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airseeder-firmware
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Add power button and comms led

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master
Tom Wilson 4 years ago
parent 5f012ac67a
commit 2b349433a8
2 changed files with 116 additions and 8 deletions
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16
src/primary-esp32/io.h
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@ -6,4 +6,20 @@
#define GPIO_I2C_SDA GPIO_NUM_21
#define GPIO_I2C_SCL GPIO_NUM_22
#define GPIO_SYS_EN GPIO_NUM_27
#define GPIO_ACT_LED GPIO_NUM_26
#define GPIO_WHEEL_SPEED GPIO_NUM_14
#define GPIO_OIL_PRESSURE GPIO_NUM_13
#define GPIO_BIN1_LEVEL GPIO_NUM_4
#define GPIO_BIN2_LEVEL GPIO_NUM_16
#define GPIO_BIN3_LEVEL GPIO_NUM_17
#define GPIO_BIN1_EMPTY GPIO_NUM_5
#define GPIO_BIN2_EMPTY GPIO_NUM_18
#define GPIO_BIN3_EMPTY GPIO_NUM_19
#endif

108
src/primary-esp32/main.cpp
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@ -3,20 +3,30 @@
#include "EspMQTTClient.h"
#include "i2c_comms.h"
#include "io.h"
#define MOTOR_STATUS_UPDATE_PERIOD_MS 500
#define HEARTBEAT_PERIOD_MS 1000
EspMQTTClient mqtt_client("devtest", // Wifi SSID
"87usc6rs", // WiFi password
"10.9.2.101", // MQTT Broker server ip
"", // Can be omitted if not needed
"", // Can be omitted if not needed
"Airseeder", // Client name that uniquely identify your device
1883 // The MQTT port, default to 1883. this line can be omitted
#define POWER_BUTTON_HOLD_MS 300
EspMQTTClient mqtt_client("devtest", // Wifi SSID
"87usc6rs", // WiFi password
"10.9.2.101", // MQTT Broker server ip
"", // Can be omitted if not needed
"", // Can be omitted if not needed
"Airseeder", // Client name that uniquely identify your device
1883 // The MQTT port, default to 1883. this line can be omitted
);
void setup() {
// Hold system power on only if button is held down for long enough
digitalWrite(GPIO_SYS_EN, LOW);
pinMode(GPIO_SYS_EN, OUTPUT);
digitalWrite(GPIO_ACT_LED, LOW);
pinMode(GPIO_ACT_LED, OUTPUT);
Serial.setTimeout(1);
Serial.begin(57600);
i2c_comms_setup();
@ -32,8 +42,70 @@ void setup() {
char msg_buffer[100];
#define MAX_MSG_SEGMENTS 7
String msg_segments[MAX_MSG_SEGMENTS];
// Breaks up the message string into segments delimited by a ' ' character, putting them into `msg_segments`. Returns
// the number of segments found. Yes, it uses lots of dynamic Arduino Strings. Pretty sure it's not a problem on the
// ESP32.
int parse_message(const String &message) {
int seg_start = 0;
int seg_end = 0;
int seg_count = 0;
while (((seg_end = message.indexOf(' ', seg_start)) >= 0) and (seg_count < (MAX_MSG_SEGMENTS - 1))) {
if (seg_start != seg_end) {
msg_segments[seg_count] = message.substring(seg_start, seg_end);
seg_count++;
}
seg_start = seg_end + 1;
}
msg_segments[seg_count] = message.substring(seg_start);
seg_count++;
return seg_count;
}
void onRollerControlMessage(const String &message) {}
typedef enum { MODE_DISABLED = 0, MODE_AUTO = 1, MODE_MANUAL = 2 } roller_control_mode_t;
typedef struct {
roller_control_mode_t mode = MODE_DISABLED;
float wheel_ratio; // Roller to wheel ratio - so 2.5 would be 2.5 roller revs for each wheel rev
float manual_speed;
unsigned long manual_time_started;
unsigned long manual_duration;
} roller_control_t;
roller_control_t roller_ctrl[3];
// For each roller, need to store the current control mode, ratio, manual speed, manual speed started, manual speed
// duration
// [roller1_mode] [roller2_mode] [roller2_mode] [roller1_ratio] [roller2_ratio] [roller3_ratio]
// Mode is 0 for disabled, 1 for auto. If mode was manual, it is now overwritten, and manual control stops.
void onRollerControlMessage(const String &message) {
if (parse_message(message) >= 6) {
if (msg_segments[0].toInt() == 1) {
roller_ctrl[0].mode = MODE_AUTO;
} else {
roller_ctrl[0].mode = MODE_DISABLED;
}
if (msg_segments[1].toInt() == 1) {
roller_ctrl[1].mode = MODE_AUTO;
} else {
roller_ctrl[1].mode = MODE_DISABLED;
}
if (msg_segments[2].toInt() == 1) {
roller_ctrl[2].mode = MODE_AUTO;
} else {
roller_ctrl[2].mode = MODE_DISABLED;
}
roller_ctrl[0].wheel_ratio = msg_segments[3].toFloat();
roller_ctrl[1].wheel_ratio = msg_segments[4].toFloat();
roller_ctrl[2].wheel_ratio = msg_segments[5].toFloat();
// TODO trip motor control update flag
}
}
// Builtin function name used by EspMQTTClient
void onConnectionEstablished() {
@ -56,6 +128,21 @@ unsigned long last_heartbeat = 0;
void loop() {
now = millis();
if (now > POWER_BUTTON_HOLD_MS) {
digitalWrite(GPIO_SYS_EN, HIGH);
}
// Comms LED is solid blue if everything connected
if (mqtt_client.isConnected()){
digitalWrite(GPIO_ACT_LED, HIGH);
} else if (mqtt_client.isWifiConnected()){
// If WiFi is connected but MQTT is not, blinks with a period of 3 Hz
digitalWrite(GPIO_ACT_LED, (now % 333)<167);
} else {
// If no WiFi, blinks with a period of 1 Hz
digitalWrite(GPIO_ACT_LED, (now % 1000)<501);
}
if (now - last_motor_status > MOTOR_STATUS_UPDATE_PERIOD_MS) {
last_motor_status = now;
request_motor_status_update();
@ -91,6 +178,11 @@ void loop() {
mqtt_client.publish("airseeder/status/heartbeat", msg_buffer, true);
}
// Have roller control update required flag. Trip it if something comes in on MQTT or if been longer than update
// period. Also trip it if we have anything in manual override mode and now - started > duration If we have new
// wheel speed data or if longer than control update, send control update Generate update from current roller modes,
// set ratios, and wheel speed Modes and ratios are stored locally here in the main module
motor_control_group.motor_1.enabled = true;
motor_control_group.motor_1.desired_speed = ((millis() % 10000) / 10000.0) * 0.65;
set_motor_control(motor_control_group);

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