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..c88e7f2
--- /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 ../common")
+project(armchair_controlBoard)
diff --git a/main/CMakeLists.txt b/board_control/main/CMakeLists.txt
similarity index 69%
rename from main/CMakeLists.txt
rename to board_control/main/CMakeLists.txt
index 92ed0e1..72a232c 100644
--- a/main/CMakeLists.txt
+++ b/board_control/main/CMakeLists.txt
@@ -1,18 +1,13 @@
idf_component_register(
SRCS
"main.cpp"
- "motordrivers.cpp"
- "motorctl.cpp"
"config.cpp"
"joystick.cpp"
- "buzzer.cpp"
"control.cpp"
"button.cpp"
- "fan.cpp"
- "wifi.c"
"http.cpp"
"auto.cpp"
- "currentsensor.cpp"
+ "uart.cpp"
INCLUDE_DIRS
"."
)
diff --git a/board_control/main/auto.cpp b/board_control/main/auto.cpp
new file mode 100644
index 0000000..0dc94aa
--- /dev/null
+++ b/board_control/main/auto.cpp
@@ -0,0 +1,89 @@
+#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?
+}
+
+
+//FIXME motorLeft, Right not available, needs rework to work with uart only
+
+// //==============================
+// //====== generateCommands ======
+// //==============================
+// motorCommands_t automatedArmchair::generateCommands(auto_instruction_t * instruction) {
+// //reset instruction
+// *instruction = auto_instruction_t::NONE;
+// //check if previous command is finished
+// if ( esp_log_timestamp() > timestampCmdFinished ) {
+// //get next command from queue
+// if( xQueueReceive( commandQueue, &cmdCurrent, pdMS_TO_TICKS(500) ) ) {
+// ESP_LOGI(TAG, "running next command from queue...");
+// //copy instruction to be provided to control task
+// *instruction = cmdCurrent.instruction;
+// //set acceleration / fading parameters according to command
+// motorLeft.setFade(fadeType_t::DECEL, cmdCurrent.fadeDecel);
+// motorRight.setFade(fadeType_t::DECEL, cmdCurrent.fadeDecel);
+// motorLeft.setFade(fadeType_t::ACCEL, cmdCurrent.fadeAccel);
+// motorRight.setFade(fadeType_t::ACCEL, cmdCurrent.fadeAccel);
+// //calculate timestamp the command is finished
+// timestampCmdFinished = esp_log_timestamp() + cmdCurrent.msDuration;
+// //copy the new commands
+// motorCommands = cmdCurrent.motorCmds;
+// } else { //queue empty
+// ESP_LOGD(TAG, "no new command in queue -> set motors to IDLE");
+// motorCommands = motorCmds_bothMotorsIdle;
+// }
+// } else { //previous command still running
+// ESP_LOGD(TAG, "command still running -> no change");
+// }
+//
+// //TODO also return instructions via call by reference
+// return motorCommands;
+// }
+//
+//
+//
+// //============================
+// //======== addCommand ========
+// //============================
+// //function that adds a basic command to the queue
+// void automatedArmchair::addCommand(commandSimple_t command) {
+// //add command to queue
+// if ( xQueueSend( commandQueue, ( void * )&command, ( TickType_t ) 0 ) ){
+// ESP_LOGI(TAG, "Successfully inserted command to queue");
+// } else {
+// ESP_LOGE(TAG, "Failed to insert new command to queue");
+// }
+// }
+//
+// void automatedArmchair::addCommands(commandSimple_t commands[], size_t count) {
+// for (int i = 0; i < count; i++) {
+// ESP_LOGI(TAG, "Reading command no. %d from provided array", i);
+// addCommand(commands[i]);
+// }
+// }
+//
+//
+// //===============================
+// //======== clearCommands ========
+// //===============================
+// //function that deletes all pending/queued commands
+// //e.g. when switching modes
+// motorCommands_t automatedArmchair::clearCommands() {
+// //clear command queue
+// xQueueReset( commandQueue );
+// ESP_LOGW(TAG, "command queue was successfully emptied");
+// //return commands for idling both motors
+// motorCommands = motorCmds_bothMotorsIdle;
+// return motorCmds_bothMotorsIdle;
+// }
+//
diff --git a/main/auto.hpp b/board_control/main/auto.hpp
similarity index 99%
rename from main/auto.hpp
rename to board_control/main/auto.hpp
index 8b799fb..798ecdb 100644
--- a/main/auto.hpp
+++ b/board_control/main/auto.hpp
@@ -10,7 +10,7 @@ extern "C"
#include "freertos/queue.h"
#include <cmath>
-#include "motorctl.hpp"
+#include "types.hpp"
diff --git a/board_control/main/button.cpp b/board_control/main/button.cpp
new file mode 100644
index 0000000..5ad9b59
--- /dev/null
+++ b/board_control/main/button.cpp
@@ -0,0 +1,222 @@
+#include "auto.hpp"
+extern "C"
+{
+#include <stdio.h>
+#include <esp_system.h>
+#include <esp_event.h>
+#include "freertos/FreeRTOS.h"
+#include "esp_log.h"
+}
+
+#include "button.hpp"
+
+
+
+//tag for logging
+static const char * TAG = "button";
+
+
+
+//FIXME needs rework, motorleft/right objectn not available anymore
+ //-----------------------------
+ //-------- constructor --------
+ //-----------------------------
+buttonCommands::buttonCommands(
+ gpio_evaluatedSwitch * button_f,
+ evaluatedJoystick * joystick_f,
+ controlledArmchair * control_f,
+ buzzer_t * buzzer_f
+ ){
+ //copy object pointers
+ button = button_f;
+ joystick = joystick_f;
+ control = control_f;
+ buzzer = buzzer_f;
+ //TODO declare / configure evaluatedSwitch here instead of config (unnecessary that button object is globally available - only used here)?
+ }
+
+
+
+ //----------------------------
+ //--------- action -----------
+ //----------------------------
+ //function that runs commands depending on a count value
+ void buttonCommands::action (uint8_t count, bool lastPressLong){
+ //--- variable declarations ---
+ bool decelEnabled; //for different beeping when toggling
+ commandSimple_t cmds[8]; //array for commands for automatedArmchair
+
+ //--- get joystick position ---
+ //joystickData_t stickData = joystick->getData();
+
+ //--- actions based on count ---
+ switch (count){
+ //no such command
+ default:
+ ESP_LOGE(TAG, "no command for count=%d defined", count);
+ buzzer->beep(3, 400, 100);
+ break;
+
+ case 1:
+ //restart contoller when 1x long pressed
+ if (lastPressLong){
+ ESP_LOGW(TAG, "RESTART");
+ buzzer->beep(1,1000,1);
+ vTaskDelay(1000 / portTICK_PERIOD_MS);
+ esp_restart();
+ return;
+ }
+
+ ESP_LOGW(TAG, "cmd %d: sending button event to control task", count);
+ //-> define joystick center or toggle freeze input (executed in control task)
+ control->sendButtonEvent(count); //TODO: always send button event to control task (not just at count=1) -> control.cpp has to be changed
+ break;
+ case 2:
+ //TODO no use for leg support from 1.0 anymore, add other functionality
+ //run automatic commands to lift leg support when pressed 1x short 1x long
+ //if (lastPressLong){
+ // //define commands
+ // cmds[0] =
+ // {
+ // .motorCmds = {
+ // .left = {motorstate_t::REV, 90},
+ // .right = {motorstate_t::REV, 90}
+ // },
+ // .msDuration = 1200,
+ // .fadeDecel = 800,
+ // .fadeAccel = 1300,
+ // .instruction = auto_instruction_t::NONE
+ // };
+ // cmds[1] =
+ // {
+ // .motorCmds = {
+ // .left = {motorstate_t::FWD, 70},
+ // .right = {motorstate_t::FWD, 70}
+ // },
+ // .msDuration = 70,
+ // .fadeDecel = 0,
+ // .fadeAccel = 300,
+ // .instruction = auto_instruction_t::NONE
+ // };
+ // cmds[2] =
+ // {
+ // .motorCmds = {
+ // .left = {motorstate_t::IDLE, 0},
+ // .right = {motorstate_t::IDLE, 0}
+ // },
+ // .msDuration = 10,
+ // .fadeDecel = 800,
+ // .fadeAccel = 1300,
+ // .instruction = auto_instruction_t::SWITCH_JOYSTICK_MODE
+ // };
+
+ // //send commands to automatedArmchair command queue
+ // armchair.addCommands(cmds, 3);
+
+ // //change mode to AUTO
+ // control->changeMode(controlMode_t::AUTO);
+ // return;
+ //}
+
+ //toggle idle when 2x pressed
+ ESP_LOGW(TAG, "cmd %d: toggle IDLE", count);
+ control->toggleIdle(); //toggle between idle and previous/default mode
+ break;
+
+
+ case 3:
+ ESP_LOGW(TAG, "cmd %d: switch to JOYSTICK", count);
+ control->changeMode(controlMode_t::JOYSTICK); //switch to JOYSTICK mode
+ break;
+
+ case 4:
+ ESP_LOGW(TAG, "cmd %d: toggle between HTTP and JOYSTICK", count);
+ control->toggleModes(controlMode_t::HTTP, controlMode_t::JOYSTICK); //toggle between HTTP and JOYSTICK mode
+ break;
+
+ case 6:
+ ESP_LOGW(TAG, "cmd %d: toggle between MASSAGE and JOYSTICK", count);
+ control->toggleModes(controlMode_t::MASSAGE, controlMode_t::JOYSTICK); //toggle between MASSAGE and JOYSTICK mode
+ break;
+
+ // case 8:
+ // //TODO rework this with uart config
+ // //toggle deceleration fading between on and off
+ // decelEnabled = motorLeft->toggleFade(fadeType_t::DECEL);
+ // motorRight->toggleFade(fadeType_t::DECEL);
+ // ESP_LOGW(TAG, "cmd %d: toggle deceleration fading to: %d", count, (int)decelEnabled);
+ // if (decelEnabled){
+ // buzzer->beep(3, 60, 50);
+ // } else {
+ // buzzer->beep(1, 1000, 1);
+ // }
+ break;
+
+ case 12:
+ ESP_LOGW(TAG, "cmd %d: sending button event to control task", count);
+ //-> toggle altStickMapping (executed in control task)
+ control->sendButtonEvent(count); //TODO: always send button event to control task (not just at count=1)?
+ break;
+
+ }
+ }
+
+
+
+
+ //-----------------------------
+ //------ startHandleLoop ------
+ //-----------------------------
+ //this function has to be started once in a separate task
+ //repeatedly evaluates and processes button events then takes the corresponding action
+ void buttonCommands::startHandleLoop() {
+
+ while(1) {
+ vTaskDelay(20 / portTICK_PERIOD_MS);
+ //run handle function of evaluatedSwitch object
+ button->handle();
+
+ //--- count button presses and run action ---
+ switch(state) {
+ case inputState_t::IDLE: //wait for initial button press
+ if (button->risingEdge) {
+ count = 1;
+ buzzer->beep(1, 65, 0);
+ timestamp_lastAction = esp_log_timestamp();
+ state = inputState_t::WAIT_FOR_INPUT;
+ ESP_LOGI(TAG, "first button press detected -> waiting for further events");
+ }
+ break;
+
+ case inputState_t::WAIT_FOR_INPUT: //wait for further presses
+ //button pressed again
+ if (button->risingEdge){
+ count++;
+ buzzer->beep(1, 65, 0);
+ timestamp_lastAction = esp_log_timestamp();
+ ESP_LOGI(TAG, "another press detected -> count=%d -> waiting for further events", count);
+ }
+ //timeout
+ else if (esp_log_timestamp() - timestamp_lastAction > 1000) {
+ state = inputState_t::IDLE;
+ buzzer->beep(count, 50, 50);
+ //TODO: add optional "bool wait" parameter to beep function to delay until finished beeping
+ ESP_LOGI(TAG, "timeout - running action function for count=%d", count);
+ //--- run action function ---
+ //check if still pressed
+ bool lastPressLong = false;
+ if (button->state == true){
+ //run special case when last press was longer than timeout
+ lastPressLong = true;
+ }
+ //run action function with current count of button presses
+ action(count, lastPressLong);
+ }
+ break;
+ }
+ }
+ }
+
+
+
+
diff --git a/board_control/main/button.hpp b/board_control/main/button.hpp
new file mode 100644
index 0000000..495f1dd
--- /dev/null
+++ b/board_control/main/button.hpp
@@ -0,0 +1,50 @@
+#pragma once
+
+#include "gpio_evaluateSwitch.hpp"
+#include "buzzer.hpp"
+#include "control.hpp"
+#include "auto.hpp"
+#include "config.hpp"
+#include "joystick.hpp"
+#include "types.hpp"
+
+
+
+
+//===================================
+//====== buttonCommands class =======
+//===================================
+//class which runs commands depending on the count a button was pressed
+class buttonCommands {
+ public:
+ //--- constructor ---
+ buttonCommands (
+ gpio_evaluatedSwitch * button_f,
+ evaluatedJoystick * joystick_f,
+ controlledArmchair * control_f,
+ buzzer_t * buzzer_f
+ );
+
+ //--- functions ---
+ //the following function has to be started once in a separate task.
+ //repeatedly evaluates and processes button events then takes the corresponding action
+ void startHandleLoop();
+
+ private:
+ //--- functions ---
+ void action(uint8_t count, bool lastPressLong);
+
+ //--- objects ---
+ gpio_evaluatedSwitch* button;
+ evaluatedJoystick* joystick;
+ controlledArmchair * control;
+ buzzer_t* buzzer;
+
+ //--- variables ---
+ uint8_t count = 0;
+ uint32_t timestamp_lastAction = 0;
+ enum class inputState_t {IDLE, WAIT_FOR_INPUT};
+ inputState_t state = inputState_t::IDLE;
+
+};
+
diff --git a/main/config.cpp b/board_control/main/config.cpp
similarity index 53%
rename from main/config.cpp
rename to board_control/main/config.cpp
index 36593f1..876fe14 100644
--- a/main/config.cpp
+++ b/board_control/main/config.cpp
@@ -1,60 +1,5 @@
#include "config.hpp"
-//===================================
-//======= motor configuration =======
-//===================================
-//--- configure left motor (hardware) ---
-single100a_config_t configDriverLeft = {
- .gpio_pwm = GPIO_NUM_26,
- .gpio_a = GPIO_NUM_16,
- .gpio_b = GPIO_NUM_4,
- .ledc_timer = LEDC_TIMER_0,
- .ledc_channel = LEDC_CHANNEL_0,
- .aEnabledPinState = false, //-> pins inverted (mosfets)
- .bEnabledPinState = false,
- .resolution = LEDC_TIMER_11_BIT,
- .pwmFreq = 10000
-};
-
-//--- configure right motor (hardware) ---
-single100a_config_t configDriverRight = {
- .gpio_pwm = GPIO_NUM_27,
- .gpio_a = GPIO_NUM_2,
- .gpio_b = GPIO_NUM_14,
- .ledc_timer = LEDC_TIMER_1,
- .ledc_channel = LEDC_CHANNEL_1,
- .aEnabledPinState = false, //-> pin inverted (mosfet)
- .bEnabledPinState = true, //-> not inverted (direct)
- .resolution = LEDC_TIMER_11_BIT,
- .pwmFreq = 10000
-};
-
-
-//TODO add motor name string -> then use as log tag?
-//--- configure left motor (contol) ---
-motorctl_config_t configMotorControlLeft = {
- .msFadeAccel = 1900, //acceleration of the motor (ms it takes from 0% to 100%)
- .msFadeDecel = 1000, //deceleration of the motor (ms it takes from 100% to 0%)
- .currentLimitEnabled = true,
- .currentSensor_adc = ADC1_CHANNEL_6, //GPIO34
- .currentSensor_ratedCurrent = 50,
- .currentMax = 30,
- .deadTimeMs = 900 //minimum time motor is off between direction change
-};
-
-//--- configure right motor (contol) ---
-motorctl_config_t configMotorControlRight = {
- .msFadeAccel = 1900, //acceleration of the motor (ms it takes from 0% to 100%)
- .msFadeDecel = 1000, //deceleration of the motor (ms it takes from 100% to 0%)
- .currentLimitEnabled = true,
- .currentSensor_adc = ADC1_CHANNEL_4, //GPIO32
- .currentSensor_ratedCurrent = 50,
- .currentMax = 30,
- .deadTimeMs = 900 //minimum time motor is off between direction change
-};
-
-
-
//==============================
//======= control config =======
//==============================
@@ -107,29 +52,12 @@ joystick_config_t configJoystick = {
-//============================
-//=== configure fan contol ===
-//============================
-fan_config_t configCooling = {
- .gpio_fan = GPIO_NUM_13,
- .dutyThreshold = 40,
- .minOnMs = 1500,
- .minOffMs = 3000,
- .turnOffDelayMs = 5000,
-};
-
-
-
//=================================
//===== create global objects =====
//=================================
//TODO outsource global variables to e.g. global.cpp and only config options here?
-//create controlled motor instances (motorctl.hpp)
-controlledMotor motorLeft(configDriverLeft, configMotorControlLeft);
-controlledMotor motorRight(configDriverRight, configMotorControlRight);
-
//create global joystic instance (joystick.hpp)
evaluatedJoystick joystick(configJoystick);
@@ -143,7 +71,7 @@ buzzer_t buzzer(GPIO_NUM_12, 100);
httpJoystick httpJoystickMain(configHttpJoystickMain);
//create global control object (control.hpp)
-controlledArmchair control(configControl, &buzzer, &motorLeft, &motorRight, &joystick, &httpJoystickMain);
+controlledArmchair control(configControl, &buzzer, &joystick, &httpJoystickMain);
//create global automatedArmchair object (for auto-mode) (auto.hpp)
automatedArmchair armchair;
diff --git a/main/config.hpp b/board_control/main/config.hpp
similarity index 76%
rename from main/config.hpp
rename to board_control/main/config.hpp
index 2ea0b24..d0e2edd 100644
--- a/main/config.hpp
+++ b/board_control/main/config.hpp
@@ -1,13 +1,10 @@
#pragma once
-#include "motordrivers.hpp"
-#include "motorctl.hpp"
#include "joystick.hpp"
#include "gpio_evaluateSwitch.hpp"
#include "buzzer.hpp"
#include "control.hpp"
-#include "fan.hpp"
#include "http.hpp"
#include "auto.hpp"
@@ -19,10 +16,6 @@
//TODO outsource global variables to e.g. global.cpp and only config options here?
-//create global controlledMotor instances for both motors
-extern controlledMotor motorLeft;
-extern controlledMotor motorRight;
-
//create global joystic instance
extern evaluatedJoystick joystick;
@@ -40,7 +33,3 @@ extern automatedArmchair armchair;
//create global httpJoystick object
extern httpJoystick httpJoystickMain;
-
-//configuration for fans / cooling
-extern fan_config_t configCooling;
-
diff --git a/board_control/main/control.cpp b/board_control/main/control.cpp
new file mode 100644
index 0000000..031dace
--- /dev/null
+++ b/board_control/main/control.cpp
@@ -0,0 +1,473 @@
+#include "types.hpp"
+extern "C"
+{
+#include <stdio.h>
+#include "freertos/FreeRTOS.h"
+#include "esp_log.h"
+#include "freertos/queue.h"
+
+//custom C libraries
+#include "wifi.h"
+}
+
+#include "config.hpp"
+#include "control.hpp"
+#include "uart.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"};
+
+
+//FIXME controlledMotor class not available for this pcb, rework
+ //-----------------------------
+ //-------- constructor --------
+ //-----------------------------
+ controlledArmchair::controlledArmchair (
+ control_config_t config_f,
+ buzzer_t * buzzer_f,
+ evaluatedJoystick* joystick_f,
+ httpJoystick* httpJoystick_f
+ ){
+
+ //copy configuration
+ config = config_f;
+ //copy object pointers
+ buzzer = buzzer_f;
+ joystick_l = joystick_f,
+ httpJoystickMain_l = httpJoystick_f;
+ //set default mode from config
+ modePrevious = config.defaultMode;
+
+ //TODO declare / configure controlled motors here instead of config (unnecessary that button object is globally available - only used here)?
+ }
+
+
+
+ //----------------------------------
+ //---------- Handle loop -----------
+ //----------------------------------
+ //function that repeatedly generates motor commands depending on the current mode
+ //also handles fading and current-limit
+ void controlledArmchair::startHandleLoop() {
+ while (1){
+ ESP_LOGV(TAG, "control task executing... mode=%s", controlModeStr[(int)mode]);
+
+ switch(mode) {
+ default:
+ mode = controlMode_t::IDLE;
+ break;
+
+ case controlMode_t::IDLE:
+ //send both motors idle command to motorctl pcb
+ uart_sendStruct<motorCommands_t>(cmds_bothMotorsIdle);
+ commands_now = cmds_bothMotorsIdle;
+ 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(50 / portTICK_PERIOD_MS);
+ //get current joystick data with getData method of evaluatedJoystick
+ stickData = joystick_l->getData();
+ //additionaly scale coordinates (more detail in slower area)
+ joystick_scaleCoordinatesLinear(&stickData, 0.6, 0.35); //TODO: add scaling parameters to config
+ //generate motor commands
+ commands_now = joystick_generateCommandsDriving(stickData, altStickMapping);
+ //apply motor commands
+ uart_sendStruct<motorCommands_t>(commands_now);
+ 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_now = joystick_generateCommandsShaking(stickData);
+ //apply motor commands
+ uart_sendStruct<motorCommands_t>(commands_now);
+ 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_now = joystick_generateCommandsDriving(stickData, altStickMapping);
+
+ //--- apply commands to motors ---
+ uart_sendStruct<motorCommands_t>(commands_now);
+ break;
+
+
+ case controlMode_t::AUTO:
+ //FIXME auto mode currently not supported, needs rework
+ vTaskDelay(20 / portTICK_PERIOD_MS);
+// //generate commands
+// commands_now = armchair.generateCommands(&instruction);
+// //--- apply commands to motors ---
+// //TODO make motorctl.setTarget also accept motorcommand struct directly
+// uart_sendStruct<motorCommands_t>(commands_now);
+// //motorRight->setTarget(commands_now.right.state, commands_now.right.duty);
+// //motorLeft->setTarget(commands_now.left.state, commands_now.left.duty);
+//
+// //process received instruction
+// switch (instruction) {
+// 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
+ //TODO add methods and move below code to button file possible?
+ switch (buttonCount) {
+ case 1: //define joystick center or freeze input
+ if (mode == controlMode_t::JOYSTICK){
+ //joystick mode: calibrate joystick
+ joystick_l->defineCenter();
+ buzzer->beep(2, 50, 30);
+ buzzer->beep(1, 200, 25);
+ } else if (mode == controlMode_t::MASSAGE){
+ //massage mode: toggle freeze of input (lock joystick at current values)
+ freezeInput = !freezeInput;
+ 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* so change between current and last duty is detectable
+ void controlledArmchair::handleTimeout(){
+ //check for timeout only when not idling already
+ if (mode != controlMode_t::IDLE) {
+ //activity detected between current and last generated motor commands
+ if (validateActivity(commands_lastActivityCheck.left.duty, commands_now.left.duty, inactivityTolerance)
+ || validateActivity(commands_lastActivityCheck.right.duty, commands_now.right.duty, inactivityTolerance)
+ ){
+ ESP_LOGD(TAG, "timeout check: [activity] detected since last check -> reset");
+ //reset last commands and timestamp
+ commands_lastActivityCheck = commands_now;
+ resetTimeout();
+ }
+ //no activity on any motor and msTimeout exceeded
+ else if (esp_log_timestamp() - timestamp_lastActivity > config.timeoutMs){
+ ESP_LOGW(TAG, "timeout check: [TIMEOUT], no activity for more than %.ds -> switch to idle", config.timeoutMs/1000);
+ //toggle to idle mode
+ toggleIdle();
+ }
+ else {
+ ESP_LOGD(TAG, "timeout check: [inactive], last activity %.1f s ago, timeout after %d s", (float)(esp_log_timestamp() - timestamp_lastActivity)/1000, config.timeoutMs/1000);
+ }
+ }
+ }
+
+
+
+ //-----------------------------------
+ //----------- changeMode ------------
+ //-----------------------------------
+ //function to change to a specified control mode
+ //FIXME FIXME: replace change with motorLeft object with update config via uart
+ void controlledArmchair::changeMode(controlMode_t modeNew) {
+ //reset timeout timer
+ resetTimeout();
+
+ //exit if target mode is already active
+ if (mode == modeNew) {
+ ESP_LOGE(TAG, "changeMode: Already in target mode '%s' -> nothing to change", controlModeStr[(int)mode]);
+ return;
+ }
+
+ //copy previous mode
+ modePrevious = mode;
+
+ ESP_LOGW(TAG, "=== changing mode from %s to %s ===", controlModeStr[(int)mode], controlModeStr[(int)modeNew]);
+
+ //========== commands change FROM mode ==========
+ //run functions when changing FROM certain mode
+ switch(modePrevious){
+ default:
+ ESP_LOGI(TAG, "noting to execute when changing FROM this mode");
+ break;
+
+ #ifdef JOYSTICK_LOG_IN_IDLE
+ case controlMode_t::IDLE:
+ ESP_LOGI(TAG, "disabling debug output for 'evaluatedJoystick'");
+ esp_log_level_set("evaluatedJoystick", ESP_LOG_WARN); //FIXME: loglevel from config
+ break;
+ #endif
+
+ case controlMode_t::HTTP:
+ ESP_LOGW(TAG, "switching from http mode -> disabling http and wifi");
+ //stop http server
+ ESP_LOGI(TAG, "disabling http server...");
+ http_stop_server();
+
+ //FIXME: make wifi function work here - currently starting wifi at startup (see notes main.cpp)
+ //stop wifi
+ //TODO: decide whether ap or client is currently used - which has to be disabled?
+ //ESP_LOGI(TAG, "deinit wifi...");
+ //wifi_deinit_client();
+ //wifi_deinit_ap();
+ ESP_LOGI(TAG, "done stopping http mode");
+ break;
+
+// case controlMode_t::MASSAGE:
+// ESP_LOGW(TAG, "switching from MASSAGE mode -> restoring fading, reset frozen input");
+// //TODO: fix issue when downfading was disabled before switching to massage mode - currently it gets enabled again here...
+// //enable downfading (set to default value)
+// motorLeft->setFade(fadeType_t::DECEL, true);
+// motorRight->setFade(fadeType_t::DECEL, true);
+// //set upfading to default value
+// motorLeft->setFade(fadeType_t::ACCEL, true);
+// motorRight->setFade(fadeType_t::ACCEL, true);
+// //reset frozen input state
+// freezeInput = false;
+// break;
+//
+// case controlMode_t::AUTO:
+// ESP_LOGW(TAG, "switching from AUTO mode -> restoring fading to default");
+// //TODO: fix issue when downfading was disabled before switching to auto mode - currently it gets enabled again here...
+// //enable downfading (set to default value)
+// motorLeft->setFade(fadeType_t::DECEL, true);
+// motorRight->setFade(fadeType_t::DECEL, true);
+// //set upfading to default value
+// motorLeft->setFade(fadeType_t::ACCEL, true);
+// motorRight->setFade(fadeType_t::ACCEL, true);
+// break;
+ }
+
+
+ //========== commands change TO mode ==========
+ //run functions when changing TO certain mode
+ switch(modeNew){
+ default:
+ ESP_LOGI(TAG, "noting to execute when changing TO this mode");
+ break;
+
+ case controlMode_t::IDLE:
+ buzzer->beep(1, 1500, 0);
+ #ifdef JOYSTICK_LOG_IN_IDLE
+ esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
+ #endif
+ break;
+
+ case controlMode_t::HTTP:
+ ESP_LOGW(TAG, "switching to http mode -> enabling http and wifi");
+ //start wifi
+ //TODO: decide wether ap or client should be started
+ ESP_LOGI(TAG, "init wifi...");
+
+ //FIXME: make wifi function work here - currently starting wifi at startup (see notes main.cpp)
+ //wifi_init_client();
+ //wifi_init_ap();
+
+ //wait for wifi
+ //ESP_LOGI(TAG, "waiting for wifi...");
+ //vTaskDelay(1000 / portTICK_PERIOD_MS);
+
+ //start http server
+ ESP_LOGI(TAG, "init http server...");
+ http_init_server();
+ ESP_LOGI(TAG, "done initializing http mode");
+ break;
+
+// case controlMode_t::MASSAGE:
+// ESP_LOGW(TAG, "switching to MASSAGE mode -> reducing fading");
+// uint32_t shake_msFadeAccel = 500; //TODO: move this to config
+//
+// //disable downfading (max. deceleration)
+// motorLeft->setFade(fadeType_t::DECEL, false);
+// motorRight->setFade(fadeType_t::DECEL, false);
+// //reduce upfading (increase acceleration)
+// motorLeft->setFade(fadeType_t::ACCEL, shake_msFadeAccel);
+// motorRight->setFade(fadeType_t::ACCEL, shake_msFadeAccel);
+// break;
+
+ }
+
+ //--- update mode to new mode ---
+ //TODO: add mutex
+ mode = modeNew;
+ }
+
+
+ //TODO simplify the following 3 functions? can be replaced by one?
+
+ //-----------------------------------
+ //----------- toggleIdle ------------
+ //-----------------------------------
+ //function to toggle between IDLE and previous active mode
+ void controlledArmchair::toggleIdle() {
+ //toggle between IDLE and previous mode
+ toggleMode(controlMode_t::IDLE);
+ }
+
+
+
+ //------------------------------------
+ //----------- toggleModes ------------
+ //------------------------------------
+ //function to toggle between two modes, but prefer first argument if entirely different mode is currently active
+ void controlledArmchair::toggleModes(controlMode_t modePrimary, controlMode_t modeSecondary) {
+ //switch to secondary mode when primary is already active
+ if (mode == modePrimary){
+ ESP_LOGW(TAG, "toggleModes: switching from primaryMode %s to secondarMode %s", controlModeStr[(int)mode], controlModeStr[(int)modeSecondary]);
+ buzzer->beep(2,200,100);
+ changeMode(modeSecondary); //switch to secondary mode
+ }
+ //switch to primary mode when any other mode is active
+ else {
+ ESP_LOGW(TAG, "toggleModes: switching from %s to primary mode %s", controlModeStr[(int)mode], controlModeStr[(int)modePrimary]);
+ buzzer->beep(4,200,100);
+ changeMode(modePrimary);
+ }
+ }
+
+
+
+ //-----------------------------------
+ //----------- toggleMode ------------
+ //-----------------------------------
+ //function that toggles between certain mode and previous mode
+ void controlledArmchair::toggleMode(controlMode_t modePrimary){
+
+ //switch to previous mode when primary is already active
+ if (mode == modePrimary){
+ ESP_LOGW(TAG, "toggleMode: switching from primaryMode %s to previousMode %s", controlModeStr[(int)mode], controlModeStr[(int)modePrevious]);
+ //buzzer->beep(2,200,100);
+ changeMode(modePrevious); //switch to previous mode
+ }
+ //switch to primary mode when any other mode is active
+ else {
+ ESP_LOGW(TAG, "toggleModes: switching from %s to primary mode %s", controlModeStr[(int)mode], controlModeStr[(int)modePrimary]);
+ //buzzer->beep(4,200,100);
+ changeMode(modePrimary);
+ }
+ }
diff --git a/board_control/main/control.hpp b/board_control/main/control.hpp
new file mode 100644
index 0000000..58f3085
--- /dev/null
+++ b/board_control/main/control.hpp
@@ -0,0 +1,125 @@
+#pragma once
+
+#include "buzzer.hpp"
+#include "http.hpp"
+#include "auto.hpp"
+#include "types.hpp"
+
+
+//FIXME controlledMotor class not available for this pcb, rework
+ //--------------------------------------------
+ //---- struct, enum, variable declarations ---
+ //--------------------------------------------
+ //enum that decides how the motors get controlled
+ enum class controlMode_t {IDLE, JOYSTICK, MASSAGE, HTTP, MQTT, BLUETOOTH, AUTO};
+ //string array representing the mode enum (for printing the state as string)
+ extern const char* controlModeStr[7];
+
+ //--- control_config_t ---
+ //struct with config parameters
+ typedef struct control_config_t {
+ controlMode_t defaultMode; //default mode after startup and toggling IDLE
+ //timeout options
+ uint32_t timeoutMs; //time of inactivity after which the mode gets switched to IDLE
+ float timeoutTolerancePer; //percentage the duty can vary between timeout checks considered still inactive
+ } control_config_t;
+
+
+
+
+ //==================================
+ //========= control class ==========
+ //==================================
+ //controls the mode the armchair operates
+ //repeatedly generates the motor commands corresponding to current mode and sends those to motorcontrol
+ class controlledArmchair {
+ public:
+ //--- constructor ---
+ controlledArmchair (
+ control_config_t config_f,
+ buzzer_t* buzzer_f,
+ evaluatedJoystick* joystick_f,
+ httpJoystick* httpJoystick_f
+ );
+
+ //--- functions ---
+ //task that repeatedly generates motor commands depending on the current mode
+ void startHandleLoop();
+
+ //function that changes to a specified control mode
+ void changeMode(controlMode_t modeNew);
+
+ //function that toggle between IDLE and previous active mode (or default if not switched to certain mode yet)
+ void toggleIdle();
+
+ //function that toggles between two modes, but prefers first argument if entirely different mode is currently active
+ void toggleModes(controlMode_t modePrimary, controlMode_t modeSecondary);
+
+ //toggle between certain mode and previous mode
+ void toggleMode(controlMode_t modePrimary);
+
+ //function that restarts timer which initiates the automatic timeout (switch to IDLE) after certain time of inactivity
+ void resetTimeout();
+
+ //function for sending a button event (e.g. from button task at event) to control task
+ //TODO: use queue instead?
+ void sendButtonEvent(uint8_t count);
+
+ private:
+
+ //--- functions ---
+ //function that evaluates whether there is no activity/change on the motor duty for a certain time, if so a switch to IDLE is issued. - has to be run repeatedly in a slow interval
+ void handleTimeout();
+
+ //--- objects ---
+ buzzer_t* buzzer;
+ httpJoystick* httpJoystickMain_l;
+ evaluatedJoystick* joystick_l;
+
+ //---variables ---
+ //struct for motor commands returned by generate functions of each mode
+ motorCommands_t commands_now;
+ //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)
+ uint32_t timestamp_lastActivity = 0;
+ motorCommands_t commands_lastActivityCheck;
+ };
+
+
diff --git a/main/http.cpp b/board_control/main/http.cpp
similarity index 98%
rename from main/http.cpp
rename to board_control/main/http.cpp
index b7519c9..04844de 100644
--- a/main/http.cpp
+++ b/board_control/main/http.cpp
@@ -232,8 +232,8 @@ void http_init_server()
//----- define URLs -----
- //note: ignore warning here, cant define elements separately, causes crash
- httpd_uri_t joystick_url = {
+ //note: dont use separate assignment of elements because causes controller crash
+ httpd_uri_t joystick_url = {
.uri = "/api/joystick",
.method = HTTP_POST,
.handler = on_joystick_url,
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 98%
rename from main/joystick.hpp
rename to board_control/main/joystick.hpp
index dc12b15..ccf5bec 100644
--- a/main/joystick.hpp
+++ b/board_control/main/joystick.hpp
@@ -11,7 +11,7 @@ extern "C"
}
#include <cmath>
-#include "motorctl.hpp" //for declaration of motorCommands_t struct
+#include "types.hpp"
//======================================
diff --git a/board_control/main/main.cpp b/board_control/main/main.cpp
new file mode 100644
index 0000000..260310a
--- /dev/null
+++ b/board_control/main/main.cpp
@@ -0,0 +1,243 @@
+extern "C"
+{
+#include <stdio.h>
+#include <esp_system.h>
+#include <esp_event.h>
+#include <nvs_flash.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "driver/gpio.h"
+#include "esp_log.h"
+#include "sdkconfig.h"
+#include "esp_spiffs.h"
+
+
+ //custom C files
+ #include "wifi.h"
+}
+
+
+#include "uart.hpp"
+
+
+//=========================
+//======= UART TEST =======
+//=========================
+//only run uart test code at the end
+//disables other functionality
+//#define UART_TEST_ONLY
+
+
+//tag for logging
+static const char * TAG = "main";
+
+
+#ifndef UART_TEST_ONLY
+//custom C++ files
+#include "config.hpp"
+#include "control.hpp"
+#include "button.hpp"
+#include "http.hpp"
+
+
+
+//======================================
+//============ buzzer task =============
+//======================================
+//TODO: move the task creation to buzzer class (buzzer.cpp)
+//e.g. only have function buzzer.createTask() in app_main
+void task_buzzer( void * pvParameters ){
+ ESP_LOGI("task_buzzer", "Start of buzzer task...");
+ //run function that waits for a beep events to arrive in the queue
+ //and processes them
+ buzzer.processQueue();
+}
+
+
+
+//=======================================
+//============ control task =============
+//=======================================
+//task that controls the armchair modes and initiates commands generation and applies them to driver
+void task_control( void * pvParameters ){
+ ESP_LOGI(TAG, "Initializing controlledArmchair and starting handle loop");
+ //start handle loop (control object declared in config.hpp)
+ control.startHandleLoop();
+}
+
+
+
+//======================================
+//============ button task =============
+//======================================
+//task that handles the button interface/commands
+void task_button( void * pvParameters ){
+ ESP_LOGI(TAG, "Initializing command-button and starting handle loop");
+ //create button instance
+ buttonCommands commandButton(&buttonJoystick, &joystick, &control, &buzzer);
+ //start handle loop
+ commandButton.startHandleLoop();
+}
+
+
+
+//=======================================
+//============== fan task ===============
+//=======================================
+//task that controlls fans for cooling the drivers
+//void task_fans( void * pvParameters ){
+// ESP_LOGI(TAG, "Initializing fans and starting fan handle loop");
+// //create fan instances with config defined in config.cpp
+// controlledFan fan(configCooling, &motorLeft, &motorRight);
+// //repeatedly run fan handle function in a slow loop
+// while(1){
+// fan.handle();
+// vTaskDelay(500 / portTICK_PERIOD_MS);
+// }
+//}
+
+
+
+//=================================
+//========== init spiffs ==========
+//=================================
+//initialize spi flash filesystem (used for webserver)
+void init_spiffs(){
+ ESP_LOGI(TAG, "init spiffs");
+ esp_vfs_spiffs_conf_t esp_vfs_spiffs_conf = {
+ .base_path = "/spiffs",
+ .partition_label = NULL,
+ .max_files = 5,
+ .format_if_mount_failed = true};
+ esp_vfs_spiffs_register(&esp_vfs_spiffs_conf);
+
+ size_t total = 0;
+ size_t used = 0;
+ esp_spiffs_info(NULL, &total, &used);
+
+ ESP_LOGI(TAG, "SPIFFS: total %d, used %d", total, used);
+ esp_vfs_spiffs_unregister(NULL);
+}
+#endif
+
+
+
+//==================================
+//======== define loglevels ========
+//==================================
+void setLoglevels(void){
+ //set loglevel for all tags:
+ esp_log_level_set("*", ESP_LOG_WARN);
+
+ //--- set loglevel for individual tags ---
+ esp_log_level_set("main", ESP_LOG_INFO);
+ esp_log_level_set("buzzer", ESP_LOG_ERROR);
+ //esp_log_level_set("motordriver", ESP_LOG_INFO);
+ //esp_log_level_set("motor-control", ESP_LOG_DEBUG);
+ //esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
+ //esp_log_level_set("joystickCommands", ESP_LOG_DEBUG);
+ esp_log_level_set("button", ESP_LOG_INFO);
+ esp_log_level_set("control", ESP_LOG_INFO);
+ esp_log_level_set("fan-control", ESP_LOG_INFO);
+ esp_log_level_set("wifi", ESP_LOG_INFO);
+ esp_log_level_set("http", ESP_LOG_INFO);
+ esp_log_level_set("automatedArmchair", ESP_LOG_DEBUG);
+ esp_log_level_set("uart-common", ESP_LOG_INFO);
+ esp_log_level_set("uart", ESP_LOG_INFO);
+
+ //
+}
+
+
+
+
+
+
+//=================================
+//=========== app_main ============
+//=================================
+extern "C" void app_main(void) {
+#ifndef UART_TEST_ONLY
+ //enable 5V volate regulator
+ gpio_pad_select_gpio(GPIO_NUM_17);
+ gpio_set_direction(GPIO_NUM_17, GPIO_MODE_OUTPUT);
+ gpio_set_level(GPIO_NUM_17, 1);
+
+ //---- define log levels ----
+ setLoglevels();
+
+ //------------------------------
+ //--- create task for buzzer ---
+ //------------------------------
+ xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
+
+ //-------------------------------
+ //--- create task for control ---
+ //-------------------------------
+ //task that generates motor commands depending on the current mode and sends those to motorctl task
+ xTaskCreate(&task_control, "task_control", 5*4096, NULL, 5, NULL);
+
+ //------------------------------
+ //--- create task for button ---
+ //------------------------------
+ //task that evaluates and processes the button input and runs the configured commands
+ xTaskCreate(&task_button, "task_button", 4096, NULL, 4, NULL);
+
+ //-----------------------------------
+ //--- 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();
+
+
+#endif
+
+ //-------------------------------------------
+ //--- create tasks for uart communication ---
+ //-------------------------------------------
+
+ uart_init();
+ xTaskCreate(task_uartReceive, "task_uartReceive", 4096, NULL, 10, NULL);
+ xTaskCreate(task_uartSend, "task_uartSend", 4096, NULL, 10, NULL);
+
+ //--- main loop ---
+ //does nothing except for testing things
+
+ //--- testing force http mode after startup ---
+ vTaskDelay(5000 / portTICK_PERIOD_MS);
+ control.changeMode(controlMode_t::HTTP);
+ while(1){
+ vTaskDelay(1000 / portTICK_PERIOD_MS);
+ //---------------------------------
+ //-------- TESTING section --------
+ //---------------------------------
+
+ }
+
+}
diff --git a/board_control/main/uart.cpp b/board_control/main/uart.cpp
new file mode 100644
index 0000000..eaf55d6
--- /dev/null
+++ b/board_control/main/uart.cpp
@@ -0,0 +1,55 @@
+extern "C"
+{
+#include <stdio.h>
+#include <esp_system.h>
+#include <esp_event.h>
+#include <nvs_flash.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "driver/gpio.h"
+#include "esp_log.h"
+#include "sdkconfig.h"
+#include <string.h>
+
+#include "freertos/queue.h"
+#include "driver/uart.h"
+}
+#include "uart.hpp"
+
+static const char * TAG = "uart";
+
+
+
+//==============================
+//====== task_uartReceive ======
+//==============================
+//TODO copy receive task from board_motorctl/uart.cpp
+void task_uartReceive(void *arg){
+ while (1) {
+ vTaskDelay(200 / portTICK_PERIOD_MS);
+ }
+}
+
+
+
+//=============================
+//======= task_uartSend =======
+//=============================
+//repeatedly send structs via uart
+//note: uart_sendStruct() from uart_common.hpp can be used anywhere
+void task_uartSend(void *arg){
+ static const char * TAG = "uart-send";
+ uartData_test_t data = {123, 0, 1.1};
+ ESP_LOGW(TAG, "send task started");
+ //repeatedly send data for testing uart
+ while (1) {
+ vTaskDelay(5000 / portTICK_PERIOD_MS);
+ uart_sendStruct<uartData_test_t>(data);
+
+ //change data values
+ data.timestamp = esp_log_timestamp();
+ data.id++;
+ data.value += 0.6;
+ }
+ ESP_LOGE(TAG, "loop exit...");
+}
diff --git a/board_control/main/uart.hpp b/board_control/main/uart.hpp
new file mode 100644
index 0000000..2c8195f
--- /dev/null
+++ b/board_control/main/uart.hpp
@@ -0,0 +1,10 @@
+#pragma once
+#include "uart_common.hpp"
+
+//===== uart board CONTROL =====
+//
+void task_uartReceive(void *arg);
+void task_uartSend(void *arg);
+
+
+
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 87%
rename from CMakeLists.txt
rename to board_motorctl/CMakeLists.txt
index cd14e0b..b692e77 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 ../common")
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..4b2b42c
--- /dev/null
+++ b/board_motorctl/main/CMakeLists.txt
@@ -0,0 +1,12 @@
+idf_component_register(
+ SRCS
+ "main.cpp"
+ "motordrivers.cpp"
+ "motorctl.cpp"
+ "config.cpp"
+ "fan.cpp"
+ "currentsensor.cpp"
+ "uart.cpp"
+ INCLUDE_DIRS
+ "."
+ )
diff --git a/board_motorctl/main/config.cpp b/board_motorctl/main/config.cpp
new file mode 100644
index 0000000..3d57660
--- /dev/null
+++ b/board_motorctl/main/config.cpp
@@ -0,0 +1,85 @@
+
+#include "config.hpp"
+
+//===================================
+//======= motor configuration =======
+//===================================
+//--- configure left motor (hardware) ---
+single100a_config_t configDriverLeft = {
+ .gpio_pwm = GPIO_NUM_26,
+ .gpio_a = GPIO_NUM_4,
+ .gpio_b = GPIO_NUM_16,
+ .gpio_brakeRelay = GPIO_NUM_5, //power mosfet 2
+ .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_15,
+ .gpio_brakeRelay = GPIO_NUM_18, //power mosfet 1
+ .ledc_timer = LEDC_TIMER_1,
+ .ledc_channel = LEDC_CHANNEL_1,
+ .aEnabledPinState = false, //-> pins inverted (mosfets)
+ .bEnabledPinState = false,
+ .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 = false,
+ .currentSensor_adc = ADC1_CHANNEL_0, //GPIO36
+ .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 = false,
+ .currentSensor_adc = ADC1_CHANNEL_3, //GPIO39
+ .currentSensor_ratedCurrent = 50,
+ .currentMax = 30,
+ .deadTimeMs = 900 //minimum time motor is off between direction change
+};
+
+
+
+//============================
+//=== 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 buzzer object on pin 12 with gap between queued events of 100ms
+buzzer_t buzzer(GPIO_NUM_12, 100);
diff --git a/board_motorctl/main/config.hpp b/board_motorctl/main/config.hpp
new file mode 100644
index 0000000..9c4c979
--- /dev/null
+++ b/board_motorctl/main/config.hpp
@@ -0,0 +1,27 @@
+#pragma once
+
+#include "motordrivers.hpp"
+#include "motorctl.hpp"
+
+#include "gpio_evaluateSwitch.hpp"
+#include "buzzer.hpp"
+#include "fan.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 buzzer object
+extern buzzer_t buzzer;
+
+//configuration for fans / cooling
+extern fan_config_t configCooling;
+
diff --git a/main/currentsensor.cpp b/board_motorctl/main/currentsensor.cpp
similarity index 100%
rename from main/currentsensor.cpp
rename to board_motorctl/main/currentsensor.cpp
diff --git a/main/currentsensor.hpp b/board_motorctl/main/currentsensor.hpp
similarity index 100%
rename from main/currentsensor.hpp
rename to board_motorctl/main/currentsensor.hpp
diff --git a/main/fan.cpp b/board_motorctl/main/fan.cpp
similarity index 100%
rename from main/fan.cpp
rename to board_motorctl/main/fan.cpp
diff --git a/main/fan.hpp b/board_motorctl/main/fan.hpp
similarity index 100%
rename from main/fan.hpp
rename to board_motorctl/main/fan.hpp
diff --git a/board_motorctl/main/main.cpp b/board_motorctl/main/main.cpp
new file mode 100644
index 0000000..4b527c3
--- /dev/null
+++ b/board_motorctl/main/main.cpp
@@ -0,0 +1,217 @@
+extern "C"
+{
+#include <stdio.h>
+#include <esp_system.h>
+#include <esp_event.h>
+#include <nvs_flash.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "driver/gpio.h"
+#include "esp_log.h"
+#include "sdkconfig.h"
+#include "esp_spiffs.h"
+#include <string.h>
+
+#include "driver/ledc.h"
+
+//custom C files
+#include "wifi.h"
+}
+//custom C++ files
+#include "config.hpp"
+#include "uart.hpp"
+
+//=========================
+//======= UART TEST =======
+//=========================
+//only run uart test code at the end
+//disables other functionality
+//#define UART_TEST_ONLY
+
+//==========================
+//======= BRAKE TEST =======
+//==========================
+//only run brake-test (ignore uart input)
+#define BRAKE_TEST_ONLY
+
+
+//tag for logging
+static const char * TAG = "main";
+
+
+#ifndef UART_TEST_ONLY
+//====================================
+//========== motorctl task ===========
+//====================================
+//task for handling the motors (ramp, current limit, driver)
+void task_motorctl( void * pvParameters ){
+ ESP_LOGI(TAG, "starting handle loop...");
+ while(1){
+ motorRight.handle();
+ motorLeft.handle();
+ //10khz -> T=100us
+ vTaskDelay(10 / portTICK_PERIOD_MS);
+ }
+}
+
+
+
+//======================================
+//============ 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();
+}
+
+
+
+//=======================================
+//============== 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);
+ }
+}
+
+
+
+//==================================
+//======== 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_VERBOSE);
+ esp_log_level_set("motor-control", ESP_LOG_INFO);
+ //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("uart_common", ESP_LOG_INFO);
+ esp_log_level_set("uart", ESP_LOG_INFO);
+ //esp_log_level_set("current-sensors", ESP_LOG_INFO);
+}
+#endif
+
+
+//=================================
+//=========== app_main ============
+//=================================
+extern "C" void app_main(void) {
+#ifndef UART_TEST_ONLY
+ //enable 5V volate regulator
+ gpio_pad_select_gpio(GPIO_NUM_17);
+ gpio_set_direction(GPIO_NUM_17, GPIO_MODE_OUTPUT);
+ gpio_set_level(GPIO_NUM_17, 1);
+
+ //---- define log levels ----
+ setLoglevels();
+
+ //----------------------------------------------
+ //--- create task for controlling the motors ---
+ //----------------------------------------------
+ //task that receives commands, handles ramp and current limit and executes commands using the motordriver function
+ xTaskCreate(&task_motorctl, "task_motor-control", 2048, NULL, 6, NULL);
+
+ //------------------------------
+ //--- create task for buzzer ---
+ //------------------------------
+ xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
+
+
+ //-----------------------------------
+ //--- create task for 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);
+#endif
+
+
+
+ //-------------------------------------------
+ //--- create tasks for uart communication ---
+ //-------------------------------------------
+#ifndef BRAKE_TEST_ONLY
+ uart_init();
+ xTaskCreate(task_uartReceive, "task_uartReceive", 4096, NULL, 10, NULL);
+ xTaskCreate(task_uartSend, "task_uartSend", 4096, NULL, 10, NULL);
+#endif
+
+
+ //--- main loop ---
+ //does nothing except for testing things
+ while(1){
+ vTaskDelay(500 / portTICK_PERIOD_MS);
+#ifdef BRAKE_TEST_ONLY
+ //test relays at standstill
+ ESP_LOGW("brake-test", "test relays via motorctl");
+ //turn on
+ motorRight.setTarget(motorstate_t::BRAKE, 0);
+ vTaskDelay(500 / portTICK_PERIOD_MS);
+ motorRight.setTarget(motorstate_t::BRAKE, 0);
+ vTaskDelay(1000 / portTICK_PERIOD_MS);
+ //turn off
+ motorRight.setTarget(motorstate_t::IDLE, 0);
+ vTaskDelay(500 / portTICK_PERIOD_MS);
+ motorRight.setTarget(motorstate_t::IDLE, 0);
+
+ vTaskDelay(1000 / portTICK_PERIOD_MS);
+
+ //go forward and brake
+ ESP_LOGW("brake-test", "go forward 30%% then brake");
+ motorRight.setTarget(motorstate_t::FWD, 30);
+ vTaskDelay(1000 / portTICK_PERIOD_MS);
+ motorRight.setTarget(motorstate_t::BRAKE, 0);
+
+ vTaskDelay(3000 / portTICK_PERIOD_MS);
+
+ //brake partial
+ ESP_LOGW("brake-test", "go forward 30%% then brake partial 10%%, hold for 5sec");
+ motorRight.setTarget(motorstate_t::FWD, 30);
+ vTaskDelay(1000 / portTICK_PERIOD_MS);
+ motorRight.setTarget(motorstate_t::BRAKE, 10);
+
+ vTaskDelay(5000 / portTICK_PERIOD_MS);
+ //reset to idle
+ motorRight.setTarget(motorstate_t::IDLE, 0);
+
+#endif
+
+
+ //--- test controlledMotor --- (ramp)
+ // //brake for 1 s
+ // motorLeft.setTarget(motorstate_t::BRAKE);
+ // vTaskDelay(1000 / portTICK_PERIOD_MS);
+ // //command 90% - reverse
+ // motorLeft.setTarget(motorstate_t::REV, 90);
+ // vTaskDelay(5000 / portTICK_PERIOD_MS);
+ // //command 100% - forward
+ // motorLeft.setTarget(motorstate_t::FWD, 100);
+ // vTaskDelay(1000 / portTICK_PERIOD_MS);
+
+ }
+}
diff --git a/main/motorctl.cpp b/board_motorctl/main/motorctl.cpp
similarity index 91%
rename from main/motorctl.cpp
rename to board_motorctl/main/motorctl.cpp
index df544ea..b560ad4 100644
--- a/main/motorctl.cpp
+++ b/board_motorctl/main/motorctl.cpp
@@ -1,8 +1,11 @@
#include "motorctl.hpp"
+#include "esp_log.h"
+#include "types.hpp"
//tag for logging
static const char * TAG = "motor-control";
+#define TIMEOUT_IDLE_WHEN_NO_COMMAND 8000
//=============================
//======== constructor ========
@@ -77,9 +80,11 @@ void controlledMotor::handle(){
//--- 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);
+ ESP_LOGI(TAG, "Read command from queue: state=%s, duty=%.2f", motorstateStr[(int)commandReceive.state], commandReceive.duty);
state = commandReceive.state;
dutyTarget = commandReceive.duty;
+ receiveTimeout = false;
+ timestamp_commandReceived = esp_log_timestamp();
//--- convert duty ---
//define target duty (-100 to 100) from provided duty and motorstate
@@ -88,7 +93,8 @@ void controlledMotor::handle(){
case motorstate_t::BRAKE:
//update state
state = motorstate_t::BRAKE;
- dutyTarget = 0;
+ //dutyTarget = 0;
+ dutyTarget = fabs(commandReceive.duty);
break;
case motorstate_t::IDLE:
dutyTarget = 0;
@@ -102,6 +108,15 @@ void controlledMotor::handle(){
}
}
+ //--- timeout, no data ---
+ //turn motors off if no data received for long time (e.g. no uart data / control offline)
+ //TODO no timeout when braking?
+ if ((esp_log_timestamp() - timestamp_commandReceived) > TIMEOUT_IDLE_WHEN_NO_COMMAND && !receiveTimeout){
+ receiveTimeout = true;
+ state = motorstate_t::IDLE;
+ dutyTarget = 0;
+ ESP_LOGE(TAG, "TIMEOUT, no target data received for more than %ds -> switch to IDLE", TIMEOUT_IDLE_WHEN_NO_COMMAND/1000);
+ }
//--- calculate increment ---
//calculate increment for fading UP with passed time since last run and configured fade time
@@ -119,14 +134,15 @@ void controlledMotor::handle(){
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
- }
+
+ //--- BRAKE ---
+ //brake immediately, update state, duty and exit this cycle of handle function
+ if (state == motorstate_t::BRAKE){
+ ESP_LOGD(TAG, "braking - skip fading");
+ motor.set(motorstate_t::BRAKE, dutyTarget);
+ //dutyNow = 0;
+ return; //no need to run the fade algorithm
+ }
//--- calculate difference ---
diff --git a/main/motorctl.hpp b/board_motorctl/main/motorctl.hpp
similarity index 73%
rename from main/motorctl.hpp
rename to board_motorctl/main/motorctl.hpp
index c4bc19e..32018be 100644
--- a/main/motorctl.hpp
+++ b/board_motorctl/main/motorctl.hpp
@@ -16,33 +16,9 @@ extern "C"
//=======================================
//====== struct/type declarations ======
//=======================================
+//outsourced to common/types.hpp
+#include "types.hpp"
-//struct for sending command for one motor in the queue
-struct motorCommand_t {
- motorstate_t state;
- float duty;
-};
-
-//struct containing commands for two motors
-typedef struct motorCommands_t {
- motorCommand_t left;
- motorCommand_t right;
-} motorCommands_t;
-
-//struct with all config parameters for a motor regarding ramp and current limit
-typedef struct motorctl_config_t {
- uint32_t msFadeAccel; //acceleration of the motor (ms it takes from 0% to 100%)
- uint32_t msFadeDecel; //deceleration of the motor (ms it takes from 100% to 0%)
- bool currentLimitEnabled;
- adc1_channel_t currentSensor_adc;
- float currentSensor_ratedCurrent;
- float currentMax;
- uint32_t deadTimeMs; //time motor stays in IDLE before direction change
-} motorctl_config_t;
-
-//enum fade type (acceleration, deceleration)
-//e.g. used for specifying which fading should be modified with setFade, togleFade functions
-enum class fadeType_t {ACCEL, DECEL};
@@ -101,4 +77,7 @@ class controlledMotor {
struct motorCommand_t commandReceive = {};
struct motorCommand_t commandSend = {};
+
+ uint32_t timestamp_commandReceived = 0;
+ bool receiveTimeout = false;
};
diff --git a/main/motordrivers.cpp b/board_motorctl/main/motordrivers.cpp
similarity index 67%
rename from main/motordrivers.cpp
rename to board_motorctl/main/motordrivers.cpp
index e15b4e6..580db57 100644
--- a/main/motordrivers.cpp
+++ b/board_motorctl/main/motordrivers.cpp
@@ -1,4 +1,6 @@
#include "motordrivers.hpp"
+#include "esp_log.h"
+#include "types.hpp"
//TODO: move from ledc to mcpwm?
//https://docs.espressif.com/projects/esp-idf/en/v4.3/esp32/api-reference/peripherals/mcpwm.html#
@@ -7,12 +9,11 @@
//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";
+//ms to wait in IDLE before BRAKE until relay actually switched
+#define BRAKE_RELAY_DELAY_MS 300
//====================================
@@ -64,11 +65,13 @@ void single100a::init(){
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);
+ gpio_pad_select_gpio(config.gpio_brakeRelay);
+ gpio_set_direction(config.gpio_brakeRelay, 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);
+ ESP_LOGW(TAG, "initialized single100a driver");
+ ESP_LOGW(TAG, "resolution=%dbit, dutyMax value=%d, resolution=%.4f %%", ledc_timer.duty_resolution, dutyMax, 100/(float)dutyMax);
}
@@ -83,7 +86,7 @@ void single100a::set(motorstate_t state_f, float duty_f){
uint32_t dutyScaled;
if (duty_f > 100) { //target duty above 100%
dutyScaled = dutyMax;
- } else if (duty_f <= 0) { //target at or below 0%
+ } else if (duty_f < 0) { //target at or below 0%
state_f = motorstate_t::IDLE;
dutyScaled = 0;
} else { //target duty 0-100%
@@ -91,7 +94,18 @@ void single100a::set(motorstate_t state_f, float duty_f){
dutyScaled = duty_f / 100 * dutyMax;
}
+ ESP_LOGV(TAG, "target-state=%s, duty=%d/%d, duty_input=%.3f%%", motorstateStr[(int)state_f], dutyScaled, dutyMax, duty_f);
+
+ //TODO: only when previous mode was BRAKE?
+ if (state_f != motorstate_t::BRAKE){
+ //reset brake wait state
+ brakeWaitingForRelay = false;
+ //turn of brake relay
+ gpio_set_level(config.gpio_brakeRelay, 0);
+ }
+
//put the single100a h-bridge module in the desired state update duty-cycle
+ //TODO maybe outsource mode code from once switch case? e.g. idle() brake()...
switch (state_f){
case motorstate_t::IDLE:
ledc_set_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel, dutyScaled);
@@ -103,13 +117,37 @@ void single100a::set(motorstate_t state_f, float duty_f){
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::BRAKE:
+ //prevent full short (no brake resistors) due to slow relay, also reduces switching load
+ if (!brakeWaitingForRelay){
+ ESP_LOGW(TAG, "BRAKE: turned on relay, waiting in IDLE for %d ms, then apply brake", BRAKE_RELAY_DELAY_MS);
+ //switch driver to IDLE for now
+ gpio_set_level(config.gpio_a, config.aEnabledPinState);
+ gpio_set_level(config.gpio_b, config.bEnabledPinState);
+ //start brake relay
+ gpio_set_level(config.gpio_brakeRelay, 1);
+ timestamp_brakeRelayPowered = esp_log_timestamp();
+ brakeWaitingForRelay = true;
+ }
+ //check if delay for relay to switch has passed
+ else if ((esp_log_timestamp() - timestamp_brakeRelayPowered) > BRAKE_RELAY_DELAY_MS) {
+ ESP_LOGD(TAG, "applying brake with brake-resistors at duty=%.2f%%", duty_f);
+ //switch driver to BRAKE
+ gpio_set_level(config.gpio_a, !config.aEnabledPinState);
+ gpio_set_level(config.gpio_b, !config.bEnabledPinState);
+ //apply duty
+ //FIXME switch between BREAK and IDLE with PWM and ignore pwm-pin? (needs test)
+ ledc_set_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel, dutyScaled);
+ ledc_update_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel);
+ } else {
+ //waiting... stay in IDLE
+ ESP_LOGD(TAG, "waiting for brake relay to close (IDLE)...");
+ 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);
@@ -117,6 +155,7 @@ void single100a::set(motorstate_t state_f, float duty_f){
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);
@@ -125,5 +164,4 @@ void single100a::set(motorstate_t state_f, float duty_f){
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/main/motordrivers.hpp b/board_motorctl/main/motordrivers.hpp
similarity index 85%
rename from main/motordrivers.hpp
rename to board_motorctl/main/motordrivers.hpp
index 2cc3c75..745cbf3 100644
--- a/main/motordrivers.hpp
+++ b/board_motorctl/main/motordrivers.hpp
@@ -21,17 +21,15 @@ extern "C"
//--------------------------------------------
//---- struct, enum, variable declarations ---
//--------------------------------------------
-
-//class which controls a motor using a 'single100a' h-bridge module
-enum class motorstate_t {IDLE, FWD, REV, BRAKE};
-//definition of string array to be able to convert state enum to readable string (defined in motordrivers.cpp)
-extern const char* motorstateStr[4];
+//motorstate_t, motorstateStr outsourced to common/types.hpp
+#include "types.hpp"
//struct with all config parameters for single100a motor driver
typedef struct single100a_config_t {
gpio_num_t gpio_pwm;
gpio_num_t gpio_a;
gpio_num_t gpio_b;
+ gpio_num_t gpio_brakeRelay;
ledc_timer_t ledc_timer;
ledc_channel_t ledc_channel;
bool aEnabledPinState;
@@ -62,4 +60,6 @@ class single100a {
single100a_config_t config;
uint32_t dutyMax;
motorstate_t state = motorstate_t::IDLE;
+ bool brakeWaitingForRelay = false;
+ uint32_t timestamp_brakeRelayPowered;
};
diff --git a/board_motorctl/main/uart.cpp b/board_motorctl/main/uart.cpp
new file mode 100644
index 0000000..3bdc283
--- /dev/null
+++ b/board_motorctl/main/uart.cpp
@@ -0,0 +1,71 @@
+#include "uart.hpp"
+#include "config.hpp"
+#include "types.hpp"
+#include "uart_common.hpp"
+//===== uart board MOTORCTL =====
+
+static const char * TAG = "uart";
+
+
+
+//handle received payload from uart
+void handleMessage(uint8_t *receivedData, int len) {
+ ESP_LOGI(TAG, "complete message received len=%d", len);
+ //local variables
+ uartData_test_t dataTest;
+ motorCommands_t dataMotorCommands;
+ //assign data to struct
+ switch (len){
+ case sizeof(uartData_test_t):
+ dataTest = serialData2Struct<uartData_test_t>(receivedData);
+ ESP_LOGW(TAG, "received uartDataStruct len=%d DATA: timestamp=%d, id=%d, value=%.1f", len, dataTest.timestamp, dataTest.id, dataTest.value);
+ break;
+
+ case sizeof(motorCommands_t):
+ dataMotorCommands = serialData2Struct<motorCommands_t>(receivedData);
+ ESP_LOGI(TAG, "received motorCommands struct len=%d left=%.2f%% right=%.2f%%, update target...", len, dataMotorCommands.left.duty, dataMotorCommands.right.duty);
+ //update target motor state and duty
+ motorLeft.setTarget(dataMotorCommands.left.state,
+ dataMotorCommands.left.duty);
+ motorRight.setTarget(dataMotorCommands.right.state,
+ dataMotorCommands.right.duty);
+ break;
+
+ //TODO add other received structs here
+ default:
+ ESP_LOGE(TAG, "received data len=%d cant be associated with configures struct", len);
+ break;
+ }
+}
+
+
+
+//==============================
+//====== task_uartReceive ======
+//==============================
+//TODO duplicate code, same task in both boards, only handleMessage function has to be passed -> move to uart_common
+void task_uartReceive(void *arg){
+ ESP_LOGW(TAG, "receive task started");
+ while (1) {
+ uint8_t byte;
+ //read 1 byte TODO: use uart queue here? data might get lost when below function takes longer than data arrives
+ int len = uart_read_bytes(UART_NUM_1, &byte, 1, portMAX_DELAY);
+ if (len > 0) {
+ //process received byte
+ uart_processReceivedByte(byte, handleMessage);
+ }
+ }
+}
+
+
+
+//=============================
+//======= task_uartSend =======
+//=============================
+//TODO copy send task from board_control/uart.cpp
+void task_uartSend(void *arg){
+ ESP_LOGW(TAG, "send task started");
+ while (1) {
+ vTaskDelay(500 / portTICK_PERIOD_MS);
+ }
+}
diff --git a/board_motorctl/main/uart.hpp b/board_motorctl/main/uart.hpp
new file mode 100644
index 0000000..b94c767
--- /dev/null
+++ b/board_motorctl/main/uart.hpp
@@ -0,0 +1,8 @@
+#pragma once
+#include "uart_common.hpp"
+
+//===== uart board MOTORCTL =====
+
+void task_uartReceive(void *arg);
+void task_uartSend(void *arg);
+
diff --git a/common/CMakeLists.txt b/common/CMakeLists.txt
new file mode 100644
index 0000000..a49da26
--- /dev/null
+++ b/common/CMakeLists.txt
@@ -0,0 +1,11 @@
+idf_component_register(
+ SRCS
+ "wifi.c"
+ "buzzer.cpp"
+ "uart_common.cpp"
+ "types.cpp"
+ INCLUDE_DIRS
+ "."
+ PRIV_REQUIRES nvs_flash
+ )
+
diff --git a/main/buzzer.cpp b/common/buzzer.cpp
similarity index 99%
rename from main/buzzer.cpp
rename to common/buzzer.cpp
index 9046cd1..0850116 100644
--- a/main/buzzer.cpp
+++ b/common/buzzer.cpp
@@ -1,5 +1,4 @@
#include "buzzer.hpp"
-#include "config.hpp"
static const char *TAG_BUZZER = "buzzer";
diff --git a/main/buzzer.hpp b/common/buzzer.hpp
similarity index 100%
rename from main/buzzer.hpp
rename to common/buzzer.hpp
diff --git a/common/types.cpp b/common/types.cpp
new file mode 100644
index 0000000..6c0d3bb
--- /dev/null
+++ b/common/types.cpp
@@ -0,0 +1,4 @@
+#include "types.hpp"
+
+
+const char* motorstateStr[4] = {"IDLE", "FWD", "REV", "BRAKE"};
diff --git a/common/types.hpp b/common/types.hpp
new file mode 100644
index 0000000..6cf868e
--- /dev/null
+++ b/common/types.hpp
@@ -0,0 +1,55 @@
+#pragma once
+
+extern "C"
+{
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/queue.h"
+#include "esp_timer.h"
+#include <driver/adc.h>
+}
+//=======================================
+//====== struct/type declarations ======
+//=======================================
+//global structs and types that need to be available for all boards
+
+
+//===============================
+//==== from motordrivers.hpp ====
+//===============================
+enum class motorstate_t {IDLE, FWD, REV, BRAKE};
+//definition of string array to be able to convert state enum to readable string (defined in motordrivers.cpp)
+extern const char* motorstateStr[4];
+
+
+
+//===========================
+//==== from motorctl.hpp ====
+//===========================
+//struct for sending command for one motor in the queue
+struct motorCommand_t {
+ motorstate_t state;
+ float duty;
+};
+
+//struct containing commands for two motors
+typedef struct motorCommands_t {
+ motorCommand_t left;
+ motorCommand_t right;
+} motorCommands_t;
+
+//struct with all config parameters for a motor regarding ramp and current limit
+typedef struct motorctl_config_t {
+ uint32_t msFadeAccel; //acceleration of the motor (ms it takes from 0% to 100%)
+ uint32_t msFadeDecel; //deceleration of the motor (ms it takes from 100% to 0%)
+ bool currentLimitEnabled;
+ adc1_channel_t currentSensor_adc;
+ float currentSensor_ratedCurrent;
+ float currentMax;
+ uint32_t deadTimeMs; //time motor stays in IDLE before direction change
+} motorctl_config_t;
+
+//enum fade type (acceleration, deceleration)
+//e.g. used for specifying which fading should be modified with setFade, togleFade functions
+enum class fadeType_t {ACCEL, DECEL};
+
diff --git a/common/uart_common.cpp b/common/uart_common.cpp
new file mode 100644
index 0000000..48db8d6
--- /dev/null
+++ b/common/uart_common.cpp
@@ -0,0 +1,117 @@
+#include "uart_common.hpp"
+
+static const char * TAG = "uart-common";
+SemaphoreHandle_t uart_semaphoreSend = NULL;
+bool uart_isInitialized = false;
+
+
+
+//===========================
+//======== uart_init =======
+//===========================
+//initial struct on given pins
+//TODO add pins and baud rate to config?
+void uart_init(void){
+ ESP_LOGW(TAG, "initializing uart1...");
+ uart_semaphoreSend = xSemaphoreCreateBinary();
+ uart_config_t uart1_config = {
+ .baud_rate = 115198,
+ .data_bits = UART_DATA_8_BITS,
+ .parity = UART_PARITY_EVEN,
+ .stop_bits = UART_STOP_BITS_1,
+ .flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
+ };
+ ESP_LOGI(TAG, "configure...");
+ ESP_ERROR_CHECK(uart_param_config(UART_NUM_1, &uart1_config));
+ ESP_LOGI(TAG, "setpins...");
+ ESP_ERROR_CHECK(uart_set_pin(UART_NUM_1, 23, 22, 0, 0));
+ ESP_LOGI(TAG, "init...");
+ ESP_ERROR_CHECK(uart_driver_install(UART_NUM_1, 1024, 1024, 10, NULL, 0));
+ uart_isInitialized = true;
+ xSemaphoreGive(uart_semaphoreSend);
+}
+
+
+
+//===========================
+//===== uart_sendBinary ====
+//===========================
+//encode byte array to message (start, stop, escape pattern)
+//and send it via uart
+//note: use sendStruct template in uart_common.hpp
+void uart_sendBinary(uint8_t *data, int length) {
+ const uint8_t startPattern = START_PATTERN;
+ const uint8_t endPattern = END_PATTERN;
+ const uint8_t escapeByte = ESCAPE_BYTE;
+ ESP_LOGI(TAG, "encoding and sending bytes len=%d", length);
+ //wait for last message to finish sending
+ if (xSemaphoreTake(uart_semaphoreSend, UART_WRITE_WAIT_TIMEOUT / portTICK_PERIOD_MS) == pdTRUE){
+ //send start byte
+ uart_write_bytes(UART_NUM_1, &startPattern, 1);
+
+ for (int i = 0; i < length; i++) {
+ if (data[i] == START_PATTERN || data[i] == END_PATTERN || data[i] == ESCAPE_BYTE) {
+ //add escape byte if next byte is special pattern by accident
+ uart_write_bytes(UART_NUM_1, &escapeByte, 1);
+ }
+ uart_write_bytes(UART_NUM_1, (const char *)&data[i], 1);
+ }
+ //send end byte
+ uart_write_bytes(UART_NUM_1, &endPattern, 1);
+ vTaskDelay(UART_WRITE_MIN_DELAY / portTICK_PERIOD_MS);
+ xSemaphoreGive(uart_semaphoreSend);
+ } else ESP_LOGE(TAG, "timeout waiting for uart write semaphore! dropping data");
+}
+
+
+
+
+//================================
+//=== uart_processReceivedByte ===
+//================================
+//decode received message to byte array (start, stop, escape pattern)
+//has to be run for each receibed byte
+//runs provided messageHandler function when complete message received
+uint8_t receivedData[MAX_MESSAGE_LENGTH];
+int dataIndex = 0;
+bool insideMessage = false;
+bool escaped = false;
+
+void uart_processReceivedByte(uint8_t data, messageHandleFunc_t messageHandler){
+ ESP_LOGD(TAG, "process byte %x", data);
+ if (escaped) {
+ //this byte is actual data, no end/start byte
+ escaped = false;
+ receivedData[dataIndex++] = data;
+ if (dataIndex >= MAX_MESSAGE_LENGTH) {
+ insideMessage = false;
+ dataIndex = 0;
+ }
+ } else if (data == START_PATTERN) {
+ //start of message
+ insideMessage = true;
+ dataIndex = 0;
+ } else if (insideMessage) {
+ if (data == ESCAPE_BYTE) {
+ ESP_LOGI(TAG, "escape byte received");
+ //escape next byte
+ escaped = true;
+ } else if (data == END_PATTERN) {
+ //end of message
+ insideMessage = false;
+ //call provided function that handles actual messages
+ messageHandler(receivedData, dataIndex);
+ dataIndex = 0;
+ } else if (dataIndex < MAX_MESSAGE_LENGTH - 2) {
+ //normal byte - append byte to data
+ receivedData[dataIndex++] = data;
+ } else {
+ //message too long / buffer exceeded
+ insideMessage = false;
+ dataIndex = 0;
+ ESP_LOGE(TAG, "received message too long! dropped");
+ }
+ } else ESP_LOGE(TAG, "start pattern missing! ignoreing byte");
+}
+
+
diff --git a/common/uart_common.hpp b/common/uart_common.hpp
new file mode 100644
index 0000000..be599b7
--- /dev/null
+++ b/common/uart_common.hpp
@@ -0,0 +1,121 @@
+#pragma once
+extern "C"
+{
+#include <stdio.h>
+#include <esp_system.h>
+#include <esp_event.h>
+#include <nvs_flash.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "driver/gpio.h"
+#include "esp_log.h"
+#include "sdkconfig.h"
+#include <string.h>
+#include "freertos/semphr.h"
+
+#include "freertos/queue.h"
+#include "driver/uart.h"
+}
+#include "types.hpp"
+
+//idea with time gap dropped, replaced with encoding
+//#define UART_RECEIVE_DURATION 10
+//receive interval may not miss messages but also may not read multiple messages
+//has to be significantly smaller than WRITE_MNIN_DELAY but larger than longest message
+//semaphore for assuring min delay between sent data
+//extern SemaphoreHandle_t uart_semaphoreSend;
+
+//==== parameters message frame ====
+#define START_PATTERN 0xAA
+#define END_PATTERN 0xBB
+#define MAX_MESSAGE_LENGTH 1024
+#define ESCAPE_BYTE 0xCC
+//min delay after each message (no significant effect)
+#define UART_WRITE_MIN_DELAY 50
+#define UART_WRITE_WAIT_TIMEOUT 2000
+
+extern bool uart_isInitialized;
+
+//struct for testing uart
+typedef struct {
+ uint32_t timestamp;
+ int id;
+ float value;
+} uartData_test_t;
+
+
+//unnecessary, using commands struct directly
+typedef struct {
+ uint32_t timestamp;
+ motorCommands_t commands;
+} uartData_motorCommands_t;
+
+
+//function that handles receieved messages as byte array
+//-> do something with received data
+typedef void (*messageHandleFunc_t)(uint8_t *data, int length);
+
+
+
+//===== uart_init =====
+//should be run once at startup
+void uart_init(void);
+
+
+//===== uart_processReceivedByte =====
+//decode received message to byte array (start, stop, escape pattern)
+//has to be run for each receibed byte
+//runs provided messageHandler function when complete message received
+void uart_processReceivedByte(uint8_t data, messageHandleFunc_t messageHandler);
+
+
+//===== uart_sendBinary =====
+//encode byte array to message (start, stop, escape pattern)
+//and send it via uart
+void uart_sendBinary(uint8_t *data, int length);
+
+
+
+//============================
+//====== uart_sendStruct =====
+//============================
+//send and struct via uart
+//waits when another struct was sent less than UART_WRITE_MIN_DELAY ago
+template <typename T> void uart_sendStruct(T dataStruct) {
+ static const char * TAG = "uart-common";
+ //check if uart is initialized
+ if (!uart_isInitialized){
+ ESP_LOGE(TAG, "uart not initialized! droping data");
+ return;
+ }
+ uint8_t dataSerial[sizeof(T)];
+ //struct to serial bytes
+ memcpy(dataSerial, &dataStruct, sizeof(T));
+ // //wait for min delay after last write DROPPED
+ // if (xSemaphoreTake(uart_semaphoreSend, UART_WRITE_WAIT_TIMEOUT / portTICK_PERIOD_MS) == pdTRUE){
+ // //send bytes
+ // uart_write_bytes(UART_NUM_1, (const char *)dataSerial, sizeof(T));
+ // ESP_LOGW(TAG, "sent data struct with len %d", sizeof(T));
+ // } else ESP_LOGE(TAG, "timeout waiting for uart write semaphore! dropping data");
+ // //wait min delay before next write is allowed
+ // vTaskDelay(UART_WRITE_MIN_DELAY / portTICK_PERIOD_MS);
+ // xSemaphoreGive(uart_semaphoreSend);
+
+ uart_sendBinary(dataSerial, sizeof(T));
+}
+
+
+
+//==============================
+//====== serialData2Struct =====
+//==============================
+//convert serial data (byte array) to given struct and return it
+//note check whether serial data length actually matches size of struct is necessary before
+template <typename T> T serialData2Struct(uint8_t *dataSerial){
+ static const char * TAG = "uart-common";
+ T dataStruct;
+ memcpy(&dataStruct, dataSerial, sizeof(T));
+ ESP_LOGI(TAG, "converted serial data len=%d to struct", sizeof(T));
+ return dataStruct;
+}
+
diff --git a/main/wifi.c b/common/wifi.c
similarity index 100%
rename from main/wifi.c
rename to common/wifi.c
diff --git a/main/wifi.h b/common/wifi.h
similarity index 100%
rename from main/wifi.h
rename to common/wifi.h
diff --git a/connection-plan.drawio.pdf b/connection-plan.drawio.pdf
index 299be63..3fa53fc 100644
Binary files a/connection-plan.drawio.pdf and b/connection-plan.drawio.pdf differ
diff --git a/function-diagram.drawio.pdf b/function-diagram.drawio.pdf
index a2ef20c..38f8bf3 100644
Binary files a/function-diagram.drawio.pdf and b/function-diagram.drawio.pdf differ
diff --git a/main/auto.cpp b/main/auto.cpp
deleted file mode 100644
index 4cf4a71..0000000
--- a/main/auto.cpp
+++ /dev/null
@@ -1,88 +0,0 @@
-#include "auto.hpp"
-#include "config.hpp"
-
-//tag for logging
-static const char * TAG = "automatedArmchair";
-
-
-//=============================
-//======== constructor ========
-//=============================
-automatedArmchair::automatedArmchair(void) {
- //create command queue
- commandQueue = xQueueCreate( 32, sizeof( commandSimple_t ) ); //TODO add max size to config?
-}
-
-
-
-//==============================
-//====== generateCommands ======
-//==============================
-motorCommands_t automatedArmchair::generateCommands(auto_instruction_t * instruction) {
- //reset instruction
- *instruction = auto_instruction_t::NONE;
- //check if previous command is finished
- if ( esp_log_timestamp() > timestampCmdFinished ) {
- //get next command from queue
- if( xQueueReceive( commandQueue, &cmdCurrent, pdMS_TO_TICKS(500) ) ) {
- ESP_LOGI(TAG, "running next command from queue...");
- //copy instruction to be provided to control task
- *instruction = cmdCurrent.instruction;
- //set acceleration / fading parameters according to command
- motorLeft.setFade(fadeType_t::DECEL, cmdCurrent.fadeDecel);
- motorRight.setFade(fadeType_t::DECEL, cmdCurrent.fadeDecel);
- motorLeft.setFade(fadeType_t::ACCEL, cmdCurrent.fadeAccel);
- motorRight.setFade(fadeType_t::ACCEL, cmdCurrent.fadeAccel);
- //calculate timestamp the command is finished
- timestampCmdFinished = esp_log_timestamp() + cmdCurrent.msDuration;
- //copy the new commands
- motorCommands = cmdCurrent.motorCmds;
- } else { //queue empty
- ESP_LOGD(TAG, "no new command in queue -> set motors to IDLE");
- motorCommands = motorCmds_bothMotorsIdle;
- }
- } else { //previous command still running
- ESP_LOGD(TAG, "command still running -> no change");
- }
-
- //TODO also return instructions via call by reference
- return motorCommands;
-}
-
-
-
-//============================
-//======== addCommand ========
-//============================
-//function that adds a basic command to the queue
-void automatedArmchair::addCommand(commandSimple_t command) {
- //add command to queue
- if ( xQueueSend( commandQueue, ( void * )&command, ( TickType_t ) 0 ) ){
- ESP_LOGI(TAG, "Successfully inserted command to queue");
- } else {
- ESP_LOGE(TAG, "Failed to insert new command to queue");
- }
-}
-
-void automatedArmchair::addCommands(commandSimple_t commands[], size_t count) {
- for (int i = 0; i < count; i++) {
- ESP_LOGI(TAG, "Reading command no. %d from provided array", i);
- addCommand(commands[i]);
- }
-}
-
-
-//===============================
-//======== clearCommands ========
-//===============================
-//function that deletes all pending/queued commands
-//e.g. when switching modes
-motorCommands_t automatedArmchair::clearCommands() {
- //clear command queue
- xQueueReset( commandQueue );
- ESP_LOGW(TAG, "command queue was successfully emptied");
- //return commands for idling both motors
- motorCommands = motorCmds_bothMotorsIdle;
- return motorCmds_bothMotorsIdle;
-}
-
diff --git a/main/button.cpp b/main/button.cpp
deleted file mode 100644
index 1762e6e..0000000
--- a/main/button.cpp
+++ /dev/null
@@ -1,215 +0,0 @@
-extern "C"
-{
-#include <stdio.h>
-#include <esp_system.h>
-#include <esp_event.h>
-#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/main/button.hpp b/main/button.hpp
deleted file mode 100644
index 09de729..0000000
--- a/main/button.hpp
+++ /dev/null
@@ -1,53 +0,0 @@
-#pragma once
-
-#include "gpio_evaluateSwitch.hpp"
-#include "buzzer.hpp"
-#include "control.hpp"
-#include "motorctl.hpp"
-#include "auto.hpp"
-#include "config.hpp"
-#include "joystick.hpp"
-
-
-
-//===================================
-//====== buttonCommands class =======
-//===================================
-//class which runs commands depending on the count a button was pressed
-class buttonCommands {
- public:
- //--- constructor ---
- buttonCommands (
- gpio_evaluatedSwitch * button_f,
- evaluatedJoystick * joystick_f,
- controlledArmchair * control_f,
- buzzer_t * buzzer_f,
- controlledMotor * motorLeft_f,
- controlledMotor * motorRight_f
- );
-
- //--- functions ---
- //the following function has to be started once in a separate task.
- //repeatedly evaluates and processes button events then takes the corresponding action
- void startHandleLoop();
-
- private:
- //--- functions ---
- void action(uint8_t count, bool lastPressLong);
-
- //--- objects ---
- gpio_evaluatedSwitch* button;
- evaluatedJoystick* joystick;
- controlledArmchair * control;
- buzzer_t* buzzer;
- controlledMotor * motorLeft;
- controlledMotor * motorRight;
-
- //--- variables ---
- uint8_t count = 0;
- uint32_t timestamp_lastAction = 0;
- enum class inputState_t {IDLE, WAIT_FOR_INPUT};
- inputState_t state = inputState_t::IDLE;
-
-};
-
diff --git a/main/control.cpp b/main/control.cpp
deleted file mode 100644
index fc9e4e3..0000000
--- a/main/control.cpp
+++ /dev/null
@@ -1,479 +0,0 @@
-extern "C"
-{
-#include <stdio.h>
-#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/main/control.hpp b/main/control.hpp
deleted file mode 100644
index 8ed1e66..0000000
--- a/main/control.hpp
+++ /dev/null
@@ -1,130 +0,0 @@
-#pragma once
-
-#include "motordrivers.hpp"
-#include "motorctl.hpp"
-#include "buzzer.hpp"
-#include "http.hpp"
-#include "auto.hpp"
-
-
-//--------------------------------------------
-//---- struct, enum, variable declarations ---
-//--------------------------------------------
-//enum that decides how the motors get controlled
-enum class controlMode_t {IDLE, JOYSTICK, MASSAGE, HTTP, MQTT, BLUETOOTH, AUTO};
-//string array representing the mode enum (for printing the state as string)
-extern const char* controlModeStr[7];
-
-//--- control_config_t ---
-//struct with config parameters
-typedef struct control_config_t {
- controlMode_t defaultMode; //default mode after startup and toggling IDLE
- //timeout options
- uint32_t timeoutMs; //time of inactivity after which the mode gets switched to IDLE
- float timeoutTolerancePer; //percentage the duty can vary between timeout checks considered still inactive
-} control_config_t;
-
-
-
-
-//==================================
-//========= control class ==========
-//==================================
-//controls the mode the armchair operates
-//repeatedly generates the motor commands corresponding to current mode and sends those to motorcontrol
-class controlledArmchair {
- public:
- //--- constructor ---
- controlledArmchair (
- control_config_t config_f,
- buzzer_t* buzzer_f,
- controlledMotor* motorLeft_f,
- controlledMotor* motorRight_f,
- evaluatedJoystick* joystick_f,
- httpJoystick* httpJoystick_f
- );
-
- //--- functions ---
- //task that repeatedly generates motor commands depending on the current mode
- void startHandleLoop();
-
- //function that changes to a specified control mode
- void changeMode(controlMode_t modeNew);
-
- //function that toggle between IDLE and previous active mode (or default if not switched to certain mode yet)
- void toggleIdle();
-
- //function that toggles between two modes, but prefers first argument if entirely different mode is currently active
- void toggleModes(controlMode_t modePrimary, controlMode_t modeSecondary);
-
- //toggle between certain mode and previous mode
- void toggleMode(controlMode_t modePrimary);
-
- //function that restarts timer which initiates the automatic timeout (switch to IDLE) after certain time of inactivity
- void resetTimeout();
-
- //function for sending a button event (e.g. from button task at event) to control task
- //TODO: use queue instead?
- void sendButtonEvent(uint8_t count);
-
- private:
-
- //--- functions ---
- //function that evaluates whether there is no activity/change on the motor duty for a certain time, if so a switch to IDLE is issued. - has to be run repeatedly in a slow interval
- void handleTimeout();
-
- //--- objects ---
- buzzer_t* buzzer;
- controlledMotor* motorLeft;
- controlledMotor* motorRight;
- httpJoystick* httpJoystickMain_l;
- evaluatedJoystick* joystick_l;
-
- //---variables ---
- //struct for motor commands returned by generate functions of each mode
- motorCommands_t commands;
- //struct with config parameters
- control_config_t config;
-
- //store joystick data
- joystickData_t stickData;
- bool altStickMapping; //alternative joystick mapping (reverse mapped differently)
-
- //variables for http mode
- uint32_t http_timestamp_lastData = 0;
-
- //variables for MASSAGE mode
- bool freezeInput = false;
-
- //variables for AUTO mode
- auto_instruction_t instruction = auto_instruction_t::NONE; //variable to receive instructions from automatedArmchair
-
- //variable to store button event
- uint8_t buttonCount = 0;
-
- //definition of mode enum
- controlMode_t mode = controlMode_t::IDLE;
-
- //variable to store mode when toggling IDLE mode
- controlMode_t modePrevious; //default mode
-
- //command preset for idling motors
- const motorCommand_t cmd_motorIdle = {
- .state = motorstate_t::IDLE,
- .duty = 0
- };
- const motorCommands_t cmds_bothMotorsIdle = {
- .left = cmd_motorIdle,
- .right = cmd_motorIdle
- };
-
- //variable for slow loop
- uint32_t timestamp_SlowLoopLastRun = 0;
-
- //variables for detecting timeout (switch to idle, after inactivity)
- float dutyLeft_lastActivity = 0;
- float dutyRight_lastActivity = 0;
- uint32_t timestamp_lastActivity = 0;
-};
-
-
diff --git a/main/main.cpp b/main/main.cpp
deleted file mode 100644
index 05e7653..0000000
--- a/main/main.cpp
+++ /dev/null
@@ -1,299 +0,0 @@
-extern "C"
-{
-#include <stdio.h>
-#include <esp_system.h>
-#include <esp_event.h>
-#include <nvs_flash.h>
-#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/ledc.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";
-
-
-
-//====================================
-//========== motorctl task ===========
-//====================================
-//task for handling the motors (ramp, current limit, driver)
-void task_motorctl( void * pvParameters ){
- ESP_LOGI(TAG, "starting handle loop...");
- while(1){
- motorRight.handle();
- motorLeft.handle();
- //10khz -> T=100us
- vTaskDelay(10 / portTICK_PERIOD_MS);
- }
-}
-
-
-
-//======================================
-//============ 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);
-}
-
-
-
-//=================================
-//=========== 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 controlling the motors ---
- //----------------------------------------------
- //task that receives commands, handles ramp and current limit and executes commands using the motordriver function
- xTaskCreate(&task_motorctl, "task_motor-control", 2048, NULL, 6, NULL);
-
- //------------------------------
- //--- create task for buzzer ---
- //------------------------------
- xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
-
- //-------------------------------
- //--- create task for 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
- while(1){
- vTaskDelay(1000 / portTICK_PERIOD_MS);
-
- //---------------------------------
- //-------- TESTING section --------
- //---------------------------------
- // //--- test functions at mode change HTTP ---
- // control.changeMode(controlMode_t::HTTP);
- // vTaskDelay(10000 / portTICK_PERIOD_MS);
- // control.changeMode(controlMode_t::IDLE);
- // vTaskDelay(10000 / portTICK_PERIOD_MS);
-
-
- //--- test wifi functions ---
- // ESP_LOGI(TAG, "creating AP");
- // wifi_init_ap(); //start accesspoint
- // vTaskDelay(15000 / portTICK_PERIOD_MS);
- // ESP_LOGI(TAG, "stopping wifi");
- // wifi_deinit_ap(); //stop wifi access point
- // vTaskDelay(5000 / portTICK_PERIOD_MS);
- // ESP_LOGI(TAG, "connecting to wifi");
- // wifi_init_client(); //connect to existing wifi
- // vTaskDelay(10000 / portTICK_PERIOD_MS);
- // ESP_LOGI(TAG, "stopping wifi");
- // wifi_deinit_client(); //stop wifi client
- // vTaskDelay(5000 / portTICK_PERIOD_MS);
-
-
- //--- test button ---
- //buttonJoystick.handle();
- // if (buttonJoystick.risingEdge){
- // ESP_LOGI(TAG, "button pressed, was released for %d ms", buttonJoystick.msReleased);
- // buzzer.beep(2, 100, 50);
-
- // }else if (buttonJoystick.fallingEdge){
- // ESP_LOGI(TAG, "button released, was pressed for %d ms", buttonJoystick.msPressed);
- // buzzer.beep(1, 200, 0);
- // }
-
-
- //--- test joystick commands ---
- // motorCommands_t commands = joystick_generateCommandsDriving(joystick);
- // motorRight.setTarget(commands.right.state, commands.right.duty); //TODO make motorctl.setTarget also accept motorcommand struct directly
- // motorLeft.setTarget(commands.left.state, commands.left.duty); //TODO make motorctl.setTarget also accept motorcommand struct directly
- // //motorRight.setTarget(commands.right.state, commands.right.duty);
-
-
- //--- test joystick class ---
- //joystickData_t data = joystick.getData();
- //ESP_LOGI(TAG, "position=%s, x=%.1f%%, y=%.1f%%, radius=%.1f%%, angle=%.2f",
- // joystickPosStr[(int)data.position], data.x*100, data.y*100, data.radius*100, data.angle);
-
- //--- test the motor driver ---
- //fade up duty - forward
- // for (int duty=0; duty<=100; duty+=5) {
- // motorLeft.setTarget(motorstate_t::FWD, duty);
- // vTaskDelay(100 / portTICK_PERIOD_MS);
- // }
-
-
- //--- test controlledMotor --- (ramp)
- // //brake for 1 s
- // motorLeft.setTarget(motorstate_t::BRAKE);
- // vTaskDelay(1000 / portTICK_PERIOD_MS);
- // //command 90% - reverse
- // motorLeft.setTarget(motorstate_t::REV, 90);
- // vTaskDelay(5000 / portTICK_PERIOD_MS);
- // //command 100% - forward
- // motorLeft.setTarget(motorstate_t::FWD, 100);
- // vTaskDelay(1000 / portTICK_PERIOD_MS);
-
- }
-
-}
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