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moved global variables to struct

This commit is contained in:
Richie 2023-10-21 17:35:23 +08:00
parent ef965e0f2f
commit baa7914f30
4 changed files with 20 additions and 32 deletions
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4
frtos/config/motor_config.h
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@ -43,8 +43,8 @@ typedef struct {
float target_speed_cms; float target_speed_cms;
float current_speed_cms; float current_speed_cms;
uint16_t pwm_level; uint16_t pwm_level;
SemaphoreHandle_t * p_sem; SemaphoreHandle_t sem;
uint * p_slice_num; uint slice_num;
uint pwm_channel; uint pwm_channel;
} motor_speed_t; } motor_speed_t;

36
frtos/motor/motor_init.h
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@ -19,30 +19,18 @@
#include "motor_config.h" #include "motor_config.h"
uint g_slice_num_left = 0U; motor_speed_t g_motor_speed_left = { .pwm_level = 2500u,
uint g_slice_num_right = 0U;
SemaphoreHandle_t g_wheel_speed_sem_left = NULL;
SemaphoreHandle_t g_wheel_speed_sem_right = NULL;
motor_speed_t g_motor_speed_left = { .target_speed_cms = 0.0f,
.pwm_level = 2500u,
.p_sem = &g_wheel_speed_sem_left,
.p_slice_num = &g_slice_num_left,
.pwm_channel = PWM_CHAN_A }; .pwm_channel = PWM_CHAN_A };
motor_speed_t g_motor_speed_right = { .target_speed_cms = 0.0f, motor_speed_t g_motor_speed_right = { .pwm_level = 2500u,
.pwm_level = 2500u,
.p_sem = &g_wheel_speed_sem_right,
.p_slice_num = &g_slice_num_right,
.pwm_channel = PWM_CHAN_B }; .pwm_channel = PWM_CHAN_B };
void void
motor_init(void) motor_init(void)
{ {
// Semaphore // Semaphore
g_wheel_speed_sem_left = xSemaphoreCreateBinary(); g_motor_speed_left.sem = xSemaphoreCreateBinary();
g_wheel_speed_sem_right = xSemaphoreCreateBinary(); g_motor_speed_right.sem = xSemaphoreCreateBinary();
gpio_init(SPEED_PIN_RIGHT); gpio_init(SPEED_PIN_RIGHT);
gpio_init(SPEED_PIN_LEFT); gpio_init(SPEED_PIN_LEFT);
@ -64,21 +52,21 @@ motor_init(void)
gpio_set_function(PWM_PIN_LEFT, GPIO_FUNC_PWM); gpio_set_function(PWM_PIN_LEFT, GPIO_FUNC_PWM);
gpio_set_function(PWM_PIN_RIGHT, GPIO_FUNC_PWM); gpio_set_function(PWM_PIN_RIGHT, GPIO_FUNC_PWM);
g_slice_num_left = pwm_gpio_to_slice_num(PWM_PIN_LEFT); g_motor_speed_left.slice_num = pwm_gpio_to_slice_num(PWM_PIN_LEFT);
g_slice_num_right = pwm_gpio_to_slice_num(PWM_PIN_RIGHT); g_motor_speed_right.slice_num = pwm_gpio_to_slice_num(PWM_PIN_RIGHT);
// NOTE: PWM clock is 125MHz for raspberrypi pico w by default // NOTE: PWM clock is 125MHz for raspberrypi pico w by default
// 125MHz / 250 = 500kHz // 125MHz / 250 = 500kHz
pwm_set_clkdiv(g_slice_num_left, PWM_CLK_DIV); pwm_set_clkdiv(g_motor_speed_left.slice_num, PWM_CLK_DIV);
pwm_set_clkdiv(g_slice_num_right, PWM_CLK_DIV); pwm_set_clkdiv(g_motor_speed_right.slice_num, PWM_CLK_DIV);
// have them to be 500kHz / 5000 = 100Hz // have them to be 500kHz / 5000 = 100Hz
pwm_set_wrap(g_slice_num_left, (PWM_WRAP - 1U)); pwm_set_wrap(g_motor_speed_left.slice_num, (PWM_WRAP - 1U));
pwm_set_wrap(g_slice_num_right, (PWM_WRAP - 1U)); pwm_set_wrap(g_motor_speed_right.slice_num, (PWM_WRAP - 1U));
pwm_set_enabled(g_slice_num_left, true); pwm_set_enabled(g_motor_speed_left.slice_num, true);
pwm_set_enabled(g_slice_num_right, true); pwm_set_enabled(g_motor_speed_right.slice_num, true);
} }
#endif /* MOTOR_INIT_H */ #endif /* MOTOR_INIT_H */

2
frtos/motor/motor_pid.h
View File

@ -63,7 +63,7 @@ motor_pid_task(void *p_param)
printf("control signal: %f\n", control_signal); printf("control signal: %f\n", control_signal);
printf("new pwm: %hu\n\n", p_motor_speed->pwm_level); printf("new pwm: %hu\n\n", p_motor_speed->pwm_level);
pwm_set_chan_level(*p_motor_speed->p_slice_num, pwm_set_chan_level(p_motor_speed->slice_num,
p_motor_speed->pwm_channel, p_motor_speed->pwm_channel,
p_motor_speed->pwm_level); p_motor_speed->pwm_level);

6
frtos/motor/motor_speed.h
View File

@ -17,7 +17,7 @@ h_wheel_sensor_isr_handler(void)
gpio_acknowledge_irq(SPEED_PIN_LEFT, GPIO_IRQ_EDGE_FALL); gpio_acknowledge_irq(SPEED_PIN_LEFT, GPIO_IRQ_EDGE_FALL);
BaseType_t xHigherPriorityTaskWoken = pdFALSE; BaseType_t xHigherPriorityTaskWoken = pdFALSE;
xSemaphoreGiveFromISR(g_wheel_speed_sem_left, xSemaphoreGiveFromISR(g_motor_speed_left.sem,
&xHigherPriorityTaskWoken); &xHigherPriorityTaskWoken);
portYIELD_FROM_ISR(xHigherPriorityTaskWoken); portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
} }
@ -27,7 +27,7 @@ h_wheel_sensor_isr_handler(void)
gpio_acknowledge_irq(SPEED_PIN_RIGHT, GPIO_IRQ_EDGE_FALL); gpio_acknowledge_irq(SPEED_PIN_RIGHT, GPIO_IRQ_EDGE_FALL);
BaseType_t xHigherPriorityTaskWoken = pdFALSE; BaseType_t xHigherPriorityTaskWoken = pdFALSE;
xSemaphoreGiveFromISR(g_wheel_speed_sem_right, xSemaphoreGiveFromISR(g_motor_speed_right.sem,
&xHigherPriorityTaskWoken); &xHigherPriorityTaskWoken);
portYIELD_FROM_ISR(xHigherPriorityTaskWoken); portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
} }
@ -51,7 +51,7 @@ monitor_wheel_speed_task(void *pvParameters)
for (;;) for (;;)
{ {
if (xSemaphoreTake(*p_motor_speed->p_sem, pdMS_TO_TICKS(100)) if (xSemaphoreTake(p_motor_speed->sem, pdMS_TO_TICKS(100))
== pdTRUE) == pdTRUE)
{ {
curr_time = time_us_64(); curr_time = time_us_64();