update library

CHANGELOG.md

@@ -1,8 +1,15 @@
-# Embedded system software CHANGELOG
+# Firmware CHANGELOG
+
+## v4.1.0
+* multipurpose battery task
+* fix bad int in speed calculation
+* fix unintended double read on RPM interrupt
+* add AV to this repo
+* add battery level to AV
 
 ## v4.0.0
 * move common_libs into the same repo
-* add AFV to ECU Box
+* add AV to ECU Box
 
 ## v3.1.0
 * containerized tasks

libs/library.json

@@ -1,6 +1,6 @@
 {
-  "name": "common_libs",
-  "version": "0.2.2",
+  "name": "libs",
+  "version": "1.2.2",
   "description": "common libs for the Parahybaja's embedded system",
   "keywords": ["esp32", "Parahybaja", "embedded_system"],
   "authors": [

libs/system.h

@@ -2,15 +2,16 @@
  * @file definitions.h
  * @author Jefferson Lopes ([email protected])
  * @brief system's general types definitions and basic esp-now communication functions
- * @version 1.0
- * @date 2023-02-10
+ * @version 1.1
+ * @date 2023-10-26
  *
  * @copyright Copyright (c) 2023
  *
  * Version   Modified By   Date        Comments
  * -------  -------------  ----------  -----------
  *  0.1.0    Jefferson L.  10/02/2023  first version
  *  1.0.0    Jefferson L.  18/07/2023  move common_libs and rename a few modules
+ *  1.1.0    Jefferson L.  26/10/2023  remove Wire begin
  */
 
 #ifndef __SYSTEM_H__
@@ -172,7 +173,6 @@ void init_system(void) {
     Serial.begin(SERIAL_FREQ);
     while (!Serial) {
     }; // wait until is initialized
-    Wire.begin();
 }
 
 void init_espnow(void) {

libs/task/battery.h

@@ -2,11 +2,14 @@
  * @file task_battery.h
  * @author Jefferson Lopes ([email protected])
  * @brief battery task, functions and configs
- * @version 0.3
- * @date 2023-02-20
+ * @version 1.3
+ * @date 2023-10-26
  * 
  * @copyright Copyright (c) 2023
  * 
+ * Version   Modified By   Date        Comments
+ * -------  -------------  ----------  -----------
+ *  1.3.0    Jefferson L.  26/10/2023  add queue and espnow option
  */
 
 #ifndef __BATTERY_H__
@@ -45,12 +48,26 @@ void task_battery(void *arg){
 
     battery_config_t* battery_config = (battery_config_t*)arg;
 
+    bool all_zeros = false;
+    uint8_t count; 
     float R1 = battery_config->R1;
     float R2 = battery_config->R2;
     uint8_t mac[6];
     memcpy(mac, battery_config->mac, sizeof(mac));
-
 
+    // Loop through the array
+    for (int i = 0; i < 6; i++) {
+        if (mac[i] == 0) {
+            count++;
+        }
+    }
+
+    if (count == 6) {
+        all_zeros = true;
+    } else {
+        all_zeros = false;
+    }
+
     // -----create local variables-----
     uint32_t sum;
     uint16_t adc_read;
@@ -87,8 +104,7 @@ void task_battery(void *arg){
         // -----calculate voltage-----
         voltage_read = (ADC_VOLTAGE * adc_read) / ADC_RESOLUTION;
         voltage_bat = voltage_read / (R2 / (R1 + R2));
-        //bat.value = voltage_bat;
-        bat.value = 3.9;
+        bat.value = voltage_bat;
 
         // -----convert to percent-----
     #if (AS_PERCENT)
@@ -100,8 +116,14 @@ void task_battery(void *arg){
             bat.value = ((bat.value - BAT_MIN) / (BAT_MAX - BAT_MIN)) * 100.0; 
     #endif
 
-        // -----send system data through esp-now-----
-        esp_now_send(mac, (uint8_t *) &bat, sizeof(sensor_t));
+        if(all_zeros) {
+            // -----send tilt data through queue-----
+            xQueueSend(qh_battery, &bat, pdMS_TO_TICKS(0));
+        }
+        else {
+            // -----send system data through esp-now-----
+            esp_now_send(mac, (uint8_t *) &bat, sizeof(sensor_t));
+        }
 
         vTaskDelay(TASK_BATTERY_RATE_ms / portTICK_PERIOD_MS);
     }

libs/task/rollover.h

@@ -2,11 +2,14 @@
  * @file task_rollover.h
  * @author Jefferson Lopes ([email protected])
  * @brief accelerometer task, functions and configs
- * @version 0.2
- * @date 2023-02-23
+ * @version 1.2
+ * @date 2023-10-26
  * 
  * @copyright Copyright (c) 2023
  * 
+ * Version   Modified By   Date        Comments
+ * -------  -------------  ----------  -----------
+ *  1.2.0    Jefferson L.  26/10/2023  add MPU calibration
  */
 
 #ifndef __ROLLOVER_H__
@@ -32,9 +35,14 @@
  *                       sensi =    [16384,8192,4096,2048] bit/gravity
  */
 
-// -----MPU6050 configs-----
-float gyro_offset[] = {12.25, 1.92, 1.96};
-float acc_offset[]  = {-0.223, 0.028, -0.012};
+// -----MPU offset-----
+#define CALIB_ACC_X 0.531088 // usada para definir o zero do eixo x
+#define CALIB_ACC_Y 0.045418 // usada para definir o zero do eixo y
+#define CALIB_ACC_Z -0.308320 // usada para definir o zero do eixo z
+#define CALIB_GYRO_X -1.591225 // usada para definir o zero do eixo x
+#define CALIB_GYRO_Y -0.218293 // usada para definir o zero do eixo y
+#define CALIB_GYRO_Z 0.441586 // usada para definir o zero do eixo z
+#define CALIBRATE false
 
 /**
  * @brief MPU6050 rollover sensor task
@@ -57,6 +65,8 @@ void task_rollover(void *arg){
     sensor_t temp   = {AMBIENT_TEMP, 0.0};
     MPU6050 mpu(Wire, MPU_ADDR);
 
+    Wire.begin(5, 18); // hot fix for GPIO burnout
+
 #if DEBUG_MODE
     // see the remaining space of this task
     // always after create the variables
@@ -80,8 +90,27 @@ void task_rollover(void *arg){
     } // stop everything if could not connect to MPU6050
     log_i("Connected to MPU6050");
 
-    mpu.setGyroOffsets(gyro_offset[0], gyro_offset[1], gyro_offset[2]);
-    mpu.setAccOffsets(acc_offset[0], acc_offset[1], acc_offset[2]);
+    if (CALIBRATE) {
+        log_w("Calculating offsets, do not move MPU6050");
+        delay(1000);
+        mpu.calcOffsets(true, true);  // gyro and accelero
+        log_w("Done!");
+    }
+    else {
+        log_w("Setting offsets");
+        mpu.setAccOffsets(CALIB_ACC_X, CALIB_ACC_Y, CALIB_ACC_Z);
+        mpu.setGyroOffsets(CALIB_GYRO_X, CALIB_GYRO_Y, CALIB_GYRO_Z);
+    }
+
+    log_d("offset acc: %f, %f, %f",
+        mpu.getAccXoffset(),
+        mpu.getAccYoffset(),
+        mpu.getAccZoffset());
+
+    log_d("offset gyro: %f, %f, %f",
+        mpu.getGyroXoffset(),
+        mpu.getGyroYoffset(),
+        mpu.getGyroZoffset());
 
     // -----update timer-----
     timer_send = millis();

libs/task/speedometer.h

@@ -2,11 +2,14 @@
  * @file task_speed.h
  * @author Jefferson Lopes ([email protected])
  * @brief 
- * @version 0.2
- * @date 2023-02-19
+ * @version 0.3
+ * @date 2023-10-26
  * 
  * @copyright Copyright (c) 2023
  * 
+ * Version   Modified By   Date        Comments
+ * -------  -------------  ----------  -----------
+ *  0.3.0    Jefferson L.  26/10/2023  fix speed calculation
  */
 
 #ifndef __SPEEDOMETER_H__
@@ -90,7 +93,7 @@ void task_speedometer(void *arg){
             interrupts();
 
             // -----calculate-----
-            float meters = (counter_spdmt_copy / WHEEL_EDGES) * WHEEL_CIRC;
+            float meters = (counter_spdmt_copy / float(WHEEL_EDGES)) * WHEEL_CIRC;
             spdmt.value = meters / TASK_SPDMT_SEND_RATE_s; // in meter/second
             spdmt.value *= ms2kmh;