Initial commit - sync AliceRC to Gitea

2026-08-03 15:54:25 +08:00
commit 493b7d81d7
1510 changed files with 185319 additions and 0 deletions
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+/**
+ * @file adc.c
+ * @brief ADC reading task for joystick channels and battery voltage
+ */
+#include <stdio.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_log.h"
+#include "driver/adc.h"
+#include "app_main.h"
+
+static const char *TAG = "adc";
+
+/* ADC channel to GPIO mapping for ESP32S3 */
+static const adc2_channel_t adc_channels[] = {
+    ADC2_CHANNEL_0,  /* GPIO 4  - CH1 */
+    ADC2_CHANNEL_1,  /* GPIO 5  - CH2 */
+    ADC2_CHANNEL_2,  /* GPIO 6  - CH3 */
+    ADC2_CHANNEL_3,  /* GPIO 7  - CH4 */
+    ADC2_CHANNEL_4,  /* GPIO 15 - CH5 */
+    ADC2_CHANNEL_5,  /* GPIO 16 - CH6 */
+    ADC2_CHANNEL_6,  /* GPIO 17 - CH7 */
+    ADC2_CHANNEL_7,  /* GPIO 9  - CH8 */
+};
+
+void adc_task(void *pvParameters)
+{
+    adc_data_t adc_data;
+    int adc_raw = 0;
+
+    ESP_LOGI(TAG, "ADC task started");
+
+    while (1) {
+        /* Read all 8 joystick channels */
+        for (int i = 0; i < 8; i++) {
+            #if CONFIG_IDF_TARGET_ESP32S3
+            adc2_get_raw(adc_channels[i], ADC_WIDTH_BIT_12, &adc_raw);
+            #else
+            /* ESP32 uses ADC1 for these pins */
+            adc_raw = adc1_get_raw(ADC1_CHANNEL_0 + i);
+            #endif
+            adc_data.channels[i] = (uint16_t)adc_raw;
+        }
+
+        /* Read battery voltage (ADC1_CHANNEL_0 = GPIO 8) */
+        int bat_raw = adc1_get_raw(ADC1_CHANNEL_0);
+        /* Convert ADC reading to mV: 12-bit, 3.3V reference, voltage divider */
+        uint32_t bat_mv = (bat_raw * 3300 * 2) / 4096;  /* Simple conversion */
+        adc_data.battery_mv = (uint16_t)bat_mv;
+
+        /* Send to queue (non-blocking) */
+        if (adc_data_queue) {
+            xQueueOverwrite(adc_data_queue, &adc_data);
+        }
+
+        vTaskDelay(pdMS_TO_TICKS(20));  /* 50Hz sample rate */
+    }
+}