adipu/Blinds_XIAO
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revert to non-task-driven, no tangible difference in performance. May change back later.

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This commit is contained in:
pulipakaa24
2026-01-08 18:14:36 -06:00
parent e437c32c28
commit 03ca64080c
15 changed files with 240 additions and 435 deletions
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102
include/servo.cpp
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@@ -47,7 +47,7 @@ void servoInit() {
gpio_set_level(debugLED, 0); // Start with LED off
topEnc->count = servoReadPos();
if (Calibration::getCalibrated()) initMainLoop();
if (calib.getCalibrated()) initMainLoop();
debugLEDSwitch(1);
}
@@ -87,7 +87,7 @@ bool servoInitCalib() {
bottomEnc->wandListen.store(false, std::memory_order_release);
topEnc->wandListen.store(false, std::memory_order_release);
topEnc->serverListen.store(false, std::memory_order_release);
if (!Calibration::clearCalibrated()) return false;
if (!calib.clearCalibrated()) return false;
if (topEnc == nullptr || bottomEnc == nullptr) {
printf("ERROR: CALIBRATION STARTED BEFORE SERVO INITIALIZATION\n");
return false;
@@ -117,7 +117,7 @@ bool servoBeginDownwardCalib() {
calibListen = false;
servoOff();
vTaskDelay(pdMS_TO_TICKS(1000));
if (!Calibration::beginDownwardCalib(*topEnc)) return false;
if (!calib.beginDownwardCalib(*topEnc)) return false;
baseDiff = bottomEnc->getCount() - topEnc->getCount();
calibListen = true;
return true;
@@ -127,7 +127,7 @@ bool servoCompleteCalib() {
calibListen = false;
servoOff();
vTaskDelay(pdMS_TO_TICKS(1000));
if (!Calibration::completeCalib(*topEnc)) return false;
if (!calib.completeCalib(*topEnc)) return false;
initMainLoop();
return true;
}
@@ -139,11 +139,9 @@ void initMainLoop() {
}
void IRAM_ATTR watchdogCallback(void* arg) {
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
if (runningManual || runningServer) {
// if we're trying to move and our timer ran out, we need to recalibrate
xEventGroupSetBitsFromISR(g_system_events, EVENT_CLEAR_CALIB, &xHigherPriorityTaskWoken);
clearCalibFlag = true;
topEnc->pauseWatchdog();
// get ready for recalibration by clearing all these listeners
@@ -155,13 +153,11 @@ void IRAM_ATTR watchdogCallback(void* arg) {
else {
// if no movement is running, we're fine
// save current servo-encoder position for reinitialization
xEventGroupSetBitsFromISR(g_system_events, EVENT_SAVE_POSITION, &xHigherPriorityTaskWoken);
savePosFlag = true;
}
// clear running flags
runningManual = false;
runningServer = false;
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
}
void servoSavePos() {
@@ -207,8 +203,8 @@ void servoWandListen() {
stopServerRun();
// freeze atomic values
int32_t upBound = Calibration::UpTicks;
int32_t downBound = Calibration::DownTicks;
int32_t upBound = calib.UpTicks;
int32_t downBound = calib.DownTicks;
int32_t bottomCount = bottomEnc->getCount();
int32_t topCount = topEnc->getCount();
@@ -261,10 +257,10 @@ void servoServerListen() {
void runToAppPos(uint8_t appPos) {
// manual control takes precedence over remote control, always.
// also do not begin operation if not calibrated;
if (runningManual || !Calibration::getCalibrated()) return;
if (runningManual || !calib.getCalibrated()) return;
servoOff();
target = Calibration::convertToTicks(appPos); // calculate target encoder position
target = calib.convertToTicks(appPos); // calculate target encoder position
printf("runToAppPos Called, running to %d from %d", target.load(), topEnc->getCount());
// allow servo position to settle
@@ -276,82 +272,4 @@ void runToAppPos(uint8_t appPos) {
if (startLess) servoOn(CCW, server); // begin servo movement
else servoOn(CW, server);
topEnc->serverListen.store(true, std::memory_order_release); // start listening for shutoff point
}
// Servo control task - processes encoder events and servo commands
void servoControlTask(void* arg) {
encoder_event_t enc_event;
servo_cmd_msg_t cmd;
printf("Servo control task started\n");
while (1) {
// Block waiting for encoder events (higher priority)
if (xQueueReceive(g_encoder_event_queue, &enc_event, pdMS_TO_TICKS(10)) == pdTRUE) {
// Process encoder event (work that was done in ISR before)
// Handle calibration listening
if (calibListen) {
servoCalibListen();
}
// Only process top encoder events for watchdog and listeners
if (enc_event.is_top_encoder) {
// Feed watchdog in task context (not ISR)
if (topEnc->feedWDog) {
esp_timer_stop(topEnc->watchdog_handle);
esp_timer_start_once(topEnc->watchdog_handle, 500000);
debugLEDTgl();
}
// Check wand listener - now safe in task context
if (topEnc->wandListen) {
servoWandListen();
}
// Check server listener - now safe in task context
if (topEnc->serverListen) {
servoServerListen();
}
}
// Only process top encoder events for watchdog and listeners
else {
// Feed watchdog in task context (not ISR)
if (bottomEnc->feedWDog) {
esp_timer_stop(bottomEnc->watchdog_handle);
esp_timer_start_once(bottomEnc->watchdog_handle, 500000);
debugLEDTgl();
}
// Check wand listener - now safe in task context
if (bottomEnc->wandListen) {
servoWandListen();
}
// Check server listener - now safe in task context
if (bottomEnc->serverListen) {
servoServerListen();
}
}
}
// Check for direct servo commands (lower priority)
if (xQueueReceive(g_servo_command_queue, &cmd, 0) == pdTRUE) {
switch (cmd.command) {
case SERVO_CMD_STOP:
servoOff();
break;
case SERVO_CMD_MOVE_CCW:
servoOn(CCW, cmd.is_manual ? manual : server);
break;
case SERVO_CMD_MOVE_CW:
servoOn(CW, cmd.is_manual ? manual : server);
break;
case SERVO_CMD_MOVE_TO_POSITION:
runToAppPos(cmd.target_position);
break;
}
}
}
}