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armchair_fw/board_single/main/main.cpp
jonny_jr9 a30ec01818 Simple driver test - works 
test controlling driver via uart (in main function)
2023-09-07 14:02:48 +02:00

341 lines
12 KiB
C++
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extern "C"
{
#include <stdio.h>
#include <esp_system.h>
#include <esp_event.h>
#include <nvs_flash.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "driver/gpio.h"
#include "esp_log.h"
#include "sdkconfig.h"
#include "esp_spiffs.h"
#include "driver/ledc.h"
//custom C files
#include "wifi.h"
}
//custom C++ files
#include "config.hpp"
#include "control.hpp"
#include "button.hpp"
#include "http.hpp"
#include "uart_common.hpp"
//tag for logging
static const char * TAG = "main";
//====================================
//========== motorctl task ===========
//====================================
//task for handling the motors (ramp, current limit, driver)
void task_motorctl( void * pvParameters ){
ESP_LOGI(TAG, "starting handle loop...");
while(1){
motorRight.handle();
motorLeft.handle();
//10khz -> T=100us
vTaskDelay(10 / portTICK_PERIOD_MS);
}
}
//======================================
//============ buzzer task =============
//======================================
//TODO: move the task creation to buzzer class (buzzer.cpp)
//e.g. only have function buzzer.createTask() in app_main
void task_buzzer( void * pvParameters ){
ESP_LOGI("task_buzzer", "Start of buzzer task...");
//run function that waits for a beep events to arrive in the queue
//and processes them
buzzer.processQueue();
}
//=======================================
//============ control task =============
//=======================================
//task that controls the armchair modes and initiates commands generation and applies them to driver
void task_control( void * pvParameters ){
ESP_LOGI(TAG, "Initializing controlledArmchair and starting handle loop");
//start handle loop (control object declared in config.hpp)
control.startHandleLoop();
}
//======================================
//============ button task =============
//======================================
//task that handles the button interface/commands
void task_button( void * pvParameters ){
ESP_LOGI(TAG, "Initializing command-button and starting handle loop");
//create button instance
buttonCommands commandButton(&buttonJoystick, &joystick, &control, &buzzer, &motorLeft, &motorRight);
//start handle loop
commandButton.startHandleLoop();
}
//=======================================
//============== fan task ===============
//=======================================
//task that controlls fans for cooling the drivers
void task_fans( void * pvParameters ){
ESP_LOGI(TAG, "Initializing fans and starting fan handle loop");
//create fan instances with config defined in config.cpp
controlledFan fan(configCooling, &motorLeft, &motorRight);
//repeatedly run fan handle function in a slow loop
while(1){
fan.handle();
vTaskDelay(500 / portTICK_PERIOD_MS);
}
}
//=================================
//========== init spiffs ==========
//=================================
//initialize spi flash filesystem (used for webserver)
void init_spiffs(){
ESP_LOGI(TAG, "init spiffs");
esp_vfs_spiffs_conf_t esp_vfs_spiffs_conf = {
.base_path = "/spiffs",
.partition_label = NULL,
.max_files = 5,
.format_if_mount_failed = true};
esp_vfs_spiffs_register(&esp_vfs_spiffs_conf);
size_t total = 0;
size_t used = 0;
esp_spiffs_info(NULL, &total, &used);
ESP_LOGI(TAG, "SPIFFS: total %d, used %d", total, used);
esp_vfs_spiffs_unregister(NULL);
}
//==================================
//======== define loglevels ========
//==================================
void setLoglevels(void){
//set loglevel for all tags:
esp_log_level_set("*", ESP_LOG_WARN);
//--- set loglevel for individual tags ---
esp_log_level_set("main", ESP_LOG_INFO);
esp_log_level_set("buzzer", ESP_LOG_ERROR);
//esp_log_level_set("motordriver", ESP_LOG_INFO);
//esp_log_level_set("motor-control", ESP_LOG_DEBUG);
//esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
//esp_log_level_set("joystickCommands", ESP_LOG_DEBUG);
esp_log_level_set("button", ESP_LOG_INFO);
esp_log_level_set("control", ESP_LOG_INFO);
esp_log_level_set("fan-control", ESP_LOG_INFO);
esp_log_level_set("wifi", ESP_LOG_INFO);
esp_log_level_set("http", ESP_LOG_INFO);
esp_log_level_set("automatedArmchair", ESP_LOG_DEBUG);
//esp_log_level_set("current-sensors", ESP_LOG_INFO);
}
//send byte via uart to test sabertooth driver
void sendByte(char data){
uart_write_bytes(UART_NUM_1, &data, 1);
ESP_LOGI(TAG, "sent %x / %d via uart", data, data);
}
//=================================
//=========== app_main ============
//=================================
extern "C" void app_main(void) {
//TEST SAVERTOOTH driver:
//init uart:
ESP_LOGW(TAG, "initializing uart1...");
uart_config_t uart1_config = {
.baud_rate = 38400,
.data_bits = UART_DATA_8_BITS,
.parity = UART_PARITY_DISABLE,
.stop_bits = UART_STOP_BITS_1,
.flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
};
ESP_LOGI(TAG, "configure...");
ESP_ERROR_CHECK(uart_param_config(UART_NUM_1, &uart1_config));
ESP_LOGI(TAG, "setpins...");
ESP_ERROR_CHECK(uart_set_pin(UART_NUM_1, 23, 22, 0, 0));
ESP_LOGI(TAG, "init...");
ESP_ERROR_CHECK(uart_driver_install(UART_NUM_1, 1024, 1024, 10, NULL, 0));
bool uart_isInitialized = true;
//between 1 and 127 will control motor 1. 1 is full reverse, 64 is stop and 127 is full forward.
//between 128 and 255 will control motor 2. 128 is full reverse, 192 is stop and 255 is full forward.
//Character 0 (hex 0x00) shut down both motors.
while(1){
sendByte(0);
vTaskDelay(1000 / portTICK_PERIOD_MS);
sendByte(10);
vTaskDelay(2000 / portTICK_PERIOD_MS);
sendByte(64);
vTaskDelay(1000 / portTICK_PERIOD_MS);
sendByte(120);
vTaskDelay(2000 / portTICK_PERIOD_MS);
}
// //enable 5V volate regulator
// gpio_pad_select_gpio(GPIO_NUM_17);
// gpio_set_direction(GPIO_NUM_17, GPIO_MODE_OUTPUT);
// gpio_set_level(GPIO_NUM_17, 1);
//
// //---- define log levels ----
// setLoglevels();
//
// //----------------------------------------------
// //--- create task for controlling the motors ---
// //----------------------------------------------
// //task that receives commands, handles ramp and current limit and executes commands using the motordriver function
// xTaskCreate(&task_motorctl, "task_motor-control", 2048, NULL, 6, NULL);
//
// //------------------------------
// //--- create task for buzzer ---
// //------------------------------
// xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
//
// //-------------------------------
// //--- create task for control ---
// //-------------------------------
// //task that generates motor commands depending on the current mode and sends those to motorctl task
// xTaskCreate(&task_control, "task_control", 4096, NULL, 5, NULL);
//
// //------------------------------
// //--- create task for button ---
// //------------------------------
// //task that evaluates and processes the button input and runs the configured commands
// xTaskCreate(&task_button, "task_button", 4096, NULL, 4, NULL);
//
// //-----------------------------------
// //--- create task for fan control ---
// //-----------------------------------
// //task that evaluates and processes the button input and runs the configured commands
// xTaskCreate(&task_fans, "task_fans", 2048, NULL, 1, NULL);
//
//
// //beep at startup
// buzzer.beep(3, 70, 50);
//
// //--- initialize nvs-flash and netif (needed for wifi) ---
// wifi_initNvs_initNetif();
//
// //--- initialize spiffs ---
// init_spiffs();
//
// //--- initialize and start wifi ---
// //FIXME: run wifi_init_client or wifi_init_ap as intended from control.cpp when switching state
// //currently commented out because of error "assert failed: xQueueSemaphoreTake queue.c:1549 (pxQueue->uxItemSize == 0)" when calling control->changeMode from button.cpp
// //when calling control.changeMode(http) from main.cpp it worked without error for some reason?
// ESP_LOGI(TAG,"starting wifi...");
// //wifi_init_client(); //connect to existing wifi
// wifi_init_ap(); //start access point
// ESP_LOGI(TAG,"done starting wifi");
//
//
// //--- testing http server ---
// // wifi_init_client(); //connect to existing wifi
// // vTaskDelay(2000 / portTICK_PERIOD_MS);
// // ESP_LOGI(TAG, "initializing http server");
// // http_init_server();
//
//
// //--- testing force http mode after startup ---
// //control.changeMode(controlMode_t::HTTP);
//
//
// //--- main loop ---
// //does nothing except for testing things
// while(1){
// vTaskDelay(1000 / portTICK_PERIOD_MS);
//
// //---------------------------------
// //-------- TESTING section --------
// //---------------------------------
// // //--- test functions at mode change HTTP ---
// // control.changeMode(controlMode_t::HTTP);
// // vTaskDelay(10000 / portTICK_PERIOD_MS);
// // control.changeMode(controlMode_t::IDLE);
// // vTaskDelay(10000 / portTICK_PERIOD_MS);
//
//
// //--- test wifi functions ---
// // ESP_LOGI(TAG, "creating AP");
// // wifi_init_ap(); //start accesspoint
// // vTaskDelay(15000 / portTICK_PERIOD_MS);
// // ESP_LOGI(TAG, "stopping wifi");
// // wifi_deinit_ap(); //stop wifi access point
// // vTaskDelay(5000 / portTICK_PERIOD_MS);
// // ESP_LOGI(TAG, "connecting to wifi");
// // wifi_init_client(); //connect to existing wifi
// // vTaskDelay(10000 / portTICK_PERIOD_MS);
// // ESP_LOGI(TAG, "stopping wifi");
// // wifi_deinit_client(); //stop wifi client
// // vTaskDelay(5000 / portTICK_PERIOD_MS);
//
//
// //--- test button ---
// //buttonJoystick.handle();
// // if (buttonJoystick.risingEdge){
// // ESP_LOGI(TAG, "button pressed, was released for %d ms", buttonJoystick.msReleased);
// // buzzer.beep(2, 100, 50);
//
// // }else if (buttonJoystick.fallingEdge){
// // ESP_LOGI(TAG, "button released, was pressed for %d ms", buttonJoystick.msPressed);
// // buzzer.beep(1, 200, 0);
// // }
//
//
// //--- test joystick commands ---
// // motorCommands_t commands = joystick_generateCommandsDriving(joystick);
// // motorRight.setTarget(commands.right.state, commands.right.duty); //TODO make motorctl.setTarget also accept motorcommand struct directly
// // motorLeft.setTarget(commands.left.state, commands.left.duty); //TODO make motorctl.setTarget also accept motorcommand struct directly
// // //motorRight.setTarget(commands.right.state, commands.right.duty);
//
//
// //--- test joystick class ---
// //joystickData_t data = joystick.getData();
// //ESP_LOGI(TAG, "position=%s, x=%.1f%%, y=%.1f%%, radius=%.1f%%, angle=%.2f",
// // joystickPosStr[(int)data.position], data.x*100, data.y*100, data.radius*100, data.angle);
//
// //--- test the motor driver ---
// //fade up duty - forward
// // for (int duty=0; duty<=100; duty+=5) {
// // motorLeft.setTarget(motorstate_t::FWD, duty);
// // vTaskDelay(100 / portTICK_PERIOD_MS);
// // }
//
//
// //--- test controlledMotor --- (ramp)
// // //brake for 1 s
// // motorLeft.setTarget(motorstate_t::BRAKE);
// // vTaskDelay(1000 / portTICK_PERIOD_MS);
// // //command 90% - reverse
// // motorLeft.setTarget(motorstate_t::REV, 90);
// // vTaskDelay(5000 / portTICK_PERIOD_MS);
// // //command 100% - forward
// // motorLeft.setTarget(motorstate_t::FWD, 100);
// // vTaskDelay(1000 / portTICK_PERIOD_MS);
//
// }
}
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