287 lines
9.2 KiB
C
Executable File
287 lines
9.2 KiB
C
Executable File
#include <stdio.h>
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#include <string.h>
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/event_groups.h"
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#include "esp_system.h"
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#include "esp_wifi.h"
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#include "esp_event.h"
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#include "esp_log.h"
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#include "nvs_flash.h"
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#include "driver/gpio.h"
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#include "driver/ledc.h"
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// WiFi credentials - CHANGE THESE TO YOUR NETWORK
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#define WIFI_SSID "YOUR_WIFI_NAME"
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#define WIFI_PASS "YOUR_WIFI_PASSWORD"
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#define WIFI_MAXIMUM_RETRY 5
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// Pin definitions (same as before)
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#define LED_PIN GPIO_NUM_13
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#define MOTOR_R_EN GPIO_NUM_18
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#define MOTOR_L_EN GPIO_NUM_19
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#define PWM_R_PIN GPIO_NUM_21
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#define PWM_L_PIN GPIO_NUM_22
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// PWM configuration (same as before)
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#define PWM_FREQUENCY 1000
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#define PWM_RESOLUTION LEDC_TIMER_8_BIT
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#define PWM_R_CHANNEL LEDC_CHANNEL_0
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#define PWM_L_CHANNEL LEDC_CHANNEL_1
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static const char* TAG = "WIFI_MOTOR";
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// WiFi event group
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static EventGroupHandle_t s_wifi_event_group;
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#define WIFI_CONNECTED_BIT BIT0
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#define WIFI_FAIL_BIT BIT1
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static int s_retry_num = 0;
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// Motor control (same as before)
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typedef enum {
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MOTOR_OFF,
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MOTOR_EXHAUST,
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MOTOR_INTAKE
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} motor_mode_t;
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static motor_mode_t current_mode = MOTOR_OFF;
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static int current_speed = 0;
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// WiFi event handler
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static void event_handler(void* arg, esp_event_base_t event_base,
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int32_t event_id, void* event_data)
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{
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if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_START) {
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esp_wifi_connect();
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} else if (event_base == WIFI_EVENT && event_id == WIFI_EVENT_STA_DISCONNECTED) {
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if (s_retry_num < WIFI_MAXIMUM_RETRY) {
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esp_wifi_connect();
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s_retry_num++;
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ESP_LOGI(TAG, "retry to connect to the AP");
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} else {
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xEventGroupSetBits(s_wifi_event_group, WIFI_FAIL_BIT);
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}
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ESP_LOGI(TAG, "connect to the AP fail");
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} else if (event_base == IP_EVENT && event_id == IP_EVENT_STA_GOT_IP) {
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ip_event_got_ip_t* event = (ip_event_got_ip_t*) event_data;
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ESP_LOGI(TAG, "got ip:" IPSTR, IP2STR(&event->ip_info.ip));
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s_retry_num = 0;
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xEventGroupSetBits(s_wifi_event_group, WIFI_CONNECTED_BIT);
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}
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}
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void wifi_init_sta(void)
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{
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s_wifi_event_group = xEventGroupCreate();
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ESP_ERROR_CHECK(esp_netif_init());
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ESP_ERROR_CHECK(esp_event_loop_create_default());
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esp_netif_create_default_wifi_sta();
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wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
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ESP_ERROR_CHECK(esp_wifi_init(&cfg));
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esp_event_handler_instance_t instance_any_id;
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esp_event_handler_instance_t instance_got_ip;
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ESP_ERROR_CHECK(esp_event_handler_instance_register(WIFI_EVENT,
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ESP_EVENT_ANY_ID,
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&event_handler,
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NULL,
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&instance_any_id));
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ESP_ERROR_CHECK(esp_event_handler_instance_register(IP_EVENT,
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IP_EVENT_STA_GOT_IP,
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&event_handler,
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NULL,
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&instance_got_ip));
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wifi_config_t wifi_config = {
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.sta = {
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.ssid = WIFI_SSID,
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.password = WIFI_PASS,
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.threshold.authmode = WIFI_AUTH_WPA2_PSK,
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.pmf_cfg = {
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.capable = true,
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.required = false
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},
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},
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};
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ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA));
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ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_STA, &wifi_config));
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ESP_ERROR_CHECK(esp_wifi_start());
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ESP_LOGI(TAG, "wifi_init_sta finished.");
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/* Waiting until either the connection is established (WIFI_CONNECTED_BIT) or connection failed for the maximum
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* number of re-tries (WIFI_FAIL_BIT). The bits are set by event_handler() (see above) */
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EventBits_t bits = xEventGroupWaitBits(s_wifi_event_group,
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WIFI_CONNECTED_BIT | WIFI_FAIL_BIT,
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pdFALSE,
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pdFALSE,
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portMAX_DELAY);
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/* xEventGroupWaitBits() returns the bits before the call returned, hence we can test which event actually
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* happened. */
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if (bits & WIFI_CONNECTED_BIT) {
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ESP_LOGI(TAG, "connected to ap SSID:%s", WIFI_SSID);
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} else if (bits & WIFI_FAIL_BIT) {
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ESP_LOGI(TAG, "Failed to connect to SSID:%s", WIFI_SSID);
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} else {
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ESP_LOGE(TAG, "UNEXPECTED EVENT");
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}
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}
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void configure_gpio_pins(void)
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{
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ESP_LOGI(TAG, "Configuring GPIO pins...");
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uint64_t pin_mask = (1ULL << LED_PIN) |
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(1ULL << MOTOR_R_EN) |
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(1ULL << MOTOR_L_EN);
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gpio_config_t io_conf = {
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.pin_bit_mask = pin_mask,
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.mode = GPIO_MODE_OUTPUT,
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.pull_up_en = GPIO_PULLUP_DISABLE,
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.pull_down_en = GPIO_PULLDOWN_DISABLE,
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.intr_type = GPIO_INTR_DISABLE
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};
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gpio_config(&io_conf);
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gpio_set_level(LED_PIN, 0);
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gpio_set_level(MOTOR_R_EN, 0);
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gpio_set_level(MOTOR_L_EN, 0);
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ESP_LOGI(TAG, "GPIO pins configured");
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}
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void configure_pwm(void)
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{
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ESP_LOGI(TAG, "Configuring PWM...");
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ledc_timer_config_t timer_conf = {
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.speed_mode = LEDC_LOW_SPEED_MODE,
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.timer_num = LEDC_TIMER_0,
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.duty_resolution = PWM_RESOLUTION,
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.freq_hz = PWM_FREQUENCY,
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.clk_cfg = LEDC_AUTO_CLK
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};
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ledc_timer_config(&timer_conf);
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ledc_channel_config_t channel_conf = {
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.channel = PWM_R_CHANNEL,
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.duty = 0,
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.gpio_num = PWM_R_PIN,
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.speed_mode = LEDC_LOW_SPEED_MODE,
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.hpoint = 0,
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.timer_sel = LEDC_TIMER_0
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};
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ledc_channel_config(&channel_conf);
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channel_conf.channel = PWM_L_CHANNEL;
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channel_conf.gpio_num = PWM_L_PIN;
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ledc_channel_config(&channel_conf);
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ESP_LOGI(TAG, "PWM configured");
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}
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void set_motor_speed(motor_mode_t mode, int speed_percent)
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{
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if (speed_percent < 0) speed_percent = 0;
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if (speed_percent > 100) speed_percent = 100;
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current_mode = mode;
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current_speed = speed_percent;
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uint32_t duty = (speed_percent * 255) / 100;
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if (mode == MOTOR_OFF || speed_percent == 0) {
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ESP_LOGI(TAG, "Motor OFF");
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gpio_set_level(LED_PIN, 0);
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gpio_set_level(MOTOR_R_EN, 0);
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gpio_set_level(MOTOR_L_EN, 0);
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ledc_set_duty(LEDC_LOW_SPEED_MODE, PWM_R_CHANNEL, 0);
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ledc_set_duty(LEDC_LOW_SPEED_MODE, PWM_L_CHANNEL, 0);
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ledc_update_duty(LEDC_LOW_SPEED_MODE, PWM_R_CHANNEL);
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ledc_update_duty(LEDC_LOW_SPEED_MODE, PWM_L_CHANNEL);
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} else if (mode == MOTOR_EXHAUST) {
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ESP_LOGI(TAG, "Motor EXHAUST - Speed: %d%%", speed_percent);
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gpio_set_level(LED_PIN, 1);
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gpio_set_level(MOTOR_R_EN, 1);
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gpio_set_level(MOTOR_L_EN, 0);
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vTaskDelay(pdMS_TO_TICKS(10));
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ledc_set_duty(LEDC_LOW_SPEED_MODE, PWM_R_CHANNEL, duty);
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ledc_set_duty(LEDC_LOW_SPEED_MODE, PWM_L_CHANNEL, 0);
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ledc_update_duty(LEDC_LOW_SPEED_MODE, PWM_R_CHANNEL);
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ledc_update_duty(LEDC_LOW_SPEED_MODE, PWM_L_CHANNEL);
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} else if (mode == MOTOR_INTAKE) {
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ESP_LOGI(TAG, "Motor INTAKE - Speed: %d%%", speed_percent);
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gpio_set_level(LED_PIN, 1);
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gpio_set_level(MOTOR_R_EN, 0);
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gpio_set_level(MOTOR_L_EN, 1);
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vTaskDelay(pdMS_TO_TICKS(10));
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ledc_set_duty(LEDC_LOW_SPEED_MODE, PWM_R_CHANNEL, 0);
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ledc_set_duty(LEDC_LOW_SPEED_MODE, PWM_L_CHANNEL, duty);
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ledc_update_duty(LEDC_LOW_SPEED_MODE, PWM_R_CHANNEL);
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ledc_update_duty(LEDC_LOW_SPEED_MODE, PWM_L_CHANNEL);
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}
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}
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// Simple demo task that runs once WiFi is connected
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void motor_demo_task(void *pvParameters)
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{
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ESP_LOGI(TAG, "Motor demo task started - waiting for WiFi...");
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// Wait for WiFi connection
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EventBits_t bits = xEventGroupWaitBits(s_wifi_event_group,
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WIFI_CONNECTED_BIT,
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pdFALSE,
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pdFALSE,
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portMAX_DELAY);
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if (bits & WIFI_CONNECTED_BIT) {
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ESP_LOGI(TAG, "WiFi connected! Starting motor demo...");
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while(1) {
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ESP_LOGI(TAG, "=== WiFi Motor Demo Sequence ===");
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// Short demo since we have WiFi now
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set_motor_speed(MOTOR_EXHAUST, 50);
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vTaskDelay(pdMS_TO_TICKS(3000));
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set_motor_speed(MOTOR_INTAKE, 75);
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vTaskDelay(pdMS_TO_TICKS(3000));
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set_motor_speed(MOTOR_OFF, 0);
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vTaskDelay(pdMS_TO_TICKS(5000));
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}
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}
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}
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void app_main(void)
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{
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ESP_LOGI(TAG, "Starting WiFi + Motor Control!");
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// Initialize NVS (needed for WiFi)
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esp_err_t ret = nvs_flash_init();
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if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
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ESP_ERROR_CHECK(nvs_flash_erase());
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ret = nvs_flash_init();
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}
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ESP_ERROR_CHECK(ret);
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// Configure hardware
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configure_gpio_pins();
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configure_pwm();
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ESP_LOGI(TAG, "Connecting to WiFi network: %s", WIFI_SSID);
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wifi_init_sta();
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// Create motor demo task
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xTaskCreate(motor_demo_task, "motor_demo", 4096, NULL, 5, NULL);
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ESP_LOGI(TAG, "Setup complete! Motor controllable via WiFi.");
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} |