8000 Tue Feb 28 09:02:22 CST 2017 · programmer131/esp32-snippets@996b2df · GitHub
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kolban
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Tue Feb 28 09:02:22 CST 2017
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‎cpp_utils/Doxyfile

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‎cpp_utils/FreeRTOS.cpp

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/*
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* FreeRTOS.cpp
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*
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* Created on: Feb 24, 2017
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* Author: kolban
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*/
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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#include "FreeRTOS.h"
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#include "sdkconfig.h"
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FreeRTOS::FreeRTOS() {
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// TODO Auto-generated constructor stub
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}
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FreeRTOS::~FreeRTOS() {
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// TODO Auto-generated destructor stub
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}
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/**
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* Sleep for the specified number of milliseconds.
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* @param[in] ms The period in milliseconds for which to sleep.
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*/
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void FreeRTOS::sleep(uint32_t ms) {
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::vTaskDelay(ms/portTICK_PERIOD_MS);
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}
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/**
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* Start a new task.
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* @param[in] task The function pointer to the function to be run in the task.
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* @param[in] taskName A string identifier for the task.
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* @param[in] param An optional parameter to be passed to the started task.
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* @param[in] stackSize An optional paremeter supplying the size of the stack in which to run the task.
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*/
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void FreeRTOS::startTask(void task(void*), std::string taskName, void *param, int stackSize) {
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::xTaskCreate(task, taskName.data(), stackSize, param, 5, NULL);
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}
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/**
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* Delete the task.
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* @param[in] pTask An optional handle to the task to be deleted. If not supplied the calling task will be deleted.
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*/
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void FreeRTOS::deleteTask(TaskHandle_t pTask) {
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::vTaskDelete(pTask);
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}
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/**
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* Get the time in milliseconds since the FreeRTOS scheduler started.
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* @return The time in milliseconds since the FreeRTOS scheduler started.
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*/
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uint32_t FreeRTOS::getTimeSinceStart() {
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return (uint32_t)(xTaskGetTickCount()*portTICK_PERIOD_MS);
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}

‎cpp_utils/FreeRTOS.h

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/*
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* FreeRTOS.h
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*
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* Created on: Feb 24, 2017
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* Author: kolban
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*/
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#ifndef MAIN_FREERTOS_H_
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#define MAIN_FREERTOS_H_
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#include <stdint.h>
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#include <string>
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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class FreeRTOS {
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public:
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FreeRTOS();
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virtual ~FreeRTOS();
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static void sleep(uint32_t ms);
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static void startTask(void task(void *), std::string taskName, void *param=nullptr, int stackSize = 2048);
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static void deleteTask(TaskHandle_t pTask = nullptr);
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static uint32_t getTimeSinceStart();
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};
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#endif /* MAIN_FREERTOS_H_ */

‎cpp_utils/I2C.cpp

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/*
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* I2C.cpp
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*
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* Created on: Feb 24, 2017
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* Author: kolban
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*/
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#include <driver/gpio.h>
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#include <driver/i2c.h>
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#include <esp_err.h>
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#include <stdint.h>
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#include <sys/types.h>
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#include "I2C.h"
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#include "sdkconfig.h"
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/**
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* Create an instance of an I2C object.
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* @param[in] sdaPin The pin number used for the SDA line.
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* @param[in] sclPin The pin number used for the SCL line.
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*/
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I2C::I2C(int sdaPin, int sclPin) {
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i2c_config_t conf;
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conf.mode = I2C_MODE_MASTER;
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conf.sda_io_num = (gpio_num_t)sdaPin;
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conf.scl_io_num = (gpio_num_t)sclPin;
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conf.sda_pullup_en = GPIO_PULLUP_ENABLE;
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conf.scl_pullup_en = GPIO_PULLUP_ENABLE;
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conf.master.clk_speed = 100000;
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ESP_ERROR_CHECK(i2c_param_config(I2C_NUM_0, &conf));
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ESP_ERROR_CHECK(i2c_driver_install(I2C_NUM_0, I2C_MODE_MASTER, 0, 0, 0));
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directionKnown = false;
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address = 0;
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cmd = 0;
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}
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/**
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* Begin a new I2C transaction.
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*/
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void I2C::beginTransaction() {
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cmd = i2c_cmd_link_create();
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ESP_ERROR_CHECK(i2c_master_start(cmd));
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directionKnown = false;
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}
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/**
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* End an I2C transaction.
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* This call will execute the I2C requests that have been queued up since the preceding call to the
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* `beginTransaction()` function.
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*/
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void I2C::endTransaction() {
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ESP_ERROR_CHECK(i2c_master_stop(cmd));
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i2c_master_cmd_begin(I2C_NUM_0, cmd, 1000/portTICK_PERIOD_MS);
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i2c_cmd_link_delete(cmd);
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}
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/**
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* Write a single byte to the I2C slave.
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* @param[in] byte The byte to write to the slave.
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* @param[in] ack Whether or not an acknowledgement is expected from the slave.
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*/
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void I2C::write(uint8_t byte, bool ack) {
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if (directionKnown == false) {
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directionKnown = true;
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ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (address << 1) | I2C_MASTER_WRITE, 1));
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}
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ESP_ERROR_CHECK(i2c_master_write_byte(cmd, byte, ack));
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}
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/**
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* Write a sequence of byte to the I2C slave.
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* @param[in] bytes The sequence of bytes to write to the I2C slave.
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* @param[in] length The number of bytes to write.
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* @param[in] ack Whether or not an acknowledgement is expected from the slave.
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*/
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void I2C::write(uint8_t *bytes, size_t length, bool ack) {
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if (directionKnown == false) {
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directionKnown = true;
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ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (address << 1) | I2C_MASTER_WRITE, ack));
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}
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ESP_ERROR_CHECK(i2c_master_write(cmd, bytes, length, 1));
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}
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/**
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* Add an I2C start request to the command stream.
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*/
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void I2C::start() {
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ESP_ERROR_CHECK(i2c_master_start(cmd));
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}
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/**
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* Read a single byte from the slave.
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* @param[out] byte The address into which the read byte will be stored.
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* @param[in] ack Whether or not we should send an ACK to the slave after reading a byte.
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*/
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void I2C::readByte(uint8_t* byte, bool ack) {
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if (directionKnown == false) {
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directionKnown = true;
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ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (address << 1) | I2C_MASTER_READ, 1));
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}
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ESP_ERROR_CHECK(i2c_master_read_byte(cmd, byte, !ack));
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}
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/**
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* Read a sequence of bytes from the slave.
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* @param[out] byte The address into which the read bytes will be stored.
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* @param[in] length The number of expected bytes to read.
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* @param[in] ack Whether or not we should send an ACK to the slave after reading a byte.
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*/
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void I2C::read(uint8_t* bytes, size_t length, bool ack) {
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if (directionKnown == false) {
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directionKnown = true;
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ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (address << 1) | I2C_MASTER_READ, 1));
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}
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ESP_ERROR_CHECK(i2c_master_read(cmd, bytes, length, !ack));
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}
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/**
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* Add an I2C stop request to the command stream.
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*/
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void I2C::stop() {
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ESP_ERROR_CHECK(i2c_master_stop(cmd));
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}

‎cpp_utils/I2C.h

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/*
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* I2C.h
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*
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* Created on: Feb 24, 2017
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* Author: kolban
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*/
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#ifndef MAIN_I2C_H_
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#define MAIN_I2C_H_
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#include <stdint.h>
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#include <sys/types.h>
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#include <driver/i2c.h>
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class I2C {
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private:
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uint8_t address;
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i2c_cmd_handle_t cmd;
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bool directionKnown;
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public:
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I2C(int sdaPin, int sclPin);
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void beginTransaction();
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void endTransaction();
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void write(uint8_t byte, bool ack=true);
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void write(uint8_t *bytes, size_t length, bool ack=true);
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void readByte(uint8_t *byte, bool ack=true);
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void read(uint8_t *bytes, size_t length, bool ack=true);
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void start();
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void stop();
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/**
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* Get the address of the I2C slave against which we are working.
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* @return The address of the I2C slave.
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*/
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uint8_t getAddress() const
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{
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return address;
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}
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/**
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* Set the address of the I2C slave against which we will be working.
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* @param[in] address The address of the I2C slave.
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*/
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void setAddress(uint8_t address)
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{
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this->address = address;
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}
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};
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#endif /* MAIN_I2C_H_ */

‎cpp_utils/MPU6050.cpp

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/**
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* Encapsulate the MPU6050.
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*/
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#include "MPU6050.h"
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#define PIN_SDA 25
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#define PIN_CLK 26
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#define I2C_ADDRESS 0x68 // I2C address of MPU6050
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#define MPU6050_ACCEL_XOUT_H 0x3B
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#define MPU6050_GYRO_XOUT_H 0x43
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#define MPU6050_PWR_MGMT_1 0x6B
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/**
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* Construct an MPU6050 handler.
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*/
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MPU6050::M 10000 PU6050() {
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i2c = new I2C(PIN_SDA, PIN_CLK);
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// Dummy call
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i2c->setAddress(I2C_ADDRESS);
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i2c->beginTransaction();
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i2c->write(MPU6050_ACCEL_XOUT_H);
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i2c->endTransaction();
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i2c->beginTransaction();
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i2c->write(MPU6050_PWR_MGMT_1);
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i2c->write(0);
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i2c->endTransaction();
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accel_x = accel_y = accel_z = 0;
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gyro_x = gyro_y = gyro_z = 0;
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}
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MPU6050::~MPU6050() {
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delete i2c;
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}
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/**
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* Read the acceleration value from the device.
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*/
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void MPU6050::readAccel() {
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i2c->beginTransaction();
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i2c->write(MPU6050_ACCEL_XOUT_H);
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i2c->endTransaction();
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uint8_t data[6];
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i2c->beginTransaction();
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i2c->read(data, 5, 1);
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i2c->readByte(data+5, 0);
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i2c->endTransaction();
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accel_x = (data[0] << 8) | data[1];
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accel_y = (data[2] << 8) | data[3];
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accel_z = (data[4] << 8) | data[5];
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} // readAccel
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/**
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* Read the gyroscopic values from the device.
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*/
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void MPU6050::readGyro() {
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i2c->beginTransaction();
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i2c->write(MPU6050_GYRO_XOUT_H);
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i2c->endTransaction();
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uint8_t data[6];
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i2c->beginTransaction();
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i2c->read(data, 5, 1);
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i2c->readByte(data+5, 0);
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i2c->endTransaction();
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gyro_x = (data[0] << 8) | data[1];
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gyro_y = (data[2] << 8) | data[3];
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gyro_z = (data[4] << 8) | data[5];
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} // readGyro

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