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i think we're basically done

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This commit is contained in:
Thaddeus Hughes
2026-04-27 17:22:34 -05:00
parent 9f4362b5fd
commit f47a29205e
35 changed files with 14893 additions and 1687 deletions
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47
main/sensors.c
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@@ -140,28 +140,36 @@ esp_err_t sensors_init() {
}
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]);
/* Drain ALL queued events with a non-blocking receive. Previously this
* was a single blocking receive with a 10 ms timeout, which (a) chewed up
* half the FSM tick window waiting on quiet sensors, and (b) consumed
* only one edge per tick — encoder bursts above 50 Hz overflowed the
* 16-entry queue and undercounted distance. Now each tick consumes the
* full queue contents and applies a per-sensor debounce. */
sensor_event_t evt;
static uint64_t last_counted_us[N_SENSORS] = {0};
while (xQueueReceive(sensor_event_queue, &evt, 0) == pdTRUE) {
uint8_t i = evt.sensor_id;
if (i >= N_SENSORS) continue;
/* Use the ISR-captured level (snapshot at edge time) rather than a
* fresh GPIO read here — by the time the FSM tick drains the queue,
* the line may have toggled again and a re-read would miss the
* transition we're processing. */
bool current_raw = evt.level;
/* Software debounce on non-safety sensors. The safety sensor has its
* own asymmetric debouncer below, so we don't double-count there. */
uint64_t now = esp_timer_get_time();
if (i != SENSOR_SAFETY) {
if (now - last_counted_us[i] < DEBOUNCE_TIME_US) continue;
}
last_counted_us[i] = now;
sensor_stable_state[i] = current_raw;
if (current_raw && !last_raw_state[i]){
ESP_LOGI("SENS", "FALLING");
if (current_raw != last_raw_state[i]) {
sensor_count[i]++;
}
if (!current_raw && last_raw_state[i]){
ESP_LOGI("SENS", "RISING");
sensor_count[i]++;
}
last_raw_state[i] = current_raw;
}
@@ -214,8 +222,7 @@ bool get_sensor(sensor_t i) {
}
bool get_is_safe(void) {
return true;
//return is_safe;
return is_safe;
}
int16_t get_sensor_counter(sensor_t i) {