Merge branch 'master' of https://git.sparksoftdesign.com/firstpass/soundshot

2025-07-22 14:09:47 -05:00
parent dc2885e02e 4feb4c0a98
commit 4697b369db
28 changed files with 7441 additions and 2090 deletions
--- a/main/main.c
+++ b/main/main.c
@@ -1,3 +1,4 @@
+<<<<<<< HEAD
 /*
 * SPDX-FileCopyrightText: 2021-2024 Espressif Systems (Shanghai) CO LTD
 *
@@ -289,3 +290,296 @@ void app_main(void)
    }    
 #endif
 }
+=======
+/*
+ * SPDX-FileCopyrightText: 2021-2024 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Unlicense OR CC0-1.0
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <inttypes.h>
+#include "math.h"
+
+#include "esp_system.h"
+#include "esp_log.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/timers.h"
+#include "driver/gpio.h"
+#include "nvs.h"
+#include "nvs_flash.h"
+
+
+#include "bt_app.h"
+#include "lsm6dsv.h"
+#include "gui.h"
+#include "gpio.h"
+#include "keypad.h"
+#include "system.h"
+
+
+
+
+/*********************************
+ * STATIC FUNCTION DECLARATIONS
+ ********************************/
+typedef struct {
+    float alpha;        // smoothing factor, 0<alpha<1
+    float prev_output;  // y[n-1]
+} LowPassFilter;
+
+// Initialize the filter.  alpha = smoothing factor.
+//   e.g. alpha = dt/(RC+dt) if you derive from cutoff freq & sample time.
+//   init_output can be 0 or your first sample to avoid startup glitch.
+static inline void LPF_Init(LowPassFilter *f, float alpha, float init_output) {
+    f->alpha       = alpha;
+    f->prev_output = init_output;
+}
+
+// Run one input sample through the filter.
+// Returns y[n] = alpha * x[n] + (1-alpha) * y[n-1].
+static inline float LPF_Update(LowPassFilter *f, float input) {
+    float out = f->alpha * input + (1.0f - f->alpha) * f->prev_output;
+    f->prev_output = out;
+    return out;
+}
+
+
+/*********************************
+ * STATIC VARIABLE DEFINITIONS
+ ********************************/
+static const char *TAG = "main";
+
+/*********************************
+ * STATIC FUNCTION DEFINITIONS
+ ********************************/
+
+static void init_gpio(void)
+{
+    gpio_config_t io_conf;
+
+
+    // Configure output GPIO
+    io_conf.pin_bit_mask = (1ULL << PIN_NUM_LED_1) | (1ULL << PIN_NUM_LED_2);
+    io_conf.mode = GPIO_MODE_OUTPUT;
+    io_conf.intr_type = GPIO_INTR_DISABLE;
+    io_conf.pull_up_en = GPIO_PULLUP_DISABLE;
+    io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE;
+    gpio_config(&io_conf);
+
+
+
+    
+#if 1
+    // Configure output power signal
+    gpio_set_level(PIN_NUM_nON, 1);
+    
+    io_conf.pin_bit_mask = (1ULL << PIN_NUM_nON);
+    io_conf.mode = GPIO_MODE_OUTPUT;
+    io_conf.intr_type = GPIO_INTR_DISABLE;
+    io_conf.pull_up_en = GPIO_PULLUP_ENABLE;
+    io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE;
+    gpio_config(&io_conf);
+#endif
+    
+
+
+    // Configure LCD Backlight GPIO
+    io_conf.pin_bit_mask =  (1ULL << PIN_NUM_BK_LIGHT);
+    io_conf.mode = GPIO_MODE_OUTPUT;
+    io_conf.intr_type = GPIO_INTR_DISABLE;
+    io_conf.pull_up_en = GPIO_PULLUP_DISABLE;
+    io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE;
+    gpio_config(&io_conf);
+}
+
+
+
+
+// IMU task to read sensor data
+static void imu_task(void *pvParameters) {
+    lsm6dsv_data_t imu_data;
+    char data_str[128];
+
+    float roll, pitch, yaw;
+    lsm6dsv_fifo_t fifo;
+
+    ImuData_t imu;
+
+    LowPassFilter lpf;
+    LPF_Init(&lpf, FILTER_COEFF, 0);
+
+    while (1) {
+
+       // uint8_t samples = lsm6dsv_fifo_ready();
+
+        //ESP_LOGI(TAG, "Samples: %d", samples);
+        // while (samples)
+        // {
+        //     lsm6dsv_fifo_read(&fifo);
+
+            
+
+        //     // snprintf(data_str, sizeof(data_str),
+        //     //     "tag: %d, count: %d, (%d, %d, %d)",
+        //     //     fifo.tag, fifo.count, x, y, z);
+
+        //     // ESP_LOGI(TAG, "%s", data_str);
+
+        //     samples--;
+        // }
+
+        // lsm6dsv_getAttitude(&fifo, &roll, &pitch, &yaw);
+
+        // snprintf(data_str, sizeof(data_str),
+        //     "r: %0.3f, p: %0.3f, y: %0.3f",
+        //     roll, pitch, yaw);
+
+        // ESP_LOGI(TAG, "%s", data_str);
+
+    float xz;
+    float yz;
+    float xy;
+
+#if 1
+        if (lsm6dsv_read_data(&imu_data) == ESP_OK) 
+        {
+            // snprintf(data_str, sizeof(data_str),
+            //         "Acc: %.2f, %.2f, %.2f; "
+            //         "Gyro: %.2f, %.2f, %.2f (%d)\n",
+            //         imu_data.acc_x, imu_data.acc_y, imu_data.acc_z,
+            //         imu_data.gyro_x, imu_data.gyro_y, imu_data.gyro_z, lsm6dsv_fifo_ready());
+
+            
+
+            
+#if 1            
+            imu.raw[ANGLE_XZ] = atan2f((float)imu_data.acc_z, (float)imu_data.acc_x) * 180 / M_PI;
+            imu.raw[ANGLE_YZ] = atan2f((float)imu_data.acc_z, (float)imu_data.acc_y) * 180 / M_PI;
+            imu.raw[ANGLE_XY] = atan2f((float)imu_data.acc_x, (float)imu_data.acc_y) * 180 / M_PI;
+
+            
+            float angle;
+
+
+            angle = system_getAngle(); 
+
+            if (angle > MAX_INDICATION_ANGLE)
+            {
+                angle = MAX_INDICATION_ANGLE;
+            }
+            else
+            if (angle < -MAX_INDICATION_ANGLE)
+            {
+                angle = -MAX_INDICATION_ANGLE;
+            }
+            
+            // low pass filter the angle measurement
+            imu.angle = LPF_Update(&lpf, angle);
+
+            //imu.filtered[ANGLE_XY] = LPF_Update(&lpf, imu.raw[ANGLE_XY]);
+
+            system_setImuData(imu);
+
+            // snprintf(data_str, sizeof(data_str),
+            //         "(%.2f, %.2f, %.2f)", xy, yz, xy);
+#endif                    
+
+#if 0
+            snprintf(data_str, sizeof(data_str),
+                    "(%.1f, %.1f, %.1f) (%.2f, %.2f, %.2f)", 
+                    imu.raw[ANGLE_XZ], imu.raw[ANGLE_YZ], imu.raw[ANGLE_XY],
+                    (float)imu_data.acc_x, (float)imu_data.acc_y, (float)imu_data.acc_z);
+            ESP_LOGI(TAG, "%s", data_str);
+#endif
+            // Update label text in LVGL task
+            //lv_label_set_text(imu_label, data_str);
+            
+        }
+#endif        
+        vTaskDelay(pdMS_TO_TICKS(100)); // Update every 100ms
+    }
+}
+
+/*********************************
+ * MAIN ENTRY POINT
+ ********************************/
+
+void app_main(void)
+{
+    
+    /* initialize NVS — it is used to store PHY calibration data */
+    esp_err_t ret = nvs_flash_init();
+    if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
+        ESP_ERROR_CHECK(nvs_flash_erase());
+        ret = nvs_flash_init();
+    }
+    ESP_ERROR_CHECK(ret);
+
+    init_gpio();
+
+    system_init();
+
+   
+
+    // Initialize IMU
+    ESP_ERROR_CHECK(lsm6dsv_init(22, 21));  // SCL = IO14, SDA = IO15
+
+
+
+    // Create IMU task
+    TaskHandle_t h = xTaskCreate(imu_task, "imu_task", 4096, NULL, 5, NULL);
+    
+
+    
+    bt_app_init();
+
+    gui_start();
+    
+    gpio_set_level(PIN_NUM_LED_2, 1);
+
+
+#if 0
+
+    keypad_start();
+    QueueHandle_t q = keypad_getQueue();
+    uint32_t ev = 0;
+
+    //gpio_set_level(PIN_NUM_LED_1, 1);
+    gpio_set_level(PIN_NUM_LED_2, 1);
+
+    // Main loop - LVGL task will run automatically
+    while (1) {
+        
+        if (xQueueReceive(q, &ev, pdMS_TO_TICKS(10)) == pdTRUE) 
+        {
+            switch (ev) 
+            {
+                case (KEY_UP << KEY_LONG_PRESS):
+                {
+                    system_setZeroAngle();
+                    break;
+                }
+
+                case (KEY_DOWN << KEY_LONG_PRESS):
+                {
+                    system_clearZeroAngle();
+                    break;
+                }
+            }
+            
+        }
+ 
+    }
+#else
+    while (1)
+    {
+        vTaskDelay(pdMS_TO_TICKS(1000));
+    }    
+#endif
+}
+>>>>>>> 4feb4c0a98bddb1f2a172ea4b195ce31ba18d442