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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 --- //--- set loglevel for individual tags ---
esp_log_level_set("main", ESP_LOG_INFO); esp_log_level_set("main", ESP_LOG_INFO);
esp_log_level_set("buzzer", ESP_LOG_ERROR); esp_log_level_set("buzzer", ESP_LOG_ERROR);
//esp_log_level_set("motordriver", ESP_LOG_INFO); esp_log_level_set("motordriver", ESP_LOG_INFO);
//esp_log_level_set("motor-control", ESP_LOG_DEBUG); esp_log_level_set("motor-control", ESP_LOG_INFO);
//esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG); //esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
//esp_log_level_set("joystickCommands", ESP_LOG_DEBUG); //esp_log_level_set("joystickCommands", ESP_LOG_DEBUG);
esp_log_level_set("button", ESP_LOG_INFO); esp_log_level_set("button", ESP_LOG_INFO);
@ -176,40 +176,40 @@ extern "C" void app_main(void) {
//--- create task for controlling the motors --- //--- create task for controlling the motors ---
//---------------------------------------------- //----------------------------------------------
//task that receives commands, handles ramp and current limit and executes commands using the motordriver function //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 --- //--- create task for buzzer ---
// //------------------------------ //------------------------------
// xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL); xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
//
// //------------------------------- //-------------------------------
// //--- create task for control --- //--- create task for control ---
// //------------------------------- //-------------------------------
// //task that generates motor commands depending on the current mode and sends those to motorctl task //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); xTaskCreate(&task_control, "task_control", 4096, NULL, 5, NULL);
//
// //------------------------------ //------------------------------
// //--- create task for button --- //--- create task for button ---
// //------------------------------ //------------------------------
// //task that evaluates and processes the button input and runs the configured commands //task that evaluates and processes the button input and runs the configured commands
// xTaskCreate(&task_button, "task_button", 4096, NULL, 4, NULL); xTaskCreate(&task_button, "task_button", 4096, NULL, 4, NULL);
//
// //----------------------------------- //-----------------------------------
// //--- create task for fan control --- //--- create task for fan control ---
// //----------------------------------- //-----------------------------------
// //task that evaluates and processes the button input and runs the configured commands //task that evaluates and processes the button input and runs the configured commands
// xTaskCreate(&task_fans, "task_fans", 2048, NULL, 1, NULL); xTaskCreate(&task_fans, "task_fans", 2048, NULL, 1, NULL);
//
//
// //beep at startup //beep at startup
// buzzer.beep(3, 70, 50); buzzer.beep(3, 70, 50);
//
// //--- initialize nvs-flash and netif (needed for wifi) --- //--- initialize nvs-flash and netif (needed for wifi) ---
// wifi_initNvs_initNetif(); wifi_initNvs_initNetif();
//
// //--- initialize spiffs --- //--- initialize spiffs ---
// init_spiffs(); init_spiffs();
//--- initialize and start wifi --- //--- initialize and start wifi ---
//FIXME: run wifi_init_client or wifi_init_ap as intended from control.cpp when switching state //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 --- //--- main loop ---
//does nothing except for testing things //does nothing except for testing things
while(1){ while(1){
vTaskDelay(5000 / portTICK_PERIOD_MS);
//test sabertooth driver //test sabertooth driver
// motors.setLeft({motorstate_t::FWD, 70}); // motors.setLeft({motorstate_t::FWD, 70});
// vTaskDelay(1000 / portTICK_PERIOD_MS); // vTaskDelay(1000 / portTICK_PERIOD_MS);
@ -255,12 +256,12 @@ extern "C" void app_main(void) {
//motorLeft.setTarget(motorstate_t::BRAKE); //motorLeft.setTarget(motorstate_t::BRAKE);
//vTaskDelay(1000 / portTICK_PERIOD_MS); //vTaskDelay(1000 / portTICK_PERIOD_MS);
//command 90% - reverse //command 90% - reverse
motorLeft.setTarget(motorstate_t::REV, 90); //motorLeft.setTarget(motorstate_t::REV, 90);
vTaskDelay(5000 / portTICK_PERIOD_MS); //vTaskDelay(5000 / portTICK_PERIOD_MS);
motorLeft.setTarget(motorstate_t::FWD, 80); //motorLeft.setTarget(motorstate_t::FWD, 80);
vTaskDelay(1000 / portTICK_PERIOD_MS); //vTaskDelay(1000 / portTICK_PERIOD_MS);
motorLeft.setTarget(motorstate_t::IDLE, 90); //motorLeft.setTarget(motorstate_t::IDLE, 90);
vTaskDelay(1000 / portTICK_PERIOD_MS); //vTaskDelay(1000 / portTICK_PERIOD_MS);
//--------------------------------- //---------------------------------

6
common/motorctl.cpp
View File

@ -81,7 +81,7 @@ void controlledMotor::handle(){
//--- receive commands from queue --- //--- receive commands from queue ---
if( xQueueReceive( commandQueue, &commandReceive, ( TickType_t ) 0 ) ) 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; state = commandReceive.state;
dutyTarget = commandReceive.duty; dutyTarget = commandReceive.duty;
receiveTimeout = false; receiveTimeout = false;
@ -141,6 +141,7 @@ void controlledMotor::handle(){
if (state == motorstate_t::BRAKE){ if (state == motorstate_t::BRAKE){
ESP_LOGD(TAG, "braking - skip fading"); ESP_LOGD(TAG, "braking - skip fading");
motorSetCommand({motorstate_t::BRAKE, dutyTarget}); 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; //dutyNow = 0;
return; //no need to run the fade algorithm return; //no need to run the fade algorithm
} }
@ -174,8 +175,8 @@ void controlledMotor::handle(){
//----- CURRENT LIMIT ----- //----- CURRENT LIMIT -----
currentNow = cSensor.read();
if ((config.currentLimitEnabled) && (dutyDelta != 0)){ if ((config.currentLimitEnabled) && (dutyDelta != 0)){
currentNow = cSensor.read();
if (fabs(currentNow) > config.currentMax){ if (fabs(currentNow) > config.currentMax){
float dutyOld = dutyNow; float dutyOld = dutyNow;
//adaptive decrement: //adaptive decrement:
@ -231,6 +232,7 @@ void controlledMotor::handle(){
//--- apply new target to motor --- //--- apply new target to motor ---
motorSetCommand({state, (float)fabs(dutyNow)}); 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 //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 --------
//send byte via uart to sabertooth driver //send byte via uart to sabertooth driver
void sabertooth2x60a::sendByte(char data){ void sabertooth2x60a::sendByte(char data){
//TODO mutex?
if (!uart_isInitialized){ if (!uart_isInitialized){
ESP_LOGE(TAG, "uart not initialized, not sending command %d...", data); ESP_LOGE(TAG, "uart not initialized, not sending command %d...", data);
return; return;
} }
uart_write_bytes(config.uart_num, &data, 1); 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); 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); sendByte(data);
} }