Diff: RWR_Utils.hxx

Revision:

9:6c8dcbfc625a

Parent:

8:7433f35f0338

Child:

11:2329cb17b332

--- a/RWR_Utils.hxx	Sun Jul 25 23:31:34 2021 +0300
+++ b/RWR_Utils.hxx	Mon Jul 26 20:24:42 2021 +0300
@@ -34,32 +34,108 @@
 #define QTR_THRESHOLD_LOW   (uint32_t) 20000U
 
 // PID parameters
-#define PID_UPDATE_PERIOD_US  1000
-#define PID_SETPOINT          0.0f
-#define PID_KP                0.6f
-// #define PID_KP                0.25f
-#define PID_KI                0.0f
-#define PID_KD                0.0f
-#define NO_LINE_SPEED_MOTOR_A 0.0f
-#define NO_LINE_SPEED_MOTOR_B 1.0f
+#define PID_UPDATE_PERIOD_US          1000
+#define PID_SETPOINT                  0.0f
+#define PID_DEFAULT_KP                0.6f
+// #define PID_DEFAULT_KP                0.25f
+#define PID_DEFAULT_KI                0.0f
+#define PID_DEFAULT_KD                0.0f
+#define NO_LINE_SPEED_MOTOR_A         0.0f
+#define NO_LINE_SPEED_MOTOR_B         1.0f
 
 // web interface parameters
-#define WEB_ESP_BAUD            115200
-#define WEB_RECEIVE_BUFFER_SIZE 1024
-#define WEB_SEND_BUFFER_SIZE    2048
-#define WEB_RECEIVE_TIMEOUT     10000
-#define WEB_ESP_INIT_ATTEMPTS   10
-#define WEB_IPD_HEADER_MIN_SIZE 9
-#define WEB_SSID                "RWR_1"
-#define WEB_PASSWORD            "RWRWRWRW"
-#define WEB_CHANNEL             "1"
-#define WEB_ECN                 "3"
-#define WEB_MAX_CONNECTIONS     "1"
-#define WEB_HIDDEN              "0"
-#define WEB_AP_IP               "192.168.0.1"
-#define WEB_AP_GATEWAY          "192.168.0.1"
-#define WEB_AP_NETMASK          "255.255.255.0"
-#define WEB_AP_PORT             "80"
+#define WEB_ESP_BAUD                115200
+#define WEB_RECEIVE_BUFFER_SIZE     1024
+#define WEB_SEND_BUFFER_SIZE        2048
+#define WEB_RECEIVE_TIMEOUT         10000
+#define WEB_ESP_INIT_ATTEMPTS       10
+#define WEB_IPD_HEADER_MIN_SIZE     9
+#define WEB_SSID                    "RWR_5"
+#define WEB_PASSWORD                "RWRWRWRW"
+#define WEB_CHANNEL                 "1"
+#define WEB_ECN                     "3"
+#define WEB_MAX_CONNECTIONS         "1"
+#define WEB_HIDDEN                  "0"
+#define WEB_AP_IP                   "192.168.0.1"
+#define WEB_AP_GATEWAY              "192.168.0.1"
+#define WEB_AP_NETMASK              "255.255.255.0"
+#define WEB_AP_PORT                 "80"
+#define WEB_MOTORS_ENABLED_DEFAULT  0
+
+#define ESP_DEBUG
+
+#define ESP_SEND_AND_PROCESS_STATUS(command, next_state) status = ESPSendCommandAndProcessReply(command);\
+  if (status == STATUS_OK)\
+  {\
+    ESPParserState = next_state;\
+  } else\
+  if (status < STATUS_PENDING)\
+  {\
+    serial.printf("ESP command failed: %s\r\n", command );\
+    ESPParserState = RESET_ESP;\
+  }\
+
+// forward USB serial to ESP serial
+// #define ENABLE_PASSTHROUGH
+
+typedef enum {
+  STATUS_OK      = 1,
+  STATUS_PENDING = 0,
+  STATUS_TIMEOUT = -1,
+  STATUS_ERROR   = -2
+} status_t;
+
+// web interface state type
+typedef enum {
+  IDLE,
+  RESET_ESP,
+  WAIT_FOR_READY,
+  INIT_SEND_AT,
+  INIT_SEND_CWMODE,
+  INIT_SEND_CWSAP,
+  INIT_SEND_CIPAP,
+  INIT_SEND_CIPMUX,
+  INIT_SEND_CIPSERVER,
+  PARSE_IPD,
+  PARSE_REQUEST_BODY,
+  GENERATE_WEB_PAGE,
+  WAIT_FOR_CIPSEND_READY,
+  SEND_PAGE,
+  WAIT_FOR_SEND_OK,
+  CLOSE_CONNECTION
+} state_t;
+
+typedef struct {
+  int32_t motorsEnabled;
+  int32_t Kp;
+  int32_t Ki;
+  int32_t Kd;
+} web_settings_t;
+
+typedef struct {
+  uint32_t digitizedSensorValues;
+  uint32_t analogSensorValues[SENSORS_BAR_SIZE];
+  uint32_t analogSensorValuesAverage;
+} web_status_t;
+
+static state_t ESPParserState = RESET_ESP;
+static web_status_t webStatus = {};
+static Timer ESPCommunicationTimer;
+static char webReceiveBuffer[WEB_RECEIVE_BUFFER_SIZE];
+static char webSendBuffer[WEB_SEND_BUFFER_SIZE];
+static volatile char *webReceiveBufferPointer = webReceiveBuffer;
+static char *webReceiveRequestsData = NULL;
+static volatile bool webReceivedData = false;
+static volatile bool webReceiveBufferFull = false;
+static int webConnectionId = -1;
+static int webPayloadSize = -1;
+static bool webSendNewCommand = true;
+static int32_t espInitAttempts = 1;
+
+void ESPReceiveIRQ();
+status_t ESPProcessReply();
+status_t ESPSendCommandAndProcessReply(const char *command);
+status_t ESPRunStateMachine();
 
 class Motor
 {