uummm, yeah, thats the bulk of the baseline code
This commit is contained in:
Morgan 'ARR\!' Allen
parent
29dc7460e9
commit
f07278587c
1 changed files with 164 additions and 114 deletions
276
main/main.c
276
main/main.c
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@ -16,6 +16,7 @@
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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_sleep.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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@ -26,6 +27,7 @@
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#include "linenoise/linenoise.h"
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#include "argtable3/argtable3.h"
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#include "driver/gpio.h"
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#include "driver/spi_master.h"
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#include "esp32-wifi-manager.h"
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@ -41,12 +43,24 @@
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#define CONFIG_SERVO_ENABLE (0)
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#define CONFIG_SHOOT_DELAY_MS (30000)
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#define CONFIG_TIMEOUT_SHOOT (100 / portTICK_PERIOD_MS)
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#define CONFIG_SLEEP_TIMEOUT (60000 / portTICK_PERIOD_MS)
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#define RTC_WAKE_IO RTC_GPIO8
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#define RTC_WAKE_PIN GPIO_INPUT_IO_0
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#define PIN_NUM_MOSI 22
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#define PIN_NUM_CLK 23
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#define LED_COUNT (1)
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#define SPI_BUF (LED_COUNT + 2)
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static uint8_t id;
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static EventGroupHandle_t wm_event_group;
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static xQueueHandle gpio_evt_queue = NULL;
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static xTimerHandle button_timer;
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static xTimerHandle sleep_timer;
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static spi_device_handle_t spi;
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xQueueHandle gpio_evt_queue = NULL;
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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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@ -54,6 +68,15 @@ static struct {
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struct arg_end *end;
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} servo_args;
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enum led_states {
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POR,
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CONNECTING,
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CONNECTED,
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SHOOTING
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};
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enum led_states led_state;
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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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@ -88,6 +111,42 @@ esp_err_t _http_event_handle(esp_http_client_event_t *evt) {
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return ESP_OK;
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}
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void enter_sleep() {
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ESP_LOGI(TAG, "Enter deep sleep");
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static spi_transaction_t trans[SPI_BUF];
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int i;
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for (i = 0; i < SPI_BUF; i++) {
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memset(&trans[i], 0, sizeof(spi_transaction_t));
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trans[i].length=8*4;
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trans[i].flags = SPI_TRANS_USE_TXDATA;
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}
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trans[1].tx_data[0] = (0b11100000 | 0);
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trans[1].tx_data[1] = 0;
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trans[1].tx_data[2] = 0;
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trans[1].tx_data[3] = 0;
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memset(&trans[SPI_BUF - 1].tx_data, 0xFF, 4);
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for(i = 0; i < SPI_BUF; i++) {
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spi_device_queue_trans(spi, &trans[i], portMAX_DELAY);
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}
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esp_sleep_enable_ext0_wakeup(RTC_WAKE_PIN, 0);
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esp_sleep_pd_config(ESP_PD_DOMAIN_RTC_PERIPH, ESP_PD_OPTION_ON);
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//rtc_gpio_isolate(GPIO_INPUT_IO_0);
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esp_deep_sleep_start();
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}
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void reset_sleep_timer() {
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xTimerReset(sleep_timer, portMAX_DELAY);
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xTimerStart(sleep_timer, portMAX_DELAY);
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}
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void ping() {
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esp_http_client_config_t config = {
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.url = "http://192.168.0.1/_gr",
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@ -146,24 +205,50 @@ void request(char *path) {
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}
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}
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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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void led_loop() {
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uint8_t v = 0;
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while(true) {
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//shoot();
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if(xQueueReceive(wm_event_queue, &v, portMAX_DELAY)) {
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EventBits_t ev_bits = xEventGroupGetBits(wm_event_group);
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ESP_LOGI(TAG, "got event: %d", ev_bits);
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if(CONFIG_SERVO_ENABLE) {
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vTaskDelay(3000 / portTICK_PERIOD_MS);
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static spi_transaction_t trans[SPI_BUF];
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mcpwm_set_duty_in_us(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, 1200);
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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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int i;
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for (i = 0; i < SPI_BUF; i++) {
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memset(&trans[i], 0, sizeof(spi_transaction_t));
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trans[i].length=8*4;
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trans[i].flags = SPI_TRANS_USE_TXDATA;
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}
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vTaskDelay(CONFIG_SHOOT_DELAY_MS / portTICK_PERIOD_MS);
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trans[1].tx_data[0] = (0b11100000 | 1);
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if(ev_bits & WIFI_CONNECTED) {
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trans[1].tx_data[1] = 0;
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trans[1].tx_data[2] = 127;
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trans[1].tx_data[3] = 0;
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} else if(ev_bits & WIFI_SCANNING) {
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trans[1].tx_data[1] = 0;
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trans[1].tx_data[2] = 55;
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trans[1].tx_data[3] = 127;
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} else if(ev_bits & WIFI_CONNECTING) {
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trans[1].tx_data[1] = 127;
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trans[1].tx_data[2] = 127;
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trans[1].tx_data[3] = 0;
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} else if(ev_bits & WIFI_IDLE) {
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trans[1].tx_data[1] = 0;
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trans[1].tx_data[2] = 0;
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trans[1].tx_data[3] = 127;
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}
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memset(&trans[SPI_BUF - 1].tx_data, 0xFF, 4);
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for(i = 0; i < SPI_BUF; i++) {
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spi_device_queue_trans(spi, &trans[i], portMAX_DELAY);
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}
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}
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}
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}
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@ -227,57 +312,6 @@ void register_servo_cmd() {
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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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static void IRAM_ATTR gpio_isr_handler(void* arg)
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{
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uint32_t gpio_num = (uint32_t) arg;
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@ -290,28 +324,28 @@ void gpio_loop() {
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for(;;) {
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if(xQueueReceive(gpio_evt_queue, &io_num, portMAX_DELAY)) {
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EventBits_t ev_bits = xEventGroupGetBits(wm_event_group);
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if(ev_bits & (WIFI_SCANNING|WIFI_CONNECTING)) {
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ESP_LOGI(TAG, "Scan or connection in progress...");
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continue;
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}
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if((ev_bits & WIFI_CONNECTED) == 0) {
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ESP_LOGI(TAG, "No connectiong, connecting");
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wifi_manager_scan();
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continue;
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}
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uint8_t level = gpio_get_level(io_num);
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printf("GPIO[%d] intr, val: %d\n", io_num, level);
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// don't act on state level twice
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if(level == state) continue;
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// track level for duplicate
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state = level;
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EventBits_t ev_bits = xEventGroupGetBits(wm_event_group);
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ESP_LOGI(TAG, "gpio_loop: %d", ev_bits);
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if(level == 0 && (ev_bits & WIFI_CONNECTED) == 0) {
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ESP_LOGI(TAG, "No connectiong, connecting");
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wifi_manager_scan();
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continue;
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}
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printf("GPIO[%d] intr, val: %d\n", io_num, level);
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reset_sleep_timer();
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if(level == 0) {
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xTimerChangePeriod(button_timer, CONFIG_TIMEOUT_SHOOT, portMAX_DELAY);
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xTimerStart(button_timer, portMAX_DELAY);
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@ -344,10 +378,57 @@ void gpio_init() {
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//start gpio task
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button_timer = xTimerCreate("gpio_timer", 1000, pdFALSE, (void*)NULL, handle_button_timer);
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sleep_timer = xTimerCreate("sleep_timer", CONFIG_SLEEP_TIMEOUT, pdFALSE, (void*)NULL, enter_sleep);
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reset_sleep_timer();
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xTaskCreate(gpio_loop, "gpio_loop", 2048, NULL, 10, NULL);
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}
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void spi_init() {
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esp_err_t ret;
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spi_bus_config_t buscfg={
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.mosi_io_num=PIN_NUM_MOSI,
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.sclk_io_num=PIN_NUM_CLK,
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.quadwp_io_num=-1,
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.quadhd_io_num=-1,
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.max_transfer_sz=120*320*2+8
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};
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spi_device_interface_config_t devcfg={
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.clock_speed_hz=10*1000*1000, //Clock out at 10 MHz
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.mode=0, //SPI mode 0
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.queue_size=7, //We want to be able to queue 7 transactions at a time
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//.pre_cb=lcd_spi_pre_transfer_callback, //Specify pre-transfer callback to handle D/C line
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};
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//Initialize the SPI bus
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ret=spi_bus_initialize(HSPI_HOST, &buscfg, 1);
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ESP_ERROR_CHECK(ret);
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//Attach the LCD to the SPI bus
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ret=spi_bus_add_device(HSPI_HOST, &devcfg, &spi);
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ESP_ERROR_CHECK(ret);
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static spi_transaction_t trans[SPI_BUF];
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int i;
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for (i = 0; i < SPI_BUF; i++) {
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memset(&trans[i], 0, sizeof(spi_transaction_t));
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trans[i].length=8*4;
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trans[i].flags = SPI_TRANS_USE_TXDATA;
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}
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trans[1].tx_data[0] = (0b11100000 | 1);
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trans[1].tx_data[1] = 127;
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trans[1].tx_data[2] = 127;
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trans[1].tx_data[3] = 127;
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memset(&trans[SPI_BUF - 1].tx_data, 0xFF, 4);
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for(i = 0; i < SPI_BUF; i++) {
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ret = spi_device_queue_trans(spi, &trans[i], portMAX_DELAY);
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assert(ret==ESP_OK);
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}
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}
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void app_main() {
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esp_err_t ret;
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@ -378,41 +459,10 @@ void app_main() {
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}
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}
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wifi_manager_scan();
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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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gpio_init();
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spi_init();
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return;
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while(true) {
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char* line = linenoise(prompt);
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xTaskCreate(&led_loop, "led_loop", 4096, NULL, 6, NULL);
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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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wifi_manager_scan();
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};
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