exodus/1NiM-WatingRoom-WatchController
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proj: switching to Linux

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Gustice
2025-07-06 11:00:29 +02:00
parent 9ebbedb04a
commit 8f0dbd4cbd
23 changed files with 255 additions and 170 deletions
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main/watchMain.cpp
+16 -21
View File
@@ -591,7 +591,10 @@ void MovementTask() {
StepperMotor stepper(stepperCfg, stepperDriver, initSens);
WatchMotor watch(stepper, motorSleep);
WatchMotor watch(stepper, [](uint8_t newPos) {
pictoIllumQue.enqueue(std::make_unique<PictoIllumCommand>(newPos));
responseQueue.enqueue(std::make_unique<WatchIndex>(ResponseType::StepAt, newPos));
});
ESP_LOGI("Stepper", "Find Home");
stepper.findRef();
@@ -627,23 +630,15 @@ void MovementTask() {
continue;
}
int jumps = newPos - watch.getIndex();
if (jumps <= 0) {
jumps += 6;
}
jumps = jumps + (activeState.minJumps % 6) * 6;
if (jumps < activeState.minJumps) {
jumps += 6;
}
Syslog::logv(Syslog::Severity::Notice,
"Running Stepper by %i steps with prof=%i a=%.2f w=%.2f",
jumps, activeState.profile, activeState.accel, activeState.speed);
"Running Stepper by min%i steps with prof=%i a=%.2f w=%.2f",
activeState.minJumps, activeState.profile, activeState.accel, activeState.speed);
pictoIllumQue.enqueue(std::make_unique<PictoIllumCommand>(0));
responseQueue.enqueue(std::make_unique<WatchIndex>(ResponseType::StartMoving, 0));
watch.moveTo(newPos, activeState.profile);
pictoIllumQue.enqueue(std::make_unique<PictoIllumCommand>(newPos));
responseQueue.enqueue(std::make_unique<WatchIndex>(ResponseType::StepAt, newPos));
auto &as = activeState;
watch.moveTo(newPos, as.profile, as.minJumps, as.accel, as.speed);
// pictoIllumQue.enqueue(std::make_unique<PictoIllumCommand>(newPos));
// responseQueue.enqueue(std::make_unique<WatchIndex>(ResponseType::StepAt, newPos));
}
} else if (cmd->type == MoveType::Demo) {
ESP_LOGI(TAG, "Running Demo");
@@ -652,7 +647,7 @@ void MovementTask() {
fos::Task::delayMs(1000);
int steps[3]{4, 2, 0};
for (size_t j = 0; j < 3; j++) {
watch.moveTo(steps[j], i);
watch.moveTo(steps[j], i, 1, 1, 1);
fos::Task::delayMs(1000);
}
}
@@ -735,11 +730,11 @@ bool onCheckSpitTypeVeto(bool knownType, bool createdByClient) {
}
bool onCheckSpitObjectVeto(bool knownType) {
return true; // Bypass veto
return true; // Bypass veto
if (!knownType) { // Don't allow objects of unregistered SPITTypes
return false;
}
return true;
}
@@ -988,8 +983,8 @@ void app_main(void) {
// ToDo send
Syslog::logv(Syslog::Severity::Notice, "Health state");
// ESP_LOGI(TAG, "Min heap size: %" PRIu32 " / FreeHeap %" PRIu32 "\n",
ESP_LOGI(TAG, "Min heap size: %u / FreeHeap %lu",
heap_caps_get_minimum_free_size(MALLOC_CAP_DEFAULT),
esp_get_free_heap_size());
// ESP_LOGI(TAG, "Min heap size: %u / FreeHeap %lu",
// heap_caps_get_minimum_free_size(MALLOC_CAP_DEFAULT),
// esp_get_free_heap_size());
}
}
main/watchMain.hpp
+1 -1
View File
@@ -24,7 +24,7 @@
// Component header
#include "Task.hpp"
#include "PwmExpanderPca9685.hpp"
#include "StepperDrv8833.hpp"
#include "stepperDrv.hpp"
#include "stepperMotor.hpp"
#include "cliWrapper.hpp"
#include "udpSockets.hpp"