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Refining logging

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This commit is contained in:
Thaddeus Hughes
2026-01-13 18:35:31 -06:00
parent 49e728ec2b
commit 982ada9787
14 changed files with 594 additions and 507 deletions
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55
main/sensors.c
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@@ -1,12 +1,13 @@
#include "sensors.h"
#include "i2c.h"
#include "esp_log.h"
#include "esp_task_wdt.h"
#include "driver/gpio.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/queue.h"
#include "i2c.h"
#include "storage.h"
#include <sys/param.h>
// make the compiler shut up about casting an int to a void
#define INT2VOIDP(i) (void*)(uintptr_t)(i)
@@ -14,19 +15,22 @@
static const char* TAG = "SENS";
uint8_t sensor_pins[N_SENSORS] = {GPIO_NUM_27, GPIO_NUM_14};
uint8_t sensor_pins[N_SENSORS] = {GPIO_NUM_27, GPIO_NUM_14, GPIO_NUM_16, GPIO_NUM_19};
volatile int32_t sensor_count[N_SENSORS] = {0};
volatile int16_t sensor_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;
static volatile bool last_raw_state[N_SENSORS] = {false};
// Safety sensor debouncing
static volatile bool safety_tripped = false;
static volatile bool is_safe = true;
static volatile uint64_t safety_low_start_time = 0;
static volatile uint64_t safety_high_start_time = 0;
#define SAFETY_TRIP_DEBOUNCE_US get_param_value_t(PARAM_SAFETY_BREAK_US).u32
#define SAFETY_UNTRIP_DEBOUNCE_US get_param_value_t(PARAM_SAFETY_BREAK_US).u32
#define SAFETY_BREAK_DEBOUNCE_US get_param_value_t(PARAM_SAFETY_BREAK_US).u32
#define SAFETY_MAKE_DEBOUNCE_US get_param_value_t(PARAM_SAFETY_MAKE_US).u32
#define DEBOUNCE_TIME_US 2000 // 2 ms debounce (adjust per switch)
#define DEBOUNCE_TICKS pdMS_TO_TICKS(DEBOUNCE_TIME_MS)
@@ -59,7 +63,6 @@ static void sensor_debounce_task(void* param) {
esp_task_wdt_add(NULL);
sensor_event_t evt;
//static uint64_t last_processed_time[N_SENSORS] = {0};
static bool last_raw_state[N_SENSORS] = {false};
// Initialize stable state
for (uint8_t i = 0; i < N_SENSORS; i++) {
@@ -113,12 +116,10 @@ static void sensor_debounce_task(void* param) {
// First time going low, start timing
safety_low_start_time = now;
safety_high_start_time = 0;
ESP_LOGI(TAG, "Safety sensor went LOW, starting trip timer");
} else if (!safety_tripped && (now - safety_low_start_time >= SAFETY_TRIP_DEBOUNCE_US)) {
// Been low for 200ms, trip the safety
safety_tripped = true;
i2c_set_safety_status(false);
ESP_LOGW(TAG, "SAFETY TRIPPED - Relays disabled");
ESP_LOGI(TAG, "Safety sensor went LOW, starting make timer");
} else if (!is_safe && (now - safety_low_start_time >= SAFETY_MAKE_DEBOUNCE_US)) {
is_safe = true;
ESP_LOGW(TAG, "SAFETY MADE - Relays enabled");
}
} else {
// Safety sensor is HIGH (inactive)
@@ -126,12 +127,11 @@ static void sensor_debounce_task(void* param) {
// First time going high, start timing
safety_high_start_time = now;
safety_low_start_time = 0;
ESP_LOGI(TAG, "Safety sensor went HIGH, starting un-trip timer");
} else if (safety_tripped && (now - safety_high_start_time >= SAFETY_UNTRIP_DEBOUNCE_US)) {
// Been high for 300ms, un-trip the safety
safety_tripped = false;
i2c_set_safety_status(true);
ESP_LOGI(TAG, "SAFETY CLEARED - Relays enabled");
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(0);
ESP_LOGI(TAG, "SAFETY BREAK - Relays disabled");
}
}
@@ -139,6 +139,15 @@ static void sensor_debounce_task(void* param) {
}
}
int8_t pack_sensors() {
int8_t ret = 0;
for(uint8_t i=0; i<MIN(4, N_SENSORS); i++) {
if(sensor_stable_state[i]) ret |= 0x01<<i;
if(last_raw_state[i]) ret |= 0x01<<(i+4);
}
return ret;
}
esp_err_t sensors_init() {
gpio_config_t io_conf = {
.pin_bit_mask = (1ULL << sensor_pins[0]) | (1ULL << sensor_pins[1]),
@@ -183,14 +192,14 @@ bool get_sensor(sensor_t i) {
return sensor_stable_state[i];
}
bool get_safety_sensor(void) {
return !safety_tripped; // Returns true if safe, false if tripped
bool get_is_safe(void) {
return is_safe;
}
int32_t get_sensor_counter(sensor_t i) {
int16_t get_sensor_counter(sensor_t i) {
return sensor_count[i];
}
void set_sensor_counter(sensor_t i, int32_t to) {
void set_sensor_counter(sensor_t i, int16_t to) {
sensor_count[i] = to;
}