optimize

firmware/src/commu_task.cpp

@@ -27,9 +27,14 @@ QueueHandle_t CommuTask::getKnobStateQueue() {
   return knob_state_queue_;
 }
 
-void CommuTask::setAngleValue(uint32_t angle)
+void CommuTask::setAngleValue(int32_t angle)
+{
+  if(angle_ != angle)
   {
     angle_ = angle;
+    valuesUpdated = true;
+    log_d("new Angle valeu: %u", angle_);
+  }
   //log_d("setAngleCalled = %u", angle);
 }
 
@@ -70,11 +75,14 @@ void CommuTask::run() {
       continue;
     }
 
-    if(millis() - lastSensorUpdate > 1000)
+    setAngleValue(state.current_position);
+
+    if(millis() - lastSensorUpdate > 1000 && valuesUpdated)
     {
-      angle.setValue(state.current_position);
-      log_d("new angle=%u", state.current_position);
+      angle.setValue(angle_);
+      log_d("new angle=%u", angle_);
       lastSensorUpdate = millis();
+      valuesUpdated = false;
 
     }
 

firmware/src/commu_task.h

@@ -23,7 +23,7 @@ class CommuTask : public Task<CommuTask> {
     CommuTask(const uint8_t task_core);
     ~CommuTask();
 
-    void setAngleValue(uint32_t angle);
+    void setAngleValue(int32_t angle);
     QueueHandle_t getKnobStateQueue();
 
 
@@ -33,9 +33,11 @@ class CommuTask : public Task<CommuTask> {
 
   private:
     
-    uint32_t angle_ =0;
+    int32_t angle_ =0;
     SemaphoreHandle_t mutex_;
 
+    bool valuesUpdated = false;
+
     QueueHandle_t knob_state_queue_;