Fix stack-overflow, Adjust logging, test-ready
enable all tasks in main for full function test with new driver
This commit is contained in:
jonny_jr9
parent
71b63ebbd3
commit
8e0441b27c
@ -139,8 +139,8 @@ void setLoglevels(void){
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//--- set loglevel for individual tags ---
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esp_log_level_set("main", ESP_LOG_INFO);
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esp_log_level_set("buzzer", ESP_LOG_ERROR);
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//esp_log_level_set("motordriver", ESP_LOG_INFO);
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//esp_log_level_set("motor-control", ESP_LOG_DEBUG);
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esp_log_level_set("motordriver", ESP_LOG_INFO);
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esp_log_level_set("motor-control", ESP_LOG_INFO);
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//esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
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//esp_log_level_set("joystickCommands", ESP_LOG_DEBUG);
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esp_log_level_set("button", ESP_LOG_INFO);
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@ -176,40 +176,40 @@ extern "C" void app_main(void) {
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//--- create task for controlling the motors ---
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//----------------------------------------------
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//task that receives commands, handles ramp and current limit and executes commands using the motordriver function
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xTaskCreate(&task_motorctl, "task_motor-control", 2048, NULL, 6, NULL);
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xTaskCreate(&task_motorctl, "task_motor-control", 2*4096, NULL, 6, NULL);
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// //------------------------------
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// //--- create task for buzzer ---
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// //------------------------------
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// xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
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//
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// //-------------------------------
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// //--- create task for control ---
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// //-------------------------------
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// //task that generates motor commands depending on the current mode and sends those to motorctl task
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// xTaskCreate(&task_control, "task_control", 4096, NULL, 5, NULL);
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//
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// //------------------------------
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// //--- create task for button ---
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// //------------------------------
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// //task that evaluates and processes the button input and runs the configured commands
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// xTaskCreate(&task_button, "task_button", 4096, NULL, 4, NULL);
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//
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// //-----------------------------------
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// //--- create task for fan control ---
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// //-----------------------------------
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// //task that evaluates and processes the button input and runs the configured commands
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// xTaskCreate(&task_fans, "task_fans", 2048, NULL, 1, NULL);
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//
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//
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// //beep at startup
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// buzzer.beep(3, 70, 50);
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//
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// //--- initialize nvs-flash and netif (needed for wifi) ---
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// wifi_initNvs_initNetif();
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//
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// //--- initialize spiffs ---
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// init_spiffs();
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//------------------------------
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//--- create task for buzzer ---
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//------------------------------
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xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
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//-------------------------------
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//--- create task for control ---
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//-------------------------------
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//task that generates motor commands depending on the current mode and sends those to motorctl task
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xTaskCreate(&task_control, "task_control", 4096, NULL, 5, NULL);
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//------------------------------
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//--- create task for button ---
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//------------------------------
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//task that evaluates and processes the button input and runs the configured commands
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xTaskCreate(&task_button, "task_button", 4096, NULL, 4, NULL);
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//-----------------------------------
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//--- create task for fan control ---
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//-----------------------------------
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//task that evaluates and processes the button input and runs the configured commands
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xTaskCreate(&task_fans, "task_fans", 2048, NULL, 1, NULL);
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//beep at startup
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buzzer.beep(3, 70, 50);
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//--- initialize nvs-flash and netif (needed for wifi) ---
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wifi_initNvs_initNetif();
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//--- initialize spiffs ---
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init_spiffs();
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//--- initialize and start wifi ---
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//FIXME: run wifi_init_client or wifi_init_ap as intended from control.cpp when switching state
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@ -235,6 +235,7 @@ extern "C" void app_main(void) {
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//--- main loop ---
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//does nothing except for testing things
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while(1){
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vTaskDelay(5000 / portTICK_PERIOD_MS);
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//test sabertooth driver
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// motors.setLeft({motorstate_t::FWD, 70});
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// vTaskDelay(1000 / portTICK_PERIOD_MS);
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@ -255,12 +256,12 @@ extern "C" void app_main(void) {
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//motorLeft.setTarget(motorstate_t::BRAKE);
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//vTaskDelay(1000 / portTICK_PERIOD_MS);
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//command 90% - reverse
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motorLeft.setTarget(motorstate_t::REV, 90);
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vTaskDelay(5000 / portTICK_PERIOD_MS);
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motorLeft.setTarget(motorstate_t::FWD, 80);
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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motorLeft.setTarget(motorstate_t::IDLE, 90);
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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//motorLeft.setTarget(motorstate_t::REV, 90);
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//vTaskDelay(5000 / portTICK_PERIOD_MS);
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//motorLeft.setTarget(motorstate_t::FWD, 80);
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//vTaskDelay(1000 / portTICK_PERIOD_MS);
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//motorLeft.setTarget(motorstate_t::IDLE, 90);
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//vTaskDelay(1000 / portTICK_PERIOD_MS);
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//---------------------------------
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@ -81,7 +81,7 @@ void controlledMotor::handle(){
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//--- receive commands from queue ---
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if( xQueueReceive( commandQueue, &commandReceive, ( TickType_t ) 0 ) )
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{
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ESP_LOGI(TAG, "Read command from queue: state=%s, duty=%.2f", motorstateStr[(int)commandReceive.state], commandReceive.duty);
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ESP_LOGD(TAG, "Read command from queue: state=%s, duty=%.2f", motorstateStr[(int)commandReceive.state], commandReceive.duty);
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state = commandReceive.state;
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dutyTarget = commandReceive.duty;
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receiveTimeout = false;
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@ -141,6 +141,7 @@ void controlledMotor::handle(){
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if (state == motorstate_t::BRAKE){
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ESP_LOGD(TAG, "braking - skip fading");
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motorSetCommand({motorstate_t::BRAKE, dutyTarget});
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ESP_LOGI(TAG, "Set Motordriver: state=%s, duty=%.2f - Measurements: current=%.2f, speed=N/A", motorstateStr[(int)state], dutyNow, currentNow);
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//dutyNow = 0;
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return; //no need to run the fade algorithm
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}
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@ -174,8 +175,8 @@ void controlledMotor::handle(){
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//----- CURRENT LIMIT -----
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currentNow = cSensor.read();
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if ((config.currentLimitEnabled) && (dutyDelta != 0)){
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currentNow = cSensor.read();
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if (fabs(currentNow) > config.currentMax){
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float dutyOld = dutyNow;
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//adaptive decrement:
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@ -231,6 +232,7 @@ void controlledMotor::handle(){
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//--- apply new target to motor ---
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motorSetCommand({state, (float)fabs(dutyNow)});
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ESP_LOGI(TAG, "Set Motordriver: state=%s, duty=%.2f - Measurements: current=%.2f, speed=N/A", motorstateStr[(int)state], dutyNow, currentNow);
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//note: BRAKE state is handled earlier
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@ -236,12 +236,13 @@ float motorCommandToSignedDuty(motorCommand_t cmd){
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//-------- send byte --------
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//send byte via uart to sabertooth driver
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void sabertooth2x60a::sendByte(char data){
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//TODO mutex?
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if (!uart_isInitialized){
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ESP_LOGE(TAG, "uart not initialized, not sending command %d...", data);
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return;
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}
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uart_write_bytes(config.uart_num, &data, 1);
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ESP_LOGI(TAG, "sent data=%d to sabertooth driver via uart", data);
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ESP_LOGD(TAG, "sent data=%d to sabertooth driver via uart", data);
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}
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@ -299,7 +300,7 @@ void sabertooth2x60a::setRight(float dutyPerSigned) {
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data = static_cast<uint8_t>(192 + (dutyPerSigned / 100.0) * 63);
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}
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ESP_LOGW(TAG, "set right motor to duty=%.2f, (data=%d)", dutyPerSigned, data);
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ESP_LOGI(TAG, "set right motor to duty=%.2f, (data=%d)", dutyPerSigned, data);
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sendByte(data);
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}
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