Oursource task_fans and task_buzzer

- outsource task_fans and task_buzzer from main.cpp to their source files
- use task parameters to pass necessary configs and objects
- adjust task priorities (display was too low)

board_single/main/config.cpp

@@ -153,7 +153,7 @@ joystick_config_t configJoystick = {
 //----------------------------
 //--- configure fan contol ---
 //----------------------------
-fan_config_t configCooling = {
+fan_config_t configFans = {
     .gpio_fan = GPIO_NUM_13,
     .dutyThreshold = 40,
     .minOnMs = 1500,

board_single/main/fan.cpp

@@ -12,6 +12,28 @@ extern "C"
 static const char * TAG = "fan-control";
 
 
+//=======================================
+//============== fan task ===============
+//=======================================
+//task that controlls fans for cooling the drivers
+//turns fan on/off depending on motor duty history
+void task_fans( void * task_fans_parameters ){
+	//get configuration struct from task parameter
+	task_fans_parameters_t *objects = (task_fans_parameters_t *)task_fans_parameters;
+
+    //create fan instances with config defined in config.cpp
+    ESP_LOGI(TAG, "Initializing fans and starting fan handle loop");
+    controlledFan fan(objects->fan_config, objects->motorLeft, objects->motorRight);
+
+    //repeatedly run fan handle function in a slow loop
+    while(1){
+        fan.handle();
+        vTaskDelay(500 / portTICK_PERIOD_MS);
+    }
+}
+
+
+
 //-----------------------------
 //-------- constructor --------
 //-----------------------------

board_single/main/fan.hpp

@@ -16,7 +16,22 @@ typedef struct fan_config_t {
 	uint32_t minOnMs;
 	uint32_t minOffMs;
 	uint32_t turnOffDelayMs;
-} fan_config;
+} fan_config_t;
+
+
+// struct with variables passed to task from main
+typedef struct task_fans_parameters_t {
+    fan_config_t fan_config;
+    controlledMotor * motorLeft;
+    controlledMotor * motorRight;
+} task_fans_parameters_t;
+
+
+//====================================
+//========== motorctl task ===========
+//====================================
+//note: pointer to task_fans_parameters_t has to be passed as task-parameter (config, motor objects)
+void task_fans( void * task_fans_parameters );
 
 
 

board_single/main/main.cpp

@@ -15,12 +15,13 @@ extern "C"
 #include "wifi.h"
 }
 
+#include <new>
+
 //custom C++ files
 //folder common
 #include "uart_common.hpp"
 #include "motordrivers.hpp"
 #include "http.hpp"
-#include "types.hpp"
 #include "speedsensor.hpp"
 #include "motorctl.hpp"
 
@@ -31,8 +32,6 @@ extern "C"
 #include "display.hpp"
 #include "encoder.hpp"
 
-#include <new>
-
 //only extends this file (no library):
 //outsourced all configuration related structures
 #include "config.cpp"
@@ -89,42 +88,11 @@ esp_err_t on_joystick_url(httpd_req_t *req)
     return (httpJoystickMain->*pointerToReceiveFunc)(req);
 }
 
-//tag for logging
+//-- tag for logging --
 static const char * TAG = "main";
 
 
 
-//======================================
-//============ buzzer task =============
-//======================================
-//TODO: move the task creation to buzzer class (buzzer.cpp)
-//e.g. only have function buzzer.createTask() in app_main
-void task_buzzer( void * pvParameters ){
-    ESP_LOGI("task_buzzer", "Start of buzzer task...");
-        //run function that waits for a beep events to arrive in the queue
-        //and processes them
-        buzzer->processQueue();
-}
-
-
-
-//=======================================
-//============== fan task ===============
-//=======================================
-//TODO: move this definition to fan.cpp
-//task that controlls fans for cooling the drivers
-void task_fans( void * pvParameters ){
-    ESP_LOGI(TAG, "Initializing fans and starting fan handle loop");
-    //create fan instances with config defined in config.cpp
-    controlledFan fan(configCooling, motorLeft, motorRight);
-    //repeatedly run fan handle function in a slow loop
-    while(1){
-        fan.handle();
-        vTaskDelay(500 / portTICK_PERIOD_MS);
-    }
-}
-
-
 
 //=================================
 //========== init spiffs ==========
@@ -150,7 +118,6 @@ void init_spiffs(){
 
 
 
-
 //=================================
 //========= createObjects =========
 //=================================
@@ -198,7 +165,6 @@ void createObjects()
     legRest = new cControlledRest(GPIO_NUM_4, GPIO_NUM_16, "legRest");
     backRest = new cControlledRest(GPIO_NUM_2, GPIO_NUM_15, "backRest");
 }
-    //sabertooth2x60a sabertoothDriver(sabertoothConfig);
 
 
 
@@ -247,7 +213,6 @@ extern "C" void app_main(void) {
 
 
 
-#ifndef ENCODER_TEST
 	//--- create tasks ---
 	ESP_LOGW(TAG, "===== CREATING TASKS =====");
 
@@ -261,7 +226,9 @@ extern "C" void app_main(void) {
 	//------------------------------
 	//--- create task for buzzer ---
 	//------------------------------
-	xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
+	//task that processes queued beeps
+	//note: pointer to shard object 'buzzer' is passed as task parameter:
+	xTaskCreate(&task_buzzer, "task_buzzer", 2048, buzzer, 2, NULL);
 
 	//-------------------------------
 	//--- create task for control ---
@@ -275,23 +242,23 @@ extern "C" void app_main(void) {
 	//------------------------------
 	//task that handles button/encoder events in any mode except 'MENU' (e.g. switch modes by pressing certain count)
 	task_button_parameters_t button_param = {control, joystick, encoderQueue, motorLeft, motorRight, buzzer};
-	xTaskCreate(&task_button, "task_button", 4096, &button_param, 4, NULL);
+	xTaskCreate(&task_button, "task_button", 4096, &button_param, 3, NULL);
 
 	//-----------------------------------
 	//--- create task for fan control ---
 	//-----------------------------------
 	//task that controls cooling fans of the motor driver
-	xTaskCreate(&task_fans, "task_fans", 2048, NULL, 1, NULL);
+	task_fans_parameters_t fans_param = {configFans, motorLeft, motorRight};
+	xTaskCreate(&task_fans, "task_fans", 2048, &fans_param, 1, NULL);
 
 	//-----------------------------------
 	//----- 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};
-	xTaskCreate(&display_task, "display_task", 3*2048, &display_param, 1, NULL);
+	xTaskCreate(&display_task, "display_task", 3*2048, &display_param, 3, NULL);
 
 
-#endif
 
 	//--- startup finished ---
 	ESP_LOGW(TAG, "===== STARTUP FINISHED =====");
@@ -315,7 +282,9 @@ extern "C" void app_main(void) {
 	//--- main loop ---
 	//does nothing except for testing things
 	while(1){
-		vTaskDelay(5000 / portTICK_PERIOD_MS);
+		vTaskDelay(portMAX_DELAY);
+		//vTaskDelay(5000 / portTICK_PERIOD_MS);
+
 		//---------------------------------
 		//-------- TESTING section --------
 		//---------------------------------

common/buzzer.cpp

@@ -2,6 +2,19 @@
 
 static const char *TAG_BUZZER = "buzzer";
 
+//======================================
+//============ buzzer task =============
+//======================================
+// Task that repeatedly handles the buzzer object (process Queued beeps)
+void task_buzzer(void * param_buzzerObject){
+    ESP_LOGI("task_buzzer", "Start of buzzer task...");
+    buzzer_t * buzzer = (buzzer_t *)param_buzzerObject;
+        //run function that waits for a beep events to arrive in the queue
+        //and processes them
+        buzzer->processQueue();
+}
+
+
 //============================
 //========== init ============
 //============================

common/buzzer.hpp

@@ -53,4 +53,9 @@ class buzzer_t {
 };
 
 
-
+//======================================
+//============ buzzer task =============
+//======================================
+// Task that repeatedly handles the buzzer object (process Queued beeps)
+// Note: pointer to globally initialized buzzer object has to be passed as task-parameter
+void task_buzzer(void * param_buzzerObject);

common/motorctl.cpp

@@ -19,7 +19,7 @@ void task_motorctl( void * task_motorctl_parameters ){
     while(1){
     	objects->motorRight->handle();
     	objects->motorLeft->handle();
-        vTaskDelay(10 / portTICK_PERIOD_MS);
+        vTaskDelay(15 / portTICK_PERIOD_MS);
     }
 }
 

common/types.hpp

@@ -12,6 +12,7 @@ extern "C"
 //====== struct/type  declarations ======
 //=======================================
 //global structs and types that need to be available for all boards
+//this file is necessary to prevent dependency loop between motordrivers.hpp and motorctl.hpp since 
 
 
 //===============================