adb517c7ed
Add control.hpp and control.cpp - task that repeatedly generates motor commands depending on the current mode - function to change to a specified control mode Add button.hpp and button.cpp - class which runs commands depending on the count a button was pressed Update main.cpp - create button task - create control task - comment out previous testing code - remove unnecessary includes (already included in config.hpp) Add control.cpp and button.cpp to CMakeLists Notes: Tested this state on the armchair: All currently implemented features work. You can switch between IDLE and JOYSTICK by pressing the button 2 or 3 times. Also driving works well (limited to 60% duty, with no fans yet).
115 lines
3.4 KiB
C++
115 lines
3.4 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 "freertos/FreeRTOS.h"
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#include "esp_log.h"
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}
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#include "control.hpp"
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#include "button.hpp"
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//tag for logging
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static const char * TAG = "button";
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//-----------------------------
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//-------- constructor --------
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//-----------------------------
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buttonCommands::buttonCommands(gpio_evaluatedSwitch * button_f, buzzer_t * buzzer_f ){
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//copy object pointers
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button = button_f;
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buzzer = buzzer_f;
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//TODO declare / configure evaluatedSwitch here instead of config (unnecessary that button object is globally available - only used here)?
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}
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//----------------------------
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//--------- action -----------
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//----------------------------
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//function that runs commands depending on a count value
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void buttonCommands::action (uint8_t count){
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switch (count){
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//no such command
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default:
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ESP_LOGE(TAG, "no command for count=%d defined", count);
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buzzer->beep(3, 400, 100);
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break;
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case 1:
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ESP_LOGW(TAG, "running command for count 1");
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buzzer->beep(1,500,1);
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break;
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case 2:
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ESP_LOGW(TAG, "cmd %d: switching to IDLE", count);
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control_changeMode(controlMode_t::IDLE);
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buzzer->beep(1,1000,1);
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break;
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case 3:
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ESP_LOGW(TAG, "cmd %d: switching to JOYSTICK", count);
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control_changeMode(controlMode_t::JOYSTICK);
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buzzer->beep(2,400,100);
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break;
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}
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}
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//-----------------------------
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//------ startHandleLoop ------
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//-----------------------------
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//this function has to be started once in a separate task
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//repeatedly evaluates and processes button events then takes the corresponding action
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void buttonCommands::startHandleLoop() {
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while(1) {
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vTaskDelay(20 / portTICK_PERIOD_MS);
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//run handle function of evaluatedSwitch object
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button->handle();
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//--- count button presses and run action ---
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switch(state) {
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case inputState_t::IDLE: //wait for initial button press
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if (button->risingEdge) {
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count = 1;
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buzzer->beep(1, 60, 0);
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timestamp_lastAction = esp_log_timestamp();
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state = inputState_t::WAIT_FOR_INPUT;
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ESP_LOGI(TAG, "first button press detected -> waiting for further events");
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}
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break;
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case inputState_t::WAIT_FOR_INPUT: //wait for further presses
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//button pressed again
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if (button->risingEdge){
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count++;
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buzzer->beep(1, 60, 0);
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timestamp_lastAction = esp_log_timestamp();
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ESP_LOGI(TAG, "another press detected -> count=%d -> waiting for further events", count);
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}
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//timeout
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else if (esp_log_timestamp() - timestamp_lastAction > 1000) {
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state = inputState_t::IDLE;
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buzzer->beep(count, 50, 50);
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//TODO: add optional "bool wait" parameter to beep function to delay until finished beeping
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//run action function with current count of button presses
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ESP_LOGI(TAG, "timeout - running action function for count=%d", count);
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action(count);
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}
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break;
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}
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}
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}
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