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controller_input.c
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controller_input.c
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#include <string.h>
#include "controller_input.h"
#include "config.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "driver/gpio.h"
#include "driver/i2c.h"
#include "driver/adc.h"
#include "esp_adc_cal.h"
#include "soc/adc_channel.h"
#include "rover_utils.h"
#include "esp_log.h"
#include "ads1115.h"
#define DEFAULT_VREF 1100
#define NO_OF_SAMPLES 32
#define ATTENUATION ADC_ATTEN_DB_11
#define ADC_WIDTH ADC_WIDTH_BIT_10
#define I2C_NUM I2C_NUM_0
#define LAST_SWITCH INPUT_SWITCH_3_UP
static uint16_t rover_channel_map[INPUTS_END] = {
INPUT_LEFT_JOYSTICK_X,
INPUT_LEFT_JOYSTICK_Y,
INPUT_LEFT_JOYSTICK_ROTATE,
INPUT_RIGHT_JOYSTICK_X,
INPUT_RIGHT_JOYSTICK_Y,
INPUT_RIGHT_JOYSTICK_ROTATE,
INPUT_POT_LEFT,
INPUT_POT_RIGHT,
INPUT_SWITCH_1_UP,
INPUT_SWITCH_1_DOWN,
INPUT_SWITCH_2_UP,
INPUT_SWITCH_2_DOWN,
INPUT_SWITCH_3_UP,
INPUT_SWITCH_3_DOWN,
INPUT_SWITCH_4_UP,
INPUT_SWITCH_4_DOWN,
INPUT_SWITCH_5_UP,
INPUT_SWITCH_5_DOWN,
};
// Mapping of all inputs to GPIO/ADC num
static uint16_t rover_pin_map[INPUTS_END] = {
[INPUT_LEFT_JOYSTICK_X] = ADC1_GPIO39_CHANNEL,
[INPUT_LEFT_JOYSTICK_Y] = ADC1_GPIO36_CHANNEL,
[INPUT_LEFT_JOYSTICK_ROTATE] = ADC1_GPIO33_CHANNEL,
[INPUT_RIGHT_JOYSTICK_X] = ADC1_GPIO34_CHANNEL,
[INPUT_RIGHT_JOYSTICK_Y] = ADC1_GPIO35_CHANNEL,
[INPUT_RIGHT_JOYSTICK_ROTATE] = ADC1_GPIO32_CHANNEL,
[INPUT_POT_LEFT] = ADS1115_MUX_0_GND,
[INPUT_POT_RIGHT] = ADS1115_MUX_1_GND,
[INPUT_SWITCH_1_UP] = GPIO_NUM_25,
[INPUT_SWITCH_1_DOWN] = GPIO_NUM_13,
[INPUT_SWITCH_2_UP] = GPIO_NUM_17,
[INPUT_SWITCH_2_DOWN] = GPIO_NUM_21,
[INPUT_SWITCH_3_UP] = GPIO_NUM_22,
[INPUT_SWITCH_3_DOWN] = GPIO_NUM_23,
[INPUT_SWITCH_4_UP] = GPIO_NUM_15,
[INPUT_SWITCH_4_DOWN] = GPIO_NUM_2,
[INPUT_SWITCH_5_UP] = GPIO_NUM_4,
[INPUT_SWITCH_5_DOWN] = GPIO_NUM_12, // Note: ESP32 won't start if pulled high at boot
};
static void print_char_val_type(esp_adc_cal_value_t val_type);
static void sample_task(void* params);
static controller_sample_t samples[INPUTS_END];
static esp_adc_cal_characteristics_t* adc_chars;
static uint16_t sleep_time;
static samples_callback* on_sample_done_callback;
static ads1115_t ads;
void controller_input_init(uint16_t time_between_samples_ms, samples_callback* callback)
{
assert(callback != NULL);
memset(samples, 0, sizeof(samples));
on_sample_done_callback = callback;
sleep_time = time_between_samples_ms;
adc_chars = calloc(1, sizeof(esp_adc_cal_characteristics_t));
esp_adc_cal_value_t val_type = esp_adc_cal_characterize(ADC_UNIT_1, ATTENUATION, ADC_WIDTH, DEFAULT_VREF, adc_chars);
print_char_val_type(val_type);
adc1_config_width(ADC_WIDTH);
for (uint8_t i = 0; i < INPUT_ANALOG_END; i++) {
adc1_config_channel_atten((adc1_channel_t)rover_pin_map[i], ATTENUATION);
}
for (uint8_t i = INPUT_ANALOG_I2C_END; i < LAST_SWITCH; i++) {
gpio_pad_select_gpio((gpio_num_t)rover_pin_map[i]);
gpio_set_direction((gpio_num_t)rover_pin_map[i], GPIO_MODE_INPUT);
gpio_set_pull_mode((gpio_num_t)rover_pin_map[i], GPIO_PULLDOWN_ONLY);
}
ESP_ERROR_CHECK(i2c_driver_install(I2C_NUM, I2C_MODE_MASTER, 0, 0, 0));
ESP_ERROR_CHECK(i2c_set_pin(I2C_NUM, ROVER_CONTROLLER_SDA, ROVER_CONTROLLER_SCL, true, true, I2C_MODE_MASTER));
i2c_config_t conf = {
.mode = I2C_MODE_MASTER,
.sda_io_num = GPIO_NUM_22,
.sda_pullup_en = GPIO_PULLUP_ENABLE,
.scl_io_num = GPIO_NUM_23,
.scl_pullup_en = GPIO_PULLUP_ENABLE,
.master.clk_speed = 100000
};
ESP_ERROR_CHECK(i2c_param_config(I2C_NUM, &conf));
ads = ads1115_config(I2C_NUM, 0x48);
ads1115_set_sps(&ads, ADS1115_SPS_860);
TaskHandle_t handle;
BaseType_t status = xTaskCreate(sample_task, "gpio_sample_task", 4096, NULL, tskIDLE_PRIORITY, &handle);
assert(status == pdPASS);
}
uint32_t controller_input_get_map(uint8_t id, uint32_t min, uint32_t max)
{
assert(id < INPUT_ANALOG_END);
uint32_t max_reading;
switch (ADC_WIDTH) {
case ADC_WIDTH_BIT_9:
max_reading = 512;
break;
case ADC_WIDTH_BIT_10:
max_reading = 1024;
break;
case ADC_WIDTH_BIT_11:
max_reading = 2048;
break;
case ADC_WIDTH_BIT_12:
max_reading = 4096;
break;
default:
assert(false);
}
return map(samples[id].raw_value, 0, max_reading, min, max);
}
static void sample_task(void* params)
{
while (true) {
for (uint8_t i = 0; i < INPUT_ANALOG_END; i++) {
uint32_t adc_reading = 0;
for (int sample = 0; sample < NO_OF_SAMPLES; sample++) {
adc_reading += (uint32_t)adc1_get_raw((adc1_channel_t)rover_pin_map[i]);
}
adc_reading /= NO_OF_SAMPLES;
samples[i].raw_value = adc_reading;
samples[i].voltage = esp_adc_cal_raw_to_voltage(adc_reading, adc_chars);
}
for (uint8_t i = INPUT_ANALOG_END; i < INPUT_ANALOG_I2C_END; i++) {
// Not used right now so skip
//ads1115_set_mux(&ads, rover_pin_map[i]);
//samples[i].raw_value = ads1115_get_raw(&ads);
//samples[i].voltage = ads1115_get_voltage_from_raw(&ads, samples[i].raw_value) * 1000;
}
for (uint8_t i = INPUT_ANALOG_I2C_END; i < LAST_SWITCH; i++) {
samples[i].raw_value = gpio_get_level((gpio_num_t)rover_pin_map[i]);
samples[i].voltage = samples[i].raw_value == 0 ? 0 : 3300;
}
on_sample_done_callback(samples, INPUTS_END);
vTaskDelay(pdMS_TO_TICKS(sleep_time));
}
}
static void print_char_val_type(esp_adc_cal_value_t val_type)
{
if (val_type == ESP_ADC_CAL_VAL_EFUSE_TP) {
printf("Characterized using Two Point Value\n");
} else if (val_type == ESP_ADC_CAL_VAL_EFUSE_VREF) {
printf("Characterized using eFuse Vref\n");
} else {
printf("Characterized using Default Vref\n");
}
}