refactor delay out

Author: zjwhitehead

src/sp140/extra-data.ino

@@ -137,7 +137,7 @@ static BLECharacteristic* pBMSCellVoltages = nullptr;
 void updateThrottleBLE(int value) {
   // Handle disconnecting
   if (!deviceConnected && oldDeviceConnected) {
-    delay(500);  // give the bluetooth stack the chance to get things ready
+    vTaskDelay(pdMS_TO_TICKS(500));  // give the bluetooth stack the chance to get things ready
     pServer->startAdvertising();  // restart advertising
     USBSerial.println("Start advertising");
     oldDeviceConnected = deviceConnected;
@@ -153,7 +153,7 @@ void updateThrottleBLE(int value) {
     try {
       pThrottleCharacteristic->setValue((uint8_t*)&value, sizeof(value));
       pThrottleCharacteristic->notify();
-      delay(5);  // prevent bluetooth stack congestion - can be as low as 3ms
+      vTaskDelay(pdMS_TO_TICKS(5));  // prevent bluetooth stack congestion - can be as low as 3ms
     } catch (...) {
       USBSerial.println("Error sending BLE notification");
     }

src/sp140/sp140.ino

@@ -275,7 +275,7 @@ void blinkLEDTask(void *pvParameters) {
 
   for (;;) {  // infinite loop
     blinkLED();  // call blinkLED function
-    delay(500);  // wait for 500ms
+    vTaskDelay(pdMS_TO_TICKS(500));  // wait for 500ms
   }
   vTaskDelete(NULL);  // should never reach this
 }
@@ -285,7 +285,7 @@ void throttleTask(void *pvParameters) {
 
   for (;;) {  // infinite loop
     handleThrottle();  //
-    delay(20);  // wait for 20ms
+    vTaskDelay(pdMS_TO_TICKS(20));  // wait for 20ms
   }
   vTaskDelete(NULL);  // should never reach this
 }
@@ -445,7 +445,7 @@ void setupAnalogRead() {
 void setupWatchdog() {
 #ifndef OPENPPG_DEBUG
   // Initialize Task Watchdog
-  //ESP_ERROR_CHECK(esp_task_wdt_init(3000, true));  // 3 second timeout, panic on timeout
+  ESP_ERROR_CHECK(esp_task_wdt_init(3000, true));  // 3 second timeout, panic on timeout
 #endif // OPENPPG_DEBUG
 }
 
@@ -623,7 +623,7 @@ void setup140() {
 
 // main loop all work is done in tasks
 void loop() {
-  delay(25);
+  vTaskDelay(pdMS_TO_TICKS(25));
 }
 
 void initButtons() {
@@ -783,7 +783,7 @@ void disarmSystem() {
   updateArmedTime();
   writeDeviceData();
 
-  delay(500);  // TODO: just disable button thread to not allow immediate rearming
+  vTaskDelay(pdMS_TO_TICKS(500));  // TODO: just disable button thread to not allow immediate rearming
   // Set the last disarm time
   lastDisarmTime = millis();
 }

src/sp140/vibration_pwm.cpp

@@ -1,8 +1,7 @@
 #include "sp140/vibration_pwm.h"
 #include "Arduino.h"
 #include "sp140/shared-config.h"
-
-const int VIBE_PWM_PIN = 46;  // TODO: move to config
+#include "sp140/esp32s3-config.h"
 const int VIBE_PWM_FREQ = 1000;  // Adjust as needed
 const int VIBE_PWM_RESOLUTION = 8;  // 8-bit resolution
 
@@ -41,8 +40,9 @@ void vibeTask(void* parameter) {
  * @return Returns true if initialization was successful, false otherwise
  */
 bool initVibeMotor() {
+  extern HardwareConfig board_config;
   ledcSetup(VIBE_PWM_CHANNEL, VIBE_PWM_FREQ, VIBE_PWM_RESOLUTION);
-  ledcAttachPin(VIBE_PWM_PIN, VIBE_PWM_CHANNEL);
+  ledcAttachPin(board_config.vibe_pwm, VIBE_PWM_CHANNEL);
 
   // Create vibration queue
   vibeQueue = xQueueCreate(5, sizeof(VibeRequest));
@@ -72,7 +72,10 @@ void pulseVibeMotor() {
   };
 
   // Send request to queue (non-blocking)
-  xQueueSend(vibeQueue, &request, 0);  // Don't wait if queue is full
+  if (xQueueSend(vibeQueue, &request, 0) != pdTRUE) {
+    // Handle queue full error
+    USBSerial.println("Vibration queue full!");
+  }
 }
 
 /**