135 lines
3.6 KiB
C++
135 lines
3.6 KiB
C++
constexpr const char * const TAG = "BOBBY";
|
|
|
|
// system includes
|
|
#include <cstdio>
|
|
|
|
// esp-idf includes
|
|
#include <esp_log.h>
|
|
|
|
// 3rdparty lib includes
|
|
#include <espchrono.h>
|
|
using namespace std::chrono_literals;
|
|
#include <espwifistack.h>
|
|
#include <schedulertask.h>
|
|
|
|
// local includes
|
|
#include "bobbycar-common.h"
|
|
#include "bobbycar-serial.h"
|
|
#include "macros_bobbycar.h"
|
|
#include "globals.h"
|
|
#include "screens.h"
|
|
#include "presets.h"
|
|
#include "statistics.h"
|
|
#include "modes/defaultmode.h"
|
|
#include "displays/statusdisplay.h"
|
|
#include "displays/lockscreen.h"
|
|
#include "displays/potiscalibratedisplay.h"
|
|
#include "displays/buttoncalibratedisplay.h"
|
|
#include "newsettings.h"
|
|
#include "taskmanager.h"
|
|
|
|
namespace {
|
|
espchrono::millis_clock::time_point lastStatsPush;
|
|
std::optional<espchrono::millis_clock::time_point> lastStatsUpdate;
|
|
}
|
|
|
|
extern "C" void app_main()
|
|
{
|
|
#ifdef FEATURE_LEDBACKLIGHT
|
|
pinMode(PINS_LEDBACKLIGHT, OUTPUT);
|
|
digitalWrite(PINS_LEDBACKLIGHT, ledBacklightInverted ? LOW : HIGH);
|
|
#endif
|
|
|
|
initScreen();
|
|
|
|
bootLabel.redraw("settings");
|
|
|
|
if (const auto result = configs.init("bobbycar"); result != ESP_OK)
|
|
ESP_LOGE(TAG, "config_init_settings() failed with %s", esp_err_to_name(result));
|
|
|
|
settings = presets::defaultSettings;
|
|
|
|
if (settingsPersister.init())
|
|
{
|
|
if (!settingsPersister.openCommon())
|
|
ESP_LOGE("BOBBY", "openCommon() failed");
|
|
|
|
if (!settingsPersister.openProfile(0))
|
|
ESP_LOGE("BOBBY", "openProfile(0) failed");
|
|
|
|
loadSettings();
|
|
}
|
|
else
|
|
ESP_LOGE("BOBBY", "init() failed");
|
|
|
|
for (const auto &task : schedulerTasks)
|
|
{
|
|
bootLabel.redraw(task.name());
|
|
task.setup();
|
|
}
|
|
|
|
currentMode = &modes::defaultMode;
|
|
|
|
bootLabel.redraw("switchScreen");
|
|
|
|
if (configs.dpadMappingLeft.value == INPUT_MAPPING_NONE ||
|
|
configs.dpadMappingRight.value == INPUT_MAPPING_NONE ||
|
|
configs.dpadMappingUp.value == INPUT_MAPPING_NONE ||
|
|
configs.dpadMappingDown.value == INPUT_MAPPING_NONE)
|
|
{
|
|
espgui::switchScreen<ButtonCalibrateDisplay>(true);
|
|
}
|
|
else if (settings.lockscreen.keepLockedAfterReboot && settings.lockscreen.locked)
|
|
{
|
|
espgui::switchScreen<Lockscreen>();
|
|
}
|
|
else
|
|
{
|
|
if (!gas || !brems || *gas > 200.f || *brems > 200.f)
|
|
espgui::switchScreen<PotisCalibrateDisplay>(true);
|
|
else
|
|
{
|
|
espgui::switchScreen<StatusDisplay>();
|
|
}
|
|
}
|
|
|
|
while (true)
|
|
{
|
|
const auto now = espchrono::millis_clock::now();
|
|
|
|
for (auto &schedulerTask : schedulerTasks)
|
|
{
|
|
schedulerTask.loop();
|
|
}
|
|
|
|
if (!lastStatsUpdate || now - *lastStatsUpdate >= 1000ms/configs.boardcomputerHardware.timersSettings.statsUpdateRate.value)
|
|
{
|
|
updateAccumulators();
|
|
pushStats();
|
|
lastStatsUpdate = now;
|
|
}
|
|
|
|
if (now - lastStatsPush >= 1s)
|
|
{
|
|
sched_pushStats(false);
|
|
|
|
lastStatsPush = now;
|
|
}
|
|
|
|
if (battery::bootBatPercentage == -1)
|
|
{
|
|
if(controllers.front.feedbackValid && controllers.back.feedbackValid)
|
|
{
|
|
float avgVoltage = 0;
|
|
for (auto &controller : controllers)
|
|
{
|
|
avgVoltage += controller.getCalibratedVoltage();
|
|
}
|
|
avgVoltage = avgVoltage / controllers.size();
|
|
if (avgVoltage > 30)
|
|
battery::bootBatPercentage = getBatteryPercentage(avgVoltage, BatteryCellType(configs.battery.cellType.value));
|
|
}
|
|
}
|
|
}
|
|
}
|