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feat: initial

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aZholtikov committed 2026-03-08 09:04:02 +03:00
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commit 17f41cde85
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main/CMakeLists.txt
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idf_build_get_property(project_dir PROJECT_DIR)
idf_component_register(SRCS "main.c" INCLUDE_DIRS "")
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)
main/ate0005.c
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#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, &current_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, &current_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, &current_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, &current_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
main/ate0005.h
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/**
* @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
main/component.mk
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main/main.c
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void app_main(void)
{
}