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armchair_fw/board_control/main/main.cpp
jonny_jr9 b03baa4687 Change folder structure (multiple boards) 
- add second pcb board_control, currently copy of previous board
- not enough pins -> board_control handle ui send motorcommands via uart
  board_motorctl handle motors
2023-08-28 11:15:06 +02:00

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8.4 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/uart.h"
//custom C files
//#include "wifi.h"
}
//custom C++ files
//#include "config.hpp"
//#include "control.hpp"
//#include "button.hpp"
//#include "http.hpp"
//tag for logging
static const char * TAG = "main";
// //======================================
// //============ 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);
// }
static void uart_task(void *arg)
{
uart_config_t uart1_config = {
.baud_rate = 115200,
.data_bits = UART_DATA_8_BITS,
.parity = UART_PARITY_DISABLE,
.stop_bits = UART_STOP_BITS_1,
.flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
};
ESP_LOGW(TAG, "config...");
ESP_ERROR_CHECK(uart_param_config(UART_NUM_1, &uart1_config));
ESP_LOGW(TAG, "setpins...");
ESP_ERROR_CHECK(uart_set_pin(UART_NUM_1, 23, 22, 0, 0));
ESP_LOGW(TAG, "init...");
ESP_ERROR_CHECK(uart_driver_install(UART_NUM_1, 1024, 1024, 10, NULL, 0));
uint8_t *data = (uint8_t *) malloc(1024);
//SEND data to motorctl board
uint8_t count = 0;
ESP_LOGW(TAG, "startloop...");
while (1) {
vTaskDelay(500 / portTICK_PERIOD_MS);
int len = uart_read_bytes(UART_NUM_1, data, (1024 - 1), 20 / portTICK_PERIOD_MS);
uart_flush_input(UART_NUM_1);
uart_flush(UART_NUM_1);
ESP_LOGW(TAG, "received data %d", *data);
*data = 99;
uart_write_bytes(UART_NUM_1, (const char *) &count, 1);
ESP_LOGW(TAG, "sent data %d", count);
count++;
}
}
//=================================
//=========== app_main ============
//=================================
extern "C" void app_main(void) {
// //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 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
//TESTING UART
xTaskCreate(uart_task, "uart_task", 4096, NULL, 10, NULL);
while(1){
vTaskDelay(1000 / portTICK_PERIOD_MS);
//---------------------------------
//-------- TESTING section --------
//---------------------------------
}
}
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