5d1d17915d
Tested new control modes on actual hardware.
Adjust new code so the modes kind of work now, as proof of concept.
Still needs major optimization and fixes though.
motorctl:
- add config option to disable logging for particular instance
- add some definitions to finetune control modes
- rework current and speed mode, so they actually kind of work
- fix TCS to not cause deadlock motors off
menu:
- add item set motorControlMode (select DUTY, CURRENT, SPEED)
- fix missing item maxDuty
speedsensor: fix return type
57 lines
1.7 KiB
C++
57 lines
1.7 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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uint32_t minPulseDurationUs; //smallest possible pulse duration (time from start small-pulse to start long-pulse at full speed). Set to 0 to disable this noise detection
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float tireCircumferenceMeter;
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//default 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, configures and starts 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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uint32_t getTimeLastUpdate() {return timeLastUpdate;};
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//variables for handling the encoder (public because ISR needs access)
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speedSensor_config_t config;
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uint32_t pulseDurations[3] = {};
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uint32_t pulse1, pulse2, pulse3;
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uint32_t shortestPulse = 0;
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uint32_t shortestPulsePrev = 0;
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uint32_t lastEdgeTime = 0;
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uint8_t pulseCounter = 0;
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int debugCount = 0;
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uint32_t debug_countIgnoredSequencesTooShort = 0;
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double currentRpm = 0;
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uint32_t timeLastUpdate = 0;
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private:
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static bool isrIsInitialized; // default false due to static
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};
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