From 32179725b04375a1b302f67dc91868bb6fd997cc Mon Sep 17 00:00:00 2001 From: kislovdm Date: Sun, 7 Apr 2024 16:40:46 +0300 Subject: [PATCH] Init --- .gitignore | 5 ++ .vscode/extensions.json | 10 ++++ README.md | 1 + include/README | 39 ++++++++++++++ lib/README | 46 ++++++++++++++++ platformio.ini | 18 +++++++ src/main.cpp | 114 ++++++++++++++++++++++++++++++++++++++++ test/README | 11 ++++ 8 files changed, 244 insertions(+) create mode 100644 .gitignore create mode 100644 .vscode/extensions.json create mode 100644 README.md create mode 100644 include/README create mode 100644 lib/README create mode 100644 platformio.ini create mode 100644 src/main.cpp create mode 100644 test/README diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..89cc49c --- /dev/null +++ b/.gitignore @@ -0,0 +1,5 @@ +.pio +.vscode/.browse.c_cpp.db* +.vscode/c_cpp_properties.json +.vscode/launch.json +.vscode/ipch diff --git a/.vscode/extensions.json b/.vscode/extensions.json new file mode 100644 index 0000000..080e70d --- /dev/null +++ b/.vscode/extensions.json @@ -0,0 +1,10 @@ +{ + // See http://go.microsoft.com/fwlink/?LinkId=827846 + // for the documentation about the extensions.json format + "recommendations": [ + "platformio.platformio-ide" + ], + "unwantedRecommendations": [ + "ms-vscode.cpptools-extension-pack" + ] +} diff --git a/README.md b/README.md new file mode 100644 index 0000000..b937ddf --- /dev/null +++ b/README.md @@ -0,0 +1 @@ +# baby_car_esc_controller diff --git a/include/README b/include/README new file mode 100644 index 0000000..194dcd4 --- /dev/null +++ b/include/README @@ -0,0 +1,39 @@ + +This directory is intended for project header files. + +A header file is a file containing C declarations and macro definitions +to be shared between several project source files. You request the use of a +header file in your project source file (C, C++, etc) located in `src` folder +by including it, with the C preprocessing directive `#include'. + +```src/main.c + +#include "header.h" + +int main (void) +{ + ... +} +``` + +Including a header file produces the same results as copying the header file +into each source file that needs it. Such copying would be time-consuming +and error-prone. With a header file, the related declarations appear +in only one place. If they need to be changed, they can be changed in one +place, and programs that include the header file will automatically use the +new version when next recompiled. The header file eliminates the labor of +finding and changing all the copies as well as the risk that a failure to +find one copy will result in inconsistencies within a program. + +In C, the usual convention is to give header files names that end with `.h'. +It is most portable to use only letters, digits, dashes, and underscores in +header file names, and at most one dot. + +Read more about using header files in official GCC documentation: + +* Include Syntax +* Include Operation +* Once-Only Headers +* Computed Includes + +https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html diff --git a/lib/README b/lib/README new file mode 100644 index 0000000..6debab1 --- /dev/null +++ b/lib/README @@ -0,0 +1,46 @@ + +This directory is intended for project specific (private) libraries. +PlatformIO will compile them to static libraries and link into executable file. + +The source code of each library should be placed in a an own separate directory +("lib/your_library_name/[here are source files]"). + +For example, see a structure of the following two libraries `Foo` and `Bar`: + +|--lib +| | +| |--Bar +| | |--docs +| | |--examples +| | |--src +| | |- Bar.c +| | |- Bar.h +| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html +| | +| |--Foo +| | |- Foo.c +| | |- Foo.h +| | +| |- README --> THIS FILE +| +|- platformio.ini +|--src + |- main.c + +and a contents of `src/main.c`: +``` +#include +#include + +int main (void) +{ + ... +} + +``` + +PlatformIO Library Dependency Finder will find automatically dependent +libraries scanning project source files. + +More information about PlatformIO Library Dependency Finder +- https://docs.platformio.org/page/librarymanager/ldf.html diff --git a/platformio.ini b/platformio.ini new file mode 100644 index 0000000..19f0659 --- /dev/null +++ b/platformio.ini @@ -0,0 +1,18 @@ +; PlatformIO Project Configuration File +; +; Build options: build flags, source filter +; Upload options: custom upload port, speed and extra flags +; Library options: dependencies, extra library storages +; Advanced options: extra scripting +; +; Please visit documentation for the other options and examples +; https://docs.platformio.org/page/projectconf.html + +[env:nanoatmega328] +platform = atmelavr +board = nanoatmega328 +framework = arduino +lib_deps = + gyverlibs/GyverOS@^1.2.1 + arduino-libraries/Servo@^1.2.1 + thomasfredericks/Bounce2@^2.72 diff --git a/src/main.cpp b/src/main.cpp new file mode 100644 index 0000000..5a4cda5 --- /dev/null +++ b/src/main.cpp @@ -0,0 +1,114 @@ +#include +#include +#include // servo library +#include + +#define DEBUG 0 +#define LED_PIN 13 +#define ESC_PIN 9 +#define RECEIVER_ESC_PIN 5 +#define ESC_NEUTRAL_POSITION 1500 +#define ESC_NEUTRAL_POSITION_THRESHOLD 40 +#define PEDAL_MAX_THROTTLE 1800 +#define PEDAL_PIN 6 // Пин, куда подключена педаль машины +#define MAX_SPEED_POTENTIOMETER_PIN A0 // Пин потенциометра регулировки скорости с педали + +GyverOS<5> OS; // указать макс. количество задач +Servo esc; // servo name +Bounce2::Button pedal_button = Bounce2::Button(); +int pedal_state = 0; + +// обработчики задач +void replicate_receiver_for_esc() { + // выводит свой период в порт + if (DEBUG){ + static uint32_t ms; + Serial.println(millis() - ms); + ms = millis(); + } + int current_receiver_esc_value = pulseIn(RECEIVER_ESC_PIN, HIGH, 25000); + if (current_receiver_esc_value == 0) + { + current_receiver_esc_value = ESC_NEUTRAL_POSITION; + } + + //work mode + digitalWrite(LED_PIN, !digitalRead(LED_PIN)); + + if (abs(current_receiver_esc_value - ESC_NEUTRAL_POSITION) < ESC_NEUTRAL_POSITION_THRESHOLD) + { + if (DEBUG){ + Serial.println("Receiver ESC in neutral."); // Print the value of + } + if (pedal_button.isPressed()){ + pedal_state++; + if (pedal_state > 100){ + pedal_state = 100; + } + + //read max speed settings + int rotate_value = analogRead(MAX_SPEED_POTENTIOMETER_PIN); + int max_speed_ms = map(rotate_value, 0, 1023, ESC_NEUTRAL_POSITION, PEDAL_MAX_THROTTLE); + + int pedal_esc_state = map(pedal_state, 0, 100, ESC_NEUTRAL_POSITION, max_speed_ms); + + if (DEBUG){ + Serial.print("Pedal is pressed; state: "); + Serial.print(pedal_state); + Serial.print(" max speed value: "); + Serial.print(max_speed_ms); + Serial.print(" esc state: "); + Serial.println(pedal_esc_state); + } + esc.writeMicroseconds(pedal_esc_state); + }else{ + esc.writeMicroseconds(ESC_NEUTRAL_POSITION); + } + } + else + { + pedal_state = 0; + if (DEBUG){ + Serial.print("Receiver ESC channel 2:"); // Print the value of + Serial.println(current_receiver_esc_value); // each channel + } + + esc.writeMicroseconds(current_receiver_esc_value); + } +} + +void setup() { + Serial.begin(9600); + pinMode(LED_PIN, OUTPUT); + + // подключаем задачи (порядковый номер, имя функции, период в мс) + OS.attach(0, replicate_receiver_for_esc, 40); + + //attach esc + esc.attach(ESC_PIN); + esc.writeMicroseconds(ESC_NEUTRAL_POSITION); // Turn the motor from the android app + + //attach receiver + pinMode(RECEIVER_ESC_PIN, INPUT); // Set our input pins as such + + //attach pedal + pedal_button.attach( PEDAL_PIN, INPUT_PULLUP ); // USE EXTERNAL PULL-UP + pedal_button.interval(5); + pedal_button.setPressedState(LOW); + + //attach max speed potentiometer + pinMode(MAX_SPEED_POTENTIOMETER_PIN, INPUT); +} + +void loop() { + // put your main code here, to run repeatedly: + OS.tick(); // вызывать как можно чаще, задачи выполняются здесь + + //check bounce + pedal_button.update(); + + // OS.getLeft() возвращает время в мс до ближайшей задачи + // на это время можно усыпить МК, например при помощи narcoleptic или GyverPower + // для примера просто поставим delay на это время + delay(OS.getLeft()); +} \ No newline at end of file diff --git a/test/README b/test/README new file mode 100644 index 0000000..9b1e87b --- /dev/null +++ b/test/README @@ -0,0 +1,11 @@ + +This directory is intended for PlatformIO Test Runner and project tests. + +Unit Testing is a software testing method by which individual units of +source code, sets of one or more MCU program modules together with associated +control data, usage procedures, and operating procedures, are tested to +determine whether they are fit for use. Unit testing finds problems early +in the development cycle. + +More information about PlatformIO Unit Testing: +- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html