Electronics/DeskControl
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Persist calibration settings

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Clarified height vs measurement values
This commit is contained in:
Mark van Renswoude 2020-02-01 19:11:09 +01:00
parent 7ec4fa3394
commit 9ab3da2782
8 changed files with 90 additions and 35 deletions
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47
src/lib/control.cpp
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@ -80,7 +80,7 @@ ControlUpdateResult ControlManager::update()
if (measurement != VL53L0XRangeNotReady && measurement != VL53L0XRangeTimeout)
{
this->currentHeight = measurement;
this->currentMeasurement = measurement;
this->lastValidMeasurement = CurrentTime;
// Check if target has been reached
@ -144,15 +144,15 @@ void ControlManager::stabilizeStart()
dln("[ CONTROL ] Starting stabilization");
this->stabilizationStart = CurrentTime;
this->stabilizeTarget = 0;
this->stabilizeTargetMeasurement = 0;
}
bool ControlManager::stabilized()
{
if (this->stabilizeTarget == 0)
if (this->stabilizeTargetMeasurement == 0)
{
this->stabilizeTarget = this->currentHeight;
this->stabilizeTargetMeasurement = this->currentMeasurement;
this->stabilizationLastCheck = this->lastValidMeasurement;
return false;
}
@ -164,7 +164,7 @@ bool ControlManager::stabilized()
this->stabilizationLastCheck = this->lastValidMeasurement;
int16_t delta = this->currentHeight - this->stabilizeTarget;
int16_t delta = this->currentMeasurement - this->stabilizeTargetMeasurement;
if (abs(delta) <= Config::HeightMeasurementDeltaStable)
{
this->stabilizeCount++;
@ -179,7 +179,7 @@ bool ControlManager::stabilized()
else
{
// If it's this much off, chances are the actual value is somewhere in the middle
this->stabilizeTarget += (delta / 2);
this->stabilizeTargetMeasurement += (delta / 2);
this->stabilizeCount = 0;
}
@ -191,8 +191,19 @@ void ControlManager::moveStart(uint16_t height)
{
dl("[ CONTROL ] Starting move to: "); dln(height);
this->moveTarget = height;
this->moveDirection = height > this->currentHeight ? MoveDirection::Up : MoveDirection::Down;
if (height < Settings.Height.Minimum)
{
dl("[ CONTROL ] Target is below minimum, changing to: "); dln(Settings.Height.Minimum);
height = Settings.Height.Minimum;
}
else if (height > Settings.Height.Maximum)
{
dl("[ CONTROL ] Target is above maximum, changing to: "); dln(Settings.Height.Maximum);
height = Settings.Height.Maximum;
}
this->moveTargetHeight = height;
this->moveDirection = height > this->getCurrentHeight() ? MoveDirection::Up : MoveDirection::Down;
// Wait for a stable result
this->stabilizeStart();
@ -213,9 +224,9 @@ void ControlManager::snapToPreset()
{
for (uint8_t i = 0; i < 2; i++)
{
if (abs(this->currentHeight - Settings.Height.Preset[i]) <= Config::HeightMeasurementDeltaOnTarget)
if (abs(this->getCurrentHeight() - Settings.Height.Preset[i]) <= Config::HeightMeasurementDeltaOnTarget)
{
this->currentHeight = Settings.Height.Preset[i];
this->currentMeasurement = Settings.Height.Preset[i] - Settings.Height.Offset;
break;
}
}
@ -224,15 +235,17 @@ void ControlManager::snapToPreset()
bool ControlManager::targetReached()
{
auto currentHeight = this->getCurrentHeight();
// Checks depend on the direction, so it returns true immediately if we've overshot the target
switch (this->moveDirection)
{
case MoveDirection::Up:
if (this->currentHeight >= this->moveTarget - Config::HeightMeasurementDeltaStop)
if (currentHeight >= this->moveTargetHeight - Config::HeightMeasurementDeltaStop)
{
// Snap to the target
if (this->currentHeight - this->moveTarget <= Config::HeightMeasurementDeltaOnTarget)
this->currentHeight = this->moveTarget;
if (currentHeight - this->moveTargetHeight <= Config::HeightMeasurementDeltaOnTarget)
this->currentMeasurement = this->moveTargetHeight - Settings.Height.Offset;
dln("[ CONTROL ] Target reached");
return true;
@ -240,11 +253,11 @@ bool ControlManager::targetReached()
break;
case MoveDirection::Down:
if (this->currentHeight <= this->moveTarget + Config::HeightMeasurementDeltaStop)
if (currentHeight <= this->moveTargetHeight + Config::HeightMeasurementDeltaStop)
{
// Snap to the target
if (this->moveTarget - this->currentHeight <= Config::HeightMeasurementDeltaOnTarget)
this->currentHeight = this->moveTarget;
if (this->moveTargetHeight - currentHeight <= Config::HeightMeasurementDeltaOnTarget)
this->currentMeasurement = this->moveTargetHeight - Settings.Height.Offset;
dln("[ CONTROL ] Target reached");
return true;
@ -268,7 +281,7 @@ void ControlManager::getDisplayHeight(char* buffer, uint16_t value)
return;
}
uint8_t displayValue = (value + Settings.Height.Offset) / 10;
uint8_t displayValue = value / 10;
if (displayValue > 99)
buffer[0] = '0' + ((displayValue / 100) % 10);

13
src/lib/control.h
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@ -3,6 +3,7 @@
#include <stdint.h>
#include "./vl53l0x.h"
#include "./settings.h"
enum class ControlUpdateResult
@ -47,26 +48,28 @@ class ControlManager
void getDisplayHeight(char* buffer, uint16_t value);
uint16_t getCurrentHeight() { return this->currentHeight; }
uint16_t getCurrentHeight() { return this->currentMeasurement + Settings.Height.Offset; }
uint16_t getCurrentMeasurement() { return this->currentMeasurement; }
uint16_t getLastMeasurement() { return this->lastMeasurement; }
MoveDirection getMoveDirection() { return this->moveDirection; }
uint16_t getMoveTarget() { return this->moveTarget; }
uint16_t getMoveTargetHeight() { return this->moveTargetHeight; }
bool getIsStabilizing() { return this->stabilizationStart != 0; }
private:
bool targetReached();
VL53L0X heightSensor = VL53L0X();
uint16_t currentHeight;
uint16_t currentMeasurement;
uint16_t lastMeasurement = 0;
uint32_t lastValidMeasurement = 0;
MoveDirection moveDirection;
uint16_t moveTarget;
uint16_t moveTargetHeight;
uint32_t stabilizationStart = 0;
uint8_t stabilizeCount = 0;
uint16_t stabilizeTarget = 0;
uint16_t stabilizeTargetMeasurement = 0;
uint32_t stabilizationLastCheck = 0;
};

14
src/lib/screen/calibrate.cpp
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@ -12,9 +12,9 @@ void CalibrateScreen::onShow()
this->display->fillScreen(Config::ColorHomeBackground);
this->drawTitle();
this->height[CalibrateStepCurrent] = Control.getCurrentHeight() + Settings.Height.Offset;
this->height[CalibrateStepMax] = 1969; // TODO: read min/max from settings
this->height[CalibrateStepMin] = 0;
this->height[CalibrateStepCurrent] = Control.getCurrentHeight();
this->height[CalibrateStepMax] = Settings.Height.Maximum;
this->height[CalibrateStepMin] = Settings.Height.Minimum;
this->drawArrowUp(Metrics::ArrowMargin, Metrics::LargeTextLineHeight + Metrics::LargeTextLineVArrowYOffset, Config::ColorCalibrateIndicators);
this->drawArrowRight(Metrics::ArrowMargin, Metrics::MiddleLargeTextLineY + Metrics::LargeTextLineHArrowYOffset, Config::ColorCalibrateIndicators);
@ -87,7 +87,11 @@ void CalibrateScreen::onButton(Button button)
this->step = (CalibrateStep)(this->step + 1);
if (this->step == CalibrateStepCount)
{
// TODO: store new settings
Settings.Height.Offset = this->height[CalibrateStepCurrent] - Control.getCurrentMeasurement();
Settings.Height.Maximum = this->height[CalibrateStepMax];
Settings.Height.Minimum = this->height[CalibrateStepMin];
writeSettingsHeights();
this->screenManager->show<HomeScreen>();
}
else
@ -112,7 +116,7 @@ bool CalibrateScreen::isValidHeight()
switch (this->step)
{
case CalibrateStepCurrent:
return this->height[CalibrateStepCurrent] >= Control.getCurrentHeight();
return this->height[CalibrateStepCurrent] >= Control.getCurrentMeasurement();
case CalibrateStepMin:
return this->height[CalibrateStepMin] <= this->height[CalibrateStepCurrent];

8
src/lib/screen/home.cpp
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@ -29,11 +29,12 @@ void HomeScreen::onShow()
void HomeScreen::onButton(Button button)
{
this->showTime = CurrentTime;
if (this->idle)
{
this->screenManager->displayOn();
this->idle = false;
this->showTime = CurrentTime;
// Preset buttons activate immediately
if (button == Button::Middle)
@ -58,8 +59,11 @@ void HomeScreen::onButton(Button button)
}
if (targetHeight > 0)
{
Control.moveStart(targetHeight);
this->screenManager->show<MoveScreen>();
}
}
@ -139,7 +143,7 @@ void HomeScreen::drawHeight(int16_t y, uint16_t value)
void HomeScreen::drawMenu()
{
this->drawArrowLeft(Metrics::ArrowMargin, Metrics::MiddleLargeTextLineY, Config::ColorHomeMenuArrow);
this->drawArrowLeft(Metrics::ArrowMargin, Metrics::MiddleLargeTextLineY + Metrics::LargeTextLineHArrowYOffset, Config::ColorHomeMenuArrow);
this->display->setTextColor(Config::ColorHomeMenuText);
this->printCentered("Menu", Metrics::MiddleLargeTextLineY + Metrics::LargeTextLineYOffset);

11
src/lib/screen/menu.cpp
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@ -1,14 +1,23 @@
#include "./menu.h"
#include "./home.h"
#include "include/metrics.h"
void MenuScreen::onShow()
{
// TODO: implement MenuScreen
this->display->setFont(Metrics::LargeFont);
this->display->setTextSize(Metrics::LargeFontTextSize);
this->display->fillScreen(Config::ColorHomeBackground);
this->drawLargeTextLineCentered("Menu", 0, Config::ColorMenuHeaderText, Config::ColorMenuHeaderBackground);
// TODO: implement MenuScreen
}
void MenuScreen::onButton(Button button)
{
this->screenManager->show<HomeScreen>();
}

2
src/lib/screen/move.cpp
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@ -29,7 +29,7 @@ void MoveScreen::onShow()
this->printCentered("STOP", stopY + Metrics::LargeTextLineYOffset);
char targetHeightText[6];
Control.getDisplayHeight(&targetHeightText[0], Control.getMoveTarget());
Control.getDisplayHeight(&targetHeightText[0], Control.getMoveTargetHeight());
this->display->setTextColor(Config::ColorMoveCurrent);
// Target and arrow

22
src/lib/settings.cpp
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@ -16,6 +16,8 @@ struct SettingsHeader
#define SettingsHeightsAddress sizeof(SettingsHeader)
bool initialized = false;
// Forward declarations
void readHeights();
@ -33,6 +35,7 @@ bool readSettings()
if (header.version >= 1)
readHeights();
initialized = true;
return true;
}
@ -40,6 +43,24 @@ bool readSettings()
}
bool allowPartialWrite()
{
if (initialized)
return true;
initialized = true;
SettingsHeader header;
header.identifier = SettingsIdentifier;
header.version = SettingsVersion1;
EEPROM.put(0, header);
writeSettingsHeights();
return false;
}
void readHeights()
{
EEPROM.get(SettingsHeightsAddress, Settings.Height);
@ -48,5 +69,6 @@ void readHeights()
void writeSettingsHeights()
{
if (allowPartialWrite())
EEPROM.put(SettingsHeightsAddress, Settings.Height);
}

2
src/main.cpp
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@ -146,7 +146,7 @@ inline void testHeightSensor()
{
if (Control.update() != ControlUpdateResult::SensorError)
{
initSequenceDisplayHeight(Control.getCurrentHeight());
initSequenceDisplayHeight(Control.getCurrentMeasurement());
if (Control.stabilized())
break;