simulink stateflow compiling

.gitignore

@@ -1,5 +1,7 @@
 .pio
 .vscode
+.vscode/*
+.vscode/**
 compress
 data_gz
 platformio.ini

.vscode/extensions.json

@@ -1,7 +0,0 @@
-{
-    // See http://go.microsoft.com/fwlink/?LinkId=827846
-    // for the documentation about the extensions.json format
-    "recommendations": [
-        "platformio.platformio-ide"
-    ]
-}

.vscode/settings.json

@@ -1,53 +0,0 @@
-{
-    "files.associations": {
-        "random": "cpp",
-        "array": "cpp",
-        "*.tcc": "cpp",
-        "deque": "cpp",
-        "list": "cpp",
-        "string": "cpp",
-        "unordered_map": "cpp",
-        "vector": "cpp",
-        "string_view": "cpp",
-        "memory": "cpp",
-        "ranges": "cpp",
-        "initializer_list": "cpp",
-        "utility": "cpp",
-        "atomic": "cpp",
-        "bit": "cpp",
-        "cctype": "cpp",
-        "clocale": "cpp",
-        "cmath": "cpp",
-        "compare": "cpp",
-        "concepts": "cpp",
-        "cstdarg": "cpp",
-        "cstddef": "cpp",
-        "cstdint": "cpp",
-        "cstdio": "cpp",
-        "cstdlib": "cpp",
-        "cstring": "cpp",
-        "cwchar": "cpp",
-        "cwctype": "cpp",
-        "map": "cpp",
-        "set": "cpp",
-        "exception": "cpp",
-        "algorithm": "cpp",
-        "functional": "cpp",
-        "iterator": "cpp",
-        "memory_resource": "cpp",
-        "numeric": "cpp",
-        "optional": "cpp",
-        "system_error": "cpp",
-        "tuple": "cpp",
-        "type_traits": "cpp",
-        "iosfwd": "cpp",
-        "limits": "cpp",
-        "new": "cpp",
-        "ostream": "cpp",
-        "stdexcept": "cpp",
-        "streambuf": "cpp",
-        "cinttypes": "cpp",
-        "typeinfo": "cpp"
-    },
-    "python.pythonPath": "C:\\Users\\simon\\AppData\\Local\\Programs\\Python\\Python37\\python.exe"
-}

data/compress.html

@@ -1,12 +0,0 @@
-<!DOCTYPE html>
-<html>
-
-<head>
-  <title>Ich bin ein komrpimierter Test</title>
-  I bims der Head
-</head>
-<body>
-  I bims der Body
-</body>
-
-</html>

data/index.html

@@ -62,9 +62,9 @@
 
   <div class="terminal">
     <input type="button" id="clear_term" value="clear" onclick="clearTerminal();">
-    <input type="checkbox" id="scroll" name="scroll" value="scroll">
+    <input type="checkbox" id="scroll" name="scroll" value="scroll" checked>
     <label for="scroll"> autoscroll </label>
-    <textarea id="term"> waiting for log messages ... </textarea>
+    <textarea id="term">waiting for log messages ...&#10;</textarea>
   </div>
 
 </body>

data/input.js

@@ -17,7 +17,7 @@ xhr.onreadystatechange = function(){
       console.log(xhr.responseText);
       terminal = document.getElementById("term");
       autoscroll = document.getElementById("scroll");
-      terminal.innerHTML += xhr.responseText + '\n';
+      terminal.innerHTML += xhr.responseText;
       if(autoscroll.checked)
         terminal.scrollTop = terminal.scrollHeight;
     }

data/style.css

@@ -67,8 +67,6 @@ input[type=range]::-webkit-slider-thumb{
 }
 
 
-
-
 /*-------------------------------------------------------*/
 
 
@@ -116,7 +114,7 @@ input:checked + .slider:before {
 #term {
   font-size: large;
   width: 100%;
-  height: 10em;
+  height: 20em;
 }
 
 #clear_term {

lib/README

@@ -1,46 +0,0 @@
-
-This directory is intended for project specific (private) libraries.
-PlatformIO will compile them to static libraries and link into executable file.
-
-The source code of each library should be placed in a an own separate directory
-("lib/your_library_name/[here are source files]").
-
-For example, see a structure of the following two libraries `Foo` and `Bar`:
-
-|--lib
-|  |
-|  |--Bar
-|  |  |--docs
-|  |  |--examples
-|  |  |--src
-|  |     |- Bar.c
-|  |     |- Bar.h
-|  |  |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
-|  |
-|  |--Foo
-|  |  |- Foo.c
-|  |  |- Foo.h
-|  |
-|  |- README --> THIS FILE
-|
-|- platformio.ini
-|--src
-   |- main.c
-
-and a contents of `src/main.c`:
-```
-#include <Foo.h>
-#include <Bar.h>
-
-int main (void)
-{
-  ...
-}
-
-```
-
-PlatformIO Library Dependency Finder will find automatically dependent
-libraries scanning project source files.
-
-More information about PlatformIO Library Dependency Finder
-- https://docs.platformio.org/page/librarymanager/ldf.html

lib/httpserver/httpserver.cpp

@@ -1,12 +1,13 @@
 #include "httpserver.h"
 
+
 bool HTTPServer::start() {
     if(!mount_fs()) {
         logf("cant mount filesystem, EXIT !\n\r");
         return false;
     }
-    logf("[HTTPServer] LittleFS mounted !\n\r");
-    logf("[HTTPServer] root:\n\r");
+    logf("LittleFS mounted !\n\r");
+    logf("root:\n\r");
     this->listRoot();
     logf("\n\r");
 
@@ -29,14 +30,39 @@ bool HTTPServer::start() {
 
     // add static root file handler for http
     this->serveStatic("/", LittleFS, "/");
+    this->begin();
+    Serial.printf("Server active on Port 80 !\n\r");
+    return true;
+}
 
+void HTTPServer::logf(const char *format, ...) {
+    va_list args;
+    va_start(args, format);
+    char temp[64];
+    size_t len = vsnprintf(temp, sizeof(temp), format, args);
+    Serial.print(log_prefix);
+    Serial.write(temp, len);
+    va_end(args);
+}
+
+void HTTPServer::logt(const char *format, ...) {
+    va_list args;
+    va_start(args, format);
+    // append logging string to local buffer
+    if(tbuf_head < TBUF_LEN) {
+        size_t len = vsnprintf(tbuf+tbuf_head, TBUF_LEN-tbuf_head, format, args);
+        tbuf_head += len;
+    }
+    va_end(args);
+}
+
+void HTTPServer::start_apps() {
     // application handler
     this->on("/app=terminal", HTTP_POST, [this]() {
-        String log_msg = "terminal: millis: ";
-        log_msg += millis();
-        send(200, "text/plain", log_msg);
+        if(tbuf_head) {
+            send(200, "text/plain", tbuf);
+            tbuf_head = 0;
+        }
     });
 
-    this->begin();
-    Serial.printf("[HTTPServer] Server active on Port 80 !\n\r");
 }

lib/httpserver/httpserver.h

@@ -9,24 +9,21 @@
 // debug log <ESP8266WebServer.h>
 // #define DEBUGV(f,...) do { Serial.printf(PSTR(f), ##__VA_ARGS__); } while (0)
 
-#define LOG_STR "[HTTPServer]"
+#define TBUF_LEN 256
 
 
 class HTTPServer : public ESP8266WebServer {
 
 private:
     const char* rootDir = "/";
+    const char* log_prefix = "[HTTPServer] ";
+
+    size_t tbuf_head = 0;
+    char tbuf[TBUF_LEN];
  
     void listRoot() {
         ls(rootDir);
     }
-    void logf(const char *format, ...) {
-        va_list args;
-        va_start(args, format);
-        Serial.print(LOG_STR);
-        Serial.printf(format, args);
-        va_end(args);
-    }
 
 public:
     HTTPServer(const int _port, const char* _rootDir) :
@@ -38,4 +35,8 @@ public:
     }
     
     bool start();
+    void start_apps();
+    
+    void logf(const char *format, ...);
+    void logt(const char *format, ...);
 };

lib/treppe/FSMTreppe/FSMTreppe.cpp

@@ -0,0 +1,170 @@
+//
+// Academic License - for use in teaching, academic research, and meeting
+// course requirements at degree granting institutions only.  Not for
+// government, commercial, or other organizational use.
+//
+// File: FSMTreppe.cpp
+//
+// Code generated for Simulink model 'FSMTreppe'.
+//
+// Model version                  : 1.22
+// Simulink Coder version         : 9.5 (R2021a) 14-Nov-2020
+// C/C++ source code generated on : Fri Jul  2 17:45:36 2021
+//
+// Target selection: ert.tlc
+// Embedded hardware selection: ARM Compatible->ARM Cortex-M
+// Code generation objectives: Unspecified
+// Validation result: Not run
+//
+#include "FSMTreppe.h"
+
+// Named constants for Chart: '<Root>/FSMTreppe'
+const uint8_t FSMTreppe_IN_animation_down = 1U;
+const uint8_t FSMTreppe_IN_animation_up = 2U;
+const uint8_t FSMTreppe_IN_idle = 3U;
+
+// Model step function
+void FSMTreppeModelClass::step()
+{
+  // Chart: '<Root>/FSMTreppe' incorporates:
+  //   Inport: '<Root>/anim_finished'
+  //   Inport: '<Root>/sensor_oben'
+  //   Inport: '<Root>/sensor_unten'
+
+  if (FSMTreppe_DW.temporalCounter_i1 < 511U) {
+    FSMTreppe_DW.temporalCounter_i1 = static_cast<uint16_t>
+      (FSMTreppe_DW.temporalCounter_i1 + 1U);
+  }
+
+  if (FSMTreppe_DW.is_active_c3_FSMTreppe == 0U) {
+    FSMTreppe_DW.is_active_c3_FSMTreppe = 1U;
+    FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_idle;
+
+    // Outport: '<Root>/anim_active'
+    FSMTreppe_Y.anim_active = 0U;
+    FSMTreppe_DW.got_sensor = 0U;
+    FSMTreppe_DW.got_anim_finished = 0U;
+    FSMTreppe_DW.finished_up = 0U;
+    FSMTreppe_DW.finished_dn = 0U;
+  } else {
+    switch (FSMTreppe_DW.is_c3_FSMTreppe) {
+     case FSMTreppe_IN_animation_down:
+      // Outport: '<Root>/anim_active'
+      FSMTreppe_Y.anim_active = 2U;
+      if ((FSMTreppe_DW.finished_dn == 1) || (FSMTreppe_DW.temporalCounter_i1 >=
+           300U)) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_idle;
+
+        // Outport: '<Root>/anim_active'
+        FSMTreppe_Y.anim_active = 0U;
+        FSMTreppe_DW.got_sensor = 0U;
+        FSMTreppe_DW.got_anim_finished = 0U;
+        FSMTreppe_DW.finished_up = 0U;
+        FSMTreppe_DW.finished_dn = 0U;
+      } else {
+        if (FSMTreppe_U.sensor_unten) {
+          FSMTreppe_DW.got_sensor = 1U;
+        }
+
+        if (FSMTreppe_U.anim_finished) {
+          FSMTreppe_DW.got_anim_finished = 1U;
+        }
+
+        if ((FSMTreppe_DW.got_anim_finished == 1) && (FSMTreppe_DW.got_sensor ==
+             1)) {
+          FSMTreppe_DW.finished_dn = 1U;
+        }
+      }
+      break;
+
+     case FSMTreppe_IN_animation_up:
+      // Outport: '<Root>/anim_active'
+      FSMTreppe_Y.anim_active = 1U;
+      if ((FSMTreppe_DW.finished_up == 1) || (FSMTreppe_DW.temporalCounter_i1 >=
+           300U)) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_idle;
+
+        // Outport: '<Root>/anim_active'
+        FSMTreppe_Y.anim_active = 0U;
+        FSMTreppe_DW.got_sensor = 0U;
+        FSMTreppe_DW.got_anim_finished = 0U;
+        FSMTreppe_DW.finished_up = 0U;
+        FSMTreppe_DW.finished_dn = 0U;
+      } else {
+        if (FSMTreppe_U.sensor_oben) {
+          FSMTreppe_DW.got_sensor = 1U;
+        }
+
+        if (FSMTreppe_U.anim_finished) {
+          FSMTreppe_DW.got_anim_finished = 1U;
+        }
+
+        if ((FSMTreppe_DW.got_anim_finished == 1) && (FSMTreppe_DW.got_sensor ==
+             1)) {
+          FSMTreppe_DW.finished_up = 1U;
+        }
+      }
+      break;
+
+     default:
+      // Outport: '<Root>/anim_active'
+      // case IN_idle:
+      FSMTreppe_Y.anim_active = 0U;
+      if (FSMTreppe_U.sensor_oben) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_animation_down;
+        FSMTreppe_DW.temporalCounter_i1 = 0U;
+
+        // Outport: '<Root>/anim_active'
+        FSMTreppe_Y.anim_active = 2U;
+        FSMTreppe_DW.got_sensor = 0U;
+        FSMTreppe_DW.got_anim_finished = 0U;
+        FSMTreppe_DW.finished_dn = 0U;
+      } else if (FSMTreppe_U.sensor_unten) {
+        FSMTreppe_DW.is_c3_FSMTreppe = FSMTreppe_IN_animation_up;
+        FSMTreppe_DW.temporalCounter_i1 = 0U;
+
+        // Outport: '<Root>/anim_active'
+        FSMTreppe_Y.anim_active = 1U;
+        FSMTreppe_DW.got_sensor = 0U;
+        FSMTreppe_DW.got_anim_finished = 0U;
+        FSMTreppe_DW.finished_up = 0U;
+      }
+      break;
+    }
+  }
+
+  // End of Chart: '<Root>/FSMTreppe'
+}
+
+// Model initialize function
+void FSMTreppeModelClass::initialize()
+{
+  // (no initialization code required)
+}
+
+// Model terminate function
+void FSMTreppeModelClass::terminate()
+{
+  // (no terminate code required)
+}
+
+// Constructor
+FSMTreppeModelClass::FSMTreppeModelClass() :
+  FSMTreppe_DW(),
+  FSMTreppe_U(),
+  FSMTreppe_Y()
+{
+  // Currently there is no constructor body generated.
+}
+
+// Destructor
+FSMTreppeModelClass::~FSMTreppeModelClass()
+{
+  // Currently there is no destructor body generated.
+}
+
+//
+// File trailer for generated code.
+//
+// [EOF]
+//

lib/treppe/FSMTreppe/FSMTreppe.h

@@ -0,0 +1,120 @@
+//
+// Academic License - for use in teaching, academic research, and meeting
+// course requirements at degree granting institutions only.  Not for
+// government, commercial, or other organizational use.
+//
+// File: FSMTreppe.h
+//
+// Code generated for Simulink model 'FSMTreppe'.
+//
+// Model version                  : 1.22
+// Simulink Coder version         : 9.5 (R2021a) 14-Nov-2020
+// C/C++ source code generated on : Fri Jul  2 17:45:36 2021
+//
+// Target selection: ert.tlc
+// Embedded hardware selection: ARM Compatible->ARM Cortex-M
+// Code generation objectives: Unspecified
+// Validation result: Not run
+//
+#ifndef RTW_HEADER_FSMTreppe_h_
+#define RTW_HEADER_FSMTreppe_h_
+
+#include <stdint.h>
+
+// Class declaration for model FSMTreppe
+class FSMTreppeModelClass {
+  // public data and function members
+ public:
+  // Block states (default storage) for system '<Root>'
+  struct DW_FSMTreppe_T {
+    uint16_t temporalCounter_i1;       // '<Root>/FSMTreppe'
+    uint8_t is_active_c3_FSMTreppe;    // '<Root>/FSMTreppe'
+    uint8_t is_c3_FSMTreppe;           // '<Root>/FSMTreppe'
+    uint8_t got_anim_finished;         // '<Root>/FSMTreppe'
+    uint8_t finished_up;               // '<Root>/FSMTreppe'
+    uint8_t finished_dn;               // '<Root>/FSMTreppe'
+    uint8_t got_sensor;                // '<Root>/FSMTreppe'
+  };
+
+  // External inputs (root inport signals with default storage)
+  struct ExtU_FSMTreppe_T {
+    bool sensor_unten;            // '<Root>/sensor_unten'
+    bool sensor_oben;             // '<Root>/sensor_oben'
+    bool anim_finished;           // '<Root>/anim_finished'
+  };
+
+  // External outputs (root outports fed by signals with default storage)
+  struct ExtY_FSMTreppe_T {
+    uint8_t anim_active;               // '<Root>/anim_active'
+  };
+
+  // model initialize function
+  void initialize();
+
+  // model step function
+  void step();
+
+  // model terminate function
+  void terminate();
+
+  // Constructor
+  FSMTreppeModelClass();
+
+  // Destructor
+  ~FSMTreppeModelClass();
+
+  // Root-level structure-based inputs set method
+
+  // Root inports set method
+  void setExternalInputs(const ExtU_FSMTreppe_T* pExtU_FSMTreppe_T)
+  {
+    FSMTreppe_U = *pExtU_FSMTreppe_T;
+  }
+
+  // Root-level structure-based outputs get method
+
+  // Root outports get method
+  const FSMTreppeModelClass::ExtY_FSMTreppe_T & getExternalOutputs() const
+  {
+    return FSMTreppe_Y;
+  }
+
+  // private data and function members
+ private:
+  // Block states
+  DW_FSMTreppe_T FSMTreppe_DW;
+
+  // External inputs
+  ExtU_FSMTreppe_T FSMTreppe_U;
+
+  // External outputs
+  ExtY_FSMTreppe_T FSMTreppe_Y;
+};
+
+//-
+//  The generated code includes comments that allow you to trace directly
+//  back to the appropriate location in the model.  The basic format
+//  is <system>/block_name, where system is the system number (uniquely
+//  assigned by Simulink) and block_name is the name of the block.
+//
+//  Note that this particular code originates from a subsystem build,
+//  and has its own system numbers different from the parent model.
+//  Refer to the system hierarchy for this subsystem below, and use the
+//  MATLAB hilite_system command to trace the generated code back
+//  to the parent model.  For example,
+//
+//  hilite_system('FSM_Treppenlicht/FSMTreppe')    - opens subsystem FSM_Treppenlicht/FSMTreppe
+//  hilite_system('FSM_Treppenlicht/FSMTreppe/Kp') - opens and selects block Kp
+//
+//  Here is the system hierarchy for this model
+//
+//  '<Root>' : 'FSM_Treppenlicht'
+//  '<S1>'   : 'FSM_Treppenlicht/FSMTreppe'
+
+#endif                                 // RTW_HEADER_FSMTreppe_h_
+
+//
+// File trailer for generated code.
+//
+// [EOF]
+//

lib/treppe/treppe.cpp

@@ -86,7 +86,7 @@ void Treppe::rampe()
 {
   if(state) {
     finish = 0;
-    state = 0;                    // set parameter memory
+    state = 0;// set parameter memory
   }
 
   if(!finish) {
@@ -140,17 +140,22 @@ void Treppe::setup(){
     // https://github.com/NachtRaveVL/PCA9685-Arduino/issues/15
     // see also lib/PCA9685-Arduin/PCA9685.h:204
     pwmController.init(PCA9685_PhaseBalancer_None);
-    pwmController.setPWMFrequency(200);
+    //pwmController.init(PCA9685_PhaseBalancer_Linear);
+    pwmController.setPWMFrequency(100);
     pwmController.setAllChannelsPWM(idle_brightness);
     
+    pinMode(A0, INPUT);
     pinMode(SENSOR1, INPUT);
     pinMode(SENSOR2, INPUT);
+    pinMode(OE, OUTPUT);
+    digitalWrite(OE, 0);
     Serial.println("Hello from Treppe");
     Serial.print("Treppe: initial parameters: stairs=");
     Serial.println(stairs);
 }
 
 void Treppe::task(){
+  FSMTreppe_Obj.step();
 
   if(finish){
     direction = switch_direction;
@@ -194,6 +199,7 @@ void Treppe::task(){
   last_sensor_state[1] = current_sensor_state[1];
   
   ledsequence();
+  //Serial.printf("LDR: %f\n", ((float)analogRead(A0))/1023.*3.68);
 }
 
 

lib/treppe/treppe.h

@@ -1,18 +1,24 @@
 #pragma once
 
+#include "FSMTreppe/FSMTreppe.h"
 #include "PCA9685.h"
 
-#define SENSOR1 15
+#define SENSOR1 2
 #define SENSOR2 12
+#define OE 14
 
 #define INT_TIME 20  // interrupt intervall [ms]
 
 class Treppe {
 private:
+    // initialize with i2c-Address 0, use Wire Library
+    PCA9685 pwmController;     
+    FSMTreppeModelClass FSMTreppe_Obj;// Instance of model class
+
     uint8_t stairs;
     uint16_t time_per_stair = 300;          // dimmtime per stair [ms]
-    uint16_t idle_brightness = 0;
-    uint16_t active_brightness = 500;
+    uint16_t idle_brightness = 100;
+    uint16_t active_brightness = 2048;
 
     uint8_t direction = 0;
     uint8_t switch_direction = 0;
@@ -30,21 +36,23 @@ private:
     float differenz_pwm_pro_tick = 0.0;
     // alternative
 
-
-    // initialize with i2c-Address 0, use Wire Library
-    PCA9685 pwmController;     
     uint8_t softstart_led(uint8_t led, uint16_t startval, uint16_t stopval);
     void ledsequence();
     void rampe();
 
 public:
     Treppe(uint8_t _stairs) : stairs(_stairs){
+        FSMTreppe_Obj.initialize();
+
         ticks_pro_stufe = time_per_stair / 20; // [ms]
         ticks_treppe = ticks_pro_stufe * stairs;
 
         differenz_pwm_pro_tick = (float) (active_brightness - idle_brightness) 
                                             / (float) ticks_pro_stufe;
     }
+    ~Treppe() {
+        FSMTreppe_Obj.terminate();
+    }
 
     void setup();
     void task();        // call periodically

src/main.cpp

@@ -27,6 +27,13 @@ Treppe stairs(16);
 const char* ssid = STASSID;
 const char* password = STAPSK;
 
+// port 80, root directory of server '/'
+HTTPServer httpServer(80, "/");
+
+uint32_t _t=0;
+#define SP_US(_str,_a) Serial.print(_str); Serial.print(" took: "); Serial.print(_a); Serial.println("us")
+#define TIMEIF_US(_f, _l, _str) _t=micros(); _f; _t=micros()-_t; if(_t > _l) { SP_US(_str, _t); }
+
 
 void timerCallback(void *pArg)
 {
@@ -34,27 +41,23 @@ void timerCallback(void *pArg)
   stairs.task();
 }
 
-// port 80, root directory of server '/'
-HTTPServer httpServer(80, "/");
-
-uint32_t _t=0;
-#define SP_US(_str,_a) Serial.print(_str); Serial.print(" took: "); Serial.print(_a); Serial.println("us")
-#define TIMEIF_US(_f, _l, _str) _t=micros(); _f; _t=micros()-_t; if(_t > _l) { SP_US(_str, _t); }
 // ===============================================
-
-
+uint8_t inter = 0;
+ICACHE_RAM_ATTR void int_test(){
+  inter = 1;
+}
 
 void setup() {
 #ifdef WITH_DEBUGGING_ON
   Serial.begin(460800);
   gdbstub_init();
 #else
-  Serial.begin(115200);
+  Serial.begin(76800);
 #endif
 
   Serial.println(F("Booting ...."));
 
-  pinMode(NODEMCU_LED, OUTPUT);
+  //pinMode(NODEMCU_LED, OUTPUT);
   pinMode(ESP12_LED, OUTPUT);
 
   Wire.begin();                       // Wire must be started first
@@ -78,10 +81,14 @@ void setup() {
   ota_setup();
 
   httpServer.start();
+  httpServer.start_apps();
+
   Serial.println("HTTP server started !");
 
   stairs.setup();
   Serial.println("PCA9685 connected !");
+  //attachInterrupt(digitalPinToInterrupt(2), int_test, RISING);
+  //attachInterrupt(digitalPinToInterrupt(12), int_test, RISING);
 
   os_timer_setfn(&timer1, timerCallback, &timer_flag);
   os_timer_arm(&timer1, 20, true);
@@ -89,6 +96,8 @@ void setup() {
 
 #include <random>
 
+uint32_t c = 0;
+
 void loop() {
   // if(stairs.getState() == 0) {
   //   delay(1000);
@@ -102,6 +111,12 @@ void loop() {
   //   stairs.setDirection(!stairs.getDirection());
   //   stairs.setState(1);
   // }
+  if(inter){
+    Serial.printf("interrupt\n");
+    inter = 0;
+  }
+  if(c++%1000000 == 0)
+    httpServer.logt("[%d] starting :)\n", c);
   
   TIMEIF_US(ArduinoOTA.handle(), 10000, "OTA");
   TIMEIF_US(httpServer.handleClient(), 10000, "HTTP");