KozmotronikTech/relay_chn
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Fix unhandled tilt to run mode transitions.

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Fixes #1028.
This commit add unhandled logic to the relay_chn_issue_cmd function to handle transitions from tilt mode to run mode.
This commit is contained in:
Ismail Sahillioglu
2025-07-04 17:31:31 +03:00
parent 41c292cc89
commit c4482b8d49
1 changed files with 32 additions and 0 deletions
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32
relay_chn/src/relay_chn.c
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@@ -174,6 +174,7 @@ typedef struct relay_chn_type {
static esp_err_t relay_chn_init_tilt_control(relay_chn_t *relay_chn);
static esp_err_t relay_chn_tilt_init(void);
static void relay_chn_tilt_count_reset(relay_chn_t *relay_chn);
static esp_err_t relay_chn_dispatch_tilt_cmd(relay_chn_t *relay_chn, relay_chn_tilt_cmd_t cmd);
#endif // RELAY_CHN_ENABLE_TILTING
@@ -609,6 +610,37 @@ static void relay_chn_issue_cmd(relay_chn_t* relay_chn, relay_chn_cmd_t cmd)
relay_chn_start_esp_timer_once(relay_chn->inertia_timer, RELAY_CHN_OPPOSITE_INERTIA_MS);
break;
#if RELAY_CHN_ENABLE_TILTING == 1
case RELAY_CHN_STATE_TILT_FORWARD:
// Terminate tilting first
relay_chn_dispatch_tilt_cmd(relay_chn, RELAY_CHN_TILT_CMD_STOP);
if (cmd == RELAY_CHN_CMD_FORWARD) {
// Schedule for running forward
relay_chn->pending_cmd = cmd;
relay_chn_update_state(relay_chn, RELAY_CHN_STATE_FORWARD_PENDING);
relay_chn_start_esp_timer_once(relay_chn->inertia_timer, RELAY_CHN_OPPOSITE_INERTIA_MS);
} else if (cmd == RELAY_CHN_CMD_REVERSE) {
// Run directly since it is the same direction
relay_chn_dispatch_cmd(relay_chn, cmd);
relay_chn_update_state(relay_chn, RELAY_CHN_STATE_REVERSE);
}
break;
case RELAY_CHN_STATE_TILT_REVERSE:
// Terminate tilting first
relay_chn_dispatch_tilt_cmd(relay_chn, RELAY_CHN_TILT_CMD_STOP);
if (cmd == RELAY_CHN_CMD_FORWARD) {
// Run directly since it is the same direction
relay_chn_dispatch_cmd(relay_chn, cmd);
relay_chn_update_state(relay_chn, RELAY_CHN_STATE_FORWARD);
} else if (cmd == RELAY_CHN_CMD_REVERSE) {
// Schedule for running reverse
relay_chn->pending_cmd = cmd;
relay_chn_update_state(relay_chn, RELAY_CHN_STATE_REVERSE_PENDING);
relay_chn_start_esp_timer_once(relay_chn->inertia_timer, RELAY_CHN_OPPOSITE_INERTIA_MS);
}
break;
#endif
default: ESP_LOGD(TAG, "relay_chn_evaluate: Unknown relay channel state!");
}
}