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Merge branch 'dev'- turn-behaivor, exp motor-ctl-modes, screensaver [WIP]

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- boost when turning significantly improved driving experience
- display screensaver (timeouts, moving text, brightness)
- bugfixes
- different approach in motorctl implementing different control modes (needs testing)

Stable to use for now, but still WIP due to some bugs
needs optimizations and issues to be fixed before release
This commit is contained in:
jonny 2024-03-26 16:41:34 +01:00
commit e5fad27899
23 changed files with 1143 additions and 563 deletions
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1
board_single/main/CMakeLists.txt
View File

@ -1,7 +1,6 @@
idf_component_register(
SRCS
"main.cpp"
"config.cpp"
"control.cpp"
"button.cpp"
"fan.cpp"

1
board_single/main/auto.cpp
View File

@ -1,5 +1,4 @@
#include "auto.hpp"
#include "config.hpp"
//tag for logging
static const char * TAG = "automatedArmchair";

26
board_single/main/button.cpp
View File

@ -75,7 +75,10 @@ void buttonCommands::action (uint8_t count, bool lastPressLong){
if (lastPressLong)
{
control->changeMode(controlMode_t::MENU);
ESP_LOGW(TAG, "1x long press -> change to menu mode");
ESP_LOGW(TAG, "1x long press -> clear encoder queue and change to menu mode");
// clear encoder event queue (prevent menu from exiting immediately due to long press event just happend)
rotary_encoder_event_t ev;
while (xQueueReceive(encoderQueue, &ev, 0) == pdPASS);
buzzer->beep(20, 20, 10);
vTaskDelay(500 / portTICK_PERIOD_MS);
}
@ -96,11 +99,12 @@ void buttonCommands::action (uint8_t count, bool lastPressLong){
// ## switch to ADJUST_CHAIR mode ##
if (lastPressLong)
{
ESP_LOGW(TAG, "cmd %d: toggle ADJUST_CHAIR", count);
control->toggleMode(controlMode_t::ADJUST_CHAIR);
ESP_LOGW(TAG, "cmd %d: switch to ADJUST_CHAIR", count);
control->changeMode(controlMode_t::ADJUST_CHAIR);
}
// ## toggle IDLE ##
else {
else
{
ESP_LOGW(TAG, "cmd %d: toggle IDLE", count);
control->toggleIdle(); // toggle between idle and previous/default mode
}
@ -114,14 +118,14 @@ void buttonCommands::action (uint8_t count, bool lastPressLong){
case 4:
// ## switch to HTTP mode ##
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
ESP_LOGW(TAG, "cmd %d: switch to HTTP", count);
control->changeMode(controlMode_t::HTTP); //switch to HTTP mode
break;
case 6:
// ## switch to MASSAGE mode ##
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
ESP_LOGW(TAG, "switch to MASSAGE");
control->changeMode(controlMode_t::MASSAGE); //switch to MASSAGE mode
break;
case 8:
@ -129,7 +133,7 @@ void buttonCommands::action (uint8_t count, bool lastPressLong){
//toggle deceleration fading between on and off
//decelEnabled = motorLeft->toggleFade(fadeType_t::DECEL);
//motorRight->toggleFade(fadeType_t::DECEL);
decelEnabled = motorLeft->toggleFade(fadeType_t::ACCEL);
decelEnabled = motorLeft->toggleFade(fadeType_t::ACCEL); //TODO remove/simplify this using less functions
motorRight->toggleFade(fadeType_t::ACCEL);
ESP_LOGW(TAG, "cmd %d: toggle deceleration fading to: %d", count, (int)decelEnabled);
if (decelEnabled){
@ -155,7 +159,7 @@ void buttonCommands::action (uint8_t count, bool lastPressLong){
// when not in MENU mode, repeatedly receives events from encoder button
// and takes the corresponding action
// this function has to be started once in a separate task
#define INPUT_TIMEOUT 800 // duration of no button events, after which action is run (implicitly also is 'long-press' time)
#define INPUT_TIMEOUT 500 // duration of no button events, after which action is run (implicitly also is 'long-press' time)
void buttonCommands::startHandleLoop()
{
//-- variables --
@ -178,7 +182,7 @@ void buttonCommands::startHandleLoop()
//-- get events from encoder --
if (xQueueReceive(encoderQueue, &ev, INPUT_TIMEOUT / portTICK_PERIOD_MS))
{
control->resetTimeout(); //reset inactivity IDLE timeout
control->resetTimeout(); // user input -> reset switch to IDLE timeout
switch (ev.type)
{
break;

1
board_single/main/button.hpp
View File

@ -5,7 +5,6 @@
#include "control.hpp"
#include "motorctl.hpp"
#include "auto.hpp"
#include "config.hpp"
#include "joystick.hpp"

42
board_single/main/config.cpp
View File

@ -45,6 +45,13 @@ void setLoglevels(void)
esp_log_level_set("chair-adjustment", ESP_LOG_INFO);
esp_log_level_set("menu", ESP_LOG_INFO);
esp_log_level_set("encoder", ESP_LOG_INFO);
esp_log_level_set("TESTING", ESP_LOG_ERROR);
}
//==================================
@ -91,9 +98,11 @@ sabertooth2x60_config_t sabertoothConfig = {
//--- configure left motor (contol) ---
motorctl_config_t configMotorControlLeft = {
.name = "left",
.loggingEnabled = true,
.msFadeAccel = 1500, // 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,
.tractionControlSystemEnabled = false,
.currentSensor_adc = ADC1_CHANNEL_4, // GPIO32
.currentSensor_ratedCurrent = 50,
.currentMax = 30,
@ -105,9 +114,11 @@ motorctl_config_t configMotorControlLeft = {
//--- configure right motor (contol) ---
motorctl_config_t configMotorControlRight = {
.name = "right",
.loggingEnabled = false,
.msFadeAccel = 1500, // 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,
.tractionControlSystemEnabled = false,
.currentSensor_adc = ADC1_CHANNEL_5, // GPIO33
.currentSensor_ratedCurrent = 50,
.currentMax = 30,
@ -121,11 +132,9 @@ motorctl_config_t configMotorControlRight = {
//------------------------------
control_config_t configControl = {
.defaultMode = controlMode_t::JOYSTICK, // default mode after startup and toggling IDLE
//--- timeout ---
.timeoutMs = 3 * 60 * 1000, // time of inactivity after which the mode gets switched to IDLE
.timeoutTolerancePer = 5, // percentage the duty can vary between timeout checks considered still inactive
//--- http mode ---
//--- timeouts ---
.timeoutSwitchToIdleMs = 5 * 60 * 1000, // time of inactivity after which the mode gets switched to IDLE
.timeoutNotifyPowerStillOnMs = 6 * 60 * 60 * 1000 // time in IDLE after which buzzer beeps in certain interval (notify "forgot to turn off")
};
//-------------------------------
@ -204,6 +213,7 @@ speedSensor_config_t speedRight_config{
//-------- display --------
//-------------------------
display_config_t display_config{
// hardware initialization
.gpio_scl = GPIO_NUM_22,
.gpio_sda = GPIO_NUM_23,
.gpio_reset = -1, // negative number disables reset feature
@ -211,7 +221,11 @@ display_config_t display_config {
.height = 64,
.offsetX = 2,
.flip = false,
.contrast = 0xff, //max: 255
.contrastNormal = 170, // max: 255
// display task
.contrastReduced = 30, // max: 255
.timeoutReduceContrastMs = 5 * 60 * 1000, // actions at certain inactivity
.timeoutSwitchToScreensaverMs = 30 * 60 * 1000
};
@ -237,7 +251,19 @@ rotary_encoder_t encoder_config = {
//-----------------------------------
//configure parameters for motor command generation from joystick data
joystickGenerateCommands_config_t joystickGenerateCommands_config{
.maxDuty = 100,
//-- maxDuty --
// max duty when both motors are at equal ratio e.g. driving straight forward
// better to be set less than 100% to have some reserve for boosting the outer tire when turning
.maxDutyStraight = 75,
//-- maxBoost --
// boost is amount of duty added to maxDutyStraight to outer tire while turning
// => turning: inner tire gets slower, outer tire gets faster
// 0: boost = 0 (disabled)
// 100: boost = maxDutyStraight (e.g. when maxDuty is 50, outer motor can still reach 100 (50+50))
.maxRelativeBoostPercentOfMaxDuty = 60,
// 60: when maxDuty is set above 62% (equals 0.6*62 = 38% boost) the outer tire can still reach 100% - below 62 maxDuty the boosted speed is also reduced.
// => setting this value lower prevents desired low max duty configuration from being way to fast in curves.
.dutyOffset = 5, // duty at which motors start immediately
.altStickMapping = false,
.ratioSnapToOneThreshold = 0.9, // threshold ratio snaps to 1 to have some area of max turning before entering X-Axis-full-rotate mode
.altStickMapping = false // invert reverse direction
};

6
board_single/main/config.h Normal file
View File

@ -0,0 +1,6 @@
#pragma once
// outsourced macros / definitions
//-- control.cpp --
//#define JOYSTICK_LOG_IN_IDLE

57
board_single/main/config.hpp
View File

@ -1,57 +0,0 @@
#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"
#include "speedsensor.hpp"
#include "chairAdjust.hpp"
//
////in IDLE mode: set loglevel for evaluatedJoystick to DEBUG
////and repeatedly read joystick e.g. for manually calibrating / testing joystick
////#define JOYSTICK_LOG_IN_IDLE
//
//
////TODO outsource global variables to e.g. global.cpp and only config options here?
//
////create global controlledMotor instances for both motors
//extern controlledMotor motorLeft;
//extern controlledMotor motorRight;
//
////create global joystic instance
//extern evaluatedJoystick joystick;
//
////create global evaluated switch instance for button next to joystick
//extern gpio_evaluatedSwitch buttonJoystick;
//
////create global buzzer object
//extern buzzer_t buzzer;
//
////create global control object
//extern controlledArmchair control;
//
////create global automatedArmchair object (for auto-mode)
//extern automatedArmchair_c armchair;
//
////create global httpJoystick object
////extern httpJoystick httpJoystickMain;
//
////configuration for fans / cooling
//extern fan_config_t configCooling;
//
////create global objects for measuring speed
//extern speedSensor speedLeft;
//extern speedSensor speedRight;
//
////create global objects for controlling the chair position
//extern cControlledRest legRest;
//extern cControlledRest backRest;
//
//

279
board_single/main/control.cpp
View File

@ -9,13 +9,14 @@ extern "C"
#include "wifi.h"
}
#include "config.hpp"
#include "config.h"
#include "control.hpp"
#include "chairAdjust.hpp"
#include "display.hpp" // needed for getBatteryPercent()
//used definitions moved from config.hpp:
//#define JOYSTICK_TEST
//used definitions moved from config.h:
//#define JOYSTICK_LOG_IN_IDLE
//tag for logging
@ -58,6 +59,9 @@ controlledArmchair::controlledArmchair(
// override default config value if maxDuty is found in nvs
loadMaxDuty();
// create semaphore for preventing race condition: mode-change operations while currently still executing certain mode
handleIteration_mutex = xSemaphoreCreateMutex();
}
@ -70,49 +74,86 @@ controlledArmchair::controlledArmchair(
void task_control( void * pvParameters ){
controlledArmchair * control = (controlledArmchair *)pvParameters;
ESP_LOGW(TAG, "Initializing controlledArmchair and starting handle loop");
//start handle loop (control object declared in config.hpp)
control->startHandleLoop();
}
//----------------------------------
//---------- Handle loop -----------
//----------------------------------
//function that repeatedly generates motor commands depending on the current mode
void controlledArmchair::startHandleLoop() {
while (1){
ESP_LOGV(TAG, "control loop executing... mode=%s", controlModeStr[(int)mode]);
// start endless loop that repeatedly calls handle() and handleTimeout() methods
void controlledArmchair::startHandleLoop()
{
while (1)
{
// mutex to prevent race condition with actions beeing run at mode change and previous mode still beeing executed
if (xSemaphoreTake(handleIteration_mutex, portMAX_DELAY) == pdTRUE)
{
//--- handle current mode ---
ESP_LOGV(TAG, "control loop executing... mode='%s'", controlModeStr[(int)mode]);
handle();
switch(mode) {
xSemaphoreGive(handleIteration_mutex);
} // end mutex
//--- slow loop ---
// this section is run approx 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();
//--- handle timeouts ---
// run function that detects timeouts (switch to idle, or notify "forgot to turn off")
handleTimeout();
}
vTaskDelay(5 / portTICK_PERIOD_MS); // small delay necessary to give modeChange() a chance to take the mutex
// TODO: move mode specific delays from handle() to here, to prevent unnecessary long mutex lock
}
}
//-------------------------------------
//---------- Handle control -----------
//-------------------------------------
// function that repeatedly generates motor commands and runs actions depending on the current mode
void controlledArmchair::handle()
{
switch (mode)
{
default:
mode = controlMode_t::IDLE;
//switch to IDLE mode when current mode is not implemented
changeMode(controlMode_t::IDLE);
break;
//------- handle IDLE -------
case controlMode_t::IDLE:
//copy preset commands for idling both motors - now done once at mode change
//commands = cmds_bothMotorsIdle;
//motorRight->setTarget(commands.right.state, commands.right.duty);
//motorLeft->setTarget(commands.left.state, commands.left.duty);
vTaskDelay(500 / portTICK_PERIOD_MS);
// TODO repeatedly set motors to idle, in case driver bugs? Currently 15s motorctl timeout would have to pass
#ifdef JOYSTICK_LOG_IN_IDLE
//get joystick data here (without using it)
//since loglevel is DEBUG, calculation details are output
joystick_l->getData();
// get joystick data and log it
joystickData_t data joystick_l->getData();
ESP_LOGI("JOYSTICK_LOG_IN_IDLE", "x=%.3f, y=%.3f, radius=%.3f, angle=%.3f, pos=%s, adcx=%d, adcy=%d",
data.x, data.y, data.radius, data.angle,
joystickPosStr[(int)data.position],
objects->joystick->getRawX(), objects->joystick->getRawY());
#endif
break;
//------- handle JOYSTICK mode -------
case controlMode_t::JOYSTICK:
vTaskDelay(50 / portTICK_PERIOD_MS);
// get current joystick data with getData method of evaluatedJoystick
stickDataLast = stickData;
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
joystick_scaleCoordinatesLinear(&stickData, 0.7, 0.45); // TODO: add scaling parameters to config
// generate motor commands
// only generate when the stick data actually changed (e.g. stick stayed in center)
if (stickData.x != stickDataLast.x || stickData.y != stickDataLast.y)
{
resetTimeout(); // user input -> reset switch to IDLE timeout
commands = joystick_generateCommandsDriving(stickData, &joystickGenerateCommands_config);
// apply motor commands
motorRight->setTarget(commands.right);
@ -121,18 +162,21 @@ void controlledArmchair::startHandleLoop() {
else
{
vTaskDelay(20 / portTICK_PERIOD_MS);
ESP_LOGD(TAG, "analog joystick data unchanged at %s not updating commands", joystickPosStr[(int)stickData.position]);
ESP_LOGV(TAG, "analog joystick data unchanged at %s not updating commands", joystickPosStr[(int)stickData.position]);
}
break;
//------- handle MASSAGE mode -------
case controlMode_t::MASSAGE:
vTaskDelay(10 / portTICK_PERIOD_MS);
//--- read joystick ---
// only update joystick data when input not frozen
if (!freezeInput){
stickDataLast = stickData;
if (!freezeInput)
stickData = joystick_l->getData();
}
// reset timeout when joystick data changed
if (stickData.x != stickDataLast.x || stickData.y != stickDataLast.y)
resetTimeout(); // user input -> reset switch to IDLE timeout
//--- generate motor commands ---
// pass joystick data from getData method of evaluatedJoystick to generateCommandsShaking function
commands = joystick_generateCommandsShaking(stickData);
@ -141,7 +185,7 @@ void controlledArmchair::startHandleLoop() {
motorLeft->setTarget(commands.left);
break;
//------- handle HTTP mode -------
case controlMode_t::HTTP:
//--- get joystick data from queue ---
stickDataLast = stickData;
@ -151,7 +195,9 @@ void controlledArmchair::startHandleLoop() {
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 ---
// only generate when the stick data actually changed (e.g. no new data recevied via http)
if (stickData.x != stickDataLast.x || stickData.y != stickDataLast.y ){
if (stickData.x != stickDataLast.x || stickData.y != stickDataLast.y)
{
resetTimeout(); // user input -> reset switch to IDLE timeout
// Note: timeout (no data received) is handled in getData method
commands = joystick_generateCommandsDriving(stickData, &joystickGenerateCommands_config);
@ -165,7 +211,7 @@ void controlledArmchair::startHandleLoop() {
}
break;
//------- handle AUTO mode -------
case controlMode_t::AUTO:
vTaskDelay(20 / portTICK_PERIOD_MS);
// generate commands
@ -175,7 +221,8 @@ void controlledArmchair::startHandleLoop() {
motorLeft->setTarget(commands.left);
// process received instruction
switch (instruction) {
switch (instruction)
{
case auto_instruction_t::NONE:
break;
case auto_instruction_t::SWITCH_PREV_MODE:
@ -205,47 +252,31 @@ void controlledArmchair::startHandleLoop() {
}
break;
//------- handle ADJUST_CHAIR mode -------
case controlMode_t::ADJUST_CHAIR:
vTaskDelay(100 / portTICK_PERIOD_MS);
//--- read joystick ---
stickDataLast = stickData;
stickData = joystick_l->getData();
//--- idle motors ---
//commands = cmds_bothMotorsIdle; - now done once at mode change
//motorRight->setTarget(commands.right.state, commands.right.duty);
//motorLeft->setTarget(commands.left.state, commands.left.duty);
//--- control armchair position with joystick input ---
// dont update when stick data did not change
if (stickData.x != stickDataLast.x || stickData.y != stickDataLast.y)
{
resetTimeout(); // user input -> reset switch to IDLE timeout
controlChairAdjustment(joystick_l->getData(), legRest, backRest);
}
break;
//------- handle MENU mode -------
case controlMode_t::MENU:
vTaskDelay(1000 / portTICK_PERIOD_MS);
// nothing to do here, display task handles the menu
//--- idle motors ---
//commands = cmds_bothMotorsIdle; - now done once at mode change
//motorRight->setTarget(commands.right.state, commands.right.duty);
//motorLeft->setTarget(commands.left.state, commands.left.duty);
vTaskDelay(1000 / portTICK_PERIOD_MS);
break;
// TODO: add other modes here
}
//-----------------------
//------ 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 that detects timeout (switch to idle)
handleTimeout();
}
}//end while(1)
}//end startHandleLoop
} // end - handle method
@ -310,59 +341,58 @@ void controlledArmchair::idleBothMotors(){
motorLeft->setTarget(cmd_motorIdle);
}
//-----------------------------------
//---------- resetTimeout -----------
//-----------------------------------
void controlledArmchair::resetTimeout(){
//TODO mutex
timestamp_lastActivity = esp_log_timestamp();
ESP_LOGV(TAG, "timeout: activity detected, resetting timeout");
}
//------------------------------------
//---------- handleTimeout -----------
//------------------------------------
//percentage the duty can vary since last timeout check and still counts as incative
//TODO: add this to config
float inactivityTolerance = 10;
// switch to IDLE when no activity (prevent accidential movement)
// notify "power still on" when in IDLE for a very long time (prevent battery drain when forgotten to turn off)
// this function has to be run repeatedly (can be slow interval)
#define TIMEOUT_POWER_STILL_ON_BEEP_INTERVAL_MS 5 * 60 * 1000 // beep every 5 minutes for someone to notice
#define TIMEOUT_POWER_STILL_ON_BATTERY_THRESHOLD_PERCENT 96 // only notify/beep when below certain percentage (prevent beeping when connected to charger)
// note: timeout durations are configured in config.cpp
void controlledArmchair::handleTimeout()
{
uint32_t noActivityDurationMs = esp_log_timestamp() - timestamp_lastActivity;
// log current inactivity and configured timeouts
ESP_LOGD(TAG, "timeout check: last activity %dmin and %ds ago - timeout IDLE after %ds - notify after power on after %dh",
noActivityDurationMs / 1000 / 60,
noActivityDurationMs / 1000 % 60,
config.timeoutSwitchToIdleMs / 1000,
config.timeoutNotifyPowerStillOnMs / 1000 / 60 / 60);
//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
}
// -- timeout switch to IDLE --
// timeout to IDLE when not idling already
if (mode != controlMode_t::IDLE && noActivityDurationMs > config.timeoutSwitchToIdleMs)
{
ESP_LOGW(TAG, "timeout check: [TIMEOUT], no activity for more than %ds -> switch to IDLE", config.timeoutSwitchToIdleMs / 1000);
changeMode(controlMode_t::IDLE);
//TODO switch to previous status-screen when activity detected
}
//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);
// -- timeout notify "forgot to turn off" --
// repeatedly notify via buzzer when in IDLE for a very long time to prevent battery drain ("forgot to turn off")
// also battery charge-level has to be below certain threshold to prevent beeping in case connected to charger
// note: ignores user input while in IDLE (e.g. encoder rotation)
else if ((esp_log_timestamp() - timestamp_lastModeChange) > config.timeoutNotifyPowerStillOnMs && getBatteryPercent() < TIMEOUT_POWER_STILL_ON_BATTERY_THRESHOLD_PERCENT)
{
// beep in certain intervals
if ((esp_log_timestamp() - timestamp_lastTimeoutBeep) > TIMEOUT_POWER_STILL_ON_BEEP_INTERVAL_MS)
{
ESP_LOGW(TAG, "timeout: [TIMEOUT] in IDLE since %.3f hours -> beeping", (float)(esp_log_timestamp() - timestamp_lastModeChange) / 1000 / 60 / 60);
// TODO dont beep at certain time ranges (e.g. at night)
timestamp_lastTimeoutBeep = esp_log_timestamp();
buzzer->beep(6, 100, 50);
}
}
}
@ -373,24 +403,32 @@ void controlledArmchair::handleTimeout(){
//----------- changeMode ------------
//-----------------------------------
//function to change to a specified control mode
void controlledArmchair::changeMode(controlMode_t modeNew) {
//reset timeout timer
resetTimeout();
void controlledArmchair::changeMode(controlMode_t modeNew)
{
// exit if target mode is already active
if (mode == modeNew) {
if (mode == modeNew)
{
ESP_LOGE(TAG, "changeMode: Already in target mode '%s' -> nothing to change", controlModeStr[(int)mode]);
return;
}
// mutex to wait for current handle iteration (control-task) to finish
// prevents race conditions where operations when changing mode are run but old mode gets handled still
ESP_LOGI(TAG, "changeMode: waiting for current handle() iteration to finish...");
if (xSemaphoreTake(handleIteration_mutex, portMAX_DELAY) == pdTRUE)
{
// copy previous mode
modePrevious = mode;
// store time changed (needed for timeout)
timestamp_lastModeChange = esp_log_timestamp();
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){
switch (modePrevious)
{
default:
ESP_LOGI(TAG, "noting to execute when changing FROM this mode");
break;
@ -403,6 +441,11 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
buzzer->beep(1, 200, 100);
break;
case controlMode_t::HTTP:
ESP_LOGW(TAG, "switching from HTTP mode -> stopping wifi-ap");
wifi_stop_ap();
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...
@ -433,13 +476,12 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
legRest->setState(REST_OFF);
backRest->setState(REST_OFF);
break;
}
//========== commands change TO mode ==========
// run functions when changing TO certain mode
switch(modeNew){
switch (modeNew)
{
default:
ESP_LOGI(TAG, "noting to execute when changing TO this mode");
break;
@ -448,9 +490,11 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
ESP_LOGW(TAG, "switching to IDLE mode: turning both motors off, beep");
idleBothMotors();
buzzer->beep(1, 900, 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 -> starting wifi-ap");
wifi_start_ap();
break;
case controlMode_t::ADJUST_CHAIR:
@ -474,14 +518,15 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
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;
}
// unlock mutex for control task to continue handling modes
xSemaphoreGive(handleIteration_mutex);
} // end mutex
}
//TODO simplify the following 3 functions? can be replaced by one?
@ -509,7 +554,7 @@ void controlledArmchair::toggleModes(controlMode_t modePrimary, controlMode_t mo
}
//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]);
ESP_LOGW(TAG, "toggleModes: switching from '%s' to primary mode '%s'", controlModeStr[(int)mode], controlModeStr[(int)modePrimary]);
//buzzer->beep(4,200,100);
changeMode(modePrimary);
}
@ -525,13 +570,13 @@ 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]);
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]);
ESP_LOGW(TAG, "toggleModes: switching from '%s' to primary mode '%s'", controlModeStr[(int)mode], controlModeStr[(int)modePrimary]);
//buzzer->beep(4,200,100);
changeMode(modePrimary);
}
@ -540,9 +585,9 @@ void controlledArmchair::toggleMode(controlMode_t modePrimary){
//-------------------------------
//------ loadDecelDuration ------
//-------------------------------
//-----------------------------
//-------- loadMaxDuty --------
//-----------------------------
// update local config value when maxDuty is stored in nvs
void controlledArmchair::loadMaxDuty(void)
{
@ -553,11 +598,11 @@ void controlledArmchair::loadMaxDuty(void)
switch (err)
{
case ESP_OK:
ESP_LOGW(TAG, "Successfully read value '%s' from nvs. Overriding default value %.2f with %.2f", "c-maxDuty", joystickGenerateCommands_config.maxDuty, valueRead/100.0);
joystickGenerateCommands_config.maxDuty = (float)(valueRead/100.0);
ESP_LOGW(TAG, "Successfully read value '%s' from nvs. Overriding default value %.2f with %.2f", "c-maxDuty", joystickGenerateCommands_config.maxDutyStraight, valueRead/100.0);
joystickGenerateCommands_config.maxDutyStraight = (float)(valueRead/100.0);
break;
case ESP_ERR_NVS_NOT_FOUND:
ESP_LOGW(TAG, "nvs: the value '%s' is not initialized yet, keeping default value %.2f", "c-maxDuty", joystickGenerateCommands_config.maxDuty);
ESP_LOGW(TAG, "nvs: the value '%s' is not initialized yet, keeping default value %.2f", "c-maxDuty", joystickGenerateCommands_config.maxDutyStraight);
break;
default:
ESP_LOGE(TAG, "Error (%s) reading nvs!", esp_err_to_name(err));
@ -572,12 +617,12 @@ void controlledArmchair::loadMaxDuty(void)
// note: duty percentage gets stored as uint with factor 100 (to get more precision)
void controlledArmchair::writeMaxDuty(float newValue){
// check if unchanged
if(joystickGenerateCommands_config.maxDuty == newValue){
if(joystickGenerateCommands_config.maxDutyStraight == newValue){
ESP_LOGW(TAG, "value unchanged at %.2f, not writing to nvs", newValue);
return;
}
// update nvs value
ESP_LOGW(TAG, "updating nvs value '%s' from %.2f to %.2f", "c-maxDuty", joystickGenerateCommands_config.maxDuty, newValue) ;
ESP_LOGW(TAG, "updating nvs value '%s' from %.2f to %.2f", "c-maxDuty", joystickGenerateCommands_config.maxDutyStraight, newValue) ;
esp_err_t err = nvs_set_u16(*nvsHandle, "c-maxDuty", (uint16_t)(newValue*100));
if (err != ESP_OK)
ESP_LOGE(TAG, "nvs: failed writing");
@ -587,5 +632,5 @@ void controlledArmchair::writeMaxDuty(float newValue){
else
ESP_LOGI(TAG, "nvs: successfully committed updates");
// update variable
joystickGenerateCommands_config.maxDuty = newValue;
joystickGenerateCommands_config.maxDutyStraight = newValue;
}

27
board_single/main/control.hpp
View File

@ -27,8 +27,8 @@ extern const char* controlModeStr[9];
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
uint32_t timeoutSwitchToIdleMs; //time of inactivity after which the mode gets switched to IDLE
uint32_t timeoutNotifyPowerStillOnMs;
} control_config_t;
@ -37,7 +37,7 @@ typedef struct control_config_t {
//=======================================
//task that controls the armchair modes and initiates commands generation and applies them to driver
//parameter: pointer to controlledArmchair object
void task_control( void * pvParameters );
void task_control( void * controlledArmchair );
@ -64,7 +64,7 @@ class controlledArmchair {
);
//--- functions ---
//task that repeatedly generates motor commands depending on the current mode
//endless loop that repeatedly calls handle() and handleTimeout() methods respecting mutex
void startHandleLoop();
//function that changes to a specified control mode
@ -94,11 +94,19 @@ class controlledArmchair {
// configure max dutycycle (in joystick or http mode)
void setMaxDuty(float maxDutyNew) { writeMaxDuty(maxDutyNew); };
float getMaxDuty() const {return joystickGenerateCommands_config.maxDuty; };
float getMaxDuty() const {return joystickGenerateCommands_config.maxDutyStraight; };
// configure max boost (in joystick or http mode)
void setMaxRelativeBoostPer(float newValue) { joystickGenerateCommands_config.maxRelativeBoostPercentOfMaxDuty = newValue; };
float getMaxRelativeBoostPer() const {return joystickGenerateCommands_config.maxRelativeBoostPercentOfMaxDuty; };
uint32_t getInactivityDurationMs() {return esp_log_timestamp() - timestamp_lastActivity;};
private:
//--- functions ---
//generate motor commands or run actions depending on the current mode
void handle();
//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();
@ -144,6 +152,9 @@ class controlledArmchair {
//struct with config parameters
control_config_t config;
//mutex to prevent race condition between handle() and changeMode()
SemaphoreHandle_t handleIteration_mutex;
//store joystick data
joystickData_t stickData = joystickData_center;
joystickData_t stickDataLast = joystickData_center;
@ -169,10 +180,10 @@ class controlledArmchair {
//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;
//variables for detecting timeout (switch to idle, or notify "forgot to turn off" after inactivity
uint32_t timestamp_lastModeChange = 0;
uint32_t timestamp_lastActivity = 0;
uint32_t timestamp_lastTimeoutBeep = 0;
};

165
board_single/main/display.cpp
View File

@ -12,7 +12,16 @@ extern "C"{
#define STARTUP_MSG_TIMEOUT 2000
#define ADC_BATT_VOLTAGE ADC1_CHANNEL_6
#define BAT_CELL_COUNT 7
// continously vary display contrast from 0 to 250 in OVERVIEW status screen
//#define BRIGHTNESS_TEST
// if display and driver support hardware scrolling the SCREENSAVER status-screen will be smoother:
//#define HARDWARE_SCROLL_AVAILABLE
//=== variables ===
// every function can access the display configuration from config.cpp
static display_config_t displayConfig;
//--------------------------
@ -61,7 +70,10 @@ void display_init(display_config_t config){
ssd1306_init(&dev, config.width, config.height, config.offsetX);
ssd1306_clear_screen(&dev, false);
ssd1306_contrast(&dev, config.contrast);
ssd1306_contrast(&dev, config.contrastNormal);
//store configuration locally (e.g. for accessing timeouts)
displayConfig = config;
}
@ -233,7 +245,7 @@ float getBatteryPercent()
//#############################
//shows overview on entire display:
//Battery percentage, voltage, current, mode, rpm, speed
#define STATUS_SCREEN_OVERVIEW_UPDATE_INTERVAL 500
#define STATUS_SCREEN_OVERVIEW_UPDATE_INTERVAL 400
void showStatusScreenOverview(display_task_parameters_t *objects)
{
//-- battery percentage --
@ -263,6 +275,17 @@ void showStatusScreenOverview(display_task_parameters_t * objects)
objects->speedLeft->getRpm(),
objects->speedRight->getRpm());
vTaskDelay(STATUS_SCREEN_OVERVIEW_UPDATE_INTERVAL / portTICK_PERIOD_MS);
//-- brightness test --
#ifdef BRIGHTNESS_TEST
// continously vary brightness/contrast for testing
displayConfig.contrastNormal += 10;
if (displayConfig.contrastNormal > 255)
displayConfig.contrastNormal = 0;
ssd1306_contrast(&dev, displayConfig.contrastNormal);
vTaskDelay(100 / portTICK_PERIOD_MS);
ESP_LOGW(TAG, "TEST BRIGHTNESS, setting to %d", displayConfig.contrastNormal);
#endif
}
@ -315,8 +338,6 @@ void showStatusScreenJoystick(display_task_parameters_t * objects)
#define STATUS_SCREEN_MOTORS_UPDATE_INTERVAL 150
void showStatusScreenMotors(display_task_parameters_t *objects)
{
// print all joystick data
joystickData_t data = objects->joystick->getData();
displayTextLine(&dev, 0, true, false, "%-4.0fW ", fabs(objects->motorLeft->getCurrentA()) * getBatteryVoltage());
displayTextLine(&dev, 3, true, false, "%-4.0fW ", fabs(objects->motorRight->getCurrentA()) * getBatteryVoltage());
//displayTextLine(&dev, 0, true, false, "L:%02.0f%%", objects->motorLeft->getStatus().duty);
@ -331,6 +352,71 @@ void showStatusScreenMotors(display_task_parameters_t *objects)
}
// ################################
// #### showScreen Screensaver ####
// ################################
// show inactivity duration and battery perventage scrolling across screen the entire screen to prevent burn in
#define STATUS_SCREEN_SCREENSAVER_DELAY_NEXT_LINE_MS 10 * 1000
#define STATUS_SCREEN_SCREENSAVER_UPDATE_INTERVAL 500
#define DISPLAY_HORIZONTAL_CHARACTER_COUNT 16
#define DISPLAY_VERTICAL_LINE_COUNT 8
void showStatusScreenScreensaver(display_task_parameters_t *objects)
{
//-- variables for line rotation --
static int msPassed = 0;
static int currentLine = 0;
static bool lineChanging = false;
// clear display once when rotating to next line
if (lineChanging)
{
ssd1306_clear_screen(&dev, false);
lineChanging = false;
}
//-- print 2 lines scrolling horizontally --
#ifdef HARDWARE_SCROLL_AVAILABLE // when display supports hardware scrolling -> only the content has to be updated
// note: scrolling is enabled at screen change (display_selectStatusPage())
// update text every iteration to prevent empty screen at start
displayTextLine(&dev, currentLine, false, false, "IDLE since:");
displayTextLine(&dev, currentLine + 1, false, false, "%.1fh, B:%02.0f%%",
(float)objects->control->getInactivityDurationMs() / 1000 / 60 / 60,
getBatteryPercent());
// note: scrolling is disabled at screen change (display_selectStatusPage())
#else // custom implementation to scroll the text 1 character to the right every iteration (also wraps over the end to beginning)
static int offset = DISPLAY_HORIZONTAL_CHARACTER_COUNT;
char buf1[64], buf2[64];
// scroll text left to right (taken window of the string moves to the left => offset 16->0, 16->0 ...)
offset -= 1;
if (offset < 0)
offset = DISPLAY_HORIZONTAL_CHARACTER_COUNT - 1; // 0 = no crop -> start over with crop
// note: these strings have to be symetrical and 2x display character count long
snprintf(buf1, 64, "IDLE since: IDLE since: ");
snprintf(buf2, 64, "%.1fh, B:%02.0f%% %.1fh, B:%02.0f%% ",
(float)objects->control->getInactivityDurationMs() / 1000 / 60 / 60,
getBatteryPercent(),
(float)objects->control->getInactivityDurationMs() / 1000 / 60 / 60,
getBatteryPercent());
// print strings on display while limiting to certain window (ignore certain count of characters at start)
displayTextLine(&dev, currentLine, false, false, "%s", buf1 + offset);
displayTextLine(&dev, currentLine + 1, false, false, "%s", buf2 + offset);
#endif
//-- handle line rotation --
// to not block the display task for several seconds returning every e.g. 500ms here
// -> ensures detection of activity (exit condition) in task loop is handled regularly
if (msPassed > STATUS_SCREEN_SCREENSAVER_DELAY_NEXT_LINE_MS) // switch to next line is due
{
msPassed = 0; // rest seconds count
// increment / rotate to next line
if (++currentLine >= DISPLAY_VERTICAL_LINE_COUNT - 1) // rotate to next line
currentLine = 0;
lineChanging = true; // clear screen in next run
}
//-- wait update interval --
// wait and increment passed time after each run
vTaskDelay(STATUS_SCREEN_SCREENSAVER_UPDATE_INTERVAL / portTICK_PERIOD_MS);
msPassed += STATUS_SCREEN_SCREENSAVER_UPDATE_INTERVAL;
}
//########################
//#### showStartupMsg ####
//########################
@ -353,16 +439,44 @@ void showStartupMsg(){
//============================
//===== selectStatusPage =====
//============================
void display_selectStatusPage(displayStatusPage_t newStatusPage){
void display_selectStatusPage(displayStatusPage_t newStatusPage)
{
//-- run commands when switching FROM certain mode --
switch (selectedStatusPage)
{
#ifdef HARDWARE_SCROLL_AVAILABLE
case STATUS_SCREEN_SCREENSAVER:
ssd1306_hardware_scroll(&dev, SCROLL_STOP); // disable scrolling when exiting screensaver
break;
#endif
default:
break;
}
ESP_LOGW(TAG, "switching statusPage from %d to %d", (int)selectedStatusPage, (int)newStatusPage);
selectedStatusPage = newStatusPage;
//-- run commands when switching TO certain mode --
switch (selectedStatusPage)
{
case STATUS_SCREEN_SCREENSAVER:
ssd1306_clear_screen(&dev, false); // clear screen when switching
#ifdef HARDWARE_SCROLL_AVAILABLE
ssd1306_hardware_scroll(&dev, SCROLL_RIGHT);
#endif
break;
default:
break;
}
}
//============================
//======= display task =======
//============================
// TODO: separate task for each loop?
void display_task(void *pvParameters)
{
ESP_LOGW(TAG, "Initializing display and starting handle loop");
@ -403,6 +517,47 @@ void display_task(void *pvParameters)
case STATUS_SCREEN_MOTORS:
showStatusScreenMotors(objects);
break;
case STATUS_SCREEN_SCREENSAVER:
showStatusScreenScreensaver(objects);
break;
}
//--- handle timeouts ---
uint32_t inactiveMs = objects->control->getInactivityDurationMs();
//-- screensaver --
// handle switch to screensaver when no user input for a long time
if (inactiveMs > displayConfig.timeoutSwitchToScreensaverMs) // timeout - switch to screensaver is due
{
if (selectedStatusPage != STATUS_SCREEN_SCREENSAVER){ // switch/log only once at change
ESP_LOGW(TAG, "no activity for more than %d min, switching to screensaver", inactiveMs / 1000 / 60);
display_selectStatusPage(STATUS_SCREEN_SCREENSAVER);
}
}
else if (selectedStatusPage == STATUS_SCREEN_SCREENSAVER) // exit screensaver when there was recent activity
{
ESP_LOGW(TAG, "recent activity detected, disabling screensaver");
display_selectStatusPage(STATUS_SCREEN_OVERVIEW);
}
//-- reduce brightness --
// handle brightness reduction when no user input for some time
static bool brightnessIsReduced = false;
if (inactiveMs > displayConfig.timeoutReduceContrastMs) // threshold exceeded - reduction of brightness is due
{
if (!brightnessIsReduced) //change / log only once at change
{
// reduce display brightness (less burn in)
ESP_LOGW(TAG, "no activity for more than %d min, reducing display brightness to %d/255", inactiveMs / 1000 / 60, displayConfig.contrastReduced);
ssd1306_contrast(&dev, displayConfig.contrastReduced);
brightnessIsReduced = true;
}
}
else if (brightnessIsReduced) // threshold not exceeded anymore, but still reduced
{
// increase display brighness again
ESP_LOGW(TAG, "recent activity detected, increasing brightness again");
ssd1306_contrast(&dev, displayConfig.contrastNormal);
brightnessIsReduced = false;
}
}
// TODO add pages and menus

12
board_single/main/display.hpp
View File

@ -22,6 +22,7 @@ extern "C" {
// configuration for initializing display (passed to task as well)
typedef struct display_config_t {
// initialization
gpio_num_t gpio_scl;
gpio_num_t gpio_sda;
int gpio_reset; // negative number means reset pin is not connected or not used
@ -29,7 +30,11 @@ typedef struct display_config_t {
int height;
int offsetX;
bool flip;
int contrast;
// display-task
int contrastNormal;
int contrastReduced;
uint32_t timeoutReduceContrastMs;
uint32_t timeoutSwitchToScreensaverMs;
} display_config_t;
@ -49,11 +54,14 @@ typedef struct display_task_parameters_t {
// enum for selecting the currently shown status page (display content when not in MENU mode)
typedef enum displayStatusPage_t {STATUS_SCREEN_OVERVIEW=0, STATUS_SCREEN_SPEED, STATUS_SCREEN_JOYSTICK, STATUS_SCREEN_MOTORS} displayStatusPage_t;
typedef enum displayStatusPage_t {STATUS_SCREEN_OVERVIEW=0, STATUS_SCREEN_SPEED, STATUS_SCREEN_JOYSTICK, STATUS_SCREEN_MOTORS, STATUS_SCREEN_SCREENSAVER} displayStatusPage_t;
// get precise battery voltage (using lookup table)
float getBatteryVoltage();
// get battery charge level in percent (using lookup table as discharge curve)
float getBatteryPercent();
// function to select one of the defined status screens which are shown on display when not in MENU mode
void display_selectStatusPage(displayStatusPage_t newStatusPage);

46
board_single/main/main.cpp
View File

@ -27,7 +27,6 @@ extern "C"
#include "motorctl.hpp"
//folder single_board
#include "config.hpp"
#include "control.hpp"
#include "button.hpp"
#include "display.hpp"
@ -108,7 +107,6 @@ nvs_handle_t nvsHandle;
//=================================
//initialize spi flash filesystem (used for webserver)
void init_spiffs(){
ESP_LOGW(TAG, "initializing spiffs...");
esp_vfs_spiffs_conf_t esp_vfs_spiffs_conf = {
.base_path = "/spiffs",
.partition_label = NULL,
@ -142,16 +140,16 @@ void createObjects()
// with configuration above
//sabertoothDriver = new sabertooth2x60a(sabertoothConfig);
// create controlled motor instances (motorctl.hpp)
// with configurations from config.cpp
motorLeft = new controlledMotor(setLeftFunc, configMotorControlLeft, &nvsHandle);
motorRight = new controlledMotor(setRightFunc, configMotorControlRight, &nvsHandle);
// create speedsensor instances
// with configurations from config.cpp
speedLeft = new speedSensor(speedLeft_config);
speedRight = new speedSensor(speedRight_config);
// create controlled motor instances (motorctl.hpp)
// with configurations from config.cpp
motorLeft = new controlledMotor(setLeftFunc, configMotorControlLeft, &nvsHandle, speedLeft, &motorRight); //note: ptr to ptr of controlledMotor since it isnt defined yet
motorRight = new controlledMotor(setRightFunc, configMotorControlRight, &nvsHandle, speedRight, &motorLeft);
// create joystick instance (joystick.hpp)
joystick = new evaluatedJoystick(configJoystick, &nvsHandle);
@ -195,35 +193,29 @@ extern "C" void app_main(void) {
gpio_set_direction(GPIO_NUM_17, GPIO_MODE_OUTPUT);
gpio_set_level(GPIO_NUM_17, 1);
//--- initialize nvs-flash and netif (needed for wifi) ---
ESP_LOGW(TAG,"initializing wifi...");
wifi_initNvs_initNetif();
//--- initialize nvs-flash and netif ---
ESP_LOGW(TAG,"initializing NVS...");
wifi_initNvs(); //needed for wifi and persistent config variables
ESP_LOGW(TAG,"initializing NETIF...");
wifi_initNetif(); // needed for wifi
//--- initialize spiffs ---
init_spiffs();
ESP_LOGW(TAG, "initializing SPIFFS...");
init_spiffs(); // used by httpd server
//--- initialize and start wifi ---
ESP_LOGW(TAG,"starting wifi...");
//wifi_init_client(); //connect to existing wifi
wifi_init_ap(); //start access point
ESP_LOGD(TAG,"done starting wifi");
// Note: now started only when switching to HTTP mode in control.cpp
// ESP_LOGW(TAG,"starting wifi...");
// wifi_start_client(); //connect to existing wifi (dropped)
// wifi_start_ap(); //start access point
//--- initialize encoder ---
const QueueHandle_t encoderQueue = encoder_init(&encoder_config);
//--- initialize nvs-flash --- (for persistant config values)
ESP_LOGW(TAG, "initializing nvs-flash...");
esp_err_t err = nvs_flash_init();
if (err == ESP_ERR_NVS_NO_FREE_PAGES || err == ESP_ERR_NVS_NEW_VERSION_FOUND)
{
ESP_LOGE(TAG, "NVS truncated -> deleting flash");
// Retry nvs_flash_init
ESP_ERROR_CHECK(nvs_flash_erase());
err = nvs_flash_init();
}
ESP_ERROR_CHECK(err);
//--- open nvs-flash ---
err = nvs_open("storage", NVS_READWRITE, &nvsHandle);
// note: nvs already initialized in wifi_initNvs()
ESP_LOGW(TAG, "opening NVS-handle...");
esp_err_t err = nvs_open("storage", NVS_READWRITE, &nvsHandle); // this handle is passed to all tasks for accessing nvs
if (err != ESP_OK)
ESP_LOGE(TAG, "Error (%s) opening NVS handle!\n", esp_err_to_name(err));

122
board_single/main/menu.cpp
View File

@ -11,7 +11,6 @@ extern "C"{
#include "menu.hpp"
#include "encoder.hpp"
#include "config.hpp"
#include "motorctl.hpp"
@ -105,7 +104,7 @@ void item_calibrateJoystick_action(display_task_parameters_t *objects, SSD1306_t
// save and next when button clicked, exit when long pressed
if (xQueueReceive(objects->encoderQueue, &event, CALIBRATE_JOYSTICK_UPDATE_INTERVAL / portTICK_PERIOD_MS))
{
objects->control->resetTimeout();
objects->control->resetTimeout(); // user input -> reset switch to IDLE timeout
switch (event.type)
{
case RE_ET_BTN_CLICKED:
@ -215,7 +214,7 @@ void item_debugJoystick_action(display_task_parameters_t * objects, SSD1306_t *
// exit when button pressed
if (xQueueReceive(objects->encoderQueue, &event, DEBUG_JOYSTICK_UPDATE_INTERVAL / portTICK_PERIOD_MS))
{
objects->control->resetTimeout();
objects->control->resetTimeout(); // user input -> reset switch to IDLE timeout
switch (event.type)
{
case RE_ET_BTN_CLICKED:
@ -277,6 +276,34 @@ menuItem_t item_maxDuty = {
};
//##################################
//##### set max relative boost #####
//##################################
void maxRelativeBoost_action(display_task_parameters_t * objects, SSD1306_t * display, int value)
{
objects->control->setMaxRelativeBoostPer(value);
}
int maxRelativeBoost_currentValue(display_task_parameters_t * objects)
{
return (int)objects->control->getMaxRelativeBoostPer();
}
menuItem_t item_maxRelativeBoost = {
maxRelativeBoost_action, // function action
maxRelativeBoost_currentValue, // function get initial value or NULL(show in line 2)
NULL, // function get default value or NULL(dont set value, show msg)
0, // valueMin
150, // valueMax
1, // valueIncrement
"Set max Boost ", // title
"Set max Boost % ", // line1 (above value)
"for outer tire ", // line2 (above value)
"", // line4 * (below value)
"", // line5 *
" % of max duty ", // line6
"added on turning", // line7
};
//######################
//##### accelLimit #####
//######################
@ -343,6 +370,85 @@ menuItem_t item_decelLimit = {
};
//###############################
//### select motorControlMode ###
//###############################
void item_motorControlMode_action(display_task_parameters_t *objects, SSD1306_t *display, int value)
{
switch (value)
{
case 1:
default:
objects->motorLeft->setControlMode(motorControlMode_t::DUTY);
objects->motorRight->setControlMode(motorControlMode_t::DUTY);
break;
case 2:
objects->motorLeft->setControlMode(motorControlMode_t::CURRENT);
objects->motorRight->setControlMode(motorControlMode_t::CURRENT);
break;
case 3:
objects->motorLeft->setControlMode(motorControlMode_t::SPEED);
objects->motorRight->setControlMode(motorControlMode_t::SPEED);
break;
}
}
int item_motorControlMode_value(display_task_parameters_t *objects)
{
return 1; // initial value shown / changed from //TODO get actual mode
}
menuItem_t item_motorControlMode = {
item_motorControlMode_action, // function action
item_motorControlMode_value, // function get initial value or NULL(show in line 2)
NULL, // function get default value or NULL(dont set value, show msg)
1, // valueMin
3, // valueMax
1, // valueIncrement
"Control mode ", // title
" sel. motor ", // line1 (above value)
" control mode ", // line2 (above value)
"1: DUTY (defaul)", // line4 * (below value)
"2: CURRENT", // line5 *
"3: SPEED", // line6
"", // line7
};
//###################################
//##### Traction Control System #####
//###################################
void tractionControlSystem_action(display_task_parameters_t * objects, SSD1306_t * display, int value)
{
if (value == 1){
objects->motorLeft->enableTractionControlSystem();
objects->motorRight->enableTractionControlSystem();
ESP_LOGW(TAG, "enabled Traction Control System");
} else {
objects->motorLeft->disableTractionControlSystem();
objects->motorRight->disableTractionControlSystem();
ESP_LOGW(TAG, "disabled Traction Control System");
}
}
int tractionControlSystem_currentValue(display_task_parameters_t * objects)
{
return (int)objects->motorLeft->getTractionControlSystemStatus();
}
menuItem_t item_tractionControlSystem = {
tractionControlSystem_action, // function action
tractionControlSystem_currentValue, // function get initial value or NULL(show in line 2)
NULL, // function get default value or NULL(dont set value, show msg)
0, // valueMin
1, // valueMax
1, // valueIncrement
"TCS / ASR ", // title
"Traction Control", // line1 (above value)
" System ", // line2 (above value)
"1: enable ", // line4 * (below value)
"0: disable ", // line5 *
"note: requires ", // line6
"speed ctl-mode ", // line7
};
//#####################
//####### RESET #######
//#####################
@ -472,8 +578,8 @@ menuItem_t item_last = {
//####################################################
//### store all configured menu items in one array ###
//####################################################
const menuItem_t menuItems[] = {item_centerJoystick, item_calibrateJoystick, item_debugJoystick, item_maxDuty, item_accelLimit, item_decelLimit, item_statusScreen, item_reset, item_example, item_last};
const int itemCount = 8;
const menuItem_t menuItems[] = {item_centerJoystick, item_calibrateJoystick, item_debugJoystick, item_statusScreen, item_maxDuty, item_maxRelativeBoost, item_accelLimit, item_decelLimit, item_motorControlMode, item_tractionControlSystem, item_reset, item_example, item_last};
const int itemCount = 11;
@ -621,7 +727,7 @@ void handleMenu(display_task_parameters_t * objects, SSD1306_t *display)
{
// reset menu- and control-timeout on any encoder event
lastActivity = esp_log_timestamp();
objects->control->resetTimeout();
objects->control->resetTimeout(); // user input -> reset switch to IDLE timeout
switch (event.type)
{
case RE_ET_CHANGED:
@ -692,7 +798,7 @@ void handleMenu(display_task_parameters_t * objects, SSD1306_t *display)
// wait for encoder event
if (xQueueReceive(objects->encoderQueue, &event, QUEUE_TIMEOUT / portTICK_PERIOD_MS))
{
objects->control->resetTimeout();
objects->control->resetTimeout(); // user input -> reset switch to IDLE timeout
switch (event.type)
{
case RE_ET_CHANGED:
@ -732,7 +838,7 @@ void handleMenu(display_task_parameters_t * objects, SSD1306_t *display)
}
// reset menu- and control-timeout on any encoder event
lastActivity = esp_log_timestamp();
objects->control->resetTimeout();
objects->control->resetTimeout(); // user input -> reset switch to IDLE timeout
}
break;
}

2
board_single/sdkconfig
View File

@ -1252,7 +1252,7 @@ CONFIG_WPA_MBEDTLS_CRYPTO=y
#
CONFIG_RE_MAX=1
CONFIG_RE_INTERVAL_US=1000
CONFIG_RE_BTN_DEAD_TIME_US=10000
CONFIG_RE_BTN_DEAD_TIME_US=40000
CONFIG_RE_BTN_PRESSED_LEVEL_0=y
# CONFIG_RE_BTN_PRESSED_LEVEL_1 is not set
CONFIG_RE_BTN_LONG_PRESS_TIME_US=500000

83
common/joystick.cpp
View File

@ -306,30 +306,38 @@ joystickPos_t joystick_evaluatePosition(float x, float y){
//function that generates commands for both motors from the joystick data
motorCommands_t joystick_generateCommandsDriving(joystickData_t data, joystickGenerateCommands_config_t * config){
//struct with current data of the joystick
//typedef struct joystickData_t {
// joystickPos_t position;
// float x;
// float y;
// float radius;
// float angle;
//} joystickData_t;
//--- interpret config parameters ---
float dutyOffset = config->dutyOffset; // immediately starts with this duty
float dutyRange = config->maxDutyStraight - config->dutyOffset; //duty at max radius
// calculate configured boost duty (added when turning)
float dutyBoost = config->maxDutyStraight * config->maxRelativeBoostPercentOfMaxDuty/100;
// limit to maximum possible duty
float dutyAvailable = 100 - config->maxDutyStraight;
if (dutyBoost > dutyAvailable) dutyBoost = dutyAvailable;
//--- variables ---
motorCommands_t commands;
float dutyOffset = 5; //immediately starts with this duty, TODO add this to config
float dutyRange = config->maxDuty - config->dutyOffset;
float ratio = fabs(data.angle) / 90; //90degree = x=0 || 0degree = y=0
//--- snap ratio to max at angle threshold ---
//(-> more joystick area where inner wheel is off when turning)
/*
//FIXME works, but armchair unsusable because of current bug with motor driver (inner motor freezes after turn)
float ratioClipThreshold = 0.3;
if (ratio < ratioClipThreshold) ratio = 0;
else if (ratio > 1-ratioClipThreshold) ratio = 1;
//TODO subtract this clip threshold from available joystick range at ratio usage
*/
//--- calculate paramaters with current data ---
motorCommands_t commands; // store new motor commands
// -- calculate ratio --
// get current ratio from stick angle
float ratioActual = fabs(data.angle) / 90; //x=0 -> 90deg -> ratio=1 || y=0 -> 0deg -> ratio=0
ratioActual = 1 - ratioActual; // invert ratio
// scale and clip ratio according to configured tolerance
// to have some joystick area at max ratio before reaching X-Axis-full-turn-mode
float ratio = ratioActual / (config->ratioSnapToOneThreshold); //0->0 threshold->1
// limit to 1 when above threshold (inside area max ratio)
if (ratio > 1) ratio = 1; // >threshold -> 1
// -- calculate outer tire boost --
#define BOOST_RATIO_MANIPULATION_SCALE 1.05 // >1 to apply boost slightly faster, this slightly compensates that available boost is most times less than reduction of inner duty, so for small turns the total speed feels more equal
float boostAmountOuter = data.radius*dutyBoost* ratio *BOOST_RATIO_MANIPULATION_SCALE;
// limit to max amount
if (boostAmountOuter > dutyBoost) boostAmountOuter = dutyBoost;
// -- calculate inner tire reduction --
float reductionAmountInner = (data.radius * dutyRange + dutyOffset) * ratio;
//--- experimental alternative control mode ---
if (config->altStickMapping == true){
@ -380,36 +388,43 @@ motorCommands_t joystick_generateCommandsDriving(joystickData_t data, joystickGe
case joystickPos_t::TOP_RIGHT:
commands.left.state = motorstate_t::FWD;
commands.right.state = motorstate_t::FWD;
commands.left.duty = data.radius * dutyRange + dutyOffset;
commands.right.duty = data.radius * dutyRange - (data.radius*dutyRange + dutyOffset)*(1-ratio) + dutyOffset;
commands.left.duty = data.radius * dutyRange + boostAmountOuter + dutyOffset;
commands.right.duty = data.radius * dutyRange - reductionAmountInner + dutyOffset;
break;
case joystickPos_t::TOP_LEFT:
commands.left.state = motorstate_t::FWD;
commands.right.state = motorstate_t::FWD;
commands.left.duty = data.radius * dutyRange - (data.radius*dutyRange + dutyOffset)*(1-ratio) + dutyOffset;
commands.right.duty = data.radius * dutyRange + dutyOffset;
commands.left.duty = data.radius * dutyRange - reductionAmountInner + dutyOffset;
commands.right.duty = data.radius * dutyRange + boostAmountOuter + dutyOffset;
break;
case joystickPos_t::BOTTOM_LEFT:
commands.left.state = motorstate_t::REV;
commands.right.state = motorstate_t::REV;
commands.left.duty = data.radius * dutyRange + dutyOffset;
commands.right.duty = data.radius * dutyRange - (data.radius*dutyRange + dutyOffset)*(1-ratio) + dutyOffset;
commands.left.duty = data.radius * dutyRange + boostAmountOuter + dutyOffset;
commands.right.duty = data.radius * dutyRange - reductionAmountInner + dutyOffset;
break;
case joystickPos_t::BOTTOM_RIGHT:
commands.left.state = motorstate_t::REV;
commands.right.state = motorstate_t::REV;
commands.left.duty = data.radius * dutyRange - (data.radius*dutyRange + dutyOffset)*(1-ratio) + dutyOffset;
commands.right.duty = data.radius * dutyRange + dutyOffset;
commands.left.duty = data.radius * dutyRange - reductionAmountInner + dutyOffset;
commands.right.duty = data.radius * dutyRange + boostAmountOuter + dutyOffset;
break;
}
ESP_LOGI(TAG_CMD, "generated commands from data: state=%s, angle=%.3f, ratio=%.3f/%.3f, radius=%.2f, x=%.2f, y=%.2f",
joystickPosStr[(int)data.position], data.angle, ratio, (1-ratio), data.radius, data.x, data.y);
ESP_LOGI(TAG_CMD, "motor left: state=%s, duty=%.3f", motorstateStr[(int)commands.left.state], commands.left.duty);
ESP_LOGI(TAG_CMD, "motor right: state=%s, duty=%.3f", motorstateStr[(int)commands.right.state], commands.right.duty);
// log input data
ESP_LOGD(TAG_CMD, "in: pos='%s', angle=%.3f, ratioActual/Scaled=%.2f/%.2f, r=%.2f, x=%.2f, y=%.2f",
joystickPosStr[(int)data.position], data.angle, ratioActual, ratio, data.radius, data.x, data.y);
// log generation details
ESP_LOGI(TAG_CMD, "left=%.2f, right=%.2f -- BoostOuter=%.1f, ReductionInner=%.1f, maxDuty=%.0f, maxBoost=%.0f, dutyOffset=%.0f",
commands.left.duty, commands.right.duty,
boostAmountOuter, reductionAmountInner,
config->maxDutyStraight, dutyBoost, dutyOffset);
// log generated motor commands
ESP_LOGD(TAG_CMD, "motor left: state=%s, duty=%.3f", motorstateStr[(int)commands.left.state], commands.left.duty);
ESP_LOGD(TAG_CMD, "motor right: state=%s, duty=%.3f", motorstateStr[(int)commands.right.state], commands.right.duty);
return commands;
}

14
common/joystick.hpp
View File

@ -69,15 +69,17 @@ typedef struct joystickData_t {
float angle;
} joystickData_t;
// struct with parameters provided to joystick_GenerateCommandsDriving()
typedef struct joystickGenerateCommands_config_t {
float maxDuty;
float dutyOffset;
bool altStickMapping;
typedef struct joystickGenerateCommands_config_t
{
float maxDutyStraight; // max duty applied when driving with ratio=1 (when turning it might increase by Boost)
float maxRelativeBoostPercentOfMaxDuty; // max duty percent added to outer tire when turning (max actual is 100-maxDutyStraight) - set 0 to disable
// note: to be able to reduce the overall driving speed boost has to be limited as well otherwise outer tire when turning would always be 100% no matter of maxDuty
float dutyOffset; // motors immediately start with this duty (duty movement starts)
float ratioSnapToOneThreshold; // have some area around X-Axis where inner tire is completely off - set 1 to disable
bool altStickMapping; // swap reverse direction
} joystickGenerateCommands_config_t;
//------------------------------------
//----- evaluatedJoystick class -----
//------------------------------------

295
common/motorctl.cpp
View File

@ -28,14 +28,20 @@ void task_motorctl( void * ptrControlledMotor ){
//======== constructor ========
//=============================
//constructor, simultaniously initialize instance of motor driver 'motor' and current sensor 'cSensor' with provided config (see below lines after ':')
controlledMotor::controlledMotor(motorSetCommandFunc_t setCommandFunc, motorctl_config_t config_control, nvs_handle_t * nvsHandle_f):
controlledMotor::controlledMotor(motorSetCommandFunc_t setCommandFunc, motorctl_config_t config_control, nvs_handle_t * nvsHandle_f, speedSensor * speedSensor_f, controlledMotor ** otherMotor_f):
//create current sensor
cSensor(config_control.currentSensor_adc, config_control.currentSensor_ratedCurrent, config_control.currentSnapToZeroThreshold, config_control.currentInverted) {
//copy parameters for controlling the motor
config = config_control;
log = config.loggingEnabled;
//pointer to update motot dury method
motorSetCommand = setCommandFunc;
//pointer to nvs handle
nvsHandle = nvsHandle_f;
//pointer to other motor object
ppOtherMotor = otherMotor_f;
//pointer to speed sensor
sSensor = speedSensor_f;
//create queue, initialize config values
init();
@ -105,19 +111,35 @@ void controlledMotor::handle(){
//TODO: History: skip fading when motor was running fast recently / alternatively add rot-speed sensor
//--- receive commands from queue ---
//--- RECEIVE DATA FROM QUEUE ---
if( xQueueReceive( commandQueue, &commandReceive, timeoutWaitForCommand / portTICK_PERIOD_MS ) ) //wait time is always 0 except when at target duty already
{
ESP_LOGV(TAG, "[%s] Read command from queue: state=%s, duty=%.2f", config.name, motorstateStr[(int)commandReceive.state], commandReceive.duty);
if(log) ESP_LOGV(TAG, "[%s] Read command from queue: state=%s, duty=%.2f", config.name, motorstateStr[(int)commandReceive.state], commandReceive.duty);
state = commandReceive.state;
dutyTarget = commandReceive.duty;
receiveTimeout = false;
timestamp_commandReceived = esp_log_timestamp();
}
// ----- EXPERIMENTAL, DIFFERENT MODES -----
// define target duty differently depending on current contro-mode
//declare variables used inside switch
float ampereNow, ampereTarget, ampereDiff;
float speedDiff;
switch (mode)
{
case motorControlMode_t::DUTY: // regulate to desired duty (as originally)
//--- convert duty ---
// define target duty (-100 to 100) from provided duty and motorstate
//this value is more suitable for the fading algorithm
switch(commandReceive.state){
// this value is more suitable for t
// todo scale target input with DUTY-MAX here instead of in joysick cmd generationhe fading algorithm
switch (commandReceive.state)
{
case motorstate_t::BRAKE:
// update state
state = motorstate_t::BRAKE;
@ -134,32 +156,140 @@ void controlledMotor::handle(){
dutyTarget = -fabs(commandReceive.duty);
break;
}
break;
#define CURRENT_CONTROL_ALLOWED_AMPERE_DIFF 1 //difference from target where no change is made yet
#define CURRENT_CONTROL_MIN_AMPERE 0.7 //current where motor is turned off
//TODO define different, fixed fading configuration in current mode, fade down can be significantly less (500/500ms fade up worked fine)
case motorControlMode_t::CURRENT: // regulate to desired current flow
ampereNow = cSensor.read();
ampereTarget = config.currentMax * commandReceive.duty / 100; // TODO ensure input data is 0-100 (no duty max), add currentMax to menu/config
if (commandReceive.state == motorstate_t::REV) ampereTarget = - ampereTarget; //target is negative when driving reverse
ampereDiff = ampereTarget - ampereNow;
if(log) ESP_LOGV("TESTING", "[%s] CURRENT-CONTROL: ampereNow=%.2f, ampereTarget=%.2f, diff=%.2f", config.name, ampereNow, ampereTarget, ampereDiff); // todo handle brake
//--- when IDLE to keep the current at target zero motor needs to be on for some duty (to compensate generator current)
if (commandReceive.duty == 0 && fabs(ampereNow) < CURRENT_CONTROL_MIN_AMPERE){ //stop motors completely when current is very low already
dutyTarget = 0;
}
else if (fabs(ampereDiff) > CURRENT_CONTROL_ALLOWED_AMPERE_DIFF || commandReceive.duty == 0) //#### BOOST BY 1 A
{
if (ampereDiff > 0 && commandReceive.state != motorstate_t::REV) // forward need to increase current
{
dutyTarget = 100; // todo add custom fading depending on diff? currently very dependent of fade times
}
else if (ampereDiff < 0 && commandReceive.state != motorstate_t::FWD) // backward need to increase current (more negative)
{
dutyTarget = -100;
}
else // fwd too much, rev too much -> decrease
{
dutyTarget = 0;
}
if(log) ESP_LOGV("TESTING", "[%s] CURRENT-CONTROL: set target to %.0f%%", config.name, dutyTarget);
}
else
{
dutyTarget = dutyNow; // target current reached
if(log) ESP_LOGD("TESTING", "[%s] CURRENT-CONTROL: target current %.3f reached", config.name, dutyTarget);
}
break;
#define SPEED_CONTROL_MAX_SPEED_KMH 10
#define SPEED_CONTROL_ALLOWED_KMH_DIFF 0.6
#define SPEED_CONTROL_MIN_SPEED 0.7 //" start from standstill" always accelerate to this speed, ignoring speedsensor data
case motorControlMode_t::SPEED: // regulate to desired speed
speedNow = sSensor->getKmph();
//caculate target speed from input
speedTarget = SPEED_CONTROL_MAX_SPEED_KMH * commandReceive.duty / 100; // TODO add maxSpeed to config
// target speed negative when driving reverse
if (commandReceive.state == motorstate_t::REV)
speedTarget = -speedTarget;
if (sSensor->getTimeLastUpdate() != timestamp_speedLastUpdate ){ //only modify duty when new speed data available
timestamp_speedLastUpdate = sSensor->getTimeLastUpdate(); //TODO get time only once
speedDiff = speedTarget - speedNow;
} else {
if(log) ESP_LOGV("TESTING", "[%s] SPEED-CONTROL: no new speed data, not changing duty", config.name);
speedDiff = 0;
}
if(log) ESP_LOGV("TESTING", "[%s] SPEED-CONTROL: target-speed=%.2f, current-speed=%.2f, diff=%.3f", config.name, speedTarget, speedNow, speedDiff);
//stop when target is 0
if (commandReceive.duty == 0) { //TODO add IDLE, BRAKE state
if(log) ESP_LOGV("TESTING", "[%s] SPEED-CONTROL: OFF, target is 0... current-speed=%.2f, diff=%.3f", config.name, speedNow, speedDiff);
dutyTarget = 0;
}
else if (fabs(speedNow) < SPEED_CONTROL_MIN_SPEED){ //start from standstill or too slow (not enough speedsensor data)
if (log)
ESP_LOGV("TESTING", "[%s] SPEED-CONTROL: starting from standstill -> increase duty... target-speed=%.2f, current-speed=%.2f, diff=%.3f", config.name, speedTarget, speedNow, speedDiff);
if (commandReceive.state == motorstate_t::FWD)
dutyTarget = 100;
else if (commandReceive.state == motorstate_t::REV)
dutyTarget = -100;
}
else if (fabs(speedDiff) > SPEED_CONTROL_ALLOWED_KMH_DIFF) //speed too fast/slow
{
if (speedDiff > 0 && commandReceive.state != motorstate_t::REV) // forward need to increase speed
{
// TODO retain max duty here
dutyTarget = 100; // todo add custom fading depending on diff? currently very dependent of fade times
if(log) ESP_LOGV("TESTING", "[%s] SPEED-CONTROL: speed to low (fwd), diff=%.2f, increasing set target from %.1f%% to %.1f%%", config.name, speedDiff, dutyNow, dutyTarget);
}
else if (speedDiff < 0 && commandReceive.state != motorstate_t::FWD) // backward need to increase speed (more negative)
{
dutyTarget = -100;
if(log) ESP_LOGV("TESTING", "[%s] SPEED-CONTROL: speed to low (rev), diff=%.2f, increasing set target from %.1f%% to %.1f%%", config.name, speedDiff, dutyNow, dutyTarget);
}
else // fwd too much, rev too much -> decrease
{
dutyTarget = 0;
if(log) ESP_LOGV("TESTING", "[%s] SPEED-CONTROL: speed to high, diff=%.2f, decreasing set target from %.1f%% to %.1f%%", config.name, speedDiff, dutyNow, dutyTarget);
}
}
else
{
dutyTarget = dutyNow; // target speed reached
if(log) ESP_LOGD("TESTING", "[%s] SPEED-CONTROL: target speed %.3f reached", config.name, speedTarget);
}
//--- timeout, no data ---
break;
}
//--- TIMEOUT NO DATA ---
// turn motors off if no data received for a long time (e.g. no uart data or control task offline)
if ( dutyNow != 0 && esp_log_timestamp() - timestamp_commandReceived > TIMEOUT_IDLE_WHEN_NO_COMMAND && !receiveTimeout)
{
ESP_LOGE(TAG, "[%s] TIMEOUT, motor active, but no target data received for more than %ds -> switch from duty=%.2f to IDLE", config.name, TIMEOUT_IDLE_WHEN_NO_COMMAND / 1000, dutyTarget);
if(log) ESP_LOGE(TAG, "[%s] TIMEOUT, motor active, but no target data received for more than %ds -> switch from duty=%.2f to IDLE", config.name, TIMEOUT_IDLE_WHEN_NO_COMMAND / 1000, dutyTarget);
receiveTimeout = true;
// set target and last command to IDLE
state = motorstate_t::IDLE;
dutyTarget = 0;
commandReceive.state = motorstate_t::IDLE;
dutyTarget = 0; // todo put this in else section of queue (no data received) and add control mode "timeout"?
commandReceive.duty = 0;
}
//--- calculate difference ---
//--- CALCULATE DUTY-DIFF ---
dutyDelta = dutyTarget - dutyNow;
//positive: need to increase by that value
//negative: need to decrease
//--- already at target ---
//--- DETECT ALREADY AT TARGET ---
// when already at exact target duty there is no need to run very fast to handle fading
//-> slow down loop by waiting significantly longer for new commands to arrive
if ((dutyDelta == 0 && !config.currentLimitEnabled) || (dutyTarget == 0 && dutyNow == 0)) //when current limit enabled only slow down when duty is 0
if (mode != motorControlMode_t::CURRENT //dont slow down when in CURRENT mode at all
&& ((dutyDelta == 0 && !config.currentLimitEnabled && !config.tractionControlSystemEnabled && mode != motorControlMode_t::SPEED) //when neither of current-limit, tractioncontrol or speed-mode is enabled slow down when target reached
|| (dutyTarget == 0 && dutyNow == 0))) //otherwise only slow down when when actually off
{
//increase timeout once when duty is the same (once)
//increase queue timeout when duty is the same (once)
if (timeoutWaitForCommand == 0)
{ // TODO verify if state matches too?
ESP_LOGI(TAG, "[%s] already at target duty %.2f, slowing down...", config.name, dutyTarget);
if(log) ESP_LOGI(TAG, "[%s] already at target duty %.2f, slowing down...", config.name, dutyTarget);
timeoutWaitForCommand = TIMEOUT_QUEUE_WHEN_AT_TARGET; // wait in queue very long, for new command to arrive
}
vTaskDelay(20 / portTICK_PERIOD_MS); // add small additional delay overall, in case the same commands get spammed
@ -168,44 +298,43 @@ void controlledMotor::handle(){
else if (timeoutWaitForCommand != 0)
{
timeoutWaitForCommand = 0; // dont wait additional time for new commands, handle fading fast
ESP_LOGI(TAG, "[%s] duty changed to %.2f, resuming at full speed", config.name, dutyTarget);
if(log) ESP_LOGI(TAG, "[%s] duty changed to %.2f, resuming at full speed", config.name, dutyTarget);
// adjust lastRun timestamp to not mess up fading, due to much time passed but with no actual duty change
timestampLastRunUs = esp_timer_get_time() - 20*1000; //subtract approx 1 cycle delay
}
//TODO skip rest of the handle function below using return? Some regular driver updates sound useful though
//--- calculate increment ---
//calculate increment for fading UP with passed time since last run and configured fade time
int64_t usPassed = esp_timer_get_time() - timestampLastRunUs;
if (msFadeAccel > 0){
dutyIncrementAccel = ( usPassed / ((float)msFadeAccel * 1000) ) * 100; //TODO define maximum increment - first run after startup (or long) pause can cause a very large increment
} else {
dutyIncrementAccel = 100;
}
//calculate increment for fading DOWN with passed time since last run and configured fade time
if (msFadeDecel > 0){
dutyIncrementDecel = ( usPassed / ((float)msFadeDecel * 1000) ) * 100;
} else {
dutyIncrementDecel = 100;
}
//--- BRAKE ---
//brake immediately, update state, duty and exit this cycle of handle function
if (state == motorstate_t::BRAKE){
ESP_LOGD(TAG, "braking - skip fading");
if(log) ESP_LOGD(TAG, "braking - skip fading");
motorSetCommand({motorstate_t::BRAKE, dutyTarget});
ESP_LOGD(TAG, "[%s] Set Motordriver: state=%s, duty=%.2f - Measurements: current=%.2f, speed=N/A", config.name, motorstateStr[(int)state], dutyNow, currentNow);
if(log) ESP_LOGD(TAG, "[%s] Set Motordriver: state=%s, duty=%.2f - Measurements: current=%.2f, speed=N/A", config.name, motorstateStr[(int)state], dutyNow, currentNow);
//dutyNow = 0;
return; //no need to run the fade algorithm
}
//----- FADING -----
//calculate passed time since last run
int64_t usPassed = esp_timer_get_time() - timestampLastRunUs;
//--- calculate increment ---
//calculate increment for fading UP with passed time since last run and configured fade time
if (tcs_isExceeded) // disable acceleration when slippage is currently detected
dutyIncrementAccel = 0;
else if (msFadeAccel > 0)
dutyIncrementAccel = (usPassed / ((float)msFadeAccel * 1000)) * 100; // TODO define maximum increment - first run after startup (or long) pause can cause a very large increment
else //no accel limit (immediately set to 100)
dutyIncrementAccel = 100;
//calculate increment for fading DOWN with passed time since last run and configured fade time
if (msFadeDecel > 0)
dutyIncrementDecel = ( usPassed / ((float)msFadeDecel * 1000) ) * 100;
else //no decel limit (immediately reduce to 0)
dutyIncrementDecel = 100;
//fade duty to target (up and down)
//TODO: this needs optimization (can be more clear and/or simpler)
if (dutyDelta > 0) { //difference positive -> increasing duty (-100 -> 100)
@ -240,11 +369,89 @@ void controlledMotor::handle(){
} else if (dutyNow > currentLimitDecrement) {
dutyNow -= currentLimitDecrement;
}
ESP_LOGW(TAG, "[%s] current limit exceeded! now=%.3fA max=%.1fA => decreased duty from %.3f to %.3f", config.name, currentNow, config.currentMax, dutyOld, dutyNow);
if(log) ESP_LOGW(TAG, "[%s] current limit exceeded! now=%.3fA max=%.1fA => decreased duty from %.3f to %.3f", config.name, currentNow, config.currentMax, dutyOld, dutyNow);
}
}
//----- TRACTION CONTROL -----
//reduce duty when turning faster than expected
//TODO only run this when speed sensors actually updated
//handle tcs when enabled and new speed sensor data is available TODO: currently assumes here that speed sensor data of other motor updated as well
#define TCS_MAX_ALLOWED_RATIO_DIFF 0.1 //when motor speed ratio differs more than that, one motor is slowed down
#define TCS_NO_SPEED_DATA_TIMEOUT_US 200*1000
#define TCS_MIN_SPEED_KMH 1 //must be at least that fast for TCS to be enabled
//TODO rework this: clearer structure (less nested if statements)
if (config.tractionControlSystemEnabled && mode == motorControlMode_t::SPEED && sSensor->getTimeLastUpdate() != tcs_timestampLastSpeedUpdate && (esp_timer_get_time() - tcs_timestampLastRun < TCS_NO_SPEED_DATA_TIMEOUT_US)){
//update last speed update received
tcs_timestampLastSpeedUpdate = sSensor->getTimeLastUpdate(); //TODO: re-use tcs_timestampLastRun in if statement, instead of having additional variable SpeedUpdate
//calculate time passed since last run
uint32_t tcs_usPassed = esp_timer_get_time() - tcs_timestampLastRun; // passed time since last time handled
tcs_timestampLastRun = esp_timer_get_time();
//get motor stats
float speedNowThis = sSensor->getKmph();
float speedNowOther = (*ppOtherMotor)->getCurrentSpeed();
float speedTargetThis = speedTarget;
float speedTargetOther = (*ppOtherMotor)->getTargetSpeed();
float dutyTargetOther = (*ppOtherMotor)->getTargetDuty();
float dutyTargetThis = dutyTarget;
float dutyNowOther = (*ppOtherMotor)->getDuty();
float dutyNowThis = dutyNow;
//calculate expected ratio
float ratioSpeedTarget = speedTargetThis / speedTargetOther;
//calculate current ratio of actual measured rotational speed
float ratioSpeedNow = speedNowThis / speedNowOther;
//calculate current duty ration (logging only)
float ratioDutyNow = dutyNowThis / dutyNowOther;
//calculate unexpected difference
float ratioDiff = ratioSpeedNow - ratioSpeedTarget;
if(log) ESP_LOGD("TESTING", "[%s] TCS: speedThis=%.3f, speedOther=%.3f, ratioSpeedTarget=%.3f, ratioSpeedNow=%.3f, ratioDutyNow=%.3f, diff=%.3f", config.name, speedNowThis, speedNowOther, ratioSpeedTarget, ratioSpeedNow, ratioDutyNow, ratioDiff);
//-- handle rotating faster than expected --
//TODO also increase duty when other motor is slipping? (diff negative)
if (speedNowThis < TCS_MIN_SPEED_KMH) { //disable / turn off TCS when currently too slow (danger of deadlock)
tcs_isExceeded = false;
tcs_usExceeded = 0;
}
else if (ratioDiff > TCS_MAX_ALLOWED_RATIO_DIFF ) // motor turns too fast compared to expected target ratio
{
if (!tcs_isExceeded) // just started being too fast
{
tcs_timestampBeginExceeded = esp_timer_get_time();
tcs_isExceeded = true; //also blocks further acceleration (fade)
if(log) ESP_LOGW("TESTING", "[%s] TCS: now exceeding max allowed ratio diff! diff=%.2f max=%.2f", config.name, ratioDiff, TCS_MAX_ALLOWED_RATIO_DIFF);
}
else
{ // too fast for more than 2 cycles already
tcs_usExceeded = esp_timer_get_time() - tcs_timestampBeginExceeded; //time too fast already
if(log) ESP_LOGI("TESTING", "[%s] TCS: faster than expected since %dms, current ratioDiff=%.2f -> slowing down", config.name, tcs_usExceeded/1000, ratioDiff);
// calculate amount duty gets decreased
float dutyDecrement = (tcs_usPassed / ((float)msFadeDecel * 1000)) * 100; //TODO optimize dynamic increment: P:scale with ratio-difference, I: scale with duration exceeded
// decrease duty
if(log) ESP_LOGI("TESTING", "[%s] TCS: msPassed=%.3f, reducing duty by %.3f%%", config.name, (float)tcs_usPassed/1000, dutyDecrement);
fade(&dutyNow, 0, -dutyDecrement); //reduce duty but not less than 0
}
}
else
{ // not exceeded
tcs_isExceeded = false;
tcs_usExceeded = 0;
}
}
else // TCS mode not active or timed out
{ // not exceeded
tcs_isExceeded = false;
tcs_usExceeded = 0;
}
//--- define new motorstate --- (-100 to 100 => direction)
state=getStateFromDuty(dutyNow);
@ -254,14 +461,15 @@ void controlledMotor::handle(){
//FWD -> IDLE -> FWD continue without waiting
//FWD -> IDLE -> REV wait for dead-time in IDLE
//TODO check when changed only?
if (config.deadTimeMs > 0) { //deadTime is enabled
if ( //not enough time between last direction state
( state == motorstate_t::FWD && (esp_log_timestamp() - timestampsModeLastActive[(int)motorstate_t::REV] < config.deadTimeMs))
|| (state == motorstate_t::REV && (esp_log_timestamp() - timestampsModeLastActive[(int)motorstate_t::FWD] < config.deadTimeMs))
){
ESP_LOGD(TAG, "waiting dead-time... dir change %s -> %s", motorstateStr[(int)statePrev], motorstateStr[(int)state]);
if(log) ESP_LOGD(TAG, "waiting dead-time... dir change %s -> %s", motorstateStr[(int)statePrev], motorstateStr[(int)state]);
if (!deadTimeWaiting){ //log start
deadTimeWaiting = true;
ESP_LOGI(TAG, "starting dead-time... %s -> %s", motorstateStr[(int)statePrev], motorstateStr[(int)state]);
if(log) ESP_LOGI(TAG, "starting dead-time... %s -> %s", motorstateStr[(int)statePrev], motorstateStr[(int)state]);
}
//force IDLE state during wait
state = motorstate_t::IDLE;
@ -269,9 +477,10 @@ void controlledMotor::handle(){
} else {
if (deadTimeWaiting){ //log end
deadTimeWaiting = false;
ESP_LOGI(TAG, "dead-time ended - continue with %s", motorstateStr[(int)state]);
if(log) ESP_LOGI(TAG, "dead-time ended - continue with %s", motorstateStr[(int)state]);
}
if(log) ESP_LOGV(TAG, "deadtime: no change below deadtime detected... dir=%s, duty=%.1f", motorstateStr[(int)state], dutyNow);
}
ESP_LOGV(TAG, "deadtime: no change below deadtime detected... dir=%s, duty=%.1f", motorstateStr[(int)state], dutyNow);
}
@ -284,7 +493,7 @@ void controlledMotor::handle(){
//--- apply new target to motor ---
motorSetCommand({state, (float)fabs(dutyNow)});
ESP_LOGI(TAG, "[%s] Set Motordriver: state=%s, duty=%.2f - Measurements: current=%.2f, speed=N/A", config.name, motorstateStr[(int)state], dutyNow, currentNow);
if(log) ESP_LOGI(TAG, "[%s] Set Motordriver: state=%s, duty=%.2f - Measurements: current=%.2f, speed=N/A", config.name, motorstateStr[(int)state], dutyNow, currentNow);
//note: BRAKE state is handled earlier
@ -300,11 +509,11 @@ void controlledMotor::handle(){
//function to set the target mode and duty of a motor
//puts the provided command in a queue for the handle function running in another task
void controlledMotor::setTarget(motorCommand_t commandSend){
ESP_LOGI(TAG, "[%s] setTarget: Inserting command to queue: state='%s'(%d), duty=%.2f", config.name, motorstateStr[(int)commandSend.state], (int)commandSend.state, commandSend.duty);
if(log) ESP_LOGI(TAG, "[%s] setTarget: Inserting command to queue: state='%s'(%d), duty=%.2f", config.name, motorstateStr[(int)commandSend.state], (int)commandSend.state, commandSend.duty);
//send command to queue (overwrite if an old command is still in the queue and not processed)
xQueueOverwrite( commandQueue, ( void * )&commandSend);
//xQueueSend( commandQueue, ( void * )&commandSend, ( TickType_t ) 0 );
ESP_LOGD(TAG, "finished inserting new command");
if(log) ESP_LOGD(TAG, "finished inserting new command");
}
// accept target state and duty as separate agrguments:

34
common/motorctl.hpp
View File

@ -13,6 +13,7 @@ extern "C"
#include "motordrivers.hpp"
#include "currentsensor.hpp"
#include "speedsensor.hpp"
//=======================================
@ -23,6 +24,7 @@ extern "C"
typedef void (*motorSetCommandFunc_t)(motorCommand_t cmd);
enum class motorControlMode_t {DUTY, CURRENT, SPEED};
//===================================
//====== controlledMotor class ======
@ -30,11 +32,20 @@ typedef void (*motorSetCommandFunc_t)(motorCommand_t cmd);
class controlledMotor {
public:
//--- functions ---
controlledMotor(motorSetCommandFunc_t setCommandFunc, motorctl_config_t config_control, nvs_handle_t * nvsHandle); //constructor with structs for configuring motordriver and parameters for control TODO: add configuration for currentsensor
//TODO move speedsensor object creation in this class to (pass through / wrap methods)
controlledMotor(motorSetCommandFunc_t setCommandFunc, motorctl_config_t config_control, nvs_handle_t * nvsHandle, speedSensor * speedSensor, controlledMotor ** otherMotor); //constructor with structs for configuring motordriver and parameters for control TODO: add configuration for currentsensor
void handle(); //controls motor duty with fade and current limiting feature (has to be run frequently by another task)
void setTarget(motorstate_t state_f, float duty_f = 0); //adds target command to queue for handle function
void setTarget(motorCommand_t command);
motorCommand_t getStatus(); //get current status of the motor (returns struct with state and duty)
float getDuty() {return dutyNow;};
float getTargetDuty() {return dutyTarget;};
float getTargetSpeed() {return speedTarget;};
float getCurrentSpeed() {return sSensor->getKmph();};
void enableTractionControlSystem() {config.tractionControlSystemEnabled = true;};
void disableTractionControlSystem() {config.tractionControlSystemEnabled = false; tcs_isExceeded = false;};
bool getTractionControlSystemStatus() {return config.tractionControlSystemEnabled;};
void setControlMode(motorControlMode_t newMode) {mode = newMode;};
uint32_t getFade(fadeType_t fadeType); //get currently set acceleration or deceleration fading time
uint32_t getFadeDefault(fadeType_t fadeType); //get acceleration or deceleration fading time from config
@ -60,6 +71,11 @@ class controlledMotor {
QueueHandle_t commandQueue = NULL;
//current sensor
currentSensor cSensor;
//speed sensor
speedSensor * sSensor;
//other motor (needed for traction control)
controlledMotor ** ppOtherMotor; //ptr to ptr of controlledMotor (because not created at initialization yet)
//function pointer that sets motor duty (driver)
motorSetCommandFunc_t motorSetCommand;
@ -68,15 +84,24 @@ class controlledMotor {
//TODO add name for logging?
//struct for storing control specific parameters
motorctl_config_t config;
bool log = false;
motorstate_t state = motorstate_t::IDLE;
motorControlMode_t mode = motorControlMode_t::DUTY; //default control mode
//handle for using the nvs flash (persistent config variables)
nvs_handle_t * nvsHandle;
float currentMax;
float currentNow;
//speed mode
float speedTarget = 0;
float speedNow = 0;
uint32_t timestamp_speedLastUpdate = 0;
float dutyTarget = 0;
float dutyNow = 0;
float dutyIncrementAccel;
float dutyIncrementDecel;
float dutyDelta;
@ -97,6 +122,13 @@ class controlledMotor {
uint32_t timestamp_commandReceived = 0;
bool receiveTimeout = false;
//traction control system
uint32_t tcs_timestampLastSpeedUpdate = 0; //track speedsensor update
int64_t tcs_timestampBeginExceeded = 0; //track start of event
uint32_t tcs_usExceeded = 0; //sum up time
bool tcs_isExceeded = false; //is currently too fast
int64_t tcs_timestampLastRun = 0;
};
//====================================

1
common/speedsensor.cpp
View File

@ -93,6 +93,7 @@ void IRAM_ATTR onEncoderRising(void *arg)
// calculate rotational speed
uint64_t pulseSum = pulse1 + pulse2 + pulse3;
sensor->currentRpm = direction * (sensor->config.degreePerGroup / 360.0 * 60.0 / ((double)pulseSum / 1000000.0));
sensor->timeLastUpdate = currentTime;
}
}

2
common/speedsensor.hpp
View File

@ -33,6 +33,7 @@ public:
float getKmph(); //kilometers per hour
float getMps(); //meters per second
float getRpm(); //rotations per minute
uint32_t getTimeLastUpdate() {return timeLastUpdate;};
//variables for handling the encoder (public because ISR needs access)
speedSensor_config_t config;
@ -45,6 +46,7 @@ public:
int debugCount = 0;
uint32_t debug_countIgnoredSequencesTooShort = 0;
double currentRpm = 0;
uint32_t timeLastUpdate = 0;
private:
static bool isrIsInitialized; // default false due to static

2
common/types.hpp
View File

@ -42,9 +42,11 @@ typedef struct motorCommands_t {
//struct with all config parameters for a motor regarding ramp and current limit
typedef struct motorctl_config_t {
char * name; //name for unique nvs storage-key prefix and logging
bool loggingEnabled; //enable/disable ALL log output (mostly better to debug only one instance)
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;
bool tractionControlSystemEnabled;
adc1_channel_t currentSensor_adc;
float currentSensor_ratedCurrent;
float currentMax;

80
common/wifi.c
View File

@ -21,26 +21,45 @@ static const char *TAG = "wifi";
static esp_event_handler_instance_t instance_any_id;
//============================================
//============ init nvs and netif ============
//============================================
//initialize nvs-flash and netif (needed for both AP and CLIENT)
//##########################################
//############ common functions ############
//##########################################
//============================
//========= init nvs =========
//============================
//initialize nvs-flash (needed for both AP and CLIENT)
//has to be run once at startup
void wifi_initNvs_initNetif(){
void wifi_initNvs(){
//Initialize NVS (needed for wifi)
esp_err_t ret = nvs_flash_init();
if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
esp_err_t err = nvs_flash_init();
if (err == ESP_ERR_NVS_NO_FREE_PAGES || err == ESP_ERR_NVS_NEW_VERSION_FOUND)
{
ESP_LOGE(TAG, "NVS truncated -> deleting flash");
// Retry nvs_flash_init
ESP_ERROR_CHECK(nvs_flash_erase());
ret = nvs_flash_init();
err = nvs_flash_init();
}
ESP_ERROR_CHECK(err);
}
//==============================
//========= init netif =========
//==============================
//initialize netif (needed for both AP and CLIENT)
//has to be run once at startup
void wifi_initNetif(){
ESP_ERROR_CHECK(esp_netif_init());
ESP_ERROR_CHECK(esp_event_loop_create_default());
}
//===========================================
//============ init access point ============
//===========================================
//############################################
//############### access point ###############
//############################################
//--------------------------------------------
//------ configuration / declarations --------
@ -66,10 +85,12 @@ static void wifi_event_handler_ap(void* arg, esp_event_base_t event_base,
}
}
//-----------------------
//------ init ap --------
//-----------------------
void wifi_init_ap(void)
//========================
//====== start AP ========
//========================
void wifi_start_ap(void)
{
ap = esp_netif_create_default_wifi_ap();
@ -107,9 +128,9 @@ void wifi_init_ap(void)
//=============================
//========= deinit AP =========
//========== stop AP ==========
//=============================
void wifi_deinit_ap(void)
void wifi_stop_ap(void)
{
ESP_ERROR_CHECK(esp_event_handler_instance_unregister(WIFI_EVENT, ESP_EVENT_ANY_ID, instance_any_id));
ESP_ERROR_CHECK(esp_event_handler_instance_unregister(WIFI_EVENT, ESP_EVENT_ANY_ID, instance_any_id));
@ -123,9 +144,9 @@ void wifi_deinit_ap(void)
//===========================================
//=============== init client ===============
//===========================================
//##########################################
//################# client #################
//##########################################
//--------------------------------------------
//------ configuration / declarations --------
@ -168,10 +189,13 @@ static void event_handler(void* arg, esp_event_base_t event_base,
xEventGroupSetBits(s_wifi_event_group, WIFI_CONNECTED_BIT);
}
}
//---------------------------
//------ init client --------
//---------------------------
void wifi_init_client(void)
//===========================
//====== init client ========
//===========================
void wifi_start_client(void)
{
s_wifi_event_group = xEventGroupCreate();
sta = esp_netif_create_default_wifi_sta();
@ -249,10 +273,10 @@ void wifi_init_client(void)
//=================================
//========= deinit client =========
//=================================
void wifi_deinit_client(void)
//===============================
//========= stop client =========
//===============================
void wifi_stop_client(void)
{
/* The event will not be processed after unregister */
ESP_ERROR_CHECK(esp_event_handler_instance_unregister(IP_EVENT, IP_EVENT_STA_GOT_IP, instance_got_ip));

20
common/wifi.h
View File

@ -3,20 +3,20 @@
//TODO: currently wifi names and passwords are configured in wifi.c -> move this to config?
//initialize nvs-flash and netif (needed for both AP and CLIENT)
//has to be run once at startup
//Note: this cant be put in wifi_init functions because this may not be in deinit functions
void wifi_initNvs_initNetif();
//both functions have to be run once at startup
void wifi_initNvs();
void wifi_initNetif();
//function to start an access point
void wifi_init_ap(void);
//function to disable/deinit access point
void wifi_deinit_ap(void);
//function to start an access point (config in wifi.c)
void wifi_start_ap(void);
//function to disable/stop access point
void wifi_stop_ap(void);
//function to connect to existing wifi network
void wifi_init_client(void);
//function to connect to existing wifi network (config in wifi.c)
void wifi_start_client(void);
//function to disable/deinit client
void wifi_deinit_client(void);
void wifi_stop_client(void);