98956e2bf8
currently repeatedly sends test commands from main using a created instance of that new class
338 lines
11 KiB
C++
338 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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//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_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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//send byte via uart to test sabertooth driver
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void sendByte(char data){
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uart_write_bytes(UART_NUM_1, &data, 1);
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ESP_LOGI(TAG, "sent %x / %d via uart", data, data);
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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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//TEST SABERTOOTH driver:
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//config
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sabertooth2x60_config_t sabertoothConfig = {
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.gpio_TX = GPIO_NUM_23,
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.uart_num = UART_NUM_2
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};
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//create instance
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sabertooth2x60a motors(sabertoothConfig);
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//run test commands
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while(1){
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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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}
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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 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", 2048, NULL, 6, NULL);
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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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// while(1){
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// vTaskDelay(1000 / portTICK_PERIOD_MS);
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//
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// //---------------------------------
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// //-------- TESTING section --------
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// //---------------------------------
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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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//
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//
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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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//
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//
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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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//
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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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//
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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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//
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//
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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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//
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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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// //--- 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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// // //command 100% - forward
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// // motorLeft.setTarget(motorstate_t::FWD, 100);
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// // vTaskDelay(1000 / portTICK_PERIOD_MS);
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//
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// }
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}
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