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Initialize motorDriver in STACK instead of HEAP, pointer

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Since moving all objects to heap encoder started to lag
interrupt not recognizing some single events in MENU

fast executen of motordriver setTarget caused the lag,
initialize it in STACK while still using a pointer now
This commit is contained in:
jonny_jr9 2024-02-19 10:46:56 +01:00
parent 2fcf17feda
commit 6e9b3d96d9
2 changed files with 13 additions and 8 deletions
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19
board_single/main/main.cpp
View File

@ -31,6 +31,7 @@ extern "C"
#include "display.hpp"
#include "encoder.hpp"
#include <new>
//only extends this file (no library):
//outsourced all configuration related structures
@ -69,11 +70,11 @@ cControlledRest *backRest;
//-> makes it possible to easily use different motor drivers
motorSetCommandFunc_t setLeftFunc = [&sabertoothDriver](motorCommand_t cmd)
{
sabertoothDriver->setLeft(cmd);
sabertoothDriver->setLeft(cmd); //<= note: still using pointer to method in here (but stored in STACK)
};
motorSetCommandFunc_t setRightFunc = [&sabertoothDriver](motorCommand_t cmd)
{
sabertoothDriver->setRight(cmd);
sabertoothDriver->setRight(cmd); //<= note: still using pointer to method in here (but stored in STACK)
};
//--- lambda function http-joystick ---
@ -163,9 +164,9 @@ void createObjects()
// create sabertooth motor driver instance
// sabertooth2x60a sabertoothDriver(sabertoothConfig);
// with configuration above
sabertoothDriver = new sabertooth2x60a(sabertoothConfig);
//sabertoothDriver = new sabertooth2x60a(sabertoothConfig);
// create controlled motor instances (motorctl.hpp)
// create controlled motor instances (motorctl.hpp)
// with configurations above
motorLeft = new controlledMotor(setLeftFunc, configMotorControlLeft);
motorRight = new controlledMotor(setRightFunc, configMotorControlRight);
@ -197,6 +198,7 @@ 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);
@ -206,7 +208,7 @@ void createObjects()
//=================================
extern "C" void app_main(void) {
ESP_LOGW(TAG, "===== INITIALIZING COMPONENTS =====");
ESP_LOGW(TAG, "===== INITIAawdfLIZING COMPONENTS =====");
//--- define log levels ---
setLoglevels();
@ -236,8 +238,11 @@ extern "C" void app_main(void) {
//--- create all objects ---
ESP_LOGW(TAG, "===== CREATING SHARED OBJECTS =====");
//create all class instances used below
//see 'createObjects.hpp'
//initialize sabertooth object in STACK
sabertoothDriver = static_cast<sabertooth2x60a*>(alloca(sizeof(sabertooth2x60a)));
new (sabertoothDriver) sabertooth2x60a(sabertoothConfig);
//create all class instances used below in HEAP
createObjects();

2
common/motorctl.cpp
View File

@ -19,7 +19,7 @@ void task_motorctl( void * task_motorctl_parameters ){
while(1){
objects->motorRight->handle();
objects->motorLeft->handle();
vTaskDelay(20 / portTICK_PERIOD_MS);
vTaskDelay(10 / portTICK_PERIOD_MS);
}
}