mirror of
https://github.com/MeowLynxSea/MarsCar.git
synced 2025-07-09 10:44:35 +00:00
轮子操控
This commit is contained in:
sushi rui
parent
67d06333f1
commit
07263108ff
13
.devcontainer/Dockerfile
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13
.devcontainer/Dockerfile
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ARG DOCKER_TAG=latest
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FROM espressif/idf:${DOCKER_TAG}
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ENV LC_ALL=C.UTF-8
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ENV LANG=C.UTF-8
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RUN apt-get update -y && apt-get install udev -y
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RUN echo "source /opt/esp/idf/export.sh > /dev/null 2>&1" >> ~/.bashrc
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ENTRYPOINT [ "/opt/esp/entrypoint.sh" ]
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CMD ["/bin/bash", "-c"]
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21
.devcontainer/devcontainer.json
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21
.devcontainer/devcontainer.json
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{
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"name": "ESP-IDF QEMU",
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"build": {
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"dockerfile": "Dockerfile"
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},
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"customizations": {
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"vscode": {
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"settings": {
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"terminal.integrated.defaultProfile.linux": "bash",
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"idf.espIdfPath": "/opt/esp/idf",
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"idf.toolsPath": "/opt/esp",
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"idf.gitPath": "/usr/bin/git"
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},
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"extensions": [
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"espressif.esp-idf-extension",
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"espressif.esp-idf-web"
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]
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}
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},
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"runArgs": ["--privileged"]
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}
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25
.vscode/c_cpp_properties.json
vendored
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25
.vscode/c_cpp_properties.json
vendored
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{
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"configurations": [
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{
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"name": "ESP-IDF",
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"compilerPath": "${config:idf.toolsPath}/tools/xtensa-esp-elf/esp-14.2.0_20241119/xtensa-esp-elf/bin/xtensa-esp32-elf-gcc",
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"compileCommands": "${config:idf.buildPath}/compile_commands.json",
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"includePath": [
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"${config:idf.espIdfPath}/components/**",
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"/home/ahxbxa/esp5.4.2/esp-idf/components/**",
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"${config:idf.espIdfPathWin}/components/**",
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"${workspaceFolder}/**"
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],
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"browse": {
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"path": [
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"${config:idf.espIdfPath}/components",
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"${config:idf.espIdfPathWin}/components",
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"${workspaceFolder}"
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],
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"limitSymbolsToIncludedHeaders": true
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}
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}
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],
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"version": 4
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}
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15
.vscode/launch.json
vendored
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15
.vscode/launch.json
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{
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"version": "0.2.0",
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"configurations": [
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{
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"type": "gdbtarget",
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"request": "attach",
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"name": "Eclipse CDT GDB Adapter"
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},
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{
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"type": "espidf",
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"name": "Launch",
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"request": "launch"
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}
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]
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}
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77
.vscode/settings.json
vendored
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77
.vscode/settings.json
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{
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"C_Cpp.intelliSenseEngine": "default",
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"idf.port": "/dev/ttyUSB0",
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"idf.flashType": "UART",
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"files.associations": {
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"array": "cpp",
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"atomic": "cpp",
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"bit": "cpp",
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"bitset": "cpp",
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"cctype": "cpp",
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"charconv": "cpp",
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"chrono": "cpp",
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"clocale": "cpp",
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"cmath": "cpp",
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"compare": "cpp",
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"complex": "cpp",
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"concepts": "cpp",
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"condition_variable": "cpp",
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"cstdarg": "cpp",
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"cstddef": "cpp",
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"cstdint": "cpp",
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"cstdio": "cpp",
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"cstdlib": "cpp",
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"cstring": "cpp",
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"ctime": "cpp",
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"cwchar": "cpp",
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"cwctype": "cpp",
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"deque": "cpp",
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"list": "cpp",
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"map": "cpp",
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"set": "cpp",
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"string": "cpp",
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"unordered_map": "cpp",
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"vector": "cpp",
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|
"exception": "cpp",
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"algorithm": "cpp",
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"functional": "cpp",
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"iterator": "cpp",
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"memory": "cpp",
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"memory_resource": "cpp",
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"netfwd": "cpp",
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"numeric": "cpp",
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"optional": "cpp",
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"random": "cpp",
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"ratio": "cpp",
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"regex": "cpp",
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"string_view": "cpp",
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"system_error": "cpp",
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"tuple": "cpp",
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"type_traits": "cpp",
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"utility": "cpp",
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"format": "cpp",
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"fstream": "cpp",
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"future": "cpp",
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"initializer_list": "cpp",
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"iomanip": "cpp",
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"iosfwd": "cpp",
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"iostream": "cpp",
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"istream": "cpp",
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"limits": "cpp",
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"mutex": "cpp",
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"new": "cpp",
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"numbers": "cpp",
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"ostream": "cpp",
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"semaphore": "cpp",
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"span": "cpp",
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"sstream": "cpp",
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"stdexcept": "cpp",
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"stop_token": "cpp",
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"streambuf": "cpp",
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"text_encoding": "cpp",
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"thread": "cpp",
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"cinttypes": "cpp",
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|
"typeinfo": "cpp",
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"variant": "cpp"
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}
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}
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6
CMakeLists.txt
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6
CMakeLists.txt
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# The following lines of boilerplate have to be in your project's
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# CMakeLists in this exact order for cmake to work correctly
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cmake_minimum_required(VERSION 3.16)
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include($ENV{IDF_PATH}/tools/cmake/project.cmake)
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project(Mars_Car)
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53
README.md
Normal file
53
README.md
Normal file
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|
| Supported Targets | ESP32 | ESP32-C2 | ESP32-C3 | ESP32-C5 | ESP32-C6 | ESP32-C61 | ESP32-H2 | ESP32-P4 | ESP32-S2 | ESP32-S3 | Linux |
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|
| ----------------- | ----- | -------- | -------- | -------- | -------- | --------- | -------- | -------- | -------- | -------- | ----- |
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# Hello World Example
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Starts a FreeRTOS task to print "Hello World".
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(See the README.md file in the upper level 'examples' directory for more information about examples.)
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|
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## How to use example
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Follow detailed instructions provided specifically for this example.
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|
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||||||
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Select the instructions depending on Espressif chip installed on your development board:
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|
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||||||
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- [ESP32 Getting Started Guide](https://docs.espressif.com/projects/esp-idf/en/stable/get-started/index.html)
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|
- [ESP32-S2 Getting Started Guide](https://docs.espressif.com/projects/esp-idf/en/latest/esp32s2/get-started/index.html)
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|
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||||||
|
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|
## Example folder contents
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The project **hello_world** contains one source file in C language [hello_world_main.c](main/hello_world_main.c). The file is located in folder [main](main).
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|
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|
ESP-IDF projects are built using CMake. The project build configuration is contained in `CMakeLists.txt` files that provide set of directives and instructions describing the project's source files and targets (executable, library, or both).
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Below is short explanation of remaining files in the project folder.
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|
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|
```
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├── CMakeLists.txt
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|
├── pytest_hello_world.py Python script used for automated testing
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├── main
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|
│ ├── CMakeLists.txt
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|
│ └── hello_world_main.c
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|
└── README.md This is the file you are currently reading
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|
```
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||||||
|
|
||||||
|
For more information on structure and contents of ESP-IDF projects, please refer to Section [Build System](https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-guides/build-system.html) of the ESP-IDF Programming Guide.
|
||||||
|
|
||||||
|
## Troubleshooting
|
||||||
|
|
||||||
|
* Program upload failure
|
||||||
|
|
||||||
|
* Hardware connection is not correct: run `idf.py -p PORT monitor`, and reboot your board to see if there are any output logs.
|
||||||
|
* The baud rate for downloading is too high: lower your baud rate in the `menuconfig` menu, and try again.
|
||||||
|
|
||||||
|
## Technical support and feedback
|
||||||
|
|
||||||
|
Please use the following feedback channels:
|
||||||
|
|
||||||
|
* For technical queries, go to the [esp32.com](https://esp32.com/) forum
|
||||||
|
* For a feature request or bug report, create a [GitHub issue](https://github.com/espressif/esp-idf/issues)
|
||||||
|
|
||||||
|
We will get back to you as soon as possible.
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||||||
21
dependencies.lock
Normal file
21
dependencies.lock
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|
dependencies:
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||||||
|
espressif/servo:
|
||||||
|
component_hash: 309c787e48224255fad458cfd9ab86ea53f0fdad1c5e4f6f0c50309990b17108
|
||||||
|
dependencies:
|
||||||
|
- name: idf
|
||||||
|
require: private
|
||||||
|
version: '>=4.4'
|
||||||
|
source:
|
||||||
|
registry_url: https://components.espressif.com/
|
||||||
|
type: service
|
||||||
|
version: 0.1.0
|
||||||
|
idf:
|
||||||
|
source:
|
||||||
|
type: idf
|
||||||
|
version: 5.4.2
|
||||||
|
direct_dependencies:
|
||||||
|
- espressif/servo
|
||||||
|
- idf
|
||||||
|
manifest_hash: 3dad4570361cb98ff907c92e0dada8605c352b82ceaed7b23de18cc0b41ec601
|
||||||
|
target: esp32
|
||||||
|
version: 2.0.0
|
||||||
5
main/CMakeLists.txt
Normal file
5
main/CMakeLists.txt
Normal file
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|
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|
idf_component_register(SRCS "main.cpp"
|
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|
"src/ps2_controller.cpp"
|
||||||
|
"src/moveInfo.cpp"
|
||||||
|
"src/uartTool.cpp"
|
||||||
|
INCLUDE_DIRS "include")
|
||||||
17
main/idf_component.yml
Normal file
17
main/idf_component.yml
Normal file
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|
|||||||
|
## IDF Component Manager Manifest File
|
||||||
|
dependencies:
|
||||||
|
## Required IDF version
|
||||||
|
idf:
|
||||||
|
version: '>=4.1.0'
|
||||||
|
# # Put list of dependencies here
|
||||||
|
# # For components maintained by Espressif:
|
||||||
|
# component: "~1.0.0"
|
||||||
|
# # For 3rd party components:
|
||||||
|
# username/component: ">=1.0.0,<2.0.0"
|
||||||
|
# username2/component2:
|
||||||
|
# version: "~1.0.0"
|
||||||
|
# # For transient dependencies `public` flag can be set.
|
||||||
|
# # `public` flag doesn't have an effect dependencies of the `main` component.
|
||||||
|
# # All dependencies of `main` are public by default.
|
||||||
|
# public: true
|
||||||
|
espressif/servo: '*'
|
||||||
57
main/include/moveInfo.h
Normal file
57
main/include/moveInfo.h
Normal file
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|
|||||||
|
#ifndef MOVEINFO_H
|
||||||
|
#define MOVEINFO_H
|
||||||
|
#include <string>
|
||||||
|
class MoveInfo
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
MoveInfo() = default;
|
||||||
|
MoveInfo(std::string i, int p, int t) : index(i), pwm(t), t(t) {};
|
||||||
|
~MoveInfo() = default;
|
||||||
|
|
||||||
|
std::string getInfo();
|
||||||
|
void setInfo(std::string i,int p,int t);
|
||||||
|
private:
|
||||||
|
std::string index;
|
||||||
|
int pwm;
|
||||||
|
int t;
|
||||||
|
};
|
||||||
|
class WheelMoveInfo : public MoveInfo
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
WheelMoveInfo() = default;
|
||||||
|
WheelMoveInfo(std::string fl, std::string fr, std::string bl, std::string br, int lx, int ly);
|
||||||
|
WheelMoveInfo(std::string fl, int pwm_fl, int t_fl, std::string fr, int pwm_fr, int t_fr,
|
||||||
|
std::string bl, int pwm_bl, int t_bl, std::string br, int pwm_br, int t_br)
|
||||||
|
: front_left(fl, pwm_fl, t_fl), front_right(fr, pwm_fr, t_fr),
|
||||||
|
back_left(bl, pwm_bl, t_bl), back_right(fl, pwm_br, t_br) {};
|
||||||
|
~WheelMoveInfo() = default;
|
||||||
|
|
||||||
|
std::string getWheelInfo();
|
||||||
|
private:
|
||||||
|
MoveInfo front_left;
|
||||||
|
MoveInfo front_right;
|
||||||
|
MoveInfo back_left;
|
||||||
|
MoveInfo back_right;
|
||||||
|
};
|
||||||
|
|
||||||
|
class SteerMoveInfo : public MoveInfo
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
SteerMoveInfo() = default;
|
||||||
|
SteerMoveInfo(std::string fl, std::string fr, std::string bl, std::string br, int rx, int ry);
|
||||||
|
SteerMoveInfo(std::string fl, int pwm_fl, int t_fl, std::string fr, int pwm_fr, int t_fr,
|
||||||
|
std::string bl, int pwm_bl, int t_bl, std::string br, int pwm_br, int t_br)
|
||||||
|
: front_left(fl, pwm_fl, t_fl), front_right(fr, pwm_fr, t_fr),
|
||||||
|
back_left(bl, pwm_bl, t_bl), back_right(fl, pwm_br, t_br) {};
|
||||||
|
~SteerMoveInfo() = default;
|
||||||
|
|
||||||
|
std::string getSteerInfo();
|
||||||
|
|
||||||
|
private:
|
||||||
|
MoveInfo front_left;
|
||||||
|
MoveInfo front_right;
|
||||||
|
MoveInfo back_left;
|
||||||
|
MoveInfo back_right;
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif // MOVEINFO_H
|
||||||
14
main/include/parameter.h
Normal file
14
main/include/parameter.h
Normal file
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|
|||||||
|
#ifndef PARAMETER_H
|
||||||
|
#define PARAMETER_H
|
||||||
|
#include <string>
|
||||||
|
static const int MAX_WHEEL_SPEED = 1000;
|
||||||
|
static const std::string WHEEL_FL="001";
|
||||||
|
static const std::string WHEEL_FR="002";
|
||||||
|
static const std::string WHEEL_BL="003";
|
||||||
|
static const std::string WHEEL_BR="004";
|
||||||
|
|
||||||
|
|
||||||
|
static const int FRAME_TIME= 10;
|
||||||
|
|
||||||
|
|
||||||
|
#endif //PARAMETER_H
|
||||||
75
main/include/ps2_controller.h
Normal file
75
main/include/ps2_controller.h
Normal file
@ -0,0 +1,75 @@
|
|||||||
|
#ifndef PS2_CONTROLLER_H
|
||||||
|
#define PS2_CONTROLLER_H
|
||||||
|
|
||||||
|
// 常量定义
|
||||||
|
#define READ_DELAY_MS 10
|
||||||
|
#define SHORT_DELAY_MS 1
|
||||||
|
// 按钮常量定义
|
||||||
|
#define BUTTON_SELECT 0x0001
|
||||||
|
#define BUTTON_L3 0x0002
|
||||||
|
#define BUTTON_R3 0x0004
|
||||||
|
#define BUTTON_START 0x0008
|
||||||
|
#define BUTTON_PAD_UP 0x0010
|
||||||
|
#define BUTTON_PAD_RIGHT 0x0020
|
||||||
|
#define BUTTON_PAD_DOWN 0x0040
|
||||||
|
#define BUTTON_PAD_LEFT 0x0080
|
||||||
|
#define BUTTON_L2 0x0100
|
||||||
|
#define BUTTON_R2 0x0200
|
||||||
|
#define BUTTON_L1 0x0400
|
||||||
|
#define BUTTON_R1 0x0800
|
||||||
|
#define BUTTON_TRIANGLE 0x1000
|
||||||
|
#define BUTTON_CIRCLE 0x2000
|
||||||
|
#define BUTTON_CROSS 0x4000
|
||||||
|
#define BUTTON_SQUARE 0x8000
|
||||||
|
|
||||||
|
#define LX 5
|
||||||
|
#define LY 6
|
||||||
|
#define RX 7
|
||||||
|
#define RY 8
|
||||||
|
|
||||||
|
#include <stdio.h>
|
||||||
|
#include "driver/gpio.h"
|
||||||
|
class PS2Controller
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
PS2Controller() = delete;
|
||||||
|
PS2Controller(gpio_num_t dat_pin, gpio_num_t cmd_pin, gpio_num_t sel_pin, gpio_num_t clk_pin);
|
||||||
|
~PS2Controller() = default;
|
||||||
|
|
||||||
|
int getLx(){return data[LX];}
|
||||||
|
int getLy(){return data[LY];}
|
||||||
|
int getRx(){return data[RX];}
|
||||||
|
int getRy(){return data[RY];}
|
||||||
|
void launch();
|
||||||
|
|
||||||
|
private:
|
||||||
|
|
||||||
|
uint8_t sendAndReceive(uint8_t const &byte) const;
|
||||||
|
bool readState(bool motor1, uint8_t motor2);
|
||||||
|
int config(bool pressures, bool rumble);
|
||||||
|
void reconfig();
|
||||||
|
void sendCommandString(uint8_t *cmd, int length) const;
|
||||||
|
bool Button(uint16_t button) const;
|
||||||
|
bool NewButtonState(uint16_t button) const;
|
||||||
|
bool ButtonPressed(uint16_t button) const;
|
||||||
|
bool ButtonReleased(uint16_t button) const;
|
||||||
|
|
||||||
|
void ps2Task();
|
||||||
|
static void ps2StaticTask(void *pvParameters);
|
||||||
|
|
||||||
|
gpio_num_t DAT;
|
||||||
|
gpio_num_t CMD;
|
||||||
|
gpio_num_t SEL;
|
||||||
|
gpio_num_t CLK;
|
||||||
|
|
||||||
|
uint8_t data[21];
|
||||||
|
uint16_t last_buttons;
|
||||||
|
uint16_t buttons;
|
||||||
|
int64_t last_read;
|
||||||
|
uint8_t read_delay;
|
||||||
|
uint8_t controller_type;
|
||||||
|
bool en_Rumble;
|
||||||
|
bool en_Pressures;
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif // PS2_CONTROLLER_H
|
||||||
48
main/include/uartTool.h
Normal file
48
main/include/uartTool.h
Normal file
@ -0,0 +1,48 @@
|
|||||||
|
#ifndef UART_H
|
||||||
|
#define UART_H
|
||||||
|
|
||||||
|
#include "driver/gpio.h"
|
||||||
|
#include <string>
|
||||||
|
#include <driver/uart.h>
|
||||||
|
#include <stdio.h>
|
||||||
|
|
||||||
|
static const int RX_BUF_SIZE = 1024;
|
||||||
|
class UartTool
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
UartTool(uart_port_t UART_NUM, gpio_num_t TXD_PIN, gpio_num_t RXD_PIN,
|
||||||
|
int b_rate = 115200,
|
||||||
|
uart_word_length_t d_bits = UART_DATA_8_BITS,
|
||||||
|
uart_parity_t p = UART_PARITY_DISABLE,
|
||||||
|
uart_stop_bits_t s_bits = UART_STOP_BITS_1,
|
||||||
|
uart_hw_flowcontrol_t f_ctrl = UART_HW_FLOWCTRL_DISABLE,
|
||||||
|
uint8_t rx = 0,
|
||||||
|
uart_sclk_t s_clk = UART_SCLK_APB)
|
||||||
|
: UART_NUM(UART_NUM),TXD_PIN(TXD_PIN), RXD_PIN(RXD_PIN)
|
||||||
|
{
|
||||||
|
config = {
|
||||||
|
.baud_rate = b_rate,
|
||||||
|
.data_bits = d_bits,
|
||||||
|
.parity = p,
|
||||||
|
.stop_bits = s_bits,
|
||||||
|
.flow_ctrl = f_ctrl,
|
||||||
|
.rx_flow_ctrl_thresh = rx,
|
||||||
|
.source_clk = s_clk,
|
||||||
|
};
|
||||||
|
// 安装串口驱动 串口编号、接收buff、发送buff、事件队列、分配中断的标志
|
||||||
|
uart_driver_install(UART_NUM, RX_BUF_SIZE * 2, 0, 0, NULL, 0);
|
||||||
|
// 串口参数配置 串口号、串口配置参数
|
||||||
|
uart_param_config(UART_NUM, &config);
|
||||||
|
// 设置串口引脚号 串口编号、tx引脚、rx引脚、rts引脚、cts引脚
|
||||||
|
uart_set_pin(UART_NUM, TXD_PIN, RXD_PIN, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
|
||||||
|
printf("串口通信已创建！\n");
|
||||||
|
}
|
||||||
|
int sendData(const std::string logName, const std::string data);
|
||||||
|
|
||||||
|
private:
|
||||||
|
uart_port_t UART_NUM;
|
||||||
|
gpio_num_t TXD_PIN;
|
||||||
|
gpio_num_t RXD_PIN;
|
||||||
|
uart_config_t config;
|
||||||
|
};
|
||||||
|
#endif // UART_H
|
||||||
22
main/main.cpp
Normal file
22
main/main.cpp
Normal file
@ -0,0 +1,22 @@
|
|||||||
|
#include "ps2_controller.h"
|
||||||
|
#include "moveInfo.h"
|
||||||
|
#include "parameter.h"
|
||||||
|
#include "driver/gpio.h"
|
||||||
|
#include "freertos/FreeRTOS.h"
|
||||||
|
#include "freertos/task.h"
|
||||||
|
#include "esp_timer.h"
|
||||||
|
#include "uartTool.h"
|
||||||
|
extern "C" void app_main()
|
||||||
|
{
|
||||||
|
PS2Controller ps2(GPIO_NUM_19,GPIO_NUM_18,GPIO_NUM_15,GPIO_NUM_23);
|
||||||
|
UartTool uartTool(UART_NUM_2,GPIO_NUM_17,GPIO_NUM_16);
|
||||||
|
ps2.launch();
|
||||||
|
|
||||||
|
while(1)
|
||||||
|
{
|
||||||
|
WheelMoveInfo wheel(WHEEL_FL,WHEEL_FR,WHEEL_BL,WHEEL_BR,ps2.getLx(),ps2.getLy());
|
||||||
|
std::string cmd= wheel.getWheelInfo();
|
||||||
|
uartTool.sendData("WheelMove",cmd);
|
||||||
|
vTaskDelay(1 / portTICK_PERIOD_MS); //延
|
||||||
|
}
|
||||||
|
}
|
||||||
78
main/src/moveInfo.cpp
Normal file
78
main/src/moveInfo.cpp
Normal file
@ -0,0 +1,78 @@
|
|||||||
|
#include "moveInfo.h"
|
||||||
|
#include "parameter.h"
|
||||||
|
#include <iostream>
|
||||||
|
#include <string>
|
||||||
|
std::string MoveInfo::getInfo()
|
||||||
|
{
|
||||||
|
char *Pwm = new char[5];
|
||||||
|
char *T = new char[5];
|
||||||
|
sprintf(Pwm, "%04d", pwm);
|
||||||
|
sprintf(T, "%04d", t);
|
||||||
|
std::string result = "#" + std::string(index) + "P" + std::string(Pwm) + "T" + std::string(T) + "!";
|
||||||
|
delete[] Pwm;
|
||||||
|
delete[] T;
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
void MoveInfo::setInfo(std::string index, int pwm, int t)
|
||||||
|
{
|
||||||
|
this->index = index;
|
||||||
|
this->pwm = pwm;
|
||||||
|
this->t = t;
|
||||||
|
}
|
||||||
|
|
||||||
|
//================轮子==============//
|
||||||
|
WheelMoveInfo::WheelMoveInfo(std::string fl, std::string fr, std::string bl, std::string br, int lx, int ly)
|
||||||
|
{
|
||||||
|
auto abs = [](auto x)
|
||||||
|
{ return x > 0 ? x : -x; };
|
||||||
|
auto max = [](auto x, auto y)
|
||||||
|
{ return x > y ? x : y; };
|
||||||
|
|
||||||
|
double x = lx * 1.0 - 255.0 / 2;
|
||||||
|
double y = ly * 1.0 - 255.0 / 2;
|
||||||
|
double leftRatio, rightRatio;
|
||||||
|
if (x < 0 && y > 0)
|
||||||
|
{
|
||||||
|
leftRatio = x + y;
|
||||||
|
rightRatio = max(-x, y);
|
||||||
|
}
|
||||||
|
else if (x < 0 && y < 0)
|
||||||
|
{
|
||||||
|
leftRatio = -abs(x - y);
|
||||||
|
if (x < y)
|
||||||
|
rightRatio = -x + 2 * y;
|
||||||
|
else
|
||||||
|
rightRatio = y;
|
||||||
|
}
|
||||||
|
else if (x > 0 && y > 0)
|
||||||
|
{
|
||||||
|
leftRatio = max(x, y);
|
||||||
|
rightRatio = y - x;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
rightRatio = -abs(x + y);
|
||||||
|
if (x + y < 0)
|
||||||
|
leftRatio = y;
|
||||||
|
else
|
||||||
|
leftRatio = x + 2 * y;
|
||||||
|
}
|
||||||
|
|
||||||
|
front_left.setInfo(fl, 1500 + leftRatio * MAX_WHEEL_SPEED, FRAME_TIME);
|
||||||
|
back_left.setInfo(fl, 1500 + leftRatio * MAX_WHEEL_SPEED, FRAME_TIME);
|
||||||
|
|
||||||
|
front_right.setInfo(fr, 1500 + rightRatio * MAX_WHEEL_SPEED, FRAME_TIME);
|
||||||
|
back_right.setInfo(br, 1500 + rightRatio * MAX_WHEEL_SPEED, FRAME_TIME);
|
||||||
|
}
|
||||||
|
std::string WheelMoveInfo::getWheelInfo()
|
||||||
|
{
|
||||||
|
std::string result = front_left.getInfo() + front_right.getInfo() + back_left.getInfo() + back_right.getInfo();
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
//==================底盘舵机============//
|
||||||
|
std::string SteerMoveInfo::getSteerInfo()
|
||||||
|
{
|
||||||
|
std::string result = front_left.getInfo() + front_right.getInfo() + back_left.getInfo() + back_right.getInfo();
|
||||||
|
return result;
|
||||||
|
}
|
||||||
307
main/src/ps2_controller.cpp
Normal file
307
main/src/ps2_controller.cpp
Normal file
@ -0,0 +1,307 @@
|
|||||||
|
#include "ps2_controller.h"
|
||||||
|
#include "freertos/FreeRTOS.h"
|
||||||
|
#include "esp_timer.h"
|
||||||
|
#include <string.h>
|
||||||
|
PS2Controller::PS2Controller(gpio_num_t dat_pin, gpio_num_t cmd_pin,
|
||||||
|
gpio_num_t sel_pin, gpio_num_t clk_pin)
|
||||||
|
{
|
||||||
|
DAT = dat_pin;
|
||||||
|
CMD = cmd_pin;
|
||||||
|
SEL = sel_pin;
|
||||||
|
CLK = clk_pin;
|
||||||
|
|
||||||
|
// 配置GPIO
|
||||||
|
gpio_config_t io_conf = {
|
||||||
|
.pin_bit_mask = (1ULL << dat_pin),
|
||||||
|
.mode = GPIO_MODE_INPUT,
|
||||||
|
.pull_up_en = GPIO_PULLUP_ENABLE,
|
||||||
|
.pull_down_en = GPIO_PULLDOWN_DISABLE,
|
||||||
|
.intr_type = GPIO_INTR_DISABLE,
|
||||||
|
};
|
||||||
|
gpio_config(&io_conf);
|
||||||
|
|
||||||
|
io_conf.pin_bit_mask = (1ULL << cmd_pin) | (1ULL << sel_pin) | (1ULL << clk_pin);
|
||||||
|
io_conf.mode = GPIO_MODE_OUTPUT;
|
||||||
|
gpio_config(&io_conf);
|
||||||
|
|
||||||
|
// 初始化引脚状态
|
||||||
|
gpio_set_level(CMD, 1);
|
||||||
|
gpio_set_level(CLK, 1);
|
||||||
|
gpio_set_level(SEL, 1);
|
||||||
|
|
||||||
|
// 初始化内部状态
|
||||||
|
memset(data, 0, sizeof(data));
|
||||||
|
last_buttons = 0;
|
||||||
|
buttons = 0;
|
||||||
|
last_read = 0;
|
||||||
|
read_delay = 1; // 1ms读取一次
|
||||||
|
controller_type = 0;
|
||||||
|
en_Rumble = false;
|
||||||
|
en_Pressures = false;
|
||||||
|
}
|
||||||
|
uint8_t PS2Controller::sendAndReceive(uint8_t const &byte) const
|
||||||
|
{
|
||||||
|
uint8_t tmp = 0;
|
||||||
|
for (int i = 0; i < 8; i++)
|
||||||
|
{
|
||||||
|
// 设置命令引脚的状态
|
||||||
|
gpio_set_level(CMD, (byte >> i) & 0x01);
|
||||||
|
|
||||||
|
// 拉低时钟信号开始传输
|
||||||
|
gpio_set_level(CLK, 0);
|
||||||
|
vTaskDelay(SHORT_DELAY_MS / portTICK_PERIOD_MS);
|
||||||
|
|
||||||
|
// 读取数据引脚的状态
|
||||||
|
if (gpio_get_level(DAT))
|
||||||
|
tmp |= (1 << i);
|
||||||
|
|
||||||
|
// 拉高时钟信号结束当前位的传输
|
||||||
|
gpio_set_level(CLK, 1);
|
||||||
|
vTaskDelay(SHORT_DELAY_MS / portTICK_PERIOD_MS);
|
||||||
|
}
|
||||||
|
|
||||||
|
// 释放命令引脚
|
||||||
|
gpio_set_level(CMD, 1);
|
||||||
|
vTaskDelay(SHORT_DELAY_MS / portTICK_PERIOD_MS);
|
||||||
|
|
||||||
|
return tmp;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool PS2Controller::readState(bool motor1, uint8_t motor2)
|
||||||
|
{
|
||||||
|
int64_t now = esp_timer_get_time() / 1000; // 转换为毫秒
|
||||||
|
int64_t elapsed = now - last_read;
|
||||||
|
|
||||||
|
// 如果超过1.5秒没有读取，重新配置手柄
|
||||||
|
if (elapsed > 1500)
|
||||||
|
{
|
||||||
|
reconfig();
|
||||||
|
printf("重新配置完成");
|
||||||
|
}
|
||||||
|
// 等待下一次读取时间
|
||||||
|
if (elapsed < read_delay)
|
||||||
|
vTaskDelay((read_delay - elapsed) / portTICK_PERIOD_MS);
|
||||||
|
|
||||||
|
// 准备发送数据
|
||||||
|
uint8_t data_to_send[9] = {0x01, 0x42, 0,
|
||||||
|
(uint8_t)(motor1 ? 0x01 : 0x00),
|
||||||
|
(uint8_t)((motor2 * 0xFF) / 255),
|
||||||
|
0, 0, 0, 0};
|
||||||
|
uint8_t extra_data[12] = {0};
|
||||||
|
bool success = false;
|
||||||
|
|
||||||
|
// 尝试最多5次读取
|
||||||
|
for (int attempt = 0; attempt < 5; attempt++)
|
||||||
|
{
|
||||||
|
gpio_set_level(CMD, 1);
|
||||||
|
gpio_set_level(CLK, 1);
|
||||||
|
|
||||||
|
// 选择手柄开始通信
|
||||||
|
gpio_set_level(SEL, 0);
|
||||||
|
vTaskDelay(SHORT_DELAY_MS / portTICK_PERIOD_MS);
|
||||||
|
|
||||||
|
// 发送和接收9个字节
|
||||||
|
for (int i = 0; i < 9; i++)
|
||||||
|
data[i] = sendAndReceive(data_to_send[i]);
|
||||||
|
|
||||||
|
// 如果收到0x79，继续读取额外数据
|
||||||
|
if (data[1] == 0x79)
|
||||||
|
for (int i = 0; i < 12; i++)
|
||||||
|
data[i + 9] = sendAndReceive(extra_data[i]);
|
||||||
|
|
||||||
|
// 结束通信
|
||||||
|
gpio_set_level(SEL, 1);
|
||||||
|
|
||||||
|
// 检查响应是否有效
|
||||||
|
if ((data[1] & 0xF0) == 0x70)
|
||||||
|
{
|
||||||
|
success = true;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
// 重新配置手柄
|
||||||
|
reconfig();
|
||||||
|
vTaskDelay(read_delay / portTICK_PERIOD_MS);
|
||||||
|
}
|
||||||
|
// 更新状态
|
||||||
|
if (!success)
|
||||||
|
read_delay = (read_delay < 10) ? read_delay + 1 : 10;
|
||||||
|
|
||||||
|
last_buttons = buttons;
|
||||||
|
buttons = ((uint16_t)data[4] << 8) | data[3];
|
||||||
|
last_read = esp_timer_get_time() / 1000;
|
||||||
|
return success;
|
||||||
|
}
|
||||||
|
void PS2Controller::sendCommandString(uint8_t *cmd, int length) const
|
||||||
|
{
|
||||||
|
for (int i = 0; i < length; i++)
|
||||||
|
sendAndReceive(cmd[i]);
|
||||||
|
}
|
||||||
|
void PS2Controller::reconfig()
|
||||||
|
{
|
||||||
|
config(en_Pressures, en_Rumble);
|
||||||
|
}
|
||||||
|
int PS2Controller::config(bool pressures, bool rumble)
|
||||||
|
{
|
||||||
|
int error = 1;
|
||||||
|
for (int i = 0; i < 10; i++)
|
||||||
|
{
|
||||||
|
gpio_set_level(CMD, 1);
|
||||||
|
gpio_set_level(CLK, 1);
|
||||||
|
|
||||||
|
// 选择手柄
|
||||||
|
gpio_set_level(SEL, 0);
|
||||||
|
vTaskDelay(SHORT_DELAY_MS / portTICK_PERIOD_MS);
|
||||||
|
// 发送和接收配置命令
|
||||||
|
uint8_t temp[9];
|
||||||
|
uint8_t cmd[9] = {0x01, 0x45, 0x00, 0x5A, 0x5A, 0x5A, 0x5A, 0x5A, 0x5A};
|
||||||
|
for (int j = 0; j < 9; j++)
|
||||||
|
temp[j] = sendAndReceive(cmd[j]);
|
||||||
|
// 结束通信
|
||||||
|
gpio_set_level(SEL, 1);
|
||||||
|
controller_type = temp[3];
|
||||||
|
|
||||||
|
// TODO: 发送更多配置命令(待测试)
|
||||||
|
uint8_t config_cmd2[9] = {0x01, 0x44, 0x00, 0x01, 0x03, 0x00, 0x00, 0x00, 0x00};
|
||||||
|
sendCommandString(config_cmd2, 9);
|
||||||
|
|
||||||
|
if (rumble)
|
||||||
|
{
|
||||||
|
uint8_t rumble_cmd[5] = {0x01, 0x4D, 0x00, 0x00, 0x01};
|
||||||
|
sendCommandString(rumble_cmd, 5);
|
||||||
|
en_Rumble = true;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (pressures)
|
||||||
|
{
|
||||||
|
uint8_t pressure_cmd[9] = {0x01, 0x4F, 0x00, 0xFF, 0xFF, 0x03, 0x00, 0x00, 0x00};
|
||||||
|
sendCommandString(pressure_cmd, 9);
|
||||||
|
en_Pressures = true;
|
||||||
|
}
|
||||||
|
uint8_t config_cmd3[9] = {0x01, 0x43, 0x00, 0x00, 0x5A, 0x5A, 0x5A, 0x5A, 0x5A};
|
||||||
|
sendCommandString(config_cmd3, 9);
|
||||||
|
|
||||||
|
readState(false, 0);
|
||||||
|
|
||||||
|
// 检查配置是否成功
|
||||||
|
if (pressures && data[1] == 0x79)
|
||||||
|
{
|
||||||
|
error = 0;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
if (data[1] == 0x73)
|
||||||
|
{
|
||||||
|
error = 0;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
// 检查最终配置状态
|
||||||
|
if (data[1] == 0x41 || data[1] == 0x42 ||
|
||||||
|
data[1] == 0x73 || data[1] == 0x79)
|
||||||
|
{
|
||||||
|
error = 0;
|
||||||
|
}
|
||||||
|
return error;
|
||||||
|
}
|
||||||
|
|
||||||
|
// 按钮状态检测
|
||||||
|
bool PS2Controller::Button(uint16_t button) const
|
||||||
|
{
|
||||||
|
return !(buttons & button);
|
||||||
|
}
|
||||||
|
|
||||||
|
bool PS2Controller::NewButtonState(uint16_t button) const
|
||||||
|
{
|
||||||
|
return (last_buttons ^ buttons) & button;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool PS2Controller::ButtonPressed(uint16_t button) const
|
||||||
|
{
|
||||||
|
return NewButtonState(button) && Button(button);
|
||||||
|
}
|
||||||
|
|
||||||
|
bool PS2Controller::ButtonReleased(uint16_t button) const
|
||||||
|
{
|
||||||
|
return NewButtonState(button) && !(last_buttons & button);
|
||||||
|
}
|
||||||
|
// 手柄主循环
|
||||||
|
void PS2Controller::ps2Task()
|
||||||
|
{
|
||||||
|
int error = config(true, true);
|
||||||
|
if (error) {
|
||||||
|
printf("Error configuring controller\n");
|
||||||
|
while (1) {
|
||||||
|
vTaskDelay(1000 / portTICK_PERIOD_MS);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
printf("Found Controller, configured successful\n");
|
||||||
|
|
||||||
|
// 震动测试
|
||||||
|
if (en_Rumble) {
|
||||||
|
printf("Vibrating controller for 1 second...\n");
|
||||||
|
readState(true, 255);
|
||||||
|
vTaskDelay(1000 / portTICK_PERIOD_MS);
|
||||||
|
//read_gamepad(&ps2, false, 0);
|
||||||
|
}
|
||||||
|
|
||||||
|
printf("Controller is ready. Press START + SELECT together to exit.\n");
|
||||||
|
while (1) {
|
||||||
|
readState( true, 255);
|
||||||
|
// 读取手柄数据
|
||||||
|
if (!readState(false, 0)) {
|
||||||
|
vTaskDelay(READ_DELAY_MS / portTICK_PERIOD_MS);
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
|
||||||
|
// 检查是否同时按下START和SELECT键
|
||||||
|
if (ButtonPressed(BUTTON_START) && ButtonPressed(BUTTON_SELECT)) {
|
||||||
|
printf("START and SELECT pressed together. Exiting...\n");
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
// 打印按钮状态
|
||||||
|
if (Button(BUTTON_SELECT)) printf("SELECT pressed\n");
|
||||||
|
if (Button(BUTTON_START)) printf("START pressed\n");
|
||||||
|
if (Button(BUTTON_PAD_UP)) printf("UP pressed\n");
|
||||||
|
if (Button(BUTTON_PAD_DOWN)) printf("DOWN pressed\n");
|
||||||
|
if (Button(BUTTON_PAD_LEFT)) printf("LEFT pressed\n");
|
||||||
|
if (Button(BUTTON_PAD_RIGHT)) printf("RIGHT pressed\n");
|
||||||
|
if (Button(BUTTON_TRIANGLE)) printf("TRIANGLE pressed\n");
|
||||||
|
if (Button(BUTTON_CIRCLE)) printf("CIRCLE pressed\n");
|
||||||
|
if (Button(BUTTON_CROSS)) printf("CROSS pressed\n");
|
||||||
|
if (Button(BUTTON_SQUARE)) printf("SQUARE pressed\n");
|
||||||
|
if (Button(BUTTON_L1)) printf("L1 pressed\n");
|
||||||
|
if (Button(BUTTON_R1)) printf("R1 pressed\n");
|
||||||
|
if (Button(BUTTON_L2)) printf("L2 pressed\n");
|
||||||
|
if (Button(BUTTON_R2)) printf("R2 pressed\n");
|
||||||
|
|
||||||
|
// 模拟摇杆值
|
||||||
|
if (en_Pressures) {
|
||||||
|
printf("LX: %d, LY: %d, RX: %d, RY: %d\n",
|
||||||
|
data[LX], data[LY],
|
||||||
|
data[RX], data[RY]);
|
||||||
|
}
|
||||||
|
|
||||||
|
vTaskDelay(READ_DELAY_MS / portTICK_PERIOD_MS);
|
||||||
|
}
|
||||||
|
|
||||||
|
vTaskDelete(NULL);
|
||||||
|
}
|
||||||
|
|
||||||
|
void PS2Controller::ps2StaticTask(void *pvParameters)
|
||||||
|
{
|
||||||
|
PS2Controller *instance = static_cast<PS2Controller *>(pvParameters);
|
||||||
|
instance->ps2Task();
|
||||||
|
|
||||||
|
}
|
||||||
|
void PS2Controller::launch()
|
||||||
|
{
|
||||||
|
xTaskCreate(
|
||||||
|
ps2StaticTask, // 静态任务函数
|
||||||
|
"ps2Task", // 任务名称
|
||||||
|
4096, // 堆栈大小
|
||||||
|
this, // 传递 this 指针
|
||||||
|
5, // 优先级
|
||||||
|
NULL);
|
||||||
|
}
|
||||||
8
main/src/uartTool.cpp
Normal file
8
main/src/uartTool.cpp
Normal file
@ -0,0 +1,8 @@
|
|||||||
|
#include "uartTool.h"
|
||||||
|
#include "esp_log.h"
|
||||||
|
int UartTool::sendData(const std::string logName, const std::string data)
|
||||||
|
{
|
||||||
|
const int txBytes = uart_write_bytes(UART_NUM, data.c_str(), data.length());
|
||||||
|
ESP_LOGI(logName.c_str(), "Wrote %d bytes", txBytes); // log打印
|
||||||
|
return txBytes;
|
||||||
|
}
|
||||||
1
managed_components/espressif__servo/.component_hash
Normal file
1
managed_components/espressif__servo/.component_hash
Normal file
@ -0,0 +1 @@
|
|||||||
|
309c787e48224255fad458cfd9ab86ea53f0fdad1c5e4f6f0c50309990b17108
|
||||||
7
managed_components/espressif__servo/CHANGELOG.md
Normal file
7
managed_components/espressif__servo/CHANGELOG.md
Normal file
@ -0,0 +1,7 @@
|
|||||||
|
# ChangeLog
|
||||||
|
|
||||||
|
## v0.1.0 - 2024-11-27
|
||||||
|
|
||||||
|
### Enhancements:
|
||||||
|
|
||||||
|
* Initial version
|
||||||
1
managed_components/espressif__servo/CHECKSUMS.json
Normal file
1
managed_components/espressif__servo/CHECKSUMS.json
Normal file
@ -0,0 +1 @@
|
|||||||
|
{"version": "1.0", "algorithm": "sha256", "created_at": "2025-05-21T16:10:59.902457+00:00", "files": [{"path": "CMakeLists.txt", "size": 128, "hash": "38ac23e2264a2ad7d2e05f23bc8fd708a4f9c0822f74ed7bb9773d87ce88002b"}, {"path": "CHANGELOG.md", "size": 74, "hash": "30fcfae2b6b4710c4bd376d93f34e0938928e4ce4cebba0beb52cd45e48d61b7"}, {"path": "idf_component.yml", "size": 509, "hash": "464ab7ae0f510b33451d8696108917a02e5e8c06ff4009d1f5cad47aea80ba5b"}, {"path": "iot_servo.c", "size": 5182, "hash": "9ea3b88c9f6b13aaa5b63aca56717638cbe8732f53b12ada21254ae73902863d"}, {"path": "README.md", "size": 1626, "hash": "4d7932b9fad39a34668444a67f7084a624129034b2f91224f4c6f9a89d8db1ac"}, {"path": "license.txt", "size": 11358, "hash": "cfc7749b96f63bd31c3c42b5c471bf756814053e847c10f3eb003417bc523d30"}, {"path": "include/iot_servo.h", "size": 2682, "hash": "379919c1bdf68fc8a4470d2069be77d337791dd29f1a19abc3d241d704c11c23"}, {"path": "test_apps/CMakeLists.txt", "size": 348, "hash": "3277286f031a64222535386f94cdcbe16369aa293ea9faaee8064ac2b8e70331"}, {"path": "test_apps/pytest_servo.py", "size": 687, "hash": "3220824b927695ca3f3b402bebddb2393db95e4204786b029e699314f66e95d6"}, {"path": "test_apps/sdkconfig.defaults", "size": 107, "hash": "bcf12e50789a2e963e16c1b551704db736999ee1d2a125f64b59f78f2336917d"}, {"path": "examples/servo_control/CMakeLists.txt", "size": 243, "hash": "ee01f6c5ae720d98dc5f0ef759ca7f936cda79b6ccfc3a816d220bb35a6e226c"}, {"path": "examples/servo_control/README.md", "size": 722, "hash": "3967ab3ac875a8dcb610614b2ce40d9c9aa663012cdb2f2e0646a0fa33298755"}, {"path": "examples/servo_control/main/CMakeLists.txt", "size": 84, "hash": "6147975f403401f14ab08a987c311eff81bbb7e895bcc72ea605caa48eca6b8e"}, {"path": "examples/servo_control/main/idf_component.yml", "size": 106, "hash": "c0fb3be289b005d56a52a4c16bdd1201ab34b35158c4bfe612802a2f67fedc83"}, {"path": "examples/servo_control/main/servo_control.c", "size": 1866, "hash": "c120f6fe00bfc1b253c330460adcc651befbbb1fe2881e6d98f04c703891aa64"}, {"path": "test_apps/main/test_servo.c", "size": 2617, "hash": "9de189593fa89ea3ddf588f020edc04386690bd33f41f22a7d130ba5581faec9"}, {"path": "test_apps/main/CMakeLists.txt", "size": 132, "hash": "ae750188237b821242fcf599eaf4f315e04d1b5f328a80d4a9e14ab43607e97d"}]}
|
||||||
3
managed_components/espressif__servo/CMakeLists.txt
Normal file
3
managed_components/espressif__servo/CMakeLists.txt
Normal file
@ -0,0 +1,3 @@
|
|||||||
|
idf_component_register(SRCS "iot_servo.c"
|
||||||
|
INCLUDE_DIRS include
|
||||||
|
REQUIRES driver)
|
||||||
57
managed_components/espressif__servo/README.md
Normal file
57
managed_components/espressif__servo/README.md
Normal file
@ -0,0 +1,57 @@
|
|||||||
|
# Servo Motor Component
|
||||||
|
|
||||||
|
This component provides an easy-to-use interface for controlling servo motors with the ESP-IDF framework. Servo motors are commonly used in robotics, automation, and various mechanical applications due to their precise control of angular position.
|
||||||
|
|
||||||
|
The library uses PWM (Pulse Width Modulation) to control servo motor rotation and supports customizable configurations for angle limits, pulse width, frequency, and more.
|
||||||
|
|
||||||
|
## Features
|
||||||
|
|
||||||
|
- Easy control of servo motors using PWM signals
|
||||||
|
- Support for custom angle range and pulse width
|
||||||
|
- Flexible configuration of PWM channels and timers
|
||||||
|
- Compatible with the ESP-IDF framework
|
||||||
|
|
||||||
|
## Getting Started
|
||||||
|
|
||||||
|
### Prerequisites
|
||||||
|
|
||||||
|
- ESP-IDF installed and configured on your development environment
|
||||||
|
- A servo motor compatible with PWM signals
|
||||||
|
- Proper connections between the ESP32 and the servo motor (signal, VCC, GND)
|
||||||
|
|
||||||
|
## How to use
|
||||||
|
|
||||||
|
Initialize the sensor with the configuration:
|
||||||
|
|
||||||
|
```c
|
||||||
|
servo_config_t servo_cfg = {
|
||||||
|
.max_angle = 180,
|
||||||
|
.min_width_us = 500,
|
||||||
|
.max_width_us = 2500,
|
||||||
|
.freq = 50,
|
||||||
|
.timer_number = LEDC_TIMER_0,
|
||||||
|
.channels = {
|
||||||
|
.servo_pin = {
|
||||||
|
SERVO_GPIO,
|
||||||
|
},
|
||||||
|
.ch = {
|
||||||
|
LEDC_CHANNEL_0,
|
||||||
|
},
|
||||||
|
},
|
||||||
|
.channel_number = 1,
|
||||||
|
};
|
||||||
|
|
||||||
|
// Initialize the servo
|
||||||
|
iot_servo_init(LEDC_LOW_SPEED_MODE, &servo_cfg);
|
||||||
|
```
|
||||||
|
|
||||||
|
Set the angle:
|
||||||
|
|
||||||
|
```c
|
||||||
|
uint16_t angle = 0;
|
||||||
|
iot_servo_write_angle(LEDC_LOW_SPEED_MODE, 0, angle);
|
||||||
|
```
|
||||||
|
|
||||||
|
## Reference
|
||||||
|
|
||||||
|
[Documentation](https://docs.espressif.com/projects/esp-iot-solution/en/latest/motor/servo.html)
|
||||||
@ -0,0 +1,6 @@
|
|||||||
|
# The following five lines of boilerplate have to be in your project's
|
||||||
|
# CMakeLists in this exact order for cmake to work correctly
|
||||||
|
cmake_minimum_required(VERSION 3.16)
|
||||||
|
|
||||||
|
include($ENV{IDF_PATH}/tools/cmake/project.cmake)
|
||||||
|
project(servo_control)
|
||||||
@ -0,0 +1,36 @@
|
|||||||
|
# Example for the servo component
|
||||||
|
|
||||||
|
This example shows how to use the servo component.
|
||||||
|
|
||||||
|
## How to use
|
||||||
|
|
||||||
|
Initialize the sensor with the configuration:
|
||||||
|
|
||||||
|
```c
|
||||||
|
servo_config_t servo_cfg = {
|
||||||
|
.max_angle = 180,
|
||||||
|
.min_width_us = 500,
|
||||||
|
.max_width_us = 2500,
|
||||||
|
.freq = 50,
|
||||||
|
.timer_number = LEDC_TIMER_0,
|
||||||
|
.channels = {
|
||||||
|
.servo_pin = {
|
||||||
|
SERVO_GPIO,
|
||||||
|
},
|
||||||
|
.ch = {
|
||||||
|
LEDC_CHANNEL_0,
|
||||||
|
},
|
||||||
|
},
|
||||||
|
.channel_number = 1,
|
||||||
|
};
|
||||||
|
|
||||||
|
// Initialize the servo
|
||||||
|
iot_servo_init(LEDC_LOW_SPEED_MODE, &servo_cfg);
|
||||||
|
```
|
||||||
|
|
||||||
|
Set the angle:
|
||||||
|
|
||||||
|
```c
|
||||||
|
uint16_t angle = 0;
|
||||||
|
iot_servo_write_angle(LEDC_LOW_SPEED_MODE, 0, angle);
|
||||||
|
```
|
||||||
@ -0,0 +1,2 @@
|
|||||||
|
idf_component_register(SRCS "servo_control.c"
|
||||||
|
INCLUDE_DIRS ".")
|
||||||
@ -0,0 +1,4 @@
|
|||||||
|
dependencies:
|
||||||
|
espressif/servo:
|
||||||
|
version: "*"
|
||||||
|
override_path: "../../../../components/motor/servo"
|
||||||
@ -0,0 +1,73 @@
|
|||||||
|
/*
|
||||||
|
* SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
|
||||||
|
*
|
||||||
|
* SPDX-License-Identifier: Apache-2.0
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <stdio.h>
|
||||||
|
#include <math.h>
|
||||||
|
#include "freertos/FreeRTOS.h"
|
||||||
|
#include "freertos/task.h"
|
||||||
|
#include "esp_log.h"
|
||||||
|
#include "esp_system.h"
|
||||||
|
#include "sdkconfig.h"
|
||||||
|
#include "iot_servo.h"
|
||||||
|
|
||||||
|
#define SERVO_GPIO (2) // Servo GPIO
|
||||||
|
|
||||||
|
static const char *TAG = "Servo Control";
|
||||||
|
|
||||||
|
static uint16_t calibration_value_0 = 30; // Real 0 degree angle
|
||||||
|
static uint16_t calibration_value_180 = 195; // Real 0 degree angle
|
||||||
|
|
||||||
|
// Task to test the servo
|
||||||
|
static void servo_test_task(void *arg)
|
||||||
|
{
|
||||||
|
ESP_LOGI(TAG, "Servo Test Task");
|
||||||
|
while (1) {
|
||||||
|
// Set the angle of the servo
|
||||||
|
for (int i = calibration_value_0; i <= calibration_value_180; i += 1) {
|
||||||
|
iot_servo_write_angle(LEDC_LOW_SPEED_MODE, 0, i);
|
||||||
|
vTaskDelay(20 / portTICK_PERIOD_MS);
|
||||||
|
}
|
||||||
|
// Return to the initial position
|
||||||
|
iot_servo_write_angle(LEDC_LOW_SPEED_MODE, 0, calibration_value_0);
|
||||||
|
vTaskDelay(1000 / portTICK_PERIOD_MS);
|
||||||
|
}
|
||||||
|
vTaskDelete(NULL);
|
||||||
|
}
|
||||||
|
|
||||||
|
static void servo_init(void)
|
||||||
|
{
|
||||||
|
ESP_LOGI(TAG, "Servo Control");
|
||||||
|
|
||||||
|
// Configure the servo
|
||||||
|
servo_config_t servo_cfg = {
|
||||||
|
.max_angle = 180,
|
||||||
|
.min_width_us = 500,
|
||||||
|
.max_width_us = 2500,
|
||||||
|
.freq = 50,
|
||||||
|
.timer_number = LEDC_TIMER_0,
|
||||||
|
.channels = {
|
||||||
|
.servo_pin = {
|
||||||
|
SERVO_GPIO,
|
||||||
|
},
|
||||||
|
.ch = {
|
||||||
|
LEDC_CHANNEL_0,
|
||||||
|
},
|
||||||
|
},
|
||||||
|
.channel_number = 1,
|
||||||
|
};
|
||||||
|
|
||||||
|
// Initialize the servo
|
||||||
|
iot_servo_init(LEDC_LOW_SPEED_MODE, &servo_cfg);
|
||||||
|
}
|
||||||
|
|
||||||
|
void app_main(void)
|
||||||
|
{
|
||||||
|
ESP_LOGI(TAG, "Servo Control");
|
||||||
|
// Initialize the servo
|
||||||
|
servo_init();
|
||||||
|
// Create the servo test task
|
||||||
|
xTaskCreate(servo_test_task, "servo_test_task", 2048, NULL, 5, NULL);
|
||||||
|
}
|
||||||
12
managed_components/espressif__servo/idf_component.yml
Normal file
12
managed_components/espressif__servo/idf_component.yml
Normal file
@ -0,0 +1,12 @@
|
|||||||
|
dependencies:
|
||||||
|
idf:
|
||||||
|
version: '>=4.4'
|
||||||
|
description: Espressif's Servo Motor Component
|
||||||
|
documentation: https://docs.espressif.com/projects/esp-iot-solution/en/latest/motor/servo.html
|
||||||
|
issues: https://github.com/espressif/esp-iot-solution/issues
|
||||||
|
repository: git://github.com/espressif/esp-iot-solution.git
|
||||||
|
repository_info:
|
||||||
|
commit_sha: f5ca5b553873e8ff3c044d5bae56d0eae1d0673b
|
||||||
|
path: components/motor/servo
|
||||||
|
url: https://github.com/espressif/esp-iot-solution/tree/master/components/motor/servo
|
||||||
|
version: 0.1.0
|
||||||
96
managed_components/espressif__servo/include/iot_servo.h
Normal file
96
managed_components/espressif__servo/include/iot_servo.h
Normal file
@ -0,0 +1,96 @@
|
|||||||
|
/*
|
||||||
|
* SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
|
||||||
|
*
|
||||||
|
* SPDX-License-Identifier: Apache-2.0
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef _IOT_SERVO_H_
|
||||||
|
#define _IOT_SERVO_H_
|
||||||
|
|
||||||
|
#include "esp_err.h"
|
||||||
|
#include "driver/ledc.h"
|
||||||
|
#include "driver/gpio.h"
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Configuration of servo motor channel
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
typedef struct {
|
||||||
|
gpio_num_t servo_pin[LEDC_CHANNEL_MAX]; /**< Pin number of pwm output */
|
||||||
|
ledc_channel_t ch[LEDC_CHANNEL_MAX]; /**< The ledc channel which used */
|
||||||
|
} servo_channel_t;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Configuration of servo motor
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
typedef struct {
|
||||||
|
uint16_t max_angle; /**< Servo max angle */
|
||||||
|
uint16_t min_width_us; /**< Pulse width corresponding to minimum angle, which is usually 500us */
|
||||||
|
uint16_t max_width_us; /**< Pulse width corresponding to maximum angle, which is usually 2500us */
|
||||||
|
uint32_t freq; /**< PWM frequency */
|
||||||
|
ledc_timer_t timer_number; /**< Timer number of ledc */
|
||||||
|
servo_channel_t channels; /**< Channels to use */
|
||||||
|
uint8_t channel_number; /**< Total channel number */
|
||||||
|
} servo_config_t;
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
extern "C" {
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Initialize ledc to control the servo
|
||||||
|
*
|
||||||
|
* @param speed_mode Select the LEDC channel group with specified speed mode. Note that not all targets support high speed mode.
|
||||||
|
* @param config Pointer of servo configure struct
|
||||||
|
*
|
||||||
|
* @return
|
||||||
|
* - ESP_OK Success
|
||||||
|
* - ESP_ERR_INVALID_ARG Parameter error
|
||||||
|
* - ESP_FAIL Configure ledc failed
|
||||||
|
*/
|
||||||
|
esp_err_t iot_servo_init(ledc_mode_t speed_mode, const servo_config_t *config);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Deinitialize ledc for servo
|
||||||
|
*
|
||||||
|
* @param speed_mode Select the LEDC channel group with specified speed mode.
|
||||||
|
*
|
||||||
|
* @return
|
||||||
|
* - ESP_OK Success
|
||||||
|
*/
|
||||||
|
esp_err_t iot_servo_deinit(ledc_mode_t speed_mode);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Set the servo motor to a certain angle
|
||||||
|
*
|
||||||
|
* @note This API is not thread-safe
|
||||||
|
*
|
||||||
|
* @param speed_mode Select the LEDC channel group with specified speed mode.
|
||||||
|
* @param channel LEDC channel, select from ledc_channel_t
|
||||||
|
* @param angle The angle to go
|
||||||
|
*
|
||||||
|
* @return
|
||||||
|
* - ESP_OK Success
|
||||||
|
* - ESP_ERR_INVALID_ARG Parameter error
|
||||||
|
*/
|
||||||
|
esp_err_t iot_servo_write_angle(ledc_mode_t speed_mode, uint8_t channel, float angle);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Read current angle of one channel
|
||||||
|
*
|
||||||
|
* @param speed_mode Select the LEDC channel group with specified speed mode.
|
||||||
|
* @param channel LEDC channel, select from ledc_channel_t
|
||||||
|
* @param angle Current angle of the channel
|
||||||
|
*
|
||||||
|
* @return
|
||||||
|
* - ESP_OK Success
|
||||||
|
* - ESP_ERR_INVALID_ARG Parameter error
|
||||||
|
*/
|
||||||
|
esp_err_t iot_servo_read_angle(ledc_mode_t speed_mode, uint8_t channel, float *angle);
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif /* _IOT_SERVO_H_ */
|
||||||
122
managed_components/espressif__servo/iot_servo.c
Normal file
122
managed_components/espressif__servo/iot_servo.c
Normal file
@ -0,0 +1,122 @@
|
|||||||
|
/*
|
||||||
|
* SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
|
||||||
|
*
|
||||||
|
* SPDX-License-Identifier: Apache-2.0
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "esp_log.h"
|
||||||
|
#include "esp_err.h"
|
||||||
|
#include "driver/ledc.h"
|
||||||
|
#include "iot_servo.h"
|
||||||
|
|
||||||
|
static const char *TAG = "servo";
|
||||||
|
|
||||||
|
#define SERVO_CHECK(a, str, ret_val) \
|
||||||
|
if (!(a)) { \
|
||||||
|
ESP_LOGE(TAG,"%s(%d): %s", __FUNCTION__, __LINE__, str); \
|
||||||
|
return (ret_val); \
|
||||||
|
}
|
||||||
|
|
||||||
|
#define SERVO_LEDC_INIT_BITS LEDC_TIMER_10_BIT
|
||||||
|
#define SERVO_FREQ_MIN 50
|
||||||
|
#define SERVO_FREQ_MAX 400
|
||||||
|
|
||||||
|
static uint32_t g_full_duty = 0;
|
||||||
|
static servo_config_t g_cfg[LEDC_SPEED_MODE_MAX] = {0};
|
||||||
|
|
||||||
|
static uint32_t calculate_duty(ledc_mode_t speed_mode, float angle)
|
||||||
|
{
|
||||||
|
float angle_us = angle / g_cfg[speed_mode].max_angle * (g_cfg[speed_mode].max_width_us - g_cfg[speed_mode].min_width_us) + g_cfg[speed_mode].min_width_us;
|
||||||
|
ESP_LOGD(TAG, "angle us: %f", angle_us);
|
||||||
|
uint32_t duty = (uint32_t)((float)g_full_duty * (angle_us) * g_cfg[speed_mode].freq / (1000000.0f));
|
||||||
|
return duty;
|
||||||
|
}
|
||||||
|
|
||||||
|
static float calculate_angle(ledc_mode_t speed_mode, uint32_t duty)
|
||||||
|
{
|
||||||
|
float angle_us = (float)duty * 1000000.0f / (float)g_full_duty / (float)g_cfg[speed_mode].freq;
|
||||||
|
angle_us -= g_cfg[speed_mode].min_width_us;
|
||||||
|
angle_us = angle_us < 0.0f ? 0.0f : angle_us;
|
||||||
|
float angle = angle_us * g_cfg[speed_mode].max_angle / (g_cfg[speed_mode].max_width_us - g_cfg[speed_mode].min_width_us);
|
||||||
|
return angle;
|
||||||
|
}
|
||||||
|
|
||||||
|
esp_err_t iot_servo_init(ledc_mode_t speed_mode, const servo_config_t *config)
|
||||||
|
{
|
||||||
|
esp_err_t ret;
|
||||||
|
SERVO_CHECK(NULL != config, "Pointer of config is invalid", ESP_ERR_INVALID_ARG);
|
||||||
|
SERVO_CHECK(config->channel_number > 0 && config->channel_number <= LEDC_CHANNEL_MAX, "Servo channel number out the range", ESP_ERR_INVALID_ARG);
|
||||||
|
SERVO_CHECK(config->freq <= SERVO_FREQ_MAX && config->freq >= SERVO_FREQ_MIN, "Servo pwm frequency out the range", ESP_ERR_INVALID_ARG);
|
||||||
|
uint64_t pin_mask = 0;
|
||||||
|
uint32_t ch_mask = 0;
|
||||||
|
for (size_t i = 0; i < config->channel_number; i++) {
|
||||||
|
uint64_t _pin_mask = 1ULL << config->channels.servo_pin[i];
|
||||||
|
uint32_t _ch_mask = 1UL << config->channels.ch[i];
|
||||||
|
SERVO_CHECK(!(pin_mask & _pin_mask), "servo gpio has a duplicate", ESP_ERR_INVALID_ARG);
|
||||||
|
SERVO_CHECK(!(ch_mask & _ch_mask), "servo channel has a duplicate", ESP_ERR_INVALID_ARG);
|
||||||
|
SERVO_CHECK(GPIO_IS_VALID_OUTPUT_GPIO(config->channels.servo_pin[i]), "servo gpio invalid", ESP_ERR_INVALID_ARG);
|
||||||
|
pin_mask |= _pin_mask;
|
||||||
|
ch_mask |= _ch_mask;
|
||||||
|
}
|
||||||
|
|
||||||
|
ledc_timer_config_t ledc_timer = {
|
||||||
|
.clk_cfg = LEDC_AUTO_CLK,
|
||||||
|
.duty_resolution = SERVO_LEDC_INIT_BITS, // resolution of PWM duty
|
||||||
|
.freq_hz = config->freq, // frequency of PWM signal
|
||||||
|
.speed_mode = speed_mode, // timer mode
|
||||||
|
.timer_num = config->timer_number // timer index
|
||||||
|
};
|
||||||
|
ret = ledc_timer_config(&ledc_timer);
|
||||||
|
SERVO_CHECK(ESP_OK == ret, "ledc timer configuration failed", ESP_FAIL);
|
||||||
|
for (size_t i = 0; i < config->channel_number; i++) {
|
||||||
|
ledc_channel_config_t ledc_ch = {
|
||||||
|
.intr_type = LEDC_INTR_DISABLE,
|
||||||
|
.channel = config->channels.ch[i],
|
||||||
|
.duty = calculate_duty(speed_mode, 0),
|
||||||
|
.gpio_num = config->channels.servo_pin[i],
|
||||||
|
.speed_mode = speed_mode,
|
||||||
|
.timer_sel = config->timer_number,
|
||||||
|
.hpoint = 0
|
||||||
|
};
|
||||||
|
ret = ledc_channel_config(&ledc_ch);
|
||||||
|
SERVO_CHECK(ESP_OK == ret, "ledc channel configuration failed", ESP_FAIL);
|
||||||
|
}
|
||||||
|
g_full_duty = (1 << SERVO_LEDC_INIT_BITS) - 1;
|
||||||
|
g_cfg[speed_mode] = *config;
|
||||||
|
|
||||||
|
return ESP_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
esp_err_t iot_servo_deinit(ledc_mode_t speed_mode)
|
||||||
|
{
|
||||||
|
SERVO_CHECK(speed_mode < LEDC_SPEED_MODE_MAX, "LEDC speed mode invalid", ESP_ERR_INVALID_ARG);
|
||||||
|
for (size_t i = 0; i < g_cfg[speed_mode].channel_number; i++) {
|
||||||
|
ledc_stop(speed_mode, g_cfg[speed_mode].channels.ch[i], 0);
|
||||||
|
}
|
||||||
|
ledc_timer_rst(speed_mode, g_cfg[speed_mode].timer_number);
|
||||||
|
g_full_duty = 0;
|
||||||
|
return ESP_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
esp_err_t iot_servo_write_angle(ledc_mode_t speed_mode, uint8_t channel, float angle)
|
||||||
|
{
|
||||||
|
SERVO_CHECK(speed_mode < LEDC_SPEED_MODE_MAX, "LEDC speed mode invalid", ESP_ERR_INVALID_ARG);
|
||||||
|
SERVO_CHECK(channel < LEDC_CHANNEL_MAX, "LEDC channel number too large", ESP_ERR_INVALID_ARG);
|
||||||
|
SERVO_CHECK(angle >= 0.0f, "Angle can't to be negative", ESP_ERR_INVALID_ARG);
|
||||||
|
esp_err_t ret;
|
||||||
|
uint32_t duty = calculate_duty(speed_mode, angle);
|
||||||
|
ret = ledc_set_duty(speed_mode, (ledc_channel_t)channel, duty);
|
||||||
|
ret |= ledc_update_duty(speed_mode, (ledc_channel_t)channel);
|
||||||
|
SERVO_CHECK(ESP_OK == ret, "write servo angle failed", ESP_FAIL);
|
||||||
|
return ESP_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
esp_err_t iot_servo_read_angle(ledc_mode_t speed_mode, uint8_t channel, float *angle)
|
||||||
|
{
|
||||||
|
SERVO_CHECK(speed_mode < LEDC_SPEED_MODE_MAX, "LEDC speed mode invalid", ESP_ERR_INVALID_ARG);
|
||||||
|
SERVO_CHECK(channel < LEDC_CHANNEL_MAX, "LEDC channel number too large", ESP_ERR_INVALID_ARG);
|
||||||
|
uint32_t duty = ledc_get_duty(speed_mode, channel);
|
||||||
|
float a = calculate_angle(speed_mode, duty);
|
||||||
|
*angle = a;
|
||||||
|
return ESP_OK;
|
||||||
|
}
|
||||||
202
managed_components/espressif__servo/license.txt
Normal file
202
managed_components/espressif__servo/license.txt
Normal file
@ -0,0 +1,202 @@
|
|||||||
|
|
||||||
|
Apache License
|
||||||
|
Version 2.0, January 2004
|
||||||
|
http://www.apache.org/licenses/
|
||||||
|
|
||||||
|
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
|
||||||
|
|
||||||
|
1. Definitions.
|
||||||
|
|
||||||
|
"License" shall mean the terms and conditions for use, reproduction,
|
||||||
|
and distribution as defined by Sections 1 through 9 of this document.
|
||||||
|
|
||||||
|
"Licensor" shall mean the copyright owner or entity authorized by
|
||||||
|
the copyright owner that is granting the License.
|
||||||
|
|
||||||
|
"Legal Entity" shall mean the union of the acting entity and all
|
||||||
|
other entities that control, are controlled by, or are under common
|
||||||
|
control with that entity. For the purposes of this definition,
|
||||||
|
"control" means (i) the power, direct or indirect, to cause the
|
||||||
|
direction or management of such entity, whether by contract or
|
||||||
|
otherwise, or (ii) ownership of fifty percent (50%) or more of the
|
||||||
|
outstanding shares, or (iii) beneficial ownership of such entity.
|
||||||
|
|
||||||
|
"You" (or "Your") shall mean an individual or Legal Entity
|
||||||
|
exercising permissions granted by this License.
|
||||||
|
|
||||||
|
"Source" form shall mean the preferred form for making modifications,
|
||||||
|
including but not limited to software source code, documentation
|
||||||
|
source, and configuration files.
|
||||||
|
|
||||||
|
"Object" form shall mean any form resulting from mechanical
|
||||||
|
transformation or translation of a Source form, including but
|
||||||
|
not limited to compiled object code, generated documentation,
|
||||||
|
and conversions to other media types.
|
||||||
|
|
||||||
|
"Work" shall mean the work of authorship, whether in Source or
|
||||||
|
Object form, made available under the License, as indicated by a
|
||||||
|
copyright notice that is included in or attached to the work
|
||||||
|
(an example is provided in the Appendix below).
|
||||||
|
|
||||||
|
"Derivative Works" shall mean any work, whether in Source or Object
|
||||||
|
form, that is based on (or derived from) the Work and for which the
|
||||||
|
editorial revisions, annotations, elaborations, or other modifications
|
||||||
|
represent, as a whole, an original work of authorship. For the purposes
|
||||||
|
of this License, Derivative Works shall not include works that remain
|
||||||
|
separable from, or merely link (or bind by name) to the interfaces of,
|
||||||
|
the Work and Derivative Works thereof.
|
||||||
|
|
||||||
|
"Contribution" shall mean any work of authorship, including
|
||||||
|
the original version of the Work and any modifications or additions
|
||||||
|
to that Work or Derivative Works thereof, that is intentionally
|
||||||
|
submitted to Licensor for inclusion in the Work by the copyright owner
|
||||||
|
or by an individual or Legal Entity authorized to submit on behalf of
|
||||||
|
the copyright owner. For the purposes of this definition, "submitted"
|
||||||
|
means any form of electronic, verbal, or written communication sent
|
||||||
|
to the Licensor or its representatives, including but not limited to
|
||||||
|
communication on electronic mailing lists, source code control systems,
|
||||||
|
and issue tracking systems that are managed by, or on behalf of, the
|
||||||
|
Licensor for the purpose of discussing and improving the Work, but
|
||||||
|
excluding communication that is conspicuously marked or otherwise
|
||||||
|
designated in writing by the copyright owner as "Not a Contribution."
|
||||||
|
|
||||||
|
"Contributor" shall mean Licensor and any individual or Legal Entity
|
||||||
|
on behalf of whom a Contribution has been received by Licensor and
|
||||||
|
subsequently incorporated within the Work.
|
||||||
|
|
||||||
|
2. Grant of Copyright License. Subject to the terms and conditions of
|
||||||
|
this License, each Contributor hereby grants to You a perpetual,
|
||||||
|
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
|
||||||
|
copyright license to reproduce, prepare Derivative Works of,
|
||||||
|
publicly display, publicly perform, sublicense, and distribute the
|
||||||
|
Work and such Derivative Works in Source or Object form.
|
||||||
|
|
||||||
|
3. Grant of Patent License. Subject to the terms and conditions of
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||||||
@ -0,0 +1,9 @@
|
|||||||
|
# The following lines of boilerplate have to be in your project's CMakeLists
|
||||||
|
# in this exact order for cmake to work correctly
|
||||||
|
cmake_minimum_required(VERSION 3.5)
|
||||||
|
|
||||||
|
set(EXTRA_COMPONENT_DIRS "$ENV{IDF_PATH}/tools/unit-test-app/components"
|
||||||
|
"../../servo")
|
||||||
|
|
||||||
|
include($ENV{IDF_PATH}/tools/cmake/project.cmake)
|
||||||
|
project(servo_test)
|
||||||
@ -0,0 +1,3 @@
|
|||||||
|
idf_component_register(SRC_DIRS "."
|
||||||
|
PRIV_INCLUDE_DIRS "."
|
||||||
|
PRIV_REQUIRES unity servo)
|
||||||
@ -0,0 +1,98 @@
|
|||||||
|
/*
|
||||||
|
* SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
|
||||||
|
*
|
||||||
|
* SPDX-License-Identifier: Apache-2.0
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <stdio.h>
|
||||||
|
#include <string.h>
|
||||||
|
#include "freertos/FreeRTOS.h"
|
||||||
|
#include "freertos/task.h"
|
||||||
|
#include "esp_log.h"
|
||||||
|
#include "iot_servo.h"
|
||||||
|
#include "unity.h"
|
||||||
|
#include "unity_config.h"
|
||||||
|
#include "sdkconfig.h"
|
||||||
|
|
||||||
|
#define SERVO_CH0_PIN 1
|
||||||
|
#define SERVO_CH1_PIN 2
|
||||||
|
#define SERVO_CH2_PIN 3
|
||||||
|
#define SERVO_CH3_PIN 4
|
||||||
|
|
||||||
|
#define TEST_MEMORY_LEAK_THRESHOLD (-500)
|
||||||
|
|
||||||
|
static size_t before_free_8bit;
|
||||||
|
static size_t before_free_32bit;
|
||||||
|
|
||||||
|
static void _set_angle(ledc_mode_t speed_mode, float angle)
|
||||||
|
{
|
||||||
|
for (size_t i = 0; i < 4; i++) {
|
||||||
|
iot_servo_write_angle(speed_mode, i, angle);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
TEST_CASE("Servo_motor test", "[servo][iot]")
|
||||||
|
{
|
||||||
|
servo_config_t servo_cfg_ls = {
|
||||||
|
.max_angle = 180,
|
||||||
|
.min_width_us = 500,
|
||||||
|
.max_width_us = 2500,
|
||||||
|
.freq = 50,
|
||||||
|
.timer_number = LEDC_TIMER_0,
|
||||||
|
.channels = {
|
||||||
|
.servo_pin = {
|
||||||
|
SERVO_CH0_PIN,
|
||||||
|
SERVO_CH1_PIN,
|
||||||
|
SERVO_CH2_PIN,
|
||||||
|
SERVO_CH3_PIN,
|
||||||
|
},
|
||||||
|
.ch = {
|
||||||
|
LEDC_CHANNEL_0,
|
||||||
|
LEDC_CHANNEL_1,
|
||||||
|
LEDC_CHANNEL_2,
|
||||||
|
LEDC_CHANNEL_3,
|
||||||
|
},
|
||||||
|
},
|
||||||
|
.channel_number = 4,
|
||||||
|
} ;
|
||||||
|
TEST_ASSERT(ESP_OK == iot_servo_init(LEDC_LOW_SPEED_MODE, &servo_cfg_ls));
|
||||||
|
|
||||||
|
size_t i;
|
||||||
|
float angle_ls, angle_hs;
|
||||||
|
for (i = 0; i <= 180; i++) {
|
||||||
|
_set_angle(LEDC_LOW_SPEED_MODE, i);
|
||||||
|
vTaskDelay(50 / portTICK_PERIOD_MS);
|
||||||
|
iot_servo_read_angle(LEDC_LOW_SPEED_MODE, 0, &angle_ls);
|
||||||
|
ESP_LOGI("servo", "[%d|%.2f]", i, angle_ls);
|
||||||
|
(void)angle_hs;
|
||||||
|
}
|
||||||
|
|
||||||
|
iot_servo_deinit(LEDC_LOW_SPEED_MODE);
|
||||||
|
}
|
||||||
|
|
||||||
|
static void check_leak(size_t before_free, size_t after_free, const char *type)
|
||||||
|
{
|
||||||
|
ssize_t delta = after_free - before_free;
|
||||||
|
printf("MALLOC_CAP_%s: Before %u bytes free, After %u bytes free (delta %d)\n", type, before_free, after_free, delta);
|
||||||
|
TEST_ASSERT_MESSAGE(delta >= TEST_MEMORY_LEAK_THRESHOLD, "memory leak");
|
||||||
|
}
|
||||||
|
|
||||||
|
void setUp(void)
|
||||||
|
{
|
||||||
|
before_free_8bit = heap_caps_get_free_size(MALLOC_CAP_8BIT);
|
||||||
|
before_free_32bit = heap_caps_get_free_size(MALLOC_CAP_32BIT);
|
||||||
|
}
|
||||||
|
|
||||||
|
void tearDown(void)
|
||||||
|
{
|
||||||
|
size_t after_free_8bit = heap_caps_get_free_size(MALLOC_CAP_8BIT);
|
||||||
|
size_t after_free_32bit = heap_caps_get_free_size(MALLOC_CAP_32BIT);
|
||||||
|
check_leak(before_free_8bit, after_free_8bit, "8BIT");
|
||||||
|
check_leak(before_free_32bit, after_free_32bit, "32BIT");
|
||||||
|
}
|
||||||
|
|
||||||
|
void app_main(void)
|
||||||
|
{
|
||||||
|
printf("SERVO TEST \n");
|
||||||
|
unity_run_menu();
|
||||||
|
}
|
||||||
@ -0,0 +1,28 @@
|
|||||||
|
# SPDX-FileCopyrightText: 2024Espressif Systems (Shanghai) CO LTD
|
||||||
|
# SPDX-License-Identifier: Apache-2.0
|
||||||
|
|
||||||
|
'''
|
||||||
|
Steps to run these cases:
|
||||||
|
- Build
|
||||||
|
- . ${IDF_PATH}/export.sh
|
||||||
|
- pip install idf_build_apps
|
||||||
|
- python tools/build_apps.py components/motor/servo/test_apps -t esp32
|
||||||
|
- Test
|
||||||
|
- pip install -r tools/requirements/requirement.pytest.txt
|
||||||
|
- pytest components/motor/servo/test_apps --target esp32
|
||||||
|
'''
|
||||||
|
|
||||||
|
import pytest
|
||||||
|
from pytest_embedded import Dut
|
||||||
|
|
||||||
|
@pytest.mark.target('esp32')
|
||||||
|
@pytest.mark.target('esp32s2')
|
||||||
|
@pytest.mark.env('generic')
|
||||||
|
@pytest.mark.parametrize(
|
||||||
|
'config',
|
||||||
|
[
|
||||||
|
'defaults',
|
||||||
|
],
|
||||||
|
)
|
||||||
|
def test_servo(dut: Dut)-> None:
|
||||||
|
dut.run_all_single_board_cases()
|
||||||
@ -0,0 +1,4 @@
|
|||||||
|
# For IDF 5.0
|
||||||
|
CONFIG_FREERTOS_HZ=1000
|
||||||
|
CONFIG_ESP_TASK_WDT_EN=n
|
||||||
|
CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=4096
|
||||||
0
sdkconfig.ci
Normal file
0
sdkconfig.ci
Normal file
1912
sdkconfig.old
Normal file
1912
sdkconfig.old
Normal file
File diff suppressed because it is too large
Load Diff
Loading…
Reference in New Issue
Block a user