Cleanup and fixes

firmware/dev_hardware_wires.md

@@ -0,0 +1,15 @@
+!! On Swimtracker board the JTAG pins are not labeled correctly ! 
+one pin even needs to be soldered manually
+
+
+------|------|-----------------
+GND   |      | schwarz
+3.3V  |      | rot
+IO13  | TCK  | weiss
+IO14  | TMS  | grau
+IO12  | TDI  | lila
+IO15  | TDO  | blau
+EN    |      | grun
+IO0   |      | braun
+RXD   |      | orange
+TXD   |      | gelb

firmware/lib/logging/Logger.cpp

@@ -14,10 +14,6 @@ void Logger::init()
 {
   theLogger = new Logger();
   #ifdef PLATFORM_ESP32
-  Serial.begin(115200);
-  while (!Serial)
-  {
-  }
   #endif
 }
 

firmware/lib/logging/Logger.h

@@ -18,10 +18,12 @@
     Logger::getInstance()->log(__VA_ARGS__); \
   }
 
-#define LOG_TRACE(...)                       \
+/*#define LOG_TRACE(...)                       \
   {                                          \
     Logger::getInstance()->log(__VA_ARGS__); \
   }
+*/
+#define LOG_TRACE(...) {}
 
 #define LOG_WARNING(...)                     \
   {                                          \
@@ -55,8 +57,7 @@ public:
                                  std::forward<Args>(args)...);
 #pragma GCC diagnostic pop
 
-                                
+    Serial.println(&data_[currentSize_]);
-    //Serial.println(&data_[currentSize_]);
     if(charsWritten > 0)
     {
       currentSize_ += charsWritten + 1; // + 1 for trailing zero

firmware/lib/scale/Scale.h

@@ -8,7 +8,7 @@ public:
     bool measure(uint16_t &measurementOut)
     {
         long value = hx711_.read_average(CONFIG_MEASUREMENT_AVG_COUNT);
-        LOG_TRACE("rv %ld\n", value);
+        LOG_TRACE("rv %ld", value);
         value -= offset_;
         
         if (value < 0)
@@ -28,7 +28,7 @@ public:
     {
         auto v1 = hx711_.read_average(3);
         offset_ = hx711_.read_average(numMeasurementsToAverage);
-        LOG_INFO("Init reading %ld, Tare offset %ld\n", v1, offset_);
+        LOG_INFO("Init reading %ld, Tare offset %ld", v1, offset_);
     }
 
     const long &offset() const { return offset_; }

firmware/lib/session/SimpleMeasurementSession.h

@@ -105,6 +105,7 @@ private:
         }
         else
         {
+            LOG_INFO("Creating new session file");
             auto file = portablefs::open(filename.c_str(), "w");
             StreamingMsgPackEncoder<portablefs::File> encoder(&file);
             chunk->serialize(encoder);

firmware/platformio.ini

@@ -24,9 +24,12 @@ board_upload.flash_size = "16MB"
 #build_flags = -Wl,-Teagle.flash.2m1m.ld
 build_flags = -DPLATFORM_ESP32 -DBOARD_HAS_PSRAM -mfix-esp32-psram-cache-issue
 framework = arduino
-monitor_port = /dev/ttyUSB0
+monitor_port = /dev/ttyUSB1
-upload_port = /dev/ttyUSB0
+upload_port = /dev/ttyUSB1
 monitor_speed = 115200
+debug_tool = esp-prog
+#upload_protocol = esp-prog
+debug_init_break = tbreak setup
 lib_deps =
     NTPClient
     HX711@0.7.4

firmware/src/LoggingAPI.h

@@ -36,14 +36,13 @@ class LoggingAPI
       if(running_)
       {
         const Logger * logger = Logger::getInstance();
-        const auto beginIt = lastEnd_;
-        const auto endIt = logger->end();
 
-        StaticJsonDocument<512> data;
+        const auto endIt = logger->end();
-        for(auto it = beginIt; it != endIt; ++it) {
+        StaticJsonDocument<1024> data;
+        for(auto it = lastEnd_; it != endIt; ++it) {
             data["time"] = it.time_millis();
             data["msg"] = it.message();
-            server.template sendToAll<512>(MessageCode::LOG_UPDATE, data);
+            server.template sendToAll<1024>(MessageCode::LOG_UPDATE, data);
         }
         lastEnd_ = endIt;
       }
@@ -52,6 +51,6 @@ class LoggingAPI
   private:
     bool running_ = false;
     Logger::iterator lastEnd_ = Logger::iterator(nullptr);
-    bool firstCall_ = false;
+    bool firstCall_ = true;
 };
 

firmware/src/WebsocketServer.h

@@ -50,15 +50,19 @@ public:
 
     if (server_.poll())
     {
-      LOG_INFO("new websocket connection, storing at pos %d - occupancy: ", nextFreeClient_);
       clients_[nextFreeClient_] = server_.accept();
       clients_[nextFreeClient_].onMessage(onMessage);
       this->onClientConnectImpl(clients_[nextFreeClient_]);
       nextFreeClient_ = (nextFreeClient_ + 1) % MAX_WEBSOCKET_CONNECTIONS;
 
+      if(MAX_WEBSOCKET_CONNECTIONS == 3) {
+        LOG_INFO("new websocket connection, storing at pos %d - occupancy: %d%d%d", nextFreeClient_, clients_[0].available(), clients_[1].available(), clients_[2].available());
+      } else {
+        LOG_INFO("new websocket connection, storing at pos %d - occupancy:", nextFreeClient_);
         for (int i = 0; i < MAX_WEBSOCKET_CONNECTIONS; ++i)
           LOG_INFO((clients_[i].available()) ? "x" : "o");
       }
+    }
 
     for (int i = 0; i < MAX_WEBSOCKET_CONNECTIONS; ++i)
       clients_[i].poll();
@@ -69,12 +73,13 @@ public:
   template <size_t bufferSize>
   void sendToAll(MessageCode msgCode, const JsonDocument &content)
   {
+    static_assert(sizeof(MessageCode) == 1);
     char buffer[bufferSize];
     buffer[0] = (char)(msgCode);
     size_t bytesWritten = serializeMsgPack(content, buffer + sizeof(msgCode), bufferSize - sizeof(msgCode));
     for (int i = 0; i < MAX_WEBSOCKET_CONNECTIONS; ++i)
       if (clients_[i].available())
-        clients_[i].sendBinary(buffer, bytesWritten);
+        clients_[i].sendBinary(buffer, bytesWritten + sizeof(msgCode));
   }
 
   void sendToAll(MessageCode msgCode, const JsonDocument &content)

firmware/src/firmware_main.cpp

@@ -433,6 +433,10 @@ void mdnsSetup(const String &fullHostname)
 
 void setup()
 {
+    Serial.begin(115200);
+    while (!Serial)
+    {
+    }
     // Serial
     Logger::init();
 

testsystem/.gitignore

@@ -0,0 +1,5 @@
+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch

testsystem/platformio.ini

@@ -0,0 +1,12 @@
+[platformio]
+default_envs = esp
+
+[env:esp]
+platform = espressif8266
+board = nodemcuv2
+framework = arduino
+monitor_port = /dev/ttyUSB0
+upload_port = /dev/ttyUSB0
+monitor_speed = 115200
+lib_deps =
+    ArduinoJson

testsystem/src/MotorControl.cpp

@@ -0,0 +1,76 @@
+#include "MotorControl.h"
+#include <Arduino.h>
+
+constexpr int PORT_FORWARD = 4;
+constexpr int PORT_BACKWARD = 16;
+constexpr int PORT_SPEED = 5;
+
+// PWM settings
+constexpr int PWM_FREQ = 20000;
+constexpr int PWM_CHANNEL = 0;
+constexpr int PWM_RESOLUTION = 255;
+
+void MotorControl::begin()
+{
+  pinMode(PORT_SPEED, OUTPUT);
+  pinMode(PORT_FORWARD, OUTPUT);
+  pinMode(PORT_BACKWARD, OUTPUT);
+
+  analogWriteRange(PWM_RESOLUTION);
+  analogWriteFreq(PWM_FREQ);
+  startTime_ = millis();
+}
+
+void MotorControl::addCmd(float signedSpeed, unsigned long duration)
+{
+  if (numCmds_ < MAX_MOTOR_COMMANDS)
+    motorCommands_[numCmds_++] = {int(signedSpeed * PWM_RESOLUTION), duration};
+  else
+    Serial.println("Too many commands");
+}
+
+float MotorControl::speed(int cmdIdx) const
+{
+  return float(motorCommands_[cmdIdx].directionAndSpeed) / float(PWM_RESOLUTION);
+}
+
+unsigned long MotorControl::duration(int cmdIdx) const
+{
+  return motorCommands_[cmdIdx].delayToNextCmdInMs;
+}
+
+void MotorControl::iteration()
+{
+  if (numCmds_ == 0)
+  {
+    analogWrite(PORT_SPEED, 0);
+    return;
+  }
+
+  unsigned long timeElapsed = millis() - startTime_;
+  while (timeElapsed > motorCommands_[currentCmd_].delayToNextCmdInMs)
+  {
+    const auto curCmdDuration = motorCommands_[currentCmd_].delayToNextCmdInMs;
+    timeElapsed -= curCmdDuration;
+    startTime_ += curCmdDuration;
+    currentCmd_ = (currentCmd_ + 1) % numCmds_;
+  }
+
+  const auto &curCmd = motorCommands_[currentCmd_];
+  const auto &nextCmd = motorCommands_[(currentCmd_ + 1) % numCmds_];
+  const float fraction = float(timeElapsed) / float(curCmd.delayToNextCmdInMs);
+  const int interpolated = int((1.f - fraction) * curCmd.directionAndSpeed + fraction * nextCmd.directionAndSpeed);
+
+  if (interpolated < 0)
+  {
+    analogWrite(PORT_SPEED, -interpolated);
+    digitalWrite(PORT_FORWARD, 0);
+    digitalWrite(PORT_BACKWARD, 1);
+  }
+  else
+  {
+    analogWrite(PORT_SPEED, interpolated);
+    digitalWrite(PORT_FORWARD, 1);
+    digitalWrite(PORT_BACKWARD, 0);
+  }
+}

testsystem/src/MotorControl.h

@@ -0,0 +1,31 @@
+
+
+class MotorControl
+{
+public:
+  void begin();
+  void clear()
+  {
+    numCmds_ = 0;
+    currentCmd_ = 0;
+  }
+  void addCmd(float signedSpeed, unsigned long duration);
+  void iteration();
+
+  int numCommands() const { return numCmds_; }
+  float speed(int cmdIdx) const;
+  unsigned long duration(int cmdIdx) const;
+
+private:
+  static constexpr int MAX_MOTOR_COMMANDS = 1024;
+  struct MotorCmd
+  {
+    int directionAndSpeed; // fraction of PWM_RESO
+    unsigned long delayToNextCmdInMs;
+  };
+
+  int currentCmd_ = 0;
+  int numCmds_ = 0;
+  MotorCmd motorCommands_[MAX_MOTOR_COMMANDS];
+  unsigned long startTime_ = 0;
+};

testsystem/src/main.cpp

@@ -0,0 +1,87 @@
+#include "MotorControl.h"
+
+#include <ESP8266WiFi.h>
+#include <ESP8266WebServer.h>
+#include <ArduinoJson.h>
+
+ESP8266WebServer server(80);
+MotorControl motorCtl;
+const char *webBuffer[1024 * 4];
+
+void wifiSetup()
+{
+  static const char *ssid = "WLAN";
+  static const char *password = "Bau3rWLAN";
+
+  WiFi.begin(ssid, password);
+  WiFi.hostname("swimtracker-tester");
+
+  while (WiFi.status() != WL_CONNECTED)
+  {
+    delay(500);
+    Serial.println("Waiting to connect...");
+  }
+  Serial.print("IP address: ");
+  Serial.println(WiFi.localIP());
+}
+
+void handleGetRoot()
+{
+  DynamicJsonDocument doc(motorCtl.numCommands() * 16 + 128);
+  JsonArray speeds = doc.createNestedArray("speeds");
+  JsonArray durations = doc.createNestedArray("durations");
+  for (int i = 0; i < motorCtl.numCommands(); ++i)
+  {
+    speeds.add(motorCtl.speed(i));
+    durations.add(motorCtl.duration(i));
+  }
+  size_t length = serializeJson(doc, webBuffer, sizeof(webBuffer));
+  server.send(200, "application/json", (const char *)webBuffer, length);
+}
+
+void handlePostRoot()
+{
+  String postBody = server.arg("plain");
+  DynamicJsonDocument doc(postBody.length() * 2 + 256);
+  DeserializationError error = deserializeJson(doc, postBody);
+  if (error || !doc.containsKey("speeds") || !doc.containsKey("durations"))
+    server.send(400, "application/json", "{ \"msg\" : \"Parsing error\" }");
+  else
+  {
+    JsonArray speeds = doc["speeds"].as<JsonArray>();
+    JsonArray durations = doc["durations"].as<JsonArray>();
+    if (speeds.size() != durations.size())
+      server.send(400, "application/json", "{ \"msg\" : \"Arrays have to have same length!\" }");
+    else
+    {
+      motorCtl.clear();
+      auto speedIt = speeds.begin();
+      auto durationIt = durations.begin();
+      for (; speedIt != speeds.end() && durationIt != durations.end(); ++durationIt, ++speedIt)
+      {
+        motorCtl.addCmd(speedIt->as<float>(), durationIt->as<unsigned long>());
+      }
+      server.send(200, "application/json", "{ \"msg\" : \"Ok\" }");
+    }
+  }
+}
+
+void setup()
+{
+  Serial.begin(115200);
+  wifiSetup();
+
+  server.on("/", HTTP_GET, handleGetRoot);
+  server.on("/", HTTP_POST, handlePostRoot);
+
+  server.begin(); //Start the server
+  Serial.println("Server listening");
+
+  motorCtl.begin();
+}
+
+void loop()
+{
+  server.handleClient(); //Handling of incoming client requests
+  motorCtl.iteration();
+}