Fixes

main/CMakeLists.txt

@@ -215,6 +215,7 @@ set(headers
     modes/tempomatmode.h
     modes/wheelchairmode.h
     mosfets.h
+    motorpwmlimiter.h
     newsettings.h
     ota.h
     potis.h
@@ -226,6 +227,7 @@ set(headers
     serial_bobby.h
     settingspersister.h
     settingsutils.h
+    softpwmlimiter.h
     statistics.h
     statustexthelper.h
     taskmanager.h
@@ -458,6 +460,7 @@ set(sources
     modes/tempomatmode.cpp
     modes/wheelchairmode.cpp
     mosfets.cpp
+    motorpwmlimiter.cpp
     newsettings.cpp
     ota.cpp
     potis.cpp
@@ -469,6 +472,7 @@ set(sources
     serial_bobby.cpp
     settingspersister.cpp
     settingsutils.cpp
+    softpwmlimiter.cpp
     statistics.cpp
     statustexthelper.cpp
     taskmanager.cpp

main/modes.cpp

@@ -3,6 +3,7 @@
 // local includes
 #include "globals.h"
 #include "motorpwmlimiter.h"
+#include "utils.h"
 
 void initDrivingMode()
 {

main/motorpwmlimiter.cpp

@@ -0,0 +1,47 @@
+#include "motorpwmlimiter.h"
+
+// local includes
+#include "ble_bobby.h"
+#include "globals.h"
+#include "softpwmlimiter.h"
+#include "utils.h"
+
+namespace motor_pwm_limiter {
+void update()
+{
+    if (!configs.bleSettings.bleFenceEnabled.value() || pServer->getPeerDevices().size())
+    {
+        soft_pwm_limiter::trigger = false;
+        soft_pwm_limiter::update();
+        return;
+    }
+
+    soft_pwm_limiter::trigger = true;
+
+    const auto mot = motors();
+
+    int max_pwm = 0;
+    for (const bobbycar::protocol::serial::MotorState &motor : mot)
+    {
+        max_pwm = std::max(max_pwm, std::abs(motor.pwm));
+    }
+
+    // Scale PWM proportionally to avoid loss of steering in case of wheelchair or RC mode
+    soft_pwm_limiter::update();
+    float new_max = soft_pwm_limiter::limit(max_pwm);
+    float ratio;
+    if (max_pwm > 0.f)
+        ratio = new_max / max_pwm;
+    else
+        ratio = 0.f;
+
+    // Should not happen
+    if (ratio > 1.f)
+        ratio = 1.f;
+
+    for (bobbycar::protocol::serial::MotorState &motor : mot)
+    {
+        motor.pwm *= ratio;
+    }
+}
+}

main/motorpwmlimiter.h

@@ -1,41 +1,5 @@
 #pragma once
 
-#include "globals.h"
-#include "utils.h"
-#include "softpwmlimiter.h"
-#include "ble_bobby.h"
-
 namespace motor_pwm_limiter {
-    void update() {
+void update();
-        if (!configs.bleSettings.bleFenceEnabled.value() || pServer->getPeerDevices().size()) {
+} // namespace motor_pwm_limiter
-            soft_pwm_limiter::trigger = false;
-            soft_pwm_limiter::update(1500.f);
-            return;
-        }
-
-        soft_pwm_limiter::trigger = true;
-
-        auto mot = motors();
-        int max_pwm = 0;
-        for (bobbycar::protocol::serial::MotorState &motor : mot) {
-            max_pwm = std::max(max_pwm, std::abs(motor.pwm));
-        }
-
-        // Scale PWM proportionally to avoid loss of steering in case of wheelchair or RC mode
-        soft_pwm_limiter::update(max_pwm);
-        float new_max = soft_pwm_limiter::limit(max_pwm);
-        float ratio;
-        if (max_pwm > 0.f)
-            ratio = new_max / max_pwm;
-        else
-            ratio = 0.f;
-
-        // Should not happen
-        if (ratio > 1.f)
-            ratio = 1.f;
-
-        for (bobbycar::protocol::serial::MotorState &motor : mot) {
-            motor.pwm = motor.pwm * ratio;
-        }
-    }
-}

main/newsettings.h

@@ -785,8 +785,8 @@ public:
     x(feature.ota.isEnabled) \
     x(feature.udpcloud.isEnabled) \
     x(feature.webserver.isEnabled) \
-    x(feature.webserver_disable_lock.isEnabled)
+    x(feature.webserver_disable_lock.isEnabled) \
-    //x(bleSettings.bleEnabled)
+    x(bleSettings.bleEnabled)
 
 #define FEATURES(x) \
     x(feature.ble) \
@@ -808,7 +808,6 @@ public:
 #define HELPER(x) callback(x);
         NEW_SETTINGS(HELPER)
 #undef HELPER
-        callback(bleSettings.bleEnabled);
         callback(bleSettings.bleFenceEnabled);
     }
 
@@ -818,7 +817,6 @@ public:
 #define HELPER(x) std::ref<ConfigWrapperInterface>(x),
             NEW_SETTINGS(HELPER)
 #undef HELPER
-            std::ref<ConfigWrapperInterface>(bleSettings.bleEnabled),
             std::ref<ConfigWrapperInterface>(bleSettings.bleFenceEnabled)
         );
     }

main/softpwmlimiter.cpp

@@ -0,0 +1,55 @@
+#include "softpwmlimiter.h"
+
+// system includes
+#include <algorithm>
+
+// 3rdparty lib includes
+#include <espchrono.h>
+
+namespace soft_pwm_limiter {
+constexpr float MAX_LIMIT = 1500.f;
+
+namespace {
+float actual_limit = MAX_LIMIT;
+bool active = false;
+espchrono::millis_clock::time_point last_update;
+} // namespace
+
+bool trigger = false;
+
+void update()
+{
+    using namespace std::chrono_literals;
+
+    if (trigger)
+    {
+        const auto now = espchrono::millis_clock::now();
+        if (!active)
+        {
+            last_update = now;
+            active = true;
+            return;
+        }
+
+        // int time_delta = std::chrono::floor<std::chrono::milliseconds>(now - last_update).count();
+        int time_delta = espchrono::ago(last_update) / 1ms;
+        last_update = now;
+        time_delta = std::max(time_delta, 0);
+
+        // Exit field weakening area ]1000, 1500] within 2 seconds
+        actual_limit -= 500.f * time_delta / 2000.f;
+        actual_limit = std::max(actual_limit, 0.f);
+    }
+    else
+    {
+        actual_limit = MAX_LIMIT;
+        active = false;
+    }
+}
+
+float limit(float pwm)
+{
+    return std::clamp(pwm, -actual_limit, actual_limit);
+}
+
+} // namespace soft_pwm_limiter

main/softpwmlimiter.h

@@ -1,50 +1,11 @@
 #pragma once
 
-#include <algorithm>
-#include <cmath>
-
-#include <espchrono.h>
-
 namespace soft_pwm_limiter {
-    namespace {
-        constexpr float MAX_LIMIT = 1500.f;
-        //inline constexpr float TAU = 5000.f;
 
-        inline float actual_limit = MAX_LIMIT;
+extern bool trigger;
-        inline bool active = false;
-        inline espchrono::millis_clock::time_point last_update;
-    }
 
-    inline bool trigger = false;
+void update();
 
-    void update(float current_pwm) {
+float limit(float pwm);
-        if (trigger) {
-            auto now = espchrono::millis_clock::now();
-            if (!active) {
-                last_update = now;
-                active = true;
-                return;
-            }
 
-            float time_delta = std::chrono::floor<std::chrono::milliseconds>(now - last_update).count();
+} // namespace soft_pwm_limiter
-            last_update = now;
-            time_delta = std::max(time_delta, 0.f);
-
-            //float smoothness = expf(-time_delta / TAU);
-
-            //actual_limit = actual_limit * smoothness;
-            // Exit field weakening area (]1000, 1500]) within 2 seconds
-            actual_limit -= 500.f * time_delta / 2000.f;
-            actual_limit = std::max(actual_limit, 0.f);
-            //if (current_pwm >= -1500.f && current_pwm <= 1500.f)
-            //    actual_limit = std::min(actual_limit, std::abs(current_pwm));
-        } else {
-            actual_limit = MAX_LIMIT;
-            active = false;
-        }
-    }
-
-    float limit(float pwm) {
-        return std::clamp(pwm, -actual_limit, actual_limit);
-    }
-}