Power management progress

example/advanced/Power_Measurements/WLAN/WLAN.ino

@@ -3,12 +3,14 @@
 
 Dezibot dezibot = Dezibot();
 
+const uint16_t cycleTime = 5e3;  //5000 ms = 5 s
+
 void setup() {
+  #ifdef DEBUG
   Serial.begin(112500);
   while (!Serial) {
     ; /* Wait for USB-CDC Serial init to complete. */
   }
-  #ifdef DEBUG
   dezibot.display.begin();
   dezibot.display.println("Debug enabled.");
   Serial.println("Debug enabled.");
@@ -31,6 +33,10 @@ void handle_receive(String &message) {
 
 void loop() {
     /* Continuously send to consume power on TX */
-    dezibot.communication.sendMessage("Power Test Message");
+    for(int i=0; i<cycleTime; i++) {
+      dezibot.communication.sendMessage("Power Test Message");
+      delay(1);
+    }
+    delay(cycleTime);
 
 }

src/Dezibot.cpp

@@ -5,11 +5,11 @@
 #include "Dezibot.h"
 #include <Wire.h>
 
+Dezibot::Dezibot() : multiColorLight() {};
 
-Dezibot::Dezibot():multiColorLight(){};
-
-void Dezibot::begin(void) {
-    Wire.begin(SDA_PIN,SCL_PIN);
+void Dezibot::begin(void)
+{
+    Wire.begin(SDA_PIN, SCL_PIN);
     infraredLight.begin();
     lightDetection.begin();
     motion.begin();
@@ -17,6 +17,10 @@ void Dezibot::begin(void) {
     colorDetection.begin();
     multiColorLight.begin();
     display.begin();
+    Power.begin();
+    this->power = Power::getPowerManager();
+    if (!this->power.tryAccquirePowerAllowance(CONSUMPTION_ESP_BASE);)
+    {
+        throw "Could not allocate power for the base consumption of the ESP32";
+    }
 };
-
-

src/Dezibot.h

@@ -19,6 +19,7 @@
 #include "infraredLight/InfraredLight.h"
 #include "communication/Communication.h"
 #include "display/Display.h"
+#include "power/Power.h"
 
 
 class Dezibot {
@@ -33,6 +34,7 @@ public:
     InfraredLight infraredLight;
     Communication communication;
     Display display;
+    Power power;
     void begin(void);
 };
 

src/motion/Motion.h

@@ -17,6 +17,7 @@
 #include <freertos/task.h>
 #include "driver/ledc.h"
 #include "motionDetection/MotionDetection.h"
+#include "power/Power.h"
 #define LEDC_MODE          LEDC_LOW_SPEED_MODE
 #define TIMER              LEDC_TIMER_2
 #define CHANNEL_LEFT       LEDC_CHANNEL_3 
@@ -52,7 +53,7 @@ class Motor{
         uint8_t pin;
         ledc_timer_t timer;
         ledc_channel_t channel;
-       
+        Power powerManager;
         uint16_t duty;
 };
 

src/motion/Motor.cpp

@@ -5,6 +5,7 @@ Motor::Motor(uint8_t pin, ledc_timer_t timer, ledc_channel_t channel){
     this->channel = channel;
     this->timer = timer;
     this->duty = 0;
+    this->powerManager = *Power::getPowerManager();
 };
 
 void Motor::begin(void){
@@ -23,7 +24,13 @@ void Motor::begin(void){
 };
 
 void Motor::setSpeed(uint16_t duty){
-    
+    if(duty>0) {
+        powerManager.waitForPowerAllowance(CONSUMPTION_MOTOR, portMAX_DELAY);
+        Serial.println("Motor got power");
+    } else {
+        powerManager.releasePower(CONSUMPTION_MOTOR);
+        Serial.println("Motor released power");
+    }
     int difference = duty-this->getSpeed();
     if (difference > 0){
         for(int i = 0;i<difference;i+=difference/20){

src/power/Consumptions.h

@@ -0,0 +1,34 @@
+/**
+ * @file Consumptions.h
+ * @author Phillip Kühne
+ * @brief 
+ * @version 0.1
+ * @date 2024-11-28
+ * 
+ * @copyright (c) 2024
+ * 
+ */
+
+#ifndef Consumptions_h
+#define Consumptions_h
+
+// The power budget afforded by the LIR2450 button cell, 700mW
+#define POWER_BUDGET 700 
+
+// The power consumptions of the different components are defined here.
+// These are "typical worst case" values for now.
+#define CONSUMPTION_ESP_BASE 96
+#define CONSUMPTION_ESP_LOAD 100
+#define CONSUMPTION_RGB_LED 56
+#define CONSUMPTION_IR_BOTTOM 327
+#define CONSUMPTION_IR_FRONT 492
+#define CONSUMPTION_OLED 92 // Assumes lots of lit pixels
+#define CONSUMPTION_MOTOR 323
+// These are placeholders for completeness for now
+#define CONSUMPTION_RGBW_SENSOR 1
+#define CONSUMPTION_IR_PT 1
+#define CONSUMPTION_UV_LED 200
+#define CONSUMPTION_IMU 1
+
+
+#endif //Consumptions_h

src/power/Power.cpp

@@ -8,17 +8,42 @@
  */
 
 #include "Power.h"
+static portMUX_TYPE mux;
 
 Power::Power()
 {
-    this->free_power_budget = this->total_power_budget;
+    this->freePowerBudget = this->totalPowerBudget;
+}
+
+void Power::begin()
+{
+    if (powerInstance == nullptr)
+    {
+        // Double check locking https://www.aristeia.com/Papers/DDJ%5FJul%5FAug%5F2004%5Frevised.pdf
+        taskENTER_CRITICAL(&mux);
+        if (powerInstance == nullptr)
+        {
+            powerInstance = new Power();
+        }
+        taskEXIT_CRITICAL(&mux);
+    }
+    else
+    {
+        // Power.begin() was called twice!
+        Serial.println("Power.begin() was called twice! No harm done, but this is a bug.");
+    }
+}
+
+Power *Power::getPowerManager()
+{
+    return powerInstance;
 }
 
 bool Power::tryAccquirePowerAllowance(uint16_t neededPower)
 {
-    if (this->free_power_budget >= neededPower)
+    if (this->freePowerBudget >= neededPower)
     {
-        this->free_power_budget -= neededPower;
+        this->freePowerBudget -= neededPower;
         return true;
     }
     else
@@ -29,12 +54,69 @@ bool Power::tryAccquirePowerAllowance(uint16_t neededPower)
 
 void Power::releasePower(uint16_t power)
 {
-    if (this->free_power_budget + power <= this->total_power_budget)
+    if (this->freePowerBudget + power <= this->totalPowerBudget)
     {
-        this->free_power_budget += power;
+        this->freePowerBudget += power;
     }
     else // TODO: Maybe we should actually throw an error here, since obviouslsy someone used us wrong.
     {
-        this->free_power_budget = this->total_power_budget;
+        this->freePowerBudget = this->totalPowerBudget;
+    }
+    // Check if there are tasks waiting for power
+    checkWaitingTasks();
+}
+
+bool Power::waitForPowerAllowance(uint16_t neededPower, TickType_t ticksToWait)
+{
+    if (tryAccquirePowerAllowance(neededPower))
+    {
+        return true;
+    }
+    else
+    {
+        // Suspend the task while waiting for power to be available
+        TaskHandle_t currentTask = xTaskGetCurrentTaskHandle();
+        TickType_t initialTickCount = xTaskGetTickCount();
+        waitingTasks.push(currentTask);
+        uint32_t notificationValue;
+        BaseType_t notificationStatus = xTaskNotifyWait(0, 0, &notificationValue, ticksToWait);
+        // Code below will be executed after the task is woken up
+        while (notificationStatus == pdPASS)
+        {
+            if (notificationValue == POWER_AVAILABLE)
+            {
+                // We were woken up because new power is available, check if it is enough
+                if (tryAccquirePowerAllowance(neededPower))
+                {
+                    return true;
+                }
+                else
+                {
+                    // Still not enough power available for us. Wait the remaining ticks.
+                    xTaskNotifyWait(0, 0, &notificationValue, ticksToWait - (xTaskGetTickCount() - initialTickCount));
+                }
+            }
+        }
+        if (notificationStatus == pdFALSE)
+        {
+            // We waited long enough...
+            return false;
+        }
+        else
+        {
+            // Should be impossible to reach
+            throw "Reached impossible state";
+        }
+    }
+}
+
+void Power::checkWaitingTasks(void)
+{
+    // Check if there are tasks waiting for power
+    if (!waitingTasks.empty())
+    {
+        TaskHandle_t task = waitingTasks.front();
+        waitingTasks.pop();
+        xTaskNotify(task, POWER_AVAILABLE, eSetValueWithOverwrite);
     }
 }

src/power/Power.h

@@ -7,29 +7,54 @@
  * @date 2024-11-23 
  */
 
+#include <queue>
 #include <Arduino.h>
+#include "Consumptions.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
 
 #ifndef Power_h
 #define Power_h
 
-#define TOTAL_POWER_MILLIWATTS  700
+#define TOTAL_POWER_MILLIWATTS  POWER_BUDGET
+
+enum TaskResumptionReason {
+    POWER_AVAILABLE,
+    TIMEOUT
+};
 
 class Power {
     protected:
-    static const uint16_t total_power_budget = TOTAL_POWER_MILLIWATTS;
-    uint16_t free_power_budget;
+    static const uint16_t totalPowerBudget = TOTAL_POWER_MILLIWATTS;
+    uint16_t freePowerBudget;
+    std::queue<TaskHandle_t> waitingTasks;
+    void checkWaitingTasks(void);
+    bool takePowerIfAvailable(uint16_t neededPower);
+    static Power* powerInstance;
+    Power();
 
     public:
-    Power();
+    static void begin();
+    /// @brief Initialize the singleton instance of the power manager
+    /// @return reference to the power manager
+    static Power *getPowerManager();
     uint16_t getFreePowerBudget(void);
     /// @brief Request an allowance of a certain number of milliwatts from the power scheduler
     /// @param neededPower the amount of power we want to be accounted for (in mW)
     /// @return whether the power could be successfully allocated
     bool tryAccquirePowerAllowance(uint16_t neededPower);
     /// @brief "Return" a certain amount of power when it is no longer needed
-    /// @param power the amount of power to return (in mW)
+    /// @param neededPower the amount of power to return (in mW)
     /// @return whether the power
     void releasePower(uint16_t power);
+
+    /// @brief Wait for a certain amount of power to be available
+    /// @param neededPower the amount of power we want to be accounted for (in mW)
+    /// @param TicksToWait the amount of time to wait for the power to become available
+    /// @return whether the power could be successfully allocatedy
+    bool waitForPowerAllowance(uint16_t neededPower,TickType_t TicksToWait);
+    /// @brief Put the ESP32 into deep sleep mode, without a method to wake up again. Basically this is a shutdown.
+    void beginPermanentDeepSleep(void);
 };
 
 #endif //Power