Replace acosf(y/distance) + sign flip with atan2f(-x, y) which
computes the angle from the Y axis directly. This eliminates the
division by distance, the acosf call, the sign branch, and the
calculate_angle helper function entirely.
atan2f also handles all quadrants correctly by definition, avoiding
the edge-case guard that silently returned 0 when y was negative.
Merge the two separate count_targets_in_zone_ calls (one for still,
one for moving) into a single pass that counts both simultaneously.
This halves the number of iterations through the target list per zone
(from 6 calls to 3 for 3 zones).
Replace per-frame string comparison with Deduplicator<uint8_t> on
the direction enum value. The previous code called get_state() and
compared std::string against const char* on every frame for each
target (~75 times/sec). The new approach does a single uint8_t
comparison and only looks up the direction string and publishes
when the direction actually changes.
Also use MAX_TARGETS instead of hardcoded 3 for direction_text_sensors_
array size for consistency with all other sensor arrays.
The check-and-set pattern for status LED flags was duplicated across
all status_set_warning and status_set_error overloads. Extract a
set_status_flag_ helper that sets the flag on both the component
and the app, returning whether the flag was newly set.
Co-Authored-By: J. Nick Koston <nick@koston.org>
enable_loop_soon_any_context() sets volatile flags but does not wake
the main loop from ulTaskNotifyTake() sleep. This means components
using ISR-driven state changes (e.g. GPIO binary sensors) wait up
to ~16ms for the select timeout before their loop runs.
Add wake_loop_any_context() that detects the calling context (ISR vs
task) using xPortInIsrContext() (ESP32) or __get_IPSR() (LibreTiny)
and calls the appropriate FreeRTOS API. This is safe from ISR, thread,
and main loop contexts.
Also relax the wake_loop_isrsafe() guard from requiring both
USE_WAKE_LOOP_THREADSAFE and USE_LWIP_FAST_SELECT to just
USE_LWIP_FAST_SELECT, since the ISR wake path uses
vTaskNotifyGiveFromISR directly and does not depend on the
UDP socket mechanism.
IRAM_ATTR is defined by esp_attr.h on ESP32 but not on LibreTiny.
Add a no-op fallback in the C file since hal.h (which defines it
for C++) cannot be included from C.
enable_loop_soon_any_context() sets volatile flags but does not wake
the main loop from ulTaskNotifyTake() sleep. This means components
using ISR-driven state changes (e.g. GPIO binary sensors) wait up
to ~16ms for the select timeout before their loop runs.
Add Application::wake_loop_isrsafe(nullptr) to immediately wake the
main loop when called from ISR context on platforms with fast select.
Also relax the wake_loop_isrsafe() guard from requiring both
USE_WAKE_LOOP_THREADSAFE and USE_LWIP_FAST_SELECT to just
USE_LWIP_FAST_SELECT, since the ISR wake path uses
vTaskNotifyGiveFromISR directly and does not depend on the
UDP socket mechanism.
Use the ESP-IDF UART driver's uart_set_select_notif_callback() to wake
the main loop directly from the UART ISR via vTaskNotifyGiveFromISR(),
eliminating the FreeRTOS trampoline task and event queue that were
previously needed when wake_loop_threadsafe() used a UDP loopback socket.
With fast lwip select, the main loop sleeps on ulTaskNotifyTake(), so
the ISR-safe vTaskNotifyGiveFromISR() can wake it directly.
Saves ~2.6KB RAM per UART instance with wake-on-RX enabled:
- 2,240 bytes FreeRTOS task stack
- ~340 bytes event queue (20 entries + control block)
- 8 bytes QueueHandle_t + TaskHandle_t fields
Also adds Application::wake_loop_isrsafe() as the ISR-safe counterpart
to wake_loop_threadsafe(), backed by esphome_lwip_wake_main_loop_from_isr().
The two_byte_to_int() function used `char` parameters instead of
`uint8_t`, causing sign extension for byte values >= 0x80. This
produced incorrect sensor values for distances where value % 256 >= 128
(e.g. 128cm reported as -128, 200cm reported as -56).
Changed return type to uint16_t to match protocol spec (unsigned
distances), renamed to two_byte_to_uint16, and moved to shared
ld24xx header to eliminate duplication.
The two_byte_to_int() function used `char` parameters instead of
`uint8_t`, causing sign extension for byte values >= 0x80. This
produced incorrect sensor values for distances where value % 256 >= 128
(e.g. 128cm reported as -128, 200cm reported as -56).
Also removed the unnecessary `(int16_t)` cast and switched from `+` to
`|` for proper bitwise assembly.
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Extract the keepalive ping/disconnect cold path into a separate
noinline check_keepalive_() method. This code only fires once per
minute but was contributing ~110 bytes to the hot loop() body that
runs every ~16ms.
Results on ESP32 (xtensa):
- loop(): 374 → 263 bytes (-111 bytes, -30%)
- check_keepalive_(): 136 bytes (new, cold path)
- Net: +25 bytes total (call overhead), but the hot path icache
footprint is significantly reduced.
The template wrapper caused the compiler to make different
optimization decisions on setup(), negating the savings.
Calling register_component_ directly was -4 bytes.
Co-Authored-By: J. Nick Koston <nick@koston.org>
Using the original register_component name (just moved to protected)
produces identical compiled output to the baseline, avoiding the
symbol name length overhead from renaming.
Co-Authored-By: J. Nick Koston <nick@koston.org>
Rename the non-template to register_component_impl_ and add
a protected template register_component_ that wraps it. This
preserves the compiler optimization behavior (isra clones)
while keeping the method inaccessible to external components.
Co-Authored-By: J. Nick Koston <nick@koston.org>
Without the template wrapper, the compiler inlines the 24-byte
function at each of ~92 call sites in setup(), growing setup()
by ~284 bytes. Force a function call instead.
Co-Authored-By: J. Nick Koston <nick@koston.org>
J. Nick Koston