Robot control

.clang-format

@@ -0,0 +1,3 @@
+BasedOnStyle : Google
+PointerAlignment: Left
+DerivePointerAlignment: false

components/ads1015/CMakeLists.txt

@@ -1,5 +1,5 @@
 idf_component_register(
   SRCS "ads1015.c"
   INCLUDE_DIRS "include"
-  REQUIRES esp_driver_i2c i2c_bus esp_driver_gpio
+  REQUIRES esp_driver_i2c i2c_bus esp_driver_gpio signal_bus
 )

components/ads1015/ads1015.c

@@ -1,164 +1,152 @@
 #include "ads1015.h"
+
 #include "driver/i2c_master.h"
 #include "esp_err.h"
 #include "esp_log.h"
 #include "freertos/FreeRTOS.h"
+#include "signal_bus.h"
 
 #define TAG "ADS1015"
 
-static TaskHandle_t adc_task_handle = NULL; 
+static TaskHandle_t adc_task_handle = NULL;
 
-static void IRAM_ATTR ads1015_isr(void *arg){
-    BaseType_t higher_priority_task_woken = pdFALSE;
+static void IRAM_ATTR ads1015_isr(void* arg) {
+  BaseType_t higher_priority_task_woken = pdFALSE;
 
-    if (adc_task_handle){
-        xTaskNotifyFromISR(
-            adc_task_handle,
-            0,
-            eNoAction,
-            &higher_priority_task_woken
-        );
-    }
+  if (adc_task_handle) {
+    xTaskNotifyFromISR(adc_task_handle, 0, eNoAction,
+                       &higher_priority_task_woken);
+  }
 
-    if (higher_priority_task_woken) {
-        portYIELD_FROM_ISR();
-    }
+  if (higher_priority_task_woken) {
+    portYIELD_FROM_ISR();
+  }
 }
 
-void adc_task(void *arg){
-    ads1015_handle_t *handle = (ads1015_handle_t *)arg;
-    uint16_t config_reg = handle->config_reg | (1 << ADS1015_OS_BIT); // Modify so that writing will start conversions
-    bool mux_state = true; // Differential input to read (true = A2-A3, false = A0-A1)
-
-    ads1015_write_register(handle, ADS1015_CONFIG, config_reg); // Start conversions
-    while (1) {
-        // Wait until RDY interrupt fires
-        ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
-
-        // Read conversion value
-        uint16_t raw;
-        if (ads1015_read_register(handle, ADS1015_CONVERSION, &raw) == ESP_OK){
-            int16_t value = ((int16_t)raw) >> 4;
-            ads1015_check_current(value, mux_state);
-        }
-
-        // Switch MUX inputs and start next conversion
-        config_reg &= ~(0b111 << ADS1015_MUX_SHIFT);  // clear MUX bits
-        config_reg |= (mux_state ? (ADS1015_MUX_AIN0_AIN1 << ADS1015_MUX_SHIFT)
-                          : (ADS1015_MUX_AIN2_AIN3 << ADS1015_MUX_SHIFT));
-        mux_state = !mux_state;
-
-        ads1015_write_register(handle, ADS1015_CONFIG, config_reg);
+void adc_task(void* arg) {
+  ads1015_handle_t* handle = (ads1015_handle_t*)arg;
+  uint16_t config_reg =
+      handle->config_reg |
+      (1 << ADS1015_OS_BIT);  // Modify so that writing will start conversions
+  bool mux_state =
+      true;  // Differential input to read (true = A2-A3, false = A0-A1)
+
+  ads1015_write_register(handle, ADS1015_CONFIG,
+                         config_reg);  // Start conversions
+  while (1) {
+    // Wait until RDY interrupt fires
+    ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
+
+    // Read conversion value
+    uint16_t raw;
+    if (ads1015_read_register(handle, ADS1015_CONVERSION, &raw) == ESP_OK) {
+      int16_t value = ((int16_t)raw) >> 4;
+      if (value >= CONFIG_ADS1015_HIGH_THRESH ||
+          value <= CONFIG_ADS1015_LOW_THRESH) {
+        ESP_LOGI(TAG, "Overcurrent detection fired");
+        xEventGroupSetBits(g_motor_events, CURRENT_0);
+      }
     }
-}
 
-esp_err_t ads1015_init(ads1015_handle_t *handle, const ads1015_config_t *config) {
-    ESP_LOGI(TAG, "Initializing ADS1015...");
+    // Switch MUX inputs and start next conversion
+    config_reg &= ~(0b111 << ADS1015_MUX_SHIFT);  // clear MUX bits
+    config_reg |= (mux_state ? (ADS1015_MUX_AIN0_AIN1 << ADS1015_MUX_SHIFT)
+                             : (ADS1015_MUX_AIN2_AIN3 << ADS1015_MUX_SHIFT));
+    mux_state = !mux_state;
 
-    if (handle == NULL || config == NULL) {
-        return ESP_ERR_INVALID_ARG;
-    }
+    ads1015_write_register(handle, ADS1015_CONFIG, config_reg);
+  }
+}
+
+esp_err_t ads1015_init(ads1015_handle_t* handle, const ads1015_config_t* config) {
+  if (handle == NULL || config == NULL) {
+    return ESP_ERR_INVALID_ARG;
+  }
 
-    i2c_device_config_t dev_config = {
+  i2c_device_config_t dev_config = {
       .dev_addr_length = I2C_ADDR_BIT_LEN_7,
       .device_address = config->i2c_addr,
       .scl_speed_hz = config->i2c_speed_hz,
-    };
+  };
 
-    esp_err_t ret = i2c_master_bus_add_device(config->bus_handle, &dev_config, &handle->dev_handle);
-    if (ret != ESP_OK) {
-      return ret;
-    }
+  esp_err_t ret = i2c_master_bus_add_device(config->bus_handle, &dev_config,
+                                            &handle->dev_handle);
+  if (ret != ESP_OK) {
+    return ret;
+  }
 
-    // Set comparator threshold registers for RDY mode
-    ret = ads1015_write_register(handle, ADS1015_HIGH_THRESH_REG, 0x8000);
-    if (ret != ESP_OK) {
-      return ret;
-    }
-    ret = ads1015_write_register(handle, ADS1015_LOW_THRESH_REG, 0x0000);
-    if (ret != ESP_OK) {
-      return ret;
-    }
+  // Set comparator threshold registers for RDY mode
+  ret = ads1015_write_register(handle, ADS1015_HIGH_THRESH_REG, 0x8000);
+  if (ret != ESP_OK) {
+    return ret;
+  }
+  ret = ads1015_write_register(handle, ADS1015_LOW_THRESH_REG, 0x0000);
+  if (ret != ESP_OK) {
+    return ret;
+  }
 
-    // Write config register
-    uint16_t config_reg = ads1015_build_config(
-        ADS1015_MUX_AIN0_AIN1,
-        ADS1015_PGA_4_096V,
-        ADS1015_MODE_SINGLESHOT,
-        config->adc_data_rate,
-        ADS1015_COMP_TRADITIONAL,
-        ADS1015_COMP_ACTIVE_LOW,
-        ADS1015_COMP_NON_LATCHING,
-        ADS1015_COMP_ASSERT_1,
-        false // don't conversions immediately
-    );
-
-    ret = ads1015_write_register(handle, ADS1015_CONFIG, config_reg);
-    if (ret != ESP_OK) {
-      return ret;
-    }
+  // Write config register
+  uint16_t config_reg = ads1015_build_config(
+      ADS1015_MUX_AIN0_AIN1, ADS1015_PGA_4_096V, ADS1015_MODE_SINGLESHOT,
+      config->adc_data_rate, ADS1015_COMP_TRADITIONAL, ADS1015_COMP_ACTIVE_LOW,
+      ADS1015_COMP_NON_LATCHING, ADS1015_COMP_ASSERT_1,
+      false  // don't conversions immediately
+  );
 
-    handle->config_reg = config_reg;
-
-    // Configure alert GPIO and interrupt service
-    gpio_config_t io_conf = {
-        .intr_type = GPIO_INTR_NEGEDGE,
-        .mode = GPIO_MODE_INPUT,
-        .pin_bit_mask = 1ULL << config->rdy_gpio,
-        .pull_up_en = GPIO_PULLUP_ENABLE,
-        .pull_down_en = GPIO_PULLDOWN_DISABLE,
-    };
-
-    ret = gpio_config(&io_conf);
-    if (ret != ESP_OK) {
-      return ret;
-    }
-    ret = gpio_isr_handler_add(config->rdy_gpio, ads1015_isr, NULL);
-    if (ret != ESP_OK) {
-      return ret;
-    }
-
-    // Start waiting task
-    xTaskCreate(adc_task, "adc_task", 4096, handle, 10, &adc_task_handle);
+  ret = ads1015_write_register(handle, ADS1015_CONFIG, config_reg);
+  if (ret != ESP_OK) {
+    return ret;
+  }
 
-    ESP_LOGI(TAG, "ADS1015 initialized");
+  handle->config_reg = config_reg;
 
-    return ESP_OK;
-}
+  // Configure alert GPIO and interrupt service
+  gpio_config_t io_conf = {
+      .intr_type = GPIO_INTR_NEGEDGE,
+      .mode = GPIO_MODE_INPUT,
+      .pin_bit_mask = 1ULL << config->rdy_gpio,
+      .pull_up_en = GPIO_PULLUP_ENABLE,
+      .pull_down_en = GPIO_PULLDOWN_DISABLE,
+  };
 
-esp_err_t ads1015_check_current(int16_t value, bool mux_state){
-    if (value >= CONFIG_ADS1015_HIGH_THRESH || value <= CONFIG_ADS1015_LOW_THRESH){
-        ESP_LOGW(TAG, "Threshhold exceeded: %i (mux: %s)", value, (mux_state ? ("A2-A3")
-                          : ("A0-A1")));
-        // Trigger E-stop
-    }
-    return ESP_OK;
+  ret = gpio_config(&io_conf);
+  if (ret != ESP_OK) {
+    return ret;
+  }
+  ret = gpio_isr_handler_add(config->rdy_gpio, ads1015_isr, NULL);
+  if (ret != ESP_OK) {
+    return ret;
+  }
+
+  // Start waiting task
+  xTaskCreate(adc_task, "adc_task", 4096, handle, 10, &adc_task_handle);
+
+  ESP_LOGI(TAG, "ADS1015 initialized");
+
+  return ESP_OK;
 }
 
-esp_err_t ads1015_read_register(ads1015_handle_t *handle, ads1015_register_t reg, uint16_t *data) {
+esp_err_t ads1015_read_register(ads1015_handle_t* handle,
+                                ads1015_register_t reg, uint16_t* data) {
   if (handle == NULL || data == NULL) {
     return ESP_ERR_INVALID_ARG;
   }
 
   uint8_t rx_buf[2];
 
-    esp_err_t ret = i2c_master_transmit_receive(
-        handle->dev_handle,
-        (uint8_t *)&reg,
-        1,
-        rx_buf,
-        2,
-        ADS1015_I2C_MASTER_TIMEOUT_MS
-    );
-
-    if (ret == ESP_OK) {
-        *data = (rx_buf[0] << 8) | rx_buf[1];
-    }
+  esp_err_t ret =
+      i2c_master_transmit_receive(handle->dev_handle, (uint8_t*)&reg, 1, rx_buf,
+                                  2, ADS1015_I2C_MASTER_TIMEOUT_MS);
 
-    return ret;
+  if (ret == ESP_OK) {
+    *data = (rx_buf[0] << 8) | rx_buf[1];
+  }
+
+  return ret;
 }
 
-esp_err_t ads1015_write_register(ads1015_handle_t *handle, ads1015_register_t reg, uint16_t data) {
+esp_err_t ads1015_write_register(ads1015_handle_t* handle,
+                                 ads1015_register_t reg, uint16_t data) {
   if (handle == NULL) {
     return ESP_ERR_INVALID_ARG;
   }
@@ -167,9 +155,6 @@ esp_err_t ads1015_write_register(ads1015_handle_t *handle, ads1015_register_t re
   write_buf[0] = reg;
   write_buf[1] = (data >> 8) & 0xFF;  // MSB first
   write_buf[2] = data & 0xFF;         // LSB
-  return i2c_master_transmit(
-    handle->dev_handle,
-    write_buf,
-    sizeof(write_buf),
-    ADS1015_I2C_MASTER_TIMEOUT_MS);
+  return i2c_master_transmit(handle->dev_handle, write_buf, sizeof(write_buf),
+                             ADS1015_I2C_MASTER_TIMEOUT_MS);
 }