I wrote this a long time ago, while sick.
This commit is contained in:
Morgan 'ARR\!' Allen
parent
f39139f910
commit
7f28aa39f0
1 changed files with 155 additions and 9 deletions
158
main/main.c
158
main/main.c
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@ -15,11 +15,16 @@
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#include "driver/spi_master.h"
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#include "esp_system.h"
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#include "esp_log.h"
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#include "esp_console.h"
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#include "esp_vfs_dev.h"
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#include "nvs_flash.h"
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#include "esp_http_client.h"
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#include "driver/uart.h"
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#include "driver/mcpwm.h"
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#include "soc/mcpwm_reg.h"
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#include "soc/mcpwm_struct.h"
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#include "linenoise/linenoise.h"
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#include "argtable3/argtable3.h"
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#include "esp32-wifi-manager.h"
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@ -28,10 +33,19 @@
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#define BASE_URL "http://192.168.0.1/"
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#define CMD_BEEP "cmd=audio resplay 0 1 3\n"
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#define CONFIG_SERVO_ENABLE (0)
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#define CONFIG_SHOOT_DELAY_MS (30000)
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static uint8_t id;
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EventGroupHandle_t wm_event_group;
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static struct {
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struct arg_int *value; // how fast it will move in uS
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struct arg_int *duration; // for how long it will move
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struct arg_end *end;
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} servo_args;
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esp_err_t _http_event_handle(esp_http_client_event_t *evt) {
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//ESP_LOGI(TAG, "Returning request for %s", (char*)evt->user_data);
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@ -84,6 +98,8 @@ void ping() {
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}
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void shoot() {
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ESP_LOGI(TAG, "shooting");
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esp_http_client_config_t config = {
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.url = "http://192.168.0.1/v1/camera/shoot",
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.method = HTTP_METHOD_POST,
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@ -126,20 +142,24 @@ void loop() {
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xEventGroupWaitBits(wm_event_group, WIFI_CONNECTED, false, true, portMAX_DELAY);
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ping();
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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while(true) {
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shoot();
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if(CONFIG_SERVO_ENABLE) {
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vTaskDelay(3000 / portTICK_PERIOD_MS);
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mcpwm_set_duty_in_us(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, 1200);
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vTaskDelay(100 / portTICK_PERIOD_MS);
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vTaskDelay(200 / portTICK_PERIOD_MS);
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mcpwm_set_duty_in_us(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, 1500);
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}
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vTaskDelay(5000 / portTICK_PERIOD_MS);
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vTaskDelay(CONFIG_SHOOT_DELAY_MS / portTICK_PERIOD_MS);
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}
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}
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void servo() {
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void pwm_init() {
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mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0A, 21);
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mcpwm_config_t pwm_config;
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@ -149,12 +169,107 @@ void servo() {
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pwm_config.counter_mode = MCPWM_UP_COUNTER;
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pwm_config.duty_mode = MCPWM_DUTY_MODE_0;
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mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_0, &pwm_config); //Configure PWM0A & PWM0B with above settings
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}
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void servo() {
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ESP_LOGI(TAG, "value: %d duration: %d", servo_args.value->ival[0], servo_args.duration->ival[0]);
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while(true) {
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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mcpwm_set_duty_in_us(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, servo_args.value->ival[0]);
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vTaskDelay(servo_args.duration->ival[0] / portTICK_PERIOD_MS);
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mcpwm_set_duty_in_us(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, 1500);
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vTaskDelay(5000 / portTICK_PERIOD_MS);
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}
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}
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bool running = false;
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static int servo_start(int argc, char **argv) {
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int nerrors = arg_parse(argc, argv, (void**) &servo_args);
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if (nerrors != 0) {
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arg_print_errors(stderr, servo_args.end, argv[0]);
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return 1;
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}
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if(!running) {
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running = true;
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xTaskCreate(&servo, "servo", 4096, NULL, 6, NULL);
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}
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return ESP_OK;
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}
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void register_servo_cmd() {
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servo_args.value = arg_int0("v", "value", "<int>", "move value in us");
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servo_args.value->ival[0] = 1200;
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servo_args.duration = arg_int0("d", "duration", "<int>", "duration in ms");
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servo_args.end = arg_end(2);
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const esp_console_cmd_t start_cmd = {
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.command = "start",
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.help = "Starts the servo",
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.hint = NULL,
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.func = &servo_start,
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.argtable = &servo_args
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};
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ESP_ERROR_CHECK( esp_console_cmd_register(&start_cmd) );
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}
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static void initialize_console() {
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/* Disable buffering on stdin and stdout */
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setvbuf(stdin, NULL, _IONBF, 0);
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setvbuf(stdout, NULL, _IONBF, 0);
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/* Minicom, screen, idf_monitor send CR when ENTER key is pressed */
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esp_vfs_dev_uart_set_rx_line_endings(ESP_LINE_ENDINGS_CR);
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/* Move the caret to the beginning of the next line on '\n' */
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esp_vfs_dev_uart_set_tx_line_endings(ESP_LINE_ENDINGS_CRLF);
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/* Configure UART. Note that REF_TICK is used so that the baud rate remains
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* correct while APB frequency is changing in light sleep mode.
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*/
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const uart_config_t uart_config = {
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.baud_rate = CONFIG_CONSOLE_UART_BAUDRATE,
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.data_bits = UART_DATA_8_BITS,
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.parity = UART_PARITY_DISABLE,
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.stop_bits = UART_STOP_BITS_1,
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.use_ref_tick = true
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};
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ESP_ERROR_CHECK( uart_param_config(CONFIG_CONSOLE_UART_NUM, &uart_config) );
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/* Install UART driver for interrupt-driven reads and writes */
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ESP_ERROR_CHECK( uart_driver_install(CONFIG_CONSOLE_UART_NUM,
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256, 0, 0, NULL, 0) );
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/* Tell VFS to use UART driver */
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esp_vfs_dev_uart_use_driver(CONFIG_CONSOLE_UART_NUM);
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/* Initialize the console */
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esp_console_config_t console_config = {
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.max_cmdline_args = 8,
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.max_cmdline_length = 256,
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.hint_color = atoi(LOG_COLOR_CYAN)
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};
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ESP_ERROR_CHECK( esp_console_init(&console_config) );
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/* Configure linenoise line completion library */
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/* Enable multiline editing. If not set, long commands will scroll within
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* single line.
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*/
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linenoiseSetMultiLine(1);
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/* Tell linenoise where to get command completions and hints */
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linenoiseSetCompletionCallback(&esp_console_get_completion);
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linenoiseSetHintsCallback((linenoiseHintsCallback*) &esp_console_get_hint);
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/* Set command history size */
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linenoiseHistorySetMaxLen(100);
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}
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void app_main() {
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esp_err_t ret;
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@ -185,6 +300,37 @@ void app_main() {
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}
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}
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xTaskCreate(&loop, "loop", 2048, NULL, 6, NULL);
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xTaskCreate(&servo, "servo", 2048, NULL, 6, NULL);
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//initialize_console();
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//esp_console_register_help_command();
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//register_servo_cmd();
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pwm_init();
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xTaskCreate(&loop, "loop", 4096, NULL, 6, NULL);
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const char* prompt = LOG_COLOR_I "grii> " LOG_RESET_COLOR;
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return;
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while(true) {
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char* line = linenoise(prompt);
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if (line == NULL) { /* Ignore empty lines */
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continue;
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}
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linenoiseHistoryAdd(line);
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int ret;
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esp_err_t err = esp_console_run(line, &ret);
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if (err == ESP_ERR_NOT_FOUND) {
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printf("Unrecognized command\n");
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} else if (err == ESP_ERR_INVALID_ARG) {
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// command was empty
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} else if (err == ESP_OK && ret != ESP_OK) {
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printf("Command returned non-zero error code: 0x%x (%s)\n", ret, esp_err_to_name(err));
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} else if (err != ESP_OK) {
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printf("Internal error: %s\n", esp_err_to_name(err));
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}
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/* linenoise allocates line buffer on the heap, so need to free it */
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linenoiseFree(line);
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}
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};
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