791 lines
33 KiB
C
791 lines
33 KiB
C
#include "ate0005.h"
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#include <stdio.h>
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#include <string.h>
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/* ──────────────────────────────── Static handles ──────────────────────────────── */
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static httpd_handle_t _http_server_handle = NULL;
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static zh_pcf8574_handle_t *_lcd_handle = NULL;
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static zh_160x_i2c_handle_t *_lcd_160x_handle = NULL;
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static zh_encoder_handle_t *_mode_encoder_handle = NULL;
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static zh_inclinometer_handle_t *_a_inclinometer_handle = NULL;
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static zh_inclinometer_handle_t *_b_inclinometer_handle = NULL;
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static zh_tachometer_handle_t *_a_tachometer_handle = NULL;
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static zh_tachometer_handle_t *_b_tachometer_handle = NULL;
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static esp_timer_handle_t _inclinometer_reset_timer_handle = {0};
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static SemaphoreHandle_t _lcd_mutex = NULL;
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static TaskHandle_t _a_inclinometer_task_handle = NULL;
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static TaskHandle_t _b_inclinometer_task_handle = NULL;
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static TaskHandle_t _a_tachometer_task_handle = NULL;
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static TaskHandle_t _b_tachometer_task_handle = NULL;
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static TaskHandle_t _zh_stats_task_handle = NULL;
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/* ──────────────────────────────── Menu handles ───────────────────────────────── */
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static zh_menu_handle_t *_menu_handle = NULL;
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static zh_menu_node_t _main_menu_tree[];
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/* ──────────────────────────────── Forward declarations ───────────────────────── */
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static void _zh_wifi_init(void);
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static void _zh_webserver_init(void);
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static void _zh_espnow_init(void);
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static void _zh_encoder_init(void);
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static void _zh_menu_init(void);
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static void _zh_a_inclinometer_init(void);
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static void _zh_b_inclinometer_init(void);
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static void _zh_a_tachometer_init(void);
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static void _zh_b_tachometer_init(void);
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static void _zh_pcf8574_init(void);
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static void _zh_system_load(void);
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static void _zh_timer_init(void);
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static void _zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data);
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static void _zh_espnow_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data);
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static void _zh_wifi_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data);
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static void _zh_inclinometer_reset_timer_on_alarm_cb(void *arg);
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static void _zh_a_inclinometer_processing_task(void *pvParameter);
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static void _zh_b_inclinometer_processing_task(void *pvParameter);
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static void _zh_a_tachometer_processing_task(void *pvParameter);
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static void _zh_b_tachometer_processing_task(void *pvParameter);
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static void _zh_stats_processing_task(void *pvParameter);
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/* Menu callbacks */
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static void _menu_enter_cb(void *arg);
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static void _menu_exit_cb(void *arg);
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static void _menu_change_cb(zh_menu_node_t *current_node, uint8_t current_index);
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static void _menu_select_angle_angle(void *arg);
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static void _menu_select_tacho_tacho(void *arg);
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static void _menu_select_angle_tacho(void *arg);
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static void _menu_select_remote(void *arg);
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static void _menu_select_exit(void *arg);
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/* ──────────────────────────────── State variables ───────────────────────────── */
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volatile static task_stats_t _task_stats = {0};
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volatile static bool _is_reset_mode = false;
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volatile static bool _is_reset_occurred = false;
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volatile static uint8_t _current_menu_value = MODE_ANGLE_ANGLE; /* active mode, not menu index */
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volatile static uint8_t _wifi_reconnect_retry_num = 0;
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volatile static bool _is_wifi_connected = false;
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/* Task-stop flags for graceful termination */
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volatile static bool _stop_a_inclinometer = false;
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volatile static bool _stop_b_inclinometer = false;
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volatile static bool _stop_a_tachometer = false;
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volatile static bool _stop_b_tachometer = false;
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/* ──────────────────────────────── Menu tree definition ──────────────────────── */
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static zh_menu_node_t _main_menu_tree[] = {
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{.label = MAIN_MENU_ANGLE_ANGLE_NAME, .item_cb = &_menu_select_angle_angle},
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{.label = MAIN_MENU_TACHO_TACHO_NAME, .item_cb = &_menu_select_tacho_tacho},
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{.label = MAIN_MENU_ANGLE_TACHO_NAME, .item_cb = &_menu_select_angle_tacho},
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{.label = MAIN_MENU_REMOTE_NAME, .item_cb = &_menu_select_remote},
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{.label = "Exit", .item_cb = &_menu_select_exit},
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};
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static zh_menu_node_t _root_menu = {
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.label = "MODE",
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.submenu = _main_menu_tree,
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.item_numbers = sizeof(_main_menu_tree) / sizeof(_main_menu_tree[0]),
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};
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/* ──────────────────────────────── app_main ───────────────────────────────────── */
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void app_main(void)
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{
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esp_err_t err = nvs_flash_init();
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if (err == ESP_ERR_NVS_NO_FREE_PAGES || err == ESP_ERR_NVS_NEW_VERSION_FOUND)
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{
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ESP_ERROR_CHECK(nvs_flash_erase());
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ESP_ERROR_CHECK(nvs_flash_init());
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}
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esp_event_loop_create_default();
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_zh_pcf8574_init();
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_zh_system_load();
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_zh_encoder_init();
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_zh_timer_init();
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_zh_menu_init();
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_zh_a_inclinometer_init(); /* start with default mode */
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_zh_b_inclinometer_init();
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_zh_wifi_init();
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_zh_webserver_init();
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_zh_espnow_init();
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const esp_partition_t *running = esp_ota_get_running_partition();
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esp_ota_img_states_t ota_state = {0};
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esp_ota_get_state_partition(running, &ota_state);
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if (ota_state == ESP_OTA_IMG_PENDING_VERIFY)
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{
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vTaskDelay(60000 / portTICK_PERIOD_MS);
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esp_ota_mark_app_valid_cancel_rollback();
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}
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}
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/* ──────────────────────────────── WiFi ───────────────────────────────────────── */
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static void _zh_wifi_init(void)
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{
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esp_netif_init();
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esp_netif_create_default_wifi_ap();
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esp_netif_create_default_wifi_sta();
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wifi_init_config_t wifi_init_config = WIFI_INIT_CONFIG_DEFAULT();
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ESP_ERROR_CHECK(esp_wifi_init(&wifi_init_config));
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wifi_config_t wifi_ap_config = {
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.ap.ssid = WIFI_AP_SSID,
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.ap.password = WIFI_AP_PASS,
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.ap.channel = WIFI_AP_CHANNEL,
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.ap.max_connection = MAX_AP_CONNECTION,
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.ap.authmode = WIFI_AUTH_WPA2_PSK,
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};
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wifi_config_t wifi_sta_config = {
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.sta.ssid = WIFI_STA_SSID,
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.sta.password = WIFI_STA_PASS,
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};
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ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_APSTA));
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ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_AP, &wifi_ap_config));
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ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_STA, &wifi_sta_config));
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esp_event_handler_instance_register(WIFI_EVENT, ESP_EVENT_ANY_ID, &_zh_wifi_event_handler, NULL, NULL);
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esp_event_handler_instance_register(IP_EVENT, IP_EVENT_STA_GOT_IP, &_zh_wifi_event_handler, NULL, NULL);
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ESP_ERROR_CHECK(esp_wifi_start());
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}
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/* ──────────────────────────────── Web server ─────────────────────────────────── */
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static void _zh_webserver_init(void)
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{
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httpd_config_t config = HTTPD_DEFAULT_CONFIG();
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ESP_ERROR_CHECK(httpd_start(&_http_server_handle, &config));
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zh_ota_server_init(_http_server_handle, "/");
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}
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static void _zh_espnow_init(void)
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{
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// To Do.
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}
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/* ──────────────────────────────── Encoder ────────────────────────────────────── */
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static void _zh_encoder_init(void)
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{
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esp_event_handler_instance_register(ZH_ENCODER, ESP_EVENT_ANY_ID, &_zh_encoder_event_handler, NULL, NULL);
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zh_encoder_init_config_t config = ZH_ENCODER_INIT_CONFIG_DEFAULT();
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config.task_priority = ENCODER_TASK_PRIORITY;
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config.stack_size = ENCODER_TASK_STACK_SIZE;
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config.queue_size = 5;
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config.a_gpio_number = MODE_ENCODER_A_GPIO;
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config.b_gpio_number = MODE_ENCODER_B_GPIO;
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config.s_gpio_number = MODE_ENCODER_S_GPIO;
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config.s_gpio_debounce_time = 1000;
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config.encoder_min_value = 0;
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config.encoder_max_value = 3;
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config.encoder_step = 1;
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config.encoder_number = MODE_ENCODER_NUMBER;
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zh_encoder_init(&config, &_mode_encoder_handle);
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zh_encoder_set(&_mode_encoder_handle, 0);
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}
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/* ──────────────────────────────── Menu ───────────────────────────────────────── */
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static void _zh_menu_init(void)
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{
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zh_menu_init_config_t config = ZH_MENU_INIT_CONFIG_DEFAULT();
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config.task_priority = MENU_TASK_PRIORITY;
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config.stack_size = MENU_TASK_STACK_SIZE;
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config.queue_size = 10;
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config.root = &_root_menu;
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config.loop = false; /* no wrap-around, so "Exit" is at the end */
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config.viewport_rows = 1; /* LCD 16x2: row 0 = header, row 1 = one item */
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config.enter_cb = &_menu_enter_cb;
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config.exit_cb = &_menu_exit_cb;
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config.change_cb = &_menu_change_cb;
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ESP_ERROR_CHECK(zh_menu_init(&config, &_menu_handle));
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}
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/* ──────────────────────────────── PCF8574 / LCD ──────────────────────────────── */
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static void _zh_pcf8574_init(void)
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{
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i2c_master_bus_handle_t _i2c_bus_handle = NULL;
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i2c_master_bus_config_t i2c_bus_config = {
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.clk_source = I2C_CLK_SRC_DEFAULT,
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.scl_io_num = I2C_SCL_GPIO,
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.sda_io_num = I2C_SDA_GPIO,
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.glitch_ignore_cnt = 7,
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.flags.enable_internal_pullup = true,
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};
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ESP_ERROR_CHECK(i2c_new_master_bus(&i2c_bus_config, &_i2c_bus_handle));
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zh_pcf8574_init_config_t config = ZH_PCF8574_INIT_CONFIG_DEFAULT();
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config.task_priority = EXPANDER_TASK_PRIORITY;
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config.stack_size = EXPANDER_TASK_STACK_SIZE;
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config.i2c_handle = _i2c_bus_handle;
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config.i2c_address = LCD_I2C_ADDRESS;
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zh_pcf8574_init(&config, &_lcd_handle);
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zh_160x_init(&_lcd_handle, &_lcd_160x_handle, ZH_LCD_16X2);
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_lcd_mutex = xSemaphoreCreateMutex();
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configASSERT(_lcd_mutex != NULL);
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}
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static void _zh_system_load(void)
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{
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zh_160x_set_cursor(&_lcd_160x_handle, 0, 0);
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zh_160x_print_char(&_lcd_160x_handle, "LLC AEROTECH");
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zh_160x_set_cursor(&_lcd_160x_handle, 1, 0);
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const esp_app_desc_t *esp_app_desc = esp_app_get_description();
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zh_160x_print_char(&_lcd_160x_handle, esp_app_desc->project_name);
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zh_160x_set_cursor(&_lcd_160x_handle, 1, 8);
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zh_160x_print_char(&_lcd_160x_handle, "V");
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zh_160x_print_char(&_lcd_160x_handle, esp_app_desc->version);
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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zh_160x_lcd_clear(&_lcd_160x_handle);
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zh_160x_set_cursor(&_lcd_160x_handle, 0, 0);
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zh_160x_print_char(&_lcd_160x_handle, "SYSTEM LOADING:");
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for (uint8_t i = 0; i <= 100; i += 10)
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{
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zh_160x_print_progress_bar(&_lcd_160x_handle, 1, i);
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vTaskDelay(100 / portTICK_PERIOD_MS);
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}
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vTaskDelay(500 / portTICK_PERIOD_MS);
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zh_160x_lcd_clear(&_lcd_160x_handle);
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vTaskDelay(500 / portTICK_PERIOD_MS);
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zh_160x_set_cursor(&_lcd_160x_handle, 0, 0);
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zh_160x_print_char(&_lcd_160x_handle, "MODE:");
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zh_160x_print_char(&_lcd_160x_handle, _main_menu_tree[0].label);
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}
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/* ──────────────────────────────── Timer ──────────────────────────────────────── */
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static void _zh_timer_init(void)
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{
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const esp_timer_create_args_t timer_args = {
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.callback = &_zh_inclinometer_reset_timer_on_alarm_cb,
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};
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ESP_ERROR_CHECK(esp_timer_create(&timer_args, &_inclinometer_reset_timer_handle));
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}
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/* ──────────────────────────────── Task stopping helpers ──────────────────────── */
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static void _stop_all_processing_tasks(void)
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{
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_stop_a_inclinometer = true;
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_stop_b_inclinometer = true;
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_stop_a_tachometer = true;
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_stop_b_tachometer = true;
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/* Give tasks up to 200 ms to exit their loops and call vTaskDelete(NULL) */
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vTaskDelay(200 / portTICK_PERIOD_MS);
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_stop_a_inclinometer = false;
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_stop_b_inclinometer = false;
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_stop_a_tachometer = false;
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_stop_b_tachometer = false;
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_a_inclinometer_task_handle = NULL;
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_b_inclinometer_task_handle = NULL;
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_a_tachometer_task_handle = NULL;
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_b_tachometer_task_handle = NULL;
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}
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/* ──────────────────────────────── Encoder event handler ──────────────────────── */
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static void _zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data)
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{
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(void)arg;
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zh_menu_status_t menu_status = {0};
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zh_menu_get(&_menu_handle, &menu_status);
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switch (event_id)
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{
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case ZH_BUTTON_EVENT:
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{
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zh_encoder_button_event_on_isr_t *button_event = (zh_encoder_button_event_on_isr_t *)event_data;
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if (button_event->button_status == ZH_ENCODER_BUTTON_STATUS_PRESSED)
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{
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esp_timer_start_once(_inclinometer_reset_timer_handle, 2000000);
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_is_reset_mode = true;
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}
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else
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{
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if (_is_reset_occurred == true)
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{
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_is_reset_occurred = false;
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break;
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}
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if (_is_reset_mode == true)
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{
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esp_timer_stop(_inclinometer_reset_timer_handle);
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_is_reset_mode = false;
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}
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if (menu_status.is_active == false)
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{
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zh_menu_set(&_menu_handle, ZH_MENU_ENTER, NULL, 0);
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}
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else if (menu_status.is_selected == false)
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{
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zh_menu_set(&_menu_handle, ZH_MENU_SELECT, NULL, 0);
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}
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else
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{
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zh_menu_set(&_menu_handle, ZH_MENU_BACK, NULL, 0);
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}
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}
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break;
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}
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case ZH_ENCODER_EVENT:
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{
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zh_encoder_event_on_isr_t *encoder_event = (zh_encoder_event_on_isr_t *)event_data;
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if (menu_status.is_active == true)
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{
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if (menu_status.is_selected == true)
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{
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zh_menu_set(&_menu_handle, ZH_MENU_SELECT, encoder_event, sizeof(zh_encoder_event_on_isr_t));
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}
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else
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{
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if (encoder_event->encoder_status == true)
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{
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zh_menu_set(&_menu_handle, ZH_MENU_UP, NULL, 0);
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}
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else
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{
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zh_menu_set(&_menu_handle, ZH_MENU_DOWN, NULL, 0);
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}
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}
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}
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else
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{
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zh_encoder_set(&_mode_encoder_handle, (float)_current_menu_value);
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}
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break;
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}
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default:
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break;
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}
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}
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/* ──────────────────────────────── Menu callbacks ────────────────────────────── */
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static void _menu_enter_cb(void *arg)
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{
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(void)arg;
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xSemaphoreTake(_lcd_mutex, portMAX_DELAY);
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zh_160x_on_cursor(&_lcd_160x_handle, true);
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xSemaphoreGive(_lcd_mutex);
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}
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static void _menu_exit_cb(void *arg)
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{
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(void)arg;
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xSemaphoreTake(_lcd_mutex, portMAX_DELAY);
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zh_160x_off_cursor(&_lcd_160x_handle);
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xSemaphoreGive(_lcd_mutex);
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_stop_all_processing_tasks();
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switch (_current_menu_value)
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{
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case MODE_ANGLE_ANGLE:
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_zh_a_inclinometer_init();
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_zh_b_inclinometer_init();
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break;
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case MODE_TACHO_TACHO:
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_zh_a_tachometer_init();
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_zh_b_tachometer_init();
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break;
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case MODE_ANGLE_TACHO:
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_zh_a_inclinometer_init();
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_zh_b_tachometer_init();
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break;
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case MODE_REMOTE:
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xSemaphoreTake(_lcd_mutex, portMAX_DELAY);
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zh_160x_set_cursor(&_lcd_160x_handle, 1, 0);
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zh_160x_print_char(&_lcd_160x_handle, "NOT CONNECTED");
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xSemaphoreGive(_lcd_mutex);
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break;
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default:
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break;
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}
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}
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static void _menu_change_cb(zh_menu_node_t *current_node, uint8_t current_index)
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{
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zh_menu_view_t view = {0};
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zh_menu_get_view(&_menu_handle, &view);
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xSemaphoreTake(_lcd_mutex, portMAX_DELAY);
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/* Header row */
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zh_160x_clear_row(&_lcd_160x_handle, 0);
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zh_160x_set_cursor(&_lcd_160x_handle, 0, 0);
|
|
zh_160x_print_char(&_lcd_160x_handle, "MODE:");
|
|
|
|
/* Single visible item row (viewport_rows = 1) */
|
|
zh_160x_clear_row(&_lcd_160x_handle, 1);
|
|
zh_160x_set_cursor(&_lcd_160x_handle, 1, 0);
|
|
|
|
uint8_t idx = view.first_visible;
|
|
char line[17] = {0};
|
|
snprintf(line, sizeof(line), "%c%s",
|
|
(idx == current_index) ? '>' : ' ',
|
|
current_node->submenu[idx].label);
|
|
zh_160x_print_char(&_lcd_160x_handle, line);
|
|
|
|
/* Hidden-item indicators */
|
|
if (view.first_visible > 0)
|
|
{
|
|
zh_160x_set_cursor(&_lcd_160x_handle, 1, 15);
|
|
zh_160x_print_char(&_lcd_160x_handle, "^");
|
|
}
|
|
if ((uint8_t)(view.first_visible + view.visible_count) < current_node->item_numbers)
|
|
{
|
|
zh_160x_set_cursor(&_lcd_160x_handle, 1, 15);
|
|
zh_160x_print_char(&_lcd_160x_handle, "v");
|
|
}
|
|
|
|
xSemaphoreGive(_lcd_mutex);
|
|
}
|
|
|
|
static void _menu_select_angle_angle(void *arg)
|
|
{
|
|
(void)arg;
|
|
_stop_all_processing_tasks();
|
|
_current_menu_value = MODE_ANGLE_ANGLE;
|
|
_zh_a_inclinometer_init();
|
|
_zh_b_inclinometer_init();
|
|
zh_menu_set(&_menu_handle, ZH_MENU_BACK, NULL, 0);
|
|
}
|
|
|
|
static void _menu_select_tacho_tacho(void *arg)
|
|
{
|
|
(void)arg;
|
|
_stop_all_processing_tasks();
|
|
_current_menu_value = MODE_TACHO_TACHO;
|
|
_zh_a_tachometer_init();
|
|
_zh_b_tachometer_init();
|
|
zh_menu_set(&_menu_handle, ZH_MENU_BACK, NULL, 0);
|
|
}
|
|
|
|
static void _menu_select_angle_tacho(void *arg)
|
|
{
|
|
(void)arg;
|
|
_stop_all_processing_tasks();
|
|
_current_menu_value = MODE_ANGLE_TACHO;
|
|
_zh_a_inclinometer_init();
|
|
_zh_b_tachometer_init();
|
|
zh_menu_set(&_menu_handle, ZH_MENU_BACK, NULL, 0);
|
|
}
|
|
|
|
static void _menu_select_remote(void *arg)
|
|
{
|
|
(void)arg;
|
|
_stop_all_processing_tasks();
|
|
_current_menu_value = MODE_REMOTE;
|
|
/* TODO: initialise ESP-NOW remote mode */
|
|
xSemaphoreTake(_lcd_mutex, portMAX_DELAY);
|
|
zh_160x_set_cursor(&_lcd_160x_handle, 1, 0);
|
|
zh_160x_print_char(&_lcd_160x_handle, "NOT CONNECTED");
|
|
xSemaphoreGive(_lcd_mutex);
|
|
zh_menu_set(&_menu_handle, ZH_MENU_BACK, NULL, 0);
|
|
}
|
|
|
|
static void _menu_select_exit(void *arg)
|
|
{
|
|
(void)arg;
|
|
zh_menu_set(&_menu_handle, ZH_MENU_BACK, NULL, 0);
|
|
}
|
|
|
|
/* ──────────────────────────────── WiFi event handler ────────────────────────── */
|
|
|
|
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:
|
|
esp_wifi_connect();
|
|
break;
|
|
case WIFI_EVENT_STA_DISCONNECTED:
|
|
if (_is_wifi_connected == true)
|
|
{
|
|
if (_zh_stats_task_handle != NULL)
|
|
{
|
|
vTaskDelete(_zh_stats_task_handle);
|
|
_zh_stats_task_handle = NULL; /* critical: vTaskDelete does NOT NULL the handle */
|
|
}
|
|
zh_syslog_deinit();
|
|
_is_wifi_connected = false;
|
|
}
|
|
if (_wifi_reconnect_retry_num < WIFI_STA_MAXIMUM_RETRY)
|
|
{
|
|
esp_wifi_connect();
|
|
++_wifi_reconnect_retry_num;
|
|
}
|
|
break;
|
|
case IP_EVENT_STA_GOT_IP:
|
|
_wifi_reconnect_retry_num = 0;
|
|
_is_wifi_connected = true;
|
|
zh_syslog_init_config_t config = ZH_SYSLOG_INIT_CONFIG_DEFAULT();
|
|
snprintf(config.syslog_ip, sizeof(config.syslog_ip), "%s", 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;
|
|
}
|
|
}
|
|
|
|
/* ──────────────────────────────── Reset timer callback ──────────────────────── */
|
|
|
|
static void _zh_inclinometer_reset_timer_on_alarm_cb(void *arg)
|
|
{
|
|
(void)arg;
|
|
_is_reset_mode = false;
|
|
|
|
zh_menu_status_t menu_status = {0};
|
|
zh_menu_get(&_menu_handle, &menu_status);
|
|
if (menu_status.is_active == false)
|
|
{
|
|
_is_reset_occurred = true;
|
|
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;
|
|
}
|
|
}
|
|
}
|
|
|
|
/* ──────────────────────────────── Processing tasks ──────────────────────────── */
|
|
|
|
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_a_inclinometer_processing_task(void *pvParameter)
|
|
{
|
|
(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:");
|
|
zh_160x_print_float(&_lcd_160x_handle, current_angle, 1);
|
|
xSemaphoreGive(_lcd_mutex);
|
|
|
|
while (!_stop_a_inclinometer)
|
|
{
|
|
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_160x_handle, 1, 5);
|
|
zh_160x_print_char(&_lcd_160x_handle, " ");
|
|
zh_160x_set_cursor(&_lcd_160x_handle, 1, 2);
|
|
zh_160x_print_float(&_lcd_160x_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)
|
|
{
|
|
(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:");
|
|
zh_160x_print_float(&_lcd_160x_handle, current_angle, 1);
|
|
xSemaphoreGive(_lcd_mutex);
|
|
|
|
while (!_stop_b_inclinometer)
|
|
{
|
|
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_160x_handle, 1, 13);
|
|
zh_160x_print_char(&_lcd_160x_handle, " ");
|
|
zh_160x_set_cursor(&_lcd_160x_handle, 1, 10);
|
|
zh_160x_print_float(&_lcd_160x_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)
|
|
{
|
|
(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:");
|
|
zh_160x_print_int(&_lcd_160x_handle, current_rpm);
|
|
xSemaphoreGive(_lcd_mutex);
|
|
|
|
while (!_stop_a_tachometer)
|
|
{
|
|
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_160x_handle, 1, 3);
|
|
zh_160x_print_char(&_lcd_160x_handle, " ");
|
|
zh_160x_set_cursor(&_lcd_160x_handle, 1, 2);
|
|
zh_160x_print_int(&_lcd_160x_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)
|
|
{
|
|
(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:");
|
|
zh_160x_print_int(&_lcd_160x_handle, current_rpm);
|
|
xSemaphoreGive(_lcd_mutex);
|
|
|
|
while (!_stop_b_tachometer)
|
|
{
|
|
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_160x_handle, 1, 11);
|
|
zh_160x_print_char(&_lcd_160x_handle, " ");
|
|
zh_160x_set_cursor(&_lcd_160x_handle, 1, 10);
|
|
zh_160x_print_int(&_lcd_160x_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);
|
|
}
|
|
|
|
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: %lu.\n", (unsigned long)_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: %lu.\n", (unsigned long)_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: %lu.\n", (unsigned long)_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: %lu.\n", (unsigned long)_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: %lu.\n", (unsigned long)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: %lu.\n", (unsigned long)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: %lu.\n", (unsigned long)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: %lu.\n", (unsigned long)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: %lu.\n", (unsigned long)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: %lu.\n", (unsigned long)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: %lu.\n", (unsigned long)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: %lu.\n", (unsigned long)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: %lu.\n", (unsigned long)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);
|
|
}
|
|
vTaskDelete(NULL);
|
|
} |