From f39139f91065645a1f3e75f46b4bf4454bbf9d8a Mon Sep 17 00:00:00 2001 From: "Morgan 'ARR\\!' Allen" Date: Tue, 7 May 2019 10:01:16 -0700 Subject: [PATCH] minimal function example, it shoot, it spin, it repeat --- main/main.c | 147 ++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 147 insertions(+) diff --git a/main/main.c b/main/main.c index 88e94ca..fab1697 100644 --- a/main/main.c +++ b/main/main.c @@ -17,11 +17,144 @@ #include "esp_log.h" #include "nvs_flash.h" #include "esp_http_client.h" +#include "driver/mcpwm.h" +#include "soc/mcpwm_reg.h" +#include "soc/mcpwm_struct.h" + +#include "esp32-wifi-manager.h" #define TAG "CACO" +#define BASE_URL "http://192.168.0.1/" +#define CMD_BEEP "cmd=audio resplay 0 1 3\n" + static uint8_t id; +EventGroupHandle_t wm_event_group; + +esp_err_t _http_event_handle(esp_http_client_event_t *evt) { + //ESP_LOGI(TAG, "Returning request for %s", (char*)evt->user_data); + + switch(evt->event_id) { + case HTTP_EVENT_ERROR: + ESP_LOGI(TAG, "HTTP_EVENT_ERROR"); + break; + case HTTP_EVENT_ON_CONNECTED: + ESP_LOGI(TAG, "HTTP_EVENT_ON_CONNECTED"); + break; + case HTTP_EVENT_HEADER_SENT: + ESP_LOGI(TAG, "HTTP_EVENT_HEADER_SENT"); + break; + case HTTP_EVENT_ON_HEADER: + ESP_LOGI(TAG, "HTTP_EVENT_ON_HEADER"); + printf("%.*s", evt->data_len, (char*)evt->data); + break; + case HTTP_EVENT_ON_DATA: + ESP_LOGI(TAG, "HTTP_EVENT_ON_DATA, len=%d", evt->data_len); + if (!esp_http_client_is_chunked_response(evt->client)) { + printf("%.*s", evt->data_len, (char*)evt->data); + } + + break; + case HTTP_EVENT_ON_FINISH: + ESP_LOGI(TAG, "HTTP_EVENT_ON_FINISH"); + break; + case HTTP_EVENT_DISCONNECTED: + ESP_LOGI(TAG, "HTTP_EVENT_DISCONNECTED"); + break; + } + return ESP_OK; +} + +void ping() { + esp_http_client_config_t config = { + .url = "http://192.168.0.1/_gr", + .method = HTTP_METHOD_POST, + }; + + esp_http_client_handle_t client = esp_http_client_init(&config); + esp_http_client_set_post_field(client, CMD_BEEP, strlen(CMD_BEEP)); + esp_err_t err = esp_http_client_perform(client); + + if (err == ESP_OK) { + ESP_LOGI(TAG, "Status = %d, content_length = %d", + esp_http_client_get_status_code(client), + esp_http_client_get_content_length(client)); + } +} + +void shoot() { + esp_http_client_config_t config = { + .url = "http://192.168.0.1/v1/camera/shoot", + .method = HTTP_METHOD_POST, + }; + + esp_http_client_handle_t client = esp_http_client_init(&config); + esp_http_client_set_post_field(client, CMD_BEEP, strlen(CMD_BEEP)); + esp_err_t err = esp_http_client_perform(client); + + if (err == ESP_OK) { + ESP_LOGI(TAG, "Status = %d, content_length = %d", + esp_http_client_get_status_code(client), + esp_http_client_get_content_length(client)); + } +} + +void request(char *path) { + char *url = malloc(strlen(BASE_URL) + strlen(path) + 1); + strcpy(url, BASE_URL); + strcat(url, path); + + ESP_LOGI(TAG, "Making request to %s", url); + + esp_http_client_config_t config = { + .url = url, + .event_handler = _http_event_handle + }; + + esp_http_client_handle_t client = esp_http_client_init(&config); + esp_err_t err = esp_http_client_perform(client); + + if (err == ESP_OK) { + ESP_LOGI(TAG, "Status = %d, content_length = %d", + esp_http_client_get_status_code(client), + esp_http_client_get_content_length(client)); + } +} + +void loop() { + xEventGroupWaitBits(wm_event_group, WIFI_CONNECTED, false, true, portMAX_DELAY); + ping(); + + while(true) { + shoot(); + + vTaskDelay(3000 / portTICK_PERIOD_MS); + + mcpwm_set_duty_in_us(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, 1200); + vTaskDelay(100 / portTICK_PERIOD_MS); + mcpwm_set_duty_in_us(MCPWM_UNIT_0, MCPWM_TIMER_0, MCPWM_OPR_A, 1500); + + vTaskDelay(5000 / portTICK_PERIOD_MS); + } +} + +void servo() { + mcpwm_gpio_init(MCPWM_UNIT_0, MCPWM0A, 21); + + mcpwm_config_t pwm_config; + pwm_config.frequency = 50; //frequency = 50Hz, i.e. for every servo motor time period should be 20ms + pwm_config.cmpr_a = 0; //duty cycle of PWMxA = 0 + pwm_config.cmpr_b = 0; //duty cycle of PWMxb = 0 + pwm_config.counter_mode = MCPWM_UP_COUNTER; + pwm_config.duty_mode = MCPWM_DUTY_MODE_0; + mcpwm_init(MCPWM_UNIT_0, MCPWM_TIMER_0, &pwm_config); //Configure PWM0A & PWM0B with above settings + + while(true) { + vTaskDelay(1000 / portTICK_PERIOD_MS); + } +} + void app_main() { esp_err_t ret; @@ -40,4 +173,18 @@ void app_main() { id = mac[5]; ESP_LOGI(TAG, "MAC: %X:%X:%X:%X:%X:%X\n", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]); + + wm_event_group = wifi_manager_start(); + wifi_manager_reset_store(); + + if(wifi_manager_ap_count() == 0) { + ESP_LOGI(TAG, "Adding new AP"); + + if(strlen(CONFIG_WIFI_MANAGER_TEST_AP) > 0) { + wifi_manager_add_ap(CONFIG_WIFI_MANAGER_TEST_AP, CONFIG_WIFI_MANAGER_TEST_PWD); + } + } + + xTaskCreate(&loop, "loop", 2048, NULL, 6, NULL); + xTaskCreate(&servo, "servo", 2048, NULL, 6, NULL); };