Darkages/SpotMicroESP32-Leika
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Replace millis with esp timer

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This commit is contained in:
Rune Harlyk
2025-10-09 17:49:36 +02:00
parent 12e1f80830
commit bc31b1b2dd
6 changed files with 32 additions and 26 deletions
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esp32/include/motion.h
+2 -1
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@@ -2,6 +2,7 @@
#define MotionService_h #define MotionService_h
#include <ArduinoJson.h> #include <ArduinoJson.h>
#include "esp_timer.h"
#include <kinematics.h> #include <kinematics.h>
#include <peripherals/gesture.h> #include <peripherals/gesture.h>
@@ -61,7 +62,7 @@ class MotionService {
float dir[12] = {1, -1, -1, -1, -1, -1, 1, -1, -1, -1, -1, -1}; float dir[12] = {1, -1, -1, -1, -1, -1, 1, -1, -1, -1, -1, -1};
unsigned long lastUpdate = millis(); int64_t lastUpdate = esp_timer_get_time();
}; };
#endif #endif
esp32/include/utils/timing.h
+16 -14
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@@ -1,14 +1,16 @@
#ifndef TIMING_H #ifndef TIMING_H
#define TIMING_H #define TIMING_H
#include "esp_timer.h"
#define CONCAT(a, b) a##b #define CONCAT(a, b) a##b
#define UNIQUE_VAR(base) CONCAT(base, __LINE__) #define UNIQUE_VAR(base) CONCAT(base, __LINE__)
#define EXECUTE_EVERY_N_MS(n, code) \ #define EXECUTE_EVERY_N_MS(n, code) \
do { \ do { \
static volatile unsigned long UNIQUE_VAR(lastExecution_) = 0; \ static volatile uint64_t UNIQUE_VAR(lastExecution_) = 0; \
unsigned long currentMillis = millis(); \ uint64_t currentMillis = esp_timer_get_time() / 1000; \
if (UNIQUE_VAR(lastExecution_) == 0 || currentMillis - UNIQUE_VAR(lastExecution_) >= n) { \ if (UNIQUE_VAR(lastExecution_) == 0 || currentMillis - UNIQUE_VAR(lastExecution_) >= n) { \
code; \ code; \
UNIQUE_VAR(lastExecution_) = currentMillis; \ UNIQUE_VAR(lastExecution_) = currentMillis; \
@@ -17,26 +19,26 @@
#define TIME_IT(code) \ #define TIME_IT(code) \
{ \ { \
uint32_t time_it_start = micros(); \ uint64_t time_it_start = esp_timer_get_time(); \
code; \ code; \
uint32_t time_it_elapsed = micros() - time_it_start; \ uint64_t time_it_elapsed = esp_timer_get_time() - time_it_start; \
if (time_it_elapsed < 1000) { \ if (time_it_elapsed < 1000) { \
ESP_LOGI("Time It", "Time elapsed: %lu microseconds", time_it_elapsed); \ ESP_LOGI("Time It", "Time elapsed: %llu microseconds", time_it_elapsed); \
} else if (time_it_elapsed < 1000000) { \ } else if (time_it_elapsed < 1000000) { \
ESP_LOGI("Time It", "Time elapsed: %lu milliseconds", time_it_elapsed / 1000); \ ESP_LOGI("Time It", "Time elapsed: %llu milliseconds", time_it_elapsed / 1000); \
} else { \ } else { \
ESP_LOGI("Time It", "Time elapsed: %.2f seconds", time_it_elapsed / 1000000.0); \ ESP_LOGI("Time It", "Time elapsed: %.2f seconds", time_it_elapsed / 1000000.0); \
} \ } \
} }
#define CALLS_PER_SECOND(name) \ #define CALLS_PER_SECOND(name) \
static unsigned long name##_count = 0; \ static uint64_t name##_count = 0; \
static unsigned long last_time = 0; \ static uint64_t last_time = 0; \
name##_count++; \ name##_count++; \
if (millis() - last_time >= 1000) { \ if (esp_timer_get_time() / 1000 - last_time >= 1000) { \
Serial.printf("%s: %lu calls per second\n", #name, name##_count); \ ESP_LOGI("Calls", "%s: %llu calls per second", #name, name##_count); \
name##_count = 0; \ name##_count = 0; \
last_time = millis(); \ last_time = esp_timer_get_time() / 1000; \
} }
#endif #endif
esp32/src/ap_service.cpp
+3 -2
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@@ -1,4 +1,5 @@
#include <ap_service.h> #include <ap_service.h>
#include "esp_timer.h"
#include <string> #include <string>
static const char *TAG = "APService"; static const char *TAG = "APService";
@@ -37,14 +38,14 @@ APNetworkStatus APService::getAPNetworkStatus() {
} }
void APService::reconfigureAP() { void APService::reconfigureAP() {
_lastManaged = millis() - MANAGE_NETWORK_DELAY; _lastManaged = esp_timer_get_time() / 1000 - MANAGE_NETWORK_DELAY;
_reconfigureAp = true; _reconfigureAp = true;
_recoveryMode = false; _recoveryMode = false;
} }
void APService::recoveryMode() { void APService::recoveryMode() {
ESP_LOGI(TAG, "Recovery Mode needed"); ESP_LOGI(TAG, "Recovery Mode needed");
_lastManaged = millis() - MANAGE_NETWORK_DELAY; _lastManaged = esp_timer_get_time() / 1000 - MANAGE_NETWORK_DELAY;
_recoveryMode = true; _recoveryMode = true;
_reconfigureAp = true; _reconfigureAp = true;
} }
esp32/src/motion.cpp
+2 -2
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@@ -63,8 +63,8 @@ void MotionService::handleGestures(const gesture_t ges) {
bool MotionService::update(Peripherals *peripherals) { bool MotionService::update(Peripherals *peripherals) {
handleGestures(peripherals->takeGesture()); handleGestures(peripherals->takeGesture());
if (!state) return false; if (!state) return false;
unsigned long now = millis(); int64_t now = esp_timer_get_time();
float dt = (now - lastUpdate) / 1000.0f; float dt = (now - lastUpdate) / 1000000.0f; // Convert microseconds to seconds
lastUpdate = now; lastUpdate = now;
state->updateImuOffsets(peripherals->angleY(), peripherals->angleX()); state->updateImuOffsets(peripherals->angleY(), peripherals->angleX());
state->step(body_state, dt); state->step(body_state, dt);
esp32/src/system_service.cpp
+3 -2
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@@ -1,4 +1,5 @@
#include "system_service.h" #include "system_service.h"
#include "esp_timer.h"
#include <string> #include <string>
namespace system_service { namespace system_service {
@@ -108,11 +109,11 @@ void status(JsonObject &root) {
root["fs_used"] = ESP_FS.usedBytes(); root["fs_used"] = ESP_FS.usedBytes();
root["core_temp"] = temperatureRead(); root["core_temp"] = temperatureRead();
root["cpu_reset_reason"] = resetReason(esp_reset_reason()); root["cpu_reset_reason"] = resetReason(esp_reset_reason());
root["uptime"] = millis() / 1000; root["uptime"] = esp_timer_get_time() / 1000000;
} }
void metrics(JsonObject &root) { void metrics(JsonObject &root) {
root["uptime"] = millis() / 1000; root["uptime"] = esp_timer_get_time() / 1000000;
root["free_heap"] = ESP.getFreeHeap(); root["free_heap"] = ESP.getFreeHeap();
root["total_heap"] = ESP.getHeapSize(); root["total_heap"] = ESP.getHeapSize();
root["min_free_heap"] = ESP.getMinFreeHeap(); root["min_free_heap"] = ESP.getMinFreeHeap();
esp32/test/gait_performance.cpp
+6 -5
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@@ -1,5 +1,6 @@
#include <Arduino.h> #include <Arduino.h>
#include <unity.h> #include <unity.h>
#include "esp_timer.h"
#include "gait/state.h" #include "gait/state.h"
#include "gait/bezier_state.h" #include "gait/bezier_state.h"
@@ -10,17 +11,17 @@ void test_gaitPlanner_calculateStep_time() {
CommandMsg command = {0, 0, 0, 0, 0, 0, 0}; CommandMsg command = {0, 0, 0, 0, 0, 0, 0};
const int num_steps = 1000; const int num_steps = 1000;
unsigned long start = millis(); uint64_t start = esp_timer_get_time() / 1000;
for (int i = 0; i < num_steps; i++) { for (int i = 0; i < num_steps; i++) {
gaitPlanner.step(body_state, command, 0.02f); gaitPlanner.step(body_state, command, 0.02f);
} }
unsigned long end = millis(); uint64_t end = esp_timer_get_time() / 1000;
unsigned long duration = end - start; uint64_t duration = end - start;
unsigned long max_duration = num_steps / 2; // Minimum 0.5 ms per step uint64_t max_duration = num_steps / 2; // Minimum 0.5 ms per step
char message[50]; char message[50];
snprintf(message, sizeof(message), "The step calculation took: %lu ms (%lu ms per iter)", duration, snprintf(message, sizeof(message), "The step calculation took: %llu ms (%llu ms per iter)", duration,
duration / num_steps); duration / num_steps);
ESP_LOGI("Test planner", message); ESP_LOGI("Test planner", message);
TEST_ASSERT_MESSAGE(duration <= max_duration, message); TEST_ASSERT_MESSAGE(duration <= max_duration, message);