config.hpp

Go to the documentation of this file.

// Copyright (C) 2025 Vincent Hamp
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program.  If not, see <https://www.gnu.org/licenses/>.

 
#pragma once
 
#include <driver/rmt_tx.h>
#include <driver/spi_master.h>
#include <esp_http_server.h>
#include <freertos/message_buffer.h>
#include <freertos/queue.h>
#include <freertos/stream_buffer.h>
#include <hal/gpio_types.h>
#include <static_math/static_math.h>
#include <atomic>
#include <climits>
#include <dcc/dcc.hpp>
#include <magic_enum/magic_enum.hpp>
#include <memory>
#include <string>
#include <string_view>
#include <vector>
#include <ztl/enum.hpp>
#include <ztl/implicit_wrapper.hpp>
#include <ztl/limits.hpp>
#include <ztl/moving_average.hpp>
#include <ztl/string.hpp>
#include "task.hpp"
 
#if CONFIG_IDF_TARGET_ESP32S3
#  include <driver/gptimer.h>
#  include <driver/ledc.h>
#  include <esp_wifi.h>
#  include <hal/adc_types.h>
#elif CONFIG_IDF_TARGET_LINUX
#  define APP_CPU_NUM 0
#  define PRO_CPU_NUM APP_CPU_NUM
#  define WIFI_TASK_CORE_ID APP_CPU_NUM
#  define ADC_CHANNEL_0 0
#  define ADC_CHANNEL_1 1
#  define ADC_CHANNEL_2 2
#  define ADC_CHANNEL_3 3
#  define ADC_CHANNEL_4 4
#  define ADC_CHANNEL_5 5
#  define ADC_CHANNEL_6 6
#  define ADC_CHANNEL_7 7
#  define ADC_CHANNEL_8 8
#  define ADC_CHANNEL_9 9
#  define ADC_ATTEN_DB_0 0
#  define ADC_ATTEN_DB_2_5 1
#  define ADC_ATTEN_DB_6 2
#  define ADC_ATTEN_DB_11 3
#  define LEDC_CHANNEL_0 0
#  define LEDC_CHANNEL_1 1
#  define LEDC_CHANNEL_2 2
#  define LEDC_CHANNEL_3 3
#  define LEDC_CHANNEL_4 4
#  define LEDC_CHANNEL_5 5
#  define LEDC_CHANNEL_6 6
#  define LEDC_CHANNEL_7 7
#  define SOC_ADC_PATT_LEN_MAX 24
#  define SOC_ADC_DIGI_MAX_BITWIDTH 12
#  define SOC_ADC_DIGI_DATA_BYTES_PER_CONV 4
#  define SOC_ADC_SAMPLE_FREQ_THRES_HIGH 83333
#  define GPIO_NUM_1 static_cast<gpio_num_t>(1)
#  define GPIO_NUM_2 static_cast<gpio_num_t>(2)
#  define GPIO_NUM_3 static_cast<gpio_num_t>(3)
#  define GPIO_NUM_4 static_cast<gpio_num_t>(4)
#  define GPIO_NUM_5 static_cast<gpio_num_t>(5)
#  define GPIO_NUM_6 static_cast<gpio_num_t>(6)
#  define GPIO_NUM_7 static_cast<gpio_num_t>(7)
#  define GPIO_NUM_8 static_cast<gpio_num_t>(8)
#  define GPIO_NUM_9 static_cast<gpio_num_t>(9)
#  define GPIO_NUM_10 static_cast<gpio_num_t>(10)
#  define GPIO_NUM_11 static_cast<gpio_num_t>(11)
#  define GPIO_NUM_12 static_cast<gpio_num_t>(12)
#  define GPIO_NUM_13 static_cast<gpio_num_t>(13)
#  define GPIO_NUM_14 static_cast<gpio_num_t>(14)
#  define GPIO_NUM_15 static_cast<gpio_num_t>(15)
#  define GPIO_NUM_16 static_cast<gpio_num_t>(16)
#  define GPIO_NUM_17 static_cast<gpio_num_t>(17)
#  define GPIO_NUM_18 static_cast<gpio_num_t>(18)
#  define GPIO_NUM_19 static_cast<gpio_num_t>(19)
#  define GPIO_NUM_20 static_cast<gpio_num_t>(20)
#  define GPIO_NUM_21 static_cast<gpio_num_t>(21)
#  define GPIO_NUM_22 static_cast<gpio_num_t>(22)
#  define GPIO_NUM_23 static_cast<gpio_num_t>(23)
#  define GPIO_NUM_24 static_cast<gpio_num_t>(24)
#  define GPIO_NUM_25 static_cast<gpio_num_t>(25)
#  define GPIO_NUM_26 static_cast<gpio_num_t>(26)
#  define GPIO_NUM_27 static_cast<gpio_num_t>(27)
#  define GPIO_NUM_28 static_cast<gpio_num_t>(28)
#  define GPIO_NUM_29 static_cast<gpio_num_t>(29)
#  define GPIO_NUM_30 static_cast<gpio_num_t>(30)
#  define GPIO_NUM_31 static_cast<gpio_num_t>(31)
#  define GPIO_NUM_32 static_cast<gpio_num_t>(32)
#  define GPIO_NUM_33 static_cast<gpio_num_t>(33)
#  define GPIO_NUM_34 static_cast<gpio_num_t>(34)
#  define GPIO_NUM_35 static_cast<gpio_num_t>(35)
#  define GPIO_NUM_36 static_cast<gpio_num_t>(36)
#  define GPIO_NUM_37 static_cast<gpio_num_t>(37)
#  define GPIO_NUM_38 static_cast<gpio_num_t>(38)
#  define GPIO_NUM_39 static_cast<gpio_num_t>(39)
#  define GPIO_NUM_40 static_cast<gpio_num_t>(40)
#  define GPIO_NUM_41 static_cast<gpio_num_t>(41)
#  define GPIO_NUM_42 static_cast<gpio_num_t>(42)
#  define GPIO_NUM_43 static_cast<gpio_num_t>(43)
#  define GPIO_NUM_44 static_cast<gpio_num_t>(44)
#  define GPIO_NUM_45 static_cast<gpio_num_t>(45)
#  define GPIO_NUM_46 static_cast<gpio_num_t>(46)
#  define GPIO_NUM_47 static_cast<gpio_num_t>(47)
#  define GPIO_NUM_48 static_cast<gpio_num_t>(48)
#else
#  error "Unsupported SOC"
#endif

inline constexpr auto default_notify_index{tskDEFAULT_INDEX_TO_NOTIFY + 1u};
static_assert(configTASK_NOTIFICATION_ARRAY_ENTRIES > 1);

inline constexpr auto boot_gpio_num{GPIO_NUM_0};

enum class State : uint16_t {
  // Flags (8 bits)
  Suspended = 0u << 0u,            
  Suspending = !Suspended << 0u,   
  ShortCircuit = Suspending << 1u, 
 
  // Outputs
  DCCOperations = 1u << CHAR_BIT, 
  DCCService = 2u << CHAR_BIT,    
  DECUPZpp = 3u << CHAR_BIT,      
  DECUPZsu = 4u << CHAR_BIT,      
  MDUZpp = 5u << CHAR_BIT,        
  MDUZsu = 6u << CHAR_BIT,        
  ZUSI = 7u << CHAR_BIT,          
 
  // USB protocols
  ULF_DCC_EIN = 8u << CHAR_BIT, 
  ULF_MDU_EIN = 9u << CHAR_BIT, 
  ULF_SUSIV2 = 10u << CHAR_BIT, 
 
  // System
  OTA = 11u << CHAR_BIT, 
};
static_assert(std::to_underlying(State::OTA) < MAGIC_ENUM_RANGE_MAX);
 
ZTL_MAKE_ENUM_CLASS_FLAGS(State)
 

inline std::atomic<State> state{State::Suspended};

inline std::string_view revision{"0.0.0"};
 
namespace drv {
 
namespace anlg {
 
inline constexpr auto ol_on_gpio_num{GPIO_NUM_17};

inline constexpr auto voltage_upper_r{14300};

inline constexpr auto voltage_lower_r{470};

inline constexpr auto current_r{180};

inline constexpr auto current_k{800};
 
inline constexpr auto vref{1000};
inline constexpr auto max_measurement{smath::pow(2, SOC_ADC_DIGI_MAX_BITWIDTH) -
                                      1};
inline constexpr auto vcc_voltage_channel{ADC_CHANNEL_0};
inline constexpr auto supply_voltage_channel{ADC_CHANNEL_2};
inline constexpr auto current_channel{ADC_CHANNEL_9};
inline constexpr auto attenuation{ADC_ATTEN_DB_0};
inline constexpr std::array channels{
  vcc_voltage_channel, supply_voltage_channel, current_channel};

inline constexpr auto sample_freq_hz{SOC_ADC_SAMPLE_FREQ_THRES_HIGH};
static_assert(sample_freq_hz == 83333);

inline constexpr auto conversion_frame_samples{84uz};

inline constexpr auto conversion_frame_samples_per_channel{
  conversion_frame_samples / size(channels)};
static_assert(conversion_frame_samples_per_channel == 28uz);
static_assert(size(channels) < SOC_ADC_PATT_LEN_MAX);

inline constexpr auto conversion_frame_time{
  (conversion_frame_samples * 1000u * 1000u) / sample_freq_hz};
static_assert(conversion_frame_time == 1008u);

inline constexpr auto conversion_frame_size{conversion_frame_samples *
                                            SOC_ADC_DIGI_DATA_BYTES_PER_CONV};
static_assert(conversion_frame_size == 336uz);

inline TASK(adc_task,
            "drv::anlg::adc",       // Name
            3072uz,                 // Stack size
            ESP_TASK_PRIO_MAX - 2u, // Priority
            APP_CPU_NUM,            // Core
            100u);                  // Timeout

inline TASK(temp_task,
            "drv::anlg::temp", // Name
            2048uz,            // Stack size
            tskIDLE_PRIORITY,  // Priority
            APP_CPU_NUM,       // Core
            0u);
 
using VccVoltageMeasurement =
  ztl::implicit_wrapper<ztl::smallest_signed_t<0, max_measurement>,
                        struct VccVoltageMeasurementTag>;
static_assert(std::same_as<VccVoltageMeasurement::value_type, int16_t>);
 
using VccVoltage = ztl::implicit_wrapper<VccVoltageMeasurement::value_type,
                                         struct VccVoltageTag>;
static_assert(std::same_as<VccVoltage::value_type, int16_t>);
 
using SupplyVoltageMeasurement =
  ztl::implicit_wrapper<ztl::smallest_signed_t<0, max_measurement>,
                        struct SupplyVoltageMeasurementTag>;
static_assert(std::same_as<SupplyVoltageMeasurement::value_type, int16_t>);
 
using SupplyVoltage =
  ztl::implicit_wrapper<SupplyVoltageMeasurement::value_type,
                        struct SupplyVoltageTag>;
static_assert(std::same_as<SupplyVoltage::value_type, int16_t>);
 
using CurrentMeasurement =
  ztl::implicit_wrapper<ztl::smallest_signed_t<0, max_measurement>,
                        struct CurrentMeasurementTag>;
static_assert(std::same_as<CurrentMeasurement::value_type, int16_t>);
 
using Current =
  ztl::implicit_wrapper<CurrentMeasurement::value_type, struct CurrentTag>;
static_assert(std::same_as<Current::value_type, int16_t>);
 
using FilteredCurrent = ztl::moving_average<int32_t, smath::pow(2, 12)>;

inline struct VccVoltagesQueue {
  using value_type = VccVoltageMeasurement;
  static constexpr auto size{2000uz};
  static inline QueueHandle_t handle{};
} vcc_voltages_queue;

inline struct SupplyVoltagesQueue {
  using value_type = SupplyVoltageMeasurement;
  static constexpr auto size{2000uz};
  static inline QueueHandle_t handle{};
} supply_voltages_queue;

inline struct CurrentsQueue {
  using value_type = CurrentMeasurement;
  static constexpr auto size{2000uz};
  static inline QueueHandle_t handle{};
} currents_queue;

inline struct FilteredCurrentQueue {
  using value_type = CurrentMeasurement;
  static constexpr auto size{1uz};
  static inline QueueHandle_t handle{};
} filtered_current_queue;

inline struct TemperatureQueue {
  using value_type = float;
  static constexpr auto size{1uz};
  static inline QueueHandle_t handle{};
} temperature_queue;
 
} // namespace anlg
 
namespace eth {

inline constexpr auto cs_gpio_num{GPIO_NUM_42};

inline constexpr auto sclk_gpio_num{GPIO_NUM_2};

inline constexpr auto miso_gpio_num{GPIO_NUM_40};

inline constexpr auto mosi_gpio_num{GPIO_NUM_41};
 
inline std::array<char, 16uz> ip{};
inline std::string ip_str{};
inline std::array<uint8_t, 6uz> mac{};
inline std::string mac_str(2uz * 6uz + 5uz + sizeof('\n'), '\0');
 
} // namespace eth
 
namespace led {

inline constexpr auto bug_gpio_num{GPIO_NUM_48};

inline constexpr auto bug_channel{LEDC_CHANNEL_0};

inline constexpr auto wifi_gpio_num{GPIO_NUM_47};

inline constexpr auto wifi_channel{LEDC_CHANNEL_1};
 
} // namespace led
 
namespace out {

inline std::array<StackType_t, 4096uz> stack{};
 
#if !CONFIG_IDF_TARGET_LINUX
inline gptimer_handle_t gptimer{};
#endif

inline struct RxMessageBuffer {
  static constexpr auto size{320uz};
  static inline MessageBufferHandle_t handle{};
} rx_message_buffer;

inline struct TxMessageBuffer {
  static constexpr auto size{320uz};
  static inline MessageBufferHandle_t front_handle{};
  static inline MessageBufferHandle_t back_handle{};
} tx_message_buffer;
 
namespace susi {
 
inline std::array<spi_device_handle_t, 4uz> spis{};
 
inline constexpr auto enable_gpio_num{GPIO_NUM_4};
inline constexpr auto clock_gpio_num{GPIO_NUM_6};
inline constexpr auto data_gpio_num{GPIO_NUM_5};
 
namespace zimo::zusi {

inline SHARED_TASK(task,
                   "drv::out::susi::zimo::zusi", // Name
                   ESP_TASK_PRIO_MAX - 1u,       // Priority
                   APP_CPU_NUM,                  // Core
                   0u);
 
} // namespace zimo::zusi
 
} // namespace susi
 
namespace track {
 
enum class CurrentLimit : uint8_t {
  _500mA = 0b00u,
  _1300mA = 0b01u,
  _2700mA = 0b10u,
  _4100mA = 0b11u
};

inline constexpr auto trans_queue_depth{2uz};
 
inline constexpr auto p_gpio_num{GPIO_NUM_11};
inline constexpr auto n_force_low_gpio_num{GPIO_NUM_9};
 
inline constexpr auto ack_gpio_num{GPIO_NUM_18};
inline constexpr auto nsleep_gpio_num{GPIO_NUM_8};
inline constexpr auto ilim0_gpio_num{GPIO_NUM_15};
inline constexpr auto ilim1_gpio_num{GPIO_NUM_16};
inline constexpr auto nfault_gpio_num{GPIO_NUM_46};
inline constexpr auto enable_gpio_num{GPIO_NUM_12};

inline struct RxQueue {
  struct value_type {
    dcc::Packet packet{};
    dcc::bidi::Datagram<> datagram{};
  };
  static constexpr auto size{32uz};
  static inline QueueHandle_t handle{};
} rx_queue;
 
inline rmt_channel_handle_t channel{};
inline rmt_encoder_handle_t encoder{};
 
namespace dcc {
 
inline constexpr auto bidi_rx_gpio_num{GPIO_NUM_14};
inline constexpr auto bidi_en_gpio_num{GPIO_NUM_13};

inline SHARED_TASK(task,
                   "drv::out::track::dcc", // Name
                   ESP_TASK_PRIO_MAX - 1u, // Priority
                   APP_CPU_NUM,            // Core
                   0u);
 
} // namespace dcc
 
namespace zimo {
 
namespace decup {

inline SHARED_TASK(task,
                   "drv::out::track::zimo::decup", // Name
                   ESP_TASK_PRIO_MAX - 1u,         // Priority
                   APP_CPU_NUM,                    // Core
                   60'000u);                       // Timeout
 
} // namespace decup
 
namespace mdu {

inline SHARED_TASK(task,
                   "drv::out::track::zimo::mdu", // Name
                   ESP_TASK_PRIO_MAX - 1u,       // Priority
                   APP_CPU_NUM,                  // Core
                   0u);
 
} // namespace mdu
 
} // namespace zimo
 
} // namespace track
 
} // namespace out
 
namespace wifi {
 
//
using eth::ip, eth::ip_str, eth::mac, eth::mac_str;
 
#if CONFIG_IDF_TARGET_ESP32S3
inline std::vector<wifi_ap_record_t> ap_records;
#endif
 
} // namespace wifi
 
} // namespace drv
 
namespace intf {
 
namespace http {

inline httpd_handle_t handle{};

inline constexpr auto stack_size{6144uz};
 
namespace sta {
 
class Server;
inline std::shared_ptr<Server> server;
 
} // namespace sta
 
} // namespace http
 
namespace mdns {
 
inline std::string str;
 
} // namespace mdns
 
namespace udp {
 
inline constexpr uint16_t port{21105u};
inline int sock_fd;
 
} // namespace udp
 
namespace usb {
 
inline constexpr auto vbus_gpio_num{GPIO_NUM_7};
inline constexpr auto buffer_size{512uz};

inline TASK(rx_task,
            "intf::usb::rx", // Name
            3072uz,          // Stack size
            5u,              // Priority
            APP_CPU_NUM,     // Core
            100u);           // Timeout

inline TASK(tx_task,
            "intf::usb::tx", // Name
            3072uz,          // Stack size
            1u,              // Priority
            APP_CPU_NUM,     // Core
            20u);            // Timeout

inline struct RxStreamBuffer {
  static constexpr auto size{buffer_size};
  StreamBufferHandle_t handle{};
} rx_stream_buffer;

inline struct TxStreamBuffer {
  static constexpr auto size{buffer_size};
  StreamBufferHandle_t handle{};
} tx_stream_buffer;
 
} // namespace usb
 
} // namespace intf
 
namespace mem {
 
namespace nvs {

inline TASK(task,
            "mem::nvs",       // Name
            3072uz,           // Stack size
            tskIDLE_PRIORITY, // Priority
            APP_CPU_NUM,      // Core
            0u);
 
} // namespace nvs
 
} // namespace mem
 
namespace mw {
 
namespace dcc {
 
inline constexpr auto priority_bits{5u};
 
class Service;
inline std::shared_ptr<Service> service;

inline TASK(task,
            "mw::dcc",   // Name
            4096uz,      // Stack size
            2u,          // Priority
            APP_CPU_NUM, // Core
            50u);        // Timeout
 
} // namespace dcc
 
namespace disp {

inline TASK(task,
            "mw::disp",       // Name
            4096uz,           // Stack size
            tskIDLE_PRIORITY, // Priority
            APP_CPU_NUM,      // Core
            1000u);           // Timeout
 
} // namespace disp
 
namespace ota {

inline constexpr uint8_t ack{0x06u};

inline constexpr uint8_t nak{0x15u};

inline TASK(task,
            "mw::ota",              // Name
            4096uz,                 // Stack size
            ESP_TASK_PRIO_MAX - 1u, // Priority
            APP_CPU_NUM,            // Core
            0u);
 
} // namespace ota
 
namespace roco::z21 {

inline TASK(task,
            "mw::roco::z21", // Name
            6144uz,          // Stack size
            5u,              // Priority
            APP_CPU_NUM,     // Core
            500u);           // Timeout
 
class Service;
inline std::shared_ptr<Service> service;
 
} // namespace roco::z21
 
namespace zimo {
 
namespace decup {

inline TASK(task,
            "mw::zimo::decup",                           // Name
            4096uz,                                      // Stack size
            2u,                                          // Priority
            APP_CPU_NUM,                                 // Core
            drv::out::track::zimo::decup::task.timeout); // Timeout
 
} // namespace decup
 
namespace mdu {

inline TASK(task,
            "mw::zimo::mdu", // Name
            4096uz,          // Stack size
            2u,              // Priority
            APP_CPU_NUM,     // Core
            0u);
 
} // namespace mdu
 
namespace ulf {
 
inline std::array<StackType_t, 3072uz> stack{};
 
namespace dcc_ein {

inline SHARED_TASK(task,
                   "mw::zimo::ulf::dcc_ein",         // Name
                   intf::usb::rx_task.priority - 1u, // Priority
                   APP_CPU_NUM,                      // Core
                   100u);                            // Timeout
 
} // namespace dcc_ein
 
namespace susiv2 {

inline SHARED_TASK(task,
                   "mw::zimo::ulf::susiv2",          // Name
                   intf::usb::rx_task.priority - 1u, // Priority
                   APP_CPU_NUM,                      // Core
                   0u);
 
} // namespace susiv2
 
// https://github.com/OpenRemise/Firmware/issues/36
static_assert(dcc_ein::task.priority < intf::usb::rx_task.priority);
static_assert(susiv2::task.priority < intf::usb::rx_task.priority);
 
} // namespace ulf
 
namespace zusi {

inline TASK(task,
            "mw::zimo::zusi", // Name
            4096uz,           // Stack size
            2u,               // Priority
            APP_CPU_NUM,      // Core
            0u);
 
} // namespace zusi
 
} // namespace zimo
 
} // namespace mw