Fix decel massage, Fix bugged pixels (clear), Less Fan
- fix deceleration being overwritten in nvs at massage mode change (as accel before) - handle deadlock when handle-loop does not give back mutex (rare but had that once -> restart) - clear display when changing to mode-select - clear display when switching status page - adjust fan time (less on) - slightly adjust accel/decel/max duty (needs testing)
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jonny_l480
parent
c738ac96b1
commit
5fe970f60b
@ -99,8 +99,8 @@ sabertooth2x60_config_t sabertoothConfig = {
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motorctl_config_t configMotorControlLeft = {
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.name = "left",
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.loggingEnabled = true,
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.msFadeAccel = 1500, // acceleration of the motor (ms it takes from 0% to 100%)
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.msFadeDecel = 1000, // deceleration of the motor (ms it takes from 100% to 0%)
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.msFadeAccel = 1800, // acceleration of the motor (ms it takes from 0% to 100%)
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.msFadeDecel = 1600, // deceleration of the motor (ms it takes from 100% to 0%)
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.currentLimitEnabled = false,
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.tractionControlSystemEnabled = false,
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.currentSensor_adc = ADC1_CHANNEL_4, // GPIO32
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@ -117,8 +117,8 @@ motorctl_config_t configMotorControlLeft = {
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motorctl_config_t configMotorControlRight = {
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.name = "right",
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.loggingEnabled = false,
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.msFadeAccel = 1500, // acceleration of the motor (ms it takes from 0% to 100%)
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.msFadeDecel = 1000, // deceleration of the motor (ms it takes from 100% to 0%)
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.msFadeAccel = 1800, // acceleration of the motor (ms it takes from 0% to 100%)
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.msFadeDecel = 1600, // deceleration of the motor (ms it takes from 100% to 0%)
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.currentLimitEnabled = false,
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.tractionControlSystemEnabled = false,
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.currentSensor_adc = ADC1_CHANNEL_5, // GPIO33
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@ -179,10 +179,10 @@ joystick_config_t configJoystick = {
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//----------------------------
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fan_config_t configFans = {
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.gpio_fan = GPIO_NUM_13,
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.dutyThreshold = 40,
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.minOnMs = 1500,
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.minOffMs = 3000,
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.turnOffDelayMs = 5000,
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.dutyThreshold = 50,
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.minOnMs = 3500, // time motor duty has to be above the threshold for fans to turn on
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.minOffMs = 5000, // min time fans have to be off to be able to turn on again
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.turnOffDelayMs = 3000, // time fans continue to be on after duty is below threshold
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};
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@ -258,7 +258,7 @@ joystickGenerateCommands_config_t joystickGenerateCommands_config{
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//-- maxDuty --
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// max duty when both motors are at equal ratio e.g. driving straight forward
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// better to be set less than 100% to have some reserve for boosting the outer tire when turning
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.maxDutyStraight = 75,
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.maxDutyStraight = 65,
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//-- maxBoost --
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// boost is amount of duty added to maxDutyStraight to outer tire while turning
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// => turning: inner tire gets slower, outer tire gets faster
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@ -25,6 +25,7 @@ static const char * ERROR_STR = "ERR";
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const char* controlModeStr[10] = {"IDLE", "JOYSTICK", "MASSAGE", "HTTP", "MQTT", "BLUETOOTH", "AUTO", "ADJUST_CHAIR", "MENU_SETTINGS", "MENU_MODE_SELECT"};
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const uint8_t controlModeMaxCount = sizeof(controlModeStr) / sizeof(char *);
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#define MUTEX_TIMEOUT 10000 // restart when stuck waiting for handle() mutex
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//==========================
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@ -113,7 +114,7 @@ void controlledArmchair::startHandleLoop()
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while (1)
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{
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// mutex to prevent race condition with actions beeing run at mode change and previous mode still beeing executed
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if (xSemaphoreTake(handleIteration_mutex, portMAX_DELAY) == pdTRUE)
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if (xSemaphoreTake(handleIteration_mutex, MUTEX_TIMEOUT / portTICK_PERIOD_MS) == pdTRUE)
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{
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//--- handle current mode ---
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ESP_LOGV(TAG, "control loop executing... mode='%s'", controlModeStr[(int)mode]);
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@ -121,6 +122,10 @@ void controlledArmchair::startHandleLoop()
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xSemaphoreGive(handleIteration_mutex);
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} // end mutex
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else {
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ESP_LOGE(TAG, "mutex timeout - stuck in changeMode? -> RESTART");
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esp_restart();
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}
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//--- slow loop ---
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// this section is run approx every 5s (+500ms)
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@ -433,6 +438,7 @@ void controlledArmchair::changeMode(controlMode_t modeNew)
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{
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// variable to store configured accel limit before entering massage mode, to restore it later
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static uint32_t massagePreviousAccel = motorLeft->getFade(fadeType_t::ACCEL);
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static uint32_t massagePreviousDecel = motorLeft->getFade(fadeType_t::DECEL);
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// exit if target mode is already active
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if (mode == modeNew)
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@ -444,7 +450,7 @@ void controlledArmchair::changeMode(controlMode_t modeNew)
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// mutex to wait for current handle iteration (control-task) to finish
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// prevents race conditions where operations when changing mode are run but old mode gets handled still
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ESP_LOGI(TAG, "changeMode: waiting for current handle() iteration to finish...");
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if (xSemaphoreTake(handleIteration_mutex, portMAX_DELAY) == pdTRUE)
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if (xSemaphoreTake(handleIteration_mutex, MUTEX_TIMEOUT / portTICK_PERIOD_MS) == pdTRUE)
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{
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// copy previous mode
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modePrevious = mode;
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@ -478,8 +484,8 @@ void controlledArmchair::changeMode(controlMode_t modeNew)
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ESP_LOGW(TAG, "switching from MASSAGE mode -> restoring fading, reset frozen input");
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// TODO: fix issue when downfading was disabled before switching to massage mode - currently it gets enabled again here...
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// enable downfading (set to default value)
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motorLeft->setFade(fadeType_t::DECEL, true);
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motorRight->setFade(fadeType_t::DECEL, true);
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motorLeft->setFade(fadeType_t::DECEL, massagePreviousDecel);
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motorRight->setFade(fadeType_t::DECEL, massagePreviousDecel);
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// restore previously set acceleration limit
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motorLeft->setFade(fadeType_t::ACCEL, massagePreviousAccel);
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motorRight->setFade(fadeType_t::ACCEL, massagePreviousAccel);
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@ -538,12 +544,14 @@ void controlledArmchair::changeMode(controlMode_t modeNew)
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case controlMode_t::MASSAGE:
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ESP_LOGW(TAG, "switching to MASSAGE mode -> reducing fading");
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uint32_t shake_msFadeAccel = 200; // TODO: move this to config
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uint32_t shake_msFadeDecel = 0; // TODO: move this to config
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// save currently set normal acceleration config (for restore when leavinge MASSAGE again)
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massagePreviousAccel = motorLeft->getFade(fadeType_t::ACCEL);
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massagePreviousDecel = motorLeft->getFade(fadeType_t::DECEL);
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// disable downfading (max. deceleration)
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motorLeft->setFade(fadeType_t::DECEL, false);
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motorRight->setFade(fadeType_t::DECEL, false);
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motorLeft->setFade(fadeType_t::DECEL, shake_msFadeDecel, false);
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motorRight->setFade(fadeType_t::DECEL, shake_msFadeDecel, false);
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// reduce upfading (increase acceleration) but do not update nvs
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motorLeft->setFade(fadeType_t::ACCEL, shake_msFadeAccel, false);
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motorRight->setFade(fadeType_t::ACCEL, shake_msFadeAccel, false);
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@ -556,6 +564,11 @@ void controlledArmchair::changeMode(controlMode_t modeNew)
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// unlock mutex for control task to continue handling modes
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xSemaphoreGive(handleIteration_mutex);
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} // end mutex
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else
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{
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ESP_LOGE(TAG, "mutex timeout - stuck in handle() loop? -> RESTART");
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esp_restart();
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}
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}
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//TODO simplify the following 3 functions? can be replaced by one?
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@ -498,6 +498,7 @@ void display_rotateStatusPage(bool reverseDirection, bool noRotate)
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else
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// select next screen
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display_selectStatusPage((displayStatusPage_t)((int)selectedStatusPage + 1));
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ssd1306_clear_screen(&dev, false); // clear screen when switching
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}
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else // rotate back
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{
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@ -510,6 +511,7 @@ void display_rotateStatusPage(bool reverseDirection, bool noRotate)
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else
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// select previous screen
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display_selectStatusPage((displayStatusPage_t)((int)selectedStatusPage - 1));
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ssd1306_clear_screen(&dev, false); // clear screen when switching
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}
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}
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@ -1008,6 +1008,7 @@ void handleMenu_modeSelect(display_task_parameters_t *objects, SSD1306_t *displa
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if (firstRun)
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{
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firstRun = false;
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ssd1306_clear_screen(display, false); // clear screen initially (no artefacts of previous content)
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selectedMode = (int)objects->control->getPreviousMode(); // store previous mode (since current mode is MENU)
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ESP_LOGI(TAG, "started mode-select menu, previous active is %s", controlModeStr[(int)selectedMode]);
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}
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