adipu/Blinds_XIAO
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Added basic calibration framework: pending servo integration and tying of encoders.

Browse Source
This commit is contained in:
pulipakaa24
2025-12-28 20:52:11 -06:00
parent 2a79df3050
commit b43c918c57
7 changed files with 398 additions and 178 deletions
Download Patch File Download Diff File Expand all files Collapse all files

79
include/calibration.cpp Normal file
View File

@@ -0,0 +1,79 @@
#include "calibration.hpp"
#include "defines.h"
#include "nvs_flash.h"
void Calibration::init() {
nvs_handle_t calibHandle;
if (nvs_open(nvsCalib, NVS_READONLY, &calibHandle) == ESP_OK) {
int32_t tempTicks;
if (nvs_get_i32(calibHandle, UpMinusDownTicksTag, &tempTicks) == ESP_OK) {
uint8_t tempCalib;
if (nvs_get_u8(calibHandle, statusTag, &tempCalib) == ESP_OK) {
UpMinusDownTicks = tempTicks;
calibrated = tempCalib;
printf("Range: %d\n", tempTicks);
}
else {
printf("No status present\n");
calibrated = false;
}
}
else {
printf("No Updownticks present\n");
calibrated = false;
}
nvs_close(calibHandle);
}
else {
printf("CALIBINIT: failed to open NVS - not created?\n");
calibrated = false;
}
}
void Calibration::clearCalibrated() {
if (!calibrated) return;
// clear variable and NVS
calibrated = false;
nvs_handle_t calibHandle;
if (nvs_open(nvsCalib, NVS_READWRITE, &calibHandle) == ESP_OK) {
if (nvs_set_u8(calibHandle, statusTag, false) != ESP_OK)
printf("Error saving calibration status as false.\n");
nvs_close(calibHandle);
}
else printf("Error opening calibration NVS segment.\n");
}
bool Calibration::completeCalib() {
int32_t tempUpMinusDownTicks = startTicks - topEnc.getCount();
if (calibrated && UpMinusDownTicks == tempUpMinusDownTicks) return true;
else {
nvs_handle_t calibHandle;
if (nvs_open(nvsCalib, NVS_READWRITE, &calibHandle) == ESP_OK) {
esp_err_t err = ESP_OK;
if (UpMinusDownTicks != tempUpMinusDownTicks)
err |= nvs_set_i32(calibHandle, UpMinusDownTicksTag, tempUpMinusDownTicks);
if (!calibrated)
err |= nvs_set_u8(calibHandle, statusTag, true);
if (err != ESP_OK) {
printf("Error saving calibration data.\n");
return false;
}
UpMinusDownTicks = tempUpMinusDownTicks;
calibrated = true;
printf("Range: %d\n", tempUpMinusDownTicks);
nvs_close(calibHandle);
}
else {
printf("Error opening calibration NVS segment.\n");
return false;
}
}
return true;
}
int32_t Calibration::convertToTicks(int8_t steps10) {
// steps10 between -10 and +10
// with +10 meaning full length upward, -10 meaning full length downward.
return ((int32_t)steps10 * UpMinusDownTicks) / 10;
}

25
include/calibration.hpp Normal file
View File

@@ -0,0 +1,25 @@
#ifndef CALIBRATION_H
#define CALIBRATION_H
#include <atomic>
#include "encoder.hpp"
class Calibration {
public:
void init();
void beginDownwardCalib() {startTicks = topEnc.getCount();}
bool completeCalib();
int32_t convertToTicks(int8_t steps10);
bool getCalibrated() {return calibrated;}
void clearCalibrated();
Calibration(Encoder& enc):topEnc(enc) {};
private:
std::atomic<bool> calibrated;
std::atomic<int32_t> UpMinusDownTicks;
int32_t startTicks;
Encoder& topEnc;
};
extern Calibration calib;
#endif

6
include/defines.h
View File

@@ -8,14 +8,20 @@
#define ccwMax 10
#define cwMax 0
#define nvsWiFi "WiFiCreds"
#define ssidTag "SSID"
#define passTag "PW"
#define authTag "AuthMode"
#define unameTag "UNAME"
#define nvsAuth "AUTH"
#define tokenTag "TOKEN"
#define nvsCalib "CALIB"
#define UpMinusDownTicksTag "UPDOWN"
#define statusTag "STATUS"
#define ENCODER_PIN_A GPIO_NUM_23
#define ENCODER_PIN_B GPIO_NUM_16

3
include/encoder.hpp
View File

@@ -1,11 +1,12 @@
#ifndef ENCODER_H
#define ENCODER_H
#include "driver/gpio.h"
#include <atomic>
class Encoder {
public:
// Shared between ISR and main code
volatile int32_t count;
std::atomic<int32_t> count;
// ISR-only state
uint8_t last_state_a;

94
include/socketIO.cpp
View File

@@ -4,6 +4,7 @@
#include "WiFi.hpp"
#include "setup.hpp"
#include "cJSON.h"
#include "calibration.hpp"
static esp_socketio_client_handle_t io_client;
static esp_socketio_packet_handle_t tx_packet = NULL;
@@ -84,11 +85,11 @@ static void socketio_event_handler(void *handler_args, esp_event_base_t base,
cJSON *periph = cJSON_GetArrayItem(deviceState, i);
int port = cJSON_GetObjectItem(periph, "port")->valueint;
int lastPos = cJSON_GetObjectItem(periph, "lastPos")->valueint;
bool awaitCalib = cJSON_IsTrue(cJSON_GetObjectItem(periph, "awaitCalib"));
bool calibrated = cJSON_IsTrue(cJSON_GetObjectItem(periph, "calibrated"));
// TODO: UPDATE MOTOR/ENCODER STATES BASED ON THIS, as well as the successive websocket updates.
printf(" Port %d: pos=%d, calibrated=%d, awaitCalib=%d\n",
port, lastPos, calibrated, awaitCalib);
port, lastPos, calibrated);
}
}
@@ -115,6 +116,57 @@ static void socketio_event_handler(void *handler_args, esp_event_base_t base,
connected = false;
statusResolved = true;
}
// Handle calib_start event
else if (strcmp(eventName->valuestring, "calib_start") == 0) {
printf("Device calibration begun, setting up...\n");
cJSON *data = cJSON_GetArrayItem(json, 1);
if (data) {
cJSON *port = cJSON_GetObjectItem(data, "port");
if (port && cJSON_IsNumber(port)) {
if (port->valueint != 1)
printf("Error, non-1 port received for calibration\n");
else {
calib.clearCalibrated();
emitCalibStage1Ready();
}
}
}
}
// Handle user_stage1_complete event
else if (strcmp(eventName->valuestring, "user_stage1_complete") == 0) {
printf("User completed stage 1 (tilt up), switching direction...\n");
cJSON *data = cJSON_GetArrayItem(json, 1);
if (data) {
cJSON *port = cJSON_GetObjectItem(data, "port");
if (port && cJSON_IsNumber(port)) {
if (port->valueint != 1)
printf("Error, non-1 port received for calibration\n");
else {
calib.beginDownwardCalib();
emitCalibStage2Ready();
}
}
}
}
// Handle user_stage2_complete event
else if (strcmp(eventName->valuestring, "user_stage2_complete") == 0) {
printf("User completed stage 2 (tilt down), finalizing calibration...\n");
cJSON *data = cJSON_GetArrayItem(json, 1);
if (data) {
cJSON *port = cJSON_GetObjectItem(data, "port");
if (port && cJSON_IsNumber(port)) {
if (port->valueint != 1)
printf("Error, non-1 port received for calibration\n");
else {
calib.completeCalib();
emitCalibDone();
}
}
}
}
}
}
@@ -206,3 +258,41 @@ void emitCalibDone(int port) {
cJSON_Delete(array);
}
}
// Function to emit 'calib_stage1_ready' to notify server device is ready for tilt up
void emitCalibStage1Ready(int port) {
if (esp_socketio_packet_set_header(tx_packet, EIO_PACKET_TYPE_MESSAGE,
SIO_PACKET_TYPE_EVENT, NULL, -1) == ESP_OK) {
cJSON *array = cJSON_CreateArray();
cJSON_AddItemToArray(array, cJSON_CreateString("calib_stage1_ready"));
cJSON *data = cJSON_CreateObject();
cJSON_AddNumberToObject(data, "port", port);
cJSON_AddItemToArray(array, data);
esp_socketio_packet_set_json(tx_packet, array);
esp_socketio_client_send_data(io_client, tx_packet);
esp_socketio_packet_reset(tx_packet);
cJSON_Delete(array);
}
}
// Function to emit 'calib_stage2_ready' to notify server device is ready for tilt down
void emitCalibStage2Ready(int port) {
if (esp_socketio_packet_set_header(tx_packet, EIO_PACKET_TYPE_MESSAGE,
SIO_PACKET_TYPE_EVENT, NULL, -1) == ESP_OK) {
cJSON *array = cJSON_CreateArray();
cJSON_AddItemToArray(array, cJSON_CreateString("calib_stage2_ready"));
cJSON *data = cJSON_CreateObject();
cJSON_AddNumberToObject(data, "port", port);
cJSON_AddItemToArray(array, data);
esp_socketio_packet_set_json(tx_packet, array);
esp_socketio_client_send_data(io_client, tx_packet);
esp_socketio_packet_reset(tx_packet);
cJSON_Delete(array);
}
}

6
include/socketIO.hpp
View File

@@ -11,7 +11,9 @@ void initSocketIO();
// Stop and destroy Socket.IO client
void stopSocketIO();
// Emit calibration done event to server
void emitCalibDone(int port);
// Emit calibration stage events to server
void emitCalibStage1Ready(int port = 1);
void emitCalibStage2Ready(int port = 1);
void emitCalibDone(int port = 1);
#endif // SOCKETIO_HPP

31
src/main.cpp
View File

@@ -7,6 +7,14 @@
#include "setup.hpp"
#include "socketIO.hpp"
#include "encoder.hpp"
#include "calibration.hpp"
// Global encoder instances
Encoder topEnc(ENCODER_PIN_A, ENCODER_PIN_B);
Encoder bottomEnc(InputEnc_PIN_A, InputEnc_PIN_B);
// Global calibration instance
Calibration calib(topEnc);
void mainApp() {
printf("Hello ");
@@ -19,17 +27,21 @@ void mainApp() {
ESP_ERROR_CHECK(ret);
bmWiFi.init();
calib.init();
// Create and initialize encoder
Encoder encoder(ENCODER_PIN_A, ENCODER_PIN_B);
encoder.init();
// Initialize encoders
topEnc.init();
bottomEnc.init();
setupLoop();
statusResolved = false;
int32_t prevCount = topEnc.getCount();
// Main loop
while (1) {
// websocket disconnect/reconnect handling
if (statusResolved) {
if (!connected) {
printf("Disconnected! Beginning setup loop.\n");
@@ -39,9 +51,14 @@ void mainApp() {
else printf("Reconnected!\n");
statusResolved = false;
}
// Your main application logic here
vTaskDelay(pdMS_TO_TICKS(1000));
printf("loop\n");
int32_t currentCount = topEnc.getCount();
if (currentCount != prevCount) {
prevCount = currentCount;
printf("Encoder Pos: %d\n", prevCount);
}
vTaskDelay(pdMS_TO_TICKS(100));
}
}
@@ -63,6 +80,6 @@ void encoderTest() {
}
extern "C" void app_main() {
// mainApp();
encoderTest();
mainApp();
// encoderTest();
}