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
300 lines
9.9 KiB
C++
300 lines
9.9 KiB
C++
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"
|
|
|
|
//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);
|
|
}
|
|
|
|
|
|
|
|
//=================================
|
|
//=========== 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 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);
|
|
|
|
}
|
|
|
|
}
|