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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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6
common/motorctl.cpp
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@@ -81,7 +81,7 @@ void controlledMotor::handle(){
//--- receive commands from queue ---
if( xQueueReceive( commandQueue, &commandReceive, ( TickType_t ) 0 ) )
{
ESP_LOGI(TAG, "Read command from queue: state=%s, duty=%.2f", motorstateStr[(int)commandReceive.state], commandReceive.duty);
ESP_LOGD(TAG, "Read command from queue: state=%s, duty=%.2f", motorstateStr[(int)commandReceive.state], commandReceive.duty);
state = commandReceive.state;
dutyTarget = commandReceive.duty;
receiveTimeout = false;
@@ -141,6 +141,7 @@ void controlledMotor::handle(){
if (state == motorstate_t::BRAKE){
ESP_LOGD(TAG, "braking - skip fading");
motorSetCommand({motorstate_t::BRAKE, dutyTarget});
ESP_LOGI(TAG, "Set Motordriver: state=%s, duty=%.2f - Measurements: current=%.2f, speed=N/A", motorstateStr[(int)state], dutyNow, currentNow);
//dutyNow = 0;
return; //no need to run the fade algorithm
}
@@ -174,8 +175,8 @@ void controlledMotor::handle(){
//----- CURRENT LIMIT -----
currentNow = cSensor.read();
if ((config.currentLimitEnabled) && (dutyDelta != 0)){
currentNow = cSensor.read();
if (fabs(currentNow) > config.currentMax){
float dutyOld = dutyNow;
//adaptive decrement:
@@ -231,6 +232,7 @@ void controlledMotor::handle(){
//--- apply new target to motor ---
motorSetCommand({state, (float)fabs(dutyNow)});
ESP_LOGI(TAG, "Set Motordriver: state=%s, duty=%.2f - Measurements: current=%.2f, speed=N/A", motorstateStr[(int)state], dutyNow, currentNow);
//note: BRAKE state is handled earlier

5
common/motordrivers.cpp
View File

@@ -236,12 +236,13 @@ float motorCommandToSignedDuty(motorCommand_t cmd){
//-------- send byte --------
//send byte via uart to sabertooth driver
void sabertooth2x60a::sendByte(char data){
//TODO mutex?
if (!uart_isInitialized){
ESP_LOGE(TAG, "uart not initialized, not sending command %d...", data);
return;
}
uart_write_bytes(config.uart_num, &data, 1);
ESP_LOGI(TAG, "sent data=%d to sabertooth driver via uart", data);
ESP_LOGD(TAG, "sent data=%d to sabertooth driver via uart", data);
}
@@ -299,7 +300,7 @@ void sabertooth2x60a::setRight(float dutyPerSigned) {
data = static_cast<uint8_t>(192 + (dutyPerSigned / 100.0) * 63);
}
ESP_LOGW(TAG, "set right motor to duty=%.2f, (data=%d)", dutyPerSigned, data);
ESP_LOGI(TAG, "set right motor to duty=%.2f, (data=%d)", dutyPerSigned, data);
sendByte(data);
}