129 lines
3.3 KiB
C
129 lines
3.3 KiB
C
/*
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* @file motor_speed.c
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* @brief monitor and update the speed of the wheels
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* @author Richie
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*/
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#ifndef MOTOR_SPEED_H
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#define MOTOR_SPEED_H
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#include "motor_init.h"
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/*!
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* @brief Interrupt handler for the wheel sensor
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*/
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void
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h_wheel_sensor_isr_handler(void)
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{
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if (gpio_get_irq_event_mask(SPEED_PIN_LEFT) & GPIO_IRQ_EDGE_FALL)
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{
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gpio_acknowledge_irq(SPEED_PIN_LEFT, GPIO_IRQ_EDGE_FALL);
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BaseType_t xHigherPriorityTaskWoken = pdFALSE;
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xSemaphoreGiveFromISR(g_motor_left.sem,
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&xHigherPriorityTaskWoken);
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portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
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}
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if (gpio_get_irq_event_mask(SPEED_PIN_RIGHT) & GPIO_IRQ_EDGE_FALL)
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{
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gpio_acknowledge_irq(SPEED_PIN_RIGHT, GPIO_IRQ_EDGE_FALL);
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BaseType_t xHigherPriorityTaskWoken = pdFALSE;
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xSemaphoreGiveFromISR(g_motor_right.sem,
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&xHigherPriorityTaskWoken);
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portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
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}
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}
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/*!
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* @brief Task to monitor and control the speed of the wheel
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* @param pvParameters motor_speed_t struct pointer
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* @see motor_speed_t
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*/
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void
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monitor_wheel_speed_task(void *pvParameters)
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{
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volatile motor_t *p_motor = NULL;
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p_motor = (motor_t *)pvParameters;
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uint64_t curr_time = 0u;
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uint64_t prev_time = 0u;
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uint64_t elapsed_time = 0u;
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for (;;)
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{
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if ((xSemaphoreTake(p_motor->sem, pdMS_TO_TICKS(100))
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== pdTRUE) && (g_use_pid == true))
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{
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curr_time = time_us_64();
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elapsed_time = curr_time - prev_time;
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prev_time = curr_time;
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// speed in cm/s; speed = distance / time
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// distance = circumference / 20
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// circumference = 2 * pi * 3.25 cm = 20.4203522483 cm
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// distance = 20.4203522483 cm / 20 = 1.02101761242 cm
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p_motor->speed.current_cms
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= (float) (1021017.61242f / elapsed_time);
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p_motor->speed.distance_cm += 1.02101761242f;
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}
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else
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{
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p_motor->speed.current_cms = 0.f;
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}
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}
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}
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void
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set_wheel_speed(uint32_t pwm_level, motor_t * motor)
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{
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motor->pwm.level = pwm_level;
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pwm_set_chan_level(motor->pwm.slice_num,
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motor->pwm.channel,
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motor->pwm.level);
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}
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/*!
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* @brief Set the speed of the wheels
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* @param pwm_level The pwm_level of the wheels, from 0 to 99
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*/
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void
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set_wheel_speed_synced(uint32_t pwm_level)
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{
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if (pwm_level > MAX_PWM_LEVEL)
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{
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pwm_level = MAX_PWM_LEVEL;
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}
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set_wheel_speed(pwm_level, &g_motor_left);
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set_wheel_speed(pwm_level, &g_motor_right);
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}
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///*!
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// * @brief Set the distance to travel before stopping, must be called after
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// * setting the speed and direction.
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// * @param distance_cm distance to travel in cm
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// */
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//void
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//distance_to_stop(float distance_cm)
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//{
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// float initial = g_motor_right.speed.distance_cm;
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//
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// for (;;)
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// {
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// if (g_motor_right.speed.distance_cm - initial >= distance_cm)
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// {
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// set_wheel_speed_synced(0u);
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// break;
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// }
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// vTaskDelay(pdMS_TO_TICKS(10));
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// }
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// vTaskDelay(pdMS_TO_TICKS(1000));
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// g_motor_right.speed.distance_cm = g_motor_left.speed.distance_cm;
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//}
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#endif /* MOTOR_SPEED_H */
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