Outsource speedsensor, Display: show speed

- move speedsensor files from motorctl pcb to common
- single pcb create and configure global speedsensor objects
- display: create fast slow veryslow loop
  - clear display every 30s
  - show speed in rpm and km/h
  NOTE: speedsensor needs fix, direction unreliable

board_motorctl/main/CMakeLists.txt

@@ -4,7 +4,6 @@ idf_component_register(
         "config.cpp"
         "fan.cpp"
 		"uart.cpp"
-		"speedsensor.cpp"
     INCLUDE_DIRS 
         "."
     )

board_single/main/config.cpp

@@ -129,6 +129,28 @@ fan_config_t configCooling = {
 
 
 
+
+//============================================
+//======== speed sensor configuration ========
+//============================================
+speedSensor_config_t speedLeft_config{
+	.gpioPin = GPIO_NUM_5,
+		.degreePerGroup = 360/5,
+		.tireCircumferenceMeter = 210.0*3.141/1000.0,
+		.directionInverted = false,
+		.logName = "speedLeft",
+};
+
+speedSensor_config_t speedRight_config{
+	.gpioPin = GPIO_NUM_14,
+		.degreePerGroup = 360/12,
+		.tireCircumferenceMeter = 210.0*3.141/1000.0,
+		.directionInverted = true,
+		.logName = "speedRight",
+};
+
+
+
 //=================================
 //===== create global objects =====
 //=================================
@@ -151,6 +173,9 @@ motorSetCommandFunc_t setRightFunc = [&sabertoothDriver](motorCommand_t cmd) {
 controlledMotor motorLeft(setLeftFunc, configMotorControlLeft);
 controlledMotor motorRight(setRightFunc, configMotorControlRight);
 
+//create speedsensor instances
+speedSensor speedLeft (speedLeft_config);
+speedSensor speedRight (speedRight_config);
 
 //create global joystic instance (joystick.hpp)
 evaluatedJoystick joystick(configJoystick);

board_single/main/config.hpp

@@ -10,6 +10,7 @@
 #include "fan.hpp"
 #include "http.hpp"
 #include "auto.hpp"
+#include "speedsensor.hpp"
 
 
 //in IDLE mode: set loglevel for evaluatedJoystick to DEBUG 
@@ -44,3 +45,7 @@ extern automatedArmchair armchair;
 //configuration for fans / cooling
 extern fan_config_t configCooling;
 
+//create global objects for measuring speed
+extern speedSensor speedLeft;
+extern speedSensor speedRight;
+

board_single/main/display.cpp

@@ -142,15 +142,20 @@ float getBatteryPercent(){
 //============================
 //======= display task =======
 //============================
+#define VERY_SLOW_LOOP_INTERVAL 30000
+#define SLOW_LOOP_INTERVAL 1000
+#define FAST_LOOP_INTERVAL 200
+//TODO: separate taks for each loop?
+
 void display_task( void * pvParameters ){
 	char buf[20];
 	char buf1[20];
 	int len, len1;
-	int countFastloop = 0;
+	int countFastloop = SLOW_LOOP_INTERVAL;
-	int countSlowLoop = 0;
+	int countSlowLoop = VERY_SLOW_LOOP_INTERVAL;
 
 	display_init();
-	//todo check if successfully initialized
+	//TODO check if successfully initialized
 
 	//welcome msg
 	strcpy(buf, "Hello");
@@ -159,7 +164,18 @@ void display_task( void * pvParameters ){
 
 	//update stats
 	while(1){
-		//--- battery ---
+
+		if (countFastloop >= SLOW_LOOP_INTERVAL / FAST_LOOP_INTERVAL){
+			//---- very slow loop ----
+			if (countSlowLoop >= VERY_SLOW_LOOP_INTERVAL/SLOW_LOOP_INTERVAL){
+				//clear display - workaround for bugged line order after a few minutes
+				countSlowLoop = 0;
+				ssd1306_clear_screen(&dev, false);
+			}
+			//---- slow loop ----
+			countSlowLoop ++;
+			countFastloop = 0;
+			//--- battery stats ---
 			//TODO update only when no load (currentsensors = ~0A)
 			float battVoltage = getBatteryVoltage();
 			float battPercent = getBatteryPercent(battVoltage);
@@ -168,8 +184,23 @@ void display_task( void * pvParameters ){
 			ssd1306_display_text_x3(&dev, 0, buf1, len1, false);
 			ssd1306_display_text(&dev, 3, buf, len, false);
 			ssd1306_display_text(&dev, 4, buf, len, true);
-		vTaskDelay(1000 / portTICK_PERIOD_MS);
+		}
 
+		//---- fast loop ----
+		//update speed/rpm
+		float sLeft = speedLeft.getKmph();
+		float rLeft = speedLeft.getRpm();
+		float sRight = speedRight.getKmph();
+		float rRight = speedRight.getRpm();
+		len = snprintf(buf, sizeof(buf), "L:%.1f R:%.1fkm/h", fabs(sLeft), fabs(sRight));
+		ssd1306_display_text(&dev, 5, buf, len, false);
+		len = snprintf(buf, sizeof(buf), "L:%4.0f R:%4.0fRPM", rLeft, rRight);
+		ssd1306_display_text(&dev, 6, buf, len, false);
+		//debug speed sensors
+		ESP_LOGD(TAG, "%s", buf);
+		//TODO show currentsensor values
+
+		vTaskDelay(FAST_LOOP_INTERVAL / portTICK_PERIOD_MS);
 		countFastloop++;
 	}
 	//TODO add pages and menus

board_single/main/display.hpp

@@ -10,6 +10,8 @@ extern "C" {
 #include "font8x8_basic.h"
 }
 
+#include "config.hpp"
+
 
 //task that inititialized the display, displays welcome message 
 //and releatedly updates the display with certain content

common/CMakeLists.txt

@@ -9,6 +9,7 @@ idf_component_register(
 		"currentsensor.cpp"
 		"joystick.cpp"
 		"http.cpp"
+		"speedsensor.cpp"
     INCLUDE_DIRS 
         "."
 		PRIV_REQUIRES nvs_flash mdns json spiffs esp_http_server

common/speedsensor.cpp

@@ -84,8 +84,11 @@ 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();
 }
 
 
@@ -106,6 +109,8 @@ void speedSensor::init() {
 	gpio_install_isr_service(0);
 	gpio_isr_handler_add(config.gpioPin, onEncoderChange, this);
 	ESP_LOGW(TAG, "%s, configured interrupt", config.logName);
+
+	isInitialized = true;
 }
 
 
@@ -116,6 +121,8 @@ 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

@@ -44,6 +44,7 @@ public:
 	uint8_t pulseCounter = 0;
 	int debugCount = 0;
 	double currentRpm = 0;
+	bool isInitialized = false;
 
 private: