492 lines
19 KiB
C
492 lines
19 KiB
C
#include "ate0005.h"
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// #define DEBUG
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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};
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static httpd_handle_t _http_server_handle = NULL;
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static zh_pcf8574_handle_t _lcd_handle = {0};
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static zh_encoder_handle_t _mode_encoder_handle = {0};
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static zh_inclinometer_handle_t _a_inclinometer_handle = {0};
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static zh_inclinometer_handle_t _b_inclinometer_handle = {0};
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static zh_tachometer_handle_t _a_tachometer_handle = {0};
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static zh_tachometer_handle_t _b_tachometer_handle = {0};
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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 void _zh_wifi_softap_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_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); // To Do.
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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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#ifdef DEBUG
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static void _zh_stats_processing_task(void *pvParameter);
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#endif
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static const char *_main_menu[] = {MAIN_MENU_ANGLE_ANGLE_NAME, MAIN_MENU_TACHO_TACHO_NAME, MAIN_MENU_ANGLE_TACHO_NAME, MAIN_MENU_REMOTE_NAME};
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volatile static bool _is_menu_mode = false;
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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 = 0;
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void app_main(void)
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{
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_lcd_mutex = xSemaphoreCreateMutex();
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nvs_flash_init();
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esp_event_loop_create_default();
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_zh_wifi_softap_init();
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_zh_webserver_init();
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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_a_inclinometer_init();
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_zh_b_inclinometer_init();
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_zh_espnow_init();
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_zh_timer_init();
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#ifdef DEBUG
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xTaskCreatePinnedToCore(&_zh_stats_processing_task, "stats_processing_task", STATS_TASK_STACK_SIZE, NULL, STATS_TASK_PRIORITY, NULL, tskNO_AFFINITY);
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#endif
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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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static void _zh_wifi_softap_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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wifi_init_config_t wifi_config = WIFI_INIT_CONFIG_DEFAULT();
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esp_wifi_init(&wifi_config);
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wifi_config_t ap_config = {
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.ap = {
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.ssid = WIFI_SSID,
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.password = WIFI_PASS,
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.channel = WIFI_CHANNEL,
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.max_connection = MAX_STA_CONNECTION,
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.authmode = WIFI_AUTH_WPA2_PSK,
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},
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};
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esp_wifi_set_mode(WIFI_MODE_APSTA);
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esp_wifi_set_config(WIFI_IF_AP, &ap_config);
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esp_wifi_start();
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}
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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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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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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 = (sizeof(_main_menu) / sizeof(_main_menu[0])) - 1;
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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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static void _zh_a_inclinometer_init(void)
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{
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zh_inclinometer_init_config_t config = ZH_INCLINOMETER_INIT_CONFIG_DEFAULT();
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config.a_gpio_number = A_OPTICAL_DEVICE_A_GPIO;
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config.b_gpio_number = A_OPTICAL_DEVICE_B_GPIO;
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config.encoder_pulses = 3600;
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zh_inclinometer_init(&config, &_a_inclinometer_handle);
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xTaskCreatePinnedToCore(&_zh_a_inclinometer_processing_task, "a_inclinometer_processing_task", A_INCLINOMETER_TASK_STACK_SIZE, NULL, A_INCLINOMETER_TASK_PRIORITY,
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&_a_inclinometer_task_handle, tskNO_AFFINITY);
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}
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static void _zh_b_inclinometer_init(void)
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{
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zh_inclinometer_init_config_t config = ZH_INCLINOMETER_INIT_CONFIG_DEFAULT();
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config.a_gpio_number = B_OPTICAL_DEVICE_A_GPIO;
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config.b_gpio_number = B_OPTICAL_DEVICE_B_GPIO;
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config.encoder_pulses = 3600;
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zh_inclinometer_init(&config, &_b_inclinometer_handle);
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xTaskCreatePinnedToCore(&_zh_b_inclinometer_processing_task, "b_inclinometer_processing_task", B_INCLINOMETER_TASK_STACK_SIZE, NULL, B_INCLINOMETER_TASK_PRIORITY,
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&_b_inclinometer_task_handle, tskNO_AFFINITY);
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}
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static void _zh_a_tachometer_init(void)
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{
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zh_tachometer_init_config_t config = ZH_TACHOMETER_INIT_CONFIG_DEFAULT();
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config.a_gpio_number = A_OPTICAL_DEVICE_A_GPIO;
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config.b_gpio_number = A_OPTICAL_DEVICE_B_GPIO;
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config.encoder_pulses = 3600;
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zh_tachometer_init(&config, &_a_tachometer_handle);
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xTaskCreatePinnedToCore(&_zh_a_tachometer_processing_task, "a_tachometer_processing_task", A_TACHOMETER_TASK_STACK_SIZE, NULL, A_TACHOMETER_TASK_PRIORITY,
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&_a_tachometer_task_handle, tskNO_AFFINITY);
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}
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static void _zh_b_tachometer_init(void)
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{
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zh_tachometer_init_config_t config = ZH_TACHOMETER_INIT_CONFIG_DEFAULT();
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config.a_gpio_number = B_OPTICAL_DEVICE_A_GPIO;
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config.b_gpio_number = B_OPTICAL_DEVICE_B_GPIO;
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config.encoder_pulses = 3600;
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zh_tachometer_init(&config, &_b_tachometer_handle);
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xTaskCreatePinnedToCore(&_zh_b_tachometer_processing_task, "b_tachometer_processing_task", B_TACHOMETER_TASK_STACK_SIZE, NULL, B_TACHOMETER_TASK_PRIORITY,
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&_b_tachometer_task_handle, tskNO_AFFINITY);
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}
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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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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.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, ZH_LCD_16X2);
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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_handle, 0, 0);
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zh_160x_print_char(&_lcd_handle, "LLC AEROTECH");
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zh_160x_set_cursor(&_lcd_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_handle, esp_app_desc->project_name);
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zh_160x_set_cursor(&_lcd_handle, 1, 8);
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zh_160x_print_char(&_lcd_handle, "V");
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zh_160x_print_char(&_lcd_handle, esp_app_desc->version);
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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zh_160x_lcd_clear(&_lcd_handle);
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zh_160x_set_cursor(&_lcd_handle, 0, 0);
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zh_160x_print_char(&_lcd_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_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_handle);
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vTaskDelay(500 / portTICK_PERIOD_MS);
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zh_160x_set_cursor(&_lcd_handle, 0, 0);
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zh_160x_print_char(&_lcd_handle, "MODE:");
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zh_160x_print_char(&_lcd_handle, _main_menu[0]);
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}
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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_timer_create(&timer_args, &_inclinometer_reset_timer_handle);
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}
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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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switch (event_id)
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{
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case ZH_BUTTON_EVENT:
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zh_encoder_button_event_on_isr_t *button_event = event_data;
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if (button_event->button_status == BUTTON_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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_is_menu_mode = !_is_menu_mode;
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if (_is_menu_mode == true)
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{
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switch (_current_menu_value)
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{
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case MODE_ANGLE_ANGLE:
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vTaskDelete(_a_inclinometer_task_handle);
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vTaskDelete(_b_inclinometer_task_handle);
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zh_inclinometer_deinit(&_a_inclinometer_handle);
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zh_inclinometer_deinit(&_b_inclinometer_handle);
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break;
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case MODE_TACHO_TACHO:
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vTaskDelete(_a_tachometer_task_handle);
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vTaskDelete(_b_tachometer_task_handle);
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zh_tachometer_deinit(&_a_tachometer_handle);
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zh_tachometer_deinit(&_b_tachometer_handle);
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break;
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case MODE_ANGLE_TACHO:
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vTaskDelete(_a_inclinometer_task_handle);
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vTaskDelete(_b_tachometer_task_handle);
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zh_inclinometer_deinit(&_a_inclinometer_handle);
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zh_tachometer_deinit(&_b_tachometer_handle);
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break;
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case MODE_REMOTE:
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// To Do.
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break;
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default:
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break;
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}
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zh_160x_clear_row(&_lcd_handle, 1);
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zh_160x_set_cursor(&_lcd_handle, 0, 0);
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zh_160x_on_cursor(&_lcd_handle, true);
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}
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else
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{
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zh_160x_off_cursor(&_lcd_handle);
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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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zh_160x_set_cursor(&_lcd_handle, 1, 0);
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zh_160x_print_char(&_lcd_handle, "NOT CONNECTED");
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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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}
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break;
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case ZH_ENCODER_EVENT:
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zh_encoder_event_on_isr_t *encoder_event = event_data;
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if (_is_menu_mode == true)
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{
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_current_menu_value = (uint8_t)encoder_event->encoder_position; // -V2004
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zh_160x_clear_row(&_lcd_handle, 0);
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zh_160x_set_cursor(&_lcd_handle, 0, 0);
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zh_160x_print_char(&_lcd_handle, "MODE:");
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zh_160x_print_char(&_lcd_handle, _main_menu[(uint8_t)encoder_event->encoder_position]); // -V2004
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zh_160x_set_cursor(&_lcd_handle, 0, 0);
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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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default:
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break;
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}
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}
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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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// {
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// // To Do.
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// }
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static void _zh_inclinometer_reset_timer_on_alarm_cb(void *arg)
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{
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_is_reset_mode = false;
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_is_reset_occurred = true;
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if (_is_menu_mode == false)
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{
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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_inclinometer_reset(&_a_inclinometer_handle);
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zh_inclinometer_reset(&_b_inclinometer_handle);
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break;
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case MODE_ANGLE_TACHO:
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zh_inclinometer_reset(&_a_inclinometer_handle);
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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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}
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static void _zh_a_inclinometer_processing_task(void *pvParameter)
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{
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float prev_angle = 0, current_angle = 0;
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xSemaphoreTake(_lcd_mutex, portMAX_DELAY);
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zh_160x_set_cursor(&_lcd_handle, 1, 0);
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zh_160x_print_char(&_lcd_handle, "A:");
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zh_160x_print_float(&_lcd_handle, current_angle, 1);
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xSemaphoreGive(_lcd_mutex);
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for (;;)
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{
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zh_inclinometer_get(&_a_inclinometer_handle, ¤t_angle);
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if (prev_angle != current_angle)
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{
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prev_angle = current_angle;
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xSemaphoreTake(_lcd_mutex, portMAX_DELAY);
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zh_160x_set_cursor(&_lcd_handle, 1, 5);
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zh_160x_print_char(&_lcd_handle, " ");
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zh_160x_set_cursor(&_lcd_handle, 1, 2);
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zh_160x_print_float(&_lcd_handle, current_angle, 1);
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xSemaphoreGive(_lcd_mutex);
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}
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vTaskDelay(100 / portTICK_PERIOD_MS);
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_task_stats.a_inclinometer_task_min_stack_size = (uint32_t)uxTaskGetStackHighWaterMark(NULL);
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}
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vTaskDelete(NULL);
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}
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static void _zh_b_inclinometer_processing_task(void *pvParameter)
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{
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float prev_angle = 0, current_angle = 0;
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xSemaphoreTake(_lcd_mutex, portMAX_DELAY);
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zh_160x_set_cursor(&_lcd_handle, 1, 8);
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zh_160x_print_char(&_lcd_handle, "B:");
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zh_160x_print_float(&_lcd_handle, current_angle, 1);
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xSemaphoreGive(_lcd_mutex);
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for (;;)
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{
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zh_inclinometer_get(&_b_inclinometer_handle, ¤t_angle);
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if (prev_angle != current_angle)
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{
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prev_angle = current_angle;
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xSemaphoreTake(_lcd_mutex, portMAX_DELAY);
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zh_160x_set_cursor(&_lcd_handle, 1, 13);
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zh_160x_print_char(&_lcd_handle, " ");
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zh_160x_set_cursor(&_lcd_handle, 1, 10);
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zh_160x_print_float(&_lcd_handle, current_angle, 1);
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xSemaphoreGive(_lcd_mutex);
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}
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vTaskDelay(100 / portTICK_PERIOD_MS);
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_task_stats.b_inclinometer_task_min_stack_size = (uint32_t)uxTaskGetStackHighWaterMark(NULL);
|
|
}
|
|
vTaskDelete(NULL);
|
|
}
|
|
|
|
static void _zh_a_tachometer_processing_task(void *pvParameter)
|
|
{
|
|
uint16_t prev_rpm = 0, current_rpm = 0;
|
|
xSemaphoreTake(_lcd_mutex, portMAX_DELAY);
|
|
zh_160x_set_cursor(&_lcd_handle, 1, 0);
|
|
zh_160x_print_char(&_lcd_handle, "A:");
|
|
zh_160x_print_int(&_lcd_handle, current_rpm);
|
|
xSemaphoreGive(_lcd_mutex);
|
|
for (;;)
|
|
{
|
|
zh_tachometer_get(&_a_tachometer_handle, ¤t_rpm);
|
|
if (prev_rpm != current_rpm)
|
|
{
|
|
prev_rpm = current_rpm;
|
|
xSemaphoreTake(_lcd_mutex, portMAX_DELAY);
|
|
zh_160x_set_cursor(&_lcd_handle, 1, 3);
|
|
zh_160x_print_char(&_lcd_handle, " ");
|
|
zh_160x_set_cursor(&_lcd_handle, 1, 2);
|
|
zh_160x_print_int(&_lcd_handle, current_rpm);
|
|
xSemaphoreGive(_lcd_mutex);
|
|
}
|
|
vTaskDelay(100 / portTICK_PERIOD_MS);
|
|
_task_stats.a_tachometer_task_min_stack_size = (uint32_t)uxTaskGetStackHighWaterMark(NULL);
|
|
}
|
|
vTaskDelete(NULL);
|
|
}
|
|
|
|
static void _zh_b_tachometer_processing_task(void *pvParameter)
|
|
{
|
|
uint16_t prev_rpm = 0, current_rpm = 0;
|
|
xSemaphoreTake(_lcd_mutex, portMAX_DELAY);
|
|
zh_160x_set_cursor(&_lcd_handle, 1, 8);
|
|
zh_160x_print_char(&_lcd_handle, "B:");
|
|
zh_160x_print_int(&_lcd_handle, current_rpm);
|
|
xSemaphoreGive(_lcd_mutex);
|
|
for (;;)
|
|
{
|
|
zh_tachometer_get(&_b_tachometer_handle, ¤t_rpm);
|
|
if (prev_rpm != current_rpm)
|
|
{
|
|
prev_rpm = current_rpm;
|
|
xSemaphoreTake(_lcd_mutex, portMAX_DELAY);
|
|
zh_160x_set_cursor(&_lcd_handle, 1, 11);
|
|
zh_160x_print_char(&_lcd_handle, " ");
|
|
zh_160x_set_cursor(&_lcd_handle, 1, 10);
|
|
zh_160x_print_int(&_lcd_handle, current_rpm);
|
|
xSemaphoreGive(_lcd_mutex);
|
|
}
|
|
vTaskDelay(100 / portTICK_PERIOD_MS);
|
|
_task_stats.b_tachometer_task_min_stack_size = (uint32_t)uxTaskGetStackHighWaterMark(NULL);
|
|
}
|
|
vTaskDelete(NULL);
|
|
}
|
|
|
|
#ifdef DEBUG
|
|
static void _zh_stats_processing_task(void *pvParameter)
|
|
{
|
|
for (;;)
|
|
{
|
|
printf("Tasks:\n");
|
|
printf("A inclinometer task minimum free stack size: %ld.\n", _task_stats.a_inclinometer_task_min_stack_size);
|
|
printf("B inclinometer task minimum free stack size: %ld.\n", _task_stats.b_inclinometer_task_min_stack_size);
|
|
printf("A tachometer task minimum free stack size: %ld.\n", _task_stats.a_tachometer_task_min_stack_size);
|
|
printf("A tachometer task minimum free stack size: %ld.\n", _task_stats.b_tachometer_task_min_stack_size);
|
|
printf("Stats task minimum free stack size: %ld.\n", (uint32_t)uxTaskGetStackHighWaterMark(NULL));
|
|
printf("Encoders:\n");
|
|
const zh_encoder_stats_t *encoder_stats = zh_encoder_get_stats();
|
|
printf("Number of event post error: %ld.\n", encoder_stats->event_post_error);
|
|
printf("Number of queue overflow error: %ld.\n", encoder_stats->queue_overflow_error);
|
|
printf("Minimum free stack size: %ld.\n", encoder_stats->min_stack_size);
|
|
printf("Expanders:\n");
|
|
const zh_pcf8574_stats_t *pcf8574_stats = zh_pcf8574_get_stats();
|
|
printf("Number of i2c driver error: %ld.\n", pcf8574_stats->i2c_driver_error);
|
|
printf("Number of event post error: %ld.\n", pcf8574_stats->event_post_error);
|
|
printf("Number of vector error: %ld.\n", pcf8574_stats->vector_error);
|
|
printf("Number of queue overflow error: %ld.\n", pcf8574_stats->queue_overflow_error);
|
|
printf("Minimum free stack size: %ld.\n", pcf8574_stats->min_stack_size);
|
|
vTaskDelay(10000 / portTICK_PERIOD_MS);
|
|
}
|
|
vTaskDelete(NULL);
|
|
}
|
|
#endif |