feat: initial

.gitignore

@@ -1,5 +1,7 @@
 build
 .vscode
 .DS_Store
-sdkconfig
 sdkconfig.old
+desktop.ini
+.PVS-Studio
+sdkconfig

.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

CMakeLists.txt

@@ -1,3 +1,3 @@
 cmake_minimum_required(VERSION 3.16)
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
-project(firmware_template)
+project(ATE0005)

LICENSE.txt

@@ -1,73 +0,0 @@
-Apache License
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-http://www.apache.org/licenses/
-
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Makefile

@@ -1,2 +0,0 @@
-PROJECT_NAME := template
-include $(IDF_PATH)/make/project.mk

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
+```

main/CMakeLists.txt

@@ -1,2 +1 @@
-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

@@ -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, &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

@@ -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

main/main.c

@@ -1,3 +0,0 @@
-void app_main(void)
-{
-}

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
+# 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,

partitions_esp32.csv

@@ -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,    app,  ota_0,   ,        1500K,
-ota_1,    app,  ota_1,   ,        1500K,

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
+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

sdkconfig.defaults.esp32

@@ -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