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Merge pull request #27 from ChrGri/develop
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Develop
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@ChrGri
ChrGri authored Mar 14, 2024
2 parents 632d158 + 58218e7 commit f8c8723
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Showing 18 changed files with 710 additions and 137 deletions.
23 changes: 17 additions & 6 deletions Arduino/Esp32/Main/DiyActivePedal_types.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,8 @@

static const float ABS_SCALING = 50;

const uint32_t EEPROM_OFFSET = (DAP_VERSION_CONFIG-128) * sizeof(DAP_config_st) % (2048-sizeof(DAP_config_st));

void DAP_config_st::initialiseDefaults() {
payLoadHeader_.payloadType = DAP_PAYLOAD_TYPE_CONFIG;
payLoadHeader_.version = DAP_VERSION_CONFIG;
Expand Down Expand Up @@ -89,31 +91,40 @@ void DAP_config_st::initialiseDefaults() {
payLoadPedalConfig_.invertLoadcellReading_u8 = 0;

payLoadPedalConfig_.invertMotorDirection_u8 = 0;
payLoadPedalConfig_.pedal_type=0;
payLoadPedalConfig_.OTA_flag=0;
}




void DAP_config_st::storeConfigToEprom(DAP_config_st& config_st)
{
if (true == config_st.payLoadHeader_.storeToEeprom)

EEPROM.put(EEPROM_OFFSET, config_st);
EEPROM.commit();
Serial.println("Successfully stored config in EPROM");

/*if (true == config_st.payLoadHeader_.storeToEeprom)
{
config_st.payLoadHeader_.storeToEeprom = false; // set to false, thus at restart existing EEPROM config isn't restored to EEPROM
EEPROM.put(0, config_st);
EEPROM.commit();
Serial.println("Successfully stored config in EPROM");
}
}*/
}

void DAP_config_st::loadConfigFromEprom(DAP_config_st& config_st)
{
DAP_config_st local_config_st;

EEPROM.get(0, local_config_st);
EEPROM.commit();
EEPROM.get(EEPROM_OFFSET, local_config_st);
//EEPROM.commit();

config_st = local_config_st;

// check if version matches revision, in case, update the default config
if (local_config_st.payLoadHeader_.version == DAP_VERSION_CONFIG)
/*if (local_config_st.payLoadHeader_.version == DAP_VERSION_CONFIG)
{
config_st = local_config_st;
Serial.println("Successfully loaded config from EPROM");
Expand All @@ -126,7 +137,7 @@ void DAP_config_st::loadConfigFromEprom(DAP_config_st& config_st)
Serial.print("Source version: ");
Serial.println(local_config_st.payLoadHeader_.version);
}
}*/

}

Expand Down
7 changes: 6 additions & 1 deletion Arduino/Esp32/Main/DiyActivePedal_types.h
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
#include <stdint.h>

// define the payload revision
#define DAP_VERSION_CONFIG 130
#define DAP_VERSION_CONFIG 132

// define the payload types
#define DAP_PAYLOAD_TYPE_CONFIG 100
Expand Down Expand Up @@ -152,6 +152,11 @@ struct payloadPedalConfig {
// spindle pitch in mm/rev
uint8_t spindlePitch_mmPerRev_u8;

//pedal type, 0= clutch, 1= brake, 2= gas
uint8_t pedal_type;
//OTA flag
uint8_t OTA_flag;

};

struct payloadFooter {
Expand Down
176 changes: 156 additions & 20 deletions Arduino/Esp32/Main/Main.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@ bool isv57LifeSignal_b = false;
int32_t servo_offset_compensation_steps_i32 = 0;
#endif


#define OTA_update



Expand Down Expand Up @@ -196,11 +196,16 @@ StepperWithLimits* stepper = NULL;
//static const int32_t MIN_STEPS = 5;

#include "StepperMovementStrategy.h"





/**********************************************************************************************/
/* */
/* OTA */
/* */
/**********************************************************************************************/
//OTA update
#ifdef OTA_update
#include "ota.h"
TaskHandle_t Task4;
#endif



Expand All @@ -218,11 +223,11 @@ void setup()
Serial.println(" ");
Serial.println(" ");
Serial.println(" ");

// init controller
SetupController();
delay(3000);

Serial.println("This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.");


// check whether iSV57 communication can be established
Expand Down Expand Up @@ -265,8 +270,71 @@ void setup()
dap_config_st.initialiseDefaults();

// Load config from EEPROM, if valid, overwrite initial config
EEPROM.begin(sizeof(DAP_config_st));
dap_config_st.loadConfigFromEprom(dap_config_st);
EEPROM.begin(2048);
dap_config_st.loadConfigFromEprom(dap_config_st_local);


// check validity of data from EEPROM
bool structChecker = true;
uint16_t crc;
if ( dap_config_st_local.payLoadHeader_.payloadType != DAP_PAYLOAD_TYPE_CONFIG ){
structChecker = false;
/*Serial.print("Payload type expected: ");
Serial.print(DAP_PAYLOAD_TYPE_CONFIG);
Serial.print(", Payload type received: ");
Serial.println(dap_config_st_local.payLoadHeader_.payloadType);*/
}
if ( dap_config_st_local.payLoadHeader_.version != DAP_VERSION_CONFIG ){
structChecker = false;
/*Serial.print("Config version expected: ");
Serial.print(DAP_VERSION_CONFIG);
Serial.print(", Config version received: ");
Serial.println(dap_config_st_local.payLoadHeader_.version);*/
}
// checksum validation
crc = checksumCalculator((uint8_t*)(&(dap_config_st_local.payLoadHeader_)), sizeof(dap_config_st_local.payLoadHeader_) + sizeof(dap_config_st_local.payLoadPedalConfig_));
if (crc != dap_config_st_local.payloadFooter_.checkSum){
structChecker = false;
/*Serial.print("CRC expected: ");
Serial.print(crc);
Serial.print(", CRC received: ");
Serial.println(dap_config_st_local.payloadFooter_.checkSum);*/
}






// if checks are successfull, overwrite global configuration struct
if (structChecker == true)
{
Serial.println("Updating pedal config from EEPROM");
dap_config_st = dap_config_st_local;
}
else
{

Serial.println("Couldn't load config from EPROM due to mismatch: ");

Serial.print("Payload type expected: ");
Serial.print(DAP_PAYLOAD_TYPE_CONFIG);
Serial.print(", Payload type received: ");
Serial.println(dap_config_st_local.payLoadHeader_.payloadType);


Serial.print("Target version: ");
Serial.print(DAP_VERSION_CONFIG);
Serial.print(", Source version: ");
Serial.println(dap_config_st_local.payLoadHeader_.version);

Serial.print("CRC expected: ");
Serial.print(crc);
Serial.print(", CRC received: ");
Serial.println(dap_config_st_local.payloadFooter_.checkSum);

}


// interprete config values
dap_calculationVariables_st.updateFromConfig(dap_config_st);
Expand Down Expand Up @@ -372,7 +440,7 @@ void setup()
//STACK_SIZE_FOR_TASK_1,
NULL, /* parameter of the task */
1, /* priority of the task */
&Task2, /* Task handle to keep track of created task */
&Task1, /* Task handle to keep track of created task */
1); /* pin task to core 1 */
delay(500);

Expand All @@ -396,18 +464,47 @@ void setup()
//STACK_SIZE_FOR_TASK_2,
NULL,
1,
&Task2,
&Task3,
0);
delay(500);
#endif



//Serial.begin(115200);
#ifdef OTA_update
char* APhost;
switch(dap_config_st.payLoadPedalConfig_.pedal_type)
{
case 0:
APhost="FFBPedalClutch";
break;
case 1:
APhost="FFBPedalBrake";
break;
case 2:
APhost="FFBPedalGas";
break;
default:
APhost="FFBPedal";
break;





}
if(dap_config_st.payLoadPedalConfig_.OTA_flag==1)
{
ota_wifi_initialize(APhost);
xTaskCreatePinnedToCore(
OTATask,
"OTATask",
16000,
//STACK_SIZE_FOR_TASK_2,
NULL,
1,
&Task4,
0);
delay(500);
}
#endif
Serial.println("Setup end");

}
Expand Down Expand Up @@ -444,6 +541,14 @@ void updatePedalCalcParameters()
/**********************************************************************************************/
void loop() {
taskYIELD();
/*
#ifdef OTA_update
server.handleClient();
//delay(1);
#endif
*/


}


Expand Down Expand Up @@ -524,7 +629,15 @@ void pedalUpdateTask( void * pvParameters )
{
Serial.println("Updating the calc params");
configWasUpdated_b = false;
dap_config_st.storeConfigToEprom(dap_config_st); // store config to EEPROM

if (true == dap_config_st.payLoadHeader_.storeToEeprom)
{
dap_config_st.payLoadHeader_.storeToEeprom = false; // set to false, thus at restart existing EEPROM config isn't restored to EEPROM
uint16_t crc = checksumCalculator((uint8_t*)(&(dap_config_st.payLoadHeader_)), sizeof(dap_config_st.payLoadHeader_) + sizeof(dap_config_st.payLoadPedalConfig_));
dap_config_st.payloadFooter_.checkSum = crc;
dap_config_st.storeConfigToEprom(dap_config_st); // store config to EEPROM
}

updatePedalCalcParameters(); // update the calc parameters
}

Expand Down Expand Up @@ -825,9 +938,13 @@ void pedalUpdateTask( void * pvParameters )
dacWrite(D_O,dac_value);
#endif


float normalizedPedalReading_fl32 = constrain((filteredReading - dap_calculationVariables_st.Force_Min) / dap_calculationVariables_st.Force_Range, 0, 1);


float normalizedPedalReading_fl32 = 0;
if ( fabs(dap_calculationVariables_st.Force_Range) > 0.01)
{
normalizedPedalReading_fl32 = constrain((filteredReading - dap_calculationVariables_st.Force_Min) / dap_calculationVariables_st.Force_Range, 0, 1);
}

// simulate ABS trigger
if(dap_config_st.payLoadPedalConfig_.Simulate_ABS_trigger==1)
{
Expand Down Expand Up @@ -909,6 +1026,13 @@ void pedalUpdateTask( void * pvParameters )
unsigned int temp2 = uxTaskGetStackHighWaterMark(nullptr);
Serial.print("PU task stack size="); Serial.println(temp2);
#endif
/*
#ifdef OTA_update
server.handleClient();
//delay(1);
#endif
*/

}
}

Expand Down Expand Up @@ -1142,6 +1266,18 @@ void serialCommunicationTask( void * pvParameters )

}
}
//OTA multitask
void OTATask( void * pvParameters )
{

for(;;)
{
#ifdef OTA_update
server.handleClient();
//delay(1);
#endif
}
}



Expand Down
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