Add evaluatedSwitch component, Add buttonJoystick
Copy gpio component from gate project Add instance of evaluatedswitch for button next to joystick to config Add code for testing the button to main.cpp
This commit is contained in:
jonny_ji7
parent
f7ce61c666
commit
fb90169fa4
4
components/gpio/CMakeLists.txt
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4
components/gpio/CMakeLists.txt
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@ -0,0 +1,4 @@
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idf_component_register(
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SRCS "gpio_evaluateSwitch.cpp"
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INCLUDE_DIRS "."
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)
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171
components/gpio/gpio_evaluateSwitch.cpp
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171
components/gpio/gpio_evaluateSwitch.cpp
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#include "gpio_evaluateSwitch.hpp"
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static const char *TAG = "evaluateSwitch";
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gpio_evaluatedSwitch::gpio_evaluatedSwitch( //minimal (use default values)
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gpio_num_t gpio_num_declare
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){
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gpio_num = gpio_num_declare;
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pullup = true;
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inverted = false;
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init();
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};
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gpio_evaluatedSwitch::gpio_evaluatedSwitch( //optional parameters given
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gpio_num_t gpio_num_declare,
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bool pullup_declare,
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bool inverted_declare
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){
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gpio_num = gpio_num_declare;
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pullup = pullup_declare;
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inverted = inverted_declare;
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init();
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};
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void gpio_evaluatedSwitch::init(){
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ESP_LOGI(TAG, "initializing gpio pin %d", (int)gpio_num);
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//define gpio pin as input
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gpio_pad_select_gpio(gpio_num);
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gpio_set_direction(gpio_num, GPIO_MODE_INPUT);
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if (pullup == true){ //enable pullup if desired (default)
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gpio_pad_select_gpio(gpio_num);
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gpio_set_pull_mode(gpio_num, GPIO_PULLUP_ONLY);
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}else{
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gpio_set_pull_mode(gpio_num, GPIO_FLOATING);
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gpio_pad_select_gpio(gpio_num);
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}
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//TODO add pulldown option
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//gpio_set_pull_mode(gpio_num, GPIO_PULLDOWN_ONLY);
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};
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void gpio_evaluatedSwitch::handle(){ //Statemachine for debouncing and edge detection
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if (inverted == true){
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//=========================================================
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//=========== Statemachine for inverted switch ============
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//=================== (switch to VCC) =====================
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//=========================================================
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switch (p_state){
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default:
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p_state = switchState::FALSE;
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break;
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case switchState::FALSE: //input confirmed high (released)
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fallingEdge = false; //reset edge event
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if (gpio_get_level(gpio_num) == 1){ //pin high (on)
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p_state = switchState::HIGH;
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timestampHigh = esp_log_timestamp(); //save timestamp switched from low to high
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} else {
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msReleased = esp_log_timestamp() - timestampLow; //update duration released
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}
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break;
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case switchState::HIGH: //input recently switched to high (pressed)
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if (gpio_get_level(gpio_num) == 1){ //pin still high (on)
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if (esp_log_timestamp() - timestampHigh > minOnMs){ //pin in same state long enough
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p_state = switchState::TRUE;
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state = true;
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risingEdge = true;
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msReleased = timestampHigh - timestampLow; //calculate duration the button was released
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}
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}else{
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p_state = switchState::FALSE;
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}
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break;
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case switchState::TRUE: //input confirmed high (pressed)
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risingEdge = false; //reset edge event
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if (gpio_get_level(gpio_num) == 0){ //pin low (off)
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timestampLow = esp_log_timestamp();
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p_state = switchState::LOW;
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} else {
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msPressed = esp_log_timestamp() - timestampHigh; //update duration pressed
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}
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break;
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case switchState::LOW: //input recently switched to low (released)
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if (gpio_get_level(gpio_num) == 0){ //pin still low (off)
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if (esp_log_timestamp() - timestampLow > minOffMs){ //pin in same state long enough
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p_state = switchState::FALSE;
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msPressed = timestampLow - timestampHigh; //calculate duration the button was pressed
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state=false;
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fallingEdge=true;
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}
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}else{
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p_state = switchState::TRUE;
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}
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break;
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}
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}else{
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//=========================================================
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//========= Statemachine for not inverted switch ==========
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//=================== (switch to GND) =====================
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//=========================================================
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switch (p_state){
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default:
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p_state = switchState::FALSE;
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break;
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case switchState::FALSE: //input confirmed high (released)
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fallingEdge = false; //reset edge event
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if (gpio_get_level(gpio_num) == 0){ //pin low (on)
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p_state = switchState::LOW;
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timestampLow = esp_log_timestamp(); //save timestamp switched from high to low
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} else {
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msReleased = esp_log_timestamp() - timestampHigh; //update duration released
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}
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break;
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case switchState::LOW: //input recently switched to low (pressed)
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if (gpio_get_level(gpio_num) == 0){ //pin still low (on)
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if (esp_log_timestamp() - timestampLow > minOnMs){ //pin in same state long enough
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p_state = switchState::TRUE;
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state = true;
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risingEdge = true;
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msReleased = timestampLow - timestampHigh; //calculate duration the button was released
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}
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}else{
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p_state = switchState::FALSE;
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}
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break;
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case switchState::TRUE: //input confirmed low (pressed)
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risingEdge = false; //reset edge event
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if (gpio_get_level(gpio_num) == 1){ //pin high (off)
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timestampHigh = esp_log_timestamp();
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p_state = switchState::HIGH;
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} else {
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msPressed = esp_log_timestamp() - timestampLow; //update duration pressed
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}
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break;
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case switchState::HIGH: //input recently switched to high (released)
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if (gpio_get_level(gpio_num) == 1){ //pin still high (off)
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if (esp_log_timestamp() - timestampHigh > minOffMs){ //pin in same state long enough
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p_state = switchState::FALSE;
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msPressed = timestampHigh - timestampLow; //calculate duration the button was pressed
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state=false;
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fallingEdge=true;
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}
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}else{
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p_state = switchState::TRUE;
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}
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break;
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}
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}
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}
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59
components/gpio/gpio_evaluateSwitch.hpp
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59
components/gpio/gpio_evaluateSwitch.hpp
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@ -0,0 +1,59 @@
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#pragma once
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#include <stdio.h>
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extern "C"
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{
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "driver/gpio.h"
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#include "esp_log.h"
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}
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//constructor examples:
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//switch to gnd and us internal pullup:
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//gpio_evaluatedSwitch s3(GPIO_NUM_14);
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//switch to gnd dont use internal pullup:
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//gpio_evaluatedSwitch s3(GPIO_NUM_14 false);
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//switch to VCC (inverted) and dont use internal pullup:
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//gpio_evaluatedSwitch s3(GPIO_NUM_14 false, true);
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class gpio_evaluatedSwitch {
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public:
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//--- input ---
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uint32_t minOnMs = 50;
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uint32_t minOffMs = 50;
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gpio_evaluatedSwitch( //constructor minimal (default parameters pullup=true, inverted=false)
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gpio_num_t gpio_num_declare
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);
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gpio_evaluatedSwitch( //constructor with optional parameters
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gpio_num_t gpio_num_declare,
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bool pullup_declare,
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bool inverted_declare=false
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);
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//--- output --- TODO make readonly? (e.g. public section: const int& x = m_x;)
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bool state = false;
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bool risingEdge = false;
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bool fallingEdge = false;
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uint32_t msPressed = 0;
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uint32_t msReleased = 0;
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//--- functions ---
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void handle(); //Statemachine for debouncing and edge detection
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private:
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gpio_num_t gpio_num;
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bool pullup;
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bool inverted;
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enum class switchState {TRUE, FALSE, LOW, HIGH};
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switchState p_state = switchState::FALSE;
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uint32_t timestampLow = 0;
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uint32_t timestampHigh = 0;
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void init();
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};
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@ -65,3 +65,6 @@ joystick_config_t configJoystick = {
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//create global joystic instance
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evaluatedJoystick joystick(configJoystick);
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//create global evaluated switch instance for button next to joystick
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gpio_evaluatedSwitch buttonJoystick(GPIO_NUM_33, true, false); //pullup true, not inverted (switch to GND use pullup of controller)
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@ -4,9 +4,15 @@
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#include "motorctl.hpp"
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#include "joystick.hpp"
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#include "gpio_evaluateSwitch.hpp"
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//create global controlledMotor instances for both motors
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extern controlledMotor motorLeft;
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extern controlledMotor motorRight;
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//create global joystic instance
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extern evaluatedJoystick joystick;
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//create global evaluated switch instance for button next to joystick
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extern gpio_evaluatedSwitch buttonJoystick;
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@ -59,7 +59,7 @@ extern "C" void app_main(void) {
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//esp_log_level_set("motordriver", ESP_LOG_DEBUG);
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//esp_log_level_set("motor-control", ESP_LOG_DEBUG);
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//esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
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esp_log_level_set("joystickCommands", ESP_LOG_DEBUG);
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//esp_log_level_set("joystickCommands", ESP_LOG_DEBUG);
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@ -72,7 +72,18 @@ extern "C" void app_main(void) {
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while(1){
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vTaskDelay(400 / portTICK_PERIOD_MS);
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vTaskDelay(50 / portTICK_PERIOD_MS);
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buttonJoystick.handle();
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//--- testing button ---
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if (buttonJoystick.risingEdge){
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ESP_LOGI(TAG, "button pressed, was released for %d ms", buttonJoystick.msReleased);
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}else if (buttonJoystick.fallingEdge){
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ESP_LOGI(TAG, "button released, was pressed for %d ms", buttonJoystick.msPressed);
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}
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//--- testing joystick commands ---
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motorCommands_t commands = joystick_generateCommandsDriving(joystick);
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