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https://github.com/alexandrebobkov/ESP-Nodes.git
synced 2025-08-08 03:22:21 +00:00
ESP32-C3 RC & Receiver
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216
ESP-IDF_Robot_RC/bak/rc.h
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216
ESP-IDF_Robot_RC/bak/rc.h
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#ifndef RC_H
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#define RC_H
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#include "driver/adc.h"
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#include "esp_adc_cal.h"
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#include "esp_adc/adc_oneshot.h"
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#include "esp_adc/adc_continuous.h"
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#include "esp_adc/adc_cali.h"
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#include "esp_adc/adc_cali_scheme.h"
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#include "controls.h"
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#define ADC_CHNL ADC_CHANNEL_1
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#define ADC_ATTEN ADC_ATTEN_DB_11
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#define ADC1_CHAN0 ADC1_CHANNEL_0
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#define ADC1_CHAN1 ADC1_CHANNEL_1
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//static const char *TAG = "ESP IDF Robot"
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struct motors_rpm m;
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static int adc_raw[2][10];
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static int voltage[2][10];
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static int s = 0, sample = 5, x = 0, y = 0, x_sum = 0, y_sum = 0;
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static bool adc_calibration_init(adc_unit_t unit, adc_channel_t channel, adc_atten_t atten, adc_cali_handle_t *out_handle);
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static void adc_calibration_deinit(adc_cali_handle_t handle);
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adc_cali_handle_t adc1_cali_chan0_handle, adc1_cali_chan1_handle;
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adc_oneshot_unit_handle_t adc1_handle;
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bool do_calibration1_chan0, do_calibration1_chan1;
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static int interpolate_raw_val (int raw);
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static int rescale_raw_val (int raw);
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static esp_err_t rc_adc_init (void) {
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adc_oneshot_unit_init_cfg_t init_config1 = {
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.unit_id = ADC_UNIT_1,
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};
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ESP_ERROR_CHECK( adc_oneshot_new_unit(&init_config1, &adc1_handle));
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adc_oneshot_chan_cfg_t config = {
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.bitwidth = SOC_ADC_DIGI_MAX_BITWIDTH,//ADC_BITWIDTH_DEFAULT,
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.atten = ADC_ATTEN,
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};
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ESP_ERROR_CHECK(adc_oneshot_config_channel(adc1_handle, ADC1_CHAN0, &config));
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ESP_ERROR_CHECK(adc_oneshot_config_channel(adc1_handle, ADC1_CHAN1, &config));
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//-------------ADC1 Calibration Init---------------//
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adc1_cali_chan0_handle = NULL;
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adc1_cali_chan1_handle = NULL;
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do_calibration1_chan0 = adc_calibration_init(ADC_UNIT_1, ADC1_CHAN0, ADC_ATTEN, &adc1_cali_chan0_handle);
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do_calibration1_chan1 = adc_calibration_init(ADC_UNIT_1, ADC1_CHAN1, ADC_ATTEN, &adc1_cali_chan1_handle);
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return ESP_OK;
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}
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static int check_motor_pcm(int x) {
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int lim = 7440;
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if (x > lim)
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return lim;
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else if (x < -lim)
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return -lim;
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else
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return x;
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}
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static void rc_get_raw_data() {
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ESP_ERROR_CHECK(adc_oneshot_read(adc1_handle, ADC1_CHAN0, &adc_raw[0][0]));
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ESP_ERROR_CHECK(adc_oneshot_read(adc1_handle, ADC1_CHAN1, &adc_raw[0][1]));
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ESP_LOGI("ESP IDF Robot", "ADC%d Channel[%d] Raw Data: %d", ADC_UNIT_1 + 1, ADC1_CHAN0, adc_raw[0][0]);
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ESP_LOGI("ESP IDF Robot", "ADC%d Channel[%d] Raw Data: %d", ADC_UNIT_1 + 1, ADC1_CHAN1, adc_raw[0][1]);
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ESP_LOGI("Joystick L/R", "Position: %d (%d)", rescale_raw_val(adc_raw[0][0]), check_motor_pcm(rescale_raw_val(adc_raw[0][0])));
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ESP_LOGI("Joystick F", "Position: %d (%d)", rescale_raw_val(adc_raw[0][1]), check_motor_pcm(rescale_raw_val(adc_raw[0][1])));
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ESP_LOGW("Joystick", " sample %d, (x,y): (%d, %d)", sample, x, y);
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if (s < sample) {
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x_sum += check_motor_pcm(rescale_raw_val(adc_raw[0][0]));
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y_sum += check_motor_pcm(rescale_raw_val(adc_raw[0][1]));
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s ++;
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}
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else if (s == sample) {
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//x = check_motor_pcm(rescale_raw_val(adc_raw[0][0]));
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//y = check_motor_pcm(rescale_raw_val(adc_raw[0][1]));
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x = x_sum / sample;
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y = y_sum / sample;
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if ((x > 0 && x < 500) && (y > 500)) {
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ESP_LOGW("RC", "FORWARD");
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// Both sides rotate in forward direction.
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m.motor1_rpm_pcm = y; // left, forward
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m.motor2_rpm_pcm = y; // right, forward
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m.motor3_rpm_pcm = 0;
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m.motor4_rpm_pcm = 0;
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}
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else if ((x > 0 && x < 500) && (y < -200)) {
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ESP_LOGW("RC", "REVERSE");
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// Both sides rotate in reverse direction.
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m.motor1_rpm_pcm = 0;
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m.motor2_rpm_pcm = 0;
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m.motor3_rpm_pcm = -y;
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m.motor4_rpm_pcm = -y;
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}
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else if ((y < 0 && y > -200) && (x < -1000)) {
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ESP_LOGW("RC", "LEFT");
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// Left side rotates in forward direction, right side rotates in reverse direction.
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m.motor1_rpm_pcm = -x;
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m.motor2_rpm_pcm = 0;
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m.motor3_rpm_pcm = -x;
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m.motor4_rpm_pcm = 0;
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}
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else if ((y < 0 && y > -200) && (x > 1000)) {
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ESP_LOGW("RC", "RIGHT");
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// Right side rotates in forward direction, left side rotates in reverse direction.
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m.motor1_rpm_pcm = 0;
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m.motor2_rpm_pcm = x;
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m.motor3_rpm_pcm = 0;
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m.motor4_rpm_pcm = x;
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}
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else {
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ESP_LOGW("RC", "STAND STILL");
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m.motor1_rpm_pcm = 0;
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m.motor2_rpm_pcm = 0;
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m.motor3_rpm_pcm = 0;
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m.motor4_rpm_pcm = 0;
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}
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s++;
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}
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else {
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x_sum = 0;
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y_sum = 0;
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s = 0;
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}
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ESP_LOGI("PWM", "Motor 1 PWM: %d", m.motor1_rpm_pcm);
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ESP_LOGI("PWM", "Motor 2 PWM: %d", m.motor2_rpm_pcm);
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ESP_LOGI("PWM", "Motor 3 PWM: %d", m.motor3_rpm_pcm);
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ESP_LOGI("PWM", "Motor 4 PWM: %d", m.motor4_rpm_pcm);
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if (do_calibration1_chan0) {
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ESP_ERROR_CHECK(adc_cali_raw_to_voltage(adc1_cali_chan0_handle, adc_raw[0][0], &voltage[0][0]));
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ESP_LOGI("ESP IDF Robot", "ADC%d Channel[%d] Cali Voltage: %d mV", ADC_UNIT_1 + 1, ADC1_CHAN0, voltage[0][0]);
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}
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if (do_calibration1_chan1) {
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ESP_ERROR_CHECK(adc_cali_raw_to_voltage(adc1_cali_chan1_handle, adc_raw[0][1], &voltage[0][1]));
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ESP_LOGI("ESP IDF Robot", "ADC%d Channel[%d] Cali Voltage: %d mV", ADC_UNIT_1 + 1, ADC1_CHAN1, voltage[0][1]);
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}
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}
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static bool adc_calibration_init(adc_unit_t unit, adc_channel_t channel, adc_atten_t atten, adc_cali_handle_t *out_handle)
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{
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adc_cali_handle_t handle = NULL;
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esp_err_t ret = ESP_FAIL;
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bool calibrated = false;
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#if ADC_CALI_SCHEME_CURVE_FITTING_SUPPORTED
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if (!calibrated) {
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ESP_LOGI("ESP IDF Robot", "calibration scheme version is %s", "Curve Fitting");
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adc_cali_curve_fitting_config_t cali_config = {
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.unit_id = unit,
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.chan = channel,
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.atten = atten,
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.bitwidth = ADC_BITWIDTH_DEFAULT,
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};
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ret = adc_cali_create_scheme_curve_fitting(&cali_config, &handle);
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if (ret == ESP_OK) {
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calibrated = true;
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}
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}
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#endif
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#if ADC_CALI_SCHEME_LINE_FITTING_SUPPORTED
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if (!calibrated) {
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ESP_LOGI("ESP IDF Robot", "calibration scheme version is %s", "Line Fitting");
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adc_cali_line_fitting_config_t cali_config = {
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.unit_id = unit,
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.atten = atten,
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.bitwidth = ADC_BITWIDTH_DEFAULT,
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};
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ret = adc_cali_create_scheme_line_fitting(&cali_config, &handle);
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if (ret == ESP_OK) {
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calibrated = true;
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}
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}
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#endif
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*out_handle = handle;
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if (ret == ESP_OK) {
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ESP_LOGI("ESP IDF Robot", "Calibration Success");
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} else if (ret == ESP_ERR_NOT_SUPPORTED || !calibrated) {
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ESP_LOGW("ESP IDF Robot", "eFuse not burnt, skip software calibration");
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} else {
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ESP_LOGE("ESP IDF Robot", "Invalid arg or no memory");
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}
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return calibrated;
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}
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static void adc_calibration_deinit(adc_cali_handle_t handle)
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{
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#if ADC_CALI_SCHEME_CURVE_FITTING_SUPPORTED
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ESP_LOGI("ESP IDF Robot", "deregister %s calibration scheme", "Curve Fitting");
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ESP_ERROR_CHECK(adc_cali_delete_scheme_curve_fitting(handle));
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#elif ADC_CALI_SCHEME_LINE_FITTING_SUPPORTED
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ESP_LOGI("ESP IDF Robot", "deregister %s calibration scheme", "Line Fitting");
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ESP_ERROR_CHECK(adc_cali_delete_scheme_line_fitting(handle));
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#endif
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}
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#endif
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31
ESP-IDF_Robot_RC/bak/receiver.c
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31
ESP-IDF_Robot_RC/bak/receiver.c
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#include "freertos/FreeRTOS.h"
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#include "common.h"
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#include "esp_mac.h"
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#include "esp_log.h"
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#include "rc.h"
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//struct motors_rpm m;
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void onDataReceived (uint8_t *mac_addr, uint8_t *data, uint8_t data_len) {
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//memcpy(buf, data, data_len);
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/*buf = (sensors_data_t*)data;
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ESP_LOGW(TAG, "Data was received");
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ESP_LOGI(TAG, "x-axis: 0x%04x", buf->x_axis);
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ESP_LOGI(TAG, "x-axis: 0x%04x", buf->y_axis);
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ESP_LOGI(TAG, "PCM 1: 0x%04x", buf->motor1_rpm_pcm);*/
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}
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static void rc_task (void *arg) {
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while (true) {
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rc_get_raw_data();
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ESP_LOGI("PWM", "Motor 1 PWM: %d", m.motor1_rpm_pcm);
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ESP_LOGI("PWM", "Motor 2 PWM: %d", m.motor2_rpm_pcm);
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ESP_LOGI("PWM", "Motor 3 PWM: %d", m.motor3_rpm_pcm);
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ESP_LOGI("PWM", "Motor 4 PWM: %d", m.motor4_rpm_pcm);
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//vTaskDelay (10 / portTICK_PERIOD_MS); // Determines responsiveness
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vTaskDelay (1000 / portTICK_PERIOD_MS);
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}
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}
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11
ESP-IDF_Robot_RC/bak/receiver.h
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11
ESP-IDF_Robot_RC/bak/receiver.h
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/*
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ESPNOW RC Controller Module
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*/
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#ifndef RECEIVER_H
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#define RECEIVER_H
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void onDataReceived (uint8_t *mac_addr, uint8_t *data, uint8_t data_len);
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static void rc_task (void *arg);
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#endif
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