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wifi fixes and vetted changes

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- wifi consistently comes up and brings web interface up
- switch to websockets for remote control etc
- jack extension is limited in its capacity
- schedule is now a table, not a range
This commit is contained in:
Thaddeus Hughes
2026-06-24 17:51:05 -05:00
parent 46f9bada4f
commit 1846fa7b36
20 changed files with 2206 additions and 2325 deletions
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62
main/control_fsm.c
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@@ -63,6 +63,11 @@ static int64_t jack_start_us = 0;
static int64_t jack_trans_us = 0;
static int64_t jack_finish_us = 0;
/* Cumulative jack extension estimate in microseconds (0 = fully retracted).
* Reset to 0 whenever SENSOR_JACK trips (home position). Persists across
* panics/WDT resets so the guard survives a mid-extension reboot. */
RTC_DATA_ATTR static int64_t jack_pos_us = 0;
volatile fsm_state_t current_state = STATE_IDLE;
volatile int64_t fsm_now = 0;
volatile bool start_running_request = false;
@@ -76,6 +81,10 @@ bool fsm_is_idle(void) {
return current_state == STATE_IDLE;
}
int64_t fsm_get_jack_pos_us(void) {
return jack_pos_us;
}
static int64_t timer_end = 0;
static int64_t timer_start = 0;
static inline void set_timer(uint64_t us) {
@@ -96,6 +105,12 @@ void pulse_override(fsm_override_t cmd) {
}
}
void stop_override(void) {
portENTER_CRITICAL(&override_spin);
override_time = 0;
portEXIT_CRITICAL(&override_spin);
}
/* Atomic snapshot of override_time + override_cmd for the control task. */
static inline void override_snapshot(int64_t *time_out, fsm_override_t *cmd_out) {
portENTER_CRITICAL(&override_spin);
@@ -210,7 +225,8 @@ int8_t fsm_get_current_progress(int8_t denominator) {
}
#define JACK_TIME get_param_value_t(PARAM_JACK_KT).f32 * get_param_value_t(PARAM_JACK_DIST ).f32
#define JACK_TIME get_param_value_t(PARAM_JACK_KT).f32 * get_param_value_t(PARAM_JACK_DIST).f32
#define JACK_MAX_TIME get_param_value_t(PARAM_JACK_KT).f32 * get_param_value_t(PARAM_JACK_MAX ).f32
/* Symmetric jack-down duration: how long jack-up actually ran, plus 5%.
* If jack_start_us / jack_finish_us are zero or negative (panic recovery,
@@ -678,7 +694,7 @@ void control_task(void *param) {
}
break;
case FSM_OVERRIDE_JACK_UP:
if (efuse_get(BRIDGE_JACK)){
if (efuse_get(BRIDGE_JACK) || jack_pos_us >= (int64_t)JACK_MAX_TIME) {
drive_relays((relay_port_t){.bridges = {
.DRIVE=BRIDGE_OFF,
.JACK=BRIDGE_OFF,
@@ -813,6 +829,48 @@ void control_task(void *param) {
}
/**** JACK POSITION TRACKING ****/
/* Update jack_pos_us each tick based on what the relay outputs just did.
* SENSOR_JACK tripping is the definitive home reset (overrides everything). */
{
const int64_t TICK_US = 20000LL;
bridge_dir_t jack_dir = BRIDGE_OFF;
switch (current_state) {
case STATE_JACK_UP_START:
case STATE_JACK_UP:
case STATE_CALIBRATE_JACK_MOVE:
jack_dir = BRIDGE_FWD;
break;
case STATE_JACK_DOWN:
jack_dir = BRIDGE_REV;
break;
case STATE_IDLE: {
int64_t local_time;
fsm_override_t local_cmd;
override_snapshot(&local_time, &local_cmd);
if (local_time > fsm_now && !efuse_get(BRIDGE_JACK)) {
if (local_cmd == FSM_OVERRIDE_JACK_UP && jack_pos_us < (int64_t)JACK_MAX_TIME)
jack_dir = BRIDGE_FWD;
else if (local_cmd == FSM_OVERRIDE_JACK_DOWN)
jack_dir = BRIDGE_REV;
}
break;
}
default: break;
}
if (jack_dir == BRIDGE_FWD)
jack_pos_us += TICK_US;
else if (jack_dir == BRIDGE_REV) {
jack_pos_us -= TICK_US;
if (jack_pos_us < 0LL) jack_pos_us = 0LL;
}
if (get_sensor(SENSOR_JACK))
jack_pos_us = 0LL;
}
/**** LOGGING ****/
if (log) send_fsm_log();