| 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 |
|
| 17 | static void onrestart(void) { |
| 18 | gpio_set_level(STATUS_RED, HIGH); |
| 19 | delay(250); |
| 20 | } |
| 21 |
|
| 22 | static int ping_count = 1; |
| 23 | static void pingTask(void * pingOK) { |
| 24 | configASSERT(((bool)pingOK) == true); |
| 25 | static int beeps; |
| 26 | static int i; |
| 27 | for (;;) { |
| 28 | delay(3000); |
| 29 | printf("ping #%dx%d: %i ticks\n", ++beeps, ping_count, xTaskGetTickCount()); |
| 30 | for (i = 0; i < ping_count; i++) { |
| 31 | gpio_set_level(STATUS_YELLOW, HIGH); |
| 32 | delay(0200); |
| 33 | gpio_set_level(STATUS_YELLOW, LOW); |
| 34 | delay(0200); |
| 35 | } |
| 36 | } |
| 37 | } |
| 38 |
|
| 39 | static void radioTask(void * arg) { |
| 40 | configASSERT(((bool)arg) == true); |
| 41 | unsigned int R1; |
| 42 | unsigned int R2; |
| 43 | unsigned int R3; |
| 44 | unsigned int R4; |
| 45 | unsigned int R5; |
| 46 | unsigned int R6; |
| 47 | for (;;) { |
| 48 | R1 = pulseIn(RADIO_1, true); |
| 49 | R2 = pulseIn(RADIO_2, true); |
| 50 | R3 = pulseIn(RADIO_3, true); |
| 51 | R4 = pulseIn(RADIO_4, true); |
| 52 | R5 = pulseIn(RADIO_5, true); |
| 53 | R6 = pulseIn(RADIO_6, true); |
| 54 | if ((R1 & R2 & R3 & R4 & R5 & R6) != 0) { |
| 55 | ping_count = 2; |
| 56 | unsigned int R1m = map(R1, 160000, 320000, 0, 1000); |
| 57 | unsigned int R2m = map(R2, 160000, 320000, 0, 1000); |
| 58 | unsigned int R3m = map(R3, 160000, 320000, 0, 1000); |
| 59 | unsigned int R4m = map(R4, 160000, 320000, 0, 1000); |
| 60 | unsigned int R5m = map(R5, 160000, 320000, 0, 1000)>500; |
| 61 | unsigned int R6m = map(R6, 160000, 320000, 0, 1000)>500; |
| 62 | printf("Radio RX:\t%i\t%i\t%i\t%i\t%i\t%i\n", R1m, R2m, R3m, R4m, R5m, R6m); |
| 63 | } else { |
| 64 | ping_count = 1; |
| 65 | printf("Radio RX:\t-\t-\t-\t-\t-\t-\n"); |
| 66 | } |
| 67 | esp_task_wdt_reset(); |
| 68 | delay(10); |
| 69 | } |
| 70 | } |
| 71 |
|
| 72 | void app_main(void) |
| 73 | { |
| 74 | printf("entering app_main\n"); |
| 75 |
|
| 76 | printf("configuring STATUS_[GREEN|YELLOW|RED] GPIO output\n"); |
| 77 | gpio_config_t io_conf; |
| 78 | io_conf.pin_bit_mask = (1ULL<<STATUS_GREEN) | (1ULL<<STATUS_YELLOW) | (1ULL<<STATUS_RED); |
| 79 | io_conf.mode = GPIO_MODE_OUTPUT; |
| 80 | io_conf.pull_up_en = 0; |
| 81 | io_conf.pull_down_en = 1; |
| 82 | io_conf.intr_type = GPIO_INTR_DISABLE; |
| 83 | gpio_config(&io_conf); |
| 84 |
|
| 85 | printf("pulling STATUS_[GREEN|YELLOW|RED] HIGH\n"); |
| 86 | gpio_set_level(STATUS_GREEN, HIGH); |
| 87 | gpio_set_level(STATUS_YELLOW, HIGH); |
| 88 | gpio_set_level(STATUS_RED, HIGH); |
| 89 |
|
| 90 | printf("configuring RADIO_[1-6] GPIO input\n"); |
| 91 | io_conf.pin_bit_mask = (1ULL<<RADIO_1) | (1ULL<<RADIO_2) | (1ULL<<RADIO_3) | (1ULL<<RADIO_4) | (1ULL<<RADIO_5) | (1ULL<<RADIO_6); |
| 92 | io_conf.mode = GPIO_MODE_INPUT; |
| 93 | io_conf.pull_up_en = 0; |
| 94 | io_conf.pull_down_en = 0; |
| 95 | io_conf.intr_type = GPIO_INTR_DISABLE; |
| 96 | gpio_config(&io_conf); |
| 97 |
|
| 98 | printf("registering shutdown function\n"); |
| 99 | esp_register_shutdown_handler(onrestart); |
| 100 |
|
| 101 | printf("creating ping task\n"); |
| 102 | TaskHandle_t pingTaskHandle = NULL; |
| 103 | xTaskCreate(pingTask, "pingTask", 2000, (void *)true, tskIDLE_PRIORITY, &pingTaskHandle); |
| 104 |
|
| 105 | printf("creating radio task\n"); |
| 106 | TaskHandle_t radioTaskHandle = NULL; |
| 107 | xTaskCreate(radioTask, "radioTask", 10000, (void *)true, 1, &radioTaskHandle); |
| 108 |
|
| 109 | printf("pulling STATUS_[YELLOW|RED] LOW\n"); |
| 110 | gpio_set_level(STATUS_YELLOW, LOW); |
| 111 | gpio_set_level(STATUS_RED, LOW); |
| 112 | } |
| 113 |
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