a3257e89ee
successfully read rotational speed and direction using encoder disk and optical sensor custom implementation of incremental encoder using gpio edge interrupt
254 lines
7.4 KiB
C++
254 lines
7.4 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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#include <string.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 "uart.hpp"
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#include "speedsensor.hpp"
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//============================
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//======= TESTING MODE =======
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//============================
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//do not start the actual tasks for controlling the armchair
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#define TESTING_MODE
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//=========================
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//======= UART TEST =======
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//=========================
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//only run uart test code at the end
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//disables other functionality
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//#define UART_TEST_ONLY
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//==========================
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//======= BRAKE TEST =======
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//==========================
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//only run brake-test (ignore uart input)
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//#define BRAKE_TEST_ONLY
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//====================-======
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//==== SPEED SENSOR TEST ====
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//======================-====
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//only run speed-sensor test
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#define SPEED_SENSOR_TEST
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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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//============== 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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//======== 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_VERBOSE);
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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("uart_common", ESP_LOG_INFO);
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esp_log_level_set("uart", 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_WARN);
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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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//---- define log levels ----
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setLoglevels();
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#ifndef TESTING_MODE
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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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//--- 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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//--- 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 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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//beep at startup
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buzzer.beep(3, 70, 50);
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#endif
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#ifndef BRAKE_TEST_ONLY
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//-------------------------------------------
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//--- create tasks for uart communication ---
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//-------------------------------------------
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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", 4096, NULL, 10, NULL);
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#endif
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#ifdef SPEED_SENSOR_TEST
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speedSensor_config_t speedRight_config{
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.gpioPin = GPIO_NUM_18,
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.degreePerGroup = 72,
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.tireCircumferenceMeter = 0.69,
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.directionInverted = false,
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.logName = "speedRight",
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};
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speedSensor speedRight (speedRight_config);
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#endif
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//---------------------------
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//-------- main loop --------
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//---------------------------
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//does nothing except for testing things
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while(1){
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#ifdef SPEED_SENSOR_TEST
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vTaskDelay(100 / portTICK_PERIOD_MS);
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//speedRight.getRpm();
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ESP_LOGI(TAG, "speedsensor-test: rpm=%fRPM, speed=%fkm/h dir=%d, pulseCount=%d, p1=%d, p2=%d, p3=%d lastEdgetime=%d", speedRight.getRpm(), speedRight.getKmph(), speedRight.direction, speedRight.pulseCounter, (int)speedRight.pulseDurations[0]/1000, (int)speedRight.pulseDurations[1]/1000, (int)speedRight.pulseDurations[2]/1000,(int)speedRight.lastEdgeTime);
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#endif
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#ifdef BRAKE_TEST_ONLY
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//test relays at standstill
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ESP_LOGW("brake-test", "test relays via motorctl");
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//turn on
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motorRight.setTarget(motorstate_t::BRAKE, 0);
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vTaskDelay(500 / portTICK_PERIOD_MS);
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motorRight.setTarget(motorstate_t::BRAKE, 0);
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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//turn off
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motorRight.setTarget(motorstate_t::IDLE, 0);
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vTaskDelay(500 / portTICK_PERIOD_MS);
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motorRight.setTarget(motorstate_t::IDLE, 0);
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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//go forward and brake
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ESP_LOGW("brake-test", "go forward 30%% then brake");
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motorRight.setTarget(motorstate_t::FWD, 30);
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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motorRight.setTarget(motorstate_t::BRAKE, 0);
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vTaskDelay(3000 / portTICK_PERIOD_MS);
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//brake partial
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ESP_LOGW("brake-test", "go forward 30%% then brake partial 10%%, hold for 5sec");
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motorRight.setTarget(motorstate_t::FWD, 30);
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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motorRight.setTarget(motorstate_t::BRAKE, 10);
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vTaskDelay(5000 / portTICK_PERIOD_MS);
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//reset to idle
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motorRight.setTarget(motorstate_t::IDLE, 0);
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#endif
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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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