lots of smaller fixes

2021-08-09 20:59:55 +02:00
parent d75db8e18c
commit 1504fc779a
16 changed files with 233 additions and 100 deletions
--- a/config_feedc0de.cmake
+++ b/config_feedc0de.cmake
@ -9,7 +9,6 @@ add_definitions(
  -DFEATURE_ADC_IN
  -DPINS_GAS=34
  -DPINS_BREMS=35
-#  -DPINS_LED=23
  -DILI9341_DRIVER=1
  -DTFT_MOSI=13
  -DTFT_SCLK=15
@ -75,4 +74,7 @@ add_definitions(
 #  -DDEFAULT_GAMETRAKDISTMIN=0
 #  -DDEFAULT_GAMETRAKDISTMAX=4095
 #  -DFEATURE_CLOUD
+  -DFEATURE_LEDBACKLIGHT
+  -DPINS_LEDBACKLIGHT=23
+  -DLEDBACKLIGHT_INVERTED
 )
--- a/export.sh
+++ b/export.sh
@ -1,4 +1,4 @@
-if [[ $_ == $0 ]]
+if [[ $_ == $0 ]] && [[ "$1" != "--skip-source-check" ]]
 then
    echo "export.sh has to be sourced, not run in a subshell"
    echo ". export.sh"
--- a/main/accessors/settingsaccessors.h
+++ b/main/accessors/settingsaccessors.h
@ -62,6 +62,10 @@ struct SwapFrontBackAccessor : public RefAccessorSaveSettings<bool> {
    void setValue(bool value) override { RefAccessorSaveSettings<bool>::setValue(value); updateSwapFrontBack(); };
 #endif
 };
+#ifdef FEATURE_CAN
+struct SendFrontCanCmdAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.controllerHardware.sendFrontCanCmd; } };
+struct SendBackCanCmdAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.controllerHardware.sendBackCanCmd; } };
+#endif

 struct SampleCountAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.boardcomputerHardware.sampleCount; } };
 struct GasMinAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.boardcomputerHardware.gasMin; } };
--- a/main/can.h
+++ b/main/can.h
@ -5,6 +5,7 @@

 #include <driver/gpio.h>
 #include <driver/twai.h>
+#include <esp_log.h>

 #include <Arduino.h>

@ -219,11 +220,11 @@ bool parseBoardcomputerCanMessage(const twai_message_t &message)
 bool tryParseCanInput()
 {
    twai_message_t message;
-    if (const auto result = twai_receive(&message, pdMS_TO_TICKS(50)); result != ESP_OK)
+    if (const auto result = twai_receive(&message, pdMS_TO_TICKS(10)); result != ESP_OK)
    {
        if (result != ESP_ERR_TIMEOUT)
        {
-            //Serial.printf("CAN err twai_receive() failed with %s\r\n", esp_err_to_name(result));
+            ESP_LOGE(TAG, "CAN err twai_receive() failed with %s", esp_err_to_name(result));
        }

        if (espchrono::millis_clock::now() - controllers.front.lastCanFeedback > 100ms)
@ -293,20 +294,27 @@ void sendCanCommands()
        const auto result = twai_transmit(&message, pdMS_TO_TICKS(200));
        if (result != ESP_OK && result != ESP_ERR_TIMEOUT)
        {
-            //Serial.printf("ERROR: twai_transmit() failed with %s\r\n", esp_err_to_name(result));
+            ESP_LOGE(TAG, "ERROR: twai_transmit() failed with %s", esp_err_to_name(result));
        }
        return result;
    };

-    const Controller &front = settings.controllerHardware.swapFrontBack ? controllers.back : controllers.front;
-    const Controller &back = settings.controllerHardware.swapFrontBack ? controllers.front : controllers.back;
+    const bool swap = settings.controllerHardware.swapFrontBack;
+    const Controller *front =
+            (swap ? settings.controllerHardware.sendBackCanCmd : settings.controllerHardware.sendFrontCanCmd ) ?
+            (swap ? &controllers.back : &controllers.front) :
+            nullptr;
+    const Controller *back =
+            (swap ? settings.controllerHardware.sendFrontCanCmd : settings.controllerHardware.sendBackCanCmd ) ?
+            (swap ? &controllers.front : &controllers.back) :
+            nullptr;

    using namespace bobbycar::protocol::can;

-    send(MotorController<false, false>::Command::InpTgt, front.command.left.pwm);
-    send(MotorController<false, true>::Command::InpTgt, front.command.right.pwm);
-    send(MotorController<true, false>::Command::InpTgt, back.command.left.pwm);
-    send(MotorController<true, true>::Command::InpTgt, back.command.right.pwm);
+    if (front) send(MotorController<false, false>::Command::InpTgt, front->command.left.pwm);
+    if (front) send(MotorController<false, true>::Command::InpTgt, front->command.right.pwm);
+    if (back) send(MotorController<true, false>::Command::InpTgt, back->command.left.pwm);
+    if (back) send(MotorController<true, true>::Command::InpTgt, back->command.right.pwm);

    uint16_t buttonLeds{};
    if (const auto index = settingsPersister.currentlyOpenProfileIndex())
@ -328,10 +336,10 @@ void sendCanCommands()

    static int i{};

-    if (front.command.buzzer.freq    != lastValues.front.freq ||
-        front.command.buzzer.pattern != lastValues.front.pattern ||
-        back.command.buzzer.freq     != lastValues.back.freq ||
-        back.command.buzzer.pattern  != lastValues.back.pattern)
+    if ((front && front->command.buzzer.freq    != lastValues.front.freq ) ||
+        (front && front->command.buzzer.pattern != lastValues.front.pattern ) ||
+        (back && back->command.buzzer.freq     != lastValues.back.freq) ||
+        (back && back->command.buzzer.pattern  != lastValues.back.pattern))
        i = 10;
    else if (buttonLeds              != lastValues.buttonLeds)
        i = 12;
@ -339,92 +347,92 @@ void sendCanCommands()
    switch (i++)
    {
    case 0:
-        send(MotorController<false, false>::Command::Enable, front.command.left.enable);
-        send(MotorController<false, true>::Command::Enable, front.command.right.enable);
-        send(MotorController<true, false>::Command::Enable, back.command.left.enable);
-        send(MotorController<true, true>::Command::Enable, back.command.right.enable);
+        if (front) send(MotorController<false, false>::Command::Enable, front->command.left.enable);
+        if (front) send(MotorController<false, true>::Command::Enable, front->command.right.enable);
+        if (back) send(MotorController<true, false>::Command::Enable, back->command.left.enable);
+        if (back) send(MotorController<true, true>::Command::Enable, back->command.right.enable);
        break;
    case 1:
-        send(MotorController<false, false>::Command::CtrlTyp, front.command.left.ctrlTyp);
-        send(MotorController<false, true>::Command::CtrlTyp, front.command.right.ctrlTyp);
-        send(MotorController<true, false>::Command::CtrlTyp, back.command.left.ctrlTyp);
-        send(MotorController<true, true>::Command::CtrlTyp, back.command.right.ctrlTyp);
+        if (front) send(MotorController<false, false>::Command::CtrlTyp, front->command.left.ctrlTyp);
+        if (front) send(MotorController<false, true>::Command::CtrlTyp, front->command.right.ctrlTyp);
+        if (back) send(MotorController<true, false>::Command::CtrlTyp, back->command.left.ctrlTyp);
+        if (back) send(MotorController<true, true>::Command::CtrlTyp, back->command.right.ctrlTyp);
        break;
    case 2:
-        send(MotorController<false, false>::Command::CtrlMod, front.command.left.ctrlMod);
-        send(MotorController<false, true>::Command::CtrlMod, front.command.right.ctrlMod);
-        send(MotorController<true, false>::Command::CtrlMod, back.command.left.ctrlMod);
-        send(MotorController<true, true>::Command::CtrlMod, back.command.right.ctrlMod);
+        if (front) send(MotorController<false, false>::Command::CtrlMod, front->command.left.ctrlMod);
+        if (front) send(MotorController<false, true>::Command::CtrlMod, front->command.right.ctrlMod);
+        if (back) send(MotorController<true, false>::Command::CtrlMod, back->command.left.ctrlMod);
+        if (back) send(MotorController<true, true>::Command::CtrlMod, back->command.right.ctrlMod);
        break;
    case 3:
-        send(MotorController<false, false>::Command::IMotMax, front.command.left.iMotMax);
-        send(MotorController<false, true>::Command::IMotMax, front.command.right.iMotMax);
-        send(MotorController<true, false>::Command::IMotMax, back.command.left.iMotMax);
-        send(MotorController<true, true>::Command::IMotMax, back.command.right.iMotMax);
+        if (front) send(MotorController<false, false>::Command::IMotMax, front->command.left.iMotMax);
+        if (front) send(MotorController<false, true>::Command::IMotMax, front->command.right.iMotMax);
+        if (back) send(MotorController<true, false>::Command::IMotMax, back->command.left.iMotMax);
+        if (back) send(MotorController<true, true>::Command::IMotMax, back->command.right.iMotMax);
        break;
    case 4:
-        send(MotorController<false, false>::Command::IDcMax, front.command.left.iDcMax);
-        send(MotorController<false, true>::Command::IDcMax, front.command.right.iDcMax);
-        send(MotorController<true, false>::Command::IDcMax, back.command.left.iDcMax);
-        send(MotorController<true, true>::Command::IDcMax, back.command.right.iDcMax);
+        if (front) send(MotorController<false, false>::Command::IDcMax, front->command.left.iDcMax);
+        if (front) send(MotorController<false, true>::Command::IDcMax, front->command.right.iDcMax);
+        if (back) send(MotorController<true, false>::Command::IDcMax, back->command.left.iDcMax);
+        if (back) send(MotorController<true, true>::Command::IDcMax, back->command.right.iDcMax);
        break;
    case 5:
-        send(MotorController<false, false>::Command::NMotMax, front.command.left.nMotMax);
-        send(MotorController<false, true>::Command::NMotMax, front.command.right.nMotMax);
-        send(MotorController<true, false>::Command::NMotMax, back.command.left.nMotMax);
-        send(MotorController<true, true>::Command::NMotMax, back.command.right.nMotMax);
+        if (front) send(MotorController<false, false>::Command::NMotMax, front->command.left.nMotMax);
+        if (front) send(MotorController<false, true>::Command::NMotMax, front->command.right.nMotMax);
+        if (back) send(MotorController<true, false>::Command::NMotMax, back->command.left.nMotMax);
+        if (back) send(MotorController<true, true>::Command::NMotMax, back->command.right.nMotMax);
        break;
    case 6:
-        send(MotorController<false, false>::Command::FieldWeakMax, front.command.left.fieldWeakMax);
-        send(MotorController<false, true>::Command::FieldWeakMax, front.command.right.fieldWeakMax);
-        send(MotorController<true, false>::Command::FieldWeakMax, back.command.left.fieldWeakMax);
-        send(MotorController<true, true>::Command::FieldWeakMax, back.command.right.fieldWeakMax);
+        if (front) send(MotorController<false, false>::Command::FieldWeakMax, front->command.left.fieldWeakMax);
+        if (front) send(MotorController<false, true>::Command::FieldWeakMax, front->command.right.fieldWeakMax);
+        if (back) send(MotorController<true, false>::Command::FieldWeakMax, back->command.left.fieldWeakMax);
+        if (back) send(MotorController<true, true>::Command::FieldWeakMax, back->command.right.fieldWeakMax);
        break;
    case 7:
-        send(MotorController<false, false>::Command::PhaseAdvMax, front.command.left.phaseAdvMax);
-        send(MotorController<false, true>::Command::PhaseAdvMax, front.command.right.phaseAdvMax);
-        send(MotorController<true, false>::Command::PhaseAdvMax, back.command.left.phaseAdvMax);
-        send(MotorController<true, true>::Command::PhaseAdvMax, back.command.right.phaseAdvMax);
+        if (front) send(MotorController<false, false>::Command::PhaseAdvMax, front->command.left.phaseAdvMax);
+        if (front) send(MotorController<false, true>::Command::PhaseAdvMax, front->command.right.phaseAdvMax);
+        if (back) send(MotorController<true, false>::Command::PhaseAdvMax, back->command.left.phaseAdvMax);
+        if (back) send(MotorController<true, true>::Command::PhaseAdvMax, back->command.right.phaseAdvMax);
        break;
    case 8:
-        send(MotorController<false, false>::Command::CruiseCtrlEna, front.command.left.cruiseCtrlEna);
-        send(MotorController<false, true>::Command::CruiseCtrlEna, front.command.right.cruiseCtrlEna);
-        send(MotorController<true, false>::Command::CruiseCtrlEna, back.command.left.cruiseCtrlEna);
-        send(MotorController<true, true>::Command::CruiseCtrlEna, back.command.right.cruiseCtrlEna);
+        if (front) send(MotorController<false, false>::Command::CruiseCtrlEna, front->command.left.cruiseCtrlEna);
+        if (front) send(MotorController<false, true>::Command::CruiseCtrlEna, front->command.right.cruiseCtrlEna);
+        if (back) send(MotorController<true, false>::Command::CruiseCtrlEna, back->command.left.cruiseCtrlEna);
+        if (back) send(MotorController<true, true>::Command::CruiseCtrlEna, back->command.right.cruiseCtrlEna);
        break;
    case 9:
-        send(MotorController<false, false>::Command::CruiseMotTgt, front.command.left.nCruiseMotTgt);
-        send(MotorController<false, true>::Command::CruiseMotTgt, front.command.right.nCruiseMotTgt);
-        send(MotorController<true, false>::Command::CruiseMotTgt, back.command.left.nCruiseMotTgt);
-        send(MotorController<true, true>::Command::CruiseMotTgt, back.command.right.nCruiseMotTgt);
+        if (front) send(MotorController<false, false>::Command::CruiseMotTgt, front->command.left.nCruiseMotTgt);
+        if (front) send(MotorController<false, true>::Command::CruiseMotTgt, front->command.right.nCruiseMotTgt);
+        if (back) send(MotorController<true, false>::Command::CruiseMotTgt, back->command.left.nCruiseMotTgt);
+        if (back) send(MotorController<true, true>::Command::CruiseMotTgt, back->command.right.nCruiseMotTgt);
        break;
    case 10:
-        if (send(MotorController<false, false>::Command::BuzzerFreq, front.command.buzzer.freq) == ESP_OK)
-            lastValues.front.freq = front.command.buzzer.freq;
-//        if (send(MotorController<false, true>::Command::BuzzerFreq, front.command.buzzer.freq) == ESP_OK)
-//            lastValues.front.freq = front.command.buzzer.freq;
-        if (send(MotorController<true, false>::Command::BuzzerFreq, back.command.buzzer.freq) == ESP_OK)
-            lastValues.back.freq = back.command.buzzer.freq;
-//        if (send(MotorController<true, true>::Command::BuzzerFreq, back.command.buzzer.freq) == ESP_OK)
-//            lastValues.back.freq = back.command.buzzer.freq;
-        if (send(MotorController<false, false>::Command::BuzzerPattern, front.command.buzzer.pattern) == ESP_OK)
-            lastValues.front.pattern = front.command.buzzer.pattern;
-//        if (send(MotorController<false, true>::Command::BuzzerPattern, front.command.buzzer.pattern) == ESP_OK)
-//            lastValues.front.pattern = front.command.buzzer.pattern;
-        if (send(MotorController<true, false>::Command::BuzzerPattern, back.command.buzzer.pattern) == ESP_OK)
-            lastValues.back.pattern = back.command.buzzer.pattern;
-//        if (send(MotorController<true, true>::Command::BuzzerPattern, back.command.buzzer.pattern) == ESP_OK)
-//            lastValues.back.pattern = back.command.buzzer.pattern;
+        if (front && send(MotorController<false, false>::Command::BuzzerFreq, front->command.buzzer.freq) == ESP_OK)
+            lastValues.front.freq = front->command.buzzer.freq;
+//        if (front && send(MotorController<false, true>::Command::BuzzerFreq, front->command.buzzer.freq) == ESP_OK)
+//            lastValues.front.freq = front->command.buzzer.freq;
+        if (back && send(MotorController<true, false>::Command::BuzzerFreq, back->command.buzzer.freq) == ESP_OK)
+            lastValues.back.freq = back->command.buzzer.freq;
+//        if (back && send(MotorController<true, true>::Command::BuzzerFreq, back->command.buzzer.freq) == ESP_OK)
+//            lastValues.back.freq = back->command.buzzer.freq;
+        if (front && send(MotorController<false, false>::Command::BuzzerPattern, front->command.buzzer.pattern) == ESP_OK)
+            lastValues.front.pattern = front->command.buzzer.pattern;
+//        if (front && send(MotorController<false, true>::Command::BuzzerPattern, front->command.buzzer.pattern) == ESP_OK)
+//            lastValues.front.pattern = front->command.buzzer.pattern;
+        if (back && send(MotorController<true, false>::Command::BuzzerPattern, back->command.buzzer.pattern) == ESP_OK)
+            lastValues.back.pattern = back->command.buzzer.pattern;
+//        if (back && send(MotorController<true, true>::Command::BuzzerPattern, back->command.buzzer.pattern) == ESP_OK)
+//            lastValues.back.pattern = back->command.buzzer.pattern;
        break;
    case 11:
-        send(MotorController<false, false>::Command::Led, front.command.led);
-        //send(MotorController<false, true>::Command::Led, front.command.led);
-        send(MotorController<true, false>::Command::Led, back.command.led);
-        //send(MotorController<true, true>::Command::Led, back.command.led);
-        send(MotorController<false, false>::Command::Poweroff, front.command.poweroff);
-        //send(MotorController<false, true>::Command::Poweroff, front.command.poweroff);
-        send(MotorController<true, false>::Command::Poweroff, back.command.poweroff);
-        //send(MotorController<true, true>::Command::Poweroff, back.command.poweroff);
+        if (front) send(MotorController<false, false>::Command::Led, front->command.led);
+        //if (front) send(MotorController<false, true>::Command::Led, front->command.led);
+        if (back) send(MotorController<true, false>::Command::Led, back->command.led);
+        //if (back) send(MotorController<true, true>::Command::Led, back->command.led);
+        if (front) send(MotorController<false, false>::Command::Poweroff, front->command.poweroff);
+        //if (front) send(MotorController<false, true>::Command::Poweroff, front->command.poweroff);
+        if (back) send(MotorController<true, false>::Command::Poweroff, back->command.poweroff);
+        //if (back) send(MotorController<true, true>::Command::Poweroff, back->command.poweroff);
        break;
    case 12:
        if (send(Boardcomputer::Feedback::ButtonLeds, buttonLeds) == ESP_OK)
--- a/main/displays/menus/controllerhardwaresettingsmenu.h
+++ b/main/displays/menus/controllerhardwaresettingsmenu.h
@ -61,6 +61,10 @@ public:
        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_WHEELDIAMETERINCH>, SwitchScreenAction<WheelDiameterInchChangeScreen>>>();
        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_NUMMAGNETPOLES>,    SwitchScreenAction<NumMagnetPolesChangeScreen>>>();
        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_SWAPFRONTBACK>,     ToggleBoolAction, CheckboxIcon, SwapFrontBackAccessor>>();
+#ifdef FEATURE_CAN
+        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_FRONTSENDCAN>,      ToggleBoolAction, CheckboxIcon, SendFrontCanCmdAccessor>>();
+        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_BACKSENDCAN>,       ToggleBoolAction, CheckboxIcon, SendBackCanCmdAccessor>>();
+#endif
        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_BACK>,              SwitchScreenAction<SettingsMenu>, StaticMenuItemIcon<&icons::back>>>();
    }
 };
--- a/main/displays/menus/settingsmenu.h
+++ b/main/displays/menus/settingsmenu.h
@ -32,6 +32,13 @@ class MainMenu;
 }

 namespace {
+#ifdef FEATURE_LEDBACKLIGHT
+struct BacklightAccessor : public virtual AccessorInterface<bool>
+{
+    bool getValue() const override { return digitalRead(PINS_LEDBACKLIGHT) != ledBacklightInverted; }
+    void setValue(bool value) override { digitalWrite(PINS_LEDBACKLIGHT, value != ledBacklightInverted); }
+};
+#endif
 struct FrontLedAccessor : public RefAccessor<bool> { bool &getRef() const override { return controllers.front.command.led; } };
 struct BackLedAccessor : public RefAccessor<bool> { bool &getRef() const override { return controllers.back.command.led; } };

@ -43,6 +50,9 @@ class SettingsMenu :
 public:
    SettingsMenu()
    {
+#ifdef FEATURE_LEDBACKLIGHT
+        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_BACKLIGHT>,                     ToggleBoolAction, CheckboxIcon, BacklightAccessor>>();
+#endif
        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_LIMITSSETTINGS>,                SwitchScreenAction<LimitsSettingsMenu>>>();
        constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_WIFISETTINGS>,                  SwitchScreenAction<WifiSettingsMenu>, StaticMenuItemIcon<&icons::wifi>>>();
 #ifdef FEATURE_BLUETOOTH
--- a/main/displays/statusdisplay.h
+++ b/main/displays/statusdisplay.h
@ -1,7 +1,11 @@
 #pragma once

+// system includes
+#include <optional>
+
 // 3rdparty lib includes
 #include <fmt/core.h>
+#include <espchrono.h>

 // local includes
 #include "display.h"
@ -103,6 +107,15 @@ private:
    Label m_labelProfile{205, bottomLines[3]}; // 35, 15

    static const constexpr int bottomLines[4] { 251, 266, 281, 296 };
+
+    struct CachedString
+    {
+        std::string text;
+        espchrono::millis_clock::time_point timestamp = espchrono::millis_clock::now();
+    };
+
+    std::optional<CachedString> m_cachedWifiStatus;
+    std::optional<CachedString> m_cachedWifiIP;
 };

 void StatusDisplay::initScreen()
@ -141,6 +154,9 @@ void StatusDisplay::initScreen()
    m_labelProfile.start();

    tft.setTextColor(TFT_WHITE, TFT_BLACK);
+
+    m_cachedWifiStatus = std::nullopt;
+    m_cachedWifiIP = std::nullopt;
 }

 void StatusDisplay::redraw()
@ -157,13 +173,38 @@ void StatusDisplay::redraw()
    m_backStatus.redraw(controllers.back);

    tft.setTextFont(2);
-    m_labelWifiStatus.redraw(wifi_stack::toString(wifi_stack::get_sta_status()));
-    m_labelLimit0.redraw(std::to_string(controllers.front.command.left.iMotMax) + "A");
+
+    if (!m_cachedWifiStatus || espchrono::ago(m_cachedWifiStatus->timestamp) >= 500ms)
+    {
+        const auto staStatus = wifi_stack::get_sta_status();
+        if (staStatus == wifi_stack::WiFiStaStatus::WL_CONNECTED)
+        {
+            if (const auto result = wifi_stack::get_sta_ap_info(); result)
+            {
+                m_cachedWifiStatus = CachedString{ .text = std::string{reinterpret_cast<const char*>(result->ssid)} };
+            }
+            else
+            {
+                ESP_LOGW("BOBBY", "get_sta_ap_info() failed with %.*s", result.error().size(), result.error().data());
+                goto showStaStatus;
+            }
+        }
+        else
+        {
+showStaStatus:
+            m_cachedWifiStatus = CachedString{ .text = wifi_stack::toString(staStatus) };
+        }
+    }
+
+    assert(m_cachedWifiStatus);
+    m_labelWifiStatus.redraw(m_cachedWifiStatus->text);
+
+    m_labelLimit0.redraw(fmt::format("{}A", controllers.front.command.left.iMotMax));
    if (const auto result = wifi_stack::get_ip_info(TCPIP_ADAPTER_IF_STA))
        m_labelIpAddress.redraw(wifi_stack::toString(result->ip));
    else
        m_labelIpAddress.clear();
-    m_labelLimit1.redraw(std::to_string(controllers.front.command.left.iDcMax) + "A");
+    m_labelLimit1.redraw(fmt::format("{}A", controllers.front.command.left.iDcMax));
    m_labelPerformance.redraw(std::to_string(performance.last));
    m_labelMode.redraw(currentMode->displayName());
    m_labelName.redraw(deviceName);
--- a/main/globals.h
+++ b/main/globals.h
@ -90,4 +90,14 @@ ModeInterface *lastMode{};
 ModeInterface *currentMode{};

 std::unique_ptr<Display> currentDisplay;
+
+#ifdef FEATURE_LEDBACKLIGHT
+constexpr const bool ledBacklightInverted =
+#ifdef LEDBACKLIGHT_INVERTED
+        true
+#else
+        false
+#endif
+;
+#endif
 }
--- a/main/main.cpp
+++ b/main/main.cpp
@ -102,11 +102,15 @@ using namespace std::chrono_literals;
 #include "wifi_bobbycar.h"

 namespace {
+std::optional<espchrono::millis_clock::time_point> lastWifiUpdate;
 std::optional<espchrono::millis_clock::time_point> lastPotiRead;
 std::optional<espchrono::millis_clock::time_point> lastModeUpdate;
 std::optional<espchrono::millis_clock::time_point> lastStatsUpdate;
 std::optional<espchrono::millis_clock::time_point> lastDisplayUpdate;
 std::optional<espchrono::millis_clock::time_point> lastDisplayRedraw;
+#ifdef FEATURE_CAN
+std::optional<espchrono::millis_clock::time_point> lastCanParse;
+#endif
 #ifdef FEATURE_BLE
 std::optional<espchrono::millis_clock::time_point> lastBleUpdate;
 #endif
@ -126,9 +130,9 @@ extern "C" void app_main()
    //Serial.setDebugOutput(true);
    //Serial.println("setup()");

-#ifdef PINS_LED
-    pinMode(PINS_LED, OUTPUT);
-    digitalWrite(PINS_LED, LOW);
+#ifdef FEATURE_LEDBACKLIGHT
+    pinMode(PINS_LEDBACKLIGHT, OUTPUT);
+    digitalWrite(PINS_LEDBACKLIGHT, ledBacklightInverted ? LOW : HIGH);
 #endif

    printMemoryStats("setup()");
@ -268,18 +272,22 @@ extern "C" void app_main()
    printMemoryStats("readPotis()");

 #ifdef FEATURE_CLOUD
+    bootLabel.redraw("startCloud");
    startCloud();
+    printMemoryStats("readPotis()");
 #endif

+    bootLabel.redraw("switchScreen");
+
 #if defined(FEATURE_DPAD_5WIRESW) && defined(DPAD_5WIRESW_DEBUG)
    switchScreen<DPad5WireDebugDisplay>();
-    return;
-#endif
+#else

    if (!gas || !brems || *gas > 200.f || *brems > 200.f)
        switchScreen<CalibrateDisplay>(true);
    else
        switchScreen<StatusDisplay>();
+#endif

    printMemoryStats("switchScreen()");

@ -290,7 +298,12 @@ extern "C" void app_main()

        const auto now = espchrono::millis_clock::now();

-        wifi_update();
+        if (!lastWifiUpdate || now - *lastWifiUpdate >= 100ms)
+        {
+            wifi_update();
+
+            lastWifiUpdate = now;
+        }

 #ifdef FEATURE_DPAD
        dpad::update();
@ -359,7 +372,12 @@ extern "C" void app_main()
        }

 #ifdef FEATURE_CAN
-        can::parseCanInput();
+        if (!lastCanParse || now - *lastCanParse >= 50ms)
+        {
+            can::parseCanInput();
+
+            lastCanParse = now;
+        }
 #endif

 #ifdef FEATURE_SERIAL
--- a/main/presets.h
+++ b/main/presets.h
@ -32,7 +32,11 @@ constexpr Settings::ControllerHardware defaultControllerHardware {

    .wheelDiameter = DEFAULT_WHEELDIAMETER,
    .numMagnetPoles = 15,
-    .swapFrontBack = false
+    .swapFrontBack = false,
+#ifdef FEATURE_CAN
+    .sendFrontCanCmd = true,
+    .sendBackCanCmd = true,
+#endif
 };

 constexpr Settings::ControllerHardware mosfetsOffControllerHardware {
@ -48,7 +52,11 @@ constexpr Settings::ControllerHardware mosfetsOffControllerHardware {

    .wheelDiameter = 165,
    .numMagnetPoles = 15,
-    .swapFrontBack = false
+    .swapFrontBack = false,
+#ifdef FEATURE_CAN
+    .sendFrontCanCmd = true,
+    .sendBackCanCmd = true,
+#endif
 };

 constexpr Settings::WifiSettings defaultWifiSettings {
@ -75,7 +83,11 @@ constexpr Settings::ControllerHardware spinnerControllerHardware {

    .wheelDiameter = 165,
    .numMagnetPoles = 15,
-    .swapFrontBack = false
+    .swapFrontBack = false,
+#ifdef FEATURE_CAN
+    .sendFrontCanCmd = true,
+    .sendBackCanCmd = true,
+#endif
 };

 constexpr Settings::BoardcomputerHardware::TimersSettings defaultTimersSettings {
@ -87,7 +99,7 @@ constexpr Settings::BoardcomputerHardware::TimersSettings defaultTimersSettings
 };

 constexpr Settings::BoardcomputerHardware defaultBoardcomputerHardware {
-    .sampleCount = 100,
+    .sampleCount = 50,
    .gasMin = DEFAULT_GASMIN,
    .gasMax = DEFAULT_GASMAX,
    .bremsMin = DEFAULT_BREMSMIN,
--- a/main/settings.h
+++ b/main/settings.h
@ -51,7 +51,13 @@ struct Settings

        int16_t wheelDiameter; // in mm
        int16_t numMagnetPoles; // virtual RPM per one real RPM
+
        bool swapFrontBack;
+
+#ifdef FEATURE_CAN
+        bool sendFrontCanCmd;
+        bool sendBackCanCmd;
+#endif
    } controllerHardware;

    struct BoardcomputerHardware {
@ -143,6 +149,10 @@ void Settings::executeForEverySetting(T &&callable)
    callable("wheelDiameter", controllerHardware.wheelDiameter);
    callable("numMagnetPoles", controllerHardware.numMagnetPoles);
    callable("swapFrontBack", controllerHardware.swapFrontBack);
+#ifdef FEATURE_CAN
+    callable("sendFrontCanCmd", controllerHardware.sendFrontCanCmd);
+    callable("sendBackCanCmd", controllerHardware.sendBackCanCmd);
+#endif

    callable("sampleCount", boardcomputerHardware.sampleCount);
    callable("gasMin", boardcomputerHardware.gasMin);
@ -161,6 +171,7 @@ void Settings::executeForEverySetting(T &&callable)
    callable("gametrakDistMax", boardcomputerHardware.gametrakDistMax);
 #endif
    callable("swapScreenBytes", boardcomputerHardware.swapScreenBytes);
+
    callable("potiReadRate", boardcomputerHardware.timersSettings.potiReadRate);
    callable("modeUpdateRate", boardcomputerHardware.timersSettings.modeUpdateRate);
    callable("statsUpdateRate", boardcomputerHardware.timersSettings.statsUpdateRate);
--- a/main/texts.h
+++ b/main/texts.h
@ -74,6 +74,7 @@ constexpr char TEXT_DEBUG[] = "Debug";

 //SettingsMenu
 //constexpr char TEXT_SETTINGS[] = "Settings";
+constexpr char TEXT_BACKLIGHT[] = "Backlight";
 constexpr char TEXT_LIMITSSETTINGS[] = "Limits settings";
 constexpr char TEXT_WIFISETTINGS[] = "WiFi settings";
 //constexpr char TEXT_BLUETOOTHSETTINGS[] = "Bluetooth settings";
@ -95,6 +96,10 @@ constexpr char TEXT_NUMMAGNETPOLES[] = "Num magnet poles";
 constexpr char TEXT_SETENABLED[] = "Set enabled";
 constexpr char TEXT_SETINVERTED[] = "Set inverted";
 constexpr char TEXT_SWAPFRONTBACK[] = "Swap front/back";
+#ifdef FEATURE_CAN
+constexpr char TEXT_FRONTSENDCAN[] = "Front send CAN";
+constexpr char TEXT_BACKSENDCAN[] = "Back send CAN";
+#endif
 //constexpr char TEXT_BACK[] = "Back";

 //StationWifiSettingsMenu
--- a/main/utils.h
+++ b/main/utils.h
@ -4,8 +4,6 @@
 #include <utility>
 #include <string>

-#include <driver/twai.h>
-
 #ifdef FEATURE_SERIAL
 #include <HardwareSerial.h>
 #endif
--- a/main/widgets/label.h
+++ b/main/widgets/label.h
@ -14,7 +14,7 @@ public:
    int y() const { return m_y; };

    void start();
-    void redraw(const std::string &str, bool forceRedraw = false);
+    void redraw(std::string_view str, bool forceRedraw = false);
    void clear();

 private:
@ -45,7 +45,7 @@ void Label::start()
    m_lastHeight = 0;
 }

-void Label::redraw(const std::string &str, bool forceRedraw)
+void Label::redraw(std::string_view str, bool forceRedraw)
 {
    if (m_lastStr == str &&
        m_lastFont == tft.textfont &&
@ -53,7 +53,7 @@ void Label::redraw(const std::string &str, bool forceRedraw)
        !forceRedraw)
        return;

-    const auto renderedWidth = tft.drawString(str.c_str(), m_x, m_y);
+    const auto renderedWidth = tft.drawString(str.data(), m_x, m_y);
    const auto renderedHeight = tft.fontHeight();

    if (renderedWidth < m_lastWidth)
--- a/main/wifi_bobbycar.h
+++ b/main/wifi_bobbycar.h
@ -9,14 +9,14 @@
 namespace {
 wifi_stack::config wifi_create_config()
 {
-    return wifi_stack::config {
+    static wifi_stack::config config {
        .wifiEnabled = true,
        .hostname = deviceName,
        .sta = {
            .wifis = std::array<wifi_stack::wifi_entry, 10> {
                wifi_stack::wifi_entry { .ssid = "realraum",            .key = "r3alraum" },
                wifi_stack::wifi_entry { .ssid = "McDonalds Free WiFi", .key = "Passwort_123" },
-                wifi_stack::wifi_entry { .ssid = "***REMOVED***",          .key = "***REMOVED***" },
+                wifi_stack::wifi_entry { .ssid = {},                    .key = {} },
                wifi_stack::wifi_entry { .ssid = {},                    .key = {} },
                wifi_stack::wifi_entry { .ssid = {},                    .key = {} },
                wifi_stack::wifi_entry { .ssid = {},                    .key = {} },
@ -42,6 +42,8 @@ wifi_stack::config wifi_create_config()
            .beacon_interval = 100
        }
    };
+
+    return config;
 }

 void wifi_begin()
--- a/open_ide.sh
+++ b/open_ide.sh
@ -0,0 +1,8 @@
+#!/bin/bash
+
+if [[ -z "$IDF_PATH" ]]
+then
+    source export.sh --skip-source-check
+fi
+
+qtcreator "bobbycar-boardcomputer-firmware" 2>&1 >/dev/null &