Adjust GPIO-pins and conf, Invert currentsensor, Buzzer

motorctl, currentsensor:
    - add config option for inverted current sensor
    - adjust loglevels

config:
    - Adjust gpio pins to actual wiring (not breakout board for testing)
    - Add min pulse durations for speedsensors (measurements with scope)
    - Adjust config to currently mounted encoders

control, buzzer:
    - adjust beeping
    - Add feature for optinal delay to buzzer class:
      have some pause after beeps instead of immediately
      continuing with next queued sequence

board_single/main/button.cpp

@@ -205,7 +205,7 @@ void buttonCommands::startHandleLoop()
             {
                 //-- run action with count of presses --
                 ESP_LOGI(TAG, "timeout: count=%d, lastPressLong=%d -> running action", count, isPressed);
-                buzzer->beep(count, 50, 50);
+                buzzer->beep(count, 50, 50, 200); //beep count, with 200ms gap before next queued beeps can start
                 action(count, isPressed); // run action - if currently still on the last press is considered long
                 count = 0;                // reset count
             }

board_single/main/config.cpp

@@ -41,7 +41,7 @@ void setLoglevels(void)
     // esp_log_level_set("automatedArmchair", ESP_LOG_DEBUG);
     esp_log_level_set("display", ESP_LOG_INFO);
     // esp_log_level_set("current-sensors", ESP_LOG_INFO);
-    // esp_log_level_set("speedSensor", ESP_LOG_INFO);
+    esp_log_level_set("speedSensor", ESP_LOG_WARN);
     esp_log_level_set("chair-adjustment", ESP_LOG_INFO);
     esp_log_level_set("menu", ESP_LOG_INFO);
     esp_log_level_set("encoder", ESP_LOG_INFO);
@@ -84,7 +84,7 @@ single100a_config_t configDriverRight = {
 
 //--- configure sabertooth driver --- (controls both motors in one instance)
 sabertooth2x60_config_t sabertoothConfig = {
-    .gpio_TX = GPIO_NUM_25,
+    .gpio_TX = GPIO_NUM_27,
     .uart_num = UART_NUM_2};
 
 // TODO add motor name string -> then use as log tag?
@@ -97,6 +97,7 @@ motorctl_config_t configMotorControlLeft = {
     .currentSensor_adc = ADC1_CHANNEL_4, // GPIO32
     .currentSensor_ratedCurrent = 50,
     .currentMax = 30,
+    .currentInverted = true,
     .deadTimeMs = 0 // minimum time motor is off between direction change
 };
 
@@ -109,6 +110,7 @@ motorctl_config_t configMotorControlRight = {
     .currentSensor_adc = ADC1_CHANNEL_5, // GPIO33
     .currentSensor_ratedCurrent = 50,
     .currentMax = 30,
+    .currentInverted = false,
     .deadTimeMs = 0 // minimum time motor is off between direction change
 };
 
@@ -154,7 +156,7 @@ joystick_config_t configJoystick = {
     .y_min = 1700, //=> y=-1
     .y_max = 2940, //=> y=1
     // invert adc measurement
-    .x_inverted = true,
+    .x_inverted = false,
     .y_inverted = true};
 
 //----------------------------
@@ -175,20 +177,23 @@ fan_config_t configFans = {
 //--------------------------------------------
 speedSensor_config_t speedLeft_config{
     .gpioPin = GPIO_NUM_5,
-    .degreePerGroup = 360 / 5,
+    .degreePerGroup = 360 / 16,
-	.minPulseDurationUs = 10000, //smallest possible pulse duration (< time from start small-pulse to start long-pulse at full speed). Set to 0 to disable this noise detection
+	.minPulseDurationUs = 3000, //smallest possible pulse duration (< time from start small-pulse to start long-pulse at full speed). Set to 0 to disable this noise detection
+    //measured wihth scope while tires in the air:
+    // 5-groups: 12ms
+    // 16-groups: 3.7ms
     .tireCircumferenceMeter = 0.81,
-    .directionInverted = false,
+    .directionInverted = true,
-    .logName = "speedLeft",
+    .logName = "speedLeft"
 };
 
 speedSensor_config_t speedRight_config{
     .gpioPin = GPIO_NUM_14,
     .degreePerGroup = 360 / 12,
-	.minPulseDurationUs = 10000, //smallest possible pulse duration (< time from start small-pulse to start long-pulse at full speed). Set to 0 to disable this noise detection
+	.minPulseDurationUs = 4000, //smallest possible pulse duration (< time from start small-pulse to start long-pulse at full speed). Set to 0 to disable this noise detection
     .tireCircumferenceMeter = 0.81,
-    .directionInverted = true,
+    .directionInverted = false,
-    .logName = "speedRight",
+    .logName = "speedRight"
 };
 
 
@@ -216,7 +221,7 @@ display_config_t display_config {
 rotary_encoder_t encoder_config = {
 	.pin_a = GPIO_NUM_25,
 	.pin_b = GPIO_NUM_26,
-	.pin_btn = GPIO_NUM_27,
+	.pin_btn = GPIO_NUM_21,
 	.code = 1,
 	.store = 0, //encoder count
 	.index = 0,

board_single/main/control.cpp

@@ -447,7 +447,7 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
         case controlMode_t::IDLE:
             ESP_LOGW(TAG, "switching to IDLE mode: turning both motors off, beep");
             idleBothMotors();
-            buzzer->beep(1, 1000, 0);
+            buzzer->beep(1, 900, 0);
 #ifdef JOYSTICK_LOG_IN_IDLE
             esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
 #endif
@@ -456,7 +456,7 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
         case controlMode_t::ADJUST_CHAIR:
             ESP_LOGW(TAG, "switching to ADJUST_CHAIR mode: turning both motors off, beep");
             idleBothMotors();
-            buzzer->beep(4, 200, 100);
+            buzzer->beep(3, 100, 50);
             break;
 
         case controlMode_t::MENU:

board_single/main/main.cpp

@@ -164,8 +164,8 @@ void createObjects()
 
     // create objects for controlling the chair position
     //                       gpio_up, gpio_down, name
-    legRest = new cControlledRest(GPIO_NUM_4, GPIO_NUM_16, "legRest");
+    legRest = new cControlledRest(GPIO_NUM_2, GPIO_NUM_15, "legRest");
-    backRest = new cControlledRest(GPIO_NUM_2, GPIO_NUM_15, "backRest");
+    backRest = new cControlledRest(GPIO_NUM_16, GPIO_NUM_4, "backRest");
 
     // create control object (control.hpp)
     // with configuration from config.cpp

common/buzzer.cpp

@@ -46,12 +46,18 @@ buzzer_t::buzzer_t(gpio_num_t gpio_pin_f, uint16_t msGap_f){
 //=========== beep ===========
 //============================
 //function to add a beep command to the queue
+//use default/configured gap when no custom pause duration is given:
 void buzzer_t::beep(uint8_t count, uint16_t msOn, uint16_t msOff){
+    beep(count, msOn, msOff, msGap);
+}
+
+void buzzer_t::beep(uint8_t count, uint16_t msOn, uint16_t msOff, uint16_t msDelayFinished){
     //create entry struct with provided data
     struct beepEntry entryInsert = {
-        count = count,
+        count,
-        msOn = msOn,
+        msOn,
-        msOff = msOff
+        msOff,
+        msDelayFinished
     };
 
     // Send a pointer to a struct AMessage object.  Don't block if the
@@ -96,7 +102,7 @@ void buzzer_t::processQueue(){
                     vTaskDelay(entryRead.msOff / portTICK_PERIOD_MS);
                 }
                 //wait for minimum gap between beep events
-                vTaskDelay(msGap / portTICK_PERIOD_MS);
+                vTaskDelay(entryRead.msDelay / portTICK_PERIOD_MS);
             }
         }else{ //wait for queue to become available
             vTaskDelay(50 / portTICK_PERIOD_MS);

common/buzzer.hpp

@@ -27,24 +27,27 @@ class buzzer_t {
 
         //--- functions ---
         void processQueue(); //has to be run once in a separate task, waits for and processes queued events
+        //add entry to queue processing beeps, last parameter is optional to delay the next entry
+        void beep(uint8_t count, uint16_t msOn, uint16_t msOff, uint16_t msDelayFinished);
         void beep(uint8_t count, uint16_t msOn, uint16_t msOff);
         //void clear(); (TODO - not implemented yet)
         //void createTask(); (TODO - not implemented yet)
 
         //--- variables ---
-        uint16_t msGap; //gap between beep entries (when multiple queued)
         
     private:
         //--- functions ---
         void init();
 
         //--- variables ---
+        uint16_t msGap; //gap between beep entries (when multiple queued)
         gpio_num_t gpio_pin;
 
         struct beepEntry {
             uint8_t count;
             uint16_t msOn;
             uint16_t msOff;
+            uint16_t msDelay;
         };
 
         //queue for queueing up multiple events while one is still processing

common/currentsensor.cpp

@@ -29,10 +29,11 @@ float getVoltage(adc1_channel_t adc, uint32_t samples){
 //=============================
 //======== constructor ========
 //=============================
-currentSensor::currentSensor (adc1_channel_t adcChannel_f, float ratedCurrent_f){
+currentSensor::currentSensor (adc1_channel_t adcChannel_f, float ratedCurrent_f, bool isInverted_f){
 	//copy config
 	adcChannel = adcChannel_f;
 	ratedCurrent = ratedCurrent_f;
+	isInverted = isInverted_f;
 	//init adc
 	adc1_config_width(ADC_WIDTH_BIT_12); //max resolution 4096
 	adc1_config_channel_atten(adcChannel, ADC_ATTEN_DB_11); //max voltage
@@ -58,6 +59,9 @@ float currentSensor::read(void){
 		current = 0;
 	}
 
+	//invert calculated current if necessary
+	if (isInverted) current = -current;
+
 	ESP_LOGI(TAG, "read sensor adc=%d: voltage=%.3fV, centerVoltage=%.3fV => current=%.3fA", (int)adcChannel, voltage, centerVoltage, current);
 	return current;
 }

common/currentsensor.hpp

@@ -7,12 +7,13 @@
 
 class currentSensor{
 	public:
-		currentSensor (adc1_channel_t adcChannel_f, float ratedCurrent);
+		currentSensor (adc1_channel_t adcChannel_f, float ratedCurrent, bool inverted = false);
 		void calibrateZeroAmpere(void); //set current voltage to voltage representing 0A
 		float read(void); //get current ampere
 	private:
 		adc1_channel_t adcChannel;
 		float ratedCurrent;
+		bool isInverted;
 		uint32_t measure;
 		float voltage;
 		float current;

common/motorctl.cpp

@@ -29,7 +29,7 @@ void task_motorctl( void * ptrControlledMotor ){
 //=============================
 //constructor, simultaniously initialize instance of motor driver 'motor' and current sensor 'cSensor' with provided config (see below lines after ':')
 controlledMotor::controlledMotor(motorSetCommandFunc_t setCommandFunc,  motorctl_config_t config_control, nvs_handle_t * nvsHandle_f): 
-	cSensor(config_control.currentSensor_adc, config_control.currentSensor_ratedCurrent) {
+	cSensor(config_control.currentSensor_adc, config_control.currentSensor_ratedCurrent, config_control.currentInverted) {
 		//copy parameters for controlling the motor
 		config = config_control;
 		//pointer to update motot dury method
@@ -108,7 +108,7 @@ void controlledMotor::handle(){
     //--- receive commands from queue ---
     if( xQueueReceive( commandQueue, &commandReceive, timeoutWaitForCommand / portTICK_PERIOD_MS ) ) //wait time is always 0 except when at target duty already
     {
-        ESP_LOGD(TAG, "[%s] Read command from queue: state=%s, duty=%.2f", config.name, motorstateStr[(int)commandReceive.state], commandReceive.duty);
+        ESP_LOGV(TAG, "[%s] Read command from queue: state=%s, duty=%.2f", config.name, motorstateStr[(int)commandReceive.state], commandReceive.duty);
         state = commandReceive.state;
         dutyTarget = commandReceive.duty;
 		receiveTimeout = false;
@@ -159,7 +159,7 @@ void controlledMotor::handle(){
         //increase timeout once when duty is the same (once)
         if (timeoutWaitForCommand == 0)
         { // TODO verify if state matches too?
-            ESP_LOGW(TAG, "[%s] already at target duty %.2f, slowing down...", config.name, dutyTarget);
+            ESP_LOGI(TAG, "[%s] already at target duty %.2f, slowing down...", config.name, dutyTarget);
             timeoutWaitForCommand = TIMEOUT_QUEUE_WHEN_AT_TARGET; // wait in queue very long, for new command to arrive
         }
         vTaskDelay(20 / portTICK_PERIOD_MS); // add small additional delay overall, in case the same commands get spammed
@@ -168,7 +168,7 @@ void controlledMotor::handle(){
     else if (timeoutWaitForCommand != 0)
     {
         timeoutWaitForCommand = 0; // dont wait additional time for new commands, handle fading fast
-        ESP_LOGW(TAG, "[%s] duty changed to %.2f, resuming at full speed", config.name, dutyTarget);
+        ESP_LOGI(TAG, "[%s] duty changed to %.2f, resuming at full speed", config.name, dutyTarget);
         // adjust lastRun timestamp to not mess up fading, due to much time passed but with no actual duty change
         timestampLastRunUs = esp_timer_get_time() - 20*1000; //subtract approx 1 cycle delay
     }
@@ -197,7 +197,7 @@ void controlledMotor::handle(){
 	if (state == motorstate_t::BRAKE){
 		ESP_LOGD(TAG, "braking - skip fading");
 		motorSetCommand({motorstate_t::BRAKE, dutyTarget});
-		ESP_LOGI(TAG, "[%s] Set Motordriver: state=%s, duty=%.2f - Measurements: current=%.2f, speed=N/A", config.name, motorstateStr[(int)state], dutyNow, currentNow);
+		ESP_LOGD(TAG, "[%s] Set Motordriver: state=%s, duty=%.2f - Measurements: current=%.2f, speed=N/A", config.name, motorstateStr[(int)state], dutyNow, currentNow);
 		//dutyNow = 0;
 		return; //no need to run the fade algorithm
 	}
@@ -261,7 +261,7 @@ void controlledMotor::handle(){
 		ESP_LOGD(TAG, "waiting dead-time... dir change %s -> %s", motorstateStr[(int)statePrev], motorstateStr[(int)state]);
 		if (!deadTimeWaiting){ //log start
 			deadTimeWaiting = true;
-			ESP_LOGW(TAG, "starting dead-time... %s -> %s", motorstateStr[(int)statePrev], motorstateStr[(int)state]);
+			ESP_LOGI(TAG, "starting dead-time... %s -> %s", motorstateStr[(int)statePrev], motorstateStr[(int)state]);
 		}
 		//force IDLE state during wait
 		state = motorstate_t::IDLE;
@@ -269,7 +269,7 @@ void controlledMotor::handle(){
 	} else {
 		if (deadTimeWaiting){ //log end
 			deadTimeWaiting = false;
-			ESP_LOGW(TAG, "dead-time ended - continue with %s", motorstateStr[(int)state]);
+			ESP_LOGI(TAG, "dead-time ended - continue with %s", motorstateStr[(int)state]);
 		}
 		ESP_LOGV(TAG, "deadtime: no change below deadtime detected... dir=%s, duty=%.1f", motorstateStr[(int)state], dutyNow);
 	}

common/types.hpp

@@ -48,6 +48,7 @@ typedef struct motorctl_config_t {
 	adc1_channel_t currentSensor_adc;
 	float currentSensor_ratedCurrent;
     float currentMax;
+    bool currentInverted;
 	uint32_t deadTimeMs; //time motor stays in IDLE before direction change
 } motorctl_config_t;