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refactor continued, at least it compiles

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This commit is contained in:
Emanuele Trabattoni
2026-04-11 16:39:59 +02:00
parent d1b96e932c
commit fdba6d5ad5
7 changed files with 162 additions and 259 deletions
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2
RotaxMonitor/lib/led/led.h
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@@ -47,7 +47,7 @@ public:
};
public:
RGBled(const uint8_t pin = LED);
RGBled(const uint8_t pin = 48);
~RGBled();
void setStatus(const LedStatus s);

4
RotaxMonitor/src/datasave.h
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@@ -48,7 +48,3 @@ private:
void filter(int32_t &old, const int32_t value, const uint32_t k);
void filter(float &old, const float value, const uint32_t k);
};
// Task and function declarations
void saveHistoryTask(void *pvParameters);
void save_history(const PSRAMVector<ignitionBoxStatus> &history, const std::filesystem::path &file_path);

32
RotaxMonitor/src/devices.h
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@@ -3,6 +3,9 @@
// Library defines
#define ADS1256_SPI_ALREADY_STARTED
// System Includes
#include <memory>
// Device Libraries
#include <ADS1256.h>
#include <AD5292.h>
@@ -19,17 +22,34 @@
#define ADC_CH_PEAK_34N_OUT SING_7
// Device Pointer structs for tasks
struct Devices {
AD5292 *pot_a = NULL, *pot_b = NULL;
ADS1256 *adc_a = NULL, *adc_b = NULL;
PCA9555* io = NULL;
struct Devices
{
std::unique_ptr<SPIClass> m_spi_a = nullptr;
std::unique_ptr<SPIClass> m_spi_b = nullptr;
std::unique_ptr<AD5292> m_pot_a = nullptr;
std::unique_ptr<AD5292> m_pot_b = nullptr;
std::unique_ptr<ADS1256> m_adc_a = nullptr;
std::unique_ptr<ADS1256> m_adc_b = nullptr;
std::unique_ptr<PCA9555> m_expander_a = nullptr;
std::unique_ptr<PCA9555> m_expander_b = nullptr;
std::unique_ptr<PCA9555> m_expander_inputs_ab = nullptr;
std::mutex m_spi_a_mutex;
std::mutex m_spi_b_mutex;
std::mutex m_i2c_mutex;
};
// Adc read channel wrapper to selet mux before reading
inline float adcReadChannel(ADS1256* adc, const uint8_t ch){
inline float adcReadChannel(ADS1256 *adc, const uint8_t ch)
{
adc->setMUX(ch);
// scarta 3 conversioni
for (int i = 0; i < 3; i++) {
for (int i = 0; i < 3; i++)
{
adc->readSingle();
}
// ora lettura valida a 30kSPS → ~100 µs di settling

301
RotaxMonitor/src/main.cpp
View File

@@ -18,7 +18,7 @@
// Defines to enable channel B
#define CH_B_ENABLE
//#define TEST
// #define TEST
// Debug Defines
#define WIFI_SSID "AstroRotaxMonitor"
@@ -81,71 +81,9 @@ void loop()
RGBled led;
led.setStatus(RGBled::LedStatus::INIT);
bool running = true;
const uint32_t max_queue = 128;
const uint32_t filter_k = 10;
std::mutex fs_mutex;
PSRAMVector<ignitionBoxStatus> ignA_history_0(max_history);
PSRAMVector<ignitionBoxStatus> ignA_history_1(max_history);
auto *active_history_A = &ignA_history_0;
auto *writable_history_A = &ignA_history_1;
#ifdef CH_B_ENABLE
PSRAMVector<ignitionBoxStatus> ignB_history_0(max_history);
PSRAMVector<ignitionBoxStatus> ignB_history_1(max_history);
auto *active_history_B = &ignB_history_0;
auto *writable_history_B = &ignB_history_1;
#endif
// Resources Initialization
Devices dev;
// Task handle
TaskHandle_t trigA_TaskHandle = NULL;
TaskHandle_t trigB_TaskHandle = NULL;
// Data Queue for real time task to main loop communication
QueueHandle_t rt_taskA_queue = xQueueCreate(max_queue, sizeof(ignitionBoxStatus));
QueueHandle_t rt_taskB_queue = xQueueCreate(max_queue, sizeof(ignitionBoxStatus));
rtTaskParams taskA_params{
.rt_running = true,
.dev = std::make_shared<Devices>(dev),
.rt_queue = rt_taskA_queue,
.rt_int = rtTaskInterruptParams{
.isr_ptr = &trig_isr_A,
.trig_pin_12p = TRIG_PIN_A12P,
.trig_pin_12n = TRIG_PIN_A12N,
.trig_pin_34p = TRIG_PIN_A34P,
.trig_pin_34n = TRIG_PIN_A34N,
.spark_pin_12 = SPARK_PIN_A12,
.spark_pin_34 = SPARK_PIN_A34},
.rt_io = rtTaskIOParams{.rst_io_peak = 0, .rst_io_sh = 0}};
#ifdef CH_B_ENABLE
rtTaskParams taskB_params{
.rt_running = true,
.dev = &dev,
.rt_queue = rt_taskB_queue,
.rt_int = rtTaskInterruptParams{
.isr_ptr = &trig_isr_B,
.trig_pin_12p = TRIG_PIN_B12P,
.trig_pin_12n = TRIG_PIN_B12N,
.trig_pin_34p = TRIG_PIN_B34P,
.trig_pin_34n = TRIG_PIN_B34N,
.spark_pin_12 = SPARK_PIN_B12,
.spark_pin_34 = SPARK_PIN_B34},
.rt_io = rtTaskIOParams{.rst_io_peak = SS_FORCE_A, .rst_io_sh = SS_INIBHIT_A12}};
#endif
if (!rt_taskA_queue || !rt_taskB_queue)
{
LOG_ERROR("Unable To Create task queues");
LOG_ERROR("5 seconds to restart...");
vTaskDelay(pdMS_TO_TICKS(5000));
esp_restart();
}
else
LOG_DEBUG("Task Variables OK");
// Spi ok flags
//////// INIT SPI PORTS ////////
bool spiA_ok = true;
bool spiB_ok = true;
// Init 2 SPI interfaces
@@ -153,11 +91,9 @@ void loop()
spiA_ok = SPI_A.begin(SPI_A_SCK, SPI_A_MISO, SPI_A_MOSI);
SPI_A.setDataMode(SPI_MODE1); // ADS1256 requires SPI mode 1
#ifdef CH_B_ENABLE
#ifndef TEST
SPIClass SPI_B(HSPI);
spiB_ok = SPI_B.begin(SPI_B_SCK, SPI_B_MISO, SPI_B_MOSI);
SPI_B.setDataMode(SPI_MODE1); // ADS1256 requires SPI mode 1
#endif
#endif
if (!spiA_ok || !spiB_ok)
{
@@ -168,52 +104,91 @@ void loop()
}
LOG_DEBUG("Init SPI OK");
#ifndef TEST
// Init ADC_A
dev.adc_a = new ADS1256(ADC_A_DRDY, ADS1256::PIN_UNUSED, ADS1256::PIN_UNUSED, ADC_A_CS, 2.5, &SPI_A);
dev.adc_a->InitializeADC();
dev.adc_a->setPGA(PGA_1);
dev.adc_a->setDRATE(DRATE_7500SPS);
#endif
#ifdef CH_B_ENABLE
#ifndef TEST
// Init ADC_B
dev.adc_a = new ADS1256(ADC_B_DRDY, ADS1256::PIN_UNUSED, ADS1256::PIN_UNUSED, ADC_B_CS, 2.5, &SPI_B);
dev.adc_a->InitializeADC();
dev.adc_a->setPGA(PGA_1);
dev.adc_a->setDRATE(DRATE_1000SPS);
#endif
#endif
// Resources Initialization
std::shared_ptr<Devices> dev = std::make_shared<Devices>();
dev->m_spi_a = std::make_unique<SPIClass>(SPI_A);
dev->m_spi_b = std::make_unique<SPIClass>(SPI_B);
LOG_DEBUG("Init ADC OK");
// Init ADC_A
dev->m_adc_a = std::make_unique<ADS1256>(ADC_A_DRDY, ADS1256::PIN_UNUSED, ADS1256::PIN_UNUSED, ADC_A_CS, 2.5, &SPI_A);
dev->m_adc_b = std::make_unique<ADS1256>(ADC_B_DRDY, ADS1256::PIN_UNUSED, ADS1256::PIN_UNUSED, ADC_B_CS, 2.5, &SPI_B);
dev->m_adc_a->InitializeADC();
dev->m_adc_a->setPGA(PGA_1);
dev->m_adc_a->setDRATE(DRATE_7500SPS);
dev->m_adc_b->InitializeADC();
dev->m_adc_b->setPGA(PGA_1);
dev->m_adc_b->setDRATE(DRATE_7500SPS);
const rtIgnitionTask::rtTaskParams taskA_params{
.rt_running = true,
.name = "rtIgnTask_A",
.rt_stack_size = RT_TASK_STACK,
.rt_priority = RT_TASK_PRIORITY,
.rt_int = rtIgnitionTask::rtTaskInterruptParams{
.isr_ptr = &trig_isr_A,
.trig_pin_12p = TRIG_PIN_A12P,
.trig_pin_12n = TRIG_PIN_A12N,
.trig_pin_34p = TRIG_PIN_A34P,
.trig_pin_34n = TRIG_PIN_A34N,
.spark_pin_12 = SPARK_PIN_A12,
.spark_pin_34 = SPARK_PIN_A34},
.rt_io = rtIgnitionTask::rtTaskIOParams{
.pot_cs_12 = POT_CS_A12,
.pot_cs_34 = POT_CS_A34,
.ss_force = SS_FORCE_A,
.ss_inhibit_12 = SS_INIBHIT_A12,
.ss_inhibit_34 = SS_INHIBIT_A34,
.sh_disch_12 = SH_DISCH_A12,
.sh_disch_34 = SH_DISCH_A34,
.sh_arm_12 = SH_ARM_A12,
.sh_arm_34 = SH_ARM_A34,
.relay_in_12 = RELAY_IN_A12,
.relay_in_34 = RELAY_OUT_A12,
.relay_out_12 = RELAY_IN_A34,
.relay_out_34 = RELAY_OUT_A34,
},
.rt_queue = nullptr,
.dev = dev};
const rtIgnitionTask::rtTaskParams taskB_params{
.rt_running = true,
.name = "rtIgnTask_B",
.rt_stack_size = RT_TASK_STACK,
.rt_priority = RT_TASK_PRIORITY,
.rt_int = rtIgnitionTask::rtTaskInterruptParams{
.isr_ptr = &trig_isr_B,
.trig_pin_12p = TRIG_PIN_B12P,
.trig_pin_12n = TRIG_PIN_B12N,
.trig_pin_34p = TRIG_PIN_B34P,
.trig_pin_34n = TRIG_PIN_B34N,
.spark_pin_12 = SPARK_PIN_B12,
.spark_pin_34 = SPARK_PIN_B34},
.rt_io = rtIgnitionTask::rtTaskIOParams{
.pot_cs_12 = POT_CS_B12,
.pot_cs_34 = POT_CS_B34,
.ss_force = SS_FORCE_B,
.ss_inhibit_12 = SS_INIBHIT_B12,
.ss_inhibit_34 = SS_INHIBIT_B34,
.sh_disch_12 = SH_DISCH_B12,
.sh_disch_34 = SH_DISCH_B34,
.sh_arm_12 = SH_ARM_B12,
.sh_arm_34 = SH_ARM_B34,
.relay_in_12 = RELAY_IN_B12,
.relay_in_34 = RELAY_OUT_B12,
.relay_out_12 = RELAY_IN_B34,
.relay_out_34 = RELAY_OUT_B34,
},
.rt_queue = nullptr,
.dev = dev};
auto task_A = rtIgnitionTask(taskA_params, 1024, 128, CORE_0, fs_mutex);
auto task_B = rtIgnitionTask(taskA_params, 1024, 128, CORE_1, fs_mutex);
// Ignition A on Core 0
auto ignA_task_success = pdPASS;
ignA_task_success = xTaskCreatePinnedToCore(
rtIgnitionTask_realtime,
"rtTask_A",
RT_TASK_STACK,
(void *)&taskA_params,
RT_TASK_PRIORITY,
&trigA_TaskHandle,
CORE_0);
delay(100); // give some time to the thread to start
// Ignition B on Core 1
auto ignB_task_success = pdPASS;
#ifdef CH_B_ENABLE
ignB_task_success = xTaskCreatePinnedToCore(
rtIgnitionTask_realtime,
"rtTask_B",
RT_TASK_STACK,
(void *)&taskB_params,
RT_TASK_PRIORITY, // priorità leggermente più alta
&trigB_TaskHandle,
CORE_1);
delay(100); // give some time to the thread to start
#endif
auto ignA_task_success = task_A.getStatus() == rtIgnitionTask::OK ? pdPASS : pdFAIL;
auto ignB_task_success = task_B.getStatus() == rtIgnitionTask::OK ? pdPASS : pdFAIL;
if (ignA_task_success != pdPASS || ignB_task_success != pdPASS)
{
LOG_ERROR("Unable to initialize ISR task");
@@ -225,123 +200,23 @@ void loop()
LOG_DEBUG("Real Time Tasks A & B initialized");
led.setStatus(RGBled::LedStatus::OK);
bool partial_save = false; // flag to indicate if a partial save has been done after a timeout
auto last_data = millis();
auto last_info = millis();
uint32_t counter_a = 0;
uint32_t counter_b = 0;
uint32_t wait_count = 0;
ignitionBoxStatus ign_info_A;
ignitionBoxStatus ign_info_B;
ignitionBoxStatusFiltered ign_info_avg_A(filter_k);
ignitionBoxStatusFiltered ign_info_avg_B(filter_k);
LITTLEFSGuard fsGuard;
WebPage webPage(80, LittleFS); // Initialize webserver and Websocket
uint32_t last_loop = millis();
//////////////// INNER LOOP /////////////////////
while (running)
{
auto dataA = pdFALSE;
auto dataB = pdFALSE;
dataA = xQueueReceive(rt_taskA_queue, &ign_info_A, 0);
if (counter_a >= active_history_A->size()) // not concurrent with write task
{
counter_a = 0;
partial_save = false; // reset partial save flag on new data cycle
swapHistory(active_history_A, writable_history_A);
save_history(*writable_history_A, "ignition_historyA.csv"); // directly call the save task function to save without delay
}
#ifdef CH_B_ENABLE
dataB = xQueueReceive(rt_taskB_queue, &ign_info_B, 0);
if (counter_b >= active_history_B->size()) // not concurrent with write task
{
counter_b = 0;
partial_save = false; // reset partial save flag on new data cycle
swapHistory(active_history_B, writable_history_B);
save_history(*writable_history_B, "ignition_historyB.csv"); // directly call the save task function to save without delay
}
#endif
// Update last data
if (dataA == pdTRUE || dataB == pdTRUE)
last_data = millis();
// Update Led color
if (dataA == pdTRUE && dataB == pdFALSE)
led.setStatus(RGBled::DATA_A);
else if (dataB == pdTRUE && dataA == pdFALSE)
led.setStatus(RGBled::DATA_B);
else
led.setStatus(RGBled::DATA_ALL);
if (dataA == pdTRUE)
{
(*active_history_A)[counter_a++ % active_history_A->size()] = ign_info_A;
ign_info_avg_A.update(ign_info_A); // update moving average with latest ignition status
// Serial.printf("Data Received A: %d/%d\n\r", counter_a, (*active_history_A).size());
if (counter_a % filter_k == 0) // send data every 10 samples
{
ArduinoJson::JsonDocument wsData;
wsData["box_a"] = ign_info_avg_A.toJson();
wsData["box_b"] = JsonObject();
webPage.sendWsData(wsData.as<String>());
}
}
#ifdef CH_B_ENABLE
if (dataB == pdTRUE)
{
(*active_history_B)[counter_b++ % active_history_B->size()] = ign_info_B;
ign_info_avg_B.update(ign_info_B); // update moving average with latest ignition status
// Serial.printf("Data Received B: %d/%d\n\r", counter_b, (*active_history_B).size());
if (counter_b % filter_k == 0) // send data every 10 samples
{
ArduinoJson::JsonDocument wsData;
wsData["box_a"] = JsonObject();
wsData["box_b"] = ign_info_avg_B.toJson();
webPage.sendWsData(wsData.as<String>());
}
}
#endif
if (dataA == pdFALSE && dataB == pdFALSE && (millis() - last_data) > 2000)
{
if (!partial_save && counter_a > 0) // if timeout occurs but we have unsaved data, save it before next timeout
{
active_history_A->resize(counter_a); // resize active history to actual number of records received to avoid saving empty records
save_history(*active_history_A, "ignition_history_A.csv");
active_history_A->resize(max_history); // resize back to max history size for next data cycle
#ifdef CH_B_ENABLE
active_history_B->resize(counter_a); // resize active history to actual number of records received to avoid saving empty records
save_history(*active_history_B, "ignition_history_B.csv");
active_history_B->resize(max_history); // resize back to max history size for next data cycle
#endif
counter_a = 0; // reset counter after saving
counter_b = 0; // reset counter after saving
partial_save = true;
first_save = true;
}
// Serial.printf("[%d] Waiting for data...\r", wait_count++);
led.setStatus(RGBled::LedStatus::IDLE);
delay(100);
}
if ((millis() - last_info) > 1000)
if ((millis() - last_loop) > 1000)
{
clearScreen();
Serial.println();
printRunningTasksMod(Serial);
last_info = millis();
last_loop = millis();
}
} //////////////// INNER LOOP /////////////////////
if (trigA_TaskHandle)
vTaskDelete(trigA_TaskHandle);
if (trigB_TaskHandle)
vTaskDelete(trigB_TaskHandle);
} ////////////////////// MAIN LOOP //////////////////////

2
RotaxMonitor/src/pins.h
View File

@@ -122,7 +122,7 @@
#define POT_CS_B34 1
// --- SOFT START FORCE LINES ---
#define SS_FORCE_A 2
#define SS_FORCE_B 2
#define SS_INIBHIT_B12 3
#define SS_INHIBIT_B34 4

22
RotaxMonitor/src/tasks.cpp
View File

@@ -38,8 +38,8 @@ void rtIgnitionTask::rtIgnitionTask_realtime(void *pvParameters)
const rtTaskIOParams rt_rst = params->rt_io; // copy to avoid external override
QueueHandle_t rt_queue = params->rt_queue;
Devices *dev = params->dev.get();
ADS1256 *adc = dev->adc_a;
PCA9555 *io = dev->io;
ADS1256 *adc = dev->m_adc_a.get();
PCA9555 *io = dev->m_expander_a.get();
TaskStatus_t rt_task_info;
vTaskGetInfo(NULL, &rt_task_info, pdFALSE, eInvalid);
@@ -282,7 +282,7 @@ void rtIgnitionTask::rtIgnitionTask_realtime(void *pvParameters)
}
///////////// CLASS MEMBER DEFINITIONS /////////////
rtIgnitionTask::rtIgnitionTask(const rtTaskParams params, const uint32_t history_size, const uint32_t queue_size, const uint8_t core, std::mutex &fs_mutex, fs::FS &filesystem = LittleFS) : m_params(params), m_filesystem(filesystem), m_fs_mutex(fs_mutex), m_core(core)
rtIgnitionTask::rtIgnitionTask(const rtTaskParams params, const uint32_t history_size, const uint32_t queue_size, const uint8_t core, std::mutex &fs_mutex, fs::FS &filesystem) : m_params(params), m_filesystem(filesystem), m_fs_mutex(fs_mutex), m_core(core), m_max_history(history_size)
{
// create queue buffers
m_queue = xQueueCreate(queue_size, sizeof(ignitionBoxStatus));
@@ -299,8 +299,8 @@ rtIgnitionTask::rtIgnitionTask(const rtTaskParams params, const uint32_t history
m_history_0.resize(history_size);
m_history_1.resize(history_size);
// assing active and writable history
m_active_history = std::make_unique<PSHistory>(m_history_0.data());
m_save_history = std::make_unique<PSHistory>(m_history_1.data());
m_active_history = std::unique_ptr<PSHistory>(&m_history_0);
m_save_history = std::unique_ptr<PSHistory>(&m_history_1);
LOG_WARN("Starting Manager for [", m_params.name.c_str(), "]");
auto task_success = xTaskCreate(
@@ -349,7 +349,7 @@ void rtIgnitionTask::run()
m_partial_save = false; // reset partial save flag on new data cycle
std::swap(m_active_history, m_save_history);
if (m_enable_save)
save_history(*m_save_history, m_history_path); // directly call the save task function to save without delay
saveHistory(*m_save_history, m_history_path); // directly call the save task function to save without delay
}
// update filtered data
@@ -361,8 +361,16 @@ void rtIgnitionTask::run()
}
else
{
if (millis() - m_last_data > c_idle_time)
if (millis() - m_last_data > c_idle_time){
if (m_counter_status > 0 && !m_partial_save){
m_active_history->resize(m_counter_status);
saveHistory(*m_active_history, m_history_path);
m_active_history->resize(m_max_history);
m_counter_status = 0;
m_partial_save = true;
}
m_manager_status = rtTaskStatus::IDLE;
}
delay(5); // yeld to another task
}
}

36
RotaxMonitor/src/tasks.h
View File

@@ -13,6 +13,7 @@
#include <filesystem>
#include <FS.h>
#include <LittleFS.h>
#include <datasave.h>
// ISR
#include "isr.h"
@@ -39,6 +40,8 @@ static const std::map<const uint32_t, const char *> names = {
class rtIgnitionTask
{
using PSHistory = PSRAMVector<ignitionBoxStatus>;
public:
// RT task Interrupt parameters
struct rtTaskInterruptParams
{
@@ -55,19 +58,19 @@ class rtIgnitionTask
struct rtTaskIOParams
{
const uint32_t expander_addr;
const uint8_t pot_cs_a12;
const uint8_t pot_cs_a34;
const uint8_t ss_force_a;
const uint8_t ss_inhibit_a12;
const uint8_t ss_inhibit_a34;
const uint8_t sh_disch_a12;
const uint8_t sh_disch_a34;
const uint8_t sh_arm_a12;
const uint8_t sh_arm_a34;
const uint8_t relay_in_a12;
const uint8_t relay_in_a34;
const uint8_t relay_out_a12;
const uint8_t relay_out_a34;
const uint8_t pot_cs_12;
const uint8_t pot_cs_34;
const uint8_t ss_force;
const uint8_t ss_inhibit_12;
const uint8_t ss_inhibit_34;
const uint8_t sh_disch_12;
const uint8_t sh_disch_34;
const uint8_t sh_arm_12;
const uint8_t sh_arm_34;
const uint8_t relay_in_12;
const uint8_t relay_in_34;
const uint8_t relay_out_12;
const uint8_t relay_out_34;
};
// RT task parameters
@@ -75,12 +78,12 @@ class rtIgnitionTask
{
bool rt_running; // run flag, false to terminate
const std::string name;
const std::shared_ptr<Devices> dev;
const uint32_t rt_stack_size;
const uint32_t rt_priority;
const rtTaskInterruptParams rt_int; // interrupt pins to attach
const rtTaskIOParams rt_io; // reset ping for peak detectors
QueueHandle_t rt_queue; // queue for task io
const std::shared_ptr<Devices> dev;
};
enum rtTaskStatus
@@ -109,7 +112,7 @@ public:
void enableSave(const bool enable, const std::filesystem::path filename);
private:
void rtIgnitionTask::saveHistory(const rtIgnitionTask::PSHistory &history, const std::filesystem::path &file_name);
void saveHistory(const rtIgnitionTask::PSHistory &history, const std::filesystem::path &file_name);
private: // static functions for FreeRTOS
static void rtIgnitionTask_manager(void *pvParameters);
@@ -128,6 +131,7 @@ private:
bool m_enable_save = false;
std::filesystem::path m_history_path;
const uint32_t m_max_history;
PSHistory m_history_0;
PSHistory m_history_1;
std::unique_ptr<PSHistory> m_active_history;
@@ -144,7 +148,7 @@ private:
ignitionBoxStatusFiltered m_info_filtered;
static const uint32_t c_idle_time = 2000; // in mS
static const uint8_t c_spark_timeout_max = 500; // uS
static const uint32_t c_spark_timeout_max = 500; // uS
static const uint8_t c_adc_time = 4; // in mS
static const uint8_t c_io_time = 2; // in mS
};