From cecc6f63bc6d7283a2f2fd88472dcde1ca56778c Mon Sep 17 00:00:00 2001
From: DAsamhan <23522019@std.stei.itb.ac.id>
Date: Sun, 23 Jun 2024 16:20:55 +0700
Subject: [PATCH] implement ir, LED driver and logic
---
.vscode/settings.json | 7 ++
debug-app/CMakeLists.txt | 2 +-
debug-app/boards/esp32.overlay | 58 ++++++++++++-
debug-app/drivers/CMakeLists.txt | 4 +-
debug-app/drivers/ir-driver/src/ir-driver.cpp | 26 +++++-
.../drivers/led-driver/src/led-driver.cpp | 12 ++-
debug-app/include/ir-driver.h | 8 +-
debug-app/include/led-driver.h | 1 +
debug-app/include/main-handler.h | 1 +
debug-app/include/utilities.h | 13 ++-
.../module/driver-hook/src/driver-hook.cpp | 33 ++++---
.../handler/main-handler/src/main-handler.cpp | 86 ++++++++++++-------
12 files changed, 199 insertions(+), 52 deletions(-)
create mode 100644 .vscode/settings.json
diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000..23e9642
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,7 @@
+{
+ "files.associations": {
+ "deque": "cpp",
+ "string": "cpp",
+ "vector": "cpp"
+ }
+}
\ No newline at end of file
diff --git a/debug-app/CMakeLists.txt b/debug-app/CMakeLists.txt
index 6c6e18d..6a5839b 100644
--- a/debug-app/CMakeLists.txt
+++ b/debug-app/CMakeLists.txt
@@ -1,4 +1,4 @@
zephyr_include_directories(include)
add_subdirectory(module)
-add_subdirectory(drivers)
\ No newline at end of file
+add_subdirectory_ifndef(CONFIG_SOC_POSIX drivers)
\ No newline at end of file
diff --git a/debug-app/boards/esp32.overlay b/debug-app/boards/esp32.overlay
index 5256637..c11897f 100644
--- a/debug-app/boards/esp32.overlay
+++ b/debug-app/boards/esp32.overlay
@@ -4,6 +4,62 @@
* SPDX-License-Identifier: Apache-2.0
*/
- &wifi {
+/{
+ aliases {
+ pwm-0 = &ledc0;
+ pwm-led0 = &pwm_led_blue;
+ };
+
+ gpio_in{
+ compatible = "gpio-keys";
+ ir_Sensor: ir_sensor{
+ gpios = <&gpio0 25 GPIO_ACTIVE_HIGH>;
+ label = "ir sensor interrupt";
+ status = "okay";
+ };
+ };
+
+ gpio_out{
+ compatible = "gpio-leds";
+ led_pin: led_pin{
+ gpios = <&gpio0 26 GPIO_ACTIVE_HIGH>;
+ label = "led pin";
+ status = "okay";
+
+ };
+ };
+
+ pwmServo {
+ compatible = "pwm-leds";
+ pwm_led_blue: pwm_led_gpio0_2 {
+ label = "PWM SERVO";
+ pwms = <&ledc0 0 1000 PWM_POLARITY_NORMAL>;
+ };
+ };
+};
+
+
+&pinctrl {
+ ledc0_default: ledc0_default {
+ group1 {
+ pinmux = <LEDC_CH0_GPIO2>;
+ output-enable;
+ };
+ };
+};
+
+&ledc0 {
+ pinctrl-0 = <&ledc0_default>;
+ pinctrl-names = "default";
+ status = "okay";
+ #address-cells = <1>;
+ #size-cells = <0>;
+ channel0@0 {
+ reg = <0x0>;
+ timer = <0>;
+ };
+};
+
+&wifi {
status = "okay";
};
\ No newline at end of file
diff --git a/debug-app/drivers/CMakeLists.txt b/debug-app/drivers/CMakeLists.txt
index 176ae59..6f943b6 100644
--- a/debug-app/drivers/CMakeLists.txt
+++ b/debug-app/drivers/CMakeLists.txt
@@ -1,5 +1,5 @@
-add_subdirectory_ifndef(CONFIG_SOC_POSIX ble-scanner)
-add_subdirectory_ifndef(CONFIG_SOC_POSIX wifi-controller)
+add_subdirectory(ble-scanner)
+add_subdirectory(wifi-controller)
add_subdirectory(ir-driver)
add_subdirectory(servo-driver)
add_subdirectory(led-driver)
\ No newline at end of file
diff --git a/debug-app/drivers/ir-driver/src/ir-driver.cpp b/debug-app/drivers/ir-driver/src/ir-driver.cpp
index db8cefb..97104ae 100644
--- a/debug-app/drivers/ir-driver/src/ir-driver.cpp
+++ b/debug-app/drivers/ir-driver/src/ir-driver.cpp
@@ -1,7 +1,21 @@
#include "ir-driver.h"
+#include <zephyr/drivers/gpio.h>
+
+#define IRSENSOR_PIN DT_NODELABEL(ir_sensor)
+
+struct gpio_dt_spec irSensorNode = GPIO_DT_SPEC_GET(IRSENSOR_PIN, gpios);
+struct gpio_callback irSensorCb;
+
+static IrDriver *context;
IrDriver::IrDriver(){
+ context = this;
+ int err = gpio_pin_configure_dt(&irSensorNode, GPIO_INPUT);
+ gpio_pin_interrupt_configure_dt(&irSensorNode, GPIO_INT_EDGE_BOTH);
+ gpio_init_callback(&irSensorCb, InterruptCallback, BIT(irSensorNode.pin));
+ gpio_add_callback(irSensorNode.port, &irSensorCb);
+ k_work_init(&work, InterruptHandler);
}
IrDriver::~IrDriver(){
@@ -10,9 +24,19 @@ IrDriver::~IrDriver(){
bool IrDriver::GetState(){
- return true;
+ return gpio_pin_get_dt(&irSensorNode);
}
void IrDriver::RegisterInterrupt(void (*callback)(uint8_t)){
registeredCallback = callback;
+}
+
+void IrDriver::InterruptCallback(const struct device *dev, struct gpio_callback *cb, uint32_t pins){
+ k_work_submit(&context->work);
+}
+
+void IrDriver::InterruptHandler(struct k_work *item){
+ if(context->registeredCallback != NULL){
+ context->registeredCallback(gpio_pin_get_dt(&irSensorNode));
+ }
}
\ No newline at end of file
diff --git a/debug-app/drivers/led-driver/src/led-driver.cpp b/debug-app/drivers/led-driver/src/led-driver.cpp
index 3e6b3ba..03a1e09 100644
--- a/debug-app/drivers/led-driver/src/led-driver.cpp
+++ b/debug-app/drivers/led-driver/src/led-driver.cpp
@@ -1,7 +1,12 @@
#include "led-driver.h"
+#include <zephyr/drivers/gpio.h>
-LedDriver::LedDriver(){
+#define LED_PIN DT_NODELABEL(led_pin)
+
+struct gpio_dt_spec ledPinNode = GPIO_DT_SPEC_GET(LED_PIN, gpios);
+LedDriver::LedDriver(){
+ int err = gpio_pin_configure_dt(&ledPinNode, GPIO_OUTPUT_INACTIVE);
}
LedDriver::~LedDriver(){
@@ -9,9 +14,10 @@ LedDriver::~LedDriver(){
}
void LedDriver::SetState(bool enable){
-
+ gpio_pin_set_dt(&ledPinNode, enable);
+ currentState = enable;
}
bool LedDriver::GetState(){
- return true;
+ return currentState;
}
\ No newline at end of file
diff --git a/debug-app/include/ir-driver.h b/debug-app/include/ir-driver.h
index 9b036d0..a0ca7b6 100644
--- a/debug-app/include/ir-driver.h
+++ b/debug-app/include/ir-driver.h
@@ -5,6 +5,9 @@
class IrDriver {
public:
+ void (*registeredCallback)(uint8_t) = NULL;
+ struct k_work work;
+
/** Constructor.
*
**/
@@ -20,5 +23,8 @@ public:
void RegisterInterrupt(void (*callback)(uint8_t));
private:
- void (*registeredCallback)(uint8_t) = NULL;
+
+ static void InterruptCallback(const struct device *dev, struct gpio_callback *cb, uint32_t pins);
+
+ static void InterruptHandler(struct k_work *item);
};
\ No newline at end of file
diff --git a/debug-app/include/led-driver.h b/debug-app/include/led-driver.h
index a57cd47..4e90eaf 100644
--- a/debug-app/include/led-driver.h
+++ b/debug-app/include/led-driver.h
@@ -20,4 +20,5 @@ public:
bool GetState();
private:
+ bool currentState;
};
\ No newline at end of file
diff --git a/debug-app/include/main-handler.h b/debug-app/include/main-handler.h
index 93574b0..284806c 100644
--- a/debug-app/include/main-handler.h
+++ b/debug-app/include/main-handler.h
@@ -33,6 +33,7 @@ private:
DriverNumb_e requestedResponse;
DriverMessage_t driverResponse_g;
+ uint8_t currentState;
static void MainThread(MainHandler *context);
bool DriverRequest(DriverMessage_t *sentMessage, DriverMessage_t *driverResponse, k_timeout_t timeout);
diff --git a/debug-app/include/utilities.h b/debug-app/include/utilities.h
index 9fcaaac..85902fc 100644
--- a/debug-app/include/utilities.h
+++ b/debug-app/include/utilities.h
@@ -8,8 +8,9 @@ typedef enum DriverNumb{
SENSOR_2,
SENSOR_3,
BLUETOOTH,
- WINDOW,
- LAMP
+ SERVO,
+ LED,
+ IR_DRIVER
} DriverNumb_e;
typedef enum StateFlag{
@@ -18,8 +19,16 @@ typedef enum StateFlag{
DATA_2
} StateFlag_e;
+typedef enum ExchangeType{
+ REQUEST_GET,
+ REQUEST_SET,
+ RESPONSE_GET,
+ RESPONSE_SET
+} ExchangeType_e;
+
typedef struct DriverMessage {
DriverNumb_e number;
+ ExchangeType_e type;
std::vector<uint8_t> value;
} DriverMessage_t;
diff --git a/debug-app/module/driver-hook/src/driver-hook.cpp b/debug-app/module/driver-hook/src/driver-hook.cpp
index 118975f..8704d5f 100644
--- a/debug-app/module/driver-hook/src/driver-hook.cpp
+++ b/debug-app/module/driver-hook/src/driver-hook.cpp
@@ -56,25 +56,36 @@ void DriverHook::DriverRequestListener(const struct zbus_channel *chan){
DriverMessage_t sentMessage = {
.number = msg->number,
- .value = msg->value
+ .type = msg->type,
};
switch (msg->number)
{
- case SENSOR_1:
- LOG_INF("Sensor %d", msg->number);
- break;
-
- case SENSOR_2:
- LOG_INF("Sensor %d", msg->number);
+ case BLUETOOTH:
+ if(msg->type == REQUEST_SET){
+ context->bleScanner->SetScan(msg->value[0]);
+ sentMessage.value.push_back(0);
+ }
break;
- case SENSOR_3:
- LOG_INF("Sensor %d", msg->number);
+ case LED:
+ if(msg->type == REQUEST_SET){
+ context->ledDriver->SetState(msg->value[0]);
+ }
+ else if(msg->type == REQUEST_GET){
+ bool ledState = context->ledDriver->GetState();
+ sentMessage.value.push_back(ledState);
+ }
break;
- case BLUETOOTH:
-
+ case SERVO:
+ if(msg->type == REQUEST_SET){
+ context->servoDriver->SetPwm(msg->value[0]);
+ }
+ else if(msg->type == REQUEST_GET){
+ uint8_t servoPwm = context->servoDriver->GetPwm();
+ sentMessage.value.push_back(servoPwm);
+ }
break;
default:
diff --git a/debug-app/module/handler/main-handler/src/main-handler.cpp b/debug-app/module/handler/main-handler/src/main-handler.cpp
index 21cdaf1..5a1a44d 100644
--- a/debug-app/module/handler/main-handler/src/main-handler.cpp
+++ b/debug-app/module/handler/main-handler/src/main-handler.cpp
@@ -53,7 +53,6 @@ int MainHandler::Deinit(){
void MainHandler::MainThread(MainHandler *context){
// const struct zbus_channel *chan;
- uint8_t currentState = 1;
uint8_t stateCounter = 0;
// while (!zbus_sub_wait(&stateSubs, &chan, K_MSEC(200))) {
// StateMessage_t state;
@@ -69,54 +68,63 @@ void MainHandler::MainThread(MainHandler *context){
{
LOG_INF("main thread run");
std::vector<uint8_t> stateVec;
- stateVec.push_back(currentState);
+ stateVec.push_back(context->currentState);
StateMessage_t stateMsg{
.flag = STATE,
.value = stateVec
};
+ DriverMessage_t configVector, responseVector;
zbus_chan_pub(&stateChannel, &stateMsg, K_MSEC(200));
- switch (currentState)
+ switch (context->currentState)
{
case STANDBY:{
- LOG_INF("entering state 1");
- DriverMessage_t configVector, responseVector;
- configVector.number = SENSOR_1;
- configVector.value.push_back(stateCounter);
- if(context->DriverRequest(&configVector, &responseVector, K_MSEC(200))){
- if(responseVector.value.size() > 0){
- LOG_INF("get sensor data %d", responseVector.value[0]);
- }
+ LOG_INF("Standby");
+
+ configVector.number = LED;
+ configVector.type = REQUEST_SET;
+ configVector.value.push_back(0);
+ context->DriverRequest(&configVector, &responseVector, K_MSEC(200));
+
+ configVector.number = SERVO;
+ configVector.type = REQUEST_SET;
+ configVector.value.push_back(0);
+ context->DriverRequest(&configVector, &responseVector, K_MSEC(200));
- }
- else{
- LOG_INF("fail");
- }
- k_msleep(500);
- stateCounter++;
- if(stateCounter > 10){
- stateCounter = 0;
- currentState = SCANNING;
- }
break;
}
case SCANNING:
- LOG_INF("entering state 2");
- k_msleep(500);
- stateCounter++;
- if(stateCounter > 10){
- stateCounter = 0;
- currentState = 1;
- }
+ configVector.number = BLUETOOTH;
+ configVector.type = REQUEST_SET;
+ configVector.value.push_back(1);
+ context->DriverRequest(&configVector, &responseVector, K_MSEC(200));
break;
case USER_1:
- /* code */
+ configVector.number = LED;
+ configVector.type = REQUEST_SET;
+ configVector.value.push_back(1);
+ context->DriverRequest(&configVector, &responseVector, K_MSEC(200));
+
+ configVector.number = SERVO;
+ configVector.type = REQUEST_SET;
+ configVector.value.push_back(0);
+ context->DriverRequest(&configVector, &responseVector, K_MSEC(200));
break;
case USER_2:
- /* code */
+ configVector.number = LED;
+ configVector.type = REQUEST_SET;
+ configVector.value.push_back(0);
+ context->DriverRequest(&configVector, &responseVector, K_MSEC(200));
+
+ configVector.number = SERVO;
+ configVector.type = REQUEST_SET;
+ configVector.value.push_back(100);
+ context->DriverRequest(&configVector, &responseVector, K_MSEC(200));
+
+
break;
default:
break;
@@ -130,6 +138,24 @@ void MainHandler::DriverResponseListener(const struct zbus_channel *chan){
if (&driverResponseChannel == chan) {
driver = (DriverMessage_t *)zbus_chan_const_msg(chan); // Direct message access
context->driverResponse_g = *driver;
+
+ if(driver->number == BLUETOOTH){
+ if(driver->value[0] == 1){
+ context->currentState = USER_1;
+ }
+ else if(driver->value[0] == 2){
+ context->currentState = USER_2;
+ }
+ }
+
+ if(driver->number == IR_DRIVER){
+ if(driver->value[0] == 0){
+ context->currentState = STANDBY;
+ }
+ else if(driver->value[0] == 1){
+ context->currentState = SCANNING;
+ }
+ }
}
}
--
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