Rune Harlyk
414 lines
11 KiB
C++
414 lines
11 KiB
C++
#ifndef Peripherals_h
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#define Peripherals_h
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#include <EventEndpoint.h>
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#include <FSPersistence.h>
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#include <HttpEndpoint.h>
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#include <SecurityManager.h>
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#include <StatefulService.h>
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#include <MathUtils.h>
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#include <list>
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#include <SPI.h>
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#include <Wire.h>
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#include <MPU6050_6Axis_MotionApps612.h>
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#include <Adafruit_PWMServoDriver.h>
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#include <Adafruit_BMP085_U.h>
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#include <Adafruit_HMC5883_U.h>
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#include <Adafruit_Sensor.h>
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#include <Adafruit_ADS1X15.h>
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#define DEVICE_CONFIG_FILE "/config/peripheral.json"
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#define EVENT_CONFIGURATION_SETTINGS "peripheralSettings"
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#define CONFIGURATION_SETTINGS_PATH "/api/peripheral/settings"
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#define EVENT_I2C_SCAN "i2cScan"
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#define I2C_INTERVAL 500
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#define MAX_ESP_IMU_SIZE 500
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#define EVENT_IMU "imu"
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/*
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* Servo Settings
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*/
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#ifndef FACTORY_SERVO_PWM_FREQUENCY
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#define FACTORY_SERVO_PWM_FREQUENCY 50
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#endif
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#ifndef FACTORY_SERVO_OSCILLATOR_FREQUENCY
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#define FACTORY_SERVO_OSCILLATOR_FREQUENCY 27000000
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#endif
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/*
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* OLED Settings
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*/
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#define SCREEN_WIDTH 128
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#define SCREEN_HEIGHT 64
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#define SCREEN_RESET -1
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/*
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* I2C software connection
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*/
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#ifndef SDA_PIN
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#define SDA_PIN SDA
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#endif
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#ifndef SCL_PIN
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#define SCL_PIN SCL
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#endif
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#ifndef I2C_FREQUENCY
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#define I2C_FREQUENCY 100000UL
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#endif
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class PinConfig {
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public:
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int pin;
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String mode;
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String type;
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String role;
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PinConfig(int p, String m, String t, String r) : pin(p), mode(m), type(t), role(r) {}
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};
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class PeripheralsConfiguration {
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public:
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int sda = SDA_PIN;
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int scl = SCL_PIN;
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long frequency = I2C_FREQUENCY;
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std::vector<PinConfig> pins;
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static void read(PeripheralsConfiguration &settings, JsonObject &root) {
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root["sda"] = settings.sda;
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root["scl"] = settings.scl;
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root["frequency"] = settings.frequency;
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}
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static StateUpdateResult update(JsonObject &root, PeripheralsConfiguration &settings) {
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settings.sda = root["sda"] | SDA_PIN;
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settings.scl = root["scl"] | SCL_PIN;
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settings.frequency = root["frequency"] | I2C_FREQUENCY;
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return StateUpdateResult::CHANGED;
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};
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};
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class Peripherals : public StatefulService<PeripheralsConfiguration> {
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public:
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Peripherals(PsychicHttpServer *server, FS *fs, SecurityManager *securityManager, EventSocket *socket)
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: _server(server),
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_socket(socket),
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_securityManager(securityManager),
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_httpEndpoint(PeripheralsConfiguration::read, PeripheralsConfiguration::update, this, server,
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CONFIGURATION_SETTINGS_PATH, securityManager, AuthenticationPredicates::IS_ADMIN),
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_eventEndpoint(PeripheralsConfiguration::read, PeripheralsConfiguration::update, this, socket,
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EVENT_CONFIGURATION_SETTINGS),
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#if FT_ENABLED(FT_MAG)
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_mag(12345),
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#endif
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#if FT_ENABLED(FT_BMP)
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_bmp(10085),
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#endif
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_fsPersistence(PeripheralsConfiguration::read, PeripheralsConfiguration::update, this, fs,
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DEVICE_CONFIG_FILE) {
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addUpdateHandler([&](const String &originId) { updatePins(); }, false);
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};
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void begin() {
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_httpEndpoint.begin();
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_eventEndpoint.begin();
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_fsPersistence.readFromFS();
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_socket->onEvent(EVENT_I2C_SCAN, [&](JsonObject &root, int originId) {
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scanI2C();
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emitI2C();
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});
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_socket->onSubscribe(EVENT_I2C_SCAN, [&](const String &originId, bool sync) {
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scanI2C();
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emitI2C(originId, sync);
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});
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updatePins();
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#if FT_ENABLED(FT_SERVO)
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_pca.begin();
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_pca.setPWMFreq(FACTORY_SERVO_PWM_FREQUENCY);
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_pca.setOscillatorFrequency(FACTORY_SERVO_OSCILLATOR_FREQUENCY);
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#endif
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#if FT_ENABLED(FT_IMU)
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_imu.initialize();
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imu_success = _imu.testConnection();
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devStatus = _imu.dmpInitialize();
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if (!imu_success) {
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ESP_LOGE("IMUService", "MPU initialize failed");
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}
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_imu.setDMPEnabled(true);
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_imu.setI2CMasterModeEnabled(false);
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_imu.setI2CBypassEnabled(true);
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_imu.setSleepEnabled(false);
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#endif
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#if FT_ENABLED(FT_MAG)
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mag_success = _mag.begin();
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if (!mag_success) {
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ESP_LOGE("IMUService", "MAG initialize failed");
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}
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#endif
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#if FT_ENABLED(FT_BMP)
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bmp_success = _bmp.begin();
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if (!bmp_success) {
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ESP_LOGE("IMUService", "BMP initialize failed");
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}
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#endif
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#if FT_ENABLED(FT_ADS1015) || FT_ENABLED(FT_ADS1115)
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if (!_ads.begin()) {
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ESP_LOGE("Peripherals", "ADS1015/ADS1115 not found");
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}
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_ads.startADCReading(ADS1X15_REG_CONFIG_MUX_DIFF_0_1, /*continuous=*/false);
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#endif
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};
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void loop() {
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unsigned long currentMillis = millis();
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if (currentMillis - _lastUpdate >= _updateInterval) {
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_lastUpdate = currentMillis;
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readIMU();
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}
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}
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void updatePins() {
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if (i2c_active) {
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Wire.end();
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}
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if (_state.sda != -1 && _state.scl != -1) {
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Wire.begin(_state.sda, _state.scl, _state.frequency);
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i2c_active = true;
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}
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}
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void emitI2C(const String &originId = "", bool sync = false) {
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char output[150];
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JsonDocument doc;
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JsonObject root = doc.to<JsonObject>();
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root["sda"] = _state.sda;
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root["scl"] = _state.scl;
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JsonArray addresses = root["addresses"].to<JsonArray>();
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for (auto &address : addressList) {
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addresses.add(address);
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}
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serializeJson(root, output);
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ESP_LOGI("Peripherals", "Emitting I2C scan results, %s %d", originId.c_str(), sync);
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_socket->emit(EVENT_I2C_SCAN, output, originId.c_str(), sync);
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}
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void scanI2C(uint8_t lower = 1, uint8_t higher = 127) {
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addressList.clear();
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for (uint8_t address = lower; address < higher; address++) {
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Wire.beginTransmission(address);
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if (Wire.endTransmission() == 0) {
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addressList.emplace_back(address);
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ESP_LOGI("Peripherals", "I2C device found at address 0x%02X", address);
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}
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}
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uint8_t nDevices = addressList.size();
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if (nDevices == 0)
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ESP_LOGI("Peripherals", "No I2C devices found");
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else
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ESP_LOGI("Peripherals", "Scan complete - Found %d devices", nDevices);
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}
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/* SERVO FUNCTIONS*/
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void pcaWrite(int index, int value) {
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#if FT_ENABLED(FT_SERVO)
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_pca.setPWM(index, 0, value);
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#endif
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}
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void pcaAngle(int index, int value) {
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#if FT_ENABLED(FT_SERVO)
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// uint16_t pwm = SERVO_MIN + value * SERVO_ANGLE_PWM_RATIO;
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_pca.setPWM(index, 0, 125 + value * 2);
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#endif
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}
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/* ADC FUNCTIONS*/
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int16_t readADCVoltage(uint8_t channel) {
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int16_t voltage = -1;
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#if FT_ENABLED(FT_ADS1015) || FT_ENABLED(FT_ADS1115)
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float adc0 = _ads.readADC_SingleEnded(channel);
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voltage = _ads.computeVolts(adc0);
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#endif
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return voltage;
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}
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/* IMU FUNCTIONS */
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bool readIMU() {
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bool updated = false;
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#if FT_ENABLED(FT_IMU)
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updated = imu_success && _imu.dmpGetCurrentFIFOPacket(fifoBuffer);
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_imu.dmpGetQuaternion(&q, fifoBuffer);
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_imu.dmpGetGravity(&gravity, &q);
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_imu.dmpGetYawPitchRoll(ypr, &q, &gravity);
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#endif
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return updated;
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}
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float getTemp() {
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float temp = -1;
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#if FT_ENABLED(FT_IMU)
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temp = imu_success ? imu_temperature : -1;
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#endif
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return temp;
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}
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float getAngleX() {
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float angle = 0;
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#if FT_ENABLED(FT_IMU)
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angle = imu_success ? ypr[0] * 180 / M_PI : 0;
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#endif
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return angle;
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}
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float getAngleY() {
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float angle = 0;
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#if FT_ENABLED(FT_IMU)
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angle = imu_success ? ypr[1] * 180 / M_PI : 0;
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#endif
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return angle;
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}
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float getAngleZ() {
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float angle = 0;
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#if FT_ENABLED(FT_IMU)
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angle = imu_success ? ypr[2] * 180 / M_PI : 0;
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#endif
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return angle;
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}
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/* MAG FUNCTIONS */
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float getHeading() {
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float heading = 0;
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#if FT_ENABLED(FT_MAG)
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sensors_event_t event;
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_mag.getEvent(&event);
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heading = atan2(event.magnetic.y, event.magnetic.x);
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float declinationAngle = 0.22;
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heading += declinationAngle;
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if (heading < 0) heading += 2 * PI;
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if (heading > 2 * PI) heading -= 2 * PI;
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heading *= 180 / M_PI;
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#endif
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return heading;
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}
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/* BMP FUNCTIONS */
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float getAltitude() {
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float altitude = -1;
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#if FT_ENABLED(FT_MAG)
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sensors_event_t event;
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_bmp.getEvent(&event);
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float seaLevelPressure = SENSORS_PRESSURE_SEALEVELHPA;
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altitude = bmp_success && event.pressure ? _bmp.pressureToAltitude(seaLevelPressure, event.pressure) : -1;
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#endif
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return altitude;
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}
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float getPressure() {
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float pressure = -1;
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#if FT_ENABLED(FT_BMP)
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sensors_event_t event;
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_bmp.getEvent(&event);
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pressure = bmp_success && event.pressure ? event.pressure : -1;
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#endif
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return pressure;
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}
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float getTemperature() {
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float temperature = 0;
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#if FT_ENABLED(FT_BMP)
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_bmp.getTemperature(&temperature);
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temperature = bmp_success ? temperature : -1;
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#endif
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return temperature;
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}
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protected:
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void updateImu() {
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doc.clear();
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bool newData = false;
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#if FT_ENABLED(FT_IMU)
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newData = imu_success && readIMU();
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if (imu_success) {
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doc["x"] = round2(getAngleX());
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doc["y"] = round2(getAngleY());
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doc["z"] = round2(getAngleZ());
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}
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#endif
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#if FT_ENABLED(FT_MAG)
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newData = newData || mag_success;
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if (mag_success) {
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doc["heading"] = round2(getHeading());
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}
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#endif
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#if FT_ENABLED(FT_BMP)
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newData = newData || bmp_success;
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if (bmp_success) {
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doc["pressure"] = round2(getPressure());
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doc["altitude"] = round2(getAltitude());
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doc["bmp_temp"] = round2(getTemperature());
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}
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#endif
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if (newData) {
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serializeJson(doc, message);
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_socket->emit(EVENT_IMU, message);
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}
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}
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private:
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PsychicHttpServer *_server;
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EventSocket *_socket;
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SecurityManager *_securityManager;
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HttpEndpoint<PeripheralsConfiguration> _httpEndpoint;
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EventEndpoint<PeripheralsConfiguration> _eventEndpoint;
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FSPersistence<PeripheralsConfiguration> _fsPersistence;
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JsonDocument doc;
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char message[MAX_ESP_IMU_SIZE];
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#if FT_ENABLED(FT_SERVO)
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Adafruit_PWMServoDriver _pca;
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#endif
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#if FT_ENABLED(FT_IMU)
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MPU6050 _imu;
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bool imu_success {false};
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uint8_t devStatus {false};
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Quaternion q;
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uint8_t fifoBuffer[64];
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VectorFloat gravity;
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float ypr[3];
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float imu_temperature {-1};
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#endif
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#if FT_ENABLED(FT_MAG)
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Adafruit_HMC5883_Unified _mag;
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bool mag_success {false};
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#endif
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#if FT_ENABLED(FT_BMP)
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Adafruit_BMP085_Unified _bmp;
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bool bmp_success {false};
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#endif
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#if FT_ENABLED(FT_ADS1015)
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Adafruit_ADS1015 _ads;
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#endif
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#if FT_ENABLED(FT_ADS1115)
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Adafruit_ADS1115 _ads;
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#endif
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std::list<uint8_t> addressList;
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bool i2c_active = false;
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unsigned long _lastUpdate {0};
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unsigned long _updateInterval {I2C_INTERVAL};
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};
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#endif |