FinistRC/mqtt-rc
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22-08-24 VE

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latest code used during Best2024
This commit is contained in:
Vincent ESCARGUEL
2024-08-22 21:26:25 +02:00
parent 21b326092e
commit 723e0650e3
3 changed files with 17 additions and 11 deletions
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12
main/bsp.c
View File

@@ -197,6 +197,7 @@ void boardInit(void)
void setMotor(uint32_t speedA, bool directionA,uint32_t speedB, bool directionB)
{
/*
if(QUISUISJE==BATEAU){
if(speedA<SEUIL_MOTEUR){
gpio_set_level(M1A,0);
@@ -225,6 +226,7 @@ void setMotor(uint32_t speedA, bool directionA,uint32_t speedB, bool directionB)
}
}
else{
*/
if(directionA){
ledc_set_duty(ledc_channel[0].speed_mode, ledc_channel[0].channel, speedA);
ledc_update_duty(ledc_channel[0].speed_mode, ledc_channel[0].channel);
@@ -250,14 +252,15 @@ void setMotor(uint32_t speedA, bool directionA,uint32_t speedB, bool directionB)
ledc_set_duty(ledc_channel[3].speed_mode, ledc_channel[3].channel, speedB);
ledc_update_duty(ledc_channel[3].speed_mode, ledc_channel[3].channel);
}
}
//}
}
void initMotor(void)
{
int ch;
if(QUISUISJE==VOITURE){ /*
// if(QUISUISJE==VOITURE){
/*
* Prepare and set configuration of timers
* that will be used by LED Controller
*/
@@ -300,7 +303,7 @@ void initMotor(void)
for (ch = 0; ch < LEDC_TEST_CH_NUM; ch++) {
ledc_channel_config(&ledc_channel[ch]);
}
}
/*}
else{
gpio_reset_pin(M1A);
gpio_set_direction(M1A, GPIO_MODE_OUTPUT);
@@ -311,6 +314,7 @@ gpio_set_direction(M2A, GPIO_MODE_OUTPUT);
gpio_reset_pin(M2B);
gpio_set_direction(M2B, GPIO_MODE_OUTPUT);
}
//*/
setMotor(0,true,0,true);
}
@@ -377,7 +381,7 @@ void getThrRaw(int *value){
void getBatt(int *value){
int rawValue;
getBattRaw( &rawValue);
*value=(int)(rawValue*3.5);//scale TBD
*value=(int)(rawValue*4);//scale TBD
}
// Normalized value between -100 and +100
void getDir(int *value){

2
main/bsp.h
View File

@@ -119,6 +119,8 @@ extern uint8_t led_strip_pixels[EXAMPLE_LED_NUMBERS * 3];
#define TRANSMIT_PERIOD_INTERVAL 100 // 100 millisecondes entre les trames
#define SIZE_TOPIC 25 // longueur des noms des topic
//#define BATEAU_MODE_TOR
#define TOPIC_TIMER_BATEAU "/B/timer"

14
main/loop.c
View File

@@ -122,10 +122,10 @@ void loop_bateau(void ){
dir=dirReceived;
thr=gazReceived;
dataReceived=0;
M1=(-thr+dir)*5;
M1=(2*thr-2*dir)*5;
if(M1>MOTOR_MAX_VALUE)M1=MOTOR_MAX_VALUE;
if(M1<-MOTOR_MAX_VALUE)M1=-MOTOR_MAX_VALUE;
M2=-(-thr-dir)*5;
M2=-(2*thr+2*dir)*5;
if(M2>MOTOR_MAX_VALUE)M2=MOTOR_MAX_VALUE;
if(M2<-MOTOR_MAX_VALUE)M2=-MOTOR_MAX_VALUE;
if(M1>0){
@@ -150,7 +150,7 @@ void loop_bateau(void ){
}
else{
if(timer++>10){// timeout de 1 seconde
esp_wifi_set_ps(WIFI_PS_MIN_MODEM);//minimise la conso, augmente la latence
// VE DEBUG esp_wifi_set_ps(WIFI_PS_MIN_MODEM);//minimise la conso, augmente la latence
state_bateau=BATEAU_SLEEP;
setMotor(0,dirM1,0,dirM2);
vTaskDelay(TRANSMIT_PERIOD_INTERVAL / portTICK_PERIOD_MS);
@@ -198,7 +198,7 @@ void loop_radio_bateau(void ){
vTaskDelay(TRANSMIT_PERIOD_INTERVAL / portTICK_PERIOD_MS);
}
else{
esp_wifi_set_ps(WIFI_PS_MIN_MODEM);
// VE DEBUG esp_wifi_set_ps(WIFI_PS_MIN_MODEM);
state_radio_bateau=RADIO_BATEAU_SLEEP;
getBatt(&batt);
sprintf(battStr,"%04d",batt);
@@ -238,7 +238,7 @@ void loop_starter_bateau(void){
timer--;
}
else{
//esp_wifi_set_ps(WIFI_PS_NONE);
esp_wifi_set_ps(WIFI_PS_NONE);
data='0';
msg_id = esp_mqtt_client_publish(clientMqtt, topicGo, &data, 0, 1, 1);
state_radio_bateau=RADIO_BATEAU_SLEEP;
@@ -286,10 +286,10 @@ void loop_voiture(void ){
dir=dirReceived;
thr=gazReceived;
dataReceived=0;
M1=(-thr+dir)*5;
M1=(thr+dir)*5;
if(M1>MOTOR_MAX_VALUE)M1=MOTOR_MAX_VALUE;
if(M1<-MOTOR_MAX_VALUE)M1=-MOTOR_MAX_VALUE;
M2=-(-thr-dir)*5;
M2=-(thr-dir)*5;
if(M2>MOTOR_MAX_VALUE)M2=MOTOR_MAX_VALUE;
if(M2<-MOTOR_MAX_VALUE)M2=-MOTOR_MAX_VALUE;
if(M1>0){