Added acceleration detection for brake lights

main/bobbyblinker.cpp

@@ -60,23 +60,18 @@ namespace bobbyblinker {
         }
         if (configs.ledstrip.enableBrakeLights.value() && espchrono::ago(*brake_last_time_sent) > 500ms)
         {
-            float avgPwm{};
-            for (const Controller &controller: controllers) {
-                avgPwm +=
-                        controller.command.left.pwm * (controller.invertLeft ? -1 : 1) +
-                        controller.command.right.pwm * (controller.invertRight ? -1 : 1);
-            }
-            avgPwm /= 4;
-
-            if (avgPwm < -1.f)
+            if (brakeLightsStatus == brakeLightsOffSent)
             {
-                sendState("BRAKELIGHTSON");
-                brakeLightsOffSent = false;
-            }
-            else if (!brakeLightsOffSent && avgPwm > -1.f)
-            {
-                sendState("BRAKELIGHTSOFF");
-                brakeLightsOffSent = true;
+                if (brakeLightsStatus)
+                {
+                    sendState("BRAKELIGHTSON");
+                    brakeLightsOffSent = false;
+                }
+                else if (!brakeLightsOffSent)
+                {
+                    sendState("BRAKELIGHTSOFF");
+                    brakeLightsOffSent = true;
+                }
             }
         }
     }

main/displays/menus/debugmenu.cpp

@@ -62,6 +62,15 @@ constexpr char TEXT_ERASENVS[] = "Erase NVS (old)";
 constexpr char TEXT_RESET_NVS_NEW[] = "Reset NVS (new)";
 constexpr char TEXT_DYNAMICMENU[] = "GUI experiments";
 constexpr char TEXT_BACK[] = "Back";
+
+class AccelerationText : public virtual espgui::TextInterface
+{
+public:
+    std::string text() const override
+    {
+        return fmt::format("Accel: {:.6f}", avgAccel);
+    }
+};
 } // namespace
 
 DebugMenu::DebugMenu()
@@ -82,6 +91,7 @@ DebugMenu::DebugMenu()
 #ifdef FEATURE_CAN
     constructMenuItem<makeComponent<MenuItem, CanIcCrashText,                        StaticFont<2>, DisabledColor, DummyAction>>();
 #endif
+    constructMenuItem<makeComponent<MenuItem, AccelerationText,                      StaticFont<2>, DisabledColor, DummyAction>>();
     constructMenuItem<makeComponent<MenuItem, EmptyText,                             DummyAction>>();
     constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_FRONTCOMMAND>,         PushScreenAction<FrontCommandDebugMenu>>>();
     constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_BACKCOMMAND>,          PushScreenAction<BackCommandDebugMenu>>>();

main/globals.cpp

@@ -15,8 +15,12 @@ float gametrakDist;
 float avgSpeed{};
 float avgSpeedKmh{};
 float sumCurrent{};
+float lastAvgSpeedKmh{};
+float avgAccel{};
 bool isLocked{};
 
+espchrono::millis_clock::time_point lastAvgSpeedKmhTs{};
+
 std::optional<int> sunrise;
 std::optional<int> sunset;
 std::optional<espchrono::DateTime> sunrise_dt;

main/globals.h

@@ -53,8 +53,12 @@ extern esp_pm_config_esp32_t pm_config;
 
 extern float avgSpeed;
 extern float avgSpeedKmh;
+extern float lastAvgSpeedKmh;
+extern float avgAccel;
 extern float sumCurrent;
 
+extern espchrono::millis_clock::time_point lastAvgSpeedKmhTs;
+
 extern bool isLocked;
 
 #ifdef GLOBALS_PLUGIN

main/ledstrip.cpp

@@ -19,6 +19,8 @@ std::vector<CRGB> leds;
 uint8_t gHue = 0;
 float gLedPosition = 0; // yes, this is intendet as a float value! Do NOT change!
 
+bool brakeLightsStatus;
+
 uint16_t blinkAnimation = LEDSTRIP_OVERWRITE_NONE;
 
 namespace {
@@ -149,11 +151,12 @@ void updateLedStrip()
             }
             avgPwm /= 4;
 
-            if (avgPwm < -1.f)
+            // avgAccel in m/s/s
+            if (avgPwm < -1.f || (avgAccel < -0.001f && avgSpeedKmh > 5.f))
             {
                 auto color = avgSpeedKmh < -0.1f ? CRGB{255, 255, 255} : CRGB{255, 0, 0};
 
-                const auto center = (std::begin(leds) + (leds.size() / 2) + configs.ledstrip.centerOffset.value());
+                brakeLightsStatus = true;
 
                 std::fill(std::begin(leds), std::end(leds), CRGB{0, 0, 0});
                 if (configs.ledstrip.enableFullBlink.value())
@@ -162,12 +165,15 @@ void updateLedStrip()
                 }
                 else if(!configs.ledstrip.enableAnimBlink.value())
                 {
+                    const auto center = (std::begin(leds) + (leds.size() / 2) + configs.ledstrip.centerOffset.value());
+
                     std::fill(center - configs.ledstrip.bigOffset.value() - 2, center - configs.ledstrip.smallOffset.value() + 2, color);
                     std::fill(center + configs.ledstrip.smallOffset.value() - 2, center + configs.ledstrip.bigOffset.value() + 2, color);
                 }
             }
             else
             {
+                brakeLightsStatus = false;
                 showAnimation();
             }
         }

main/ledstrip.h

@@ -44,6 +44,8 @@ extern float gLedPosition; // yes, this is intendet as a float value! Do NOT cha
 
 extern uint16_t blinkAnimation;
 
+extern bool brakeLightsStatus;
+
 void showDefaultLedstrip();
 void showAnimation();
 void showBetterRainbow();

main/utils.cpp

@@ -248,6 +248,28 @@ void updateAccumulators()
     sumCurrent = fixCurrent(sumCurrent);
 
     avgSpeedKmh = convertToKmh(avgSpeed);
+
+    // accel
+    EVERY_N_MILLIS(100)
+    {
+        const auto now = espchrono::millis_clock::now();
+        const auto delta = now - lastAvgSpeedKmhTs;
+        const auto deltaSpeedKmh = avgSpeedKmh - lastAvgSpeedKmh;
+
+        // ESP_LOGI("utils.cpp", "delta: %lli ms, deltaSpeedKmh: %f", delta.count() / 1000, deltaSpeedKmh);
+
+        const auto deltaMilliseconds = delta.count() / 1000.f;
+
+        const auto kmh_s = deltaSpeedKmh / deltaMilliseconds; // km/h / s
+        const auto m_s2 = kmh_s * 1000.f / 3600.f; // m/s^2
+
+        // ESP_LOGI("utils.cpp", "m_s2: %f", m_s2);
+
+        avgAccel = m_s2;
+
+        lastAvgSpeedKmh = avgSpeedKmh;
+        lastAvgSpeedKmhTs = espchrono::millis_clock::now();
+    }
 }
 
 float wattToAmpere(float watt) {