b03baa4687
- 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
96 lines
3.3 KiB
C++
96 lines
3.3 KiB
C++
#include "buzzer.hpp"
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#include "config.hpp"
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static const char *TAG_BUZZER = "buzzer";
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//============================
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//========== init ============
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//============================
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//define gpio pin as output, initialize queue
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void buzzer_t::init(){
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//define buzzer pin as output
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gpio_pad_select_gpio(gpio_pin);
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gpio_set_direction(gpio_pin, GPIO_MODE_OUTPUT);
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//create queue
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beepQueue = xQueueCreate( 20, sizeof( struct beepEntry ) );
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}
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//=============================
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//======== constructor ========
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//=============================
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//copy provided config parameters to private variables, run init function
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buzzer_t::buzzer_t(gpio_num_t gpio_pin_f, uint16_t msGap_f){
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ESP_LOGI(TAG_BUZZER, "Initializing buzzer");
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//copy configuration parameters to variables
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gpio_pin = gpio_pin_f;
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msGap = msGap_f;
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//run init function to initialize gpio and queue
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init();
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};
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//============================
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//=========== beep ===========
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//============================
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//function to add a beep command to the queue
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void buzzer_t::beep(uint8_t count, uint16_t msOn, uint16_t msOff){
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//create entry struct with provided data
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struct beepEntry entryInsert = {
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count = count,
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msOn = msOn,
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msOff = msOff
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};
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// Send a pointer to a struct AMessage object. Don't block if the
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// queue is already full.
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//struct beepEntry *entryInsertPointer;
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//entryInsertPointer = &entryInsertData;
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ESP_LOGW(TAG_BUZZER, "Inserted object to queue - count=%d, msOn=%d, msOff=%d", entryInsert.count, entryInsert.msOn, entryInsert.msOff);
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//xQueueGenericSend( beepQueue, ( void * ) &entryInsertPointer, ( TickType_t ) 0, queueSEND_TO_BACK );
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xQueueSend( beepQueue, ( void * )&entryInsert, ( TickType_t ) 0 );
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}
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//==============================
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//======== processQueue ========
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//==============================
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void buzzer_t::processQueue(){
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//struct for receiving incomming events
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struct beepEntry entryRead = { };
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//loop forever
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while(1){
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ESP_LOGD(TAG_BUZZER, "processQueue: waiting for beep command");
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//if queue is ready
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if( beepQueue != 0 )
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{
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// wait for a queue entry to be available indefinetely if INCLUDE_vTaskSuspend is enabled in the FreeRTOS config
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// otherwise waits for at least 7 weeks
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if( xQueueReceive( beepQueue, &entryRead, portMAX_DELAY ) )
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{
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ESP_LOGW(TAG_BUZZER, "Read entry from queue: count=%d, msOn=%d, msOff=%d", entryRead.count, entryRead.msOn, entryRead.msOff);
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//beep requested count with requested delays
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for (int i = entryRead.count; i--;){
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//turn on
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ESP_LOGD(TAG_BUZZER, "turning buzzer on");
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gpio_set_level(gpio_pin, 1);
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vTaskDelay(entryRead.msOn / portTICK_PERIOD_MS);
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//turn off
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ESP_LOGD(TAG_BUZZER, "turning buzzer off");
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gpio_set_level(gpio_pin, 0);
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vTaskDelay(entryRead.msOff / portTICK_PERIOD_MS);
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}
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//wait for minimum gap between beep events
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vTaskDelay(msGap / portTICK_PERIOD_MS);
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}
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}else{ //wait for queue to become available
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vTaskDelay(50 / portTICK_PERIOD_MS);
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}
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}
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}
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