init

src/control_task.cpp

@@ -0,0 +1,97 @@
+#include <ESP32Servo.h>
+#include <Preferences.h>
+#include "app.h"
+#include "config.h"
+
+static Servo servo;
+static Preferences prefs;
+
+static int volumeToUs(uint8_t volume) {
+    return map(volume, 0, 100, SERVO_MIN_US, SERVO_MAX_US);
+}
+
+static void applyRelay(bool on) {
+    digitalWrite(PIN_RELAY, on ? RELAY_ACTIVE_LEVEL : !RELAY_ACTIVE_LEVEL);
+}
+
+// Owns the servo, the relay and NVS. Other tasks only send commands.
+void controlTask(void *arg) {
+    pinMode(PIN_RELAY, OUTPUT);
+
+    prefs.begin("volume", false);
+    AppState st;
+    st.volume = prefs.getUChar("vol", 30);
+    st.relay = prefs.getBool("relay", false);
+    setState(st);
+    applyRelay(st.relay);
+
+    servo.setPeriodHertz(50);
+    int currentUs = volumeToUs(st.volume);
+    servo.attach(PIN_SERVO, SERVO_MIN_US, SERVO_MAX_US);
+    servo.writeMicroseconds(currentUs);
+    TickType_t lastMove = xTaskGetTickCount();
+
+    bool dirty = false;
+    TickType_t lastChange = 0;
+
+    Serial.printf("[control] restored volume=%u relay=%d\n", st.volume, st.relay);
+
+    for (;;) {
+        int targetUs = volumeToUs(st.volume);
+        bool moving = currentUs != targetUs;
+        TickType_t wait = (moving || dirty || servo.attached())
+                              ? pdMS_TO_TICKS(SERVO_UPDATE_MS)
+                              : portMAX_DELAY;
+
+        Command cmd;
+        if (xQueueReceive(cmdQueue, &cmd, wait) == pdTRUE) {
+            AppState prev = st;
+            switch (cmd.type) {
+                case CmdType::VolumeDelta:
+                    st.volume = constrain((int)st.volume + cmd.value, 0, 100);
+                    break;
+                case CmdType::VolumeSet:
+                    st.volume = constrain((int)cmd.value, 0, 100);
+                    break;
+                case CmdType::RelayToggle:
+                    st.relay = !st.relay;
+                    break;
+                case CmdType::RelaySet:
+                    st.relay = cmd.value != 0;
+                    break;
+            }
+            if (st.relay != prev.relay) {
+                applyRelay(st.relay);
+                Serial.printf("[control] relay %s\n", st.relay ? "ON" : "OFF");
+            }
+            if (st.volume != prev.volume || st.relay != prev.relay) {
+                setState(st);
+                dirty = true;
+                lastChange = xTaskGetTickCount();
+            }
+            targetUs = volumeToUs(st.volume);
+        }
+
+        TickType_t now = xTaskGetTickCount();
+
+        // Smooth servo movement toward the target
+        if (currentUs != targetUs) {
+            int diff = targetUs - currentUs;
+            int step = constrain(diff, -SERVO_SPEED_US_PER_STEP, SERVO_SPEED_US_PER_STEP);
+            currentUs += step;
+            if (!servo.attached()) servo.attach(PIN_SERVO, SERVO_MIN_US, SERVO_MAX_US);
+            servo.writeMicroseconds(currentUs);
+            lastMove = now;
+        } else if (servo.attached() && now - lastMove >= pdMS_TO_TICKS(SERVO_DETACH_IDLE_MS)) {
+            servo.detach();
+        }
+
+        // Delayed save to spare flash wear while the encoder is being turned
+        if (dirty && now - lastChange >= pdMS_TO_TICKS(SAVE_DELAY_MS)) {
+            prefs.putUChar("vol", st.volume);
+            prefs.putBool("relay", st.relay);
+            dirty = false;
+            Serial.printf("[control] saved volume=%u relay=%d\n", st.volume, st.relay);
+        }
+    }
+}