75 lines
2.1 KiB
C
75 lines
2.1 KiB
C
/*
|
|
* @file motor_speed.c
|
|
* @brief monitor and update the speed of the wheels
|
|
* @author Richie
|
|
*/
|
|
|
|
#include "motor_init.h"
|
|
|
|
/*!
|
|
* @brief Interrupt handler for the wheel sensor
|
|
*/
|
|
void
|
|
h_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);
|
|
|
|
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
|
|
xSemaphoreGiveFromISR(g_motor_left.sem,
|
|
&xHigherPriorityTaskWoken);
|
|
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
|
|
}
|
|
|
|
if (gpio_get_irq_event_mask(SPEED_PIN_RIGHT) & GPIO_IRQ_EDGE_FALL)
|
|
{
|
|
gpio_acknowledge_irq(SPEED_PIN_RIGHT, GPIO_IRQ_EDGE_FALL);
|
|
|
|
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
|
|
xSemaphoreGiveFromISR(g_motor_right.sem,
|
|
&xHigherPriorityTaskWoken);
|
|
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
|
|
}
|
|
}
|
|
|
|
|
|
/*!
|
|
* @brief Task to monitor and control the speed of the wheel
|
|
* @param pvParameters motor_speed_t struct pointer
|
|
* @see motor_speed_t
|
|
*/
|
|
void
|
|
monitor_wheel_speed_task(void *pvParameters)
|
|
{
|
|
volatile motor_t *p_motor = NULL;
|
|
p_motor = (motor_t *)pvParameters;
|
|
|
|
uint64_t curr_time = 0u;
|
|
uint64_t prev_time = 0u;
|
|
uint64_t elapsed_time = 0u;
|
|
|
|
for (;;)
|
|
{
|
|
if ((xSemaphoreTake(p_motor->sem, pdMS_TO_TICKS(100))
|
|
== pdTRUE) && (g_use_pid == true))
|
|
{
|
|
curr_time = time_us_64();
|
|
elapsed_time = curr_time - prev_time;
|
|
prev_time = curr_time;
|
|
|
|
// 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
|
|
p_motor->speed.current_cms
|
|
= (float) (1021017.61242f / elapsed_time);
|
|
|
|
p_motor->speed.distance_cm += 1.02101761242f;
|
|
}
|
|
else
|
|
{
|
|
p_motor->speed.current_cms = 0.f;
|
|
}
|
|
}
|
|
} |