236 lines
6.3 KiB
C
236 lines
6.3 KiB
C
#include "esp_task_wdt.h"
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#include "i2c.h"
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#include "storage.h"
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#include "uart_comms.h"
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#include "esp_err.h"
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#include "esp_log.h"
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#include "endian.h"
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#include "control_fsm.h"
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#include "power_mgmt.h"
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#include "rtc.h"
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#include "sensors.h"
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#include "solar.h"
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#include "rf_433.h"
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#include "webserver.h"
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#define TAG "MAIN"
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int64_t last_log_time = 0;
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esp_err_t send_log() {
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char entry[LOG_ENTRY_SIZE] = {0};
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entry[0] = LOG_ENTRY_SIZE;
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// Pack 64-bit timestamp into bytes 1-8
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uint64_t be_timestamp = htobe64(rtc_time_ms());
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memcpy(&entry[1], &be_timestamp, 8);
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// Pack 32-bit voltages/currents into bytes 9-24
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float be_voltage = htobe32(get_battery_V());
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memcpy(&entry[9], &be_voltage, 4);
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float be_current1 = htobe32(get_bridge_A(BRIDGE_DRIVE));
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memcpy(&entry[13], &be_current1, 4);
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float be_current2 = htobe32(get_bridge_A(BRIDGE_JACK));
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memcpy(&entry[17], &be_current2, 4);
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float be_current3 = htobe32(get_bridge_A(BRIDGE_AUX));
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memcpy(&entry[21], &be_current3, 4);
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int32_t be_counter = htobe32(get_sensor_counter(SENSOR_DRIVE));
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memcpy(&entry[25], &be_counter, 4);
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entry[29] = get_sensor(SENSOR_DRIVE);
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entry[30] = get_sensor(SENSOR_JACK);
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entry[31] = fsm_get_state();
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last_log_time = esp_timer_get_time();
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return write_log(entry);
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}
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typedef enum {
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LED_STATE_DRIVING,
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LED_STATE_ERROR,
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LED_STATE_AWAKE,
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LED_STATE_CANCELLING,
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LED_STATE_START1,
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LED_STATE_START2,
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LED_STATE_START3,
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LED_STATE_START4,
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LED_STATE_BOOTING
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} led_state_t;
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void driveLEDs(led_state_t state) {
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uint8_t patterns[4][12] = {
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{1,3,7,6,4,0},
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{7,0},
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{1,1,1,1,1,1, 1,1,1,3},
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{4,2}
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};
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switch(state) {
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case LED_STATE_DRIVING:
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i2c_set_led1(patterns[state][(esp_timer_get_time()/100000) % 6]);
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break;
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case LED_STATE_ERROR:
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i2c_set_led1(patterns[state][(esp_timer_get_time()/1000000) % 2]);
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break;
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case LED_STATE_AWAKE:
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i2c_set_led1(patterns[state][(esp_timer_get_time()/200000) % 10]);
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break;
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case LED_STATE_CANCELLING:
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i2c_set_led1(patterns[state][(esp_timer_get_time()/200000) % 2]);
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break;
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case LED_STATE_BOOTING:
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i2c_set_led1(0b001);
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break;
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case LED_STATE_START1:
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i2c_set_led1(0b000);
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break;
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case LED_STATE_START2:
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i2c_set_led1(0b001);
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break;
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case LED_STATE_START3:
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i2c_set_led1(0b011);
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break;
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case LED_STATE_START4:
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i2c_set_led1(0b111);
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break;
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}
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}
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void app_main(void) {
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esp_task_wdt_add(NULL);
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// Say hello; turn on the lights
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esp_sleep_wakeup_cause_t cause = rtc_wakeup_cause();
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if (i2c_init() != ESP_OK) ESP_LOGE(TAG, "I2C FAILED");
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i2c_set_relays(0);
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driveLEDs(LED_STATE_BOOTING);
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// Every boot we load parameters and monitor solar, no matter what
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if (adc_init() != ESP_OK) ESP_LOGE(TAG, "ADC FAILED");
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if (rtc_xtal_init() != ESP_OK) ESP_LOGE(TAG, "RTC FAILED");
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if (storage_init() != ESP_OK) ESP_LOGE(TAG, "STORAGE FAILED");
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if (log_init() != ESP_OK) ESP_LOGE(TAG, "LOG FAILED");
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if (run_solar_fsm() != ESP_OK) ESP_LOGE(TAG, "SOLAR FAILED");
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// TODO: Do a 12V check and enter deep sleep if there's a problem
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send_log();
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//write_dummy_log_1();
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// Check wake reasons
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// If button held, we stay #woke
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// If not it must've been the RTC - check alarms
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// If there's an alarm or the button was held, do a full boot
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// Full boot will handle things from there
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// only truly wake up if we saw it on EXT0, or from alarm
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/*if (!rtc_is_set()) {
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//ESP_LOGI("MAIN", "RTC is not set. Can't sleep til then.");
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} else */if (cause == ESP_SLEEP_WAKEUP_EXT0) {
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ESP_LOGI("MAIN", "Woke from button press");
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} else {
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if (!alarm_tripped()) {
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//enter_deep_sleep();
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}
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}
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/*** FULL BOOT ***/
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if (uart_init() != ESP_OK) ESP_LOGE(TAG, "UART FAILED");
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if (power_init() != ESP_OK) ESP_LOGE(TAG, "POWER FAILED");
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if (rf_433_init() != ESP_OK) ESP_LOGE(TAG, "RF FAILED");
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if (fsm_init() != ESP_OK) ESP_LOGE(TAG, "FSM FAILED");
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if (sensors_init() != ESP_OK) ESP_LOGE(TAG, "SENSORS FAILED");
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if (webserver_init() != ESP_OK) ESP_LOGE(TAG, "WEBSERVER FAILED");
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/*** MAIN LOOP ***/
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TickType_t xLastWakeTime = xTaskGetTickCount();
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const TickType_t xFrequency = pdMS_TO_TICKS(100);
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while(true) {
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ESP_LOGI(TAG, "TICK");
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vTaskDelayUntil(&xLastWakeTime, pdMS_TO_TICKS(1000));
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esp_task_wdt_reset();
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}
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while(true) {
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vTaskDelayUntil(&xLastWakeTime, xFrequency);
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i2c_poll_buttons();
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if (i2c_get_button_state(0))
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reset_shutdown_timer();
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switch (fsm_get_state()) {
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case STATE_IDLE:
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// LED cue for user
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if (i2c_get_button_ms(0) > 1600){
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driveLEDs(LED_STATE_START4);
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} else if (i2c_get_button_ms(0) > 1100){
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driveLEDs(LED_STATE_START3);
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} else if (i2c_get_button_ms(0) > 600){
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driveLEDs(LED_STATE_START2);
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} else if (i2c_get_button_ms(0) > 100){
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driveLEDs(LED_STATE_START1);
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} else{
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driveLEDs(LED_STATE_AWAKE);
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}
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// when not actively moving we log at a low frequency
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if (esp_timer_get_time() > last_log_time + DEEP_SLEEP_US)
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send_log();
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if(i2c_get_button_ms(0) > 2100)
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fsm_request(FSM_CMD_START);
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break;
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case STATE_UNDO_JACK:
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case STATE_UNDO_JACK_START:
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// it's running the jack, but undoing
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send_log();
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driveLEDs(LED_STATE_CANCELLING);
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if (i2c_get_button_tripped(0)) {
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ESP_LOGI(TAG, "AAAAH STOP!!!");
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fsm_request(FSM_CMD_STOP);
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}
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break;
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default:
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// it's running in every other case
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send_log();
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driveLEDs(LED_STATE_DRIVING);
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if (i2c_get_button_tripped(0)) {
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ESP_LOGI(TAG, "CTRL + Z PLZ!");
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fsm_request(FSM_CMD_UNDO);
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}
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break;
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}
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if (alarm_tripped()) {
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fsm_request(FSM_CMD_START);
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set_next_alarm();
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}
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/*ESP_LOGI(TAG, "VOLTAGE: %2.3f | CURRENTS: %+2.8f %+2.8f %+2.8f",
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get_battery_V(),
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get_bridge_A(BRIDGE_DRIVE),
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get_bridge_A(BRIDGE_JACK),
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get_bridge_A(BRIDGE_AUX));*/
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run_solar_fsm();
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//check_shutdown_timer();
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esp_task_wdt_reset();
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}
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} |