Outsource display, encoder cfg to config.cpp, Optimize speedsensor

- outsource configuration of display and encoder from source/header file
  to config.cpp and pass it to init function or task from main()

- optimize logging in several init functions

- speedsensor:
    - fix startup error: initialize ISR only once
    - create instances at initialization instead of first method call

- ssd1306 display library:
    - modify library to pass offsetX to init function instead of using macro

board_single/main/config.cpp

@@ -1,17 +1,22 @@
 // NOTE: this file is included in main.cpp only.
 // outsourced all configuration related functions and structures to this file:
 
+extern "C"
+{
+#include "esp_log.h"
+}
 #include "motordrivers.hpp"
 #include "motorctl.hpp"
 #include "joystick.hpp"
 #include "http.hpp"
 #include "speedsensor.hpp"
-
 #include "buzzer.hpp"
 #include "control.hpp"
 #include "fan.hpp"
 #include "auto.hpp"
 #include "chairAdjust.hpp"
+#include "display.hpp"
+#include "encoder.h"
 
 //==================================
 //======== define loglevels ========
@@ -181,3 +186,36 @@ speedSensor_config_t speedRight_config{
     .directionInverted = true,
     .logName = "speedRight",
 };
+
+
+
+//-------------------------
+//-------- display --------
+//-------------------------
+display_config_t display_config {
+    .gpio_scl = GPIO_NUM_22,
+    .gpio_sda = GPIO_NUM_23,
+    .gpio_reset = GPIO_NUM_15,
+    .width = 128,
+    .height = 64,
+    .offsetX = 2,
+    .flip = false,
+    .contrast = 0xff, //max: 255
+};
+
+
+
+//-------------------------
+//-------- encoder --------
+//-------------------------
+//configure rotary encoder (next to joystick)
+rotary_encoder_t encoder_config = {
+	.pin_a = GPIO_NUM_25,
+	.pin_b = GPIO_NUM_26,
+	.pin_btn = GPIO_NUM_27,
+	.code = 1,
+	.store = 0, //encoder count
+	.index = 0,
+	.btn_pressed_time_us = 20000,
+	.btn_state = RE_BTN_RELEASED //default state
+};

board_single/main/display.cpp

@@ -8,15 +8,6 @@ extern "C"{
 
 
 
-//==== display config ====
-#define I2C_INTERFACE y
-#define SCL_GPIO 22
-#define SDA_GPIO 23
-#define RESET_GPIO 15 // FIXME remove this
-// the following options are set in menuconfig: (see sdkconfig)
-//	#define CONFIG_OFFSETX 2 	//note: the larger display (actual 130x64) needs 2 pixel offset (prevents bugged column)
-//	#define CONFIG_I2C_PORT_0 y
-
 //=== content config ===
 #define STARTUP_MSG_TIMEOUT 2000
 #define ADC_BATT_VOLTAGE ADC1_CHANNEL_6
@@ -55,22 +46,21 @@ static const char * TAG = "display";
 //==== display_init ====
 //======================
 //note CONFIG_OFFSETX is used (from menuconfig)
-void display_init(){
+void display_init(display_config_t config){
 	adc1_config_channel_atten(ADC1_CHANNEL_6, ADC_ATTEN_DB_11); //max voltage
-	ESP_LOGW("display", "INTERFACE is i2c");
+	ESP_LOGW(TAG, "Initializing Display...");
-	ESP_LOGW("display", "SDA_GPIO=%d",SDA_GPIO);
+	ESP_LOGI(TAG, "config: sda=%d, sdl=%d, reset=%d,  offset=%d, flip=%d, size: %dx%d", 
-	ESP_LOGW("display", "SCL_GPIO=%d",SCL_GPIO);
+	config.gpio_sda, config.gpio_scl, config.gpio_reset, config.offsetX, config.flip, config.width, config.height);
-	ESP_LOGW("display", "RESET_GPIO=%d",RESET_GPIO);
+
-	i2c_master_init(&dev, SDA_GPIO, SCL_GPIO, RESET_GPIO);
+	i2c_master_init(&dev, config.gpio_sda, config.gpio_scl, config.gpio_reset);
-#if FLIP
+	if (config.flip) {
 		dev._flip = true;
-	ESP_LOGW("display", "Flip upside down");
+		ESP_LOGW(TAG, "Flip upside down");
-#endif
+	}
-	ESP_LOGI("display", "Panel is 128x64");
+	ssd1306_init(&dev, config.width, config.height, config.offsetX);
-	ssd1306_init(&dev, 128, 64);
 
 	ssd1306_clear_screen(&dev, false);
-	ssd1306_contrast(&dev, 0xff);
+	ssd1306_contrast(&dev, config.contrast);
 }
 
 
@@ -264,11 +254,12 @@ void showStartupMsg(){
 
 void display_task(void *pvParameters)
 {
+	ESP_LOGW(TAG, "Initializing display and starting handle loop");
 	//get struct with pointers to all needed global objects from task parameter
 	display_task_parameters_t *objects = (display_task_parameters_t *)pvParameters;
 
 	// initialize display
-	display_init();
+	display_init(objects->displayConfig);
 	// TODO check if successfully initialized
 
 	// show startup message

board_single/main/display.hpp

@@ -18,8 +18,22 @@ extern "C" {
 #include "control.hpp"
 #include "speedsensor.hpp"
 
+// configuration for initializing display (passed to task as well)
+typedef struct display_config_t {
+    gpio_num_t gpio_scl;
+    gpio_num_t gpio_sda;
+    gpio_num_t gpio_reset;
+    int width;
+    int height;
+    int offsetX;
+    bool flip;
+    int contrast;
+} display_config_t;
+
+
 // struct with variables passed to task from main()
 typedef struct display_task_parameters_t {
+    display_config_t displayConfig;
     controlledArmchair * control;
     evaluatedJoystick * joystick;
     QueueHandle_t encoderQueue;

board_single/main/encoder.cpp

@@ -17,22 +17,6 @@ extern "C"
 //------- variables -------
 //-------------------------
 static const char * TAG = "encoder";
-uint16_t encoderCount;
-rotary_encoder_btn_state_t encoderButtonState = {};
-//global event queue:
-QueueHandle_t encoderQueue = NULL;
-
-//encoder config
-rotary_encoder_t encoderConfig = {
-	.pin_a = PIN_A,
-	.pin_b = PIN_B,
-	.pin_btn = PIN_BUTTON,
-	.code = 1,
-	.store = encoderCount,
-	.index = 0,
-	.btn_pressed_time_us = 20000,
-	.btn_state = encoderButtonState
-};
 
 
 
@@ -40,11 +24,11 @@ rotary_encoder_t encoderConfig = {
 //========== encoder_init ==========
 //==================================
 //initialize encoder //TODO pass config to this function
-QueueHandle_t encoder_init()
+QueueHandle_t encoder_init(rotary_encoder_t * encoderConfig)
 {
 	QueueHandle_t encoderQueue = xQueueCreate(QUEUE_SIZE, sizeof(rotary_encoder_event_t));
 	rotary_encoder_init(encoderQueue);
-	rotary_encoder_add(&encoderConfig);
+	rotary_encoder_add(encoderConfig);
 	if (encoderQueue == NULL)
 		ESP_LOGE(TAG, "Error initializing encoder or queue");
 	else

board_single/main/encoder.hpp

@@ -6,12 +6,9 @@ extern "C" {
 
 //config
 #define QUEUE_SIZE 10
-#define PIN_A GPIO_NUM_25
-#define PIN_B GPIO_NUM_26
-#define PIN_BUTTON GPIO_NUM_27
 
-//init encoder with config in encoder.cpp
+//init encoder with pointer to encoder config
-QueueHandle_t encoder_init(); //TODO pass config to function
+QueueHandle_t encoder_init(rotary_encoder_t * encoderConfig);
 
 
 //task that handles encoder events

board_single/main/main.cpp

@@ -99,7 +99,7 @@ static const char * TAG = "main";
 //=================================
 //initialize spi flash filesystem (used for webserver)
 void init_spiffs(){
-    ESP_LOGI(TAG, "init spiffs");
+    ESP_LOGW(TAG, "initializing spiffs...");
     esp_vfs_spiffs_conf_t esp_vfs_spiffs_conf = {
         .base_path = "/spiffs",
         .partition_label = NULL,
@@ -174,6 +174,7 @@ void createObjects()
 //=========== app_main ============
 //=================================
 extern "C" void app_main(void) {
+	ESP_LOGW(TAG, "===== BOOT (pre main) Completed =====\n");
 
 	ESP_LOGW(TAG, "===== INITIALIZING COMPONENTS =====");
 	//--- define log levels ---
@@ -186,19 +187,22 @@ extern "C" void app_main(void) {
 	gpio_set_level(GPIO_NUM_17, 1);                                                      
 
 	//--- initialize nvs-flash and netif (needed for wifi) ---
+	ESP_LOGW(TAG,"initializing wifi...");
 	wifi_initNvs_initNetif();
 
 	//--- initialize spiffs ---
 	init_spiffs();
 
 	//--- initialize and start wifi ---
-	ESP_LOGD(TAG,"starting wifi...");
+	ESP_LOGW(TAG,"starting wifi...");
 	//wifi_init_client(); //connect to existing wifi
 	wifi_init_ap(); //start access point
 	ESP_LOGD(TAG,"done starting wifi");
 
 	//--- initialize encoder ---
-	const QueueHandle_t encoderQueue = encoder_init();
+	const QueueHandle_t encoderQueue = encoder_init(&encoder_config);
+
+	printf("\n");
 
 
 
@@ -206,12 +210,14 @@ extern "C" void app_main(void) {
 	ESP_LOGW(TAG, "===== CREATING SHARED OBJECTS =====");
 
 	//initialize sabertooth object in STACK (due to performance issues in heap)
-	sabertoothDriver = static_cast<sabertooth2x60a*>(alloca(sizeof(sabertooth2x60a)));
+	///sabertoothDriver = static_cast<sabertooth2x60a*>(alloca(sizeof(sabertooth2x60a)));
-	new (sabertoothDriver) sabertooth2x60a(sabertoothConfig);
+	///new (sabertoothDriver) sabertooth2x60a(sabertoothConfig);
 
 	//create all class instances used below in HEAP
 	createObjects();
 
+	printf("\n");
+
 
 
 	//--- create tasks ---
@@ -256,13 +262,16 @@ extern "C" void app_main(void) {
 	//----- create task for display -----
 	//-----------------------------------
 	////task that handles the display (show stats, handle menu in 'MENU' mode)
-	display_task_parameters_t display_param = {control, joystick, encoderQueue, motorLeft, motorRight, speedLeft, speedRight, buzzer};
+	display_task_parameters_t display_param = {display_config, control, joystick, encoderQueue, motorLeft, motorRight, speedLeft, speedRight, buzzer};
 	xTaskCreate(&display_task, "display_task", 3*2048, &display_param, 3, NULL);
 
+	vTaskDelay(200 / portTICK_PERIOD_MS); //wait for all tasks to finish initializing
+	printf("\n");
+
 
 
 	//--- startup finished ---
-	ESP_LOGW(TAG, "===== STARTUP FINISHED =====");
+	ESP_LOGW(TAG, "===== STARTUP FINISHED =====\n");
 	buzzer->beep(3, 70, 50);
 
 	//--- testing encoder ---

common/speedsensor.cpp

@@ -7,6 +7,9 @@
 static const char* TAG = "speedSensor";
 
 
+//initialize ISR only once (for multiple instances)
+bool speedSensor::isrIsInitialized = false;
+
 
 uint32_t min(uint32_t a, uint32_t b){
 	if (a>b) return b;
@@ -84,11 +87,8 @@ void IRAM_ATTR onEncoderChange(void* arg) {
 speedSensor::speedSensor(speedSensor_config_t config_f){
 	//copy config
 	config = config_f;
-	//note: currently gets initialized at first method call 
-	//this prevents crash due to too early initialization at boot
-	//TODO: create global objects later after boot
 	//init gpio and ISR
-	//init();
+	init();
 }
 
 
@@ -102,15 +102,16 @@ void speedSensor::init() {
 	gpio_pad_select_gpio(config.gpioPin);
 	gpio_set_direction(config.gpioPin, GPIO_MODE_INPUT);
 	gpio_set_pull_mode(config.gpioPin, GPIO_PULLUP_ONLY);
-	ESP_LOGW(TAG, "%s, configured gpio-pin %d", config.logName, (int)config.gpioPin);
 
 	//configure interrupt
 	gpio_set_intr_type(config.gpioPin, GPIO_INTR_ANYEDGE);
+	if (!isrIsInitialized) {
 		gpio_install_isr_service(0);
+		isrIsInitialized = true;
+		ESP_LOGW(TAG, "Initialized ISR service");
+	}
 	gpio_isr_handler_add(config.gpioPin, onEncoderChange, this);
-	ESP_LOGW(TAG, "%s, configured interrupt", config.logName);
+	ESP_LOGW(TAG, "[%s], configured gpio-pin %d and interrupt routine", config.logName, (int)config.gpioPin);
-
-	isInitialized = true;
 }
 
 
@@ -121,8 +122,6 @@ void speedSensor::init() {
 //==========================
 //get rotational speed in revolutions per minute
 float speedSensor::getRpm(){
-	//check if initialized
-	if (!isInitialized) init();
 	uint32_t timeElapsed = esp_timer_get_time() - lastEdgeTime;
 	//timeout (standstill)
 	//TODO variable timeout considering config.degreePerGroup

common/speedsensor.hpp

@@ -24,7 +24,7 @@ class speedSensor {
 public:
 	//constructor
     speedSensor(speedSensor_config_t config);
- //initializes gpio pin and configures interrupt
+	// initializes gpio pin, configures and starts interrupt
 	void init();
 	
 	//negative values = reverse direction
@@ -35,8 +35,7 @@ public:
 
 	//1=forward, -1=reverse
     int direction;
-
+	//variables for handling the encoder (public because ISR needs access)
-	//variables for handling the encoder
 	speedSensor_config_t config;
     int prevState = 0;
 	uint64_t pulseDurations[3] = {};
@@ -44,10 +43,9 @@ public:
 	uint8_t pulseCounter = 0;
 	int debugCount = 0;
 	double currentRpm = 0;
-	bool isInitialized = false;
 
 private:
-
+	static bool isrIsInitialized; // default false due to static
 };
 
 

components/ssd1306/ssd1306.c

@@ -17,8 +17,10 @@ typedef union out_column_t {
 	uint8_t  u8[4];
 } PACK8 out_column_t;
 
-void ssd1306_init(SSD1306_t * dev, int width, int height)
+//void ssd1306_init(SSD1306_t * dev, int width, int height, int offsetX) //original
+void ssd1306_init(SSD1306_t * dev, int width, int height, int offsetX)
 {
+	dev->_offsetX = offsetX;
 	if (dev->_address == SPIAddress) {
 		spi_init(dev, width, height);
 	} else {

components/ssd1306/ssd1306.h

@@ -98,6 +98,7 @@ typedef struct {
 	int _scDirection;
 	PAGE_t _page[8];
 	bool _flip;
+	int _offsetX; //added offset here instead of using macro variable
 } SSD1306_t;
 
 #ifdef __cplusplus
@@ -105,7 +106,7 @@ extern "C"
 {
 #endif
 
-void ssd1306_init(SSD1306_t * dev, int width, int height);
+void ssd1306_init(SSD1306_t * dev, int width, int height, int offsetX);
 int ssd1306_get_width(SSD1306_t * dev);
 int ssd1306_get_height(SSD1306_t * dev);
 int ssd1306_get_pages(SSD1306_t * dev);
@@ -128,6 +129,7 @@ void _ssd1306_pixel(SSD1306_t * dev, int xpos, int ypos, bool invert);
 void _ssd1306_line(SSD1306_t * dev, int x1, int y1, int x2, int y2,  bool invert);
 void ssd1306_invert(uint8_t *buf, size_t blen);
 void ssd1306_flip(uint8_t *buf, size_t blen);
+void ssd1306_setOffset(SSD1306_t * dev, int offset);
 uint8_t ssd1306_copy_bit(uint8_t src, int srcBits, uint8_t dst, int dstBits);
 uint8_t ssd1306_rotate_byte(uint8_t ch1);
 void ssd1306_fadeout(SSD1306_t * dev);

components/ssd1306/ssd1306_i2c.c

@@ -112,7 +112,8 @@ void i2c_display_image(SSD1306_t * dev, int page, int seg, uint8_t * images, int
 	if (page >= dev->_pages) return;
 	if (seg >= dev->_width) return;
 
-	int _seg = seg + CONFIG_OFFSETX;
+	//int _seg = seg + CONFIG_OFFSETX; //original
+	int _seg = seg + dev->_offsetX;
 	uint8_t columLow = _seg & 0x0F;
 	uint8_t columHigh = (_seg >> 4) & 0x0F;
 

components/ssd1306/ssd1306_spi.c

@@ -158,7 +158,8 @@ void spi_display_image(SSD1306_t * dev, int page, int seg, uint8_t * images, int
 	if (page >= dev->_pages) return;
 	if (seg >= dev->_width) return;
 
-	int _seg = seg + CONFIG_OFFSETX;
+	//int _seg = seg + CONFIG_OFFSETX; //original
+	int _seg = seg + dev->_offsetX;
 	uint8_t columLow = _seg & 0x0F;
 	uint8_t columHigh = (_seg >> 4) & 0x0F;