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Fix stack-overflow, Adjust logging, test-ready

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enable all tasks in main for full function test with new driver
This commit is contained in:
jonny_jr9
2023-09-09 09:38:42 +02:00
parent 71b63ebbd3
commit 8e0441b27c
3 changed files with 49 additions and 45 deletions
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83
board_single/main/main.cpp
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@@ -139,8 +139,8 @@ void setLoglevels(void){
//--- set loglevel for individual tags ---
esp_log_level_set("main", ESP_LOG_INFO);
esp_log_level_set("buzzer", ESP_LOG_ERROR);
//esp_log_level_set("motordriver", ESP_LOG_INFO);
//esp_log_level_set("motor-control", ESP_LOG_DEBUG);
esp_log_level_set("motordriver", ESP_LOG_INFO);
esp_log_level_set("motor-control", ESP_LOG_INFO);
//esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
//esp_log_level_set("joystickCommands", ESP_LOG_DEBUG);
esp_log_level_set("button", ESP_LOG_INFO);
@@ -176,40 +176,40 @@ extern "C" void app_main(void) {
//--- create task for controlling the motors ---
//----------------------------------------------
//task that receives commands, handles ramp and current limit and executes commands using the motordriver function
xTaskCreate(&task_motorctl, "task_motor-control", 2048, NULL, 6, NULL);
xTaskCreate(&task_motorctl, "task_motor-control", 2*4096, NULL, 6, NULL);
// //------------------------------
// //--- create task for buzzer ---
// //------------------------------
// xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
//
// //-------------------------------
// //--- create task for control ---
// //-------------------------------
// //task that generates motor commands depending on the current mode and sends those to motorctl task
// xTaskCreate(&task_control, "task_control", 4096, NULL, 5, NULL);
//
// //------------------------------
// //--- create task for button ---
// //------------------------------
// //task that evaluates and processes the button input and runs the configured commands
// xTaskCreate(&task_button, "task_button", 4096, NULL, 4, NULL);
//
// //-----------------------------------
// //--- create task for fan control ---
// //-----------------------------------
// //task that evaluates and processes the button input and runs the configured commands
// xTaskCreate(&task_fans, "task_fans", 2048, NULL, 1, NULL);
//
//
// //beep at startup
// buzzer.beep(3, 70, 50);
//
// //--- initialize nvs-flash and netif (needed for wifi) ---
// wifi_initNvs_initNetif();
//
// //--- initialize spiffs ---
// init_spiffs();
//------------------------------
//--- create task for buzzer ---
//------------------------------
xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
//-------------------------------
//--- create task for control ---
//-------------------------------
//task that generates motor commands depending on the current mode and sends those to motorctl task
xTaskCreate(&task_control, "task_control", 4096, NULL, 5, NULL);
//------------------------------
//--- create task for button ---
//------------------------------
//task that evaluates and processes the button input and runs the configured commands
xTaskCreate(&task_button, "task_button", 4096, NULL, 4, NULL);
//-----------------------------------
//--- create task for fan control ---
//-----------------------------------
//task that evaluates and processes the button input and runs the configured commands
xTaskCreate(&task_fans, "task_fans", 2048, NULL, 1, NULL);
//beep at startup
buzzer.beep(3, 70, 50);
//--- initialize nvs-flash and netif (needed for wifi) ---
wifi_initNvs_initNetif();
//--- initialize spiffs ---
init_spiffs();
//--- initialize and start wifi ---
//FIXME: run wifi_init_client or wifi_init_ap as intended from control.cpp when switching state
@@ -235,6 +235,7 @@ extern "C" void app_main(void) {
//--- main loop ---
//does nothing except for testing things
while(1){
vTaskDelay(5000 / portTICK_PERIOD_MS);
//test sabertooth driver
// motors.setLeft({motorstate_t::FWD, 70});
// vTaskDelay(1000 / portTICK_PERIOD_MS);
@@ -255,12 +256,12 @@ extern "C" void app_main(void) {
//motorLeft.setTarget(motorstate_t::BRAKE);
//vTaskDelay(1000 / portTICK_PERIOD_MS);
//command 90% - reverse
motorLeft.setTarget(motorstate_t::REV, 90);
vTaskDelay(5000 / portTICK_PERIOD_MS);
motorLeft.setTarget(motorstate_t::FWD, 80);
vTaskDelay(1000 / portTICK_PERIOD_MS);
motorLeft.setTarget(motorstate_t::IDLE, 90);
vTaskDelay(1000 / portTICK_PERIOD_MS);
//motorLeft.setTarget(motorstate_t::REV, 90);
//vTaskDelay(5000 / portTICK_PERIOD_MS);
//motorLeft.setTarget(motorstate_t::FWD, 80);
//vTaskDelay(1000 / portTICK_PERIOD_MS);
//motorLeft.setTarget(motorstate_t::IDLE, 90);
//vTaskDelay(1000 / portTICK_PERIOD_MS);
//---------------------------------