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aZholtikov committed 2026-11-03 09:32:19 +03:00
1 parent 1ad6a80fce
commit e9fb27ca88
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main/ate0005.c
+153 -302
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@@ -1,39 +1,19 @@
#include "ate0005.h"
/** @brief Global structure holding minimum free stack sizes for processing tasks. */
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};
/** @brief HTTP server handle for OTA and web interface. */
static httpd_handle_t _http_server_handle = NULL;
/** @brief PCF8574 handle for LCD I2C expander. */
static zh_pcf8574_handle_t *_lcd_handle = NULL;
/** @brief LCD 16x2 display handle wrapper. */
static zh_160x_i2c_handle_t *_lcd_160x_handle = NULL;
/** @brief Mode encoder handle for menu navigation. */
static zh_encoder_handle_t *_mode_encoder_handle = NULL;
/** @brief Inclinometer handle for channel A. */
static zh_inclinometer_handle_t *_a_inclinometer_handle = NULL;
/** @brief Inclinometer handle for channel B. */
static zh_inclinometer_handle_t *_b_inclinometer_handle = NULL;
/** @brief Tachometer handle for channel A. */
static zh_tachometer_handle_t *_a_tachometer_handle = NULL;
/** @brief Tachometer handle for channel B. */
static zh_tachometer_handle_t *_b_tachometer_handle = NULL;
/** @brief ESP timer handle for inclinometer reset timeout. */
static esp_timer_handle_t _inclinometer_reset_timer_handle = {0};
/** @brief Mutex for protecting LCD access from multiple tasks. */
static SemaphoreHandle_t _lcd_mutex = NULL;
/** @brief Task handle for the A inclinometer processing task. */
static TaskHandle_t _a_inclinometer_task_handle = NULL;
/** @brief Task handle for the B inclinometer processing task. */
static TaskHandle_t _b_inclinometer_task_handle = NULL;
/** @brief Task handle for the A tachometer processing task. */
static TaskHandle_t _a_tachometer_task_handle = NULL;
/** @brief Task handle for the B tachometer processing task. */
static TaskHandle_t _b_tachometer_task_handle = NULL;
/** @brief Task handle for the statistics logging task. */
static TaskHandle_t _zh_stats_task_handle = NULL;
static void _zh_wifi_init(void);
@@ -51,27 +31,13 @@ static void _zh_encoder_event_handler(void *arg, esp_event_base_t event_base, in
static void _zh_espnow_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data);
static void _zh_wifi_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data);
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);
static void _zh_stats_processing_task(void *pvParameter);
static const char *_main_menu[] = {MAIN_MENU_ANGLE_ANGLE_NAME, MAIN_MENU_TACHO_TACHO_NAME, MAIN_MENU_ANGLE_TACHO_NAME, MAIN_MENU_REMOTE_NAME};
/** @brief Flag indicating whether the menu selection mode is active. */
volatile static bool _is_menu_mode = false;
/** @brief Flag indicating whether a long button press (reset mode) is detected. */
volatile static bool _is_reset_mode = false;
/** @brief Flag indicating that a reset event has occurred and must be cleared. */
volatile static bool _is_reset_occurred = false;
/** @brief Index of the currently selected menu mode. */
volatile static uint8_t _current_menu_value = 0;
/** @brief Counter for WiFi STA reconnection retry attempts. */
volatile static uint8_t _wifi_reconnect_retry_num = 0;
/** @brief Flag indicating whether WiFi STA is connected. */
volatile static bool _is_wifi_connected = false;
volatile 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 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;
@@ -80,51 +46,41 @@ volatile static uint8_t _current_menu_value = 0;
volatile static uint8_t _wifi_reconnect_retry_num = 0;
volatile static bool _is_wifi_connected = false;
/**
* @brief Application entry point.
*
* Initializes all system components: LCD, encoder, timers, inclinometers,
* WiFi, web server, and ESP-NOW. Checks OTA state and marks firmware
* as valid if a pending verification is detected.
*/
void app_main(void)
{
_lcd_mutex = xSemaphoreCreateMutex(); /*!< Create mutex for LCD access protection. */
nvs_flash_init(); /*!< Initialize NVS flash storage. */
esp_event_loop_create_default(); /*!< Create default event loop. */
_zh_pcf8574_init(); /*!< Initialize I2C bus and PCF8574 expander for LCD. */
_zh_system_load(); /*!< Display boot animation on LCD. */
_zh_encoder_init(); /*!< Initialize mode encoder for menu navigation. */
_zh_timer_init(); /*!< Initialize inclinometer reset timer. */
_zh_a_inclinometer_init(); /*!< Initialize inclinometer for channel A and its task. */
_zh_b_inclinometer_init(); /*!< Initialize inclinometer for channel B and its task. */
_zh_wifi_init(); /*!< Initialize WiFi in AP+STA mode. */
_zh_webserver_init(); /*!< Start HTTP server with OTA endpoint. */
_zh_espnow_init(); /*!< Initialize ESP-NOW communication. */
const esp_partition_t *running = esp_ota_get_running_partition(); /*!< Get current OTA partition. */
esp_ota_img_states_t ota_state = {0};
esp_ota_get_state_partition(running, &ota_state); /*!< Read OTA image state. */
if (ota_state == ESP_OTA_IMG_PENDING_VERIFY) /*!< Check if firmware update is pending verification. */
esp_err_t err = nvs_flash_init();
if (err == ESP_ERR_NVS_NO_FREE_PAGES || err == ESP_ERR_NVS_NEW_VERSION_FOUND)
{
vTaskDelay(60000 / portTICK_PERIOD_MS); /*!< Wait 60 seconds before confirming. */
esp_ota_mark_app_valid_cancel_rollback(); /*!< Mark firmware as valid and cancel rollback. */
ESP_ERROR_CHECK(nvs_flash_erase());
ESP_ERROR_CHECK(nvs_flash_init());
}
esp_event_loop_create_default();
_zh_pcf8574_init();
_zh_system_load();
_zh_encoder_init();
_zh_timer_init();
_zh_a_inclinometer_init();
_zh_b_inclinometer_init();
_zh_wifi_init();
_zh_webserver_init();
_zh_espnow_init();
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();
}
}
/**
* @brief Initialize WiFi in AP+STA mode.
*
* Configures and starts WiFi with both AP and STA interfaces.
* AP provides local access for device configuration.
* STA connects to the configured network for remote logging.
*/
static void _zh_wifi_init(void)
{
esp_netif_init(); /*!< Initialize networking stack. */
esp_netif_create_default_wifi_ap(); /*!< Create default network interface for AP. */
esp_netif_create_default_wifi_sta(); /*!< Create default network interface for STA. */
esp_netif_init();
esp_netif_create_default_wifi_ap();
esp_netif_create_default_wifi_sta();
wifi_init_config_t wifi_init_config = WIFI_INIT_CONFIG_DEFAULT();
esp_wifi_init(&wifi_init_config); /*!< Initialize WiFi driver with default config. */
esp_wifi_init(&wifi_init_config);
wifi_config_t wifi_ap_config = {
.ap.ssid = WIFI_AP_SSID,
.ap.password = WIFI_AP_PASS,
@@ -136,180 +92,127 @@ static void _zh_wifi_init(void)
.sta.ssid = WIFI_STA_SSID,
.sta.password = WIFI_STA_PASS,
};
esp_wifi_set_mode(WIFI_MODE_APSTA); /*!< Set WiFi mode to AP+STA. */
esp_wifi_set_config(WIFI_IF_AP, &wifi_ap_config); /*!< Apply AP configuration. */
esp_wifi_set_config(WIFI_IF_STA, &wifi_sta_config); /*!< Apply STA configuration. */
esp_event_handler_instance_register(WIFI_EVENT, ESP_EVENT_ANY_ID, &_zh_wifi_event_handler, NULL, NULL); /*!< Register WiFi event handler. */
esp_event_handler_instance_register(IP_EVENT, IP_EVENT_STA_GOT_IP, &_zh_wifi_event_handler, NULL, NULL); /*!< Register IP event handler. */
esp_wifi_start(); /*!< Start WiFi. */
esp_wifi_set_mode(WIFI_MODE_APSTA);
esp_wifi_set_config(WIFI_IF_AP, &wifi_ap_config);
esp_wifi_set_config(WIFI_IF_STA, &wifi_sta_config);
esp_event_handler_instance_register(WIFI_EVENT, ESP_EVENT_ANY_ID, &_zh_wifi_event_handler, NULL, NULL);
esp_event_handler_instance_register(IP_EVENT, IP_EVENT_STA_GOT_IP, &_zh_wifi_event_handler, NULL, NULL);
esp_wifi_start();
}
/**
* @brief Initialize the HTTP server with OTA support.
*
* Starts the ESP HTTP server and registers the OTA server
* endpoint for over-the-air firmware updates.
*/
static void _zh_webserver_init(void)
{
httpd_config_t config = HTTPD_DEFAULT_CONFIG();
httpd_start(&_http_server_handle, &config); /*!< Start HTTP server. */
zh_ota_server_init(_http_server_handle, "/"); /*!< Register OTA endpoint. */
httpd_start(&_http_server_handle, &config);
zh_ota_server_init(_http_server_handle, "/");
}
/**
* @brief Initialize ESP-NOW communication.
*
* Currently a placeholder. ESP-NOW initialization is not yet implemented.
*/
static void _zh_espnow_init(void)
{
// To Do.
}
/**
* @brief Initialize the mode encoder for menu navigation.
*
* Configures the rotary encoder with GPIO pins, task parameters,
* and event handler. Sets encoder range to cover all menu modes.
*/
static void _zh_encoder_init(void)
{
esp_event_handler_instance_register(ZH_ENCODER, ESP_EVENT_ANY_ID, &_zh_encoder_event_handler, NULL, NULL); /*!< Register encoder event handler. */
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; /*!< Set encoder task priority. */
config.stack_size = ENCODER_TASK_STACK_SIZE; /*!< Set encoder task stack size. */
config.queue_size = 5; /*!< Set event queue size. */
config.a_gpio_number = MODE_ENCODER_A_GPIO; /*!< Set A-phase GPIO pin. */
config.b_gpio_number = MODE_ENCODER_B_GPIO; /*!< Set B-phase GPIO pin. */
config.s_gpio_number = MODE_ENCODER_S_GPIO; /*!< Set switch GPIO pin. */
config.s_gpio_debounce_time = 1000; /*!< Set switch debounce time in microseconds. */
config.encoder_min_value = 0; /*!< Set minimum encoder value (first menu item). */
config.encoder_max_value = (sizeof(_main_menu) / sizeof(_main_menu[0])) - 1; /*!< Set maximum encoder value (last menu item). */
config.encoder_step = 1; /*!< Set encoder step size. */
config.encoder_number = MODE_ENCODER_NUMBER; /*!< Set encoder instance number. */
zh_encoder_init(&config, &_mode_encoder_handle); /*!< Initialize encoder driver. */
zh_encoder_set(&_mode_encoder_handle, 0); /*!< Reset encoder to initial position. */
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);
}
/**
* @brief Initialize inclinometer for channel A and create its processing task.
*
* Configures optical device GPIO pins and encoder pulses (3600).
* Creates a FreeRTOS task for processing inclinometer data.
*/
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; /*!< Set A-phase GPIO pin. */
config.b_gpio_number = A_OPTICAL_DEVICE_B_GPIO; /*!< Set B-phase GPIO pin. */
config.encoder_pulses = 3600; /*!< Set encoder pulses per revolution. */
zh_inclinometer_init(&config, &_a_inclinometer_handle); /*!< Initialize inclinometer driver. */
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); /*!< Create processing task. */
&_a_inclinometer_task_handle, tskNO_AFFINITY);
}
/**
* @brief Initialize inclinometer for channel B and create its processing task.
*
* Configures optical device GPIO pins and encoder pulses (3600).
* Creates a FreeRTOS task for processing inclinometer data.
*/
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; /*!< Set A-phase GPIO pin. */
config.b_gpio_number = B_OPTICAL_DEVICE_B_GPIO; /*!< Set B-phase GPIO pin. */
config.encoder_pulses = 3600; /*!< Set encoder pulses per revolution. */
zh_inclinometer_init(&config, &_b_inclinometer_handle); /*!< Initialize inclinometer driver. */
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); /*!< Create processing task. */
&_b_inclinometer_task_handle, tskNO_AFFINITY);
}
/**
* @brief Initialize tachometer for channel A and create its processing task.
*
* Configures optical device GPIO pins and encoder pulses (3600).
* Creates a FreeRTOS task for processing tachometer data.
*/
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; /*!< Set A-phase GPIO pin. */
config.b_gpio_number = A_OPTICAL_DEVICE_B_GPIO; /*!< Set B-phase GPIO pin. */
config.encoder_pulses = 3600; /*!< Set encoder pulses per revolution. */
zh_tachometer_init(&config, &_a_tachometer_handle); /*!< Initialize tachometer driver. */
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); /*!< Create processing task. */
&_a_tachometer_task_handle, tskNO_AFFINITY);
}
/**
* @brief Initialize tachometer for channel B and create its processing task.
*
* Configures optical device GPIO pins and encoder pulses (3600).
* Creates a FreeRTOS task for processing tachometer data.
*/
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; /*!< Set A-phase GPIO pin. */
config.b_gpio_number = B_OPTICAL_DEVICE_B_GPIO; /*!< Set B-phase GPIO pin. */
config.encoder_pulses = 3600; /*!< Set encoder pulses per revolution. */
zh_tachometer_init(&config, &_b_tachometer_handle); /*!< Initialize tachometer driver. */
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); /*!< Create processing task. */
&_b_tachometer_task_handle, tskNO_AFFINITY);
}
/**
* @brief Initialize I2C bus and PCF8574 expander for LCD display.
*
* Configures I2C with internal pull-ups and creates the master bus.
* Initializes the PCF8574 expander and 16x2 LCD wrapper.
*/
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, /*!< I2C clock GPIO. */
.sda_io_num = I2C_SDA_GPIO, /*!< I2C data GPIO. */
.glitch_ignore_cnt = 7, /*!< Glitch filter count. */
.flags.enable_internal_pullup = true, /*!< Enable internal pull-up resistors. */
.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); /*!< Create I2C master bus. */
i2c_new_master_bus(&i2c_bus_config, &_i2c_bus_handle);
zh_pcf8574_init_config_t config = ZH_PCF8574_INIT_CONFIG_DEFAULT();
config.task_priority = EXPANDER_TASK_PRIORITY; /*!< Set expander task priority. */
config.stack_size = EXPANDER_TASK_STACK_SIZE; /*!< Set expander task stack size. */
config.i2c_handle = _i2c_bus_handle; /*!< Assign I2C bus handle. */
config.i2c_address = LCD_I2C_ADDRESS; /*!< Set I2C address of PCF8574. */
zh_pcf8574_init(&config, &_lcd_handle); /*!< Initialize PCF8574 driver. */
zh_160x_init(&_lcd_handle, &_lcd_160x_handle, ZH_LCD_16X2); /*!< Initialize 16x2 LCD wrapper. */
config.task_priority = EXPANDER_TASK_PRIORITY;
config.stack_size = EXPANDER_TASK_STACK_SIZE;
config.i2c_handle = _i2c_bus_handle;
config.i2c_address = LCD_I2C_ADDRESS;
zh_pcf8574_init(&config, &_lcd_handle);
zh_160x_init(&_lcd_handle, &_lcd_160x_handle, ZH_LCD_16X2);
_lcd_mutex = xSemaphoreCreateMutex();
}
/**
* @brief Display system boot animation on LCD.
*
* Shows company name, project name, and version.
* Then displays a progress bar during system loading.
* Finally, shows the initial operating mode.
*/
static void _zh_system_load(void)
{
zh_160x_set_cursor(&_lcd_160x_handle, 0, 0); /*!< Set cursor to first row, first column. */
zh_160x_print_char(&_lcd_160x_handle, "LLC AEROTECH"); /*!< Display company name. */
zh_160x_set_cursor(&_lcd_160x_handle, 1, 0); /*!< Set cursor to second row, first column. */
const esp_app_desc_t *esp_app_desc = esp_app_get_description(); /*!< Get application description. */
zh_160x_print_char(&_lcd_160x_handle, esp_app_desc->project_name); /*!< Display project name. */
zh_160x_set_cursor(&_lcd_160x_handle, 1, 8); /*!< Set cursor to version position. */
zh_160x_print_char(&_lcd_160x_handle, "V"); /*!< Display version prefix. */
zh_160x_print_char(&_lcd_160x_handle, esp_app_desc->version); /*!< Display firmware version. */
vTaskDelay(1000 / portTICK_PERIOD_MS); /*!< Wait 1 second. */
zh_160x_lcd_clear(&_lcd_160x_handle); /*!< Clear LCD. */
zh_160x_set_cursor(&_lcd_160x_handle, 0, 0);
zh_160x_print_char(&_lcd_160x_handle, "LLC AEROTECH");
zh_160x_set_cursor(&_lcd_160x_handle, 1, 0);
const esp_app_desc_t *esp_app_desc = esp_app_get_description();
zh_160x_print_char(&_lcd_160x_handle, esp_app_desc->project_name);
zh_160x_set_cursor(&_lcd_160x_handle, 1, 8);
zh_160x_print_char(&_lcd_160x_handle, "V");
zh_160x_print_char(&_lcd_160x_handle, esp_app_desc->version);
vTaskDelay(1000 / portTICK_PERIOD_MS);
zh_160x_lcd_clear(&_lcd_160x_handle);
zh_160x_set_cursor(&_lcd_160x_handle, 0, 0);
zh_160x_print_char(&_lcd_160x_handle, "SYSTEM LOADING:");
for (uint8_t i = 0; i <= 100; i += 10)
{
zh_160x_print_progress_bar(&_lcd_160x_handle, 1, i); /*!< Draw progress bar at given percentage. */
zh_160x_print_progress_bar(&_lcd_160x_handle, 1, i);
vTaskDelay(100 / portTICK_PERIOD_MS);
}
vTaskDelay(500 / portTICK_PERIOD_MS);
@@ -320,40 +223,24 @@ static void _zh_system_load(void)
zh_160x_print_char(&_lcd_160x_handle, _main_menu[0]);
}
/**
* @brief Initialize the inclinometer reset timer.
*
* Creates a one-shot timer that triggers after a long button press.
* Used to reset inclinometer angles when the encoder button is held.
*/
static void _zh_timer_init(void)
{
const esp_timer_create_args_t timer_args = {
.callback = &_zh_inclinometer_reset_timer_on_alarm_cb, /*!< Timer callback function. */
.callback = &_zh_inclinometer_reset_timer_on_alarm_cb,
};
esp_timer_create(&timer_args, &_inclinometer_reset_timer_handle); /*!< Create one-shot timer. */
esp_timer_create(&timer_args, &_inclinometer_reset_timer_handle);
}
/**
* @brief Handle encoder events (button press/release and rotation).
*
* Processes button events for menu navigation and long-press reset.
* Processes rotation events for menu mode selection.
*
* @param arg Unused context argument.
* @param event_base Event base (ZH_ENCODER).
* @param event_id Event identifier (ZH_BUTTON_EVENT or ZH_ENCODER_EVENT).
* @param event_data Pointer to event data structure.
*/
static void _zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data)
{
(void)arg;
switch (event_id)
{
case ZH_BUTTON_EVENT:
zh_encoder_button_event_on_isr_t *button_event = event_data;
if (button_event->button_status == ENCODER_BUTTON_PRESSED)
zh_encoder_button_event_on_isr_t *button_event = (zh_encoder_button_event_on_isr_t *)event_data;
if (button_event->button_status == ZH_ENCODER_BUTTON_STATUS_PRESSED)
{
esp_timer_start_once(_inclinometer_reset_timer_handle, 2000000); /*!< Start reset timer (2 seconds). */
esp_timer_start_once(_inclinometer_reset_timer_handle, 2000000);
_is_reset_mode = true;
}
else
@@ -365,7 +252,7 @@ static void _zh_encoder_event_handler(void *arg, esp_event_base_t event_base, in
}
if (_is_reset_mode == true)
{
esp_timer_stop(_inclinometer_reset_timer_handle); /*!< Stop reset timer on button release. */
esp_timer_stop(_inclinometer_reset_timer_handle);
_is_reset_mode = false;
}
_is_menu_mode = !_is_menu_mode;
@@ -374,20 +261,38 @@ static void _zh_encoder_event_handler(void *arg, esp_event_base_t event_base, in
switch (_current_menu_value)
{
case MODE_ANGLE_ANGLE:
if (_a_inclinometer_task_handle != NULL)
{
vTaskDelete(_a_inclinometer_task_handle);
}
if (_b_inclinometer_task_handle != NULL)
{
vTaskDelete(_b_inclinometer_task_handle);
}
zh_inclinometer_deinit(&_a_inclinometer_handle);
zh_inclinometer_deinit(&_b_inclinometer_handle);
break;
case MODE_TACHO_TACHO:
if (_a_tachometer_task_handle != NULL)
{
vTaskDelete(_a_tachometer_task_handle);
}
if (_b_tachometer_task_handle != NULL)
{
vTaskDelete(_b_tachometer_task_handle);
}
zh_tachometer_deinit(&_a_tachometer_handle);
zh_tachometer_deinit(&_b_tachometer_handle);
break;
case MODE_ANGLE_TACHO:
if (_a_inclinometer_task_handle != NULL)
{
vTaskDelete(_a_inclinometer_task_handle);
}
if (_b_tachometer_task_handle != NULL)
{
vTaskDelete(_b_tachometer_task_handle);
}
zh_inclinometer_deinit(&_a_inclinometer_handle);
zh_tachometer_deinit(&_b_tachometer_handle);
break;
@@ -429,7 +334,7 @@ static void _zh_encoder_event_handler(void *arg, esp_event_base_t event_base, in
}
break;
case ZH_ENCODER_EVENT:
zh_encoder_event_on_isr_t *encoder_event = event_data;
zh_encoder_event_on_isr_t *encoder_event = (zh_encoder_event_on_isr_t *)event_data;
if (_is_menu_mode == true)
{
_current_menu_value = (uint8_t)encoder_event->encoder_position;
@@ -449,35 +354,15 @@ static void _zh_encoder_event_handler(void *arg, esp_event_base_t event_base, in
}
}
/**
* @brief Handle ESP-NOW events.
*
* Currently a placeholder. ESP-NOW event handling is not yet implemented.
*
* @param arg Unused context argument.
* @param event_base Event base.
* @param event_id Event identifier.
* @param event_data Pointer to event data structure.
*/
static void _zh_espnow_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data)
{
// To Do.
}
/**
* @brief Handle WiFi events (connection, disconnection, IP acquisition).
*
* Manages STA connection lifecycle: initiates connection on start,
* attempts reconnection on disconnect (with retry limit), and starts
* syslog + stats task upon successful IP acquisition.
*
* @param arg Unused context argument.
* @param event_base Event base (WIFI_EVENT or IP_EVENT).
* @param event_id Event identifier.
* @param event_data Pointer to event data structure.
*/
static void _zh_wifi_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data)
{
(void)arg;
(void)event_data;
switch (event_id)
{
case WIFI_EVENT_STA_START:
@@ -485,8 +370,11 @@ static void _zh_wifi_event_handler(void *arg, esp_event_base_t event_base, int32
break;
case WIFI_EVENT_STA_DISCONNECTED:
if (_is_wifi_connected == true)
{
if (_zh_stats_task_handle != NULL)
{
vTaskDelete(_zh_stats_task_handle);
}
zh_syslog_deinit();
_is_wifi_connected = false;
}
@@ -502,23 +390,19 @@ static void _zh_wifi_event_handler(void *arg, esp_event_base_t event_base, int32
zh_syslog_init_config_t config = ZH_SYSLOG_INIT_CONFIG_DEFAULT();
strcpy(config.syslog_ip, SYSLOG_IP);
zh_syslog_init(&config);
if (_zh_stats_task_handle == NULL)
{
xTaskCreatePinnedToCore(&_zh_stats_processing_task, "stats_processing_task", STATS_TASK_STACK_SIZE, NULL, STATS_TASK_PRIORITY, &_zh_stats_task_handle, tskNO_AFFINITY);
}
break;
default:
break;
}
}
/**
* @brief Timer callback for inclinometer reset on long button press.
*
* Called when the encoder button is held for 2 seconds.
* Resets inclinometer angles for the active mode.
*
* @param arg Unused context argument.
*/
static void _zh_inclinometer_reset_timer_on_alarm_cb(void *arg)
{
(void)arg;
_is_reset_mode = false;
_is_reset_occurred = true;
if (_is_menu_mode == false)
@@ -538,17 +422,11 @@ static void _zh_inclinometer_reset_timer_on_alarm_cb(void *arg)
}
}
/**
* @brief FreeRTOS task for processing inclinometer A data.
*
* Reads angle from inclinometer A and updates the LCD display
* on row 1, columns 2-5. Tracks minimum free stack size for monitoring.
*
* @param pvParameter Unused parameter.
*/
static void _zh_a_inclinometer_processing_task(void *pvParameter)
{
float prev_angle = 0, current_angle = 0;
(void)pvParameter;
float prev_angle = 0.0;
float current_angle = 0.0;
xSemaphoreTake(_lcd_mutex, portMAX_DELAY);
zh_160x_set_cursor(&_lcd_160x_handle, 1, 0);
zh_160x_print_char(&_lcd_160x_handle, "A:");
@@ -573,17 +451,11 @@ static void _zh_a_inclinometer_processing_task(void *pvParameter)
vTaskDelete(NULL);
}
/**
* @brief FreeRTOS task for processing inclinometer B data.
*
* Reads angle from inclinometer B and updates the LCD display
* on row 1, columns 10-13. Tracks minimum free stack size for monitoring.
*
* @param pvParameter Unused parameter.
*/
static void _zh_b_inclinometer_processing_task(void *pvParameter)
{
float prev_angle = 0, current_angle = 0;
(void)pvParameter;
float prev_angle = 0.0;
float current_angle = 0.0;
xSemaphoreTake(_lcd_mutex, portMAX_DELAY);
zh_160x_set_cursor(&_lcd_160x_handle, 1, 8);
zh_160x_print_char(&_lcd_160x_handle, "B:");
@@ -608,17 +480,11 @@ static void _zh_b_inclinometer_processing_task(void *pvParameter)
vTaskDelete(NULL);
}
/**
* @brief FreeRTOS task for processing tachometer A data.
*
* Reads RPM from tachometer A and updates the LCD display
* on row 1, columns 2-5. Tracks minimum free stack size for monitoring.
*
* @param pvParameter Unused parameter.
*/
static void _zh_a_tachometer_processing_task(void *pvParameter)
{
uint16_t prev_rpm = 0, current_rpm = 0;
(void)pvParameter;
uint16_t prev_rpm = 0;
uint16_t current_rpm = 0;
xSemaphoreTake(_lcd_mutex, portMAX_DELAY);
zh_160x_set_cursor(&_lcd_160x_handle, 1, 0);
zh_160x_print_char(&_lcd_160x_handle, "A:");
@@ -643,17 +509,11 @@ static void _zh_a_tachometer_processing_task(void *pvParameter)
vTaskDelete(NULL);
}
/**
* @brief FreeRTOS task for processing tachometer B data.
*
* Reads RPM from tachometer B and updates the LCD display
* on row 1, columns 10-13. Tracks minimum free stack size for monitoring.
*
* @param pvParameter Unused parameter.
*/
static void _zh_b_tachometer_processing_task(void *pvParameter)
{
uint16_t prev_rpm = 0, current_rpm = 0;
(void)pvParameter;
uint16_t prev_rpm = 0;
uint16_t current_rpm = 0;
xSemaphoreTake(_lcd_mutex, portMAX_DELAY);
zh_160x_set_cursor(&_lcd_160x_handle, 1, 8);
zh_160x_print_char(&_lcd_160x_handle, "B:");
@@ -678,61 +538,52 @@ static void _zh_b_tachometer_processing_task(void *pvParameter)
vTaskDelete(NULL);
}
/**
* @brief FreeRTOS task for periodic system statistics logging.
*
* Periodically sends syslog messages with minimum free stack sizes
* for all processing tasks, and error counters for encoder and
* PCF8574 drivers. Logs at INFO level if values are within limits,
* WARNING otherwise.
*
* @param pvParameter Unused parameter.
*/
static void _zh_stats_processing_task(void *pvParameter)
{
(void)pvParameter;
const esp_app_desc_t *esp_app_desc = esp_app_get_description();
for (;;)
{
char buffer[1024] = {0};
const zh_encoder_stats_t *encoder_stats = zh_encoder_get_stats();
const zh_pcf8574_stats_t *pcf8574_stats = zh_pcf8574_get_stats();
snprintf(buffer, sizeof(buffer), "A inclinometer task minimum free stack size: %ld.\n", _task_stats.a_inclinometer_task_min_stack_size);
snprintf(buffer, sizeof(buffer), "A inclinometer task minimum free stack size: %lu.\n", _task_stats.a_inclinometer_task_min_stack_size);
zh_syslog_send(ZH_KERN, _task_stats.a_inclinometer_task_min_stack_size > 100 ? ZH_INFO : ZH_WARNING, esp_app_desc->project_name, "zh_inclinometer", buffer);
vTaskDelay(500 / portTICK_PERIOD_MS);
snprintf(buffer, sizeof(buffer), "B inclinometer task minimum free stack size: %ld.\n", _task_stats.b_inclinometer_task_min_stack_size);
snprintf(buffer, sizeof(buffer), "B inclinometer task minimum free stack size: %lu.\n", _task_stats.b_inclinometer_task_min_stack_size);
zh_syslog_send(ZH_KERN, _task_stats.b_inclinometer_task_min_stack_size > 100 ? ZH_INFO : ZH_WARNING, esp_app_desc->project_name, "zh_inclinometer", buffer);
vTaskDelay(500 / portTICK_PERIOD_MS);
snprintf(buffer, sizeof(buffer), "A tachometer task minimum free stack size: %ld.\n", _task_stats.a_tachometer_task_min_stack_size);
snprintf(buffer, sizeof(buffer), "A tachometer task minimum free stack size: %lu.\n", _task_stats.a_tachometer_task_min_stack_size);
zh_syslog_send(ZH_KERN, _task_stats.a_tachometer_task_min_stack_size > 100 ? ZH_INFO : ZH_WARNING, esp_app_desc->project_name, "zh_tachometer", buffer);
vTaskDelay(500 / portTICK_PERIOD_MS);
snprintf(buffer, sizeof(buffer), "B tachometer task minimum free stack size: %ld.\n", _task_stats.b_tachometer_task_min_stack_size);
snprintf(buffer, sizeof(buffer), "B tachometer task minimum free stack size: %lu.\n", _task_stats.b_tachometer_task_min_stack_size);
zh_syslog_send(ZH_KERN, _task_stats.b_tachometer_task_min_stack_size > 100 ? ZH_INFO : ZH_WARNING, esp_app_desc->project_name, "zh_tachometer", buffer);
vTaskDelay(500 / portTICK_PERIOD_MS);
snprintf(buffer, sizeof(buffer), "Stats task minimum free stack size: %ld.\n", (uint32_t)uxTaskGetStackHighWaterMark(NULL));
snprintf(buffer, sizeof(buffer), "Stats task minimum free stack size: %lu.\n", (uint32_t)uxTaskGetStackHighWaterMark(NULL));
zh_syslog_send(ZH_KERN, (uint32_t)uxTaskGetStackHighWaterMark(NULL) > 100 ? ZH_INFO : ZH_WARNING, esp_app_desc->project_name, "zh_syslog", buffer);
vTaskDelay(500 / portTICK_PERIOD_MS);
snprintf(buffer, sizeof(buffer), "Encoder task minimum free stack size: %ld.\n", encoder_stats->min_stack_size);
snprintf(buffer, sizeof(buffer), "Encoder task minimum free stack size: %lu.\n", encoder_stats->min_stack_size);
zh_syslog_send(ZH_KERN, encoder_stats->min_stack_size > 100 ? ZH_INFO : ZH_WARNING, esp_app_desc->project_name, "zh_encoder", buffer);
vTaskDelay(500 / portTICK_PERIOD_MS);
snprintf(buffer, sizeof(buffer), "Expander task minimum free stack size: %ld.\n", pcf8574_stats->min_stack_size);
snprintf(buffer, sizeof(buffer), "Expander task minimum free stack size: %lu.\n", pcf8574_stats->min_stack_size);
zh_syslog_send(ZH_KERN, pcf8574_stats->min_stack_size > 100 ? ZH_INFO : ZH_WARNING, esp_app_desc->project_name, "zh_pcf8574", buffer);
vTaskDelay(500 / portTICK_PERIOD_MS);
snprintf(buffer, sizeof(buffer), "Number of event post error: %ld.\n", encoder_stats->event_post_error);
snprintf(buffer, sizeof(buffer), "Number of event post error: %lu.\n", encoder_stats->event_post_error);
zh_syslog_send(ZH_KERN, encoder_stats->event_post_error == 0 ? ZH_INFO : ZH_WARNING, esp_app_desc->project_name, "zh_encoder", buffer);
vTaskDelay(500 / portTICK_PERIOD_MS);
snprintf(buffer, sizeof(buffer), "Number of queue overflow error: %ld.\n", encoder_stats->queue_overflow_error);
snprintf(buffer, sizeof(buffer), "Number of queue overflow error: %lu.\n", encoder_stats->queue_overflow_error);
zh_syslog_send(ZH_KERN, encoder_stats->queue_overflow_error == 0 ? ZH_INFO : ZH_WARNING, esp_app_desc->project_name, "zh_encoder", buffer);
vTaskDelay(500 / portTICK_PERIOD_MS);
snprintf(buffer, sizeof(buffer), "Number of i2c driver error: %ld.\n", pcf8574_stats->i2c_driver_error);
snprintf(buffer, sizeof(buffer), "Number of i2c driver error: %lu.\n", pcf8574_stats->i2c_driver_error);
zh_syslog_send(ZH_KERN, pcf8574_stats->i2c_driver_error == 0 ? ZH_INFO : ZH_WARNING, esp_app_desc->project_name, "zh_pcf8574", buffer);
vTaskDelay(500 / portTICK_PERIOD_MS);
snprintf(buffer, sizeof(buffer), "Number of event post error: %ld.\n", pcf8574_stats->event_post_error);
snprintf(buffer, sizeof(buffer), "Number of event post error: %lu.\n", pcf8574_stats->event_post_error);
zh_syslog_send(ZH_KERN, pcf8574_stats->event_post_error == 0 ? ZH_INFO : ZH_WARNING, esp_app_desc->project_name, "zh_pcf8574", buffer);
vTaskDelay(500 / portTICK_PERIOD_MS);
snprintf(buffer, sizeof(buffer), "Number of vector error: %ld.\n", pcf8574_stats->vector_error);
snprintf(buffer, sizeof(buffer), "Number of vector error: %lu.\n", pcf8574_stats->vector_error);
zh_syslog_send(ZH_KERN, pcf8574_stats->vector_error == 0 ? ZH_INFO : ZH_WARNING, esp_app_desc->project_name, "zh_pcf8574", buffer);
vTaskDelay(500 / portTICK_PERIOD_MS);
snprintf(buffer, sizeof(buffer), "Number of queue overflow error: %ld.\n", pcf8574_stats->queue_overflow_error);
snprintf(buffer, sizeof(buffer), "Number of queue overflow error: %lu.\n", pcf8574_stats->queue_overflow_error);
zh_syslog_send(ZH_KERN, pcf8574_stats->queue_overflow_error == 0 ? ZH_INFO : ZH_WARNING, esp_app_desc->project_name, "zh_pcf8574", buffer);
vTaskDelay(60000 / portTICK_PERIOD_MS);
}
main/ate0005.h
+8 -8
View File
@@ -43,17 +43,17 @@
#define EXPANDER_TASK_PRIORITY tskIDLE_PRIORITY + 4 /*!< Priority of the PCF8574 expander task. */
#define EXPANDER_TASK_STACK_SIZE configMINIMAL_STACK_SIZE /*!< Stack size for the PCF8574 expander task. */
#define TRIAC_ON true /*!< Triac enabled state. */
#define TRIAC_OFF false /*!< Triac disabled state. */
// #define TRIAC_ON true /*!< Triac enabled state. */
// #define TRIAC_OFF false /*!< Triac disabled state. */
#define ENCODER_BUTTON_RELEASED true /*!< Encoder button released state. */
#define ENCODER_BUTTON_PRESSED false /*!< Encoder button pressed state. */
// #define ENCODER_BUTTON_RELEASED true /*!< Encoder button released state. */
// #define ENCODER_BUTTON_PRESSED false /*!< Encoder button pressed state. */
#define LED_OFF ZH_PCF8574_GPIO_LOW /*!< LED turned off (low level). */
#define LED_ON ZH_PCF8574_GPIO_HIGH /*!< LED turned on (high level). */
// #define LED_OFF ZH_PCF8574_GPIO_LOW /*!< LED turned off (low level). */
// #define LED_ON ZH_PCF8574_GPIO_HIGH /*!< LED turned on (high level). */
#define RELAY_OFF ZH_PCF8574_GPIO_LOW /*!< Relay disconnected (low level). */
#define RELAY_ON ZH_PCF8574_GPIO_HIGH /*!< Relay connected (high level). */
// #define RELAY_OFF ZH_PCF8574_GPIO_LOW /*!< Relay disconnected (low level). */
// #define RELAY_ON ZH_PCF8574_GPIO_HIGH /*!< Relay connected (high level). */
#define MODE_ANGLE_ANGLE 0 /*!< Operating mode: both inclinometers active. */
#define MAIN_MENU_ANGLE_ANGLE_NAME "ANGLE/ANGLE" /*!< Menu label for angle/angle mode. */
main/idf_component.yml
+3 -3
View File
@@ -1,6 +1,6 @@
description: Honeywell Ram Air Modulation Linear Electromechanical Actuator CMM 21-20-36 P/N 541674-X Linear Actuator Interface Test Box
url: https://github.com/aZholtikov/ate0002
version: "1.2.0"
description: Universal Optical 2-Channel Angle Gauge / Tachometer
url: https://github.com/aZholtikov/ate0005
version: "1.1.2"
license: "Apache-2.0"
maintainers:
- "Alexey Zholtikov <alexey.zholtikov@yandex.ru>"