a3257e89ee
successfully read rotational speed and direction using encoder disk and optical sensor custom implementation of incremental encoder using gpio edge interrupt
54 lines
1.3 KiB
C++
54 lines
1.3 KiB
C++
#pragma once
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extern "C" {
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#include "esp_log.h"
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#include "hal/gpio_types.h"
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#include "driver/gpio.h"
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#include "esp_timer.h"
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}
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//Encoder disk requirements:
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//encoder disk has to have gaps in 3 differnt intervals (short, medium, long)
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//that pattern can be repeated multiple times, see config option
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typedef struct {
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gpio_num_t gpioPin;
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float degreePerGroup; //360 / [count of short,medium,long groups on encoder disk]
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float tireCircumferenceMeter;
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//positive direction is pulse order "short, medium, long"
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bool directionInverted;
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char* logName;
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} speedSensor_config_t;
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class speedSensor {
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//TODO add count of revolutions/pulses if needed? (get(), reset() etc)
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public:
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//constructor
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speedSensor(speedSensor_config_t config);
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//initializes gpio pin and configures interrupt
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void init();
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//negative values = reverse direction
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//positive values = forward direction
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float getKmph(); //kilometers per hour
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float getMps(); //meters per second
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float getRpm(); //rotations per minute
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//1=forward, -1=reverse
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int direction;
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//variables for handling the encoder
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speedSensor_config_t config;
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int prevState = 0;
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uint64_t pulseDurations[3] = {};
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uint64_t lastEdgeTime = 0;
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uint8_t pulseCounter = 0;
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int debugCount = 0;
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double currentRpm = 0;
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private:
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};
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