683 lines
20 KiB
C++
683 lines
20 KiB
C++
/**
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* @file web_client.ino
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* @brief DShotRMT Web Control as WiFi Client
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* @author Wastl Kraus
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* @date 2025-09-11
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* @license MIT
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*/
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#include <Arduino.h>
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#include <Update.h>
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#include <WiFi.h>
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#include <DShotRMT.h>
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#include <ota_update.h>
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#include <web_content.h>
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#include <ArduinoJson.h>
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#include <AsyncTCP.h>
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#include <ESPAsyncWebServer.h>
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// WiFi Client Configuration - UPDATE THESE VALUES!
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static constexpr auto *WIFI_SSID = "YOUR_SSID"; // Enter your WiFi SSID
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static constexpr auto *WIFI_PASSWORD = "YOUR_PASSWORD"; // Enter your WiFi password
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// Connection timeout in milliseconds
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static constexpr auto WIFI_CONNECT_TIMEOUT = 20000;
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// USB serial port settings
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static constexpr auto &USB_SERIAL = Serial;
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static constexpr auto USB_SERIAL_BAUD = 115200;
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// Motor configuration - Pin number or GPIO_PIN
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static constexpr auto MOTOR01_PIN = 17;
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// Supported: DSHOT150, DSHOT300, DSHOT600, (DSHOT1200)
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static constexpr dshot_mode_t DSHOT_MODE = DSHOT300;
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// BiDirectional DShot Support (default: false)
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static constexpr auto IS_BIDIRECTIONAL = false;
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// Motor magnet count for RPM calculation
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static constexpr auto MOTOR01_MAGNET_COUNT = 14;
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// Creates the motor instance
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DShotRMT motor01(MOTOR01_PIN, DSHOT_MODE, IS_BIDIRECTIONAL);
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// Web Server Configuration
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AsyncWebServer server(80);
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AsyncWebSocket ws("/ws");
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// Global variables
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static uint16_t throttle = DSHOT_CMD_MOTOR_STOP;
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static bool isArmed = false;
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static bool last_sent_armed = false;
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static bool continuous_throttle = true;
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// WiFi status tracking
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static bool wifi_connected = false;
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// Helpers (forward declaration)
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void printMenu();
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void handleSerialInput(const String &input);
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void handleWebSocketMessage(void *arg, uint8_t *data, size_t len);
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void onWsEvent(AsyncWebSocket *server, AsyncWebSocketClient *client, AwsEventType type, void *arg, uint8_t *data, size_t len);
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bool connectToWiFi();
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void printWiFiStatus();
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void setupOTA();
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void handleOTAUpload(AsyncWebServerRequest *request, String filename, size_t index, uint8_t *data, size_t len, bool final);
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//
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void setup()
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{
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USB_SERIAL.begin(USB_SERIAL_BAUD);
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USB_SERIAL.println();
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USB_SERIAL.println("DShotRMT Web Client Demo Starting...");
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motor01.begin();
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motor01.printCpuInfo();
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// Connect to WiFi network
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USB_SERIAL.println("\nConnecting to WiFi network...");
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wifi_connected = connectToWiFi();
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if (wifi_connected)
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{
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// Setup OTA first
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setupOTA();
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// Init WebSockets and Webserver
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USB_SERIAL.println("\nStarting Webserver...");
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ws.onEvent(onWsEvent);
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server.addHandler(&ws);
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server.on("/", HTTP_GET, [](AsyncWebServerRequest *request)
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{ request->send_P(200, "text/html", index_html); });
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server.begin();
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USB_SERIAL.println("HTTP server started.");
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printWiFiStatus();
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}
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else
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{
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USB_SERIAL.println("\n*** WARNING: WiFi connection failed! ***");
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USB_SERIAL.println("*** Web interface and OTA not available ***");
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USB_SERIAL.println("*** Only serial control available ***");
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}
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// Initialize with disarmed state
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setArmingStatus(false);
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printMenu();
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}
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//
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void loop()
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{
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static uint64_t last_serial_update = 0;
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static uint16_t last_sent_throttle = DSHOT_CMD_MOTOR_STOP;
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static String last_sent_rpm = "N/A";
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static uint64_t last_wifi_check = 0;
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// Check WiFi connection every 30 seconds
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if (esp_timer_get_time() - last_wifi_check >= 30000000)
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{
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if (WiFi.status() != WL_CONNECTED && wifi_connected)
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{
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USB_SERIAL.println("\n*** WiFi connection lost! ***");
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wifi_connected = false;
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}
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else if (WiFi.status() == WL_CONNECTED && !wifi_connected)
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{
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USB_SERIAL.println("\n*** WiFi connection restored! ***");
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wifi_connected = true;
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printWiFiStatus();
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}
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last_wifi_check = esp_timer_get_time();
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}
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// Handle serial input
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if (USB_SERIAL.available() > 0)
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{
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String input = USB_SERIAL.readStringUntil('\n');
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input.trim();
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if (input.length() > 0)
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{
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handleSerialInput(input);
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}
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}
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// Send throttle value only if armed and continuous mode is enabled
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if (isArmed && continuous_throttle && throttle > 0)
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{
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motor01.sendThrottle(throttle);
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}
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else if (!isArmed && continuous_throttle)
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{
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// Ensure motor is stopped when disarmed
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motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
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}
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// Print motor stats every 3 seconds in continuous mode
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if ((esp_timer_get_time() - last_serial_update >= 3000000))
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{
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motor01.printDShotInfo();
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USB_SERIAL.println(" ");
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// Get Motor RPM if bidirectional and armed
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if (IS_BIDIRECTIONAL && isArmed)
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{
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dshot_result_t telem_result = motor01.getTelemetry(MOTOR01_MAGNET_COUNT);
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printDShotResult(telem_result);
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}
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USB_SERIAL.println("Type 'help' to show Menu");
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// Time Stamp
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last_serial_update = esp_timer_get_time();
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}
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// Update JSON on data change (only if WiFi connected)
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if (wifi_connected)
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{
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String current_rpm = "N/A";
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if (IS_BIDIRECTIONAL && isArmed)
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{
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dshot_result_t telem_result = motor01.getTelemetry(MOTOR01_MAGNET_COUNT);
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if (telem_result.success && telem_result.motor_rpm > 0)
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{
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current_rpm = String(telem_result.motor_rpm);
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}
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}
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if (throttle != last_sent_throttle || isArmed != last_sent_armed || current_rpm != last_sent_rpm)
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{
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// Generate JSON for Webserver
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JsonDocument doc;
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doc["throttle"] = isArmed ? throttle : 0;
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doc["armed"] = isArmed;
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doc["rpm"] = current_rpm;
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String json_output;
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json_output.reserve(256);
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serializeJson(doc, json_output);
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if (ws.count() > 0)
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{
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ws.textAll(json_output);
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}
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// Update last run
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last_sent_throttle = throttle;
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last_sent_armed = isArmed;
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last_sent_rpm = current_rpm;
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}
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ws.cleanupClients();
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}
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}
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// Setup OTA Update functionality
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void setupOTA()
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{
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USB_SERIAL.println("Setting up OTA Update...");
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// Serve OTA update page
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server.on("/update", HTTP_GET, [](AsyncWebServerRequest *request)
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{ request->send_P(200, "text/html", ota_html); });
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// Handle OTA update upload
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server.on("/update", HTTP_POST, [](AsyncWebServerRequest *request)
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{
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bool shouldReboot = !Update.hasError();
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AsyncWebServerResponse *response = request->beginResponse(200, "text/plain",
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shouldReboot ? "OK" : "FAIL");
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response->addHeader("Connection", "close");
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request->send(response);
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if (shouldReboot) {
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USB_SERIAL.println("OTA Update successful! Rebooting...");
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delay(1000);
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ESP.restart();
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} else {
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USB_SERIAL.println("OTA Update failed!");
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} }, handleOTAUpload);
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USB_SERIAL.println("OTA Update ready at: /update");
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}
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// Handle OTA upload process
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void handleOTAUpload(AsyncWebServerRequest *request, String filename, size_t index, uint8_t *data, size_t len, bool final)
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{
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static unsigned long ota_progress_millis = 0;
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if (!index)
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{
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// Safety: Ensure motor is stopped during update
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motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
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setArmingStatus(false);
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USB_SERIAL.printf("OTA Update Start: %s\n", filename.c_str());
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if (!Update.begin(UPDATE_SIZE_UNKNOWN))
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{
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Update.printError(USB_SERIAL);
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return;
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}
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}
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if (len)
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{
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if (Update.write(data, len) != len)
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{
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Update.printError(USB_SERIAL);
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return;
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}
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// Print progress every 2 seconds to avoid spam
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if (millis() - ota_progress_millis > 2000)
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{
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size_t progress = index + len;
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USB_SERIAL.printf("OTA Progress: %zu bytes\n", progress);
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ota_progress_millis = millis();
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}
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}
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if (final)
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{
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if (Update.end(true))
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{
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USB_SERIAL.printf("OTA Update Success: %zu bytes\n", index + len);
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}
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else
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{
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Update.printError(USB_SERIAL);
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}
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}
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}
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// Connect to WiFi network
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bool connectToWiFi()
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{
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WiFi.mode(WIFI_STA);
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WiFi.begin(WIFI_SSID, WIFI_PASSWORD);
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USB_SERIAL.printf("Connecting to '%s'", WIFI_SSID);
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uint32_t start_time = millis();
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while (WiFi.status() != WL_CONNECTED && (millis() - start_time) < WIFI_CONNECT_TIMEOUT)
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{
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delay(500);
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USB_SERIAL.print(".");
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}
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if (WiFi.status() == WL_CONNECTED)
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{
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USB_SERIAL.println(" Connected!");
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return true;
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}
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else
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{
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USB_SERIAL.println(" Failed!");
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USB_SERIAL.printf("WiFi Status: %d\n", WiFi.status());
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return false;
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}
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}
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// Print current WiFi status
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void printWiFiStatus()
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{
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if (WiFi.status() == WL_CONNECTED)
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{
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USB_SERIAL.println();
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USB_SERIAL.println("***********************************************");
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USB_SERIAL.println(" --- WIFI INFO --- ");
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USB_SERIAL.println("***********************************************");
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USB_SERIAL.printf("SSID: %s\n", WiFi.SSID().c_str());
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USB_SERIAL.printf("IP Address: %s\n", WiFi.localIP().toString().c_str());
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USB_SERIAL.printf("Gateway: %s\n", WiFi.gatewayIP().toString().c_str());
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USB_SERIAL.printf("Subnet: %s\n", WiFi.subnetMask().toString().c_str());
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USB_SERIAL.printf("DNS: %s\n", WiFi.dnsIP().toString().c_str());
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USB_SERIAL.printf("Signal Strength: %d dBm\n", WiFi.RSSI());
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USB_SERIAL.printf("MAC Address: %s\n", WiFi.macAddress().c_str());
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USB_SERIAL.println("***********************************************");
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USB_SERIAL.printf("Web Interface: http://%s\n", WiFi.localIP().toString().c_str());
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USB_SERIAL.printf("OTA Update: http://%s/update\n", WiFi.localIP().toString().c_str());
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USB_SERIAL.println("***********************************************");
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}
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else
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{
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USB_SERIAL.println("WiFi not connected!");
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}
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}
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//
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void setArmingStatus(bool armed)
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{
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isArmed = armed;
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if (armed)
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{
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continuous_throttle = true;
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// dirty - force JSON update for WebSocket clients
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last_sent_armed = !armed; // Trigger JSON send in next loop
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return;
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}
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// Safety: Stop motor and reset throttle when disarming
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throttle = 0;
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continuous_throttle = false;
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motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
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USB_SERIAL.println(" ");
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USB_SERIAL.println("=== MOTOR DISARMED - SAFETY STOP EXECUTED ===");
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// Force JSON update for WebSocket clients
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last_sent_armed = !armed; // Trigger JSON send in next loop
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}
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//
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void printMenu()
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{
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USB_SERIAL.println(" ");
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USB_SERIAL.println("***********************************************");
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USB_SERIAL.println(" --- DShotRMT Web Client Demo --- ");
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USB_SERIAL.println("***********************************************");
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if (wifi_connected)
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{
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USB_SERIAL.printf(" Web Interface: http://%s \n", WiFi.localIP().toString().c_str());
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USB_SERIAL.printf(" OTA Update: http://%s/update \n", WiFi.localIP().toString().c_str());
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}
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else
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{
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USB_SERIAL.println(" Web Interface: NOT AVAILABLE ");
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USB_SERIAL.println(" OTA Update: NOT AVAILABLE ");
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}
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USB_SERIAL.println("***********************************************");
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USB_SERIAL.println(" arm - Arm motor");
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USB_SERIAL.println(" disarm - Disarm motor (safety)");
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USB_SERIAL.println(" <value> - Set throttle (48 – 2047)");
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USB_SERIAL.println(" 0 - Stop motor");
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USB_SERIAL.println("***********************************************");
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USB_SERIAL.println(" cmd <number> - Send DShot command (0 - 47)");
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USB_SERIAL.println(" info - Show motor info");
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USB_SERIAL.println(" wifi - Show WiFi status");
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USB_SERIAL.println(" reconnect - Reconnect to WiFi");
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USB_SERIAL.println(" ota - Show OTA info");
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if (IS_BIDIRECTIONAL)
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{
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USB_SERIAL.println(" rpm - Get telemetry data");
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}
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USB_SERIAL.println("***********************************************");
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USB_SERIAL.println(" h / help - Show this Menu");
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USB_SERIAL.println("***********************************************");
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USB_SERIAL.printf(" Current Status: %s\n", isArmed ? "ARMED" : "DISARMED");
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USB_SERIAL.printf(" WiFi Status: %s\n", wifi_connected ? "CONNECTED" : "DISCONNECTED");
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USB_SERIAL.println("***********************************************");
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}
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// Handle serial inputs and updates global variables
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void handleSerialInput(const String &input)
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{
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if (input == "arm")
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{
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setArmingStatus(true);
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return;
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}
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if (input == "0" || input == "disarm")
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{
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setArmingStatus(false);
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return;
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}
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if (input == "info")
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{
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motor01.printDShotInfo();
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USB_SERIAL.println(" ");
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USB_SERIAL.printf("Arming Status: %s\n", isArmed ? "ARMED" : "DISARMED");
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return;
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}
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if (input == "wifi")
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{
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printWiFiStatus();
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return;
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}
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if (input == "ota")
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{
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if (wifi_connected)
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{
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USB_SERIAL.println(" ");
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USB_SERIAL.println("=== OTA UPDATE INFO ===");
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USB_SERIAL.printf("OTA Update URL: http://%s/update\n", WiFi.localIP().toString().c_str());
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USB_SERIAL.printf("Free Sketch Space: %u bytes\n", ESP.getFreeSketchSpace());
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USB_SERIAL.printf("Sketch Size: %u bytes\n", ESP.getSketchSize());
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USB_SERIAL.println("========================");
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}
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else
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{
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USB_SERIAL.println("OTA Update not available - WiFi not connected!");
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}
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return;
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}
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if (input == "reconnect")
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{
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USB_SERIAL.println("Reconnecting to WiFi...");
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WiFi.disconnect();
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delay(1000);
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wifi_connected = connectToWiFi();
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if (wifi_connected)
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{
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printWiFiStatus();
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}
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return;
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}
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if (input == "rpm" && IS_BIDIRECTIONAL)
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{
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if (isArmed)
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{
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dshot_result_t result = motor01.getTelemetry(MOTOR01_MAGNET_COUNT);
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printDShotResult(result);
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}
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else
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{
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USB_SERIAL.println(" ");
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USB_SERIAL.println("Cannot read RPM - Motor is DISARMED");
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}
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return;
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}
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if (input.startsWith("cmd "))
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{
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if (!isArmed)
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{
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USB_SERIAL.println(" ");
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USB_SERIAL.println("Cannot send command - Motor is DISARMED. Use 'arm' command first.");
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return;
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}
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continuous_throttle = false;
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int cmd_num = input.substring(4).toInt();
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if (cmd_num >= DSHOT_CMD_MOTOR_STOP && cmd_num <= DSHOT_CMD_MAX)
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{
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dshot_result_t result = motor01.sendCommand(cmd_num);
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printDShotResult(result);
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}
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else
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{
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USB_SERIAL.println(" ");
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USB_SERIAL.printf("Invalid command: %d (valid range: 0 - %d)\n", cmd_num, DSHOT_CMD_MAX);
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}
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return;
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}
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if (input == "h" || input == "help")
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{
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printMenu();
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return;
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}
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if (input == "status")
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{
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USB_SERIAL.println(" ");
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USB_SERIAL.printf("Arming Status: %s\n", isArmed ? "ARMED" : "DISARMED");
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USB_SERIAL.printf("Current Throttle: %u\n", throttle);
|
||
USB_SERIAL.printf("Continuous Mode: %s\n", continuous_throttle ? "ACTIVE" : "INACTIVE");
|
||
USB_SERIAL.printf("WiFi Status: %s\n", wifi_connected ? "CONNECTED" : "DISCONNECTED");
|
||
if (wifi_connected)
|
||
{
|
||
USB_SERIAL.printf("IP Address: %s\n", WiFi.localIP().toString().c_str());
|
||
USB_SERIAL.printf("OTA URL: http://%s/update\n", WiFi.localIP().toString().c_str());
|
||
}
|
||
return;
|
||
}
|
||
|
||
// Handle throttle input
|
||
int throttle_value = input.toInt();
|
||
|
||
if (throttle_value >= DSHOT_THROTTLE_MIN && throttle_value <= DSHOT_THROTTLE_MAX)
|
||
{
|
||
if (!isArmed)
|
||
{
|
||
USB_SERIAL.println(" ");
|
||
USB_SERIAL.println("Cannot set throttle - Motor is DISARMED. Use 'arm' command first.");
|
||
return;
|
||
}
|
||
|
||
throttle = throttle_value;
|
||
continuous_throttle = true;
|
||
|
||
dshot_result_t result = motor01.sendThrottle(throttle);
|
||
|
||
if (result.success)
|
||
{
|
||
USB_SERIAL.println(" ");
|
||
USB_SERIAL.printf("Throttle set to %u (continuous mode active)\n", throttle);
|
||
}
|
||
return;
|
||
}
|
||
|
||
if (throttle_value == 0)
|
||
{
|
||
throttle = 0;
|
||
continuous_throttle = false;
|
||
dshot_result_t result = motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
|
||
printDShotResult(result);
|
||
return;
|
||
}
|
||
|
||
// Invalid input
|
||
USB_SERIAL.println(" ");
|
||
USB_SERIAL.printf("Invalid input: '%s'\n", input.c_str());
|
||
USB_SERIAL.printf("Valid throttle range: %d - %d\n", DSHOT_THROTTLE_MIN, DSHOT_THROTTLE_MAX);
|
||
USB_SERIAL.println("Use 'arm' to enable motor control");
|
||
}
|
||
|
||
// Websocket request processing
|
||
void handleWebSocketMessage(void *arg, uint8_t *data, size_t len)
|
||
{
|
||
JsonDocument doc;
|
||
DeserializationError error = deserializeJson(doc, data, len);
|
||
|
||
if (error)
|
||
{
|
||
USB_SERIAL.print(F("deserializeJson() failed: "));
|
||
USB_SERIAL.println(error.c_str());
|
||
return;
|
||
}
|
||
|
||
bool armedFromWeb = false;
|
||
|
||
// Handle arming status
|
||
if (doc.containsKey("armed"))
|
||
{
|
||
bool armed = doc["armed"];
|
||
setArmingStatus(armed);
|
||
armedFromWeb = true;
|
||
}
|
||
|
||
// Handle throttle value (only if armed)
|
||
if (doc.containsKey("throttle"))
|
||
{
|
||
if (!isArmed)
|
||
{
|
||
throttle = 0;
|
||
continuous_throttle = false;
|
||
// Ignore throttle commands when disarmed
|
||
USB_SERIAL.println(" ");
|
||
USB_SERIAL.println("Web throttle command ignored - Motor is DISARMED");
|
||
return;
|
||
}
|
||
|
||
uint16_t web_throttle = doc["throttle"];
|
||
|
||
if (web_throttle == 0)
|
||
{
|
||
throttle = 0;
|
||
continuous_throttle = false;
|
||
motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
|
||
}
|
||
else if (web_throttle >= DSHOT_THROTTLE_MIN && web_throttle <= DSHOT_THROTTLE_MAX)
|
||
{
|
||
throttle = web_throttle;
|
||
continuous_throttle = true;
|
||
}
|
||
}
|
||
|
||
// Webserver arms with DSHOT_THROTTLE_MIN
|
||
if (armedFromWeb && isArmed)
|
||
{
|
||
continuous_throttle = true;
|
||
motor01.sendThrottle(throttle);
|
||
USB_SERIAL.println(" ");
|
||
USB_SERIAL.printf("Motor armed via Web - throttle set to %i\n", throttle);
|
||
}
|
||
}
|
||
|
||
// Websocket request handler
|
||
void onWsEvent(AsyncWebSocket *server, AsyncWebSocketClient *client, AwsEventType type, void *arg, uint8_t *data, size_t len)
|
||
{
|
||
switch (type)
|
||
{
|
||
case WS_EVT_CONNECT:
|
||
USB_SERIAL.printf("Web Client #%u connected from %s\n", client->id(), client->remoteIP().toString().c_str());
|
||
|
||
// Send current arming status to new client
|
||
{
|
||
JsonDocument doc;
|
||
doc["armed"] = isArmed;
|
||
doc["throttle"] = isArmed ? throttle : 0;
|
||
String json_output;
|
||
serializeJson(doc, json_output);
|
||
client->text(json_output);
|
||
}
|
||
break;
|
||
|
||
case WS_EVT_DISCONNECT:
|
||
USB_SERIAL.printf("Web Client #%u disconnected\n", client->id());
|
||
break;
|
||
|
||
case WS_EVT_DATA:
|
||
handleWebSocketMessage(arg, data, len);
|
||
break;
|
||
|
||
case WS_EVT_PONG:
|
||
case WS_EVT_ERROR:
|
||
break;
|
||
}
|
||
}
|