93 lines
2.8 KiB
C++
93 lines
2.8 KiB
C++
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#include "driver/gpio.h"
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#include "drone_comms.h"
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#include "esp_log.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/idf_additions.h"
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#include "freertos/projdefs.h"
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#include "freertos/task.h"
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#include "imu.h"
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#include <Arduino.h>
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#include "env_sens.h"
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#include "gps.h"
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#include "nav.h"
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#include "radio.h"
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static const char *TAG = "MAIN";
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extern "C" void app_main(void) {
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nav_mutex = xSemaphoreCreateMutex();
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initArduino();
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gpio_install_isr_service(0);
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Serial.begin(115200);
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static imu_state imu_state;
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auto _ = setup_imu(&imu_state);
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// xTaskCreatePinnedToCore(radio_rx_task, // Function name
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// "radio_rx", // Name for debugging
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// 4096, // Stack size in bytes
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// NULL, // Parameters
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// 1, // Priority (higher = more urgent)
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// NULL, // Task handle
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// 1 // Core ID
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// );
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//
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xTaskCreate(env_sens::baro_poll_task, "baro_poll", 8192, NULL, 1, NULL);
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xTaskCreate(gps_poll_task, "gps_poll", 8192, NULL, 1, NULL);
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ESP_LOGI("MAIN", "All tasks spawned. Main loop free.");
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Eigen::Vector3f local_pos = {0, 0, 0};
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Eigen::Vector3f local_vel = {0, 0, 0};
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bool nav_data_ready = false;
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while (true) {
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// if (controller_input_semaphore &&
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// xSemaphoreTake(controller_input_semaphore, (TickType_t)30) == pdTRUE)
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// {
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// inp = current_controller_input;
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// xSemaphoreGive(controller_input_semaphore);
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//
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// ESP_LOGI(TAG, "CONT INPUT: (%f, %f), (%f,%f)", inp.lx, inp.ly, inp.rx,
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// inp.ry);
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// }
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if (gps_mutex && xSemaphoreTake(gps_mutex, (TickType_t)10) == pdTRUE) {
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if (gps->gps_avaliable()) {
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ESP_LOGI(TAG, "loc -> lat: %f, long: %f, height: %f",
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gps->gps->latitudeDegrees, gps->gps->longitudeDegrees,
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gps->gps->altitude);
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auto D_pos_cond = gps->get_coordinates();
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if (D_pos_cond.has_value()) {
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auto D_pos = D_pos_cond.value();
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ESP_LOGI(TAG, " -> D(pos): (%f, %f, %f)", D_pos[0], D_pos[1],
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D_pos[2]);
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}
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}
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xSemaphoreGive(gps_mutex);
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}
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env_sens::dbg_sens();
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if (nav_mutex && xSemaphoreTake(nav_mutex, pdMS_TO_TICKS(10)) == pdTRUE) {
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local_pos = nav_filter.position;
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local_vel = nav_filter.velocity;
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nav_data_ready = true;
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xSemaphoreGive(nav_mutex); // RELEASE IMMEDIATELY
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}
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if (nav_data_ready) {
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ESP_LOGI(TAG, "nav(pos): (%f, %f, %f)", local_pos[0], local_pos[1],
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local_pos[2]);
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ESP_LOGI(TAG, "nav(vel): (%f, %f, %f)", local_vel[0], local_vel[1],
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local_vel[2]);
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}
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vTaskDelay(pdMS_TO_TICKS(1000));
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}
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}
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