LailaTheElf/rcrf-wifi
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add servo controll

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This commit is contained in:
Laila van Reenen 2024-07-25 12:26:53 +02:00
parent a57f5de6bc
commit b7d266e245
Signed by: LailaTheElf
GPG Key ID: 1F4E6EE3E6DDF769
8 changed files with 199 additions and 47 deletions
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2
rx_esp32/lib/cli

@ -1 +1 @@
Subproject commit 8261e605bccf98e6f028d0ca221ffb81ebc4c0c2
Subproject commit ae59563e7da09ba3f974be92b8a02bdfdf7d1dab

7
rx_esp32/src/CMakeLists.txt
View File

@ -9,8 +9,13 @@ idf_component_register(
./wifi_scan.c
./led.c
./commands.c
./servos.c
INCLUDE_DIRS "./"
PRIV_REQUIRES
cli led_strip
# project components
cli
# idf extra components
led_strip
# idf base components
spi_flash driver nvs_flash esp_wifi
)

106
rx_esp32/src/commands.c
View File

@ -1,7 +1,7 @@
#include "CLI/CLI.h"
#include "CMDList/CMDList.h"
#include "config.h"
#include <CLI/CLI.h>
#include <CMDList/CMDList.h>
#include <stdint.h>
#include <stdio.h>
#include <stdbool.h>
#include <limits.h>
@ -10,6 +10,7 @@
#include "commands.h"
#include "utils.h"
#include "led.h"
#include "servos.h"
typedef enum {
BOAT_AVAILABLE,
@ -18,9 +19,52 @@ typedef enum {
} boatStatus_t;
boatStatus_t BoatStatus = BOAT_AVAILABLE;
char* readInt(char* str, uint32_t* out)
{
*out = 0;
while ((*str >= '0') && (*str <= '9'))
{
*out *= 10;
*out += *str - '0';
str++;
}
return str;
}
int cmd_contrl(char* line, void* cli)
{
return 0;
uint32_t ch_d[2];
int out = 0;
char msg[40];
char* arg = getNextArg(line, ':');
if (arg == NULL)
{
snprintf(&msg[0], 40, "no arguments given, expect 2\n");
CLI_stringOut((CLI_t*)cli, &msg[0]);
out = -1;
}
else
{
readInt(arg, &ch_d[0]);
arg = getNextArg(arg, ',');
if (arg == NULL)
{
snprintf(&msg[0], 40, "one argument given, expect 2\n");
CLI_stringOut((CLI_t*)cli, &msg[0]);
out = -2;
}
else
{
readInt(arg, &ch_d[1]);
servo_set(0, (int16_t)ch_d[0]);
servo_set(1, (int16_t)ch_d[1]);
snprintf(&msg[0], 40, "channel data: 0:%lu, 1:%lu\n", ch_d[0], ch_d[1]);
CLI_stringOut((CLI_t*)cli, &msg[0]);
}
}
return out;
}
extern volatile bool running;
@ -38,21 +82,21 @@ int cmd_status(char* line, void* cli)
if (arg != NULL)
{
if (strcmp(arg, "available") == 0)
{
BoatStatus = BOAT_AVAILABLE;
}
else if (strcmp(arg, "inctrl") == 0)
{
BoatStatus = BOAT_INCTRL;
}
else if (strcmp(arg, "locked") == 0)
{
BoatStatus = BOAT_LOCKED;
}
else
{
ret = -1;
}
{
BoatStatus = BOAT_AVAILABLE;
}
else if (strcmp(arg, "inctrl") == 0)
{
BoatStatus = BOAT_INCTRL;
}
else if (strcmp(arg, "locked") == 0)
{
BoatStatus = BOAT_LOCKED;
}
else
{
ret = -1;
}
}
char str[20];
@ -75,21 +119,9 @@ int cmd_status(char* line, void* cli)
return ret;
}
char* readInt(char* str, int* out)
{
*out = 0;
while ((*str >= '0') && (*str <= '9'))
{
*out *= 10;
*out += *str - '0';
str++;
}
return str;
}
int setLed(char* line, void* cli)
{
int r, g, b;
uint32_t r, g, b;
char* arg = getNextArg(line, ':');
readInt(arg, &r);
@ -101,12 +133,20 @@ int setLed(char* line, void* cli)
led_setRGB(r, g, b);
char msg[30];
snprintf(&msg[0], 30, "led: r%d g%d n%d\n", r, g, b);
snprintf(&msg[0], 30, "led: r%lu g%lu n%lu\n", r, g, b);
CLI_stringOut((CLI_t*)cli, &msg[0]);
return 0;
}
int cmd_history(char* line, void* cli)
{
CLI_PrintHistory((CLI_t*)cli);
return 0;
}
const CMD_t Commands[] = {
{ "history", &cmd_history },
{ "d", &cmd_contrl },
{ "shutdown", &cmd_shutdown },
{ "status", &cmd_status },

11
rx_esp32/src/config.h
View File

@ -14,7 +14,14 @@
// static uint8_t BoatId = 1;
// cli config
#define HISTORY
#define HISTORY // enable cli history
#define SERVOS_CH0 {LEDC_CHANNEL_0, 5},
#define SERVOS_CH1 {LEDC_CHANNEL_1, 6}
#define SERVOS_CH2
#define SERVOS_CH3
#define SERVOS_CH4
#define SERVOS_CH5
#define SERVOS_CH6
#endif

2
rx_esp32/src/led.c
View File

@ -1,7 +1,7 @@
#include "led.h"
#include <stddef.h>
#include "led_strip.h"
#include <led_strip.h>
#define BUILDIN_LED_GPIO 8

22
rx_esp32/src/main.c
View File

@ -2,19 +2,19 @@
#include <stdbool.h>
#include <stdint.h>
#include "nvs_flash.h"
#include "esp_wifi.h"
#include "esp_event.h"
#include "esp_task_wdt.h"
#include <nvs_flash.h>
#include <esp_task_wdt.h>
#include <CLI/CLI.h>
#include <CMDList/CMDList.h>
#include "config.h"
#include "utils.h"
#include "commands.h"
#include "wifi.h"
#include "led.h"
#include "servos.h"
bool volatile running = true;
CMDList_t* cmdList;
@ -27,7 +27,7 @@ bool rxBuffer_overflow = false;
*/
int charOut_uart(const char* c)
{
printf(c);
printf("%c", *c);
return 0;
}
@ -54,7 +54,8 @@ void app_main() {
printChipInfo();
led_init();
// led_setRGB(150, 0, 0);
led_setRGB(0, 0, 20);
servo_init();
wifiInit();
wifi_connect();
@ -71,16 +72,16 @@ void app_main() {
* happened. */
if (bits & WIFI_CONNECTED_BIT)
{
// led_setRGB(0, 150, 0);
led_setRGB(0, 20, 0);
printf("INFO: main: connected to ap SSID '%s'\n", WIFI_SSID);
}
else if (bits & WIFI_FAIL_BIT)
{
printf("ERROR: main: Failed to connect to SSID '%s',\n", WIFI_SSID);
led_setRGB(2, 0, 0);
}
else
{
printf("FAITAL: main: UNEXPECTED EVENT\n");
led_setRGB(2, 0, 0);
return;
}
@ -110,6 +111,9 @@ void app_main() {
}
}
led_setRGB(0, 0, 0);
servo_deinit();
CLI_deinit(&cli_uart);
CMDList_deinit(cmdList);

86
rx_esp32/src/servos.c Normal file
View File

@ -0,0 +1,86 @@
#include "driver/ledc.h"
#include <stdint.h>
#include "config.h"
#include "servos.h"
#define SERVO_LEDC_TIMER LEDC_TIMER_0
#define SERVO_LEDC_MODE LEDC_LOW_SPEED_MODE
#define SERVO_LEDC_CHANNEL LEDC_CHANNEL_0
#define SERVO_LEDC_DUTY_RES LEDC_TIMER_20_BIT // Set duty resolution to 13 bits
// #define SERVO_DUTY_MIN ( 26214) // 2**20 * ( 500/20000) // 500us of the 20ms
#define SERVO_DUTY_MIN ( 52429) // 2**20 * (1000/20000) // 1000us of the 20ms
#define SERVO_DUTY_MAX (104858) // 2**20 * (2000/20000) // 2000us of the 20ms
// #define SERVO_DUTY_MAX (131072) // 2**20 * (2500/20000) // 2500us of the 20ms
#define SERVO_DUTY_DEFUALT ( 78643) // 2**20 * (1500/20000) // 2500us of the 20ms
#define SERVO_DUTY_DIFF (SERVO_DUTY_MAX - SERVO_DUTY_MIN)
typedef struct ServoCh_t {
ledc_channel_t channel;
int gpio;
} ServoCh_t;
static ServoCh_t Server_chs[] = {
SERVOS_CH0
SERVOS_CH1
SERVOS_CH2
SERVOS_CH3
SERVOS_CH4
SERVOS_CH5
SERVOS_CH6
};
void servo_init(void)
{
// Prepare and then apply the LEDC PWM timer configuration
ledc_timer_config_t ledc_timer = {
.speed_mode = LEDC_LOW_SPEED_MODE,
.timer_num = SERVO_LEDC_TIMER,
.duty_resolution = SERVO_LEDC_DUTY_RES,
.freq_hz = 50, // 20ms period
.clk_cfg = LEDC_AUTO_CLK
};
ledc_timer_config(&ledc_timer);
for (int i = sizeof(Server_chs)/sizeof(ServoCh_t)-1; i >= 0; i--)
{
// Prepare and then apply the LEDC PWM channel configuration
ledc_channel_config_t ledc_channel = {
.speed_mode = LEDC_LOW_SPEED_MODE,
.channel = Server_chs[i].channel,
.timer_sel = SERVO_LEDC_TIMER,
.intr_type = LEDC_INTR_DISABLE,
.gpio_num = Server_chs[i].gpio,
.duty = SERVO_DUTY_DEFUALT, // Set duty to 0%
.hpoint = 0
};
ledc_channel_config(&ledc_channel);
printf("DEBUG: inited servo channel %d (ledc: %u, gpio: %d)\n", i, Server_chs[i].channel, Server_chs[i].gpio);
}
}
void servo_deinit(void)
{
ledc_timer_pause(LEDC_LOW_SPEED_MODE, SERVO_LEDC_TIMER);
for (int i = sizeof(Server_chs)/sizeof(ServoCh_t)-1; i > 0; i--)
{
ledc_stop(LEDC_LOW_SPEED_MODE, Server_chs[i].channel, 0);
}
}
void servo_set(uint8_t ch, int16_t pos)
{
uint32_t duty = (uint32_t) ((double)pos * (double)SERVO_DUTY_DIFF/(double)INT16_MAX);
duty += (SERVO_DUTY_MIN + SERVO_DUTY_DIFF/2);
if (duty < SERVO_DUTY_MIN)
{
duty = SERVO_DUTY_MIN;
}
else if (duty > SERVO_DUTY_MAX)
{
duty = SERVO_DUTY_MAX;
}
ledc_set_duty(SERVO_LEDC_MODE, Server_chs[ch].channel, duty);
ledc_update_duty(SERVO_LEDC_MODE, Server_chs[ch].channel);
}

10
rx_esp32/src/servos.h Normal file
View File

@ -0,0 +1,10 @@
#ifndef SERVOS_H
#define SERVOS_H
#include <stdint.h>
void servo_init(void);
void servo_deinit(void);
void servo_set(uint8_t ch, int16_t pos);
#endif // SERVOS_H