I do not do the calculations in the ISR. I use the ISR to receive the incoming and get out, passing the info to a parser to do the things.
ISR
void IRAM_ATTR mqttCallback(char* topic, byte * payload, unsigned int length)
{
memset( x_message.payload, '\0', payloadSize ); // clear payload char buffer
x_message.topic = ""; //clear topic string buffer
x_message.topic = topic; //store new topic
int i = 0; // extract payload
for ( i; i < length; i++)
{
x_message.payload[i] = ((char)payload[i]);
}
x_message.payload[i] = '\0';
xQueueOverwrite( xQ_Message, (void *) &x_message );// send data to queue
} // void mqttCallback(char* topic, byte* payload, unsigned int length)
The ISR triggers, gathers the info and passes the info to the parser.
Parser.
void fparseMQTT( void *pvParameters )
{
struct stu_message px_message;
for (;;)
{
if ( xQueueReceive(xQ_Message, &px_message, portMAX_DELAY) == pdTRUE )
{
// parse the time from the OK message and update MCU time
if ( String(px_message.topic) == topicOK )
{
if ( !TimeSet)
{
String temp = "";
temp = px_message.payload[0];
temp += px_message.payload[1];
temp += px_message.payload[2];
temp += px_message.payload[3];
int year = temp.toInt();
temp = "";
temp = px_message.payload[5];
temp += px_message.payload[6];
int month = temp.toInt();
temp = "";
temp = px_message.payload[8];
temp += px_message.payload[9];
int day = temp.toInt();
temp = "";
temp = px_message.payload[11];
temp += px_message.payload[12];
int hour = temp.toInt();
temp = "";
temp = px_message.payload[14];
temp += px_message.payload[15];
int min = temp.toInt();
rtc.setTime( 0, min, hour, day, month, year );
log_i( "rtc %s ", rtc.getTime() );
TimeSet = true;
}
}
//
} //if ( xQueueReceive(xQ_Message, &px_message, portMAX_DELAY) == pdTRUE )
xSemaphoreTake( sema_mqttOK, portMAX_DELAY );
mqttOK = 0;
xSemaphoreGive( sema_mqttOK );
}
} // void fparseMQTT( void *pvParameters )#include <ESP32Time.h>
//////
full code
/*
Chappie Weather upgrade/addition
process wind speed direction and rain fall.
*/
#include "esp32/ulp.h"
//#include "ulptool.h"
#include "driver/rtc_io.h"
#include <WiFi.h>
#include <PubSubClient.h>
#include "certs.h"
#include "sdkconfig.h"
#include "esp_system.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/timers.h"
#include "freertos/event_groups.h"
#include "driver/pcnt.h"
#include <driver/adc.h>
#include <SimpleKalmanFilter.h>
#include <ESP32Time.h>
////
ESP32Time rtc;
WiFiClient wifiClient;
PubSubClient MQTTclient(mqtt_server, mqtt_port, wifiClient);
////
float CalculatedVoltage = 0.0f;
float kph = 0.0f;
float rain = 0.0f;
/*
PCNT PCNT_UNIT_0, PCNT_CHANNEL_0 GPIO_NUM_15 = pulse input pin
PCNT PCNT_UNIT_1, PCNT_CHANNEL_0 GPIO_NUM_4 = pulse input pin
*/
pcnt_unit_t pcnt_unit00 = PCNT_UNIT_0; //pcnt unit 0 channel 0
pcnt_unit_t pcnt_unit10 = PCNT_UNIT_1; //pcnt unit 1 channel 0
//
//
hw_timer_t * timer = NULL;
//
#define evtAnemometer ( 1 << 0 )
#define evtRainFall ( 1 << 1 )
#define evtParseMQTT ( 1 << 2 )
EventGroupHandle_t eg;
#define OneMinuteGroup ( evtAnemometer | evtRainFall )
////
QueueHandle_t xQ_Message; // payload and topic queue of MQTT payload and topic
const int payloadSize = 100;
struct stu_message
{
char payload [payloadSize] = {'\0'};
String topic ;
} x_message;
////
SemaphoreHandle_t sema_MQTT_KeepAlive;
SemaphoreHandle_t sema_mqttOK;
SemaphoreHandle_t sema_CalculatedVoltage;
////
int mqttOK = 0; // stores a count value that is used to cause an esp reset
volatile bool TimeSet = false;
////
/*
A single subject has been subscribed to, the mqtt broker sends out "OK" messages if the client receives an OK message the mqttOK value is set back to zero.
*/
////
void IRAM_ATTR mqttCallback(char* topic, byte * payload, unsigned int length)
{
memset( x_message.payload, '\0', payloadSize ); // clear payload char buffer
x_message.topic = ""; //clear topic string buffer
x_message.topic = topic; //store new topic
int i = 0; // extract payload
for ( i; i < length; i++)
{
x_message.payload[i] = ((char)payload[i]);
}
x_message.payload[i] = '\0';
xQueueOverwrite( xQ_Message, (void *) &x_message );// send data to queue
} // void mqttCallback(char* topic, byte* payload, unsigned int length)
////
// interrupt service routine for WiFi events put into IRAM
void IRAM_ATTR WiFiEvent(WiFiEvent_t event)
{
switch (event) {
case SYSTEM_EVENT_STA_CONNECTED:
break;
case SYSTEM_EVENT_STA_DISCONNECTED:
log_i("Disconnected from WiFi access point");
break;
case SYSTEM_EVENT_AP_STADISCONNECTED:
log_i("WiFi client disconnected");
break;
default: break;
}
} // void IRAM_ATTR WiFiEvent(WiFiEvent_t event)
////
void IRAM_ATTR onTimer()
{
BaseType_t xHigherPriorityTaskWoken;
xEventGroupSetBitsFromISR(eg, OneMinuteGroup, &xHigherPriorityTaskWoken);
} // void IRAM_ATTR onTimer()
////
void setup()
{
eg = xEventGroupCreate(); // get an event group handle
x_message.topic.reserve(100);
adc1_config_width(ADC_WIDTH_12Bit);
adc1_config_channel_atten(ADC1_CHANNEL_6, ADC_ATTEN_DB_11);// using GPIO 34 wind direction
adc1_config_channel_atten(ADC1_CHANNEL_3, ADC_ATTEN_DB_11);// using GPIO 39 current
adc1_config_channel_atten(ADC1_CHANNEL_0, ADC_ATTEN_DB_11);// using GPIO 36 battery volts
// hardware timer 4 set for one minute alarm
timer = timerBegin( 3, 80, true );
timerAttachInterrupt( timer, &onTimer, true );
timerAlarmWrite(timer, 60000000, true);
timerAlarmEnable(timer);
/* Initialize PCNT's counter */
int PCNT_H_LIM_VAL = 3000;
int PCNT_L_LIM_VAL = -10;
// 1st PCNT counter
pcnt_config_t pcnt_config = {};
pcnt_config.pulse_gpio_num = GPIO_NUM_15;// Set PCNT input signal and control GPIOs
pcnt_config.ctrl_gpio_num = PCNT_PIN_NOT_USED;
pcnt_config.channel = PCNT_CHANNEL_0;
pcnt_config.unit = PCNT_UNIT_0;
// What to do on the positive / negative edge of pulse input?
pcnt_config.pos_mode = PCNT_COUNT_INC; // Count up on the positive edge
pcnt_config.neg_mode = PCNT_COUNT_DIS; // Count down disable
// What to do when control input is low or high?
pcnt_config.lctrl_mode = PCNT_MODE_KEEP; // Keep the primary counter mode if low
pcnt_config.hctrl_mode = PCNT_MODE_KEEP; // Keep the primary counter mode if high
// Set the maximum and minimum limit values to watch
pcnt_config.counter_h_lim = PCNT_H_LIM_VAL;
pcnt_config.counter_l_lim = PCNT_L_LIM_VAL;
pcnt_unit_config(&pcnt_config); // Initialize PCNT unit
pcnt_set_filter_value( PCNT_UNIT_0, 1); //Configure and enable the input filter
pcnt_filter_enable( PCNT_UNIT_0 );
pcnt_counter_pause( PCNT_UNIT_0 );
pcnt_counter_clear( PCNT_UNIT_0 );
pcnt_counter_resume( PCNT_UNIT_0); // start the show
// setup 2nd PCNT
pcnt_config = {};
pcnt_config.pulse_gpio_num = GPIO_NUM_4;
pcnt_config.ctrl_gpio_num = PCNT_PIN_NOT_USED;
pcnt_config.channel = PCNT_CHANNEL_0;
pcnt_config.unit = PCNT_UNIT_1;
pcnt_config.pos_mode = PCNT_COUNT_INC;
pcnt_config.neg_mode = PCNT_COUNT_DIS;
pcnt_config.lctrl_mode = PCNT_MODE_KEEP;
pcnt_config.hctrl_mode = PCNT_MODE_KEEP;
pcnt_config.counter_h_lim = PCNT_H_LIM_VAL;
pcnt_config.counter_l_lim = PCNT_L_LIM_VAL;
pcnt_unit_config(&pcnt_config);
//pcnt_set_filter_value( PCNT_UNIT_1, 1 );
//pcnt_filter_enable ( PCNT_UNIT_1 );
pcnt_counter_pause ( PCNT_UNIT_1 );
pcnt_counter_clear ( PCNT_UNIT_1 );
pcnt_counter_resume ( PCNT_UNIT_1 );
//
xQ_Message = xQueueCreate( 1, sizeof(stu_message) );
//
sema_CalculatedVoltage = xSemaphoreCreateBinary();
xSemaphoreGive( sema_CalculatedVoltage );
sema_mqttOK = xSemaphoreCreateBinary();
xSemaphoreGive( sema_mqttOK );
sema_MQTT_KeepAlive = xSemaphoreCreateBinary();
///
xTaskCreatePinnedToCore( MQTTkeepalive, "MQTTkeepalive", 15000, NULL, 5, NULL, 1 );
xTaskCreatePinnedToCore( fparseMQTT, "fparseMQTT", 10000, NULL, 5, NULL, 1 ); // assign all to core 1, WiFi in use.
xTaskCreatePinnedToCore( fReadBattery, "fReadBattery", 4000, NULL, 3, NULL, 1 );
xTaskCreatePinnedToCore( fReadCurrent, "fReadCurrent", 4000, NULL, 3, NULL, 1 );
xTaskCreatePinnedToCore( fWindDirection, "fWindDirection", 10000, NULL, 4, NULL, 1 );
xTaskCreatePinnedToCore( fAnemometer, "fAnemometer", 10000, NULL, 4, NULL, 1 );
xTaskCreatePinnedToCore( fRainFall, "fRainFall", 10000, NULL, 4, NULL, 1 );
xTaskCreatePinnedToCore( fmqttWatchDog, "fmqttWatchDog", 3000, NULL, 3, NULL, 1 ); // assign all to core 1
} //void setup()
static void init_ulp_program()
{
}
////
void fWindDirection( void *pvParameters )
// read the wind direction sensor, return heading in degrees
{
float adcValue = 0.0f;
uint64_t TimePastKalman = esp_timer_get_time();
SimpleKalmanFilter KF_ADC( 1.0f, 1.0f, .01f );
float high = 0.0f;
float low = 2000.0f;
float ADscale = 3.3f / 4096.0f;
TickType_t xLastWakeTime = xTaskGetTickCount();
const TickType_t xFrequency = 100; //delay for mS
int count = 0;
String windDirection;
windDirection.reserve(20);
String MQTTinfo = "";
MQTTinfo.reserve( 150 );
while ( !MQTTclient.connected() )
{
vTaskDelay( 250 );
}
for (;;)
{
windDirection = "";
adcValue = float( adc1_get_raw(ADC1_CHANNEL_6) ); //take a raw ADC reading
KF_ADC.setProcessNoise( (esp_timer_get_time() - TimePastKalman) / 1000000.0f ); //get time, in microsecods, since last readings
adcValue = KF_ADC.updateEstimate( adcValue ); // apply simple Kalman filter
TimePastKalman = esp_timer_get_time(); // time of update complete
adcValue = adcValue * ADscale;
if ( (adcValue >= 0.0f) & (adcValue <= .25f ) )
{
// log_i( " n" );
windDirection.concat( "N" );
}
if ( (adcValue > .25f) & (adcValue <= .6f ) )
{
// log_i( " e" );
windDirection.concat( "E" );
}
if ( (adcValue > 2.0f) & ( adcValue < 3.3f) )
{
// log_i( " s" );
windDirection.concat( "S");
}
if ( (adcValue >= 1.7f) & (adcValue < 2.0f ) )
{
// log_i( " w" );
windDirection.concat( "W" );
}
if ( count >= 30 )
{
MQTTinfo.concat( String(kph, 2) );
MQTTinfo.concat( ",");
MQTTinfo.concat( windDirection );
MQTTinfo.concat( ",");
MQTTinfo.concat( String(rain, 2) );
xSemaphoreTake( sema_MQTT_KeepAlive, portMAX_DELAY );
MQTTclient.publish( topicWSWDRF, MQTTinfo.c_str() );
xSemaphoreGive( sema_MQTT_KeepAlive );
count = 0;
}
count++;
MQTTinfo = "";
xLastWakeTime = xTaskGetTickCount();
vTaskDelayUntil( &xLastWakeTime, xFrequency );
}
vTaskDelete ( NULL );
}
// read rainfall
void fRainFall( void *pvParemeters )
{
int count = 0;
pcnt_counter_pause( PCNT_UNIT_1 );
pcnt_counter_clear( PCNT_UNIT_1 );
pcnt_counter_resume( PCNT_UNIT_1 );
for (;;)
{
xEventGroupWaitBits (eg, evtRainFall, pdTRUE, pdTRUE, portMAX_DELAY);
pcnt_counter_pause( PCNT_UNIT_1 );
pcnt_get_counter_value( PCNT_UNIT_1, &count );
pcnt_counter_clear( PCNT_UNIT_1 );
pcnt_counter_resume( PCNT_UNIT_1 );
if ( count != 0 )
{
// 0.2794mm of rain per click clear clicks at mid night
rain = 0.2794f * (float)count;
//log_i( "count %d, rain rain = %f mm", count, rain );
}
if ( (rtc.getHour(true) == 0) && (rtc.getMinute() == 0) )
{
pcnt_counter_pause( PCNT_UNIT_1 );
rain = 0.0;
count = 0;
pcnt_counter_clear( PCNT_UNIT_1 );
pcnt_counter_resume( PCNT_UNIT_1 );
}
}
vTaskDelete ( NULL );
}
////
void fAnemometer( void *pvParameters )
{
//int count = 0;
pcnt_counter_clear(PCNT_UNIT_0);
pcnt_counter_resume(PCNT_UNIT_0);
for (;;)
{
xEventGroupWaitBits (eg, evtAnemometer, pdTRUE, pdTRUE, portMAX_DELAY);
pcnt_counter_pause( PCNT_UNIT_0 );
pcnt_get_counter_value( PCNT_UNIT_0, &count); //int16_t *count
// A wind speed of 2.4km/h causes the switch to close once per second
kph = 2.4f * ((float)count / 60.0f);
/*
if ( count != 0 )
{
log_i( "count %d, wind KPH = %f", count, kph );
}
count = 0;
*/
pcnt_counter_clear( PCNT_UNIT_0 );
pcnt_counter_resume( PCNT_UNIT_0 );
}
vTaskDelete ( NULL );
}
//////
void fmqttWatchDog( void * paramater )
{
int UpdateImeTrigger = 86400; //seconds in a day
int UpdateTimeInterval = 86300; // 1st time update in 100 counts
int maxNonMQTTresponse = 60;
for (;;)
{
vTaskDelay( 1000 );
if ( mqttOK >= maxNonMQTTresponse )
{
ESP.restart();
}
xSemaphoreTake( sema_mqttOK, portMAX_DELAY );
mqttOK++;
xSemaphoreGive( sema_mqttOK );
UpdateTimeInterval++; // trigger new time get
if ( UpdateTimeInterval >= UpdateImeTrigger )
{
TimeSet = false; // sets doneTime to false to get an updated time after a days count of seconds
UpdateTimeInterval = 0;
}
}
vTaskDelete( NULL );
}
//////
void fparseMQTT( void *pvParameters )
{
struct stu_message px_message;
for (;;)
{
if ( xQueueReceive(xQ_Message, &px_message, portMAX_DELAY) == pdTRUE )
{
// parse the time from the OK message and update MCU time
if ( String(px_message.topic) == topicOK )
{
if ( !TimeSet)
{
String temp = "";
temp = px_message.payload[0];
temp += px_message.payload[1];
temp += px_message.payload[2];
temp += px_message.payload[3];
int year = temp.toInt();
temp = "";
temp = px_message.payload[5];
temp += px_message.payload[6];
int month = temp.toInt();
temp = "";
temp = px_message.payload[8];
temp += px_message.payload[9];
int day = temp.toInt();
temp = "";
temp = px_message.payload[11];
temp += px_message.payload[12];
int hour = temp.toInt();
temp = "";
temp = px_message.payload[14];
temp += px_message.payload[15];
int min = temp.toInt();
rtc.setTime( 0, min, hour, day, month, year );
log_i( "rtc %s ", rtc.getTime() );
TimeSet = true;
}
}
//
} //if ( xQueueReceive(xQ_Message, &px_message, portMAX_DELAY) == pdTRUE )
xSemaphoreTake( sema_mqttOK, portMAX_DELAY );
mqttOK = 0;
xSemaphoreGive( sema_mqttOK );
}
} // void fparseMQTT( void *pvParameters )#include <ESP32Time.h>
//////
void fReadCurrent( void * parameter )
{
float ADbits = 4096.0f;
float ref_voltage = 3.3f;
uint64_t TimePastKalman = esp_timer_get_time(); // used by the Kalman filter UpdateProcessNoise, time since last kalman calculation
SimpleKalmanFilter KF_I( 1.0f, 1.0f, .01f );
float mA = 0.0f;
int printCount = 0;
/*
185mv/A = 5 AMP MODULE
100mv/A = 20 amp module
66mv/A = 30 amp module
*/
const float mVperAmp = 185.0f;
float adcValue = 0;
float Voltage = 0;
float Power = 0.0;
String powerInfo = "";
powerInfo.reserve( 150 );
while ( !MQTTclient.connected() )
{
vTaskDelay( 250 );
}
TickType_t xLastWakeTime = xTaskGetTickCount();
const TickType_t xFrequency = 1000; //delay for mS
for (;;)
{
adc1_get_raw(ADC1_CHANNEL_3); // read once discard reading
adcValue = ( (float)adc1_get_raw(ADC1_CHANNEL_3) );
//log_i( "adcValue I = %f", adcValue );
Voltage = ( (adcValue * ref_voltage) / ADbits ) + offSET; // Gets you mV
mA = Voltage / mVperAmp; // get amps
KF_I.setProcessNoise( (esp_timer_get_time() - TimePastKalman) / 1000000.0f ); //get time, in microsecods, since last readings
mA = KF_I.updateEstimate( mA ); // apply simple Kalman filter
TimePastKalman = esp_timer_get_time(); // time of update complete
printCount++;
if ( printCount == 60 )
{
xSemaphoreTake( sema_CalculatedVoltage, portMAX_DELAY);
Power = CalculatedVoltage * mA;
log_i( "Voltage=%f mA=%f Power=%f", CalculatedVoltage, mA, Power );
printCount = 0;
powerInfo.concat( String(CalculatedVoltage, 2) );
xSemaphoreGive( sema_CalculatedVoltage );
powerInfo.concat( ",");
powerInfo.concat( String(mA, 4) );
powerInfo.concat( ",");
powerInfo.concat( String(Power, 4) );
xSemaphoreTake( sema_MQTT_KeepAlive, portMAX_DELAY );
MQTTclient.publish( topicPower, powerInfo.c_str() );
xSemaphoreGive( sema_MQTT_KeepAlive );
powerInfo = "";
}
xLastWakeTime = xTaskGetTickCount();
vTaskDelayUntil( &xLastWakeTime, xFrequency );
}
vTaskDelete( NULL );
} //void fReadCurrent( void * parameter )
////
void fReadBattery( void * parameter )
{
float adcValue = 0.0f;
const float r1 = 50500.0f; // R1 in ohm, 50K
const float r2 = 10000.0f; // R2 in ohm, 10k potentiometer
float Vbatt = 0.0f;
int printCount = 0;
float vRefScale = (3.3f / 4096.0f) * ((r1 + r2) / r2);
uint64_t TimePastKalman = esp_timer_get_time(); // used by the Kalman filter UpdateProcessNoise, time since last kalman calculation
SimpleKalmanFilter KF_ADC_b( 1.0f, 1.0f, .01f );
TickType_t xLastWakeTime = xTaskGetTickCount();
const TickType_t xFrequency = 1000; //delay for mS
for (;;)
{
adc1_get_raw(ADC1_CHANNEL_0); //read and discard
adcValue = float( adc1_get_raw(ADC1_CHANNEL_0) ); //take a raw ADC reading
KF_ADC_b.setProcessNoise( (esp_timer_get_time() - TimePastKalman) / 1000000.0f ); //get time, in microsecods, since last readings
adcValue = KF_ADC_b.updateEstimate( adcValue ); // apply simple Kalman filter
Vbatt = adcValue * vRefScale;
xSemaphoreTake( sema_CalculatedVoltage, portMAX_DELAY );
CalculatedVoltage = Vbatt;
xSemaphoreGive( sema_CalculatedVoltage );
/*
printCount++;
if ( printCount == 3 )
{
log_i( "Vbatt %f", Vbatt );
printCount = 0;
}
*/
TimePastKalman = esp_timer_get_time(); // time of update complete
xLastWakeTime = xTaskGetTickCount();
vTaskDelayUntil( &xLastWakeTime, xFrequency );
//log_i( "fReadBattery %d", uxTaskGetStackHighWaterMark( NULL ) );
}
vTaskDelete( NULL );
}
////
void MQTTkeepalive( void *pvParameters )
{
sema_MQTT_KeepAlive = xSemaphoreCreateBinary();
xSemaphoreGive( sema_MQTT_KeepAlive ); // found keep alive can mess with a publish, stop keep alive during publish
// setting must be set before a mqtt connection is made
MQTTclient.setKeepAlive( 90 ); // setting keep alive to 90 seconds makes for a very reliable connection, must be set before the 1st connection is made.
for (;;)
{
//check for a is-connected and if the WiFi 'thinks' its connected, found checking on both is more realible than just a single check
if ( (wifiClient.connected()) && (WiFi.status() == WL_CONNECTED) )
{
xSemaphoreTake( sema_MQTT_KeepAlive, portMAX_DELAY ); // whiles MQTTlient.loop() is running no other mqtt operations should be in process
MQTTclient.loop();
xSemaphoreGive( sema_MQTT_KeepAlive );
}
else {
log_i( "MQTT keep alive found MQTT status %s WiFi status %s", String(wifiClient.connected()), String(WiFi.status()) );
if ( !(wifiClient.connected()) || !(WiFi.status() == WL_CONNECTED) )
{
connectToWiFi();
}
connectToMQTT();
}
vTaskDelay( 250 ); //task runs approx every 250 mS
}
vTaskDelete ( NULL );
}
////
void connectToWiFi()
{
int TryCount = 0;
while ( WiFi.status() != WL_CONNECTED )
{
TryCount++;
WiFi.disconnect();
WiFi.begin( SSID, PASSWORD );
vTaskDelay( 4000 );
if ( TryCount == 10 )
{
ESP.restart();
}
}
WiFi.onEvent( WiFiEvent );
} // void connectToWiFi()
////
void connectToMQTT()
{
MQTTclient.setKeepAlive( 90 ); // needs be made before connecting
byte mac[5];
WiFi.macAddress(mac);
String clientID = String(mac[0]) + String(mac[4]) ; // use mac address to create clientID
while ( !MQTTclient.connected() )
{
// boolean connect(const char* id, const char* user, const char* pass, const char* willTopic, uint8_t willQos, boolean willRetain, const char* willMessage);
MQTTclient.connect( clientID.c_str(), mqtt_username, mqtt_password, NULL , 1, true, NULL );
vTaskDelay( 250 );
}
MQTTclient.setCallback( mqttCallback );
MQTTclient.subscribe( topicOK );
} // void connectToMQTT()
////
void loop() {}
While the code above does not do the float thing the scheme does work for processing floats on a ESP32.