diff --git a/.gitignore b/.gitignore index 0fe047a..9a00b9b 100644 --- a/.gitignore +++ b/.gitignore @@ -1,5 +1,7 @@ build .vscode .DS_Store -sdkconfig -sdkconfig.old \ No newline at end of file +sdkconfig.old +desktop.ini +.PVS-Studio +sdkconfig \ No newline at end of file diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 0000000..2f5ddf1 --- /dev/null +++ b/.gitmodules @@ -0,0 +1,24 @@ +[submodule "components/zh_inclinometer"] + path = components/zh_inclinometer + url = https://github.com/aZholtikov/zh_inclinometer +[submodule "components/zh_encoder"] + path = components/zh_encoder + url = https://github.com/aZholtikov/zh_encoder +[submodule "components/zh_160x_i2c"] + path = components/zh_160x_i2c + url = https://github.com/aZholtikov/zh_160x_i2c +[submodule "components/zh_pcf8574"] + path = components/zh_pcf8574 + url = https://github.com/aZholtikov/zh_pcf8574 +[submodule "components/zh_vector"] + path = components/zh_vector + url = https://github.com/aZholtikov/zh_vector +[submodule "components/zh_ota_server"] + path = components/zh_ota_server + url = https://github.com/aZholtikov/zh_ota_server +[submodule "components/zh_espnow"] + path = components/zh_espnow + url = https://github.com/aZholtikov/zh_espnow +[submodule "components/zh_tachometer"] + path = components/zh_tachometer + url = https://github.com/aZholtikov/zh_tachometer \ No newline at end of file diff --git a/CMakeLists.txt b/CMakeLists.txt index 87a088d..787f3bf 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,3 +1,3 @@ cmake_minimum_required(VERSION 3.16) include($ENV{IDF_PATH}/tools/cmake/project.cmake) -project(firmware_template) \ No newline at end of file +project(ATE0005) \ No newline at end of file diff --git a/LICENSE.txt b/LICENSE.txt deleted file mode 100644 index 137069b..0000000 --- a/LICENSE.txt +++ /dev/null @@ -1,73 +0,0 @@ -Apache License -Version 2.0, January 2004 -http://www.apache.org/licenses/ - -TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION - -1. 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We also recommend that a file or class name and description of purpose be included on the same "printed page" as the copyright notice for easier identification within third-party archives. - -Copyright [yyyy] [name of copyright owner] - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - -http://www.apache.org/licenses/LICENSE-2.0 - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. diff --git a/Makefile b/Makefile deleted file mode 100644 index 7122fb6..0000000 --- a/Makefile +++ /dev/null @@ -1,2 +0,0 @@ -PROJECT_NAME := template -include $(IDF_PATH)/make/project.mk \ No newline at end of file diff --git a/README.md b/README.md index 5ad894f..6c81274 100644 --- a/README.md +++ b/README.md @@ -1,2 +1,21 @@ -# esp_firmware_template +# Universal Optical 2-Channel Angle Gauge / Tachometer +## Tested on + +1. [ESP32 ESP-IDF v5.5.3](https://docs.espressif.com/projects/esp-idf/en/v5.5.3/esp32/index.html) + +## SAST Tools + +[PVS-Studio](https://pvs-studio.com/pvs-studio/?utm_source=website&utm_medium=github&utm_campaign=open_source) - static analyzer for C, C++, C#, and Java code. + +## Build and flash + +Run the following command to firmware build and flash module: + +```text +cd your_projects_folder +git clone --recurse-submodules https://github.com/aZholtikov/ate0005 +cd ate0005 +idf.py build +idf.py flash +``` diff --git a/cad/ATE0005.000.00 СБ _ Корпус.a3d b/cad/ATE0005.000.00 СБ _ Корпус.a3d new file mode 100644 index 0000000..03c523e Binary files /dev/null and b/cad/ATE0005.000.00 СБ _ Корпус.a3d differ diff --git a/cad/ATE0005.000.001 _ Низ.m3d b/cad/ATE0005.000.001 _ Низ.m3d new file mode 100644 index 0000000..b554c3f Binary files /dev/null and b/cad/ATE0005.000.001 _ Низ.m3d differ diff --git a/cad/ATE0005.000.001 _ Низ.stl b/cad/ATE0005.000.001 _ Низ.stl new file mode 100644 index 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a/cad/ATE0005.001.000 СБ _ DUWI 26840.a3d b/cad/ATE0005.001.000 СБ _ DUWI 26840.a3d new file mode 100644 index 0000000..8fd0f3a Binary files /dev/null and b/cad/ATE0005.001.000 СБ _ DUWI 26840.a3d differ diff --git a/cad/ATE0005.001.001 _ Кнопка.m3d b/cad/ATE0005.001.001 _ Кнопка.m3d new file mode 100644 index 0000000..68c0b49 Binary files /dev/null and b/cad/ATE0005.001.001 _ Кнопка.m3d differ diff --git a/cad/ATE0005.001.002 _ Корпус.m3d b/cad/ATE0005.001.002 _ Корпус.m3d new file mode 100644 index 0000000..d4a560a Binary files /dev/null and b/cad/ATE0005.001.002 _ Корпус.m3d differ diff --git a/components/zh_160x_i2c b/components/zh_160x_i2c new file mode 160000 index 0000000..3077b35 --- /dev/null +++ b/components/zh_160x_i2c @@ -0,0 +1 @@ +Subproject commit 3077b35930765c9ffd008fc61dbcd0d2a6cc67ca diff --git a/components/zh_encoder b/components/zh_encoder new file mode 160000 index 0000000..04aeb09 --- /dev/null +++ b/components/zh_encoder @@ -0,0 +1 @@ +Subproject commit 04aeb09e490f1faeb74cd5fc0f1fc466466226e1 diff --git a/components/zh_espnow b/components/zh_espnow new file mode 160000 index 0000000..af76d31 --- /dev/null +++ b/components/zh_espnow @@ -0,0 +1 @@ +Subproject commit af76d3172f05b5b9ad73006e18abe333898097a6 diff --git a/components/zh_inclinometer b/components/zh_inclinometer new file mode 160000 index 0000000..58a63d2 --- /dev/null +++ b/components/zh_inclinometer @@ -0,0 +1 @@ +Subproject commit 58a63d2f7daecaf6ab6a5ba175a6f8c2965f2cbb diff --git a/components/zh_ota_server b/components/zh_ota_server new file mode 160000 index 0000000..ede39ad --- /dev/null +++ b/components/zh_ota_server @@ -0,0 +1 @@ +Subproject commit ede39ad1457771d95921314ca8975659b49a9d98 diff --git a/components/zh_pcf8574 b/components/zh_pcf8574 new file mode 160000 index 0000000..828fcb9 --- /dev/null +++ b/components/zh_pcf8574 @@ -0,0 +1 @@ +Subproject commit 828fcb9b7fd3fcc4f2e57835a44e860804fc2137 diff --git a/components/zh_tachometer b/components/zh_tachometer new file mode 160000 index 0000000..2653b47 --- /dev/null +++ b/components/zh_tachometer @@ -0,0 +1 @@ +Subproject commit 2653b47f7c59c3cc115ebab23d714f3ec4876d6f diff --git a/components/zh_vector b/components/zh_vector new file mode 160000 index 0000000..a19e4da --- /dev/null +++ b/components/zh_vector @@ -0,0 +1 @@ +Subproject commit a19e4da88a42baa998bd27a9c3f72b4d912d4170 diff --git a/doc/ATE0005 Руководство по эксплуатации.docx b/doc/ATE0005 Руководство по эксплуатации.docx new file mode 100644 index 0000000..6ec93d6 Binary files /dev/null and b/doc/ATE0005 Руководство по эксплуатации.docx differ diff --git a/doc/Счет-договор № 16542995 от 21.01.2026.pdf b/doc/Счет-договор № 16542995 от 21.01.2026.pdf new file mode 100644 index 0000000..0c50620 Binary files /dev/null and b/doc/Счет-договор № 16542995 от 21.01.2026.pdf differ diff --git a/doc/Счет-договор № 819 от 21.01.2026.pdf b/doc/Счет-договор № 819 от 21.01.2026.pdf new file mode 100644 index 0000000..6a4773b Binary files /dev/null and b/doc/Счет-договор № 819 от 21.01.2026.pdf differ diff --git a/main/CMakeLists.txt b/main/CMakeLists.txt index d7f53b1..a260c14 100644 --- a/main/CMakeLists.txt +++ b/main/CMakeLists.txt @@ -1,2 +1 @@ -idf_build_get_property(project_dir PROJECT_DIR) -idf_component_register(SRCS "main.c" INCLUDE_DIRS "") \ No newline at end of file +idf_component_register(SRCS "ate0005.c" INCLUDE_DIRS "" REQUIRES zh_160x_i2c zh_encoder zh_inclinometer zh_tachometer zh_espnow zh_ota_server esp_wifi nvs_flash esp_timer esp_app_format) \ No newline at end of file diff --git a/main/ate0005.c b/main/ate0005.c new file mode 100644 index 0000000..dda9259 --- /dev/null +++ b/main/ate0005.c @@ -0,0 +1,492 @@ +#include "ate0005.h" + +// #define DEBUG + +static task_stats_t _task_stats = {A_INCLINOMETER_TASK_STACK_SIZE, B_INCLINOMETER_TASK_STACK_SIZE, A_TACHOMETER_TASK_STACK_SIZE, B_TACHOMETER_TASK_STACK_SIZE}; + +static httpd_handle_t _http_server_handle = NULL; + +static zh_pcf8574_handle_t _lcd_handle = {0}; +static zh_encoder_handle_t _mode_encoder_handle = {0}; +static zh_inclinometer_handle_t _a_inclinometer_handle = {0}; +static zh_inclinometer_handle_t _b_inclinometer_handle = {0}; +static zh_tachometer_handle_t _a_tachometer_handle = {0}; +static zh_tachometer_handle_t _b_tachometer_handle = {0}; +static esp_timer_handle_t _inclinometer_reset_timer_handle = {0}; + +static SemaphoreHandle_t _lcd_mutex = NULL; +static TaskHandle_t _a_inclinometer_task_handle = NULL; +static TaskHandle_t _b_inclinometer_task_handle = NULL; +static TaskHandle_t _a_tachometer_task_handle = NULL; +static TaskHandle_t _b_tachometer_task_handle = NULL; + +static void _zh_wifi_softap_init(void); +static void _zh_webserver_init(void); +static void _zh_espnow_init(void); +static void _zh_encoder_init(void); +static void _zh_a_inclinometer_init(void); +static void _zh_b_inclinometer_init(void); +static void _zh_a_tachometer_init(void); +static void _zh_b_tachometer_init(void); +static void _zh_pcf8574_init(void); +static void _zh_system_load(void); +static void _zh_timer_init(void); +static void _zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data); +// static void _zh_espnow_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data); // To Do. +static void _zh_inclinometer_reset_timer_on_alarm_cb(void *arg); + +static void _zh_a_inclinometer_processing_task(void *pvParameter); +static void _zh_b_inclinometer_processing_task(void *pvParameter); +static void _zh_a_tachometer_processing_task(void *pvParameter); +static void _zh_b_tachometer_processing_task(void *pvParameter); +#ifdef DEBUG +static void _zh_stats_processing_task(void *pvParameter); +#endif + +static const char *_main_menu[] = {MAIN_MENU_ANGLE_ANGLE_NAME, MAIN_MENU_TACHO_TACHO_NAME, MAIN_MENU_ANGLE_TACHO_NAME, MAIN_MENU_REMOTE_NAME}; +volatile static bool _is_menu_mode = false; +volatile static bool _is_reset_mode = false; +volatile static bool _is_reset_occurred = false; +volatile static uint8_t _current_menu_value = 0; + +void app_main(void) +{ + _lcd_mutex = xSemaphoreCreateMutex(); + nvs_flash_init(); + esp_event_loop_create_default(); + _zh_wifi_softap_init(); + _zh_webserver_init(); + _zh_pcf8574_init(); + _zh_system_load(); + _zh_encoder_init(); + _zh_a_inclinometer_init(); + _zh_b_inclinometer_init(); + _zh_espnow_init(); + _zh_timer_init(); +#ifdef DEBUG + xTaskCreatePinnedToCore(&_zh_stats_processing_task, "stats_processing_task", STATS_TASK_STACK_SIZE, NULL, STATS_TASK_PRIORITY, NULL, tskNO_AFFINITY); +#endif + const esp_partition_t *running = esp_ota_get_running_partition(); + esp_ota_img_states_t ota_state = {0}; + esp_ota_get_state_partition(running, &ota_state); + if (ota_state == ESP_OTA_IMG_PENDING_VERIFY) + { + vTaskDelay(60000 / portTICK_PERIOD_MS); + esp_ota_mark_app_valid_cancel_rollback(); + } +} + +static void _zh_wifi_softap_init(void) +{ + esp_netif_init(); + esp_netif_create_default_wifi_ap(); + wifi_init_config_t wifi_config = WIFI_INIT_CONFIG_DEFAULT(); + esp_wifi_init(&wifi_config); + wifi_config_t ap_config = { + .ap = { + .ssid = WIFI_SSID, + .password = WIFI_PASS, + .channel = WIFI_CHANNEL, + .max_connection = MAX_STA_CONNECTION, + .authmode = WIFI_AUTH_WPA2_PSK, + }, + }; + esp_wifi_set_mode(WIFI_MODE_APSTA); + esp_wifi_set_config(WIFI_IF_AP, &ap_config); + esp_wifi_start(); +} + +static void _zh_webserver_init(void) +{ + httpd_config_t config = HTTPD_DEFAULT_CONFIG(); + httpd_start(&_http_server_handle, &config); + zh_ota_server_init(_http_server_handle, "/"); +} + +static void _zh_espnow_init(void) +{ + // To Do. +} + +static void _zh_encoder_init(void) +{ + esp_event_handler_instance_register(ZH_ENCODER, ESP_EVENT_ANY_ID, &_zh_encoder_event_handler, NULL, NULL); + zh_encoder_init_config_t config = ZH_ENCODER_INIT_CONFIG_DEFAULT(); + config.task_priority = ENCODER_TASK_PRIORITY; + config.stack_size = ENCODER_TASK_STACK_SIZE; + config.queue_size = 5; + config.a_gpio_number = MODE_ENCODER_A_GPIO; + config.b_gpio_number = MODE_ENCODER_B_GPIO; + config.s_gpio_number = MODE_ENCODER_S_GPIO; + config.s_gpio_debounce_time = 1000; + config.encoder_min_value = 0; + config.encoder_max_value = (sizeof(_main_menu) / sizeof(_main_menu[0])) - 1; + config.encoder_step = 1; + config.encoder_number = MODE_ENCODER_NUMBER; + zh_encoder_init(&config, &_mode_encoder_handle); + zh_encoder_set(&_mode_encoder_handle, 0); +} + +static void _zh_a_inclinometer_init(void) +{ + zh_inclinometer_init_config_t config = ZH_INCLINOMETER_INIT_CONFIG_DEFAULT(); + config.a_gpio_number = A_OPTICAL_DEVICE_A_GPIO; + config.b_gpio_number = A_OPTICAL_DEVICE_B_GPIO; + config.encoder_pulses = 3600; + zh_inclinometer_init(&config, &_a_inclinometer_handle); + xTaskCreatePinnedToCore(&_zh_a_inclinometer_processing_task, "a_inclinometer_processing_task", A_INCLINOMETER_TASK_STACK_SIZE, NULL, A_INCLINOMETER_TASK_PRIORITY, + &_a_inclinometer_task_handle, tskNO_AFFINITY); +} + +static void _zh_b_inclinometer_init(void) +{ + zh_inclinometer_init_config_t config = ZH_INCLINOMETER_INIT_CONFIG_DEFAULT(); + config.a_gpio_number = B_OPTICAL_DEVICE_A_GPIO; + config.b_gpio_number = B_OPTICAL_DEVICE_B_GPIO; + config.encoder_pulses = 3600; + zh_inclinometer_init(&config, &_b_inclinometer_handle); + xTaskCreatePinnedToCore(&_zh_b_inclinometer_processing_task, "b_inclinometer_processing_task", B_INCLINOMETER_TASK_STACK_SIZE, NULL, B_INCLINOMETER_TASK_PRIORITY, + &_b_inclinometer_task_handle, tskNO_AFFINITY); +} + +static void _zh_a_tachometer_init(void) +{ + zh_tachometer_init_config_t config = ZH_TACHOMETER_INIT_CONFIG_DEFAULT(); + config.a_gpio_number = A_OPTICAL_DEVICE_A_GPIO; + config.b_gpio_number = A_OPTICAL_DEVICE_B_GPIO; + config.encoder_pulses = 3600; + zh_tachometer_init(&config, &_a_tachometer_handle); + xTaskCreatePinnedToCore(&_zh_a_tachometer_processing_task, "a_tachometer_processing_task", A_TACHOMETER_TASK_STACK_SIZE, NULL, A_TACHOMETER_TASK_PRIORITY, + &_a_tachometer_task_handle, tskNO_AFFINITY); +} + +static void _zh_b_tachometer_init(void) +{ + zh_tachometer_init_config_t config = ZH_TACHOMETER_INIT_CONFIG_DEFAULT(); + config.a_gpio_number = B_OPTICAL_DEVICE_A_GPIO; + config.b_gpio_number = B_OPTICAL_DEVICE_B_GPIO; + config.encoder_pulses = 3600; + zh_tachometer_init(&config, &_b_tachometer_handle); + xTaskCreatePinnedToCore(&_zh_b_tachometer_processing_task, "b_tachometer_processing_task", B_TACHOMETER_TASK_STACK_SIZE, NULL, B_TACHOMETER_TASK_PRIORITY, + &_b_tachometer_task_handle, tskNO_AFFINITY); +} + +static void _zh_pcf8574_init(void) +{ + i2c_master_bus_handle_t _i2c_bus_handle = NULL; + i2c_master_bus_config_t i2c_bus_config = { + .clk_source = I2C_CLK_SRC_DEFAULT, + .scl_io_num = I2C_SCL_GPIO, + .sda_io_num = I2C_SDA_GPIO, + .glitch_ignore_cnt = 7, + .flags.enable_internal_pullup = true, + }; + i2c_new_master_bus(&i2c_bus_config, &_i2c_bus_handle); + zh_pcf8574_init_config_t config = ZH_PCF8574_INIT_CONFIG_DEFAULT(); + config.i2c_handle = _i2c_bus_handle; + config.i2c_address = LCD_I2C_ADDRESS; + zh_pcf8574_init(&config, &_lcd_handle); + zh_160x_init(&_lcd_handle, ZH_LCD_16X2); +} + +static void _zh_system_load(void) +{ + zh_160x_set_cursor(&_lcd_handle, 0, 0); + zh_160x_print_char(&_lcd_handle, "LLC AEROTECH"); + zh_160x_set_cursor(&_lcd_handle, 1, 0); + const esp_app_desc_t *esp_app_desc = esp_app_get_description(); + zh_160x_print_char(&_lcd_handle, esp_app_desc->project_name); + zh_160x_set_cursor(&_lcd_handle, 1, 8); + zh_160x_print_char(&_lcd_handle, "V"); + zh_160x_print_char(&_lcd_handle, esp_app_desc->version); + vTaskDelay(1000 / portTICK_PERIOD_MS); + zh_160x_lcd_clear(&_lcd_handle); + zh_160x_set_cursor(&_lcd_handle, 0, 0); + zh_160x_print_char(&_lcd_handle, "SYSTEM LOADING:"); + for (uint8_t i = 0; i <= 100; i += 10) + { + zh_160x_print_progress_bar(&_lcd_handle, 1, i); + vTaskDelay(100 / portTICK_PERIOD_MS); + } + vTaskDelay(500 / portTICK_PERIOD_MS); + zh_160x_lcd_clear(&_lcd_handle); + vTaskDelay(500 / portTICK_PERIOD_MS); + zh_160x_set_cursor(&_lcd_handle, 0, 0); + zh_160x_print_char(&_lcd_handle, "MODE:"); + zh_160x_print_char(&_lcd_handle, _main_menu[0]); +} + +static void _zh_timer_init(void) +{ + const esp_timer_create_args_t timer_args = { + .callback = &_zh_inclinometer_reset_timer_on_alarm_cb, + }; + esp_timer_create(&timer_args, &_inclinometer_reset_timer_handle); +} + +static void _zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data) +{ + switch (event_id) + { + case ZH_BUTTON_EVENT: + zh_encoder_button_event_on_isr_t *button_event = event_data; + if (button_event->button_status == BUTTON_PRESSED) + { + esp_timer_start_once(_inclinometer_reset_timer_handle, 2000000); + _is_reset_mode = true; + } + else + { + if (_is_reset_occurred == true) + { + _is_reset_occurred = false; + break; + } + if (_is_reset_mode == true) + { + esp_timer_stop(_inclinometer_reset_timer_handle); + _is_reset_mode = false; + } + _is_menu_mode = !_is_menu_mode; + if (_is_menu_mode == true) + { + switch (_current_menu_value) + { + case MODE_ANGLE_ANGLE: + vTaskDelete(_a_inclinometer_task_handle); + vTaskDelete(_b_inclinometer_task_handle); + zh_inclinometer_deinit(&_a_inclinometer_handle); + zh_inclinometer_deinit(&_b_inclinometer_handle); + break; + case MODE_TACHO_TACHO: + vTaskDelete(_a_tachometer_task_handle); + vTaskDelete(_b_tachometer_task_handle); + zh_tachometer_deinit(&_a_tachometer_handle); + zh_tachometer_deinit(&_b_tachometer_handle); + break; + case MODE_ANGLE_TACHO: + vTaskDelete(_a_inclinometer_task_handle); + vTaskDelete(_b_tachometer_task_handle); + zh_inclinometer_deinit(&_a_inclinometer_handle); + zh_tachometer_deinit(&_b_tachometer_handle); + break; + case MODE_REMOTE: + // To Do. + break; + default: + break; + } + zh_160x_clear_row(&_lcd_handle, 1); + zh_160x_set_cursor(&_lcd_handle, 0, 0); + zh_160x_on_cursor(&_lcd_handle, true); + } + else + { + zh_160x_off_cursor(&_lcd_handle); + switch (_current_menu_value) + { + case MODE_ANGLE_ANGLE: + _zh_a_inclinometer_init(); + _zh_b_inclinometer_init(); + break; + case MODE_TACHO_TACHO: + _zh_a_tachometer_init(); + _zh_b_tachometer_init(); + break; + case MODE_ANGLE_TACHO: + _zh_a_inclinometer_init(); + _zh_b_tachometer_init(); + break; + case MODE_REMOTE: + zh_160x_set_cursor(&_lcd_handle, 1, 0); + zh_160x_print_char(&_lcd_handle, "NOT CONNECTED"); + break; + default: + break; + } + } + } + break; + case ZH_ENCODER_EVENT: + zh_encoder_event_on_isr_t *encoder_event = event_data; + if (_is_menu_mode == true) + { + _current_menu_value = (uint8_t)encoder_event->encoder_position; // -V2004 + zh_160x_clear_row(&_lcd_handle, 0); + zh_160x_set_cursor(&_lcd_handle, 0, 0); + zh_160x_print_char(&_lcd_handle, "MODE:"); + zh_160x_print_char(&_lcd_handle, _main_menu[(uint8_t)encoder_event->encoder_position]); // -V2004 + zh_160x_set_cursor(&_lcd_handle, 0, 0); + } + else + { + zh_encoder_set(&_mode_encoder_handle, (float)_current_menu_value); + } + break; + default: + break; + } +} + +// static void _zh_espnow_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data) +// { +// // To Do. +// } + +static void _zh_inclinometer_reset_timer_on_alarm_cb(void *arg) +{ + _is_reset_mode = false; + _is_reset_occurred = true; + if (_is_menu_mode == false) + { + switch (_current_menu_value) + { + case MODE_ANGLE_ANGLE: + zh_inclinometer_reset(&_a_inclinometer_handle); + zh_inclinometer_reset(&_b_inclinometer_handle); + break; + case MODE_ANGLE_TACHO: + zh_inclinometer_reset(&_a_inclinometer_handle); + break; + default: + break; + } + } +} + +static void _zh_a_inclinometer_processing_task(void *pvParameter) +{ + float prev_angle = 0, current_angle = 0; + xSemaphoreTake(_lcd_mutex, portMAX_DELAY); + zh_160x_set_cursor(&_lcd_handle, 1, 0); + zh_160x_print_char(&_lcd_handle, "A:"); + zh_160x_print_float(&_lcd_handle, current_angle, 1); + xSemaphoreGive(_lcd_mutex); + for (;;) + { + zh_inclinometer_get(&_a_inclinometer_handle, ¤t_angle); + if (prev_angle != current_angle) + { + prev_angle = current_angle; + xSemaphoreTake(_lcd_mutex, portMAX_DELAY); + zh_160x_set_cursor(&_lcd_handle, 1, 5); + zh_160x_print_char(&_lcd_handle, " "); + zh_160x_set_cursor(&_lcd_handle, 1, 2); + zh_160x_print_float(&_lcd_handle, current_angle, 1); + xSemaphoreGive(_lcd_mutex); + } + vTaskDelay(100 / portTICK_PERIOD_MS); + _task_stats.a_inclinometer_task_min_stack_size = (uint32_t)uxTaskGetStackHighWaterMark(NULL); + } + vTaskDelete(NULL); +} + +static void _zh_b_inclinometer_processing_task(void *pvParameter) +{ + float prev_angle = 0, current_angle = 0; + xSemaphoreTake(_lcd_mutex, portMAX_DELAY); + zh_160x_set_cursor(&_lcd_handle, 1, 8); + zh_160x_print_char(&_lcd_handle, "B:"); + zh_160x_print_float(&_lcd_handle, current_angle, 1); + xSemaphoreGive(_lcd_mutex); + for (;;) + { + zh_inclinometer_get(&_b_inclinometer_handle, ¤t_angle); + if (prev_angle != current_angle) + { + prev_angle = current_angle; + xSemaphoreTake(_lcd_mutex, portMAX_DELAY); + zh_160x_set_cursor(&_lcd_handle, 1, 13); + zh_160x_print_char(&_lcd_handle, " "); + zh_160x_set_cursor(&_lcd_handle, 1, 10); + zh_160x_print_float(&_lcd_handle, current_angle, 1); + xSemaphoreGive(_lcd_mutex); + } + vTaskDelay(100 / portTICK_PERIOD_MS); + _task_stats.b_inclinometer_task_min_stack_size = (uint32_t)uxTaskGetStackHighWaterMark(NULL); + } + vTaskDelete(NULL); +} + +static void _zh_a_tachometer_processing_task(void *pvParameter) +{ + uint16_t prev_rpm = 0, current_rpm = 0; + xSemaphoreTake(_lcd_mutex, portMAX_DELAY); + zh_160x_set_cursor(&_lcd_handle, 1, 0); + zh_160x_print_char(&_lcd_handle, "A:"); + zh_160x_print_int(&_lcd_handle, current_rpm); + xSemaphoreGive(_lcd_mutex); + for (;;) + { + zh_tachometer_get(&_a_tachometer_handle, ¤t_rpm); + if (prev_rpm != current_rpm) + { + prev_rpm = current_rpm; + xSemaphoreTake(_lcd_mutex, portMAX_DELAY); + zh_160x_set_cursor(&_lcd_handle, 1, 3); + zh_160x_print_char(&_lcd_handle, " "); + zh_160x_set_cursor(&_lcd_handle, 1, 2); + zh_160x_print_int(&_lcd_handle, current_rpm); + xSemaphoreGive(_lcd_mutex); + } + vTaskDelay(100 / portTICK_PERIOD_MS); + _task_stats.a_tachometer_task_min_stack_size = (uint32_t)uxTaskGetStackHighWaterMark(NULL); + } + vTaskDelete(NULL); +} + +static void _zh_b_tachometer_processing_task(void *pvParameter) +{ + uint16_t prev_rpm = 0, current_rpm = 0; + xSemaphoreTake(_lcd_mutex, portMAX_DELAY); + zh_160x_set_cursor(&_lcd_handle, 1, 8); + zh_160x_print_char(&_lcd_handle, "B:"); + zh_160x_print_int(&_lcd_handle, current_rpm); + xSemaphoreGive(_lcd_mutex); + for (;;) + { + zh_tachometer_get(&_b_tachometer_handle, ¤t_rpm); + if (prev_rpm != current_rpm) + { + prev_rpm = current_rpm; + xSemaphoreTake(_lcd_mutex, portMAX_DELAY); + zh_160x_set_cursor(&_lcd_handle, 1, 11); + zh_160x_print_char(&_lcd_handle, " "); + zh_160x_set_cursor(&_lcd_handle, 1, 10); + zh_160x_print_int(&_lcd_handle, current_rpm); + xSemaphoreGive(_lcd_mutex); + } + vTaskDelay(100 / portTICK_PERIOD_MS); + _task_stats.b_tachometer_task_min_stack_size = (uint32_t)uxTaskGetStackHighWaterMark(NULL); + } + vTaskDelete(NULL); +} + +#ifdef DEBUG +static void _zh_stats_processing_task(void *pvParameter) +{ + for (;;) + { + printf("Tasks:\n"); + printf("A inclinometer task minimum free stack size: %ld.\n", _task_stats.a_inclinometer_task_min_stack_size); + printf("B inclinometer task minimum free stack size: %ld.\n", _task_stats.b_inclinometer_task_min_stack_size); + printf("A tachometer task minimum free stack size: %ld.\n", _task_stats.a_tachometer_task_min_stack_size); + printf("A tachometer task minimum free stack size: %ld.\n", _task_stats.b_tachometer_task_min_stack_size); + printf("Stats task minimum free stack size: %ld.\n", (uint32_t)uxTaskGetStackHighWaterMark(NULL)); + printf("Encoders:\n"); + const zh_encoder_stats_t *encoder_stats = zh_encoder_get_stats(); + printf("Number of event post error: %ld.\n", encoder_stats->event_post_error); + printf("Number of queue overflow error: %ld.\n", encoder_stats->queue_overflow_error); + printf("Minimum free stack size: %ld.\n", encoder_stats->min_stack_size); + printf("Expanders:\n"); + const zh_pcf8574_stats_t *pcf8574_stats = zh_pcf8574_get_stats(); + printf("Number of i2c driver error: %ld.\n", pcf8574_stats->i2c_driver_error); + printf("Number of event post error: %ld.\n", pcf8574_stats->event_post_error); + printf("Number of vector error: %ld.\n", pcf8574_stats->vector_error); + printf("Number of queue overflow error: %ld.\n", pcf8574_stats->queue_overflow_error); + printf("Minimum free stack size: %ld.\n", pcf8574_stats->min_stack_size); + vTaskDelay(10000 / portTICK_PERIOD_MS); + } + vTaskDelete(NULL); +} +#endif \ No newline at end of file diff --git a/main/ate0005.h b/main/ate0005.h new file mode 100644 index 0000000..db09ebe --- /dev/null +++ b/main/ate0005.h @@ -0,0 +1,81 @@ +/** + * @file ate0005.h + */ + +#pragma once + +#include "nvs_flash.h" +#include "esp_wifi.h" +#include "esp_timer.h" +#include "zh_160x_i2c.h" +#include "zh_encoder.h" +#include "zh_inclinometer.h" +#include "zh_tachometer.h" +#include "zh_ota_server.h" +#include "zh_espnow.h" + +#define STATS_TASK_PRIORITY tskIDLE_PRIORITY +#define STATS_TASK_STACK_SIZE configMINIMAL_STACK_SIZE + 512 +#define A_INCLINOMETER_TASK_PRIORITY tskIDLE_PRIORITY + 5 +#define A_INCLINOMETER_TASK_STACK_SIZE configMINIMAL_STACK_SIZE + 512 +#define B_INCLINOMETER_TASK_PRIORITY tskIDLE_PRIORITY + 5 +#define B_INCLINOMETER_TASK_STACK_SIZE configMINIMAL_STACK_SIZE + 512 +#define A_TACHOMETER_TASK_PRIORITY tskIDLE_PRIORITY + 5 +#define A_TACHOMETER_TASK_STACK_SIZE configMINIMAL_STACK_SIZE + 512 +#define B_TACHOMETER_TASK_PRIORITY tskIDLE_PRIORITY + 5 +#define B_TACHOMETER_TASK_STACK_SIZE configMINIMAL_STACK_SIZE + 512 +#define ENCODER_TASK_PRIORITY tskIDLE_PRIORITY + 4 +#define ENCODER_TASK_STACK_SIZE configMINIMAL_STACK_SIZE + +#define HIGH true +#define LOW false + +#define BUTTON_RELEASED HIGH +#define BUTTON_PRESSED LOW + +#define MODE_ANGLE_ANGLE 0 +#define MAIN_MENU_ANGLE_ANGLE_NAME "ANGLE/ANGLE" +#define MODE_TACHO_TACHO 1 +#define MAIN_MENU_TACHO_TACHO_NAME "TACHO/TACHO" +#define MODE_ANGLE_TACHO 2 +#define MAIN_MENU_ANGLE_TACHO_NAME "ANGLE/TACHO" +#define MODE_REMOTE 3 +#define MAIN_MENU_REMOTE_NAME "REMOTE" + +#define WIFI_SSID "ATE0005" +#define WIFI_PASS "repairlab" +#define WIFI_CHANNEL 1 +#define MAX_STA_CONNECTION 4 + +#define I2C_SCL_GPIO GPIO_NUM_22 +#define I2C_SDA_GPIO GPIO_NUM_21 + +#define LCD_I2C_ADDRESS 0x20 /*!< U2. */ + +#define MODE_ENCODER_NUMBER 0x01 /*!< Connector EN1. */ +#define MODE_ENCODER_A_GPIO GPIO_NUM_27 +#define MODE_ENCODER_B_GPIO GPIO_NUM_26 +#define MODE_ENCODER_S_GPIO GPIO_NUM_25 + +#define A_OPTICAL_DEVICE_A_GPIO GPIO_NUM_14 /*!< Connector EN2. */ +#define A_OPTICAL_DEVICE_B_GPIO GPIO_NUM_13 + +#define B_OPTICAL_DEVICE_A_GPIO GPIO_NUM_18 /*!< Connector EN3. */ +#define B_OPTICAL_DEVICE_B_GPIO GPIO_NUM_19 + +#ifdef __cplusplus +extern "C" +{ +#endif + + typedef struct + { + uint32_t a_inclinometer_task_min_stack_size; + uint32_t b_inclinometer_task_min_stack_size; + uint32_t a_tachometer_task_min_stack_size; + uint32_t b_tachometer_task_min_stack_size; + } task_stats_t; + +#ifdef __cplusplus +} +#endif \ No newline at end of file diff --git a/main/component.mk b/main/component.mk deleted file mode 100644 index 06d7405..0000000 Binary files a/main/component.mk and /dev/null differ diff --git a/main/main.c b/main/main.c deleted file mode 100644 index 8248d59..0000000 --- a/main/main.c +++ /dev/null @@ -1,3 +0,0 @@ -void app_main(void) -{ -} \ No newline at end of file diff --git a/partitions.csv b/partitions.csv index d62d546..35576a1 100644 --- a/partitions.csv +++ b/partitions.csv @@ -1,7 +1,8 @@ -# Name, Type, SubType, Offset, Size, Flags -# Note: if you change the phy_init or app partition offset, make sure to change the offset in Kconfig.projbuild -nvs, data, nvs, 0x9000, 0x4000 -otadata, data, ota, 0xd000, 0x2000 -phy_init, data, phy, 0xf000, 0x1000 -ota_0, 0, ota_0, 0x10000, 0x70000 -ota_1, 0, ota_1, 0x80000, 0x70000 +# Name, Type, SubType, Offset, Size, Flags +# Note: if you have increased the bootloader size, make sure to update the offsets to avoid overlap +nvs, data, nvs, , 0x6000, +otadata, data, ota, , 0x2000, +phy_init, data, phy, , 0x1000, +ota_0, app, ota_0, , 3500K, +ota_1, app, ota_1, , 3500K, +storage, data,fat , , 1M, \ No newline at end of file diff --git a/partitions_esp32.csv b/partitions_esp32.csv deleted file mode 100644 index 1ec9a54..0000000 --- a/partitions_esp32.csv +++ /dev/null @@ -1,7 +0,0 @@ -# Name, Type, SubType, Offset, Size, Flags -# Note: if you have increased the bootloader size, make sure to update the offsets to avoid overlap -nvs, data, nvs, , 0x4000, -otadata, data, ota, , 0x2000, -phy_init, data, phy, , 0x1000, -ota_0, 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a/sdkconfig.defaults b/sdkconfig.defaults index 585fed4..39e3b32 100644 --- a/sdkconfig.defaults +++ b/sdkconfig.defaults @@ -1,23 +1,21 @@ -CONFIG_LOG_BOOTLOADER_LEVEL_NONE=y -CONFIG_LOG_BOOTLOADER_LEVEL=0 - -CONFIG_ESPTOOLPY_FLASHMODE_DOUT=y -CONFIG_ESPTOOLPY_FLASHMODE="dout" -CONFIG_SPI_FLASH_MODE=0x3 - -CONFIG_ESPTOOLPY_FLASHSIZE_1MB=y -CONFIG_ESPTOOLPY_FLASHSIZE="1MB" -CONFIG_SPI_FLASH_SIZE=0x100000 - +CONFIG_BOOTLOADER_APP_ROLLBACK_ENABLE=y +CONFIG_BOOTLOADER_LOG_LEVEL_ERROR=y +CONFIG_ESPTOOLPY_FLASHSIZE_8MB=y CONFIG_PARTITION_TABLE_CUSTOM=y -CONFIG_PARTITION_TABLE_FILENAME="partitions.csv" - -CONFIG_COMPILER_OPTIMIZATION_LEVEL_RELEASE=y - -CONFIG_ESP8266_DEFAULT_CPU_FREQ_80=y -CONFIG_ESP8266_DEFAULT_CPU_FREQ_MHZ=80 - -CONFIG_ESP_PANIC_SILENT_REBOOT=y - -CONFIG_LOG_DEFAULT_LEVEL_NONE=y -CONFIG_LOG_DEFAULT_LEVEL=0 \ No newline at end of file +CONFIG_COMPILER_OPTIMIZATION_SIZE=y +CONFIG_GPIO_CTRL_FUNC_IN_IRAM=y +CONFIG_GPTIMER_CTRL_FUNC_IN_IRAM=y +CONFIG_GPTIMER_ISR_CACHE_SAFE=y +CONFIG_I2C_ISR_IRAM_SAFE=y +CONFIG_LEDC_CTRL_FUNC_IN_IRAM=y +CONFIG_PCNT_CTRL_FUNC_IN_IRAM=y +CONFIG_PCNT_ISR_IRAM_SAFE=y +CONFIG_RMT_RECV_FUNC_IN_IRAM=y +CONFIG_RMT_TX_ISR_CACHE_SAFE=y +CONFIG_RMT_RX_ISR_CACHE_SAFE=y +CONFIG_SPI_MASTER_IN_IRAM=y +CONFIG_UART_ISR_IN_IRAM=y +CONFIG_HTTPD_WS_SUPPORT=y +CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ_240=y +CONFIG_FREERTOS_HZ=1000 +CONFIG_LOG_DEFAULT_LEVEL_ERROR=y \ No newline at end of file diff --git a/sdkconfig.defaults.esp32 b/sdkconfig.defaults.esp32 deleted file mode 100644 index b8b74dd..0000000 --- a/sdkconfig.defaults.esp32 +++ /dev/null @@ -1,18 +0,0 @@ -CONFIG_BOOTLOADER_OFFSET_IN_FLASH=0x1000 -CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_SIZE=y -CONFIG_BOOTLOADER_LOG_LEVEL_NONE=y -CONFIG_BOOTLOADER_LOG_LEVEL=0 -CONFIG_BOOTLOADER_APP_ROLLBACK_ENABLE=y - -CONFIG_ESPTOOLPY_FLASHSIZE_4MB=y -CONFIG_ESPTOOLPY_FLASHSIZE="4MB" - -CONFIG_PARTITION_TABLE_CUSTOM=y -CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions_esp32.csv" -CONFIG_PARTITION_TABLE_FILENAME="partitions_esp32.csv" -CONFIG_PARTITION_TABLE_OFFSET=0x8000 - -CONFIG_COMPILER_OPTIMIZATION_SIZE=y - -CONFIG_LOG_DEFAULT_LEVEL_NONE=y -CONFIG_LOG_DEFAULT_LEVEL=0 \ No newline at end of file