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merged left and right speed sensor isr into one handler

This commit is contained in:
Richie 2023-10-21 00:04:13 +08:00
parent 81e44dbf50
commit c7950d3ec6
3 changed files with 16 additions and 14 deletions
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19
frtos/motor/motor_speed.h
View File

@ -27,29 +27,26 @@ set_wheel_speed(float speed, uint8_t side)
} }
} }
/*!
* @brief Interrupt handler for the wheel sensor
*/
void void
h_left_wheel_sensor_isr_handler(void) h_wheel_sensor_isr_handler(void)
{ {
if (gpio_get_irq_event_mask(SPEED_PIN_LEFT) & GPIO_IRQ_EDGE_FALL) if (gpio_get_irq_event_mask(SPEED_PIN_LEFT) & GPIO_IRQ_EDGE_FALL)
{ {
gpio_acknowledge_irq(SPEED_PIN_LEFT, GPIO_IRQ_EDGE_FALL); gpio_acknowledge_irq(SPEED_PIN_LEFT, GPIO_IRQ_EDGE_FALL);
// printf("left motor sensor isr\n");
BaseType_t xHigherPriorityTaskWoken = pdFALSE; BaseType_t xHigherPriorityTaskWoken = pdFALSE;
xSemaphoreGiveFromISR(g_wheel_speed_sem_left, xSemaphoreGiveFromISR(g_wheel_speed_sem_left,
&xHigherPriorityTaskWoken); &xHigherPriorityTaskWoken);
portYIELD_FROM_ISR(xHigherPriorityTaskWoken); portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
} }
}
void
h_right_wheel_sensor_isr_handler(void)
{
if (gpio_get_irq_event_mask(SPEED_PIN_RIGHT) & GPIO_IRQ_EDGE_FALL) if (gpio_get_irq_event_mask(SPEED_PIN_RIGHT) & GPIO_IRQ_EDGE_FALL)
{ {
gpio_acknowledge_irq(SPEED_PIN_RIGHT, GPIO_IRQ_EDGE_FALL); gpio_acknowledge_irq(SPEED_PIN_RIGHT, GPIO_IRQ_EDGE_FALL);
// printf("right motor sensor isr\n");
BaseType_t xHigherPriorityTaskWoken = pdFALSE; BaseType_t xHigherPriorityTaskWoken = pdFALSE;
xSemaphoreGiveFromISR(g_wheel_speed_sem_right, xSemaphoreGiveFromISR(g_wheel_speed_sem_right,
&xHigherPriorityTaskWoken); &xHigherPriorityTaskWoken);
@ -57,6 +54,14 @@ h_right_wheel_sensor_isr_handler(void)
} }
} }
/*!
* @brief Compute the control signal using PID controller
* @param target_speed The target speed of the wheel
* @param current_speed The current speed of the wheel
* @param integral The integral term of the PID controller
* @param prev_error The previous error of the PID controller
* @return The control signal
*/
float float
compute_pid(float target_speed, compute_pid(float target_speed,
float current_speed, float current_speed,

6
frtos/motor/motor_test.c
View File

@ -11,13 +11,11 @@ launch()
{ {
// isr to detect right motor slot // isr to detect right motor slot
gpio_set_irq_enabled(SPEED_PIN_RIGHT, GPIO_IRQ_EDGE_FALL, true); gpio_set_irq_enabled(SPEED_PIN_RIGHT, GPIO_IRQ_EDGE_FALL, true);
gpio_add_raw_irq_handler(SPEED_PIN_RIGHT, gpio_add_raw_irq_handler(SPEED_PIN_RIGHT, h_wheel_sensor_isr_handler);
h_right_wheel_sensor_isr_handler);
// isr to detect left motor slot // isr to detect left motor slot
gpio_set_irq_enabled(SPEED_PIN_LEFT, GPIO_IRQ_EDGE_FALL, true); gpio_set_irq_enabled(SPEED_PIN_LEFT, GPIO_IRQ_EDGE_FALL, true);
gpio_add_raw_irq_handler(SPEED_PIN_LEFT, gpio_add_raw_irq_handler(SPEED_PIN_LEFT, h_wheel_sensor_isr_handler);
h_left_wheel_sensor_isr_handler);
irq_set_enabled(IO_IRQ_BANK0, true); irq_set_enabled(IO_IRQ_BANK0, true);

5
frtos/rtos_car.c
View File

@ -24,12 +24,11 @@ launch()
// isr to detect right motor slot // isr to detect right motor slot
gpio_set_irq_enabled(SPEED_PIN_RIGHT, GPIO_IRQ_EDGE_FALL, true); gpio_set_irq_enabled(SPEED_PIN_RIGHT, GPIO_IRQ_EDGE_FALL, true);
gpio_add_raw_irq_handler(SPEED_PIN_RIGHT, gpio_add_raw_irq_handler(SPEED_PIN_RIGHT,
h_right_wheel_sensor_isr_handler); h_wheel_sensor_isr_handler);
// isr to detect left motor slot // isr to detect left motor slot
gpio_set_irq_enabled(SPEED_PIN_LEFT, GPIO_IRQ_EDGE_FALL, true); gpio_set_irq_enabled(SPEED_PIN_LEFT, GPIO_IRQ_EDGE_FALL, true);
gpio_add_raw_irq_handler(SPEED_PIN_LEFT, gpio_add_raw_irq_handler(SPEED_PIN_LEFT, h_wheel_sensor_isr_handler);
h_left_wheel_sensor_isr_handler);
irq_set_enabled(IO_IRQ_BANK0, true); irq_set_enabled(IO_IRQ_BANK0, true);