26761f4a80
- outsource task_fans and task_buzzer from main.cpp to their source files - use task parameters to pass necessary configs and objects - adjust task priorities (display was too low)
105 lines
3.5 KiB
C++
105 lines
3.5 KiB
C++
extern "C"
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{
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "esp_log.h"
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}
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#include "fan.hpp"
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//tag for logging
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static const char * TAG = "fan-control";
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//=======================================
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//============== fan task ===============
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//=======================================
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//task that controlls fans for cooling the drivers
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//turns fan on/off depending on motor duty history
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void task_fans( void * task_fans_parameters ){
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//get configuration struct from task parameter
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task_fans_parameters_t *objects = (task_fans_parameters_t *)task_fans_parameters;
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//create fan instances with config defined in config.cpp
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ESP_LOGI(TAG, "Initializing fans and starting fan handle loop");
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controlledFan fan(objects->fan_config, objects->motorLeft, objects->motorRight);
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//repeatedly run fan handle function in a slow loop
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while(1){
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fan.handle();
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vTaskDelay(500 / portTICK_PERIOD_MS);
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}
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}
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//-----------------------------
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//-------- constructor --------
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//-----------------------------
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controlledFan::controlledFan (fan_config_t config_f, controlledMotor* motor1_f, controlledMotor* motor2_f ){
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//copy config
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config = config_f;
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//copy pointer to motor objects
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motor1 = motor1_f;
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motor2 = motor2_f;
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//initialize gpio pin
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gpio_pad_select_gpio(config.gpio_fan);
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gpio_set_direction(config.gpio_fan, GPIO_MODE_OUTPUT);
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}
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//--------------------------
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//--------- handle ---------
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//--------------------------
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void controlledFan::handle(){
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//get current state of the motor (motorctl.cpp)
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motor1Status = motor1->getStatus();
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motor2Status = motor2->getStatus();
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//--- handle duty threshold ---
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//update timestamp if any threshold exceeded
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if (motor1Status.duty > config.dutyThreshold
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|| motor2Status.duty > config.dutyThreshold){ //TODO add temperature threshold
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if (!needsCooling){
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timestamp_needsCoolingSet = esp_log_timestamp();
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needsCooling = true;
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}
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timestamp_lastThreshold = esp_log_timestamp();
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} else {
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needsCooling = false;
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}
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//--- turn off condition ---
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if (fanRunning
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&& !needsCooling //no more cooling required
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&& (motor1Status.duty == 0) && (motor2Status.duty == 0) //both motors are off
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//-> keeps fans running even when lower than threshold already, however turnOffDelay already started TODO: start turn off delay after motor stop only?
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&& (esp_log_timestamp() - timestamp_lastThreshold) > config.turnOffDelayMs){ //turn off delay passed
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fanRunning = false;
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gpio_set_level(config.gpio_fan, 0);
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timestamp_turnedOff = esp_log_timestamp();
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ESP_LOGI(TAG, "turned fan OFF gpio=%d, minOnMs=%d, WasOnMs=%d", (int)config.gpio_fan, config.minOnMs, esp_log_timestamp()-timestamp_turnedOn);
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}
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//--- turn on condition ---
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if (!fanRunning
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&& needsCooling
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&& ((esp_log_timestamp() - timestamp_turnedOff) > config.minOffMs) //fans off long enough
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&& ((esp_log_timestamp() - timestamp_needsCoolingSet) > config.minOnMs)){ //motors on long enough
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fanRunning = true;
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gpio_set_level(config.gpio_fan, 1);
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timestamp_turnedOn = esp_log_timestamp();
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ESP_LOGI(TAG, "turned fan ON gpio=%d, minOffMs=%d, WasOffMs=%d", (int)config.gpio_fan, config.minOffMs, esp_log_timestamp()-timestamp_turnedOff);
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}
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//TODO Add statemachine for more specific control? Exponential average?
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//TODO idea: try other aproach? increment a variable with certain weights e.g. integrate over duty, then turn fans on and decrement the variable again
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ESP_LOGD(TAG, "fanState=%d, duty1=%f, duty2=%f, needsCooling=%d", fanRunning, motor1Status.duty, motor2Status.duty, needsCooling);
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}
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