8ef71082dc
board_control currently sends a scruct with incrementing values board_motorctl receives the struct and logs it also test code for sending, receiving and returning single value
228 lines
7.5 KiB
C++
228 lines
7.5 KiB
C++
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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//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.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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// //============ 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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//
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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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//
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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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//
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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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//
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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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//
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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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//
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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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//
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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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//
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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_INFO);
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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("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("current-sensors", 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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// 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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//
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// //---- define log levels ----
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// setLoglevels();
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//
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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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// //-------------------------------
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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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// //------------------------------
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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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// //-----------------------------------
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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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//
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// //beep at startup
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// buzzer.beep(3, 70, 50);
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//
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// //--- initialize nvs-flash and netif (needed for wifi) ---
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// wifi_initNvs_initNetif();
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//
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// //--- initialize spiffs ---
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// init_spiffs();
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//
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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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//
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//
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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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//
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//
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// //--- testing force http mode after startup ---
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// //control.changeMode(controlMode_t::HTTP);
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//
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//
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// //--- main loop ---
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// //does nothing except for testing things
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//TESTING UART
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//xTaskCreate(uart_task_testing, "uart_task", 4096, NULL, 10, NULL);
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uart_init();
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xTaskCreate(task_uartReceive, "task_uartReceive", 4096, NULL, 10, NULL);
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xTaskCreate(task_uartSend, "task_uartSend", 5*4096, NULL, 10, NULL);
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while(1){
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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//---------------------------------
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//-------- TESTING section --------
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//---------------------------------
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}
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}
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