411 lines
14 KiB
C++
411 lines
14 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 "nvs.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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#include <new>
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//custom C++ files
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//folder common
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#include "uart_common.hpp"
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#include "motordrivers.hpp"
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#include "http.hpp"
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#include "speedsensor.hpp"
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#include "motorctl.hpp"
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//folder single_board
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#include "control.hpp"
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#include "button.hpp"
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#include "display.hpp"
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#include "encoder.hpp"
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//only extends this file (no library):
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//outsourced all configuration related structures
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#include "config.cpp"
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//================================
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//======== declarations ==========
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//================================
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//--- declare all pointers to shared objects ---
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controlledMotor *motorLeft;
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controlledMotor *motorRight;
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// TODO initialize driver in createOjects like everything else
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// (as in 6e9b3d96d96947c53188be1dec421bd7ff87478e)
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// issue with laggy encoder wenn calling methods via pointer though
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//sabertooth2x60a *sabertoothDriver;
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sabertooth2x60a sabertoothDriver(sabertoothConfig);
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evaluatedJoystick *joystick;
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buzzer_t *buzzer;
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controlledArmchair *control;
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automatedArmchair_c *automatedArmchair;
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httpJoystick *httpJoystickMain;
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speedSensor *speedLeft;
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speedSensor *speedRight;
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cControlledRest *legRest;
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cControlledRest *backRest;
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//--- lambda functions motor-driver ---
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// functions for updating the duty via currently used motor driver (hardware) that can then be passed to controlledMotor
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//-> makes it possible to easily use different motor drivers
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motorSetCommandFunc_t setLeftFunc = [&sabertoothDriver](motorCommand_t cmd)
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{
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//TODO why encoder lag when call via pointer?
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sabertoothDriver.setLeft(cmd);
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};
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motorSetCommandFunc_t setRightFunc = [&sabertoothDriver](motorCommand_t cmd)
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{
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sabertoothDriver.setRight(cmd);
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};
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//--- lambda function http-joystick ---
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// function that initializes the http server requires a function pointer to function that handels each url
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// the httpd_uri config struct does not accept a pointer to a method of a class instance, directly
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// thus this lambda function is necessary:
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// declare pointer to receiveHttpData method of httpJoystick class
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esp_err_t (httpJoystick::*pointerToReceiveFunc)(httpd_req_t *req) = &httpJoystick::receiveHttpData;
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esp_err_t on_joystick_url(httpd_req_t *req)
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{
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// run pointer to receiveHttpData function of httpJoystickMain instance
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return (httpJoystickMain->*pointerToReceiveFunc)(req);
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}
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//--- tag for logging ---
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static const char * TAG = "main";
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//-- handle passed to tasks for accessing nvs --
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nvs_handle_t nvsHandle;
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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_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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//========= createObjects =========
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//=================================
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//create all shared objects
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//their references can be passed to the tasks that need access in main
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//Note: the configuration structures (e.g. configMotorControlLeft) are outsourced to file 'config.cpp'
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void createObjects()
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{
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// create sabertooth motor driver instance
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// sabertooth2x60a sabertoothDriver(sabertoothConfig);
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// with configuration above
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//sabertoothDriver = new sabertooth2x60a(sabertoothConfig);
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// create speedsensor instances
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// with configurations from config.cpp
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speedLeft = new speedSensor(speedLeft_config);
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speedRight = new speedSensor(speedRight_config);
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// create controlled motor instances (motorctl.hpp)
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// with configurations from config.cpp
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motorLeft = new controlledMotor(setLeftFunc, configMotorControlLeft, &nvsHandle, speedLeft, &motorRight); //note: ptr to ptr of controlledMotor since it isnt defined yet
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motorRight = new controlledMotor(setRightFunc, configMotorControlRight, &nvsHandle, speedRight, &motorLeft);
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// create joystick instance (joystick.hpp)
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joystick = new evaluatedJoystick(configJoystick, &nvsHandle);
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// create httpJoystick object (http.hpp)
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httpJoystickMain = new httpJoystick(configHttpJoystickMain);
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http_init_server(on_joystick_url);
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// create buzzer object on pin 12 with gap between queued events of 1ms
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buzzer = new buzzer_t(GPIO_NUM_12, 1);
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// create objects for controlling the chair position
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// gpio_up, gpio_down, travelDuration, name, defaultPosition
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legRest = new cControlledRest(GPIO_NUM_2, GPIO_NUM_15, 12000, "legRest");
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backRest = new cControlledRest(GPIO_NUM_16, GPIO_NUM_4, 12000, "backRest", 100); //default position "100% up"
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// create control object (control.hpp)
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// with configuration from config.cpp
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control = new controlledArmchair(configControl, buzzer, motorLeft, motorRight, joystick, &joystickGenerateCommands_config, httpJoystickMain, automatedArmchair, legRest, backRest, &nvsHandle);
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// create automatedArmchair_c object (for auto-mode) (auto.hpp)
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automatedArmchair = new automatedArmchair_c(motorLeft, motorRight);
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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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ESP_LOGW(TAG, "===== BOOT (pre main) Completed =====\n");
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ESP_LOGW(TAG, "===== INITIALIZING COMPONENTS =====");
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//--- define log levels ---
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setLoglevels();
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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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//--- initialize nvs-flash and netif ---
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ESP_LOGW(TAG,"initializing NVS...");
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wifi_initNvs(); //needed for wifi and persistent config variables
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ESP_LOGW(TAG,"initializing NETIF...");
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wifi_initNetif(); // needed for wifi
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//--- initialize spiffs ---
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ESP_LOGW(TAG, "initializing SPIFFS...");
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init_spiffs(); // used by httpd server
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//--- initialize and start wifi ---
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// Note: now started only when switching to HTTP mode in control.cpp
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// ESP_LOGW(TAG,"starting wifi...");
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// wifi_start_client(); //connect to existing wifi (dropped)
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// wifi_start_ap(); //start access point
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//--- initialize encoder ---
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const QueueHandle_t encoderQueue = encoder_init(&encoder_config);
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//--- open nvs-flash ---
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// note: nvs already initialized in wifi_initNvs()
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ESP_LOGW(TAG, "opening NVS-handle...");
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esp_err_t err = nvs_open("storage", NVS_READWRITE, &nvsHandle); // this handle is passed to all tasks for accessing nvs
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if (err != ESP_OK)
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ESP_LOGE(TAG, "Error (%s) opening NVS handle!\n", esp_err_to_name(err));
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printf("\n");
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//--- create all objects ---
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ESP_LOGW(TAG, "===== CREATING SHARED OBJECTS =====");
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//initialize sabertooth object in STACK (due to performance issues in heap)
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///sabertoothDriver = static_cast<sabertooth2x60a*>(alloca(sizeof(sabertooth2x60a)));
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///new (sabertoothDriver) sabertooth2x60a(sabertoothConfig);
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//create all class instances used below in HEAP
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createObjects();
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printf("\n");
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//--- create tasks ---
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ESP_LOGW(TAG, "===== CREATING TASKS =====");
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//----------------------------------------------
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//--- create task for controlling the motors ---
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//----------------------------------------------
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//task for each motor that handles to following:
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//receives commands from control via queue, handle ramp and current, apply new duty by passing it to method of motordriver (ptr)
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xTaskCreate(&task_motorctl, "task_ctl-left-motor", 2*4096, motorLeft, 6, NULL);
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xTaskCreate(&task_motorctl, "task_ctl-right-motor", 2*4096, motorRight, 6, NULL);
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//------------------------------
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//--- create task for buzzer ---
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//------------------------------
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//task that processes queued beeps
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//note: pointer to shard object 'buzzer' is passed as task parameter:
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xTaskCreate(&task_buzzer, "task_buzzer", 2048, buzzer, 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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//note: pointer to shared object 'control' is passed as task parameter:
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xTaskCreate(&task_control, "task_control", 4096, control, 5, NULL);
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//------------------------------
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//--- create task for button ---
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//------------------------------
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//task that handles button/encoder events in any mode except 'MENU_SETTINGS' and 'MENU_MODE_SELECT' (e.g. switch modes by pressing certain count)
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task_button_parameters_t button_param = {control, joystick, encoderQueue, motorLeft, motorRight, legRest, backRest, buzzer};
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xTaskCreate(&task_button, "task_button", 4096, &button_param, 3, NULL);
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//-----------------------------------
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//--- create task for fan control ---
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//-----------------------------------
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//task that controls cooling fans of the motor driver
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task_fans_parameters_t fans_param = {configFans, motorLeft, motorRight};
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xTaskCreate(&task_fans, "task_fans", 2048, &fans_param, 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 (show stats, handle menu in 'MENU_SETTINGS' and 'MENU_MODE_SELECT' mode)
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display_task_parameters_t display_param = {display_config, control, joystick, encoderQueue, motorLeft, motorRight, speedLeft, speedRight, buzzer, &nvsHandle};
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xTaskCreate(&display_task, "display_task", 3*2048, &display_param, 3, NULL);
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//-------------------------------------
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//-- create task for chairAdjustment --
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//-------------------------------------
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//tasks that stop chair-rest motors when they reach target (note: they sleep when motors not running)
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xTaskCreate(&chairAdjust_task, "chairAdjustLeg_task", 2048, legRest, 1, NULL);
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xTaskCreate(&chairAdjust_task, "chairAdjustBack_task", 2048, backRest, 1, NULL);
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vTaskDelay(200 / portTICK_PERIOD_MS); //wait for all tasks to finish initializing
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printf("\n");
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//--- startup finished ---
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ESP_LOGW(TAG, "===== STARTUP FINISHED =====\n");
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buzzer->beep(3, 70, 50);
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//--- testing encoder ---
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//xTaskCreate(&task_encoderExample, "task_buzzer", 2048, encoderQueue, 2, NULL);
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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 specific mode after startup ---
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//control->changeMode(controlMode_t::MENU_SETTINGS);
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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(portMAX_DELAY);
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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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