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🚀 Builds with new ESP32-Sveltekit template

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Rune Harlyk
2024-03-28 18:16:06 +01:00
committed by Rune Harlyk
parent 6b47100f3f
commit 3eb8190cda
59 changed files with 2343 additions and 2451 deletions
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esp32/.vscode/c_cpp_properties.json
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//
// !!! WARNING !!! AUTO-GENERATED FILE!
// PLEASE DO NOT MODIFY IT AND USE "platformio.ini":
// https://docs.platformio.org/page/projectconf/section_env_build.html#build-flags
//
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"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/ulp/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/wifi_provisioning/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/rmaker_common/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp_diagnostics/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/rtc_store/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp_insights/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/json_parser/upstream/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/json_parser/upstream",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/json_generator/upstream",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp_schedule/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp_secure_cert_mgr/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp_rainmaker/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/gpio_button/button/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/qrcode/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/ws2812_led",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp_littlefs/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-dl/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-dl/include/tool",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-dl/include/typedef",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-dl/include/image",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-dl/include/math",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-dl/include/nn",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-dl/include/layer",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-dl/include/detect",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-dl/include/model_zoo",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-sr/src/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-sr/esp-tts/esp_tts_chinese/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp-sr/include/esp32",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp32-camera/driver/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/esp32-camera/conversions/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/dotprod/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/support/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/windows/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/windows/hann/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/windows/blackman/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/windows/blackman_harris/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/windows/blackman_nuttall/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/windows/nuttall/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/windows/flat_top/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/iir/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/fir/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/math/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/math/add/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/math/sub/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/math/mul/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/math/addc/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/math/mulc/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/math/sqrt/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/matrix/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/fft/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/dct/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/conv/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/common/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/kalman/ekf/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/espressif__esp-dsp/modules/kalman/ekf_imu13states/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/include/fb_gfx/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/tools/sdk/esp32/dio_qspi/include",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/cores/esp32",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/variants/esp32",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/ArduinoOTA/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/AsyncUDP/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/BLE/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/BluetoothSerial/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/EEPROM/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/ESP32/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/Ethernet/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/FFat/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/HTTPUpdateServer/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/I2S/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/Insights/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/NetBIOS/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/Preferences/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/RainMaker/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/SD/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/SD_MMC/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/SPI/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/SPIFFS/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/SimpleBLE/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/Ticker/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/USB/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/WebServer/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/WiFiProv/src",
"C:/Users/Rune/.platformio/packages/framework-arduinoespressif32/libraries/Wire/src",
""
]
},
"defines": [
"PLATFORMIO=60114",
"ARDUINO_ESP32_DEV",
"APP_NAME=\"Spot-Micro\"",
"APP_VERSION=\"0.0.1\"",
"FACTORY_WIFI_SSID=\"\"",
"FACTORY_WIFI_PASSWORD=\"\"",
"FACTORY_WIFI_HOSTNAME=\"#{platform}-#{unique_id}\"",
"FACTORY_AP_PROVISION_MODE=AP_MODE_DISCONNECTED",
"FACTORY_AP_SSID=\"Spot-Micro-#{unique_id}\"",
"FACTORY_AP_PASSWORD=\"esp-react\"",
"FACTORY_AP_CHANNEL=1",
"FACTORY_AP_SSID_HIDDEN=false",
"FACTORY_AP_MAX_CLIENTS=4",
"FACTORY_AP_LOCAL_IP=\"192.168.4.1\"",
"FACTORY_AP_GATEWAY_IP=\"192.168.4.1\"",
"FACTORY_AP_SUBNET_MASK=\"255.255.255.0\"",
"FACTORY_ADMIN_USERNAME=\"admin\"",
"FACTORY_ADMIN_PASSWORD=\"admin\"",
"FACTORY_GUEST_USERNAME=\"guest\"",
"FACTORY_GUEST_PASSWORD=\"guest\"",
"FACTORY_NTP_ENABLED=true",
"FACTORY_NTP_TIME_ZONE_LABEL=\"Europe/London\"",
"FACTORY_NTP_TIME_ZONE_FORMAT=\"GMT0BST,M3.5.0/1,M10.5.0\"",
"FACTORY_NTP_SERVER=\"time.google.com\"",
"FACTORY_OTA_PORT=8266",
"FACTORY_OTA_PASSWORD=\"spot-leika\"",
"FACTORY_OTA_ENABLED=true",
"FACTORY_MQTT_ENABLED=false",
"FACTORY_MQTT_URI=\"test.mosquitto.org\"",
"FACTORY_MQTT_PORT=1883",
"FACTORY_MQTT_USERNAME=\"\"",
"FACTORY_MQTT_PASSWORD=\"\"",
"FACTORY_MQTT_CLIENT_ID=\"#{platform}-#{unique_id}\"",
"FACTORY_MQTT_KEEP_ALIVE=60",
"FACTORY_MQTT_CLEAN_SESSION=true",
"FACTORY_MQTT_MAX_TOPIC_LENGTH=128",
"FACTORY_JWT_SECRET=\"#{random}-#{random}\"",
"USE_BATTERY=1",
"USE_NTP=1",
"USE_SECURITY=1",
"USE_UPLOAD_FIRMWARE=1",
"USE_DOWNLOAD_FIRMWARE=1",
"USE_ANALYTICS=1",
"BUILD_TARGET=\"esp32dev\"",
"ESP32SVELTEKIT_RUNNING_CORE=0",
"EMBED_WWW",
"ENABLE_CORS",
"SERIAL_INFO",
"CORS_ORIGIN=\"*\"",
"CORE_DEBUG_LEVEL=5",
"register=",
"LED_BUILTIN=2",
"KEY_BUILTIN=0",
"HAVE_CONFIG_H",
"MBEDTLS_CONFIG_FILE=\"mbedtls/esp_config.h\"",
"UNITY_INCLUDE_CONFIG_H",
"WITH_POSIX",
"_GNU_SOURCE",
"IDF_VER=\"v4.4.4\"",
"ESP_PLATFORM",
"_POSIX_READER_WRITER_LOCKS",
"ARDUINO_ARCH_ESP32",
"ESP32",
"F_CPU=240000000L",
"ARDUINO=10812",
"ARDUINO_VARIANT=\"esp32\"",
"ARDUINO_BOARD=\"Espressif ESP32 Dev Module\"",
"ARDUINO_PARTITION_min_spiffs",
""
],
"cStandard": "gnu99",
"cppStandard": "gnu++17",
"compilerPath": "C:/Users/Rune/.platformio/packages/toolchain-xtensa-esp32/bin/xtensa-esp32-elf-gcc.exe",
"compilerArgs": [
"-mlongcalls",
""
]
}
],
"version": 4
}
esp32/.vscode/extensions.json
Vendored
+10
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@@ -0,0 +1,10 @@
{
// See http://go.microsoft.com/fwlink/?LinkId=827846
// for the documentation about the extensions.json format
"recommendations": [
"platformio.platformio-ide"
],
"unwantedRecommendations": [
"ms-vscode.cpptools-extension-pack"
]
}
esp32/.vscode/launch.json
Vendored
+44
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@@ -0,0 +1,44 @@
// AUTOMATICALLY GENERATED FILE. PLEASE DO NOT MODIFY IT MANUALLY
//
// PlatformIO Debugging Solution
//
// Documentation: https://docs.platformio.org/en/latest/plus/debugging.html
// Configuration: https://docs.platformio.org/en/latest/projectconf/sections/env/options/debug/index.html
{
"version": "0.2.0",
"configurations": [
{
"type": "platformio-debug",
"request": "launch",
"name": "PIO Debug",
"executable": "C:/data/repos/Hardware/Spot Micro - Leika/esp32/.pio/build/esp32dev/firmware.elf",
"projectEnvName": "esp32dev",
"toolchainBinDir": "C:/Users/Rune/.platformio/packages/toolchain-xtensa-esp32/bin",
"internalConsoleOptions": "openOnSessionStart",
"preLaunchTask": {
"type": "PlatformIO",
"task": "Pre-Debug"
}
},
{
"type": "platformio-debug",
"request": "launch",
"name": "PIO Debug (skip Pre-Debug)",
"executable": "C:/data/repos/Hardware/Spot Micro - Leika/esp32/.pio/build/esp32dev/firmware.elf",
"projectEnvName": "esp32dev",
"toolchainBinDir": "C:/Users/Rune/.platformio/packages/toolchain-xtensa-esp32/bin",
"internalConsoleOptions": "openOnSessionStart"
},
{
"type": "platformio-debug",
"request": "launch",
"name": "PIO Debug (without uploading)",
"executable": "C:/data/repos/Hardware/Spot Micro - Leika/esp32/.pio/build/esp32dev/firmware.elf",
"projectEnvName": "esp32dev",
"toolchainBinDir": "C:/Users/Rune/.platformio/packages/toolchain-xtensa-esp32/bin",
"internalConsoleOptions": "openOnSessionStart",
"loadMode": "manual"
}
]
}
esp32/build_settings.ini
+8
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@@ -0,0 +1,8 @@
[build_settings]
build_flags =
-D BUILD_TARGET=\"$PIOENV\"
-D ESP32SVELTEKIT_RUNNING_CORE=0
-D EMBED_WWW
-D ENABLE_CORS
-D SERIAL_INFO
-D CORS_ORIGIN=\"*\"
esp32/factory_settings.ini
+43 -40
View File
@@ -6,49 +6,52 @@
[factory_settings]
build_flags =
; WiFi settings
-D FACTORY_WIFI_SSID=\"\"
-D FACTORY_WIFI_PASSWORD=\"\"
-D FACTORY_WIFI_HOSTNAME=\"#{platform}-#{unique_id}\" ; supports placeholders
-D APP_NAME=\"Spot-Micro\" ; [a-zA-Z0-9-_]
-D APP_VERSION=\"0.0.1\"
; Access point settings
-D FACTORY_AP_PROVISION_MODE=AP_MODE_DISCONNECTED
-D FACTORY_AP_SSID=\"ESP8266-React-#{unique_id}\" ; 1-64 characters, supports placeholders
-D FACTORY_AP_PASSWORD=\"esp-react\" ; 8-64 characters
-D FACTORY_AP_CHANNEL=1
-D FACTORY_AP_SSID_HIDDEN=false
-D FACTORY_AP_MAX_CLIENTS=4
-D FACTORY_AP_LOCAL_IP=\"192.168.4.1\"
-D FACTORY_AP_GATEWAY_IP=\"192.168.4.1\"
-D FACTORY_AP_SUBNET_MASK=\"255.255.255.0\"
; WiFi settings
-D FACTORY_WIFI_SSID=\"\"
-D FACTORY_WIFI_PASSWORD=\"\"
-D FACTORY_WIFI_HOSTNAME=\"#{platform}-#{unique_id}\" ; supports placeholders
; User credentials for admin and guest user
-D FACTORY_ADMIN_USERNAME=\"admin\"
-D FACTORY_ADMIN_PASSWORD=\"admin\"
-D FACTORY_GUEST_USERNAME=\"guest\"
-D FACTORY_GUEST_PASSWORD=\"guest\"
; Access point settings
-D FACTORY_AP_PROVISION_MODE=AP_MODE_DISCONNECTED
-D FACTORY_AP_SSID=\"Spot-Micro-#{unique_id}\" ; 1-64 characters, supports placeholders
-D FACTORY_AP_PASSWORD=\"esp-react\" ; 8-64 characters
-D FACTORY_AP_CHANNEL=1
-D FACTORY_AP_SSID_HIDDEN=false
-D FACTORY_AP_MAX_CLIENTS=4
-D FACTORY_AP_LOCAL_IP=\"192.168.4.1\"
-D FACTORY_AP_GATEWAY_IP=\"192.168.4.1\"
-D FACTORY_AP_SUBNET_MASK=\"255.255.255.0\"
; NTP settings
-D FACTORY_NTP_ENABLED=true
-D FACTORY_NTP_TIME_ZONE_LABEL=\"Europe/London\"
-D FACTORY_NTP_TIME_ZONE_FORMAT=\"GMT0BST,M3.5.0/1,M10.5.0\"
-D FACTORY_NTP_SERVER=\"time.google.com\"
; User credentials for admin and guest user
-D FACTORY_ADMIN_USERNAME=\"admin\"
-D FACTORY_ADMIN_PASSWORD=\"admin\"
-D FACTORY_GUEST_USERNAME=\"guest\"
-D FACTORY_GUEST_PASSWORD=\"guest\"
; OTA settings
-D FACTORY_OTA_PORT=8266
-D FACTORY_OTA_PASSWORD=\"esp-react\"
-D FACTORY_OTA_ENABLED=true
; NTP settings
-D FACTORY_NTP_ENABLED=true
-D FACTORY_NTP_TIME_ZONE_LABEL=\"Europe/London\"
-D FACTORY_NTP_TIME_ZONE_FORMAT=\"GMT0BST,M3.5.0/1,M10.5.0\"
-D FACTORY_NTP_SERVER=\"time.google.com\"
; MQTT settings
-D FACTORY_MQTT_ENABLED=false
-D FACTORY_MQTT_HOST=\"test.mosquitto.org\"
-D FACTORY_MQTT_PORT=1883
-D FACTORY_MQTT_USERNAME=\"\" ; supports placeholders
-D FACTORY_MQTT_PASSWORD=\"\"
-D FACTORY_MQTT_CLIENT_ID=\"#{platform}-#{unique_id}\" ; supports placeholders
-D FACTORY_MQTT_KEEP_ALIVE=60
-D FACTORY_MQTT_CLEAN_SESSION=true
-D FACTORY_MQTT_MAX_TOPIC_LENGTH=128
; OTA settings
-D FACTORY_OTA_PORT=8266
-D FACTORY_OTA_PASSWORD=\"spot-leika\"
-D FACTORY_OTA_ENABLED=true
; JWT Secret
-D FACTORY_JWT_SECRET=\"#{random}-#{random}\" ; supports placeholders
; MQTT settings
-D FACTORY_MQTT_ENABLED=false
-D FACTORY_MQTT_URI=\"test.mosquitto.org\"
-D FACTORY_MQTT_PORT=1883
-D FACTORY_MQTT_USERNAME=\"\" ; supports placeholders
-D FACTORY_MQTT_PASSWORD=\"\"
-D FACTORY_MQTT_CLIENT_ID=\"#{platform}-#{unique_id}\" ; supports placeholders
-D FACTORY_MQTT_KEEP_ALIVE=60
-D FACTORY_MQTT_CLEAN_SESSION=true
-D FACTORY_MQTT_MAX_TOPIC_LENGTH=128
; JWT Secret
-D FACTORY_JWT_SECRET=\"#{random}-#{random}\" ; supports placeholders
esp32/features.ini
-1
View File
@@ -1,6 +1,5 @@
[features]
build_flags =
-D USE_CAMERA=1
-D USE_BATTERY=1
-D USE_NTP=1
-D USE_SECURITY=1
esp32/include/AsyncJpegStream.h
-28
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@@ -1,28 +0,0 @@
#include <ESPAsyncWebServer.h>
#include <esp_camera.h>
typedef struct {
camera_fb_t * fb;
size_t index;
} camera_frame_t;
#define PART_BOUNDARY "123456789000000000000987654321"
class AsyncJpegStreamResponse: public AsyncAbstractResponse {
private:
camera_frame_t _frame;
size_t _index;
size_t _jpg_buf_len;
uint8_t * _jpg_buf;
uint64_t lastAsyncRequest;
public:
AsyncJpegStreamResponse();
~AsyncJpegStreamResponse();
bool _sourceValid() const {
return true;
}
virtual size_t _fillBuffer(uint8_t *buf, size_t maxLen) override;
size_t _content(uint8_t *buffer, size_t maxLen, size_t index);
};
void streamJpg(AsyncWebServerRequest *request);
esp32/include/README
-39
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@@ -1,39 +0,0 @@
This directory is intended for project header files.
A header file is a file containing C declarations and macro definitions
to be shared between several project source files. You request the use of a
header file in your project source file (C, C++, etc) located in `src` folder
by including it, with the C preprocessing directive `#include'.
```src/main.c
#include "header.h"
int main (void)
{
...
}
```
Including a header file produces the same results as copying the header file
into each source file that needs it. Such copying would be time-consuming
and error-prone. With a header file, the related declarations appear
in only one place. If they need to be changed, they can be changed in one
place, and programs that include the header file will automatically use the
new version when next recompiled. The header file eliminates the labor of
finding and changing all the copies as well as the risk that a failure to
find one copy will result in inconsistencies within a program.
In C, the usual convention is to give header files names that end with `.h'.
It is most portable to use only letters, digits, dashes, and underscores in
header file names, and at most one dot.
Read more about using header files in official GCC documentation:
* Include Syntax
* Include Operation
* Once-Only Headers
* Computed Includes
https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
esp32/include/camera.h
-3
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@@ -1,3 +0,0 @@
#pragma once
esp_err_t InitializeCamera();
esp32/include/camera_pins.h
-297
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@@ -1,297 +0,0 @@
#if defined(CAMERA_MODEL_WROVER_KIT)
#define PWDN_GPIO_NUM -1
#define RESET_GPIO_NUM -1
#define XCLK_GPIO_NUM 21
#define SIOD_GPIO_NUM 26
#define SIOC_GPIO_NUM 27
#define Y9_GPIO_NUM 35
#define Y8_GPIO_NUM 34
#define Y7_GPIO_NUM 39
#define Y6_GPIO_NUM 36
#define Y5_GPIO_NUM 19
#define Y4_GPIO_NUM 18
#define Y3_GPIO_NUM 5
#define Y2_GPIO_NUM 4
#define VSYNC_GPIO_NUM 25
#define HREF_GPIO_NUM 23
#define PCLK_GPIO_NUM 22
#elif defined(CAMERA_MODEL_ESP_EYE)
#define PWDN_GPIO_NUM -1
#define RESET_GPIO_NUM -1
#define XCLK_GPIO_NUM 4
#define SIOD_GPIO_NUM 18
#define SIOC_GPIO_NUM 23
#define Y9_GPIO_NUM 36
#define Y8_GPIO_NUM 37
#define Y7_GPIO_NUM 38
#define Y6_GPIO_NUM 39
#define Y5_GPIO_NUM 35
#define Y4_GPIO_NUM 14
#define Y3_GPIO_NUM 13
#define Y2_GPIO_NUM 34
#define VSYNC_GPIO_NUM 5
#define HREF_GPIO_NUM 27
#define PCLK_GPIO_NUM 25
#define LED_GPIO_NUM 22
#elif defined(CAMERA_MODEL_M5STACK_PSRAM)
#define PWDN_GPIO_NUM -1
#define RESET_GPIO_NUM 15
#define XCLK_GPIO_NUM 27
#define SIOD_GPIO_NUM 25
#define SIOC_GPIO_NUM 23
#define Y9_GPIO_NUM 19
#define Y8_GPIO_NUM 36
#define Y7_GPIO_NUM 18
#define Y6_GPIO_NUM 39
#define Y5_GPIO_NUM 5
#define Y4_GPIO_NUM 34
#define Y3_GPIO_NUM 35
#define Y2_GPIO_NUM 32
#define VSYNC_GPIO_NUM 22
#define HREF_GPIO_NUM 26
#define PCLK_GPIO_NUM 21
#elif defined(CAMERA_MODEL_M5STACK_V2_PSRAM)
#define PWDN_GPIO_NUM -1
#define RESET_GPIO_NUM 15
#define XCLK_GPIO_NUM 27
#define SIOD_GPIO_NUM 22
#define SIOC_GPIO_NUM 23
#define Y9_GPIO_NUM 19
#define Y8_GPIO_NUM 36
#define Y7_GPIO_NUM 18
#define Y6_GPIO_NUM 39
#define Y5_GPIO_NUM 5
#define Y4_GPIO_NUM 34
#define Y3_GPIO_NUM 35
#define Y2_GPIO_NUM 32
#define VSYNC_GPIO_NUM 25
#define HREF_GPIO_NUM 26
#define PCLK_GPIO_NUM 21
#elif defined(CAMERA_MODEL_M5STACK_WIDE)
#define PWDN_GPIO_NUM -1
#define RESET_GPIO_NUM 15
#define XCLK_GPIO_NUM 27
#define SIOD_GPIO_NUM 22
#define SIOC_GPIO_NUM 23
#define Y9_GPIO_NUM 19
#define Y8_GPIO_NUM 36
#define Y7_GPIO_NUM 18
#define Y6_GPIO_NUM 39
#define Y5_GPIO_NUM 5
#define Y4_GPIO_NUM 34
#define Y3_GPIO_NUM 35
#define Y2_GPIO_NUM 32
#define VSYNC_GPIO_NUM 25
#define HREF_GPIO_NUM 26
#define PCLK_GPIO_NUM 21
#define LED_GPIO_NUM 2
#elif defined(CAMERA_MODEL_M5STACK_ESP32CAM)
#define PWDN_GPIO_NUM -1
#define RESET_GPIO_NUM 15
#define XCLK_GPIO_NUM 27
#define SIOD_GPIO_NUM 25
#define SIOC_GPIO_NUM 23
#define Y9_GPIO_NUM 19
#define Y8_GPIO_NUM 36
#define Y7_GPIO_NUM 18
#define Y6_GPIO_NUM 39
#define Y5_GPIO_NUM 5
#define Y4_GPIO_NUM 34
#define Y3_GPIO_NUM 35
#define Y2_GPIO_NUM 17
#define VSYNC_GPIO_NUM 22
#define HREF_GPIO_NUM 26
#define PCLK_GPIO_NUM 21
#elif defined(CAMERA_MODEL_M5STACK_UNITCAM)
#define PWDN_GPIO_NUM -1
#define RESET_GPIO_NUM 15
#define XCLK_GPIO_NUM 27
#define SIOD_GPIO_NUM 25
#define SIOC_GPIO_NUM 23
#define Y9_GPIO_NUM 19
#define Y8_GPIO_NUM 36
#define Y7_GPIO_NUM 18
#define Y6_GPIO_NUM 39
#define Y5_GPIO_NUM 5
#define Y4_GPIO_NUM 34
#define Y3_GPIO_NUM 35
#define Y2_GPIO_NUM 32
#define VSYNC_GPIO_NUM 22
#define HREF_GPIO_NUM 26
#define PCLK_GPIO_NUM 21
#elif defined(CAMERA_MODEL_AI_THINKER)
#define PWDN_GPIO_NUM 32
#define RESET_GPIO_NUM -1
#define XCLK_GPIO_NUM 0
#define SIOD_GPIO_NUM 26
#define SIOC_GPIO_NUM 27
#define Y9_GPIO_NUM 35
#define Y8_GPIO_NUM 34
#define Y7_GPIO_NUM 39
#define Y6_GPIO_NUM 36
#define Y5_GPIO_NUM 21
#define Y4_GPIO_NUM 19
#define Y3_GPIO_NUM 18
#define Y2_GPIO_NUM 5
#define VSYNC_GPIO_NUM 25
#define HREF_GPIO_NUM 23
#define PCLK_GPIO_NUM 22
// 4 for flash led or 33 for normal led
#define LED_GPIO_NUM 4
#elif defined(CAMERA_MODEL_TTGO_T_JOURNAL)
#define PWDN_GPIO_NUM 0
#define RESET_GPIO_NUM 15
#define XCLK_GPIO_NUM 27
#define SIOD_GPIO_NUM 25
#define SIOC_GPIO_NUM 23
#define Y9_GPIO_NUM 19
#define Y8_GPIO_NUM 36
#define Y7_GPIO_NUM 18
#define Y6_GPIO_NUM 39
#define Y5_GPIO_NUM 5
#define Y4_GPIO_NUM 34
#define Y3_GPIO_NUM 35
#define Y2_GPIO_NUM 17
#define VSYNC_GPIO_NUM 22
#define HREF_GPIO_NUM 26
#define PCLK_GPIO_NUM 21
#elif defined(CAMERA_MODEL_XIAO_ESP32S3)
#define PWDN_GPIO_NUM -1
#define RESET_GPIO_NUM -1
#define XCLK_GPIO_NUM 10
#define SIOD_GPIO_NUM 40
#define SIOC_GPIO_NUM 39
#define Y9_GPIO_NUM 48
#define Y8_GPIO_NUM 11
#define Y7_GPIO_NUM 12
#define Y6_GPIO_NUM 14
#define Y5_GPIO_NUM 16
#define Y4_GPIO_NUM 18
#define Y3_GPIO_NUM 17
#define Y2_GPIO_NUM 15
#define VSYNC_GPIO_NUM 38
#define HREF_GPIO_NUM 47
#define PCLK_GPIO_NUM 13
#elif defined(CAMERA_MODEL_ESP32_CAM_BOARD)
// The 18 pin header on the board has Y5 and Y3 swapped
#define USE_BOARD_HEADER 0
#define PWDN_GPIO_NUM 32
#define RESET_GPIO_NUM 33
#define XCLK_GPIO_NUM 4
#define SIOD_GPIO_NUM 18
#define SIOC_GPIO_NUM 23
#define Y9_GPIO_NUM 36
#define Y8_GPIO_NUM 19
#define Y7_GPIO_NUM 21
#define Y6_GPIO_NUM 39
#if USE_BOARD_HEADER
#define Y5_GPIO_NUM 13
#else
#define Y5_GPIO_NUM 35
#endif
#define Y4_GPIO_NUM 14
#if USE_BOARD_HEADER
#define Y3_GPIO_NUM 35
#else
#define Y3_GPIO_NUM 13
#endif
#define Y2_GPIO_NUM 34
#define VSYNC_GPIO_NUM 5
#define HREF_GPIO_NUM 27
#define PCLK_GPIO_NUM 25
#elif defined(CAMERA_MODEL_ESP32S3_CAM_LCD)
#define PWDN_GPIO_NUM -1
#define RESET_GPIO_NUM -1
#define XCLK_GPIO_NUM 40
#define SIOD_GPIO_NUM 17
#define SIOC_GPIO_NUM 18
#define Y9_GPIO_NUM 39
#define Y8_GPIO_NUM 41
#define Y7_GPIO_NUM 42
#define Y6_GPIO_NUM 12
#define Y5_GPIO_NUM 3
#define Y4_GPIO_NUM 14
#define Y3_GPIO_NUM 47
#define Y2_GPIO_NUM 13
#define VSYNC_GPIO_NUM 21
#define HREF_GPIO_NUM 38
#define PCLK_GPIO_NUM 11
#elif defined(CAMERA_MODEL_ESP32S2_CAM_BOARD)
// The 18 pin header on the board has Y5 and Y3 swapped
#define USE_BOARD_HEADER 0
#define PWDN_GPIO_NUM 1
#define RESET_GPIO_NUM 2
#define XCLK_GPIO_NUM 42
#define SIOD_GPIO_NUM 41
#define SIOC_GPIO_NUM 18
#define Y9_GPIO_NUM 16
#define Y8_GPIO_NUM 39
#define Y7_GPIO_NUM 40
#define Y6_GPIO_NUM 15
#if USE_BOARD_HEADER
#define Y5_GPIO_NUM 12
#else
#define Y5_GPIO_NUM 13
#endif
#define Y4_GPIO_NUM 5
#if USE_BOARD_HEADER
#define Y3_GPIO_NUM 13
#else
#define Y3_GPIO_NUM 12
#endif
#define Y2_GPIO_NUM 14
#define VSYNC_GPIO_NUM 38
#define HREF_GPIO_NUM 4
#define PCLK_GPIO_NUM 3
#elif defined(CAMERA_MODEL_ESP32S3_EYE)
#define PWDN_GPIO_NUM -1
#define RESET_GPIO_NUM -1
#define XCLK_GPIO_NUM 15
#define SIOD_GPIO_NUM 4
#define SIOC_GPIO_NUM 5
#define Y2_GPIO_NUM 11
#define Y3_GPIO_NUM 9
#define Y4_GPIO_NUM 8
#define Y5_GPIO_NUM 10
#define Y6_GPIO_NUM 12
#define Y7_GPIO_NUM 18
#define Y8_GPIO_NUM 17
#define Y9_GPIO_NUM 16
#define VSYNC_GPIO_NUM 6
#define HREF_GPIO_NUM 7
#define PCLK_GPIO_NUM 13
#else
#error "Camera model not selected"
#endif
esp32/include/config.h
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/*
* User settings
*/
#define HOSTNAME "Leika"
#define SSID ""
#define PASS ""
/*
* Server settings
*/
#define HTTP_PORT 80
#define WEBSOCKET_PATH "/"
#define EVENTSOURCE_PATH "/events"
#define USE_CAPTIVE_PORTAL false
/*
* Camera module
*/
#define CAMERA_MODEL_AI_THINKER
// #define CAMERA_MODEL_WROVER_KIT
// #define CAMERA_MODEL_ESP_EYE
// #define CAMERA_MODEL_M5STACK_PSRAM
// #define CAMERA_MODEL_M5STACK_V2_PSRAM
// #define CAMERA_MODEL_M5STACK_WIDE
// #define CAMERA_MODEL_M5STACK_ESP32CAM
// #define CAMERA_MODEL_TTGO_T_JOURNAL
// #define CAMERA_MODEL_ARDUCAM_ESP32S_UNO
/*
* OLED Settings
*/
#define SCREEN_WIDTH 128
#define SCREEN_HEIGHT 64
#define SCREEN_RESET -1
/*
* I2C software connection
*/
#define SDA 14
#define SCL 15
/*
* Serial settings
*/
#define BAUDRATE 115200
#define SERIAL_DEBUG_OUTPUT true
/*
* Ultra sonic sensors
*/
#define USS_LEFT 12
#define USS_RIGHT 13
#define USS_MAX_DISTANCE 200
/*
* Button settings
*/
#define BUTTON 16
#define BUTTON_LED 2
/*
* PWM controller settings
*/
#define SERVO_OSCILLATOR_FREQUENCY 27000000
#define SERVO_FREQ 50
esp32/include/deviceconfig.h
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#pragma once
#include <memory>
#include <types.h>
#include <jsonserializer.h>
/*
* I2C software connection
*/
#define SDA 14
#define SCL 15
/*
* Serial settings
*/
#define BAUDRATE 115200
#define SERIAL_DEBUG_OUTPUT true
/*
* PWM controller settings
*/
#define SERVO_OSCILLATOR_FREQUENCY 27000000
#define SERVO_FREQ 50
/*
* Button settings
*/
#define BUTTON 4
#define BUTTON_LED 2
/*
* Ultra sonic sensors
*/
#define USS_LEFT 12
#define USS_RIGHT 13
#define USS_MAX_DISTANCE 200
/*
* Changeable default data
*/
#define DEVICE_CONFIG_FILE "/device.cfg"
#define DEFAULT_NTP_SERVER "0.pool.ntp.org"
class DeviceConfig : public IJSONSerializable
{
// Add variables for additional settings to this list
String ntpServer;
bool useMetric;
std::vector<SettingSpec> settingSpecs;
size_t writerIndex;
void SaveToJSON();
template <typename T>
void SetAndSave(T& target, const T& source)
{
if (target == source)
return;
target = source;
SaveToJSON();
}
template <typename T>
void SetIfPresentIn(const JsonObjectConst& jsonObject, T& target, const char *tag)
{
if (jsonObject.containsKey(tag))
target = jsonObject[tag].as<T>();
}
public:
using ValidateResponse = std::pair<bool, String>;
// Add additional setting Tags to this list
static constexpr const char * NTPServerTag = NAME_OF(ntpServer);
static constexpr const char * UseMetricTag = NAME_OF(useMetric);
DeviceConfig();
virtual bool SerializeToJSON(JsonObject& jsonObject) override
{
return SerializeToJSON(jsonObject, true);
}
bool SerializeToJSON(JsonObject& jsonObject, bool includeSensitive)
{
AllocatedJsonDocument jsonDoc(1024);
// Add serialization logic for additionl settings to this code
jsonDoc[NTPServerTag] = ntpServer;
jsonDoc[UseMetricTag] = useMetric;
return jsonObject.set(jsonDoc.as<JsonObjectConst>());
}
virtual bool DeserializeFromJSON(const JsonObjectConst& jsonObject) override
{
return DeserializeFromJSON(jsonObject, false);
}
bool DeserializeFromJSON(const JsonObjectConst& jsonObject, bool skipWrite)
{
// Add deserialization logic for additional settings to this code
SetIfPresentIn(jsonObject, ntpServer, NTPServerTag);
SetIfPresentIn(jsonObject, useMetric, UseMetricTag);
if (ntpServer.isEmpty())
ntpServer = DEFAULT_NTP_SERVER;
if (!skipWrite)
SaveToJSON();
return true;
}
void RemovePersisted()
{
RemoveJSONFile(DEVICE_CONFIG_FILE);
}
virtual const std::vector<SettingSpec>& GetSettingSpecs() const
{
return settingSpecs;
}
const String &GetNTPServer() const
{
return ntpServer;
}
void SetNTPServer(const String &newNTPServer)
{
SetAndSave(ntpServer, newNTPServer);
}
bool UseMetric() const
{
return useMetric;
}
void SetUseCelsius(bool newUseMetric)
{
SetAndSave(useMetric, newUseMetric);
}
};
extern DRAM_ATTR std::unique_ptr<DeviceConfig> g_ptrDeviceConfig;
esp32/include/featureflags.h
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#define USE_PSRAM true
#define USE_WIFI true
#define WAIT_FOR_WIFI false
#define USE_WEBSERVER true
#define USE_WEBSERVER_SSL false
#define USE_WEBSOCKET true
#define USE_OAT false
#define USE_NTP false
#define USE_MDNS true
#define USE_DNS_SERVER false
#define USE_REMOTE_SERIAL false
#define USE_LOW_POWER false
#define USE_CAMERA true
#define USE_MPU true
#define USE_POWER_BUTTON true
#define USE_USS true
esp32/include/globals.h
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#pragma once
#include <SPIFFS.h>
#include <Wire.h>
#include <Adafruit_ADS1X15.h>
#include <NewPing.h>
// Disable brownout problems
#include "soc/rtc_cntl_reg.h"
#include "soc/soc.h"
/*
* Macros
*/
#define NAME_OF(x) #x
/*
* Feature flags
*/
#include <featureflags.h>
#if USE_WIFI
#include <WiFi.h>
#endif
#if USE_WIFI && USE_WEBSERVER
#if USE_WEBSERVER_SSL
#define ASYNC_TCP_SSL_ENABLED 1
#include <ESPAsyncTCP.h>
#endif
#include <ESPAsyncWebServer.h>
#endif
#if USE_OAT
#include <ArduinoOTA.h>
#endif
#if USE_DNS_SERVER
#include <DNSServer.h>
#endif
#if USE_MDNS
#include <ESPmDNS.h>
#endif
#define STACK_SIZE (ESP_TASK_MAIN_STACK) // Stack size for each new thread
/*
* Thread priority
*/
#define NET_PRIORITY tskIDLE_PRIORITY+5
#define MOVEMENT_PRIORITY tskIDLE_PRIORITY+3
#define JSONWRITER_PRIORITY tskIDLE_PRIORITY+2
/*
* Thread core
*/
#define NET_CORE 1
#define MOVEMENT_CORE 0
#define JSONWRITER_CORE 0
/*
* Main include
*/
#include <taskmanager.h>
#include <movement.h>
#include <secrets.h>
#include <servo.h>
#if USE_CAMERA
#include <camera.h>
#endif
#if USE_WIFI && USE_WEBSERVER
#include <webserver.h>
#endif
#if USE_WIFI
#include <network.h>
#endif
esp32/include/jsonbase.h
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#pragma once
#define JSON_BUFFER_BASE_SIZE 2048
#define JSON_BUFFER_INCREMENT 2048
esp32/include/jsonserializer.h
-80
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@@ -1,80 +0,0 @@
#pragma once
#include <atomic>
#include <ArduinoJson.h>
#include <jsonbase.h>
struct IJSONSerializable
{
virtual bool SerializeToJSON(JsonObject& jsonObject) = 0;
virtual bool DeserializeFromJSON(const JsonObjectConst& jsonObject) { return false; }
};
template <class E>
constexpr auto to_value(E e) noexcept
{
return static_cast<std::underlying_type_t<E>>(e);
}
#if USE_PSRAM
struct JsonPsramAllocator
{
void* allocate(size_t size) {
return ps_malloc(size);
}
void deallocate(void* pointer) {
free(pointer);
}
void* reallocate(void* ptr, size_t new_size) {
return ps_realloc(ptr, new_size);
}
};
typedef BasicJsonDocument<JsonPsramAllocator> AllocatedJsonDocument;
#else
typedef DynamicJsonDocument AllocatedJsonDocument;
#endif
bool LoadJSONFile(const char *fileName, size_t& bufferSize, std::unique_ptr<AllocatedJsonDocument>& pJsonDoc);
bool SaveToJSONFile(const char *fileName, size_t& bufferSize, IJSONSerializable& object);
bool RemoveJSONFile(const char *fileName);
#define JSON_WRITER_DELAY 3000
class JSONWriter
{
// We allow the main JSON Writer task entry point function to access private members
friend void IRAM_ATTR JSONWriterTaskEntry(void *);
private:
// Writer function and flag combo
struct WriterEntry
{
std::atomic_bool flag = false;
std::function<void()> writer;
WriterEntry(std::function<void()> writer) :
writer(writer)
{}
WriterEntry(WriterEntry&& entry) : WriterEntry(entry.writer)
{}
};
std::vector<WriterEntry> writers;
std::atomic_ulong latestFlagMs;
public:
// Add a writer to the collection. Returns the index of the added writer, for use with FlagWriter()
size_t RegisterWriter(std::function<void()> writer);
// Flag a writer for invocation and wake up the task that calls them
void FlagWriter(size_t index);
};
extern DRAM_ATTR std::unique_ptr<JSONWriter> g_ptrJSONWriter;
esp32/include/movement.h
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@@ -1,15 +0,0 @@
#pragma once
#include <globals.h>
float getHeading();
float getTemp();
float getAngleX();
float getAngleY();
float getAngleZ();
void IRAM_ATTR MovementHandlingLoopEntry(void *);
esp32/include/network.h
-5
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@@ -1,5 +0,0 @@
#pragma once
#include <globals.h>
void IRAM_ATTR NetworkHandlingLoopEntry(void *);
esp32/include/secrets.example.h
-24
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@@ -1,24 +0,0 @@
// NOTE: do NOT enter your network details in this file (secrets.example.h)!
// Instead, copy this file to secrets.h, and set the below defines in that file!
#define HOSTNAME "leika" // Relevant if wifi is enabled
#define SSID "" // Relevant if wifi is enabled
#define PASS "" // Relevant if wifi is enabled
#define HTTP_PORT 80 // Relevant if webserver is enabled
#define WEBSOCKET_PATH "/" // Relevant if ws is enabled
#define CAMERA_MODEL_AI_THINKER // Relevant if camera is enabled
// #define CAMERA_MODEL_WROVER_KIT
// #define CAMERA_MODEL_ESP_EYE
// #define CAMERA_MODEL_M5STACK_PSRAM
// #define CAMERA_MODEL_M5STACK_V2_PSRAM
// #define CAMERA_MODEL_M5STACK_WIDE
// #define CAMERA_MODEL_M5STACK_ESP32CAM
// #define CAMERA_MODEL_M5STACK_UNITCAM
// #define CAMERA_MODEL_TTGO_T_JOURNAL
// #define CAMERA_MODEL_XIAO_ESP32S3
// #define CAMERA_MODEL_ESP32_CAM_BOARD
// #define CAMERA_MODEL_ESP32S3_CAM_LCD
// #define CAMERA_MODEL_ESP32S2_CAM_BOARD
// #define CAMERA_MODEL_ESP32S3_EYE
esp32/include/servo.h
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#pragma once
#include <memory>
#include <Adafruit_PWMServoDriver.h>
#include <globals.h>
#include <webserver.h>
#if USE_WIFI && USE_WEBSERVER
extern DRAM_ATTR CWebServer g_WebServer;
#endif
typedef struct {
float omega;
float phi;
float psi;
float xm;
float ym;
float zm;
bool set;
} position_t;
class Servo : public Adafruit_PWMServoDriver {
public:
Servo() : Adafruit_PWMServoDriver() {}
void SetAngles(int16_t* angle) {
for(size_t i = 0; i < 12; i++)
servo_angles[i] = angle[i];
updateServos();
}
void SetAngle(uint8_t id, int8_t angle) {
servo_angles[id] = angle;
updateServos();
}
void updateServos() {
for(uint8_t i = 0; i < 12; i++){
int8_t angle = servo_angles[i];
uint16_t pulse = (uint16_t) (0.5 + servo_min[i] + (((angle * servo_invert[i]) + 90) * servo_conversion[i]));
setPWM(i, 0, pulse);
}
broadcastAngles();
}
void setBody(float phi, float theta, float psi, float x, float y, float z) {
goal_position.phi = (phi - 128) / 2;
goal_position.omega = (theta - 128) / 2;
goal_position.psi = (psi - 128) / 2;
goal_position.xm = (x - 128) / 2;
goal_position.ym = (y - 128) / 2;
goal_position.zm = (z - 128) / 2;
updateAngles();
}
void setBodyAngle(float phi, float theta, float psi) {
goal_position.phi = phi;
goal_position.omega = theta;
goal_position.psi = psi;
updateAngles();
}
void setBodyPosition(float x, float y, float z) {
goal_position.xm = x;
goal_position.ym = y;
goal_position.zm = z;
updateAngles();
}
void updateAngles() {
servo_angles[0] = goal_position.phi;
servo_angles[1] = goal_position.omega;
servo_angles[2] = goal_position.psi;
servo_angles[3] = goal_position.xm;
servo_angles[4] = goal_position.ym;
servo_angles[5] = goal_position.zm;
updateServos();
broadcastAngles();
}
void deactivate() {
isActive = false;
sleep();
}
void activate() {
isActive = true;
sleep();
}
void toggleState() {
isActive ? sleep() : wakeup();
isActive = !isActive;
}
bool isActive {true};
private:
void broadcastAngles() {
uint8_t* buf = (uint8_t*)&servo_angles;
g_WebServer.broadcast(buf, 12);
}
const int16_t servo_min[12] {92,101,129,92,118,125,110,101,125,92,101,125};
const int8_t servo_invert[12] = {-1,1,1, -1,-1,-1, 1,1,1, 1,-1,-1};
const float servo_conversion[12] {2.2,2.1055555,1.96923,2.2,2.1055555,1.96923,2.2,2.1055555,1.96923,2.2,2.1055555,1.96923};
position_t spot_position = {.omega=0,.phi=0,.psi=0,.xm=-40,.ym=-170, .zm=0, .set=1};
position_t goal_position = {0,};
int16_t servo_angles[12]{0,};
};
extern DRAM_ATTR std::unique_ptr<Servo> g_ptrServo;
esp32/include/taskmanager.h
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#pragma once
#include <esp_task_wdt.h>
// Stack size for the taskmgr's idle threads
#define IDLE_STACK_SIZE 2048
#define DEFAULT_STACK_SIZE 2048+512
class IdleTask
{
private:
float _idleRatio = 0;
unsigned long _lastMeasurement;
const int kMillisPerLoop = 1;
const int kMillisPerCalc = 1000;
unsigned long counter = 0;
public:
void ProcessIdleTime()
{
_lastMeasurement = millis();
counter = 0;
// We need to whack the watchdog so we delay in smalle bites until we've used up all the time
while (true)
{
int delta = millis() - _lastMeasurement;
if (delta >= kMillisPerCalc)
{
//Serial.printf("Core %u Spent %lu in delay during a window of %d for a ratio of %f\n",
// xPortGetCoreID(), counter, delta, (float)counter/delta);
_idleRatio = ((float) counter / delta);
_lastMeasurement = millis();
counter = 0;
}
else
{
esp_task_wdt_reset();
delayMicroseconds(kMillisPerLoop*1000);
counter += kMillisPerLoop;
}
}
}
// If idle time is spent elsewhere, it can be credited to this task. Shouldn't add up to more time than actual though!
void CountBonusIdleMillis(uint millis)
{
counter += millis;
}
IdleTask() : _lastMeasurement(millis())
{
}
// GetCPUUsage
//
// Returns 100 less the amount of idle time that we were able to squander.
float GetCPUUsage() const
{
// If the measurement failed to even get a chance to run, this core is maxed and there was no idle time
if (millis() - _lastMeasurement > kMillisPerCalc)
return 100.0f;
// Otherwise, whatever cycles we were able to burn in the idle loop counts as "would have been idle" time
return 100.0f-100*_idleRatio;
}
// Stub entry point for calling into it without a THIS pointer
static void IdleTaskEntry(void * that)
{
IdleTask * pTask = (IdleTask *)that;
pTask->ProcessIdleTime();
}
};
// TaskManager
//
// TaskManager runs two tasks at just over idle priority that do nothing but try to burn CPU, and they
// keep track of how much they can burn. It's assumed that everything else runs at a higher priority
// and thus they "starve" the idle tasks when doing work.
class TaskManager
{
TaskHandle_t _hIdle0 = nullptr;
TaskHandle_t _hIdle1 = nullptr;
IdleTask _taskIdle0;
IdleTask _taskIdle1;
public:
float GetCPUUsagePercent(int iCore = -1) const
{
if (iCore < 0)
return (_taskIdle0.GetCPUUsage() + _taskIdle1.GetCPUUsage()) / 2;
else if (iCore == 0)
return _taskIdle0.GetCPUUsage();
else if (iCore == 1)
return _taskIdle1.GetCPUUsage();
else
throw new std::runtime_error("Invalid core passed to GetCPUUsagePercentCPU");
}
TaskManager() {}
void begin()
{
Serial.printf("Replacing Idle Tasks with TaskManager...\n");
// The idle tasks get created with a priority just ABOVE idle so that they steal idle time but nothing else. They then
// measure how much time is "wasted" at that lower priority and deem it to have been free CPU
xTaskCreatePinnedToCore(_taskIdle0.IdleTaskEntry, "Idle0", IDLE_STACK_SIZE, &_taskIdle0, tskIDLE_PRIORITY + 1, &_hIdle0, 0);
xTaskCreatePinnedToCore(_taskIdle1.IdleTaskEntry, "Idle1", IDLE_STACK_SIZE, &_taskIdle1, tskIDLE_PRIORITY + 1, &_hIdle1, 1);
// We need to turn off the watchdogs because our idle measurement tasks burn all of the idle time just
// to see how much there is (it's how they measure free CPU). Thus, we starve the system's normal idle tasks
// and have to feed the watchdog on our own.
esp_task_wdt_delete(xTaskGetIdleTaskHandleForCPU(0));
esp_task_wdt_delete(xTaskGetIdleTaskHandleForCPU(1));
esp_task_wdt_add(_hIdle0);
esp_task_wdt_add(_hIdle1);
}
};
void IRAM_ATTR NetworkHandlingLoopEntry(void *);
void IRAM_ATTR JSONWriterTaskEntry(void *);
void IRAM_ATTR MovementHandlingLoopEntry(void *);
#define DELETE_TASK(handle) if (handle != nullptr) vTaskDelete(handle)
class ESPTaskManager : public TaskManager
{
public:
private:
TaskHandle_t _taskNetwork = nullptr;
TaskHandle_t _taskMovement = nullptr;
TaskHandle_t _taskJSONWriter = nullptr;
public:
~ESPTaskManager()
{
DELETE_TASK(_taskNetwork);
DELETE_TASK(_taskMovement);
DELETE_TASK(_taskJSONWriter);
}
void StartThreads(){
StartNetworkThread();
StartMovementThread();
StartJSONWriterThread();
}
void StartNetworkThread()
{
#if USE_WIFI
log_i( ">> Launching Network Thread. Mem: %u, LargestBlk: %u, PSRAM Free: %u/%u, ", ESP.getFreeHeap(),ESP.getMaxAllocHeap(), ESP.getFreePsram(), ESP.getPsramSize());
xTaskCreatePinnedToCore(NetworkHandlingLoopEntry, "NetworkHandlingLoop", STACK_SIZE, nullptr, NET_PRIORITY, &_taskNetwork, NET_CORE);
#endif
}
void StartMovementThread()
{
log_i(">> Launching Movement Thread");
xTaskCreatePinnedToCore(MovementHandlingLoopEntry, "MovementHandlingLoop", STACK_SIZE, nullptr, MOVEMENT_PRIORITY, &_taskMovement, MOVEMENT_CORE);
}
void StartJSONWriterThread()
{
log_i(">> Launching JSON Writer Thread");
xTaskCreatePinnedToCore(JSONWriterTaskEntry, "JSON Writer Loop", STACK_SIZE, nullptr, JSONWRITER_PRIORITY, &_taskJSONWriter, JSONWRITER_CORE);
}
void NotifyJSONWriterThread()
{
if (_taskJSONWriter == nullptr)
return;
log_w(">> Notifying JSON Writer Thread");
// Wake up the writer invoker task if it's sleeping, or request another write cycle if it isn't
xTaskNotifyGive(_taskJSONWriter);
}
void NotifyNetworkThread()
{
if (_taskNetwork == nullptr)
return;
//debugW(">> Notifying Network Thread");
// Wake up the network task if it's sleeping, or request another read cycle if it isn't
xTaskNotifyGive(_taskNetwork);
}
void NotifyMovementThread()
{
if (_taskMovement == nullptr)
return;
// Wake up the movement task if it's sleeping, or request another read cycle if it isn't
xTaskNotifyGive(_taskMovement);
}
};
extern ESPTaskManager g_TaskManager;
esp32/include/types.h
-56
View File
@@ -1,56 +0,0 @@
#pragma once
#include <cstddef>
#include <cstdint>
#include <WString.h>
struct EmbeddedFile
{
// Embedded file size in bytes
const size_t length;
// Contents as bytes
const uint8_t *const contents;
EmbeddedFile(const uint8_t start[], const uint8_t end[]) :
length(end - start),
contents(start)
{}
};
struct SettingSpec
{
// Note that if this enum is expanded, ToName() must be also!
enum class SettingType : int
{
Integer,
PositiveBigInteger,
Float,
Boolean,
String,
Palette
};
String Name;
String FriendlyName;
String Description;
SettingType Type;
SettingSpec(const String& name, const String& friendlyName, const String& description, SettingType type)
: Name(name),
FriendlyName(friendlyName),
Description(description),
Type(type)
{}
SettingSpec(const String& name, const String& friendlyName, SettingType type) : SettingSpec(name, friendlyName, "", type)
{}
SettingSpec()
{}
String static ToName(SettingType type)
{
String names[] = { "Integer", "PositiveBigInteger", "Float", "Boolean", "String", "Palette" };
return names[(int)type];
}
};
esp32/include/webserver.h
-219
View File
@@ -1,219 +0,0 @@
#pragma once
#include <map>
#include <ESPAsyncWebServer.h>
#include <deviceconfig.h>
#include <AsyncJson.h>
#include <ArduinoJson.h>
#include <HTTPClient.h>
#include <Update.h>
#include <SPIFFS.h>
#include <servo.h>
#include <AsyncJpegStream.h>
#define HTTP_CODE_OK 200
#define HTTP_CODE_NOT_FOUND 404
class CWebServer {
private:
// Template for param to value converter function, used by PushPostParamIfPresent()
template<typename Tv>
using ParamValueGetter = std::function<Tv(AsyncWebParameter *param)>;
// Template for value setting forwarding function, used by PushPostParamIfPresent()
template<typename Tv>
using ValueSetter = std::function<bool(Tv)>;
// Value validating function type, as used by DeviceConfig (and possible others)
using ValueValidator = std::function<DeviceConfig::ValidateResponse(const String&)>;
struct StaticStatistics {
uint32_t HeapSize;
size_t DmaHeapSize;
uint32_t PsramSize;
const char *ChipModel;
uint8_t ChipCores;
uint32_t CpuFreqMHz;
uint32_t SketchSize;
uint32_t FreeSketchSpace;
uint32_t FlashChipSize;
};
static std::vector<SettingSpec> deviceSettingSpecs;
static const std::map<String, ValueValidator> settingValidators;
AsyncWebServer _server;
StaticStatistics _staticStats;
#if USE_WEBSOCKET
AsyncWebSocket _ws;
#endif
// Helper functions/templates
// Convert param value to a specific type and forward it to a setter function that expects that type as an argument
template<typename Tv>
static bool PushPostParamIfPresent(AsyncWebServerRequest * pRequest, const String &paramName, ValueSetter<Tv> setter, ParamValueGetter<Tv> getter)
{
if (!pRequest->hasParam(paramName, true, false))
return false;
log_v("found %s", paramName.c_str());
AsyncWebParameter *param = pRequest->getParam(paramName, true, false);
// Extract the value and pass it off to the setter
return setter(getter(param));
}
// Generic param value forwarder. The type argument must be implicitly convertable from String!
// Some specializations of this are included in the CPP file
template<typename Tv>
static bool PushPostParamIfPresent(AsyncWebServerRequest * pRequest, const String &paramName, ValueSetter<Tv> setter)
{
return PushPostParamIfPresent<Tv>(pRequest, paramName, setter, [](AsyncWebParameter * param) { return param->value(); });
}
// AddCORSHeaderAndSend(OK)Response
//
// Sends a response with CORS headers added
template<typename Tr>
static void AddCORSHeaderAndSendResponse(AsyncWebServerRequest * pRequest, Tr * pResponse)
{
// pResponse->addHeader("Server", HOSTNAME);
// pResponse->addHeader("Access-Control-Allow-Origin", "*");
pRequest->send(pResponse);
}
// Version for empty response, normally used to finish up things that don't return anything, like "NextEffect"
static void AddCORSHeaderAndSendOKResponse(AsyncWebServerRequest * pRequest)
{
AddCORSHeaderAndSendResponse(pRequest, pRequest->beginResponse(HTTP_CODE_OK));
}
// Straightforward support functions
static bool IsPostParamTrue(AsyncWebServerRequest * pRequest, const String & paramName);
static const std::vector<SettingSpec> & LoadDeviceSettingSpecs();
static void SendSettingSpecsResponse(AsyncWebServerRequest * pRequest, const std::vector<SettingSpec> & settingSpecs);
static void SetSettingsIfPresent(AsyncWebServerRequest * pRequest);
#if USE_OAT
static void UpdateFirmware(AsyncWebServerRequest *request, String filename, size_t index, uint8_t *data, size_t len, bool final);
static void UpdateFileSystemImage(AsyncWebServerRequest *request, String filename, size_t index, uint8_t *data, size_t len, bool final);
static void HandleUpdate(AsyncWebServerRequest* request, String filename, size_t index, uint8_t* data, size_t len, bool final, size_t upload_size, uint8_t upload_index);
#endif
// Endpoint member functions
static void GetSettingSpecs(AsyncWebServerRequest * pRequest);
static void GetSettings(AsyncWebServerRequest * pRequest);
static void SetSettings(AsyncWebServerRequest * pRequest);
static void SaveFile(AsyncWebServerRequest* request, String filename, size_t index, uint8_t* data, size_t len, bool final);
#if USE_OAT
static void UpdateRequestHandler(AsyncWebServerRequest * pRequest);
#endif
static void Reset(AsyncWebServerRequest * pRequest);
static void GzipSpa(AsyncWebServerRequest * pRequest);
static void HandleWsMessage(AsyncWebSocket* server, AsyncWebSocketClient* client, AwsEventType type, void* arg, uint8_t* data, size_t len);
// Not static because it uses member _staticStats
void GetStatistics(AsyncWebServerRequest * pRequest);
public:
CWebServer()
: _server(HTTP_PORT)
#if USE_WEBSOCKET
, _ws(WEBSOCKET_PATH)
#endif
{}
void begin() {
DefaultHeaders::Instance().addHeader("Access-Control-Allow-Origin", "*");
DefaultHeaders::Instance().addHeader("Access-Control-Allow-Methods", "GET, POST, PUT");
DefaultHeaders::Instance().addHeader("Access-Control-Allow-Headers", "Content-Type");
DefaultHeaders::Instance().addHeader("Server", HOSTNAME);
_staticStats.HeapSize = ESP.getHeapSize();
_staticStats.DmaHeapSize = heap_caps_get_total_size(MALLOC_CAP_DMA);
_staticStats.PsramSize = ESP.getPsramSize();
_staticStats.ChipModel = ESP.getChipModel();
_staticStats.ChipCores = ESP.getChipCores();
_staticStats.CpuFreqMHz = ESP.getCpuFreqMHz();
_staticStats.SketchSize = ESP.getSketchSize();
_staticStats.FreeSketchSpace = ESP.getFreeSketchSpace();
_staticStats.FlashChipSize = ESP.getFlashChipSize();
_server.onFileUpload(SaveFile);
#if USE_WEBSOCKET
_ws.onEvent(HandleWsMessage);
_server.addHandler(&_ws);
#endif
_server.on("/api/statistics", HTTP_GET, [this](AsyncWebServerRequest * pRequest) { this->GetStatistics(pRequest); });
_server.on("/api/getStatistics", HTTP_GET, [this](AsyncWebServerRequest * pRequest) { this->GetStatistics(pRequest); });
_server.on("/api/settings/specs", HTTP_GET, [](AsyncWebServerRequest * pRequest) { GetSettingSpecs(pRequest); });
_server.on("/api/settings", HTTP_GET, [](AsyncWebServerRequest * pRequest) { GetSettings(pRequest); });
_server.on("/api/settings", HTTP_POST, [](AsyncWebServerRequest * pRequest) { SetSettings(pRequest); });
#if USE_OAT
_server.on("/api/update/filesystem", HTTP_POST, UpdateRequestHandler, UpdateFirmware);
_server.on("/api/update/firmware", HTTP_POST, UpdateRequestHandler, UpdateFileSystemImage);
#endif
_server.on("/api/stream", HTTP_GET, streamJpg);
_server.on("/api/reset", HTTP_POST, [](AsyncWebServerRequest * pRequest) { Reset(pRequest); });
_server.serveStatic("/", SPIFFS, "/").setCacheControl("max-age=31536000");
_server.onNotFound([](AsyncWebServerRequest *pRequest) { GzipSpa(pRequest); });
#if USE_WEBSERVER_SSL
_server.beginSecure("/server.cer", "/server.key", NULL);
_server.onSslFileRequest([](void * arg, const char *filename, uint8_t **buf) -> int {
Serial.printf("SSL File: %s\n", filename);
File file = SPIFFS.open(filename, "r");
if(file){
size_t size = file.size();
uint8_t * nbuf = (uint8_t*)malloc(size);
if(nbuf){
size = file.read(nbuf, size);
file.close();
*buf = nbuf;
return size;
}
file.close();
}
*buf = 0;
return 0;
}, NULL);
#else
_server.begin();
#endif
log_i("HTTP server started");
}
void loop() {
#if USE_WEBSOCKET
_ws.cleanupClients();
#endif
}
void broadcast(uint8_t* content, size_t length) {
_ws.binaryAll(content, length);
}
void broadcastJson(char* content, size_t length) {
_ws.textAll(content, length);
}
};
// Set value in lambda using a forwarding function. Always returns true
#define SET_VALUE(functionCall) [](auto value) { functionCall; return true; }
// Set value in lambda using a forwarding function. Reports success based on function's return value,
// which must be implicitly convertable to bool
#define CONFIRM_VALUE(functionCall) [](auto value)->bool { return functionCall; }
esp32/platformio.ini
+44 -19
View File
@@ -9,11 +9,15 @@
; https://docs.platformio.org/page/projectconf.html
[platformio]
description = Spot Micro Robot
data_dir = data
extra_configs =
factory_settings.ini
features.ini
build_settings.ini
default_envs = esp32dev
[base]
[env]
platform = espressif32
framework = arduino
monitor_speed = 115200
@@ -24,30 +28,51 @@ monitor_filters =
build_flags =
${factory_settings.build_flags}
${features.build_flags}
${build_settings.build_flags}
-D CORE_DEBUG_LEVEL=5
-D register=
-std=gnu++17
build_unflags = -std=gnu++11
test_ignore = test_embedded
board_build.filesystem = littlefs
lib_deps =
https://github.com/me-no-dev/ESPAsyncWebServer.git
bblanchon/ArduinoJson@^6.21.2
thomasfredericks/Bounce2@ ^2.7.0
teckel12/NewPing@^1.9.7
adafruit/Adafruit SSD1306@^2.5.7
adafruit/Adafruit GFX Library@^1.11.5
adafruit/Adafruit BusIO@^1.9.3
adafruit/Adafruit PWM Servo Driver Library@^2.4.1
adafruit/Adafruit ADS1X15@^2.4.0
adafruit/Adafruit HMC5883 Unified@^1.2.1
adafruit/Adafruit Unified Sensor@^1.1.11
plageoj/UrlEncode@ ^1.0.1
rfetick/MPU6050_light@^1.1.0
SPI
board_build.partitions = config/no_oat.csv
https://github.com/theelims/PsychicMqttClient.git
;hoeken/PsychicHttp
; https://github.com/me-no-dev/ESPAsyncWebServer.git
; thomasfredericks/Bounce2@ ^2.7.0
; teckel12/NewPing@^1.9.7
; adafruit/Adafruit SSD1306@^2.5.7
; adafruit/Adafruit GFX Library@^1.11.5
; adafruit/Adafruit BusIO@^1.9.3
; adafruit/Adafruit PWM Servo Driver Library@^2.4.1
; adafruit/Adafruit ADS1X15@^2.4.0
; adafruit/Adafruit HMC5883 Unified@^1.2.1
; adafruit/Adafruit Unified Sensor@^1.1.11
; plageoj/UrlEncode@ ^1.0.1
; rfetick/MPU6050_light@^1.1.0
; SPI
; board_build.partitions = config/no_oat.csv
extra_scripts =
pre:scripts/build_app.py
pre:scripts/generate_cert_bundle.py
scripts/rename_fw.py
board_build.embed_files = src/certs/x509_crt_bundle.bin
board_ssl_cert_source = adafruit
[env:esp32cam]
extends = base
monitor_rts = 0
monitor_dtr = 0
board = esp32cam
board = esp32cam
board_build.partitions = min_spiffs.csv
build_flags=
-D USE_CAMERA
${env.build_flags}
-D LED_BUILTIN=4
-D KEY_BUILTIN=0
[env:esp32dev]
board = esp32dev
board_build.partitions = min_spiffs.csv
build_flags =
${env.build_flags}
-D LED_BUILTIN=2
-D KEY_BUILTIN=0
esp32/scripts/build_app.py
+129
View File
@@ -0,0 +1,129 @@
# ESP32 SvelteKit --
#
# A simple, secure and extensible framework for IoT projects for ESP32 platforms
# with responsive Sveltekit front-end built with TailwindCSS and DaisyUI.
# https://github.com/theelims/ESP32-sveltekit
#
# Copyright (C) 2018 - 2023 rjwats
# Copyright (C) 2023 theelims
# Copyright (C) 2023 Maxtrium B.V. [ code available under dual license ]
#
# All Rights Reserved. This software may be modified and distributed under
# the terms of the LGPL v3 license. See the LICENSE file for details.
from pathlib import Path
from shutil import copyfileobj
import os
import gzip
import mimetypes
import glob
from datetime import datetime
Import("env")
output_file = env["PROJECT_DIR"] + "/lib/ESP32-sveltekit/WWWData.h"
source_www_dir = env["PROJECT_DIR"] + "/../app2/src"
build_www_dir = env["PROJECT_DIR"] + "/../app2/build"
www_dir = "www"
def find_latest_timestamp_for_app():
list_of_files = glob.glob(source_www_dir+'/**/*', recursive=True)
latest_file = max(list_of_files, key=os.path.getmtime)
return os.path.getmtime(latest_file)
def should_regenerate_output_file():
if not flag_exists("EMBED_WWW") or not os.path.exists(output_file):
return True
last_source_change = find_latest_timestamp_for_app()
last_build = os.path.getmtime(output_file)
print(f'Newest interface file: {datetime.fromtimestamp(last_source_change):%Y-%m-%d %H:%M:%S}, WWW Outputfile: {datetime.fromtimestamp(last_build):%Y-%m-%d %H:%M:%S}')
if (last_build < last_source_change):
print("Svelte source files are updated. Need to regenerate.")
return True
print("Current outputfile is O.K. No need to regenerate.")
return False
def gzip_file(file):
with open(file, 'rb') as f_in:
with gzip.open(file + '.gz', 'wb') as f_out:
copyfileobj(f_in, f_out)
os.remove(file)
def is_compressed_filetype(filetype):
compressed_types = ['zip', 'gz', 'rar', '7z', 'jpg', 'jpeg', 'png', 'mp4', 'mp3']
return filetype.lower() in compressed_types
def flag_exists(flag):
buildFlags = env.ParseFlags(env["BUILD_FLAGS"])
for define in buildFlags.get("CPPDEFINES"):
if (define == flag or (isinstance(define, list) and define[0] == flag)):
return True
def build_progmem():
mimetypes.init()
with open(output_file, "w") as progmem:
progmem.write("#include <functional>\n")
progmem.write("#include <Arduino.h>\n\n")
assetMap = {}
# Iterate over all files in the build directory
for idx, path in enumerate(Path(www_dir).rglob("*.*")):
asset_path = path.relative_to(www_dir).as_posix()
print(f"Converting {asset_path}")
asset_var = f'WEB_ASSET_DATA_{idx}'
filetype = asset_path.split('.')[-1]
asset_mime, _ = mimetypes.guess_type(asset_path)
asset_mime = asset_mime if asset_mime else f'application/octet-stream'
progmem.write('// ' + str(asset_path) + '\n')
progmem.write('const uint8_t ' + asset_var + '[] = {\n ')
# Open path as binary file, compress and read into byte array
size = 0
with open(path, "rb") as f:
file_data = f.read()
if not is_compressed_filetype(filetype):
file_data = gzip.compress(file_data)
for byte in file_data:
if not (size % 16):
progmem.write('\n\t')
progmem.write(f"0x{byte:02X},")
size += 1
progmem.write('\n};\n\n')
assetMap[asset_path] = { "name": asset_var, "mime": asset_mime, "size": size }
progmem.write('typedef std::function<void(const String& uri, const String& contentType, const uint8_t * content, size_t len)> RouteRegistrationHandler;\n\n')
progmem.write('class WWWData {\n')
progmem.write('\tpublic:\n')
progmem.write('\t\tstatic void registerRoutes(RouteRegistrationHandler handler) {\n')
for asset_path, asset in assetMap.items():
progmem.write(f'\t\t\thandler("/{asset_path}", "{asset["mime"]}", {asset["name"]}, {asset["size"]});\n')
progmem.write('\t\t}\n')
progmem.write('};\n\n')
def build_webapp():
os.chdir("../app2")
print("Building app with pnpm")
env.Execute("pnpm install")
env.Execute("pnpm run build")
os.chdir("../esp32")
def embed_webapp():
if flag_exists("EMBED_WWW"):
print("Converting interface to PROGMEM")
build_progmem()
return
print("running: build_interface.py")
if (should_regenerate_output_file()):
build_webapp()
embed_webapp()
esp32/scripts/generate_cert_bundle.py
+209
View File
@@ -0,0 +1,209 @@
#!/usr/bin/env python
#
# modified ESP32 x509 certificate bundle generation utility to run with platformio
#
# Converts PEM and DER certificates to a custom bundle format which stores just the
# subject name and public key to reduce space
#
# The bundle will have the format: number of certificates; crt 1 subject name length; crt 1 public key length;
# crt 1 subject name; crt 1 public key; crt 2...
#
# SPDX-FileCopyrightText: 2018-2022 Espressif Systems (Shanghai) CO LTD
# SPDX-License-Identifier: Apache-2.0
from __future__ import with_statement
from pathlib import Path
import os
import struct
import sys
import requests
from io import open
Import("env")
try:
from cryptography import x509
from cryptography.hazmat.backends import default_backend
from cryptography.hazmat.primitives import serialization
except ImportError:
env.Execute("$PYTHONEXE -m pip install cryptography")
ca_bundle_bin_file = 'x509_crt_bundle.bin'
mozilla_cacert_url = 'https://curl.se/ca/cacert.pem'
adafruit_cacert_url = 'https://raw.githubusercontent.com/adafruit/certificates/main/data/roots.pem'
certs_dir = Path("./ssl_certs")
binary_dir = Path("./src/certs")
quiet = False
def download_cacert_file(source):
if source == "mozilla":
response = requests.get(mozilla_cacert_url)
elif source == "adafruit":
response = requests.get(adafruit_cacert_url)
else:
raise InputError('Invalid certificate source')
if response.status_code == 200:
# Ensure the directory exists, create it if necessary
os.makedirs(certs_dir, exist_ok=True)
# Generate the full path to the output file
output_file = os.path.join(certs_dir, "cacert.pem")
# Write the certificate bundle to the output file with utf-8 encoding
with open(output_file, "w", encoding="utf-8") as f:
f.write(response.text)
status('Certificate bundle downloaded to: %s' % output_file)
else:
status('Failed to fetch the certificate bundle.')
def status(msg):
""" Print status message to stderr """
if not quiet:
critical(msg)
def critical(msg):
""" Print critical message to stderr """
sys.stderr.write('SSL Cert Store: ')
sys.stderr.write(msg)
sys.stderr.write('\n')
class CertificateBundle:
def __init__(self):
self.certificates = []
self.compressed_crts = []
if os.path.isfile(ca_bundle_bin_file):
os.remove(ca_bundle_bin_file)
def add_from_path(self, crts_path):
found = False
for file_path in os.listdir(crts_path):
found |= self.add_from_file(os.path.join(crts_path, file_path))
if found is False:
raise InputError('No valid x509 certificates found in %s' % crts_path)
def add_from_file(self, file_path):
try:
if file_path.endswith('.pem'):
status('Parsing certificates from %s' % file_path)
with open(file_path, 'r', encoding='utf-8') as f:
crt_str = f.read()
self.add_from_pem(crt_str)
return True
elif file_path.endswith('.der'):
status('Parsing certificates from %s' % file_path)
with open(file_path, 'rb') as f:
crt_str = f.read()
self.add_from_der(crt_str)
return True
except ValueError:
critical('Invalid certificate in %s' % file_path)
raise InputError('Invalid certificate')
return False
def add_from_pem(self, crt_str):
""" A single PEM file may have multiple certificates """
crt = ''
count = 0
start = False
for strg in crt_str.splitlines(True):
if strg == '-----BEGIN CERTIFICATE-----\n' and start is False:
crt = ''
start = True
elif strg == '-----END CERTIFICATE-----\n' and start is True:
crt += strg + '\n'
start = False
self.certificates.append(x509.load_pem_x509_certificate(crt.encode(), default_backend()))
count += 1
if start is True:
crt += strg
if count == 0:
raise InputError('No certificate found')
status('Successfully added %d certificates' % count)
def add_from_der(self, crt_str):
self.certificates.append(x509.load_der_x509_certificate(crt_str, default_backend()))
status('Successfully added 1 certificate')
def create_bundle(self):
# Sort certificates in order to do binary search when looking up certificates
self.certificates = sorted(self.certificates, key=lambda cert: cert.subject.public_bytes(default_backend()))
bundle = struct.pack('>H', len(self.certificates))
for crt in self.certificates:
""" Read the public key as DER format """
pub_key = crt.public_key()
pub_key_der = pub_key.public_bytes(serialization.Encoding.DER, serialization.PublicFormat.SubjectPublicKeyInfo)
""" Read the subject name as DER format """
sub_name_der = crt.subject.public_bytes(default_backend())
name_len = len(sub_name_der)
key_len = len(pub_key_der)
len_data = struct.pack('>HH', name_len, key_len)
bundle += len_data
bundle += sub_name_der
bundle += pub_key_der
return bundle
class InputError(RuntimeError):
def __init__(self, e):
super(InputError, self).__init__(e)
def main():
bundle = CertificateBundle()
try:
cert_source = env.GetProjectOption("board_ssl_cert_source")
if (cert_source == "mozilla" or cert_source == "adafruit"):
download_cacert_file(cert_source)
bundle.add_from_file(os.path.join(certs_dir, "cacert.pem"))
elif (cert_source == "folder"):
bundle.add_from_path(certs_dir)
except ValueError:
critical('Invalid configuration option: use \'board_ssl_cert_source\' parameter in platformio.ini' )
raise InputError('Invalid certificate')
status('Successfully added %d certificates in total' % len(bundle.certificates))
crt_bundle = bundle.create_bundle()
# Ensure the directory exists, create it if necessary
os.makedirs(binary_dir, exist_ok=True)
output_file = os.path.join(binary_dir, ca_bundle_bin_file)
with open(output_file, 'wb') as f:
f.write(crt_bundle)
status('Successfully created %s' % output_file)
try:
main()
except InputError as e:
print(e)
sys.exit(2)
esp32/scripts/rename_fw.py
+89
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@@ -0,0 +1,89 @@
"""
EMS-ESP - https://github.com/emsesp/EMS-ESP
Copyright 2020-2023 Paul Derbyshire
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
"""
import shutil
import re
import os
Import("env")
import hashlib
OUTPUT_DIR = "build{}".format(os.path.sep)
def readFlag(flag):
buildFlags = env.ParseFlags(env["BUILD_FLAGS"])
# print(buildFlags.get("CPPDEFINES"))
for define in buildFlags.get("CPPDEFINES"):
if (define == flag or (isinstance(define, list) and define[0] == flag)):
# print("Found "+flag+" = "+define[1])
# strip quotes ("") from define[1]
cleanedFlag = re.sub(r'^"|"$', '', define[1])
return cleanedFlag
return None
def bin_copy(source, target, env):
# get the build info
app_version = readFlag("APP_VERSION")
app_name = readFlag("APP_NAME")
build_target = env.get('PIOENV')
# print information's
print("App Version: " + app_version)
print("App Name: " + app_name)
print("Build Target: " + build_target)
# convert . to - so Windows doesn't complain
variant = app_name + "_" + build_target + "_" + app_version.replace(".", "-")
# check if output directories exist and create if necessary
if not os.path.isdir(OUTPUT_DIR):
os.mkdir(OUTPUT_DIR)
for d in ['firmware']:
if not os.path.isdir("{}{}".format(OUTPUT_DIR, d)):
os.mkdir("{}{}".format(OUTPUT_DIR, d))
# create string with location and file names based on variant
bin_file = "{}firmware{}{}.bin".format(OUTPUT_DIR, os.path.sep, variant)
md5_file = "{}firmware{}{}.md5".format(OUTPUT_DIR, os.path.sep, variant)
# check if new target files exist and remove if necessary
for f in [bin_file]:
if os.path.isfile(f):
os.remove(f)
# check if new target files exist and remove if necessary
for f in [md5_file]:
if os.path.isfile(f):
os.remove(f)
print("Renaming file to "+bin_file)
# copy firmware.bin to firmware/<variant>.bin
shutil.copy(str(target[0]), bin_file)
with open(bin_file,"rb") as f:
result = hashlib.md5(f.read())
print("Calculating MD5: "+result.hexdigest())
file1 = open(md5_file, 'w')
file1.write(result.hexdigest())
file1.close()
env.AddPostAction("$BUILD_DIR/${PROGNAME}.bin", [bin_copy])
env.AddPostAction("$BUILD_DIR/${PROGNAME}.md5", [bin_copy])
esp32/src/AsyncJpegStream.cpp
-128
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@@ -1,128 +0,0 @@
#include <AsyncJpegStream.h>
static const char* STREAM_CONTENT_TYPE = "multipart/x-mixed-replace;boundary=" PART_BOUNDARY;
static const char* STREAM_BOUNDARY = "\r\n--" PART_BOUNDARY "\r\n";
static const char* STREAM_PART = "Content-Type: %s\r\nContent-Length: %u\r\n\r\n";
static const char * JPG_CONTENT_TYPE = "image/jpeg";
AsyncJpegStreamResponse::AsyncJpegStreamResponse(){
_callback = nullptr;
_code = 200;
_contentLength = 0;
_contentType = STREAM_CONTENT_TYPE;
_sendContentLength = false;
_chunked = true;
_index = 0;
_jpg_buf_len = 0;
_jpg_buf = NULL;
lastAsyncRequest = 0;
memset(&_frame, 0, sizeof(camera_frame_t));
}
AsyncJpegStreamResponse::~AsyncJpegStreamResponse(){
if(_frame.fb){
if(_frame.fb->format != PIXFORMAT_JPEG){
free(_jpg_buf);
}
esp_camera_fb_return(_frame.fb);
}
}
/*bool AsyncJpegStreamResponse::_sourceValid() {
return true;
}*/
size_t AsyncJpegStreamResponse::_fillBuffer(uint8_t *buf, size_t maxLen) {
size_t ret = _content(buf, maxLen, _index);
if(ret != RESPONSE_TRY_AGAIN){
_index += ret;
}
return ret;
}
size_t AsyncJpegStreamResponse::_content(uint8_t *buffer, size_t maxLen, size_t index){
if(!_frame.fb || _frame.index == _jpg_buf_len) {
if(index && _frame.fb){
uint64_t end = (uint64_t)micros();
int fp = (end - lastAsyncRequest) / 1000;
log_printf("Size: %uKB, Time: %ums (%.1ffps)\n", _jpg_buf_len/1024, fp);
lastAsyncRequest = end;
if(_frame.fb->format != PIXFORMAT_JPEG){
free(_jpg_buf);
}
esp_camera_fb_return(_frame.fb);
_frame.fb = NULL;
_jpg_buf_len = 0;
_jpg_buf = NULL;
}
if(maxLen < (strlen(STREAM_BOUNDARY) + strlen(STREAM_PART) + strlen(JPG_CONTENT_TYPE) + 8)){
//log_w("Not enough space for headers");
return RESPONSE_TRY_AGAIN;
}
//get frame
_frame.index = 0;
_frame.fb = esp_camera_fb_get();
if (_frame.fb == NULL) {
log_e("Camera frame failed");
return 0;
}
if(_frame.fb->format != PIXFORMAT_JPEG){
unsigned long st = millis();
bool jpeg_converted = frame2jpg(_frame.fb, 80, &_jpg_buf, &_jpg_buf_len);
if(!jpeg_converted){
log_e("JPEG compression failed");
esp_camera_fb_return(_frame.fb);
_frame.fb = NULL;
_jpg_buf_len = 0;
_jpg_buf = NULL;
return 0;
}
log_i("JPEG: %lums, %uB", millis() - st, _jpg_buf_len);
} else {
_jpg_buf_len = _frame.fb->len;
_jpg_buf = _frame.fb->buf;
}
//send boundary
size_t blen = 0;
if(index){
blen = strlen(STREAM_BOUNDARY);
memcpy(buffer, STREAM_BOUNDARY, blen);
buffer += blen;
}
//send header
size_t hlen = sprintf((char *)buffer, STREAM_PART, JPG_CONTENT_TYPE, _jpg_buf_len);
buffer += hlen;
//send frame
hlen = maxLen - hlen - blen;
if(hlen > _jpg_buf_len){
maxLen -= hlen - _jpg_buf_len;
hlen = _jpg_buf_len;
}
memcpy(buffer, _jpg_buf, hlen);
_frame.index += hlen;
return maxLen;
}
size_t available = _jpg_buf_len - _frame.index;
if(maxLen > available){
maxLen = available;
}
memcpy(buffer, _jpg_buf+_frame.index, maxLen);
_frame.index += maxLen;
return maxLen;
}
void streamJpg(AsyncWebServerRequest *request){
AsyncJpegStreamResponse *response = new AsyncJpegStreamResponse();
if(!response){
request->send(501);
return;
}
request->send(response);
}
esp32/src/camera.cpp
-43
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@@ -1,43 +0,0 @@
#include <servo.h>
#include <camera_pins.h>
#include <esp_camera.h>
esp_err_t InitializeCamera(){
camera_config_t camera_config;
camera_config.ledc_channel = LEDC_CHANNEL_0;
camera_config.ledc_timer = LEDC_TIMER_0;
camera_config.pin_d0 = Y2_GPIO_NUM;
camera_config.pin_d1 = Y3_GPIO_NUM;
camera_config.pin_d2 = Y4_GPIO_NUM;
camera_config.pin_d3 = Y5_GPIO_NUM;
camera_config.pin_d4 = Y6_GPIO_NUM;
camera_config.pin_d5 = Y7_GPIO_NUM;
camera_config.pin_d6 = Y8_GPIO_NUM;
camera_config.pin_d7 = Y9_GPIO_NUM;
camera_config.pin_xclk = XCLK_GPIO_NUM;
camera_config.pin_pclk = PCLK_GPIO_NUM;
camera_config.pin_vsync = VSYNC_GPIO_NUM;
camera_config.pin_href = HREF_GPIO_NUM;
camera_config.pin_sscb_sda = SIOD_GPIO_NUM;
camera_config.pin_sscb_scl = SIOC_GPIO_NUM;
camera_config.pin_pwdn = PWDN_GPIO_NUM;
camera_config.pin_reset = RESET_GPIO_NUM;
camera_config.xclk_freq_hz = 20000000;
camera_config.pixel_format = PIXFORMAT_JPEG;
if(psramFound()){
camera_config.frame_size = FRAMESIZE_SVGA;
camera_config.jpeg_quality = 10;
camera_config.fb_count = 2;
} else {
camera_config.frame_size = FRAMESIZE_SVGA;
camera_config.jpeg_quality = 12;
camera_config.fb_count = 1;
}
log_i("Initializing camera");
esp_err_t err = esp_camera_init(&camera_config);
if (err != ESP_OK) log_e("Camera probe failed with error 0x%x", err);
return err;
}
esp32/src/certs/x509_crt_bundle.bin
BIN
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esp32/src/deviceconfig.cpp
-55
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@@ -1,55 +0,0 @@
#include <HTTPClient.h>
#include <UrlEncode.h>
#include <globals.h>
#include <deviceconfig.h>
#include <secrets.h>
DRAM_ATTR std::unique_ptr<DeviceConfig> g_ptrDeviceConfig;
DRAM_ATTR size_t g_DeviceConfigJSONBufferSize = 0;
void DeviceConfig::SaveToJSON()
{
g_ptrJSONWriter->FlagWriter(writerIndex);
}
DeviceConfig::DeviceConfig()
{
// Add SettingSpec for additional settings to this list
settingSpecs.emplace_back(
NAME_OF(ntpServer),
"NTP server address",
"The hostname or IP address of the NTP server to be used for time synchronization.",
SettingSpec::SettingType::String
);
settingSpecs.emplace_back(
NAME_OF(useMetric),
"Use metric system",
"A boolean that indicates if unit should be shown in metric ('true'/1) or imperial ('false'/0) format.",
SettingSpec::SettingType::Boolean
);
log_i("about to write");
writerIndex = g_ptrJSONWriter->RegisterWriter(
[this]() { SaveToJSONFile(DEVICE_CONFIG_FILE, g_DeviceConfigJSONBufferSize, *this); }
);
std::unique_ptr<AllocatedJsonDocument> pJsonDoc(nullptr);
if (LoadJSONFile(DEVICE_CONFIG_FILE, g_DeviceConfigJSONBufferSize, pJsonDoc))
{
log_i("Loading DeviceConfig from JSON");
DeserializeFromJSON(pJsonDoc->as<JsonObjectConst>(), true);
}
else
{
log_w("DeviceConfig could not be loaded from JSON, using defaults");
// Set default for additional settings in this code
ntpServer = DEFAULT_NTP_SERVER;
SaveToJSON();
}
}
esp32/src/jsonserializer.cpp
-177
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@@ -1,177 +0,0 @@
#include <globals.h>
#include <SPIFFS.h>
#include <jsonserializer.h>
#include <taskmanager.h>
DRAM_ATTR std::unique_ptr<JSONWriter> g_ptrJSONWriter = nullptr;
bool LoadJSONFile(const char *fileName, size_t& bufferSize, std::unique_ptr<AllocatedJsonDocument>& pJsonDoc)
{
bool jsonReadSuccessful = false;
File file = SPIFFS.open(fileName);
if (file)
{
if (file.size() > 0)
{
log_i("Attempting to read JSON file %s", fileName);
if (bufferSize == 0)
bufferSize = std::max((size_t)JSON_BUFFER_BASE_SIZE, file.size());
// Loop is here to deal with out of memory conditions
while(true)
{
pJsonDoc.reset(new AllocatedJsonDocument(bufferSize));
DeserializationError error = deserializeJson(*pJsonDoc, file);
if (error == DeserializationError::NoMemory)
{
pJsonDoc.reset(nullptr);
file.seek(0);
bufferSize += JSON_BUFFER_INCREMENT;
log_w("Out of memory reading JSON from file %s - increasing buffer to %zu bytes", fileName, bufferSize);
}
else if (error == DeserializationError::Ok)
{
jsonReadSuccessful = true;
break;
}
else
{
log_w("Error with code %d occurred while deserializing JSON from file %s", to_value(error.code()), fileName);
break;
}
}
}
file.close();
}
return jsonReadSuccessful;
}
void SerializeWithBufferSize(std::unique_ptr<AllocatedJsonDocument>& pJsonDoc, size_t& bufferSize, std::function<bool(JsonObject&)> serializationFunction)
{
// Loop is here to deal with out of memory conditions
while(true)
{
pJsonDoc.reset(new AllocatedJsonDocument(bufferSize));
JsonObject jsonObject = pJsonDoc->to<JsonObject>();
if (serializationFunction(jsonObject))
break;
pJsonDoc.reset(nullptr);
bufferSize += JSON_BUFFER_INCREMENT;
log_w("Out of memory serializing object - increasing buffer to %zu bytes", bufferSize);
}
}
bool SaveToJSONFile(const char *fileName, size_t& bufferSize, IJSONSerializable& object)
{
if (bufferSize == 0)
bufferSize = JSON_BUFFER_BASE_SIZE;
std::unique_ptr<AllocatedJsonDocument> pJsonDoc(nullptr);
SerializeWithBufferSize(pJsonDoc, bufferSize, [&object](JsonObject& jsonObject) { return object.SerializeToJSON(jsonObject); });
SPIFFS.remove(fileName);
File file = SPIFFS.open(fileName, FILE_WRITE);
if (!file)
{
log_e("Unable to open file %s to write JSON!", fileName);
return false;
}
size_t bytesWritten = serializeJson(*pJsonDoc, file);
log_i("Number of bytes written to JSON file %s: %d", fileName, bytesWritten);
file.flush();
file.close();
if (bytesWritten == 0)
{
log_e("Unable to write JSON to file %s!", fileName);
SPIFFS.remove(fileName);
return false;
}
/*
file = SPIFFS.open(fileName);
if (file)
{
while (file.available())
Serial.write(file.read());
file.close();
}
*/
return true;
}
bool RemoveJSONFile(const char *fileName)
{
return SPIFFS.remove(fileName);
}
size_t JSONWriter::RegisterWriter(std::function<void()> writer)
{
// Add the writer with its flag unset
writers.emplace_back(writer);
return writers.size() - 1;
}
void JSONWriter::FlagWriter(size_t index)
{
// Check if we received a valid writer index
if (index >= writers.size())
return;
writers[index].flag = true;
latestFlagMs = millis();
g_TaskManager.NotifyJSONWriterThread();
}
// JSONWriterTaskEntry
//
// Invoke functions that write serialized JSON objects to SPIFFS at request, with some delay
void IRAM_ATTR JSONWriterTaskEntry(void *)
{
for(;;)
{
TickType_t notifyWait = portMAX_DELAY;
for (;;)
{
// Wait until we're woken up by a writer being flagged, or until we've reached the hold point
ulTaskNotifyTake(pdTRUE, notifyWait);
if (!g_ptrJSONWriter)
continue;
unsigned long holdUntil = g_ptrJSONWriter->latestFlagMs + JSON_WRITER_DELAY;
unsigned long now = millis();
if (now >= holdUntil)
break;
notifyWait = pdMS_TO_TICKS(holdUntil - now);
}
for (auto &entry : g_ptrJSONWriter->writers)
{
// Unset flag before we do the actual write. This makes that we don't miss another flag raise if it happens while writing
if (entry.flag.exchange(false))
entry.writer();
}
}
}
esp32/src/main.cpp
+9 -23
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@@ -1,32 +1,18 @@
#include <globals.h>
#include <deviceconfig.h>
#include <ESP32SvelteKit.h>
#include <PsychicHttpServer.h>
#define SERIAL_BAUD_RATE 115200
ESPTaskManager g_TaskManager;
#if USE_WIFI && USE_WEBSERVER
DRAM_ATTR CWebServer g_WebServer;
#endif
PsychicHttpServer server;
ESP32SvelteKit esp32sveltekit(&server, 120);
void setup() {
WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0);
Serial.begin(BAUDRATE);
log_i("Booting");
SPIFFS.begin();
Wire.begin(SDA, SCL);
InitializeCamera();
g_TaskManager.begin();
g_TaskManager.StartThreads();
Serial.begin(SERIAL_BAUD_RATE);
g_ptrJSONWriter = std::make_unique<JSONWriter>();
g_ptrDeviceConfig = std::make_unique<DeviceConfig>();
g_ptrServo = std::make_unique<Servo>();
g_ptrServo->begin();
g_ptrServo->setOscillatorFrequency(SERVO_OSCILLATOR_FREQUENCY);
g_ptrServo->setPWMFreq(SERVO_FREQ);
g_ptrServo->updateServos();
esp32sveltekit.begin();
}
void loop() {
delay(200);
vTaskDelete(NULL);
}
esp32/src/movement.cpp
-79
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@@ -1,79 +0,0 @@
#include <featureflags.h>
#if USE_MPU
#include <MPU6050_light.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_HMC5883_U.h>
#endif
#if USE_POWER_BUTTON
#include <Bounce2.h>
#endif
#if USE_POWER_BUTTON
Bounce2::Button PowerButton;
#endif
#if USE_MPU
DRAM_ATTR MPU6050 g_imu(Wire);
DRAM_ATTR Adafruit_HMC5883_Unified g_mag = Adafruit_HMC5883_Unified(12345);
#endif
void beginMag() {
if(!g_mag.begin()) log_w("Failed to initialize HMC5883L");
}
void beginImu() {
byte status = g_imu.begin();
if(status != 0) log_w("MPU initialize failed");
delay(100);
g_imu.calcOffsets(true,true);
}
float getHeading() {
sensors_event_t event;
g_mag.getEvent(&event);
float heading = atan2(event.magnetic.y, event.magnetic.x);
float declinationAngle = 0.22;
heading += declinationAngle;
if(heading < 0) heading += 2*PI;
if(heading > 2*PI) heading -= 2*PI;
return heading * 180/M_PI;
}
float getTemp() {
return g_imu.getTemp();
}
float getAngleX() {
return g_imu.getAngleX();
}
float getAngleY() {
return g_imu.getAngleX();
}
float getAngleZ() {
return g_imu.getAngleZ();
}
void IRAM_ATTR MovementHandlingLoopEntry(void *) {
TickType_t notifyWait = 0;
beginMag();
beginImu();
for (;;) {
g_imu.update();
ulTaskNotifyTake(pdTRUE, notifyWait);
// #if USE_POWER_BUTTON
// PowerButton.update();
// if (PowerButton.pressed()) {
// log_i("Power Button Pressed");
// g_ptrServo->toggleState();
// }
// #endif
notifyWait = pdMS_TO_TICKS(100);
}
}
esp32/src/network.cpp
-96
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@@ -1,96 +0,0 @@
#include <globals.h>
#include <deviceconfig.h>
#if USE_WIFI && USE_WEBSERVER
extern DRAM_ATTR CWebServer g_WebServer;
#endif
#if USE_WIFI
bool ConnectToWiFi(uint cRetries) {
static bool bPreviousConnection = false;
if (WiFi.isConnected()) return true;
log_i("Connection to wifi");
WiFi.disconnect();
WiFi.mode(WIFI_STA);
WiFi.setHostname(HOSTNAME);
for (uint iPass = 0; iPass < cRetries; iPass++) {
log_i("Pass %u of %u: Connecting to Wifi SSID: \"%s\" - ESP32 Free Memory: %u, PSRAM:%u, PSRAM Free: %u\n",
iPass + 1, cRetries, SSID, ESP.getFreeHeap(), ESP.getPsramSize(), ESP.getFreePsram());
WiFi.begin(SSID, PASS);
delay(4000 + iPass * 1000);
if (WiFi.isConnected()) {
log_i("Connected to AP with BSSID: %s\n", WiFi.BSSIDstr().c_str());
break;
}
}
// Additional Services onwwards reliant on network so close if not up.
if (false == WiFi.isConnected()) {
log_i("Giving up on WiFi\n");
return false;
}
log_i("Received IP: %s", WiFi.localIP().toString().c_str());
// If we were connected before, network-dependent services will have been started already
if (bPreviousConnection)
return true;
#if USE_OTA
//debugI("Publishing OTA...");
SetupOTA(String(cszHostname));
#endif
#if USE_NTP
//debugI("Setting Clock...");
//NTPTimeClient::UpdateClockFromWeb(&g_Udp);
#endif
#if USE_WEBSERVER
g_WebServer.begin();
#endif
#if USE_MDNS
if(MDNS.begin(HOSTNAME)){
MDNS.addService("http", "tcp", HTTP_PORT);
}
#endif
bPreviousConnection = true;
return true;
}
void IRAM_ATTR NetworkHandlingLoopEntry(void *) {
unsigned long lastWifiCheck = 0;
unsigned long checkWiFiEveryMs = 1000;
TickType_t notifyWait = 0;
for (;;) {
ulTaskNotifyTake(pdTRUE, notifyWait);
if ( millis() - lastWifiCheck > checkWiFiEveryMs) {
if (WiFi.isConnected() == false && ConnectToWiFi(5) == false) {
log_e("Cannot Connect to Wifi!");
#if WAIT_FOR_WIFI
log_e("Rebooting in 5 seconds due to no Wifi available.");
delay(5000);
throw new std::runtime_error("Rebooting due to no Wifi available.");
#endif
}
}
#if USE_WEBSERVER
g_WebServer.loop();
#endif
notifyWait = pdMS_TO_TICKS(1000);
}
}
#endif // ENABLE_WIFI
esp32/src/servo.cpp
-3
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@@ -1,3 +0,0 @@
#include <servo.h>
DRAM_ATTR std::unique_ptr<Servo> g_ptrServo;
esp32/src/webserver.cpp
-346
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@@ -1,346 +0,0 @@
#include "globals.h"
#include "webserver.h"
// Maps settings for which a validator is available to the invocation thereof
const std::map<String, CWebServer::ValueValidator> CWebServer::settingValidators
{};
std::vector<SettingSpec> CWebServer::deviceSettingSpecs{};
// Member function template specialzations
// Push param that represents a bool. Values considered true are text "true" and any whole number not equal to 0
template<>
bool CWebServer::PushPostParamIfPresent<bool>(AsyncWebServerRequest * pRequest, const String &paramName, ValueSetter<bool> setter)
{
return PushPostParamIfPresent<bool>(pRequest, paramName, setter, [](AsyncWebParameter * param) constexpr
{
const String& value = param->value();
return value == "true" || strtol(value.c_str(), NULL, 10);
});
}
// Push param that represents a size_t
template<>
bool CWebServer::PushPostParamIfPresent<size_t>(AsyncWebServerRequest * pRequest, const String &paramName, ValueSetter<size_t> setter)
{
return PushPostParamIfPresent<size_t>(pRequest, paramName, setter, [](AsyncWebParameter * param) constexpr
{
return strtoul(param->value().c_str(), NULL, 10);
});
}
// Add CORS header to and send JSON response
template<>
void CWebServer::AddCORSHeaderAndSendResponse<AsyncJsonResponse>(AsyncWebServerRequest * pRequest, AsyncJsonResponse * pResponse)
{
pResponse->setLength();
AddCORSHeaderAndSendResponse<AsyncWebServerResponse>(pRequest, pResponse);
}
// Member function implementations
bool CWebServer::IsPostParamTrue(AsyncWebServerRequest * pRequest, const String & paramName)
{
bool returnValue = false;
PushPostParamIfPresent<bool>(pRequest, paramName, [&returnValue](auto value) { returnValue = value; return true; });
return returnValue;
}
void CWebServer::GetStatistics(AsyncWebServerRequest * pRequest)
{
log_v("GetStatistics");
auto response = new AsyncJsonResponse(false, JSON_BUFFER_BASE_SIZE);
auto j = response->getRoot();
j["HEAP_SIZE"] = _staticStats.HeapSize;
j["HEAP_FREE"] = ESP.getFreeHeap();
j["HEAP_MIN"] = ESP.getMinFreeHeap();
j["DMA_SIZE"] = _staticStats.DmaHeapSize;
j["DMA_FREE"] = heap_caps_get_free_size(MALLOC_CAP_DMA);
j["DMA_MIN"] = heap_caps_get_largest_free_block(MALLOC_CAP_DMA);
j["PSRAM_SIZE"] = _staticStats.PsramSize;
j["PSRAM_FREE"] = ESP.getFreePsram();
j["PSRAM_MIN"] = ESP.getMinFreePsram();
j["CHIP_MODEL"] = _staticStats.ChipModel;
j["CHIP_CORES"] = _staticStats.ChipCores;
j["CHIP_SPEED"] = _staticStats.CpuFreqMHz;
j["PROG_SIZE"] = _staticStats.SketchSize;
j["CODE_SIZE"] = _staticStats.SketchSize;
j["CODE_FREE"] = _staticStats.FreeSketchSpace;
j["FLASH_SIZE"] = _staticStats.FlashChipSize;
j["CPU_USED"] = g_TaskManager.GetCPUUsagePercent();
j["CPU_USED_CORE0"] = g_TaskManager.GetCPUUsagePercent(0);
j["CPU_USED_CORE1"] = g_TaskManager.GetCPUUsagePercent(1);
AddCORSHeaderAndSendResponse(pRequest, response);
}
void CWebServer::SendSettingSpecsResponse(AsyncWebServerRequest * pRequest, const std::vector<SettingSpec> & settingSpecs)
{
static size_t jsonBufferSize = JSON_BUFFER_BASE_SIZE;
bool bufferOverflow;
do
{
bufferOverflow = false;
auto response = std::make_unique<AsyncJsonResponse>(false, jsonBufferSize);
auto jsonArray = response->getRoot().to<JsonArray>();
for (auto& spec : settingSpecs)
{
auto specObject = jsonArray.createNestedObject();
StaticJsonDocument<384> jsonDoc;
jsonDoc["name"] = spec.Name;
jsonDoc["friendlyName"] = spec.FriendlyName;
jsonDoc["description"] = spec.Description;
jsonDoc["type"] = to_value(spec.Type);
jsonDoc["typeName"] = spec.ToName(spec.Type);
if (!specObject.set(jsonDoc.as<JsonObjectConst>()))
{
bufferOverflow = true;
jsonBufferSize += JSON_BUFFER_INCREMENT;
log_v("JSON response buffer overflow! Increased buffer to %zu bytes", jsonBufferSize);
break;
}
}
if (!bufferOverflow)
AddCORSHeaderAndSendResponse(pRequest, response.release());
} while (bufferOverflow);
}
const std::vector<SettingSpec> & CWebServer::LoadDeviceSettingSpecs()
{
if (deviceSettingSpecs.size() == 0)
{
auto deviceConfigSpecs = g_ptrDeviceConfig->GetSettingSpecs();
deviceSettingSpecs.insert(deviceSettingSpecs.end(), deviceConfigSpecs.begin(), deviceConfigSpecs.end());
}
return deviceSettingSpecs;
}
void CWebServer::GetSettingSpecs(AsyncWebServerRequest * pRequest)
{
SendSettingSpecsResponse(pRequest, LoadDeviceSettingSpecs());
}
// Responds with current config, excluding any sensitive values
void CWebServer::GetSettings(AsyncWebServerRequest * pRequest)
{
log_v("GetSettings");
auto response = new AsyncJsonResponse(false, JSON_BUFFER_BASE_SIZE);
response->addHeader("Server","NightDriverStrip");
auto root = response->getRoot();
JsonObject jsonObject = root.to<JsonObject>();
// We get the serialized JSON for the device config, without any sensitive values
g_ptrDeviceConfig->SerializeToJSON(jsonObject, false);
AddCORSHeaderAndSendResponse(pRequest, response);
}
// Support function that silently sets whatever settings are included in the request passed.
// Composing a response is left to the invoker!
void CWebServer::SetSettingsIfPresent(AsyncWebServerRequest * pRequest)
{
PushPostParamIfPresent<String>(pRequest, DeviceConfig::NTPServerTag, SET_VALUE(g_ptrDeviceConfig->SetNTPServer(value)));
}
// Set settings and return resulting config
void CWebServer::SetSettings(AsyncWebServerRequest * pRequest)
{
log_v("SetSettings");
SetSettingsIfPresent(pRequest);
// We return the current config in response
GetSettings(pRequest);
}
// Save the posted file to SPIFFS
void CWebServer::SaveFile(AsyncWebServerRequest* request, String filename, size_t index, uint8_t* data, size_t len, bool final)
{
log_v("SaveFile");
}
#if USE_OAT
// Update the current firmware
void CWebServer::UpdateFileSystemImage(AsyncWebServerRequest *request, String filename, size_t index, uint8_t *data, size_t len, bool final)
{
log_v("UpdateFileSystemImage");
HandleUpdate(request, filename, index, data, len, final, (ESP.getFreeSketchSpace() - 0x1000) & 0xFFFFF000, U_FLASH);
}
// Update the current firmware
void CWebServer::UpdateFirmware(AsyncWebServerRequest *request, String filename, size_t index, uint8_t *data, size_t len, bool final)
{
log_v("UpdateFirmware");
HandleUpdate(request, filename, index, data, len, final, UPDATE_SIZE_UNKNOWN, U_SPIFFS);
}
// Handles updating the filesystem image or firmware
void CWebServer::HandleUpdate(AsyncWebServerRequest* request, String filename, size_t index, uint8_t* data, size_t len, bool final, size_t upload_size, uint8_t upload_index) {
if (!index) {
log_i("Update Start: %s\n", filename.c_str());
log_i("Uploading: %d", upload_index);
if (!Update.begin(upload_size, upload_index)) {
Update.printError(Serial);
}
}
if (!Update.hasError()) {
if (Update.write(data, len) != len) {
Update.printError(Serial);
}
}
if (final) {
if (Update.end(true)) {
log_i("Update Success: %uB\n", index + len);
}
else {
Update.printError(Serial);
}
}
}
// Ensures the request gets send to the client
void CWebServer::UpdateRequestHandler(AsyncWebServerRequest* request){
bool success = !Update.hasError();
AsyncWebServerResponse* response = request->beginResponse(200, "text/plain", success ? "OK" : "FAIL");
response->addHeader("Connection", "close");
request->send(response);
if (success) {
delay(250);
ESP.restart();
}
}
#endif
// Reset effect config, device config and/or the board itself
void CWebServer::Reset(AsyncWebServerRequest * pRequest)
{
if (IsPostParamTrue(pRequest, "deviceConfig"))
{
log_i("Removing DeviceConfig");
g_ptrDeviceConfig->RemovePersisted();
}
bool boardResetRequested = IsPostParamTrue(pRequest, "board");
AddCORSHeaderAndSendOKResponse(pRequest);
if (boardResetRequested)
{
log_w("Resetting device at API request!");
delay(1000); // Give the response a second to be sent
throw new std::runtime_error("Resetting device at API request");
}
}
String dir(void) {
String x = "<table>";
File root = SPIFFS.open("/");
if(!root) {
return "Failed to open directory";
}
if(!root.isDirectory()) {
return "Not a directory";
}
File file = root.openNextFile();
while(file) {
x += "<tr><td>"+String(file.name());
if(file.isDirectory()){
x += "<td>DIR";
} else {
x += "<td style='text-align:right'>"+String(file.size());
}
file = root.openNextFile();
}
x += "<tr><td>Occupied space<td style='text-align:right'>"+String(SPIFFS.usedBytes());
x += "<tr><td>Total space<td style='text-align:right'>"+String(SPIFFS.totalBytes());
return x+"</table>";
}
// Send Gzip SPA
void CWebServer::GzipSpa(AsyncWebServerRequest * pRequest)
{
if(!SPIFFS.exists("/index.html.gz")){
log_e("Gzipped SPA not found");
pRequest->send(404, "text/html", dir());
return;
}
AsyncWebServerResponse *response = pRequest->beginResponse(SPIFFS, "/index.html.gz", "text/html", false);
response->addHeader("Content-Encoding", "gzip");
response->addHeader("Cache-Control"," max-age=86400");
AddCORSHeaderAndSendResponse(pRequest, response);
}
enum Action {
SERVO_UPDATE,
};
void handleWebSocketJson(uint8_t* data) {
const uint8_t size = JSON_OBJECT_SIZE(1);
StaticJsonDocument<100> json;
DeserializationError err = deserializeJson(json, data);
if (err) {
Serial.print(F("deserializeJson() failed with code "));
Serial.println(err.c_str());
return;
}
const uint8_t action = json["action"];
if(action == 0) {
const uint8_t servoIndex = json["servo"];
const int16_t pwm = json["pwm"];
log_i("Moving servo:%u to pwm%u", servoIndex, pwm);
g_ptrServo->setPWM(servoIndex, 0, pwm);
}
}
void handleWebSocketBuffer(uint8_t* data) {
if(data[0] == 0) g_ptrServo->setBody(data[1], data[2], data[3], data[4], data[5], data[6]);
else if(data[0] == 1) {
log_i("About to update all servos");
int16_t* angles = (int16_t*)data+1;
g_ptrServo->SetAngles(angles);
}
}
void handleWebSocketMessage(void* arg, uint8_t* data, size_t len, AsyncWebSocket* server, AsyncWebSocketClient* client) {
AwsFrameInfo* info = (AwsFrameInfo*)arg;
if(info->final && info->index == 0 && info->len == len){
if(info->opcode == WS_TEXT) handleWebSocketJson(data);
else handleWebSocketBuffer(data);
}
}
// Reset effect config, device config and/or the board itself
void CWebServer::HandleWsMessage(AsyncWebSocket* server, AsyncWebSocketClient* client, AwsEventType type, void* arg, uint8_t* data, size_t len)
{
//if (type == WS_EVT_CONNECT) handleNewConnection(server, client);
/*else*/ if (type == WS_EVT_DISCONNECT) log_i("ws[%s][%u] disconnect\n", server->url(), client->id());
else if (type == WS_EVT_ERROR) log_i("ws[%s][%u] error(%u): %s\n", server->url(), client->id(), *((uint16_t*)arg), (char*)data);
else if (type == WS_EVT_PONG) log_i("ws[%s][%u] pong[%u]: %s\n", server->url(), client->id(), len, (len) ? (char*)data : "");
else if (type == WS_EVT_DATA) handleWebSocketMessage(arg, data, len, server, client);
}
esp32/ssl_certs/DigiCert_Global_Root_CA.pem
+22
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@@ -0,0 +1,22 @@
-----BEGIN CERTIFICATE-----
MIIDrzCCApegAwIBAgIQCDvgVpBCRrGhdWrJWZHHSjANBgkqhkiG9w0BAQUFADBh
MQswCQYDVQQGEwJVUzEVMBMGA1UEChMMRGlnaUNlcnQgSW5jMRkwFwYDVQQLExB3
d3cuZGlnaWNlcnQuY29tMSAwHgYDVQQDExdEaWdpQ2VydCBHbG9iYWwgUm9vdCBD
QTAeFw0wNjExMTAwMDAwMDBaFw0zMTExMTAwMDAwMDBaMGExCzAJBgNVBAYTAlVT
MRUwEwYDVQQKEwxEaWdpQ2VydCBJbmMxGTAXBgNVBAsTEHd3dy5kaWdpY2VydC5j
b20xIDAeBgNVBAMTF0RpZ2lDZXJ0IEdsb2JhbCBSb290IENBMIIBIjANBgkqhkiG
9w0BAQEFAAOCAQ8AMIIBCgKCAQEA4jvhEXLeqKTTo1eqUKKPC3eQyaKl7hLOllsB
CSDMAZOnTjC3U/dDxGkAV53ijSLdhwZAAIEJzs4bg7/fzTtxRuLWZscFs3YnFo97
nh6Vfe63SKMI2tavegw5BmV/Sl0fvBf4q77uKNd0f3p4mVmFaG5cIzJLv07A6Fpt
43C/dxC//AH2hdmoRBBYMql1GNXRor5H4idq9Joz+EkIYIvUX7Q6hL+hqkpMfT7P
T19sdl6gSzeRntwi5m3OFBqOasv+zbMUZBfHWymeMr/y7vrTC0LUq7dBMtoM1O/4
gdW7jVg/tRvoSSiicNoxBN33shbyTApOB6jtSj1etX+jkMOvJwIDAQABo2MwYTAO
BgNVHQ8BAf8EBAMCAYYwDwYDVR0TAQH/BAUwAwEB/zAdBgNVHQ4EFgQUA95QNVbR
TLtm8KPiGxvDl7I90VUwHwYDVR0jBBgwFoAUA95QNVbRTLtm8KPiGxvDl7I90VUw
DQYJKoZIhvcNAQEFBQADggEBAMucN6pIExIK+t1EnE9SsPTfrgT1eXkIoyQY/Esr
hMAtudXH/vTBH1jLuG2cenTnmCmrEbXjcKChzUyImZOMkXDiqw8cvpOp/2PV5Adg
06O/nVsJ8dWO41P0jmP6P6fbtGbfYmbW0W5BjfIttep3Sp+dWOIrWcBAI+0tKIJF
PnlUkiaY4IBIqDfv8NZ5YBberOgOzW6sRBc4L0na4UU+Krk2U886UAb3LujEV0ls
YSEY1QSteDwsOoBrp+uvFRTp2InBuThs4pFsiv9kuXclVzDAGySj4dzp30d8tbQk
CAUw7C29C79Fv1C5qfPrmAESrciIxpg0X40KPMbp1ZWVbd4=
-----END CERTIFICATE-----
esp32/ssl_certs/cacert.pem
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