4f8c421168
Armchair functions as before (all tasks enabled).
Note: probably wrong encoder pin set in encoder.hpp
Old button menu works as usual (opimized code).
You can switch to new MENU state with 1x long press
and exit the menu with 1x long press
button.cpp: - use encoder queue instead of evaluated switch
- simplify code, rework actions
control.cpp: Add MENU state/mode
-> control task: turns motors off and idles
-> button task idles (button menu disabled)
-> display task switches state to handle menu
control.cpp: Optimize structure:
Add methods to freeze stick and toggle stick mapping
display.cpp: show status screen or handle menu depending on mode, simpilfy task
main.cpp: re-enable button task, disable buzzer logging
menu.cpp: Change events, Add menu exit condition
343 lines
11 KiB
C++
343 lines
11 KiB
C++
#include "hal/uart_types.h"
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#include "motordrivers.hpp"
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#include "types.hpp"
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extern "C"
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{
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#include <stdio.h>
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#include <esp_system.h>
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#include <esp_event.h>
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#include <nvs_flash.h>
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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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#include "sdkconfig.h"
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#include "esp_spiffs.h"
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#include "driver/ledc.h"
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//custom C files
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#include "wifi.h"
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}
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//custom C++ files
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#include "config.hpp"
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#include "control.hpp"
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#include "button.hpp"
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#include "http.hpp"
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#include "uart_common.hpp"
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#include "display.hpp"
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#include "encoder.hpp"
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//tag for logging
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static const char * TAG = "main";
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//====================================
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//========== motorctl task ===========
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//====================================
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//task for handling the motors (ramp, current limit, driver)
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void task_motorctl( void * pvParameters ){
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ESP_LOGI(TAG, "starting handle loop...");
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while(1){
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motorRight.handle();
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motorLeft.handle();
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//10khz -> T=100us
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vTaskDelay(10 / portTICK_PERIOD_MS);
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}
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}
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//======================================
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//============ buzzer task =============
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//======================================
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//TODO: move the task creation to buzzer class (buzzer.cpp)
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//e.g. only have function buzzer.createTask() in app_main
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void task_buzzer( void * pvParameters ){
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ESP_LOGI("task_buzzer", "Start of buzzer task...");
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//run function that waits for a beep events to arrive in the queue
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//and processes them
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buzzer.processQueue();
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}
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//=======================================
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//============ control task =============
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//=======================================
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//task that controls the armchair modes and initiates commands generation and applies them to driver
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void task_control( void * pvParameters ){
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ESP_LOGI(TAG, "Initializing controlledArmchair and starting handle loop");
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//start handle loop (control object declared in config.hpp)
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control.startHandleLoop();
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}
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//======================================
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//============ button task =============
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//======================================
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//task that handles the button interface/commands
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void task_button( void * pvParameters ){
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ESP_LOGI(TAG, "Initializing command-button and starting handle loop");
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//create button instance
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buttonCommands commandButton(&buttonJoystick, &joystick, &control, &buzzer, &motorLeft, &motorRight);
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//start handle loop
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commandButton.startHandleLoop();
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}
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//=======================================
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//============== fan task ===============
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//=======================================
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//task that controlls fans for cooling the drivers
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void task_fans( void * pvParameters ){
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ESP_LOGI(TAG, "Initializing fans and starting fan handle loop");
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//create fan instances with config defined in config.cpp
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controlledFan fan(configCooling, &motorLeft, &motorRight);
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//repeatedly run fan handle function in a slow loop
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while(1){
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fan.handle();
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vTaskDelay(500 / portTICK_PERIOD_MS);
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}
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}
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//=================================
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//========== init spiffs ==========
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//=================================
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//initialize spi flash filesystem (used for webserver)
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void init_spiffs(){
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ESP_LOGI(TAG, "init spiffs");
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esp_vfs_spiffs_conf_t esp_vfs_spiffs_conf = {
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.base_path = "/spiffs",
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.partition_label = NULL,
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.max_files = 5,
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.format_if_mount_failed = true};
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esp_vfs_spiffs_register(&esp_vfs_spiffs_conf);
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size_t total = 0;
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size_t used = 0;
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esp_spiffs_info(NULL, &total, &used);
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ESP_LOGI(TAG, "SPIFFS: total %d, used %d", total, used);
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esp_vfs_spiffs_unregister(NULL);
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}
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//==================================
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//======== define loglevels ========
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//==================================
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void setLoglevels(void){
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//set loglevel for all tags:
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esp_log_level_set("*", ESP_LOG_WARN);
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//--- set loglevel for individual tags ---
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esp_log_level_set("main", ESP_LOG_INFO);
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esp_log_level_set("buzzer", ESP_LOG_ERROR);
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//esp_log_level_set("motordriver", ESP_LOG_DEBUG);
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//esp_log_level_set("motor-control", ESP_LOG_INFO);
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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("button", ESP_LOG_INFO);
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esp_log_level_set("control", ESP_LOG_INFO);
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//esp_log_level_set("fan-control", ESP_LOG_INFO);
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esp_log_level_set("wifi", ESP_LOG_INFO);
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esp_log_level_set("http", ESP_LOG_INFO);
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//esp_log_level_set("automatedArmchair", ESP_LOG_DEBUG);
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esp_log_level_set("display", ESP_LOG_INFO);
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//esp_log_level_set("current-sensors", ESP_LOG_INFO);
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//esp_log_level_set("speedSensor", ESP_LOG_INFO);
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esp_log_level_set("chair-adjustment", ESP_LOG_INFO);
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esp_log_level_set("menu", ESP_LOG_INFO);
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}
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//=================================
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//=========== app_main ============
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//=================================
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extern "C" void app_main(void) {
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//enable 5V volate regulator
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ESP_LOGW(TAG, "enabling 5V regulator...");
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gpio_pad_select_gpio(GPIO_NUM_17);
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gpio_set_direction(GPIO_NUM_17, GPIO_MODE_OUTPUT);
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gpio_set_level(GPIO_NUM_17, 1);
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//---- define log levels ----
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setLoglevels();
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// init encoder
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//--- initialize encoder ---
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encoder_init();
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// now global encoderQueue providing all encoder events is available
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//----------------------------------------------
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//--- create task for controlling the motors ---
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//----------------------------------------------
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//task that receives commands, handles ramp and current limit and executes commands using the motordriver function
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xTaskCreate(&task_motorctl, "task_motor-control", 2*4096, NULL, 6, NULL);
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//------------------------------
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//--- create task for buzzer ---
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//------------------------------
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xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
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//-------------------------------
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//--- create task for control ---
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//-------------------------------
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//task that generates motor commands depending on the current mode and sends those to motorctl task
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xTaskCreate(&task_control, "task_control", 4096, NULL, 5, NULL);
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//------------------------------
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//--- create task for button ---
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//------------------------------
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//task that evaluates and processes the button input and runs the configured commands
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xTaskCreate(&task_button, "task_button", 4096, NULL, 4, NULL);
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//-----------------------------------
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//--- create task for fan control ---
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//-----------------------------------
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//task that evaluates and processes the button input and runs the configured commands
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xTaskCreate(&task_fans, "task_fans", 2048, NULL, 1, NULL);
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//-----------------------------------
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//----- create task for display -----
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//-----------------------------------
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//task that handles the display
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xTaskCreate(&display_task, "display_task", 3*2048, NULL, 1, NULL);
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//beep at startup
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buzzer.beep(3, 70, 50);
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//--- initialize nvs-flash and netif (needed for wifi) ---
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wifi_initNvs_initNetif();
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//--- initialize spiffs ---
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init_spiffs();
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//--- initialize and start wifi ---
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//FIXME: run wifi_init_client or wifi_init_ap as intended from control.cpp when switching state
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//currently commented out because of error "assert failed: xQueueSemaphoreTake queue.c:1549 (pxQueue->uxItemSize == 0)" when calling control->changeMode from button.cpp
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//when calling control.changeMode(http) from main.cpp it worked without error for some reason?
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ESP_LOGI(TAG,"starting wifi...");
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//wifi_init_client(); //connect to existing wifi
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wifi_init_ap(); //start access point
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ESP_LOGI(TAG,"done starting wifi");
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//--- testing http server ---
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// wifi_init_client(); //connect to existing wifi
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// vTaskDelay(2000 / portTICK_PERIOD_MS);
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// ESP_LOGI(TAG, "initializing http server");
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// http_init_server();
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//--- testing force http mode after startup ---
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//control.changeMode(controlMode_t::HTTP);
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//--- main loop ---
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//does nothing except for testing things
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while(1){
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vTaskDelay(5000 / portTICK_PERIOD_MS);
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//---------------------------------
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//-------- TESTING section --------
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//---------------------------------
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//test sabertooth driver
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// motors.setLeft({motorstate_t::FWD, 70});
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// vTaskDelay(1000 / portTICK_PERIOD_MS);
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// motors.setLeft({motorstate_t::IDLE, 0});
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// vTaskDelay(1000 / portTICK_PERIOD_MS);
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// motors.setLeft({motorstate_t::REV, 50});
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// vTaskDelay(1000 / portTICK_PERIOD_MS);
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// motors.setLeft(-90);
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// vTaskDelay(1000 / portTICK_PERIOD_MS);
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// motors.setLeft(90);
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// vTaskDelay(1000 / portTICK_PERIOD_MS);
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// motors.setLeft(0);
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// vTaskDelay(1000 / portTICK_PERIOD_MS);
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//--- test controlledMotor --- (ramp)
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// //brake for 1 s
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//motorLeft.setTarget(motorstate_t::BRAKE);
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//vTaskDelay(1000 / portTICK_PERIOD_MS);
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//command 90% - reverse
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//motorLeft.setTarget(motorstate_t::REV, 90);
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//vTaskDelay(5000 / portTICK_PERIOD_MS);
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//motorLeft.setTarget(motorstate_t::FWD, 80);
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//vTaskDelay(1000 / portTICK_PERIOD_MS);
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//motorLeft.setTarget(motorstate_t::IDLE, 90);
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//vTaskDelay(1000 / portTICK_PERIOD_MS);
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// //--- test functions at mode change HTTP ---
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// control.changeMode(controlMode_t::HTTP);
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// vTaskDelay(10000 / portTICK_PERIOD_MS);
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// control.changeMode(controlMode_t::IDLE);
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// vTaskDelay(10000 / portTICK_PERIOD_MS);
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//--- test wifi functions ---
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// ESP_LOGI(TAG, "creating AP");
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// wifi_init_ap(); //start accesspoint
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// vTaskDelay(15000 / portTICK_PERIOD_MS);
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// ESP_LOGI(TAG, "stopping wifi");
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// wifi_deinit_ap(); //stop wifi access point
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// vTaskDelay(5000 / portTICK_PERIOD_MS);
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// ESP_LOGI(TAG, "connecting to wifi");
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// wifi_init_client(); //connect to existing wifi
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// vTaskDelay(10000 / portTICK_PERIOD_MS);
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// ESP_LOGI(TAG, "stopping wifi");
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// wifi_deinit_client(); //stop wifi client
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// vTaskDelay(5000 / portTICK_PERIOD_MS);
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//--- test button ---
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//buttonJoystick.handle();
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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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// buzzer.beep(2, 100, 50);
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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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// buzzer.beep(1, 200, 0);
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// }
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//--- test joystick commands ---
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// motorCommands_t commands = joystick_generateCommandsDriving(joystick);
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// motorRight.setTarget(commands.right.state, commands.right.duty); //TODO make motorctl.setTarget also accept motorcommand struct directly
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// motorLeft.setTarget(commands.left.state, commands.left.duty); //TODO make motorctl.setTarget also accept motorcommand struct directly
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// //motorRight.setTarget(commands.right.state, commands.right.duty);
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//--- test joystick class ---
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//joystickData_t data = joystick.getData();
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//ESP_LOGI(TAG, "position=%s, x=%.1f%%, y=%.1f%%, radius=%.1f%%, angle=%.2f",
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// joystickPosStr[(int)data.position], data.x*100, data.y*100, data.radius*100, data.angle);
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//--- test the motor driver ---
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//fade up duty - forward
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// for (int duty=0; duty<=100; duty+=5) {
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// motorLeft.setTarget(motorstate_t::FWD, duty);
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// vTaskDelay(100 / portTICK_PERIOD_MS);
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// }
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}
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}
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