Wirtek Robotics Workshop / RWR_Utils

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RWR_Utils.hxx@11:2329cb17b332, 2021-07-26 (annotated)

Committer:
steliansaracut
Date:
Mon Jul 26 20:32:36 2021 +0300
Revision:
11:2329cb17b332
Parent:
9:6c8dcbfc625a 
changed SSID

Who changed what in which revision?

UserRevisionLine numberNew contents of line
steliansaracut 1:755da47160cb 1 #pragma once
steliansaracut 1:755da47160cb 2
steliansaracut 1:755da47160cb 3 #include "mbed.h"
steliansaracut 1:755da47160cb 4
steliansaracut 1:755da47160cb 5 // pin assignment
steliansaracut 1:755da47160cb 6 #define ESP_RX PA_9
steliansaracut 1:755da47160cb 7 #define ESP_TX PA_10
steliansaracut 1:755da47160cb 8 #define ESP_RESET PA_12
steliansaracut 1:755da47160cb 9 #define QTR_13 PB_0
steliansaracut 1:755da47160cb 10 #define ESP_CHPD PB_7
steliansaracut 1:755da47160cb 11 #define DRV_BENBL PB_6
steliansaracut 1:755da47160cb 12 #define QTR_11 PB_1
steliansaracut 1:755da47160cb 13 #define DRV_BPHASE PF_0
steliansaracut 1:755da47160cb 14 #define QTR_CTL PF_1
steliansaracut 1:755da47160cb 15 #define ESP_GPIO0 PA_8
steliansaracut 1:755da47160cb 16 #define DRV_APHASE PA_11
steliansaracut 1:755da47160cb 17 #define QTR_9 PA_7
steliansaracut 1:755da47160cb 18 #define DRV_AENBL PA_4
steliansaracut 1:755da47160cb 19 #define QTR_7 PA_3
steliansaracut 1:755da47160cb 20 #define QTR_5 PA_1
steliansaracut 1:755da47160cb 21 #define QTR_3 PA_0
steliansaracut 1:755da47160cb 22
steliansaracut 1:755da47160cb 23 // motor driver PWM frequency
steliansaracut 1:755da47160cb 24 #define PWM_FREQUENCY 32.0e3f
steliansaracut 1:755da47160cb 25 #define PWM_PERIOD 1.0f / PWM_FREQUENCY
steliansaracut 1:755da47160cb 26
steliansaracut 1:755da47160cb 27 // number of sensors on QTR module
steliansaracut 1:755da47160cb 28 #define SENSORS_BAR_SIZE 6
steliansaracut 1:755da47160cb 29 // sensors reading when no line is detected
steliansaracut 1:755da47160cb 30 #define SENSORS_ALL_ONES ((1 << SENSORS_BAR_SIZE) - 1U)
steliansaracut 1:755da47160cb 31
steliansaracut 1:755da47160cb 32 // hysteresis thresholds for analog sensors
steliansaracut 1:755da47160cb 33 #define QTR_THRESHOLD_HIGH (uint32_t) 5000U
steliansaracut 1:755da47160cb 34 #define QTR_THRESHOLD_LOW (uint32_t) 20000U
steliansaracut 1:755da47160cb 35
steliansaracut 1:755da47160cb 36 // PID parameters
steliansaracut 9:6c8dcbfc625a 37 #define PID_UPDATE_PERIOD_US 1000
steliansaracut 9:6c8dcbfc625a 38 #define PID_SETPOINT 0.0f
steliansaracut 9:6c8dcbfc625a 39 #define PID_DEFAULT_KP 0.6f
steliansaracut 9:6c8dcbfc625a 40 // #define PID_DEFAULT_KP 0.25f
steliansaracut 9:6c8dcbfc625a 41 #define PID_DEFAULT_KI 0.0f
steliansaracut 9:6c8dcbfc625a 42 #define PID_DEFAULT_KD 0.0f
steliansaracut 9:6c8dcbfc625a 43 #define NO_LINE_SPEED_MOTOR_A 0.0f
steliansaracut 9:6c8dcbfc625a 44 #define NO_LINE_SPEED_MOTOR_B 1.0f
steliansaracut 1:755da47160cb 45
steliansaracut 1:755da47160cb 46 // web interface parameters
steliansaracut 9:6c8dcbfc625a 47 #define WEB_ESP_BAUD 115200
steliansaracut 9:6c8dcbfc625a 48 #define WEB_RECEIVE_BUFFER_SIZE 1024
steliansaracut 9:6c8dcbfc625a 49 #define WEB_SEND_BUFFER_SIZE 2048
steliansaracut 9:6c8dcbfc625a 50 #define WEB_RECEIVE_TIMEOUT 10000
steliansaracut 9:6c8dcbfc625a 51 #define WEB_ESP_INIT_ATTEMPTS 10
steliansaracut 9:6c8dcbfc625a 52 #define WEB_IPD_HEADER_MIN_SIZE 9
steliansaracut 11:2329cb17b332 53 #define WEB_SSID "RWR_1"
steliansaracut 9:6c8dcbfc625a 54 #define WEB_PASSWORD "RWRWRWRW"
steliansaracut 9:6c8dcbfc625a 55 #define WEB_CHANNEL "1"
steliansaracut 9:6c8dcbfc625a 56 #define WEB_ECN "3"
steliansaracut 9:6c8dcbfc625a 57 #define WEB_MAX_CONNECTIONS "1"
steliansaracut 9:6c8dcbfc625a 58 #define WEB_HIDDEN "0"
steliansaracut 9:6c8dcbfc625a 59 #define WEB_AP_IP "192.168.0.1"
steliansaracut 9:6c8dcbfc625a 60 #define WEB_AP_GATEWAY "192.168.0.1"
steliansaracut 9:6c8dcbfc625a 61 #define WEB_AP_NETMASK "255.255.255.0"
steliansaracut 9:6c8dcbfc625a 62 #define WEB_AP_PORT "80"
steliansaracut 9:6c8dcbfc625a 63 #define WEB_MOTORS_ENABLED_DEFAULT 0
steliansaracut 9:6c8dcbfc625a 64
steliansaracut 9:6c8dcbfc625a 65 #define ESP_DEBUG
steliansaracut 9:6c8dcbfc625a 66
steliansaracut 9:6c8dcbfc625a 67 #define ESP_SEND_AND_PROCESS_STATUS(command, next_state) status = ESPSendCommandAndProcessReply(command);\
steliansaracut 9:6c8dcbfc625a 68 if (status == STATUS_OK)\
steliansaracut 9:6c8dcbfc625a 69 {\
steliansaracut 9:6c8dcbfc625a 70 ESPParserState = next_state;\
steliansaracut 9:6c8dcbfc625a 71 } else\
steliansaracut 9:6c8dcbfc625a 72 if (status < STATUS_PENDING)\
steliansaracut 9:6c8dcbfc625a 73 {\
steliansaracut 9:6c8dcbfc625a 74 serial.printf("ESP command failed: %s\r\n", command );\
steliansaracut 9:6c8dcbfc625a 75 ESPParserState = RESET_ESP;\
steliansaracut 9:6c8dcbfc625a 76 }\
steliansaracut 9:6c8dcbfc625a 77
steliansaracut 9:6c8dcbfc625a 78 // forward USB serial to ESP serial
steliansaracut 9:6c8dcbfc625a 79 // #define ENABLE_PASSTHROUGH
steliansaracut 9:6c8dcbfc625a 80
steliansaracut 9:6c8dcbfc625a 81 typedef enum {
steliansaracut 9:6c8dcbfc625a 82 STATUS_OK = 1,
steliansaracut 9:6c8dcbfc625a 83 STATUS_PENDING = 0,
steliansaracut 9:6c8dcbfc625a 84 STATUS_TIMEOUT = -1,
steliansaracut 9:6c8dcbfc625a 85 STATUS_ERROR = -2
steliansaracut 9:6c8dcbfc625a 86 } status_t;
steliansaracut 9:6c8dcbfc625a 87
steliansaracut 9:6c8dcbfc625a 88 // web interface state type
steliansaracut 9:6c8dcbfc625a 89 typedef enum {
steliansaracut 9:6c8dcbfc625a 90 IDLE,
steliansaracut 9:6c8dcbfc625a 91 RESET_ESP,
steliansaracut 9:6c8dcbfc625a 92 WAIT_FOR_READY,
steliansaracut 9:6c8dcbfc625a 93 INIT_SEND_AT,
steliansaracut 9:6c8dcbfc625a 94 INIT_SEND_CWMODE,
steliansaracut 9:6c8dcbfc625a 95 INIT_SEND_CWSAP,
steliansaracut 9:6c8dcbfc625a 96 INIT_SEND_CIPAP,
steliansaracut 9:6c8dcbfc625a 97 INIT_SEND_CIPMUX,
steliansaracut 9:6c8dcbfc625a 98 INIT_SEND_CIPSERVER,
steliansaracut 9:6c8dcbfc625a 99 PARSE_IPD,
steliansaracut 9:6c8dcbfc625a 100 PARSE_REQUEST_BODY,
steliansaracut 9:6c8dcbfc625a 101 GENERATE_WEB_PAGE,
steliansaracut 9:6c8dcbfc625a 102 WAIT_FOR_CIPSEND_READY,
steliansaracut 9:6c8dcbfc625a 103 SEND_PAGE,
steliansaracut 9:6c8dcbfc625a 104 WAIT_FOR_SEND_OK,
steliansaracut 9:6c8dcbfc625a 105 CLOSE_CONNECTION
steliansaracut 9:6c8dcbfc625a 106 } state_t;
steliansaracut 9:6c8dcbfc625a 107
steliansaracut 9:6c8dcbfc625a 108 typedef struct {
steliansaracut 9:6c8dcbfc625a 109 int32_t motorsEnabled;
steliansaracut 9:6c8dcbfc625a 110 int32_t Kp;
steliansaracut 9:6c8dcbfc625a 111 int32_t Ki;
steliansaracut 9:6c8dcbfc625a 112 int32_t Kd;
steliansaracut 9:6c8dcbfc625a 113 } web_settings_t;
steliansaracut 9:6c8dcbfc625a 114
steliansaracut 9:6c8dcbfc625a 115 typedef struct {
steliansaracut 9:6c8dcbfc625a 116 uint32_t digitizedSensorValues;
steliansaracut 9:6c8dcbfc625a 117 uint32_t analogSensorValues[SENSORS_BAR_SIZE];
steliansaracut 9:6c8dcbfc625a 118 uint32_t analogSensorValuesAverage;
steliansaracut 9:6c8dcbfc625a 119 } web_status_t;
steliansaracut 9:6c8dcbfc625a 120
steliansaracut 9:6c8dcbfc625a 121 static state_t ESPParserState = RESET_ESP;
steliansaracut 9:6c8dcbfc625a 122 static web_status_t webStatus = {};
steliansaracut 9:6c8dcbfc625a 123 static Timer ESPCommunicationTimer;
steliansaracut 9:6c8dcbfc625a 124 static char webReceiveBuffer[WEB_RECEIVE_BUFFER_SIZE];
steliansaracut 9:6c8dcbfc625a 125 static char webSendBuffer[WEB_SEND_BUFFER_SIZE];
steliansaracut 9:6c8dcbfc625a 126 static volatile char *webReceiveBufferPointer = webReceiveBuffer;
steliansaracut 9:6c8dcbfc625a 127 static char *webReceiveRequestsData = NULL;
steliansaracut 9:6c8dcbfc625a 128 static volatile bool webReceivedData = false;
steliansaracut 9:6c8dcbfc625a 129 static volatile bool webReceiveBufferFull = false;
steliansaracut 9:6c8dcbfc625a 130 static int webConnectionId = -1;
steliansaracut 9:6c8dcbfc625a 131 static int webPayloadSize = -1;
steliansaracut 9:6c8dcbfc625a 132 static bool webSendNewCommand = true;
steliansaracut 9:6c8dcbfc625a 133 static int32_t espInitAttempts = 1;
steliansaracut 9:6c8dcbfc625a 134
steliansaracut 9:6c8dcbfc625a 135 void ESPReceiveIRQ();
steliansaracut 9:6c8dcbfc625a 136 status_t ESPProcessReply();
steliansaracut 9:6c8dcbfc625a 137 status_t ESPSendCommandAndProcessReply(const char *command);
steliansaracut 9:6c8dcbfc625a 138 status_t ESPRunStateMachine();
steliansaracut 1:755da47160cb 139
steliansaracut 1:755da47160cb 140 class Motor
steliansaracut 1:755da47160cb 141 {
steliansaracut 1:755da47160cb 142 public:
steliansaracut 1:755da47160cb 143 Motor(const PinName &_in1Pin, const PinName &_in2Pin, const bool _brake = false);
steliansaracut 1:755da47160cb 144 void setSpeed(const float speed);
steliansaracut 1:755da47160cb 145 void setBrake(const bool _brake);
steliansaracut 1:755da47160cb 146
steliansaracut 1:755da47160cb 147 private:
steliansaracut 1:755da47160cb 148 PwmOut in1PWM;
steliansaracut 1:755da47160cb 149 PwmOut in2PWM;
steliansaracut 1:755da47160cb 150 bool brake;
steliansaracut 1:755da47160cb 151 };
steliansaracut 1:755da47160cb 152
steliansaracut 1:755da47160cb 153 class QTR
steliansaracut 1:755da47160cb 154 {
steliansaracut 1:755da47160cb 155 public:
steliansaracut 1:755da47160cb 156 // QTR CTL pin, array of analog inputs connected to sensor bar, number of pulses applied to CTL pin
steliansaracut 1:755da47160cb 157 QTR(DigitalOut &_ctl, AnalogIn (&_sensors)[SENSORS_BAR_SIZE], const uint32_t dimPulses = 0);
steliansaracut 1:755da47160cb 158
steliansaracut 1:755da47160cb 159 // dim sensors by applying pulses on CTL pin
steliansaracut 1:755da47160cb 160 void dim(const uint32_t pulses);
steliansaracut 1:755da47160cb 161
steliansaracut 1:755da47160cb 162 // returns digitized sensor values as bits of an uint32_t
steliansaracut 1:755da47160cb 163 // a bit of 0 means that the corresponding sensor detects a reflective surface
steliansaracut 1:755da47160cb 164 // index 0 in sensors array corresponds to LSB in returned value
steliansaracut 1:755da47160cb 165 // uses hysteresis to reduce noise
steliansaracut 1:755da47160cb 166 uint32_t readSensorsAsDigital();
steliansaracut 1:755da47160cb 167
steliansaracut 5:6cd52beadb7c 168 // writes raw sensor values to buffer via the pointer argument
steliansaracut 5:6cd52beadb7c 169 void readSensorsAsAnalog(uint32_t *buffer);
steliansaracut 5:6cd52beadb7c 170
steliansaracut 1:755da47160cb 171 // return line position as a float between -1.0 (left) and 1.0 (right)
steliansaracut 1:755da47160cb 172 float readSensorsAsFloat();
steliansaracut 1:755da47160cb 173
steliansaracut 1:755da47160cb 174 // convert digitized sensor values to float
steliansaracut 1:755da47160cb 175 float digitizedSensorsToFloat(uint32_t digitizedSensors);
steliansaracut 1:755da47160cb 176
steliansaracut 1:755da47160cb 177 private:
steliansaracut 1:755da47160cb 178 DigitalOut &ctl;
steliansaracut 1:755da47160cb 179 AnalogIn (&sensors)[SENSORS_BAR_SIZE];
steliansaracut 1:755da47160cb 180 uint32_t lastSensorState;
steliansaracut 1:755da47160cb 181 };