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This commit is contained in:
AlexanderHD27
2024-12-28 22:47:46 +01:00
parent bdec2db94d
commit 801e791199
52 changed files with 5252 additions and 1417 deletions
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47
stone-dispencer/.devcontainer/Dockerfile Normal file
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FROM espressif/idf
ARG DEBIAN_FRONTEND=nointeractive
ARG CONTAINER_USER=esp
ARG USER_UID=1050
ARG USER_GID=$USER_UID
RUN apt-get update \
&& apt install -y -q \
cmake \
git \
libglib2.0-0 \
libnuma1 \
libpixman-1-0 \
&& rm -rf /var/lib/apt/lists/*
# QEMU
ENV QEMU_REL=esp_develop_8.2.0_20240122
ENV QEMU_SHA256=e7c72ef5705ad1444d391711088c8717fc89f42e9bf6d1487f9c2a326b8cfa83
ENV QEMU_DIST=qemu-xtensa-softmmu-${QEMU_REL}-x86_64-linux-gnu.tar.xz
ENV QEMU_URL=https://github.com/espressif/qemu/releases/download/esp-develop-8.2.0-20240122/${QEMU_DIST}
ENV LC_ALL=C.UTF-8
ENV LANG=C.UTF-8
RUN wget --no-verbose ${QEMU_URL} \
&& echo "${QEMU_SHA256} *${QEMU_DIST}" | sha256sum --check --strict - \
&& tar -xf $QEMU_DIST -C /opt \
&& rm ${QEMU_DIST}
ENV PATH=/opt/qemu/bin:${PATH}
RUN groupadd --gid $USER_GID $CONTAINER_USER \
&& adduser --uid $USER_UID --gid $USER_GID --disabled-password --gecos "" ${CONTAINER_USER} \
&& usermod -a -G root $CONTAINER_USER && usermod -a -G dialout $CONTAINER_USER
RUN chmod -R 775 /opt/esp/python_env/
USER ${CONTAINER_USER}
ENV USER=${CONTAINER_USER}
WORKDIR /home/${CONTAINER_USER}
RUN echo "source /opt/esp/idf/export.sh > /dev/null 2>&1" >> ~/.bashrc
ENTRYPOINT [ "/opt/esp/entrypoint.sh" ]
CMD ["/bin/bash", "-c"]

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stone-dispencer/.devcontainer/devcontainer.json Normal file
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{
"name": "ESP-IDF QEMU",
"build": {
"dockerfile": "Dockerfile"
},
"customizations": {
"vscode": {
"settings": {
"terminal.integrated.defaultProfile.linux": "bash",
"idf.espIdfPath": "/opt/esp/idf",
"idf.customExtraPaths": "",
"idf.pythonBinPath": "/opt/esp/python_env/idf5.4_py3.12_env/bin/python",
"idf.toolsPath": "/opt/esp",
"idf.gitPath": "/usr/bin/git"
},
"extensions": [
"espressif.esp-idf-extension"
]
},
"codespaces": {
"settings": {
"terminal.integrated.defaultProfile.linux": "bash",
"idf.espIdfPath": "/opt/esp/idf",
"idf.customExtraPaths": "",
"idf.pythonBinPath": "/opt/esp/python_env/idf5.4_py3.12_env/bin/python",
"idf.toolsPath": "/opt/esp",
"idf.gitPath": "/usr/bin/git"
},
"extensions": [
"espressif.esp-idf-extension",
"espressif.esp-idf-web"
]
}
},
"runArgs": ["--privileged"]
}

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stone-dispencer/.vscode/c_cpp_properties.json vendored Normal file
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{
"configurations": [
{
"name": "ESP-IDF",
"compilerPath": "${config:idf.toolsPath}/tools/xtensa-esp-elf/esp-13.2.0_20240530/xtensa-esp-elf/bin/xtensa-esp32-elf-gcc",
"compileCommands": "${config:idf.buildPath}/compile_commands.json",
"includePath": [
"${config:idf.espIdfPath}/components/**",
"${config:idf.espIdfPathWin}/components/**",
"${workspaceFolder}/**"
],
"browse": {
"path": [
"${config:idf.espIdfPath}/components",
"${config:idf.espIdfPathWin}/components",
"${workspaceFolder}"
],
"limitSymbolsToIncludedHeaders": true
}
}
],
"version": 4
}

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stone-dispencer/.vscode/launch.json vendored Normal file
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{
"version": "0.2.0",
"configurations": [
{
"type": "gdbtarget",
"request": "attach",
"name": "Eclipse CDT GDB Adapter"
},
{
"type": "espidf",
"name": "Launch",
"request": "launch"
}
]
}

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stone-dispencer/.vscode/settings.json vendored Normal file
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{
"C_Cpp.intelliSenseEngine": "default",
"idf.adapterTargetName": "esp32",
"idf.customExtraPaths": "/home/alexander/.espressif/tools/xtensa-esp-elf-gdb/14.2_20240403/xtensa-esp-elf-gdb/bin:/home/alexander/.espressif/tools/riscv32-esp-elf-gdb/14.2_20240403/riscv32-esp-elf-gdb/bin:/home/alexander/.espressif/tools/xtensa-esp-elf/esp-13.2.0_20240530/xtensa-esp-elf/bin:/home/alexander/.espressif/tools/riscv32-esp-elf/esp-13.2.0_20240530/riscv32-esp-elf/bin:/home/alexander/.espressif/tools/esp32ulp-elf/2.38_20240113/esp32ulp-elf/bin:/home/alexander/.espressif/tools/openocd-esp32/v0.12.0-esp32-20240318/openocd-esp32/bin:/home/alexander/.espressif/tools/esp-rom-elfs/20240305",
"idf.customExtraVars": {
"OPENOCD_SCRIPTS": "/home/alexander/.espressif/tools/openocd-esp32/v0.12.0-esp32-20240318/openocd-esp32/share/openocd/scripts",
"ESP_ROM_ELF_DIR": "/home/alexander/.espressif/tools/esp-rom-elfs/20240305/"
},
"idf.espIdfPath": "/opt/esp/v5.3.2/esp-idf",
"idf.openOcdConfigs": [
"board/esp32-wrover-kit-3.3v.cfg"
],
"idf.port": "/dev/ttyUSB1",
"idf.toolsPath": "/home/alexander/.espressif",
"idf.flashType": "JTAG",
"idf.openOcdLaunchArgs": [
"-c",
"adapter speed 1000"
],
"files.associations": {
"*.tcc": "c",
"charconv": "c",
"chrono": "c",
"optional": "c",
"format": "c",
"ratio": "c",
"system_error": "c",
"array": "c",
"functional": "c",
"regex": "c",
"tuple": "c",
"type_traits": "c",
"utility": "c",
"esp_chip_info.h": "c",
"random": "cpp",
"future": "cpp"
},
}

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{
"version": "2.0.0",
"tasks": [
{
"label": "Build - Build project",
"type": "shell",
"command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py build",
"windows": {
"command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py build",
"options": {
"env": {
"PATH": "${env:PATH};${config:idf.customExtraPaths}"
}
}
},
"options": {
"env": {
"PATH": "${env:PATH}:${config:idf.customExtraPaths}"
}
},
"problemMatcher": [
{
"owner": "cpp",
"fileLocation": [
"autoDetect",
"${workspaceFolder}"
],
"pattern": {
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
"file": 1,
"line": 2,
"column": 3,
"severity": 4,
"message": 5
}
}
],
"group": {
"kind": "build",
"isDefault": true
}
},
{
"label": "Set ESP-IDF Target",
"type": "shell",
"command": "${command:espIdf.setTarget}",
"problemMatcher": {
"owner": "cpp",
"fileLocation": [
"autoDetect",
"${workspaceFolder}"
],
"pattern": {
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
"file": 1,
"line": 2,
"column": 3,
"severity": 4,
"message": 5
}
}
},
{
"label": "Clean - Clean the project",
"type": "shell",
"command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py fullclean",
"windows": {
"command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py fullclean",
"options": {
"env": {
"PATH": "${env:PATH};${config:idf.customExtraPaths}"
}
}
},
"options": {
"env": {
"PATH": "${env:PATH}:${config:idf.customExtraPaths}"
}
},
"problemMatcher": [
{
"owner": "cpp",
"fileLocation": [
"autoDetect",
"${workspaceFolder}"
],
"pattern": {
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
"file": 1,
"line": 2,
"column": 3,
"severity": 4,
"message": 5
}
}
]
},
{
"label": "Flash - Flash the device",
"type": "shell",
"command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py -p ${config:idf.port} -b ${config:idf.flashBaudRate} flash",
"windows": {
"command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py flash -p ${config:idf.portWin} -b ${config:idf.flashBaudRate}",
"options": {
"env": {
"PATH": "${env:PATH};${config:idf.customExtraPaths}"
}
}
},
"options": {
"env": {
"PATH": "${env:PATH}:${config:idf.customExtraPaths}"
}
},
"problemMatcher": [
{
"owner": "cpp",
"fileLocation": [
"autoDetect",
"${workspaceFolder}"
],
"pattern": {
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
"file": 1,
"line": 2,
"column": 3,
"severity": 4,
"message": 5
}
}
]
},
{
"label": "Monitor: Start the monitor",
"type": "shell",
"command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py -p ${config:idf.port} monitor",
"windows": {
"command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py -p ${config:idf.portWin} monitor",
"options": {
"env": {
"PATH": "${env:PATH};${config:idf.customExtraPaths}"
}
}
},
"options": {
"env": {
"PATH": "${env:PATH}:${config:idf.customExtraPaths}"
}
},
"problemMatcher": [
{
"owner": "cpp",
"fileLocation": [
"autoDetect",
"${workspaceFolder}"
],
"pattern": {
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
"file": 1,
"line": 2,
"column": 3,
"severity": 4,
"message": 5
}
}
],
"dependsOn": "Flash - Flash the device"
},
{
"label": "OpenOCD: Start openOCD",
"type": "shell",
"presentation": {
"echo": true,
"reveal": "never",
"focus": false,
"panel": "new"
},
"command": "openocd -s ${command:espIdf.getOpenOcdScriptValue} ${command:espIdf.getOpenOcdConfigs}",
"windows": {
"command": "openocd.exe -s ${command:espIdf.getOpenOcdScriptValue} ${command:espIdf.getOpenOcdConfigs}",
"options": {
"env": {
"PATH": "${env:PATH};${config:idf.customExtraPaths}"
}
}
},
"options": {
"env": {
"PATH": "${env:PATH}:${config:idf.customExtraPaths}"
}
},
"problemMatcher": {
"owner": "cpp",
"fileLocation": [
"autoDetect",
"${workspaceFolder}"
],
"pattern": {
"regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
"file": 1,
"line": 2,
"column": 3,
"severity": 4,
"message": 5
}
}
},
{
"label": "adapter",
"type": "shell",
"command": "${config:idf.pythonBinPath}",
"isBackground": true,
"options": {
"env": {
"PATH": "${env:PATH}:${config:idf.customExtraPaths}",
"PYTHONPATH": "${command:espIdf.getExtensionPath}/esp_debug_adapter/debug_adapter"
}
},
"problemMatcher": {
"background": {
"beginsPattern": "\bDEBUG_ADAPTER_STARTED\b",
"endsPattern": "DEBUG_ADAPTER_READY2CONNECT",
"activeOnStart": true
},
"pattern": {
"regexp": "(\\d+)-(\\d+)-(\\d+)\\s(\\d+):(\\d+):(\\d+),(\\d+)\\s-(.+)\\s(ERROR)",
"file": 8,
"line": 2,
"column": 3,
"severity": 4,
"message": 9
}
},
"args": [
"${command:espIdf.getExtensionPath}/esp_debug_adapter/debug_adapter_main.py",
"-e",
"${workspaceFolder}/build/${command:espIdf.getProjectName}.elf",
"-s",
"$OPENOCD_SCRIPTS",
"-dn",
"esp32",
"-om",
"connect_to_instance",
"-t",
"xtensa-esp32-elf-"
],
"windows": {
"command": "${config:idf.pythonBinPathWin}",
"options": {
"env": {
"PATH": "${env:PATH};${config:idf.customExtraPaths}",
"PYTHONPATH": "${command:espIdf.getExtensionPath}/esp_debug_adapter/debug_adapter"
}
}
}
}
]
}

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# The following lines of boilerplate have to be in your project's
# CMakeLists in this exact order for cmake to work correctly
cmake_minimum_required(VERSION 3.16)
include($ENV{IDF_PATH}/tools/cmake/project.cmake)
project(stone-dispencer)

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(sym_lib_table
(version 7)
(lib (name "ESP32-DEVKIT-V1")(type "KiCad")(uri "/home/alexander/Projects/gobot/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.kicad_sym")(options "")(descr ""))
)

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/home/alexander/Projects/gobot/common-libaries/gobot_rpc

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stone-dispencer/components/mcp2521 Symbolic link
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/home/alexander/Projects/gobot/common-libaries/mcp2521

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stone-dispencer/components/mcp2521_hardware_interface Symbolic link
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/home/alexander/Projects/gobot/common-libaries/mcp2521_hardware_interface

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idf_component_register(SRCS "hello_world_main.cpp"
REQUIRES mcp2521
REQUIRES mcp2521_hardware_interface
REQUIRES driver
INCLUDE_DIRS "")

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stone-dispencer/main/hello_world_main.cpp Executable file
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/*
* SPDX-FileCopyrightText: 2010-2022 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: CC0-1.0
*/
#include <stdio.h>
#include <inttypes.h>
#include "sdkconfig.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "driver/gpio.h"
#include "driver/ledc.h"
#include "time.h"
#include "mcp2521.hpp"
#include "mcp2521_hardware_handle.hpp"
#define MCP2521_PIN_INT GPIO_NUM_5
#define MCP2521_PIN_SCLK GPIO_NUM_18
#define MCP2521_PIN_MISO GPIO_NUM_26
#define MCP2521_PIN_MOSI GPIO_NUM_23
#define MCP2521_PIN_CS GPIO_NUM_25
#define SERVO_0_PIN GPIO_NUM_2
#define SERVO_1_PIN GPIO_NUM_4
#define SERVO_2_PIN GPIO_NUM_19
#define SERVO_3_PIN GPIO_NUM_21
#define LED_PIN GPIO_NUM_22
#define DETECTOR_PIN GPIO_NUM_32
#define Z_AXIS_DETECT_PIN GPIO_NUM_35
#define BUTTON_PIN GPIO_NUM_33
#define MOTOR_PERIOD_US 20000
#define MOTOR_MIN_PULSE_US 500
#define MOTOR_MAX_PULSE_US 2500
#define MOTOR_MG996R_US 20000
#define MOTOR_MG996R_MIN_PULSE_US 500
#define MOTOR_MG996R_MAX_PULSE_US 2500
#define PWM_RESOLUTION 18
#define PWM_MAX_VALUE (1 << PWM_RESOLUTION)
#define MOTOR_MAX_VALUE (MOTOR_MAX_PULSE_US * PWM_MAX_VALUE / MOTOR_PERIOD_US)
#define MOTOR_MIN_VALUE (MOTOR_MIN_PULSE_US * PWM_MAX_VALUE / MOTOR_PERIOD_US)
#define MOTOR_CENTER_VALUE ((MOTOR_MAX_VALUE + MOTOR_MIN_VALUE) / 2)
#define MOTOR_MG996R_MAX_VALUE (MOTOR_MG996R_MAX_PULSE_US * PWM_MAX_VALUE / MOTOR_MG996R_US)
#define MOTOR_MG996R_MIN_VALUE (MOTOR_MG996R_MIN_PULSE_US * PWM_MAX_VALUE / MOTOR_MG996R_US)
#define MOTOR_MG996R_CENTER_VALUE ((MOTOR_MG996R_MAX_VALUE + MOTOR_MG996R_MIN_VALUE) / 2)
#define MOTOR_RANGE (MOTOR_MAX_VALUE - MOTOR_MIN_VALUE)
#define MOTOR_HALF_RANGE (MOTOR_RANGE / 2)
#define MOTOR_MG996R_RANGE (MOTOR_MG996R_MAX_VALUE - MOTOR_MG996R_MIN_VALUE)
#define MOTOR_MG996R_HALF_RANGE (MOTOR_MG996R_RANGE / 2)
#define CHOPPER_0_CLOSED (MOTOR_CENTER_VALUE - 1000)
#define CHOPPER_1_CLOSED (MOTOR_CENTER_VALUE + 900)
#define CHOPPER_0_OPEN (MOTOR_CENTER_VALUE - MOTOR_HALF_RANGE*0.75)
#define CHOPPER_1_OPEN (MOTOR_CENTER_VALUE + MOTOR_HALF_RANGE*0.75)
#define HEAD_MOVE_UP_TIME 250
#define HEAD_MOVE_UP (MOTOR_MG996R_CENTER_VALUE + MOTOR_MG996R_HALF_RANGE*0.5)
#define HEAD_MOVE_STOP (MOTOR_MG996R_CENTER_VALUE)
#define HEAD_MOVE_DOWN_TIME 750
#define HEAD_MOVE_DOWN (MOTOR_MG996R_CENTER_VALUE - MOTOR_MG996R_HALF_RANGE*0.5)
// Z-Axis Motor
bool motor_stop_up_flag = false;
SemaphoreHandle_t motor_stop_down_semaphore;
SemaphoreHandle_t motor_stop_up_semaphore;
static void IRAM_ATTR isr_motor_stop_up(void *args) {
if(motor_stop_up_flag) {
motor_stop_up_flag = false;
xSemaphoreGiveFromISR(motor_stop_up_semaphore, NULL);
}
}
static void task_fn_motor_stop_up(void *args) {
while(true) {
xSemaphoreTake(motor_stop_up_semaphore, portMAX_DELAY);
vTaskDelay(HEAD_MOVE_UP_TIME / portTICK_PERIOD_MS);
ledc_set_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_2, HEAD_MOVE_STOP);
ledc_update_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_2);
}
}
static void task_fn_motor_stop_down(void *args) {
while(true) {
xSemaphoreTake(motor_stop_down_semaphore, portMAX_DELAY);
vTaskDelay(HEAD_MOVE_DOWN_TIME / portTICK_PERIOD_MS);
ledc_set_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_2, HEAD_MOVE_STOP);
ledc_update_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_2);
}
}
void lower_head() {
ledc_set_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_2, HEAD_MOVE_DOWN);
ledc_update_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_2);
xSemaphoreGive(motor_stop_down_semaphore);
vTaskDelay(500 / portTICK_PERIOD_MS);
}
void raise_head() {
if(!gpio_get_level(Z_AXIS_DETECT_PIN)) {
return;
}
ledc_set_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_2, HEAD_MOVE_UP);
ledc_update_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_2);
motor_stop_up_flag = true;
}
// Dispencing mechanism
void set_copper(bool bottom, bool top) {
ledc_set_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_1, bottom ? CHOPPER_1_OPEN : CHOPPER_1_CLOSED);
ledc_set_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0, top ? CHOPPER_0_OPEN : CHOPPER_0_CLOSED);
ledc_update_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_1);
ledc_update_duty(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0);
}
enum DISPENSER_RESULT {
SUCESS = 0,
EMPTY_WARINING = 1,
EMPTY = 2,
};
bool load_stone() {
if(!gpio_get_level(DETECTOR_PIN)) {
// No stone loaded
return true;
}
set_copper(true, false);
vTaskDelay(250 / portTICK_PERIOD_MS);
set_copper(false, false);
if(!gpio_get_level(DETECTOR_PIN)) {
return true;
} else {
return false;
}
}
enum DISPENSER_RESULT dispens_stone() {
if(!gpio_get_level(DETECTOR_PIN)) {
// No stone loaded
set_copper(false, true);
vTaskDelay(250 / portTICK_PERIOD_MS);
set_copper(false, false);
vTaskDelay(100 / portTICK_PERIOD_MS);
if(!gpio_get_level(DETECTOR_PIN)) {
// No stone loaded again
return EMPTY;
}
}
lower_head();
set_copper(true, false);
vTaskDelay(250 / portTICK_PERIOD_MS);
set_copper(false, false);
vTaskDelay(100 / portTICK_PERIOD_MS);
set_copper(false, true);
vTaskDelay(250 / portTICK_PERIOD_MS);
set_copper(false, false);
raise_head();
if(!gpio_get_level(DETECTOR_PIN)) {
return SUCESS;
} else {
return EMPTY_WARINING;
}
}
extern "C" void app_main(void)
{
printf("Hello world!\n");
gpio_set_direction(LED_PIN, GPIO_MODE_OUTPUT);
gpio_set_direction(DETECTOR_PIN, GPIO_MODE_INPUT);
gpio_set_direction(Z_AXIS_DETECT_PIN, GPIO_MODE_INPUT);
gpio_set_direction(BUTTON_PIN, GPIO_MODE_INPUT);
motor_stop_up_semaphore = xSemaphoreCreateBinary();
motor_stop_down_semaphore = xSemaphoreCreateBinary();
xTaskCreatePinnedToCore(task_fn_motor_stop_up, "motor_stop_up", 2048, NULL, 4, NULL, 0);
xTaskCreatePinnedToCore(task_fn_motor_stop_down, "motor_stop_down", 2048, NULL, 4, NULL, 0);
gpio_set_intr_type(Z_AXIS_DETECT_PIN, GPIO_INTR_ANYEDGE);
gpio_install_isr_service(0);
gpio_isr_handler_add(Z_AXIS_DETECT_PIN, isr_motor_stop_up, NULL);
spi_bus_config_t bus_config;
MCP2521_HardwareHandle_ESP MCP2521_HardwareHandle_ESP(
VSPI_HOST,
&bus_config,
MCP2521_PIN_MOSI,
MCP2521_PIN_MISO,
MCP2521_PIN_SCLK,
MCP2521_PIN_CS,
MCP2521_PIN_INT
);
if(0) {
gpio_set_direction(MCP2521_PIN_SCLK, GPIO_MODE_OUTPUT);
gpio_set_direction(MCP2521_PIN_MISO, GPIO_MODE_OUTPUT);
gpio_set_direction(MCP2521_PIN_MOSI, GPIO_MODE_OUTPUT);
gpio_set_direction(MCP2521_PIN_CS, GPIO_MODE_OUTPUT);
gpio_set_level(MCP2521_PIN_SCLK, 1);
gpio_set_level(MCP2521_PIN_MISO, 1);
gpio_set_level(MCP2521_PIN_MOSI, 1);
gpio_set_level(MCP2521_PIN_CS, 1);
vTaskDelay(50 / portTICK_PERIOD_MS);
gpio_set_level(MCP2521_PIN_SCLK, 0);
vTaskDelay(50 / portTICK_PERIOD_MS);
gpio_set_level(MCP2521_PIN_MOSI, 0);
vTaskDelay(50 / portTICK_PERIOD_MS);
gpio_set_level(MCP2521_PIN_MISO, 0);
vTaskDelay(50 / portTICK_PERIOD_MS);
gpio_set_level(MCP2521_PIN_CS, 0); // Works
}
MCP2521 mcp2521(&MCP2521_HardwareHandle_ESP);
mcp2521.reset();
mcp2521.set_mode_of_operation(MCP2521_OPERATION_MODE::NORMAL, true);
printf("CANSTAT: %x\n", mcp2521.read_reg(MCP2521_CANCTRL));
printf("MCP2521 initialized\n");
ledc_timer_config_t ledc_timer = {
.speed_mode = ledc_mode_t::LEDC_LOW_SPEED_MODE,
.duty_resolution = LEDC_TIMER_18_BIT,
.timer_num = LEDC_TIMER_0,
.freq_hz = 50,
.clk_cfg = LEDC_AUTO_CLK
};
ledc_channel_config_t servo0_channel_config = {
.gpio_num = SERVO_0_PIN,
.speed_mode = ledc_mode_t::LEDC_LOW_SPEED_MODE,
.channel = LEDC_CHANNEL_0,
.intr_type = LEDC_INTR_DISABLE,
.timer_sel = LEDC_TIMER_0,
.duty = 0,
.hpoint = 0,
.flags = {
.output_invert = 1
}
};
ledc_channel_config_t servo1_channel_config = {
.gpio_num = SERVO_1_PIN,
.speed_mode = ledc_mode_t::LEDC_LOW_SPEED_MODE,
.channel = LEDC_CHANNEL_1,
.intr_type = LEDC_INTR_DISABLE,
.timer_sel = LEDC_TIMER_0,
.duty = 0,
.hpoint = 0,
.flags = {
.output_invert = 1
}
};
ledc_channel_config_t servo2_channel_config = {
.gpio_num = SERVO_2_PIN,
.speed_mode = ledc_mode_t::LEDC_LOW_SPEED_MODE,
.channel = LEDC_CHANNEL_2,
.intr_type = LEDC_INTR_DISABLE,
.timer_sel = LEDC_TIMER_0,
.duty = 0,
.hpoint = 0,
.flags = {
.output_invert = 1
}
};
ledc_channel_config_t servo3_channel_config = {
.gpio_num = SERVO_3_PIN,
.speed_mode = ledc_mode_t::LEDC_LOW_SPEED_MODE,
.channel = LEDC_CHANNEL_3,
.intr_type = LEDC_INTR_DISABLE,
.timer_sel = LEDC_TIMER_0,
.duty = 0,
.hpoint = 0,
.flags = {
.output_invert = 1
}
};
ledc_timer_config(&ledc_timer);
ledc_channel_config(&servo0_channel_config);
ledc_channel_config(&servo1_channel_config);
ledc_channel_config(&servo2_channel_config);
ledc_channel_config(&servo3_channel_config);
raise_head();
set_copper(false, false);
while (true) {
while (!gpio_get_level(BUTTON_PIN)) {
vTaskDelay(50 / portTICK_PERIOD_MS);
}
printf("Sucess: %d\n", dispens_stone());
}
}

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stone-dispencer/pytest_hello_world.py (Stored with Git LFS) Executable file
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stone-dispencer/sdkconfig.ci Executable file
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stone-dispencer/sdkconfig.old Normal file
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