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bringup and order sensors

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This commit is contained in:
Thaddeus Hughes
2026-04-22 18:31:31 -05:00
parent a775999c87
commit 3774cde506
55 changed files with 184854 additions and 38 deletions
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37
main/sensors.c
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@@ -17,14 +17,21 @@
static const char* TAG = "SENS";
#ifdef BOARD_V5
// V5 labels 2/3/4/1 → IO14/16/19/27 → SAFETY/JACK/DRIVE/nc
// V5 physical connectors:
// J1 = IO27 → SAFETY
// J2 = IO14 → JACK
// J3 = IO23 → n/c (AUX) (J3 unreliable on the V5 board, moved DRIVE off)
// J4 = IO19 → DRIVE
// Array order matches sensor_t: SAFETY, DRIVE, JACK, AUX2
uint8_t sensor_pins[N_SENSORS] = {GPIO_NUM_14, GPIO_NUM_19, GPIO_NUM_16, GPIO_NUM_27};
uint8_t sensor_pins[N_SENSORS] = {GPIO_NUM_27, GPIO_NUM_19, GPIO_NUM_14, GPIO_NUM_23};
#else // BOARD_V4
uint8_t sensor_pins[N_SENSORS] = {GPIO_NUM_27, GPIO_NUM_14, GPIO_NUM_16, GPIO_NUM_19};
#endif
volatile int16_t sensor_count[N_SENSORS] = {0};
/* Bumped directly in the ISR on every edge — does not require sensors_check()
* to run, so it works even while bring-up pauses the FSM task. */
volatile uint32_t sensor_isr_edge_count[N_SENSORS] = {0};
static volatile uint64_t sensor_last_isr_time[N_SENSORS] = {0};
static volatile bool sensor_stable_state[N_SENSORS] = {false};
static QueueHandle_t sensor_event_queue = NULL;
@@ -59,6 +66,8 @@ static void IRAM_ATTR sensor_isr_handler(void* arg) {
uint64_t now = esp_timer_get_time();
sensor_last_isr_time[i] = now;
sensor_isr_edge_count[i]++;
sensor_event_t evt = {.sensor_id = i, .level = !gpio_get_level(gpio_num)};
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
xQueueSendFromISR(sensor_event_queue, &evt, &xHigherPriorityTaskWoken);
@@ -69,6 +78,17 @@ esp_err_t sensors_init() {
uint64_t pin_mask = 0;
for (uint8_t i = 0; i < N_SENSORS; i++) pin_mask |= (1ULL << sensor_pins[i]);
/* Belt-and-suspenders: force each sensor pin into digital-GPIO mode with
* pull-up explicitly applied. gpio_config()'s pull_up_en is known to be
* shadowed by RTC-subsystem settings on RTC-capable pins (IO27, 32, 33,
* 34–39). gpio_reset_pin() detaches any lingering RTC/peripheral mux,
* and the explicit gpio_set_pull_mode() call goes through the right
* path regardless of which sub-block owns the pin. */
for (uint8_t i = 0; i < N_SENSORS; i++) {
gpio_reset_pin(sensor_pins[i]);
}
gpio_config_t io_conf = {
.pin_bit_mask = pin_mask,
.mode = GPIO_MODE_INPUT,
@@ -78,6 +98,10 @@ esp_err_t sensors_init() {
};
ESP_ERROR_CHECK(gpio_config(&io_conf));
for (uint8_t i = 0; i < N_SENSORS; i++) {
ESP_ERROR_CHECK(gpio_set_pull_mode(sensor_pins[i], GPIO_PULLUP_ONLY));
}
sensor_event_queue = xQueueCreate(16, sizeof(sensor_event_t));
if (!sensor_event_queue) {
ESP_LOGE(TAG, "Failed to create sensor queue");
@@ -165,7 +189,9 @@ void sensors_check() {
ESP_LOGI(TAG, "Safety sensor went HIGH, starting break timer");
} else if (is_safe && (now - safety_high_start_time >= SAFETY_BREAK_DEBOUNCE_US)) {
is_safe = false;
i2c_set_relays((relay_port_t){.raw=0});
/* Kill all bridges but leave the sensor rail up — we still
* want to observe the safety input. */
i2c_relays_idle();
ESP_LOGI(TAG, "SAFETY BREAK - Relays disabled");
}
}
@@ -198,4 +224,9 @@ int16_t get_sensor_counter(sensor_t i) {
void set_sensor_counter(sensor_t i, int16_t to) {
sensor_count[i] = to;
}
uint32_t get_sensor_isr_edges(sensor_t i) {
if (i >= N_SENSORS) return 0;
return sensor_isr_edge_count[i];
}