Merge pull request #572 from doudar/Consolidate_Tasks

CHANGELOG.md

@@ -45,7 +45,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Removed driver temp checking. It's not accurate on the ESP32. 
 - Peloton resistance limit enhancements.
 - Continue updating power metrics to other clients if one client disconnects.
-
+- Freed 19k of ram by consolidating tasks and using timers instead of delays. 
 
 ### Hardware
 - added Yesoul S3.

include/BLE_Common.h

@@ -33,11 +33,9 @@
 
 // Setup
 void setupBLE();
-extern TaskHandle_t BLECommunicationTask;
 extern TaskHandle_t BLEClientTask;
 // ***********************Common**********************************
-void BLECommunications(void *pvParameters);
-
+void BLECommunications();
 // *****************************Server****************************
 class MyServerCallbacks : public NimBLEServerCallbacks {
  public:

include/ERG_Mode.h

@@ -16,10 +16,6 @@
 #define ERG_MODE_DELAY       700
 #define RETURN_ERROR         INT32_MIN
 
-extern TaskHandle_t ErgTask;
-void setupERG();
-void ergTaskLoop(void* pvParameters);
-
 class PowerEntry {
  public:
   int watts;
@@ -95,6 +91,9 @@ class PowerTable {
  public:
   TableRow tableRow[POWERTABLE_CAD_SIZE];
 
+  // What used to be in the ERGTaskLoop(). This is the main control function for ERG Mode and the powertable operations.
+  void runERG();
+
   // Pick up new power value and put them into the power table
   void processPowerValue(PowerBuffer& powerBuffer, int cadence, Measurement power);
 

include/HTTP_Server_Basic.h

@@ -25,7 +25,7 @@ class HTTP_Server {
   static void handleHrSlider();
   static void FirmwareUpdate();
 
-  static void webClientUpdate(void *pvParameters);
+  static void webClientUpdate();
 
   HTTP_Server() { internetConnection = false; }
 };

include/Main.h

@@ -43,10 +43,10 @@ class SS2K {
   bool isUpdating          = false;
 
   bool IRAM_ATTR deBounce();
-  static void IRAM_ATTR moveStepper(void *pvParameters);
   static void IRAM_ATTR maintenanceLoop(void *pvParameters);
   static void IRAM_ATTR shiftUp();
   static void IRAM_ATTR shiftDown();
+  static void moveStepper();
   void resetIfShiftersHeld();
   void startTasks();
   void stopTasks();

include/settings.h

@@ -11,10 +11,10 @@
 #define AUTO_FIRMWARE_UPDATE true
 
 // Default Bluetooth WiFi and MDNS Name
-const char * const DEVICE_NAME  = "SmartSpin2k";
+const char* const DEVICE_NAME = "SmartSpin2k";
 
 // Default WiFi Password
-const char * const DEFAULT_PASSWORD = "password";
+const char* const DEFAULT_PASSWORD = "password";
 
 // default URL To get Updates From.
 // If changed you'll also need to get a root certificate from the new server
@@ -38,7 +38,7 @@ const char * const DEFAULT_PASSWORD = "password";
 // name of local file to save Physical Working Capacity in LittleFS
 #define userPWCFILENAME "/userPWC.txt"
 
-// name of the local file to save the torque table. 
+// name of the local file to save the torque table.
 #define POWER_TABLE_FILENAME "/PowerTable.txt"
 
 // Default Incline Multiplier.
@@ -80,13 +80,13 @@ const char * const DEFAULT_PASSWORD = "password";
 // Amount to change watt target per shift in ERG mode.
 #define ERG_PER_SHIFT 10
 
-//Pass all of the FTMS commands sent to SS2k down to a connected FTMS device. 
+// Pass all of the FTMS commands sent to SS2k down to a connected FTMS device.
 #define FTMS_PASSTHROUGH false
 
 // Use internal ERG control on external FTMS Trainer.
-//#define INTERNAL_ERG_4EXT_FTMS
+// #define INTERNAL_ERG_4EXT_FTMS
 
-//Minimum cadence where ERG mode stops.
+// Minimum cadence where ERG mode stops.
 #define MIN_ERG_CADENCE 30
 
 // Default Min Watts to stop stepper.
@@ -268,7 +268,7 @@ const char * const DEFAULT_PASSWORD = "password";
 // Size of increments (in watts) for the ERG Lookup Table. This needs to be a decimal for proper calculation.
 #define POWERTABLE_WATT_INCREMENT 30
 
-// Size of increments (in CAD) for the ERG Lookup Table. This needs to be a decimal for proper calculation. 
+// Size of increments (in CAD) for the ERG Lookup Table. This needs to be a decimal for proper calculation.
 #define POWERTABLE_CAD_INCREMENT 5
 
 // Number of similar power samples to take before writing to the Power Table
@@ -283,8 +283,8 @@ const char * const DEFAULT_PASSWORD = "password";
 // Where does the CAD portion of the table start?
 #define MINIMUM_TABLE_CAD 60
 
-//Minimum positions recorded in the active table before attempting to load the saved table.
-//Increase this value if the offset for the loaded table is inaccurate.
+// Minimum positions recorded in the active table before attempting to load the saved table.
+// Increase this value if the offset for the loaded table is inaccurate.
 #define MINIMUM_RELIABLE_POSITIONS 3
 
 // Temperature of the ESP32 at which to start reducing the power output of the stepper motor driver.
@@ -303,21 +303,17 @@ const char * const DEFAULT_PASSWORD = "password";
 #define BLE_RECONNECT_INTERVAL 1
 
 // Interval for polling ble battery updates
-#define BATTERY_UPDATE_INTERVAL_MILLIS 300000 
+#define BATTERY_UPDATE_INTERVAL_MILLIS 300000
 
 // Initial and web scan duration.
 #define DEFAULT_SCAN_DURATION 5
 
 // BLE automatic reconnect duration. Set this low to avoid interruption.
 #define BLE_RECONNECT_SCAN_DURATION 5
 
-//Task Stack Sizes
-#define MAIN_STACK 4500
-#define ERG_STACK 6000
-#define HTTP_STACK 6000
-#define BLE_COMM_STACK 6000
+// Task Stack Sizes
+#define MAIN_STACK 6000
 #define BLE_CLIENT_STACK 5500
-#define STEPPER_STACK 2000
 
 // Uncomment to enable stack size debugging info
 // #define DEBUG_STACK

src/BLE_Client.cpp

@@ -58,7 +58,8 @@ static void onNotify(BLERemoteCharacteristic *pBLERemoteCharacteristic, uint8_t
   }
 }
 
-// BLE Client loop task
+// BLE Client loop task.
+// Manages device connections and scanning.
 void bleClientTask(void *pvParameters) {
   long int scanDelay = millis();
   for (;;) {

src/BLE_Common.cpp

@@ -17,13 +17,10 @@
 
 bool hr2p = false;
 
-TaskHandle_t BLECommunicationTask;
-
-void BLECommunications(void *pvParameters) {
-  for (;;) {
-    // if (!spinBLEClient.dontBlockScan) {
-    //   NimBLEDevice::getScan()->stop();  // stop routine scans
-    // }
+void BLECommunications() {
+  static unsigned long int bleCommTimer = millis();
+  if (((millis() - bleCommTimer) > BLE_NOTIFY_DELAY) && !ss2k->isUpdating) {
+    bleCommTimer = millis();
     // **********************************Client***************************************
     for (auto &_BLEd : spinBLEClient.myBLEDevices) {  // loop through discovered devices
       if (_BLEd.connectedClientID != BLE_HS_CONN_HANDLE_NONE) {
@@ -63,10 +60,7 @@ void BLECommunications(void *pvParameters) {
                 spinBLEClient.handleBattInfo(pClient, false);
 
               } else if (!pClient->isConnected()) {  // This shouldn't ever be
-                                                     // called...
-                                                     // if (pClient->disconnect() == 0) {    // 0 is a successful disconnect
-                // BLEDevice::deleteClient(pClient);
-                // vTaskDelay(100 / portTICK_PERIOD_MS);
+                                                     // called...                                                
                 SS2K_LOG(BLE_COMMON_LOG_TAG, "Workaround connect");
                 _BLEd.doConnect = true;
                 //}
@@ -129,9 +123,5 @@ void BLECommunications(void *pvParameters) {
     } else {
       digitalWrite(LED_PIN, HIGH);
     }
-    vTaskDelay((BLE_NOTIFY_DELAY) / portTICK_PERIOD_MS);
-#ifdef DEBUG_STACK
-    Serial.printf("BLEComm: %d \n", uxTaskGetStackHighWaterMark(BLECommunicationTask));
-#endif  // DEBUG_STACK
   }
 }

src/BLE_Setup.cpp

@@ -14,24 +14,9 @@
 void setupBLE() {  // Common BLE setup for both client and server
   SS2K_LOG(BLE_SETUP_LOG_TAG, "Starting Arduino BLE Client application...");
   BLEDevice::init(userConfig->getDeviceName());
-  BLEDevice::setMTU(515); //-- enabling this is very important for BLE firmware updates.
+  BLEDevice::setMTU(515);  //-- enabling this is very important for BLE firmware updates.
   spinBLEClient.start();
   startBLEServer();
-
-  xTaskCreatePinnedToCore(BLECommunications,      /* Task function. */
-                          "BLECommunicationTask", /* name of task. */
-                          BLE_COMM_STACK,                   /* Stack size of task*/
-                          NULL,                   /* parameter of the task */
-                          3,                      /* priority of the task*/
-                          &BLECommunicationTask,  /* Task handle to keep track of created task */
-                          1);                     /* pin task to core */
-
-  SS2K_LOG(BLE_SETUP_LOG_TAG, "BLE Notify Task Started");
-  /*vTaskDelay(100 / portTICK_PERIOD_MS);
-  if (strcmp(userConfig->getConnectedPowerMeter(), "none") != 0 || strcmp(userConfig->getConnectedHeartMonitor(), "none") != 0) {
-    spinBLEClient.serverScan(true);
-    SS2K_LOG(BLE_SETUP_LOG_TAG, "Scanning");
-  }*/
   SS2K_LOG(BLE_SETUP_LOG_TAG, "%s %s %s", userConfig->getConnectedPowerMeter(), userConfig->getConnectedHeartMonitor(), userConfig->getConnectedRemote());
   SS2K_LOG(BLE_SETUP_LOG_TAG, "End BLE Setup");
 }

src/ERG_Mode.cpp

@@ -16,42 +16,28 @@
 #include <limits>
 #include <numeric>
 
-TaskHandle_t ErgTask;
 PowerTable* powerTable = new PowerTable;
 
 // Create a torque table representing 0w-1000w in 50w increments.
 // i.e. powerTable[1] corresponds to the incline required for 50w. powerTable[2] is the incline required for 100w and so on.
 
-void setupERG() {
-  SS2K_LOG(ERG_MODE_LOG_TAG, "Starting ERG Mode task...");
-  xTaskCreatePinnedToCore(ergTaskLoop,    /* Task function. */
-                          "FTMSModeTask", /* name of task. */
-                          ERG_STACK,      /* Stack size of task*/
-                          NULL,           /* parameter of the task */
-                          1,              /* priority of the task*/
-                          &ErgTask,       /* Task handle to keep track of created task */
-                          0);             /* pin task to core 0 */
-
-  SS2K_LOG(ERG_MODE_LOG_TAG, "ERG Mode task started");
-}
-
-void ergTaskLoop(void* pvParameters) {
-  ErgMode ergMode;
-  PowerBuffer powerBuffer;
+static unsigned long int ergTimer = millis();
 
-  ergMode._writeLogHeader();
-  bool hasConnectedPowerMeter = false;
-  bool simulationRunning      = false;
-  int loopCounter             = 0;
+void PowerTable::runERG() {
+  static ErgMode ergMode;
+  static PowerBuffer powerBuffer;
+  static bool hasConnectedPowerMeter = false;
+  static bool simulationRunning      = false;
+  static int loopCounter             = 0;
 
-  while (true) {
+  if ((millis() - ergTimer) > ERG_MODE_DELAY) {
+    // reset the timer.
+    ergTimer = millis();
     // be quiet while updating via BLE
-    while (ss2k->isUpdating) {
-      vTaskDelay(ERG_MODE_DELAY / portTICK_PERIOD_MS);
+    if (ss2k->isUpdating) {
+      return;
     }
 
-    vTaskDelay(ERG_MODE_DELAY / portTICK_PERIOD_MS);
-
     if (rtConfig->cad.getValue() > 0 && rtConfig->watts.getValue() > 0) {
       hasConnectedPowerMeter = spinBLEClient.connectedPM;
       simulationRunning      = rtConfig->watts.getTarget();
@@ -82,12 +68,7 @@ void ergTaskLoop(void* pvParameters) {
     if (ss2k->resetPowerTableFlag) {
       powerTable->reset();
     }
-
     loopCounter++;
-
-#ifdef DEBUG_STACK
-    Serial.printf("ERG Task: %d \n", uxTaskGetStackHighWaterMark(ErgTask));
-#endif  // DEBUG_STACK
   }
 }
 
@@ -932,8 +913,8 @@ bool PowerTable::_manageSaveState() {
         }
         this->tableRow[i].tableEntry[j].targetPosition = savedTargetPosition;
         this->tableRow[i].tableEntry[j].readings       = savedReadings;
-        //SS2K_LOG(POWERTABLE_LOG_TAG, "Position %d, %d, Target %d, Readings %d, loaded", i, j, this->tableRow[i].tableEntry[j].targetPosition,
-        //         this->tableRow[i].tableEntry[j].readings);
+        // SS2K_LOG(POWERTABLE_LOG_TAG, "Position %d, %d, Target %d, Readings %d, loaded", i, j, this->tableRow[i].tableEntry[j].targetPosition,
+        //          this->tableRow[i].tableEntry[j].readings);
       }
     }
 
@@ -1146,17 +1127,15 @@ void ErgMode::_setPointChangeState(int newCadence, Measurement& newWatts) {
   SS2K_LOG(ERG_MODE_LOG_TAG, "SetPoint changed:%dw PowerTable Result: %d", newWatts.getTarget(), tableResult);
   _updateValues(newCadence, newWatts, tableResult);
 
-  int i = 0;
-  while (rtConfig->getTargetIncline() != rtConfig->getCurrentIncline()) {  // wait while the knob moves to target position.
-    vTaskDelay(100 / portTICK_PERIOD_MS);
-    if (i > 50) {  // failsafe for infinite loop
-      SS2K_LOG(ERG_MODE_LOG_TAG, "Stepper didn't reach target position");
-      break;
+  if (rtConfig->getTargetIncline() != rtConfig->getCurrentIncline()) {  // add some time to wait while the knob moves to target position.
+    int timeToAdd = abs(rtConfig->getCurrentIncline() - rtConfig->getTargetIncline());
+    if (timeToAdd > 5000) {  // 5 seconds
+      SS2K_LOG(ERG_MODE_LOG_TAG, "Capping ERG seek time to 5 seconds");
+      timeToAdd = 5000;
     }
-    i++;
+    ergTimer += timeToAdd;
   }
-
-  vTaskDelay((ERG_MODE_DELAY * 2) / portTICK_PERIOD_MS);  // Wait for power meter to register new watts
+  ergTimer += (ERG_MODE_DELAY * 2);  // Wait for power meter to register new watts
 }
 
 void ErgMode::_inSetpointState(int newCadence, Measurement& newWatts) {