Fix deadlock in windingWidth, Handle 0 width, optimize UI

guide-stepper:
- fix deadlock when editing winding width
- fix behaivor when windingWidth is set to 0 (disable guide)

control:
- add dead time to prevent setTarget when exiting setWindingWidth with buttons
- fix typo and conditons
- increase max winding width
- optimize display text

main/config.h

@@ -106,7 +106,7 @@
 //---------------------------
 // default axis coordinates the guide changes direction (winding width)
 #define GUIDE_MIN_MM 0  // TODO add feature so guide stays at zero for some steps (negative MIN_MM?), currently seems appropriate for even winding
-#define GUIDE_MAX_MM 95 // actual reel is 110, but currently guide turned out to stay at max position for too long
+#define GUIDE_MAX_MM 90 // 95 still to long at max pos - actual reel is 110, but currently guide turned out to stay at max position for too long, due to cable running diagonal from guide to reel
 
 // tolerance added to last stored position at previous shutdown.
 // When calibrating at startup the stepper moves for that sum to get track of zero position (ensure crashes into hardware limit for at least some time)
@@ -117,7 +117,9 @@
 #define D_REEL 160                   // start diameter of empty reel
 
 // max winding width that can be set using potentiometer (SET+PRESET1 buttons)
-#define MAX_WINDING_WIDTH_MM 100;
+#define MAX_SELECTABLE_WINDING_WIDTH_MM 100;
+// max target length that can be selected using potentiometer (SET button)
+#define MAX_SELECTABLE_LENGTH_POTI_MM 100000
 
 
 //--------------------------

main/control.cpp

@@ -54,6 +54,10 @@ static uint32_t timestamp_cut_lastBeep = 0;
 static uint32_t autoCut_delayMs = 2500; //TODO add this to config
 static bool autoCutEnabled = false; //store state of toggle switch (no hotswitch)
 
+//user interface
+static uint32_t timestamp_lastWidthSelect = 0;
+//ignore new set events for that time after last value set using poti
+#define DEAD_TIME_POTI_SET_VALUE 1000
 
 
 //-----------------------------------------
@@ -257,10 +261,11 @@ void task_control(void *pvParameter)
         // set winding width (axis travel) with poti position
         // when SET and PRESET1 button are pressed
         if (SW_SET.state == true && SW_PRESET1.state == true) {
+            timestamp_lastWidthSelect = esp_log_timestamp();
             //read adc
             potiRead = gpio_readAdc(ADC_CHANNEL_POTI); //0-4095
             //scale to target length range
-            uint8_t windingWidthNew = (float)potiRead / 4095 * MAX_WINDING_WIDTH_MM;
+            uint8_t windingWidthNew = (float)potiRead / 4095 * MAX_SELECTABLE_WINDING_WIDTH_MM;
             //apply hysteresis and round to whole meters //TODO optimize this
             if (windingWidthNew % 5 < 2) { //round down if remainder less than 2mm
                 ESP_LOGD(TAG, "Poti input = %d -> rounding down", windingWidthNew);
@@ -270,7 +275,7 @@ void task_control(void *pvParameter)
                 windingWidthNew = (windingWidthNew/5 + 1) * 5; //round up
             } else {
                 ESP_LOGD(TAG, "Poti input = %d -> hysteresis", windingWidthNew);
-                windingWidthNew = lengthTarget;
+                windingWidthNew = guide_getWindingWidth();
             }
             //update target width and beep when effectively changed
             if (windingWidthNew != guide_getWindingWidth()) {
@@ -282,12 +287,13 @@ void task_control(void *pvParameter)
         }
 
         //## set target length (SET+POTI) ##
-        //set target length to poti position when SET switch is pressed
+        //set target length to poti position when only SET button is pressed and certain dead time passed after last setWindingWidth (SET and PRESET1 button) to prevent set target at release
-        else if (SW_SET.state == true) {
+        // FIXME: when going to edit the winding width (SET+PRESET1) sometimes the target-length also updates when initially pressing SET -> update only at actual poti change (works sometimes)
+        else if (SW_SET.state == true && (esp_log_timestamp() - timestamp_lastWidthSelect > DEAD_TIME_POTI_SET_VALUE)) {
             //read adc
             potiRead = gpio_readAdc(ADC_CHANNEL_POTI); //0-4095
             //scale to target length range
-            int lengthTargetNew = (float)potiRead / 4095 * 50000;
+            int lengthTargetNew = (float)potiRead / 4095 * MAX_SELECTABLE_LENGTH_POTI_MM;
             //apply hysteresis and round to whole meters //TODO optimize this
             if (lengthTargetNew % 1000 < 200) { //round down if less than .2 meter
                 ESP_LOGD(TAG, "Poti input = %d -> rounding down", lengthTargetNew);
@@ -318,7 +324,7 @@ void task_control(void *pvParameter)
 
 
         //##### target length preset buttons #####
-        if (controlState != systemState_t::MANUAL) { //dont apply preset length while controlling motor with preset buttons
+        if (controlState != systemState_t::MANUAL && SW_SET.state == false) { //dont apply preset length while controlling motor with preset buttons
             if (SW_PRESET1.risingEdge) {
                 lengthTarget = 5000;
                 buzzer.beep(lengthTarget/1000, 25, 30);
@@ -506,7 +512,7 @@ void task_control(void *pvParameter)
         }
         //setting winding width: blink info message
         else if (SW_SET.state && SW_PRESET1.state){
-            displayTop.blinkStrings("  SET   ", " WIDTH  ", 400, 400);
+            displayTop.blinkStrings("SET.WIND", " WIDTH  ", 900, 900);
         }
         //otherwise show current position
         else {
@@ -538,7 +544,7 @@ void task_control(void *pvParameter)
         }
         //setting winding width: blink currently set windingWidth
         else if (SW_SET.state && SW_PRESET1.state){
-            sprintf(buf_tmp, "  %03d mm", lengthNow/1000);
+            sprintf(buf_tmp, "  %03d mm", guide_getWindingWidth());
             displayBot.blinkStrings(buf_tmp, "        ", 300, 100);
         }
         //setting target length: blink target length

main/guide-stepper.cpp

@@ -95,13 +95,14 @@ void guide_setWindingWidth(uint8_t maxPosMm)
 //=============================
 //=== guide_getWindingWidth ===
 //=============================
-// get currently configured winding width (axis position the guide returns in mm)
+// get currently configured winding width (axis position at which the guide returns in mm)
 uint8_t guide_getWindingWidth()
 {
     if (xSemaphoreTake(configVariables_mutex, portMAX_DELAY) == pdTRUE) // mutex to prevent multiple access by control and stepper-ctl task
     {
-        return posMaxSteps / STEPPER_STEPS_PER_MM;
+        uint8_t returnValue = posMaxSteps / STEPPER_STEPS_PER_MM;
         xSemaphoreGive(configVariables_mutex);
+        return returnValue;
     }
     return 0;
 }
@@ -125,6 +126,12 @@ void guide_moveToZero(){
 void travelSteps(int stepsTarget){
 	//TODO simplify this function, one simple calculation of new position?
 	//with new custom driver no need to detect direction change
+
+    // cancel when width is zero or no steps received
+    if (posMaxSteps == 0 || stepsTarget == 0){
+        ESP_LOGD(TAG, "travelSteps: MaxSteps or stepsTarget = 0 -> nothing to do");
+        return;
+    }
 	
     int stepsToGo, remaining;
 
@@ -349,6 +356,18 @@ void task_stepper_ctl(void *pvParameter)
 
     //repeatedly read changes in measured cable length and move axis accordingly
     while(1){
+
+        // guide is disabled when posMaxSteps is zero:
+        if (posMaxSteps == 0)
+        {
+            // move to starting position
+            stepper_setTargetPosSteps(0);
+            vTaskDelay(1000 / portTICK_PERIOD_MS);
+            ESP_LOGD(TAG, "posMaxSteps is zero -> guide disabled, doing nothing");
+            // stop loop iteration
+            continue;
+        }
+
 #ifdef STEPPER_SIMULATE_ENCODER
 		//TESTING - simulate encoder using switch
 		SW_RESET.handle();