| 1 | // plow_main.c |
| 2 | // Main logic controller for the snow plow |
| 3 | // Copyright (c) Joshua 'joshuas3' Stockin 2020 |
| 4 |
|
| 5 | #include "plow_main.h" |
| 6 | #include "pulseIn.h" |
| 7 | #include "util.h" |
| 8 |
|
| 9 | #include <stdio.h> |
| 10 |
|
| 11 | #include "esp_system.h" |
| 12 | #include "esp_task_wdt.h" |
| 13 | #include "freertos/FreeRTOS.h" |
| 14 | #include "freertos/task.h" |
| 15 | #include "driver/gpio.h" |
| 16 | #include "driver/uart.h" |
| 17 |
|
| 18 | static void onrestart(void) { |
| 19 | gpio_set_level(STATUS_RED, HIGH); |
| 20 | delay(250); |
| 21 | } |
| 22 |
|
| 23 | static int ping_count = 1; |
| 24 | static void pingTask(void * pingOK) { |
| 25 | configASSERT(((bool)pingOK) == true); |
| 26 | static int beeps; |
| 27 | static int i; |
| 28 | for (;;) { |
| 29 | delay(3000); |
| 30 | printf("ping #%dx%d: %i ticks\n", ++beeps, ping_count, xTaskGetTickCount()); |
| 31 | for (i = 0; i < ping_count; i++) { |
| 32 | gpio_set_level(STATUS_YELLOW, HIGH); |
| 33 | delay(0200); |
| 34 | gpio_set_level(STATUS_YELLOW, LOW); |
| 35 | delay(0200); |
| 36 | } |
| 37 | } |
| 38 | } |
| 39 |
|
| 40 | const int uart_blade_control = UART_NUM_1; |
| 41 | const int uart_motor_control = UART_NUM_2; |
| 42 | static void radioTask(void * arg) { |
| 43 | configASSERT(((bool)arg) == true); |
| 44 | unsigned int R1; |
| 45 | unsigned int R2; |
| 46 | unsigned int R3; |
| 47 | unsigned int R4; |
| 48 | unsigned int R5; |
| 49 | unsigned int R6; |
| 50 | unsigned char SWITCH_MOTORS = 0; |
| 51 | unsigned char SWITCH_SALT = 0; |
| 52 | for (;;) { |
| 53 | R1 = pulseIn(RADIO_1, true); |
| 54 | R2 = pulseIn(RADIO_2, true); |
| 55 | R3 = pulseIn(RADIO_3, true); |
| 56 | R4 = pulseIn(RADIO_4, true); |
| 57 | R5 = pulseIn(RADIO_5, true); |
| 58 | R6 = pulseIn(RADIO_6, true); |
| 59 | if (R1 || R2 || R3 || R4 || R5 || R6) { |
| 60 | ping_count = 2; |
| 61 | unsigned int R1m = map(R1, 160000, 320000, 0, 1000); // right horizontal |
| 62 | unsigned int R2m = map(R2, 160000, 320000, 0, 1000); // right vertical |
| 63 | unsigned int R3m = map(R3, 160000, 320000, 0, 1000); // left vertical |
| 64 | unsigned int R4m = map(R4, 160000, 320000, 0, 1000); // left horizontal |
| 65 | unsigned char R5m = map(R5, 160000, 320000, 0, 1000)>500; |
| 66 | unsigned char R6m = map(R6, 160000, 320000, 0, 1000)>500; |
| 67 |
|
| 68 | // Switches |
| 69 | if (SWITCH_SALT != R6m) { |
| 70 | printf("salt spreader switch flip\n"); |
| 71 | SWITCH_SALT = R6m; |
| 72 | gpio_set_level(SOLENOID_SALT, !R6m); |
| 73 | } |
| 74 | if (SWITCH_MOTORS != R5m) { |
| 75 | printf("motors switch flip\n"); |
| 76 | SWITCH_MOTORS = R5m; |
| 77 | if (R5m) { |
| 78 | gpio_set_level(BATTERY_MOTORCONTROL, !R5m); |
| 79 | gpio_set_level(BATTERY_BLADECONTROL, !R5m); |
| 80 | delay(500); |
| 81 | gpio_set_level(SOLENOID_MOTORS, !R5m); |
| 82 | } else { |
| 83 | gpio_set_level(SOLENOID_MOTORS, !R5m); |
| 84 | delay(500); |
| 85 | gpio_set_level(BATTERY_MOTORCONTROL, !R5m); |
| 86 | gpio_set_level(BATTERY_BLADECONTROL, !R5m); |
| 87 | } |
| 88 | } |
| 89 |
|
| 90 | // Motor controller configuration |
| 91 | if (R5m) { |
| 92 | // Blade control |
| 93 | unsigned int blade_pitch = 192; |
| 94 | unsigned int blade_yaw = 64; |
| 95 | if (R3m > 600) { |
| 96 | blade_pitch -= map(R3m, 600, 1000, 1, 63); |
| 97 | } else if (R3m < 400) { |
| 98 | blade_pitch += (64 - map(R3m, 0, 400, 1, 63)); |
| 99 | } |
| 100 | if (R4m > 600) { |
| 101 | blade_yaw = map(R4m, 600, 1000, 64, 127); |
| 102 | } else if (R4m < 400) { |
| 103 | blade_yaw = map(R4m, 0, 400, 1, 64); |
| 104 | } |
| 105 |
|
| 106 | // Motor control |
| 107 | short motor_left = 64; |
| 108 | short motor_right = 192; |
| 109 | if (R2m > 600) { |
| 110 | motor_left = map(R2m, 600, 1000, 64, 127); |
| 111 | motor_right = map(R2m, 600, 1000, 192, 255); |
| 112 | } else if (R2m < 400) { |
| 113 | motor_left = map(R2m, 0, 400, 1, 64); |
| 114 | motor_right = map(R2m, 0, 400, 128, 192); |
| 115 | } |
| 116 | if (R1m > 600) { // right turn |
| 117 | motor_left += map(R1m, 600, 1000, 1, 63); |
| 118 | motor_right -= map(R1m, 600, 1000, 1, 63); |
| 119 | } else if (R1m < 400) { // left turn |
| 120 | motor_left -= (64 - map(R1m, 0, 400, 1, 63)); |
| 121 | motor_right += (64 - map(R1m, 0, 400, 1, 63)); |
| 122 | } |
| 123 |
|
| 124 | // Constrain motor signals |
| 125 | if (motor_left < 1) motor_left = 1; |
| 126 | if (motor_left > 127) motor_left = 127; |
| 127 | if (motor_right < 128) motor_right = 128; |
| 128 | if (motor_right > 255) motor_right = 255; |
| 129 |
|
| 130 | printf("Motors:\tpitch\tyaw\tleft\tright\n"); |
| 131 | printf("Motors:\t%i\t%i\t%i\t%i\n", blade_pitch, blade_yaw, motor_left, motor_right); |
| 132 |
|
| 133 | char motor_bytes[] = {motor_left, motor_right}; |
| 134 | uart_write_bytes(uart_motor_control, (const char*)motor_bytes, 2); |
| 135 |
|
| 136 | char blade_bytes[] = {blade_pitch, blade_yaw}; |
| 137 | uart_write_bytes(uart_blade_control, (const char*)blade_bytes, 2); |
| 138 | } else { |
| 139 | printf("Radio RX:\t%i\t%i\t%i\t%i\t%i\t%i\n", R1m, R2m, R3m, R4m, R5m, R6m); |
| 140 | } |
| 141 | } else { |
| 142 | ping_count = 1; |
| 143 | printf("Radio RX:\t-\t-\t-\t-\t-\t-\n"); |
| 144 | if (SWITCH_SALT != 0) { |
| 145 | printf("salt spreader switch flip\n"); |
| 146 | SWITCH_SALT = 0; |
| 147 | gpio_set_level(SOLENOID_SALT, HIGH); |
| 148 | } |
| 149 | if (SWITCH_MOTORS != 0) { |
| 150 | printf("motors switch flip\n"); |
| 151 | SWITCH_MOTORS = 0; |
| 152 | gpio_set_level(SOLENOID_MOTORS, HIGH); |
| 153 | delay(200); |
| 154 | gpio_set_level(BATTERY_MOTORCONTROL, HIGH); |
| 155 | gpio_set_level(BATTERY_BLADECONTROL, HIGH); |
| 156 | } |
| 157 | } |
| 158 | esp_task_wdt_reset(); |
| 159 | delay(10); |
| 160 | } |
| 161 | } |
| 162 |
|
| 163 | void app_main(void) |
| 164 | { |
| 165 | printf("entering app_main\n"); |
| 166 |
|
| 167 | printf("configuring STATUS_[GREEN|YELLOW|RED] GPIO output\n"); |
| 168 | gpio_config_t io_conf; |
| 169 | io_conf.pin_bit_mask = (1ULL<<STATUS_GREEN) | (1ULL<<STATUS_YELLOW) | (1ULL<<STATUS_RED); |
| 170 | io_conf.mode = GPIO_MODE_OUTPUT; |
| 171 | io_conf.intr_type = GPIO_INTR_DISABLE; |
| 172 | gpio_config(&io_conf); |
| 173 |
|
| 174 | printf("pulling STATUS_[GREEN|YELLOW|RED] HIGH\n"); |
| 175 | gpio_set_level(STATUS_GREEN, HIGH); |
| 176 | gpio_set_level(STATUS_YELLOW, HIGH); |
| 177 | gpio_set_level(STATUS_RED, HIGH); |
| 178 |
|
| 179 | printf("configuring BATTERY_[MOTOR|BLADE]CONTROL, SOLENOID_[SALT|MOTORS], and RELAY_BOARD GPIO output\n"); |
| 180 | io_conf.pin_bit_mask = (1ULL<<SOLENOID_SALT) | (1ULL<<SOLENOID_MOTORS) | (1ULL<<BATTERY_MOTORCONTROL) | (1ULL<<BATTERY_BLADECONTROL) | (1ULL<<RELAY_BOARD); |
| 181 | io_conf.mode = GPIO_MODE_OUTPUT; |
| 182 | gpio_config(&io_conf); |
| 183 |
|
| 184 | printf("pulling all high\n"); |
| 185 | gpio_set_level(SOLENOID_SALT, HIGH); |
| 186 | gpio_set_level(SOLENOID_MOTORS, HIGH); |
| 187 | gpio_set_level(BATTERY_MOTORCONTROL, HIGH); |
| 188 | gpio_set_level(BATTERY_BLADECONTROL, HIGH); |
| 189 | gpio_set_level(RELAY_BOARD, HIGH); |
| 190 |
|
| 191 | printf("configuring RADIO_[1-6] GPIO input\n"); |
| 192 | io_conf.pin_bit_mask = (1ULL<<RADIO_1) | (1ULL<<RADIO_2) | (1ULL<<RADIO_3) | (1ULL<<RADIO_4) | (1ULL<<RADIO_5) | (1ULL<<RADIO_6); |
| 193 | io_conf.mode = GPIO_MODE_INPUT; |
| 194 | gpio_config(&io_conf); |
| 195 |
|
| 196 | printf("configuring UART\n"); |
| 197 | uart_config_t uart_config = { |
| 198 | .baud_rate = CONTROL_BAUDRATE, |
| 199 | .data_bits = UART_DATA_8_BITS, |
| 200 | .parity = UART_PARITY_DISABLE, |
| 201 | .stop_bits = UART_STOP_BITS_1, |
| 202 | .flow_ctrl = UART_HW_FLOWCTRL_DISABLE |
| 203 | }; |
| 204 | ESP_ERROR_CHECK(uart_param_config(uart_motor_control, &uart_config)); |
| 205 | ESP_ERROR_CHECK(uart_param_config(uart_blade_control, &uart_config)); |
| 206 | ESP_ERROR_CHECK(uart_set_pin(uart_motor_control, UART_MOTOR_CONTROL, NULL_PIN, NULL_PIN, NULL_PIN)); |
| 207 | ESP_ERROR_CHECK(uart_set_pin(uart_blade_control, UART_BLADE_CONTROL, NULL_PIN, NULL_PIN, NULL_PIN)); |
| 208 |
|
| 209 | printf("installing UART\n"); |
| 210 | const int uart_buffer_size = 256; |
| 211 | ESP_ERROR_CHECK(uart_driver_install(uart_motor_control, uart_buffer_size, uart_buffer_size, 0, NULL, 0)); |
| 212 | ESP_ERROR_CHECK(uart_driver_install(uart_blade_control, uart_buffer_size, uart_buffer_size, 0, NULL, 0)); |
| 213 | ESP_ERROR_CHECK(uart_set_mode(uart_motor_control, UART_MODE_UART)); |
| 214 | ESP_ERROR_CHECK(uart_set_mode(uart_blade_control, UART_MODE_UART)); |
| 215 |
|
| 216 | printf("registering shutdown function\n"); |
| 217 | esp_register_shutdown_handler(onrestart); |
| 218 |
|
| 219 | printf("creating ping task\n"); |
| 220 | TaskHandle_t pingTaskHandle = NULL; |
| 221 | xTaskCreate(pingTask, "pingTask", 2000, (void *)true, tskIDLE_PRIORITY, &pingTaskHandle); |
| 222 |
|
| 223 | printf("creating radio task\n"); |
| 224 | TaskHandle_t radioTaskHandle = NULL; |
| 225 | xTaskCreate(radioTask, "radioTask", 10000, (void *)true, 1, &radioTaskHandle); |
| 226 |
|
| 227 | printf("pulling STATUS_[YELLOW|RED] LOW\n"); |
| 228 | gpio_set_level(STATUS_YELLOW, LOW); |
| 229 | gpio_set_level(STATUS_RED, LOW); |
| 230 | } |
| 231 |
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