Initial release of the pest detector project
This repository contains an attempt to detect wood pests using three piezo sensors. Each sensor records the time of flight of a noise source in their enclosing area and calculates the coordinate as best it can. This utilizes an ESP32's motor controller peripheral for exact timestamping of three sensor events, which is then processed by a Python script. The Python script takes the timestamps of an event, and a photo of the sensor arrangement and places a marker where the noise originates.
This commit is contained in:
commit
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#
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$CMP ADG839YKSZ-REEL7
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D ANALOG DEVICES - ADG839YKSZ-REEL7 - ANALOGUE SW, SINGLE, SPDT, SC70-6
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PCBNEW-LibModule-V1 2024-05-05 19:52:51
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EESchema-DOCLIB Version 2.0
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#
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$CMP DG9431EDV-T1-GE3
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D Analog Switch ICs SPDT 1pC; 100pA TSOP-6
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K
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eda/pestdetector/lib/DG9431EDV-T1-GE3/DG9431EDV-T1-GE3.lib
Normal file
27
eda/pestdetector/lib/DG9431EDV-T1-GE3/DG9431EDV-T1-GE3.lib
Normal file
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EESchema-LIBRARY Version 2.3
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||||
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|
||||
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||||
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||||
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69
eda/pestdetector/lib/DG9431EDV-T1-GE3/DG9431EDV-T1-GE3.mod
Normal file
69
eda/pestdetector/lib/DG9431EDV-T1-GE3/DG9431EDV-T1-GE3.mod
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|
||||
PCBNEW-LibModule-V1 2024-05-06 17:09:16
|
||||
# encoding utf-8
|
||||
Units mm
|
||||
$INDEX
|
||||
SOT95P284X110-6N
|
||||
$EndINDEX
|
||||
$MODULE SOT95P284X110-6N
|
||||
Po 0 0 0 15 663900ac 00000000 ~~
|
||||
Li SOT95P284X110-6N
|
||||
Cd TSOP 6
|
||||
Kw Integrated Circuit
|
||||
Sc 0
|
||||
At SMD
|
||||
AR
|
||||
Op 0 0 0
|
||||
T0 0 0 1.27 1.27 0 0.254 N V 21 N "IC**"
|
||||
T1 0 0 1.27 1.27 0 0.254 N I 21 N "SOT95P284X110-6N"
|
||||
DS -2.1 -1.8 2.1 -1.8 0.05 24
|
||||
DS 2.1 -1.8 2.1 1.8 0.05 24
|
||||
DS 2.1 1.8 -2.1 1.8 0.05 24
|
||||
DS -2.1 1.8 -2.1 -1.8 0.05 24
|
||||
DS -0.812 -1.512 0.812 -1.512 0.1 24
|
||||
DS 0.812 -1.512 0.812 1.512 0.1 24
|
||||
DS 0.812 1.512 -0.812 1.512 0.1 24
|
||||
DS -0.812 1.512 -0.812 -1.512 0.1 24
|
||||
DS -0.812 -0.562 0.138 -1.512 0.1 24
|
||||
DS -0.4 -1.512 0.4 -1.512 0.2 21
|
||||
DS 0.4 -1.512 0.4 1.512 0.2 21
|
||||
DS 0.4 1.512 -0.4 1.512 0.2 21
|
||||
DS -0.4 1.512 -0.4 -1.512 0.2 21
|
||||
DS -1.85 -1.575 -0.75 -1.575 0.2 21
|
||||
$PAD
|
||||
Po -1.3 -0.95
|
||||
Sh "1" R 0.55 1.1 0 0 900
|
||||
At SMD N 00888000
|
||||
Ne 0 ""
|
||||
$EndPAD
|
||||
$PAD
|
||||
Po -1.3 0
|
||||
Sh "2" R 0.55 1.1 0 0 900
|
||||
At SMD N 00888000
|
||||
Ne 0 ""
|
||||
$EndPAD
|
||||
$PAD
|
||||
Po -1.3 0.95
|
||||
Sh "3" R 0.55 1.1 0 0 900
|
||||
At SMD N 00888000
|
||||
Ne 0 ""
|
||||
$EndPAD
|
||||
$PAD
|
||||
Po 1.3 0.95
|
||||
Sh "4" R 0.55 1.1 0 0 900
|
||||
At SMD N 00888000
|
||||
Ne 0 ""
|
||||
$EndPAD
|
||||
$PAD
|
||||
Po 1.3 0
|
||||
Sh "5" R 0.55 1.1 0 0 900
|
||||
At SMD N 00888000
|
||||
Ne 0 ""
|
||||
$EndPAD
|
||||
$PAD
|
||||
Po 1.3 -0.95
|
||||
Sh "6" R 0.55 1.1 0 0 900
|
||||
At SMD N 00888000
|
||||
Ne 0 ""
|
||||
$EndPAD
|
||||
$EndMODULE SOT95P284X110-6N
|
||||
$EndLIBRARY
|
||||
@ -0,0 +1,39 @@
|
||||
(module "SOT95P284X110-6N" (layer F.Cu)
|
||||
(descr "TSOP 6")
|
||||
(tags "Integrated Circuit")
|
||||
(attr smd)
|
||||
(fp_text reference IC** (at 0 0) (layer F.SilkS)
|
||||
(effects (font (size 1.27 1.27) (thickness 0.254)))
|
||||
)
|
||||
(fp_text user %R (at 0 0) (layer F.Fab)
|
||||
(effects (font (size 1.27 1.27) (thickness 0.254)))
|
||||
)
|
||||
(fp_text value "SOT95P284X110-6N" (at 0 0) (layer F.SilkS) hide
|
||||
(effects (font (size 1.27 1.27) (thickness 0.254)))
|
||||
)
|
||||
(fp_line (start -2.1 -1.8) (end 2.1 -1.8) (layer F.CrtYd) (width 0.05))
|
||||
(fp_line (start 2.1 -1.8) (end 2.1 1.8) (layer F.CrtYd) (width 0.05))
|
||||
(fp_line (start 2.1 1.8) (end -2.1 1.8) (layer F.CrtYd) (width 0.05))
|
||||
(fp_line (start -2.1 1.8) (end -2.1 -1.8) (layer F.CrtYd) (width 0.05))
|
||||
(fp_line (start -0.812 -1.512) (end 0.812 -1.512) (layer F.Fab) (width 0.1))
|
||||
(fp_line (start 0.812 -1.512) (end 0.812 1.512) (layer F.Fab) (width 0.1))
|
||||
(fp_line (start 0.812 1.512) (end -0.812 1.512) (layer F.Fab) (width 0.1))
|
||||
(fp_line (start -0.812 1.512) (end -0.812 -1.512) (layer F.Fab) (width 0.1))
|
||||
(fp_line (start -0.812 -0.562) (end 0.138 -1.512) (layer F.Fab) (width 0.1))
|
||||
(fp_line (start -0.4 -1.512) (end 0.4 -1.512) (layer F.SilkS) (width 0.2))
|
||||
(fp_line (start 0.4 -1.512) (end 0.4 1.512) (layer F.SilkS) (width 0.2))
|
||||
(fp_line (start 0.4 1.512) (end -0.4 1.512) (layer F.SilkS) (width 0.2))
|
||||
(fp_line (start -0.4 1.512) (end -0.4 -1.512) (layer F.SilkS) (width 0.2))
|
||||
(fp_line (start -1.85 -1.575) (end -0.75 -1.575) (layer F.SilkS) (width 0.2))
|
||||
(pad 1 smd rect (at -1.3 -0.95 90) (size 0.55 1.1) (layers F.Cu F.Paste F.Mask))
|
||||
(pad 2 smd rect (at -1.3 0 90) (size 0.55 1.1) (layers F.Cu F.Paste F.Mask))
|
||||
(pad 3 smd rect (at -1.3 0.95 90) (size 0.55 1.1) (layers F.Cu F.Paste F.Mask))
|
||||
(pad 4 smd rect (at 1.3 0.95 90) (size 0.55 1.1) (layers F.Cu F.Paste F.Mask))
|
||||
(pad 5 smd rect (at 1.3 0 90) (size 0.55 1.1) (layers F.Cu F.Paste F.Mask))
|
||||
(pad 6 smd rect (at 1.3 -0.95 90) (size 0.55 1.1) (layers F.Cu F.Paste F.Mask))
|
||||
(model DG9431EDV-T1-GE3.stp
|
||||
(at (xyz 0 0 0))
|
||||
(scale (xyz 1 1 1))
|
||||
(rotate (xyz 0 0 0))
|
||||
)
|
||||
)
|
||||
@ -0,0 +1,9 @@
|
||||
EESchema-DOCLIB Version 2.0
|
||||
#
|
||||
$CMP SJ-43515TS-SMT-TR
|
||||
D 3.50mm (0.141", 1/8", Mini Plug) - Headphone Phone Jack Stereo (4 Conductor, TRRS) Connector Solder
|
||||
K
|
||||
F https://www.cuidevices.com/product/resource/sj-4351x-smt.pdf
|
||||
$ENDCMP
|
||||
#
|
||||
#End Doc Library
|
||||
@ -0,0 +1,60 @@
|
||||
(kicad_symbol_lib (version 20211014) (generator SamacSys_ECAD_Model)
|
||||
(symbol "SJ-43515TS-SMT-TR" (in_bom yes) (on_board yes)
|
||||
(property "Reference" "J" (at 34.29 7.62 0)
|
||||
(effects (font (size 1.27 1.27)) (justify left top))
|
||||
)
|
||||
(property "Value" "SJ-43515TS-SMT-TR" (at 34.29 5.08 0)
|
||||
(effects (font (size 1.27 1.27)) (justify left top))
|
||||
)
|
||||
(property "Footprint" "SJ43515TSSMTTR" (at 34.29 -94.92 0)
|
||||
(effects (font (size 1.27 1.27)) (justify left top) hide)
|
||||
)
|
||||
(property "Datasheet" "https://www.cuidevices.com/product/resource/sj-4351x-smt.pdf" (at 34.29 -194.92 0)
|
||||
(effects (font (size 1.27 1.27)) (justify left top) hide)
|
||||
)
|
||||
(property "ki_description" "3.50mm (0.141\", 1/8\", Mini Plug) - Headphone Phone Jack Stereo (4 Conductor, TRRS) Connector Solder" (at 34.29 -294.92 0)
|
||||
(effects (font (size 1.27 1.27)) (justify left top) hide)
|
||||
)
|
||||
(property "Height" "5.3" (at 34.29 -394.92 0)
|
||||
(effects (font (size 1.27 1.27)) (justify left top) hide)
|
||||
)
|
||||
(property "Mouser Part Number" "490-SJ43515TS-SMT-TR" (at 34.29 -494.92 0)
|
||||
(effects (font (size 1.27 1.27)) (justify left top) hide)
|
||||
)
|
||||
(property "Mouser Price/Stock" "https://www.mouser.co.uk/ProductDetail/CUI-Devices/SJ-43515TS-SMT-TR?qs=WyjlAZoYn50eO9pw4mW8cQ%3D%3D" (at 34.29 -594.92 0)
|
||||
(effects (font (size 1.27 1.27)) (justify left top) hide)
|
||||
)
|
||||
(property "Manufacturer_Name" "CUI Devices" (at 34.29 -694.92 0)
|
||||
(effects (font (size 1.27 1.27)) (justify left top) hide)
|
||||
)
|
||||
(property "Manufacturer_Part_Number" "SJ-43515TS-SMT-TR" (at 34.29 -794.92 0)
|
||||
(effects (font (size 1.27 1.27)) (justify left top) hide)
|
||||
)
|
||||
(rectangle
|
||||
(start 5.08 2.54)
|
||||
(end 33.02 -7.62)
|
||||
(stroke (width 0.254) (type default))
|
||||
(fill (type background))
|
||||
)
|
||||
(pin passive line (at 0 0 0) (length 5.08)
|
||||
(name "SLEEVE" (effects (font (size 1.27 1.27))))
|
||||
(number "1" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin passive line (at 0 -2.54 0) (length 5.08)
|
||||
(name "TIP" (effects (font (size 1.27 1.27))))
|
||||
(number "2" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin passive line (at 0 -5.08 0) (length 5.08)
|
||||
(name "RING_1" (effects (font (size 1.27 1.27))))
|
||||
(number "3" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin passive line (at 38.1 0 180) (length 5.08)
|
||||
(name "RING_2" (effects (font (size 1.27 1.27))))
|
||||
(number "4" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
(pin passive line (at 38.1 -2.54 180) (length 5.08)
|
||||
(name "TIP_SWITCH" (effects (font (size 1.27 1.27))))
|
||||
(number "5" (effects (font (size 1.27 1.27))))
|
||||
)
|
||||
)
|
||||
)
|
||||
26
eda/pestdetector/lib/SJ-43515TS-SMT-TR/SJ-43515TS-SMT-TR.lib
Normal file
26
eda/pestdetector/lib/SJ-43515TS-SMT-TR/SJ-43515TS-SMT-TR.lib
Normal file
@ -0,0 +1,26 @@
|
||||
EESchema-LIBRARY Version 2.3
|
||||
#encoding utf-8
|
||||
#SamacSys ECAD Model SJ-43515TS-SMT-TR
|
||||
#/644640/1184508/2.50/5/3/Connector
|
||||
DEF SJ-43515TS-SMT-TR J 0 30 Y Y 1 F N
|
||||
F0 "J" 1350 300 50 H V L CNN
|
||||
F1 "SJ-43515TS-SMT-TR" 1350 200 50 H V L CNN
|
||||
F2 "SJ43515TSSMTTR" 1350 100 50 H I L CNN
|
||||
F3 "https://www.cuidevices.com/product/resource/sj-4351x-smt.pdf" 1350 0 50 H I L CNN
|
||||
F4 "3.50mm (0.141\", 1/8\", Mini Plug) - Headphone Phone Jack Stereo (4 Conductor, TRRS) Connector Solder" 1350 -100 50 H I L CNN "Description"
|
||||
F5 "5.3" 1350 -200 50 H I L CNN "Height"
|
||||
F6 "490-SJ43515TS-SMT-TR" 1350 -300 50 H I L CNN "Mouser Part Number"
|
||||
F7 "https://www.mouser.co.uk/ProductDetail/CUI-Devices/SJ-43515TS-SMT-TR?qs=WyjlAZoYn50eO9pw4mW8cQ%3D%3D" 1350 -400 50 H I L CNN "Mouser Price/Stock"
|
||||
F8 "CUI Devices" 1350 -500 50 H I L CNN "Manufacturer_Name"
|
||||
F9 "SJ-43515TS-SMT-TR" 1350 -600 50 H I L CNN "Manufacturer_Part_Number"
|
||||
DRAW
|
||||
X SLEEVE 1 0 0 200 R 50 50 0 0 P
|
||||
X TIP 2 0 -100 200 R 50 50 0 0 P
|
||||
X RING_1 3 0 -200 200 R 50 50 0 0 P
|
||||
X RING_2 4 1500 0 200 L 50 50 0 0 P
|
||||
X TIP_SWITCH 5 1500 -100 200 L 50 50 0 0 P
|
||||
P 5 0 1 6 200 100 1300 100 1300 -300 200 -300 200 100 N
|
||||
ENDDRAW
|
||||
ENDDEF
|
||||
#
|
||||
#End Library
|
||||
88
eda/pestdetector/lib/SJ-43515TS-SMT-TR/SJ-43515TS-SMT-TR.mod
Normal file
88
eda/pestdetector/lib/SJ-43515TS-SMT-TR/SJ-43515TS-SMT-TR.mod
Normal file
@ -0,0 +1,88 @@
|
||||
PCBNEW-LibModule-V1 2024-05-06 16:34:13
|
||||
# encoding utf-8
|
||||
Units mm
|
||||
$INDEX
|
||||
SJ43515TSSMTTR
|
||||
$EndINDEX
|
||||
$MODULE SJ43515TSSMTTR
|
||||
Po 0 0 0 15 6638f875 00000000 ~~
|
||||
Li SJ43515TSSMTTR
|
||||
Cd SJ-43515TS-SMT-TR-3
|
||||
Kw Connector
|
||||
Sc 0
|
||||
At STD
|
||||
AR
|
||||
Op 0 0 0
|
||||
T0 0.000 -0 1.27 1.27 0 0.254 N V 21 N "J**"
|
||||
T1 0.000 -0 1.27 1.27 0 0.254 N I 21 N "SJ43515TSSMTTR"
|
||||
DS -8.5 -3 7 -3 0.1 24
|
||||
DS 7 -3 7 3.8 0.1 24
|
||||
DS 7 3.8 -8.5 3.8 0.1 24
|
||||
DS -8.5 3.8 -8.5 -3 0.1 24
|
||||
DS -11 -6 11 -6 0.1 24
|
||||
DS 11 -6 11 6 0.1 24
|
||||
DS 11 6 -11 6 0.1 24
|
||||
DS -11 6 -11 -6 0.1 24
|
||||
DS -8.5 2.5 -10 2.5 0.1 24
|
||||
DS -10 2.5 -10 -2.5 0.1 24
|
||||
DS -10 -2.5 -8.5 -2.5 0.1 24
|
||||
DS -3.4 3.8 2.9 3.8 0.2 21
|
||||
DS 7 0.6 7 3.8 0.2 21
|
||||
DS 7 3.8 5.9 3.8 0.2 21
|
||||
DS -1.6 -3 7 -3 0.2 21
|
||||
DS 7 -3 7 -2.4 0.2 21
|
||||
DS -9.4 2.5 -10 2.5 0.2 21
|
||||
DS -10 2.5 -10 -2.5 0.2 21
|
||||
DS -10 -2.5 -8.5 -2.5 0.2 21
|
||||
DS -8.5 1.5 -8.5 -3 0.2 21
|
||||
DS -8.5 -3 -4.75 -3 0.2 21
|
||||
DS -7.9 5.55 -7.9 5.55 0.1 21
|
||||
DS -7.9 5.45 -7.9 5.45 0.1 21
|
||||
DA -7.9 5.5 -7.900 5.55 -1800 0.1 21
|
||||
DA -7.9 5.5 -7.900 5.45 -1800 0.1 21
|
||||
$PAD
|
||||
Po -7.900 3.5
|
||||
Sh "1" R 2.000 3.000 0 0 0
|
||||
At SMD N 00888000
|
||||
Ne 0 ""
|
||||
$EndPAD
|
||||
$PAD
|
||||
Po 4.500 3.5
|
||||
Sh "2" R 2.000 3.000 0 0 0
|
||||
At SMD N 00888000
|
||||
Ne 0 ""
|
||||
$EndPAD
|
||||
$PAD
|
||||
Po -3.200 -3.5
|
||||
Sh "3" R 2.000 3.000 0 0 0
|
||||
At SMD N 00888000
|
||||
Ne 0 ""
|
||||
$EndPAD
|
||||
$PAD
|
||||
Po -5.000 3.5
|
||||
Sh "4" R 2.000 3.000 0 0 0
|
||||
At SMD N 00888000
|
||||
Ne 0 ""
|
||||
$EndPAD
|
||||
$PAD
|
||||
Po 8.500 -0.8
|
||||
Sh "5" R 2.000 3.000 0 0 900
|
||||
At SMD N 00888000
|
||||
Ne 0 ""
|
||||
$EndPAD
|
||||
$PAD
|
||||
Po -4.000 0
|
||||
Sh "MH1" C 0.950 0.950 0 0 900
|
||||
Dr 1.9 0 0
|
||||
At STD N 00E0FFFF
|
||||
Ne 0 ""
|
||||
$EndPAD
|
||||
$PAD
|
||||
Po 3.000 0
|
||||
Sh "MH2" C 0.950 0.950 0 0 900
|
||||
Dr 1.9 0 0
|
||||
At STD N 00E0FFFF
|
||||
Ne 0 ""
|
||||
$EndPAD
|
||||
$EndMODULE SJ43515TSSMTTR
|
||||
$EndLIBRARY
|
||||
@ -0,0 +1,50 @@
|
||||
(module "SJ43515TSSMTTR" (layer F.Cu)
|
||||
(descr "SJ-43515TS-SMT-TR-3")
|
||||
(tags "Connector")
|
||||
(fp_text reference J** (at 0.000 -0) (layer F.SilkS)
|
||||
(effects (font (size 1.27 1.27) (thickness 0.254)))
|
||||
)
|
||||
(fp_text user %R (at 0.000 -0) (layer F.Fab)
|
||||
(effects (font (size 1.27 1.27) (thickness 0.254)))
|
||||
)
|
||||
(fp_text value "SJ43515TSSMTTR" (at 0.000 -0) (layer F.SilkS) hide
|
||||
(effects (font (size 1.27 1.27) (thickness 0.254)))
|
||||
)
|
||||
(fp_line (start -8.5 -3) (end 7 -3) (layer F.Fab) (width 0.1))
|
||||
(fp_line (start 7 -3) (end 7 3.8) (layer F.Fab) (width 0.1))
|
||||
(fp_line (start 7 3.8) (end -8.5 3.8) (layer F.Fab) (width 0.1))
|
||||
(fp_line (start -8.5 3.8) (end -8.5 -3) (layer F.Fab) (width 0.1))
|
||||
(fp_line (start -11 -6) (end 11 -6) (layer F.CrtYd) (width 0.1))
|
||||
(fp_line (start 11 -6) (end 11 6) (layer F.CrtYd) (width 0.1))
|
||||
(fp_line (start 11 6) (end -11 6) (layer F.CrtYd) (width 0.1))
|
||||
(fp_line (start -11 6) (end -11 -6) (layer F.CrtYd) (width 0.1))
|
||||
(fp_line (start -8.5 2.5) (end -10 2.5) (layer F.Fab) (width 0.1))
|
||||
(fp_line (start -10 2.5) (end -10 -2.5) (layer F.Fab) (width 0.1))
|
||||
(fp_line (start -10 -2.5) (end -8.5 -2.5) (layer F.Fab) (width 0.1))
|
||||
(fp_line (start -3.4 3.8) (end 2.9 3.8) (layer F.SilkS) (width 0.2))
|
||||
(fp_line (start 7 0.6) (end 7 3.8) (layer F.SilkS) (width 0.2))
|
||||
(fp_line (start 7 3.8) (end 5.9 3.8) (layer F.SilkS) (width 0.2))
|
||||
(fp_line (start -1.6 -3) (end 7 -3) (layer F.SilkS) (width 0.2))
|
||||
(fp_line (start 7 -3) (end 7 -2.4) (layer F.SilkS) (width 0.2))
|
||||
(fp_line (start -9.4 2.5) (end -10 2.5) (layer F.SilkS) (width 0.2))
|
||||
(fp_line (start -10 2.5) (end -10 -2.5) (layer F.SilkS) (width 0.2))
|
||||
(fp_line (start -10 -2.5) (end -8.5 -2.5) (layer F.SilkS) (width 0.2))
|
||||
(fp_line (start -8.5 1.5) (end -8.5 -3) (layer F.SilkS) (width 0.2))
|
||||
(fp_line (start -8.5 -3) (end -4.75 -3) (layer F.SilkS) (width 0.2))
|
||||
(fp_line (start -7.9 5.55) (end -7.9 5.55) (layer F.SilkS) (width 0.1))
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eda/pestdetector/pestdetector.kicad_pcb
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10056
eda/pestdetector/pestdetector.kicad_pcb
Normal file
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Load Diff
131
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Normal file
131
eda/pestdetector/pestdetector.kicad_prl
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"shapes"
|
||||
],
|
||||
"visible_layers": "ffffffff_ffffffff_ffffffff_ffffffff",
|
||||
"zone_display_mode": 0
|
||||
},
|
||||
"git": {
|
||||
"repo_password": "",
|
||||
"repo_type": "",
|
||||
"repo_username": "",
|
||||
"ssh_key": ""
|
||||
},
|
||||
"meta": {
|
||||
"filename": "pestdetector.kicad_prl",
|
||||
"version": 5
|
||||
},
|
||||
"net_inspector_panel": {
|
||||
"col_hidden": [
|
||||
false,
|
||||
false,
|
||||
false,
|
||||
false,
|
||||
false,
|
||||
false,
|
||||
false,
|
||||
false,
|
||||
false,
|
||||
false
|
||||
],
|
||||
"col_order": [
|
||||
0,
|
||||
1,
|
||||
2,
|
||||
3,
|
||||
4,
|
||||
5,
|
||||
6,
|
||||
7,
|
||||
8,
|
||||
9
|
||||
],
|
||||
"col_widths": [
|
||||
0,
|
||||
0,
|
||||
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|
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|
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|
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|
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|
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|
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|
||||
0
|
||||
],
|
||||
"custom_group_rules": [],
|
||||
"expanded_rows": [],
|
||||
"filter_by_net_name": true,
|
||||
"filter_by_netclass": true,
|
||||
"filter_text": "",
|
||||
"group_by_constraint": false,
|
||||
"group_by_netclass": false,
|
||||
"show_unconnected_nets": false,
|
||||
"show_zero_pad_nets": false,
|
||||
"sort_ascending": true,
|
||||
"sorting_column": 0
|
||||
},
|
||||
"open_jobsets": [],
|
||||
"project": {
|
||||
"files": []
|
||||
},
|
||||
"schematic": {
|
||||
"selection_filter": {
|
||||
"graphics": true,
|
||||
"images": true,
|
||||
"labels": true,
|
||||
"lockedItems": false,
|
||||
"otherItems": true,
|
||||
"pins": true,
|
||||
"symbols": true,
|
||||
"text": true,
|
||||
"wires": true
|
||||
}
|
||||
}
|
||||
}
|
||||
653
eda/pestdetector/pestdetector.kicad_pro
Normal file
653
eda/pestdetector/pestdetector.kicad_pro
Normal file
@ -0,0 +1,653 @@
|
||||
{
|
||||
"board": {
|
||||
"3dviewports": [],
|
||||
"design_settings": {
|
||||
"defaults": {
|
||||
"apply_defaults_to_fp_fields": false,
|
||||
"apply_defaults_to_fp_shapes": false,
|
||||
"apply_defaults_to_fp_text": false,
|
||||
"board_outline_line_width": 0.1,
|
||||
"copper_line_width": 0.2,
|
||||
"copper_text_italic": false,
|
||||
"copper_text_size_h": 1.5,
|
||||
"copper_text_size_v": 1.5,
|
||||
"copper_text_thickness": 0.3,
|
||||
"copper_text_upright": false,
|
||||
"courtyard_line_width": 0.05,
|
||||
"dimension_precision": 4,
|
||||
"dimension_units": 3,
|
||||
"dimensions": {
|
||||
"arrow_length": 1270000,
|
||||
"extension_offset": 500000,
|
||||
"keep_text_aligned": true,
|
||||
"suppress_zeroes": false,
|
||||
"text_position": 0,
|
||||
"units_format": 1
|
||||
},
|
||||
"fab_line_width": 0.1,
|
||||
"fab_text_italic": false,
|
||||
"fab_text_size_h": 1.0,
|
||||
"fab_text_size_v": 1.0,
|
||||
"fab_text_thickness": 0.15,
|
||||
"fab_text_upright": false,
|
||||
"other_line_width": 0.15,
|
||||
"other_text_italic": false,
|
||||
"other_text_size_h": 1.0,
|
||||
"other_text_size_v": 1.0,
|
||||
"other_text_thickness": 0.15,
|
||||
"other_text_upright": false,
|
||||
"pads": {
|
||||
"drill": 0.762,
|
||||
"height": 1.524,
|
||||
"width": 1.524
|
||||
},
|
||||
"silk_line_width": 0.15,
|
||||
"silk_text_italic": false,
|
||||
"silk_text_size_h": 1.0,
|
||||
"silk_text_size_v": 1.0,
|
||||
"silk_text_thickness": 0.15,
|
||||
"silk_text_upright": false,
|
||||
"zones": {
|
||||
"min_clearance": 0.5
|
||||
}
|
||||
},
|
||||
"diff_pair_dimensions": [],
|
||||
"drc_exclusions": [],
|
||||
"meta": {
|
||||
"version": 2
|
||||
},
|
||||
"rule_severities": {
|
||||
"annular_width": "error",
|
||||
"clearance": "error",
|
||||
"connection_width": "warning",
|
||||
"copper_edge_clearance": "error",
|
||||
"copper_sliver": "warning",
|
||||
"courtyards_overlap": "error",
|
||||
"creepage": "error",
|
||||
"diff_pair_gap_out_of_range": "error",
|
||||
"diff_pair_uncoupled_length_too_long": "error",
|
||||
"drill_out_of_range": "error",
|
||||
"duplicate_footprints": "warning",
|
||||
"extra_footprint": "warning",
|
||||
"footprint": "error",
|
||||
"footprint_filters_mismatch": "ignore",
|
||||
"footprint_symbol_mismatch": "warning",
|
||||
"footprint_type_mismatch": "ignore",
|
||||
"hole_clearance": "error",
|
||||
"hole_near_hole": "error",
|
||||
"hole_to_hole": "error",
|
||||
"holes_co_located": "warning",
|
||||
"invalid_outline": "error",
|
||||
"isolated_copper": "warning",
|
||||
"item_on_disabled_layer": "error",
|
||||
"items_not_allowed": "error",
|
||||
"length_out_of_range": "error",
|
||||
"lib_footprint_issues": "warning",
|
||||
"lib_footprint_mismatch": "warning",
|
||||
"malformed_courtyard": "error",
|
||||
"microvia_drill_out_of_range": "error",
|
||||
"mirrored_text_on_front_layer": "warning",
|
||||
"missing_courtyard": "ignore",
|
||||
"missing_footprint": "warning",
|
||||
"net_conflict": "warning",
|
||||
"nonmirrored_text_on_back_layer": "warning",
|
||||
"npth_inside_courtyard": "ignore",
|
||||
"padstack": "warning",
|
||||
"pth_inside_courtyard": "ignore",
|
||||
"shorting_items": "error",
|
||||
"silk_edge_clearance": "warning",
|
||||
"silk_over_copper": "warning",
|
||||
"silk_overlap": "warning",
|
||||
"skew_out_of_range": "error",
|
||||
"solder_mask_bridge": "error",
|
||||
"starved_thermal": "error",
|
||||
"text_height": "warning",
|
||||
"text_on_edge_cuts": "error",
|
||||
"text_thickness": "warning",
|
||||
"through_hole_pad_without_hole": "error",
|
||||
"too_many_vias": "error",
|
||||
"track_angle": "error",
|
||||
"track_dangling": "warning",
|
||||
"track_segment_length": "error",
|
||||
"track_width": "error",
|
||||
"tracks_crossing": "error",
|
||||
"unconnected_items": "error",
|
||||
"unresolved_variable": "error",
|
||||
"via_dangling": "warning",
|
||||
"zones_intersect": "error"
|
||||
},
|
||||
"rules": {
|
||||
"max_error": 0.005,
|
||||
"min_clearance": 0.0,
|
||||
"min_connection": 0.0,
|
||||
"min_copper_edge_clearance": 0.0,
|
||||
"min_groove_width": 0.0,
|
||||
"min_hole_clearance": 0.25,
|
||||
"min_hole_to_hole": 0.25,
|
||||
"min_microvia_diameter": 0.2,
|
||||
"min_microvia_drill": 0.1,
|
||||
"min_resolved_spokes": 2,
|
||||
"min_silk_clearance": 0.0,
|
||||
"min_text_height": 0.8,
|
||||
"min_text_thickness": 0.08,
|
||||
"min_through_hole_diameter": 0.3,
|
||||
"min_track_width": 0.0,
|
||||
"min_via_annular_width": 0.1,
|
||||
"min_via_diameter": 0.5,
|
||||
"solder_mask_clearance": 0.0,
|
||||
"solder_mask_min_width": 0.0,
|
||||
"solder_mask_to_copper_clearance": 0.0,
|
||||
"use_height_for_length_calcs": true
|
||||
},
|
||||
"teardrop_options": [
|
||||
{
|
||||
"td_onpthpad": true,
|
||||
"td_onroundshapesonly": false,
|
||||
"td_onsmdpad": true,
|
||||
"td_ontrackend": false,
|
||||
"td_onvia": true
|
||||
}
|
||||
],
|
||||
"teardrop_parameters": [
|
||||
{
|
||||
"td_allow_use_two_tracks": true,
|
||||
"td_curve_segcount": 1,
|
||||
"td_height_ratio": 1.0,
|
||||
"td_length_ratio": 0.5,
|
||||
"td_maxheight": 2.0,
|
||||
"td_maxlen": 1.0,
|
||||
"td_on_pad_in_zone": false,
|
||||
"td_target_name": "td_round_shape",
|
||||
"td_width_to_size_filter_ratio": 0.9
|
||||
},
|
||||
{
|
||||
"td_allow_use_two_tracks": true,
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"td_maxlen": 1.0,
|
||||
"td_on_pad_in_zone": false,
|
||||
"td_target_name": "td_rect_shape",
|
||||
"td_width_to_size_filter_ratio": 0.9
|
||||
},
|
||||
{
|
||||
"td_allow_use_two_tracks": true,
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"td_on_pad_in_zone": false,
|
||||
"td_target_name": "td_track_end",
|
||||
"td_width_to_size_filter_ratio": 0.9
|
||||
}
|
||||
],
|
||||
"track_widths": [],
|
||||
"tuning_pattern_settings": {
|
||||
"diff_pair_defaults": {
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"spacing": 1.0
|
||||
},
|
||||
"diff_pair_skew_defaults": {
|
||||
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|
||||
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|
||||
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|
||||
"min_amplitude": 0.2,
|
||||
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|
||||
"spacing": 0.6
|
||||
},
|
||||
"single_track_defaults": {
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"spacing": 0.6
|
||||
}
|
||||
},
|
||||
"via_dimensions": [],
|
||||
"zones_allow_external_fillets": false
|
||||
},
|
||||
"ipc2581": {
|
||||
"dist": "",
|
||||
"distpn": "",
|
||||
"internal_id": "",
|
||||
"mfg": "",
|
||||
"mpn": ""
|
||||
},
|
||||
"layer_pairs": [],
|
||||
"layer_presets": [
|
||||
{
|
||||
"activeLayer": -2,
|
||||
"flipBoard": false,
|
||||
"layers": [
|
||||
5,
|
||||
25,
|
||||
31
|
||||
],
|
||||
"name": "Front-Silk",
|
||||
"renderLayers": [
|
||||
"vias",
|
||||
"footprint_text",
|
||||
"footprint_anchors",
|
||||
"ratsnest",
|
||||
"grid",
|
||||
"footprints_front",
|
||||
"footprints_back",
|
||||
"footprint_values",
|
||||
"footprint_references",
|
||||
"tracks",
|
||||
"drc_errors",
|
||||
"drawing_sheet",
|
||||
"bitmaps",
|
||||
"pads",
|
||||
"zones",
|
||||
"drc_warnings",
|
||||
"locked_item_shadows",
|
||||
"conflict_shadows"
|
||||
]
|
||||
}
|
||||
],
|
||||
"viewports": []
|
||||
},
|
||||
"boards": [],
|
||||
"cvpcb": {
|
||||
"equivalence_files": []
|
||||
},
|
||||
"erc": {
|
||||
"erc_exclusions": [],
|
||||
"meta": {
|
||||
"version": 0
|
||||
},
|
||||
"pin_map": [
|
||||
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|
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|
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|
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|
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|
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|
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|
||||
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|
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|
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||||
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|
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
2
|
||||
]
|
||||
],
|
||||
"rule_severities": {
|
||||
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|
||||
"bus_entry_needed": "error",
|
||||
"bus_to_bus_conflict": "error",
|
||||
"bus_to_net_conflict": "error",
|
||||
"conflicting_netclasses": "error",
|
||||
"different_unit_footprint": "error",
|
||||
"different_unit_net": "error",
|
||||
"duplicate_reference": "error",
|
||||
"duplicate_sheet_names": "error",
|
||||
"endpoint_off_grid": "warning",
|
||||
"extra_units": "error",
|
||||
"footprint_filter": "ignore",
|
||||
"footprint_link_issues": "warning",
|
||||
"four_way_junction": "ignore",
|
||||
"global_label_dangling": "warning",
|
||||
"hier_label_mismatch": "error",
|
||||
"label_dangling": "error",
|
||||
"label_multiple_wires": "warning",
|
||||
"lib_symbol_issues": "warning",
|
||||
"lib_symbol_mismatch": "warning",
|
||||
"missing_bidi_pin": "warning",
|
||||
"missing_input_pin": "warning",
|
||||
"missing_power_pin": "error",
|
||||
"missing_unit": "warning",
|
||||
"multiple_net_names": "warning",
|
||||
"net_not_bus_member": "warning",
|
||||
"no_connect_connected": "warning",
|
||||
"no_connect_dangling": "warning",
|
||||
"pin_not_connected": "error",
|
||||
"pin_not_driven": "error",
|
||||
"pin_to_pin": "warning",
|
||||
"power_pin_not_driven": "error",
|
||||
"same_local_global_label": "warning",
|
||||
"similar_label_and_power": "warning",
|
||||
"similar_labels": "warning",
|
||||
"similar_power": "warning",
|
||||
"simulation_model_issue": "ignore",
|
||||
"single_global_label": "ignore",
|
||||
"unannotated": "error",
|
||||
"unconnected_wire_endpoint": "warning",
|
||||
"unit_value_mismatch": "error",
|
||||
"unresolved_variable": "error",
|
||||
"wire_dangling": "error"
|
||||
}
|
||||
},
|
||||
"libraries": {
|
||||
"pinned_footprint_libs": [],
|
||||
"pinned_symbol_libs": []
|
||||
},
|
||||
"meta": {
|
||||
"filename": "pestdetector.kicad_pro",
|
||||
"version": 3
|
||||
},
|
||||
"net_settings": {
|
||||
"classes": [
|
||||
{
|
||||
"bus_width": 12,
|
||||
"clearance": 0.2,
|
||||
"diff_pair_gap": 0.25,
|
||||
"diff_pair_via_gap": 0.25,
|
||||
"diff_pair_width": 0.2,
|
||||
"line_style": 0,
|
||||
"microvia_diameter": 0.3,
|
||||
"microvia_drill": 0.1,
|
||||
"name": "Default",
|
||||
"pcb_color": "rgba(0, 0, 0, 0.000)",
|
||||
"priority": 2147483647,
|
||||
"schematic_color": "rgba(0, 0, 0, 0.000)",
|
||||
"track_width": 0.25,
|
||||
"via_diameter": 0.8,
|
||||
"via_drill": 0.4,
|
||||
"wire_width": 6
|
||||
}
|
||||
],
|
||||
"meta": {
|
||||
"version": 4
|
||||
},
|
||||
"net_colors": null,
|
||||
"netclass_assignments": null,
|
||||
"netclass_patterns": []
|
||||
},
|
||||
"pcbnew": {
|
||||
"last_paths": {
|
||||
"gencad": "",
|
||||
"idf": "",
|
||||
"netlist": "",
|
||||
"plot": "",
|
||||
"pos_files": "",
|
||||
"specctra_dsn": "",
|
||||
"step": "",
|
||||
"svg": "",
|
||||
"vrml": ""
|
||||
},
|
||||
"page_layout_descr_file": ""
|
||||
},
|
||||
"schematic": {
|
||||
"annotate_start_num": 0,
|
||||
"bom_export_filename": "${PROJECTNAME}.csv",
|
||||
"bom_fmt_presets": [],
|
||||
"bom_fmt_settings": {
|
||||
"field_delimiter": ",",
|
||||
"keep_line_breaks": false,
|
||||
"keep_tabs": false,
|
||||
"name": "CSV",
|
||||
"ref_delimiter": ",",
|
||||
"ref_range_delimiter": "",
|
||||
"string_delimiter": "\""
|
||||
},
|
||||
"bom_presets": [],
|
||||
"bom_settings": {
|
||||
"exclude_dnp": false,
|
||||
"fields_ordered": [
|
||||
{
|
||||
"group_by": false,
|
||||
"label": "Reference",
|
||||
"name": "Reference",
|
||||
"show": true
|
||||
},
|
||||
{
|
||||
"group_by": false,
|
||||
"label": "Qty",
|
||||
"name": "${QUANTITY}",
|
||||
"show": true
|
||||
},
|
||||
{
|
||||
"group_by": true,
|
||||
"label": "Value",
|
||||
"name": "Value",
|
||||
"show": true
|
||||
},
|
||||
{
|
||||
"group_by": true,
|
||||
"label": "DNP",
|
||||
"name": "${DNP}",
|
||||
"show": true
|
||||
},
|
||||
{
|
||||
"group_by": true,
|
||||
"label": "Exclude from BOM",
|
||||
"name": "${EXCLUDE_FROM_BOM}",
|
||||
"show": true
|
||||
},
|
||||
{
|
||||
"group_by": true,
|
||||
"label": "Exclude from Board",
|
||||
"name": "${EXCLUDE_FROM_BOARD}",
|
||||
"show": true
|
||||
},
|
||||
{
|
||||
"group_by": true,
|
||||
"label": "Footprint",
|
||||
"name": "Footprint",
|
||||
"show": true
|
||||
},
|
||||
{
|
||||
"group_by": false,
|
||||
"label": "Datasheet",
|
||||
"name": "Datasheet",
|
||||
"show": true
|
||||
}
|
||||
],
|
||||
"filter_string": "",
|
||||
"group_symbols": true,
|
||||
"include_excluded_from_bom": true,
|
||||
"name": "Default Editing",
|
||||
"sort_asc": true,
|
||||
"sort_field": "Reference"
|
||||
},
|
||||
"connection_grid_size": 50.0,
|
||||
"drawing": {
|
||||
"dashed_lines_dash_length_ratio": 12.0,
|
||||
"dashed_lines_gap_length_ratio": 3.0,
|
||||
"default_line_thickness": 6.0,
|
||||
"default_text_size": 50.0,
|
||||
"field_names": [],
|
||||
"intersheets_ref_own_page": false,
|
||||
"intersheets_ref_prefix": "",
|
||||
"intersheets_ref_short": false,
|
||||
"intersheets_ref_show": false,
|
||||
"intersheets_ref_suffix": "",
|
||||
"junction_size_choice": 3,
|
||||
"label_size_ratio": 0.375,
|
||||
"operating_point_overlay_i_precision": 3,
|
||||
"operating_point_overlay_i_range": "~A",
|
||||
"operating_point_overlay_v_precision": 3,
|
||||
"operating_point_overlay_v_range": "~V",
|
||||
"overbar_offset_ratio": 1.23,
|
||||
"pin_symbol_size": 25.0,
|
||||
"text_offset_ratio": 0.15
|
||||
},
|
||||
"legacy_lib_dir": "",
|
||||
"legacy_lib_list": [],
|
||||
"meta": {
|
||||
"version": 1
|
||||
},
|
||||
"net_format_name": "",
|
||||
"page_layout_descr_file": "",
|
||||
"plot_directory": "",
|
||||
"space_save_all_events": true,
|
||||
"spice_current_sheet_as_root": false,
|
||||
"spice_external_command": "spice \"%I\"",
|
||||
"spice_model_current_sheet_as_root": true,
|
||||
"spice_save_all_currents": false,
|
||||
"spice_save_all_dissipations": false,
|
||||
"spice_save_all_voltages": false,
|
||||
"subpart_first_id": 65,
|
||||
"subpart_id_separator": 0
|
||||
},
|
||||
"sheets": [
|
||||
[
|
||||
"968d3551-f3b3-44c4-becc-4f99fbfd63d2",
|
||||
"Root"
|
||||
]
|
||||
],
|
||||
"text_variables": {}
|
||||
}
|
||||
7132
eda/pestdetector/pestdetector.kicad_sch
Normal file
7132
eda/pestdetector/pestdetector.kicad_sch
Normal file
File diff suppressed because it is too large
Load Diff
460
sw/analysis/analyse.py
Normal file
460
sw/analysis/analyse.py
Normal file
@ -0,0 +1,460 @@
|
||||
import sys
|
||||
import asyncio
|
||||
import serial_asyncio
|
||||
import re
|
||||
import numpy as np
|
||||
|
||||
from qasync import QEventLoop, QApplication
|
||||
import pyqtgraph as pg
|
||||
from pyqtgraph import functions as fn
|
||||
from PyQt5 import QtWidgets, QtGui
|
||||
from pyqtgraph.Qt import QtCore
|
||||
from PyQt5.QtWidgets import (QMainWindow, QApplication, QVBoxLayout, QHBoxLayout,
|
||||
QWidget, QGroupBox, QTextEdit, QPushButton)
|
||||
from PyQt5.QtCore import pyqtSlot, QTimer
|
||||
|
||||
import tagfind
|
||||
from trilateration import *#trilaterate, trilaterate_lin, trilaterate2
|
||||
|
||||
def distance(p1, p2):
|
||||
return ((p2[0] - p1[0])**2 + (p2[1] - p1[1])**2)**0.5
|
||||
|
||||
class Calibration:
|
||||
def __init__(self, ab, ac, ba, bc, ca, cb):
|
||||
self.ab = ab
|
||||
self.ac = ac
|
||||
self.ba = ba
|
||||
self.bc = bc
|
||||
self.ca = ca
|
||||
self.cb = cb
|
||||
|
||||
def get_c(self):
|
||||
return (self.ab + self.ba) / 2
|
||||
|
||||
def get_b(self):
|
||||
return (self.ac + self.ca) / 2
|
||||
|
||||
def get_a(self):
|
||||
return (self.bc + self.cb) / 2
|
||||
|
||||
class OutputProtocol(asyncio.Protocol):
|
||||
RX_CALIB = re.compile(r'AB: ([\d.]+)[\r\n]+AC: ([\d.]+)[\r\n]+BA: ([\d.]+)[\r\n]+BC: ([\d.]+)[\r\n]+CA: ([\d.]+)[\r\n]+CB: ([\d.]+)[\r\n]', re.MULTILINE)
|
||||
RX_SIGNAL= re.compile(r'A: ([\d.]+)[\r\n]+B: ([\d.]+)[\r\n]+C: ([\d.]+)[\r\n]', re.MULTILINE)
|
||||
|
||||
def connection_made(self, transport):
|
||||
self.transport = transport
|
||||
print('port opened', transport)
|
||||
transport.serial.rts = False # You can manipulate Serial object via transport
|
||||
self.buffer = str()
|
||||
self.incalib = False
|
||||
self.calib_callback = None
|
||||
self.inarm = False
|
||||
self.sig_callback = None
|
||||
|
||||
def calibrate(self, cb):
|
||||
self.buffer = str()
|
||||
self.incalib = True
|
||||
self.calib_callback = cb
|
||||
transport.write(b'c\n')
|
||||
|
||||
def arm(self, cb):
|
||||
self.buffer = str()
|
||||
self.inarm = True
|
||||
self.sig_callback = cb
|
||||
transport.write(b'a\n')
|
||||
|
||||
def _parse_sig(self):
|
||||
m = self.RX_SIGNAL.search(self.buffer)
|
||||
if m:
|
||||
groups = m.groups()
|
||||
ts = [float(f) for f in groups]
|
||||
self.sig_callback(*ts)
|
||||
self.inarm = False
|
||||
self.buffer = str()
|
||||
|
||||
def _parse_calib(self):
|
||||
m = self.RX_CALIB.search(self.buffer)
|
||||
if m:
|
||||
groups = m.groups()
|
||||
calib = Calibration(*[float(f) for f in groups])
|
||||
self.calib_callback(calib)
|
||||
self.incalib = False
|
||||
self.buffer = str()
|
||||
|
||||
def data_received(self, data):
|
||||
self.buffer += data.decode('ascii')
|
||||
if self.incalib:
|
||||
self._parse_calib()
|
||||
if self.inarm:
|
||||
self._parse_sig()
|
||||
#print('RX', self.buffer)
|
||||
|
||||
def connection_lost(self, exc):
|
||||
print('port closed')
|
||||
self.transport.loop.stop()
|
||||
|
||||
def pause_writing(self):
|
||||
print('pause writing')
|
||||
print(self.transport.get_write_buffer_size())
|
||||
|
||||
def resume_writing(self):
|
||||
print(self.transport.get_write_buffer_size())
|
||||
print('resume writing')
|
||||
|
||||
def on_calib(cal):
|
||||
print("Calibration data:")
|
||||
print(f" - AB: {cal.ab}")
|
||||
print(f" - AC: {cal.ac}")
|
||||
print(f" - BA: {cal.ba}")
|
||||
print(f" - BC: {cal.bc}")
|
||||
print(f" - CA: {cal.ca}")
|
||||
print(f" - CB: {cal.cb}")
|
||||
|
||||
class TriangleItem(QtWidgets.QGraphicsPolygonItem):
|
||||
def __init__(self, polygon, parent=None):
|
||||
super().__init__(polygon, parent)
|
||||
self.setBrush(QtGui.QBrush(QtGui.QColor.fromRgb(255, 255, 255)))
|
||||
|
||||
|
||||
class HyperTriange(pg.GraphicsObject):
|
||||
"""A GraphItem displays graph information as
|
||||
a set of nodes connected by lines (as in 'graph theory', not 'graphics').
|
||||
Useful for drawing networks, trees, etc.
|
||||
"""
|
||||
|
||||
def __init__(self, **kwds):
|
||||
pg.GraphicsObject.__init__(self)
|
||||
self.scatter = pg.ScatterPlotItem()
|
||||
self.scatter.setParentItem(self)
|
||||
self.points = None
|
||||
self.picture = None
|
||||
self.pen = 'default'
|
||||
self.setData(**kwds)
|
||||
|
||||
def setData(self, **kwds):
|
||||
"""
|
||||
Change the data displayed by the graph.
|
||||
|
||||
============== =======================================================================
|
||||
**Arguments:**
|
||||
pos (N,2) array of the positions of each node in the graph.
|
||||
adj (M,2) array of connection data. Each row contains indexes
|
||||
of two nodes that are connected or None to hide lines
|
||||
pen The pen to use when drawing lines between connected
|
||||
nodes. May be one of:
|
||||
|
||||
* QPen
|
||||
* a single argument to pass to pg.mkPen
|
||||
* a record array of length M
|
||||
with fields (red, green, blue, alpha, width). Note
|
||||
that using this option may have a significant performance
|
||||
cost.
|
||||
* None (to disable connection drawing)
|
||||
* 'default' to use the default foreground color.
|
||||
|
||||
symbolPen The pen(s) used for drawing nodes.
|
||||
symbolBrush The brush(es) used for drawing nodes.
|
||||
``**opts`` All other keyword arguments are given to
|
||||
:func:`ScatterPlotItem.setData() <pyqtgraph.ScatterPlotItem.setData>`
|
||||
to affect the appearance of nodes (symbol, size, brush,
|
||||
etc.)
|
||||
============== =======================================================================
|
||||
"""
|
||||
if 'points' in kwds:
|
||||
self.points = kwds['points']
|
||||
self._update()
|
||||
if 'pen' in kwds:
|
||||
self.setPen(kwds.pop('pen'))
|
||||
self._update()
|
||||
|
||||
if 'symbolPen' in kwds:
|
||||
kwds['pen'] = kwds.pop('symbolPen')
|
||||
if 'symbolBrush' in kwds:
|
||||
kwds['brush'] = kwds.pop('symbolBrush')
|
||||
self.scatter.setData(**kwds)
|
||||
self.informViewBoundsChanged()
|
||||
|
||||
def _update(self):
|
||||
self.picture = None
|
||||
self.prepareGeometryChange()
|
||||
self.update()
|
||||
|
||||
def setPen(self, *args, **kwargs):
|
||||
"""
|
||||
Set the pen used to draw graph lines.
|
||||
May be:
|
||||
|
||||
* None to disable line drawing
|
||||
* Record array with fields (red, green, blue, alpha, width)
|
||||
* Any set of arguments and keyword arguments accepted by
|
||||
:func:`mkPen <pyqtgraph.mkPen>`.
|
||||
* 'default' to use the default foreground color.
|
||||
"""
|
||||
if len(args) == 1 and len(kwargs) == 0:
|
||||
self.pen = args[0]
|
||||
else:
|
||||
self.pen = fn.mkPen(*args, **kwargs)
|
||||
self.picture = None
|
||||
self.update()
|
||||
|
||||
def generatePicture(self):
|
||||
self.picture = QtGui.QPicture()
|
||||
if self.pen is None or self.points is None:
|
||||
return
|
||||
|
||||
p = QtGui.QPainter(self.picture)
|
||||
try:
|
||||
pts = self.points
|
||||
pen = self.pen
|
||||
#p.setPen(pen)
|
||||
p.setPen(fn.mkPen(color=(pen[0], pen[1], pen[2], pen[3]), width=1))
|
||||
#p.setPen(fn.mkPen(color=(0xFF, 0xFF, 0xFF,0xFF), width=1))
|
||||
#pen = pg.getConfigOption('foreground')
|
||||
#p.setPen(fn.mkPen(pen))
|
||||
p.drawLine(QtCore.QPointF(*pts[0]), QtCore.QPointF(*pts[1]))
|
||||
p.drawLine(QtCore.QPointF(*pts[1]), QtCore.QPointF(*pts[2]))
|
||||
p.drawLine(QtCore.QPointF(*pts[2]), QtCore.QPointF(*pts[0]))
|
||||
finally:
|
||||
p.end()
|
||||
|
||||
def paint(self, p, *args):
|
||||
if self.picture is None:
|
||||
self.generatePicture()
|
||||
if pg.getConfigOption('antialias') is True:
|
||||
p.setRenderHint(p.RenderHint.Antialiasing)
|
||||
self.picture.play(p)
|
||||
|
||||
def boundingRect(self):
|
||||
return self.scatter.boundingRect()
|
||||
|
||||
def dataBounds(self, *args, **kwds):
|
||||
return self.scatter.dataBounds(*args, **kwds)
|
||||
|
||||
def pixelPadding(self):
|
||||
return self.scatter.pixelPadding()
|
||||
|
||||
|
||||
class MainWindow(QtWidgets.QMainWindow):
|
||||
def __init__(self, proto):
|
||||
super().__init__()
|
||||
self.proto = proto
|
||||
#self.w = pg.GraphicsLayoutWidget()
|
||||
#self.w = pg.GraphicsView(parent=None, useOpenGL=False)
|
||||
self.w = pg.GraphicsLayoutWidget(show=True)
|
||||
#self.setCentralWidget(self.w)
|
||||
layout = QVBoxLayout()
|
||||
#triangle = TriangleItem(p)
|
||||
self.calib_triangle = HyperTriange(points=[[0, -0.5], [-0.5, 0], [0, 0.5]], pen=(255, 0, 0, 255))
|
||||
#self.w.addItem(triangle)
|
||||
#v_temporal = self.w.addViewBox(0, 0)
|
||||
#v_temporal.setAspectLocked()
|
||||
#v_temporal.addItem(self.calib_triangle)
|
||||
#self.w.addLabel("Calibration", 1, 0)
|
||||
|
||||
self.image_plot = pg.ImageItem()
|
||||
v_image = self.w.addViewBox(2, 0)
|
||||
v_image.setAspectLocked(True)
|
||||
v_image.addItem(self.image_plot)
|
||||
#self.w.addItem(self.image_plot, 1, 0)
|
||||
self.constellation = HyperTriange(points=[[0, 0], [0, 0], [0, 0]], pen=(255, 0, 0, 255))
|
||||
v_image.addItem(self.constellation)
|
||||
self.w.addLabel("Detection", 3, 0)
|
||||
self.locations = []
|
||||
self.trajectories = []
|
||||
#v_image.addItem(self.location)
|
||||
self.v_image = v_image
|
||||
|
||||
self.arm_btn = QPushButton("Arm")
|
||||
self.arm_btn.clicked.connect(self.on_arm)
|
||||
self.clear_btn = QPushButton("Clear")
|
||||
self.clear_btn.clicked.connect(self.on_clear)
|
||||
layout.addWidget(self.w)
|
||||
layout.addWidget(self.arm_btn)
|
||||
layout.addWidget(self.clear_btn)
|
||||
widget = QWidget()
|
||||
widget.setLayout(layout)
|
||||
self.setCentralWidget(widget)
|
||||
self.calibration = None
|
||||
self.armtimer = QTimer()
|
||||
self.armtimer.timeout.connect(self.on_arm)
|
||||
|
||||
self.status = pg.TextItem(text='READY', color=(200, 200, 200), html=None, anchor=(0, 0), border=(255,0,0), fill=(64,0,0), angle=0, rotateAxis=None, ensureInBounds=False)
|
||||
v_image.addItem(self.status)
|
||||
|
||||
@pyqtSlot()
|
||||
def on_clear(self):
|
||||
for l in self.locations:
|
||||
self.v_image.removeItem(l)
|
||||
self.locations = []
|
||||
for t in self.trajectories:
|
||||
self.v_image.removeItem(t)
|
||||
self.trajectories = []
|
||||
|
||||
@pyqtSlot()
|
||||
def on_arm(self):
|
||||
print('ARMING')
|
||||
self.proto.arm(self.enter_signal)
|
||||
self.armtimer.stop()
|
||||
|
||||
def enter_calib(self, calib):
|
||||
self.calibration = calib
|
||||
|
||||
def enter_signal(self, ta, tb, tc):
|
||||
#f = 2/240000000
|
||||
f = 1
|
||||
#t_pd = 0
|
||||
#ta %= 0xFFFF
|
||||
#tb %= 0xFFFF
|
||||
#tc %= 0xFFFF
|
||||
|
||||
measurements = np.array([ta, tb, tc])
|
||||
meas_sorted = np.sort(measurements)
|
||||
min_idx = np.argmin(measurements)
|
||||
#print("minidx", min_idx)
|
||||
tmin = measurements[min_idx]
|
||||
"""
|
||||
diff_highest = meas_sorted[0] - meas_sorted[1]
|
||||
if ((meas_sorted[0] - tmin) > diff_highest) or \
|
||||
((meas_sorted[1] - tmin) > diff_highest):
|
||||
print("Overflow detected")
|
||||
measurements[min_idx] = measurements[min_idx] + 0xFFFFFFFF
|
||||
|
||||
ta, tb, tc = measurements
|
||||
tmin = np.min(measurements)
|
||||
"""
|
||||
|
||||
print("TA: ", ta)
|
||||
print("TB: ", tb)
|
||||
print("TC: ", tc)
|
||||
print("TRA: ", ta-tmin)
|
||||
print("TRB: ", tb-tmin)
|
||||
print("TRC: ", tc-tmin)
|
||||
|
||||
t_pd = 22.8
|
||||
ta -= t_pd
|
||||
tb -= t_pd
|
||||
tc -= t_pd
|
||||
ta *= f
|
||||
tb *= f
|
||||
tc *= f
|
||||
|
||||
"""
|
||||
solution,*_ = trilaterate(self.points['A'], self.points['B'], self.points['C'], ta, tb, tc)
|
||||
#self.location.setData(pos=(solution[0], solution[1]))
|
||||
self.location.setPos(solution[0], solution[1])
|
||||
print(f"detection at {solution[0]}/{solution[1]}")
|
||||
"""
|
||||
#pixel_fact = 359.734/600
|
||||
pixel_fact = 1
|
||||
a = [c*pixel_fact for c in self.points['A']]
|
||||
b = [c*pixel_fact for c in self.points['B']]
|
||||
c = [c*pixel_fact for c in self.points['C']]
|
||||
|
||||
A = distance(b,c)
|
||||
B = distance(a,c)
|
||||
C = distance(a,b)
|
||||
|
||||
s_a = A/(self.calibration.get_a() * f)
|
||||
s_b = B/(self.calibration.get_b() * f)
|
||||
s_c = C/(self.calibration.get_c() * f)
|
||||
#s_b *= 1000
|
||||
#s_b = B/(500*f)
|
||||
print("s_b", s_b)
|
||||
#self.proto.arm(self.enter_signal)
|
||||
self.armtimer.start(500)
|
||||
|
||||
"""
|
||||
for l in self.locations:
|
||||
self.v_image.removeItem(l)
|
||||
self.locations = []
|
||||
"""
|
||||
|
||||
#solution = tdoa(a,b,c,ta,tb,tc, v=s_b)
|
||||
window = 3
|
||||
v_index = 0
|
||||
trajectory_x = []
|
||||
trajectory_y = []
|
||||
for i,v in enumerate(np.linspace(s_b/2, 5*s_b, 20)):
|
||||
solution = hyper(a,b,c,ta,tb,tc, v=v)
|
||||
print(f"v{i}={v}")
|
||||
if (solution[0] > -self.image_width * window) and (solution[0] < self.image_width * window) and \
|
||||
(solution[1] > -self.image_height * window) and (solution[1] < self.image_height * window):
|
||||
trajectory_x.append(solution[0])
|
||||
trajectory_y.append(solution[1])
|
||||
if i == v_index:
|
||||
arrow = pg.ArrowItem(pos=(solution[0]/pixel_fact, solution[1]/pixel_fact), brush=(0,255*(i/20),0), angle=-45)
|
||||
self.v_image.addItem(arrow)
|
||||
self.locations.append(arrow)
|
||||
self.status.setText("DETECTED")
|
||||
else:
|
||||
self.status.setText("OUT OF BOUNDS")
|
||||
|
||||
plot = pg.PlotCurveItem(x=trajectory_x, y=trajectory_y, pen=(0,0,255))
|
||||
self.trajectories.append(plot)
|
||||
self.v_image.addItem(plot)
|
||||
|
||||
"""
|
||||
s_b = 0.007547757513716785
|
||||
solution = hyper(a,b,c,ta,tb,tc, v=s_b)
|
||||
if (solution[0] > -self.image_width * window) and (solution[0] < self.image_width * window) and \
|
||||
(solution[1] > -self.image_height * window) and (solution[1] < self.image_height * window):
|
||||
arrow = pg.ArrowItem(pos=(solution[0]/pixel_fact, solution[1]/pixel_fact), brush=(255,0,0), angle=-45)
|
||||
self.v_image.addItem(arrow)
|
||||
self.locations.append(arrow)
|
||||
self.status.setText("DETECTED")
|
||||
else:
|
||||
self.status.setText("OUT OF BOUNDS")
|
||||
"""
|
||||
|
||||
#solutions = trilaterate_lin2(a,b,c,ta,tb,tc, v=s_b)
|
||||
#solutions = trilaterate_lin(a,b,c,ta,tb,tc, v=s_b)
|
||||
#solutions = trilaterate2(a, b, c, ta, tb, tc)#, v=s_b)
|
||||
#solutions = trilaterate_lin(a,b,c,ta,tb,tc, v=s_b)
|
||||
#for l in self.locations:
|
||||
# self.v_image.removeItem(l)
|
||||
# self.locations = []
|
||||
|
||||
#for solution in solutions:
|
||||
# print("S:", solution)
|
||||
# #if solution[2] < 0:
|
||||
# arrow = pg.ArrowItem(pos=(solution[0]/pixel_fact, solution[1]/pixel_fact), angle=-45)
|
||||
# self.v_image.addItem(arrow)
|
||||
# self.locations.append(arrow)
|
||||
# #else:
|
||||
# # print("disregarded")
|
||||
print("Solutions found: ", len(self.locations))
|
||||
|
||||
|
||||
def set_image(self, image):
|
||||
self.image_plot.setImage(image)
|
||||
self.points = tagfind.find_tags(image)
|
||||
self.image_width,self.image_height,_ = np.shape(image)
|
||||
self.status.setPos(self.image_width/2, -10)
|
||||
if self.points is None:
|
||||
print("Points could not be detected")
|
||||
else:
|
||||
print("PA: ", self.points['A'])
|
||||
print("PB: ", self.points['B'])
|
||||
print("PC: ", self.points['C'])
|
||||
self.constellation.setData(points=[self.points['A'], self.points['B'], self.points['C']])
|
||||
|
||||
|
||||
app = QApplication(sys.argv)
|
||||
|
||||
loop = QEventLoop(app)
|
||||
asyncio.set_event_loop(loop)
|
||||
|
||||
with loop:
|
||||
coro = serial_asyncio.create_serial_connection(loop, OutputProtocol, '/dev/ttyUSB0', baudrate=115200)
|
||||
transport, protocol = loop.run_until_complete(coro)
|
||||
#protocol.calibrate(on_calib)
|
||||
main = MainWindow(protocol)
|
||||
main.show()
|
||||
|
||||
image = tagfind.get_image('realideal1.jpg')
|
||||
main.set_image(image)
|
||||
#main.enter_signal(197244236935, 197244235709, 197244236682)
|
||||
#main.enter_calib(Calibration(41329.000000, 142402.000000, 1757.000000 , 110173.000000, 1593.000000, 62337.000000))
|
||||
main.enter_calib(Calibration(148495.000000, 145277.000000, 59769.000000,63758.000000,157637.000000,47112.000000))
|
||||
loop.run_forever()
|
||||
|
||||
3
sw/firmware/CMakeLists.txt
Normal file
3
sw/firmware/CMakeLists.txt
Normal file
@ -0,0 +1,3 @@
|
||||
cmake_minimum_required(VERSION 3.16.0)
|
||||
include($ENV{IDF_PATH}/tools/cmake/project.cmake)
|
||||
project(firmwarfe)
|
||||
39
sw/firmware/include/README
Normal file
39
sw/firmware/include/README
Normal file
@ -0,0 +1,39 @@
|
||||
|
||||
This directory is intended for project header files.
|
||||
|
||||
A header file is a file containing C declarations and macro definitions
|
||||
to be shared between several project source files. You request the use of a
|
||||
header file in your project source file (C, C++, etc) located in `src` folder
|
||||
by including it, with the C preprocessing directive `#include'.
|
||||
|
||||
```src/main.c
|
||||
|
||||
#include "header.h"
|
||||
|
||||
int main (void)
|
||||
{
|
||||
...
|
||||
}
|
||||
```
|
||||
|
||||
Including a header file produces the same results as copying the header file
|
||||
into each source file that needs it. Such copying would be time-consuming
|
||||
and error-prone. With a header file, the related declarations appear
|
||||
in only one place. If they need to be changed, they can be changed in one
|
||||
place, and programs that include the header file will automatically use the
|
||||
new version when next recompiled. The header file eliminates the labor of
|
||||
finding and changing all the copies as well as the risk that a failure to
|
||||
find one copy will result in inconsistencies within a program.
|
||||
|
||||
In C, the usual convention is to give header files names that end with `.h'.
|
||||
It is most portable to use only letters, digits, dashes, and underscores in
|
||||
header file names, and at most one dot.
|
||||
|
||||
Read more about using header files in official GCC documentation:
|
||||
|
||||
* Include Syntax
|
||||
* Include Operation
|
||||
* Once-Only Headers
|
||||
* Computed Includes
|
||||
|
||||
https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
|
||||
46
sw/firmware/lib/README
Normal file
46
sw/firmware/lib/README
Normal file
@ -0,0 +1,46 @@
|
||||
|
||||
This directory is intended for project specific (private) libraries.
|
||||
PlatformIO will compile them to static libraries and link into executable file.
|
||||
|
||||
The source code of each library should be placed in an own separate directory
|
||||
("lib/your_library_name/[here are source files]").
|
||||
|
||||
For example, see a structure of the following two libraries `Foo` and `Bar`:
|
||||
|
||||
|--lib
|
||||
| |
|
||||
| |--Bar
|
||||
| | |--docs
|
||||
| | |--examples
|
||||
| | |--src
|
||||
| | |- Bar.c
|
||||
| | |- Bar.h
|
||||
| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
|
||||
| |
|
||||
| |--Foo
|
||||
| | |- Foo.c
|
||||
| | |- Foo.h
|
||||
| |
|
||||
| |- README --> THIS FILE
|
||||
|
|
||||
|- platformio.ini
|
||||
|--src
|
||||
|- main.c
|
||||
|
||||
and a contents of `src/main.c`:
|
||||
```
|
||||
#include <Foo.h>
|
||||
#include <Bar.h>
|
||||
|
||||
int main (void)
|
||||
{
|
||||
...
|
||||
}
|
||||
|
||||
```
|
||||
|
||||
PlatformIO Library Dependency Finder will find automatically dependent
|
||||
libraries scanning project source files.
|
||||
|
||||
More information about PlatformIO Library Dependency Finder
|
||||
- https://docs.platformio.org/page/librarymanager/ldf.html
|
||||
1
sw/firmware/main/CMakeLists.txt
Normal file
1
sw/firmware/main/CMakeLists.txt
Normal file
@ -0,0 +1 @@
|
||||
idf_component_register(SRCS "main.c")
|
||||
621
sw/firmware/main/main.c
Normal file
621
sw/firmware/main/main.c
Normal file
@ -0,0 +1,621 @@
|
||||
#include <stdio.h>
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/task.h"
|
||||
#include "driver/gpio.h"
|
||||
#include "driver/periph_ctrl.h"
|
||||
#include "driver/timer.h"
|
||||
#include "driver/ledc.h"
|
||||
#include "freertos/semphr.h"
|
||||
|
||||
#include <string.h>
|
||||
#include "esp_system.h"
|
||||
#include "esp_log.h"
|
||||
#include "esp_console.h"
|
||||
#include "argtable3/argtable3.h"
|
||||
#include "nvs.h"
|
||||
#include "nvs_flash.h"
|
||||
|
||||
#include "esp_private/esp_clk.h"
|
||||
#include "driver/mcpwm_cap.h"
|
||||
|
||||
/**
|
||||
* Brief:
|
||||
* This test code shows how to configure multiple gpio interrupts
|
||||
*
|
||||
* GPIO status:
|
||||
* GPIO2 : output ( built-in led on Devkit-V1 )
|
||||
* GPIO34 : output ( externally pulled up )
|
||||
* GPIO35 : output ( externally pulled up )
|
||||
*
|
||||
* Test:
|
||||
* Connect GPIO34 with simple switch and ground
|
||||
* Connect GPIO35 with simple switch and ground
|
||||
*/
|
||||
|
||||
#define ESP_INTR_FLAG_DEFAULT 0
|
||||
|
||||
#define CALIB_N 64
|
||||
#define CALIB_PAUSE 50
|
||||
|
||||
#define BUILTIN_LED 2
|
||||
#define GPIO_INPUT_DET_A 25
|
||||
#define GPIO_INPUT_CAL_A 17
|
||||
#define GPIO_INPUT_DET_B 26
|
||||
#define GPIO_INPUT_CAL_B 18
|
||||
#define GPIO_INPUT_DET_C 33 //27
|
||||
#define GPIO_INPUT_CAL_C 19
|
||||
|
||||
#define TIMER_DIVIDER 2 // Hardware timer clock divider
|
||||
#define TIMER_SCALE (TIMER_BASE_CLK / TIMER_DIVIDER) // convert counter value to seconds
|
||||
|
||||
SemaphoreHandle_t xSemaphore_a = NULL;
|
||||
SemaphoreHandle_t xSemaphore_b = NULL;
|
||||
SemaphoreHandle_t xSemaphore_c = NULL;
|
||||
bool detection_armed = false;
|
||||
|
||||
uint64_t a_timestamp_cal = 0ULL;
|
||||
uint64_t a_timestamp_det = 0ULL;
|
||||
uint64_t b_timestamp_cal = 0ULL;
|
||||
uint64_t b_timestamp_det = 0ULL;
|
||||
uint64_t c_timestamp_cal = 0ULL;
|
||||
uint64_t c_timestamp_det = 0ULL;
|
||||
|
||||
float ab_delta = 0;
|
||||
float ac_delta = 0;
|
||||
float ba_delta = 0;
|
||||
float bc_delta = 0;
|
||||
float ca_delta = 0;
|
||||
float cb_delta = 0;
|
||||
|
||||
mcpwm_cap_timer_handle_t timer_a = NULL;
|
||||
|
||||
mcpwm_cap_channel_handle_t cap_chan_a = NULL;
|
||||
mcpwm_cap_channel_handle_t cap_chan_b = NULL;
|
||||
mcpwm_cap_channel_handle_t cap_chan_c = NULL;
|
||||
|
||||
TaskHandle_t xDetectTask = NULL;
|
||||
|
||||
|
||||
static bool measure_a(uint32_t *p_delta_b, uint32_t *p_delta_c)
|
||||
{
|
||||
bool ab_okay = false;
|
||||
bool ac_okay = false;
|
||||
uint64_t timestep_cal = 0ULL;
|
||||
// reset timestamps
|
||||
b_timestamp_det = 0;
|
||||
c_timestamp_det = 0;
|
||||
timer_get_counter_value(TIMER_GROUP_0, TIMER_0, ×tep_cal);
|
||||
|
||||
// pulse the IO
|
||||
ESP_ERROR_CHECK(mcpwm_capture_channel_enable(cap_chan_b));
|
||||
ESP_ERROR_CHECK(mcpwm_capture_channel_enable(cap_chan_c));
|
||||
ledc_set_pin(GPIO_INPUT_CAL_A, LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0);
|
||||
|
||||
for (int i = 0; i < 0xFFFF; ++i);
|
||||
gpio_set_direction(GPIO_INPUT_CAL_A, GPIO_MODE_INPUT);
|
||||
|
||||
// get the a-b delta
|
||||
if (b_timestamp_det > 0)
|
||||
{
|
||||
uint64_t delta = b_timestamp_det - timestep_cal;
|
||||
*p_delta_b = delta;
|
||||
ab_okay = true;
|
||||
} else ESP_ERROR_CHECK(mcpwm_capture_channel_disable(cap_chan_b));
|
||||
|
||||
// get the a-c delta
|
||||
if (c_timestamp_det > 0)
|
||||
{
|
||||
uint64_t delta = c_timestamp_det - timestep_cal;
|
||||
*p_delta_c = delta;
|
||||
ac_okay = true;
|
||||
} else ESP_ERROR_CHECK(mcpwm_capture_channel_disable(cap_chan_c));
|
||||
return ab_okay && ac_okay;
|
||||
}
|
||||
|
||||
void calibrate_a(float *p_delta_b, float *p_delta_c)
|
||||
{
|
||||
uint32_t delta_b = 0UL;
|
||||
uint32_t delta_c = 0UL;
|
||||
|
||||
uint32_t sum_b = 0UL;
|
||||
uint32_t sum_c = 0UL;
|
||||
uint32_t samples_b = 0UL;
|
||||
uint32_t samples_c = 0UL;
|
||||
|
||||
for (int i = 0; i < CALIB_N; ++i)
|
||||
{
|
||||
|
||||
delta_b = 0UL;
|
||||
delta_c = 0UL;
|
||||
bool okay = measure_a(&delta_b, &delta_c);
|
||||
if (delta_b > 0)
|
||||
{
|
||||
sum_b += delta_b;
|
||||
samples_b++;
|
||||
}
|
||||
if (delta_c > 0)
|
||||
{
|
||||
sum_c += delta_c;
|
||||
samples_c++;
|
||||
}
|
||||
|
||||
vTaskDelay(CALIB_PAUSE/portTICK_PERIOD_MS);
|
||||
}
|
||||
|
||||
if (samples_b > 0)
|
||||
{
|
||||
*p_delta_b = sum_b / samples_b;
|
||||
}
|
||||
if (samples_c > 0)
|
||||
{
|
||||
*p_delta_c = sum_c / samples_c;
|
||||
}
|
||||
}
|
||||
|
||||
static bool measure_b(uint32_t *p_delta_a, uint32_t *p_delta_c)
|
||||
{
|
||||
bool ba_okay = false;
|
||||
bool bc_okay = false;
|
||||
uint64_t timestep_cal = 0ULL;
|
||||
// reset timestamps
|
||||
a_timestamp_det = 0;
|
||||
c_timestamp_det = 0;
|
||||
timer_get_counter_value(TIMER_GROUP_0, TIMER_0, ×tep_cal);
|
||||
|
||||
// pulse the IO
|
||||
ESP_ERROR_CHECK(mcpwm_capture_channel_enable(cap_chan_a));
|
||||
ESP_ERROR_CHECK(mcpwm_capture_channel_enable(cap_chan_c));
|
||||
ledc_set_pin(GPIO_INPUT_CAL_B, LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0);
|
||||
|
||||
for (int i = 0; i < 0xFFFF; ++i);
|
||||
gpio_set_direction(GPIO_INPUT_CAL_B, GPIO_MODE_INPUT);
|
||||
|
||||
// get the b-a delta
|
||||
if (a_timestamp_det > 0)
|
||||
{
|
||||
uint64_t delta = a_timestamp_det - timestep_cal;
|
||||
*p_delta_a = delta;
|
||||
ba_okay = true;
|
||||
} else ESP_ERROR_CHECK(mcpwm_capture_channel_disable(cap_chan_a));
|
||||
// get the b-c delta
|
||||
if (c_timestamp_det > 0)
|
||||
{
|
||||
uint64_t delta = c_timestamp_det - timestep_cal;
|
||||
*p_delta_c = delta;
|
||||
bc_okay = true;
|
||||
} else ESP_ERROR_CHECK(mcpwm_capture_channel_disable(cap_chan_c));
|
||||
return ba_okay && bc_okay;
|
||||
}
|
||||
|
||||
void calibrate_b(float *p_delta_a, float *p_delta_c)
|
||||
{
|
||||
uint32_t delta_a = 0UL;
|
||||
uint32_t delta_c = 0UL;
|
||||
|
||||
uint32_t sum_a = 0UL;
|
||||
uint32_t sum_c = 0UL;
|
||||
uint32_t samples_a = 0UL;
|
||||
uint32_t samples_c = 0UL;
|
||||
|
||||
for (int i = 0; i < CALIB_N; ++i)
|
||||
{
|
||||
delta_a = 0UL;
|
||||
delta_c = 0UL;
|
||||
bool okay = measure_b(&delta_a, &delta_c);
|
||||
if (delta_a > 0)
|
||||
{
|
||||
sum_a += delta_a;
|
||||
samples_a++;
|
||||
}
|
||||
if (delta_c > 0)
|
||||
{
|
||||
sum_c += delta_c;
|
||||
samples_c++;
|
||||
}
|
||||
|
||||
vTaskDelay(CALIB_PAUSE/portTICK_PERIOD_MS);
|
||||
}
|
||||
if (samples_a > 0)
|
||||
{
|
||||
*p_delta_a = sum_a / samples_a;
|
||||
}
|
||||
if (samples_c > 0)
|
||||
{
|
||||
*p_delta_c = sum_c / samples_c;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
static bool measure_c(uint32_t *p_delta_a, uint32_t *p_delta_b)
|
||||
{
|
||||
bool ca_okay = false;
|
||||
bool cb_okay = false;
|
||||
uint64_t timestep_cal = 0ULL;
|
||||
// reset timestamps
|
||||
a_timestamp_det = 0;
|
||||
b_timestamp_det = 0;
|
||||
timer_get_counter_value(TIMER_GROUP_0, TIMER_0, ×tep_cal);
|
||||
|
||||
// pulse the IO
|
||||
ESP_ERROR_CHECK(mcpwm_capture_channel_enable(cap_chan_a));
|
||||
ESP_ERROR_CHECK(mcpwm_capture_channel_enable(cap_chan_b));
|
||||
ledc_set_pin(GPIO_INPUT_CAL_C, LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0);
|
||||
|
||||
for (int i = 0; i < 0xFFFF; ++i);
|
||||
gpio_set_direction(GPIO_INPUT_CAL_C, GPIO_MODE_INPUT);
|
||||
|
||||
// get the c-a delta
|
||||
if (a_timestamp_det > 0)
|
||||
{
|
||||
uint64_t delta = a_timestamp_det - timestep_cal;
|
||||
*p_delta_a = delta;
|
||||
ca_okay = true;
|
||||
} else ESP_ERROR_CHECK(mcpwm_capture_channel_disable(cap_chan_a));
|
||||
// get the c-b delta
|
||||
if (b_timestamp_det > 0)
|
||||
{
|
||||
uint64_t delta = b_timestamp_det - timestep_cal;
|
||||
*p_delta_b = delta;
|
||||
cb_okay = true;
|
||||
} else ESP_ERROR_CHECK(mcpwm_capture_channel_disable(cap_chan_b));
|
||||
return ca_okay && cb_okay;
|
||||
}
|
||||
|
||||
void calibrate_c(float *p_delta_a, float *p_delta_b)
|
||||
{
|
||||
uint32_t delta_a = 0UL;
|
||||
uint32_t delta_b = 0UL;
|
||||
|
||||
uint32_t sum_a = 0UL;
|
||||
uint32_t sum_b = 0UL;
|
||||
uint32_t samples_a = 0UL;
|
||||
uint32_t samples_b = 0UL;
|
||||
|
||||
for (int i = 0; i < CALIB_N; ++i)
|
||||
{
|
||||
delta_a = 0UL;
|
||||
delta_b = 0UL;
|
||||
bool okay = measure_c(&delta_a, &delta_b);
|
||||
if (delta_a > 0)
|
||||
{
|
||||
sum_a += delta_a;
|
||||
samples_a++;
|
||||
}
|
||||
if (delta_b > 0)
|
||||
{
|
||||
sum_b += delta_b;
|
||||
samples_b++;
|
||||
}
|
||||
|
||||
vTaskDelay(CALIB_PAUSE/portTICK_PERIOD_MS);
|
||||
}
|
||||
if (samples_a > 0)
|
||||
{
|
||||
*p_delta_a = sum_a / samples_a;
|
||||
}
|
||||
if (samples_b > 0)
|
||||
{
|
||||
*p_delta_b = sum_b / samples_b;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
static struct {
|
||||
struct arg_end *end;
|
||||
} calib_args;
|
||||
|
||||
static int calibrate(int argc, char **argv)
|
||||
{
|
||||
|
||||
ab_delta = 0;
|
||||
ac_delta = 0;
|
||||
ba_delta = 0;
|
||||
bc_delta = 0;
|
||||
ca_delta = 0;
|
||||
cb_delta = 0;
|
||||
//for(;;)
|
||||
calibrate_a(&ab_delta, &ac_delta);
|
||||
calibrate_b(&ba_delta, &bc_delta);
|
||||
calibrate_c(&ca_delta, &cb_delta);
|
||||
printf("AB: %f\n", ab_delta);
|
||||
printf("AC: %f\n", ac_delta);
|
||||
printf("BA: %f\n", ba_delta);
|
||||
printf("BC: %f\n", bc_delta);
|
||||
printf("CA: %f\n", ca_delta);
|
||||
printf("CB: %f\n", cb_delta);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static void example_tg0_timer_init(int timer_idx, bool auto_reload)
|
||||
{
|
||||
/* Select and initialize basic parameters of the timer */
|
||||
timer_config_t config = {
|
||||
.divider = TIMER_DIVIDER,
|
||||
.counter_dir = TIMER_COUNT_UP,
|
||||
.counter_en = TIMER_PAUSE,
|
||||
.alarm_en = TIMER_ALARM_EN,
|
||||
.auto_reload = auto_reload,
|
||||
}; // default clock source is APB
|
||||
timer_init(TIMER_GROUP_0, timer_idx, &config);
|
||||
|
||||
/* Timer's counter will initially start from value below.
|
||||
Also, if auto_reload is set, this value will be automatically reload on alarm */
|
||||
timer_set_counter_value(TIMER_GROUP_0, timer_idx, 0x00000000ULL);
|
||||
timer_start(TIMER_GROUP_0, timer_idx);
|
||||
}
|
||||
|
||||
static void initialize_nvs(void) {
|
||||
esp_err_t err = nvs_flash_init();
|
||||
if (err == ESP_ERR_NVS_NO_FREE_PAGES || err == ESP_ERR_NVS_NEW_VERSION_FOUND) {
|
||||
ESP_ERROR_CHECK(nvs_flash_erase());
|
||||
err = nvs_flash_init();
|
||||
}
|
||||
ESP_ERROR_CHECK(err);
|
||||
}
|
||||
|
||||
static struct {
|
||||
struct arg_end *end;
|
||||
} arm_args;
|
||||
|
||||
static int arm_command(int argc, char **argv)
|
||||
{
|
||||
while( xSemaphoreTake( xSemaphore_a, 0 ) == pdPASS );
|
||||
while( xSemaphoreTake( xSemaphore_b, 0 ) == pdPASS );
|
||||
while( xSemaphoreTake( xSemaphore_c, 0 ) == pdPASS );
|
||||
a_timestamp_det = 0ULL;
|
||||
b_timestamp_det = 0ULL;
|
||||
c_timestamp_det = 0ULL;
|
||||
//ESP_ERROR_CHECK(mcpwm_capture_timer_start(timer_a));
|
||||
ESP_ERROR_CHECK(mcpwm_capture_channel_enable(cap_chan_a));
|
||||
ESP_ERROR_CHECK(mcpwm_capture_channel_enable(cap_chan_b));
|
||||
ESP_ERROR_CHECK(mcpwm_capture_channel_enable(cap_chan_c));
|
||||
detection_armed = true;
|
||||
return 0;
|
||||
}
|
||||
|
||||
void detect_task(void* arg)
|
||||
{
|
||||
for(;;)
|
||||
{
|
||||
if (detection_armed)
|
||||
{
|
||||
while( xSemaphoreTake( xSemaphore_a, portMAX_DELAY ) != pdPASS );
|
||||
while( xSemaphoreTake( xSemaphore_b, portMAX_DELAY ) != pdPASS );
|
||||
while( xSemaphoreTake( xSemaphore_c, portMAX_DELAY ) != pdPASS );
|
||||
printf("A: %ju\n", a_timestamp_det);
|
||||
printf("B: %ju\n", b_timestamp_det);
|
||||
printf("C: %ju\n", c_timestamp_det);
|
||||
detection_armed = false;
|
||||
}
|
||||
else
|
||||
{
|
||||
vTaskDelay( 250 / portTICK_PERIOD_MS);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static bool detection_a_callback(mcpwm_cap_channel_handle_t cap_chan, const mcpwm_capture_event_data_t *edata, void *user_data)
|
||||
{
|
||||
TaskHandle_t task_to_notify = (TaskHandle_t)user_data;
|
||||
BaseType_t high_task_wakeup = pdFALSE;
|
||||
|
||||
if ((edata->cap_edge == MCPWM_CAP_EDGE_POS) && (a_timestamp_det == 0)) {
|
||||
// store the timestamp when pos edge is detected
|
||||
a_timestamp_det = edata->cap_value;
|
||||
}
|
||||
//ESP_ERROR_CHECK(mcpwm_capture_channel_disable(cap_chan_a));
|
||||
ESP_ERROR_CHECK(mcpwm_capture_channel_disable(cap_chan));
|
||||
xSemaphoreGiveFromISR(xSemaphore_a, NULL);
|
||||
|
||||
return high_task_wakeup == pdTRUE;
|
||||
}
|
||||
|
||||
static bool detection_b_callback(mcpwm_cap_channel_handle_t cap_chan, const mcpwm_capture_event_data_t *edata, void *user_data)
|
||||
{
|
||||
//TaskHandle_t task_to_notify = (TaskHandle_t)user_data;
|
||||
BaseType_t high_task_wakeup = pdFALSE;
|
||||
|
||||
if ((edata->cap_edge == MCPWM_CAP_EDGE_POS) && (b_timestamp_det == 0)) {
|
||||
// store the timestamp when pos edge is detected
|
||||
b_timestamp_det = edata->cap_value;
|
||||
}
|
||||
|
||||
//ESP_ERROR_CHECK(mcpwm_capture_channel_disable(cap_chan_b));
|
||||
ESP_ERROR_CHECK(mcpwm_capture_channel_disable(cap_chan));
|
||||
xSemaphoreGiveFromISR(xSemaphore_b, NULL);
|
||||
|
||||
return high_task_wakeup == pdTRUE;
|
||||
}
|
||||
|
||||
static bool detection_c_callback(mcpwm_cap_channel_handle_t cap_chan, const mcpwm_capture_event_data_t *edata, void *user_data)
|
||||
{
|
||||
//TaskHandle_t task_to_notify = (TaskHandle_t)user_data;
|
||||
BaseType_t high_task_wakeup = pdFALSE;
|
||||
|
||||
if ((edata->cap_edge == MCPWM_CAP_EDGE_POS) && (c_timestamp_det == 0)) {
|
||||
// store the timestamp when pos edge is detected
|
||||
c_timestamp_det = edata->cap_value;
|
||||
}
|
||||
|
||||
//ESP_ERROR_CHECK(mcpwm_capture_channel_disable(cap_chan_c));
|
||||
ESP_ERROR_CHECK(mcpwm_capture_channel_disable(cap_chan_c));
|
||||
xSemaphoreGiveFromISR(xSemaphore_c, NULL);
|
||||
|
||||
return high_task_wakeup == pdTRUE;
|
||||
}
|
||||
|
||||
|
||||
mcpwm_cap_timer_handle_t mcpwm_capture_init_a(mcpwm_cap_channel_handle_t *p_cap_chan_a, mcpwm_cap_channel_handle_t *p_cap_chan_b, mcpwm_cap_channel_handle_t *p_cap_chan_c)
|
||||
{
|
||||
uint32_t res = 0UL;
|
||||
const uint32_t PRESCALER = 1;
|
||||
mcpwm_cap_timer_handle_t cap_timer = NULL;
|
||||
mcpwm_capture_timer_config_t cap_conf = {
|
||||
.clk_src = MCPWM_CAPTURE_CLK_SRC_DEFAULT,
|
||||
.group_id = 0,
|
||||
};
|
||||
ESP_ERROR_CHECK(mcpwm_new_capture_timer(&cap_conf, &cap_timer));
|
||||
|
||||
ESP_ERROR_CHECK(mcpwm_capture_timer_get_resolution(cap_timer, &res));
|
||||
printf("TIMER RES: %lu\n", res);
|
||||
|
||||
//ESP_LOGI(TAG, "Install capture channel");
|
||||
mcpwm_capture_channel_config_t cap_ch_a_conf = {
|
||||
.gpio_num = GPIO_INPUT_DET_A,
|
||||
.prescale = PRESCALER,
|
||||
//.intr_priority = 10,
|
||||
// capture on pos edge only
|
||||
.flags.neg_edge = false,
|
||||
.flags.pos_edge = true,
|
||||
// pull up internally
|
||||
.flags.pull_down = true,
|
||||
};
|
||||
ESP_ERROR_CHECK(mcpwm_new_capture_channel(cap_timer, &cap_ch_a_conf, p_cap_chan_a));
|
||||
|
||||
//ESP_LOGI(TAG, "Register capture callback");
|
||||
TaskHandle_t cur_task = xTaskGetCurrentTaskHandle();
|
||||
mcpwm_capture_event_callbacks_t cbs = {
|
||||
.on_cap = detection_a_callback,
|
||||
};
|
||||
ESP_ERROR_CHECK(mcpwm_capture_channel_register_event_callbacks(*p_cap_chan_a, &cbs, cur_task));
|
||||
|
||||
//ESP_LOGI(TAG, "Enable capture channel");
|
||||
//ESP_ERROR_CHECK(mcpwm_capture_channel_enable(*p_cap_chan_a));
|
||||
|
||||
mcpwm_capture_channel_config_t cap_ch_b_conf = {
|
||||
.gpio_num = GPIO_INPUT_DET_B,
|
||||
.prescale = PRESCALER,
|
||||
//.intr_priority = 9,
|
||||
// capture on pos edge only
|
||||
.flags.neg_edge = false,
|
||||
.flags.pos_edge = true,
|
||||
// pull up internally
|
||||
.flags.pull_down = true,
|
||||
};
|
||||
ESP_ERROR_CHECK(mcpwm_new_capture_channel(cap_timer, &cap_ch_b_conf, p_cap_chan_b));
|
||||
|
||||
//ESP_LOGI(TAG, "Register capture callback");
|
||||
mcpwm_capture_event_callbacks_t cbs_b = {
|
||||
.on_cap = detection_b_callback,
|
||||
};
|
||||
ESP_ERROR_CHECK(mcpwm_capture_channel_register_event_callbacks(*p_cap_chan_b, &cbs_b, cur_task));
|
||||
|
||||
//ESP_LOGI(TAG, "Enable capture channel");
|
||||
//ESP_ERROR_CHECK(mcpwm_capture_channel_enable(*p_cap_chan_b));
|
||||
|
||||
mcpwm_capture_channel_config_t cap_ch_c_conf = {
|
||||
.gpio_num = GPIO_INPUT_DET_C,
|
||||
.prescale = PRESCALER,
|
||||
//.intr_priority = 8,
|
||||
// capture on pos edge only
|
||||
.flags.neg_edge = false,
|
||||
.flags.pos_edge = true,
|
||||
// pull up internally
|
||||
.flags.pull_down = true,
|
||||
};
|
||||
ESP_ERROR_CHECK(mcpwm_new_capture_channel(cap_timer, &cap_ch_c_conf, p_cap_chan_c));
|
||||
|
||||
//ESP_LOGI(TAG, "Register capture callback");
|
||||
mcpwm_capture_event_callbacks_t cbs_c = {
|
||||
.on_cap = detection_c_callback,
|
||||
};
|
||||
ESP_ERROR_CHECK(mcpwm_capture_channel_register_event_callbacks(*p_cap_chan_c, &cbs_c, cur_task));
|
||||
|
||||
//ESP_LOGI(TAG, "Enable capture channel");
|
||||
//ESP_ERROR_CHECK(mcpwm_capture_channel_enable(*p_cap_chan_c));
|
||||
|
||||
//ESP_LOGI(TAG, "Enable and start capture timer");
|
||||
ESP_ERROR_CHECK(mcpwm_capture_timer_enable(cap_timer));
|
||||
ESP_ERROR_CHECK(mcpwm_capture_timer_start(cap_timer));
|
||||
//ESP_ERROR_CHECK(mcpwm_capture_timer_stop(cap_timer));
|
||||
return cap_timer;
|
||||
}
|
||||
|
||||
void app_main(void)
|
||||
{
|
||||
gpio_reset_pin(GPIO_INPUT_DET_A);
|
||||
gpio_reset_pin(GPIO_INPUT_DET_B);
|
||||
gpio_reset_pin(GPIO_INPUT_DET_C);
|
||||
|
||||
//PWM
|
||||
// Prepare and then apply the LEDC PWM timer configuration
|
||||
ledc_timer_config_t ledc_timer = {
|
||||
.speed_mode = LEDC_LOW_SPEED_MODE,
|
||||
.timer_num = LEDC_TIMER_0,
|
||||
.duty_resolution = LEDC_TIMER_13_BIT,
|
||||
.freq_hz = 3200, // Set output frequency at 5 kHz
|
||||
.clk_cfg = LEDC_AUTO_CLK
|
||||
};
|
||||
ESP_ERROR_CHECK(ledc_timer_config(&ledc_timer));
|
||||
|
||||
// Prepare and then apply the LEDC PWM channel configuration
|
||||
ledc_channel_config_t ledc_channel = {
|
||||
.speed_mode = LEDC_LOW_SPEED_MODE,
|
||||
.channel = LEDC_CHANNEL_0,
|
||||
.timer_sel = LEDC_TIMER_0,
|
||||
.intr_type = LEDC_INTR_DISABLE,
|
||||
.gpio_num = GPIO_INPUT_CAL_A,
|
||||
.duty = 4096, // Set duty to 50%
|
||||
.hpoint = 0
|
||||
};
|
||||
ESP_ERROR_CHECK(ledc_channel_config(&ledc_channel));
|
||||
gpio_set_direction(GPIO_INPUT_CAL_A, GPIO_MODE_INPUT);
|
||||
|
||||
/* Set the GPIO & LED direction */
|
||||
|
||||
gpio_set_direction(GPIO_INPUT_CAL_A, GPIO_MODE_INPUT);
|
||||
gpio_set_pull_mode(GPIO_INPUT_CAL_A, GPIO_FLOATING);
|
||||
gpio_set_direction(GPIO_INPUT_CAL_B, GPIO_MODE_INPUT);
|
||||
gpio_set_pull_mode(GPIO_INPUT_CAL_B, GPIO_FLOATING);
|
||||
gpio_set_direction(GPIO_INPUT_CAL_C, GPIO_MODE_INPUT);
|
||||
gpio_set_pull_mode(GPIO_INPUT_CAL_C, GPIO_FLOATING);
|
||||
|
||||
example_tg0_timer_init(TIMER_0, false);
|
||||
|
||||
//install ISR service with default configuration
|
||||
gpio_install_isr_service(ESP_INTR_FLAG_DEFAULT);
|
||||
|
||||
//semaphores
|
||||
xSemaphore_a = xSemaphoreCreateBinary();
|
||||
xSemaphore_b = xSemaphoreCreateBinary();
|
||||
xSemaphore_c = xSemaphoreCreateBinary();
|
||||
|
||||
timer_a = mcpwm_capture_init_a(&cap_chan_a, &cap_chan_b, &cap_chan_c);
|
||||
|
||||
xTaskCreate(detect_task, "detect_task", 2048, NULL, configMAX_PRIORITIES-1, NULL);
|
||||
|
||||
esp_console_repl_t *repl = NULL;
|
||||
esp_console_repl_config_t repl_config = ESP_CONSOLE_REPL_CONFIG_DEFAULT();
|
||||
/* Prompt to be printed before each line.
|
||||
* This can be customized, made dynamic, etc.
|
||||
*/
|
||||
repl_config.prompt = ">";
|
||||
repl_config.max_cmdline_length = 255;
|
||||
|
||||
initialize_nvs();
|
||||
|
||||
esp_console_dev_uart_config_t hw_config = ESP_CONSOLE_DEV_UART_CONFIG_DEFAULT();
|
||||
ESP_ERROR_CHECK(esp_console_new_repl_uart(&hw_config, &repl_config, &repl));
|
||||
|
||||
calib_args.end = arg_end(1);
|
||||
esp_console_cmd_t calib_cmd = {
|
||||
.command = "c",
|
||||
.help = "Perform calibration",
|
||||
.func = &calibrate,
|
||||
.argtable = &calib_args
|
||||
};
|
||||
ESP_ERROR_CHECK(esp_console_cmd_register(&calib_cmd));
|
||||
|
||||
arm_args.end = arg_end(1);
|
||||
esp_console_cmd_t arm_cmd = {
|
||||
.command = "a",
|
||||
.help = "Arm detections",
|
||||
.func = &arm_command,
|
||||
.argtable = &arm_args
|
||||
};
|
||||
ESP_ERROR_CHECK(esp_console_cmd_register(&arm_cmd));
|
||||
|
||||
// Start the REPL
|
||||
ESP_ERROR_CHECK(esp_console_start_repl(repl));
|
||||
}
|
||||
477
sw/firmware/main/main_isr.c
Normal file
477
sw/firmware/main/main_isr.c
Normal file
@ -0,0 +1,477 @@
|
||||
#include <stdio.h>
|
||||
#include "freertos/FreeRTOS.h"
|
||||
#include "freertos/task.h"
|
||||
#include "driver/gpio.h"
|
||||
#include "driver/periph_ctrl.h"
|
||||
#include "driver/timer.h"
|
||||
#include "driver/ledc.h"
|
||||
#include "freertos/semphr.h"
|
||||
|
||||
#include <string.h>
|
||||
#include "esp_system.h"
|
||||
#include "esp_log.h"
|
||||
#include "esp_console.h"
|
||||
#include "argtable3/argtable3.h"
|
||||
#include "nvs.h"
|
||||
#include "nvs_flash.h"
|
||||
|
||||
/**
|
||||
* Brief:
|
||||
* This test code shows how to configure multiple gpio interrupts
|
||||
*
|
||||
* GPIO status:
|
||||
* GPIO2 : output ( built-in led on Devkit-V1 )
|
||||
* GPIO34 : output ( externally pulled up )
|
||||
* GPIO35 : output ( externally pulled up )
|
||||
*
|
||||
* Test:
|
||||
* Connect GPIO34 with simple switch and ground
|
||||
* Connect GPIO35 with simple switch and ground
|
||||
*/
|
||||
|
||||
#define ESP_INTR_FLAG_DEFAULT 0
|
||||
|
||||
#define CALIB_N 64
|
||||
#define CALIB_PAUSE 50
|
||||
|
||||
#define BUILTIN_LED 2
|
||||
#define GPIO_INPUT_DET_A 25
|
||||
#define GPIO_INPUT_CAL_A 17
|
||||
#define GPIO_INPUT_DET_B 26
|
||||
#define GPIO_INPUT_CAL_B 18
|
||||
#define GPIO_INPUT_DET_C 27
|
||||
#define GPIO_INPUT_CAL_C 19
|
||||
|
||||
#define TIMER_DIVIDER 2 // Hardware timer clock divider
|
||||
#define TIMER_SCALE (TIMER_BASE_CLK / TIMER_DIVIDER) // convert counter value to seconds
|
||||
|
||||
SemaphoreHandle_t xSemaphore_a = NULL;
|
||||
SemaphoreHandle_t xSemaphore_b = NULL;
|
||||
SemaphoreHandle_t xSemaphore_c = NULL;
|
||||
bool detection_armed = false;
|
||||
|
||||
uint64_t a_timestamp_cal = 0ULL;
|
||||
uint64_t a_timestamp_det = 0ULL;
|
||||
uint64_t b_timestamp_cal = 0ULL;
|
||||
uint64_t b_timestamp_det = 0ULL;
|
||||
uint64_t c_timestamp_cal = 0ULL;
|
||||
uint64_t c_timestamp_det = 0ULL;
|
||||
|
||||
float ab_delta = 0;
|
||||
float ac_delta = 0;
|
||||
float ba_delta = 0;
|
||||
float bc_delta = 0;
|
||||
float ca_delta = 0;
|
||||
float cb_delta = 0;
|
||||
|
||||
void IRAM_ATTR gpio_a_isr_handler(void* arg){ //++ First ISR
|
||||
timer_get_counter_value(TIMER_GROUP_0, TIMER_0, &a_timestamp_det);
|
||||
gpio_intr_disable(GPIO_INPUT_DET_A);
|
||||
xSemaphoreGiveFromISR(xSemaphore_a, NULL);
|
||||
}
|
||||
|
||||
void IRAM_ATTR gpio_b_isr_handler(void* arg){ //++ Second ISR
|
||||
timer_get_counter_value(TIMER_GROUP_0, TIMER_0, &b_timestamp_det);
|
||||
gpio_intr_disable(GPIO_INPUT_DET_B);
|
||||
xSemaphoreGiveFromISR(xSemaphore_b, NULL);
|
||||
}
|
||||
|
||||
void IRAM_ATTR gpio_c_isr_handler(void* arg) {
|
||||
timer_get_counter_value(TIMER_GROUP_0, TIMER_0, &c_timestamp_det);
|
||||
gpio_intr_disable(GPIO_INPUT_DET_C);
|
||||
xSemaphoreGiveFromISR(xSemaphore_c, NULL);
|
||||
}
|
||||
|
||||
static bool measure_a(uint32_t *p_delta_b, uint32_t *p_delta_c)
|
||||
{
|
||||
bool ab_okay = false;
|
||||
bool ac_okay = false;
|
||||
uint64_t timestep_cal = 0ULL;
|
||||
// reset timestamps
|
||||
b_timestamp_det = 0;
|
||||
c_timestamp_det = 0;
|
||||
timer_get_counter_value(TIMER_GROUP_0, TIMER_0, ×tep_cal);
|
||||
|
||||
// pulse the IO
|
||||
gpio_intr_enable(GPIO_INPUT_DET_B);
|
||||
gpio_intr_enable(GPIO_INPUT_DET_C);
|
||||
ledc_set_pin(GPIO_INPUT_CAL_A, LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0);
|
||||
|
||||
for (int i = 0; i < 0xFFFF; ++i);
|
||||
gpio_set_direction(GPIO_INPUT_CAL_A, GPIO_MODE_INPUT);
|
||||
|
||||
// get the a-b delta
|
||||
if (b_timestamp_det > 0)
|
||||
{
|
||||
uint64_t delta = b_timestamp_det - timestep_cal;
|
||||
*p_delta_b = delta;
|
||||
ab_okay = true;
|
||||
}
|
||||
// get the a-c delta
|
||||
if (c_timestamp_det > 0)
|
||||
{
|
||||
uint64_t delta = c_timestamp_det - timestep_cal;
|
||||
*p_delta_c = delta;
|
||||
ac_okay = true;
|
||||
}
|
||||
return ab_okay && ac_okay;
|
||||
}
|
||||
|
||||
void calibrate_a(float *p_delta_b, float *p_delta_c)
|
||||
{
|
||||
uint32_t delta_b = 0UL;
|
||||
uint32_t delta_c = 0UL;
|
||||
|
||||
uint32_t sum_b = 0UL;
|
||||
uint32_t sum_c = 0UL;
|
||||
uint32_t samples = 0UL;
|
||||
|
||||
for (int i = 0; i < CALIB_N; ++i)
|
||||
{
|
||||
bool okay = measure_a(&delta_b, &delta_c);
|
||||
if (okay)
|
||||
{
|
||||
sum_b += delta_b;
|
||||
sum_c += delta_c;
|
||||
samples++;
|
||||
}
|
||||
|
||||
vTaskDelay(CALIB_PAUSE/portTICK_PERIOD_MS);
|
||||
}
|
||||
if (samples > 0)
|
||||
{
|
||||
*p_delta_b = sum_b / samples;
|
||||
*p_delta_c = sum_c / samples;
|
||||
}
|
||||
}
|
||||
|
||||
static bool measure_b(uint32_t *p_delta_a, uint32_t *p_delta_c)
|
||||
{
|
||||
bool ba_okay = false;
|
||||
bool bc_okay = false;
|
||||
uint64_t timestep_cal = 0ULL;
|
||||
// reset timestamps
|
||||
a_timestamp_det = 0;
|
||||
c_timestamp_det = 0;
|
||||
timer_get_counter_value(TIMER_GROUP_0, TIMER_0, ×tep_cal);
|
||||
|
||||
// pulse the IO
|
||||
gpio_intr_enable(GPIO_INPUT_DET_A);
|
||||
gpio_intr_enable(GPIO_INPUT_DET_C);
|
||||
ledc_set_pin(GPIO_INPUT_CAL_B, LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0);
|
||||
|
||||
for (int i = 0; i < 0xFFFF; ++i);
|
||||
gpio_set_direction(GPIO_INPUT_CAL_B, GPIO_MODE_INPUT);
|
||||
|
||||
// get the b-a delta
|
||||
if (a_timestamp_det > 0)
|
||||
{
|
||||
uint64_t delta = a_timestamp_det - timestep_cal;
|
||||
*p_delta_a = delta;
|
||||
ba_okay = true;
|
||||
}
|
||||
// get the b-c delta
|
||||
if (c_timestamp_det > 0)
|
||||
{
|
||||
uint64_t delta = c_timestamp_det - timestep_cal;
|
||||
*p_delta_c = delta;
|
||||
bc_okay = true;
|
||||
}
|
||||
return ba_okay && bc_okay;
|
||||
}
|
||||
|
||||
void calibrate_b(float *p_delta_a, float *p_delta_c)
|
||||
{
|
||||
uint32_t delta_a = 0UL;
|
||||
uint32_t delta_c = 0UL;
|
||||
|
||||
uint32_t sum_a = 0UL;
|
||||
uint32_t sum_c = 0UL;
|
||||
uint32_t samples = 0UL;
|
||||
|
||||
for (int i = 0; i < CALIB_N; ++i)
|
||||
{
|
||||
bool okay = measure_b(&delta_a, &delta_c);
|
||||
if (okay)
|
||||
{
|
||||
sum_a += delta_a;
|
||||
sum_c += delta_c;
|
||||
samples++;
|
||||
}
|
||||
|
||||
vTaskDelay(CALIB_PAUSE/portTICK_PERIOD_MS);
|
||||
}
|
||||
if (samples > 0)
|
||||
{
|
||||
*p_delta_a = sum_a / samples;
|
||||
*p_delta_c = sum_c / samples;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
static bool measure_c(uint32_t *p_delta_a, uint32_t *p_delta_b)
|
||||
{
|
||||
bool ca_okay = false;
|
||||
bool cb_okay = false;
|
||||
uint64_t timestep_cal = 0ULL;
|
||||
// reset timestamps
|
||||
a_timestamp_det = 0;
|
||||
b_timestamp_det = 0;
|
||||
timer_get_counter_value(TIMER_GROUP_0, TIMER_0, ×tep_cal);
|
||||
|
||||
// pulse the IO
|
||||
gpio_intr_enable(GPIO_INPUT_DET_A);
|
||||
gpio_intr_enable(GPIO_INPUT_DET_B);
|
||||
ledc_set_pin(GPIO_INPUT_CAL_C, LEDC_LOW_SPEED_MODE, LEDC_CHANNEL_0);
|
||||
|
||||
for (int i = 0; i < 0xFFFF; ++i);
|
||||
gpio_set_direction(GPIO_INPUT_CAL_C, GPIO_MODE_INPUT);
|
||||
|
||||
// get the c-a delta
|
||||
if (a_timestamp_det > 0)
|
||||
{
|
||||
uint64_t delta = a_timestamp_det - timestep_cal;
|
||||
*p_delta_a = delta;
|
||||
ca_okay = true;
|
||||
}
|
||||
// get the c-b delta
|
||||
if (b_timestamp_det > 0)
|
||||
{
|
||||
uint64_t delta = b_timestamp_det - timestep_cal;
|
||||
*p_delta_b = delta;
|
||||
cb_okay = true;
|
||||
}
|
||||
return ca_okay && cb_okay;
|
||||
}
|
||||
|
||||
void calibrate_c(float *p_delta_a, float *p_delta_b)
|
||||
{
|
||||
uint32_t delta_a = 0UL;
|
||||
uint32_t delta_b = 0UL;
|
||||
|
||||
uint32_t sum_a = 0UL;
|
||||
uint32_t sum_b = 0UL;
|
||||
uint32_t samples = 0UL;
|
||||
|
||||
for (int i = 0; i < CALIB_N; ++i)
|
||||
{
|
||||
bool okay = measure_c(&delta_a, &delta_b);
|
||||
if (okay)
|
||||
{
|
||||
sum_a += delta_a;
|
||||
sum_b += delta_b;
|
||||
samples++;
|
||||
}
|
||||
|
||||
vTaskDelay(CALIB_PAUSE/portTICK_PERIOD_MS);
|
||||
}
|
||||
if (samples > 0)
|
||||
{
|
||||
*p_delta_a = sum_a / samples;
|
||||
*p_delta_b = sum_b / samples;
|
||||
}
|
||||
}
|
||||
|
||||
static struct {
|
||||
struct arg_end *end;
|
||||
} calib_args;
|
||||
|
||||
static int calibrate(int argc, char **argv)
|
||||
{
|
||||
|
||||
ab_delta = 0;
|
||||
ac_delta = 0;
|
||||
ba_delta = 0;
|
||||
bc_delta = 0;
|
||||
ca_delta = 0;
|
||||
cb_delta = 0;
|
||||
//for(;;)
|
||||
calibrate_a(&ab_delta, &ac_delta);
|
||||
calibrate_b(&ba_delta, &bc_delta);
|
||||
calibrate_c(&ca_delta, &cb_delta);
|
||||
printf("AB: %f\n", ab_delta);
|
||||
printf("AC: %f\n", ac_delta);
|
||||
printf("BA: %f\n", ba_delta);
|
||||
printf("BC: %f\n", bc_delta);
|
||||
printf("CA: %f\n", ca_delta);
|
||||
printf("CB: %f\n", cb_delta);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static void example_tg0_timer_init(int timer_idx, bool auto_reload)
|
||||
{
|
||||
/* Select and initialize basic parameters of the timer */
|
||||
timer_config_t config = {
|
||||
.divider = TIMER_DIVIDER,
|
||||
.counter_dir = TIMER_COUNT_UP,
|
||||
.counter_en = TIMER_PAUSE,
|
||||
.alarm_en = TIMER_ALARM_EN,
|
||||
.auto_reload = auto_reload,
|
||||
}; // default clock source is APB
|
||||
timer_init(TIMER_GROUP_0, timer_idx, &config);
|
||||
|
||||
/* Timer's counter will initially start from value below.
|
||||
Also, if auto_reload is set, this value will be automatically reload on alarm */
|
||||
timer_set_counter_value(TIMER_GROUP_0, timer_idx, 0x00000000ULL);
|
||||
timer_start(TIMER_GROUP_0, timer_idx);
|
||||
}
|
||||
|
||||
static void initialize_nvs(void) {
|
||||
esp_err_t err = nvs_flash_init();
|
||||
if (err == ESP_ERR_NVS_NO_FREE_PAGES || err == ESP_ERR_NVS_NEW_VERSION_FOUND) {
|
||||
ESP_ERROR_CHECK(nvs_flash_erase());
|
||||
err = nvs_flash_init();
|
||||
}
|
||||
ESP_ERROR_CHECK(err);
|
||||
}
|
||||
|
||||
static struct {
|
||||
struct arg_end *end;
|
||||
} arm_args;
|
||||
|
||||
static int arm_command(int argc, char **argv)
|
||||
{
|
||||
while( xSemaphoreTake( xSemaphore_a, 0 ) == pdPASS );
|
||||
while( xSemaphoreTake( xSemaphore_b, 0 ) == pdPASS );
|
||||
while( xSemaphoreTake( xSemaphore_c, 0 ) == pdPASS );
|
||||
a_timestamp_det = 0ULL;
|
||||
b_timestamp_det = 0ULL;
|
||||
c_timestamp_det = 0ULL;
|
||||
gpio_intr_enable(GPIO_INPUT_DET_A);
|
||||
gpio_intr_enable(GPIO_INPUT_DET_B);
|
||||
gpio_intr_enable(GPIO_INPUT_DET_C);
|
||||
detection_armed = true;
|
||||
return 0;
|
||||
}
|
||||
|
||||
void detect_task(void* arg)
|
||||
{
|
||||
for(;;)
|
||||
{
|
||||
if (detection_armed)
|
||||
{
|
||||
while( xSemaphoreTake( xSemaphore_a, portMAX_DELAY ) != pdPASS );
|
||||
while( xSemaphoreTake( xSemaphore_b, portMAX_DELAY ) != pdPASS );
|
||||
while( xSemaphoreTake( xSemaphore_c, portMAX_DELAY ) != pdPASS );
|
||||
printf("A: %ju\n", a_timestamp_det);
|
||||
printf("B: %ju\n", b_timestamp_det);
|
||||
printf("C: %ju\n", c_timestamp_det);
|
||||
detection_armed = false;
|
||||
}
|
||||
else
|
||||
{
|
||||
vTaskDelay( 250 / portTICK_PERIOD_MS);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void app_main(void)
|
||||
{
|
||||
gpio_reset_pin(GPIO_INPUT_DET_A);
|
||||
gpio_reset_pin(GPIO_INPUT_DET_B);
|
||||
gpio_reset_pin(GPIO_INPUT_DET_C);
|
||||
|
||||
|
||||
|
||||
//PWM
|
||||
// Prepare and then apply the LEDC PWM timer configuration
|
||||
ledc_timer_config_t ledc_timer = {
|
||||
.speed_mode = LEDC_LOW_SPEED_MODE,
|
||||
.timer_num = LEDC_TIMER_0,
|
||||
.duty_resolution = LEDC_TIMER_13_BIT,
|
||||
.freq_hz = 3200, // Set output frequency at 5 kHz
|
||||
.clk_cfg = LEDC_AUTO_CLK
|
||||
};
|
||||
ESP_ERROR_CHECK(ledc_timer_config(&ledc_timer));
|
||||
|
||||
// Prepare and then apply the LEDC PWM channel configuration
|
||||
ledc_channel_config_t ledc_channel = {
|
||||
.speed_mode = LEDC_LOW_SPEED_MODE,
|
||||
.channel = LEDC_CHANNEL_0,
|
||||
.timer_sel = LEDC_TIMER_0,
|
||||
.intr_type = LEDC_INTR_DISABLE,
|
||||
.gpio_num = GPIO_INPUT_CAL_A,
|
||||
.duty = 4096, // Set duty to 50%
|
||||
.hpoint = 0
|
||||
};
|
||||
ESP_ERROR_CHECK(ledc_channel_config(&ledc_channel));
|
||||
gpio_set_direction(GPIO_INPUT_CAL_A, GPIO_MODE_INPUT);
|
||||
|
||||
/* Set the GPIO & LED direction */
|
||||
|
||||
gpio_set_direction(GPIO_INPUT_DET_A, GPIO_MODE_INPUT);
|
||||
gpio_set_pull_mode(GPIO_INPUT_DET_A, GPIO_PULLDOWN_ONLY); //GPIO_PULLUP_ONLY
|
||||
|
||||
gpio_set_direction(GPIO_INPUT_DET_B, GPIO_MODE_INPUT);
|
||||
gpio_set_pull_mode(GPIO_INPUT_DET_B, GPIO_PULLDOWN_ONLY);
|
||||
|
||||
gpio_set_direction(GPIO_INPUT_DET_C, GPIO_MODE_INPUT);
|
||||
gpio_set_pull_mode(GPIO_INPUT_DET_C, GPIO_PULLDOWN_ONLY);
|
||||
|
||||
gpio_set_direction(GPIO_INPUT_CAL_A, GPIO_MODE_INPUT);
|
||||
gpio_set_pull_mode(GPIO_INPUT_CAL_A, GPIO_FLOATING);
|
||||
gpio_set_direction(GPIO_INPUT_CAL_B, GPIO_MODE_INPUT);
|
||||
gpio_set_pull_mode(GPIO_INPUT_CAL_B, GPIO_FLOATING);
|
||||
gpio_set_direction(GPIO_INPUT_CAL_C, GPIO_MODE_INPUT);
|
||||
gpio_set_pull_mode(GPIO_INPUT_CAL_C, GPIO_FLOATING);
|
||||
|
||||
example_tg0_timer_init(TIMER_0, false);
|
||||
|
||||
//enable interrupt on anyedge for button pin
|
||||
gpio_set_intr_type(GPIO_INPUT_DET_A, GPIO_INTR_POSEDGE);
|
||||
gpio_set_intr_type(GPIO_INPUT_DET_B, GPIO_INTR_POSEDGE);
|
||||
gpio_set_intr_type(GPIO_INPUT_DET_C, GPIO_INTR_POSEDGE);
|
||||
|
||||
//install ISR service with default configuration
|
||||
gpio_install_isr_service(ESP_INTR_FLAG_DEFAULT);
|
||||
|
||||
//attach the interrupt service routine
|
||||
gpio_isr_handler_add(GPIO_INPUT_DET_A, gpio_a_isr_handler, NULL);
|
||||
gpio_isr_handler_add(GPIO_INPUT_DET_B, gpio_b_isr_handler, NULL);
|
||||
gpio_isr_handler_add(GPIO_INPUT_DET_C, gpio_c_isr_handler, NULL);
|
||||
gpio_intr_disable(GPIO_INPUT_DET_A);
|
||||
gpio_intr_disable(GPIO_INPUT_DET_B);
|
||||
gpio_intr_disable(GPIO_INPUT_DET_C);
|
||||
|
||||
//semaphores
|
||||
xSemaphore_a = xSemaphoreCreateBinary();
|
||||
xSemaphore_b = xSemaphoreCreateBinary();
|
||||
xSemaphore_c = xSemaphoreCreateBinary();
|
||||
|
||||
xTaskCreate(detect_task, "detect_task", 2048, NULL, configMAX_PRIORITIES-1, NULL);
|
||||
|
||||
esp_console_repl_t *repl = NULL;
|
||||
esp_console_repl_config_t repl_config = ESP_CONSOLE_REPL_CONFIG_DEFAULT();
|
||||
/* Prompt to be printed before each line.
|
||||
* This can be customized, made dynamic, etc.
|
||||
*/
|
||||
repl_config.prompt = ">";
|
||||
repl_config.max_cmdline_length = 255;
|
||||
|
||||
initialize_nvs();
|
||||
|
||||
esp_console_dev_uart_config_t hw_config = ESP_CONSOLE_DEV_UART_CONFIG_DEFAULT();
|
||||
ESP_ERROR_CHECK(esp_console_new_repl_uart(&hw_config, &repl_config, &repl));
|
||||
|
||||
calib_args.end = arg_end(1);
|
||||
esp_console_cmd_t calib_cmd = {
|
||||
.command = "c",
|
||||
.help = "Perform calibration",
|
||||
.func = &calibrate,
|
||||
.argtable = &calib_args
|
||||
};
|
||||
ESP_ERROR_CHECK(esp_console_cmd_register(&calib_cmd));
|
||||
|
||||
arm_args.end = arg_end(1);
|
||||
esp_console_cmd_t arm_cmd = {
|
||||
.command = "a",
|
||||
.help = "Arm detections",
|
||||
.func = &arm_command,
|
||||
.argtable = &arm_args
|
||||
};
|
||||
ESP_ERROR_CHECK(esp_console_cmd_register(&arm_cmd));
|
||||
|
||||
// Start the REPL
|
||||
ESP_ERROR_CHECK(esp_console_start_repl(repl));
|
||||
}
|
||||
21
sw/firmware/platformio.ini
Normal file
21
sw/firmware/platformio.ini
Normal file
@ -0,0 +1,21 @@
|
||||
; PlatformIO Project Configuration File
|
||||
;
|
||||
; Build options: build flags, source filter
|
||||
; Upload options: custom upload port, speed and extra flags
|
||||
; Library options: dependencies, extra library storages
|
||||
; Advanced options: extra scripting
|
||||
;
|
||||
; Please visit documentation for the other options and examples
|
||||
; https://docs.platformio.org/page/projectconf.html
|
||||
|
||||
[platformio]
|
||||
src_dir = main
|
||||
|
||||
[env:az-delivery-devkit-v4]
|
||||
platform = espressif32
|
||||
board = az-delivery-devkit-v4
|
||||
framework = espidf
|
||||
|
||||
board_build.f_cpu = 240000000L
|
||||
upload_protocol = esptool
|
||||
monitor_speed = 115200
|
||||
Loading…
x
Reference in New Issue
Block a user