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fixed interrupt issue

This commit is contained in:
Richie 2023-10-13 19:19:49 +08:00
parent 84e22bc488
commit 4862fdc23a
2 changed files with 51 additions and 26 deletions
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20
frtos/car/rtos_car.c
View File

@ -25,17 +25,17 @@
void void
launch() launch()
{ {
// isr to detect left wheel slot
gpio_set_irq_enabled_with_callback(SPEED_PIN_RIGHT,
GPIO_IRQ_EDGE_FALL,
true,
&right_wheel_sensor_isr);
// isr to detect right wheel slot // isr to detect right wheel slot
gpio_set_irq_enabled_with_callback(SPEED_PIN_LEFT, gpio_set_irq_enabled(SPEED_PIN_RIGHT, GPIO_IRQ_EDGE_FALL, true);
GPIO_IRQ_EDGE_FALL, gpio_add_raw_irq_handler(SPEED_PIN_RIGHT,
true, h_right_wheel_sensor_isr_handler);
&left_wheel_sensor_isr);
// isr to detect left wheel slot
gpio_set_irq_enabled(SPEED_PIN_LEFT, GPIO_IRQ_EDGE_FALL, true);
gpio_add_raw_irq_handler(SPEED_PIN_LEFT,
h_left_wheel_sensor_isr_handler);
irq_set_enabled(IO_IRQ_BANK0, true);
TaskHandle_t h_monitor_left_wheel_speed_task_handle = NULL; TaskHandle_t h_monitor_left_wheel_speed_task_handle = NULL;
xTaskCreate(monitor_left_wheel_speed_task, xTaskCreate(monitor_left_wheel_speed_task,

45
frtos/car/wheel.h
View File

@ -13,8 +13,8 @@
#define DIRECTION_LEFT_FORWARD (1U << DIRECTION_PIN_LEFT_IN4) #define DIRECTION_LEFT_FORWARD (1U << DIRECTION_PIN_LEFT_IN4)
#define DIRECTION_LEFT_BACKWARD (1U << DIRECTION_PIN_LEFT_IN3) #define DIRECTION_LEFT_BACKWARD (1U << DIRECTION_PIN_LEFT_IN3)
#define SPEED_PIN_RIGHT 27U // ADC0 #define SPEED_PIN_RIGHT 15U
#define SPEED_PIN_LEFT 26U // ADC1 #define SPEED_PIN_LEFT 16U
#define PWM_CLK_DIV 250.f #define PWM_CLK_DIV 250.f
#define PWM_WRAP 5000U #define PWM_WRAP 5000U
@ -125,19 +125,31 @@ set_wheel_speed (float speed, uint8_t side)
} }
void void
left_wheel_sensor_isr (__unused uint gpio, __unused uint32_t events) h_left_wheel_sensor_isr_handler (void)
{ {
if (gpio_get_irq_event_mask(SPEED_PIN_LEFT) & GPIO_IRQ_EDGE_FALL)
{
gpio_acknowledge_irq(SPEED_PIN_LEFT, GPIO_IRQ_EDGE_FALL);
printf("left wheel sensor isr\n");
BaseType_t xHigherPriorityTaskWoken = pdFALSE; BaseType_t xHigherPriorityTaskWoken = pdFALSE;
xSemaphoreGiveFromISR(g_wheel_speed_sem_left, &xHigherPriorityTaskWoken); xSemaphoreGiveFromISR(g_wheel_speed_sem_left, &xHigherPriorityTaskWoken);
portYIELD_FROM_ISR(xHigherPriorityTaskWoken); portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
}
} }
void void
right_wheel_sensor_isr (__unused uint gpio, __unused uint32_t events) h_right_wheel_sensor_isr_handler (void)
{ {
if (gpio_get_irq_event_mask(SPEED_PIN_RIGHT) & GPIO_IRQ_EDGE_FALL)
{
gpio_acknowledge_irq(SPEED_PIN_RIGHT, GPIO_IRQ_EDGE_FALL);
printf("right wheel sensor isr\n");
BaseType_t xHigherPriorityTaskWoken = pdFALSE; BaseType_t xHigherPriorityTaskWoken = pdFALSE;
xSemaphoreGiveFromISR(g_wheel_speed_sem_right, &xHigherPriorityTaskWoken); xSemaphoreGiveFromISR(g_wheel_speed_sem_right, &xHigherPriorityTaskWoken);
portYIELD_FROM_ISR(xHigherPriorityTaskWoken); portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
}
} }
void void
@ -152,14 +164,22 @@ monitor_left_wheel_speed_task (__unused void *pvParameters)
static uint64_t prev_time_left = 0u; static uint64_t prev_time_left = 0u;
static uint64_t elapsed_time_left = 0u; static uint64_t elapsed_time_left = 1u; // to avoid division by 0
elapsed_time_left = curr_time_left - prev_time_left; elapsed_time_left = curr_time_left - prev_time_left;
printf("time elapsed: %llu\n", elapsed_time_left);
prev_time_left = curr_time_left; prev_time_left = curr_time_left;
static float speed_left = 0.f;
// speed in cm/s; speed = distance / time
// distance = circumference / 20
// circumference = 2 * pi * 3.25 cm = 20.4203522483 cm
// distance = 20.4203522483 cm / 20 = 1.02101761242 cm
speed_left = (float)
(1.02101761242f / (elapsed_time_left / 1000000.f));
printf("left speed: %f cm/s\n", speed_left);
} }
} }
@ -177,13 +197,18 @@ monitor_right_wheel_speed_task (__unused void *pvParameters)
curr_time_right = time_us_64(); curr_time_right = time_us_64();
static uint64_t prev_time_right = 0u; static uint64_t prev_time_right = 0u;
static uint64_t elapsed_time_right = 0u; static uint64_t elapsed_time_right = 1u; // to avoid division by 0
elapsed_time_right = curr_time_right - prev_time_right; elapsed_time_right = curr_time_right - prev_time_right;
printf("time elapsed: %llu\n", elapsed_time_right);
prev_time_right = curr_time_right; prev_time_right = curr_time_right;
static float speed_right = 0.f;
speed_right = (float)
(1.02101761242f / (elapsed_time_right / 1000000.f));
printf("right speed: %f cm/s\n", speed_right);
} }
} }