Initial project for reptile feeder

Open multiple boxes to release crickets using 16 channel controller from
ESP

.gitignore

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+# PlatformIO
+.pio
+.vscode
+
+# Build artifacts
+*.o
+*.a
+*.so
+*.elf
+*.bin
+*.hex
+*.map
+*.d
+
+# Other
+*.pyc
+*.pyo
+__pycache__/
+.DS_Store
+Thumbs.db

platformio.ini

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+[env:esp32-c6-devkitc-1]
+platform = espressif32
+board = esp32-c6-devkitc-1
+framework = arduino, espidf
+monitor_speed = 115200
+lib_deps = 
+    adafruit/Adafruit PWM Servo Driver Library@2.4.1
+
+build_flags =
+    -DARDUINO_USB_MODE=1
+    -DARDUINO_USB_CDC_ON_BOOT=1

src/main.cpp

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+#include <Arduino.h>
+#include <Wire.h>
+#include <Adafruit_PWMServoDriver.h>
+#include "esp_zigbee_core.h"
+
+// --- Configuration ---
+#define CHANNEL_COUNT 16 // 16 servos
+#define ZIGBEE_ENDPOINT_START 1
+
+// PCA9685 Settings
+Adafruit_PWMServoDriver pca9685 = Adafruit_PWMServoDriver();
+#define SERVO_FREQ 50 // Analog servos run at ~50 Hz
+#define SERVO_MIN_PULSE 150 // Corresponds to 0 degrees
+#define SERVO_MAX_PULSE 600 // Corresponds to 180 degrees
+#define SERVO_OPEN_ANGLE 90 // Angle in degrees for "open" state
+#define SERVO_CLOSED_ANGLE 0 // Angle in degrees for "closed" state
+
+// --- Zigbee Device Setup ---
+// Basic Zigbee device configuration
+#define ESP_ZB_PRIMARY_CHANNEL_MASK (1l << 15) // Use Zigbee channel 15
+#define ESP_ZB_MANUFACTURER_NAME "T3-Labs"
+#define ESP_ZB_MODEL_NAME "ReptileFeeder.16x"
+
+// --- Function Declarations ---
+void move_servo(uint8_t servo_num, uint8_t angle);
+static void bdb_start_top_level_commissioning_cb(uint8_t mode_mask);
+static esp_err_t zb_attribute_handler(const esp_zb_zcl_set_attr_value_message_t *message);
+static esp_err_t zb_action_handler(esp_zb_core_action_signal_t *signal_struct);
+void esp_zb_app_signal_handler(esp_zb_app_signal_t *signal_struct);
+
+// --- Main Application ---
+
+void setup()
+{
+    Serial.begin(115200);
+    Wire.begin(); // Default I2C pins for ESP32-C6 are typically GPIO8/GPIO9
+
+    // Initialize PCA9685
+    pca9685.begin();
+    pca9685.setPWMFreq(SERVO_FREQ);
+    Serial.println("PCA9685 Initialized. Setting all servos to closed position.");
+    for (int i = 0; i < CHANNEL_COUNT; i++) {
+        move_servo(i, SERVO_CLOSED_ANGLE);
+        delay(50);
+    }
+    Serial.println("Servos initialized.");
+
+    // Initialize Zigbee stack
+    esp_zb_cfg_t zb_cfg = ESP_ZB_DEFAULT_CFG();
+    zb_cfg.esp_zb_role = ESP_ZB_DEVICE_TYPE_ROUTER;
+    zb_cfg.install_code_policy = false;
+    zb_cfg.nwk_cfg.max_children = 0; // Router doesn't need to manage children
+    esp_zb_init(&zb_cfg);
+
+    // Create On/Off clusters for each servo
+    for (int i = 0; i < CHANNEL_COUNT; ++i) {
+        esp_zb_cluster_list_t *cluster_list = esp_zb_zcl_cluster_list_create();
+        
+        // On/Off cluster
+        esp_zb_on_off_cluster_cfg_t on_off_cfg;
+        on_off_cfg.on_off = false; // Default to off
+        esp_zb_attribute_list_t *on_off_cluster = esp_zb_on_off_cluster_create(&on_off_cfg);
+        esp_zb_cluster_list_add_cluster(cluster_list, on_off_cluster, ESP_ZB_ZCL_CLUSTER_SERVER_ROLE);
+
+        // Basic cluster
+        esp_zb_basic_cluster_cfg_t basic_cfg;
+        basic_cfg.zcl_version = ESP_ZB_ZCL_VERSION_DEFAULT;
+        basic_cfg.power_source = ESP_ZB_ZCL_BASIC_POWER_SOURCE_UNKNOWN;
+        esp_zb_attribute_list_t *basic_cluster = esp_zb_basic_cluster_create(&basic_cfg);
+        esp_zb_cluster_list_add_cluster(cluster_list, basic_cluster, ESP_ZB_ZCL_CLUSTER_SERVER_ROLE);
+
+        // Create an endpoint for the servo
+        esp_zb_endpoint_config_t endpoint_cfg = {
+            .endpoint = (uint8_t)(ZIGBEE_ENDPOINT_START + i),
+            .app_profile_id = ESP_ZB_AF_HA_PROFILE_ID,
+            .app_device_id = ESP_ZB_HA_ON_OFF_LIGHT_DEVICE_ID,
+            .app_device_version = 0
+        };
+        esp_zb_ep_list_add_ep(esp_zb_get_ep_list(), cluster_list, endpoint_cfg);
+    }
+
+    // Set Zigbee stack signal handler
+    esp_zb_set_primary_network_channel_set(ESP_ZB_PRIMARY_CHANNEL_MASK);
+    ESP_ERROR_CHECK(esp_zb_start(false));
+    esp_zb_set_app_signal_handler(esp_zb_app_signal_handler);
+
+    Serial.println("Zigbee Initialized and Started.");
+}
+
+void loop()
+{
+    // The Zigbee stack runs in its own task.
+    // The loop can be used for other non-blocking tasks if needed.
+    delay(1000);
+}
+
+// --- Function Definitions ---
+
+/**
+ * @brief Moves a servo to a specific angle.
+ * @param servo_num The servo channel (0-15).
+ * @param angle The target angle (0-180).
+ */
+void move_servo(uint8_t servo_num, uint8_t angle)
+{
+    if (servo_num >= CHANNEL_COUNT || angle > 180) {
+        return; // Invalid input
+    }
+    uint16_t pulselen = map(angle, 0, 180, SERVO_MIN_PULSE, SERVO_MAX_PULSE);
+    pca9685.setPWM(servo_num, 0, pulselen);
+}
+
+/**
+ * @brief Zigbee application signal handler.
+ */
+void esp_zb_app_signal_handler(esp_zb_app_signal_t *signal_struct)
+{
+    uint32_t *p_sg_p       = signal_struct->p_app_signal;
+    esp_err_t err_status = signal_struct->esp_err_status;
+    
+    switch (signal_struct->signal_type) {
+        case ESP_ZB_ZDO_SIGNAL_SKIP_STARTUP:
+            Serial.println("Zigbee stack initialized");
+            esp_zb_bdb_start_top_level_commissioning(ESP_ZB_BDB_MODE_INITIALIZATION);
+            break;
+        case ESP_ZB_BDB_SIGNAL_DEVICE_FIRST_START:
+        case ESP_ZB_BDB_SIGNAL_DEVICE_REBOOT:
+            if (err_status == ESP_OK) {
+                Serial.println("Device started, commissioning.");
+                esp_zb_bdb_start_top_level_commissioning(ESP_ZB_BDB_MODE_NETWORK_STEERING);
+            } else {
+                Serial.println("Failed to initialize Zigbee stack");
+            }
+            break;
+        case ESP_ZB_BDB_SIGNAL_STEERING_COMPLETE:
+            if (err_status == ESP_OK) {
+                esp_zb_ieee_addr_t extended_pan_id;
+                esp_zb_get_extended_pan_id(extended_pan_id);
+                Serial.printf("Successfully joined network. PAN ID: %02x:%02x:%02x:%02x:%02x:%02x:%02x:%02x\n",
+                    extended_pan_id[7], extended_pan_id[6], extended_pan_id[5], extended_pan_id[4],
+                    extended_pan_id[3], extended_pan_id[2], extended_pan_id[1], extended_pan_id[0]);
+            } else {
+                Serial.printf("Network steering failed, status: %d\n", err_status);
+            }
+            break;
+        case ESP_ZB_ZCL_SIGNAL_SET_ATTR_VALUE:
+            zb_attribute_handler((esp_zb_zcl_set_attr_value_message_t *)p_sg_p);
+            break;
+        default:
+            // Serial.printf("Received Zigbee signal: %d\n", signal_struct->signal_type);
+            break;
+    }
+}
+
+/**
+ * @brief Handles incoming Zigbee attribute changes (e.g., On/Off commands).
+ */
+static esp_err_t zb_attribute_handler(const esp_zb_zcl_set_attr_value_message_t *message)
+{
+    if (message->info.status != ESP_ZB_ZCL_STATUS_SUCCESS) {
+        return ESP_OK;
+    }
+
+    uint8_t endpoint = message->info.dst_endpoint;
+    uint16_t cluster_id = message->info.cluster;
+    uint16_t attr_id = message->attribute.id;
+    bool is_on = false;
+
+    if (cluster_id == ESP_ZB_ZCL_CLUSTER_ID_ON_OFF && attr_id == ESP_ZB_ZCL_ATTR_ON_OFF_ON_OFF_ID) {
+        is_on = *(bool *)message->attribute.data.value;
+        uint8_t servo_num = endpoint - ZIGBEE_ENDPOINT_START;
+
+        Serial.printf("Endpoint %d (Servo %d) command: %s\n", endpoint, servo_num, is_on ? "ON" : "OFF");
+
+        if (servo_num < CHANNEL_COUNT) {
+            move_servo(servo_num, is_on ? SERVO_OPEN_ANGLE : SERVO_CLOSED_ANGLE);
+        }
+    }
+    return ESP_OK;
+}