move quadrature tasks from notification to queue

main/adb.c

@@ -23,6 +23,7 @@
 #include "driver/gpio.h"
 #include "sdkconfig.h"
 #include "freertos/FreeRTOS.h"
+#include "freertos/queue.h"
 #include "freertos/task.h"
 #include "esp_log.h"
 #include "esp_system.h"
@@ -43,7 +44,8 @@
 rmt_config_t adb_rmt_rx = RMT_DEFAULT_CONFIG_RX(GPIO_ADB, RMT_RX_CHANNEL);
 extern TaskHandle_t t_adb2hid;
 extern TaskHandle_t t_green, t_blue, t_yellow, t_red;
-extern TaskHandle_t t_click, t_qx, t_qy;
+extern TaskHandle_t t_click;
+extern QueueHandle_t q_qx, q_qy;
 
 /* static defines */
 static void	adb_handle_button(bool action);
@@ -234,7 +236,7 @@ void	adb_task_host(void *pvParameters) {
 			}
 
 			if (move)
-				xTaskNotify(t_qx, move, eSetValueWithOverwrite);
+				xQueueSendToBack(q_qx, &move, 0);
 
 			move = (data & ADB_CMP_MY) >> 8;
 			if (move & 0x40) {
@@ -244,7 +246,7 @@ void	adb_task_host(void *pvParameters) {
 			}
 
 			if (move)
-				xTaskNotify(t_qy, move, eSetValueWithOverwrite);
+				xQueueSendToBack(q_qy, &move, 0);
 		}
 		else {
 			last++;

main/blue.c

@@ -54,10 +54,13 @@ static const char *TAG = "blue";
 
 /* globals */
 TaskHandle_t t_adb2hid;
-extern TaskHandle_t t_click, t_qx, t_qy;
+extern TaskHandle_t t_click;
 static esp_hidd_dev_t *hid_dev = NULL;
+extern QueueHandle_t q_qx, q_qy;
 
 /* private functions */
+static void blue_d_connect(void);
+static void blue_d_disconnect(esp_hidd_event_data_t *dev);
 static void blue_d_init(void);
 static void blue_d_start(void);
 void blue_h_callback(void *handler_args, esp_event_base_t base, int32_t id, void *event_data);
@@ -83,8 +86,7 @@ static void blue_d_callback(void *handler_args, esp_event_base_t base, int32_t i
 			break;
 		}
 		case ESP_HIDD_CONNECT_EVENT: {
-			ESP_LOGI(TAG, "CONNECT");
+			blue_d_connect();
-			xTaskNotify(t_blue, LED_ON, eSetValueWithOverwrite);
 			break;
 		}
 		case ESP_HIDD_PROTOCOL_MODE_EVENT: {
@@ -106,9 +108,7 @@ static void blue_d_callback(void *handler_args, esp_event_base_t base, int32_t i
 			break;
 		}
 		case ESP_HIDD_DISCONNECT_EVENT: {
-			ESP_LOGI(TAG, "DISCONNECT: %s", esp_hid_disconnect_reason_str(esp_hidd_dev_transport_get(param->disconnect.dev), param->disconnect.reason));
+			blue_d_disconnect(param);
-			esp_hid_ble_gap_adv_start();
-			xTaskNotify(t_blue, LED_SLOW, eSetValueWithOverwrite);
 			break;
 		}
 		case ESP_HIDD_STOP_EVENT: {
@@ -121,6 +121,18 @@ static void blue_d_callback(void *handler_args, esp_event_base_t base, int32_t i
 	return;
 }
 
+static void blue_d_connect() {
+	ESP_LOGI(TAG, "Host connected");
+	xTaskNotify(t_blue, LED_ON, eSetValueWithOverwrite);
+}
+
+static void blue_d_disconnect(esp_hidd_event_data_t *dev) {
+	ESP_LOGI(TAG, "Host disconnected, reason: %s",
+			 esp_hid_disconnect_reason_str(esp_hidd_dev_transport_get(dev->disconnect.dev), dev->disconnect.reason));
+	esp_hid_ble_gap_adv_start();
+	xTaskNotify(t_blue, LED_SLOW, eSetValueWithOverwrite);
+}
+
 static void blue_d_init() {
 	esp_err_t	ret;
 
@@ -393,17 +405,24 @@ void blue_h_input(esp_hidh_dev_t *dev, uint8_t *data, uint16_t length) {
 	x = data[1];
 	y = data[2];
 
+	/* reduce bluetooth movement speed as well before notifying */
 	if (x != 0) {
-		if (x == 1 || x == -1)
+		if (x == 1 || x == -1) {
-			xTaskNotify(t_qx, x, eSetValueWithOverwrite);
+			xQueueSendToBack(q_qx, &x, 0);
-		else
+		}
-			xTaskNotify(t_qx, x / 2, eSetValueWithOverwrite);
+		else {
+			x /= 2;
+			xQueueSendToBack(q_qx, &x, 0);
+		}
 	}
 	if (y != 0) {
-		if (y == 1 || y == -1)
+		if (y == 1 || y == -1) {
-			xTaskNotify(t_qy, y, eSetValueWithOverwrite);
+			xQueueSendToBack(q_qy, &y, 0);
-		else
+		}
-			xTaskNotify(t_qy, y / 2, eSetValueWithOverwrite);
+		else {
+			y /= 2;
+			xQueueSendToBack(q_qy, &y, 0);
+		}
 	}
 }
 

main/led.h

@@ -23,9 +23,16 @@
 #define LED_H
 
 /* prototypes */
-void	led_dispatch(void *pvParameters);
+void		led_dispatch(void *pvParameters);
-void	led_init(void);
+const char	*led_gpio_name(uint8_t id);
-void    led_task(void *pvParameters);
+void		led_init(void);
+void    	led_task(void *pvParameters);
+
+/* structures */
+typedef struct led_names_s {
+	const uint8_t num;
+	const char *name;
+} led_names_t;
 
 /* defines */
 #define LED_OFF		(1 << 0)

main/quad.c

@@ -23,6 +23,7 @@
 #include "driver/gpio.h"
 #include "sdkconfig.h"
 #include "freertos/FreeRTOS.h"
+#include "freertos/queue.h"
 #include "freertos/task.h"
 #include "esp_system.h"
 #include "esp_err.h"
@@ -37,6 +38,8 @@
 TaskHandle_t t_click, t_qx, t_qy;
 esp_timer_handle_t quad_qx, quad_qy;
 
+QueueHandle_t q_qx, q_qy;
+
 /* static functions */
 static void	IRAM_ATTR quad_timer(void* arg);
 
@@ -63,15 +66,18 @@ void	quad_init(void) {
 	gpio_set_level(GPIO_QY2, q2[0]);
 
 	/* create timers for quadrature phases */
-	args.callback = &quad_timer;
+	args.callback = quad_timer;
 	args.arg = t_qx;
 	args.name = "quad_qx";
 	ESP_ERROR_CHECK(esp_timer_create(&args, &quad_qx));
-	args.callback = &quad_timer;
+	args.callback = quad_timer;
 	args.arg = t_qy;
 	args.name = "quad_qy";
 	ESP_ERROR_CHECK(esp_timer_create(&args, &quad_qy));
 
+	q_qx = xQueueCreate(4, sizeof(int8_t));
+	q_qy = xQueueCreate(4, sizeof(int8_t));
+
 	ESP_LOGI("quad", "Quadrature tasks started on core %d", xPortGetCoreID());
 }
 
@@ -97,16 +103,14 @@ void	quad_click(void *pvParameters) {
 }
 
 void IRAM_ATTR quad_move_x(void *pvParameters) {
-	unsigned int value = 0;
+	int8_t move = 0;
-	int	move = 0;
 	uint8_t i = 0;
 
 	(void)pvParameters;
 
 	while (true) {
-		xTaskNotifyWait(0, 0, &value, portMAX_DELAY);
+		xQueueReceive(q_qx, &move, portMAX_DELAY);
-		assert(value != 0);
+		assert(move != 0);
-		move = (signed)value;
 
 		if (move > 0) {
 			while (move--) {
@@ -114,7 +118,7 @@ void IRAM_ATTR quad_move_x(void *pvParameters) {
 				gpio_set_level(GPIO_QX1, q1[i % 4]);
 				gpio_set_level(GPIO_QX2, q2[i % 4]);
 				ESP_ERROR_CHECK(esp_timer_start_once(quad_qx, QUAD_INTERVAL));
-				vTaskSuspend(NULL);
+				ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
 			}
 		}
 		else {
@@ -123,23 +127,21 @@ void IRAM_ATTR quad_move_x(void *pvParameters) {
 				gpio_set_level(GPIO_QX1, q1[i % 4]);
 				gpio_set_level(GPIO_QX2, q2[i % 4]);
 				ESP_ERROR_CHECK(esp_timer_start_once(quad_qx, QUAD_INTERVAL));
-				vTaskSuspend(NULL);
+				ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
 			}
 		}
 	}
 }
 
 void IRAM_ATTR quad_move_y(void *pvParameters) {
-	unsigned int value = 0;
+	int8_t move = 0;
-	int	move = 0;
 	uint8_t i = 0;
 
 	(void)pvParameters;
 
 	while (true) {
-		xTaskNotifyWait(0, 0, &value, portMAX_DELAY);
+		xQueueReceive(q_qy, &move, portMAX_DELAY);
-		assert(value != 0);
+		assert(move != 0);
-		move = (signed)value;
 
 		if (move > 0) {
 			while (move--) {
@@ -147,7 +149,7 @@ void IRAM_ATTR quad_move_y(void *pvParameters) {
 				gpio_set_level(GPIO_QY1, q1[i % 4]);
 				gpio_set_level(GPIO_QY2, q2[i % 4]);
 				ESP_ERROR_CHECK(esp_timer_start_once(quad_qy, QUAD_INTERVAL));
-				vTaskSuspend(NULL);
+				ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
 			}
 		}
 		else {
@@ -156,18 +158,18 @@ void IRAM_ATTR quad_move_y(void *pvParameters) {
 				gpio_set_level(GPIO_QY1, q1[i % 4]);
 				gpio_set_level(GPIO_QY2, q2[i % 4]);
 				ESP_ERROR_CHECK(esp_timer_start_once(quad_qy, QUAD_INTERVAL));
-				vTaskSuspend(NULL);
+				ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
 			}
 		}
 	}
 }
 
-/* simple ISR function. Resume task that called the oneshot timer */
+/* simple ISR function. Resume the task that called the oneshot timer */
 static void IRAM_ATTR quad_timer(void* arg) {
-	BaseType_t xYieldRequired = pdFALSE;
+	BaseType_t pxHigherPriorityTaskWoken = pdFALSE;
-	xYieldRequired = xTaskResumeFromISR(arg);
+	vTaskNotifyGiveFromISR(arg, &pxHigherPriorityTaskWoken);
 
 	/* switch context of needed */
-	if( xYieldRequired == pdTRUE )
+	if( pxHigherPriorityTaskWoken == pdTRUE )
 		portYIELD_FROM_ISR();
 }

main/quad.h

@@ -29,7 +29,7 @@ void		quad_move_x(void *pvParameters);
 void		quad_move_y(void *pvParameters);
 
 /* defines */
-#define QUAD_INTERVAL 400
+#define QUAD_INTERVAL 200
 
 #endif
 

sdkconfig

@@ -533,9 +533,9 @@ CONFIG_ESP32_BROWNOUT_DET_LVL_SEL_0=y
 # CONFIG_ESP32_BROWNOUT_DET_LVL_SEL_7 is not set
 CONFIG_ESP32_BROWNOUT_DET_LVL=0
 # CONFIG_ESP32_REDUCE_PHY_TX_POWER is not set
-CONFIG_ESP32_TIME_SYSCALL_USE_RTC_FRC1=y
+# CONFIG_ESP32_TIME_SYSCALL_USE_RTC_FRC1 is not set
 # CONFIG_ESP32_TIME_SYSCALL_USE_RTC is not set
-# CONFIG_ESP32_TIME_SYSCALL_USE_FRC1 is not set
+CONFIG_ESP32_TIME_SYSCALL_USE_FRC1=y
 # CONFIG_ESP32_TIME_SYSCALL_USE_NONE is not set
 CONFIG_ESP32_RTC_CLK_SRC_INT_RC=y
 # CONFIG_ESP32_RTC_CLK_SRC_EXT_CRYS is not set
@@ -655,7 +655,7 @@ CONFIG_HTTPD_PURGE_BUF_LEN=32
 CONFIG_ESP_NETIF_IP_LOST_TIMER_INTERVAL=120
 CONFIG_ESP_NETIF_TCPIP_LWIP=y
 # CONFIG_ESP_NETIF_LOOPBACK is not set
-CONFIG_ESP_NETIF_TCPIP_ADAPTER_COMPATIBLE_LAYER=y
+# CONFIG_ESP_NETIF_TCPIP_ADAPTER_COMPATIBLE_LAYER is not set
 # end of ESP NETIF Adapter
 
 #
@@ -670,7 +670,7 @@ CONFIG_ESP_SYSTEM_PANIC_PRINT_REBOOT=y
 #
 # High resolution timer (esp_timer)
 #
-# CONFIG_ESP_TIMER_PROFILING is not set
+CONFIG_ESP_TIMER_PROFILING=y
 CONFIG_ESP_TIMER_TASK_STACK_SIZE=3584
 # CONFIG_ESP_TIMER_IMPL_FRC2 is not set
 CONFIG_ESP_TIMER_IMPL_TG0_LAC=y
@@ -788,7 +788,7 @@ CONFIG_FREERTOS_ASSERT_ON_UNTESTED_FUNCTION=y
 # CONFIG_FREERTOS_CHECK_STACKOVERFLOW_PTRVAL is not set
 CONFIG_FREERTOS_CHECK_STACKOVERFLOW_CANARY=y
 # CONFIG_FREERTOS_WATCHPOINT_END_OF_STACK is not set
-CONFIG_FREERTOS_INTERRUPT_BACKTRACE=y
+# CONFIG_FREERTOS_INTERRUPT_BACKTRACE is not set
 CONFIG_FREERTOS_THREAD_LOCAL_STORAGE_POINTERS=1
 CONFIG_FREERTOS_ASSERT_FAIL_ABORT=y
 # CONFIG_FREERTOS_ASSERT_FAIL_PRINT_CONTINUE is not set