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logging testing. logging works. e-fusing algo works right for jack. jack timing works.

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This commit is contained in:
Thaddeus Hughes
2026-01-17 13:33:57 -06:00
parent 982ada9787
commit a1a8313525
20 changed files with 2376 additions and 651 deletions
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137
main/sensors.c
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@@ -58,10 +58,31 @@ static void IRAM_ATTR sensor_isr_handler(void* arg) {
if (xHigherPriorityTaskWoken) portYIELD_FROM_ISR();
}
// Debounce task: Processes queue, updates state & count
static void sensor_debounce_task(void* param) {
esp_task_wdt_add(NULL);
sensor_event_t evt;
esp_err_t sensors_init() {
gpio_config_t io_conf = {
.pin_bit_mask = (1ULL << sensor_pins[0]) | (1ULL << sensor_pins[1]),
.mode = GPIO_MODE_INPUT,
.pull_up_en = GPIO_PULLUP_ENABLE,
.pull_down_en = GPIO_PULLDOWN_DISABLE,
.intr_type = GPIO_INTR_ANYEDGE,
};
ESP_ERROR_CHECK(gpio_config(&io_conf));
sensor_event_queue = xQueueCreate(16, sizeof(sensor_event_t));
if (!sensor_event_queue) {
ESP_LOGE(TAG, "Failed to create sensor queue");
return ESP_FAIL;
}
// Install ISR service
ESP_ERROR_CHECK(gpio_install_isr_service(0));
for (uint8_t i = 0; i < N_SENSORS; i++) {
ESP_ERROR_CHECK(gpio_isr_handler_add(sensor_pins[i], sensor_isr_handler, INT2VOIDP(sensor_pins[i])));
sensor_stable_state[i] = !gpio_get_level(sensor_pins[i]);
}
//static uint64_t last_processed_time[N_SENSORS] = {0};
// Initialize stable state
@@ -82,61 +103,65 @@ static void sensor_debounce_task(void* param) {
safety_high_start_time = esp_timer_get_time();
}
return ESP_OK;
}
void sensors_check() {
sensor_event_t evt;
uint8_t i = 0;
if (xQueueReceive(sensor_event_queue, &evt, pdMS_TO_TICKS(10)) == pdTRUE) {
i = evt.sensor_id;
ESP_LOGI("SENS", "EVENT %d", i);
bool current_raw = !gpio_get_level(sensor_pins[i]);
while (1) {
if (xQueueReceive(sensor_event_queue, &evt, pdMS_TO_TICKS(10)) == pdTRUE) {
i = evt.sensor_id;
ESP_LOGI("SENS", "EVENT %d", i);
bool current_raw = !gpio_get_level(sensor_pins[i]);
sensor_stable_state[i] = current_raw;
if (current_raw && !last_raw_state[i]){
ESP_LOGI("SENS", "FALLING");
sensor_count[i]++;
}
if (!current_raw && last_raw_state[i]){
ESP_LOGI("SENS", "RISING");
sensor_count[i]++;
}
last_raw_state[i] = current_raw;
sensor_stable_state[i] = current_raw;
if (current_raw && !last_raw_state[i]){
ESP_LOGI("SENS", "FALLING");
sensor_count[i]++;
}
if (!current_raw && last_raw_state[i]){
ESP_LOGI("SENS", "RISING");
sensor_count[i]++;
}
// Handle safety sensor debouncing with asymmetric timing
bool safety_current = !gpio_get_level(sensor_pins[SENSOR_SAFETY]);
uint64_t now = esp_timer_get_time();
if (safety_current) {
// Safety sensor is LOW (active)
if (safety_low_start_time == 0) {
// First time going low, start timing
safety_low_start_time = now;
safety_high_start_time = 0;
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)
if (safety_high_start_time == 0) {
// First time going high, start timing
safety_high_start_time = now;
safety_low_start_time = 0;
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");
}
}
esp_task_wdt_reset();
last_raw_state[i] = current_raw;
}
// Handle safety sensor debouncing with asymmetric timing
bool safety_current = !gpio_get_level(sensor_pins[SENSOR_SAFETY]);
uint64_t now = esp_timer_get_time();
if (safety_current) {
// Safety sensor is LOW (active)
if (safety_low_start_time == 0) {
// First time going low, start timing
safety_low_start_time = now;
safety_high_start_time = 0;
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)
if (safety_high_start_time == 0) {
// First time going high, start timing
safety_high_start_time = now;
safety_low_start_time = 0;
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});
ESP_LOGI(TAG, "SAFETY BREAK - Relays disabled");
}
}
esp_task_wdt_reset();
}
int8_t pack_sensors() {
@@ -148,7 +173,7 @@ int8_t pack_sensors() {
return ret;
}
esp_err_t sensors_init() {
/*esp_err_t sensors_init() {
gpio_config_t io_conf = {
.pin_bit_mask = (1ULL << sensor_pins[0]) | (1ULL << sensor_pins[1]),
.mode = GPIO_MODE_INPUT,
@@ -185,7 +210,7 @@ esp_err_t sensors_stop() {
vQueueDelete(sensor_event_queue);
return ESP_OK;
}
}*/
// Public API
bool get_sensor(sensor_t i) {