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B001-V3 works with it now

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This commit is contained in:
Thaddeus Hughes
2025-12-16 12:10:10 -06:00
parent ac030005c3
commit 062221dfd3
70 changed files with 3872 additions and 3786 deletions
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199
main/main.c
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@@ -1,3 +1,5 @@
#include "esp_task_wdt.h"
#include "i2c.h"
#include "storage.h"
#include "uart_comms.h"
#include "esp_err.h"
@@ -7,9 +9,13 @@
#include "power_mgmt.h"
#include "rtc.h"
#include "sensors.h"
#include "solar.h"
#include "rf.h"
#define TAG "MAIN"
int64_t last_log_time = 0;
esp_err_t send_log() {
char entry[LOG_ENTRY_SIZE] = {0};
@@ -20,13 +26,13 @@ esp_err_t send_log() {
memcpy(&entry[1], &be_timestamp, 8);
// Pack 32-bit voltages/currents into bytes 9-24
/*int32_t be_voltage = htobe32(get_battery_mV());
float be_voltage = htobe32(get_battery_V());
memcpy(&entry[9], &be_voltage, 4);
int32_t be_current1 = htobe32(get_bridge_mA(BRIDGE_DRIVE));
float be_current1 = htobe32(get_bridge_A(BRIDGE_DRIVE));
memcpy(&entry[13], &be_current1, 4);
int32_t be_current2 = htobe32(get_bridge_mA(BRIDGE_JACK));
float be_current2 = htobe32(get_bridge_A(BRIDGE_JACK));
memcpy(&entry[17], &be_current2, 4);
int32_t be_current3 = htobe32(get_bridge_mA(BRIDGE_AUX));
float be_current3 = htobe32(get_bridge_A(BRIDGE_AUX));
memcpy(&entry[21], &be_current3, 4);
int32_t be_counter = htobe32(get_sensor_counter(SENSOR_DRIVE));
@@ -34,35 +40,188 @@ esp_err_t send_log() {
entry[29] = get_sensor(SENSOR_DRIVE);
entry[30] = get_sensor(SENSOR_JACK);
entry[31] = fsm_get_state();*/
entry[31] = fsm_get_state();
last_log_time = esp_timer_get_time();
return write_log(entry);
}
typedef enum {
LED_STATE_DRIVING,
LED_STATE_ERROR,
LED_STATE_AWAKE,
LED_STATE_CANCELLING,
LED_STATE_START1,
LED_STATE_START2,
LED_STATE_START3,
LED_STATE_START4,
LED_STATE_BOOTING
} led_state_t;
void driveLEDs(led_state_t state) {
uint8_t patterns[4][12] = {
{1,3,7,6,4,0},
{7,0},
{1,1,1,1,1,1, 1,1,1,3},
{4,2}
};
switch(state) {
case LED_STATE_DRIVING:
i2c_set_led1(patterns[state][(esp_timer_get_time()/100000) % 6]);
break;
case LED_STATE_ERROR:
i2c_set_led1(patterns[state][(esp_timer_get_time()/1000000) % 2]);
break;
case LED_STATE_AWAKE:
i2c_set_led1(patterns[state][(esp_timer_get_time()/200000) % 10]);
break;
case LED_STATE_CANCELLING:
i2c_set_led1(patterns[state][(esp_timer_get_time()/200000) % 2]);
break;
case LED_STATE_BOOTING:
i2c_set_led1(1);
break;
case LED_STATE_START1:
i2c_set_led1(0);
break;
case LED_STATE_START2:
i2c_set_led1(1);
break;
case LED_STATE_START3:
i2c_set_led1(3);
break;
case LED_STATE_START4:
i2c_set_led1(7);
break;
}
}
void app_main(void) {
// Initialize storage and load parameters
ESP_LOGI(TAG, "Initializing storage...");
esp_err_t ret = storage_init();
if (ret != ESP_OK) {
ESP_LOGW(TAG, "Storage init failed, using defaults");
esp_task_wdt_add(NULL);
// Say hello; turn on the lights
esp_sleep_wakeup_cause_t cause = rtc_wakeup_cause();
if (i2c_init() != ESP_OK) ESP_LOGE(TAG, "I2C FAILED");
i2c_set_relays(0);
driveLEDs(LED_STATE_BOOTING);
// Every boot we load parameters and monitor solar, no matter what
if (adc_init() != ESP_OK) ESP_LOGE(TAG, "ADC FAILED");
if (rtc_xtal_init() != ESP_OK) ESP_LOGE(TAG, "RTC FAILED");
if (storage_init() != ESP_OK) ESP_LOGE(TAG, "STORAGE FAILED");
if (log_init() != ESP_OK) ESP_LOGE(TAG, "LOG FAILED");
if (run_solar_fsm() != ESP_OK) ESP_LOGE(TAG, "SOLAR FAILED");
// TODO: Do a 12V check and enter deep sleep if there's a problem
send_log();
// Check wake reasons
// If button held, we stay #woke
// If not it must've been the RTC - check alarms
// If there's an alarm or the button was held, do a full boot
// Full boot will handle things from there
// only truly wake up if we saw it on EXT0, or from alarm
/*if (!rtc_is_set()) {
//ESP_LOGI("MAIN", "RTC is not set. Can't sleep til then.");
} else */if (cause == ESP_SLEEP_WAKEUP_EXT0) {
ESP_LOGI("MAIN", "Woke from button press");
} else {
if (!alarm_tripped()) {
//enter_deep_sleep();
}
}
// Initialize logging
ESP_LOGI(TAG, "Initializing logging...");
ret = log_init();
if (ret != ESP_OK) {
ESP_LOGE(TAG, "Log init failed");
}
/*** FULL BOOT ***/
if (uart_init() != ESP_OK) ESP_LOGE(TAG, "UART FAILED");
if (power_init() != ESP_OK) ESP_LOGE(TAG, "POWER FAILED");
if (rf_init() != ESP_OK) ESP_LOGE(TAG, "RF FAILED");
if (fsm_init() != ESP_OK) ESP_LOGE(TAG, "FSM FAILED");
if (sensors_init() != ESP_OK) ESP_LOGE(TAG, "SENSORS FAILED");
/*** MAIN LOOP ***/
uart_start();
TickType_t xLastWakeTime = xTaskGetTickCount();
const TickType_t xFrequency = pdMS_TO_TICKS(100);
while(true) {
vTaskDelayUntil(&xLastWakeTime, xFrequency);
send_log();
i2c_poll_buttons();
if (i2c_get_button_state(0))
reset_shutdown_timer();
switch (fsm_get_state()) {
case STATE_IDLE:
// LED cue for user
if (i2c_get_button_ms(0) > 1600){
driveLEDs(LED_STATE_START4);
} else if (i2c_get_button_ms(0) > 1100){
driveLEDs(LED_STATE_START3);
} else if (i2c_get_button_ms(0) > 600){
driveLEDs(LED_STATE_START2);
} else if (i2c_get_button_ms(0) > 100){
driveLEDs(LED_STATE_START1);
} else{
driveLEDs(LED_STATE_AWAKE);
}
// when not actively moving we log at a low frequency
if (esp_timer_get_time() > last_log_time + DEEP_SLEEP_US)
send_log();
if(i2c_get_button_ms(0) > 2100)
fsm_request(FSM_CMD_START);
break;
case STATE_UNDO_JACK:
case STATE_UNDO_JACK_START:
// assume it's running
send_log();
driveLEDs(LED_STATE_CANCELLING);
if (i2c_get_button_tripped(0)) {
ESP_LOGI(TAG, "AAAAH STOP!!!");
fsm_request(FSM_CMD_STOP);
}
break;
default:
// assume it's running in every other case
send_log();
driveLEDs(LED_STATE_DRIVING);
if (i2c_get_button_tripped(0)) {
ESP_LOGI(TAG, "CTRL + Z PLZ!");
fsm_request(FSM_CMD_UNDO);
}
break;
}
if (alarm_tripped()) {
fsm_request(FSM_CMD_START);
set_next_alarm();
}
/*ESP_LOGI(TAG, "VOLTAGE: %2.3f | CURRENTS: %+2.8f %+2.8f %+2.8f",
get_battery_V(),
get_bridge_A(BRIDGE_DRIVE),
get_bridge_A(BRIDGE_JACK),
get_bridge_A(BRIDGE_AUX));*/
run_solar_fsm();
//check_shutdown_timer();
esp_task_wdt_reset();
}
}