Add motor parameter reporting

src/primary-esp32/main.cpp

@@ -17,6 +17,7 @@ that's been bundled out into its own FreeRTOS module (using the ESP IDF librarie
 #define WHEEL_FAN_STATUS_UPDATE_PERIOD_MS 1000 // also includes oil pressure sensor
 #define BIN_STATUS_UPDATE_PERIOD_MS       3000
 #define PIPE_PRESSURE_UPDATE_PERIOD_MS    2000
+#define MOTOR_PARAMETER_UPDATE_PERIOD_MS  10000
 #define HEARTBEAT_PERIOD_MS               1000
 
 // Rate at which the current wheel speed will be used to update the desired roller speed
@@ -107,6 +108,8 @@ int parse_message(const String &message) {
 
 bool motor_control_required = true;
 
+bool motor_parameter_mqtt_update_required = true;
+
 typedef enum { MODE_DISABLED = 0, MODE_AUTO = 1, MODE_MANUAL = 2 } roller_control_mode_t;
 
 typedef struct {
@@ -215,6 +218,7 @@ void onRollerParamsMessage(const String &topicStr, const String &message) {
             motor_parameters_to_send.motor_3 = motor_parameters[2];
 
             set_motor_parameters(motor_parameters_to_send);
+            motor_parameter_mqtt_update_required = true;
         }
     }
 }
@@ -248,6 +252,7 @@ unsigned long last_motor_status = 0;
 unsigned long last_wheel_status = 0;
 unsigned long last_bin_status = 0;
 unsigned long last_pipe_pressure_status = 0;
+unsigned long last_motor_parameter_update = 0;
 unsigned long last_heartbeat = 0;
 unsigned long no_comms_timeout_start = 0;
 
@@ -436,5 +441,23 @@ void loop() {
         set_motor_control(motor_control_group);
     }
 
+    // Periodically trigger a motor parameter update
+    if ((now - last_motor_parameter_update) > MOTOR_PARAMETER_UPDATE_PERIOD_MS) {
+        motor_parameter_mqtt_update_required = true;
+    }
+
+    if (motor_parameter_mqtt_update_required and motor_parameters_retrieved){
+        motor_parameter_mqtt_update_required = false;
+        last_motor_parameter_update = now;
+
+        //[kp] [ki] [kd] [min_duty]
+        sprintf(msg_buffer, "%.2f %.2f %.2f %.2f", motor_parameters[0].kp, motor_parameters[0].ki, motor_parameters[0].kd, motor_parameters[0].min_duty);
+        mqtt_client.publish("airseeder/status/roller1params", msg_buffer, true);
+        sprintf(msg_buffer, "%.2f %.2f %.2f %.2f", motor_parameters[1].kp, motor_parameters[1].ki, motor_parameters[1].kd, motor_parameters[1].min_duty);
+        mqtt_client.publish("airseeder/status/roller2params", msg_buffer, true);
+        sprintf(msg_buffer, "%.2f %.2f %.2f %.2f", motor_parameters[2].kp, motor_parameters[2].ki, motor_parameters[2].kd, motor_parameters[2].min_duty);
+        mqtt_client.publish("airseeder/status/roller3params", msg_buffer, true);
+    }
+
     mqtt_client.loop();
 }