_SILENT is not set -# CONFIG_OPTIMIZATION_ASSERTIONS_DISABLED is not set -CONFIG_OPTIMIZATION_ASSERTION_LEVEL=2 -# CONFIG_CXX_EXCEPTIONS is not set -CONFIG_STACK_CHECK_NONE=y -# CONFIG_STACK_CHECK_NORM is not set -# CONFIG_STACK_CHECK_STRONG is not set -# CONFIG_STACK_CHECK_ALL is not set -# CONFIG_WARN_WRITE_STRINGS is not set -# CONFIG_DISABLE_GCC8_WARNINGS is not set -# CONFIG_ESP32_APPTRACE_DEST_TRAX is not set -CONFIG_ESP32_APPTRACE_DEST_NONE=y -CONFIG_ESP32_APPTRACE_LOCK_ENABLE=y -CONFIG_ADC2_DISABLE_DAC=y -# CONFIG_SPIRAM_SUPPORT is not set -CONFIG_TRACEMEM_RESERVE_DRAM=0x0 -# CONFIG_ULP_COPROC_ENABLED is not set -CONFIG_ULP_COPROC_RESERVE_MEM=0 -CONFIG_BROWNOUT_DET=y -CONFIG_BROWNOUT_DET_LVL_SEL_0=y -# CONFIG_BROWNOUT_DET_LVL_SEL_1 is not set -# CONFIG_BROWNOUT_DET_LVL_SEL_2 is not set -# CONFIG_BROWNOUT_DET_LVL_SEL_3 is not set -# CONFIG_BROWNOUT_DET_LVL_SEL_4 is not set -# CONFIG_BROWNOUT_DET_LVL_SEL_5 is not set -# CONFIG_BROWNOUT_DET_LVL_SEL_6 is not set -# CONFIG_BROWNOUT_DET_LVL_SEL_7 is not set -CONFIG_BROWNOUT_DET_LVL=0 -CONFIG_ESP32_RTC_CLOCK_SOURCE_INTERNAL_RC=y -# CONFIG_ESP32_RTC_CLOCK_SOURCE_EXTERNAL_CRYSTAL is not set -# CONFIG_ESP32_RTC_CLOCK_SOURCE_EXTERNAL_OSC is not set -# CONFIG_ESP32_RTC_CLOCK_SOURCE_INTERNAL_8MD256 is not set -# CONFIG_DISABLE_BASIC_ROM_CONSOLE is not set -# CONFIG_NO_BLOBS is not set -# CONFIG_COMPATIBLE_PRE_V2_1_BOOTLOADERS is not set -# CONFIG_EVENT_LOOP_PROFILING is not set -CONFIG_POST_EVENTS_FROM_ISR=y -CONFIG_POST_EVENTS_FROM_IRAM_ISR=y -# CONFIG_TWO_UNIVERSAL_MAC_ADDRESS is not set -CONFIG_FOUR_UNIVERSAL_MAC_ADDRESS=y -CONFIG_NUMBER_OF_UNIVERSAL_MAC_ADDRESS=4 -CONFIG_ESP_SYSTEM_PD_FLASH=y -# CONFIG_ESP32C3_LIGHTSLEEP_GPIO_RESET_WORKAROUND is not set -CONFIG_IPC_TASK_STACK_SIZE=1536 -CONFIG_ESP32_PHY_CALIBRATION_AND_DATA_STORAGE=y -# CONFIG_ESP32_PHY_INIT_DATA_IN_PARTITION is not set -CONFIG_ESP32_PHY_MAX_WIFI_TX_POWER=20 -CONFIG_ESP32_PHY_MAX_TX_POWER=20 -CONFIG_ESP32_REDUCE_PHY_TX_POWER=y -# CONFIG_ESP32S2_PANIC_PRINT_HALT is not set -CONFIG_ESP32S2_PANIC_PRINT_REBOOT=y -# CONFIG_ESP32S2_PANIC_SILENT_REBOOT is not set -# CONFIG_ESP32S2_PANIC_GDBSTUB is not set -CONFIG_SYSTEM_EVENT_QUEUE_SIZE=32 -CONFIG_SYSTEM_EVENT_TASK_STACK_SIZE=2304 -CONFIG_MAIN_TASK_STACK_SIZE=3584 -CONFIG_CONSOLE_UART_DEFAULT=y -# CONFIG_CONSOLE_UART_CUSTOM is not set -# CONFIG_ESP_CONSOLE_UART_NONE is not set -CONFIG_CONSOLE_UART=y -CONFIG_CONSOLE_UART_NUM=0 -CONFIG_CONSOLE_UART_BAUDRATE=115200 -CONFIG_INT_WDT=y -CONFIG_INT_WDT_TIMEOUT_MS=300 -CONFIG_INT_WDT_CHECK_CPU1=y -CONFIG_TASK_WDT=y -# CONFIG_TASK_WDT_PANIC is not set -CONFIG_TASK_WDT_TIMEOUT_S=5 -CONFIG_TASK_WDT_CHECK_IDLE_TASK_CPU0=y -CONFIG_TASK_WDT_CHECK_IDLE_TASK_CPU1=y -# CONFIG_ESP32_DEBUG_STUBS_ENABLE is not set -CONFIG_TIMER_TASK_STACK_SIZE=3584 -# CONFIG_ESP32_ENABLE_COREDUMP_TO_FLASH is not set -# CONFIG_ESP32_ENABLE_COREDUMP_TO_UART is not set -CONFIG_ESP32_ENABLE_COREDUMP_TO_NONE=y -CONFIG_MB_MASTER_TIMEOUT_MS_RESPOND=150 -CONFIG_MB_MASTER_DELAY_MS_CONVERT=200 -CONFIG_MB_QUEUE_LENGTH=20 -CONFIG_MB_SERIAL_TASK_STACK_SIZE=4096 -CONFIG_MB_SERIAL_BUF_SIZE=256 -CONFIG_MB_SERIAL_TASK_PRIO=10 -CONFIG_MB_CONTROLLER_SLAVE_ID_SUPPORT=y -CONFIG_MB_CONTROLLER_SLAVE_ID=0x00112233 -CONFIG_MB_CONTROLLER_NOTIFY_TIMEOUT=20 -CONFIG_MB_CONTROLLER_NOTIFY_QUEUE_SIZE=20 -CONFIG_MB_CONTROLLER_STACK_SIZE=4096 -CONFIG_MB_EVENT_QUEUE_TIMEOUT=20 -# CONFIG_MB_TIMER_PORT_ENABLED is not set -# CONFIG_ENABLE_STATIC_TASK_CLEAN_UP_HOOK is not set -CONFIG_TIMER_TASK_PRIORITY=1 -CONFIG_TIMER_TASK_STACK_DEPTH=2048 -CONFIG_TIMER_QUEUE_LENGTH=10 -# CONFIG_L2_TO_L3_COPY is not set -# CONFIG_USE_ONLY_LWIP_SELECT is not set -CONFIG_ESP_GRATUITOUS_ARP=y -CONFIG_GARP_TMR_INTERVAL=60 -CONFIG_TCPIP_RECVMBOX_SIZE=32 -CONFIG_TCP_MAXRTX=12 -CONFIG_TCP_SYNMAXRTX=12 -CONFIG_TCP_MSS=1440 -CONFIG_TCP_MSL=60000 -CONFIG_TCP_SND_BUF_DEFAULT=5744 -CONFIG_TCP_WND_DEFAULT=5744 -CONFIG_TCP_RECVMBOX_SIZE=6 -CONFIG_TCP_QUEUE_OOSEQ=y -# CONFIG_ESP_TCP_KEEP_CONNECTION_WHEN_IP_CHANGES is not set -CONFIG_TCP_OVERSIZE_MSS=y -# CONFIG_TCP_OVERSIZE_QUARTER_MSS is not set -# CONFIG_TCP_OVERSIZE_DISABLE is not set -CONFIG_UDP_RECVMBOX_SIZE=6 -CONFIG_TCPIP_TASK_STACK_SIZE=3072 -CONFIG_TCPIP_TASK_AFFINITY_NO_AFFINITY=y -# CONFIG_TCPIP_TASK_AFFINITY_CPU0 is not set -# CONFIG_TCPIP_TASK_AFFINITY_CPU1 is not set -CONFIG_TCPIP_TASK_AFFINITY=0x7FFFFFFF -# CONFIG_PPP_SUPPORT is not set -CONFIG_ESP32_PTHREAD_TASK_PRIO_DEFAULT=5 -CONFIG_ESP32_PTHREAD_TASK_STACK_SIZE_DEFAULT=3072 -CONFIG_ESP32_PTHREAD_STACK_MIN=768 -CONFIG_ESP32_DEFAULT_PTHREAD_CORE_NO_AFFINITY=y -# CONFIG_ESP32_DEFAULT_PTHREAD_CORE_0 is not set -# CONFIG_ESP32_DEFAULT_PTHREAD_CORE_1 is not set -CONFIG_ESP32_PTHREAD_TASK_CORE_DEFAULT=-1 -CONFIG_ESP32_PTHREAD_TASK_NAME_DEFAULT="pthread" -CONFIG_SPI_FLASH_WRITING_DANGEROUS_REGIONS_ABORTS=y -# CONFIG_SPI_FLASH_WRITING_DANGEROUS_REGIONS_FAILS is not set -# CONFIG_SPI_FLASH_WRITING_DANGEROUS_REGIONS_ALLOWED is not set -CONFIG_SUPPRESS_SELECT_DEBUG_OUTPUT=y -CONFIG_SUPPORT_TERMIOS=y -CONFIG_SEMIHOSTFS_MAX_MOUNT_POINTS=1 -# End of deprecated options