Add menu item Set Max Duty

Add nvs to control.cpp

board_single/main/config.cpp

@@ -220,4 +220,15 @@ rotary_encoder_t encoder_config = {
 	.index = 0,
 	.btn_pressed_time_us = 20000,
 	.btn_state = RE_BTN_RELEASED //default state
+};
+
+
+//-----------------------------------
+//--- joystick command generation ---
+//-----------------------------------
+//configure parameters for motor command generation from joystick data
+joystickGenerateCommands_config_t joystickGenerateCommands_config{
+    .maxDuty = 100,
+    .dutyOffset = 5, // duty at which motors start immediately
+    .altStickMapping = false,
 };

board_single/main/control.cpp

@@ -32,14 +32,17 @@ controlledArmchair::controlledArmchair(
     controlledMotor *motorLeft_f,
     controlledMotor *motorRight_f,
     evaluatedJoystick *joystick_f,
+    joystickGenerateCommands_config_t *joystickGenerateCommands_config_f,
     httpJoystick *httpJoystick_f,
     automatedArmchair_c *automatedArmchair_f,
     cControlledRest *legRest_f,
-    cControlledRest *backRest_f)
+    cControlledRest *backRest_f,
+    nvs_handle_t * nvsHandle_f)
 {
 
     //copy configuration
     config = config_f;
+    joystickGenerateCommands_config = *joystickGenerateCommands_config_f;
     //copy object pointers
     buzzer = buzzer_f;
     motorLeft = motorLeft_f;
@@ -49,9 +52,13 @@ controlledArmchair::controlledArmchair(
     automatedArmchair = automatedArmchair_f;
     legRest = legRest_f;
     backRest = backRest_f;
+    nvsHandle = nvsHandle_f;
     //set default mode from config
     modePrevious = config.defaultMode;
     
+    // override default config value if maxDuty is found in nvs
+    loadMaxDuty();
+
     //TODO declare / configure controlled motors here instead of config (unnecessary that button object is globally available - only used here)?
 }
 
@@ -104,7 +111,7 @@ void controlledArmchair::startHandleLoop() {
                 //additionaly scale coordinates (more detail in slower area)
                 joystick_scaleCoordinatesLinear(&stickData, 0.6, 0.35); //TODO: add scaling parameters to config
                 //generate motor commands
-                commands = joystick_generateCommandsDriving(stickData, altStickMapping);
+                commands = joystick_generateCommandsDriving(stickData, &joystickGenerateCommands_config);
                 //apply motor commands
                 motorRight->setTarget(commands.right.state, commands.right.duty); 
                 motorLeft->setTarget(commands.left.state, commands.left.duty); 
@@ -138,7 +145,7 @@ void controlledArmchair::startHandleLoop() {
                 ESP_LOGD(TAG, "generating commands from x=%.3f  y=%.3f  radius=%.3f  angle=%.3f", stickData.x, stickData.y, stickData.radius, stickData.angle);
                 //--- generate motor commands ---
                 //Note: timeout (no data received) is handled in getData method
-                commands = joystick_generateCommandsDriving(stickData, altStickMapping);
+                commands = joystick_generateCommandsDriving(stickData, &joystickGenerateCommands_config);
 
                 //--- apply commands to motors ---
                 //TODO make motorctl.setTarget also accept motorcommand struct directly
@@ -268,8 +275,8 @@ bool controlledArmchair::toggleFreezeInputMassage()
 // toggle between normal and alternative stick mapping (joystick reverse position inverted)
 bool controlledArmchair::toggleAltStickMapping()
 {
-    altStickMapping = !altStickMapping;
+    joystickGenerateCommands_config.altStickMapping = !joystickGenerateCommands_config.altStickMapping;
-    if (altStickMapping)
+    if (joystickGenerateCommands_config.altStickMapping)
     {
         buzzer->beep(6, 70, 50);
         ESP_LOGW(TAG, "changed to alternative stick mapping");
@@ -279,7 +286,7 @@ bool controlledArmchair::toggleAltStickMapping()
         buzzer->beep(1, 500, 100);
         ESP_LOGW(TAG, "changed to default stick mapping");
     }
-    return altStickMapping;
+    return joystickGenerateCommands_config.altStickMapping;
 }
 
 
@@ -503,3 +510,56 @@ void controlledArmchair::toggleMode(controlMode_t modePrimary){
         changeMode(modePrimary);
     }
 }
+
+
+
+
+//-------------------------------
+//------ loadDecelDuration ------
+//-------------------------------
+// update local config value when maxDuty is stored in nvs
+void controlledArmchair::loadMaxDuty(void)
+{
+    // default value is already loaded (constructor)
+    // read from nvs
+    uint16_t valueRead;
+    esp_err_t err = nvs_get_u16(*nvsHandle, "c-maxDuty", &valueRead);
+    switch (err)
+    {
+    case ESP_OK:
+        ESP_LOGW(TAG, "Successfully read value '%s' from nvs. Overriding default value %.2f with %.2f", "c-maxDuty", joystickGenerateCommands_config.maxDuty, valueRead/100.0);
+        joystickGenerateCommands_config.maxDuty = (float)(valueRead/100.0);
+        break;
+    case ESP_ERR_NVS_NOT_FOUND:
+        ESP_LOGW(TAG, "nvs: the value '%s' is not initialized yet, keeping default value %.2f", "c-maxDuty", joystickGenerateCommands_config.maxDuty);
+        break;
+    default:
+        ESP_LOGE(TAG, "Error (%s) reading nvs!", esp_err_to_name(err));
+    }
+}
+
+
+//-----------------------------------
+//---------- writeMaxDuty -----------
+//-----------------------------------
+// write provided value to nvs to be persistent and update local variable in joystickGenerateCommmands_config struct
+// note: duty percentage gets stored as uint with factor 100 (to get more precision)
+void controlledArmchair::writeMaxDuty(float newValue){
+    // check if unchanged
+    if(joystickGenerateCommands_config.maxDuty == newValue){
+        ESP_LOGW(TAG, "value unchanged at %.2f, not writing to nvs", newValue);
+        return;
+    }
+    // update nvs value
+    ESP_LOGW(TAG, "updating nvs value '%s' from %.2f to %.2f", "c-maxDuty", joystickGenerateCommands_config.maxDuty, newValue) ;
+    esp_err_t err = nvs_set_u16(*nvsHandle, "c-maxDuty", (uint16_t)(newValue*100));
+    if (err != ESP_OK)
+        ESP_LOGE(TAG, "nvs: failed writing");
+    err = nvs_commit(*nvsHandle);
+    if (err != ESP_OK)
+        ESP_LOGE(TAG, "nvs: failed committing updates");
+    else
+        ESP_LOGI(TAG, "nvs: successfully committed updates");
+    // update variable
+    joystickGenerateCommands_config.maxDuty = newValue;
+}

board_single/main/control.hpp

@@ -1,5 +1,10 @@
 #pragma once
 
+extern "C"
+{
+#include "nvs_flash.h"
+#include "nvs.h"
+}
 #include "motordrivers.hpp"
 #include "motorctl.hpp"
 #include "buzzer.hpp"
@@ -50,10 +55,12 @@ class controlledArmchair {
                 controlledMotor* motorLeft_f,
                 controlledMotor* motorRight_f,
                 evaluatedJoystick* joystick_f,
+                joystickGenerateCommands_config_t* joystickGenerateCommands_config_f,
                 httpJoystick* httpJoystick_f,
                 automatedArmchair_c* automatedArmchair,
                 cControlledRest * legRest,
-                cControlledRest * backRest
+                cControlledRest * backRest,
+                nvs_handle_t * nvsHandle_f
                 );
 
         //--- functions ---
@@ -79,27 +86,37 @@ class controlledArmchair {
         controlMode_t getCurrentMode() const {return mode;};
         const char *getCurrentModeStr() const { return controlModeStr[(int)mode]; };
 
+        //--- mode specific ---
         // releases or locks joystick in place when in massage mode, returns true when input is frozen
         bool toggleFreezeInputMassage();
-
         // toggle between normal and alternative stick mapping (joystick reverse position inverted), returns true when alt mapping is active
         bool toggleAltStickMapping();
 
+        // configure max dutycycle (in joystick or http mode)
+        void setMaxDuty(float maxDutyNew) { writeMaxDuty(maxDutyNew); };
+        float getMaxDuty() const {return joystickGenerateCommands_config.maxDuty; };
+
     private:
 
         //--- functions ---
         //function that evaluates whether there is no activity/change on the motor duty for a certain time, if so a switch to IDLE is issued. - has to be run repeatedly in a slow interval
         void handleTimeout();
 
+        void loadMaxDuty(); //load stored value for maxDuty from nvs
+        void writeMaxDuty(float newMaxDuty); //write new value for maxDuty to nvs
+
         //--- objects ---
         buzzer_t* buzzer;
         controlledMotor* motorLeft;
         controlledMotor* motorRight;
         httpJoystick* httpJoystickMain_l;
         evaluatedJoystick* joystick_l;
+        joystickGenerateCommands_config_t joystickGenerateCommands_config;
         automatedArmchair_c *automatedArmchair;
         cControlledRest * legRest;
         cControlledRest * backRest;
+        //handle for using the nvs flash (persistent config variables)
+        nvs_handle_t * nvsHandle;
 
         //---variables ---
         //struct for motor commands returned by generate functions of each mode
@@ -109,7 +126,6 @@ class controlledArmchair {
 
         //store joystick data
         joystickData_t stickData;
-        bool altStickMapping; //alternative joystick mapping (reverse mapped differently)
 
         //variables for http mode
         uint32_t http_timestamp_lastData = 0;

board_single/main/main.cpp

@@ -169,7 +169,7 @@ void createObjects()
 
     // create control object (control.hpp)
     // with configuration from config.cpp
-    control = new controlledArmchair(configControl, buzzer, motorLeft, motorRight, joystick, httpJoystickMain, automatedArmchair, legRest, backRest);
+    control = new controlledArmchair(configControl, buzzer, motorLeft, motorRight, joystick, &joystickGenerateCommands_config, httpJoystickMain, automatedArmchair, legRest, backRest, &nvsHandle);
 
     // create automatedArmchair_c object (for auto-mode) (auto.hpp)
     automatedArmchair = new automatedArmchair_c(motorLeft, motorRight);

board_single/main/menu.cpp

@@ -255,27 +255,25 @@ menuItem_t item_debugJoystick = {
 //########################
 void maxDuty_action(display_task_parameters_t * objects, SSD1306_t * display, int value)
 {
-    //TODO actually store the value
+    objects->control->setMaxDuty(value);
-    ESP_LOGW(TAG, "set max duty to %d", value);
 }
 int maxDuty_currentValue(display_task_parameters_t * objects)
 {
-    //TODO get real current value
+    return (int)objects->control->getMaxDuty();
-    return 84;
 }
 menuItem_t item_maxDuty = {
     maxDuty_action,       // function action
     maxDuty_currentValue, // function get initial value or NULL(show in line 2)
     NULL,                 // function get default value or NULL(dont set value, show msg)
     1,                    // valueMin
-    99,                   // valueMax
+    100,                  // valueMax
     1,                    // valueIncrement
-    "max duty        ",   // title
+    "Set max Duty    ",   // title
     "",                   // line1 (above value)
     "  set max-duty: ",   // line2 (above value)
     "",                   // line4 * (below value)
     "",                   // line5 *
-    "      1-99      ",   // line6
+    "      1-100     ",   // line6
     "     percent    ",   // line7
 };
 
@@ -433,8 +431,8 @@ menuItem_t item_last = {
 //####################################################
 //### store all configured menu items in one array ###
 //####################################################
-const menuItem_t menuItems[] = {item_centerJoystick, item_calibrateJoystick, item_debugJoystick, item_accelLimit, item_decelLimit, item_reset, item_example, item_last};
+const menuItem_t menuItems[] = {item_centerJoystick, item_calibrateJoystick, item_debugJoystick, item_maxDuty, item_accelLimit, item_decelLimit, item_reset, item_example, item_last};
-const int itemCount = 8;
+const int itemCount = 9;
 
 
 

common/joystick.cpp

@@ -304,7 +304,7 @@ joystickPos_t joystick_evaluatePosition(float x, float y){
 //========= joystick_CommandsDriving =========
 //============================================
 //function that generates commands for both motors from the joystick data
-motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altStickMapping){
+motorCommands_t joystick_generateCommandsDriving(joystickData_t data, joystickGenerateCommands_config_t * config){
 
     //struct with current data of the joystick
     //typedef struct joystickData_t {
@@ -317,10 +317,8 @@ motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altSt
 
 	//--- variables ---
     motorCommands_t commands;
-    float dutyMax = 100; //TODO add this to config, make changeable during runtime
-
     float dutyOffset = 5; //immediately starts with this duty, TODO add this to config
-    float dutyRange = dutyMax - dutyOffset;
+    float dutyRange = config->maxDuty - config->dutyOffset;
     float ratio = fabs(data.angle) / 90; //90degree = x=0 || 0degree = y=0
 	
 	//--- snap ratio to max at angle threshold --- 
@@ -334,7 +332,7 @@ motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altSt
 	*/
 
     //--- experimental alternative control mode ---
-    if (altStickMapping == true){
+    if (config->altStickMapping == true){
         //swap BOTTOM_LEFT and BOTTOM_RIGHT
         if (data.position == joystickPos_t::BOTTOM_LEFT){
             data.position = joystickPos_t::BOTTOM_RIGHT;

common/joystick.hpp

@@ -10,6 +10,7 @@ extern "C"
 #include "esp_err.h"
 #include "nvs_flash.h"
 #include "nvs.h"
+#include <stdbool.h>
 }
 
 #include <cmath>
@@ -69,6 +70,13 @@ typedef struct joystickData_t {
 } joystickData_t;
 
 
+// struct with parameters provided to joystick_GenerateCommandsDriving()
+typedef struct joystickGenerateCommands_config_t {
+    float maxDuty;
+    float dutyOffset;
+    bool altStickMapping;
+} joystickGenerateCommands_config_t;
+
 
 //------------------------------------
 //----- evaluatedJoystick class  -----
@@ -120,7 +128,7 @@ private:
 //============================================
 //function that generates commands for both motors from the joystick data
 //motorCommands_t joystick_generateCommandsDriving(evaluatedJoystick joystick);
-motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altStickMapping = false);
+motorCommands_t joystick_generateCommandsDriving(joystickData_t data, joystickGenerateCommands_config_t * config);