diff --git a/board_single/main/button.cpp b/board_single/main/button.cpp
index 718731c..e349309 100644
--- a/board_single/main/button.cpp
+++ b/board_single/main/button.cpp
@@ -228,7 +228,7 @@ void buttonCommands::startHandleLoop()
// ignore first clicks
if (rotateCount++ < IGNORE_ROTATE_COUNT)
{
- buzzer->beep(1, 60, 0);
+ buzzer->beep(1, 20, 0);
break;
}
timestampLastRotate = esp_log_timestamp();
@@ -253,15 +253,15 @@ void buttonCommands::startHandleLoop()
{
// increment target position each click
if (event.diff > 0)
- legRest->setTargetPercent(legRest->getTargetPercent() - 5);
+ legRest->setTargetPercent(legRest->getTargetPercent() - 10);
else
- legRest->setTargetPercent(legRest->getTargetPercent() + 5);
+ legRest->setTargetPercent(legRest->getTargetPercent() + 10);
// show temporary notification on display
char buf[8];
snprintf(buf, 8, "%.0f%%", legRest->getTargetPercent());
display_showNotification(2500, "moving Rest:", "LEG", buf);
}
- buzzer->beep(1, 90, 0);
+ buzzer->beep(1, 40, 0);
break;
case RE_ET_BTN_LONG_PRESSED:
case RE_ET_BTN_CLICKED:
diff --git a/board_single/main/display.cpp b/board_single/main/display.cpp
index 7a84df8..ffd362a 100644
--- a/board_single/main/display.cpp
+++ b/board_single/main/display.cpp
@@ -607,7 +607,7 @@ void display_showNotification(uint32_t showDurationMs, const char *line1, const
displayTextLineCentered(&dev, 1, true, false, "%s", line2Large);
displayTextLineCentered(&dev, 4, true, false, "%s", line3Large);
displayTextLine(&dev, 7, false, false, " ");
- ESP_LOGW(TAG, "start showing notification '%s' '%s' for %d ms", line1, line2Large, showDurationMs);
+ ESP_LOGI(TAG, "start showing notification '%s' '%s' for %d ms", line1, line2Large, showDurationMs);
}
diff --git a/common/chairAdjust.cpp b/common/chairAdjust.cpp
index ea5c312..ef2ff83 100644
--- a/common/chairAdjust.cpp
+++ b/common/chairAdjust.cpp
@@ -7,10 +7,15 @@ extern "C"
#include "chairAdjust.hpp"
-#define MUTEX_TIMEOUT (10000 / portTICK_PERIOD_MS)
-#define MIN_TIME_ON 1000
-#define MIN_TIME_OFF 2000
+//--- config ---
+#define MUTEX_TIMEOUT (8000 / portTICK_PERIOD_MS)
+// thresholds to protect relays from welding stuck
+#define MIN_TIME_ON 600 // minimum time in ms motor has to be ON before being able to turn off again
+#define MIN_TIME_OFF 800 // minimum time in ms motor has to be OFF before being able to turn on again (other or same direction)
+#define TRAVEL_TIME_LIMIT_ADDITION_MS 2000 // traveling longer into limit compensates inaccuracies in time based position tracking
+#define CHAIR_ADJUST_HANDLE_TASK_DELAY 100 // interval the stop-condition and state-switching is checked/handled
+
//--- gloabl variables ---
// strings for logging the rest state
@@ -54,14 +59,19 @@ void cControlledRest::init()
state = REST_OFF;
}
+
+
//==========================
//===== updatePosition =====
//==========================
// calculate and update position in percent based of time running in current direction
void cControlledRest::updatePosition()
{
+ // calculate time motor was on
uint32_t now = esp_log_timestamp();
uint32_t timeRan = now - timestamp_lastPosUpdate;
+ // note: timestamp_lastPosUpdate also gets updated when changing to active mode in changemode
+
timestamp_lastPosUpdate = now;
float positionOld = positionNow;
@@ -76,7 +86,7 @@ void cControlledRest::updatePosition()
break;
case REST_OFF:
// no change
- ESP_LOGW(TAG, "updatePosition() unknown direction - cant update position when state is REST_OFF");
+ ESP_LOGW(TAG, "updatePosition: unknown direction - cant update position when state is REST_OFF");
return;
}
@@ -86,9 +96,11 @@ void cControlledRest::updatePosition()
else if (positionNow > 100)
positionNow = 100;
- ESP_LOGD(TAG, "[%s] state='%s' - update pos from %.2f%% to %.2f%% (time ran %dms)", name, restStateStr[state], positionOld, positionNow, timeRan);
+ ESP_LOGD(TAG, "[%s] updatePosition: update pos from %.2f%% to %.2f%% (time ran %dms, prev-state '%s')", name, positionOld, positionNow, timeRan, restStateStr[state] );
}
+
+
//==========================
//==== setTargetPercent ====
//==========================
@@ -140,15 +152,22 @@ void cControlledRest::setTargetPercent(float targetPercent)
// queue state change that is executed when valid (respecting min thresholds)
void cControlledRest::requestStateChange(restState_t targetState)
{
+ // check if task is linked
+ if (taskHandle == NULL)
+ {
+ ESP_LOGE(TAG, "[%s] can not activate task! Task is not running", name);
+ return;
+ }
+
// lock the mutex before accessing shared variables
if (xSemaphoreTakeRecursive(mutex, MUTEX_TIMEOUT) == pdTRUE)
{
- ESP_LOGV(TAG, "[%s] requesting change to state '%s'", name, restStateStr[targetState]);
+ ESP_LOGD(TAG, "[%s] requesting change to state '%s'", name, restStateStr[targetState]);
nextState = targetState;
- // activate handle to process the request when on running already
- if (state == REST_OFF)
- xTaskNotifyGive(taskHandle); // activate handle task that stops the rest-motor again
+ // activate task to change, when on running already
+ if (taskIsRunning == false)
+ xTaskNotifyGive(taskHandle); // activate handle task that handles state change and stops the rest-motor again
// Release the mutex
xSemaphoreGiveRecursive(mutex);
}
@@ -177,6 +196,7 @@ void cControlledRest::handleStateChange()
if (state == nextState)
{
// exit, nothing todo
+ ESP_LOGV(TAG, "[%s] handleStateChange: already at target state, nothing to do", name);
xSemaphoreGiveRecursive(mutex);
return;
}
@@ -187,8 +207,7 @@ void cControlledRest::handleStateChange()
// exit if not on long enough
if (now - timestamp_lastStateChange < MIN_TIME_ON)
{
- positionTarget = positionNow; // disable resuming - no unexpected pos when incrementing
- ESP_LOGV(TAG, "SC: not on long enough, not turning off yet");
+ ESP_LOGD(TAG, "[%s] handleStateChange: not on long enough, not turning off yet", name);
xSemaphoreGiveRecursive(mutex);
return;
}
@@ -200,7 +219,7 @@ void cControlledRest::handleStateChange()
// exit if not off long enough
if (now - timestamp_lastStateChange < MIN_TIME_OFF)
{
- ESP_LOGV(TAG, "SC: not OFF long enough, not turning on yet");
+ ESP_LOGV(TAG, "[%s] handleStateChange: not OFF long enough, not turning on yet", name);
xSemaphoreGiveRecursive(mutex);
return;
}
@@ -212,14 +231,14 @@ void cControlledRest::handleStateChange()
// exit if not on long enough
if (now - timestamp_lastStateChange < MIN_TIME_ON)
{
- ESP_LOGV(TAG, "SC: dir change detected: not ON long enough, not turning off yet");
+ ESP_LOGD(TAG, "[%s] handleStateChange: dir change detected: not ON long enough, not turning off yet", name);
xSemaphoreGiveRecursive(mutex);
return;
}
// no immediate dir change, turn off first
else
{
- ESP_LOGD(TAG, "SC: dir change detected: turning off first");
+ ESP_LOGW(TAG, "[%s] handleStateChange: dir change detected: turning off first", name );
changeState(REST_OFF);
xSemaphoreGiveRecursive(mutex);
return;
@@ -227,7 +246,7 @@ void cControlledRest::handleStateChange()
}
// not exited by now = no reason to prevent the state change -> update state!
- ESP_LOGV(TAG, "SC: change is allowed now -> applying new state '%s'", restStateStr[nextState]);
+ ESP_LOGV(TAG, "[%s] handleStateChange: change is allowed now -> applying new state '%s'", name , restStateStr[nextState]);
changeState(nextState);
// Release the mutex
@@ -251,12 +270,12 @@ void cControlledRest::changeState(restState_t newState)
// check if actually changed
if (newState == state)
{
- ESP_LOGV(TAG, "[%s] state already at '%s', nothing to do", name, restStateStr[state]);
+ ESP_LOGV(TAG, "[%s] changeState: Relay state already at '%s', nothing to do", name, restStateStr[state]);
return;
}
// apply new state to relays
- ESP_LOGI(TAG, "[%s] switching Relays from state '%s' to '%s'", name, restStateStr[state], restStateStr[newState]);
+ ESP_LOGI(TAG, "[%s] changeState: switching Relays from state '%s' to '%s'", name, restStateStr[state], restStateStr[newState]);
switch (newState)
{
case REST_UP:
@@ -274,9 +293,17 @@ void cControlledRest::changeState(restState_t newState)
}
// apply new state to variables
- timestamp_lastStateChange = esp_log_timestamp();
- updatePosition();
+ uint32_t now = esp_log_timestamp();
+ if (state != REST_OFF && newState == REST_OFF) // previously on (turning off now)
+ {
+ updatePosition(); // movement finished -> update position
+ positionTarget = positionNow; // disable resuming - no unexpected pos when incrementing
+ }
+ else if (state == REST_OFF && newState != REST_OFF)// previously off (turning on now)
+ timestamp_lastPosUpdate = now; // pos did not change during off time - reset timestamp
+
state = newState;
+ timestamp_lastStateChange = now;
}
@@ -285,7 +312,6 @@ void cControlledRest::changeState(restState_t newState)
//=== handle StopAtPosReached ===
//===============================
// handle automatic stop when target position is reached, should be run repeatedly in a task
-#define TRAVEL_TIME_LIMIT_ADDITION_MS 2000 // traveling longer into limit compensates inaccuracies in time based position tracking
void cControlledRest::handleStopAtPosReached()
{
// lock the mutex before accessing shared variables
@@ -298,8 +324,9 @@ void cControlledRest::handleStopAtPosReached()
return;
}
- // calculate time already running and needed time to reach target
+ // calculate time already running
uint32_t timeRan = esp_log_timestamp() - timestamp_lastPosUpdate;
+ // calculate needed time to reach target
uint32_t timeTarget = travelDuration * fabs(positionTarget - positionNow) / 100;
// intentionally travel longer into limit - compensates inaccuracies in time based position tracking
@@ -309,9 +336,12 @@ void cControlledRest::handleStopAtPosReached()
// target reached
if (timeRan >= timeTarget)
{
- ESP_LOGW(TAG, "[%s] reached target! run-time (%dms/%dms) for position %.2f%% -> requesting stop", name, timeRan, timeTarget, positionTarget);
+ ESP_LOGI(TAG, "[%s] TARGET REACHED! run-time (%dms/%dms) for target position %.1f%% -> requesting stop", name, timeRan, timeTarget, positionTarget);
requestStateChange(REST_OFF);
}
+ else
+ ESP_LOGV(TAG, "[%s] target not reached yet, run-time (%dms/%dms) for target position %.1f%%", name, timeRan, timeTarget, positionTarget);
+
// Release the mutex
xSemaphoreGiveRecursive(mutex);
}
@@ -322,21 +352,23 @@ void cControlledRest::handleStopAtPosReached()
}
}
+
+
//============================
//===== chairAdjust_task =====
//============================
-#define CHAIR_ADJUST_HANDLE_TASK_DELAY 100
void chairAdjust_task(void *pvParameter)
{
cControlledRest *rest = (cControlledRest *)pvParameter;
ESP_LOGW(TAG, "Starting task for controlling %s...", rest->getName());
// provide taskHandle to rest object for wakeup
- rest->taskHandle = xTaskGetCurrentTaskHandle();
+ rest->setTaskHandle(xTaskGetCurrentTaskHandle());
while (1)
{
ulTaskNotifyTake(pdTRUE, portMAX_DELAY); // wait for wakeup by changeState() (rest-motor turned on)
- ESP_LOGW(TAG, "task %s: received notification -> activating task!", rest->getName());
+ rest->setTaskIsRunning();
+ ESP_LOGD(TAG, "task %s: received notification -> activating task!", rest->getName());
// running while 1. motor running or 2. not in target state yet
while ((rest->getState() != REST_OFF) || (rest->getNextState() != rest->getState()))
{
@@ -344,7 +376,8 @@ void chairAdjust_task(void *pvParameter)
rest->handleStopAtPosReached();
vTaskDelay(CHAIR_ADJUST_HANDLE_TASK_DELAY / portTICK_PERIOD_MS);
}
- ESP_LOGW(TAG, "task %s: motor-off and at target state -> sleeping task", rest->getName());
+ rest->clearTaskIsRunning();
+ ESP_LOGD(TAG, "task %s: motor-off and at target state -> sleeping task", rest->getName());
}
}
@@ -354,8 +387,6 @@ void chairAdjust_task(void *pvParameter)
//====== controlChairAdjustment ======
//====================================
//function that controls the two rests according to joystick data (applies threshold, defines direction)
-//TODO:
-// - control via app
void controlChairAdjustment(joystickData_t data, cControlledRest * legRest, cControlledRest * backRest){
//--- variables ---
float stickThreshold = 0.3; //min coordinate for motor to start
@@ -364,10 +395,12 @@ void controlChairAdjustment(joystickData_t data, cControlledRest * legRest, cCon
//leg rest (x-axis)
if (data.x > stickThreshold) legRest->setTargetPercent(100);
else if (data.x < -stickThreshold) legRest->setTargetPercent(0);
- else legRest->requestStateChange(REST_OFF);
+ else
+ legRest->requestStateChange(REST_OFF);
//back rest (y-axis)
if (data.y > stickThreshold) backRest->setTargetPercent(100);
else if (data.y < -stickThreshold) backRest->setTargetPercent(0);
- else backRest->requestStateChange(REST_OFF);
+ else
+ backRest->requestStateChange(REST_OFF);
}
\ No newline at end of file
diff --git a/common/chairAdjust.hpp b/common/chairAdjust.hpp
index 32d92de..9282906 100644
--- a/common/chairAdjust.hpp
+++ b/common/chairAdjust.hpp
@@ -9,6 +9,7 @@ extern "C"
#include "joystick.hpp"
+
typedef enum {
REST_OFF = 0,
REST_DOWN,
@@ -18,6 +19,7 @@ typedef enum {
extern const char* restStateStr[];
+
//=====================================
//======= cControlledRest class =======
//=====================================
@@ -26,30 +28,41 @@ extern const char* restStateStr[];
class cControlledRest {
public:
cControlledRest(gpio_num_t gpio_up, gpio_num_t gpio_down, uint32_t travelDurationMs, const char *name, float defaultPosition = 0);
+
+ // control the rest:
void requestStateChange(restState_t targetState); //mutex
restState_t getState() const {return state;};
- restState_t getNextState() const {return nextState;};
- float getPercent(); //TODO update position first
+ const char * getName() const {return name;};
void setTargetPercent(float targetPercent); //mutex
float getTargetPercent() const {return positionTarget;};
+ float getPercent(); //TODO update position first
+ // required for task controlling the rest:
+ void setTaskHandle(TaskHandle_t handle) {taskHandle = handle;};
+ void setTaskIsRunning() {taskIsRunning = true;};
+ void clearTaskIsRunning() {taskIsRunning = false;};
void handleStopAtPosReached(); //mutex
void handleStateChange(); //mutex
- const char * getName() const {return name;};
- TaskHandle_t taskHandle = NULL; //task that repeatedly runs the handle() method, is assigned at task creation
+ restState_t getNextState() const {return nextState;};
+
private:
void init();
void updatePosition();
void changeState(restState_t newState);
+ // task related:
+ TaskHandle_t taskHandle = NULL; //task that repeatedly runs the handle() method, is assigned at task creation
+ bool taskIsRunning = false;
SemaphoreHandle_t mutex;
+ // config:
char name[32];
const gpio_num_t gpio_up;
const gpio_num_t gpio_down;
const uint32_t travelDuration = 12000;
+ // variables:
restState_t state = REST_OFF;
restState_t nextState = REST_OFF;
uint32_t timestamp_lastStateChange = 0;
@@ -64,7 +77,7 @@ private:
//===========================
//==== chairAdjust_task =====
//===========================
-// repeatedly runs handle method of specified ControlledRest object to turn of the rest, when activated by setState()
+// repeatedly runs handle methods of specified ControlledRest object to turn of the rest, when activated by changeState() method
void chairAdjust_task( void * cControlledRest );