231 lines
6.9 KiB
C
231 lines
6.9 KiB
C
#include "sensors.h"
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#include "esp_log.h"
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#include "esp_task_wdt.h"
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#include "driver/gpio.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/queue.h"
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#include "i2c.h"
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#include "storage.h"
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#include <sys/param.h>
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// make the compiler shut up about casting an int to a void
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#define INT2VOIDP(i) (void*)(uintptr_t)(i)
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static const char* TAG = "SENS";
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uint8_t sensor_pins[N_SENSORS] = {GPIO_NUM_27, GPIO_NUM_14, GPIO_NUM_16, GPIO_NUM_19};
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volatile int16_t sensor_count[N_SENSORS] = {0};
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static volatile uint64_t sensor_last_isr_time[N_SENSORS] = {0};
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static volatile bool sensor_stable_state[N_SENSORS] = {false};
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static QueueHandle_t sensor_event_queue = NULL;
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static volatile bool last_raw_state[N_SENSORS] = {false};
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// Safety sensor debouncing
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static volatile bool is_safe = true;
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static volatile uint64_t safety_low_start_time = 0;
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static volatile uint64_t safety_high_start_time = 0;
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#define SAFETY_BREAK_DEBOUNCE_US get_param_value_t(PARAM_SAFETY_BREAK_US).u32
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#define SAFETY_MAKE_DEBOUNCE_US get_param_value_t(PARAM_SAFETY_MAKE_US).u32
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#define DEBOUNCE_TIME_US 2000 // 2 ms debounce (adjust per switch)
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#define DEBOUNCE_TICKS pdMS_TO_TICKS(DEBOUNCE_TIME_MS)
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typedef struct {
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uint8_t sensor_id;
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bool level;
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} sensor_event_t;
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// ISR: Minimal work – just record timestamp and forward to queue
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static void IRAM_ATTR sensor_isr_handler(void* arg) {
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uint32_t gpio_num = (uint32_t)arg;
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uint8_t i;
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for (i = 0; i < N_SENSORS; i++) {
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if (sensor_pins[i] == gpio_num) break;
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}
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if (i == N_SENSORS) return;
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uint64_t now = esp_timer_get_time();
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sensor_last_isr_time[i] = now;
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sensor_event_t evt = {.sensor_id = i, .level = !gpio_get_level(gpio_num)};
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BaseType_t xHigherPriorityTaskWoken = pdFALSE;
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xQueueSendFromISR(sensor_event_queue, &evt, &xHigherPriorityTaskWoken);
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if (xHigherPriorityTaskWoken) portYIELD_FROM_ISR();
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}
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esp_err_t sensors_init() {
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gpio_config_t io_conf = {
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.pin_bit_mask = (1ULL << sensor_pins[0]) | (1ULL << sensor_pins[1]),
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.mode = GPIO_MODE_INPUT,
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.pull_up_en = GPIO_PULLUP_ENABLE,
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.pull_down_en = GPIO_PULLDOWN_DISABLE,
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.intr_type = GPIO_INTR_ANYEDGE,
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};
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ESP_ERROR_CHECK(gpio_config(&io_conf));
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sensor_event_queue = xQueueCreate(16, sizeof(sensor_event_t));
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if (!sensor_event_queue) {
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ESP_LOGE(TAG, "Failed to create sensor queue");
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return ESP_FAIL;
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}
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// Install ISR service
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ESP_ERROR_CHECK(gpio_install_isr_service(0));
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for (uint8_t i = 0; i < N_SENSORS; i++) {
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ESP_ERROR_CHECK(gpio_isr_handler_add(sensor_pins[i], sensor_isr_handler, INT2VOIDP(sensor_pins[i])));
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sensor_stable_state[i] = !gpio_get_level(sensor_pins[i]);
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}
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//static uint64_t last_processed_time[N_SENSORS] = {0};
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// Initialize stable state
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for (uint8_t i = 0; i < N_SENSORS; i++) {
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bool level = !gpio_get_level(sensor_pins[i]);
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sensor_stable_state[i] = level;
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last_raw_state[i] = level;
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//last_processed_time[i] = esp_timer_get_time();
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}
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// Initialize safety sensor
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bool safety_current = !gpio_get_level(sensor_pins[SENSOR_SAFETY]);
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if (safety_current) {
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safety_low_start_time = esp_timer_get_time();
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safety_high_start_time = 0;
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} else {
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safety_low_start_time = 0;
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safety_high_start_time = esp_timer_get_time();
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}
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return ESP_OK;
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}
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void sensors_check() {
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sensor_event_t evt;
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uint8_t i = 0;
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if (xQueueReceive(sensor_event_queue, &evt, pdMS_TO_TICKS(10)) == pdTRUE) {
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i = evt.sensor_id;
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ESP_LOGI("SENS", "EVENT %d", i);
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bool current_raw = !gpio_get_level(sensor_pins[i]);
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sensor_stable_state[i] = current_raw;
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if (current_raw && !last_raw_state[i]){
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ESP_LOGI("SENS", "FALLING");
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sensor_count[i]++;
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}
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if (!current_raw && last_raw_state[i]){
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ESP_LOGI("SENS", "RISING");
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sensor_count[i]++;
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}
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last_raw_state[i] = current_raw;
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}
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// Handle safety sensor debouncing with asymmetric timing
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bool safety_current = !gpio_get_level(sensor_pins[SENSOR_SAFETY]);
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uint64_t now = esp_timer_get_time();
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if (safety_current) {
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// Safety sensor is LOW (active)
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if (safety_low_start_time == 0) {
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// First time going low, start timing
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safety_low_start_time = now;
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safety_high_start_time = 0;
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ESP_LOGI(TAG, "Safety sensor went LOW, starting make timer");
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} else if (!is_safe && (now - safety_low_start_time >= SAFETY_MAKE_DEBOUNCE_US)) {
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is_safe = true;
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ESP_LOGW(TAG, "SAFETY MADE - Relays enabled");
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}
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} else {
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// Safety sensor is HIGH (inactive)
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if (safety_high_start_time == 0) {
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// First time going high, start timing
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safety_high_start_time = now;
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safety_low_start_time = 0;
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ESP_LOGI(TAG, "Safety sensor went HIGH, starting break timer");
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} else if (is_safe && (now - safety_high_start_time >= SAFETY_BREAK_DEBOUNCE_US)) {
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is_safe = false;
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i2c_set_relays((relay_port_t){.raw=0});
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ESP_LOGI(TAG, "SAFETY BREAK - Relays disabled");
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}
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}
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esp_task_wdt_reset();
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}
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int8_t pack_sensors() {
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int8_t ret = 0;
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for(uint8_t i=0; i<MIN(4, N_SENSORS); i++) {
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if(sensor_stable_state[i]) ret |= 0x01<<i;
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if(last_raw_state[i]) ret |= 0x01<<(i+4);
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}
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return ret;
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}
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/*esp_err_t sensors_init() {
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gpio_config_t io_conf = {
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.pin_bit_mask = (1ULL << sensor_pins[0]) | (1ULL << sensor_pins[1]),
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.mode = GPIO_MODE_INPUT,
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.pull_up_en = GPIO_PULLUP_ENABLE,
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.pull_down_en = GPIO_PULLDOWN_DISABLE,
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.intr_type = GPIO_INTR_ANYEDGE,
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};
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ESP_ERROR_CHECK(gpio_config(&io_conf));
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sensor_event_queue = xQueueCreate(16, sizeof(sensor_event_t));
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if (!sensor_event_queue) {
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ESP_LOGE(TAG, "Failed to create sensor queue");
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return ESP_FAIL;
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}
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// Install ISR service
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ESP_ERROR_CHECK(gpio_install_isr_service(0));
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for (uint8_t i = 0; i < N_SENSORS; i++) {
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ESP_ERROR_CHECK(gpio_isr_handler_add(sensor_pins[i], sensor_isr_handler, INT2VOIDP(sensor_pins[i])));
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sensor_stable_state[i] = !gpio_get_level(sensor_pins[i]);
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}
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xTaskCreate(sensor_debounce_task, "SENSORS", 3072, NULL, 6, NULL);
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return ESP_OK;
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}
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esp_err_t sensors_stop() {
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for (uint8_t i = 0; i < N_SENSORS; i++) {
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gpio_isr_handler_remove(sensor_pins[i]);
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}
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gpio_uninstall_isr_service();
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vQueueDelete(sensor_event_queue);
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return ESP_OK;
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}*/
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// Public API
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bool get_sensor(sensor_t i) {
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return sensor_stable_state[i];
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}
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bool get_is_safe(void) {
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return true;
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//return is_safe;
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}
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int16_t get_sensor_counter(sensor_t i) {
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return sensor_count[i];
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}
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void set_sensor_counter(sensor_t i, int16_t to) {
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sensor_count[i] = to;
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} |